1071 files changed, 183680 insertions, 8272 deletions

diff --git a/.gitignore b/.gitignore
index d3eb71b6c..ffd20da81 100644
--- a/.gitignore
+++ b/.gitignore
@@ -8,9 +8,12 @@
 apps/namedapp/namedapp_list.h
 apps/namedapp/namedapp_proto.h
 Make.dep
+*.pyc
 *.o
 *.a
+*.d
 *~
+*.dSYM
 Images/*.bin
 Images/*.px4
 nuttx/Make.defs
@@ -41,3 +44,10 @@ cscope.out
 .configX-e
 nuttx-export.zip
 .~lock.*
+dot.gdbinit
+mavlink/include/mavlink/v0.9/
+.*.swp
+.swp
+core
+.gdbinit
+mkdeps
diff --git a/Debug/PX4 b/Debug/PX4
new file mode 100644
index 000000000..7d5905939
--- /dev/null
+++ b/Debug/PX4
@@ -0,0 +1,54 @@
+#
+# Various PX4-specific macros
+#
+source Debug/NuttX
+
+echo Loading PX4 GDB macros.  Use 'help px4' for more information.\n
+
+define px4
+	echo Use 'help px4' for more information.\n
+end
+
+document px4
+. Various macros for working with the PX4 firmware.
+.
+.    perf
+.        Prints the state of all performance counters.
+.
+. Use 'help <macro>' for more specific help.
+end
+
+
+define _perf_print
+	set $hdr = (struct perf_ctr_header *)$arg0
+	printf "%p\n", $hdr
+	printf "%s: ", $hdr->name
+	# PC_COUNT
+	if $hdr->type == 0
+		set $count = (struct perf_ctr_count *)$hdr
+		printf "%llu events,\n", $count->event_count;
+	end
+	# PC_ELPASED
+	if $hdr->type == 1
+		set $elapsed = (struct perf_ctr_elapsed *)$hdr
+		printf "%llu events, %lluus elapsed, min %lluus, max %lluus\n", $elapsed->event_count, $elapsed->time_total, $elapsed->time_least, $elapsed->time_most
+	end
+	# PC_INTERVAL
+	if $hdr->type == 2
+		set $interval = (struct perf_ctr_interval *)$hdr
+		printf "%llu events, %llu avg, min %lluus max %lluus\n", $interval->event_count, ($interval->time_last - $interval->time_first) / $interval->event_count, $interval->time_least, $interval->time_most
+	end
+end
+
+define perf
+	set $ctr = (sq_entry_t *)(perf_counters.head)
+	while $ctr != 0
+		_perf_print $ctr
+		set $ctr = $ctr->flink
+	end
+end
+
+document perf
+.    perf
+.        Prints performance counters.
+end
diff --git a/Makefile b/Makefile
index d9469bb49..f91e75d0b 100644
--- a/Makefile
+++ b/Makefile
@@ -28,12 +28,8 @@ UPLOADER		 = $(PX4BASE)/Tools/px_uploader.py
 # What are we currently configured for?
 #
 CONFIGURED		 = $(PX4BASE)/.configured
-ifeq ($(wildcard $(CONFIGURED)),)
-# the $(CONFIGURED) target will make this a reality before building
-export TARGET		 = px4fmu
-$(shell echo $(TARGET) > $(CONFIGURED))
-else
-export TARGET		 = $(shell cat $(CONFIGURED))
+ifneq ($(wildcard $(CONFIGURED)),)
+export TARGET		:= $(shell cat $(CONFIGURED))
 endif
 
 #
@@ -59,12 +55,13 @@ $(FIRMWARE_BUNDLE):	$(FIRMWARE_BINARY) $(MKFW) $(FIRMWARE_PROTOTYPE)
 	@$(MKFW) --prototype $(FIRMWARE_PROTOTYPE) \
 		--git_identity $(PX4BASE) \
 		--image $(FIRMWARE_BINARY) > $@
+
 #
 # Build the firmware binary.
 #
 .PHONY:			$(FIRMWARE_BINARY)
-$(FIRMWARE_BINARY):	configure_$(TARGET) setup_$(TARGET)
-	@echo Building $@
+$(FIRMWARE_BINARY):	setup_$(TARGET) configure-check
+	@echo Building $@ for $(TARGET)
 	@make -C $(NUTTX_SRC) -r $(MQUIET) all
 	@cp $(NUTTX_SRC)/nuttx.bin $@
 
@@ -73,19 +70,26 @@ $(FIRMWARE_BINARY):	configure_$(TARGET) setup_$(TARGET)
 # and makes it current.
 #
 configure_px4fmu:
-ifneq ($(TARGET),px4fmu)
+	@echo Configuring for px4fmu
 	@make -C $(PX4BASE) distclean
-endif
 	@cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4fmu/nsh
 	@echo px4fmu > $(CONFIGURED)
 
 configure_px4io:
-ifneq ($(TARGET),px4io)
+	@echo Configuring for px4io
 	@make -C $(PX4BASE) distclean
-endif
 	@cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4io/io
 	@echo px4io > $(CONFIGURED)
 
+configure-check:
+ifeq ($(wildcard $(CONFIGURED)),)
+	@echo
+	@echo "Not configured - use 'make configure_px4fmu' or 'make configure_px4io' first"
+	@echo
+	@exit 1
+endif
+
+
 #
 # Per-configuration additional targets
 #
@@ -96,6 +100,9 @@ setup_px4fmu:
 
 setup_px4io:
 
+# fake target to make configure-check happy if TARGET is not set
+setup_:
+
 #
 # Firmware uploading.
 #
diff --git a/ROMFS/logging/logconv.m b/ROMFS/logging/logconv.m
index bf70d6d0f..b53d0ae39 100644
--- a/ROMFS/logging/logconv.m
+++ b/ROMFS/logging/logconv.m
@@ -9,6 +9,13 @@ close all
 % Set the path to your sysvector.bin file here
 filePath = 'sysvector.bin';
 
+% Work around a Matlab bug (not related to PX4)
+% where timestamps from 1.1.1970 do not allow to
+% read the file's size
+if ismac
+    system('touch -t 201212121212.12 sysvector.bin');
+end
+
 %%%%%%%%%%%%%%%%%%%%%%%
 % SYSTEM VECTOR
 %
@@ -24,6 +31,8 @@ filePath = 'sysvector.bin';
 % float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
 % float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512)
 % float vbat; //battery voltage in [volt]
+% float bat_current - current drawn from battery at this time instant
+% float bat_discharged - discharged energy in mAh
 % float adc[3]; //remaining auxiliary ADC ports [volt]
 % float local_position[3]; //tangent plane mapping into x,y,z [m]
 % int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]
@@ -31,27 +40,34 @@ filePath = 'sysvector.bin';
 % float rotMatrix[9]; //unitvectors
 % float actuator_control[4]; //unitvector
 % float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
+% float diff_pressure; - pressure difference in millibar
+% float ind_airspeed;
+% float true_airspeed;
 
 % Definition of the logged values
-logFormat{1} = struct('name', 'timestamp',         'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64'); 
-logFormat{2} = struct('name', 'gyro',              'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le'); 
-logFormat{3} = struct('name', 'accel',             'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le'); 
-logFormat{4} = struct('name', 'mag',               'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le'); 
-logFormat{5} = struct('name', 'baro',              'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le'); 
-logFormat{6} = struct('name', 'baro_alt',          'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le'); 
-logFormat{7} = struct('name', 'baro_temp',         'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le'); 
+logFormat{1} = struct('name', 'timestamp',         'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64');
+logFormat{2} = struct('name', 'gyro',              'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{3} = struct('name', 'accel',             'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{4} = struct('name', 'mag',               'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{5} = struct('name', 'baro',              'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{6} = struct('name', 'baro_alt',          'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{7} = struct('name', 'baro_temp',         'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
 logFormat{8} = struct('name', 'control',           'bytes', 4, 'array', 4, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{9} = struct('name', 'actuators',         'bytes', 4, 'array', 8, 'precision', 'float',   'machineformat', 'ieee-le'); 
-logFormat{10} = struct('name', 'vbat',             'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le'); 
-logFormat{11} = struct('name', 'adc',              'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le'); 
-logFormat{12} = struct('name', 'local_position',   'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le'); 
-logFormat{13} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32',  'machineformat', 'ieee-le'); 
-logFormat{14} = struct('name', 'attitude',         'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{15} = struct('name', 'rot_matrix',       'bytes', 4, 'array', 9, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{16} = struct('name', 'vicon_position',   'bytes', 4, 'array', 6, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{17} = struct('name', 'actuator_control', 'bytes', 4, 'array', 4, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{18} = struct('name', 'optical_flow',     'bytes', 4, 'array', 6, 'precision', 'float',   'machineformat', 'ieee-le');
-
+logFormat{9} = struct('name', 'actuators',         'bytes', 4, 'array', 8, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{10} = struct('name', 'vbat',             'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{11} = struct('name', 'bat_current',      'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{12} = struct('name', 'bat_discharged',   'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{13} = struct('name', 'adc',              'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{14} = struct('name', 'local_position',   'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{15} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32',  'machineformat', 'ieee-le');
+logFormat{16} = struct('name', 'attitude',         'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{17} = struct('name', 'rot_matrix',       'bytes', 4, 'array', 9, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{18} = struct('name', 'vicon_position',   'bytes', 4, 'array', 6, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{19} = struct('name', 'actuator_control', 'bytes', 4, 'array', 4, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{20} = struct('name', 'optical_flow',     'bytes', 4, 'array', 6, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{21} = struct('name', 'diff_pressure',    'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{22} = struct('name', 'ind_airspeed',     'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{23} = struct('name', 'true_airspeed',    'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
 
 % First get length of one line
 columns = length(logFormat);
@@ -96,5 +112,3 @@ if exist(filePath, 'file')
 else
     disp(['file: ' filePath ' does not exist' char(10)]);
 end
-
-
diff --git a/ROMFS/scripts/rc.PX4IO b/ROMFS/scripts/rc.PX4IO
index b5a087433..84e181a5a 100644
--- a/ROMFS/scripts/rc.PX4IO
+++ b/ROMFS/scripts/rc.PX4IO
@@ -1,12 +1,9 @@
 #!nsh
-#
-# Flight startup script for PX4FMU with PX4IO carrier board.
-#
 
-echo "[init] doing PX4IO startup..."
+set USB no
 
 #
-# Start the ORB
+# Start the object request broker
 #
 uorb start
 
@@ -21,14 +18,26 @@ then
 fi
 
 #
+# Enable / connect to PX4IO
+#
+px4io start
+
+#
+# Load an appropriate mixer. FMU_pass.mix is a passthru mixer
+# which is good for testing. See ROMFS/mixers for a full list of mixers.
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_pass.mix
+
+#
 # Start the sensors.
 #
 sh /etc/init.d/rc.sensors
 
 #
-# Start MAVLink
+# Start MAVLink on UART1 (dev/ttyS0) at 57600 baud (CLI is now unusable)
 #
 mavlink start -d /dev/ttyS0 -b 57600
+usleep 5000
 
 #
 # Start the commander.
@@ -41,35 +50,24 @@ commander start
 attitude_estimator_ekf start
 
 #
-# Configure PX4FMU for operation with PX4IO
+# Start the attitude and position controller
 #
-# XXX arguments?
-#
-px4fmu start
+fixedwing_att_control start
+fixedwing_pos_control start
 
 #
-# Start the fixed-wing controller
-#
-fixedwing_control start
-
-#
-# Fire up the PX4IO interface.
-#
-px4io start
-
-#
-# Start looking for a GPS.
+# Start GPS capture. Comment this out if you do not have a GPS.
 #
 gps start
 
 #
 # Start logging to microSD if we can
-#
+#	  	
 sh /etc/init.d/rc.logging
 
 #
 # startup is done; we don't want the shell because we
-# use the same UART for telemetry (dumb).
+# use the same UART for telemetry
 #
-echo "[init] startup done, exiting."
+echo "[init] startup done"
 exit
diff --git a/ROMFS/scripts/rc.sensors b/ROMFS/scripts/rc.sensors
index 536fcfd2c..42c2f52e9 100644
--- a/ROMFS/scripts/rc.sensors
+++ b/ROMFS/scripts/rc.sensors
@@ -8,6 +8,7 @@
 #
 
 ms5611 start
+adc start
 
 if mpu6000 start
 then
diff --git a/ROMFS/scripts/rcS b/ROMFS/scripts/rcS
index 4152494e0..69d791da5 100755
--- a/ROMFS/scripts/rcS
+++ b/ROMFS/scripts/rcS
@@ -46,8 +46,12 @@ if [ -f /fs/microsd/etc/rc ]
 then
 	echo "[init] reading /fs/microsd/etc/rc"
 	sh /fs/microsd/etc/rc
-else
-	echo "[init] script /fs/microsd/etc/rc not present"
+fi
+# Also consider rc.txt files
+if [ -f /fs/microsd/etc/rc.txt ]
+then
+	echo "[init] reading /fs/microsd/etc/rc.txt"
+	sh /fs/microsd/etc/rc.txt
 fi
 
 #
diff --git a/Tools/fix_code_style_ubuntu.sh b/Tools/fix_code_style_ubuntu.sh
new file mode 100755
index 000000000..90ab57b89
--- /dev/null
+++ b/Tools/fix_code_style_ubuntu.sh
@@ -0,0 +1,19 @@
+#!/bin/sh
+astyle \
+    --style=linux		\
+    --indent=force-tab=8	\
+    --indent-cases		\
+    --indent-preprocessor	\
+    --break-blocks=all		\
+    --pad-oper			\
+    --pad-header		\
+    --unpad-paren		\
+    --keep-one-line-blocks	\
+    --keep-one-line-statements	\
+    --align-pointer=name	\
+    --suffix=none		\
+    --lineend=linux		\
+    $*
+    #--ignore-exclude-errors-x	\
+    #--exclude=EASTL		\
+    #--align-reference=name	\
diff --git a/apps/ChangeLog.txt b/apps/ChangeLog.txt
index 7375adccf..0695747f8 100644
--- a/apps/ChangeLog.txt
+++ b/apps/ChangeLog.txt
@@ -33,7 +33,7 @@
 
 6.3 2011-05-15 Gregory Nutt <gnutt@nuttx.org>
 
-    * apps/interpreter: Add a directory to hold interpreters.  The Pascal add-
+	* apps/interpreter: Add a directory to hold interpreters.  The Pascal add-
 	  on module now installs and builds under this directory.
 	* apps/interpreter/ficl: Added logic to build Ficl (the "Forth Inspired
 	  Command Language").  See http://ficl.sourceforge.net/.
@@ -349,7 +349,7 @@
 	* apps/NxWidgets/Kconfig:  Add option to turn on the memory monitor
 	  feature of the NxWidgets/NxWM unit tests.
 
-6.23 2012-xx-xx Gregory Nutt <gnutt@nuttx.org>
+6.23 2012-11-05 Gregory Nutt <gnutt@nuttx.org>
 
 	* vsn: Moved all NSH commands from vsn/ to system/.  Deleted the vsn/
 	  directory.
@@ -368,3 +368,70 @@
 	  recent check-ins (Darcy Gong).
 	* apps/netutils/webclient/webclient.c:  Fix another but that I introduced
 	  when I was trying to add correct handling for loss of connection (Darcy Gong)
+	* apps/nshlib/nsh_telnetd.c:  Add support for login to Telnet session via
+	  username and password (Darcy Gong).
+	* apps/netutils/resolv/resolv.c (and files using the DNS resolver): Various
+	  DNS address resolution improvements from Darcy Gong.
+	* apps/nshlib/nsh_netcmds.c:  The ping command now passes a maximum round
+	  trip time to uip_icmpping().  This allows pinging of hosts on complex
+	  networks where the ICMP ECHO round trip time may exceed the ping interval.
+	* apps/examples/nxtext/nxtext_main.c:  Fix bad conditional compilation
+	  when CONFIG_NX_KBD is not defined.  Submitted by Petteri Aimonen.
+	* apps/examples/nximage/nximage_main.c:  Add a 5 second delay after the
+	  NX logo is presented so that there is time for the image to be verified.
+	  Suggested by Petteri Aimonen.
+	* apps/Makefile: Small change that reduces the number of shell invocations
+	  by one (Mike Smith).
+	* apps/examples/elf:  Test example for the ELF loader.
+	* apps/examples/elf:  The ELF module test example appears fully functional.
+	* apps/netutils/json:  Add a snapshot of the cJSON project.  Contributed by
+	  Darcy Gong.
+	* apps/examples/json:  Test example for cJSON from Darcy Gong
+	* apps/nshlib/nsh_netinit.c: Fix static IP DNS problem (Darcy Gong)
+	* apps/netutils/resolv/resolv.c: DNS fixes from Darcy Gong.
+	* COPYING: Licensing information added.
+	* apps/netutils/codec and include/netutils/urldecode.h, base64.h, and md5.h:
+	  A port of the BASE46, MD5 and URL CODEC library from Darcy Gong.
+	* nsnlib/nsh_codeccmd.c:  NSH commands to use the CODEC library.
+	  Contributed by Darcy Gong.
+	* apps/examples/wgetjson: Test example contributed by Darcy Gong
+	* apps/examples/cxxtest:  A test for the uClibc++ library provided by
+	  Qiang Yu and the RGMP team.
+	* apps/netutils/webclient, apps/netutils.codes, and apps/examples/wgetjson:
+	  Add support for wget POST interface.  Contributed by Darcy Gong.
+	* apps/examples/relays:  A relay example contributed by Darcy Gong.
+	* apps/nshlib/nsh_netcmds: Add ifup and ifdown commands (from Darcy
+	  Gong).
+	* apps/nshlib/nsh_netcmds: Extend the ifconfig command so that it
+	  supports setting IP addresses, network masks, name server addresses,
+	  and hardware address (from Darcy Gong).
+
+6.24 2012-12-20 Gregory Nutt <gnutt@nuttx.org>
+
+	* apps/examples/ostest/roundrobin.c:  Replace large tables with
+	  algorithmic prime number generation.  This allows the roundrobin
+	  test to run on platforms with minimal SRAM (Freddie Chopin).
+	* apps/nshlib/nsh_dbgcmds.c:  Add hexdump command to dump the contents
+	  of a file (or character device) to the console  Contributed by Petteri
+	  Aimonen.
+	* apps/examples/modbus:  Fixes from Freddie Chopin
+	* apps/examples/modbus/Kconfig: Kconfig logic for FreeModBus contributed
+	  by Freddie Chopin.
+	* Makefile, */Makefile:  Various fixes for Windows native build.  Now uses
+	  make foreach loops instead of shell loops.
+	* apps/examples/elf/test/*/Makefile: OSX doesn't support install -D, use
+	  mkdir -p then install without the -D.  From Mike Smith.
+	* apps/examples/relays/Makefile: Reduced stack requirement (Darcy Gong).
+	* apps/nshlib and apps/netutils/dhcpc:  Extend the NSH ifconfig command plus
+	  various DHCPC improvements(Darcy Gong).
+	* apps/nshlib/nsh_apps.c: Fix compilation errors when CONFIG_NSH_DISABLEBG=y.
+	  From Freddie Chopin.
+	* Rename CONFIG_PCODE and CONFIG_FICL as CONFIG_INTERPRETERS_PCODE and
+	  CONFIG_INTERPRETERS_FICL for consistency with other configuration naming.
+	* apps/examples/keypadtest:  A keypad test example contributed by Denis
+	  Carikli.
+	* apps/examples/elf and nxflat:  If CONFIG_BINFMT_EXEPATH is defined, these
+	  tests will now use a relative path to the program and expect the binfmt/
+	  logic to find the absolute path to the program using the PATH variable.
+
+6.25 2013-xx-xx Gregory Nutt <gnutt@nuttx.org>
diff --git a/apps/Makefile b/apps/Makefile
index 19ad1c18b..f0de58e25 100644
--- a/apps/Makefile
+++ b/apps/Makefile
@@ -107,18 +107,23 @@ endif
 # Create the list of available applications (INSTALLED_APPS)
 
 define ADD_BUILTIN
-INSTALLED_APPS += ${shell if [ -r $1/Makefile ]; then echo "$1"; fi}
+  INSTALLED_APPS += $(if $(wildcard $1$(DELIM)Makefile),$1,)
 endef
 
 $(foreach BUILTIN, $(CONFIGURED_APPS), $(eval $(call ADD_BUILTIN,$(BUILTIN))))
 
+# EXTERNAL_APPS is used to add out of tree apps to the build
+INSTALLED_APPS += $(EXTERNAL_APPS)
+
 # The external/ directory may also be added to the INSTALLED_APPS.  But there
 # is no external/ directory in the repository.  Rather, this directory may be
 # provided by the user (possibly as a symbolic link) to add libraries and
 # applications to the standard build from the repository.
 
-INSTALLED_APPS += ${shell if [ -r external/Makefile ]; then echo "external"; fi}
-SUBDIRS += ${shell if [ -r external/Makefile ]; then echo "external"; fi}
+EXTERNAL_DIR := $(dir $(wildcard external$(DELIM)Makefile))
+
+INSTALLED_APPS += $(EXTERNAL_DIR)
+SUBDIRS += $(EXTERNAL_DIR)
 
 # The final build target
 
@@ -130,48 +135,81 @@ all: $(BIN)
 .PHONY: $(INSTALLED_APPS) context depend clean distclean
 
 $(INSTALLED_APPS):
-	@$(MAKE) -C $@ TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)";
+	$(Q) $(MAKE) -C $@ TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
 
 $(BIN):	$(INSTALLED_APPS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $@, $${obj}); \
-	done ; )
 
 .context:
-	@for dir in $(INSTALLED_APPS) ; do \
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+	$(Q) for %%G in ($(INSTALLED_APPS)) do ( \
+		if exist %%G\.context del /f /q %%G\.context \
+		$(MAKE) -C %%G TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" context \
+	)
+else
+	$(Q) for dir in $(INSTALLED_APPS) ; do \
 		rm -f $$dir/.context ; \
-		$(MAKE) -C $$dir TOPDIR="$(TOPDIR)"  APPDIR="$(APPDIR)" context ; \
+		$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" context ; \
 	done
-	@touch $@
+endif
+	$(Q) touch $@
 
 context: .context
 
 .depend: context Makefile $(SRCS)
-	@for dir in $(INSTALLED_APPS) ; do \
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+	$(Q) for %%G in ($(INSTALLED_APPS)) do ( \
+		if exist %%G\.depend del /f /q %%G\.depend \
+		$(MAKE) -C %%G TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" depend \
+	)
+else
+	$(Q) for dir in $(INSTALLED_APPS) ; do \
 		rm -f $$dir/.depend ; \
-		$(MAKE) -C $$dir TOPDIR="$(TOPDIR)"  APPDIR="$(APPDIR)" depend ; \
+		$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" depend ; \
 	done
-	@touch $@
+endif
+	$(Q) touch $@
 
 depend: .depend
 
 clean:
-	@for dir in $(SUBDIRS) ; do \
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+	$(Q) for %%G in ($(SUBDIRS)) do ( \
+		$(MAKE) -C %%G clean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" \
+	)
+else
+	$(Q) for dir in $(SUBDIRS) ; do \
 		$(MAKE) -C $$dir clean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
 	done
-	@rm -f $(BIN) *~ .*.swp *.o
+endif
+	$(call DELFILE, $(BIN))
 	$(call CLEAN)
 
 distclean: # clean
-	@for dir in $(SUBDIRS) ; do \
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+	$(Q) for %%G in ($(SUBDIRS)) do ( \
+		$(MAKE) -C %%G distclean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" \
+	)
+	$(call DELFILE, .config)
+	$(call DELFILE, .context)
+	$(call DELFILE, .depend)
+	$(Q) ( if exist  external ( \
+		echo ********************************************************" \
+		echo * The external directory/link must be removed manually *" \
+		echo ********************************************************" \
+	)
+else
+	$(Q) for dir in $(SUBDIRS) ; do \
 		$(MAKE) -C $$dir distclean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
 	done
-	@rm -f .config .context .depend
-	@( if [ -e external ]; then \
+	$(call DELFILE, .config)
+	$(call DELFILE, .context)
+	$(call DELFILE, .depend)
+	$(Q) ( if [ -e external ]; then \
 		echo "********************************************************"; \
 		echo "* The external directory/link must be removed manually *"; \
 		echo "********************************************************"; \
 	   fi; \
 	) 
+endif
 
 
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
index 6533390bc..1c3b9976b 100644
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
+++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
@@ -35,7 +35,7 @@
 
 /*
  * @file attitude_estimator_ekf_main.c
- * 
+ *
  * Extended Kalman Filter for Attitude Estimation.
  */
 
@@ -79,18 +79,18 @@ static float dt = 0.005f;
 static float z_k[9] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 9.81f, 0.2f, -0.2f, 0.2f};					/**< Measurement vector */
 static float x_aposteriori_k[12];		/**< states */
 static float P_aposteriori_k[144] = {100.f, 0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,
-		0, 100.f,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,
-		0,   0, 100.f,   0,   0,   0,   0,   0,   0,   0,   0,   0,
-		0,   0,   0, 100.f,   0,   0,   0,   0,   0,   0,   0,   0,
-		0,   0,   0,   0,  100.f,  0,   0,   0,   0,   0,   0,   0,
-		0,   0,   0,   0,   0, 100.f,   0,   0,   0,   0,   0,   0,
-		0,   0,   0,   0,   0,   0, 100.f,   0,   0,   0,   0,   0,
-		0,   0,   0,   0,   0,   0,   0, 100.f,   0,   0,   0,   0,
-		0,   0,   0,   0,   0,   0,   0,   0, 100.f,   0,   0,   0,
-		0,   0,   0,   0,   0,   0,   0,   0,  0.0f, 100.0f,   0,   0,
-		0,   0,   0,   0,   0,   0,   0,   0,  0.0f,   0,   100.0f,   0,
-		0,   0,   0,   0,   0,   0,   0,   0,  0.0f,   0,   0,   100.0f,
-}; /**< init: diagonal matrix with big values */
+				     0, 100.f,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,
+				     0,   0, 100.f,   0,   0,   0,   0,   0,   0,   0,   0,   0,
+				     0,   0,   0, 100.f,   0,   0,   0,   0,   0,   0,   0,   0,
+				     0,   0,   0,   0,  100.f,  0,   0,   0,   0,   0,   0,   0,
+				     0,   0,   0,   0,   0, 100.f,   0,   0,   0,   0,   0,   0,
+				     0,   0,   0,   0,   0,   0, 100.f,   0,   0,   0,   0,   0,
+				     0,   0,   0,   0,   0,   0,   0, 100.f,   0,   0,   0,   0,
+				     0,   0,   0,   0,   0,   0,   0,   0, 100.f,   0,   0,   0,
+				     0,   0,   0,   0,   0,   0,   0,   0,  0.0f, 100.0f,   0,   0,
+				     0,   0,   0,   0,   0,   0,   0,   0,  0.0f,   0,   100.0f,   0,
+				     0,   0,   0,   0,   0,   0,   0,   0,  0.0f,   0,   0,   100.0f,
+				    }; /**< init: diagonal matrix with big values */
 
 static float x_aposteriori[12];
 static float P_aposteriori[144];
@@ -99,9 +99,9 @@ static float P_aposteriori[144];
 static float euler[3] = {0.0f, 0.0f, 0.0f};
 
 static float Rot_matrix[9] = {1.f,  0,  0,
-		0,  1.f,  0,
-		0,  0,  1.f
-};		/**< init: identity matrix */
+			      0,  1.f,  0,
+			      0,  0,  1.f
+			     };		/**< init: identity matrix */
 
 
 static bool thread_should_exit = false;		/**< Deamon exit flag */
@@ -123,6 +123,7 @@ usage(const char *reason)
 {
 	if (reason)
 		fprintf(stderr, "%s\n", reason);
+
 	fprintf(stderr, "usage: attitude_estimator_ekf {start|stop|status} [-p <additional params>]\n\n");
 	exit(1);
 }
@@ -131,7 +132,7 @@ usage(const char *reason)
  * The attitude_estimator_ekf app only briefly exists to start
  * the background job. The stack size assigned in the
  * Makefile does only apply to this management task.
- * 
+ *
  * The actual stack size should be set in the call
  * to task_create().
  */
@@ -150,11 +151,11 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
 
 		thread_should_exit = false;
 		attitude_estimator_ekf_task = task_spawn("attitude_estimator_ekf",
-				SCHED_DEFAULT,
-				SCHED_PRIORITY_MAX - 5,
-				12000,
-				attitude_estimator_ekf_thread_main,
-				(argv) ? (const char **)&argv[2] : (const char **)NULL);
+					      SCHED_DEFAULT,
+					      SCHED_PRIORITY_MAX - 5,
+					      12000,
+					      attitude_estimator_ekf_thread_main,
+					      (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		exit(0);
 	}
 
@@ -166,9 +167,11 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
 			printf("\tattitude_estimator_ekf app is running\n");
+
 		} else {
 			printf("\tattitude_estimator_ekf app not started\n");
 		}
+
 		exit(0);
 	}
 
@@ -235,7 +238,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 	/* advertise debug value */
 	// struct debug_key_value_s dbg = { .key = "", .value = 0.0f };
 	// orb_advert_t pub_dbg = -1;
-	
+
 	float sensor_update_hz[3] = {0.0f, 0.0f, 0.0f};
 	// XXX write this out to perf regs
 
@@ -263,8 +266,8 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 	while (!thread_should_exit) {
 
 		struct pollfd fds[2] = {
-				{ .fd = sub_raw,   .events = POLLIN },
-				{ .fd = sub_params, .events = POLLIN }
+			{ .fd = sub_raw,   .events = POLLIN },
+			{ .fd = sub_params, .events = POLLIN }
 		};
 		int ret = poll(fds, 2, 1000);
 
@@ -273,10 +276,12 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 		} else if (ret == 0) {
 			/* check if we're in HIL - not getting sensor data is fine then */
 			orb_copy(ORB_ID(vehicle_status), sub_state, &state);
+
 			if (!state.flag_hil_enabled) {
-				fprintf(stderr, 
+				fprintf(stderr,
 					"[att ekf] WARNING: Not getting sensors - sensor app running?\n");
 			}
+
 		} else {
 
 			/* only update parameters if they changed */
@@ -308,6 +313,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 						gyro_offsets[1] /= offset_count;
 						gyro_offsets[2] /= offset_count;
 					}
+
 				} else {
 
 					perf_begin(ekf_loop_perf);
@@ -336,6 +342,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 						sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
 						sensor_last_timestamp[1] = raw.timestamp;
 					}
+
 					z_k[3] = raw.accelerometer_m_s2[0];
 					z_k[4] = raw.accelerometer_m_s2[1];
 					z_k[5] = raw.accelerometer_m_s2[2];
@@ -347,6 +354,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 						sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
 						sensor_last_timestamp[2] = raw.timestamp;
 					}
+
 					z_k[6] = raw.magnetometer_ga[0];
 					z_k[7] = raw.magnetometer_ga[1];
 					z_k[8] = raw.magnetometer_ga[2];
@@ -368,8 +376,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 					static bool const_initialized = false;
 
 					/* initialize with good values once we have a reasonable dt estimate */
-					if (!const_initialized && dt < 0.05f && dt > 0.005f)
-					{
+					if (!const_initialized && dt < 0.05f && dt > 0.005f) {
 						dt = 0.005f;
 						parameters_update(&ekf_param_handles, &ekf_params);
 
@@ -395,13 +402,15 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 					}
 
 					uint64_t timing_start = hrt_absolute_time();
-					
+
 					attitudeKalmanfilter(update_vect, dt, z_k, x_aposteriori_k, P_aposteriori_k, ekf_params.q, ekf_params.r,
-							euler, Rot_matrix, x_aposteriori, P_aposteriori);
+							     euler, Rot_matrix, x_aposteriori, P_aposteriori);
+
 					/* swap values for next iteration, check for fatal inputs */
 					if (isfinite(euler[0]) && isfinite(euler[1]) && isfinite(euler[2])) {
 						memcpy(P_aposteriori_k, P_aposteriori, sizeof(P_aposteriori_k));
 						memcpy(x_aposteriori_k, x_aposteriori, sizeof(x_aposteriori_k));
+
 					} else {
 						/* due to inputs or numerical failure the output is invalid, skip it */
 						continue;
@@ -413,9 +422,11 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 
 					/* send out */
 					att.timestamp = raw.timestamp;
-					att.roll = euler[0];
-					att.pitch = euler[1];
-					att.yaw = euler[2];
+
+					// XXX Apply the same transformation to the rotation matrix
+					att.roll = euler[0] - ekf_params.roll_off;
+					att.pitch = euler[1] - ekf_params.pitch_off;
+					att.yaw = euler[2] - ekf_params.yaw_off;
 
 					att.rollspeed = x_aposteriori[0];
 					att.pitchspeed = x_aposteriori[1];
@@ -431,6 +442,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 					if (isfinite(att.roll) && isfinite(att.pitch) && isfinite(att.yaw)) {
 						// Broadcast
 						orb_publish(ORB_ID(vehicle_attitude), pub_att, &att);
+
 					} else {
 						warnx("NaN in roll/pitch/yaw estimate!");
 					}
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c
index 4fc2e0452..91fec9ccb 100644
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c
@@ -35,7 +35,7 @@
 
 /*
  * @file attitude_estimator_ekf_params.c
- * 
+ *
  * Parameters for EKF filter
  */
 
@@ -65,13 +65,17 @@ PARAM_DEFINE_FLOAT(EKF_ATT_R0, 0.01f);
 PARAM_DEFINE_FLOAT(EKF_ATT_R1, 0.01f);
 PARAM_DEFINE_FLOAT(EKF_ATT_R2, 0.01f);
 /* accelerometer measurement noise */
-PARAM_DEFINE_FLOAT(EKF_ATT_R3, 1e1f);
-PARAM_DEFINE_FLOAT(EKF_ATT_R4, 1e1f);
-PARAM_DEFINE_FLOAT(EKF_ATT_R5, 1e1f);
+PARAM_DEFINE_FLOAT(EKF_ATT_R3, 1e2f);
+PARAM_DEFINE_FLOAT(EKF_ATT_R4, 1e2f);
+PARAM_DEFINE_FLOAT(EKF_ATT_R5, 1e2f);
 /* magnetometer measurement noise */
 PARAM_DEFINE_FLOAT(EKF_ATT_R6, 1e-1f);
 PARAM_DEFINE_FLOAT(EKF_ATT_R7, 1e-1f);
 PARAM_DEFINE_FLOAT(EKF_ATT_R8, 1e-1f);
+/* offsets in roll, pitch and yaw of sensor plane and body */
+PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f);
+PARAM_DEFINE_FLOAT(ATT_PITCH_OFFS, 0.0f);
+PARAM_DEFINE_FLOAT(ATT_YAW_OFFS, 0.0f);
 
 int parameters_init(struct attitude_estimator_ekf_param_handles *h)
 {
@@ -99,6 +103,10 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h)
 	h->r7 	=	param_find("EKF_ATT_R7");
 	h->r8 	=	param_find("EKF_ATT_R8");
 
+	h->roll_off  =	param_find("ATT_ROLL_OFFS");
+	h->pitch_off =	param_find("ATT_PITCH_OFFS");
+	h->yaw_off   =	param_find("ATT_YAW_OFFS");
+
 	return OK;
 }
 
@@ -127,5 +135,9 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru
 	param_get(h->r7, &(p->r[7]));
 	param_get(h->r8, &(p->r[8]));
 
+	param_get(h->roll_off, &(p->roll_off));
+	param_get(h->pitch_off, &(p->pitch_off));
+	param_get(h->yaw_off, &(p->yaw_off));
+
 	return OK;
 }
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h
index 6a63f9767..b315d5fe8 100644
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h
+++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h
@@ -35,7 +35,7 @@
 
 /*
  * @file attitude_estimator_ekf_params.h
- * 
+ *
  * Parameters for EKF filter
  */
 
@@ -44,11 +44,15 @@
 struct attitude_estimator_ekf_params {
 	float r[9];
 	float q[12];
+	float roll_off;
+	float pitch_off;
+	float yaw_off;
 };
 
 struct attitude_estimator_ekf_param_handles {
 	param_t r0, r1, r2, r3, r4, r5, r6, r7, r8;
 	param_t q0, q1, q2, q3, q4, q5, q6, q7, q8, q9, q10, q11;
+	param_t roll_off, pitch_off, yaw_off;
 };
 
 /**
diff --git a/apps/commander/calibration_routines.c b/apps/commander/calibration_routines.c
index dbf6cacaf..a26938637 100644
--- a/apps/commander/calibration_routines.c
+++ b/apps/commander/calibration_routines.c
@@ -45,172 +45,175 @@
 
 
 int sphere_fit_least_squares(const float x[], const float y[], const float z[],
-    unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius) {
-
-    float x_sumplain = 0.0f;
-    float x_sumsq = 0.0f;
-    float x_sumcube = 0.0f;
-
-    float y_sumplain = 0.0f;
-    float y_sumsq = 0.0f;
-    float y_sumcube = 0.0f;
-
-    float z_sumplain = 0.0f;
-    float z_sumsq = 0.0f;
-    float z_sumcube = 0.0f;
-
-    float xy_sum = 0.0f;
-    float xz_sum = 0.0f;
-    float yz_sum = 0.0f;
-
-    float x2y_sum = 0.0f;
-    float x2z_sum = 0.0f;
-    float y2x_sum = 0.0f;
-    float y2z_sum = 0.0f;
-    float z2x_sum = 0.0f;
-    float z2y_sum = 0.0f;
-
-    for (unsigned int i = 0; i < size; i++) {
-
-        float x2 = x[i] * x[i];
-        float y2 = y[i] * y[i];
-        float z2 = z[i] * z[i];
-
-        x_sumplain += x[i];
-        x_sumsq += x2;
-        x_sumcube += x2 * x[i];
-
-        y_sumplain += y[i];
-        y_sumsq += y2;
-        y_sumcube += y2 * y[i];
-
-        z_sumplain += z[i];
-        z_sumsq += z2;
-        z_sumcube += z2 * z[i];
-
-        xy_sum += x[i] * y[i];
-        xz_sum += x[i] * z[i];
-        yz_sum += y[i] * z[i];
-
-        x2y_sum += x2 * y[i];
-        x2z_sum += x2 * z[i];
-
-        y2x_sum += y2 * x[i];
-        y2z_sum += y2 * z[i];
-
-        z2x_sum += z2 * x[i];
-        z2y_sum += z2 * y[i];
-    }
-
-    //
-    //Least Squares Fit a sphere A,B,C with radius squared Rsq to 3D data
-    //
-    //    P is a structure that has been computed with the data earlier.
-    //    P.npoints is the number of elements; the length of X,Y,Z are identical.
-    //    P's members are logically named.
-    //
-    //    X[n] is the x component of point n
-    //    Y[n] is the y component of point n
-    //    Z[n] is the z component of point n
-    //
-    //    A is the x coordiante of the sphere
-    //    B is the y coordiante of the sphere
-    //    C is the z coordiante of the sphere
-    //    Rsq is the radius squared of the sphere.
-    //
-    //This method should converge; maybe 5-100 iterations or more.
-    //
-    float x_sum = x_sumplain / size;        //sum( X[n] )
-    float x_sum2 = x_sumsq / size;    //sum( X[n]^2 )
-    float x_sum3 = x_sumcube / size;    //sum( X[n]^3 )
-    float y_sum = y_sumplain / size;        //sum( Y[n] )
-    float y_sum2 = y_sumsq / size;    //sum( Y[n]^2 )
-    float y_sum3 = y_sumcube / size;    //sum( Y[n]^3 )
-    float z_sum = z_sumplain / size;        //sum( Z[n] )
-    float z_sum2 = z_sumsq / size;    //sum( Z[n]^2 )
-    float z_sum3 = z_sumcube / size;    //sum( Z[n]^3 )
-
-    float XY = xy_sum / size;        //sum( X[n] * Y[n] )
-    float XZ = xz_sum / size;        //sum( X[n] * Z[n] )
-    float YZ = yz_sum / size;        //sum( Y[n] * Z[n] )
-    float X2Y = x2y_sum / size;    //sum( X[n]^2 * Y[n] )
-    float X2Z = x2z_sum / size;    //sum( X[n]^2 * Z[n] )
-    float Y2X = y2x_sum / size;    //sum( Y[n]^2 * X[n] )
-    float Y2Z = y2z_sum / size;    //sum( Y[n]^2 * Z[n] )
-    float Z2X = z2x_sum / size;    //sum( Z[n]^2 * X[n] )
-    float Z2Y = z2y_sum / size;    //sum( Z[n]^2 * Y[n] )
-
-    //Reduction of multiplications
-    float F0 = x_sum2 + y_sum2 + z_sum2;
-    float F1 =  0.5f * F0;
-    float F2 = -8.0f * (x_sum3 + Y2X + Z2X);
-    float F3 = -8.0f * (X2Y + y_sum3 + Z2Y);
-    float F4 = -8.0f * (X2Z + Y2Z + z_sum3);
-
-    //Set initial conditions:
-    float A = x_sum;
-    float B = y_sum;
-    float C = z_sum;
-
-    //First iteration computation:
-    float A2 = A*A;
-    float B2 = B*B;
-    float C2 = C*C;
-    float QS = A2 + B2 + C2;
-    float QB = -2.0f * (A*x_sum + B*y_sum + C*z_sum);
-
-    //Set initial conditions:
-    float Rsq = F0 + QB + QS;
-
-    //First iteration computation:
-    float Q0 = 0.5f * (QS - Rsq);
-    float Q1 = F1 + Q0;
-    float Q2 = 8.0f * ( QS - Rsq + QB + F0 );
-    float aA,aB,aC,nA,nB,nC,dA,dB,dC;
-
-    //Iterate N times, ignore stop condition.
-    int n = 0;
-    while( n < max_iterations ){
-        n++;
-
-        //Compute denominator:
-        aA = Q2 + 16.0f * (A2 - 2.0f * A*x_sum + x_sum2);
-        aB = Q2 + 16.0f *(B2 - 2.0f * B*y_sum + y_sum2);
-        aC = Q2 + 16.0f *(C2 - 2.0f * C*z_sum + z_sum2);
-        aA = (aA == 0.0f) ? 1.0f : aA;
-        aB = (aB == 0.0f) ? 1.0f : aB;
-        aC = (aC == 0.0f) ? 1.0f : aC;
-
-        //Compute next iteration
-        nA = A - ((F2 + 16.0f * ( B*XY + C*XZ + x_sum*(-A2 - Q0) + A*(x_sum2 + Q1 - C*z_sum - B*y_sum) ) )/aA);
-        nB = B - ((F3 + 16.0f * ( A*XY + C*YZ + y_sum*(-B2 - Q0) + B*(y_sum2 + Q1 - A*x_sum - C*z_sum) ) )/aB);
-        nC = C - ((F4 + 16.0f * ( A*XZ + B*YZ + z_sum*(-C2 - Q0) + C*(z_sum2 + Q1 - A*x_sum - B*y_sum) ) )/aC);
-
-        //Check for stop condition
-        dA = (nA - A);
-        dB = (nB - B);
-        dC = (nC - C);
-        if( (dA*dA + dB*dB + dC*dC) <= delta ){ break; }
-
-        //Compute next iteration's values
-        A = nA;
-        B = nB;
-        C = nC;
-        A2 = A*A;
-        B2 = B*B;
-        C2 = C*C;
-        QS = A2 + B2 + C2;
-        QB = -2.0f * (A*x_sum + B*y_sum + C*z_sum);
-        Rsq = F0 + QB + QS;
-        Q0 = 0.5f * (QS - Rsq);
-        Q1 = F1 + Q0;
-        Q2 = 8.0f * ( QS - Rsq + QB + F0 );
-    }
-
-    *sphere_x = A;
-    *sphere_y = B;
-    *sphere_z = C;
-    *sphere_radius = sqrtf(Rsq);
-
-    return 0;
+			     unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius)
+{
+
+	float x_sumplain = 0.0f;
+	float x_sumsq = 0.0f;
+	float x_sumcube = 0.0f;
+
+	float y_sumplain = 0.0f;
+	float y_sumsq = 0.0f;
+	float y_sumcube = 0.0f;
+
+	float z_sumplain = 0.0f;
+	float z_sumsq = 0.0f;
+	float z_sumcube = 0.0f;
+
+	float xy_sum = 0.0f;
+	float xz_sum = 0.0f;
+	float yz_sum = 0.0f;
+
+	float x2y_sum = 0.0f;
+	float x2z_sum = 0.0f;
+	float y2x_sum = 0.0f;
+	float y2z_sum = 0.0f;
+	float z2x_sum = 0.0f;
+	float z2y_sum = 0.0f;
+
+	for (unsigned int i = 0; i < size; i++) {
+
+		float x2 = x[i] * x[i];
+		float y2 = y[i] * y[i];
+		float z2 = z[i] * z[i];
+
+		x_sumplain += x[i];
+		x_sumsq += x2;
+		x_sumcube += x2 * x[i];
+
+		y_sumplain += y[i];
+		y_sumsq += y2;
+		y_sumcube += y2 * y[i];
+
+		z_sumplain += z[i];
+		z_sumsq += z2;
+		z_sumcube += z2 * z[i];
+
+		xy_sum += x[i] * y[i];
+		xz_sum += x[i] * z[i];
+		yz_sum += y[i] * z[i];
+
+		x2y_sum += x2 * y[i];
+		x2z_sum += x2 * z[i];
+
+		y2x_sum += y2 * x[i];
+		y2z_sum += y2 * z[i];
+
+		z2x_sum += z2 * x[i];
+		z2y_sum += z2 * y[i];
+	}
+
+	//
+	//Least Squares Fit a sphere A,B,C with radius squared Rsq to 3D data
+	//
+	//    P is a structure that has been computed with the data earlier.
+	//    P.npoints is the number of elements; the length of X,Y,Z are identical.
+	//    P's members are logically named.
+	//
+	//    X[n] is the x component of point n
+	//    Y[n] is the y component of point n
+	//    Z[n] is the z component of point n
+	//
+	//    A is the x coordiante of the sphere
+	//    B is the y coordiante of the sphere
+	//    C is the z coordiante of the sphere
+	//    Rsq is the radius squared of the sphere.
+	//
+	//This method should converge; maybe 5-100 iterations or more.
+	//
+	float x_sum = x_sumplain / size;        //sum( X[n] )
+	float x_sum2 = x_sumsq / size;    //sum( X[n]^2 )
+	float x_sum3 = x_sumcube / size;    //sum( X[n]^3 )
+	float y_sum = y_sumplain / size;        //sum( Y[n] )
+	float y_sum2 = y_sumsq / size;    //sum( Y[n]^2 )
+	float y_sum3 = y_sumcube / size;    //sum( Y[n]^3 )
+	float z_sum = z_sumplain / size;        //sum( Z[n] )
+	float z_sum2 = z_sumsq / size;    //sum( Z[n]^2 )
+	float z_sum3 = z_sumcube / size;    //sum( Z[n]^3 )
+
+	float XY = xy_sum / size;        //sum( X[n] * Y[n] )
+	float XZ = xz_sum / size;        //sum( X[n] * Z[n] )
+	float YZ = yz_sum / size;        //sum( Y[n] * Z[n] )
+	float X2Y = x2y_sum / size;    //sum( X[n]^2 * Y[n] )
+	float X2Z = x2z_sum / size;    //sum( X[n]^2 * Z[n] )
+	float Y2X = y2x_sum / size;    //sum( Y[n]^2 * X[n] )
+	float Y2Z = y2z_sum / size;    //sum( Y[n]^2 * Z[n] )
+	float Z2X = z2x_sum / size;    //sum( Z[n]^2 * X[n] )
+	float Z2Y = z2y_sum / size;    //sum( Z[n]^2 * Y[n] )
+
+	//Reduction of multiplications
+	float F0 = x_sum2 + y_sum2 + z_sum2;
+	float F1 =  0.5f * F0;
+	float F2 = -8.0f * (x_sum3 + Y2X + Z2X);
+	float F3 = -8.0f * (X2Y + y_sum3 + Z2Y);
+	float F4 = -8.0f * (X2Z + Y2Z + z_sum3);
+
+	//Set initial conditions:
+	float A = x_sum;
+	float B = y_sum;
+	float C = z_sum;
+
+	//First iteration computation:
+	float A2 = A * A;
+	float B2 = B * B;
+	float C2 = C * C;
+	float QS = A2 + B2 + C2;
+	float QB = -2.0f * (A * x_sum + B * y_sum + C * z_sum);
+
+	//Set initial conditions:
+	float Rsq = F0 + QB + QS;
+
+	//First iteration computation:
+	float Q0 = 0.5f * (QS - Rsq);
+	float Q1 = F1 + Q0;
+	float Q2 = 8.0f * (QS - Rsq + QB + F0);
+	float aA, aB, aC, nA, nB, nC, dA, dB, dC;
+
+	//Iterate N times, ignore stop condition.
+	int n = 0;
+
+	while (n < max_iterations) {
+		n++;
+
+		//Compute denominator:
+		aA = Q2 + 16.0f * (A2 - 2.0f * A * x_sum + x_sum2);
+		aB = Q2 + 16.0f * (B2 - 2.0f * B * y_sum + y_sum2);
+		aC = Q2 + 16.0f * (C2 - 2.0f * C * z_sum + z_sum2);
+		aA = (aA == 0.0f) ? 1.0f : aA;
+		aB = (aB == 0.0f) ? 1.0f : aB;
+		aC = (aC == 0.0f) ? 1.0f : aC;
+
+		//Compute next iteration
+		nA = A - ((F2 + 16.0f * (B * XY + C * XZ + x_sum * (-A2 - Q0) + A * (x_sum2 + Q1 - C * z_sum - B * y_sum))) / aA);
+		nB = B - ((F3 + 16.0f * (A * XY + C * YZ + y_sum * (-B2 - Q0) + B * (y_sum2 + Q1 - A * x_sum - C * z_sum))) / aB);
+		nC = C - ((F4 + 16.0f * (A * XZ + B * YZ + z_sum * (-C2 - Q0) + C * (z_sum2 + Q1 - A * x_sum - B * y_sum))) / aC);
+
+		//Check for stop condition
+		dA = (nA - A);
+		dB = (nB - B);
+		dC = (nC - C);
+
+		if ((dA * dA + dB * dB + dC * dC) <= delta) { break; }
+
+		//Compute next iteration's values
+		A = nA;
+		B = nB;
+		C = nC;
+		A2 = A * A;
+		B2 = B * B;
+		C2 = C * C;
+		QS = A2 + B2 + C2;
+		QB = -2.0f * (A * x_sum + B * y_sum + C * z_sum);
+		Rsq = F0 + QB + QS;
+		Q0 = 0.5f * (QS - Rsq);
+		Q1 = F1 + Q0;
+		Q2 = 8.0f * (QS - Rsq + QB + F0);
+	}
+
+	*sphere_x = A;
+	*sphere_y = B;
+	*sphere_z = C;
+	*sphere_radius = sqrtf(Rsq);
+
+	return 0;
 }
diff --git a/apps/commander/calibration_routines.h b/apps/commander/calibration_routines.h
index 063823109..e3e7fbafd 100644
--- a/apps/commander/calibration_routines.h
+++ b/apps/commander/calibration_routines.h
@@ -58,4 +58,4 @@
  * @return 0 on success, 1 on failure
  */
 int sphere_fit_least_squares(const float x[], const float y[], const float z[],
-    unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius);
\ No newline at end of file
+			     unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius);
\ No newline at end of file
diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index 7277e9fa4..3a6fecf74 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -59,7 +59,6 @@
 #include <errno.h>
 #include <debug.h>
 #include <sys/prctl.h>
-#include <v1.0/common/mavlink.h>
 #include <string.h>
 #include <drivers/drv_led.h>
 #include <drivers/drv_hrt.h>
@@ -70,12 +69,17 @@
 #include <poll.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/battery_status.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/offboard_control_setpoint.h>
+#include <uORB/topics/home_position.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/subsystem_info.h>
 #include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/parameter_update.h>
 #include <mavlink/mavlink_log.h>
 
 #include <systemlib/param/param.h>
@@ -93,6 +97,9 @@
 
 PARAM_DEFINE_INT32(SYS_FAILSAVE_LL, 0);	/**< Go into low-level failsafe after 0 ms */
 //PARAM_DEFINE_INT32(SYS_FAILSAVE_HL, 0);	/**< Go into high-level failsafe after 0 ms */
+PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
+PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
+PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);
 
 #include <systemlib/cpuload.h>
 extern struct system_load_s system_load;
@@ -142,7 +149,6 @@ int commander_thread_main(int argc, char *argv[]);
 
 static int buzzer_init(void);
 static void buzzer_deinit(void);
-static void tune_confirm(void);
 static int led_init(void);
 static void led_deinit(void);
 static int led_toggle(int led);
@@ -150,6 +156,7 @@ static int led_on(int led);
 static int led_off(int led);
 static void do_gyro_calibration(int status_pub, struct vehicle_status_s *status);
 static void do_mag_calibration(int status_pub, struct vehicle_status_s *status);
+static void do_rc_calibration(int status_pub, struct vehicle_status_s *status);
 static void do_accel_calibration(int status_pub, struct vehicle_status_s *status);
 static void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd);
 
@@ -177,7 +184,7 @@ static int buzzer_init()
 	buzzer = open("/dev/tone_alarm", O_WRONLY);
 
 	if (buzzer < 0) {
-		fprintf(stderr, "[commander] Buzzer: open fail\n");
+		warnx("Buzzer: open fail\n");
 		return ERROR;
 	}
 
@@ -195,12 +202,12 @@ static int led_init()
 	leds = open(LED_DEVICE_PATH, 0);
 
 	if (leds < 0) {
-		fprintf(stderr, "[commander] LED: open fail\n");
+		warnx("LED: open fail\n");
 		return ERROR;
 	}
 
 	if (ioctl(leds, LED_ON, LED_BLUE) || ioctl(leds, LED_ON, LED_AMBER)) {
-		fprintf(stderr, "[commander] LED: ioctl fail\n");
+		warnx("LED: ioctl fail\n");
 		return ERROR;
 	}
 
@@ -242,11 +249,12 @@ enum AUDIO_PATTERN {
 	AUDIO_PATTERN_TETRIS = 5
 };
 
-int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state) {
+int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state)
+{
 
 	/* Trigger alarm if going into any error state */
 	if (((new_state == SYSTEM_STATE_GROUND_ERROR) && (old_state != SYSTEM_STATE_GROUND_ERROR)) ||
-		((new_state == SYSTEM_STATE_MISSION_ABORT) && (old_state != SYSTEM_STATE_MISSION_ABORT))) {
+	    ((new_state == SYSTEM_STATE_MISSION_ABORT) && (old_state != SYSTEM_STATE_MISSION_ABORT))) {
 		ioctl(buzzer, TONE_SET_ALARM, 0);
 		ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_ERROR);
 	}
@@ -262,10 +270,47 @@ int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, u
 	return 0;
 }
 
-void tune_confirm(void) {
+void tune_confirm(void)
+{
 	ioctl(buzzer, TONE_SET_ALARM, 3);
 }
 
+void tune_error(void)
+{
+	ioctl(buzzer, TONE_SET_ALARM, 4);
+}
+
+void do_rc_calibration(int status_pub, struct vehicle_status_s *status)
+{
+	if (current_status.offboard_control_signal_lost) {
+		mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal.");
+		return;
+	}
+
+	int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint));
+	struct manual_control_setpoint_s sp;
+	orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp);
+
+	/* set parameters */
+
+	float p = sp.roll;
+	param_set(param_find("TRIM_ROLL"), &p);
+	p = sp.pitch;
+	param_set(param_find("TRIM_PITCH"), &p);
+	p = sp.yaw;
+	param_set(param_find("TRIM_YAW"), &p);
+
+	/* store to permanent storage */
+	/* auto-save to EEPROM */
+	int save_ret = param_save_default();
+
+	if (save_ret != 0) {
+		mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed");
+	}
+
+	mavlink_log_info(mavlink_fd, "trim calibration done");
+}
+
 void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 {
 
@@ -291,7 +336,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 	//  * but the smallest number by magnitude float can
 	//  * represent. Use -FLT_MAX to initialize the most
 	//  * negative number
-	 
+
 	// float mag_max[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX};
 	// float mag_min[3] = {FLT_MAX, FLT_MAX, FLT_MAX};
 
@@ -306,9 +351,10 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 		0.0f,
 		1.0f,
 	};
+
 	if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
 		warn("WARNING: failed to set scale / offsets for mag");
-		mavlink_log_info(mavlink_fd, "[commander] failed to set scale / offsets for mag");
+		mavlink_log_info(mavlink_fd, "failed to set scale / offsets for mag");
 	}
 
 	/* calibrate range */
@@ -328,14 +374,14 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 	const char axislabels[3] = { 'X', 'Y', 'Z'};
 	int axis_index = -1;
 
-	float *x = (float*)malloc(sizeof(float) * calibration_maxcount);
-	float *y = (float*)malloc(sizeof(float) * calibration_maxcount);
-	float *z = (float*)malloc(sizeof(float) * calibration_maxcount);
+	float *x = (float *)malloc(sizeof(float) * calibration_maxcount);
+	float *y = (float *)malloc(sizeof(float) * calibration_maxcount);
+	float *z = (float *)malloc(sizeof(float) * calibration_maxcount);
 
 	if (x == NULL || y == NULL || z == NULL) {
 		warnx("mag cal failed: out of memory");
 		mavlink_log_info(mavlink_fd, "mag cal failed: out of memory");
-		printf("x:%p y:%p z:%p\n", x, y, z);
+		warnx("x:%p y:%p z:%p\n", x, y, z);
 		return;
 	}
 
@@ -344,22 +390,22 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 	tune_confirm();
 
 	while (hrt_absolute_time() < calibration_deadline &&
-		calibration_counter < calibration_maxcount) {
+	       calibration_counter < calibration_maxcount) {
 
 		/* wait blocking for new data */
 		struct pollfd fds[1] = { { .fd = sub_mag, .events = POLLIN } };
 
 		/* user guidance */
 		if (hrt_absolute_time() >= axis_deadline &&
-			axis_index < 3) {
+		    axis_index < 3) {
 
 			axis_index++;
 
 			char buf[50];
-			sprintf(buf, "[commander] Please rotate around %c", axislabels[axis_index]);
+			sprintf(buf, "Please rotate around %c", axislabels[axis_index]);
 			mavlink_log_info(mavlink_fd, buf);
 			tune_confirm();
-		
+
 			axis_deadline += calibration_interval / 3;
 		}
 
@@ -371,7 +417,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 
 		// if ((axis_left / 1000) == 0 && axis_left > 0) {
 		// 	char buf[50];
-		// 	sprintf(buf, "[commander] %d seconds left for axis %c", axis_left, axislabels[axis_index]);
+		// 	sprintf(buf, "[cmd] %d seconds left for axis %c", axis_left, axislabels[axis_index]);
 		// 	mavlink_log_info(mavlink_fd, buf);
 		// }
 
@@ -406,9 +452,10 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 			// }
 
 			calibration_counter++;
+
 		} else {
 			/* any poll failure for 1s is a reason to abort */
-			mavlink_log_info(mavlink_fd, "[commander] mag cal canceled");
+			mavlink_log_info(mavlink_fd, "mag cal canceled");
 			break;
 		}
 	}
@@ -439,45 +486,47 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 
 		if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
 			warn("WARNING: failed to set scale / offsets for mag");
+
 		close(fd);
 
 		/* announce and set new offset */
 
 		if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) {
-			fprintf(stderr, "[commander] Setting X mag offset failed!\n");
+			warnx("Setting X mag offset failed!\n");
 		}
 
 		if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) {
-			fprintf(stderr, "[commander] Setting Y mag offset failed!\n");
+			warnx("Setting Y mag offset failed!\n");
 		}
 
 		if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) {
-			fprintf(stderr, "[commander] Setting Z mag offset failed!\n");
+			warnx("Setting Z mag offset failed!\n");
 		}
 
 		if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) {
-			fprintf(stderr, "[commander] Setting X mag scale failed!\n");
+			warnx("Setting X mag scale failed!\n");
 		}
 
 		if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) {
-			fprintf(stderr, "[commander] Setting Y mag scale failed!\n");
+			warnx("Setting Y mag scale failed!\n");
 		}
 
 		if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) {
-			fprintf(stderr, "[commander] Setting Z mag scale failed!\n");
+			warnx("Setting Z mag scale failed!\n");
 		}
 
 		/* auto-save to EEPROM */
 		int save_ret = param_save_default();
-		if(save_ret != 0) {
+
+		if (save_ret != 0) {
 			warn("WARNING: auto-save of params to storage failed");
-			mavlink_log_info(mavlink_fd, "[cmd] FAILED storing calibration");
+			mavlink_log_info(mavlink_fd, "FAILED storing calibration");
 		}
 
-		printf("[mag cal]\tscale: %.6f %.6f %.6f\n         \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n",
-			(double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale,
-			(double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset, (double)sphere_radius);
-		
+		warnx("\tscale: %.6f %.6f %.6f\n         \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n",
+		       (double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale,
+		       (double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset, (double)sphere_radius);
+
 		char buf[52];
 		sprintf(buf, "mag off: x:%.2f y:%.2f z:%.2f Ga", (double)mscale.x_offset,
 			(double)mscale.y_offset, (double)mscale.z_offset);
@@ -487,7 +536,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 			(double)mscale.y_scale, (double)mscale.z_scale);
 		mavlink_log_info(mavlink_fd, buf);
 
-		mavlink_log_info(mavlink_fd, "[commander] mag calibration done");
+		mavlink_log_info(mavlink_fd, "mag calibration done");
 
 		tune_confirm();
 		sleep(2);
@@ -496,7 +545,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 		/* third beep by cal end routine */
 
 	} else {
-		mavlink_log_info(mavlink_fd, "[commander] mag calibration FAILED (NaN)");
+		mavlink_log_info(mavlink_fd, "mag calibration FAILED (NaN)");
 	}
 
 	/* disable calibration mode */
@@ -522,7 +571,7 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 
 	/* set offsets to zero */
 	int fd = open(GYRO_DEVICE_PATH, 0);
-	struct gyro_scale gscale_null = { 
+	struct gyro_scale gscale_null = {
 		0.0f,
 		1.0f,
 		0.0f,
@@ -530,8 +579,10 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 		0.0f,
 		1.0f,
 	};
+
 	if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale_null))
 		warn("WARNING: failed to set scale / offsets for gyro");
+
 	close(fd);
 
 	while (calibration_counter < calibration_count) {
@@ -545,9 +596,10 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 			gyro_offset[1] += raw.gyro_rad_s[1];
 			gyro_offset[2] += raw.gyro_rad_s[2];
 			calibration_counter++;
+
 		} else {
 			/* any poll failure for 1s is a reason to abort */
-			mavlink_log_info(mavlink_fd, "[commander] gyro calibration aborted, retry");
+			mavlink_log_info(mavlink_fd, "gyro calibration aborted, retry");
 			return;
 		}
 	}
@@ -562,21 +614,15 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 
 	if (isfinite(gyro_offset[0]) && isfinite(gyro_offset[1]) && isfinite(gyro_offset[2])) {
 
-		if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0]))) {
-			mavlink_log_critical(mavlink_fd, "[commander] Setting X gyro offset failed!");
-		}
-		
-		if (param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1]))) {
-			mavlink_log_critical(mavlink_fd, "[commander] Setting Y gyro offset failed!");
-		}
-
-		if (param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_offset[2]))) {
-			mavlink_log_critical(mavlink_fd, "[commander] Setting Z gyro offset failed!");
+		if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0]))
+			|| param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1]))
+			|| param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_offset[2]))) {
+			mavlink_log_critical(mavlink_fd, "Setting gyro offsets failed!");
 		}
 
 		/* set offsets to actual value */
 		fd = open(GYRO_DEVICE_PATH, 0);
-		struct gyro_scale gscale = { 
+		struct gyro_scale gscale = {
 			gyro_offset[0],
 			1.0f,
 			gyro_offset[1],
@@ -584,28 +630,32 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 			gyro_offset[2],
 			1.0f,
 		};
+
 		if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))
 			warn("WARNING: failed to set scale / offsets for gyro");
+
 		close(fd);
 
 		/* auto-save to EEPROM */
 		int save_ret = param_save_default();
-		if(save_ret != 0) {
+
+		if (save_ret != 0) {
 			warn("WARNING: auto-save of params to storage failed");
 		}
 
 		// char buf[50];
 		// sprintf(buf, "cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]);
 		// mavlink_log_info(mavlink_fd, buf);
-		mavlink_log_info(mavlink_fd, "[commander] gyro calibration done");
+		mavlink_log_info(mavlink_fd, "gyro calibration done");
 
 		tune_confirm();
 		sleep(2);
 		tune_confirm();
 		sleep(2);
 		/* third beep by cal end routine */
+
 	} else {
-		mavlink_log_info(mavlink_fd, "[commander] gyro calibration FAILED (NaN)");
+		mavlink_log_info(mavlink_fd, "gyro calibration FAILED (NaN)");
 	}
 
 	close(sub_sensor_combined);
@@ -615,7 +665,7 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 {
 	/* announce change */
 
-	mavlink_log_info(mavlink_fd, "[commander] keep it level and still");
+	mavlink_log_info(mavlink_fd, "keep it level and still");
 	/* set to accel calibration mode */
 	status->flag_preflight_accel_calibration = true;
 	state_machine_publish(status_pub, status, mavlink_fd);
@@ -637,9 +687,12 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 		0.0f,
 		1.0f,
 	};
+
 	if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale_null))
 		warn("WARNING: failed to set scale / offsets for accel");
+
 	close(fd);
+
 	while (calibration_counter < calibration_count) {
 
 		/* wait blocking for new data */
@@ -651,48 +704,35 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 			accel_offset[1] += raw.accelerometer_m_s2[1];
 			accel_offset[2] += raw.accelerometer_m_s2[2];
 			calibration_counter++;
+
 		} else {
 			/* any poll failure for 1s is a reason to abort */
-			mavlink_log_info(mavlink_fd, "[commander] acceleration calibration aborted");
+			mavlink_log_info(mavlink_fd, "acceleration calibration aborted");
 			return;
 		}
 	}
+
 	accel_offset[0] = accel_offset[0] / calibration_count;
 	accel_offset[1] = accel_offset[1] / calibration_count;
 	accel_offset[2] = accel_offset[2] / calibration_count;
 
 	if (isfinite(accel_offset[0]) && isfinite(accel_offset[1]) && isfinite(accel_offset[2])) {
-		
+
 		/* add the removed length from x / y to z, since we induce a scaling issue else */
-		float total_len = sqrtf(accel_offset[0]*accel_offset[0] + accel_offset[1]*accel_offset[1] + accel_offset[2]*accel_offset[2]);
+		float total_len = sqrtf(accel_offset[0] * accel_offset[0] + accel_offset[1] * accel_offset[1] + accel_offset[2] * accel_offset[2]);
 
 		/* if length is correct, zero results here */
 		accel_offset[2] = accel_offset[2] + total_len;
 
 		float scale = 9.80665f / total_len;
 
-		if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offset[0]))) {
-			mavlink_log_critical(mavlink_fd, "[commander] Setting X accel offset failed!");
-		}
-		
-		if (param_set(param_find("SENS_ACC_YOFF"), &(accel_offset[1]))) {
-			mavlink_log_critical(mavlink_fd, "[commander] Setting Y accel offset failed!");
-		}
-
-		if (param_set(param_find("SENS_ACC_ZOFF"), &(accel_offset[2]))) {
-			mavlink_log_critical(mavlink_fd, "[commander] Setting Z accel offset failed!");
-		}
-
-		if (param_set(param_find("SENS_ACC_XSCALE"), &(scale))) {
-			mavlink_log_critical(mavlink_fd, "[commander] Setting X accel offset failed!");
-		}
-		
-		if (param_set(param_find("SENS_ACC_YSCALE"), &(scale))) {
-			mavlink_log_critical(mavlink_fd, "[commander] Setting Y accel offset failed!");
-		}
-
-		if (param_set(param_find("SENS_ACC_ZSCALE"), &(scale))) {
-			mavlink_log_critical(mavlink_fd, "[commander] Setting Z accel offset failed!");
+		if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offset[0]))
+			|| param_set(param_find("SENS_ACC_YOFF"), &(accel_offset[1]))
+			|| param_set(param_find("SENS_ACC_ZOFF"), &(accel_offset[2]))
+			|| param_set(param_find("SENS_ACC_XSCALE"), &(scale))
+			|| param_set(param_find("SENS_ACC_YSCALE"), &(scale))
+			|| param_set(param_find("SENS_ACC_ZSCALE"), &(scale))) {
+			mavlink_log_critical(mavlink_fd, "Setting offs or scale failed!");
 		}
 
 		fd = open(ACCEL_DEVICE_PATH, 0);
@@ -704,28 +744,32 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 			accel_offset[2],
 			scale,
 		};
+
 		if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
 			warn("WARNING: failed to set scale / offsets for accel");
+
 		close(fd);
 
 		/* auto-save to EEPROM */
 		int save_ret = param_save_default();
-		if(save_ret != 0) {
+
+		if (save_ret != 0) {
 			warn("WARNING: auto-save of params to storage failed");
 		}
 
 		//char buf[50];
-		//sprintf(buf, "[commander] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]);
+		//sprintf(buf, "[cmd] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]);
 		//mavlink_log_info(mavlink_fd, buf);
-		mavlink_log_info(mavlink_fd, "[commander] accel calibration done");
+		mavlink_log_info(mavlink_fd, "accel calibration done");
 
 		tune_confirm();
 		sleep(2);
 		tune_confirm();
 		sleep(2);
 		/* third beep by cal end routine */
+
 	} else {
-		mavlink_log_info(mavlink_fd, "[commander] accel calibration FAILED (NaN)");
+		mavlink_log_info(mavlink_fd, "accel calibration FAILED (NaN)");
 	}
 
 	/* exit accel calibration mode */
@@ -740,7 +784,7 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_status, struct vehicle_command_s *cmd)
 {
 	/* result of the command */
-	uint8_t result = MAV_RESULT_UNSUPPORTED;
+	uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
 
 	/* announce command handling */
 	tune_confirm();
@@ -750,99 +794,79 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 
 	/* request to set different system mode */
 	switch (cmd->command) {
-		case MAV_CMD_DO_SET_MODE:
-		{
+	case VEHICLE_CMD_DO_SET_MODE: {
 			if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, (uint8_t)cmd->param1)) {
-				result = MAV_RESULT_ACCEPTED;
+				result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 			} else {
-				result = MAV_RESULT_DENIED;
+				result = VEHICLE_CMD_RESULT_DENIED;
 			}
 		}
 		break;
 
-		case MAV_CMD_COMPONENT_ARM_DISARM: {
+	case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
 			/* request to arm */
 			if ((int)cmd->param1 == 1) {
 				if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
-					result = MAV_RESULT_ACCEPTED;
+					result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 				} else {
-					result = MAV_RESULT_DENIED;
+					result = VEHICLE_CMD_RESULT_DENIED;
 				}
-			/* request to disarm */
+
+				/* request to disarm */
+
 			} else if ((int)cmd->param1 == 0) {
 				if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
-					result = MAV_RESULT_ACCEPTED;
+					result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 				} else {
-					result = MAV_RESULT_DENIED;
+					result = VEHICLE_CMD_RESULT_DENIED;
 				}
 			}
 		}
 		break;
 
 		/* request for an autopilot reboot */
-		case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN: {
+	case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: {
 			if ((int)cmd->param1 == 1) {
 				if (OK == do_state_update(status_pub, current_vehicle_status, mavlink_fd, SYSTEM_STATE_REBOOT)) {
 					/* SPECIAL CASE: SYSTEM WILL NEVER RETURN HERE */
-					result = MAV_RESULT_ACCEPTED;
+					result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 				} else {
 					/* system may return here */
-					result = MAV_RESULT_DENIED;
+					result = VEHICLE_CMD_RESULT_DENIED;
 				}
 			}
 		}
 		break;
 
-		case PX4_CMD_CONTROLLER_SELECTION: {
-			bool changed = false;
-			if ((int)cmd->param1 != (int)current_vehicle_status->flag_control_rates_enabled) {
-				current_vehicle_status->flag_control_rates_enabled = cmd->param1;
-				changed = true;
-			}
-			if ((int)cmd->param2 != (int)current_vehicle_status->flag_control_attitude_enabled) {
-				current_vehicle_status->flag_control_attitude_enabled = cmd->param2;
-				changed = true;
-			}
-			if ((int)cmd->param3 != (int)current_vehicle_status->flag_control_velocity_enabled) {
-				current_vehicle_status->flag_control_velocity_enabled = cmd->param3;
-				changed = true;
-			}
-			if ((int)cmd->param4 != (int)current_vehicle_status->flag_control_position_enabled) {
-				current_vehicle_status->flag_control_position_enabled = cmd->param4;
-				changed = true;
-			}
-
-			if (changed) {
-				/* publish current state machine */
-				state_machine_publish(status_pub, current_vehicle_status, mavlink_fd);
-			}
-		}
-
 //		/* request to land */
-//		case MAV_CMD_NAV_LAND:
+//		case VEHICLE_CMD_NAV_LAND:
 //		 {
 //				//TODO: add check if landing possible
 //				//TODO: add landing maneuver
 //
 //				if (0 == update_state_machine_custom_mode_request(status_pub, current_vehicle_status, SYSTEM_STATE_ARMED)) {
-//					result = MAV_RESULT_ACCEPTED;
+//					result = VEHICLE_CMD_RESULT_ACCEPTED;
 //		}		}
 //		break;
 //
 //		/* request to takeoff */
-//		case MAV_CMD_NAV_TAKEOFF:
+//		case VEHICLE_CMD_NAV_TAKEOFF:
 //		{
 //			//TODO: add check if takeoff possible
 //			//TODO: add takeoff maneuver
 //
 //			if (0 == update_state_machine_custom_mode_request(status_pub, current_vehicle_status, SYSTEM_STATE_AUTO)) {
-//				result = MAV_RESULT_ACCEPTED;
+//				result = VEHICLE_CMD_RESULT_ACCEPTED;
 //			}
 //		}
 //		break;
 //
 		/* preflight calibration */
-		case MAV_CMD_PREFLIGHT_CALIBRATION: {
+	case VEHICLE_CMD_PREFLIGHT_CALIBRATION: {
 			bool handled = false;
 
 			/* gyro calibration */
@@ -851,17 +875,19 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 				do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
 
 				if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
-					mavlink_log_info(mavlink_fd, "[commander] CMD starting gyro calibration");
+					mavlink_log_info(mavlink_fd, "starting gyro cal");
 					tune_confirm();
 					do_gyro_calibration(status_pub, &current_status);
-					mavlink_log_info(mavlink_fd, "[commander] CMD finished gyro calibration");
+					mavlink_log_info(mavlink_fd, "finished gyro cal");
 					tune_confirm();
 					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
-					result = MAV_RESULT_ACCEPTED;
+					result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 				} else {
-					mavlink_log_critical(mavlink_fd, "[commander] REJECTING gyro calibration");
-					result = MAV_RESULT_DENIED;
+					mavlink_log_critical(mavlink_fd, "REJECTING gyro cal");
+					result = VEHICLE_CMD_RESULT_DENIED;
 				}
+
 				handled = true;
 			}
 
@@ -871,17 +897,58 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 				do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
 
 				if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
-					mavlink_log_info(mavlink_fd, "[commander] CMD starting mag calibration");
+					mavlink_log_info(mavlink_fd, "starting mag cal");
 					tune_confirm();
 					do_mag_calibration(status_pub, &current_status);
-					mavlink_log_info(mavlink_fd, "[commander] CMD finished mag calibration");
+					mavlink_log_info(mavlink_fd, "finished mag cal");
+					tune_confirm();
+					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
+					result = VEHICLE_CMD_RESULT_ACCEPTED;
+
+				} else {
+					mavlink_log_critical(mavlink_fd, "REJECTING mag cal");
+					result = VEHICLE_CMD_RESULT_DENIED;
+				}
+
+				handled = true;
+			}
+
+			/* zero-altitude pressure calibration */
+			if ((int)(cmd->param3) == 1) {
+				/* transition to calibration state */
+				do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
+
+				if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
+					mavlink_log_info(mavlink_fd, "zero altitude cal. not implemented");
+					tune_confirm();
+
+				} else {
+					mavlink_log_critical(mavlink_fd, "REJECTING altitude calibration");
+					result = VEHICLE_CMD_RESULT_DENIED;
+				}
+
+				handled = true;
+			}
+
+			/* trim calibration */
+			if ((int)(cmd->param4) == 1) {
+				/* transition to calibration state */
+				do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
+
+				if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
+					mavlink_log_info(mavlink_fd, "starting trim cal");
+					tune_confirm();
+					do_rc_calibration(status_pub, &current_status);
+					mavlink_log_info(mavlink_fd, "finished trim cal");
 					tune_confirm();
 					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
-					result = MAV_RESULT_ACCEPTED;
+					result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 				} else {
-					mavlink_log_critical(mavlink_fd, "[commander] CMD REJECTING mag calibration");
-					result = MAV_RESULT_DENIED;
+					mavlink_log_critical(mavlink_fd, "REJECTING trim cal");
+					result = VEHICLE_CMD_RESULT_DENIED;
 				}
+
 				handled = true;
 			}
 
@@ -891,32 +958,40 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 				do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
 
 				if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
-					mavlink_log_info(mavlink_fd, "[commander] CMD starting accel calibration");
+					mavlink_log_info(mavlink_fd, "CMD starting accel cal");
 					tune_confirm();
 					do_accel_calibration(status_pub, &current_status);
 					tune_confirm();
-					mavlink_log_info(mavlink_fd, "[commander] CMD finished accel calibration");
+					mavlink_log_info(mavlink_fd, "CMD finished accel cal");
 					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
-					result = MAV_RESULT_ACCEPTED;
+					result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 				} else {
-					mavlink_log_critical(mavlink_fd, "[commander] REJECTING accel calibration");
-					result = MAV_RESULT_DENIED;
+					mavlink_log_critical(mavlink_fd, "REJECTING accel cal");
+					result = VEHICLE_CMD_RESULT_DENIED;
 				}
+
 				handled = true;
 			}
 
 			/* none found */
 			if (!handled) {
-				//fprintf(stderr, "[commander] refusing unsupported calibration request\n");
-				mavlink_log_critical(mavlink_fd, "[commander] CMD refusing unsup. calib. request");
-				result = MAV_RESULT_UNSUPPORTED;
+				//warnx("refusing unsupported calibration request\n");
+				mavlink_log_critical(mavlink_fd, "CMD refusing unsup. calib. request");
+				result = VEHICLE_CMD_RESULT_UNSUPPORTED;
 			}
 		}
 		break;
 
-		case MAV_CMD_PREFLIGHT_STORAGE: {
-			if (current_status.flag_system_armed) {
-				mavlink_log_info(mavlink_fd, "[cmd] REJECTING param command while armed");
+	case VEHICLE_CMD_PREFLIGHT_STORAGE: {
+			if (current_status.flag_system_armed &&
+			    ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
+			     (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
+			     (current_status.system_type == VEHICLE_TYPE_OCTOROTOR))) {
+				/* do not perform expensive memory tasks on multirotors in flight */
+				// XXX this is over-safe, as soon as cmd is in low prio thread this can be allowed
+				mavlink_log_info(mavlink_fd, "REJECTING save cmd while multicopter armed");
+
 			} else {
 
 				// XXX move this to LOW PRIO THREAD of commander app
@@ -926,57 +1001,65 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 
 					/* read all parameters from EEPROM to RAM */
 					int read_ret = param_load_default();
+
 					if (read_ret == OK) {
-						//printf("[mavlink pm] Loaded EEPROM params in RAM\n");
-						mavlink_log_info(mavlink_fd, "[cmd] OK loading params from");
+						//warnx("[mavlink pm] Loaded EEPROM params in RAM\n");
+						mavlink_log_info(mavlink_fd, "OK loading params from");
 						mavlink_log_info(mavlink_fd, param_get_default_file());
-						result = MAV_RESULT_ACCEPTED;
+						result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 					} else if (read_ret == 1) {
-						mavlink_log_info(mavlink_fd, "[cmd] OK no changes in");
+						mavlink_log_info(mavlink_fd, "OK no changes in");
 						mavlink_log_info(mavlink_fd, param_get_default_file());
-						result = MAV_RESULT_ACCEPTED;
+						result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 					} else {
 						if (read_ret < -1) {
-							mavlink_log_info(mavlink_fd, "[cmd] ERR loading params from");
+							mavlink_log_info(mavlink_fd, "ERR loading params from");
 							mavlink_log_info(mavlink_fd, param_get_default_file());
+
 						} else {
-							mavlink_log_info(mavlink_fd, "[cmd] ERR no param file named");
+							mavlink_log_info(mavlink_fd, "ERR no param file named");
 							mavlink_log_info(mavlink_fd, param_get_default_file());
 						}
-						result = MAV_RESULT_FAILED;
+
+						result = VEHICLE_CMD_RESULT_FAILED;
 					}
 
 				} else if (((int)(cmd->param1)) == 1)	{
 
 					/* write all parameters from RAM to EEPROM */
 					int write_ret = param_save_default();
+
 					if (write_ret == OK) {
-						mavlink_log_info(mavlink_fd, "[cmd] OK saved param file");
+						mavlink_log_info(mavlink_fd, "OK saved param file");
 						mavlink_log_info(mavlink_fd, param_get_default_file());
-						result = MAV_RESULT_ACCEPTED;
+						result = VEHICLE_CMD_RESULT_ACCEPTED;
 
 					} else {
 						if (write_ret < -1) {
-							mavlink_log_info(mavlink_fd, "[cmd] ERR params file does not exit:");
+							mavlink_log_info(mavlink_fd, "ERR params file does not exit:");
 							mavlink_log_info(mavlink_fd, param_get_default_file());
+
 						} else {
-							mavlink_log_info(mavlink_fd, "[cmd] ERR writing params to");
+							mavlink_log_info(mavlink_fd, "ERR writing params to");
 							mavlink_log_info(mavlink_fd, param_get_default_file());
 						}
-						result = MAV_RESULT_FAILED;
+
+						result = VEHICLE_CMD_RESULT_FAILED;
 					}
 
 				} else {
 					mavlink_log_info(mavlink_fd, "[pm] refusing unsupp. STOR request");
-					result = MAV_RESULT_UNSUPPORTED;
+					result = VEHICLE_CMD_RESULT_UNSUPPORTED;
 				}
 			}
 		}
 		break;
 
-		default: {
+	default: {
 			mavlink_log_critical(mavlink_fd, "[cmd] refusing unsupported command");
-			result = MAV_RESULT_UNSUPPORTED;
+			result = VEHICLE_CMD_RESULT_UNSUPPORTED;
 			/* announce command rejection */
 			ioctl(buzzer, TONE_SET_ALARM, 4);
 		}
@@ -984,11 +1067,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 	}
 
 	/* supported command handling stop */
-	if (result == MAV_RESULT_FAILED ||
-		result == MAV_RESULT_DENIED ||
-		result == MAV_RESULT_UNSUPPORTED) {
+	if (result == VEHICLE_CMD_RESULT_FAILED ||
+	    result == VEHICLE_CMD_RESULT_DENIED ||
+	    result == VEHICLE_CMD_RESULT_UNSUPPORTED) {
 		ioctl(buzzer, TONE_SET_ALARM, 5);
-	} else if (result == MAV_RESULT_ACCEPTED) {
+
+	} else if (result == VEHICLE_CMD_RESULT_ACCEPTED) {
 		tune_confirm();
 	}
 
@@ -1009,7 +1093,7 @@ static void *orb_receive_loop(void *arg)  //handles status information coming fr
 	int subsys_sub = orb_subscribe(ORB_ID(subsystem_info));
 	struct subsystem_info_s info;
 
-	struct vehicle_status_s *vstatus = (struct vehicle_status_s*)arg;
+	struct vehicle_status_s *vstatus = (struct vehicle_status_s *)arg;
 
 	while (!thread_should_exit) {
 		struct pollfd fds[1] = { { .fd = subsys_sub, .events = POLLIN } };
@@ -1020,11 +1104,12 @@ static void *orb_receive_loop(void *arg)  //handles status information coming fr
 			/* got command */
 			orb_copy(ORB_ID(subsystem_info), subsys_sub, &info);
 
-			printf("Subsys changed: %d\n", (int)info.subsystem_type);
+			warnx("Subsys changed: %d\n", (int)info.subsystem_type);
 
 			/* mark / unmark as present */
 			if (info.present) {
 				vstatus->onboard_control_sensors_present |= info.subsystem_type;
+
 			} else {
 				vstatus->onboard_control_sensors_present &= ~info.subsystem_type;
 			}
@@ -1032,6 +1117,7 @@ static void *orb_receive_loop(void *arg)  //handles status information coming fr
 			/* mark / unmark as enabled */
 			if (info.enabled) {
 				vstatus->onboard_control_sensors_enabled |= info.subsystem_type;
+
 			} else {
 				vstatus->onboard_control_sensors_enabled &= ~info.subsystem_type;
 			}
@@ -1039,6 +1125,7 @@ static void *orb_receive_loop(void *arg)  //handles status information coming fr
 			/* mark / unmark as ok */
 			if (info.ok) {
 				vstatus->onboard_control_sensors_health |= info.subsystem_type;
+
 			} else {
 				vstatus->onboard_control_sensors_health &= ~info.subsystem_type;
 			}
@@ -1089,6 +1176,7 @@ float battery_remaining_estimate_voltage(float voltage)
 		param_get(bat_volt_full, &chemistry_voltage_full);
 		param_get(bat_n_cells, &ncells);
 	}
+
 	counter++;
 
 	ret = (voltage - ncells * chemistry_voltage_empty) / (ncells * (chemistry_voltage_full - chemistry_voltage_empty));
@@ -1104,6 +1192,7 @@ usage(const char *reason)
 {
 	if (reason)
 		fprintf(stderr, "%s\n", reason);
+
 	fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n");
 	exit(1);
 }
@@ -1112,7 +1201,7 @@ usage(const char *reason)
  * The daemon app only briefly exists to start
  * the background job. The stack size assigned in the
  * Makefile does only apply to this management task.
- * 
+ *
  * The actual stack size should be set in the call
  * to task_create().
  */
@@ -1124,7 +1213,7 @@ int commander_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "start")) {
 
 		if (thread_running) {
-			printf("commander already running\n");
+			warnx("commander already running\n");
 			/* this is not an error */
 			exit(0);
 		}
@@ -1147,10 +1236,12 @@ int commander_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
-			printf("\tcommander is running\n");
+			warnx("\tcommander is running\n");
+
 		} else {
-			printf("\tcommander not started\n");
+			warnx("\tcommander not started\n");
 		}
+
 		exit(0);
 	}
 
@@ -1162,13 +1253,16 @@ int commander_thread_main(int argc, char *argv[])
 {
 	/* not yet initialized */
 	commander_initialized = false;
+	bool home_position_set = false;
 
 	/* set parameters */
 	failsafe_lowlevel_timeout_ms = 0;
 	param_get(param_find("SYS_FAILSAVE_LL"), &failsafe_lowlevel_timeout_ms);
 
+	param_t _param_sys_type = param_find("MAV_TYPE");
+
 	/* welcome user */
-	printf("[commander] I am in command now!\n");
+	warnx("I am in command now!\n");
 
 	/* pthreads for command and subsystem info handling */
 	// pthread_t command_handling_thread;
@@ -1176,17 +1270,17 @@ int commander_thread_main(int argc, char *argv[])
 
 	/* initialize */
 	if (led_init() != 0) {
-		fprintf(stderr, "[commander] ERROR: Failed to initialize leds\n");
+		warnx("ERROR: Failed to initialize leds\n");
 	}
 
 	if (buzzer_init() != 0) {
-		fprintf(stderr, "[commander] ERROR: Failed to initialize buzzer\n");
+		warnx("ERROR: Failed to initialize buzzer\n");
 	}
 
 	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
 
 	if (mavlink_fd < 0) {
-		fprintf(stderr, "[commander] ERROR: Failed to open MAVLink log stream, start mavlink app first.\n");
+		warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n");
 	}
 
 	/* make sure we are in preflight state */
@@ -1199,18 +1293,29 @@ int commander_thread_main(int argc, char *argv[])
 	/* mark all signals lost as long as they haven't been found */
 	current_status.rc_signal_lost = true;
 	current_status.offboard_control_signal_lost = true;
+	/* allow manual override initially */
+	current_status.flag_external_manual_override_ok = true;
+	/* flag position info as bad, do not allow auto mode */
+	current_status.flag_vector_flight_mode_ok = false;
+	/* set battery warning flag */
+	current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE;
 
 	/* advertise to ORB */
 	stat_pub = orb_advertise(ORB_ID(vehicle_status), &current_status);
 	/* publish current state machine */
 	state_machine_publish(stat_pub, &current_status, mavlink_fd);
 
+	/* home position */
+	orb_advert_t home_pub = -1;
+	struct home_position_s home;
+	memset(&home, 0, sizeof(home));
+
 	if (stat_pub < 0) {
-		printf("[commander] ERROR: orb_advertise for topic vehicle_status failed.\n");
+		warnx("ERROR: orb_advertise for topic vehicle_status failed.\n");
 		exit(ERROR);
 	}
 
-	mavlink_log_info(mavlink_fd, "[commander] system is running");
+	mavlink_log_info(mavlink_fd, "system is running");
 
 	/* create pthreads */
 	pthread_attr_t subsystem_info_attr;
@@ -1222,9 +1327,9 @@ int commander_thread_main(int argc, char *argv[])
 	uint16_t counter = 0;
 	uint8_t flight_env;
 
-	/* Initialize to 3.0V to make sure the low-pass loads below valid threshold */
-	float battery_voltage = 12.0f;
-	bool battery_voltage_valid = true;
+	/* Initialize to 0.0V */
+	float battery_voltage = 0.0f;
+	bool battery_voltage_valid = false;
 	bool low_battery_voltage_actions_done = false;
 	bool critical_battery_voltage_actions_done = false;
 	uint8_t low_voltage_counter = 0;
@@ -1235,10 +1340,6 @@ int commander_thread_main(int argc, char *argv[])
 	uint16_t stick_off_counter = 0;
 	uint16_t stick_on_counter = 0;
 
-	float hdop = 65535.0f;
-
-	int gps_quality_good_counter = 0;
-
 	/* Subscribe to manual control data */
 	int sp_man_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 	struct manual_control_setpoint_s sp_man;
@@ -1249,9 +1350,24 @@ int commander_thread_main(int argc, char *argv[])
 	struct offboard_control_setpoint_s sp_offboard;
 	memset(&sp_offboard, 0, sizeof(sp_offboard));
 
+	int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+	struct vehicle_global_position_s global_position;
+	memset(&global_position, 0, sizeof(global_position));
+	uint64_t last_global_position_time = 0;
+
+	int local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position));
+	struct vehicle_local_position_s local_position;
+	memset(&local_position, 0, sizeof(local_position));
+	uint64_t last_local_position_time = 0;
+
+	/* 
+	 * The home position is set based on GPS only, to prevent a dependency between
+	 * position estimator and commander. RAW GPS is more than good enough for a
+	 * non-flying vehicle.
+	 */
 	int gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
-	struct vehicle_gps_position_s gps;
-	memset(&gps, 0, sizeof(gps));
+	struct vehicle_gps_position_s gps_position;
+	memset(&gps_position, 0, sizeof(gps_position));
 
 	int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
 	struct sensor_combined_s sensors;
@@ -1262,6 +1378,17 @@ int commander_thread_main(int argc, char *argv[])
 	struct vehicle_command_s cmd;
 	memset(&cmd, 0, sizeof(cmd));
 
+	/* Subscribe to parameters changed topic */
+	int param_changed_sub = orb_subscribe(ORB_ID(parameter_update));
+	struct parameter_update_s param_changed;
+	memset(&param_changed, 0, sizeof(param_changed));
+
+	/* subscribe to battery topic */
+	int battery_sub = orb_subscribe(ORB_ID(battery_status));
+	struct battery_status_s battery;
+	memset(&battery, 0, sizeof(battery));
+	battery.voltage_v = 0.0f;
+
 	// uint8_t vehicle_state_previous = current_status.state_machine;
 	float voltage_previous = 0.0f;
 
@@ -1274,24 +1401,33 @@ int commander_thread_main(int argc, char *argv[])
 	uint64_t failsave_ll_start_time = 0;
 
 	bool state_changed = true;
+	bool param_init_forced = true;
+
 
 	while (!thread_should_exit) {
 
 		/* Get current values */
 		bool new_data;
 		orb_check(sp_man_sub, &new_data);
+
 		if (new_data) {
 			orb_copy(ORB_ID(manual_control_setpoint), sp_man_sub, &sp_man);
 		}
 
 		orb_check(sp_offboard_sub, &new_data);
+
 		if (new_data) {
 			orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard);
 		}
-		orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps);
-		orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors);
+
+		orb_check(sensor_sub, &new_data);
+
+		if (new_data) {
+			orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors);
+		}
 
 		orb_check(cmd_sub, &new_data);
+
 		if (new_data) {
 			/* got command */
 			orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
@@ -1300,15 +1436,67 @@ int commander_thread_main(int argc, char *argv[])
 			handle_command(stat_pub, &current_status, &cmd);
 		}
 
-		battery_voltage = sensors.battery_voltage_v;
-		battery_voltage_valid = sensors.battery_voltage_valid;
+		/* update parameters */
+		orb_check(param_changed_sub, &new_data);
 
-		/*
-		 * Only update battery voltage estimate if voltage is
-		 * valid and system has been running for two and a half seconds
-		 */
-		if (battery_voltage_valid && (hrt_absolute_time() - start_time > 2500000)) {
-			bat_remain = battery_remaining_estimate_voltage(battery_voltage);
+		if (new_data || param_init_forced) {
+			param_init_forced = false;
+			/* parameters changed */
+			orb_copy(ORB_ID(parameter_update), param_changed_sub, &param_changed);
+
+			/* update parameters */
+			if (!current_status.flag_system_armed) {
+				if (param_get(_param_sys_type, &(current_status.system_type)) != OK) {
+					warnx("failed setting new system type");
+				}
+
+				/* disable manual override for all systems that rely on electronic stabilization */
+				if (current_status.system_type == VEHICLE_TYPE_QUADROTOR ||
+				    current_status.system_type == VEHICLE_TYPE_HEXAROTOR ||
+				    current_status.system_type == VEHICLE_TYPE_OCTOROTOR) {
+					current_status.flag_external_manual_override_ok = false;
+
+				} else {
+					current_status.flag_external_manual_override_ok = true;
+				}
+
+			} else {
+				warnx("ARMED, rejecting sys type change\n");
+			}
+		}
+
+		/* update global position estimate */
+		orb_check(global_position_sub, &new_data);
+
+		if (new_data) {
+			/* position changed */
+			orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_position);
+			last_global_position_time = global_position.timestamp;
+		}
+
+		/* update local position estimate */
+		orb_check(local_position_sub, &new_data);
+
+		if (new_data) {
+			/* position changed */
+			orb_copy(ORB_ID(vehicle_local_position), local_position_sub, &local_position);
+			last_local_position_time = local_position.timestamp;
+		}
+
+		/* update battery status */
+		orb_check(battery_sub, &new_data);
+		if (new_data) {
+			orb_copy(ORB_ID(battery_status), battery_sub, &battery);
+			battery_voltage = battery.voltage_v;
+			battery_voltage_valid = true;
+
+			/*
+			 * Only update battery voltage estimate if system has
+			 * been running for two and a half seconds.
+			 */
+			if (hrt_absolute_time() - start_time > 2500000) {
+				bat_remain = battery_remaining_estimate_voltage(battery_voltage);
+			}
 		}
 
 		/* Slow but important 8 Hz checks */
@@ -1376,14 +1564,20 @@ int commander_thread_main(int argc, char *argv[])
 
 		/* Check battery voltage */
 		/* write to sys_status */
-		current_status.voltage_battery = battery_voltage;
+		if (battery_voltage_valid) {
+			current_status.voltage_battery = battery_voltage;
+
+		} else {
+			current_status.voltage_battery = 0.0f;
+		}
 
 		/* if battery voltage is getting lower, warn using buzzer, etc. */
 		if (battery_voltage_valid && (bat_remain < 0.15f /* XXX MAGIC NUMBER */) && (false == low_battery_voltage_actions_done)) { //TODO: add filter, or call emergency after n measurements < VOLTAGE_BATTERY_MINIMAL_MILLIVOLTS
 
 			if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) {
 				low_battery_voltage_actions_done = true;
-				mavlink_log_critical(mavlink_fd, "[commander] WARNING! LOW BATTERY!");
+				mavlink_log_critical(mavlink_fd, "[cmd] WARNING! LOW BATTERY!");
+				current_status.battery_warning = VEHICLE_BATTERY_WARNING_WARNING;
 			}
 
 			low_voltage_counter++;
@@ -1393,7 +1587,8 @@ int commander_thread_main(int argc, char *argv[])
 		else if (battery_voltage_valid && (bat_remain < 0.1f /* XXX MAGIC NUMBER */) && (false == critical_battery_voltage_actions_done && true == low_battery_voltage_actions_done)) {
 			if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) {
 				critical_battery_voltage_actions_done = true;
-				mavlink_log_critical(mavlink_fd, "[commander] EMERGENCY! CRITICAL BATTERY!");
+				mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY! CRITICAL BATTERY!");
+				current_status.battery_warning = VEHICLE_BATTERY_WARNING_ALERT;
 				state_machine_emergency(stat_pub, &current_status, mavlink_fd);
 			}
 
@@ -1406,64 +1601,129 @@ int commander_thread_main(int argc, char *argv[])
 
 		/* End battery voltage check */
 
-		/* Check if last transition deserved an audio event */
-// #warning This code depends on state that is no longer? maintained
-// #if 0
-// 		trigger_audio_alarm(vehicle_mode_previous, vehicle_state_previous, current_status.mode, current_status.state_machine);
-// #endif
 
-		/* only check gps fix if we are outdoor */
-//		if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
-//
-//			hdop = (float)(gps.eph) / 100.0f;
-//
-//			/* check if gps fix is ok */
-//			if (gps.fix_type == GPS_FIX_TYPE_3D) { //TODO: is 2d-fix ok? //see http://en.wikipedia.org/wiki/Dilution_of_precision_%28GPS%29
-//
-//				if (gotfix_counter >= GPS_GOTFIX_COUNTER_REQUIRED) { //TODO: add also a required time?
-//					update_state_machine_got_position_fix(stat_pub, &current_status);
-//					gotfix_counter = 0;
-//				} else {
-//					gotfix_counter++;
-//				}
-//				nofix_counter = 0;
-//
-//				if (hdop < 5.0f) { //TODO: this should be a parameter
-//					if (gps_quality_good_counter > GPS_QUALITY_GOOD_COUNTER_LIMIT) {
-//						current_status.gps_valid = true;//--> position estimator can use the gps measurements
-//					}
-//
-//					gps_quality_good_counter++;
-//
-//
-////					if(counter%10 == 0)//for testing only
-////						printf("gps_quality_good_counter = %u\n", gps_quality_good_counter);//for testing only
-//
-//				} else {
-//					gps_quality_good_counter = 0;
-//					current_status.gps_valid = false;//--> position estimator can not use the gps measurements
-//				}
-//
-//			} else {
-//				gps_quality_good_counter = 0;
-//				current_status.gps_valid = false;//--> position estimator can not use the gps measurements
-//
-//				if (nofix_counter > GPS_NOFIX_COUNTER_LIMIT) { //TODO: add also a timer limit?
-//					update_state_machine_no_position_fix(stat_pub, &current_status);
-//					nofix_counter = 0;
-//				} else {
-//					nofix_counter++;
-//				}
-//				gotfix_counter = 0;
-//			}
-//
-//		}
-//
-//
-//		if (flight_env == PX4_FLIGHT_ENVIRONMENT_TESTING) //simulate position fix for quick indoor tests
-		//update_state_machine_got_position_fix(stat_pub, &current_status, mavlink_fd);
-		/* end: check gps */
+		/*
+		 * Check for valid position information.
+		 *
+		 * If the system has a valid position source from an onboard
+		 * position estimator, it is safe to operate it autonomously.
+		 * The flag_vector_flight_mode_ok flag indicates that a minimum
+		 * set of position measurements is available.
+		 */
+
+		/* store current state to reason later about a state change */
+		bool vector_flight_mode_ok = current_status.flag_vector_flight_mode_ok;
+		bool global_pos_valid = current_status.flag_global_position_valid;
+		bool local_pos_valid = current_status.flag_local_position_valid;
+
+		/* check for global or local position updates, set a timeout of 2s */
+		if (hrt_absolute_time() - last_global_position_time < 2000000) {
+			current_status.flag_global_position_valid = true;
+			// XXX check for controller status and home position as well
+
+		} else {
+			current_status.flag_global_position_valid = false;
+		}
+
+		if (hrt_absolute_time() - last_local_position_time < 2000000) {
+			current_status.flag_local_position_valid = true;
+			// XXX check for controller status and home position as well
+
+		} else {
+			current_status.flag_local_position_valid = false;
+		}
+
+		/*
+		 * Consolidate global position and local position valid flags
+		 * for vector flight mode.
+		 */
+		if (current_status.flag_local_position_valid ||
+		    current_status.flag_global_position_valid) {
+			current_status.flag_vector_flight_mode_ok = true;
+
+		} else {
+			current_status.flag_vector_flight_mode_ok = false;
+		}
+
+		/* consolidate state change, flag as changed if required */
+		if (vector_flight_mode_ok != current_status.flag_vector_flight_mode_ok ||
+		    global_pos_valid != current_status.flag_global_position_valid ||
+		    local_pos_valid != current_status.flag_local_position_valid) {
+			state_changed = true;
+		}
+
+		/*
+		 * Mark the position of the first position lock as return to launch (RTL)
+		 * position. The MAV will return here on command or emergency.
+		 *
+		 * Conditions:
+		 *
+		 * 	1) The system aquired position lock just now
+		 *	2) The system has not aquired position lock before
+		 *	3) The system is not armed (on the ground)
+		 */
+		if (!current_status.flag_valid_launch_position &&
+		    !vector_flight_mode_ok && current_status.flag_vector_flight_mode_ok &&
+		    !current_status.flag_system_armed) {
+			/* first time a valid position, store it and emit it */
+
+			// XXX implement storage and publication of RTL position
+			current_status.flag_valid_launch_position = true;
+			current_status.flag_auto_flight_mode_ok = true;
+			state_changed = true;
+		}
+
+		if (orb_check(ORB_ID(vehicle_gps_position), &new_data)) {
+
+			orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position);
+
+			/* check for first, long-term and valid GPS lock -> set home position */
+			float hdop_m = gps_position.eph / 100.0f;
+			float vdop_m = gps_position.epv / 100.0f;
+
+			/* check if gps fix is ok */
+			// XXX magic number
+			float dop_threshold_m = 2.0f;
+
+			/*
+			 * If horizontal dilution of precision (hdop / eph)
+			 * and vertical diluation of precision (vdop / epv)
+			 * are below a certain threshold (e.g. 4 m), AND
+			 * home position is not yet set AND the last GPS
+			 * GPS measurement is not older than two seconds AND
+			 * the system is currently not armed, set home
+			 * position to the current position.
+			 */
+			if (gps_position.fix_type == GPS_FIX_TYPE_3D && (hdop_m < dop_threshold_m)
+				&& (vdop_m < dop_threshold_m)
+				&& !home_position_set
+				&& (hrt_absolute_time() - gps_position.timestamp < 2000000)
+				&& !current_status.flag_system_armed) {
+				warnx("setting home position");
+
+				/* copy position data to uORB home message, store it locally as well */
+				home.lat = gps_position.lat;
+				home.lon = gps_position.lon;
+				home.alt = gps_position.alt;
+
+				home.eph = gps_position.eph;
+				home.epv = gps_position.epv;
+
+				home.s_variance = gps_position.s_variance;
+				home.p_variance = gps_position.p_variance;
+
+				/* announce new home position */
+				if (home_pub > 0) {
+					orb_publish(ORB_ID(home_position), home_pub, &home);
+				} else {
+					home_pub = orb_advertise(ORB_ID(home_position), &home);
+				}
 
+				/* mark home position as set */
+				home_position_set = true;
+				tune_confirm();
+			}
+		}
 
 		/* ignore RC signals if in offboard control mode */
 		if (!current_status.offboard_control_signal_found_once && sp_man.timestamp != 0) {
@@ -1471,8 +1731,97 @@ int commander_thread_main(int argc, char *argv[])
 
 			if ((hrt_absolute_time() - sp_man.timestamp) < 100000) {
 
-				/* check if left stick is in lower left position --> switch to standby state */
-				if ((sp_man.yaw < -STICK_ON_OFF_LIMIT) && sp_man.throttle < STICK_THRUST_RANGE*0.2f) { //TODO: remove hardcoded values
+				// /*
+				//  * Check if manual control modes have to be switched
+				//  */
+				// if (!isfinite(sp_man.manual_mode_switch)) {
+				// 	warnx("man mode sw not finite\n");
+
+				// 	/* this switch is not properly mapped, set default */
+				// 	if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
+				// 		(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
+				// 		(current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) {
+
+				// 		/* assuming a rotary wing, fall back to SAS */
+				// 		current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
+				// 		current_status.flag_control_attitude_enabled = true;
+				// 		current_status.flag_control_rates_enabled = true;
+				// 	} else {
+
+				// 		/* assuming a fixed wing, fall back to direct pass-through */
+				// 		current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT;
+				// 		current_status.flag_control_attitude_enabled = false;
+				// 		current_status.flag_control_rates_enabled = false;
+				// 	}
+
+				// } else if (sp_man.manual_mode_switch < -STICK_ON_OFF_LIMIT) {
+
+				// 	/* bottom stick position, set direct mode for vehicles supporting it */
+				// 	if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
+				// 		(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
+				// 		(current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) {
+
+				// 		/* assuming a rotary wing, fall back to SAS */
+				// 		current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
+				// 		current_status.flag_control_attitude_enabled = true;
+				// 		current_status.flag_control_rates_enabled = true;
+				// 	} else {
+
+				// 		/* assuming a fixed wing, set to direct pass-through as requested */
+				// 		current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT;
+				// 		current_status.flag_control_attitude_enabled = false;
+				// 		current_status.flag_control_rates_enabled = false;
+				// 	}
+
+				// } else if (sp_man.manual_mode_switch > STICK_ON_OFF_LIMIT) {
+
+				// 	/* top stick position, set SAS for all vehicle types */
+				// 	current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
+				// 	current_status.flag_control_attitude_enabled = true;
+				// 	current_status.flag_control_rates_enabled = true;
+
+				// } else {
+				// 	/* center stick position, set rate control */
+				// 	current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_RATES;
+				// 	current_status.flag_control_attitude_enabled = false;
+				// 	current_status.flag_control_rates_enabled = true;
+				// }
+
+				// warnx("man ctrl mode: %d\n", (int)current_status.manual_control_mode);
+
+				/*
+				 * Check if manual stability control modes have to be switched
+				 */
+				if (!isfinite(sp_man.manual_sas_switch)) {
+
+					/* this switch is not properly mapped, set default */
+					current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS;
+
+				} else if (sp_man.manual_sas_switch < -STICK_ON_OFF_LIMIT) {
+
+					/* bottom stick position, set altitude hold */
+					current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ALTITUDE;
+
+				} else if (sp_man.manual_sas_switch > STICK_ON_OFF_LIMIT) {
+
+					/* top stick position */
+					current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_SIMPLE;
+
+				} else {
+					/* center stick position, set default */
+					current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS;
+				}
+
+				/*
+				 * Check if left stick is in lower left position --> switch to standby state.
+				 * Do this only for multirotors, not for fixed wing aircraft.
+				 */
+				if (((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
+				     (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
+				     (current_status.system_type == VEHICLE_TYPE_OCTOROTOR)
+				    ) &&
+				    ((sp_man.yaw < -STICK_ON_OFF_LIMIT)) &&
+				    (sp_man.throttle < STICK_THRUST_RANGE * 0.2f)) {
 					if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
 						update_state_machine_disarm(stat_pub, &current_status, mavlink_fd);
 						stick_on_counter = 0;
@@ -1484,7 +1833,7 @@ int commander_thread_main(int argc, char *argv[])
 				}
 
 				/* check if left stick is in lower right position --> arm */
-				if (sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE*0.2f) { //TODO: remove hardcoded values
+				if (sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.2f) {
 					if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
 						update_state_machine_arm(stat_pub, &current_status, mavlink_fd);
 						stick_on_counter = 0;
@@ -1494,24 +1843,36 @@ int commander_thread_main(int argc, char *argv[])
 						stick_off_counter = 0;
 					}
 				}
-				//printf("RC: y:%i/t:%i s:%i chans: %i\n", rc_yaw_scale, rc_throttle_scale, mode_switch_rc_value, rc.chan_count);
 
-				if (sp_man.override_mode_switch > STICK_ON_OFF_LIMIT) {
+				/* check manual override switch - switch to manual or auto mode */
+				if (sp_man.manual_override_switch > STICK_ON_OFF_LIMIT) {
+					/* enable manual override */
 					update_state_machine_mode_manual(stat_pub, &current_status, mavlink_fd);
 
-				} else if (sp_man.override_mode_switch < -STICK_ON_OFF_LIMIT) {
-					update_state_machine_mode_auto(stat_pub, &current_status, mavlink_fd);
+				} else if (sp_man.manual_override_switch < -STICK_ON_OFF_LIMIT) {
+					// /* check auto mode switch for correct mode */
+					// if (sp_man.auto_mode_switch > STICK_ON_OFF_LIMIT) {
+					// 	/* enable guided mode */
+					// 	update_state_machine_mode_guided(stat_pub, &current_status, mavlink_fd);
+
+					// } else if (sp_man.auto_mode_switch < -STICK_ON_OFF_LIMIT) {
+						// XXX hardcode to auto for now
+						update_state_machine_mode_auto(stat_pub, &current_status, mavlink_fd);
+
+					// }
 
 				} else {
+					/* center stick position, set SAS for all vehicle types */
 					update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
 				}
 
 				/* handle the case where RC signal was regained */
 				if (!current_status.rc_signal_found_once) {
 					current_status.rc_signal_found_once = true;
-					mavlink_log_critical(mavlink_fd, "[commander] DETECTED RC SIGNAL FIRST TIME.");
+					mavlink_log_critical(mavlink_fd, "DETECTED RC SIGNAL FIRST TIME.");
+
 				} else {
-					if (current_status.rc_signal_lost) mavlink_log_critical(mavlink_fd, "[commander] RECOVERY - RC SIGNAL GAINED!");
+					if (current_status.rc_signal_lost) mavlink_log_critical(mavlink_fd, "[cmd] RECOVERY - RC SIGNAL GAINED!");
 				}
 
 				current_status.rc_signal_cutting_off = false;
@@ -1520,13 +1881,15 @@ int commander_thread_main(int argc, char *argv[])
 
 			} else {
 				static uint64_t last_print_time = 0;
+
 				/* print error message for first RC glitch and then every 5 s / 5000 ms) */
 				if (!current_status.rc_signal_cutting_off || ((hrt_absolute_time() - last_print_time) > 5000000)) {
 					/* only complain if the offboard control is NOT active */
 					current_status.rc_signal_cutting_off = true;
-					mavlink_log_critical(mavlink_fd, "[commander] CRITICAL - NO REMOTE SIGNAL!");
+					mavlink_log_critical(mavlink_fd, "CRITICAL - NO REMOTE SIGNAL!");
 					last_print_time = hrt_absolute_time();
 				}
+
 				/* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */
 				current_status.rc_signal_lost_interval = hrt_absolute_time() - sp_man.timestamp;
 
@@ -1543,7 +1906,7 @@ int commander_thread_main(int argc, char *argv[])
 			}
 		}
 
-		
+
 
 
 		/* End mode switch */
@@ -1557,8 +1920,8 @@ int commander_thread_main(int argc, char *argv[])
 
 				/* decide about attitude control flag, enable in att/pos/vel */
 				bool attitude_ctrl_enabled = (sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE ||
-					 sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY ||
-					 sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION);
+							      sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY ||
+							      sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION);
 
 				/* decide about rate control flag, enable it always XXX (for now) */
 				bool rates_ctrl_enabled = true;
@@ -1582,11 +1945,12 @@ int commander_thread_main(int argc, char *argv[])
 					current_status.flag_control_offboard_enabled = true;
 					state_changed = true;
 					tune_confirm();
-					
-					mavlink_log_critical(mavlink_fd, "[commander] DETECTED OFFBOARD CONTROL SIGNAL FIRST");
+
+					mavlink_log_critical(mavlink_fd, "DETECTED OFFBOARD SIGNAL FIRST");
+
 				} else {
 					if (current_status.offboard_control_signal_lost) {
-						mavlink_log_critical(mavlink_fd, "[commander] OK:RECOVERY OFFBOARD CONTROL");
+						mavlink_log_critical(mavlink_fd, "RECOVERY OFFBOARD CONTROL");
 						state_changed = true;
 						tune_confirm();
 					}
@@ -1601,18 +1965,21 @@ int commander_thread_main(int argc, char *argv[])
 					update_state_machine_arm(stat_pub, &current_status, mavlink_fd);
 					/* switch to stabilized mode = takeoff */
 					update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
+
 				} else if (!sp_offboard.armed && current_status.flag_system_armed) {
 					update_state_machine_disarm(stat_pub, &current_status, mavlink_fd);
 				}
 
 			} else {
 				static uint64_t last_print_time = 0;
+
 				/* print error message for first RC glitch and then every 5 s / 5000 ms) */
 				if (!current_status.offboard_control_signal_weak || ((hrt_absolute_time() - last_print_time) > 5000000)) {
 					current_status.offboard_control_signal_weak = true;
-					mavlink_log_critical(mavlink_fd, "[commander] CRIT:NO OFFBOARD CONTROL!");
+					mavlink_log_critical(mavlink_fd, "CRIT:NO OFFBOARD CONTROL!");
 					last_print_time = hrt_absolute_time();
 				}
+
 				/* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */
 				current_status.offboard_control_signal_lost_interval = hrt_absolute_time() - sp_offboard.timestamp;
 
@@ -1623,7 +1990,7 @@ int commander_thread_main(int argc, char *argv[])
 					tune_confirm();
 
 					/* kill motors after timeout */
-					if (hrt_absolute_time() - current_status.failsave_lowlevel_start_time > failsafe_lowlevel_timeout_ms*1000) {
+					if (hrt_absolute_time() - current_status.failsave_lowlevel_start_time > failsafe_lowlevel_timeout_ms * 1000) {
 						current_status.failsave_lowlevel = true;
 						state_changed = true;
 					}
@@ -1641,7 +2008,7 @@ int commander_thread_main(int argc, char *argv[])
 		    current_status.flag_preflight_gyro_calibration == false &&
 		    current_status.flag_preflight_mag_calibration == false &&
 		    current_status.flag_preflight_accel_calibration == false) {
-		    	/* All ok, no calibration going on, go to standby */
+			/* All ok, no calibration going on, go to standby */
 			do_state_update(stat_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
 		}
 
@@ -1669,15 +2036,14 @@ int commander_thread_main(int argc, char *argv[])
 	buzzer_deinit();
 	close(sp_man_sub);
 	close(sp_offboard_sub);
-	close(gps_sub);
+	close(global_position_sub);
 	close(sensor_sub);
 	close(cmd_sub);
 
-	printf("[commander] exiting..\n");
+	warnx("exiting..\n");
 	fflush(stdout);
 
 	thread_running = false;
 
 	return 0;
 }
-
diff --git a/apps/commander/commander.h b/apps/commander/commander.h
index bea67bead..04b4e72ab 100644
--- a/apps/commander/commander.h
+++ b/apps/commander/commander.h
@@ -52,4 +52,7 @@
 #define LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 1000.0f
 #define CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 100.0f
 
+void tune_confirm(void);
+void tune_error(void);
+
 #endif /* COMMANDER_H_ */
diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c
index 46793c89b..bea388a10 100644
--- a/apps/commander/state_machine_helper.c
+++ b/apps/commander/state_machine_helper.c
@@ -50,7 +50,7 @@
 
 #include "state_machine_helper.h"
 
-static const char* system_state_txt[] = {
+static const char *system_state_txt[] = {
 	"SYSTEM_STATE_PREFLIGHT",
 	"SYSTEM_STATE_STANDBY",
 	"SYSTEM_STATE_GROUND_READY",
@@ -79,7 +79,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
 	case SYSTEM_STATE_MISSION_ABORT: {
 			/* Indoor or outdoor */
 			// if (flight_environment_parameter == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
-				ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_LANDING);
+			ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_LANDING);
 
 			// } else {
 			// 	ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_CUTOFF);
@@ -93,8 +93,8 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
 		/* set system flags according to state */
 		current_status->flag_system_armed = true;
 
-		fprintf(stderr, "[commander] EMERGENCY LANDING!\n");
-		mavlink_log_critical(mavlink_fd, "[commander] EMERGENCY LANDING!");
+		warnx("EMERGENCY LANDING!\n");
+		mavlink_log_critical(mavlink_fd, "EMERGENCY LANDING!");
 		break;
 
 	case SYSTEM_STATE_EMCY_CUTOFF:
@@ -103,8 +103,8 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
 		/* set system flags according to state */
 		current_status->flag_system_armed = false;
 
-		fprintf(stderr, "[commander] EMERGENCY MOTOR CUTOFF!\n");
-		mavlink_log_critical(mavlink_fd, "[commander] EMERGENCY MOTOR CUTOFF!");
+		warnx("EMERGENCY MOTOR CUTOFF!\n");
+		mavlink_log_critical(mavlink_fd, "EMERGENCY MOTOR CUTOFF!");
 		break;
 
 	case SYSTEM_STATE_GROUND_ERROR:
@@ -114,36 +114,41 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
 		/* prevent actuators from arming */
 		current_status->flag_system_armed = false;
 
-		fprintf(stderr, "[commander] GROUND ERROR, locking down propulsion system\n");
-		mavlink_log_critical(mavlink_fd, "[commander] GROUND ERROR, locking down propulsion system");
+		warnx("GROUND ERROR, locking down propulsion system\n");
+		mavlink_log_critical(mavlink_fd, "GROUND ERROR, locking down system");
 		break;
 
 	case SYSTEM_STATE_PREFLIGHT:
 		if (current_status->state_machine == SYSTEM_STATE_STANDBY
-		 || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
+		    || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
 			/* set system flags according to state */
 			current_status->flag_system_armed = false;
-			mavlink_log_critical(mavlink_fd, "[commander] Switched to PREFLIGHT state");
+			mavlink_log_critical(mavlink_fd, "Switched to PREFLIGHT state");
+
 		} else {
 			invalid_state = true;
-			mavlink_log_critical(mavlink_fd, "[commander] REFUSED to switch to PREFLIGHT state");
+			mavlink_log_critical(mavlink_fd, "REFUSED to switch to PREFLIGHT state");
 		}
+
 		break;
 
 	case SYSTEM_STATE_REBOOT:
 		if (current_status->state_machine == SYSTEM_STATE_STANDBY
-		 || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
+			|| current_status->state_machine == SYSTEM_STATE_PREFLIGHT
+			|| current_status->flag_hil_enabled) {
 			invalid_state = false;
 			/* set system flags according to state */
 			current_status->flag_system_armed = false;
-			mavlink_log_critical(mavlink_fd, "[commander] REBOOTING SYSTEM");
+			mavlink_log_critical(mavlink_fd, "REBOOTING SYSTEM");
 			usleep(500000);
 			up_systemreset();
 			/* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */
+
 		} else {
 			invalid_state = true;
-			mavlink_log_critical(mavlink_fd, "[commander] REFUSED to REBOOT");
+			mavlink_log_critical(mavlink_fd, "REFUSED to REBOOT");
 		}
+
 		break;
 
 	case SYSTEM_STATE_STANDBY:
@@ -152,7 +157,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
 		/* standby enforces disarmed */
 		current_status->flag_system_armed = false;
 
-		mavlink_log_critical(mavlink_fd, "[commander] Switched to STANDBY state");
+		mavlink_log_critical(mavlink_fd, "Switched to STANDBY state");
 		break;
 
 	case SYSTEM_STATE_GROUND_READY:
@@ -162,7 +167,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
 		/* ground ready has motors / actuators armed */
 		current_status->flag_system_armed = true;
 
-		mavlink_log_critical(mavlink_fd, "[commander] Switched to GROUND READY state");
+		mavlink_log_critical(mavlink_fd, "Switched to GROUND READY state");
 		break;
 
 	case SYSTEM_STATE_AUTO:
@@ -172,7 +177,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
 		/* auto is airborne and in auto mode, motors armed */
 		current_status->flag_system_armed = true;
 
-		mavlink_log_critical(mavlink_fd, "[commander] Switched to FLYING / AUTO mode");
+		mavlink_log_critical(mavlink_fd, "Switched to FLYING / AUTO mode");
 		break;
 
 	case SYSTEM_STATE_STABILIZED:
@@ -180,7 +185,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
 		/* set system flags according to state */
 		current_status->flag_system_armed = true;
 
-		mavlink_log_critical(mavlink_fd, "[commander] Switched to FLYING / STABILIZED mode");
+		mavlink_log_critical(mavlink_fd, "Switched to FLYING / STABILIZED mode");
 		break;
 
 	case SYSTEM_STATE_MANUAL:
@@ -188,7 +193,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
 		/* set system flags according to state */
 		current_status->flag_system_armed = true;
 
-		mavlink_log_critical(mavlink_fd, "[commander] Switched to FLYING / MANUAL mode");
+		mavlink_log_critical(mavlink_fd, "Switched to FLYING / MANUAL mode");
 		break;
 
 	default:
@@ -202,14 +207,17 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
 		publish_armed_status(current_status);
 		ret = OK;
 	}
+
 	if (invalid_state) {
-		mavlink_log_critical(mavlink_fd, "[commander] REJECTING invalid state transition");
+		mavlink_log_critical(mavlink_fd, "REJECTING invalid state transition");
 		ret = ERROR;
 	}
+
 	return ret;
 }
 
-void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) {
+void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
+{
 	/* publish the new state */
 	current_status->counter++;
 	current_status->timestamp = hrt_absolute_time();
@@ -217,9 +225,11 @@ void state_machine_publish(int status_pub, struct vehicle_status_s *current_stat
 	/* assemble state vector based on flag values */
 	if (current_status->flag_control_rates_enabled) {
 		current_status->onboard_control_sensors_present |= 0x400;
+
 	} else {
 		current_status->onboard_control_sensors_present &= ~0x400;
 	}
+
 	current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x800 : 0;
 	current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x1000 : 0;
 	current_status->onboard_control_sensors_present |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x2000 : 0;
@@ -232,10 +242,11 @@ void state_machine_publish(int status_pub, struct vehicle_status_s *current_stat
 	current_status->onboard_control_sensors_enabled |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x4000 : 0;
 
 	orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
-	printf("[commander] new state: %s\n", system_state_txt[current_status->state_machine]);
+	printf("[cmd] new state: %s\n", system_state_txt[current_status->state_machine]);
 }
 
-void publish_armed_status(const struct vehicle_status_s *current_status) {
+void publish_armed_status(const struct vehicle_status_s *current_status)
+{
 	struct actuator_armed_s armed;
 	armed.armed = current_status->flag_system_armed;
 	/* lock down actuators if required, only in HIL */
@@ -250,19 +261,19 @@ void publish_armed_status(const struct vehicle_status_s *current_status) {
  */
 void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
 {
-	fprintf(stderr, "[commander] EMERGENCY HANDLER\n");
+	warnx("EMERGENCY HANDLER\n");
 	/* Depending on the current state go to one of the error states */
 
 	if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT || current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY) {
 		do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_ERROR);
 
 	} else if (current_status->state_machine == SYSTEM_STATE_AUTO || current_status->state_machine == SYSTEM_STATE_MANUAL) {
-		
+
 		// DO NOT abort mission
 		//do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MISSION_ABORT);
 
 	} else {
-		fprintf(stderr, "[commander] Unknown system state: #%d\n", current_status->state_machine);
+		warnx("Unknown system state: #%d\n", current_status->state_machine);
 	}
 }
 
@@ -272,7 +283,7 @@ void state_machine_emergency(int status_pub, struct vehicle_status_s *current_st
 		state_machine_emergency_always_critical(status_pub, current_status, mavlink_fd);
 
 	} else {
-		//global_data_send_mavlink_statustext_message_out("[commander] ERROR: take action immediately! (did not switch to error state because the system is in manual mode)", MAV_SEVERITY_CRITICAL);
+		//global_data_send_mavlink_statustext_message_out("[cmd] ERROR: take action immediately! (did not switch to error state because the system is in manual mode)", MAV_SEVERITY_CRITICAL);
 	}
 
 }
@@ -497,7 +508,7 @@ void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_
 void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
 {
 	if (current_status->state_machine == SYSTEM_STATE_STANDBY) {
-		printf("[commander] arming\n");
+		printf("[cmd] arming\n");
 		do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
 	}
 }
@@ -505,11 +516,11 @@ void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_s
 void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
 {
 	if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
-		printf("[commander] going standby\n");
+		printf("[cmd] going standby\n");
 		do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
 
 	} else if (current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) {
-		printf("[commander] MISSION ABORT!\n");
+		printf("[cmd] MISSION ABORT!\n");
 		do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
 	}
 }
@@ -518,54 +529,139 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c
 {
 	int old_mode = current_status->flight_mode;
 	current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL;
+
 	current_status->flag_control_manual_enabled = true;
-	/* enable attitude control per default */
-	current_status->flag_control_attitude_enabled = true;
-	current_status->flag_control_rates_enabled = true;
+
+	/* set behaviour based on airframe */
+	if ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) ||
+	    (current_status->system_type == VEHICLE_TYPE_HEXAROTOR) ||
+	    (current_status->system_type == VEHICLE_TYPE_OCTOROTOR)) {
+
+		/* assuming a rotary wing, set to SAS */
+		current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
+		current_status->flag_control_attitude_enabled = true;
+		current_status->flag_control_rates_enabled = true;
+
+	} else {
+
+		/* assuming a fixed wing, set to direct pass-through */
+		current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT;
+		current_status->flag_control_attitude_enabled = false;
+		current_status->flag_control_rates_enabled = false;
+	}
+
 	if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
 
 	if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) {
-		printf("[commander] manual mode\n");
+		printf("[cmd] manual mode\n");
 		do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL);
 	}
 }
 
 void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
 {
-	int old_mode = current_status->flight_mode;
-	current_status->flight_mode = VEHICLE_FLIGHT_MODE_STABILIZED;
-	current_status->flag_control_manual_enabled = true;
-	current_status->flag_control_attitude_enabled = true;
-	current_status->flag_control_rates_enabled = true;
-	if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
+	if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) {
+		int old_mode = current_status->flight_mode;
+		int old_manual_control_mode = current_status->manual_control_mode;
+		current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL;
+		current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
+		current_status->flag_control_attitude_enabled = true;
+		current_status->flag_control_rates_enabled = true;
+		current_status->flag_control_manual_enabled = true;
+
+		if (old_mode != current_status->flight_mode ||
+		    old_manual_control_mode != current_status->manual_control_mode) {
+			printf("[cmd] att stabilized mode\n");
+			do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL);
+			state_machine_publish(status_pub, current_status, mavlink_fd);
+		}
+
+	}
+}
+
+void update_state_machine_mode_guided(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
+{
+	if (!current_status->flag_vector_flight_mode_ok) {
+		mavlink_log_critical(mavlink_fd, "NO POS LOCK, REJ. GUIDED MODE");
+		tune_error();
+		return;
+	}
 
 	if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) {
-		printf("[commander] stabilized mode\n");
+		printf("[cmd] position guided mode\n");
+		int old_mode = current_status->flight_mode;
+		current_status->flight_mode = VEHICLE_FLIGHT_MODE_STAB;
+		current_status->flag_control_manual_enabled = false;
+		current_status->flag_control_attitude_enabled = true;
+		current_status->flag_control_rates_enabled = true;
 		do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STABILIZED);
+
+		if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
+
 	}
 }
 
 void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
 {
-	int old_mode = current_status->flight_mode;
-	current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO;
-	current_status->flag_control_manual_enabled = true;
-	current_status->flag_control_attitude_enabled = true;
-	current_status->flag_control_rates_enabled = true;
-	if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
+	if (!current_status->flag_vector_flight_mode_ok) {
+		mavlink_log_critical(mavlink_fd, "NO POS LOCK, REJ. AUTO MODE");
+		return;
+	}
 
 	if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) {
-		printf("[commander] auto mode\n");
+		printf("[cmd] auto mode\n");
+		int old_mode = current_status->flight_mode;
+		current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO;
+		current_status->flag_control_manual_enabled = false;
+		current_status->flag_control_attitude_enabled = true;
+		current_status->flag_control_rates_enabled = true;
 		do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_AUTO);
+
+		if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
 	}
 }
 
 
 uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode)
 {
-	printf("[commander] Requested new mode: %d\n", (int)mode);
 	uint8_t ret = 1;
 
+	/* Switch on HIL if in standby and not already in HIL mode */
+	if ((mode & VEHICLE_MODE_FLAG_HIL_ENABLED)
+	    && !current_status->flag_hil_enabled) {
+		if ((current_status->state_machine == SYSTEM_STATE_STANDBY)) {
+			/* Enable HIL on request */
+			current_status->flag_hil_enabled = true;
+			ret = OK;
+			state_machine_publish(status_pub, current_status, mavlink_fd);
+			publish_armed_status(current_status);
+			printf("[cmd] Enabling HIL, locking down all actuators for safety.\n\t(Arming the system will not activate them while in HIL mode)\n");
+
+		} else if (current_status->state_machine != SYSTEM_STATE_STANDBY &&
+			   current_status->flag_system_armed) {
+
+			mavlink_log_critical(mavlink_fd, "REJECTING HIL, disarm first!")
+
+		} else {
+
+			mavlink_log_critical(mavlink_fd, "REJECTING HIL, not in standby.")
+		}
+	}
+
+	/* switch manual / auto */
+	if (mode & VEHICLE_MODE_FLAG_AUTO_ENABLED) {
+		update_state_machine_mode_auto(status_pub, current_status, mavlink_fd);
+
+	} else if (mode & VEHICLE_MODE_FLAG_STABILIZED_ENABLED) {
+		update_state_machine_mode_stabilized(status_pub, current_status, mavlink_fd);
+
+	} else if (mode & VEHICLE_MODE_FLAG_GUIDED_ENABLED) {
+		update_state_machine_mode_guided(status_pub, current_status, mavlink_fd);
+
+	} else if (mode & VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED) {
+		update_state_machine_mode_manual(status_pub, current_status, mavlink_fd);
+	}
+
 	/* vehicle is disarmed, mode requests arming */
 	if (!(current_status->flag_system_armed) && (mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
 		/* only arm in standby state */
@@ -573,7 +669,7 @@ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_
 		if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
 			do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
 			ret = OK;
-			printf("[commander] arming due to command request\n");
+			printf("[cmd] arming due to command request\n");
 		}
 	}
 
@@ -583,26 +679,14 @@ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_
 		if (current_status->state_machine == SYSTEM_STATE_GROUND_READY) {
 			do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
 			ret = OK;
-			printf("[commander] disarming due to command request\n");
+			printf("[cmd] disarming due to command request\n");
 		}
 	}
 
-	/* Switch on HIL if in standby and not already in HIL mode */
-	if ((current_status->state_machine == SYSTEM_STATE_STANDBY) && (mode & VEHICLE_MODE_FLAG_HIL_ENABLED)
-		&& !current_status->flag_hil_enabled) {
-		/* Enable HIL on request */
-		current_status->flag_hil_enabled = true;
-		ret = OK;
-		state_machine_publish(status_pub, current_status, mavlink_fd);
-		publish_armed_status(current_status);
-		printf("[commander] Enabling HIL, locking down all actuators for safety.\n\t(Arming the system will not activate them while in HIL mode)\n");
-	} else if (current_status->state_machine != SYSTEM_STATE_STANDBY) {
-		mavlink_log_critical(mavlink_fd, "[commander] REJECTING switch to HIL, not in standby.")
-	}
-
 	/* NEVER actually switch off HIL without reboot */
 	if (current_status->flag_hil_enabled && !(mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) {
-		fprintf(stderr, "[commander] DENYING request to switch of HIL. Please power cycle (safety reasons)\n");
+		warnx("DENYING request to switch off HIL. Please power cycle (safety reasons)\n");
+		mavlink_log_critical(mavlink_fd, "Power-cycle to exit HIL");
 		ret = ERROR;
 	}
 
@@ -625,9 +709,12 @@ uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_
 	case SYSTEM_STATE_REBOOT:
 		printf("try to reboot\n");
 
-		if (current_system_state == SYSTEM_STATE_STANDBY || current_system_state == SYSTEM_STATE_PREFLIGHT) {
+		if (current_system_state == SYSTEM_STATE_STANDBY
+				|| current_system_state == SYSTEM_STATE_PREFLIGHT
+				|| current_status->flag_hil_enabled) {
 			printf("system will reboot\n");
-			//global_data_send_mavlink_statustext_message_out("Rebooting autopilot.. ", MAV_SEVERITY_INFO);
+			mavlink_log_critical(mavlink_fd, "Rebooting..");
+			usleep(200000);
 			do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_REBOOT);
 			ret = 0;
 		}
diff --git a/apps/commander/state_machine_helper.h b/apps/commander/state_machine_helper.h
index c4d1b78a5..2f2ccc729 100644
--- a/apps/commander/state_machine_helper.h
+++ b/apps/commander/state_machine_helper.h
@@ -128,6 +128,15 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c
 void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
 
 /**
+ * Handle state machine if mode switch is guided
+ *
+ * @param status_pub file descriptor for state update topic publication
+ * @param current_status pointer to the current state machine to operate on
+ * @param mavlink_fd file descriptor for MAVLink statustext messages
+ */
+void update_state_machine_mode_guided(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
+
+/**
  * Handle state machine if mode switch is auto
  *
  * @param status_pub file descriptor for state update topic publication
diff --git a/apps/controllib/Makefile b/apps/controllib/Makefile
new file mode 100644
index 000000000..6749b805f
--- /dev/null
+++ b/apps/controllib/Makefile
@@ -0,0 +1,46 @@
+############################################################################
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. 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.
+# 3. Neither the name PX4 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.
+#
+############################################################################
+
+#
+# Control library
+#
+CSRCS		 = test_params.c
+
+CXXSRCS		 = block/Block.cpp \
+		   block/BlockParam.cpp \
+		   block/UOrbPublication.cpp \
+		   block/UOrbSubscription.cpp \
+		   blocks.cpp \
+		   fixedwing.cpp
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/controllib/block/Block.cpp b/apps/controllib/block/Block.cpp
new file mode 100644
index 000000000..5994d2315
--- /dev/null
+++ b/apps/controllib/block/Block.cpp
@@ -0,0 +1,210 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Block.cpp
+ *
+ * Controller library code
+ */
+
+#include <math.h>
+#include <string.h>
+#include <stdio.h>
+
+#include "Block.hpp"
+#include "BlockParam.hpp"
+#include "UOrbSubscription.hpp"
+#include "UOrbPublication.hpp"
+
+namespace control
+{
+
+Block::Block(SuperBlock *parent, const char *name) :
+	_name(name),
+	_parent(parent),
+	_dt(0),
+	_subscriptions(),
+	_params()
+{
+	if (getParent() != NULL) {
+		getParent()->getChildren().add(this);
+	}
+}
+
+void Block::getName(char *buf, size_t n)
+{
+	if (getParent() == NULL) {
+		strncpy(buf, _name, n);
+
+	} else {
+		char parentName[blockNameLengthMax];
+		getParent()->getName(parentName, n);
+
+		if (!strcmp(_name, "")) {
+			strncpy(buf, parentName, blockNameLengthMax);
+
+		} else {
+			snprintf(buf, blockNameLengthMax, "%s_%s", parentName, _name);
+		}
+	}
+}
+
+void Block::updateParams()
+{
+	BlockParamBase *param = getParams().getHead();
+	int count = 0;
+
+	while (param != NULL) {
+		if (count++ > maxParamsPerBlock) {
+			char name[blockNameLengthMax];
+			getName(name, blockNameLengthMax);
+			printf("exceeded max params for block: %s\n", name);
+			break;
+		}
+
+		//printf("updating param: %s\n", param->getName());
+		param->update();
+		param = param->getSibling();
+	}
+}
+
+void Block::updateSubscriptions()
+{
+	UOrbSubscriptionBase *sub = getSubscriptions().getHead();
+	int count = 0;
+
+	while (sub != NULL) {
+		if (count++ > maxSubscriptionsPerBlock) {
+			char name[blockNameLengthMax];
+			getName(name, blockNameLengthMax);
+			printf("exceeded max subscriptions for block: %s\n", name);
+			break;
+		}
+
+		sub->update();
+		sub = sub->getSibling();
+	}
+}
+
+void Block::updatePublications()
+{
+	UOrbPublicationBase *pub = getPublications().getHead();
+	int count = 0;
+
+	while (pub != NULL) {
+		if (count++ > maxPublicationsPerBlock) {
+			char name[blockNameLengthMax];
+			getName(name, blockNameLengthMax);
+			printf("exceeded max publications for block: %s\n", name);
+			break;
+		}
+
+		pub->update();
+		pub = pub->getSibling();
+	}
+}
+
+void SuperBlock::setDt(float dt)
+{
+	Block::setDt(dt);
+	Block *child = getChildren().getHead();
+	int count = 0;
+
+	while (child != NULL) {
+		if (count++ > maxChildrenPerBlock) {
+			char name[40];
+			getName(name, 40);
+			printf("exceeded max children for block: %s\n", name);
+			break;
+		}
+
+		child->setDt(dt);
+		child = child->getSibling();
+	}
+}
+
+void SuperBlock::updateChildParams()
+{
+	Block *child = getChildren().getHead();
+	int count = 0;
+
+	while (child != NULL) {
+		if (count++ > maxChildrenPerBlock) {
+			char name[40];
+			getName(name, 40);
+			printf("exceeded max children for block: %s\n", name);
+			break;
+		}
+
+		child->updateParams();
+		child = child->getSibling();
+	}
+}
+
+void SuperBlock::updateChildSubscriptions()
+{
+	Block *child = getChildren().getHead();
+	int count = 0;
+
+	while (child != NULL) {
+		if (count++ > maxChildrenPerBlock) {
+			char name[40];
+			getName(name, 40);
+			printf("exceeded max children for block: %s\n", name);
+			break;
+		}
+
+		child->updateSubscriptions();
+		child = child->getSibling();
+	}
+}
+
+void SuperBlock::updateChildPublications()
+{
+	Block *child = getChildren().getHead();
+	int count = 0;
+
+	while (child != NULL) {
+		if (count++ > maxChildrenPerBlock) {
+			char name[40];
+			getName(name, 40);
+			printf("exceeded max children for block: %s\n", name);
+			break;
+		}
+
+		child->updatePublications();
+		child = child->getSibling();
+	}
+}
+
+} // namespace control
diff --git a/apps/controllib/block/Block.hpp b/apps/controllib/block/Block.hpp
new file mode 100644
index 000000000..258701f27
--- /dev/null
+++ b/apps/controllib/block/Block.hpp
@@ -0,0 +1,131 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Block.h
+ *
+ * Controller library code
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <inttypes.h>
+
+#include "List.hpp"
+
+namespace control
+{
+
+static const uint16_t maxChildrenPerBlock = 100;
+static const uint16_t maxParamsPerBlock = 100;
+static const uint16_t maxSubscriptionsPerBlock = 100;
+static const uint16_t maxPublicationsPerBlock = 100;
+static const uint8_t blockNameLengthMax = 80;
+
+// forward declaration
+class BlockParamBase;
+class UOrbSubscriptionBase;
+class UOrbPublicationBase;
+class SuperBlock;
+
+/**
+ */
+class __EXPORT Block :
+	public ListNode<Block *>
+{
+public:
+	friend class BlockParamBase;
+// methods
+	Block(SuperBlock *parent, const char *name);
+	void getName(char *name, size_t n);
+	virtual ~Block() {};
+	virtual void updateParams();
+	virtual void updateSubscriptions();
+	virtual void updatePublications();
+	virtual void setDt(float dt) { _dt = dt; }
+// accessors
+	float getDt() { return _dt; }
+protected:
+// accessors
+	SuperBlock *getParent() { return _parent; }
+	List<UOrbSubscriptionBase *> & getSubscriptions() { return _subscriptions; }
+	List<UOrbPublicationBase *> & getPublications() { return _publications; }
+	List<BlockParamBase *> & getParams() { return _params; }
+// attributes
+	const char *_name;
+	SuperBlock *_parent;
+	float _dt;
+	List<UOrbSubscriptionBase *> _subscriptions;
+	List<UOrbPublicationBase *> _publications;
+	List<BlockParamBase *> _params;
+};
+
+class __EXPORT SuperBlock :
+	public Block
+{
+public:
+	friend class Block;
+// methods
+	SuperBlock(SuperBlock *parent, const char *name) :
+		Block(parent, name),
+		_children() {
+	}
+	virtual ~SuperBlock() {};
+	virtual void setDt(float dt);
+	virtual void updateParams() {
+		Block::updateParams();
+
+		if (getChildren().getHead() != NULL) updateChildParams();
+	}
+	virtual void updateSubscriptions() {
+		Block::updateSubscriptions();
+
+		if (getChildren().getHead() != NULL) updateChildSubscriptions();
+	}
+	virtual void updatePublications() {
+		Block::updatePublications();
+
+		if (getChildren().getHead() != NULL) updateChildPublications();
+	}
+protected:
+// methods
+	List<Block *> & getChildren() { return _children; }
+	void updateChildParams();
+	void updateChildSubscriptions();
+	void updateChildPublications();
+// attributes
+	List<Block *> _children;
+};
+
+} // namespace control
diff --git a/apps/controllib/block/BlockParam.cpp b/apps/controllib/block/BlockParam.cpp
new file mode 100644
index 000000000..b3f49f7db
--- /dev/null
+++ b/apps/controllib/block/BlockParam.cpp
@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Blockparam.cpp
+ *
+ * Controller library code
+ */
+
+#include <math.h>
+#include <stdio.h>
+#include <string.h>
+
+#include "BlockParam.hpp"
+
+namespace control
+{
+
+BlockParamBase::BlockParamBase(Block *parent, const char *name) :
+	_handle(PARAM_INVALID)
+{
+	char fullname[blockNameLengthMax];
+
+	if (parent == NULL) {
+		strncpy(fullname, name, blockNameLengthMax);
+
+	} else {
+		char parentName[blockNameLengthMax];
+		parent->getName(parentName, blockNameLengthMax);
+
+		if (!strcmp(name, "")) {
+			strncpy(fullname, parentName, blockNameLengthMax);
+
+		} else {
+			snprintf(fullname, blockNameLengthMax, "%s_%s", parentName, name);
+		}
+
+		parent->getParams().add(this);
+	}
+
+	_handle = param_find(fullname);
+
+	if (_handle == PARAM_INVALID)
+		printf("error finding param: %s\n", fullname);
+};
+
+} // namespace control
diff --git a/apps/controllib/block/BlockParam.hpp b/apps/controllib/block/BlockParam.hpp
new file mode 100644
index 000000000..7f86d1717
--- /dev/null
+++ b/apps/controllib/block/BlockParam.hpp
@@ -0,0 +1,85 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file BlockParam.h
+ *
+ * Controller library code
+ */
+
+#pragma once
+
+#include <systemlib/param/param.h>
+
+#include "Block.hpp"
+#include "List.hpp"
+
+namespace control
+{
+
+/**
+ * A base class for block params that enables traversing linked list.
+ */
+class __EXPORT BlockParamBase : public ListNode<BlockParamBase *>
+{
+public:
+	BlockParamBase(Block *parent, const char *name);
+	virtual ~BlockParamBase() {};
+	virtual void update() = 0;
+	const char *getName() { return param_name(_handle); }
+protected:
+	param_t _handle;
+};
+
+/**
+ * Parameters that are tied to blocks for updating and nameing.
+ */
+template<class T>
+class __EXPORT BlockParam : public BlockParamBase
+{
+public:
+	BlockParam(Block *block, const char *name) :
+		BlockParamBase(block, name),
+		_val() {
+		update();
+	}
+	T get() { return _val; }
+	void set(T val) { _val = val; }
+	void update() {
+		if (_handle != PARAM_INVALID) param_get(_handle, &_val);
+	}
+protected:
+	T _val;
+};
+
+} // namespace control
diff --git a/apps/controllib/block/List.hpp b/apps/controllib/block/List.hpp
new file mode 100644
index 000000000..96b0b94d1
--- /dev/null
+++ b/apps/controllib/block/List.hpp
@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Node.h
+ *
+ * A node of a linked list.
+ */
+
+#pragma once
+
+template<class T>
+class __EXPORT ListNode
+{
+public:
+	ListNode() : _sibling(NULL) {
+	}
+	void setSibling(T sibling) { _sibling = sibling; }
+	T getSibling() { return _sibling; }
+	T get() {
+		return _sibling;
+	}
+protected:
+	T _sibling;
+};
+
+template<class T>
+class __EXPORT List
+{
+public:
+	List() : _head() {
+	}
+	void add(T newNode) {
+		newNode->setSibling(getHead());
+		setHead(newNode);
+	}
+	T getHead() { return _head; }
+private:
+	void setHead(T &head) { _head = head; }
+	T _head;
+};
diff --git a/apps/controllib/block/UOrbPublication.cpp b/apps/controllib/block/UOrbPublication.cpp
new file mode 100644
index 000000000..f69b39d90
--- /dev/null
+++ b/apps/controllib/block/UOrbPublication.cpp
@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file UOrbPublication.cpp
+ *
+ */
+
+#include "UOrbPublication.hpp"
diff --git a/apps/controllib/block/UOrbPublication.hpp b/apps/controllib/block/UOrbPublication.hpp
new file mode 100644
index 000000000..a36f4429f
--- /dev/null
+++ b/apps/controllib/block/UOrbPublication.hpp
@@ -0,0 +1,118 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file UOrbPublication.h
+ *
+ */
+
+#pragma once
+
+#include <uORB/uORB.h>
+#include "Block.hpp"
+#include "List.hpp"
+
+
+namespace control
+{
+
+class Block;
+
+/**
+ * Base publication warapper class, used in list traversal
+ * of various publications.
+ */
+class __EXPORT UOrbPublicationBase : public ListNode<control::UOrbPublicationBase *>
+{
+public:
+
+	UOrbPublicationBase(
+		List<UOrbPublicationBase *> * list,
+		const struct orb_metadata *meta) :
+		_meta(meta),
+		_handle() {
+		if (list != NULL) list->add(this);
+	}
+	void update() {
+		orb_publish(getMeta(), getHandle(), getDataVoidPtr());
+	}
+	virtual void *getDataVoidPtr() = 0;
+	virtual ~UOrbPublicationBase() {
+		orb_unsubscribe(getHandle());
+	}
+	const struct orb_metadata *getMeta() { return _meta; }
+	int getHandle() { return _handle; }
+protected:
+	void setHandle(orb_advert_t handle) { _handle = handle; }
+	const struct orb_metadata *_meta;
+	orb_advert_t _handle;
+};
+
+/**
+ * UOrb Publication wrapper class
+ */
+template<class T>
+class UOrbPublication :
+	public T, // this must be first!
+	public UOrbPublicationBase
+{
+public:
+	/**
+	 * Constructor
+	 *
+	 * @param list      A list interface for adding to list during construction
+	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
+	 *			for the topic.
+	 */
+	UOrbPublication(
+		List<UOrbPublicationBase *> * list,
+		const struct orb_metadata *meta) :
+		T(), // initialize data structure to zero
+		UOrbPublicationBase(list, meta) {
+		// It is important that we call T()
+		// before we publish the data, so we
+		// call this here instead of the base class
+		setHandle(orb_advertise(getMeta(), getDataVoidPtr()));
+	}
+	virtual ~UOrbPublication() {}
+	/*
+	 * XXX
+	 * This function gets the T struct, assuming
+	 * the struct is the first base class, this
+	 * should use dynamic cast, but doesn't
+	 * seem to be available
+	 */
+	void *getDataVoidPtr() { return (void *)(T *)(this); }
+};
+
+} // namespace control
diff --git a/apps/controllib/block/UOrbSubscription.cpp b/apps/controllib/block/UOrbSubscription.cpp
new file mode 100644
index 000000000..022cadd24
--- /dev/null
+++ b/apps/controllib/block/UOrbSubscription.cpp
@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file UOrbSubscription.cpp
+ *
+ */
+
+#include "UOrbSubscription.hpp"
+
+namespace control
+{
+
+bool __EXPORT UOrbSubscriptionBase::updated()
+{
+	bool isUpdated = false;
+	orb_check(_handle, &isUpdated);
+	return isUpdated;
+}
+
+} // namespace control
diff --git a/apps/controllib/block/UOrbSubscription.hpp b/apps/controllib/block/UOrbSubscription.hpp
new file mode 100644
index 000000000..22cc2e114
--- /dev/null
+++ b/apps/controllib/block/UOrbSubscription.hpp
@@ -0,0 +1,137 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file UOrbSubscription.h
+ *
+ */
+
+#pragma once
+
+#include <uORB/uORB.h>
+#include "Block.hpp"
+#include "List.hpp"
+
+
+namespace control
+{
+
+class Block;
+
+/**
+ * Base subscription warapper class, used in list traversal
+ * of various subscriptions.
+ */
+class __EXPORT UOrbSubscriptionBase :
+	public ListNode<control::UOrbSubscriptionBase *>
+{
+public:
+// methods
+
+	/**
+	 * Constructor
+	 *
+	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
+	 *			for the topic.
+	 */
+	UOrbSubscriptionBase(
+		List<UOrbSubscriptionBase *> * list,
+		const struct orb_metadata *meta) :
+		_meta(meta),
+		_handle() {
+		if (list != NULL) list->add(this);
+	}
+	bool updated();
+	void update() {
+		if (updated()) {
+			orb_copy(_meta, _handle, getDataVoidPtr());
+		}
+	}
+	virtual void *getDataVoidPtr() = 0;
+	virtual ~UOrbSubscriptionBase() {
+		orb_unsubscribe(_handle);
+	}
+// accessors
+	const struct orb_metadata *getMeta() { return _meta; }
+	int getHandle() { return _handle; }
+protected:
+// accessors
+	void setHandle(int handle) { _handle = handle; }
+// attributes
+	const struct orb_metadata *_meta;
+	int _handle;
+};
+
+/**
+ * UOrb Subscription wrapper class
+ */
+template<class T>
+class __EXPORT UOrbSubscription :
+	public T, // this must be first!
+	public UOrbSubscriptionBase
+{
+public:
+	/**
+	 * Constructor
+	 *
+	 * @param list      A list interface for adding to list during construction
+	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
+	 *			for the topic.
+	 * @param interval  The minimum interval in milliseconds between updates
+	 */
+	UOrbSubscription(
+		List<UOrbSubscriptionBase *> * list,
+		const struct orb_metadata *meta, unsigned interval) :
+		T(), // initialize data structure to zero
+		UOrbSubscriptionBase(list, meta) {
+		setHandle(orb_subscribe(getMeta()));
+		orb_set_interval(getHandle(), interval);
+	}
+
+	/**
+	 * Deconstructor
+	 */
+	virtual ~UOrbSubscription() {}
+
+	/*
+	 * XXX
+	 * This function gets the T struct, assuming
+	 * the struct is the first base class, this
+	 * should use dynamic cast, but doesn't
+	 * seem to be available
+	 */
+	void *getDataVoidPtr() { return (void *)(T *)(this); }
+	T getData() { return T(*this); }
+};
+
+} // namespace control
diff --git a/apps/controllib/blocks.cpp b/apps/controllib/blocks.cpp
new file mode 100644
index 000000000..c6c374300
--- /dev/null
+++ b/apps/controllib/blocks.cpp
@@ -0,0 +1,486 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file blocks.cpp
+ *
+ * Controller library code
+ */
+
+#include <math.h>
+#include <stdio.h>
+
+#include "blocks.hpp"
+
+namespace control
+{
+
+int basicBlocksTest()
+{
+	blockLimitTest();
+	blockLimitSymTest();
+	blockLowPassTest();
+	blockHighPassTest();
+	blockIntegralTest();
+	blockIntegralTrapTest();
+	blockDerivativeTest();
+	blockPTest();
+	blockPITest();
+	blockPDTest();
+	blockPIDTest();
+	blockOutputTest();
+	blockRandUniformTest();
+	blockRandGaussTest();
+	return 0;
+}
+
+float BlockLimit::update(float input)
+{
+	if (input > getMax()) {
+		input = _max.get();
+
+	} else if (input < getMin()) {
+		input = getMin();
+	}
+
+	return input;
+}
+
+int blockLimitTest()
+{
+	printf("Test BlockLimit\t\t\t: ");
+	BlockLimit limit(NULL, "TEST");
+	// initial state
+	ASSERT(equal(1.0f, limit.getMax()));
+	ASSERT(equal(-1.0f, limit.getMin()));
+	ASSERT(equal(0.0f, limit.getDt()));
+	// update
+	ASSERT(equal(-1.0f, limit.update(-2.0f)));
+	ASSERT(equal(1.0f, limit.update(2.0f)));
+	ASSERT(equal(0.0f, limit.update(0.0f)));
+	printf("PASS\n");
+	return 0;
+}
+
+float BlockLimitSym::update(float input)
+{
+	if (input > getMax()) {
+		input = _max.get();
+
+	} else if (input < -getMax()) {
+		input = -getMax();
+	}
+
+	return input;
+}
+
+int blockLimitSymTest()
+{
+	printf("Test BlockLimitSym\t\t: ");
+	BlockLimitSym limit(NULL, "TEST");
+	// initial state
+	ASSERT(equal(1.0f, limit.getMax()));
+	ASSERT(equal(0.0f, limit.getDt()));
+	// update
+	ASSERT(equal(-1.0f, limit.update(-2.0f)));
+	ASSERT(equal(1.0f, limit.update(2.0f)));
+	ASSERT(equal(0.0f, limit.update(0.0f)));
+	printf("PASS\n");
+	return 0;
+}
+
+float BlockLowPass::update(float input)
+{
+	float b = 2 * float(M_PI) * getFCut() * getDt();
+	float a = b / (1 + b);
+	setState(a * input + (1 - a)*getState());
+	return getState();
+}
+
+int blockLowPassTest()
+{
+	printf("Test BlockLowPass\t\t: ");
+	BlockLowPass lowPass(NULL, "TEST_LP");
+	// test initial state
+	ASSERT(equal(10.0f, lowPass.getFCut()));
+	ASSERT(equal(0.0f, lowPass.getState()));
+	ASSERT(equal(0.0f, lowPass.getDt()));
+	// set dt
+	lowPass.setDt(0.1f);
+	ASSERT(equal(0.1f, lowPass.getDt()));
+	// set state
+	lowPass.setState(1.0f);
+	ASSERT(equal(1.0f, lowPass.getState()));
+	// test update
+	ASSERT(equal(1.8626974f, lowPass.update(2.0f)));
+
+	// test end condition
+	for (int i = 0; i < 100; i++) {
+		lowPass.update(2.0f);
+	}
+
+	ASSERT(equal(2.0f, lowPass.getState()));
+	ASSERT(equal(2.0f, lowPass.update(2.0f)));
+	printf("PASS\n");
+	return 0;
+};
+
+float BlockHighPass::update(float input)
+{
+	float b = 2 * float(M_PI) * getFCut() * getDt();
+	float a = 1 / (1 + b);
+	setY(a * (getY() + input - getU()));
+	setU(input);
+	return getY();
+}
+
+int blockHighPassTest()
+{
+	printf("Test BlockHighPass\t\t: ");
+	BlockHighPass highPass(NULL, "TEST_HP");
+	// test initial state
+	ASSERT(equal(10.0f, highPass.getFCut()));
+	ASSERT(equal(0.0f, highPass.getU()));
+	ASSERT(equal(0.0f, highPass.getY()));
+	ASSERT(equal(0.0f, highPass.getDt()));
+	// set dt
+	highPass.setDt(0.1f);
+	ASSERT(equal(0.1f, highPass.getDt()));
+	// set state
+	highPass.setU(1.0f);
+	ASSERT(equal(1.0f, highPass.getU()));
+	highPass.setY(1.0f);
+	ASSERT(equal(1.0f, highPass.getY()));
+	// test update
+	ASSERT(equal(0.2746051f, highPass.update(2.0f)));
+
+	// test end condition
+	for (int i = 0; i < 100; i++) {
+		highPass.update(2.0f);
+	}
+
+	ASSERT(equal(0.0f, highPass.getY()));
+	ASSERT(equal(0.0f, highPass.update(2.0f)));
+	printf("PASS\n");
+	return 0;
+}
+
+float BlockIntegral::update(float input)
+{
+	// trapezoidal integration
+	setY(_limit.update(getY() + input * getDt()));
+	return getY();
+}
+
+int blockIntegralTest()
+{
+	printf("Test BlockIntegral\t\t: ");
+	BlockIntegral integral(NULL, "TEST_I");
+	// test initial state
+	ASSERT(equal(1.0f, integral.getMax()));
+	ASSERT(equal(0.0f, integral.getDt()));
+	// set dt
+	integral.setDt(0.1f);
+	ASSERT(equal(0.1f, integral.getDt()));
+	// set Y
+	integral.setY(0.9f);
+	ASSERT(equal(0.9f, integral.getY()));
+
+	// test exceed max
+	for (int i = 0; i < 100; i++) {
+		integral.update(1.0f);
+	}
+
+	ASSERT(equal(1.0f, integral.update(1.0f)));
+	// test exceed min
+	integral.setY(-0.9f);
+	ASSERT(equal(-0.9f, integral.getY()));
+
+	for (int i = 0; i < 100; i++) {
+		integral.update(-1.0f);
+	}
+
+	ASSERT(equal(-1.0f, integral.update(-1.0f)));
+	// test update
+	integral.setY(0.1f);
+	ASSERT(equal(0.2f, integral.update(1.0)));
+	ASSERT(equal(0.2f, integral.getY()));
+	printf("PASS\n");
+	return 0;
+}
+
+float BlockIntegralTrap::update(float input)
+{
+	// trapezoidal integration
+	setY(_limit.update(getY() +
+			   (getU() + input) / 2.0f * getDt()));
+	setU(input);
+	return getY();
+}
+
+int blockIntegralTrapTest()
+{
+	printf("Test BlockIntegralTrap\t\t: ");
+	BlockIntegralTrap integral(NULL, "TEST_I");
+	// test initial state
+	ASSERT(equal(1.0f, integral.getMax()));
+	ASSERT(equal(0.0f, integral.getDt()));
+	// set dt
+	integral.setDt(0.1f);
+	ASSERT(equal(0.1f, integral.getDt()));
+	// set U
+	integral.setU(1.0f);
+	ASSERT(equal(1.0f, integral.getU()));
+	// set Y
+	integral.setY(0.9f);
+	ASSERT(equal(0.9f, integral.getY()));
+
+	// test exceed max
+	for (int i = 0; i < 100; i++) {
+		integral.update(1.0f);
+	}
+
+	ASSERT(equal(1.0f, integral.update(1.0f)));
+	// test exceed min
+	integral.setU(-1.0f);
+	integral.setY(-0.9f);
+	ASSERT(equal(-0.9f, integral.getY()));
+
+	for (int i = 0; i < 100; i++) {
+		integral.update(-1.0f);
+	}
+
+	ASSERT(equal(-1.0f, integral.update(-1.0f)));
+	// test update
+	integral.setU(2.0f);
+	integral.setY(0.1f);
+	ASSERT(equal(0.25f, integral.update(1.0)));
+	ASSERT(equal(0.25f, integral.getY()));
+	ASSERT(equal(1.0f, integral.getU()));
+	printf("PASS\n");
+	return 0;
+}
+
+float BlockDerivative::update(float input)
+{
+	float output = _lowPass.update((input - getU()) / getDt());
+	setU(input);
+	return output;
+}
+
+int blockDerivativeTest()
+{
+	printf("Test BlockDerivative\t\t: ");
+	BlockDerivative derivative(NULL, "TEST_D");
+	// test initial state
+	ASSERT(equal(0.0f, derivative.getU()));
+	ASSERT(equal(10.0f, derivative.getLP()));
+	// set dt
+	derivative.setDt(0.1f);
+	ASSERT(equal(0.1f, derivative.getDt()));
+	// set U
+	derivative.setU(1.0f);
+	ASSERT(equal(1.0f, derivative.getU()));
+	// test  update
+	ASSERT(equal(8.6269744f, derivative.update(2.0f)));
+	ASSERT(equal(2.0f, derivative.getU()));
+	printf("PASS\n");
+	return 0;
+}
+
+int blockPTest()
+{
+	printf("Test BlockP\t\t\t: ");
+	BlockP blockP(NULL, "TEST_P");
+	// test initial state
+	ASSERT(equal(0.2f, blockP.getKP()));
+	ASSERT(equal(0.0f, blockP.getDt()));
+	// set dt
+	blockP.setDt(0.1f);
+	ASSERT(equal(0.1f, blockP.getDt()));
+	// test  update
+	ASSERT(equal(0.4f, blockP.update(2.0f)));
+	printf("PASS\n");
+	return 0;
+}
+
+int blockPITest()
+{
+	printf("Test BlockPI\t\t\t: ");
+	BlockPI blockPI(NULL, "TEST");
+	// test initial state
+	ASSERT(equal(0.2f, blockPI.getKP()));
+	ASSERT(equal(0.1f, blockPI.getKI()));
+	ASSERT(equal(0.0f, blockPI.getDt()));
+	ASSERT(equal(1.0f, blockPI.getIntegral().getMax()));
+	// set dt
+	blockPI.setDt(0.1f);
+	ASSERT(equal(0.1f, blockPI.getDt()));
+	// set integral state
+	blockPI.getIntegral().setY(0.1f);
+	ASSERT(equal(0.1f, blockPI.getIntegral().getY()));
+	// test  update
+	// 0.2*2 + 0.1*(2*0.1 + 0.1) = 0.43
+	ASSERT(equal(0.43f, blockPI.update(2.0f)));
+	printf("PASS\n");
+	return 0;
+}
+
+int blockPDTest()
+{
+	printf("Test BlockPD\t\t\t: ");
+	BlockPD blockPD(NULL, "TEST");
+	// test initial state
+	ASSERT(equal(0.2f, blockPD.getKP()));
+	ASSERT(equal(0.01f, blockPD.getKD()));
+	ASSERT(equal(0.0f, blockPD.getDt()));
+	ASSERT(equal(10.0f, blockPD.getDerivative().getLP()));
+	// set dt
+	blockPD.setDt(0.1f);
+	ASSERT(equal(0.1f, blockPD.getDt()));
+	// set derivative state
+	blockPD.getDerivative().setU(1.0f);
+	ASSERT(equal(1.0f, blockPD.getDerivative().getU()));
+	// test  update
+	// 0.2*2 + 0.1*(0.1*8.626...) = 0.486269744
+	ASSERT(equal(0.486269744f, blockPD.update(2.0f)));
+	printf("PASS\n");
+	return 0;
+}
+
+int blockPIDTest()
+{
+	printf("Test BlockPID\t\t\t: ");
+	BlockPID blockPID(NULL, "TEST");
+	// test initial state
+	ASSERT(equal(0.2f, blockPID.getKP()));
+	ASSERT(equal(0.1f, blockPID.getKI()));
+	ASSERT(equal(0.01f, blockPID.getKD()));
+	ASSERT(equal(0.0f, blockPID.getDt()));
+	ASSERT(equal(10.0f, blockPID.getDerivative().getLP()));
+	ASSERT(equal(1.0f, blockPID.getIntegral().getMax()));
+	// set dt
+	blockPID.setDt(0.1f);
+	ASSERT(equal(0.1f, blockPID.getDt()));
+	// set derivative state
+	blockPID.getDerivative().setU(1.0f);
+	ASSERT(equal(1.0f, blockPID.getDerivative().getU()));
+	// set integral state
+	blockPID.getIntegral().setY(0.1f);
+	ASSERT(equal(0.1f, blockPID.getIntegral().getY()));
+	// test  update
+	// 0.2*2 + 0.1*(2*0.1 + 0.1) + 0.1*(0.1*8.626...) = 0.5162697
+	ASSERT(equal(0.5162697f, blockPID.update(2.0f)));
+	printf("PASS\n");
+	return 0;
+}
+
+int blockOutputTest()
+{
+	printf("Test BlockOutput\t\t: ");
+	BlockOutput blockOutput(NULL, "TEST");
+	// test initial state
+	ASSERT(equal(0.0f, blockOutput.getDt()));
+	ASSERT(equal(0.5f, blockOutput.get()));
+	ASSERT(equal(-1.0f, blockOutput.getMin()));
+	ASSERT(equal(1.0f, blockOutput.getMax()));
+	// test update below min
+	blockOutput.update(-2.0f);
+	ASSERT(equal(-1.0f, blockOutput.get()));
+	// test update above max
+	blockOutput.update(2.0f);
+	ASSERT(equal(1.0f, blockOutput.get()));
+	// test trim
+	blockOutput.update(0.0f);
+	ASSERT(equal(0.5f, blockOutput.get()));
+	printf("PASS\n");
+	return 0;
+}
+
+int blockRandUniformTest()
+{
+	srand(1234);
+	printf("Test BlockRandUniform\t\t: ");
+	BlockRandUniform blockRandUniform(NULL, "TEST");
+	// test initial state
+	ASSERT(equal(0.0f, blockRandUniform.getDt()));
+	ASSERT(equal(-1.0f, blockRandUniform.getMin()));
+	ASSERT(equal(1.0f, blockRandUniform.getMax()));
+	// test update
+	int n = 10000;
+	float mean = blockRandUniform.update();
+
+	// recursive mean algorithm from Knuth
+	for (int i = 2; i < n + 1; i++) {
+		float val = blockRandUniform.update();
+		mean += (val - mean) / i;
+		ASSERT(val <= blockRandUniform.getMax());
+		ASSERT(val >= blockRandUniform.getMin());
+	}
+
+	ASSERT(equal(mean, (blockRandUniform.getMin() +
+			    blockRandUniform.getMax()) / 2, 1e-1));
+	printf("PASS\n");
+	return 0;
+}
+
+int blockRandGaussTest()
+{
+	srand(1234);
+	printf("Test BlockRandGauss\t\t: ");
+	BlockRandGauss blockRandGauss(NULL, "TEST");
+	// test initial state
+	ASSERT(equal(0.0f, blockRandGauss.getDt()));
+	ASSERT(equal(1.0f, blockRandGauss.getMean()));
+	ASSERT(equal(2.0f, blockRandGauss.getStdDev()));
+	// test update
+	int n = 10000;
+	float mean = blockRandGauss.update();
+	float sum = 0;
+
+	// recursive mean, stdev algorithm from Knuth
+	for (int i = 2; i < n + 1; i++) {
+		float val = blockRandGauss.update();
+		float newMean = mean + (val - mean) / i;
+		sum += (val - mean) * (val - newMean);
+		mean = newMean;
+	}
+
+	float stdDev = sqrt(sum / (n - 1));
+	ASSERT(equal(mean, blockRandGauss.getMean(), 1e-1));
+	ASSERT(equal(stdDev, blockRandGauss.getStdDev(), 1e-1));
+	printf("PASS\n");
+	return 0;
+}
+
+} // namespace control
diff --git a/apps/controllib/blocks.hpp b/apps/controllib/blocks.hpp
new file mode 100644
index 000000000..7a785d12e
--- /dev/null
+++ b/apps/controllib/blocks.hpp
@@ -0,0 +1,494 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file blocks.h
+ *
+ * Controller library code
+ */
+
+#pragma once
+
+#include <assert.h>
+#include <time.h>
+#include <stdlib.h>
+#include <mathlib/math/test/test.hpp>
+
+#include "block/Block.hpp"
+#include "block/BlockParam.hpp"
+
+namespace control
+{
+
+int __EXPORT basicBlocksTest();
+
+/**
+ * A limiter/ saturation.
+ * The output of update is the input, bounded
+ * by min/max.
+ */
+class __EXPORT BlockLimit : public Block
+{
+public:
+// methods
+	BlockLimit(SuperBlock *parent, const char *name) :
+		Block(parent, name),
+		_min(this, "MIN"),
+		_max(this, "MAX")
+	{};
+	virtual ~BlockLimit() {};
+	float update(float input);
+// accessors
+	float getMin() { return _min.get(); }
+	float getMax() { return _max.get(); }
+protected:
+// attributes
+	BlockParam<float> _min;
+	BlockParam<float> _max;
+};
+
+int __EXPORT blockLimitTest();
+
+/**
+ * A symmetric limiter/ saturation.
+ * Same as limiter but with only a max, is used for
+ * upper limit of +max, and lower limit of -max
+ */
+class __EXPORT BlockLimitSym : public Block
+{
+public:
+// methods
+	BlockLimitSym(SuperBlock *parent, const char *name) :
+		Block(parent, name),
+		_max(this, "MAX")
+	{};
+	virtual ~BlockLimitSym() {};
+	float update(float input);
+// accessors
+	float getMax() { return _max.get(); }
+protected:
+// attributes
+	BlockParam<float> _max;
+};
+
+int __EXPORT blockLimitSymTest();
+
+/**
+ * A low pass filter as described here:
+ * http://en.wikipedia.org/wiki/Low-pass_filter.
+ */
+class __EXPORT BlockLowPass : public Block
+{
+public:
+// methods
+	BlockLowPass(SuperBlock *parent, const char *name) :
+		Block(parent, name),
+		_state(0),
+		_fCut(this, "") // only one parameter, no need to name
+	{};
+	virtual ~BlockLowPass() {};
+	float update(float input);
+// accessors
+	float getState() { return _state; }
+	float getFCut() { return _fCut.get(); }
+	void setState(float state) { _state = state; }
+protected:
+// attributes
+	float _state;
+	BlockParam<float> _fCut;
+};
+
+int __EXPORT blockLowPassTest();
+
+/**
+ * A high pass filter as described here:
+ * http://en.wikipedia.org/wiki/High-pass_filter.
+ */
+class __EXPORT BlockHighPass : public Block
+{
+public:
+// methods
+	BlockHighPass(SuperBlock *parent, const char *name) :
+		Block(parent, name),
+		_u(0),
+		_y(0),
+		_fCut(this, "") // only one parameter, no need to name
+	{};
+	virtual ~BlockHighPass() {};
+	float update(float input);
+// accessors
+	float getU() {return _u;}
+	float getY() {return _y;}
+	float getFCut() {return _fCut.get();}
+	void setU(float u) {_u = u;}
+	void setY(float y) {_y = y;}
+protected:
+// attributes
+	float _u; /**< previous input */
+	float _y; /**< previous output */
+	BlockParam<float> _fCut; /**< cut-off frequency, Hz */
+};
+
+int __EXPORT blockHighPassTest();
+
+/**
+ * A rectangular integrator.
+ * A limiter is built into the class to bound the
+ * integral's internal state. This is important
+ * for windup protection.
+ * @see Limit
+ */
+class __EXPORT BlockIntegral: public SuperBlock
+{
+public:
+// methods
+	BlockIntegral(SuperBlock *parent, const char *name) :
+		SuperBlock(parent, name),
+		_y(0),
+		_limit(this, "") {};
+	virtual ~BlockIntegral() {};
+	float update(float input);
+// accessors
+	float getY() {return _y;}
+	float getMax() {return _limit.getMax();}
+	void setY(float y) {_y = y;}
+protected:
+// attributes
+	float _y; /**< previous output */
+	BlockLimitSym _limit; /**< limiter */
+};
+
+int __EXPORT blockIntegralTest();
+
+/**
+ * A trapezoidal integrator.
+ * http://en.wikipedia.org/wiki/Trapezoidal_rule
+ * A limiter is built into the class to bound the
+ * integral's internal state. This is important
+ * for windup protection.
+ * @see Limit
+ */
+class __EXPORT BlockIntegralTrap : public SuperBlock
+{
+public:
+// methods
+	BlockIntegralTrap(SuperBlock *parent, const char *name) :
+		SuperBlock(parent, name),
+		_u(0),
+		_y(0),
+		_limit(this, "") {};
+	virtual ~BlockIntegralTrap() {};
+	float update(float input);
+// accessors
+	float getU() {return _u;}
+	float getY() {return _y;}
+	float getMax() {return _limit.getMax();}
+	void setU(float u) {_u = u;}
+	void setY(float y) {_y = y;}
+protected:
+// attributes
+	float _u; /**< previous input */
+	float _y; /**< previous output */
+	BlockLimitSym _limit; /**< limiter */
+};
+
+int __EXPORT blockIntegralTrapTest();
+
+/**
+ * A simple derivative approximation.
+ * This uses the previous and current input.
+ * This has a built in low pass filter.
+ * @see LowPass
+ */
+class __EXPORT BlockDerivative : public SuperBlock
+{
+public:
+// methods
+	BlockDerivative(SuperBlock *parent, const char *name) :
+		SuperBlock(parent, name),
+		_u(0),
+		_lowPass(this, "LP")
+	{};
+	virtual ~BlockDerivative() {};
+	float update(float input);
+// accessors
+	void setU(float u) {_u = u;}
+	float getU() {return _u;}
+	float getLP() {return _lowPass.getFCut();}
+protected:
+// attributes
+	float _u; /**< previous input */
+	BlockLowPass _lowPass; /**< low pass filter */
+};
+
+int __EXPORT blockDerivativeTest();
+
+/**
+ * A proportional controller.
+ * @link http://en.wikipedia.org/wiki/PID_controller
+ */
+class __EXPORT BlockP: public Block
+{
+public:
+// methods
+	BlockP(SuperBlock *parent, const char *name) :
+		Block(parent, name),
+		_kP(this, "") // only one param, no need to name
+	{};
+	virtual ~BlockP() {};
+	float update(float input) {
+		return getKP() * input;
+	}
+// accessors
+	float getKP() { return _kP.get(); }
+protected:
+	BlockParam<float> _kP;
+};
+
+int __EXPORT blockPTest();
+
+/**
+ * A proportional-integral controller.
+ * @link http://en.wikipedia.org/wiki/PID_controller
+ */
+class __EXPORT BlockPI: public SuperBlock
+{
+public:
+// methods
+	BlockPI(SuperBlock *parent, const char *name) :
+		SuperBlock(parent, name),
+		_integral(this, "I"),
+		_kP(this, "P"),
+		_kI(this, "I")
+	{};
+	virtual ~BlockPI() {};
+	float update(float input) {
+		return getKP() * input +
+		       getKI() * getIntegral().update(input);
+	}
+// accessors
+	float getKP() { return _kP.get(); }
+	float getKI() { return _kI.get(); }
+	BlockIntegral &getIntegral() { return _integral; }
+private:
+	BlockIntegral _integral;
+	BlockParam<float> _kP;
+	BlockParam<float> _kI;
+};
+
+int __EXPORT blockPITest();
+
+/**
+ * A proportional-derivative controller.
+ * @link http://en.wikipedia.org/wiki/PID_controller
+ */
+class __EXPORT BlockPD: public SuperBlock
+{
+public:
+// methods
+	BlockPD(SuperBlock *parent, const char *name) :
+		SuperBlock(parent, name),
+		_derivative(this, "D"),
+		_kP(this, "P"),
+		_kD(this, "D")
+	{};
+	virtual ~BlockPD() {};
+	float update(float input) {
+		return getKP() * input +
+		       getKD() * getDerivative().update(input);
+	}
+// accessors
+	float getKP() { return _kP.get(); }
+	float getKD() { return _kD.get(); }
+	BlockDerivative &getDerivative() { return _derivative; }
+private:
+	BlockDerivative _derivative;
+	BlockParam<float> _kP;
+	BlockParam<float> _kD;
+};
+
+int __EXPORT blockPDTest();
+
+/**
+ * A proportional-integral-derivative controller.
+ * @link http://en.wikipedia.org/wiki/PID_controller
+ */
+class __EXPORT BlockPID: public SuperBlock
+{
+public:
+// methods
+	BlockPID(SuperBlock *parent, const char *name) :
+		SuperBlock(parent, name),
+		_integral(this, "I"),
+		_derivative(this, "D"),
+		_kP(this, "P"),
+		_kI(this, "I"),
+		_kD(this, "D")
+	{};
+	virtual ~BlockPID() {};
+	float update(float input) {
+		return getKP() * input +
+		       getKI() * getIntegral().update(input) +
+		       getKD() * getDerivative().update(input);
+	}
+// accessors
+	float getKP() { return _kP.get(); }
+	float getKI() { return _kI.get(); }
+	float getKD() { return _kD.get(); }
+	BlockIntegral &getIntegral() { return _integral; }
+	BlockDerivative &getDerivative() { return _derivative; }
+private:
+// attributes
+	BlockIntegral _integral;
+	BlockDerivative _derivative;
+	BlockParam<float> _kP;
+	BlockParam<float> _kI;
+	BlockParam<float> _kD;
+};
+
+int __EXPORT blockPIDTest();
+
+/**
+ * An output trim/ saturation block
+ */
+class __EXPORT BlockOutput: public SuperBlock
+{
+public:
+// methods
+	BlockOutput(SuperBlock *parent, const char *name) :
+		SuperBlock(parent, name),
+		_trim(this, "TRIM"),
+		_limit(this, ""),
+		_val(0) {
+		update(0);
+	};
+	virtual ~BlockOutput() {};
+	void update(float input) {
+		_val = _limit.update(input + getTrim());
+	}
+// accessors
+	float getMin() { return _limit.getMin(); }
+	float getMax() { return _limit.getMax(); }
+	float getTrim() { return _trim.get(); }
+	float get() { return _val; }
+private:
+// attributes
+	BlockParam<float> _trim;
+	BlockLimit _limit;
+	float _val;
+};
+
+int __EXPORT blockOutputTest();
+
+/**
+ * A uniform random number generator
+ */
+class __EXPORT BlockRandUniform: public Block
+{
+public:
+// methods
+	BlockRandUniform(SuperBlock *parent,
+			 const char *name) :
+		Block(parent, name),
+		_min(this, "MIN"),
+		_max(this, "MAX") {
+		// seed should be initialized somewhere
+		// in main program for all calls to rand
+		// XXX currently in nuttx if you seed to 0, rand breaks
+	};
+	virtual ~BlockRandUniform() {};
+	float update() {
+		static float rand_max = MAX_RAND;
+		float rand_val = rand();
+		float bounds = getMax() - getMin();
+		return getMin() + (rand_val * bounds) / rand_max;
+	}
+// accessors
+	float getMin() { return _min.get(); }
+	float getMax() { return _max.get(); }
+private:
+// attributes
+	BlockParam<float> _min;
+	BlockParam<float> _max;
+};
+
+int __EXPORT blockRandUniformTest();
+
+class __EXPORT BlockRandGauss: public Block
+{
+public:
+// methods
+	BlockRandGauss(SuperBlock *parent,
+		       const char *name) :
+		Block(parent, name),
+		_mean(this, "MEAN"),
+		_stdDev(this, "DEV") {
+		// seed should be initialized somewhere
+		// in main program for all calls to rand
+		// XXX currently in nuttx if you seed to 0, rand breaks
+	};
+	virtual ~BlockRandGauss() {};
+	float update() {
+		static float V1, V2, S;
+		static int phase = 0;
+		float X;
+
+		if (phase == 0) {
+			do {
+				float U1 = (float)rand() / MAX_RAND;
+				float U2 = (float)rand() / MAX_RAND;
+				V1 = 2 * U1 - 1;
+				V2 = 2 * U2 - 1;
+				S = V1 * V1 + V2 * V2;
+			} while (S >= 1 || fabsf(S) < 1e-8f);
+
+			X = V1 * float(sqrt(-2 * float(log(S)) / S));
+
+		} else
+			X = V2 * float(sqrt(-2 * float(log(S)) / S));
+
+		phase = 1 - phase;
+		return X * getStdDev() + getMean();
+	}
+// accessors
+	float getMean() { return _mean.get(); }
+	float getStdDev() { return _stdDev.get(); }
+private:
+// attributes
+	BlockParam<float> _mean;
+	BlockParam<float> _stdDev;
+};
+
+int __EXPORT blockRandGaussTest();
+
+} // namespace control
diff --git a/apps/controllib/fixedwing.cpp b/apps/controllib/fixedwing.cpp
new file mode 100644
index 000000000..03da35a0a
--- /dev/null
+++ b/apps/controllib/fixedwing.cpp
@@ -0,0 +1,367 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file fixedwing.cpp
+ *
+ * Controller library code
+ */
+
+#include "fixedwing.hpp"
+
+namespace control
+{
+
+namespace fixedwing
+{
+
+BlockYawDamper::BlockYawDamper(SuperBlock *parent, const char *name) :
+	SuperBlock(parent, name),
+	_rLowPass(this, "R_LP"),
+	_rWashout(this, "R_HP"),
+	_r2Rdr(this, "R2RDR"),
+	_rudder(0)
+{
+}
+
+BlockYawDamper::~BlockYawDamper() {};
+
+void BlockYawDamper::update(float rCmd, float r)
+{
+	_rudder = _r2Rdr.update(rCmd -
+				_rWashout.update(_rLowPass.update(r)));
+}
+
+BlockStabilization::BlockStabilization(SuperBlock *parent, const char *name) :
+	SuperBlock(parent, name),
+	_yawDamper(this, ""),
+	_pLowPass(this, "P_LP"),
+	_qLowPass(this, "Q_LP"),
+	_p2Ail(this, "P2AIL"),
+	_q2Elv(this, "Q2ELV"),
+	_aileron(0),
+	_elevator(0)
+{
+}
+
+BlockStabilization::~BlockStabilization() {};
+
+void BlockStabilization::update(float pCmd, float qCmd, float rCmd,
+				float p, float q, float r)
+{
+	_aileron = _p2Ail.update(
+			   pCmd - _pLowPass.update(p));
+	_elevator = _q2Elv.update(
+			    qCmd - _qLowPass.update(q));
+	_yawDamper.update(rCmd, r);
+}
+
+BlockHeadingHold::BlockHeadingHold(SuperBlock *parent, const char *name) :
+	SuperBlock(parent, name),
+	_psi2Phi(this, "PSI2PHI"),
+	_phi2P(this, "PHI2P"),
+	_phiLimit(this, "PHI_LIM")
+{
+}
+
+BlockHeadingHold::~BlockHeadingHold() {};
+
+float BlockHeadingHold::update(float psiCmd, float phi, float psi, float p)
+{
+	float psiError = _wrap_pi(psiCmd - psi);
+	float phiCmd = _phiLimit.update(_psi2Phi.update(psiError));
+	return _phi2P.update(phiCmd - phi);
+}
+
+BlockVelocityHoldBackside::BlockVelocityHoldBackside(SuperBlock *parent, const char *name) :
+	SuperBlock(parent, name),
+	_v2Theta(this, "V2THE"),
+	_theta2Q(this, "THE2Q"),
+	_theLimit(this, "THE"),
+	_vLimit(this, "V")
+{
+}
+
+BlockVelocityHoldBackside::~BlockVelocityHoldBackside() {};
+
+float BlockVelocityHoldBackside::update(float vCmd, float v, float theta, float q)
+{
+	// negative sign because nose over to increase speed
+	float thetaCmd = _theLimit.update(-_v2Theta.update(_vLimit.update(vCmd) - v));
+	return _theta2Q.update(thetaCmd - theta);
+}
+
+BlockVelocityHoldFrontside::BlockVelocityHoldFrontside(SuperBlock *parent, const char *name) :
+	SuperBlock(parent, name),
+	_v2Thr(this, "V2THR")
+{
+}
+
+BlockVelocityHoldFrontside::~BlockVelocityHoldFrontside() {};
+
+float BlockVelocityHoldFrontside::update(float vCmd, float v)
+{
+	return _v2Thr.update(vCmd - v);
+}
+
+BlockAltitudeHoldBackside::BlockAltitudeHoldBackside(SuperBlock *parent, const char *name) :
+	SuperBlock(parent, name),
+	_h2Thr(this, "H2THR"),
+	_throttle(0)
+{
+}
+
+BlockAltitudeHoldBackside::~BlockAltitudeHoldBackside() {};
+
+void BlockAltitudeHoldBackside::update(float hCmd, float h)
+{
+	_throttle = _h2Thr.update(hCmd - h);
+}
+
+BlockAltitudeHoldFrontside::BlockAltitudeHoldFrontside(SuperBlock *parent, const char *name) :
+	SuperBlock(parent, name),
+	_h2Theta(this, "H2THE"),
+	_theta2Q(this, "THE2Q")
+{
+}
+
+BlockAltitudeHoldFrontside::~BlockAltitudeHoldFrontside() {};
+
+float BlockAltitudeHoldFrontside::update(float hCmd, float h, float theta, float q)
+{
+	float thetaCmd = _h2Theta.update(hCmd - h);
+	return _theta2Q.update(thetaCmd - theta);
+}
+
+BlockBacksideAutopilot::BlockBacksideAutopilot(SuperBlock *parent,
+		const char *name,
+		BlockStabilization *stabilization) :
+	SuperBlock(parent, name),
+	_stabilization(stabilization),
+	_headingHold(this, ""),
+	_velocityHold(this, ""),
+	_altitudeHold(this, ""),
+	_trimAil(this, "TRIM_AIL"),
+	_trimElv(this, "TRIM_ELV"),
+	_trimRdr(this, "TRIM_RDR"),
+	_trimThr(this, "TRIM_THR")
+{
+}
+
+BlockBacksideAutopilot::~BlockBacksideAutopilot() {};
+
+void BlockBacksideAutopilot::update(float hCmd, float vCmd, float rCmd, float psiCmd,
+				    float h, float v,
+				    float phi, float theta, float psi,
+				    float p, float q, float r)
+{
+	_altitudeHold.update(hCmd, h);
+	_stabilization->update(
+		_headingHold.update(psiCmd, phi, psi, p),
+		_velocityHold.update(vCmd, v, theta, q),
+		rCmd,
+		p, q, r);
+}
+
+BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) :
+	SuperBlock(parent, name),
+	_xtYawLimit(this, "XT2YAW"),
+	_xt2Yaw(this, "XT2YAW"),
+	_psiCmd(0)
+{
+}
+
+BlockWaypointGuidance::~BlockWaypointGuidance() {};
+
+void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
+				   vehicle_attitude_s &att,
+				   vehicle_global_position_setpoint_s &posCmd,
+				   vehicle_global_position_setpoint_s &lastPosCmd)
+{
+
+	// heading to waypoint
+	float psiTrack = get_bearing_to_next_waypoint(
+				 (double)pos.lat / (double)1e7d,
+				 (double)pos.lon / (double)1e7d,
+				 (double)posCmd.lat / (double)1e7d,
+				 (double)posCmd.lon / (double)1e7d);
+
+	// cross track
+	struct crosstrack_error_s xtrackError;
+	get_distance_to_line(&xtrackError,
+			     (double)pos.lat / (double)1e7d,
+			     (double)pos.lon / (double)1e7d,
+			     (double)lastPosCmd.lat / (double)1e7d,
+			     (double)lastPosCmd.lon / (double)1e7d,
+			     (double)posCmd.lat / (double)1e7d,
+			     (double)posCmd.lon / (double)1e7d);
+
+	_psiCmd = _wrap_2pi(psiTrack -
+			    _xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
+}
+
+BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) :
+	SuperBlock(parent, name),
+	// subscriptions
+	_att(&getSubscriptions(), ORB_ID(vehicle_attitude), 20),
+	_attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20),
+	_ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20),
+	_pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20),
+	_posCmd(&getSubscriptions(), ORB_ID(vehicle_global_position_setpoint), 20),
+	_manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20),
+	_status(&getSubscriptions(), ORB_ID(vehicle_status), 20),
+	_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
+	// publications
+	_actuators(&getPublications(), ORB_ID(actuator_controls_0))
+{
+}
+
+BlockUorbEnabledAutopilot::~BlockUorbEnabledAutopilot() {};
+
+BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *parent, const char *name) :
+	BlockUorbEnabledAutopilot(parent, name),
+	_stabilization(this, ""), // no name needed, already unique
+	_backsideAutopilot(this, "", &_stabilization),
+	_guide(this, ""),
+	_vCmd(this, "V_CMD"),
+	_attPoll(),
+	_lastPosCmd(),
+	_timeStamp(0)
+{
+	_attPoll.fd = _att.getHandle();
+	_attPoll.events = POLLIN;
+}
+
+void BlockMultiModeBacksideAutopilot::update()
+{
+	// wait for a sensor update, check for exit condition every 100 ms
+	if (poll(&_attPoll, 1, 100) < 0) return; // poll error
+
+	uint64_t newTimeStamp = hrt_absolute_time();
+	float dt = (newTimeStamp - _timeStamp) / 1.0e6f;
+	_timeStamp = newTimeStamp;
+
+	// check for sane values of dt
+	// to prevent large control responses
+	if (dt > 1.0f || dt < 0) return;
+
+	// set dt for all child blocks
+	setDt(dt);
+
+	// store old position command before update if new command sent
+	if (_posCmd.updated()) {
+		_lastPosCmd = _posCmd.getData();
+	}
+
+	// check for new updates
+	if (_param_update.updated()) updateParams();
+
+	// get new information from subscriptions
+	updateSubscriptions();
+
+	// default all output to zero unless handled by mode
+	for (unsigned i = 4; i < NUM_ACTUATOR_CONTROLS; i++)
+		_actuators.control[i] = 0.0f;
+
+	// only update guidance in auto mode
+	if (_status.state_machine == SYSTEM_STATE_AUTO) {
+		// update guidance
+		_guide.update(_pos, _att, _posCmd, _lastPosCmd);
+	}
+
+	// XXX handle STABILIZED (loiter on spot) as well
+	// once the system switches from manual or auto to stabilized
+	// the setpoint should update to loitering around this position
+
+	// handle autopilot modes
+	if (_status.state_machine == SYSTEM_STATE_AUTO ||
+		_status.state_machine == SYSTEM_STATE_STABILIZED) {
+
+		// update guidance
+		_guide.update(_pos, _att, _posCmd, _lastPosCmd);
+
+		// calculate velocity, XXX should be airspeed, but using ground speed for now
+		float v = sqrtf(_pos.vx * _pos.vx + _pos.vy * _pos.vy + _pos.vz * _pos.vz);
+
+		// commands
+		float rCmd = 0;
+
+		_backsideAutopilot.update(
+			_posCmd.altitude, _vCmd.get(), rCmd, _guide.getPsiCmd(),
+			_pos.alt, v,
+			_att.roll, _att.pitch, _att.yaw,
+			_att.rollspeed, _att.pitchspeed, _att.yawspeed
+		);
+		_actuators.control[CH_AIL] = _backsideAutopilot.getAileron();
+		_actuators.control[CH_ELV] = _backsideAutopilot.getElevator();
+		_actuators.control[CH_RDR] = _backsideAutopilot.getRudder();
+		_actuators.control[CH_THR] = _backsideAutopilot.getThrottle();
+
+	} else if (_status.state_machine == SYSTEM_STATE_MANUAL) {
+
+		if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
+
+			_actuators.control[CH_AIL] = _manual.roll;
+			_actuators.control[CH_ELV] = _manual.pitch;
+			_actuators.control[CH_RDR] = _manual.yaw;
+			_actuators.control[CH_THR] = _manual.throttle;
+
+		} else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
+			_stabilization.update(
+			_ratesCmd.roll, _ratesCmd.pitch, _ratesCmd.yaw,
+			_att.rollspeed, _att.pitchspeed, _att.yawspeed);
+			_actuators.control[CH_AIL] = _stabilization.getAileron();
+			_actuators.control[CH_ELV] = _stabilization.getElevator();
+			_actuators.control[CH_RDR] = _stabilization.getRudder();
+			_actuators.control[CH_THR] = _manual.throttle;
+		}
+	}
+
+	// update all publications
+	updatePublications();
+}
+
+BlockMultiModeBacksideAutopilot::~BlockMultiModeBacksideAutopilot()
+{
+	// send one last publication when destroyed, setting
+	// all output to zero
+	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
+		_actuators.control[i] = 0.0f;
+
+	updatePublications();
+}
+
+} // namespace fixedwing
+
+} // namespace control
+
diff --git a/apps/controllib/fixedwing.hpp b/apps/controllib/fixedwing.hpp
new file mode 100644
index 000000000..ea742641c
--- /dev/null
+++ b/apps/controllib/fixedwing.hpp
@@ -0,0 +1,438 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file fixedwing.h
+ *
+ * Controller library code
+ */
+
+#pragma once
+
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_global_position_setpoint.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/parameter_update.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+#include <drivers/drv_hrt.h>
+#include <poll.h>
+
+#include "blocks.hpp"
+#include "block/UOrbSubscription.hpp"
+#include "block/UOrbPublication.hpp"
+
+extern "C" {
+#include <systemlib/geo/geo.h>
+}
+
+namespace control
+{
+
+namespace fixedwing
+{
+
+/**
+ * BlockYawDamper
+ *
+ * This block has more explations to help new developers
+ * add their own blocks. It includes a limited explanation
+ * of some C++ basics.
+ *
+ * Block: The generic class describing a typical block as you
+ * would expect in Simulink or ScicosLab. A block can have
+ * parameters. It cannot have other blocks.
+ *
+ * SuperBlock: A superblock is a block that can have other
+ * blocks. It has methods that manage the blocks beneath it.
+ *
+ * BlockYawDamper inherits from SuperBlock publically, this
+ * means that any public function in SuperBlock are public within
+ * BlockYawDamper and may be called from outside the
+ * class methods. Any protected function within block
+ * are private to the class and may not be called from
+ * outside this class. Protected should be preferred
+ * where possible to public as it is important to
+ * limit access to the bare minimum to prevent
+ * accidental errors.
+ */
+class __EXPORT BlockYawDamper : public SuperBlock
+{
+private:
+	/**
+	 * Declaring other blocks used by this block
+	 *
+	 * In this section we declare all child blocks that
+	 * this block is composed of. They are private
+	 * members so only this block has direct access to
+	 * them.
+	 */
+	BlockLowPass _rLowPass;
+	BlockHighPass _rWashout;
+	BlockP _r2Rdr;
+
+	/**
+	 * Declaring output values and accessors
+	 *
+	 * If we have any output values for the block we
+	 * declare them here. Output can be directly returned
+	 * through the update function, but outputs should be
+	 * declared here if the information will likely be requested
+	 * again, or if there are multiple outputs.
+	 *
+	 * You should only be able to set outputs from this block,
+	 * so the outputs are declared in the private section.
+	 * A get accessor is provided
+	 * in the public section for other blocks to get the
+	 * value of the output.
+	 */
+	float _rudder;
+public:
+	/**
+	 * BlockYawDamper Constructor
+	 *
+	 * The job of the constructor is to initialize all
+	 * parameter in this block and initialize all child
+	 * blocks. Note also, that the output values must be
+	 * initialized here. The order of the members in the
+	 * member initialization list should follow the
+	 * order in which they are declared within the class.
+	 * See the private member declarations above.
+	 *
+	 * Block Construction
+	 *
+	 * All blocks are constructed with their parent block
+	 * and their name. This allows parameters within the
+	 * block to construct a fully qualified name from
+	 * concatenating the two. If the name provided to the
+	 * block is "", then the block will use the parent
+	 * name as it's name. This is useful in cases where
+	 * you have a block that has parameters "MIN", "MAX",
+	 * such as BlockLimit and you do not want an extra name
+	 * to qualify them since the parent block has no "MIN",
+	 * "MAX" parameters.
+	 *
+	 * Block Parameter Construction
+	 *
+	 * Block parameters are named constants, they are
+	 * constructed using:
+	 * BlockParam::BlockParam(Block * parent, const char * name)
+	 * This funciton takes both a parent block and a name.
+	 * The constructore then uses the parent name and the name of
+	 * the paramter to ask the px4 param library if it has any
+	 * parameters with this name. If it does, a handle to the
+	 * parameter is retrieved.
+	 *
+	 * Block/ BlockParam Naming
+	 *
+	 * When desigining new blocks, the naming of the parameters and
+	 * blocks determines the fully qualified name of the parameters
+	 * within the ground station, so it is important to choose
+	 * short, easily understandable names. Again, when a name of
+	 * "" is passed, the parent block name is used as the value to
+	 * prepend to paramters names.
+	 */
+	BlockYawDamper(SuperBlock *parent, const char *name);
+	/**
+	 * Block deconstructor
+	 *
+	 * It is always a good idea to declare a virtual
+	 * deconstructor so that upon calling delete from
+	 * a class derived from this, all of the
+	 * deconstructors all called, the derived class first, and
+	 * then the base class
+	 */
+	virtual ~BlockYawDamper();
+
+	/**
+	 * Block update function
+	 *
+	 * The job of the update function is to compute the output
+	 * values for the block. In a simple block with one output,
+	 * the output may be returned directly. If the output is
+	 * required frequenly by other processses, it might be a
+	 * good idea to declare a member to store the temporary
+	 * variable.
+	 */
+	void update(float rCmd, float r);
+
+	/**
+	 * Rudder output value accessor
+	 *
+	 * This is a public accessor function, which means that the
+	 * private value _rudder is returned to anyone calling
+	 * BlockYawDamper::getRudder(). Note thate a setRudder() is
+	 * not provided, this is because the updateParams() call
+	 * for a block provides the mechanism for updating the
+	 * paramter.
+	 */
+	float getRudder() { return _rudder; }
+};
+
+/**
+ * Stability augmentation system.
+ * Aircraft Control and Simulation, Stevens and Lewis, pg. 292, 299
+ */
+class __EXPORT BlockStabilization : public SuperBlock
+{
+private:
+	BlockYawDamper _yawDamper;
+	BlockLowPass _pLowPass;
+	BlockLowPass _qLowPass;
+	BlockP _p2Ail;
+	BlockP _q2Elv;
+	float _aileron;
+	float _elevator;
+public:
+	BlockStabilization(SuperBlock *parent, const char *name);
+	virtual ~BlockStabilization();
+	void update(float pCmd, float qCmd, float rCmd,
+		    float p, float q, float r);
+	float getAileron() { return _aileron; }
+	float getElevator() { return _elevator; }
+	float getRudder() { return _yawDamper.getRudder(); }
+};
+
+/**
+ * Heading hold autopilot block.
+ * Aircraft Control and Simulation, Stevens and Lewis
+ * Heading hold, pg. 348
+ */
+class __EXPORT BlockHeadingHold : public SuperBlock
+{
+private:
+	BlockP _psi2Phi;
+	BlockP _phi2P;
+	BlockLimitSym _phiLimit;
+public:
+	BlockHeadingHold(SuperBlock *parent, const char *name);
+	virtual ~BlockHeadingHold();
+	/**
+	 * returns pCmd
+	 */
+	float update(float psiCmd, float phi, float psi, float p);
+};
+
+/**
+ * Frontside/ Backside Control Systems
+ *
+ * Frontside :
+ *   velocity error -> throttle
+ *   altitude error -> elevator
+ *
+ * Backside :
+ *   velocity error -> elevator
+ *   altitude error -> throttle
+ *
+ * Backside control systems are more resilient at
+ * slow speeds on the back-side of the power
+ * required curve/ landing etc. Less performance
+ * than frontside at high speeds.
+ */
+
+/**
+ * Backside velocity hold autopilot block.
+ * v -> theta -> q -> elevator
+ */
+class __EXPORT BlockVelocityHoldBackside : public SuperBlock
+{
+private:
+	BlockPID _v2Theta;
+	BlockPID _theta2Q;
+	BlockLimit _theLimit;
+	BlockLimit _vLimit;
+public:
+	BlockVelocityHoldBackside(SuperBlock *parent, const char *name);
+	virtual ~BlockVelocityHoldBackside();
+	/**
+	 * returns qCmd
+	 */
+	float update(float vCmd, float v, float theta, float q);
+};
+
+/**
+ * Frontside velocity hold autopilot block.
+ * v -> throttle
+ */
+class __EXPORT BlockVelocityHoldFrontside : public SuperBlock
+{
+private:
+	BlockPID _v2Thr;
+public:
+	BlockVelocityHoldFrontside(SuperBlock *parent, const char *name);
+	virtual ~BlockVelocityHoldFrontside();
+	/**
+	 * returns throttle
+	 */
+	float update(float vCmd, float v);
+};
+
+/**
+ * Backside altitude hold autopilot block.
+ * h -> throttle
+ */
+class __EXPORT BlockAltitudeHoldBackside : public SuperBlock
+{
+private:
+	BlockPID _h2Thr;
+	float _throttle;
+public:
+	BlockAltitudeHoldBackside(SuperBlock *parent, const char *name);
+	virtual ~BlockAltitudeHoldBackside();
+	void update(float hCmd, float h);
+	float getThrottle() { return _throttle; }
+};
+
+/**
+ * Frontside altitude hold autopilot block.
+ * h -> theta > q -> elevator
+ */
+class __EXPORT BlockAltitudeHoldFrontside : public SuperBlock
+{
+private:
+	BlockPID _h2Theta;
+	BlockPID _theta2Q;
+public:
+	BlockAltitudeHoldFrontside(SuperBlock *parent, const char *name);
+	virtual ~BlockAltitudeHoldFrontside();
+	/**
+	 * return qCmd
+	 */
+	float update(float hCmd, float h, float theta, float q);
+};
+
+/**
+ * Backside autopilot
+ */
+class __EXPORT BlockBacksideAutopilot : public SuperBlock
+{
+private:
+	BlockStabilization *_stabilization;
+	BlockHeadingHold _headingHold;
+	BlockVelocityHoldBackside _velocityHold;
+	BlockAltitudeHoldBackside _altitudeHold;
+	BlockParam<float> _trimAil;
+	BlockParam<float> _trimElv;
+	BlockParam<float> _trimRdr;
+	BlockParam<float> _trimThr;
+public:
+	BlockBacksideAutopilot(SuperBlock *parent,
+			       const char *name,
+			       BlockStabilization *stabilization);
+	virtual ~BlockBacksideAutopilot();
+	void update(float hCmd, float vCmd, float rCmd, float psiCmd,
+		    float h, float v,
+		    float phi, float theta, float psi,
+		    float p, float q, float r);
+	float getRudder() { return _stabilization->getRudder() + _trimRdr.get(); }
+	float getAileron() { return _stabilization->getAileron() + _trimAil.get(); }
+	float getElevator() { return _stabilization->getElevator() + _trimElv.get(); }
+	float getThrottle() { return _altitudeHold.getThrottle() + _trimThr.get(); }
+};
+
+/**
+ * Waypoint Guidance block
+ */
+class __EXPORT BlockWaypointGuidance : public SuperBlock
+{
+private:
+	BlockLimitSym _xtYawLimit;
+	BlockP _xt2Yaw;
+	float _psiCmd;
+public:
+	BlockWaypointGuidance(SuperBlock *parent, const char *name);
+	virtual ~BlockWaypointGuidance();
+	void update(vehicle_global_position_s &pos,
+		    vehicle_attitude_s &att,
+		    vehicle_global_position_setpoint_s &posCmd,
+		    vehicle_global_position_setpoint_s &lastPosCmd);
+	float getPsiCmd() { return _psiCmd; }
+};
+
+/**
+ * UorbEnabledAutopilot
+ */
+class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
+{
+protected:
+	// subscriptions
+	UOrbSubscription<vehicle_attitude_s> _att;
+	UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd;
+	UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd;
+	UOrbSubscription<vehicle_global_position_s> _pos;
+	UOrbSubscription<vehicle_global_position_setpoint_s> _posCmd;
+	UOrbSubscription<manual_control_setpoint_s> _manual;
+	UOrbSubscription<vehicle_status_s> _status;
+	UOrbSubscription<parameter_update_s> _param_update;
+	// publications
+	UOrbPublication<actuator_controls_s> _actuators;
+public:
+	BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name);
+	virtual ~BlockUorbEnabledAutopilot();
+};
+
+/**
+ * Multi-mode Autopilot
+ */
+class __EXPORT BlockMultiModeBacksideAutopilot : public BlockUorbEnabledAutopilot
+{
+private:
+	BlockStabilization _stabilization;
+	BlockBacksideAutopilot _backsideAutopilot;
+	BlockWaypointGuidance _guide;
+	BlockParam<float> _vCmd;
+
+	struct pollfd _attPoll;
+	vehicle_global_position_setpoint_s _lastPosCmd;
+	enum {CH_AIL, CH_ELV, CH_RDR, CH_THR};
+	uint64_t _timeStamp;
+public:
+	BlockMultiModeBacksideAutopilot(SuperBlock *parent, const char *name);
+	void update();
+	virtual ~BlockMultiModeBacksideAutopilot();
+};
+
+
+} // namespace fixedwing
+
+} // namespace control
+
diff --git a/apps/controllib/test_params.c b/apps/controllib/test_params.c
new file mode 100644
index 000000000..7c609cad3
--- /dev/null
+++ b/apps/controllib/test_params.c
@@ -0,0 +1,22 @@
+#include <systemlib/param/param.h>
+// WARNING:
+//  do not changes these unless
+//  you want to recompute the
+//  answers for all of the unit tests
+
+PARAM_DEFINE_FLOAT(TEST_MIN, -1.0f);
+PARAM_DEFINE_FLOAT(TEST_MAX, 1.0f);
+PARAM_DEFINE_FLOAT(TEST_TRIM, 0.5f);
+PARAM_DEFINE_FLOAT(TEST_HP, 10.0f);
+PARAM_DEFINE_FLOAT(TEST_LP, 10.0f);
+
+PARAM_DEFINE_FLOAT(TEST_P, 0.2f);
+
+PARAM_DEFINE_FLOAT(TEST_I, 0.1f);
+PARAM_DEFINE_FLOAT(TEST_I_MAX, 1.0f);
+
+PARAM_DEFINE_FLOAT(TEST_D, 0.01f);
+PARAM_DEFINE_FLOAT(TEST_D_LP, 10.0f);
+
+PARAM_DEFINE_FLOAT(TEST_MEAN, 1.0f);
+PARAM_DEFINE_FLOAT(TEST_DEV, 2.0f);
diff --git a/apps/drivers/blinkm/blinkm.cpp b/apps/drivers/blinkm/blinkm.cpp
index d589025cc..aeee80905 100644
--- a/apps/drivers/blinkm/blinkm.cpp
+++ b/apps/drivers/blinkm/blinkm.cpp
@@ -35,9 +35,61 @@
  * @file blinkm.cpp
  *
  * Driver for the BlinkM LED controller connected via I2C.
+ *
+ * Connect the BlinkM to I2C3 and put the following line to the rc startup-script:
+ * blinkm start
+ *
+ * To start the system monitor put in the next line after the blinkm start:
+ * blinkm systemmonitor
+ *
+ *
+ * Description:
+ * After startup, the Application checked how many lipo cells are connected to the System.
+ * The recognized number off cells, will be blinked 5 times in purple color.
+ * 2 Cells = 2 blinks
+ * ...
+ * 5 Cells = 5 blinks
+ * Now the Application will show the actual selected Flightmode, GPS-Fix and Battery Warnings and Alerts.
+ *
+ * System disarmed:
+ * The BlinkM should lit solid red.
+ *
+ * System armed:
+ * One message is made of 4 Blinks and a pause in the same length as the 4 blinks.
+ *
+ * X-X-X-X-_-_-_-_-
+ * -------------------------
+ * G G G M
+ * P P P O
+ * S S S D
+ *       E
+ *
+ * (X = on, _=off)
+ *
+ * The first 3 blinks indicates the status of the GPS-Signal (red):
+ * 0-4 satellites = X-X-X-X-_-_-_-_-
+ *   5 satellites = X-X-_-X-_-_-_-_-
+ *   6 satellites = X-_-_-X-_-_-_-_-
+ * >=7 satellites = _-_-_-X-_-_-_-_-
+ * If no GPS is found the first 3 blinks are white
+ *
+ * The fourth Blink indicates the Flightmode:
+ * MANUAL     : off
+ * STABILIZED : yellow
+ * HOLD		  : blue
+ * AUTO       : green
+ *
+ * Battery Warning (low Battery Level):
+ * Continuously blinking in yellow X-X-X-X-X-X-X-X
+ *
+ * Battery Alert (critical Battery Level)
+ * Continuously blinking in red X-X-X-X-X-X-X-X
+ *
+ * General Error (no uOrb Data)
+ * Continuously blinking in white X-X-X-X-X-X-X-X
+ *
  */
 
-
 #include <nuttx/config.h>
 
 #include <drivers/device/i2c.h>
@@ -59,15 +111,28 @@
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 
+#include <systemlib/systemlib.h>
+#include <poll.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/vehicle_gps_position.h>
+
+static const float MAX_CELL_VOLTAGE	= 4.3f;
+static const int LED_ONTIME = 100;
+static const int LED_OFFTIME = 100;
+static const int LED_BLINK = 1;
+static const int LED_NOBLINK = 0;
+
 class BlinkM : public device::I2C
 {
 public:
 	BlinkM(int bus);
 	~BlinkM();
 
+
 	virtual int		init();
 	virtual int		probe();
-
+	virtual int		setMode(int mode);
 	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
 
 	static const char	*script_names[];
@@ -95,11 +160,31 @@ private:
 		MORSE_CODE
 	};
 
+	enum ledColors {
+		LED_OFF,
+		LED_RED,
+		LED_YELLOW,
+		LED_PURPLE,
+		LED_GREEN,
+		LED_BLUE,
+		LED_WHITE
+	};
+
 	work_s			_work;
-	static const unsigned	_monitor_interval = 250;
 
-	static void		monitor_trampoline(void *arg);
-	void			monitor();
+	int led_color_1;
+	int led_color_2;
+	int led_color_3;
+	int led_color_4;
+	int led_color_5;
+	int led_color_6;
+	int led_blink;
+
+	bool systemstate_run;
+
+	void 			setLEDColor(int ledcolor);
+	static void		led_trampoline(void *arg);
+	void			led();
 
 	int			set_rgb(uint8_t r, uint8_t g, uint8_t b);
 
@@ -127,8 +212,7 @@ private:
 /* for now, we only support one BlinkM */
 namespace
 {
-BlinkM *g_blinkm;
-
+	BlinkM *g_blinkm;
 }
 
 /* list of script names, must match script ID numbers */
@@ -155,11 +239,21 @@ const char *BlinkM::script_names[] = {
 	nullptr
 };
 
+
 extern "C" __EXPORT int blinkm_main(int argc, char *argv[]);
 
 BlinkM::BlinkM(int bus) :
-	I2C("blinkm", BLINKM_DEVICE_PATH, bus, 0x09, 100000)
+	I2C("blinkm", BLINKM_DEVICE_PATH, bus, 0x09, 100000),
+	led_color_1(LED_OFF),
+	led_color_2(LED_OFF),
+	led_color_3(LED_OFF),
+	led_color_4(LED_OFF),
+	led_color_5(LED_OFF),
+	led_color_6(LED_OFF),
+	led_blink(LED_NOBLINK),
+	systemstate_run(false)
 {
+	memset(&_work, 0, sizeof(_work));
 }
 
 BlinkM::~BlinkM()
@@ -170,7 +264,6 @@ int
 BlinkM::init()
 {
 	int ret;
-
 	ret = I2C::init();
 
 	if (ret != OK) {
@@ -178,14 +271,25 @@ BlinkM::init()
 		return ret;
 	}
 
-	/* set some sensible defaults */
-	set_fade_speed(25);
+	stop_script();
+	set_rgb(0,0,0);
 
-	/* turn off by default */
-	play_script(BLACK);
+	return OK;
+}
 
-	/* start the system monitor as a low-priority workqueue entry */
-	work_queue(LPWORK, &_work, (worker_t)&BlinkM::monitor_trampoline, this, 1);
+int
+BlinkM::setMode(int mode)
+{
+	if(mode == 1) {
+		if(systemstate_run == false) {
+			stop_script();
+			set_rgb(0,0,0);
+			systemstate_run = true;
+			work_queue(LPWORK, &_work, (worker_t)&BlinkM::led_trampoline, this, 1);
+		}
+	} else {
+		systemstate_run = false;
+	}
 
 	return OK;
 }
@@ -249,21 +353,300 @@ BlinkM::ioctl(struct file *filp, int cmd, unsigned long arg)
 	return ret;
 }
 
+
 void
-BlinkM::monitor_trampoline(void *arg)
+BlinkM::led_trampoline(void *arg)
 {
 	BlinkM *bm = (BlinkM *)arg;
 
-	bm->monitor();
+	bm->led();
 }
 
+
+
 void
-BlinkM::monitor()
+BlinkM::led()
 {
-	/* check system state, possibly update LED to suit */
 
-	/* re-queue ourselves to run again later */
-	work_queue(LPWORK, &_work, (worker_t)&BlinkM::monitor_trampoline, this, _monitor_interval);
+	static int vehicle_status_sub_fd;
+	static int vehicle_gps_position_sub_fd;
+
+	static int num_of_cells = 0;
+	static int detected_cells_runcount = 0;
+
+	static int t_led_color[6] = { 0, 0, 0, 0, 0, 0};
+	static int t_led_blink = 0;
+	static int led_thread_runcount=0;
+	static int led_interval = 1000;
+
+	static int no_data_vehicle_status = 0;
+	static int no_data_vehicle_gps_position = 0;
+
+	static bool topic_initialized = false;
+	static bool detected_cells_blinked = false;
+	static bool led_thread_ready = true;
+
+	int num_of_used_sats = 0;
+
+	if(!topic_initialized) {
+		vehicle_status_sub_fd = orb_subscribe(ORB_ID(vehicle_status));
+		orb_set_interval(vehicle_status_sub_fd, 1000);
+
+		vehicle_gps_position_sub_fd = orb_subscribe(ORB_ID(vehicle_gps_position));
+		orb_set_interval(vehicle_gps_position_sub_fd, 1000);
+
+		topic_initialized = true;
+	}
+
+	if(led_thread_ready == true) {
+		if(!detected_cells_blinked) {
+			if(num_of_cells > 0) {
+				t_led_color[0] = LED_PURPLE;
+			}
+			if(num_of_cells > 1) {
+				t_led_color[1] = LED_PURPLE;
+			}
+			if(num_of_cells > 2) {
+				t_led_color[2] = LED_PURPLE;
+			}
+			if(num_of_cells > 3) {
+				t_led_color[3] = LED_PURPLE;
+			}
+			if(num_of_cells > 4) {
+				t_led_color[4] = LED_PURPLE;
+			}
+			t_led_color[5] = LED_OFF;
+			t_led_blink = LED_BLINK;
+		} else {
+			t_led_color[0] = led_color_1;
+			t_led_color[1] = led_color_2;
+			t_led_color[2] = led_color_3;
+			t_led_color[3] = led_color_4;
+			t_led_color[4] = led_color_5;
+			t_led_color[5] = led_color_6;
+			t_led_blink = led_blink;
+		}
+		led_thread_ready = false;
+	}
+
+	if (led_thread_runcount & 1) {
+		if (t_led_blink)
+			setLEDColor(LED_OFF);
+		led_interval = LED_OFFTIME;
+	} else {
+		setLEDColor(t_led_color[(led_thread_runcount / 2) % 6]);
+		//led_interval = (led_thread_runcount & 1) : LED_ONTIME;
+		led_interval = LED_ONTIME;
+	}
+
+	if (led_thread_runcount == 11) {
+		/* obtained data for the first file descriptor */
+		struct vehicle_status_s vehicle_status_raw;
+		struct vehicle_gps_position_s vehicle_gps_position_raw;
+
+		bool new_data_vehicle_status;
+		bool new_data_vehicle_gps_position;
+
+		orb_check(vehicle_status_sub_fd, &new_data_vehicle_status);
+
+		if (new_data_vehicle_status) {
+			orb_copy(ORB_ID(vehicle_status), vehicle_status_sub_fd, &vehicle_status_raw);
+			no_data_vehicle_status = 0;
+		} else {
+			no_data_vehicle_status++;
+			if(no_data_vehicle_status >= 3)
+				no_data_vehicle_status = 3;
+		}
+
+		orb_check(vehicle_gps_position_sub_fd, &new_data_vehicle_gps_position);
+
+		if (new_data_vehicle_gps_position) {
+			orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub_fd, &vehicle_gps_position_raw);
+			no_data_vehicle_gps_position = 0;
+		} else {
+			no_data_vehicle_gps_position++;
+			if(no_data_vehicle_gps_position >= 3)
+				no_data_vehicle_gps_position = 3;
+		}
+
+
+
+		/* get number of used satellites in navigation */
+		num_of_used_sats = 0;
+		for(int satloop=0; satloop<20; satloop++) {
+			if(vehicle_gps_position_raw.satellite_used[satloop] == 1) {
+				num_of_used_sats++;
+			}
+		}
+
+		if(new_data_vehicle_status || no_data_vehicle_status < 3){
+			if(num_of_cells == 0) {
+				/* looking for lipo cells that are connected */
+				printf("<blinkm> checking cells\n");
+				for(num_of_cells = 2; num_of_cells < 7; num_of_cells++) {
+					if(vehicle_status_raw.voltage_battery < num_of_cells * MAX_CELL_VOLTAGE) break;
+				}
+				printf("<blinkm> cells found:%u\n", num_of_cells);
+
+			} else {
+				if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_WARNING) {
+					/* LED Pattern for battery low warning */
+					led_color_1 = LED_YELLOW;
+					led_color_2 = LED_YELLOW;
+					led_color_3 = LED_YELLOW;
+					led_color_4 = LED_YELLOW;
+					led_color_5 = LED_YELLOW;
+					led_color_6 = LED_YELLOW;
+					led_blink = LED_BLINK;
+
+				} else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_ALERT) {
+					/* LED Pattern for battery critical alerting */
+					led_color_1 = LED_RED;
+					led_color_2 = LED_RED;
+					led_color_3 = LED_RED;
+					led_color_4 = LED_RED;
+					led_color_5 = LED_RED;
+					led_color_6 = LED_RED;
+					led_blink = LED_BLINK;
+
+				} else {
+					/* no battery warnings here */
+
+					if(vehicle_status_raw.flag_system_armed == false) {
+						/* system not armed */
+						led_color_1 = LED_RED;
+						led_color_2 = LED_RED;
+						led_color_3 = LED_RED;
+						led_color_4 = LED_RED;
+						led_color_5 = LED_RED;
+						led_color_6 = LED_RED;
+						led_blink = LED_NOBLINK;
+
+					} else {
+						/* armed system - initial led pattern */
+						led_color_1 = LED_RED;
+						led_color_2 = LED_RED;
+						led_color_3 = LED_RED;
+						led_color_4 = LED_OFF;
+						led_color_5 = LED_OFF;
+						led_color_6 = LED_OFF;
+						led_blink = LED_BLINK;
+
+						/* handle 4th led - flightmode indicator */
+						switch((int)vehicle_status_raw.flight_mode) {
+							case VEHICLE_FLIGHT_MODE_MANUAL:
+								led_color_4 = LED_OFF;
+								break;
+
+							case VEHICLE_FLIGHT_MODE_STAB:
+								led_color_4 = LED_YELLOW;
+								break;
+
+							case VEHICLE_FLIGHT_MODE_HOLD:
+								led_color_4 = LED_BLUE;
+								break;
+
+							case VEHICLE_FLIGHT_MODE_AUTO:
+								led_color_4 = LED_GREEN;
+								break;
+						}
+
+						if(new_data_vehicle_gps_position || no_data_vehicle_gps_position < 3) {
+							/* handling used sat´s */
+							if(num_of_used_sats >= 7) {
+								led_color_1 = LED_OFF;
+								led_color_2 = LED_OFF;
+								led_color_3 = LED_OFF;
+							} else if(num_of_used_sats == 6) {
+								led_color_2 = LED_OFF;
+								led_color_3 = LED_OFF;
+							} else if(num_of_used_sats == 5) {
+								led_color_3 = LED_OFF;
+							}
+
+						} else {
+							/* no vehicle_gps_position data */
+							led_color_1 = LED_WHITE;
+							led_color_2 = LED_WHITE;
+							led_color_3 = LED_WHITE;
+
+						}
+
+					}
+				}
+			}
+		} else {
+			/* LED Pattern for general Error - no vehicle_status can retrieved */
+			led_color_1 = LED_WHITE;
+			led_color_2 = LED_WHITE;
+			led_color_3 = LED_WHITE;
+			led_color_4 = LED_WHITE;
+			led_color_5 = LED_WHITE;
+			led_color_6 = LED_WHITE;
+			led_blink = LED_BLINK;
+
+		}
+
+		/*
+		printf( "<blinkm> Volt:%8.4f\tArmed:%4u\tMode:%4u\tCells:%4u\tNDVS:%4u\tNDSAT:%4u\tSats:%4u\tFix:%4u\tVisible:%4u\n",
+		vehicle_status_raw.voltage_battery,
+		vehicle_status_raw.flag_system_armed,
+		vehicle_status_raw.flight_mode,
+		num_of_cells,
+		no_data_vehicle_status,
+		no_data_vehicle_gps_position,
+		num_of_used_sats,
+		vehicle_gps_position_raw.fix_type,
+		vehicle_gps_position_raw.satellites_visible);
+		*/
+
+		led_thread_runcount=0;
+		led_thread_ready = true;
+		led_interval = LED_OFFTIME;
+
+		if(detected_cells_runcount < 4){
+			detected_cells_runcount++;
+		} else {
+			detected_cells_blinked = true;
+		}
+
+	} else {
+		led_thread_runcount++;
+	}
+
+	if(systemstate_run == true) {
+		/* re-queue ourselves to run again later */
+		work_queue(LPWORK, &_work, (worker_t)&BlinkM::led_trampoline, this, led_interval);
+	} else {
+		stop_script();
+		set_rgb(0,0,0);
+	}
+}
+
+void BlinkM::setLEDColor(int ledcolor) {
+	switch (ledcolor) {
+		case LED_OFF:	// off
+			set_rgb(0,0,0);
+			break;
+		case LED_RED:	// red
+			set_rgb(255,0,0);
+			break;
+		case LED_YELLOW:	// yellow
+			set_rgb(255,70,0);
+			break;
+		case LED_PURPLE:	// purple
+			set_rgb(255,0,255);
+			break;
+		case LED_GREEN:	// green
+			set_rgb(0,255,0);
+			break;
+		case LED_BLUE:	// blue
+			set_rgb(0,0,255);
+			break;
+		case LED_WHITE:	// white
+			set_rgb(255,255,255);
+			break;
+	}
 }
 
 int
@@ -413,7 +796,6 @@ BlinkM::get_rgb(uint8_t &r, uint8_t &g, uint8_t &b)
 	return ret;
 }
 
-
 int
 BlinkM::get_firmware_version(uint8_t version[2])
 {
@@ -443,9 +825,21 @@ blinkm_main(int argc, char *argv[])
 		exit(0);
 	}
 
+
 	if (g_blinkm == nullptr)
 		errx(1, "not started");
 
+	if (!strcmp(argv[1], "systemstate")) {
+		g_blinkm->setMode(1);
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "ledoff")) {
+		g_blinkm->setMode(0);
+		exit(0);
+	}
+
+
 	if (!strcmp(argv[1], "list")) {
 		for (unsigned i = 0; BlinkM::script_names[i] != nullptr; i++)
 			fprintf(stderr, "    %s\n", BlinkM::script_names[i]);
@@ -458,8 +852,9 @@ blinkm_main(int argc, char *argv[])
 	if (fd < 0)
 		err(1, "can't open BlinkM device");
 
+	g_blinkm->setMode(0);
 	if (ioctl(fd, BLINKM_PLAY_SCRIPT_NAMED, (unsigned long)argv[1]) == OK)
 		exit(0);
 
-	errx(1, "missing command, try 'start', 'list' or a script name");
-}
\ No newline at end of file
+	errx(1, "missing command, try 'start', 'systemstate', 'ledoff', 'list' or a script name.");
+}
diff --git a/apps/drivers/boards/px4fmu/px4fmu_init.c b/apps/drivers/boards/px4fmu/px4fmu_init.c
index 57ffb77d3..e88d2861e 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_init.c
+++ b/apps/drivers/boards/px4fmu/px4fmu_init.c
@@ -95,8 +95,6 @@
  * Protected Functions
  ****************************************************************************/
 
-extern int adc_devinit(void);
-
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
@@ -150,9 +148,7 @@ __EXPORT int nsh_archinitialize(void)
 	int result;
 
 	/* configure the high-resolution time/callout interface */
-#ifdef CONFIG_HRT_TIMER
 	hrt_init();
-#endif
 
 	/* configure CPU load estimation */
 #ifdef CONFIG_SCHED_INSTRUMENTATION
@@ -160,27 +156,21 @@ __EXPORT int nsh_archinitialize(void)
 #endif
 
 	/* set up the serial DMA polling */
-#ifdef SERIAL_HAVE_DMA
-	{
-		static struct hrt_call serial_dma_call;
-		struct timespec ts;
-
-		/*
-		 * Poll at 1ms intervals for received bytes that have not triggered
-		 * a DMA event.
-		 */
-		ts.tv_sec = 0;
-		ts.tv_nsec = 1000000;
-
-		hrt_call_every(&serial_dma_call,
-			       ts_to_abstime(&ts),
-			       ts_to_abstime(&ts),
-			       (hrt_callout)stm32_serial_dma_poll,
-			       NULL);
-	}
-#endif
-
-	message("\r\n");
+	static struct hrt_call serial_dma_call;
+	struct timespec ts;
+
+	/*
+	 * Poll at 1ms intervals for received bytes that have not triggered
+	 * a DMA event.
+	 */
+	ts.tv_sec = 0;
+	ts.tv_nsec = 1000000;
+
+	hrt_call_every(&serial_dma_call,
+		       ts_to_abstime(&ts),
+		       ts_to_abstime(&ts),
+		       (hrt_callout)stm32_serial_dma_poll,
+		       NULL);
 
 	// initial LED state
 	drv_led_start();
@@ -209,8 +199,7 @@ __EXPORT int nsh_archinitialize(void)
 
 	message("[boot] Successfully initialized SPI port 1\r\n");
 
-#if defined(CONFIG_STM32_SPI3)
-	/* Get the SPI port */
+	/* Get the SPI port for the microSD slot */
 
 	message("[boot] Initializing SPI port 3\n");
 	spi3 = up_spiinitialize(3);
@@ -233,23 +222,11 @@ __EXPORT int nsh_archinitialize(void)
 	}
 
 	message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
-#endif /* SPI3 */
 
-#ifdef CONFIG_ADC
-	int adc_state = adc_devinit();
-
-	if (adc_state != OK) {
-		/* Try again */
-		adc_state = adc_devinit();
-
-		if (adc_state != OK) {
-			/* Give up */
-			message("[boot] FAILED adc_devinit: %d\n", adc_state);
-			return -ENODEV;
-		}
-	}
-
-#endif
+	stm32_configgpio(GPIO_ADC1_IN10);
+	stm32_configgpio(GPIO_ADC1_IN11);
+	stm32_configgpio(GPIO_ADC1_IN12);
+	stm32_configgpio(GPIO_ADC1_IN13);	// jumperable to MPU6000 DRDY on some boards
 
 	return OK;
 }
diff --git a/apps/drivers/boards/px4io/px4io_init.c b/apps/drivers/boards/px4io/px4io_init.c
index 33a6707ce..14e8dc13a 100644
--- a/apps/drivers/boards/px4io/px4io_init.c
+++ b/apps/drivers/boards/px4io/px4io_init.c
@@ -92,4 +92,7 @@ __EXPORT void stm32_boardinitialize(void)
 	stm32_configgpio(GPIO_ACC_OC_DETECT);
 	stm32_configgpio(GPIO_SERVO_OC_DETECT);
 	stm32_configgpio(GPIO_BTN_SAFETY);
+
+	stm32_configgpio(GPIO_ADC_VBATT);
+	stm32_configgpio(GPIO_ADC_IN5);
 }
diff --git a/apps/drivers/boards/px4io/px4io_internal.h b/apps/drivers/boards/px4io/px4io_internal.h
index a0342ac8a..f77d237a7 100644
--- a/apps/drivers/boards/px4io/px4io_internal.h
+++ b/apps/drivers/boards/px4io/px4io_internal.h
@@ -61,28 +61,6 @@
 #define GPIO_LED3       (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\
                          GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
 
-/* R/C in/out channels **************************************************************/
-
-/* XXX just GPIOs for now - eventually timer pins */
-
-#define GPIO_CH1_IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN0)
-#define GPIO_CH2_IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN1)
-#define GPIO_CH3_IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN8)
-#define GPIO_CH4_IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN9)
-#define GPIO_CH5_IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN6)
-#define GPIO_CH6_IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN7)
-#define GPIO_CH7_IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN0)
-#define GPIO_CH8_IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN1)
-
-#define GPIO_CH1_OUT    (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
-#define GPIO_CH2_OUT    (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
-#define GPIO_CH3_OUT    (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
-#define GPIO_CH4_OUT    (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
-#define GPIO_CH5_OUT    (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6)
-#define GPIO_CH6_OUT    (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
-#define GPIO_CH7_OUT    (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
-#define GPIO_CH8_OUT    (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
-
 /* Safety switch button *************************************************************/
 
 #define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5)
@@ -98,3 +76,8 @@
 
 #define GPIO_RELAY1_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN13)
 #define GPIO_RELAY2_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN12)
+
+/* Analog inputs ********************************************************************/
+
+#define GPIO_ADC_VBATT	(GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
+#define GPIO_ADC_IN5	(GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
diff --git a/apps/drivers/drv_adc.h b/apps/drivers/drv_adc.h
new file mode 100644
index 000000000..8ec6d1233
--- /dev/null
+++ b/apps/drivers/drv_adc.h
@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file drv_adc.h
+ *
+ * ADC driver interface.
+ *
+ * This defines additional operations over and above the standard NuttX
+ * ADC API.
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+#define ADC_DEVICE_PATH		"/dev/adc0"
+
+/*
+ * ioctl definitions
+ */
diff --git a/apps/drivers/drv_mixer.h b/apps/drivers/drv_mixer.h
index 793e86b32..9f43015d9 100644
--- a/apps/drivers/drv_mixer.h
+++ b/apps/drivers/drv_mixer.h
@@ -100,28 +100,13 @@ struct mixer_simple_s {
  */
 #define MIXERIOCADDSIMPLE	_MIXERIOC(2)
 
-/** multirotor output definition */
-struct mixer_rotor_output_s {
-	float			angle;		/**< rotor angle clockwise from forward in radians */
-	float			distance;	/**< motor distance from centre in arbitrary units */
-};
-
-/** multirotor mixer */
-struct mixer_multirotor_s {
-	uint8_t			rotor_count;
-	struct mixer_control_s	controls[4];	/**< controls are roll, pitch, yaw, thrust */
-	struct mixer_rotor_output_s rotors[0];	/**< actual size of the array is set by rotor_count */
-};
-
-/**
- * Add a multirotor mixer in (struct mixer_multirotor_s *)arg
- */
-#define MIXERIOCADDMULTIROTOR	_MIXERIOC(3)
+/* _MIXERIOC(3) was deprecated */
+/* _MIXERIOC(4) was deprecated */
 
 /**
- * Add mixers(s) from a the file in (const char *)arg
+ * Add mixer(s) from the buffer in (const char *)arg
  */
-#define MIXERIOCLOADFILE	_MIXERIOC(4)
+#define MIXERIOCLOADBUF		_MIXERIOC(5)
 
 /*
  * XXX Thoughts for additional operations:
diff --git a/apps/drivers/drv_pwm_output.h b/apps/drivers/drv_pwm_output.h
index b2fee65ac..c110cd5cb 100644
--- a/apps/drivers/drv_pwm_output.h
+++ b/apps/drivers/drv_pwm_output.h
@@ -103,6 +103,9 @@ ORB_DECLARE(output_pwm);
 /** disarm all servo outputs (stop generating pulses) */
 #define PWM_SERVO_DISARM	_IOC(_PWM_SERVO_BASE, 1)
 
+/** set update rate in Hz */
+#define PWM_SERVO_SET_UPDATE_RATE	_IOC(_PWM_SERVO_BASE, 2)
+
 /** set a single servo to a specific value */
 #define PWM_SERVO_SET(_servo)	_IOC(_PWM_SERVO_BASE, 0x20 + _servo)
 
diff --git a/apps/drivers/hil/hil.cpp b/apps/drivers/hil/hil.cpp
index 67b16aa42..fe9b281f6 100644
--- a/apps/drivers/hil/hil.cpp
+++ b/apps/drivers/hil/hil.cpp
@@ -68,11 +68,11 @@
 #include <drivers/device/device.h>
 #include <drivers/drv_pwm_output.h>
 #include <drivers/drv_gpio.h>
-// #include <drivers/boards/HIL/HIL_internal.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_mixer.h>
 
 #include <systemlib/systemlib.h>
 #include <systemlib/mixer/mixer.h>
-#include <drivers/drv_mixer.h>
 
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>
@@ -382,7 +382,6 @@ HIL::task_main()
 		/* this would be bad... */
 		if (ret < 0) {
 			log("poll error %d", errno);
-			usleep(1000000);
 			continue;
 		}
 
@@ -396,16 +395,27 @@ HIL::task_main()
 			if (_mixers != nullptr) {
 
 				/* do mixing */
-				_mixers->mix(&outputs.output[0], num_outputs);
+				outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs);
+				outputs.timestamp = hrt_absolute_time();
 
 				/* iterate actuators */
 				for (unsigned i = 0; i < num_outputs; i++) {
 
-					/* scale for PWM output 900 - 2100us */
-					outputs.output[i] = 1500 + (600 * outputs.output[i]);
-
-					/* output to the servo */
-					// up_pwm_servo_set(i, outputs.output[i]);
+					/* last resort: catch NaN, INF and out-of-band errors */
+					if (i < (unsigned)outputs.noutputs &&
+						isfinite(outputs.output[i]) &&
+						outputs.output[i] >= -1.0f &&
+						outputs.output[i] <= 1.0f) {
+						/* scale for PWM output 900 - 2100us */
+						outputs.output[i] = 1500 + (600 * outputs.output[i]);
+					} else {
+						/*
+						 * Value is NaN, INF or out of band - set to the minimum value.
+						 * This will be clearly visible on the servo status and will limit the risk of accidentally
+						 * spinning motors. It would be deadly in flight.
+						 */
+						outputs.output[i] = 900;
+					}
 				}
 
 				/* and publish for anyone that cares to see */
@@ -419,9 +429,6 @@ HIL::task_main()
 
 			/* get new value */
 			orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
-
-			/* update PWM servo armed status */
-			// up_pwm_servo_arm(aa.armed);
 		}
 	}
 
@@ -503,6 +510,10 @@ HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 		// up_pwm_servo_arm(false);
 		break;
 
+	case PWM_SERVO_SET_UPDATE_RATE:
+		g_hil->set_pwm_rate(arg);
+		break;
+
 	case PWM_SERVO_SET(2):
 	case PWM_SERVO_SET(3):
 		if (_mode != MODE_4PWM) {
@@ -577,26 +588,19 @@ HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 		}
 
-	case MIXERIOCADDMULTIROTOR:
-		/* XXX not yet supported */
-		ret = -ENOTTY;
-		break;
-
-	case MIXERIOCLOADFILE: {
-			const char *path = (const char *)arg;
+	case MIXERIOCLOADBUF: {
+			const char *buf = (const char *)arg;
+			unsigned buflen = strnlen(buf, 1024);
 
-			if (_mixers != nullptr) {
-				delete _mixers;
-				_mixers = nullptr;
-			}
+			if (_mixers == nullptr)
+				_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
 
-			_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
 			if (_mixers == nullptr) {
 				ret = -ENOMEM;
+
 			} else {
 
-				debug("loading mixers from %s", path);
-				ret = _mixers->load_from_file(path);
+				ret = _mixers->load_from_buf(buf, buflen);
 
 				if (ret != 0) {
 					debug("mixer load failed with %d", ret);
@@ -605,10 +609,10 @@ HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 					ret = -EINVAL;
 				}
 			}
-
 			break;
 		}
 
+
 	default:
 		ret = -ENOTTY;
 		break;
diff --git a/apps/drivers/px4fmu/fmu.cpp b/apps/drivers/px4fmu/fmu.cpp
index a995f6214..430d18c6d 100644
--- a/apps/drivers/px4fmu/fmu.cpp
+++ b/apps/drivers/px4fmu/fmu.cpp
@@ -58,6 +58,7 @@
 #include <drivers/drv_pwm_output.h>
 #include <drivers/drv_gpio.h>
 #include <drivers/boards/px4fmu/px4fmu_internal.h>
+#include <drivers/drv_hrt.h>
 
 #include <systemlib/systemlib.h>
 #include <systemlib/err.h>
@@ -65,6 +66,7 @@
 #include <drivers/drv_mixer.h>
 
 #include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_controls_effective.h>
 #include <uORB/topics/actuator_outputs.h>
 
 #include <systemlib/err.h>
@@ -97,6 +99,7 @@ private:
 	int		_t_actuators;
 	int		_t_armed;
 	orb_advert_t	_t_outputs;
+	orb_advert_t	_t_actuators_effective;
 	unsigned	_num_outputs;
 	bool		_primary_pwm_device;
 
@@ -162,6 +165,7 @@ PX4FMU::PX4FMU() :
 	_t_actuators(-1),
 	_t_armed(-1),
 	_t_outputs(0),
+	_t_actuators_effective(0),
 	_num_outputs(0),
 	_primary_pwm_device(false),
 	_task_should_exit(false),
@@ -319,6 +323,13 @@ PX4FMU::task_main()
 	_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
 				   &outputs);
 
+	/* advertise the effective control inputs */
+	actuator_controls_effective_s controls_effective;
+	memset(&controls_effective, 0, sizeof(controls_effective));
+	/* advertise the effective control inputs */
+	_t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1),
+				   &controls_effective);
+
 	pollfd fds[2];
 	fds[0].fd = _t_actuators;
 	fds[0].events = POLLIN;
@@ -336,8 +347,16 @@ PX4FMU::task_main()
 		if (_current_update_rate != _update_rate) {
 			int update_rate_in_ms = int(1000 / _update_rate);
 
-			if (update_rate_in_ms < 2)
+			/* reject faster than 500 Hz updates */
+			if (update_rate_in_ms < 2) {
 				update_rate_in_ms = 2;
+				_update_rate = 500;
+			}
+			/* reject slower than 50 Hz updates */
+			if (update_rate_in_ms > 20) {
+				update_rate_in_ms = 20;
+				_update_rate = 50;
+			}
 
 			orb_set_interval(_t_actuators, update_rate_in_ms);
 			up_pwm_servo_set_rate(_update_rate);
@@ -364,20 +383,39 @@ PX4FMU::task_main()
 			if (_mixers != nullptr) {
 
 				/* do mixing */
-				_mixers->mix(&outputs.output[0], num_outputs);
+				outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs);
+				outputs.timestamp = hrt_absolute_time();
+
+				// XXX output actual limited values
+				memcpy(&controls_effective, &_controls, sizeof(controls_effective));
+
+				orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &controls_effective);
 
 				/* iterate actuators */
 				for (unsigned i = 0; i < num_outputs; i++) {
 
-					/* scale for PWM output 900 - 2100us */
-					outputs.output[i] = 1500 + (600 * outputs.output[i]);
+					/* last resort: catch NaN, INF and out-of-band errors */
+					if (i < outputs.noutputs &&
+						isfinite(outputs.output[i]) &&
+						outputs.output[i] >= -1.0f &&
+						outputs.output[i] <= 1.0f) {
+						/* scale for PWM output 900 - 2100us */
+						outputs.output[i] = 1500 + (600 * outputs.output[i]);
+					} else {
+						/*
+						 * Value is NaN, INF or out of band - set to the minimum value.
+						 * This will be clearly visible on the servo status and will limit the risk of accidentally
+						 * spinning motors. It would be deadly in flight.
+						 */
+						outputs.output[i] = 900;
+					}
 
 					/* output to the servo */
 					up_pwm_servo_set(i, outputs.output[i]);
 				}
 
 				/* and publish for anyone that cares to see */
-				orb_publish(ORB_ID_VEHICLE_CONTROLS, _t_outputs, &outputs);
+				orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _t_outputs, &outputs);
 			}
 		}
 
@@ -394,6 +432,7 @@ PX4FMU::task_main()
 	}
 
 	::close(_t_actuators);
+	::close(_t_actuators_effective);
 	::close(_t_armed);
 
 	/* make sure servos are off */
@@ -470,6 +509,10 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 		up_pwm_servo_arm(false);
 		break;
 
+	case PWM_SERVO_SET_UPDATE_RATE:
+		set_pwm_rate(arg);
+		break;
+
 	case PWM_SERVO_SET(2):
 	case PWM_SERVO_SET(3):
 		if (_mode != MODE_4PWM) {
@@ -500,7 +543,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 		/* FALLTHROUGH */
 	case PWM_SERVO_GET(0):
 	case PWM_SERVO_GET(1): {
-			channel = cmd - PWM_SERVO_SET(0);
+			channel = cmd - PWM_SERVO_GET(0);
 			*(servo_position_t *)arg = up_pwm_servo_get(channel);
 			break;
 		}
@@ -544,28 +587,19 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 		}
 
-	case MIXERIOCADDMULTIROTOR:
-		/* XXX not yet supported */
-		ret = -ENOTTY;
-		break;
+	case MIXERIOCLOADBUF: {
+			const char *buf = (const char *)arg;
+			unsigned buflen = strnlen(buf, 1024);
 
-	case MIXERIOCLOADFILE: {
-			const char *path = (const char *)arg;
-
-			if (_mixers != nullptr) {
-				delete _mixers;
-				_mixers = nullptr;
-			}
-
-			_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
+			if (_mixers == nullptr)
+				_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
 
 			if (_mixers == nullptr) {
 				ret = -ENOMEM;
 
 			} else {
 
-				debug("loading mixers from %s", path);
-				ret = _mixers->load_from_file(path);
+				ret = _mixers->load_from_buf(buf, buflen);
 
 				if (ret != 0) {
 					debug("mixer load failed with %d", ret);
@@ -574,7 +608,6 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 					ret = -EINVAL;
 				}
 			}
-
 			break;
 		}
 
diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp
index 9f3dba047..2c2c236ca 100644
--- a/apps/drivers/px4io/px4io.cpp
+++ b/apps/drivers/px4io/px4io.cpp
@@ -55,12 +55,14 @@
 #include <unistd.h>
 #include <termios.h>
 #include <fcntl.h>
+#include <math.h>
 
 #include <arch/board/board.h>
 
 #include <drivers/device/device.h>
 #include <drivers/drv_rc_input.h>
 #include <drivers/drv_pwm_output.h>
+#include <drivers/drv_gpio.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_mixer.h>
 
@@ -69,10 +71,15 @@
 #include <systemlib/hx_stream.h>
 #include <systemlib/err.h>
 #include <systemlib/systemlib.h>
+#include <systemlib/scheduling_priorities.h>
+#include <systemlib/param/param.h>
 
 #include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_controls_effective.h>
 #include <uORB/topics/actuator_outputs.h>
+#include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/rc_channels.h>
+#include <uORB/topics/battery_status.h>
 
 #include <px4io/protocol.h>
 #include "uploader.h"
@@ -88,10 +95,18 @@ public:
 
 	virtual int		ioctl(file *filp, int cmd, unsigned long arg);
 
+	/**
+	 * Set the PWM via serial update rate
+	 * @warning this directly affects CPU load
+	 */
+	int 			set_pwm_rate(int hz);
+
 	bool			dump_one;
 
 private:
-	static const unsigned	_max_actuators = PX4IO_OUTPUT_CHANNELS;
+	// XXX
+	static const unsigned	_max_actuators = PX4IO_CONTROL_CHANNELS;
+	unsigned 		_update_rate;	///< serial send rate in Hz
 
 	int			_serial_fd;	///< serial interface to PX4IO
 	hx_stream_t		_io_stream;	///< HX protocol stream
@@ -103,19 +118,30 @@ private:
 	int			_t_actuators;	///< actuator output topic
 	actuator_controls_s	_controls;	///< actuator outputs
 
+	orb_advert_t 		_t_actuators_effective;	///< effective actuator controls topic
+	actuator_controls_effective_s _controls_effective; ///< effective controls
+
 	int			_t_armed;	///< system armed control topic
 	actuator_armed_s	_armed;		///< system armed state
+	int 			_t_vstatus;	///< system / vehicle status
+	vehicle_status_s	_vstatus;	///< overall system state
 
 	orb_advert_t 		_to_input_rc;	///< rc inputs from io
 	rc_input_values		_input_rc;	///< rc input values
 
+	orb_advert_t		_to_battery;	///< battery status / voltage
+	battery_status_s	_battery_status;///< battery status data
+
 	orb_advert_t		_t_outputs;	///< mixed outputs topic
 	actuator_outputs_s	_outputs;	///< mixed outputs
 
-	MixerGroup		*_mixers;	///< loaded mixers
+	const char *volatile	_mix_buf;	///< mixer text buffer
+	volatile unsigned	_mix_buf_len;	///< size of the mixer text buffer
 
 	bool			_primary_pwm_device;	///< true if we are the default PWM output
 
+	uint32_t		_relays;	///< state of the PX4IO relays, one bit per relay
+
 	volatile bool		_switch_armed;	///< PX4IO switch armed state
 	// XXX how should this work?
 
@@ -158,6 +184,11 @@ private:
 	void			config_send();
 
 	/**
+	 * Send a buffer containing mixer text to PX4IO
+	 */
+	int			mixer_send(const char *buf, unsigned buflen);
+
+	/**
 	 * Mixer control callback; invoked to fetch a control from a specific
 	 * group/index during mixing.
 	 */
@@ -178,19 +209,24 @@ PX4IO	*g_dev;
 PX4IO::PX4IO() :
 	CDev("px4io", "/dev/px4io"),
 	dump_one(false),
+	_update_rate(50),
 	_serial_fd(-1),
 	_io_stream(nullptr),
 	_task(-1),
 	_task_should_exit(false),
 	_connected(false),
 	_t_actuators(-1),
+	_t_actuators_effective(-1),
 	_t_armed(-1),
+	_t_vstatus(-1),
 	_t_outputs(-1),
-	_mixers(nullptr),
+	_mix_buf(nullptr),
+	_mix_buf_len(0),
 	_primary_pwm_device(false),
+	_relays(0),
 	_switch_armed(false),
 	_send_needed(false),
-	_config_needed(false)
+	_config_needed(true)
 {
 	/* we need this potentially before it could be set in task_main */
 	g_dev = this;
@@ -208,6 +244,7 @@ PX4IO::~PX4IO()
 		/* give it another 100ms */
 		usleep(100000);
 	}
+
 	/* well, kill it anyway, though this will probably crash */
 	if (_task != -1)
 		task_delete(_task);
@@ -237,7 +274,8 @@ PX4IO::init()
 	}
 
 	/* start the IO interface task */
-	_task = task_create("px4io", SCHED_PRIORITY_DEFAULT, 4096, (main_t)&PX4IO::task_main_trampoline, nullptr);
+	_task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 4096, (main_t)&PX4IO::task_main_trampoline, nullptr);
+
 	if (_task < 0) {
 		debug("task start failed: %d", errno);
 		return -errno;
@@ -249,16 +287,30 @@ PX4IO::init()
 			debug("PX4IO connected");
 			break;
 		}
+
 		usleep(100000);
 	}
+
 	if (!_connected) {
 		/* error here will result in everything being torn down */
 		log("PX4IO not responding");
 		return -EIO;
 	}
+
 	return OK;
 }
 
+int
+PX4IO::set_pwm_rate(int hz)
+{
+	if (hz > 0 && hz <= 400) {
+		_update_rate = hz;
+		return OK;
+	} else {
+		return -EINVAL;
+	}
+}
+
 void
 PX4IO::task_main_trampoline(int argc, char *argv[])
 {
@@ -269,6 +321,7 @@ void
 PX4IO::task_main()
 {
 	log("starting");
+	unsigned update_rate_in_ms;
 
 	/* open the serial port */
 	_serial_fd = ::open("/dev/ttyS2", O_RDWR);
@@ -290,10 +343,12 @@ PX4IO::task_main()
 
 	/* protocol stream */
 	_io_stream = hx_stream_init(_serial_fd, &PX4IO::rx_callback_trampoline, this);
+
 	if (_io_stream == nullptr) {
 		log("failed to allocate HX protocol stream");
 		goto out;
 	}
+
 	hx_stream_set_counters(_io_stream,
 			       perf_alloc(PC_COUNT, "PX4IO frames transmitted"),
 			       perf_alloc(PC_COUNT, "PX4IO frames received"),
@@ -306,12 +361,20 @@ PX4IO::task_main()
 	_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
 				     ORB_ID(actuator_controls_1));
 	/* convert the update rate in hz to milliseconds, rounding down if necessary */
-	//int update_rate_in_ms = int(1000 / _update_rate);
-	orb_set_interval(_t_actuators, 20);	/* XXX 50Hz hardcoded for now */
+	update_rate_in_ms = 1000 / _update_rate;
+	orb_set_interval(_t_actuators, update_rate_in_ms);
 
 	_t_armed = orb_subscribe(ORB_ID(actuator_armed));
 	orb_set_interval(_t_armed, 200);		/* 5Hz update rate */
 
+	_t_vstatus = orb_subscribe(ORB_ID(vehicle_status));
+	orb_set_interval(_t_vstatus, 200);		/* 5Hz update rate max. */
+
+	/* advertise the limited control inputs */
+	memset(&_controls_effective, 0, sizeof(_controls_effective));
+	_t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_1),
+				   &_controls_effective);
+
 	/* advertise the mixed control outputs */
 	memset(&_outputs, 0, sizeof(_outputs));
 	_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
@@ -321,22 +384,33 @@ PX4IO::task_main()
 	memset(&_input_rc, 0, sizeof(_input_rc));
 	_to_input_rc = orb_advertise(ORB_ID(input_rc), &_input_rc);
 
+	/* do not advertise the battery status until its clear that a battery is connected */
+	memset(&_battery_status, 0, sizeof(_battery_status));
+	_to_battery = -1;
+
 	/* poll descriptor */
-	pollfd fds[3];
+	pollfd fds[4];
 	fds[0].fd = _serial_fd;
 	fds[0].events = POLLIN;
 	fds[1].fd = _t_actuators;
 	fds[1].events = POLLIN;
 	fds[2].fd = _t_armed;
 	fds[2].events = POLLIN;
+	fds[3].fd = _t_vstatus;
+	fds[3].events = POLLIN;
 
-	log("ready");
+	debug("ready");
+
+	/* lock against the ioctl handler */
+	lock();
 
 	/* loop handling received serial bytes */
 	while (!_task_should_exit) {
 
 		/* sleep waiting for data, but no more than 100ms */
+		unlock();
 		int ret = ::poll(&fds[0], sizeof(fds) / sizeof(fds[0]), 100);
+		lock();
 
 		/* this would be bad... */
 		if (ret < 0) {
@@ -353,37 +427,32 @@ PX4IO::task_main()
 			if (fds[0].revents & POLLIN)
 				io_recv();
 
-			/* if we have new data from the ORB, go handle it */
+			/* if we have new control data from the ORB, handle it */
 			if (fds[1].revents & POLLIN) {
 
 				/* get controls */
-				orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls);
+				orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
+				     ORB_ID(actuator_controls_1), _t_actuators, &_controls);
 
-				/* mix */
-				if (_mixers != nullptr) {
-					/* XXX is this the right count? */
-					_mixers->mix(&_outputs.output[0], _max_actuators);
+				/* scale controls to PWM (temporary measure) */
+				for (unsigned i = 0; i < _max_actuators; i++)
+					_outputs.output[i] = 1500 + (600 * _controls.control[i]);
 
-					/* convert to PWM values */
-					for (unsigned i = 0; i < _max_actuators; i++)
-						_outputs.output[i] = 1500 + (600 * _outputs.output[i]);
-
-					/* and flag for update */
-					_send_needed = true;
-				}
+				/* and flag for update */
+				_send_needed = true;
 			}
 
+			/* if we have an arming state update, handle it */
 			if (fds[2].revents & POLLIN) {
 
 				orb_copy(ORB_ID(actuator_armed), _t_armed, &_armed);
 				_send_needed = true;
 			}
-		}
 
-		/* send an update to IO if required */
-		if (_send_needed) {
-			_send_needed = false;
-			io_send();
+			if (fds[3].revents & POLLIN) {
+				orb_copy(ORB_ID(vehicle_status), _t_vstatus, &_vstatus);
+				_send_needed = true;
+			}
 		}
 
 		/* send a config packet to IO if required */
@@ -391,14 +460,32 @@ PX4IO::task_main()
 			_config_needed = false;
 			config_send();
 		}
+
+		/* send a mixer update if needed */
+		if (_mix_buf != nullptr) {
+			mixer_send(_mix_buf, _mix_buf_len);
+
+			/* clear the buffer record so the ioctl handler knows we're done */
+			_mix_buf = nullptr;
+			_mix_buf_len = 0;
+		}
+
+		/* send an update to IO if required */
+		if (_send_needed) {
+			_send_needed = false;
+			io_send();
+		}
 	}
 
+	unlock();
+
 out:
 	debug("exiting");
 
 	/* kill the HX stream */
 	if (_io_stream != nullptr)
 		hx_stream_free(_io_stream);
+
 	::close(_serial_fd);
 
 	/* clean up the alternate device node */
@@ -451,25 +538,27 @@ PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received)
 {
 	const px4io_report *rep = (const px4io_report *)buffer;
 
-	lock();
+//	lock();
 
 	/* sanity-check the received frame size */
 	if (bytes_received != sizeof(px4io_report)) {
 		debug("got %u expected %u", bytes_received, sizeof(px4io_report));
 		goto out;
 	}
+
 	if (rep->i2f_magic != I2F_MAGIC) {
 		debug("bad magic");
 		goto out;
 	}
+
 	_connected = true;
 
 	/* publish raw rc channel values from IO if valid channels are present */
 	if (rep->channel_count > 0) {
 		_input_rc.timestamp = hrt_absolute_time();
 		_input_rc.channel_count = rep->channel_count;
-		for (int i = 0; i < rep->channel_count; i++)
-		{
+
+		for (int i = 0; i < rep->channel_count; i++) {
 			_input_rc.values[i] = rep->rc_channel[i];
 		}
 
@@ -479,6 +568,23 @@ PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received)
 	/* remember the latched arming switch state */
 	_switch_armed = rep->armed;
 
+	/* publish battery information */
+
+	/* only publish if battery has a valid minimum voltage */
+	if (rep->battery_mv > 3300) {
+		_battery_status.timestamp = hrt_absolute_time();
+		_battery_status.voltage_v = rep->battery_mv / 1000.0f;
+		/* current and discharge are unknown */
+		_battery_status.current_a = -1.0f;
+		_battery_status.discharged_mah = -1.0f;
+		/* announce the battery voltage if needed, just publish else */
+		if (_to_battery > 0) {
+			orb_publish(ORB_ID(battery_status), _to_battery, &_battery_status);
+		} else {
+			_to_battery = orb_advertise(ORB_ID(battery_status), &_battery_status);
+		}
+	}
+
 	_send_needed = true;
 
 	/* if monitoring, dump the received info */
@@ -486,13 +592,16 @@ PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received)
 		dump_one = false;
 
 		printf("IO: %s armed ", rep->armed ? "" : "not");
+
 		for (unsigned i = 0; i < rep->channel_count; i++)
 			printf("%d: %d ", i, rep->rc_channel[i]);
+
 		printf("\n");
 	}
 
 out:
-	unlock();
+//	unlock();
+	return;
 }
 
 void
@@ -504,18 +613,29 @@ PX4IO::io_send()
 	cmd.f2i_magic = F2I_MAGIC;
 
 	/* set outputs */
-	for (unsigned i = 0; i < _max_actuators; i++)
-		cmd.servo_command[i] = _outputs.output[i];
-
+	for (unsigned i = 0; i < _max_actuators; i++) {
+		cmd.output_control[i] = _outputs.output[i];
+	}
 	/* publish as we send */
-	orb_publish(ORB_ID_VEHICLE_CONTROLS, _t_outputs, &_outputs);
+	_outputs.timestamp = hrt_absolute_time();
+	/* XXX needs to be based off post-mix values from the IO side */
+	orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _t_outputs, &_outputs);
 
-	// XXX relays
+	/* update relays */
+	for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++)
+		cmd.relay_state[i] = (_relays & (1<< i)) ? true : false;
 
-	/* armed and not locked down */
+	/* armed and not locked down -> arming ok */
 	cmd.arm_ok = (_armed.armed && !_armed.lockdown);
-
+	/* indicate that full autonomous position control / vector flight mode is available */
+	cmd.vector_flight_mode_ok = _vstatus.flag_vector_flight_mode_ok;
+	/* allow manual override on IO (not allowed for multirotors or other systems with SAS) */
+	cmd.manual_override_ok = _vstatus.flag_external_manual_override_ok;
+	/* set desired PWM output rate */
+	cmd.servo_rate = _update_rate;
+	
 	ret = hx_stream_send(_io_stream, &cmd, sizeof(cmd));
+
 	if (ret)
 		debug("send error %d", ret);
 }
@@ -528,12 +648,89 @@ PX4IO::config_send()
 
 	cfg.f2i_config_magic = F2I_CONFIG_MAGIC;
 
+	int val;
+
+	/* maintaing the standard order of Roll, Pitch, Yaw, Throttle */		
+	param_get(param_find("RC_MAP_ROLL"), &val);
+	cfg.rc_map[0] = val;
+	param_get(param_find("RC_MAP_PITCH"), &val);
+	cfg.rc_map[1] = val;
+	param_get(param_find("RC_MAP_YAW"), &val);
+	cfg.rc_map[2] = val;
+	param_get(param_find("RC_MAP_THROTTLE"), &val);
+	cfg.rc_map[3] = val;
+
+	/* set the individual channel properties */
+	char nbuf[16];
+	float float_val;
+	for (unsigned i = 0; i < 4; i++) {
+		sprintf(nbuf, "RC%d_MIN", i + 1);
+		param_get(param_find(nbuf), &float_val);	
+		cfg.rc_min[i] = float_val;
+	}
+	for (unsigned i = 0; i < 4; i++) {
+		sprintf(nbuf, "RC%d_TRIM", i + 1);	
+		param_get(param_find(nbuf), &float_val);	
+		cfg.rc_trim[i] = float_val;
+	}
+	for (unsigned i = 0; i < 4; i++) {
+		sprintf(nbuf, "RC%d_MAX", i + 1);	
+		param_get(param_find(nbuf), &float_val);	
+		cfg.rc_max[i] = float_val;
+	}
+	for (unsigned i = 0; i < 4; i++) {
+		sprintf(nbuf, "RC%d_REV", i + 1);	
+		param_get(param_find(nbuf), &float_val);	
+		cfg.rc_rev[i] = float_val;
+	}
+	for (unsigned i = 0; i < 4; i++) {
+		sprintf(nbuf, "RC%d_DZ", i + 1);	
+		param_get(param_find(nbuf), &float_val);	
+		cfg.rc_dz[i] = float_val;
+	}
+
 	ret = hx_stream_send(_io_stream, &cfg, sizeof(cfg));
+
 	if (ret)
 		debug("config error %d", ret);
 }
 
 int
+PX4IO::mixer_send(const char *buf, unsigned buflen)
+{
+	uint8_t	frame[HX_STREAM_MAX_FRAME];
+	px4io_mixdata *msg = (px4io_mixdata *)&frame[0];
+
+	msg->f2i_mixer_magic = F2I_MIXER_MAGIC;
+	msg->action = F2I_MIXER_ACTION_RESET;
+
+	do {
+		unsigned count = buflen;
+
+		if (count > F2I_MIXER_MAX_TEXT)
+			count = F2I_MIXER_MAX_TEXT;
+
+		if (count > 0) {
+			memcpy(&msg->text[0], buf, count);
+			buf += count;
+			buflen -= count;
+		}
+
+		int ret = hx_stream_send(_io_stream, msg, sizeof(px4io_mixdata) + count);
+
+		if (ret) {
+			log("mixer send error %d", ret);
+			return ret;
+		}
+
+		msg->action = F2I_MIXER_ACTION_APPEND;
+
+	} while (buflen > 0);
+
+	return 0;
+}
+
+int
 PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 {
 	int ret = OK;
@@ -554,9 +751,14 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		_send_needed = true;
 		break;
 
+	case PWM_SERVO_SET_UPDATE_RATE:
+		// not supported yet
+		ret = -EINVAL;
+		break;
+
 	case PWM_SERVO_SET(0) ... PWM_SERVO_SET(_max_actuators - 1):
 
-		/* fake an update to the selected servo channel */
+		/* fake an update to the selected 'servo' channel */
 		if ((arg >= 900) && (arg <= 2100)) {
 			_outputs.output[cmd - PWM_SERVO_SET(0)] = arg;
 			_send_needed = true;
@@ -572,68 +774,53 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		*(servo_position_t *)arg = _outputs.output[cmd - PWM_SERVO_GET(0)];
 		break;
 
-	case MIXERIOCGETOUTPUTCOUNT:
-		*(unsigned *)arg = _max_actuators;
+	case GPIO_RESET:
+		_relays = 0;
+		_send_needed = true;
 		break;
 
-	case MIXERIOCRESET:
-		if (_mixers != nullptr) {
-			delete _mixers;
-			_mixers = nullptr;
+	case GPIO_SET:
+	case GPIO_CLEAR:
+		/* make sure only valid bits are being set */
+		if ((arg & ((1UL << PX4IO_RELAY_CHANNELS) - 1)) != arg) {
+			ret = EINVAL;
+			break;
 		}
-
+		if (cmd == GPIO_SET) {
+			_relays |= arg;
+		} else {
+			_relays &= ~arg;
+		}
+		_send_needed = true;
 		break;
 
-	case MIXERIOCADDSIMPLE: {
-			mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
-
-			/* build the new mixer from the supplied argument */
-			SimpleMixer *mixer = new SimpleMixer(control_callback,
-							     (uintptr_t)&_controls, mixinfo);
-
-			/* validate the new mixer */
-			if (mixer->check()) {
-				delete mixer;
-				ret = -EINVAL;
-
-			} else {
-				/* if we don't have a group yet, allocate one */
-				if (_mixers == nullptr)
-					_mixers = new MixerGroup(control_callback,
-								 (uintptr_t)&_controls);
-
-				/* add the new mixer to the group */
-				_mixers->add_mixer(mixer);
-			}
+	case GPIO_GET:
+		*(uint32_t *)arg = _relays;
+		break;
 
-		}
+	case MIXERIOCGETOUTPUTCOUNT:
+		*(unsigned *)arg = PX4IO_CONTROL_CHANNELS;
 		break;
 
-	case MIXERIOCADDMULTIROTOR:
-		/* XXX not yet supported */
-		ret = -ENOTTY;
+	case MIXERIOCRESET:
+		ret = 0;	/* load always resets */
 		break;
 
-	case MIXERIOCLOADFILE: {
-			MixerGroup *newmixers;
-			const char *path = (const char *)arg;
+	case MIXERIOCLOADBUF:
 
-			/* allocate a new mixer group and load it from the file */
-			newmixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
+		/* set the buffer up for transfer */
+		_mix_buf = (const char *)arg;
+		_mix_buf_len = strnlen(_mix_buf, 1024);
 
-			if (newmixers->load_from_file(path) != 0) {
-				delete newmixers;
-				ret = -EINVAL;
-			}
+		/* drop the lock and wait for the thread to clear the transmit */
+		unlock();
 
-			/* swap the new mixers in for the old */
-			if (_mixers != nullptr) {
-				delete _mixers;
-			}
+		while (_mix_buf != nullptr)
+			usleep(1000);
 
-			_mixers = newmixers;
+		lock();
 
-		}
+		ret = 0;
 		break;
 
 	default:
@@ -675,13 +862,20 @@ test(void)
 
 	close(fd);
 
+	actuator_armed_s aa;
+
+	aa.armed = true;
+	aa.lockdown = false;
+
+	orb_advertise(ORB_ID(actuator_armed), &aa);
+
 	exit(0);
 }
 
 void
 monitor(void)
 {
-	unsigned cancels = 4;
+	unsigned cancels = 3;
 	printf("Hit <enter> three times to exit monitor mode\n");
 
 	for (;;) {
@@ -694,6 +888,7 @@ monitor(void)
 		if (fds[0].revents == POLLIN) {
 			int c;
 			read(0, &c, 1);
+
 			if (cancels-- == 0)
 				exit(0);
 		}
@@ -702,6 +897,7 @@ monitor(void)
 			g_dev->dump_one = true;
 	}
 }
+
 }
 
 int
@@ -723,12 +919,51 @@ px4io_main(int argc, char *argv[])
 			errx(1, "driver init failed");
 		}
 
+		/* look for the optional pwm update rate for the supported modes */
+		if (strcmp(argv[2], "-u") == 0 || strcmp(argv[2], "--update-rate") == 0) {
+			if (argc > 2 + 1) {
+				g_dev->set_pwm_rate(atoi(argv[2 + 1]));
+			} else {
+				fprintf(stderr, "missing argument for pwm update rate (-u)\n");
+				return 1;
+			}
+		}
+
 		exit(0);
 	}
 
+	if (!strcmp(argv[1], "stop")) {
+
+			if (g_dev != nullptr) {
+				/* stop the driver */
+				delete g_dev;
+			} else {
+				errx(1, "not loaded");
+			}
+			exit(0);
+		}
+
+
+	if (!strcmp(argv[1], "status")) {
+
+			if (g_dev != nullptr)
+				printf("[px4io] loaded\n");
+			else
+				printf("[px4io] not loaded\n");
+
+			exit(0);
+		}
+
 	/* note, stop not currently implemented */
 
 	if (!strcmp(argv[1], "update")) {
+
+		if (g_dev != nullptr) {
+			printf("[px4io] loaded, detaching first\n");
+			/* stop the driver */
+			delete g_dev;
+		}
+
 		PX4IO_Uploader *up;
 		const char *fn[3];
 
@@ -780,8 +1015,9 @@ px4io_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "test"))
 		test();
+
 	if (!strcmp(argv[1], "monitor"))
 		monitor();
 
-	errx(1, "need a command, try 'start', 'test', 'monitor' or 'update'");
+	errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor' or 'update'");
 }
diff --git a/apps/drivers/px4io/uploader.cpp b/apps/drivers/px4io/uploader.cpp
index 8b354ff60..2de33f410 100644
--- a/apps/drivers/px4io/uploader.cpp
+++ b/apps/drivers/px4io/uploader.cpp
@@ -51,6 +51,50 @@
 
 #include "uploader.h"
 
+static const uint32_t crctab[] =
+{
+	0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
+	0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
+	0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
+	0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
+	0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
+	0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
+	0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
+	0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
+	0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
+	0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
+	0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
+	0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
+	0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
+	0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
+	0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
+	0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
+	0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
+	0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
+	0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
+	0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
+	0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
+	0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
+	0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
+	0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
+	0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
+	0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
+	0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
+	0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
+	0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
+	0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
+	0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
+	0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
+};
+
+static uint32_t
+crc32(const uint8_t *src, unsigned len, unsigned state)
+{
+	for (unsigned i = 0; i < len; i++)
+		state = crctab[(state ^ src[i]) & 0xff] ^ (state >> 8);
+	return state;
+}
+
 PX4IO_Uploader::PX4IO_Uploader() :
 	_io_fd(-1),
 	_fw_fd(-1)
@@ -110,6 +154,17 @@ PX4IO_Uploader::upload(const char *filenames[])
 			}
 		}
 
+		ret = get_info(INFO_BL_REV, bl_rev);
+
+		if (ret == OK) {
+			if (bl_rev <= BL_REV) {
+				log("found bootloader revision: %d", bl_rev);
+			} else {
+				log("found unsupported bootloader revision %d, exiting", bl_rev);
+				return OK;
+			}
+		}
+
 		ret = erase();
 
 		if (ret != OK) {
@@ -124,7 +179,11 @@ PX4IO_Uploader::upload(const char *filenames[])
 			continue;
 		}
 
-		ret = verify();
+		if (bl_rev <= 2)
+			ret = verify_rev2();
+		else if(bl_rev == 3) {
+			ret = verify_rev3();
+		}
 
 		if (ret != OK) {
 			log("verify failed");
@@ -190,6 +249,7 @@ PX4IO_Uploader::drain()
 
 	do {
 		ret = recv(c, 250);
+
 		if (ret == OK) {
 			//log("discard 0x%02x", c);
 		}
@@ -319,7 +379,7 @@ PX4IO_Uploader::program()
 }
 
 int
-PX4IO_Uploader::verify()
+PX4IO_Uploader::verify_rev2()
 {
 	uint8_t	file_buf[PROG_MULTI_MAX];
 	ssize_t count;
@@ -380,6 +440,74 @@ PX4IO_Uploader::verify()
 }
 
 int
+PX4IO_Uploader::verify_rev3()
+{
+	int ret;
+	uint8_t	file_buf[4];
+	ssize_t count;
+	uint32_t sum = 0;
+	uint32_t bytes_read = 0;
+	uint32_t fw_size = 0;
+	uint32_t crc = 0;
+	uint8_t fill_blank = 0xff;
+
+	log("verify...");
+	lseek(_fw_fd, 0, SEEK_SET);
+
+	ret = get_info(INFO_FLASH_SIZE, fw_size);
+	send(PROTO_EOC);
+
+	if (ret != OK) {
+		log("could not read firmware size");
+		return ret;
+	}
+
+	/* read through the firmware file again and calculate the checksum*/
+	while (true) {
+		lseek(_fw_fd, 0, SEEK_CUR);
+		count = read(_fw_fd, file_buf, sizeof(file_buf));
+
+		/* set the rest to ff */
+		if (count == 0) {
+			break;
+		}
+		/* stop if the file cannot be read */
+		if (count < 0)
+			return -errno;
+
+		/* calculate crc32 sum */
+		sum = crc32((uint8_t *)&file_buf, sizeof(file_buf), sum);
+
+		bytes_read += count;
+	}
+
+	/* fill the rest with 0xff */
+	while (bytes_read < fw_size) {
+		sum = crc32(&fill_blank, sizeof(fill_blank), sum);
+		bytes_read += sizeof(fill_blank);
+	}
+
+	/* request CRC from IO */
+	send(PROTO_GET_CRC);
+	send(PROTO_EOC);
+
+	ret = recv((uint8_t*)(&crc), sizeof(crc));
+
+	if (ret != OK) {
+		log("did not receive CRC checksum");
+		return ret;
+	}
+
+	/* compare the CRC sum from the IO with the one calculated */
+	if (sum != crc) {
+		log("CRC wrong: received: %d, expected: %d", crc, sum);
+		return -EINVAL;
+	}
+
+	return OK;
+}
+
+int
 PX4IO_Uploader::reboot()
 {
 	send(PROTO_REBOOT);
diff --git a/apps/drivers/px4io/uploader.h b/apps/drivers/px4io/uploader.h
index 8d41992f8..b8a3a2794 100644
--- a/apps/drivers/px4io/uploader.h
+++ b/apps/drivers/px4io/uploader.h
@@ -64,21 +64,25 @@ private:
 		PROTO_CHIP_VERIFY	= 0x24,
 		PROTO_PROG_MULTI	= 0x27,
 		PROTO_READ_MULTI	= 0x28,
+		PROTO_GET_CRC		= 0x29,
 		PROTO_REBOOT		= 0x30,
 
 		INFO_BL_REV		= 1,		/**< bootloader protocol revision */
-		BL_REV			= 2,		/**< supported bootloader protocol  */
+		BL_REV			= 3,		/**< supported bootloader protocol  */
 		INFO_BOARD_ID		= 2,		/**< board type */
 		INFO_BOARD_REV		= 3,		/**< board revision */
 		INFO_FLASH_SIZE		= 4,		/**< max firmware size in bytes */
 
 		PROG_MULTI_MAX		= 60,		/**< protocol max is 255, must be multiple of 4 */
 		READ_MULTI_MAX		= 60,		/**< protocol max is 255, something overflows with >= 64 */
+
 	};
 
 	int			_io_fd;
 	int			_fw_fd;
 
+	uint32_t	bl_rev; /**< bootloader revision */
+
 	void			log(const char *fmt, ...);
 
 	int			recv(uint8_t &c, unsigned timeout = 1000);
@@ -91,7 +95,8 @@ private:
 	int			get_info(int param, uint32_t &val);
 	int			erase();
 	int			program();
-	int			verify();
+	int			verify_rev2();
+	int			verify_rev3();
 	int			reboot();
 	int			compare(bool &identical);
 };
diff --git a/apps/drivers/stm32/adc/Makefile b/apps/drivers/stm32/adc/Makefile
new file mode 100644
index 000000000..443bc0623
--- /dev/null
+++ b/apps/drivers/stm32/adc/Makefile
@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. 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.
+# 3. Neither the name PX4 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.
+#
+############################################################################
+
+#
+# STM32 ADC driver
+#
+
+APPNAME		 = adc
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 2048
+INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/drivers/stm32/adc/adc.cpp b/apps/drivers/stm32/adc/adc.cpp
new file mode 100644
index 000000000..911def943
--- /dev/null
+++ b/apps/drivers/stm32/adc/adc.cpp
@@ -0,0 +1,387 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file adc.cpp
+ *
+ * Driver for the STM32 ADC.
+ *
+ * This is a low-rate driver, designed for sampling things like voltages
+ * and so forth. It avoids the gross complexity of the NuttX ADC driver.
+ */
+
+#include <nuttx/config.h>
+#include <drivers/device/device.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <string.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <stdio.h>
+#include <unistd.h>
+
+#include <arch/board/board.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_adc.h>
+
+#include <arch/stm32/chip.h>
+#include <stm32_internal.h>
+#include <stm32_gpio.h>
+
+#include <systemlib/err.h>
+#include <systemlib/perf_counter.h>
+
+/*
+ * Register accessors.
+ * For now, no reason not to just use ADC1.
+ */
+#define REG(_reg)	(*(volatile uint32_t *)(STM32_ADC1_BASE + _reg))
+
+#define rSR		REG(STM32_ADC_SR_OFFSET)
+#define rCR1		REG(STM32_ADC_CR1_OFFSET)
+#define rCR2		REG(STM32_ADC_CR2_OFFSET)
+#define rSMPR1		REG(STM32_ADC_SMPR1_OFFSET)
+#define rSMPR2		REG(STM32_ADC_SMPR2_OFFSET)
+#define rJOFR1		REG(STM32_ADC_JOFR1_OFFSET)
+#define rJOFR2		REG(STM32_ADC_JOFR2_OFFSET)
+#define rJOFR3		REG(STM32_ADC_JOFR3_OFFSET)
+#define rJOFR4		REG(STM32_ADC_JOFR4_OFFSET)
+#define rHTR		REG(STM32_ADC_HTR_OFFSET)
+#define rLTR		REG(STM32_ADC_LTR_OFFSET)
+#define rSQR1		REG(STM32_ADC_SQR1_OFFSET)
+#define rSQR2		REG(STM32_ADC_SQR2_OFFSET)
+#define rSQR3		REG(STM32_ADC_SQR3_OFFSET)
+#define rJSQR		REG(STM32_ADC_JSQR_OFFSET)
+#define rJDR1		REG(STM32_ADC_JDR1_OFFSET)
+#define rJDR2		REG(STM32_ADC_JDR2_OFFSET)
+#define rJDR3		REG(STM32_ADC_JDR3_OFFSET)
+#define rJDR4		REG(STM32_ADC_JDR4_OFFSET)
+#define rDR		REG(STM32_ADC_DR_OFFSET)
+
+#ifdef STM32_ADC_CCR
+# define rCCR		REG(STM32_ADC_CCR_OFFSET)
+#endif
+
+class ADC : public device::CDev
+{
+public:
+	ADC(uint32_t channels);
+	~ADC();
+
+	virtual int		init();
+
+	virtual int		ioctl(file *filp, int cmd, unsigned long arg);
+	virtual ssize_t		read(file *filp, char *buffer, size_t len);
+
+protected:
+	virtual int		open_first(struct file *filp);
+	virtual int		close_last(struct file *filp);
+
+private:
+	static const hrt_abstime _tickrate = 10000;	/**< 100Hz base rate */
+	
+	hrt_call		_call;
+	perf_counter_t		_sample_perf;
+
+	unsigned		_channel_count;
+	adc_msg_s		*_samples;		/**< sample buffer */
+
+	/** work trampoline */
+	static void		_tick_trampoline(void *arg);
+
+	/** worker function */
+	void			_tick();
+
+	/**
+	 * Sample a single channel and return the measured value.
+	 *
+	 * @param channel		The channel to sample.
+	 * @return			The sampled value, or 0xffff if
+	 *				sampling failed.
+	 */
+	uint16_t		_sample(unsigned channel);
+
+};
+
+ADC::ADC(uint32_t channels) :
+	CDev("adc", ADC_DEVICE_PATH),
+	_sample_perf(perf_alloc(PC_ELAPSED, "ADC samples")),
+	_channel_count(0),
+	_samples(nullptr)
+{
+	_debug_enabled = true;
+
+	/* always enable the temperature sensor */
+	channels |= 1 << 16;
+
+	/* allocate the sample array */
+	for (unsigned i = 0; i < 32; i++) {
+		if (channels & (1 << i)) {
+			_channel_count++;
+		}
+	}
+	_samples = new adc_msg_s[_channel_count];
+
+	/* prefill the channel numbers in the sample array */
+	if (_samples != nullptr) {
+		unsigned index = 0;
+		for (unsigned i = 0; i < 32; i++) {
+			if (channels & (1 << i)) {
+				_samples[index].am_channel = i;
+				_samples[index].am_data = 0;
+				index++;
+			}
+		}
+	}
+}
+
+ADC::~ADC()
+{
+	if (_samples != nullptr)
+		delete _samples;
+}
+
+int
+ADC::init()
+{
+	/* do calibration if supported */
+#ifdef ADC_CR2_CAL
+	rCR2 |= ADC_CR2_CAL;
+	usleep(100);
+	if (rCR2 & ADC_CR2_CAL)
+		return -1;
+#endif
+
+	/* arbitrarily configure all channels for 55 cycle sample time */
+	rSMPR1 = 0b00000011011011011011011011011011;
+	rSMPR2 = 0b00011011011011011011011011011011;
+
+	/* XXX for F2/4, might want to select 12-bit mode? */
+	rCR1 = 0;
+
+	/* enable the temperature sensor / Vrefint channel if supported*/
+	rCR2 = 
+#ifdef ADC_CR2_TSVREFE
+		/* enable the temperature sensor in CR2 */
+		ADC_CR2_TSVREFE |
+#endif
+		0;
+
+#ifdef ADC_CCR_TSVREFE
+	/* enable temperature sensor in CCR */
+	rCCR = ADC_CCR_TSVREFE;
+#endif
+
+	/* configure for a single-channel sequence */
+	rSQR1 = 0;
+	rSQR2 = 0;
+	rSQR3 = 0;	/* will be updated with the channel each tick */ 
+
+	/* power-cycle the ADC and turn it on */
+	rCR2 &= ~ADC_CR2_ADON;
+	usleep(10);
+	rCR2 |= ADC_CR2_ADON;
+	usleep(10);
+	rCR2 |= ADC_CR2_ADON;
+	usleep(10);
+
+	/* kick off a sample and wait for it to complete */
+	hrt_abstime now = hrt_absolute_time();
+	rCR2 |= ADC_CR2_SWSTART;
+	while (!(rSR & ADC_SR_EOC)) {
+
+		/* don't wait for more than 500us, since that means something broke - should reset here if we see this */
+		if ((hrt_absolute_time() - now) > 500) {
+			log("sample timeout");
+			return -1;
+			return 0xffff;
+		}
+	}
+
+
+	debug("init done");
+
+	/* create the device node */
+	return CDev::init();
+}
+
+int
+ADC::ioctl(file *filp, int cmd, unsigned long arg)
+{
+	return -ENOTTY;
+}
+
+ssize_t
+ADC::read(file *filp, char *buffer, size_t len)
+{
+	const size_t maxsize = sizeof(adc_msg_s) * _channel_count;
+
+	if (len > maxsize)
+		len = maxsize;
+
+	/* block interrupts while copying samples to avoid racing with an update */
+	irqstate_t flags = irqsave();
+	memcpy(buffer, _samples, len);
+	irqrestore(flags);
+
+	return len;
+}
+
+int
+ADC::open_first(struct file *filp)
+{
+	/* get fresh data */
+	_tick();
+
+	/* and schedule regular updates */
+	hrt_call_every(&_call, _tickrate, _tickrate, _tick_trampoline, this);
+
+	return 0;
+}
+
+int
+ADC::close_last(struct file *filp)
+{
+	hrt_cancel(&_call);
+	return 0;
+}
+
+void
+ADC::_tick_trampoline(void *arg)
+{
+	((ADC *)arg)->_tick();
+}
+
+void
+ADC::_tick()
+{
+	/* scan the channel set and sample each */
+	for (unsigned i = 0; i < _channel_count; i++)
+		_samples[i].am_data = _sample(_samples[i].am_channel);
+}
+
+uint16_t
+ADC::_sample(unsigned channel)
+{
+	perf_begin(_sample_perf);
+
+	/* clear any previous EOC */
+	if (rSR & ADC_SR_EOC)
+		rSR &= ~ADC_SR_EOC;
+
+	/* run a single conversion right now - should take about 60 cycles (a few microseconds) max */
+	rSQR3 = channel;
+	rCR2 |= ADC_CR2_SWSTART;
+
+	/* wait for the conversion to complete */
+	hrt_abstime now = hrt_absolute_time();
+	while (!(rSR & ADC_SR_EOC)) {
+
+		/* don't wait for more than 50us, since that means something broke - should reset here if we see this */
+		if ((hrt_absolute_time() - now) > 50) {
+			log("sample timeout");
+			return 0xffff;
+		}
+	}
+
+	/* read the result and clear EOC */
+	uint16_t result = rDR;
+
+	perf_end(_sample_perf);
+	return result;
+}
+
+/*
+ * Driver 'main' command.
+ */
+extern "C" __EXPORT int adc_main(int argc, char *argv[]);
+
+namespace
+{
+ADC	*g_adc;
+
+void
+test(void)
+{
+
+	int fd = open(ADC_DEVICE_PATH, O_RDONLY);
+	if (fd < 0)
+		err(1, "can't open ADC device");
+
+	for (unsigned i = 0; i < 50; i++) {
+		adc_msg_s data[8];
+		ssize_t count = read(fd, data, sizeof(data));
+
+		if (count < 0)
+			errx(1, "read error");
+
+		unsigned channels = count / sizeof(data[0]);
+
+		for (unsigned j = 0; j < channels; j++) {
+			printf ("%d: %u  ", data[j].am_channel, data[j].am_data);
+		}
+
+		printf("\n");
+		usleep(500000);
+	}
+
+	exit(0);
+}
+}
+
+int
+adc_main(int argc, char *argv[])
+{
+	if (g_adc == nullptr) {
+		/* XXX this hardcodes the default channel set for PX4FMU - should be configurable */
+		g_adc = new ADC((1 << 10) | (1 << 11) | (1 << 12) | (1 << 13));
+
+		if (g_adc == nullptr)
+			errx(1, "couldn't allocate the ADC driver");
+
+		if (g_adc->init() != OK) {
+			delete g_adc;
+			errx(1, "ADC init failed");
+		}
+	}
+
+	if (argc > 1) {
+		if (!strcmp(argv[1], "test"))
+			test();
+	}
+
+	exit(0);
+}
diff --git a/apps/examples/Kconfig b/apps/examples/Kconfig
index 865268add..ae5f0a61a 100644
--- a/apps/examples/Kconfig
+++ b/apps/examples/Kconfig
@@ -3,206 +3,60 @@
 # see misc/tools/kconfig-language.txt.
 #
 
-menu "ADC Example"
 source "$APPSDIR/examples/adc/Kconfig"
-endmenu
-
-menu "Buttons Example"
 source "$APPSDIR/examples/buttons/Kconfig"
-endmenu
-
-menu "CAN Example"
 source "$APPSDIR/examples/can/Kconfig"
-endmenu
-
-menu "USB CDC/ACM Class Driver Example"
 source "$APPSDIR/examples/cdcacm/Kconfig"
-endmenu
-
-menu "USB composite Class Driver Example"
 source "$APPSDIR/examples/composite/Kconfig"
-endmenu
-
-menu "DHCP Server Example"
+source "$APPSDIR/examples/cxxtest/Kconfig"
 source "$APPSDIR/examples/dhcpd/Kconfig"
-endmenu
-
-menu "FTP Client Example"
+source "$APPSDIR/examples/elf/Kconfig"
 source "$APPSDIR/examples/ftpc/Kconfig"
-endmenu
-
-menu "FTP Server Example"
 source "$APPSDIR/examples/ftpd/Kconfig"
-endmenu
-
-menu "\"Hello, World!\" Example"
 source "$APPSDIR/examples/hello/Kconfig"
-endmenu
-
-menu "\"Hello, World!\" C++ Example"
 source "$APPSDIR/examples/helloxx/Kconfig"
-endmenu
-
-menu "USB HID Keyboard Example"
+source "$APPSDIR/examples/json/Kconfig"
 source "$APPSDIR/examples/hidkbd/Kconfig"
-endmenu
-
-menu "IGMP Example"
+source "$APPSDIR/examples/keypadtest/Kconfig"
 source "$APPSDIR/examples/igmp/Kconfig"
-endmenu
-
-menu "LCD Read/Write Example"
 source "$APPSDIR/examples/lcdrw/Kconfig"
-endmenu
-
-menu "Memory Management Example"
 source "$APPSDIR/examples/mm/Kconfig"
-endmenu
-
-menu "File System Mount Example"
 source "$APPSDIR/examples/mount/Kconfig"
-endmenu
-
-menu "FreeModBus Example"
 source "$APPSDIR/examples/modbus/Kconfig"
-endmenu
-
-menu "Network Test Example"
 source "$APPSDIR/examples/nettest/Kconfig"
-endmenu
-
-menu "NuttShell (NSH) Example"
 source "$APPSDIR/examples/nsh/Kconfig"
-endmenu
-
-menu "NULL Example"
 source "$APPSDIR/examples/null/Kconfig"
-endmenu
-
-menu "NX Graphics Example"
 source "$APPSDIR/examples/nx/Kconfig"
-endmenu
-
-menu "NxConsole Example"
 source "$APPSDIR/examples/nxconsole/Kconfig"
-endmenu
-
-menu "NXFFS File System Example"
 source "$APPSDIR/examples/nxffs/Kconfig"
-endmenu
-
-menu "NXFLAT Example"
 source "$APPSDIR/examples/nxflat/Kconfig"
-endmenu
-
-menu "NX Graphics \"Hello, World!\" Example"
 source "$APPSDIR/examples/nxhello/Kconfig"
-endmenu
-
-menu "NX Graphics image Example"
 source "$APPSDIR/examples/nximage/Kconfig"
-endmenu
-
-menu "NX Graphics lines Example"
 source "$APPSDIR/examples/nxlines/Kconfig"
-endmenu
-
-menu "NX Graphics Text Example"
 source "$APPSDIR/examples/nxtext/Kconfig"
-endmenu
-
-menu "OS Test Example"
 source "$APPSDIR/examples/ostest/Kconfig"
-endmenu
-
-menu "Pascal \"Hello, World!\"example"
 source "$APPSDIR/examples/pashello/Kconfig"
-endmenu
-
-menu "Pipe Example"
 source "$APPSDIR/examples/pipe/Kconfig"
-endmenu
-
-menu "Poll Example"
 source "$APPSDIR/examples/poll/Kconfig"
-endmenu
-
-menu "Pulse Width Modulation (PWM) Example"
 source "$APPSDIR/examples/pwm/Kconfig"
-endmenu
-
-menu "Quadrature Encoder Example"
 source "$APPSDIR/examples/qencoder/Kconfig"
-endmenu
-
-menu "RGMP Example"
+source "$APPSDIR/examples/relays/Kconfig"
 source "$APPSDIR/examples/rgmp/Kconfig"
-endmenu
-
-menu "ROMFS Example"
 source "$APPSDIR/examples/romfs/Kconfig"
-endmenu
-
-menu "sendmail Example"
 source "$APPSDIR/examples/sendmail/Kconfig"
-endmenu
-
-menu "Serial Loopback Example"
 source "$APPSDIR/examples/serloop/Kconfig"
-endmenu
-
-menu "Telnet Daemon Example"
 source "$APPSDIR/examples/telnetd/Kconfig"
-endmenu
-
-menu "THTTPD Web Server Example"
 source "$APPSDIR/examples/thttpd/Kconfig"
-endmenu
-
-menu "TIFF Generation Example"
 source "$APPSDIR/examples/tiff/Kconfig"
-endmenu
-
-menu "Touchscreen Example"
 source "$APPSDIR/examples/touchscreen/Kconfig"
-endmenu
-
-menu "UDP Example"
 source "$APPSDIR/examples/udp/Kconfig"
-endmenu
-
-menu "UDP Discovery Daemon Example"
 source "$APPSDIR/examples/discover/Kconfig"
-endmenu
-
-menu "uIP Web Server Example"
 source "$APPSDIR/examples/uip/Kconfig"
-endmenu
-
-menu "USB Serial Test Example"
 source "$APPSDIR/examples/usbserial/Kconfig"
-endmenu
-
-menu "USB Mass Storage Class Example"
 source "$APPSDIR/examples/usbstorage/Kconfig"
-endmenu
-
-menu "USB Serial Terminal Example"
 source "$APPSDIR/examples/usbterm/Kconfig"
-endmenu
-
-menu "Watchdog timer Example"
 source "$APPSDIR/examples/watchdog/Kconfig"
-endmenu
-
-menu "wget Example"
 source "$APPSDIR/examples/wget/Kconfig"
-endmenu
-
-menu "WLAN Example"
+source "$APPSDIR/examples/wgetjson/Kconfig"
 source "$APPSDIR/examples/wlan/Kconfig"
-endmenu
-
-menu "XML RPC Example"
 source "$APPSDIR/examples/xmlrpc/Kconfig"
-endmenu
diff --git a/apps/examples/Make.defs b/apps/examples/Make.defs
index d03b976d2..91f1331df 100644
--- a/apps/examples/Make.defs
+++ b/apps/examples/Make.defs
@@ -54,6 +54,10 @@ ifeq ($(CONFIG_EXAMPLES_COMPOSITE),y)
 CONFIGURED_APPS += examples/composite
 endif
 
+ifeq ($(CONFIG_EXAMPLES_CXXTEST),y)
+CONFIGURED_APPS += examples/cxxtest
+endif
+
 ifeq ($(CONFIG_EXAMPLES_DHCPD),y)
 CONFIGURED_APPS += examples/dhcpd
 endif
@@ -62,6 +66,10 @@ ifeq ($(CONFIG_EXAMPLES_DISCOVER),y)
 CONFIGURED_APPS += examples/discover
 endif
 
+ifeq ($(CONFIG_EXAMPLES_ELF),y)
+CONFIGURED_APPS += examples/elf
+endif
+
 ifeq ($(CONFIG_EXAMPLES_FTPC),y)
 CONFIGURED_APPS += examples/ftpc
 endif
@@ -86,6 +94,14 @@ ifeq ($(CONFIG_EXAMPLES_IGMP),y)
 CONFIGURED_APPS += examples/igmp
 endif
 
+ifeq ($(CONFIG_EXAMPLES_JSON),y)
+CONFIGURED_APPS += examples/json
+endif
+
+ifeq ($(CONFIG_EXAMPLES_KEYPADTEST),y)
+CONFIGURED_APPS += examples/keypadtest
+endif
+
 ifeq ($(CONFIG_EXAMPLES_LCDRW),y)
 CONFIGURED_APPS += examples/lcdrw
 endif
@@ -94,6 +110,10 @@ ifeq ($(CONFIG_EXAMPLES_MM),y)
 CONFIGURED_APPS += examples/mm
 endif
 
+ifeq ($(CONFIG_EXAMPLES_MODBUS),y)
+CONFIGURED_APPS += examples/modbus
+endif
+
 ifeq ($(CONFIG_EXAMPLES_MOUNT),y)
 CONFIGURED_APPS += examples/mount
 endif
@@ -166,6 +186,10 @@ ifeq ($(CONFIG_EXAMPLES_QENCODER),y)
 CONFIGURED_APPS += examples/qencoder
 endif
 
+ifeq ($(CONFIG_EXAMPLES_RELAYS),y)
+CONFIGURED_APPS += examples/relays
+endif
+
 ifeq ($(CONFIG_EXAMPLES_RGMP),y)
 CONFIGURED_APPS += examples/rgmp
 endif
@@ -226,6 +250,10 @@ ifeq ($(CONFIG_EXAMPLES_WGET),y)
 CONFIGURED_APPS += examples/wget
 endif
 
+ifeq ($(CONFIG_EXAMPLES_WGETJSON),y)
+CONFIGURED_APPS += examples/wgetjson
+endif
+
 ifeq ($(CONFIG_EXAMPLES_WLAN),y)
 CONFIGURED_APPS += examples/wlan
 endif
diff --git a/apps/examples/Makefile b/apps/examples/Makefile
index 453f99ce7..bdbfd4de8 100644
--- a/apps/examples/Makefile
+++ b/apps/examples/Makefile
@@ -37,12 +37,12 @@
 
 # Sub-directories
 
-SUBDIRS  = adc buttons can cdcacm composite dhcpd discover ftpc ftpd hello
-SUBDIRS += helloxx hidkbd igmp lcdrw mm modbus mount nettest nsh null nx
-SUBDIRS += nxconsole nxffs nxflat nxhello nximage nxlines nxtext ostest
-SUBDIRS += pashello pipe poll pwm qencoder rgmp romfs serloop telnetd
-SUBDIRS += thttpd tiff touchscreen udp uip usbserial sendmail usbstorage
-SUBDIRS += usbterm watchdog wget wlan
+SUBDIRS  = adc buttons can cdcacm composite cxxtest dhcpd discover elf ftpc
+SUBDIRS += ftpd hello helloxx hidkbd igmp json keypadtest lcdrw mm modbus mount
+SUBDIRS += nettest nsh null nx nxconsole nxffs nxflat nxhello nximage
+SUBDIRS += nxlines nxtext ostest  pashello pipe poll pwm qencoder relays
+SUBDIRS += rgmp romfs serloop telnetd thttpd tiff touchscreen udp uip
+SUBDIRS += usbserial sendmail usbstorage usbterm watchdog wget wgetjson wlan
 
 # Sub-directories that might need context setup.  Directories may need
 # context setup for a variety of reasons, but the most common is because
@@ -57,8 +57,8 @@ SUBDIRS += usbterm watchdog wget wlan
 CNTXTDIRS = pwm
 
 ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
-CNTXTDIRS += adc can cdcacm composite discover ftpd dhcpd modbus nettest
-CNTXTDIRS += qencoder telnetd watchdog
+CNTXTDIRS += adc can cdcacm composite cxxtest dhcpd discover ftpd json keypadtest
+CNTXTDIRS += modbus nettest nxlines relays qencoder telnetd watchdog wgetjson
 endif
 
 ifeq ($(CONFIG_EXAMPLES_HELLO_BUILTIN),y)
@@ -79,9 +79,6 @@ endif
 ifeq ($(CONFIG_EXAMPLES_NXIMAGE_BUILTIN),y)
 CNTXTDIRS += nximage
 endif
-ifeq ($(CONFIG_EXAMPLES_LINES_BUILTIN),y)
-CNTXTDIRS += nxlines
-endif
 ifeq ($(CONFIG_EXAMPLES_NXTEXT_BUILTIN),y)
 CNTXTDIRS += nxtext
 endif
@@ -105,27 +102,25 @@ all: nothing
 
 .PHONY: nothing context depend clean distclean
 
+define SDIR_template
+$(1)_$(2):
+	$(Q) $(MAKE) -C $(1) $(2) TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
+endef
+
+$(foreach SDIR, $(CNTXTDIRS), $(eval $(call SDIR_template,$(SDIR),context)))
+$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),depend)))
+$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),clean)))
+$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),distclean)))
+
 nothing:
 
-context:
-	@for dir in $(CNTXTDIRS) ; do \
-		$(MAKE) -C $$dir context TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
-	done
-
-depend:
-	@for dir in $(SUBDIRS) ; do \
-		$(MAKE) -C $$dir depend TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
-	done
-
-clean:
-	@for dir in $(SUBDIRS) ; do \
-		$(MAKE) -C $$dir clean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
-	done
-
-distclean: clean
-	@for dir in $(SUBDIRS) ; do \
-		$(MAKE) -C $$dir distclean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
-	done
+context: $(foreach SDIR, $(CNTXTDIRS), $(SDIR)_context)
+
+depend: $(foreach SDIR, $(SUBDIRS), $(SDIR)_depend)
+
+clean: $(foreach SDIR, $(SUBDIRS), $(SDIR)_clean)
+
+distclean: clean $(foreach SDIR, $(SUBDIRS), $(SDIR)_distclean)
 
 -include Make.dep
 
diff --git a/apps/examples/README.txt b/apps/examples/README.txt
index 763427e32..e40a63be9 100644
--- a/apps/examples/README.txt
+++ b/apps/examples/README.txt
@@ -239,6 +239,29 @@ examples/composite
   CONFIG_EXAMPLES_COMPOSITE_TRACEINTERRUPTS
     Show interrupt-related events.
 
+examples/cxxtest
+^^^^^^^^^^^^^^^^
+
+  This is a test of the C++ standard library.  At present a port of the uClibc++
+  C++ library is available.  Due to licensinging issues, the uClibc++ C++ library
+  is not included in the NuttX source tree by default, but must be installed
+  (see misc/uClibc++/README.txt for installation).
+
+  The  NuttX setting that are required include:
+
+    CONFIG_HAVE_CXX=y
+    CONFIG_HAVE_CXXINITIALIZE=y
+    CONFIG_UCLIBCXX=y
+
+  Additional uClibc++ settings may be required in your build environment.
+
+  The uClibc++ test includes simple test of:
+
+    - iostreams,
+    - STL,
+    - RTTI, and
+    - Exceptions
+
 examples/dhcpd
 ^^^^^^^^^^^^^^
 
@@ -297,6 +320,68 @@ examples/discover
     CONFIG_EXAMPLES_DISCOVER_DRIPADDR - Router IP address
     CONFIG_EXAMPLES_DISCOVER_NETMASK - Network Mask
 
+examples/elf
+^^^^^^^^^^^^
+
+  This example builds a small ELF loader test case.  This includes several
+  test programs under examples/elf tests.  These tests are build using
+  the relocatable ELF format and installed in a ROMFS file system.  At run time,
+  each program in the ROMFS file system is executed.  Requires CONFIG_ELF.
+  Other configuration options:
+
+    CONFIG_EXAMPLES_ELF_DEVMINOR - The minor device number of the ROMFS block.
+      For example, the N in /dev/ramN. Used for registering the RAM block driver
+      that will hold the ROMFS file system containing the ELF executables to be
+      tested.  Default: 0
+
+    CONFIG_EXAMPLES_ELF_DEVPATH - The path to the ROMFS block driver device.  This
+      must match EXAMPLES_ELF_DEVMINOR. Used for registering the RAM block driver
+      that will hold the ROMFS file system containing the ELF executables to be
+      tested.  Default: "/dev/ram0"
+
+  NOTES:
+
+  1. CFLAGS should be provided in CELFFLAGS.  RAM and FLASH memory regions
+     may require long allcs.  For ARM, this might be:
+
+       CELFFLAGS = $(CFLAGS) -mlong-calls
+
+     Similarly for C++ flags which must be provided in CXXELFFLAGS.
+
+  2. Your top-level nuttx/Make.defs file must alos include an approproate definition,
+     LDELFFLAGS, to generate a relocatable ELF object.  With GNU LD, this should
+     include '-r' and '-e main' (or _main on some platforms).
+
+       LDELFFLAGS = -r -e main
+
+     If you use GCC to link, you make also need to include '-nostdlib' or 
+     '-nostartfiles' and '-nodefaultlibs'.
+
+  3. This example also requires genromfs.  genromfs can be build as part of the
+     nuttx toolchain.  Or can built from the genromfs sources that can be found
+     at misc/tools/genromfs-0.5.2.tar.gz.  In any event, the PATH variable must
+     include the path to the genromfs executable.
+
+  4. ELF size:  The ELF files in this example are, be default, quite large
+     because they include a lot of "build garbage".  You can greatly reduce the
+     size of the ELF binaries are using the 'objcopy --strip-unneeded' command to
+     remove un-necessary information from the ELF files.
+
+  5. Simulator.  You cannot use this example with the the NuttX simulator on
+     Cygwin.  That is because the Cygwin GCC does not generate ELF file but
+     rather some Windows-native binary format.
+
+     If you really want to do this, you can create a NuttX x86 buildroot toolchain
+     and use that be build the ELF executables for the ROMFS file system.
+
+  6. Linker scripts.  You might also want to use a linker scripts to combine
+     sections better.  An example linker script is at nuttx/binfmt/libelf/gnu-elf.ld.
+     That example might have to be tuned for your particular linker output to
+     position additional sections correctly.  The GNU LD LDELFFLAGS then might
+     be:
+
+       LDELFFLAGS = -r -e main -T$(TOPDIR)/binfmt/libelf/gnu-elf.ld
+
 examples/ftpc
 ^^^^^^^^^^^^^
 
@@ -482,6 +567,32 @@ examples/igmp
 
   CONFIGURED_APPS += uiplib
 
+examples/json
+^^^^^^^^^^^^^
+
+  This example exercises the cJSON implementation at apps/netutils/json.
+  This example contains logic taken from the cJSON project:
+
+    http://sourceforge.net/projects/cjson/
+
+  The example corresponds to SVN revision r42 (with lots of changes for
+  NuttX coding standards).  As of r42, the SVN repository was last updated
+  on 2011-10-10 so I presume that the code is stable and there is no risk
+  of maintaining duplicate logic in the NuttX repository.
+
+examples/keypadtest
+^^^^^^^^^^^^^^^^^^^
+
+  This is a generic keypad test example.  It is similar to the USB hidkbd
+  example, but makes no assumptions about the underlying keyboard interface.
+  It uses the interfaces of include/nuttx/input/keypad.h.
+
+  CONFIG_EXAMPLES_KEYPADTEST - Selects the keypadtest example (only need
+    if the mconf/Kconfig tool is used.
+
+  CONFIG_EXAMPLES_KEYPAD_DEVNAME - The name of the keypad device that will
+    be opened in order to perform the keypad test.  Default: "/dev/keypad"
+
 examples/lcdrw
 ^^^^^^^^^^^^^^
 
@@ -496,6 +607,11 @@ examples/lcdrw
   * CONFIG_EXAMPLES_LDCRW_YRES
       LCD Y resolution.  Default: 320
   
+  NOTE: This test exercises internal lcd driver interfaces.  As such, it
+  relies on internal OS interfaces that are not normally available to a
+  user-space program.  As a result, this example cannot be used if a
+  NuttX is built as a protected, supervisor kernel (CONFIG_NUTTX_KERNEL).
+
 examples/mm
 ^^^^^^^^^^^
 
@@ -838,8 +954,6 @@ examplex/nxlines
 
   The following configuration options can be selected:
 
-    CONFIG_EXAMPLES_NXLINES_BUILTIN -- Build the NXLINES example as a "built-in"
-      that can be executed from the NSH command line    
     CONFIG_EXAMPLES_NXLINES_VPLANE -- The plane to select from the frame-
       buffer driver for use in the test.  Default: 0
     CONFIG_EXAMPLES_NXLINES_DEVNO - The LCD device to select from the LCD
@@ -877,6 +991,9 @@ examplex/nxlines
       FAR struct fb_vtable_s *up_nxdrvinit(unsigned int devno);
       #endif
 
+    CONFIG_NSH_BUILTIN_APPS - Build the NX lines examples as an NSH built-in
+      function.
+
 examples/nxtext
 ^^^^^^^^^^^^^^^
 
@@ -984,6 +1101,17 @@ examples/ostest
       Specifies the number of threads to create in the barrier
       test.  The default is 8 but a smaller number may be needed on
       systems without sufficient memory to start so many threads.
+  * CONFIG_EXAMPLES_OSTEST_RR_RANGE
+      During round-robin scheduling test two threads are created. Each of the threads
+      searches for prime numbers in the configurable range, doing that configurable
+      number of times.
+      This value specifies the end of search range and together with number of runs
+      allows to configure the length of this test - it should last at least a few
+      tens of seconds. Allowed values [1; 32767], default 10000
+  * CONFIG_EXAMPLES_OSTEST_RR_RUNS
+      During round-robin scheduling test two threads are created. Each of the threads
+      searches for prime numbers in the configurable range, doing that configurable
+      number of times.
 
 examples/pashello
 ^^^^^^^^^^^^^^^^^
@@ -1110,17 +1238,28 @@ examples/qencoder
 
   Specific configuration options for this example include:
  
-  CONFIG_EXAMPLES_QENCODER_DEVPATH - The path to the QE device. Default:
-    /dev/qe0
-  CONFIG_EXAMPLES_QENCODER_NSAMPLES - If CONFIG_NSH_BUILTIN_APPS
-    is defined, then the number of samples is provided on the command line
-    and this value is ignored.  Otherwise, this number of samples is
-    collected and the program terminates.  Default:  Samples are collected
-    indefinitely.
-  CONFIG_EXAMPLES_QENCODER_DELAY - This value provides the delay (in
-    milliseonds) between each sample.  If CONFIG_NSH_BUILTIN_APPS
-    is defined, then this value is the default delay if no other delay is
-    provided on the command line.  Default:  100 milliseconds
+    CONFIG_EXAMPLES_QENCODER_DEVPATH - The path to the QE device. Default:
+      /dev/qe0
+    CONFIG_EXAMPLES_QENCODER_NSAMPLES - If CONFIG_NSH_BUILTIN_APPS
+      is defined, then the number of samples is provided on the command line
+      and this value is ignored.  Otherwise, this number of samples is
+      collected and the program terminates.  Default:  Samples are collected
+      indefinitely.
+    CONFIG_EXAMPLES_QENCODER_DELAY - This value provides the delay (in
+      milliseonds) between each sample.  If CONFIG_NSH_BUILTIN_APPS
+      is defined, then this value is the default delay if no other delay is
+      provided on the command line.  Default:  100 milliseconds
+
+examples/relays
+^^^^^^^^^^^^^^^
+
+  Requires CONFIG_ARCH_RELAYS.
+  Contributed by Darcy Gong.
+
+  NOTE: This test exercises internal relay driver interfaces.  As such, it
+  relies on internal OS interfaces that are not normally available to a
+  user-space program.  As a result, this example cannot be used if a
+  NuttX is built as a protected, supervisor kernel (CONFIG_NUTTX_KERNEL).
 
 examples/rgmp
 ^^^^^^^^^^^^^
@@ -1672,7 +1811,16 @@ examples/wget
     CONFIGURED_APPS += resolv
     CONFIGURED_APPS += webclient
 
+examples/wget
+^^^^^^^^^^^^^
+
+  Uses wget to get a JSON encoded file, then decodes the file.
+
+    CONFIG_EXAMPLES_WDGETJSON_MAXSIZE - Max. JSON Buffer Size
+    CONFIG_EXAMPLES_EXAMPLES_WGETJSON_URL - wget URL
+
 examples/xmlrpc
+^^^^^^^^^^^^^^^
 
   This example exercises the "Embeddable Lightweight XML-RPC Server" which
   is discussed at:
diff --git a/apps/examples/adc/Makefile b/apps/examples/adc/Makefile
index 6357dfc3d..69862b383 100644
--- a/apps/examples/adc/Makefile
+++ b/apps/examples/adc/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # apps/examples/adc/Makefile
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -76,9 +80,7 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
+	$(call ARCHIVE, $(BIN), $(OBJS))
 	@touch .built
 
 .context:
@@ -90,16 +92,17 @@ endif
 context: .context
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/apps/examples/adc/adc_main.c b/apps/examples/adc/adc_main.c
index 404fba8c1..553658fee 100644
--- a/apps/examples/adc/adc_main.c
+++ b/apps/examples/adc/adc_main.c
@@ -289,7 +289,7 @@ int adc_main(int argc, char *argv[])
     {
       message("adc_main: open %s failed: %d\n", g_adcstate.devpath, errno);
       errval = 2;
-      goto errout_with_dev;
+      goto errout;
     }
 
   /* Now loop the appropriate number of times, displaying the collected
@@ -357,6 +357,11 @@ int adc_main(int argc, char *argv[])
       }
   }
 
+  close(fd);
+  return OK;
+
+  /* Error exits */
+
 errout_with_dev:
   close(fd);
 
diff --git a/apps/examples/buttons/Makefile b/apps/examples/buttons/Makefile
index 25d1ef2c2..77c1cd67d 100644
--- a/apps/examples/buttons/Makefile
+++ b/apps/examples/buttons/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # apps/examples/buttons/Makefile
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -76,9 +80,7 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
+	$(call ARCHIVE, $(BIN), $(OBJS))
 	@touch .built
 
 .context:
@@ -90,16 +92,17 @@ endif
 context: .context
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/apps/examples/can/Makefile b/apps/examples/can/Makefile
index c6dc5af84..8924797e3 100644
--- a/apps/examples/can/Makefile
+++ b/apps/examples/can/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # apps/examples/can/Makefile
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -76,9 +80,7 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
+	$(call ARCHIVE, $(BIN), $(OBJS))
 	@touch .built
 
 .context:
@@ -90,16 +92,17 @@ endif
 context: .context
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/apps/examples/cdcacm/Makefile b/apps/examples/cdcacm/Makefile
index 3fa886d56..e8d03807d 100644
--- a/apps/examples/cdcacm/Makefile
+++ b/apps/examples/cdcacm/Makefile
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -80,9 +84,7 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
+	$(call ARCHIVE, $(BIN), $(OBJS))
 	@touch .built
 
 .context:
@@ -93,17 +95,18 @@ $(COBJS): %$(OBJEXT): %.c
 context: .context
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
 
diff --git a/apps/fixedwing_control/Makefile b/apps/examples/control_demo/Makefile
index 02d4463dd..6e40e645f 100644
--- a/apps/fixedwing_control/Makefile
+++ b/apps/examples/control_demo/Makefile
@@ -32,13 +32,11 @@
 ############################################################################
 
 #
-# fixedwing_control Application
+# Basic example application
 #
 
-APPNAME		= fixedwing_control
-PRIORITY	= SCHED_PRIORITY_MAX - 1
-STACKSIZE	= 4096
-
-CSRCS		= fixedwing_control.c 
+APPNAME		 = control_demo
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 2048
 
 include $(APPDIR)/mk/app.mk
diff --git a/apps/examples/control_demo/control_demo.cpp b/apps/examples/control_demo/control_demo.cpp
new file mode 100644
index 000000000..e609f2f4b
--- /dev/null
+++ b/apps/examples/control_demo/control_demo.cpp
@@ -0,0 +1,168 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Example User <mail@example.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file control_demo.cpp
+ * Demonstration of control library
+ */
+
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <systemlib/systemlib.h>
+#include <controllib/fixedwing.hpp>
+#include <systemlib/param/param.h>
+#include <drivers/drv_hrt.h>
+#include <math.h>
+
+static bool thread_should_exit = false;     /**< Deamon exit flag */
+static bool thread_running = false;     /**< Deamon status flag */
+static int deamon_task;             /**< Handle of deamon task / thread */
+
+/**
+ * Deamon management function.
+ */
+extern "C" __EXPORT int control_demo_main(int argc, char *argv[]);
+
+/**
+ * Mainloop of deamon.
+ */
+int control_demo_thread_main(int argc, char *argv[]);
+
+/**
+ * Test function
+ */
+void test();
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+static void
+usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+
+	fprintf(stderr, "usage: control_demo {start|stop|status} [-p <additional params>]\n\n");
+	exit(1);
+}
+
+/**
+ * The deamon app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ *
+ * The actual stack size should be set in the call
+ * to task_create().
+ */
+int control_demo_main(int argc, char *argv[])
+{
+
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			printf("control_demo already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		deamon_task = task_spawn("control_demo",
+					 SCHED_DEFAULT,
+					 SCHED_PRIORITY_MAX - 10,
+					 5120,
+					 control_demo_thread_main,
+					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "test")) {
+		test();
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			printf("\tcontrol_demo app is running\n");
+
+		} else {
+			printf("\tcontrol_demo app not started\n");
+		}
+
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+int control_demo_thread_main(int argc, char *argv[])
+{
+
+	printf("[control_Demo] starting\n");
+
+	using namespace control;
+
+	fixedwing::BlockMultiModeBacksideAutopilot autopilot(NULL, "FWB");
+
+	thread_running = true;
+
+	while (!thread_should_exit) {
+		autopilot.update();
+	}
+
+	printf("[control_demo] exiting.\n");
+
+	thread_running = false;
+
+	return 0;
+}
+
+void test()
+{
+	printf("beginning control lib test\n");
+	control::basicBlocksTest();
+}
diff --git a/apps/examples/control_demo/params.c b/apps/examples/control_demo/params.c
new file mode 100644
index 000000000..6525b70f5
--- /dev/null
+++ b/apps/examples/control_demo/params.c
@@ -0,0 +1,63 @@
+#include <systemlib/param/param.h>
+
+// currently tuned for easystar from arkhangar in HIL
+//https://github.com/arktools/arkhangar
+
+// 16 is max name length
+
+// gyro low pass filter
+PARAM_DEFINE_FLOAT(FWB_P_LP, 300.0f); // roll rate low pass cut freq
+PARAM_DEFINE_FLOAT(FWB_Q_LP, 300.0f); // pitch rate low pass cut freq
+PARAM_DEFINE_FLOAT(FWB_R_LP, 300.0f); // yaw rate low pass cut freq
+
+// yaw washout
+PARAM_DEFINE_FLOAT(FWB_R_HP, 1.0f); // yaw rate high pass
+
+// stabilization mode
+PARAM_DEFINE_FLOAT(FWB_P2AIL, 0.3f); // roll rate 2 aileron
+PARAM_DEFINE_FLOAT(FWB_Q2ELV, 0.1f); // pitch rate 2 elevator
+PARAM_DEFINE_FLOAT(FWB_R2RDR, 0.1f); // yaw rate 2 rudder
+
+//  psi -> phi -> p
+PARAM_DEFINE_FLOAT(FWB_PSI2PHI, 0.5f);      // heading 2 roll
+PARAM_DEFINE_FLOAT(FWB_PHI2P, 1.0f);        // roll to roll rate
+PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 0.3f);  // roll limit, 28 deg
+
+// velocity -> theta
+PARAM_DEFINE_FLOAT(FWB_V2THE_P, 1.0f);      // velocity to pitch angle PID, prop gain
+PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f);      // integral gain
+PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f);      // derivative gain
+PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f);   // derivative low-pass
+PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f);  // integrator wind up guard
+PARAM_DEFINE_FLOAT(FWB_THE_MIN, -0.5f);     // the max commanded pitch angle
+PARAM_DEFINE_FLOAT(FWB_THE_MAX, 0.5f);      // the min commanded pitch angle
+
+
+// theta -> q
+PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 1.0f);      // pitch angle to pitch-rate PID
+PARAM_DEFINE_FLOAT(FWB_THE2Q_I, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_THE2Q_D, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_THE2Q_D_LP, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_THE2Q_I_MAX, 0.0f);
+
+//  h -> thr
+PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.01f);     // altitude to throttle PID
+PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 0.0f);
+
+// crosstrack
+PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.57f);  // cross-track to yaw angle limit 90 deg
+PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.005f);     // cross-track to yaw angle gain
+
+// speed command
+PARAM_DEFINE_FLOAT(FWB_V_MIN, 20.0f);       // minimum commanded velocity
+PARAM_DEFINE_FLOAT(FWB_V_CMD, 22.0f);       // commanded velocity
+PARAM_DEFINE_FLOAT(FWB_V_MAX, 24.0f);       // maximum commanded velocity
+
+// trim
+PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f);     // trim aileron, normalized (-1,1)
+PARAM_DEFINE_FLOAT(FWB_TRIM_ELV, 0.005f);   // trim elevator (-1,1)
+PARAM_DEFINE_FLOAT(FWB_TRIM_RDR, 0.0f);     // trim rudder (-1,1)
+PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f);     // trim throttle (0,1)
diff --git a/apps/examples/hello/Makefile b/apps/examples/hello/Makefile
index 1d78d723e..560b0da35 100644
--- a/apps/examples/hello/Makefile
+++ b/apps/examples/hello/Makefile
@@ -54,10 +54,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -76,9 +80,7 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
+	$(call ARCHIVE, $(BIN), $(OBJS))
 	@touch .built
 
 .context:
@@ -90,16 +92,17 @@ endif
 context: .context
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/apps/examples/helloxx/Makefile b/apps/examples/helloxx/Makefile
index 8e85eab23..062da7d58 100644
--- a/apps/examples/helloxx/Makefile
+++ b/apps/examples/helloxx/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # apps/examples/helloxx/Makefile
 #
-#   Copyright (C) 2009-2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2009-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -50,10 +50,14 @@ CXXOBJS		= $(CXXSRCS:.cxx=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS) $(CXXSRCS)
 OBJS		= $(AOBJS) $(COBJS) $(CXXOBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -69,7 +73,7 @@ STACKSIZE	= 2048
 VPATH		= 
 
 all: .built
-.PHONY:	clean depend disclean chkcxx
+.PHONY:	clean depend distclean chkcxx
 
 chkcxx:
 ifneq ($(CONFIG_HAVE_CXX),y)
@@ -93,9 +97,7 @@ $(CXXOBJS): %$(OBJEXT): %.cxx
 	$(call COMPILEXX, $<, $@)
 
 .built: chkcxx $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
+	$(call ARCHIVE, $(BIN), $(OBJS))
 	@touch .built
 
 .context:
@@ -107,16 +109,17 @@ endif
 context: .context
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/apps/examples/kalman_demo/KalmanNav.cpp b/apps/examples/kalman_demo/KalmanNav.cpp
new file mode 100644
index 000000000..7e89dffb2
--- /dev/null
+++ b/apps/examples/kalman_demo/KalmanNav.cpp
@@ -0,0 +1,761 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file KalmanNav.cpp
+ *
+ * kalman filter navigation code
+ */
+
+#include <poll.h>
+
+#include "KalmanNav.hpp"
+
+// constants
+// Titterton pg. 52
+static const float omega = 7.2921150e-5f; // earth rotation rate, rad/s
+static const float R0 = 6378137.0f; // earth radius, m
+static const float g0 = 9.806f; // standard gravitational accel. m/s^2
+static const int8_t ret_ok = 0; 		// no error in function
+static const int8_t ret_error = -1; 	// error occurred
+
+KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
+	SuperBlock(parent, name),
+	// ekf matrices
+	F(9, 9),
+	G(9, 6),
+	P(9, 9),
+	P0(9, 9),
+	V(6, 6),
+	// attitude measurement ekf matrices
+	HAtt(6, 9),
+	RAtt(6, 6),
+	// position measurement ekf matrices
+	HPos(5, 9),
+	RPos(5, 5),
+	// attitude representations
+	C_nb(),
+	q(),
+	// subscriptions
+	_sensors(&getSubscriptions(), ORB_ID(sensor_combined), 5), // limit to 200 Hz
+	_gps(&getSubscriptions(), ORB_ID(vehicle_gps_position), 100), // limit to 10 Hz
+	_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
+	// publications
+	_pos(&getPublications(), ORB_ID(vehicle_global_position)),
+	_att(&getPublications(), ORB_ID(vehicle_attitude)),
+	// timestamps
+	_pubTimeStamp(hrt_absolute_time()),
+	_predictTimeStamp(hrt_absolute_time()),
+	_attTimeStamp(hrt_absolute_time()),
+	_outTimeStamp(hrt_absolute_time()),
+	// frame count
+	_navFrames(0),
+	// miss counts
+	_miss(0),
+	// accelerations
+	fN(0), fE(0), fD(0),
+	// state
+	phi(0), theta(0), psi(0),
+	vN(0), vE(0), vD(0),
+	lat(0), lon(0), alt(0),
+	// parameters for ground station
+	_vGyro(this, "V_GYRO"),
+	_vAccel(this, "V_ACCEL"),
+	_rMag(this, "R_MAG"),
+	_rGpsVel(this, "R_GPS_VEL"),
+	_rGpsPos(this, "R_GPS_POS"),
+	_rGpsAlt(this, "R_GPS_ALT"),
+	_rAccel(this, "R_ACCEL"),
+	_magDip(this, "ENV_MAG_DIP"),
+	_magDec(this, "ENV_MAG_DEC"),
+	_g(this, "ENV_G"),
+	_faultPos(this, "FAULT_POS"),
+	_faultAtt(this, "FAULT_ATT"),
+	_attitudeInitialized(false),
+	_positionInitialized(false),
+	_attitudeInitCounter(0)
+{
+	using namespace math;
+
+	// initial state covariance matrix
+	P0 = Matrix::identity(9) * 0.01f;
+	P = P0;
+
+	// initial state
+	phi = 0.0f;
+	theta = 0.0f;
+	psi = 0.0f;
+	vN = 0.0f;
+	vE = 0.0f;
+	vD = 0.0f;
+	lat = 0.0f;
+	lon = 0.0f;
+	alt = 0.0f;
+
+	// initialize quaternions
+	q = Quaternion(EulerAngles(phi, theta, psi));
+
+	// initialize dcm
+	C_nb = Dcm(q);
+
+	// HPos is constant
+	HPos(0, 3) = 1.0f;
+	HPos(1, 4) = 1.0f;
+	HPos(2, 6) = 1.0e7f * M_RAD_TO_DEG_F;
+	HPos(3, 7) = 1.0e7f * M_RAD_TO_DEG_F;
+	HPos(4, 8) = 1.0f;
+
+	// initialize all parameters
+	updateParams();
+}
+
+void KalmanNav::update()
+{
+	using namespace math;
+
+	struct pollfd fds[1];
+	fds[0].fd = _sensors.getHandle();
+	fds[0].events = POLLIN;
+
+	// poll for new data
+	int ret = poll(fds, 1, 1000);
+
+	if (ret < 0) {
+		// XXX this is seriously bad - should be an emergency
+		return;
+
+	} else if (ret == 0) { // timeout
+		return;
+	}
+
+	// get new timestamp
+	uint64_t newTimeStamp = hrt_absolute_time();
+
+	// check updated subscriptions
+	if (_param_update.updated()) updateParams();
+
+	bool gpsUpdate = _gps.updated();
+	bool sensorsUpdate = _sensors.updated();
+
+	// get new information from subscriptions
+	// this clears update flag
+	updateSubscriptions();
+
+	// initialize attitude when sensors online
+	if (!_attitudeInitialized && sensorsUpdate &&
+	    _sensors.accelerometer_counter > 10 &&
+	    _sensors.gyro_counter > 10 &&
+	    _sensors.magnetometer_counter > 10) {
+		if (correctAtt() == ret_ok) _attitudeInitCounter++;
+
+		if (_attitudeInitCounter > 100) {
+			printf("[kalman_demo] initialized EKF attitude\n");
+			printf("phi: %8.4f, theta: %8.4f, psi: %8.4f\n",
+			       double(phi), double(theta), double(psi));
+			_attitudeInitialized = true;
+		}
+	}
+
+	// initialize position when gps received
+	if (!_positionInitialized &&
+	    _attitudeInitialized && // wait for attitude first
+	    gpsUpdate &&
+	    _gps.fix_type > 2 &&
+	    _gps.counter_pos_valid > 10) {
+		vN = _gps.vel_n;
+		vE = _gps.vel_e;
+		vD = _gps.vel_d;
+		setLatDegE7(_gps.lat);
+		setLonDegE7(_gps.lon);
+		setAltE3(_gps.alt);
+		_positionInitialized = true;
+		printf("[kalman_demo] initialized EKF state with GPS\n");
+		printf("vN: %8.4f, vE: %8.4f, vD: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f\n",
+		       double(vN), double(vE), double(vD),
+		       lat, lon, alt);
+	}
+
+	// prediciton step
+	// using sensors timestamp so we can account for packet lag
+	float dt = (_sensors.timestamp - _predictTimeStamp) / 1.0e6f;
+	//printf("dt: %15.10f\n", double(dt));
+	_predictTimeStamp = _sensors.timestamp;
+
+	// don't predict if time greater than a second
+	if (dt < 1.0f) {
+		predictState(dt);
+		predictStateCovariance(dt);
+		// count fast frames
+		_navFrames += 1;
+	}
+
+	// count times 100 Hz rate isn't met
+	if (dt > 0.01f) _miss++;
+
+	// gps correction step
+	if (_positionInitialized && gpsUpdate) {
+		correctPos();
+	}
+
+	// attitude correction step
+	if (_attitudeInitialized 								// initialized
+	    && sensorsUpdate 								// new data
+	    && _sensors.timestamp - _attTimeStamp > 1e6 / 20 	// 20 Hz
+	   ) {
+		_attTimeStamp = _sensors.timestamp;
+		correctAtt();
+	}
+
+	// publication
+	if (newTimeStamp - _pubTimeStamp > 1e6 / 50) { // 50 Hz
+		_pubTimeStamp = newTimeStamp;
+
+		updatePublications();
+	}
+
+	// output
+	if (newTimeStamp - _outTimeStamp > 10e6) { // 0.1 Hz
+		_outTimeStamp = newTimeStamp;
+		printf("nav: %4d Hz, miss #: %4d\n",
+		       _navFrames / 10, _miss / 10);
+		_navFrames = 0;
+		_miss = 0;
+	}
+}
+
+void KalmanNav::updatePublications()
+{
+	using namespace math;
+
+	// position publication
+	_pos.timestamp = _pubTimeStamp;
+	_pos.time_gps_usec = _gps.timestamp;
+	_pos.valid = true;
+	_pos.lat = getLatDegE7();
+	_pos.lon = getLonDegE7();
+	_pos.alt = float(alt);
+	_pos.relative_alt = float(alt); // TODO, make relative
+	_pos.vx = vN;
+	_pos.vy = vE;
+	_pos.vz = vD;
+	_pos.hdg = psi;
+
+	// attitude publication
+	_att.timestamp = _pubTimeStamp;
+	_att.roll = phi;
+	_att.pitch = theta;
+	_att.yaw = psi;
+	_att.rollspeed = _sensors.gyro_rad_s[0];
+	_att.pitchspeed = _sensors.gyro_rad_s[1];
+	_att.yawspeed = _sensors.gyro_rad_s[2];
+	// TODO, add gyro offsets to filter
+	_att.rate_offsets[0] = 0.0f;
+	_att.rate_offsets[1] = 0.0f;
+	_att.rate_offsets[2] = 0.0f;
+
+	for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
+			_att.R[i][j] = C_nb(i, j);
+
+	for (int i = 0; i < 4; i++) _att.q[i] = q(i);
+
+	_att.R_valid = true;
+	_att.q_valid = true;
+	_att.counter = _navFrames;
+
+	// selectively update publications,
+	// do NOT call superblock do-all method
+	if (_positionInitialized)
+		_pos.update();
+
+	if (_attitudeInitialized)
+		_att.update();
+}
+
+int KalmanNav::predictState(float dt)
+{
+	using namespace math;
+
+	// trig
+	float sinL = sinf(lat);
+	float cosL = cosf(lat);
+	float cosLSing = cosf(lat);
+
+	// prevent singularity
+	if (fabsf(cosLSing) < 0.01f) {
+		if (cosLSing > 0) cosLSing = 0.01;
+		else cosLSing = -0.01;
+	}
+
+	// attitude prediction
+	if (_attitudeInitialized) {
+		Vector3 w(_sensors.gyro_rad_s);
+
+		// attitude
+		q = q + q.derivative(w) * dt;
+
+		// renormalize quaternion if needed
+		if (fabsf(q.norm() - 1.0f) > 1e-4f) {
+			q = q.unit();
+		}
+
+		// C_nb update
+		C_nb = Dcm(q);
+
+		// euler update
+		EulerAngles euler(C_nb);
+		phi = euler.getPhi();
+		theta = euler.getTheta();
+		psi = euler.getPsi();
+
+		// specific acceleration in nav frame
+		Vector3 accelB(_sensors.accelerometer_m_s2);
+		Vector3 accelN = C_nb * accelB;
+		fN = accelN(0);
+		fE = accelN(1);
+		fD = accelN(2);
+	}
+
+	// position prediction
+	if (_positionInitialized) {
+		// neglects angular deflections in local gravity
+		// see Titerton pg. 70
+		float R = R0 + float(alt);
+		float LDot = vN / R;
+		float lDot = vE / (cosLSing * R);
+		float rotRate = 2 * omega + lDot;
+		float vNDot = fN - vE * rotRate * sinL +
+			      vD * LDot;
+		float vDDot = fD - vE * rotRate * cosL -
+			      vN * LDot + _g.get();
+		float vEDot = fE + vN * rotRate * sinL +
+			      vDDot * rotRate * cosL;
+
+		// rectangular integration
+		vN += vNDot * dt;
+		vE += vEDot * dt;
+		vD += vDDot * dt;
+		lat += double(LDot * dt);
+		lon += double(lDot * dt);
+		alt += double(-vD * dt);
+	}
+
+	return ret_ok;
+}
+
+int KalmanNav::predictStateCovariance(float dt)
+{
+	using namespace math;
+
+	// trig
+	float sinL = sinf(lat);
+	float cosL = cosf(lat);
+	float cosLSq = cosL * cosL;
+	float tanL = tanf(lat);
+
+	// prepare for matrix
+	float R = R0 + float(alt);
+	float RSq = R * R;
+
+	// F Matrix
+	// Titterton pg. 291
+
+	F(0, 1) = -(omega * sinL + vE * tanL / R);
+	F(0, 2) = vN / R;
+	F(0, 4) = 1.0f / R;
+	F(0, 6) = -omega * sinL;
+	F(0, 8) = -vE / RSq;
+
+	F(1, 0) = omega * sinL + vE * tanL / R;
+	F(1, 2) = omega * cosL + vE / R;
+	F(1, 3) = -1.0f / R;
+	F(1, 8) = vN / RSq;
+
+	F(2, 0) = -vN / R;
+	F(2, 1) = -omega * cosL - vE / R;
+	F(2, 4) = -tanL / R;
+	F(2, 6) = -omega * cosL - vE / (R * cosLSq);
+	F(2, 8) = vE * tanL / RSq;
+
+	F(3, 1) = -fD;
+	F(3, 2) = fE;
+	F(3, 3) = vD / R;
+	F(3, 4) = -2 * (omega * sinL + vE * tanL / R);
+	F(3, 5) = vN / R;
+	F(3, 6) = -vE * (2 * omega * cosL + vE / (R * cosLSq));
+	F(3, 8) = (vE * vE * tanL - vN * vD) / RSq;
+
+	F(4, 0) = fD;
+	F(4, 2) = -fN;
+	F(4, 3) = 2 * omega * sinL + vE * tanL / R;
+	F(4, 4) = (vN * tanL + vD) / R;
+	F(4, 5) = 2 * omega * cosL + vE / R;
+	F(4, 6) = 2 * omega * (vN * cosL - vD * sinL) +
+		  vN * vE / (R * cosLSq);
+	F(4, 8) = -vE * (vN * tanL + vD) / RSq;
+
+	F(5, 0) = -fE;
+	F(5, 1) = fN;
+	F(5, 3) = -2 * vN / R;
+	F(5, 4) = -2 * (omega * cosL + vE / R);
+	F(5, 6) = 2 * omega * vE * sinL;
+	F(5, 8) = (vN * vN + vE * vE) / RSq;
+
+	F(6, 3) = 1 / R;
+	F(6, 8) = -vN / RSq;
+
+	F(7, 4) = 1 / (R * cosL);
+	F(7, 6) = vE * tanL / (R * cosL);
+	F(7, 8) = -vE / (cosL * RSq);
+
+	F(8, 5) = -1;
+
+	// G Matrix
+	// Titterton pg. 291
+	G(0, 0) = -C_nb(0, 0);
+	G(0, 1) = -C_nb(0, 1);
+	G(0, 2) = -C_nb(0, 2);
+	G(1, 0) = -C_nb(1, 0);
+	G(1, 1) = -C_nb(1, 1);
+	G(1, 2) = -C_nb(1, 2);
+	G(2, 0) = -C_nb(2, 0);
+	G(2, 1) = -C_nb(2, 1);
+	G(2, 2) = -C_nb(2, 2);
+
+	G(3, 3) = C_nb(0, 0);
+	G(3, 4) = C_nb(0, 1);
+	G(3, 5) = C_nb(0, 2);
+	G(4, 3) = C_nb(1, 0);
+	G(4, 4) = C_nb(1, 1);
+	G(4, 5) = C_nb(1, 2);
+	G(5, 3) = C_nb(2, 0);
+	G(5, 4) = C_nb(2, 1);
+	G(5, 5) = C_nb(2, 2);
+
+	// continuous predictioon equations
+	// for discrte time EKF
+	// http://en.wikipedia.org/wiki/Extended_Kalman_filter
+	P = P + (F * P + P * F.transpose() + G * V * G.transpose()) * dt;
+
+	return ret_ok;
+}
+
+int KalmanNav::correctAtt()
+{
+	using namespace math;
+
+	// trig
+	float cosPhi = cosf(phi);
+	float cosTheta = cosf(theta);
+	float cosPsi = cosf(psi);
+	float sinPhi = sinf(phi);
+	float sinTheta = sinf(theta);
+	float sinPsi = sinf(psi);
+
+	// mag measurement
+	Vector3 zMag(_sensors.magnetometer_ga);
+	//float magNorm = zMag.norm();
+	zMag = zMag.unit();
+
+	// mag predicted measurement
+	// choosing some typical magnetic field properties,
+	//  TODO dip/dec depend on lat/ lon/ time
+	float dip = _magDip.get() / M_RAD_TO_DEG_F; // dip, inclination with level
+	float dec = _magDec.get() / M_RAD_TO_DEG_F; // declination, clockwise rotation from north
+	float bN = cosf(dip) * cosf(dec);
+	float bE = cosf(dip) * sinf(dec);
+	float bD = sinf(dip);
+	Vector3 bNav(bN, bE, bD);
+	Vector3 zMagHat = (C_nb.transpose() * bNav).unit();
+
+	// accel measurement
+	Vector3 zAccel(_sensors.accelerometer_m_s2);
+	float accelMag = zAccel.norm();
+	zAccel = zAccel.unit();
+
+	// ignore accel correction when accel mag not close to g
+	Matrix RAttAdjust = RAtt;
+
+	bool ignoreAccel = fabsf(accelMag - _g.get()) > 1.1f;
+
+	if (ignoreAccel) {
+		RAttAdjust(3, 3) = 1.0e10;
+		RAttAdjust(4, 4) = 1.0e10;
+		RAttAdjust(5, 5) = 1.0e10;
+
+	} else {
+		//printf("correcting attitude with accel\n");
+	}
+
+	// accel predicted measurement
+	Vector3 zAccelHat = (C_nb.transpose() * Vector3(0, 0, -_g.get())).unit();
+
+	// combined measurement
+	Vector zAtt(6);
+	Vector zAttHat(6);
+
+	for (int i = 0; i < 3; i++) {
+		zAtt(i) = zMag(i);
+		zAtt(i + 3) = zAccel(i);
+		zAttHat(i) = zMagHat(i);
+		zAttHat(i + 3) = zAccelHat(i);
+	}
+
+	// HMag , HAtt (0-2,:)
+	float tmp1 =
+		cosPsi * cosTheta * bN +
+		sinPsi * cosTheta * bE -
+		sinTheta * bD;
+	HAtt(0, 1) = -(
+			     cosPsi * sinTheta * bN +
+			     sinPsi * sinTheta * bE +
+			     cosTheta * bD
+		     );
+	HAtt(0, 2) = -cosTheta * (sinPsi * bN - cosPsi * bE);
+	HAtt(1, 0) =
+		(cosPhi * cosPsi * sinTheta + sinPhi * sinPsi) * bN +
+		(cosPhi * sinPsi * sinTheta - sinPhi * cosPsi) * bE +
+		cosPhi * cosTheta * bD;
+	HAtt(1, 1) = sinPhi * tmp1;
+	HAtt(1, 2) = -(
+			     (sinPhi * sinPsi * sinTheta + cosPhi * cosPsi) * bN -
+			     (sinPhi * cosPsi * sinTheta - cosPhi * sinPsi) * bE
+		     );
+	HAtt(2, 0) = -(
+			     (sinPhi * cosPsi * sinTheta - cosPhi * sinPsi) * bN +
+			     (sinPhi * sinPsi * sinTheta + cosPhi * cosPsi) * bE +
+			     (sinPhi * cosTheta) * bD
+		     );
+	HAtt(2, 1) = cosPhi * tmp1;
+	HAtt(2, 2) = -(
+			     (cosPhi * sinPsi * sinTheta - sinPhi * cosTheta) * bN -
+			     (cosPhi * cosPsi * sinTheta + sinPhi * sinPsi) * bE
+		     );
+
+	// HAccel , HAtt (3-5,:)
+	HAtt(3, 1) = cosTheta;
+	HAtt(4, 0) = -cosPhi * cosTheta;
+	HAtt(4, 1) = sinPhi * sinTheta;
+	HAtt(5, 0) = sinPhi * cosTheta;
+	HAtt(5, 1) = cosPhi * sinTheta;
+
+	// compute correction
+	// http://en.wikipedia.org/wiki/Extended_Kalman_filter
+	Vector y = zAtt - zAttHat; // residual
+	Matrix S = HAtt * P * HAtt.transpose() + RAttAdjust; // residual covariance
+	Matrix K = P * HAtt.transpose() * S.inverse();
+	Vector xCorrect = K * y;
+
+	// check correciton is sane
+	for (size_t i = 0; i < xCorrect.getRows(); i++) {
+		float val = xCorrect(i);
+
+		if (isnan(val) || isinf(val)) {
+			// abort correction and return
+			printf("[kalman_demo] numerical failure in att correction\n");
+			// reset P matrix to P0
+			P = P0;
+			return ret_error;
+		}
+	}
+
+	// correct state
+	if (!ignoreAccel) {
+		phi += xCorrect(PHI);
+		theta += xCorrect(THETA);
+	}
+
+	psi += xCorrect(PSI);
+
+	// attitude also affects nav velocities
+	if (_positionInitialized) {
+		vN += xCorrect(VN);
+		vE += xCorrect(VE);
+		vD += xCorrect(VD);
+	}
+
+	// update state covariance
+	// http://en.wikipedia.org/wiki/Extended_Kalman_filter
+	P = P - K * HAtt * P;
+
+	// fault detection
+	float beta = y.dot(S.inverse() * y);
+
+	if (beta > _faultAtt.get()) {
+		printf("fault in attitude: beta = %8.4f\n", (double)beta);
+		printf("y:\n"); y.print();
+		printf("zMagHat:\n"); zMagHat.print();
+		printf("zMag:\n"); zMag.print();
+		printf("bNav:\n"); bNav.print();
+	}
+
+	// update quaternions from euler
+	// angle correction
+	q = Quaternion(EulerAngles(phi, theta, psi));
+
+	return ret_ok;
+}
+
+int KalmanNav::correctPos()
+{
+	using namespace math;
+
+	// residual
+	Vector y(5);
+	y(0) = _gps.vel_n - vN;
+	y(1) = _gps.vel_e - vE;
+	y(2) = double(_gps.lat) - lat * 1.0e7 * M_RAD_TO_DEG;
+	y(3) = double(_gps.lon) - lon * 1.0e7 * M_RAD_TO_DEG;
+	y(4) = double(_gps.alt) / 1.0e3 - alt;
+
+	// compute correction
+	// http://en.wikipedia.org/wiki/Extended_Kalman_filter
+	Matrix S = HPos * P * HPos.transpose() + RPos; // residual covariance
+	Matrix K = P * HPos.transpose() * S.inverse();
+	Vector xCorrect = K * y;
+
+	// check correction is sane
+	for (size_t i = 0; i < xCorrect.getRows(); i++) {
+		float val = xCorrect(i);
+
+		if (isnan(val) || isinf(val)) {
+			// abort correction and return
+			printf("[kalman_demo] numerical failure in gps correction\n");
+			// fallback to GPS
+			vN = _gps.vel_n;
+			vE = _gps.vel_e;
+			vD = _gps.vel_d;
+			setLatDegE7(_gps.lat);
+			setLonDegE7(_gps.lon);
+			setAltE3(_gps.alt);
+			// reset P matrix to P0
+			P = P0;
+			return ret_error;
+		}
+	}
+
+	// correct state
+	vN += xCorrect(VN);
+	vE += xCorrect(VE);
+	vD += xCorrect(VD);
+	lat += double(xCorrect(LAT));
+	lon += double(xCorrect(LON));
+	alt += double(xCorrect(ALT));
+
+	// update state covariance
+	// http://en.wikipedia.org/wiki/Extended_Kalman_filter
+	P = P - K * HPos * P;
+
+	// fault detetcion
+	float beta = y.dot(S.inverse() * y);
+
+	if (beta > _faultPos.get()) {
+		printf("fault in gps: beta = %8.4f\n", (double)beta);
+		printf("Y/N: vN: %8.4f, vE: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f\n",
+		       double(y(0) / sqrtf(RPos(0, 0))),
+		       double(y(1) / sqrtf(RPos(1, 1))),
+		       double(y(2) / sqrtf(RPos(2, 2))),
+		       double(y(3) / sqrtf(RPos(3, 3))),
+		       double(y(4) / sqrtf(RPos(4, 4))));
+	}
+
+	return ret_ok;
+}
+
+void KalmanNav::updateParams()
+{
+	using namespace math;
+	using namespace control;
+	SuperBlock::updateParams();
+
+	// gyro noise
+	V(0, 0) = _vGyro.get();   // gyro x, rad/s
+	V(1, 1) = _vGyro.get();   // gyro y
+	V(2, 2) = _vGyro.get();   // gyro z
+
+	// accel noise
+	V(3, 3) = _vAccel.get();   // accel x, m/s^2
+	V(4, 4) = _vAccel.get();   // accel y
+	V(5, 5) = _vAccel.get();   // accel z
+
+	// magnetometer noise
+	float noiseMin = 1e-6f;
+	float noiseMagSq = _rMag.get() * _rMag.get();
+
+	if (noiseMagSq < noiseMin) noiseMagSq = noiseMin;
+
+	RAtt(0, 0) = noiseMagSq; // normalized direction
+	RAtt(1, 1) = noiseMagSq;
+	RAtt(2, 2) = noiseMagSq;
+
+	// accelerometer noise
+	float noiseAccelSq = _rAccel.get() * _rAccel.get();
+
+	// bound noise to prevent singularities
+	if (noiseAccelSq < noiseMin) noiseAccelSq = noiseMin;
+
+	RAtt(3, 3) = noiseAccelSq; // normalized direction
+	RAtt(4, 4) = noiseAccelSq;
+	RAtt(5, 5) = noiseAccelSq;
+
+	// gps noise
+	float R = R0 + float(alt);
+	float cosLSing = cosf(lat);
+
+	// prevent singularity
+	if (fabsf(cosLSing) < 0.01f) {
+		if (cosLSing > 0) cosLSing = 0.01;
+		else cosLSing = -0.01;
+	}
+
+	float noiseVel = _rGpsVel.get();
+	float noiseLatDegE7 = 1.0e7f * M_RAD_TO_DEG_F * _rGpsPos.get() / R;
+	float noiseLonDegE7 = noiseLatDegE7 / cosLSing;
+	float noiseAlt = _rGpsAlt.get();
+
+	// bound noise to prevent singularities
+	if (noiseVel < noiseMin) noiseVel = noiseMin;
+
+	if (noiseLatDegE7 < noiseMin) noiseLatDegE7 = noiseMin;
+
+	if (noiseLonDegE7 < noiseMin) noiseLonDegE7 = noiseMin;
+
+	if (noiseAlt < noiseMin) noiseAlt = noiseMin;
+
+	RPos(0, 0) = noiseVel * noiseVel; // vn
+	RPos(1, 1) = noiseVel * noiseVel; // ve
+	RPos(2, 2) = noiseLatDegE7 * noiseLatDegE7; // lat
+	RPos(3, 3) = noiseLonDegE7 * noiseLonDegE7; // lon
+	RPos(4, 4) = noiseAlt * noiseAlt; // h
+	// XXX, note that RPos depends on lat, so updateParams should
+	// be called if lat changes significantly
+}
diff --git a/apps/examples/kalman_demo/KalmanNav.hpp b/apps/examples/kalman_demo/KalmanNav.hpp
new file mode 100644
index 000000000..7709ac697
--- /dev/null
+++ b/apps/examples/kalman_demo/KalmanNav.hpp
@@ -0,0 +1,179 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file KalmanNav.hpp
+ *
+ * kalman filter navigation code
+ */
+
+#pragma once
+
+//#define MATRIX_ASSERT
+//#define VECTOR_ASSERT
+
+#include <nuttx/config.h>
+
+#include <mathlib/mathlib.h>
+#include <controllib/blocks.hpp>
+#include <controllib/block/BlockParam.hpp>
+#include <controllib/block/UOrbSubscription.hpp>
+#include <controllib/block/UOrbPublication.hpp>
+
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/parameter_update.h>
+
+#include <drivers/drv_hrt.h>
+#include <poll.h>
+#include <unistd.h>
+
+/**
+ * Kalman filter navigation class
+ * http://en.wikipedia.org/wiki/Extended_Kalman_filter
+ * Discrete-time extended Kalman filter
+ */
+class KalmanNav : public control::SuperBlock
+{
+public:
+	/**
+	 * Constructor
+	 */
+	KalmanNav(SuperBlock *parent, const char *name);
+
+	/**
+	 * Deconstuctor
+	 */
+
+	virtual ~KalmanNav() {};
+	/**
+	 * The main callback function for the class
+	 */
+	void update();
+
+
+	/**
+	 * Publication update
+	 */
+	virtual void updatePublications();
+
+	/**
+	 * State prediction
+	 * Continuous, non-linear
+	 */
+	int predictState(float dt);
+
+	/**
+	 * State covariance prediction
+	 * Continuous, linear
+	 */
+	int predictStateCovariance(float dt);
+
+	/**
+	 * Attitude correction
+	 */
+	int correctAtt();
+
+	/**
+	 * Position correction
+	 */
+	int correctPos();
+
+	/**
+	 * Overloaded update parameters
+	 */
+	virtual void updateParams();
+protected:
+	// kalman filter
+	math::Matrix F;             /**< Jacobian(f,x), where dx/dt = f(x,u) */
+	math::Matrix G;             /**< noise shaping matrix for gyro/accel */
+	math::Matrix P;             /**< state covariance matrix */
+	math::Matrix P0;            /**< initial state covariance matrix */
+	math::Matrix V;             /**< gyro/ accel noise matrix */
+	math::Matrix HAtt;          /**< attitude measurement matrix */
+	math::Matrix RAtt;          /**< attitude measurement noise matrix */
+	math::Matrix HPos;          /**< position measurement jacobian matrix */
+	math::Matrix RPos;          /**< position measurement noise matrix */
+	// attitude
+	math::Dcm C_nb;             /**< direction cosine matrix from body to nav frame */
+	math::Quaternion q;         /**< quaternion from body to nav frame */
+	// subscriptions
+	control::UOrbSubscription<sensor_combined_s> _sensors;          /**< sensors sub. */
+	control::UOrbSubscription<vehicle_gps_position_s> _gps;         /**< gps sub. */
+	control::UOrbSubscription<parameter_update_s> _param_update;    /**< parameter update sub. */
+	// publications
+	control::UOrbPublication<vehicle_global_position_s> _pos;       /**< position pub. */
+	control::UOrbPublication<vehicle_attitude_s> _att;              /**< attitude pub. */
+	// time stamps
+	uint64_t _pubTimeStamp;     /**< output data publication time stamp */
+	uint64_t _predictTimeStamp; /**< prediction time stamp */
+	uint64_t _attTimeStamp;     /**< attitude correction time stamp */
+	uint64_t _outTimeStamp;     /**< output time stamp */
+	// frame count
+	uint16_t _navFrames;        /**< navigation frames completed in output cycle */
+	// miss counts
+	uint16_t _miss;         	/**< number of times fast prediction loop missed */
+	// accelerations
+	float fN, fE, fD;           /**< navigation frame acceleration */
+	// states
+	enum {PHI = 0, THETA, PSI, VN, VE, VD, LAT, LON, ALT};  /**< state enumeration */
+	float phi, theta, psi;                  /**< 3-2-1 euler angles */
+	float vN, vE, vD;                       /**< navigation velocity, m/s */
+	double lat, lon, alt;                   /**< lat, lon, alt, radians */
+	// parameters
+	control::BlockParam<float> _vGyro;      /**< gyro process noise */
+	control::BlockParam<float> _vAccel;     /**< accelerometer process noise  */
+	control::BlockParam<float> _rMag;       /**< magnetometer measurement noise  */
+	control::BlockParam<float> _rGpsVel;    /**< gps velocity measurement noise */
+	control::BlockParam<float> _rGpsPos;    /**< gps position measurement noise */
+	control::BlockParam<float> _rGpsAlt;    /**< gps altitude measurement noise */
+	control::BlockParam<float> _rAccel;     /**< accelerometer measurement noise */
+	control::BlockParam<float> _magDip;     /**< magnetic inclination with level */
+	control::BlockParam<float> _magDec;     /**< magnetic declination, clockwise rotation */
+	control::BlockParam<float> _g;          /**< gravitational constant */
+	control::BlockParam<float> _faultPos;   /**< fault detection threshold for position */
+	control::BlockParam<float> _faultAtt;   /**< fault detection threshold for attitude */
+	// status
+	bool _attitudeInitialized;
+	bool _positionInitialized;
+	uint16_t _attitudeInitCounter;
+	// accessors
+	int32_t getLatDegE7() { return int32_t(lat * 1.0e7 * M_RAD_TO_DEG); }
+	void setLatDegE7(int32_t val) { lat = val / 1.0e7 / M_RAD_TO_DEG; }
+	int32_t getLonDegE7() { return int32_t(lon * 1.0e7 * M_RAD_TO_DEG); }
+	void setLonDegE7(int32_t val) { lon = val / 1.0e7 / M_RAD_TO_DEG; }
+	int32_t getAltE3() { return int32_t(alt * 1.0e3); }
+	void setAltE3(int32_t val) { alt = double(val) / 1.0e3; }
+};
diff --git a/apps/examples/kalman_demo/Makefile b/apps/examples/kalman_demo/Makefile
new file mode 100644
index 000000000..99c34d934
--- /dev/null
+++ b/apps/examples/kalman_demo/Makefile
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. 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.
+# 3. Neither the name PX4 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.
+#
+############################################################################
+
+#
+# Basic example application
+#
+
+APPNAME		 = kalman_demo
+PRIORITY	 = SCHED_PRIORITY_MAX - 30
+STACKSIZE	 = 2048
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/examples/kalman_demo/kalman_demo.cpp b/apps/examples/kalman_demo/kalman_demo.cpp
new file mode 100644
index 000000000..581b68b01
--- /dev/null
+++ b/apps/examples/kalman_demo/kalman_demo.cpp
@@ -0,0 +1,152 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Example User <mail@example.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file kalman_demo.cpp
+ * Demonstration of control library
+ */
+
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <systemlib/systemlib.h>
+#include <systemlib/param/param.h>
+#include <drivers/drv_hrt.h>
+#include <math.h>
+#include "KalmanNav.hpp"
+
+static bool thread_should_exit = false;     /**< Deamon exit flag */
+static bool thread_running = false;     /**< Deamon status flag */
+static int deamon_task;             /**< Handle of deamon task / thread */
+
+/**
+ * Deamon management function.
+ */
+extern "C" __EXPORT int kalman_demo_main(int argc, char *argv[]);
+
+/**
+ * Mainloop of deamon.
+ */
+int kalman_demo_thread_main(int argc, char *argv[]);
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+static void
+usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+
+	fprintf(stderr, "usage: kalman_demo {start|stop|status} [-p <additional params>]\n\n");
+	exit(1);
+}
+
+/**
+ * The deamon app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ *
+ * The actual stack size should be set in the call
+ * to task_create().
+ */
+int kalman_demo_main(int argc, char *argv[])
+{
+
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			printf("kalman_demo already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		deamon_task = task_spawn("kalman_demo",
+					 SCHED_DEFAULT,
+					 SCHED_PRIORITY_MAX - 5,
+					 4096,
+					 kalman_demo_thread_main,
+					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			printf("\tkalman_demo app is running\n");
+
+		} else {
+			printf("\tkalman_demo app not started\n");
+		}
+
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+int kalman_demo_thread_main(int argc, char *argv[])
+{
+
+	printf("[kalman_demo] starting\n");
+
+	using namespace math;
+
+	thread_running = true;
+
+	KalmanNav nav(NULL, "KF");
+
+	while (!thread_should_exit) {
+		nav.update();
+	}
+
+	printf("[kalman_demo] exiting.\n");
+
+	thread_running = false;
+
+	return 0;
+}
diff --git a/apps/examples/kalman_demo/params.c b/apps/examples/kalman_demo/params.c
new file mode 100644
index 000000000..3bfe01261
--- /dev/null
+++ b/apps/examples/kalman_demo/params.c
@@ -0,0 +1,16 @@
+#include <systemlib/param/param.h>
+
+/*PARAM_DEFINE_FLOAT(NAME,0.0f);*/
+PARAM_DEFINE_FLOAT(KF_V_GYRO, 1.0f);
+PARAM_DEFINE_FLOAT(KF_V_ACCEL, 1.0f);
+PARAM_DEFINE_FLOAT(KF_R_MAG, 1.0f);
+PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 1.0f);
+PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 5.0f);
+PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 5.0f);
+PARAM_DEFINE_FLOAT(KF_R_ACCEL, 1.0f);
+PARAM_DEFINE_FLOAT(KF_FAULT_POS, 10.0f);
+PARAM_DEFINE_FLOAT(KF_FAULT_ATT, 10.0f);
+PARAM_DEFINE_FLOAT(KF_ENV_G, 9.765f);
+PARAM_DEFINE_FLOAT(KF_ENV_MAG_DIP, 60.0f);
+PARAM_DEFINE_FLOAT(KF_ENV_MAG_DEC, 0.0f);
+
diff --git a/apps/examples/math_demo/Makefile b/apps/examples/math_demo/Makefile
new file mode 100644
index 000000000..a1105899a
--- /dev/null
+++ b/apps/examples/math_demo/Makefile
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. 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.
+# 3. Neither the name PX4 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.
+#
+############################################################################
+
+#
+# Basic example application
+#
+
+APPNAME		 = math_demo
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 8192
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/examples/math_demo/math_demo.cpp b/apps/examples/math_demo/math_demo.cpp
new file mode 100644
index 000000000..a9c556748
--- /dev/null
+++ b/apps/examples/math_demo/math_demo.cpp
@@ -0,0 +1,105 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Example User <mail@example.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file math_demo.cpp
+ * Demonstration of math library
+ */
+
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <systemlib/systemlib.h>
+#include <mathlib/mathlib.h>
+
+/**
+ * Management function.
+ */
+extern "C" __EXPORT int math_demo_main(int argc, char *argv[]);
+
+/**
+ * Test function
+ */
+void test();
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+static void
+usage(const char *reason)
+{
+    if (reason)
+        fprintf(stderr, "%s\n", reason);
+    fprintf(stderr, "usage: math_demo {test}\n\n");
+    exit(1);
+}
+
+/**
+ * The deamon app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ * 
+ * The actual stack size should be set in the call
+ * to task_create().
+ */
+int math_demo_main(int argc, char *argv[])
+{
+
+    if (argc < 1)
+        usage("missing command");
+
+    if (!strcmp(argv[1], "test")) {
+        test();
+        exit(0);
+    }
+
+    usage("unrecognized command");
+    exit(1);
+}
+
+void test()
+{
+    printf("beginning math lib test\n");
+    using namespace math;
+    vectorTest();
+    matrixTest();
+    vector3Test();
+    eulerAnglesTest();
+    quaternionTest();
+    dcmTest();
+}
diff --git a/apps/examples/mm/Makefile b/apps/examples/mm/Makefile
index 24ed4926f..5ba7f4eec 100644
--- a/apps/examples/mm/Makefile
+++ b/apps/examples/mm/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # apps/examples/mm/Makefile
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -70,24 +74,23 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
+	$(call ARCHIVE, $(BIN), $(OBJS))
 	@touch .built
 
 context:
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/apps/examples/mount/Makefile b/apps/examples/mount/Makefile
index 69cf970cf..133bdfa1f 100644
--- a/apps/examples/mount/Makefile
+++ b/apps/examples/mount/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # apps/Makefile
 #
-#   Copyright (C) 2007-2008, 2010-2010 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2007-2008, 2010-2010, 2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -70,24 +74,23 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
+	$(call ARCHIVE, $(BIN), $(OBJS))
 	@touch .built
 
 context:
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/apps/examples/nsh/Makefile b/apps/examples/nsh/Makefile
index bad40fb2e..c7d212fc2 100644
--- a/apps/examples/nsh/Makefile
+++ b/apps/examples/nsh/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # apps/examples/nsh/Makefile
 #
-#   Copyright (C) 2007-2008, 2010-2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2007-2008, 2010-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -70,24 +74,23 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
+	$(call ARCHIVE, $(BIN), $(OBJS))
 	@touch .built
 
 context:
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/apps/examples/null/Makefile b/apps/examples/null/Makefile
index 634120600..47ec4cdaf 100644
--- a/apps/examples/null/Makefile
+++ b/apps/examples/null/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # examples/null/Makefile
 #
-#   Copyright (C) 2007-2008, 2010-2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2007-2008, 2010-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -70,24 +74,23 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
+	$(call ARCHIVE, $(BIN), $(OBJS))
 	@touch .built
 
 context:
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/apps/examples/ostest/Kconfig b/apps/examples/ostest/Kconfig
index 0da7e4ce3..c3fe8f21d 100644
--- a/apps/examples/ostest/Kconfig
+++ b/apps/examples/ostest/Kconfig
@@ -39,4 +39,31 @@ config EXAMPLES_OSTEST_NBARRIER_THREADS
 		is 8 but a smaller number may be needed on systems without sufficient memory
 		to start so many threads.
 
+config EXAMPLES_OSTEST_RR_RANGE
+	int "Round-robin test - end of search range"
+	default 10000
+	range 1 32767
+	---help---
+		During round-robin scheduling test two threads are created. Each of the threads
+		searches for prime numbers in the configurable range, doing that configurable
+		number of times.
+
+		This value specifies the end of search range and together with number of runs
+		allows to configure the length of this test - it should last at least a few
+		tens of seconds. Allowed values [1; 32767], default 10000
+
+config EXAMPLES_OSTEST_RR_RUNS
+	int "Round-robin test - number of runs"
+	default 10
+	range 1 32767
+	---help---
+		During round-robin scheduling test two threads are created. Each of the threads
+		searches for prime numbers in the configurable range, doing that configurable
+		number of times.
+
+		This value specifies the number of times the thread searches the range for
+		prime numbers and together with end of search range allows to configure the
+		length of this test - it should last at least a few tens of seconds. Allowed
+		values [1; 32767], default 10
+
 endif
diff --git a/apps/examples/ostest/Makefile b/apps/examples/ostest/Makefile
index 374964b39..3e78c64e8 100644
--- a/apps/examples/ostest/Makefile
+++ b/apps/examples/ostest/Makefile
@@ -98,10 +98,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -120,9 +124,7 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
+	$(call ARCHIVE, $(BIN), $(OBJS))
 	@touch .built
 
 .context:
@@ -134,16 +136,17 @@ endif
 context: .context
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/apps/examples/ostest/roundrobin.c b/apps/examples/ostest/roundrobin.c
index 5167a857e..bfd344df3 100644
--- a/apps/examples/ostest/roundrobin.c
+++ b/apps/examples/ostest/roundrobin.c
@@ -1,7 +1,7 @@
 /********************************************************************************
  * examples/ostest/roundrobin.c
  *
- *   Copyright (C) 2007, 2008 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007, 2008, 2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -39,6 +39,7 @@
 
 #include <nuttx/config.h>
 #include <stdio.h>
+#include <stdbool.h>
 #include "ostest.h"
 
 #if CONFIG_RR_INTERVAL > 0
@@ -47,115 +48,87 @@
  * Definitions
  ********************************************************************************/
 
-/* This number may need to be tuned for different processor speeds.  Since these
- * arrays must be large to very correct SCHED_RR behavior, this test may require
- * too much memory on many targets.
- */
+/* This numbers should be tuned for different processor speeds via .config file.
+ * With default values the test takes about 30s on Cortex-M3 @ 24MHz. With 32767
+ * range and 10 runs it takes ~320s. */
 
-/* #define CONFIG_NINTEGERS 32768 Takes forever on 60Mhz ARM7 */
-
-#define CONFIG_NINTEGERS 2048
-
-/********************************************************************************
- * Private Data
- ********************************************************************************/
+#ifndef CONFIG_EXAMPLES_OSTEST_RR_RANGE
+#  define CONFIG_EXAMPLES_OSTEST_RR_RANGE 10000
+#  warning "CONFIG_EXAMPLES_OSTEST_RR_RANGE undefined, using default value = 10000"
+#elif (CONFIG_EXAMPLES_OSTEST_RR_RANGE < 1) || (CONFIG_EXAMPLES_OSTEST_RR_RANGE > 32767)
+#  define CONFIG_EXAMPLES_OSTEST_RR_RANGE 10000
+#  warning "Invalid value of CONFIG_EXAMPLES_OSTEST_RR_RANGE, using default value = 10000"
+#endif
 
-static int prime1[CONFIG_NINTEGERS];
-static int prime2[CONFIG_NINTEGERS];
+#ifndef CONFIG_EXAMPLES_OSTEST_RR_RUNS
+#  define CONFIG_EXAMPLES_OSTEST_RR_RUNS 10
+#  warning "CONFIG_EXAMPLES_OSTEST_RR_RUNS undefined, using default value = 10"
+#elif (CONFIG_EXAMPLES_OSTEST_RR_RUNS < 1) || (CONFIG_EXAMPLES_OSTEST_RR_RUNS > 32767)
+#  define CONFIG_EXAMPLES_OSTEST_RR_RUNS 10
+#  warning "Invalid value of CONFIG_EXAMPLES_OSTEST_RR_RUNS, using default value = 10"
+#endif
 
 /********************************************************************************
  * Private Functions
  ********************************************************************************/
 
 /********************************************************************************
- * Name: dosieve
+ * Name: get_primes
  *
  * Description
- *   This implements a "sieve of aristophanes" algorithm for finding prime number.
- *   Credit for this belongs to someone, but I am not sure who anymore.  Anyway,
- *   the only purpose here is that we need some algorithm that takes a long period 
- *   of time to execute.
- *
+ *   This function searches for prime numbers in the most primitive way possible.
  ********************************************************************************/
 
-static void dosieve(int *prime)
+static void get_primes(int *count, int *last)
 {
-  int a,d;
-  int i;
-  int j;
-
-  a = 2;
-  d = a;
-
-  for (i = 0; i < CONFIG_NINTEGERS; i++)
-    {
-      prime[i] = i+2;
-    }
-
-  for (i = 1; i < 10; i++)
+  int number;
+  int local_count = 0;
+  *last = 0;    // to make compiler happy
+
+  for (number = 1; number < CONFIG_EXAMPLES_OSTEST_RR_RANGE; number++)
+  {
+    int div;
+    bool is_prime = true;
+
+    for (div = 2; div <= number / 2; div++)
+      if (number % div == 0)
+      {
+        is_prime = false;
+        break;
+      }
+
+    if (is_prime)
     {
-      for (j = 0; j < CONFIG_NINTEGERS; j++)
-        {
-          d = a + d;
-          if (d < CONFIG_NINTEGERS)
-            {
-              prime[d]=0;
-            }
-        }
-      a++;
-      d = a;
-      i++;
-    }
-
+      local_count++;
+      *last = number;
 #if 0 /* We don't really care what the numbers are */
-  for (i = 0, j= 0; i < CONFIG_NINTEGERS; i++)
-    {
-      if (prime[i] != 0)
-       {
-         printf(" Prime %d: %d\n", j, prime[i]);
-         j++;
-       }
-    }
+      printf(" Prime %d: %d\n", local_count, number);
 #endif
-}
-
-/********************************************************************************
- * Name: sieve1
- ********************************************************************************/
-
-static void *sieve1(void *parameter)
-{
-  int i;
-
-  printf("sieve1 started\n");
-
-  for (i = 0; i < 1000; i++)
-    {
-      dosieve(prime1);
     }
+  }
 
-  printf("sieve1 finished\n");
-
-  pthread_exit(NULL);
-  return NULL; /* To keep some compilers happy */
+  *count = local_count;
 }
 
 /********************************************************************************
- * Name: sieve2
+ * Name: get_primes_thread
  ********************************************************************************/
 
-static void *sieve2(void *parameter)
+static void *get_primes_thread(void *parameter)
 {
-  int i;
+  int id = (int)parameter;
+  int i, count, last;
 
-  printf("sieve2 started\n");
+  printf("get_primes_thread id=%d started, looking for primes < %d, doing %d run(s)\n",
+         id, CONFIG_EXAMPLES_OSTEST_RR_RANGE, CONFIG_EXAMPLES_OSTEST_RR_RUNS);
 
-  for (i = 0; i < 1000; i++)
+  for (i = 0; i < CONFIG_EXAMPLES_OSTEST_RR_RUNS; i++)
     {
-      dosieve(prime2);
+      get_primes(&count, &last);
     }
 
-  printf("sieve2 finished\n");
+  printf("get_primes_thread id=%d finished, found %d primes, last one was %d\n",
+         id, count, last);
 
   pthread_exit(NULL);
   return NULL; /* To keep some compilers happy */
@@ -171,14 +144,13 @@ static void *sieve2(void *parameter)
 
 void rr_test(void)
 {
-  pthread_t sieve1_thread;
-  pthread_t sieve2_thread;
+  pthread_t get_primes1_thread;
+  pthread_t get_primes2_thread;
   struct sched_param sparam;
   pthread_attr_t attr;
   pthread_addr_t result;
   int status;
 
-  printf("rr_test: Starting sieve1 thread \n");
   status = pthread_attr_init(&attr);
   if (status != OK)
     {
@@ -203,29 +175,31 @@ void rr_test(void)
     }
   else
     {
-      printf("rr_test: Set thread policty to SCHED_RR\n");
+      printf("rr_test: Set thread policy to SCHED_RR\n");
     }
 
-  status = pthread_create(&sieve1_thread, &attr, sieve1, NULL);
+  printf("rr_test: Starting first get_primes_thread\n");
+
+  status = pthread_create(&get_primes1_thread, &attr, get_primes_thread, (void*)1);
   if (status != 0)
     {
       printf("rr_test: Error in thread 1 creation, status=%d\n",  status);
     }
 
-  printf("rr_test: Starting sieve1 thread \n");
+  printf("rr_test: Starting second get_primes_thread\n");
 
-  status = pthread_create(&sieve2_thread, &attr, sieve2, NULL);
+  status = pthread_create(&get_primes2_thread, &attr, get_primes_thread, (void*)2);
   if (status != 0)
     {
       printf("rr_test: Error in thread 2 creation, status=%d\n",  status);
     }
 
-  printf("rr_test: Waiting for sieves to complete -- this should take awhile\n");
+  printf("rr_test: Waiting for threads to complete -- this should take awhile\n");
   printf("rr_test: If RR scheduling is working, they should start and complete at\n");
   printf("rr_test: about the same time\n");
 
-  pthread_join(sieve2_thread, &result);
-  pthread_join(sieve1_thread, &result);
+  pthread_join(get_primes2_thread, &result);
+  pthread_join(get_primes1_thread, &result);
   printf("rr_test: Done\n");
 }
 
diff --git a/apps/examples/pipe/Makefile b/apps/examples/pipe/Makefile
index 956c911b3..bed319085 100644
--- a/apps/examples/pipe/Makefile
+++ b/apps/examples/pipe/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # apps/examples/pipe/Makefile
 #
-#   Copyright (C) 2008, 2010-2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2008, 2010-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -70,24 +74,23 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
+	$(call ARCHIVE, $(BIN), $(OBJS))
 	@touch .built
 
 context:
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/apps/examples/poll/Makefile b/apps/examples/poll/Makefile
index aef61d199..13173f125 100644
--- a/apps/examples/poll/Makefile
+++ b/apps/examples/poll/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # apps/examples/poll/Makefile
 #
-#   Copyright (C) 2008, 2010-2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2008, 2010-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -70,25 +74,25 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
+	$(call ARCHIVE, $(BIN), $(OBJS))
 	@touch .built
 
 context:
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 # Register application
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend host
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
+	$(call DELFILE, host$(HOSTEXEEXT))
 
 -include Make.dep
diff --git a/apps/examples/pwm/Makefile b/apps/examples/pwm/Makefile
index efbdb048e..3a6f2520a 100644
--- a/apps/examples/pwm/Makefile
+++ b/apps/examples/pwm/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # apps/examples/pwm/Makefile
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -76,9 +80,7 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
+	$(call ARCHIVE, $(BIN), $(OBJS))
 	@touch .built
 
 .context:
@@ -88,16 +90,17 @@ $(COBJS): %$(OBJEXT): %.c
 context: .context
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/apps/examples/pwm/pwm_main.c b/apps/examples/pwm/pwm_main.c
index 775bdba6b..a46c10f55 100644
--- a/apps/examples/pwm/pwm_main.c
+++ b/apps/examples/pwm/pwm_main.c
@@ -48,6 +48,7 @@
 #include <fcntl.h>
 #include <errno.h>
 #include <debug.h>
+#include <string.h>
 
 #include <nuttx/pwm.h>
 
diff --git a/apps/examples/qencoder/Makefile b/apps/examples/qencoder/Makefile
index 3f3fc9def..7d2427c6b 100644
--- a/apps/examples/qencoder/Makefile
+++ b/apps/examples/qencoder/Makefile
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -76,9 +80,7 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
+	$(call ARCHIVE, $(BIN), $(OBJS))
 	@touch .built
 
 .context:
@@ -90,16 +92,17 @@ endif
 context: .context
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/apps/examples/romfs/Makefile b/apps/examples/romfs/Makefile
index ba930b77d..2b02952ed 100644
--- a/apps/examples/romfs/Makefile
+++ b/apps/examples/romfs/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # apps/examples/romfs/Makefile
 #
-#   Copyright (C) 2008, 2010-2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2008, 2010-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -61,7 +65,7 @@ ROOTDEPPATH	= --dep-path .
 VPATH		= 
 
 all: .built
-.PHONY:	checkgenromfs clean depend disclean
+.PHONY:	checkgenromfs clean depend distclean
 
 $(AOBJS): %$(OBJEXT): %.S
 	$(call ASSEMBLE, $<, $@)
@@ -86,26 +90,26 @@ romfs_testdir.h : testdir.img
 	@xxd -i $< >$@ || { echo "xxd of $< failed" ; exit 1 ; }
 
 .built: romfs_testdir.h $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
+	$(call ARCHIVE, $(BIN), $(OBJS))
 	@touch .built
 
 context:
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 # Register application
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend testdir.img
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
+	$(call DELFILE, testdir.img)
 
 -include Make.dep
 
diff --git a/apps/examples/serloop/Makefile b/apps/examples/serloop/Makefile
index e1c415cdd..4a262884b 100644
--- a/apps/examples/serloop/Makefile
+++ b/apps/examples/serloop/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # apps/examples/serloop/Makefile
 #
-#   Copyright (C) 2008, 2010-2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2008, 2010-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -70,26 +74,25 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
+	$(call ARCHIVE, $(BIN), $(OBJS))
 	@touch .built
 
 context:
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 # Register application
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
 
diff --git a/apps/examples/watchdog/Makefile b/apps/examples/watchdog/Makefile
index d2739dbb0..9890959fb 100644
--- a/apps/examples/watchdog/Makefile
+++ b/apps/examples/watchdog/Makefile
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -76,9 +80,7 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
+	$(call ARCHIVE, $(BIN), $(OBJS))
 	@touch .built
 
 .context:
@@ -88,16 +90,17 @@ $(COBJS): %$(OBJEXT): %.c
 context: .context
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c
index 334b95226..b012448a2 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c
@@ -112,8 +112,9 @@ static int parameters_update(const struct fw_pos_control_param_handles *h, struc
 }
 
 int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
-		const struct vehicle_attitude_s *att,
-		struct vehicle_rates_setpoint_s *rates_sp)
+				   const struct vehicle_attitude_s *att,
+				   const float speed_body[],
+				   struct vehicle_rates_setpoint_s *rates_sp)
 {
 	static int counter = 0;
 	static bool initialized = false;
@@ -125,8 +126,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 	static PID_t pitch_controller;
 
 
-	if(!initialized)
-	{
+	if (!initialized) {
 		parameters_init(&h);
 		parameters_update(&h, &p);
 		pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim, PID_MODE_DERIVATIV_NONE); //P Controller
@@ -145,12 +145,21 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 	/* Roll (P) */
 	rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body, att->roll, 0, 0);
 
+
 	/* Pitch (P) */
-	float pitch_sp_rollcompensation = att_sp->pitch_body + p.pitch_roll_compensation_p * att_sp->roll_body;
-	rates_sp->pitch = pid_calculate(&pitch_controller, pitch_sp_rollcompensation, att->pitch, 0, 0);
+
+	/* compensate feedforward for loss of lift due to non-horizontal angle of wing */
+	float pitch_sp_rollcompensation = p.pitch_roll_compensation_p * fabsf(sinf(att_sp->roll_body));
+	/* set pitch plus feedforward roll compensation */
+	rates_sp->pitch = pid_calculate(&pitch_controller,
+					att_sp->pitch_body + pitch_sp_rollcompensation,
+					att->pitch, 0, 0);
 
 	/* Yaw (from coordinated turn constraint or lateral force) */
-	//TODO
+	rates_sp->yaw = (att->rollspeed * rates_sp->roll + 9.81f * sinf(att->roll) * cosf(att->pitch) + speed_body[0] * rates_sp->pitch * sinf(att->roll))
+			/ (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[2] * sinf(att->pitch));
+
+//	printf("rates_sp->yaw %.4f \n", (double)rates_sp->yaw);
 
 	counter++;
 
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.h b/apps/fixedwing_att_control/fixedwing_att_control_att.h
index ca7c14b43..600e35b89 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.h
+++ b/apps/fixedwing_att_control/fixedwing_att_control_att.h
@@ -41,9 +41,11 @@
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_global_position.h>
 
 int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
-		const struct vehicle_attitude_s *att,
-		struct vehicle_rates_setpoint_s *rates_sp);
+				   const struct vehicle_attitude_s *att,
+				   const float speed_body[],
+				   struct vehicle_rates_setpoint_s *rates_sp);
 
 #endif /* FIXEDWING_ATT_CONTROL_ATT_H_ */
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c
index 38f58ac33..aa9db6d52 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_main.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c
@@ -58,40 +58,16 @@
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/debug_key_value.h>
 #include <systemlib/param/param.h>
 #include <systemlib/pid/pid.h>
 #include <systemlib/geo/geo.h>
+#include <systemlib/perf_counter.h>
 #include <systemlib/systemlib.h>
-
 #include <fixedwing_att_control_rate.h>
 #include <fixedwing_att_control_att.h>
 
-/*
- * Controller parameters, accessible via MAVLink
- *
- */
-// Roll control parameters
-PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f);
-PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f);
-PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f);
-PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f);   // Roll rate limit in radians/sec, applies to the roll controller
-PARAM_DEFINE_FLOAT(FW_ROLL_P, 4.0f);
-PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f);
-
-//Pitch control parameters
-PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.8f);
-PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f);
-PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f);
-PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f);   // Pitch rate limit in radians/sec, applies to the pitch controller
-PARAM_DEFINE_FLOAT(FW_PITCH_P, 8.0f);
-
-//Yaw control parameters					//XXX TODO this is copy paste, asign correct values
-PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f);
-PARAM_DEFINE_FLOAT(FW_YAWR_I, 0.0f);
-PARAM_DEFINE_FLOAT(FW_YAWR_AWU, 0.0f);
-PARAM_DEFINE_FLOAT(FW_YAWR_LIM, 0.35f);   // Yaw rate limit in radians/sec
-
 /* Prototypes */
 /**
  * Deamon management function.
@@ -117,118 +93,211 @@ static int deamon_task;				/**< Handle of deamon task / thread */
 int fixedwing_att_control_thread_main(int argc, char *argv[])
 {
 	/* read arguments */
-		bool verbose = false;
+	bool verbose = false;
 
-		for (int i = 1; i < argc; i++) {
-			if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
-				verbose = true;
-			}
+	for (int i = 1; i < argc; i++) {
+		if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
+			verbose = true;
 		}
+	}
+
+	/* welcome user */
+	printf("[fixedwing att control] started\n");
+
+	/* declare and safely initialize all structs */
+	struct vehicle_attitude_s att;
+	memset(&att, 0, sizeof(att));
+	struct vehicle_attitude_setpoint_s att_sp;
+	memset(&att_sp, 0, sizeof(att_sp));
+	struct vehicle_rates_setpoint_s rates_sp;
+	memset(&rates_sp, 0, sizeof(rates_sp));
+	struct vehicle_global_position_s global_pos;
+	memset(&global_pos, 0, sizeof(global_pos));
+	struct manual_control_setpoint_s manual_sp;
+	memset(&manual_sp, 0, sizeof(manual_sp));
+	struct vehicle_status_s vstatus;
+	memset(&vstatus, 0, sizeof(vstatus));
+
+	/* output structs */
+	struct actuator_controls_s actuators;
+	memset(&actuators, 0, sizeof(actuators));
+
+
+	/* publish actuator controls */
+	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
+		actuators.control[i] = 0.0f;
+	}
+
+	orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
+	orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
 
-		/* welcome user */
-		printf("[fixedwing att_control] started\n");
+	/* subscribe */
+	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
+	int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+	int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+	int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
 
-		/* declare and safely initialize all structs */
-		struct vehicle_attitude_s att;
-		memset(&att, 0, sizeof(att));
-		struct vehicle_attitude_setpoint_s att_sp;
-		memset(&att_sp, 0, sizeof(att_sp));
-		struct vehicle_rates_setpoint_s rates_sp;
-		memset(&rates_sp, 0, sizeof(rates_sp));
-		struct manual_control_setpoint_s manual_sp;
-		memset(&manual_sp, 0, sizeof(manual_sp));
-		struct vehicle_status_s vstatus;
-		memset(&vstatus, 0, sizeof(vstatus));
+	/* Setup of loop */
+	float gyro[3] = {0.0f, 0.0f, 0.0f};
+	float speed_body[3] = {0.0f, 0.0f, 0.0f};
+	struct pollfd fds = { .fd = att_sub, .events = POLLIN };
 
-//		static struct debug_key_value_s debug_output;
-//		memset(&debug_output, 0, sizeof(debug_output));
+	while (!thread_should_exit) {
+		/* wait for a sensor update, check for exit condition every 500 ms */
+		poll(&fds, 1, 500);
 
-		/* output structs */
-		struct actuator_controls_s actuators;
-		memset(&actuators, 0, sizeof(actuators));
+		/* Check if there is a new position measurement or  attitude setpoint */
+		bool pos_updated;
+		orb_check(global_pos_sub, &pos_updated);
+		bool att_sp_updated;
+		orb_check(att_sp_sub, &att_sp_updated);
 
+		/* get a local copy of attitude */
+		orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
 
-		/* publish actuator controls */
-		for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
-			actuators.control[i] = 0.0f;
+		if (att_sp_updated)
+			orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
+
+		if (pos_updated) {
+			orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
+
+			if (att.R_valid) {
+				speed_body[0] = att.R[0][0] * global_pos.vx + att.R[0][1] * global_pos.vy + att.R[0][2] * global_pos.vz;
+				speed_body[1] = att.R[1][0] * global_pos.vx + att.R[1][1] * global_pos.vy + att.R[1][2] * global_pos.vz;
+				speed_body[2] = att.R[2][0] * global_pos.vx + att.R[2][1] * global_pos.vy + att.R[2][2] * global_pos.vz;
+
+			} else {
+				speed_body[0] = 0;
+				speed_body[1] = 0;
+				speed_body[2] = 0;
+
+				printf("FW ATT CONTROL: Did not get a valid R\n");
+			}
 		}
-		orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
-//		orb_advert_t debug_pub = orb_advertise(ORB_ID(debug_key_value), &debug_output);
-//		debug_output.key[0] = '1';
 
+		orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
+		orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
 
-		/* subscribe */
-		int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-		int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
-		int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
-		int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
+		gyro[0] = att.rollspeed;
+		gyro[1] = att.pitchspeed;
+		gyro[2] = att.yawspeed;
 
-		/* Setup of loop */
-		float gyro[3] = {0.0f, 0.0f, 0.0f};
-		struct pollfd fds = { .fd = att_sub, .events = POLLIN };
+		/* control */
 
-		while(!thread_should_exit)
-		{
-			/* wait for a sensor update, check for exit condition every 500 ms */
-			poll(&fds, 1, 500);
+		if (vstatus.state_machine == SYSTEM_STATE_AUTO ||
+		    vstatus.state_machine == SYSTEM_STATE_STABILIZED) {
+			/* attitude control */
+			fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
 
-			/* get a local copy of attitude */
-			orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
-			orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
-			orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
-			orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
+			/* angular rate control */
+			fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
+
+			/* pass through throttle */
+			actuators.control[3] = att_sp.thrust;
+
+			/* set flaps to zero */
+			actuators.control[4] = 0.0f;
 
-			gyro[0] = att.rollspeed;
-			gyro[1] = att.pitchspeed;
-			gyro[2] = att.yawspeed;
+		} else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) {
+			if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
 
-			/* Control */
+				/* if the RC signal is lost, try to stay level and go slowly back down to ground */
+				if (vstatus.rc_signal_lost) {
 
-			if (vstatus.state_machine == SYSTEM_STATE_AUTO) {
-				/* Attitude Control */
-				fixedwing_att_control_attitude(&att_sp,
-						&att,
-						&rates_sp);
+					/* put plane into loiter */
+					att_sp.roll_body = 0.3f;
+					att_sp.pitch_body = 0.0f;
 
-				/* Attitude Rate Control */
+					/* limit throttle to 60 % of last value if sane */
+					if (isfinite(manual_sp.throttle) &&
+					    (manual_sp.throttle >= 0.0f) &&
+					    (manual_sp.throttle <= 1.0f)) {
+						att_sp.thrust = 0.6f * manual_sp.throttle;
+
+					} else {
+						att_sp.thrust = 0.0f;
+					}
+
+					att_sp.yaw_body = 0;
+
+					// XXX disable yaw control, loiter
+
+				} else {
+
+					att_sp.roll_body = manual_sp.roll;
+					att_sp.pitch_body = manual_sp.pitch;
+					att_sp.yaw_body = 0;
+					att_sp.thrust = manual_sp.throttle;
+				}
+
+				att_sp.timestamp = hrt_absolute_time();
+
+				/* attitude control */
+				fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
+
+				/* angular rate control */
 				fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
 
-				//REMOVEME XXX
-				actuators.control[3] = 0.7f;
+				/* pass through throttle */
+				actuators.control[3] = att_sp.thrust;
+
+				/* pass through flaps */
+				if (isfinite(manual_sp.flaps)) {
+					actuators.control[4] = manual_sp.flaps;
+
+				} else {
+					actuators.control[4] = 0.0f;
+				}
 
-	//			debug_output.value = rates_sp.pitch;
-	//			orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output);
-			} else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) {
+			} else if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
 				/* directly pass through values */
 				actuators.control[0] = manual_sp.roll;
 				/* positive pitch means negative actuator -> pull up */
-				actuators.control[1] = -manual_sp.pitch;
+				actuators.control[1] = manual_sp.pitch;
 				actuators.control[2] = manual_sp.yaw;
 				actuators.control[3] = manual_sp.throttle;
+
+				if (isfinite(manual_sp.flaps)) {
+					actuators.control[4] = manual_sp.flaps;
+
+				} else {
+					actuators.control[4] = 0.0f;
+				}
 			}
+		}
 
-			/* publish output */
+		/* publish rates */
+		orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
+
+		/* sanity check and publish actuator outputs */
+		if (isfinite(actuators.control[0]) &&
+		    isfinite(actuators.control[1]) &&
+		    isfinite(actuators.control[2]) &&
+		    isfinite(actuators.control[3])) {
 			orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
 		}
+	}
 
-		printf("[fixedwing_att_control] exiting, stopping all motors.\n");
-		thread_running = false;
+	printf("[fixedwing_att_control] exiting, stopping all motors.\n");
+	thread_running = false;
 
-		/* kill all outputs */
-		for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
-			actuators.control[i] = 0.0f;
+	/* kill all outputs */
+	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
+		actuators.control[i] = 0.0f;
 
-		orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
+	orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
 
 
 
-		close(att_sub);
-		close(actuator_pub);
+	close(att_sub);
+	close(actuator_pub);
+	close(rates_pub);
 
-		fflush(stdout);
-		exit(0);
+	fflush(stdout);
+	exit(0);
 
-		return 0;
+	return 0;
 
 }
 
@@ -239,6 +308,7 @@ usage(const char *reason)
 {
 	if (reason)
 		fprintf(stderr, "%s\n", reason);
+
 	fprintf(stderr, "usage: fixedwing_att_control {start|stop|status}\n\n");
 	exit(1);
 }
@@ -268,7 +338,7 @@ int fixedwing_att_control_main(int argc, char *argv[])
 		deamon_task = task_spawn("fixedwing_att_control",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 20,
-					 4096,
+					 2048,
 					 fixedwing_att_control_thread_main,
 					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		thread_running = true;
@@ -283,9 +353,11 @@ int fixedwing_att_control_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
 			printf("\tfixedwing_att_control is running\n");
+
 		} else {
 			printf("\tfixedwing_att_control not started\n");
 		}
+
 		exit(0);
 	}
 
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
index b81d50168..87b6e925c 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -34,6 +34,8 @@
 /**
  * @file fixedwing_att_control_rate.c
  * Implementation of a fixed wing attitude controller.
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
  */
 #include <fixedwing_att_control_rate.h>
 
@@ -59,9 +61,33 @@
 #include <systemlib/geo/geo.h>
 #include <systemlib/systemlib.h>
 
-
-
-
+/*
+ * Controller parameters, accessible via MAVLink
+ *
+ */
+// Roll control parameters
+PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f);
+PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f);
+PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f);
+PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f);   // Roll rate limit in radians/sec, applies to the roll controller
+PARAM_DEFINE_FLOAT(FW_ROLL_P, 4.0f);
+PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f);
+
+//Pitch control parameters
+PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.8f);
+PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f);
+PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f);
+PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f);   // Pitch rate limit in radians/sec, applies to the pitch controller
+PARAM_DEFINE_FLOAT(FW_PITCH_P, 8.0f);
+
+//Yaw control parameters					//XXX TODO this is copy paste, asign correct values
+PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f);
+PARAM_DEFINE_FLOAT(FW_YAWR_I, 0.0f);
+PARAM_DEFINE_FLOAT(FW_YAWR_AWU, 0.0f);
+PARAM_DEFINE_FLOAT(FW_YAWR_LIM, 0.35f);   // Yaw rate limit in radians/sec
+
+/* feedforward compensation */
+PARAM_DEFINE_FLOAT(FW_PITCH_THR_P, 0.1f);	/**< throttle to pitch coupling feedforward */
 
 struct fw_rate_control_params {
 	float rollrate_p;
@@ -73,7 +99,7 @@ struct fw_rate_control_params {
 	float yawrate_p;
 	float yawrate_i;
 	float yawrate_awu;
-
+	float pitch_thr_ff;
 };
 
 struct fw_rate_control_param_handles {
@@ -86,7 +112,7 @@ struct fw_rate_control_param_handles {
 	param_t yawrate_p;
 	param_t yawrate_i;
 	param_t yawrate_awu;
-
+	param_t pitch_thr_ff;
 };
 
 
@@ -98,17 +124,18 @@ static int parameters_update(const struct fw_rate_control_param_handles *h, stru
 static int parameters_init(struct fw_rate_control_param_handles *h)
 {
 	/* PID parameters */
-	h->rollrate_p 	=	param_find("FW_ROLLR_P");   //TODO define rate params for fixed wing
-	h->rollrate_i 	=	param_find("FW_ROLLR_I");
-	h->rollrate_awu =	param_find("FW_ROLLR_AWU");
+	h->rollrate_p 	 =	param_find("FW_ROLLR_P");   //TODO define rate params for fixed wing
+	h->rollrate_i 	 =	param_find("FW_ROLLR_I");
+	h->rollrate_awu  =	param_find("FW_ROLLR_AWU");
 
-	h->pitchrate_p 	=	param_find("FW_PITCHR_P");
-	h->pitchrate_i 	=	param_find("FW_PITCHR_I");
+	h->pitchrate_p 	 =	param_find("FW_PITCHR_P");
+	h->pitchrate_i 	 =	param_find("FW_PITCHR_I");
 	h->pitchrate_awu =	param_find("FW_PITCHR_AWU");
 
-	h->yawrate_p 	=	param_find("FW_YAWR_P");
-	h->yawrate_i 	=	param_find("FW_YAWR_I");
-	h->yawrate_awu =	param_find("FW_YAWR_AWU");
+	h->yawrate_p 	 =	param_find("FW_YAWR_P");
+	h->yawrate_i 	 =	param_find("FW_YAWR_I");
+	h->yawrate_awu   =	param_find("FW_YAWR_AWU");
+	h->pitch_thr_ff  =	param_find("FW_PITCH_THR_P");
 
 	return OK;
 }
@@ -124,14 +151,14 @@ static int parameters_update(const struct fw_rate_control_param_handles *h, stru
 	param_get(h->yawrate_p, &(p->yawrate_p));
 	param_get(h->yawrate_i, &(p->yawrate_i));
 	param_get(h->yawrate_awu, &(p->yawrate_awu));
-
+	param_get(h->pitch_thr_ff, &(p->pitch_thr_ff));
 
 	return OK;
 }
 
 int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
-		const float rates[],
-		struct actuator_controls_s *actuators)
+				const float rates[],
+				struct actuator_controls_s *actuators)
 {
 	static int counter = 0;
 	static bool initialized = false;
@@ -147,8 +174,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
 	last_run = hrt_absolute_time();
 
-	if(!initialized)
-	{
+	if (!initialized) {
 		parameters_init(&h);
 		parameters_update(&h, &p);
 		pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the controller layout is with a PI rate controller
@@ -167,12 +193,14 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	}
 
 
-	/* Roll Rate (PI) */
-	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);
-
-
-	actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); //TODO: (-) sign comes from the elevator (positive --> deflection downwards), this has to be moved to the mixer...
-	actuators->control[2] = 0;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); 	//XXX TODO disabled for now
+	/* roll rate (PI) */
+	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT);
+	/* pitch rate (PI) */
+	actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
+	/* set pitch minus feedforward throttle compensation (nose pitches up from throttle */
+	actuators->control[1] += (-1.0f) * p.pitch_thr_ff * rate_sp->thrust;
+	/* yaw rate (PI) */
+	actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT);
 
 	counter++;
 
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.h b/apps/fixedwing_att_control/fixedwing_att_control_rate.h
index d394c3dac..500e3e197 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.h
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.h
@@ -42,7 +42,7 @@
 #include <uORB/topics/actuator_controls.h>
 
 int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
-		const float rates[],
-		struct actuator_controls_s *actuators);
+				const float rates[],
+				struct actuator_controls_s *actuators);
 
 #endif /* FIXEDWING_ATT_CONTROL_RATE_H_ */
diff --git a/apps/fixedwing_control/fixedwing_control.c b/apps/fixedwing_control/fixedwing_control.c
deleted file mode 100644
index e04033481..000000000
--- a/apps/fixedwing_control/fixedwing_control.c
+++ /dev/null
@@ -1,566 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Ivan Ovinnikov <oivan@ethz.ch>
- *   Modifications: Doug Weibel <douglas.weibel@colorado.edu>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. 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.
- * 3. Neither the name PX4 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.
- *
- ****************************************************************************/
-
-/**
- * @file fixedwing_control.c
- * Implementation of a fixed wing attitude and position controller.
- */
-
-#include <nuttx/config.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <math.h>
-#include <poll.h>
-#include <time.h>
-#include <drivers/drv_hrt.h>
-#include <arch/board/board.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_global_position_setpoint.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/actuator_controls.h>
-#include <systemlib/param/param.h>
-#include <systemlib/pid/pid.h>
-#include <systemlib/geo/geo.h>
-#include <systemlib/systemlib.h>
-#include <uORB/topics/debug_key_value.h>
-
-static bool thread_should_exit = false;		/**< Deamon exit flag */
-static bool thread_running = false;		/**< Deamon status flag */
-static int deamon_task;				/**< Handle of deamon task / thread */
-
-/**
- * Deamon management function.
- */
-__EXPORT int fixedwing_control_main(int argc, char *argv[]);
-
-/**
- * Mainloop of deamon.
- */
-int fixedwing_control_thread_main(int argc, char *argv[]);
-
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-/*
- * Controller parameters, accessible via MAVLink
- *
- */
-// Roll control parameters
-PARAM_DEFINE_FLOAT(FW_ROLLRATE_P, 0.3f);
-// Need to add functionality to suppress integrator windup while on the ground
-// Suggested value of FW_ROLLRATE_I is 0.0 till this is in place
-PARAM_DEFINE_FLOAT(FW_ROLLRATE_I, 0.0f);
-PARAM_DEFINE_FLOAT(FW_ROLLRATE_AWU, 0.0f);
-PARAM_DEFINE_FLOAT(FW_ROLLRATE_LIM, 0.7f);   // Roll rate limit in radians/sec
-PARAM_DEFINE_FLOAT(FW_ROLL_P, 0.3f);
-PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f);	// Roll angle limit in radians
-
-//Pitch control parameters
-PARAM_DEFINE_FLOAT(FW_PITCHRATE_P, 0.3f);
-// Need to add functionality to suppress integrator windup while on the ground
-// Suggested value of FW_PITCHRATE_I is 0.0 till this is in place
-PARAM_DEFINE_FLOAT(FW_PITCHRATE_I, 0.0f);
-PARAM_DEFINE_FLOAT(FW_PITCHRATE_AWU, 0.0f);
-PARAM_DEFINE_FLOAT(FW_PITCHRATE_LIM, 0.35f);   // Pitch rate limit in radians/sec
-PARAM_DEFINE_FLOAT(FW_PITCH_P, 0.3f);
-PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f);	// Pitch angle limit in radians
-
-struct fw_att_control_params {
-	float rollrate_p;
-	float rollrate_i;
-	float rollrate_awu;
-	float rollrate_lim;
-	float roll_p;
-	float roll_lim;
-	float pitchrate_p;
-	float pitchrate_i;
-	float pitchrate_awu;
-	float pitchrate_lim;
-	float pitch_p;
-	float pitch_lim;
-};
-
-struct fw_att_control_param_handles {
-	param_t rollrate_p;
-	param_t rollrate_i;
-	param_t rollrate_awu;
-	param_t rollrate_lim;
-	param_t roll_p;
-	param_t roll_lim;
-	param_t pitchrate_p;
-	param_t pitchrate_i;
-	param_t pitchrate_awu;
-	param_t pitchrate_lim;
-	param_t pitch_p;
-	param_t pitch_lim;
-};
-
-
-// TO_DO - Navigation control will be moved to a separate app
-// Attitude control will just handle the inner angle and rate loops
-// to control pitch and roll, and turn coordination via rudder and 
-// possibly throttle compensation for battery voltage sag.
-
-PARAM_DEFINE_FLOAT(FW_HEADING_P, 0.1f);
-PARAM_DEFINE_FLOAT(FW_HEADING_LIM, 0.15f);
-
-struct fw_pos_control_params {
-	float heading_p;
-	float heading_lim;
-};
-
-struct fw_pos_control_param_handles {
-	param_t heading_p;
-	param_t heading_lim;
-};
-
-/**
- * Initialize all parameter handles and values
- *
- */
-static int att_parameters_init(struct fw_att_control_param_handles *h);
-
-/**
- * Update all parameters
- *
- */
-static int att_parameters_update(const struct fw_att_control_param_handles *h, struct fw_att_control_params *p);
-
-/**
- * Initialize all parameter handles and values
- *
- */
-static int pos_parameters_init(struct fw_pos_control_param_handles *h);
-
-/**
- * Update all parameters
- *
- */
-static int pos_parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p);
-
-
-/**
- * The fixed wing control main thread.
- *
- * The main loop executes continously and calculates the control
- * response.
- *
- * @param argc number of arguments
- * @param argv argument array
- *
- * @return 0
- *
- */
-int fixedwing_control_thread_main(int argc, char *argv[])
-{
-	/* read arguments */
-	bool verbose = false;
-
-	for (int i = 1; i < argc; i++) {
-		if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
-			verbose = true;
-		}
-	}
-
-	/* welcome user */
-	printf("[fixedwing control] started\n");
-
-	/* output structs */
-	struct actuator_controls_s actuators;
-	struct vehicle_attitude_setpoint_s att_sp;
-	memset(&att_sp, 0, sizeof(att_sp));
-
-	/* publish actuator controls */
-	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
-		actuators.control[i] = 0.0f;
-	orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
-	orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
-
-	/* Subscribe to global position, attitude and rc */
-	/* declare and safely initialize all structs */
-	struct vehicle_status_s state;
-	memset(&state, 0, sizeof(state));
-	struct vehicle_attitude_s att;
-	memset(&att_sp, 0, sizeof(att_sp));
-	struct manual_control_setpoint_s manual;
-	memset(&manual, 0, sizeof(manual));
-
-	/* subscribe to attitude, motor setpoints and system state */
-	struct vehicle_global_position_s global_pos;
-	int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
-	struct vehicle_global_position_setpoint_s global_setpoint;
-	int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
-	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
-	int state_sub = orb_subscribe(ORB_ID(vehicle_status));
-	int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
-
-	/* Mainloop setup */
-	unsigned int loopcounter = 0;
-
-	uint64_t last_run = 0;
-	uint64_t last_run_pos = 0;
-
-	bool global_sp_updated_set_once = false;
-
-	struct fw_att_control_params p;
-	struct fw_att_control_param_handles h;
-
-	struct fw_pos_control_params ppos;
-	struct fw_pos_control_param_handles hpos;
-
-	/* initialize the pid controllers */
-	att_parameters_init(&h);
-	att_parameters_update(&h, &p);
-
-	pos_parameters_init(&hpos);
-	pos_parameters_update(&hpos, &ppos);
-
-// TO_DO  Fix output limit functionallity of PID controller or add that function elsewhere
-	PID_t roll_rate_controller;
-	pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0.0f, p.rollrate_awu,
-			p.rollrate_lim,PID_MODE_DERIVATIV_NONE);
-	PID_t roll_angle_controller;
-	pid_init(&roll_angle_controller, p.roll_p, 0.0f, 0.0f, 0.0f,
-			p.roll_lim,PID_MODE_DERIVATIV_NONE);
-			
-	PID_t pitch_rate_controller;
-	pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0.0f, p.pitchrate_awu,
-			p.pitchrate_lim,PID_MODE_DERIVATIV_NONE);
-	PID_t pitch_angle_controller;
-	pid_init(&pitch_angle_controller, p.pitch_p, 0.0f, 0.0f, 0.0f,
-			p.pitch_lim,PID_MODE_DERIVATIV_NONE);
-
-	PID_t heading_controller;
-	pid_init(&heading_controller, ppos.heading_p, 0.0f, 0.0f, 0.0f,
-			100.0f,PID_MODE_DERIVATIV_SET);		// Temporary arbitrarily large limit
-
-	// XXX remove in production
-	/* advertise debug value */
-	struct debug_key_value_s dbg = { .key = "", .value = 0.0f };
-	orb_advert_t pub_dbg = orb_advertise(ORB_ID(debug_key_value), &dbg);
-
-	// This is the top of the main loop
-	while(!thread_should_exit) {
-
-		struct pollfd fds[1] = {
-			{ .fd = att_sub,   .events = POLLIN },
-		};
-		int ret = poll(fds, 1, 1000);
-
-		if (ret < 0) {
-			/* XXX this is seriously bad - should be an emergency */
-		} else if (ret == 0) {
-			/* XXX this means no sensor data - should be critical or emergency */
-			printf("[fixedwing control] WARNING: Not getting attitude - estimator running?\n");
-		} else {
-
-			// FIXME SUBSCRIBE
-			if (loopcounter % 100 == 0) {
-				att_parameters_update(&h, &p);
-				pos_parameters_update(&hpos, &ppos);
-				pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0.0f, 
-									p.rollrate_awu, p.rollrate_lim);
-				pid_set_parameters(&roll_angle_controller, p.roll_p, 0.0f, 0.0f, 
-									0.0f, p.roll_lim);
-				pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0.0f, 
-									p.pitchrate_awu, p.pitchrate_lim);
-				pid_set_parameters(&pitch_angle_controller, p.pitch_p, 0.0f, 0.0f, 
-									0.0f, p.pitch_lim);
-				pid_set_parameters(&heading_controller, ppos.heading_p, 0.0f, 0.0f, 0.0f, 90.0f);
-//printf("[fixedwing control debug] p: %8.4f, i: %8.4f, limit: %8.4f  \n",
-//p.rollrate_p, p.rollrate_i, p.rollrate_lim);
-			}
-
-			/* if position updated, run position control loop */
-			bool pos_updated;
-			orb_check(global_pos_sub, &pos_updated);
-			bool global_sp_updated;
-			orb_check(global_setpoint_sub, &global_sp_updated);
-			if (global_sp_updated) {
-				global_sp_updated_set_once = true;
-			}
-			/* checking has to happen before the read, as the read clears the changed flag */
-
-			/* get a local copy of system state */
-			orb_copy(ORB_ID(vehicle_status), state_sub, &state);
-			/* get a local copy of manual setpoint */
-			orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
-			/* get a local copy of attitude */
-			orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
-			/* get a local copy of attitude setpoint */
-			//orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp);
-			// XXX update to switch between external attitude reference and the
-			// attitude calculated here
-
-			char name[10];
-
-			if (pos_updated) {
-
-				/* get position */
-				orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
-				
-				if (global_sp_updated_set_once) {
-					orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
-				
-			
-					/* calculate delta T */
-					const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
-					last_run = hrt_absolute_time();
-
-					/* calculate bearing error */
-					float target_bearing = get_bearing_to_next_waypoint(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d,
-						global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d);
-
-					/* shift error to prevent wrapping issues */
-					float bearing_error = target_bearing - att.yaw;
-
-					if (loopcounter % 2 == 0) {
-						sprintf(name, "hdng err1");
-						memcpy(dbg.key, name, sizeof(name));
-						dbg.value = bearing_error;
-						orb_publish(ORB_ID(debug_key_value), pub_dbg, &dbg);
-					}
-
-					if (bearing_error < M_PI_F) {
-						bearing_error += 2.0f * M_PI_F;
-					}
-
-					if (bearing_error > M_PI_F) {
-						bearing_error -= 2.0f * M_PI_F;
-					}
-
-					if (loopcounter % 2 != 0) {
-						sprintf(name, "hdng err2");
-						memcpy(dbg.key, name, sizeof(name));
-						dbg.value = bearing_error;
-						orb_publish(ORB_ID(debug_key_value), pub_dbg, &dbg);
-					}
-
-					/* calculate roll setpoint, do this artificially around zero */
-					att_sp.roll_body = pid_calculate(&heading_controller, bearing_error,
-					0.0f, att.yawspeed, deltaT);
-
-					/* limit roll angle output */
-					if (att_sp.roll_body > ppos.heading_lim) {
-						att_sp.roll_body = ppos.heading_lim;
-						heading_controller.saturated = 1;
-					}
-
-					if (att_sp.roll_body < -ppos.heading_lim) {
-						att_sp.roll_body = -ppos.heading_lim;
-						heading_controller.saturated = 1;
-					}
-
-					att_sp.pitch_body = 0.0f;
-					att_sp.yaw_body = 0.0f;
-
-				} else {
-					/* no setpoint, maintain level flight */
-					att_sp.roll_body = 0.0f;
-					att_sp.pitch_body = 0.0f;
-					att_sp.yaw_body = 0.0f;
-				}
-
-				att_sp.thrust = 0.7f;
-			}
-
-			/* calculate delta T */
-			const float deltaTpos = (hrt_absolute_time() - last_run_pos) / 1000000.0f;
-			last_run_pos = hrt_absolute_time();
-
-			if (verbose && (loopcounter % 20 == 0)) {
-				printf("[fixedwing control] roll sp: %8.4f, \n", att_sp.roll_body);
-			}
-
-			// actuator control[0] is aileron (or elevon roll control)
-			// Commanded roll rate from P controller on roll angle
-			float roll_rate_command = pid_calculate(&roll_angle_controller, att_sp.roll_body,
-					att.roll, 0.0f, deltaTpos);
-			// actuator control from PI controller on roll rate
-			actuators.control[0] = pid_calculate(&roll_rate_controller, roll_rate_command,
-					att.rollspeed, 0.0f, deltaTpos);
-					
-			// actuator control[1] is elevator (or elevon pitch control)
-			// Commanded pitch rate from P controller on pitch angle
-			float pitch_rate_command = pid_calculate(&pitch_angle_controller, att_sp.pitch_body,
-					att.pitch, 0.0f, deltaTpos);
-			// actuator control from PI controller on pitch rate
-			actuators.control[1] = pid_calculate(&pitch_rate_controller, pitch_rate_command,
-					att.pitchspeed, 0.0f, deltaTpos);
-					
-			// actuator control[3] is throttle
-			actuators.control[3] = att_sp.thrust;
-					
-			/* publish attitude setpoint (for MAVLink) */
-			orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
-
-			/* publish actuator setpoints (for mixer) */
-			orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
-
-			loopcounter++;
-
-		}
-	}
-
-	printf("[fixedwing_control] exiting.\n");
-	thread_running = false;
-
-	return 0;
-}
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-	fprintf(stderr, "usage: fixedwing_control {start|stop|status}\n\n");
-	exit(1);
-}
-
-/**
- * The deamon app only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- * 
- * The actual stack size should be set in the call
- * to task_create().
- */
-int fixedwing_control_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			printf("fixedwing_control already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		deamon_task = task_spawn("fixedwing_control",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 20,
-					 4096,
-					 fixedwing_control_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
-		thread_running = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			printf("\tfixedwing_control is running\n");
-		} else {
-			printf("\tfixedwing_control not started\n");
-		}
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
-
-static int att_parameters_init(struct fw_att_control_param_handles *h)
-{
-	/* PID parameters */
-	
-	h->rollrate_p 			=	param_find("FW_ROLLRATE_P");
-	h->rollrate_i 			=	param_find("FW_ROLLRATE_I");
-	h->rollrate_awu 		=	param_find("FW_ROLLRATE_AWU");
-	h->rollrate_lim 		=	param_find("FW_ROLLRATE_LIM");
-	h->roll_p 				=	param_find("FW_ROLL_P");
-	h->roll_lim 			=	param_find("FW_ROLL_LIM");
-	h->pitchrate_p 			=	param_find("FW_PITCHRATE_P");
-	h->pitchrate_i 			=	param_find("FW_PITCHRATE_I");
-	h->pitchrate_awu 		=	param_find("FW_PITCHRATE_AWU");
-	h->pitchrate_lim 		=	param_find("FW_PITCHRATE_LIM");
-	h->pitch_p 				=	param_find("FW_PITCH_P");
-	h->pitch_lim 			=	param_find("FW_PITCH_LIM");
-	
-	return OK;
-}
-
-static int att_parameters_update(const struct fw_att_control_param_handles *h, struct fw_att_control_params *p)
-{
-	param_get(h->rollrate_p, &(p->rollrate_p));
-	param_get(h->rollrate_i, &(p->rollrate_i));
-	param_get(h->rollrate_awu, &(p->rollrate_awu));
-	param_get(h->rollrate_lim, &(p->rollrate_lim));
-	param_get(h->roll_p, &(p->roll_p));
-	param_get(h->roll_lim, &(p->roll_lim));
-	param_get(h->pitchrate_p, &(p->pitchrate_p));
-	param_get(h->pitchrate_i, &(p->pitchrate_i));
-	param_get(h->pitchrate_awu, &(p->pitchrate_awu));
-	param_get(h->pitchrate_lim, &(p->pitchrate_lim));
-	param_get(h->pitch_p, &(p->pitch_p));
-	param_get(h->pitch_lim, &(p->pitch_lim));
-	
-	return OK;
-}
-
-static int pos_parameters_init(struct fw_pos_control_param_handles *h)
-{
-	/* PID parameters */
-	h->heading_p 	=	param_find("FW_HEADING_P");
-	h->heading_lim 	=	param_find("FW_HEADING_LIM");
-
-	return OK;
-}
-
-static int pos_parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p)
-{
-	param_get(h->heading_p, &(p->heading_p));
-	param_get(h->heading_lim, &(p->heading_lim));
-
-	return OK;
-}
diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
index a70b9bd30..71c78f5b8 100644
--- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
@@ -57,24 +57,31 @@
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/parameter_update.h>
 #include <systemlib/param/param.h>
 #include <systemlib/pid/pid.h>
 #include <systemlib/geo/geo.h>
+#include <systemlib/perf_counter.h>
 #include <systemlib/systemlib.h>
 
 /*
  * Controller parameters, accessible via MAVLink
  *
  */
-PARAM_DEFINE_FLOAT(FW_HEADING_P, 0.1f);
+PARAM_DEFINE_FLOAT(FW_HEAD_P, 0.1f);
+PARAM_DEFINE_FLOAT(FW_HEADR_I, 0.1f);
+PARAM_DEFINE_FLOAT(FW_HEADR_LIM, 1.5f); //TODO: think about reasonable value
 PARAM_DEFINE_FLOAT(FW_XTRACK_P, 0.01745f);		// Radians per meter off track
 PARAM_DEFINE_FLOAT(FW_ALT_P, 0.1f);
 PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f);	// Roll angle limit in radians
-PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f);	// Pitch angle limit in radians
-
+PARAM_DEFINE_FLOAT(FW_HEADR_P, 0.1f);
+PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f);	/**< Pitch angle limit in radians per second */
 
 struct fw_pos_control_params {
 	float heading_p;
+	float headingr_p;
+	float headingr_i;
+	float headingr_lim;
 	float xtrack_p;
 	float altitude_p;
 	float roll_lim;
@@ -83,11 +90,13 @@ struct fw_pos_control_params {
 
 struct fw_pos_control_param_handles {
 	param_t heading_p;
+	param_t headingr_p;
+	param_t headingr_i;
+	param_t headingr_lim;
 	param_t xtrack_p;
 	param_t altitude_p;
 	param_t roll_lim;
 	param_t pitch_lim;
-
 };
 
 
@@ -99,8 +108,8 @@ struct planned_path_segments_s {
 	double end_lon;
 	float radius;				// Radius of arc
 	float arc_start_bearing;		// Bearing from center to start of arc
-	float arc_sweep;				// Angle (radians) swept out by arc around center.  
-								// Positive for clockwise, negative for counter-clockwise
+	float arc_sweep;				// Angle (radians) swept out by arc around center.
+	// Positive for clockwise, negative for counter-clockwise
 };
 
 
@@ -136,12 +145,14 @@ static int deamon_task;				/**< Handle of deamon task / thread */
 static int parameters_init(struct fw_pos_control_param_handles *h)
 {
 	/* PID parameters */
-	h->heading_p 	=	param_find("FW_HEADING_P");
-	h->xtrack_p 	=	param_find("FW_XTRACK_P");
-	h->altitude_p 	=	param_find("FW_ALT_P");
-	h->roll_lim 	=	param_find("FW_ROLL_LIM");
-	h->pitch_lim 	=	param_find("FW_PITCH_LIM");
-
+	h->heading_p 		=	param_find("FW_HEAD_P");
+	h->headingr_p 		=	param_find("FW_HEADR_P");
+	h->headingr_i 		=	param_find("FW_HEADR_I");
+	h->headingr_lim 	=	param_find("FW_HEADR_LIM");
+	h->xtrack_p 		=	param_find("FW_XTRACK_P");
+	h->altitude_p 		=	param_find("FW_ALT_P");
+	h->roll_lim 		=	param_find("FW_ROLL_LIM");
+	h->pitch_lim 		=	param_find("FW_PITCH_LIM");
 
 	return OK;
 }
@@ -149,6 +160,9 @@ static int parameters_init(struct fw_pos_control_param_handles *h)
 static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p)
 {
 	param_get(h->heading_p, &(p->heading_p));
+	param_get(h->headingr_p, &(p->headingr_p));
+	param_get(h->headingr_i, &(p->headingr_i));
+	param_get(h->headingr_lim, &(p->headingr_lim));
 	param_get(h->xtrack_p, &(p->xtrack_p));
 	param_get(h->altitude_p, &(p->altitude_p));
 	param_get(h->roll_lim, &(p->roll_lim));
@@ -162,172 +176,241 @@ static int parameters_update(const struct fw_pos_control_param_handles *h, struc
 int fixedwing_pos_control_thread_main(int argc, char *argv[])
 {
 	/* read arguments */
-		bool verbose = false;
+	bool verbose = false;
 
-		for (int i = 1; i < argc; i++) {
-			if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
-				verbose = true;
-			}
+	for (int i = 1; i < argc; i++) {
+		if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
+			verbose = true;
 		}
+	}
 
-		/* welcome user */
-		printf("[fixedwing att_control] started\n");
-
-		/* declare and safely initialize all structs */
-		struct vehicle_global_position_s global_pos;
-		memset(&global_pos, 0, sizeof(global_pos));
-		struct vehicle_global_position_s start_pos;		// Temporary variable, replace with
-		memset(&start_pos, 0, sizeof(start_pos));		// previous waypoint when available
-		struct vehicle_global_position_setpoint_s global_setpoint;
-		memset(&global_setpoint, 0, sizeof(global_setpoint));
-		struct vehicle_attitude_s att;
-		memset(&att, 0, sizeof(att));
-		struct crosstrack_error_s xtrack_err;
-		memset(&xtrack_err, 0, sizeof(xtrack_err));
-		
-		/* output structs */
-		struct vehicle_attitude_setpoint_s attitude_setpoint;
-		memset(&attitude_setpoint, 0, sizeof(attitude_setpoint));
-
-		/* publish attitude setpoint */
-		attitude_setpoint.roll_body = 0.0f;
-		attitude_setpoint.pitch_body = 0.0f;
-		attitude_setpoint.yaw_body = 0.0f;
-		orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);
-
-		/* subscribe */
-		int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
-		int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
-		int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-
-		/* Setup of loop */
-		struct pollfd fds = { .fd = att_sub, .events = POLLIN };
-		bool global_sp_updated_set_once = false;
-
-		float psi_track = 0.0f;
-
-		while(!thread_should_exit)
-		{
-			/* wait for a sensor update, check for exit condition every 500 ms */
-			poll(&fds, 1, 500);
-
-			static int counter = 0;
-			static bool initialized = false;
-
-			static struct fw_pos_control_params p;
-			static struct fw_pos_control_param_handles h;
-
-			PID_t heading_controller;
-			PID_t altitude_controller;
-
-			if(!initialized)
-			{
-				parameters_init(&h);
-				parameters_update(&h, &p);
-				pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f,p.roll_lim,PID_MODE_DERIVATIV_NONE);
-				pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f,p.pitch_lim,PID_MODE_DERIVATIV_NONE);
-				initialized = true;
-			}
+	/* welcome user */
+	printf("[fixedwing pos control] started\n");
+
+	/* declare and safely initialize all structs */
+	struct vehicle_global_position_s global_pos;
+	memset(&global_pos, 0, sizeof(global_pos));
+	struct vehicle_global_position_s start_pos;		// Temporary variable, replace with
+	memset(&start_pos, 0, sizeof(start_pos));		// previous waypoint when available
+	struct vehicle_global_position_setpoint_s global_setpoint;
+	memset(&global_setpoint, 0, sizeof(global_setpoint));
+	struct vehicle_attitude_s att;
+	memset(&att, 0, sizeof(att));
+	struct crosstrack_error_s xtrack_err;
+	memset(&xtrack_err, 0, sizeof(xtrack_err));
+	struct parameter_update_s param_update;
+	memset(&param_update, 0, sizeof(param_update));
+
+	/* output structs */
+	struct vehicle_attitude_setpoint_s attitude_setpoint;
+	memset(&attitude_setpoint, 0, sizeof(attitude_setpoint));
+
+	/* publish attitude setpoint */
+	attitude_setpoint.roll_body = 0.0f;
+	attitude_setpoint.pitch_body = 0.0f;
+	attitude_setpoint.yaw_body = 0.0f;
+	attitude_setpoint.thrust = 0.0f;
+	orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);
+
+	/* subscribe */
+	int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+	int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
+	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	int param_sub = orb_subscribe(ORB_ID(parameter_update));
+
+	/* Setup of loop */
+	struct pollfd fds[2] = {
+		{ .fd = param_sub, .events = POLLIN },
+		{ .fd = att_sub, .events = POLLIN }
+	};
+	bool global_sp_updated_set_once = false;
+
+	float psi_track = 0.0f;
+
+	int counter = 0;
+
+	struct fw_pos_control_params p;
+	struct fw_pos_control_param_handles h;
+
+	PID_t heading_controller;
+	PID_t heading_rate_controller;
+	PID_t offtrack_controller;
+	PID_t altitude_controller;
+
+	parameters_init(&h);
+	parameters_update(&h, &p);
+	pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE); //arbitrary high limit
+	pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE);
+	pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE);
+	pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f * M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE); //TODO: remove hardcoded value
+
+	/* error and performance monitoring */
+	perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval");
+	perf_counter_t fw_err_perf = perf_alloc(PC_COUNT, "fixedwing_pos_control_err");
+
+	while (!thread_should_exit) {
+		/* wait for a sensor update, check for exit condition every 500 ms */
+		int ret = poll(fds, 2, 500);
+
+		if (ret < 0) {
+			/* poll error, count it in perf */
+			perf_count(fw_err_perf);
+
+		} else if (ret == 0) {
+			/* no return value, ignore */
+		} else {
+
+			/* only update parameters if they changed */
+			if (fds[0].revents & POLLIN) {
+				/* read from param to clear updated flag */
+				struct parameter_update_s update;
+				orb_copy(ORB_ID(parameter_update), param_sub, &update);
 
-			/* load new parameters with lower rate */
-			if (counter % 100 == 0) {
 				/* update parameters from storage */
 				parameters_update(&h, &p);
-				pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, p.roll_lim);
+				pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit
+				pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim);
 				pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim);
-
+				pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f * M_DEG_TO_RAD); //TODO: remove hardcoded value
 			}
 
-			/* Check if there is a new position or setpoint */
-			bool pos_updated;
-			orb_check(global_pos_sub, &pos_updated);
-			bool global_sp_updated;
-			orb_check(global_setpoint_sub, &global_sp_updated);
-
-			/* Load local copies */
-			orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
-			if(pos_updated)
-				orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
-			if (global_sp_updated)
-				orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
-
-			if(global_sp_updated) {
-				start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint)
-				global_sp_updated_set_once = true;
-				psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
-						(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
-				printf("psi_track: %0.4f\n", (double)psi_track);
-			}
+			/* only run controller if attitude changed */
+			if (fds[1].revents & POLLIN) {
 
-			/* Control */
 
+				static uint64_t last_run = 0;
+				const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
+				last_run = hrt_absolute_time();
 
-			/* Simple Horizontal Control */
-			if(global_sp_updated_set_once)
-			{
-//				if (counter % 100 == 0)
-//					printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon);
-				
-				/* calculate crosstrack error */
-				// Only the case of a straight line track following handled so far
-				 int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
-						(double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d,
-						(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
+				/* check if there is a new position or setpoint */
+				bool pos_updated;
+				orb_check(global_pos_sub, &pos_updated);
+				bool global_sp_updated;
+				orb_check(global_setpoint_sub, &global_sp_updated);
 
-				if(!(distance_res != OK || xtrack_err.past_end)) {
+				/* load local copies */
+				orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
 
-					float delta_psi_c = -p.xtrack_p * xtrack_err.distance; //(-) because z axis points downwards
+				if (pos_updated) {
+					orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
+				}
 
-					if(delta_psi_c > 60.0f*M_DEG_TO_RAD_F)
-						delta_psi_c = 60.0f*M_DEG_TO_RAD_F;
+				if (global_sp_updated) {
+					orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
+					start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint)
+					global_sp_updated_set_once = true;
+					psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
+							(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
 
-					if(delta_psi_c < -60.0f*M_DEG_TO_RAD_F)
-						delta_psi_c = -60.0f*M_DEG_TO_RAD_F;
+					printf("next wp direction: %0.4f\n", (double)psi_track);
+				}
 
-					float psi_c = psi_track + delta_psi_c;
+				/* Simple Horizontal Control */
+				if (global_sp_updated_set_once) {
+					//				if (counter % 100 == 0)
+					//					printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon);
 
-					float psi_e = psi_c - att.yaw;
+					/* calculate crosstrack error */
+					// Only the case of a straight line track following handled so far
+					int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
+										(double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d,
+										(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
 
-					/* shift error to prevent wrapping issues */
-					psi_e = _wrap_pi(psi_e);
+					// XXX what is xtrack_err.past_end?
+					if (distance_res == OK /*&& !xtrack_err.past_end*/) {
 
-					/* calculate roll setpoint, do this artificially around zero */
-					attitude_setpoint.roll_body = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
+						float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance
 
-//					if (counter % 100 == 0)
-//						printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c);
-				}
-				else {
-					if (counter % 100 == 0)
-						printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end);
-				}
+						float psi_c = psi_track + delta_psi_c;
+						float psi_e = psi_c - att.yaw;
 
-			}
+						/* wrap difference back onto -pi..pi range */
+						psi_e = _wrap_pi(psi_e);
 
-			/* Very simple Altitude Control */
-			if(global_sp_updated_set_once && pos_updated)
-			{
+						if (verbose) {
+							printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance);
+							printf("delta_psi_c %.4f ", (double)delta_psi_c);
+							printf("psi_c %.4f ", (double)psi_c);
+							printf("att.yaw %.4f ", (double)att.yaw);
+							printf("psi_e %.4f ", (double)psi_e);
+						}
 
-				//TODO: take care of relative vs. ab. altitude
-				attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f);
+						/* calculate roll setpoint, do this artificially around zero */
+						float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
+						float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following
+						float psi_rate_c = delta_psi_rate_c + psi_rate_track;
 
-			}
-			/*Publish the attitude setpoint */
-			orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint);
+						/* limit turn rate */
+						if (psi_rate_c > p.headingr_lim) {
+							psi_rate_c = p.headingr_lim;
+
+						} else if (psi_rate_c < -p.headingr_lim) {
+							psi_rate_c = -p.headingr_lim;
+						}
+
+						float psi_rate_e = psi_rate_c - att.yawspeed;
+
+						// XXX sanity check: Assume 10 m/s stall speed and no stall condition
+						float ground_speed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
 
-			counter++;
+						if (ground_speed < 10.0f) {
+							ground_speed = 10.0f;
+						}
+
+						float psi_rate_e_scaled = psi_rate_e * ground_speed / 9.81f; //* V_gr / g
+
+						attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);
+
+						if (verbose) {
+							printf("psi_rate_c %.4f ", (double)psi_rate_c);
+							printf("psi_rate_e_scaled %.4f ", (double)psi_rate_e_scaled);
+							printf("rollbody %.4f\n", (double)attitude_setpoint.roll_body);
+						}
+
+						if (verbose && counter % 100 == 0)
+							printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n", xtrack_err.distance, delta_psi_c);
+
+					} else {
+						if (verbose && counter % 100 == 0)
+							printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end);
+					}
+
+					/* Very simple Altitude Control */
+					if (pos_updated) {
+
+						//TODO: take care of relative vs. ab. altitude
+						attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f);
+
+					}
+
+					// XXX need speed control
+					attitude_setpoint.thrust = 0.7f;
+
+					/* publish the attitude setpoint */
+					orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint);
+
+					/* measure in what intervals the controller runs */
+					perf_count(fw_interval_perf);
+
+					counter++;
+
+				} else {
+					// XXX no setpoint, decent default needed (loiter?)
+				}
+			}
 		}
+	}
 
-		printf("[fixedwing_pos_control] exiting.\n");
-		thread_running = false;
+	printf("[fixedwing_pos_control] exiting.\n");
+	thread_running = false;
 
 
-		close(attitude_setpoint_pub);
+	close(attitude_setpoint_pub);
 
-		fflush(stdout);
-		exit(0);
+	fflush(stdout);
+	exit(0);
 
-		return 0;
+	return 0;
 
 }
 
@@ -338,6 +421,7 @@ usage(const char *reason)
 {
 	if (reason)
 		fprintf(stderr, "%s\n", reason);
+
 	fprintf(stderr, "usage: fixedwing_pos_control {start|stop|status}\n\n");
 	exit(1);
 }
@@ -367,7 +451,7 @@ int fixedwing_pos_control_main(int argc, char *argv[])
 		deamon_task = task_spawn("fixedwing_pos_control",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 20,
-					 4096,
+					 2048,
 					 fixedwing_pos_control_thread_main,
 					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		thread_running = true;
@@ -382,9 +466,11 @@ int fixedwing_pos_control_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
 			printf("\tfixedwing_pos_control is running\n");
+
 		} else {
 			printf("\tfixedwing_pos_control not started\n");
 		}
+
 		exit(0);
 	}
 
diff --git a/apps/gps/gps.c b/apps/gps/gps.c
index 00f6ee9f8..8a9512054 100644
--- a/apps/gps/gps.c
+++ b/apps/gps/gps.c
@@ -107,8 +107,8 @@ enum GPS_MODES {
 
 
 #define AUTO_DETECTION_COUNT 8
-const int autodetection_baudrates[] = {B9600, B38400, B38400, B9600, B9600, B38400, B9600, B38400};
-const enum GPS_MODES autodetection_gpsmodes[] = {GPS_MODE_UBX, GPS_MODE_MTK, GPS_MODE_UBX, GPS_MODE_MTK, GPS_MODE_UBX, GPS_MODE_MTK, GPS_MODE_NMEA, GPS_MODE_NMEA}; //nmea is the fall-back if nothing else works, therefore we try the standard modes again before finally trying nmea
+const int autodetection_baudrates[] = {B38400, B9600, B38400, B9600, B38400, B9600, B38400, B9600};
+const enum GPS_MODES autodetection_gpsmodes[] = {GPS_MODE_UBX, GPS_MODE_UBX, GPS_MODE_MTK, GPS_MODE_MTK, GPS_MODE_UBX, GPS_MODE_UBX, GPS_MODE_NMEA, GPS_MODE_NMEA}; //nmea is the fall-back if nothing else works, therefore we try the standard modes again before finally trying nmea
 
 /****************************************************************************
  * Private functions
@@ -368,7 +368,6 @@ int gps_thread_main(int argc, char *argv[]) {
 				args.thread_should_exit_ptr = &thread_should_exit;
 
 				pthread_create(&ubx_thread, &ubx_loop_attr, ubx_loop, (void *)&args);
-				sleep(2); // XXX TODO Check if this is too short, try to lower sleeps in UBX driver
                 
 				pthread_attr_t ubx_wd_attr;
 				pthread_attr_init(&ubx_wd_attr);
diff --git a/apps/gps/ubx.c b/apps/gps/ubx.c
index e15ed4e00..50bf579a0 100644
--- a/apps/gps/ubx.c
+++ b/apps/gps/ubx.c
@@ -52,7 +52,7 @@
 #define UBX_HEALTH_FAIL_COUNTER_LIMIT 3
 #define UBX_HEALTH_PROBE_COUNTER_LIMIT 4
 
-#define UBX_BUFFER_SIZE 1000
+#define UBX_BUFFER_SIZE 500
 
 extern bool gps_mode_try_all;
 extern bool gps_mode_success;
@@ -63,18 +63,10 @@ extern int current_gps_speed;
 
 pthread_mutex_t *ubx_mutex;
 gps_bin_ubx_state_t *ubx_state;
+enum UBX_CONFIG_STATE ubx_config_state;
 static struct vehicle_gps_position_s *ubx_gps;
 
 
-//Definitions for ubx, last two bytes are checksum which is calculated below
-uint8_t UBX_CONFIG_MESSAGE_PRT[] = {0xB5 , 0x62 , 0x06 , 0x00 , 0x14 , 0x00 , 0x01 , 0x00 , 0x00 , 0x00 , 0xD0 , 0x08 , 0x00 , 0x00 , 0x80 , 0x25 , 0x00 , 0x00 , 0x07 , 0x00 , 0x01 , 0x00 , 0x00 , 0x00 , 0x00 , 0x00};
-uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_POSLLH[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00,   0x01, 0x02,   0x00, 0x01, 0x00, 0x00, 0x00, 0x00};
-uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_TIMEUTC[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x21, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00};
-uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_DOP[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00,   0x01, 0x04,   0x00, 0x01, 0x00, 0x00, 0x00, 0x00};
-uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_SVINFO[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00,   0x01, 0x30,   0x00, 0x02, 0x00, 0x00, 0x00, 0x00};
-uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_SOL[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00,   0x01, 0x06,   0x00, 0x02, 0x00, 0x00, 0x00, 0x00};
-uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_VELNED[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00,   0x01, 0x12,   0x00, 0x01, 0x00, 0x00, 0x00, 0x00};
-uint8_t UBX_CONFIG_MESSAGE_MSG_RXM_SVSI[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00,   0x02, 0x20,   0x00, 0x02, 0x00, 0x00, 0x00, 0x00};
 
 void ubx_decode_init(void)
 {
@@ -100,15 +92,15 @@ void ubx_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b)
 
 int ubx_parse(uint8_t b,  char *gps_rx_buffer)
 {
-//	printf("b=%x\n",b);
+	//printf("b=%x\n",b);
 	if (ubx_state->decode_state == UBX_DECODE_UNINIT) {
 
-		if (b == 0xb5) {
+		if (b == UBX_SYNC_1) {
 			ubx_state->decode_state = UBX_DECODE_GOT_SYNC1;
 		}
 
 	} else if (ubx_state->decode_state == UBX_DECODE_GOT_SYNC1) {
-		if (b == 0x62) {
+		if (b == UBX_SYNC_2) {
 			ubx_state->decode_state = UBX_DECODE_GOT_SYNC2;
 
 		} else {
@@ -122,16 +114,25 @@ int ubx_parse(uint8_t b,  char *gps_rx_buffer)
 
 		//check for known class
 		switch (b) {
-		case UBX_CLASS_NAV: //NAV
+		case UBX_CLASS_ACK:
+			ubx_state->decode_state = UBX_DECODE_GOT_CLASS;
+			ubx_state->message_class = ACK;
+			break;
+
+		case UBX_CLASS_NAV:
 			ubx_state->decode_state = UBX_DECODE_GOT_CLASS;
 			ubx_state->message_class = NAV;
 			break;
 
-		case UBX_CLASS_RXM: //RXM
+		case UBX_CLASS_RXM:
 			ubx_state->decode_state = UBX_DECODE_GOT_CLASS;
 			ubx_state->message_class = RXM;
 			break;
 
+		case UBX_CLASS_CFG:
+			ubx_state->decode_state = UBX_DECODE_GOT_CLASS;
+			ubx_state->message_class = CFG;
+			break;
 		default: //unknown class: reset state machine
 			ubx_decode_init();
 			break;
@@ -193,9 +194,36 @@ int ubx_parse(uint8_t b,  char *gps_rx_buffer)
 				ubx_decode_init();
 				break;
 			}
+			break;
 
+		case CFG:
+			switch (b) {
+			case UBX_MESSAGE_CFG_NAV5:
+				ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
+				ubx_state->message_id = CFG_NAV5;
+				break;
+
+			default: //unknown class: reset state machine, should not happen
+				ubx_decode_init();
+				break;
+			}
 			break;
 
+		case ACK:
+			switch (b) {
+			case UBX_MESSAGE_ACK_ACK:
+				ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
+				ubx_state->message_id = ACK_ACK;
+				break;
+			case UBX_MESSAGE_ACK_NAK:
+				ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
+				ubx_state->message_id = ACK_NAK;
+				break;
+			default: //unknown class: reset state machine, should not happen
+				ubx_decode_init();
+				break;
+			}
+			break;
 		default: //should not happen
 			ubx_decode_init();
 			break;
@@ -542,6 +570,75 @@ int ubx_parse(uint8_t b,  char *gps_rx_buffer)
 					break;
 				}
 
+			case ACK_ACK: {
+//				printf("GOT ACK_ACK\n");
+				gps_bin_ack_ack_packet_t *packet = (gps_bin_ack_ack_packet_t *) gps_rx_buffer;
+
+				//Check if checksum is valid
+				if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
+
+					switch (ubx_config_state) {
+						case UBX_CONFIG_STATE_PRT:
+							if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_PRT)
+								ubx_config_state++;
+							break;
+						case UBX_CONFIG_STATE_NAV5:
+							if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_NAV5)
+								ubx_config_state++;
+							break;
+						case UBX_CONFIG_STATE_MSG_NAV_POSLLH:
+						case UBX_CONFIG_STATE_MSG_NAV_TIMEUTC:
+						case UBX_CONFIG_STATE_MSG_NAV_DOP:
+						case UBX_CONFIG_STATE_MSG_NAV_SVINFO:
+						case UBX_CONFIG_STATE_MSG_NAV_SOL:
+						case UBX_CONFIG_STATE_MSG_NAV_VELNED:
+						case UBX_CONFIG_STATE_MSG_RXM_SVSI:
+							if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
+								ubx_config_state++;
+							break;
+						default:
+							break;
+					}
+
+
+					ret = 1;
+
+				} else {
+					if (gps_verbose) printf("[gps] ACK_ACK: checksum invalid\n");
+
+					ret = 0;
+				}
+
+				// Reset state machine to decode next packet
+				ubx_decode_init();
+				return ret;
+
+				break;
+			}
+
+			case ACK_NAK: {
+//				printf("GOT ACK_NAK\n");
+				gps_bin_ack_nak_packet_t *packet = (gps_bin_ack_nak_packet_t *) gps_rx_buffer;
+
+				//Check if checksum is valid
+				if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
+
+					if (gps_verbose) printf("[gps] the ubx gps returned: not acknowledged\n");
+					ret = 1;
+
+				} else {
+					if (gps_verbose) printf("[gps] ACK_NAK: checksum invalid\n");
+
+					ret = 0;
+				}
+
+				// Reset state machine to decode next packet
+				ubx_decode_init();
+				return ret;
+
+				break;
+			}
+
 			default: //something went wrong
 				ubx_decode_init();
 
@@ -574,53 +671,105 @@ void calculate_ubx_checksum(uint8_t *message, uint8_t length)
 
 	message[length - 2] = ck_a;
 	message[length - 1] = ck_b;
-
-//	printf("[%x,%x]", ck_a, ck_b);
-
-//	printf("[%x,%x]\n", message[length-2], message[length-1]);
 }
 
 int configure_gps_ubx(int *fd)
 {
-	//fflush(((FILE *)fd));
-
-	//TODO: write this in a loop once it is tested
-	//UBX_CFG_PRT_PART:
-	write_config_message_ubx(UBX_CONFIG_MESSAGE_PRT, sizeof(UBX_CONFIG_MESSAGE_PRT) / sizeof(uint8_t) , *fd);
-
-	usleep(100000);
-
-	//NAV_POSLLH:
-	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_POSLLH, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_POSLLH) / sizeof(uint8_t) , *fd);
-	usleep(100000);
-
-	//NAV_TIMEUTC:
-	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_TIMEUTC, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_TIMEUTC) / sizeof(uint8_t) , *fd);
-	usleep(100000);
-
-	//NAV_DOP:
-	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_DOP, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_DOP) / sizeof(uint8_t) , *fd);
-	usleep(100000);
-
-	//NAV_SOL:
-	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_SOL, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_SOL) / sizeof(uint8_t) , *fd);
-	usleep(100000);
-
-
-	//NAV_SVINFO:
-	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_SVINFO, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_SVINFO) / sizeof(uint8_t) , *fd);
-	usleep(100000);
-
-	//NAV_VELNED:
-	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_VELNED, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_VELNED) / sizeof(uint8_t) , *fd);
-	usleep(100000);
-
-
-	//RXM_SVSI:
-	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_RXM_SVSI, sizeof(UBX_CONFIG_MESSAGE_MSG_RXM_SVSI) / sizeof(uint8_t) , *fd);
-	usleep(100000);
-
-	return 0;
+	// only needed once like this
+	const type_gps_bin_cfg_prt_packet_t cfg_prt_packet = {
+		.clsID        = UBX_CLASS_CFG,
+		.msgID        = UBX_MESSAGE_CFG_PRT,
+		.length       = UBX_CFG_PRT_LENGTH,
+		.portID       = UBX_CFG_PRT_PAYLOAD_PORTID,
+		.mode         = UBX_CFG_PRT_PAYLOAD_MODE,
+		.baudRate     = current_gps_speed,
+		.inProtoMask  = UBX_CFG_PRT_PAYLOAD_INPROTOMASK,
+		.outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK,
+		.ck_a         = 0,
+		.ck_b         = 0
+	};
+
+	// only needed once like this
+	const type_gps_bin_cfg_nav5_packet_t cfg_nav5_packet = {
+		.clsID        = UBX_CLASS_CFG,
+		.msgID        = UBX_MESSAGE_CFG_NAV5,
+		.length       = UBX_CFG_NAV5_LENGTH,
+		.mask         = UBX_CFG_NAV5_PAYLOAD_MASK,
+		.dynModel     = UBX_CFG_NAV5_PAYLOAD_DYNMODEL,
+		.fixMode      = UBX_CFG_NAV5_PAYLOAD_FIXMODE,
+		.ck_a         = 0,
+		.ck_b         = 0
+	};
+
+	// this message is reusable for different configuration commands, so not const
+	type_gps_bin_cfg_msg_packet cfg_msg_packet = {
+		.clsID        = UBX_CLASS_CFG,
+		.msgID        = UBX_MESSAGE_CFG_MSG,
+		.length       = UBX_CFG_MSG_LENGTH,
+		.rate         = UBX_CFG_MSG_PAYLOAD_RATE
+	};
+
+	uint64_t time_before_config = hrt_absolute_time();
+
+	while(hrt_absolute_time() < time_before_config + UBX_CONFIG_TIMEOUT) {
+
+//		if (gps_verbose) printf("[gps] ubx config state: %d\n", ubx_config_state);
+
+		switch (ubx_config_state) {
+			case UBX_CONFIG_STATE_PRT:
+//				if (gps_verbose) printf("[gps] Configuring ubx with baudrate: %d\n", cfg_prt_packet.baudRate);
+
+				write_config_message_ubx((uint8_t*)(&cfg_prt_packet), sizeof(cfg_prt_packet), fd);
+				break;
+			case UBX_CONFIG_STATE_NAV5:
+				write_config_message_ubx((uint8_t*)(&cfg_nav5_packet), sizeof(cfg_nav5_packet), fd);
+				break;
+			case UBX_CONFIG_STATE_MSG_NAV_POSLLH:
+				cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+				cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_POSLLH;
+				write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
+				break;
+			case UBX_CONFIG_STATE_MSG_NAV_TIMEUTC:
+				cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+				cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_TIMEUTC;
+				write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
+				break;
+			case UBX_CONFIG_STATE_MSG_NAV_DOP:
+				cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+				cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP;
+				write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
+				break;
+			case UBX_CONFIG_STATE_MSG_NAV_SVINFO:
+				cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+				cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SVINFO;
+				write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
+				break;
+			case UBX_CONFIG_STATE_MSG_NAV_SOL:
+				cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+				cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SOL;
+				write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
+				break;
+			case UBX_CONFIG_STATE_MSG_NAV_VELNED:
+				cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+				cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_VELNED;
+				write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
+				break;
+			case UBX_CONFIG_STATE_MSG_RXM_SVSI:
+				cfg_msg_packet.msgClass_payload = UBX_CLASS_RXM;
+				cfg_msg_packet.msgID_payload = UBX_MESSAGE_RXM_SVSI;
+				write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
+				break;
+			case UBX_CONFIG_STATE_CONFIGURED:
+				if (gps_verbose) printf("[gps] ubx configuration finished\n");
+				return OK;
+				break;
+			default:
+				break;
+		}
+		usleep(10000);
+	}
+	if (gps_verbose) printf("[gps] ubx configuration timeout\n");
+	return ERROR;
 }
 
 
@@ -637,22 +786,17 @@ int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size)
 	fds.events = POLLIN;
 
 	// UBX GPS mode
-
 	// This blocks the task until there is something on the buffer
 	while (1) {
 		//check if the thread should terminate
 		if (terminate_gps_thread == true) {
-//			printf("terminate_gps_thread=%u ", terminate_gps_thread);
-//			printf("exiting mtk thread\n");
-//			fflush(stdout);
 			ret = 1;
 			break;
 		}
-
 		if (poll(&fds, 1, 1000) > 0) {
 			if (read(*fd, &c, 1) > 0) {
 
-				//		printf("Read %x\n",c);
+//				printf("Read %x\n",c);
 				if (rx_count >= buffer_size) {
 					// The buffer is already full and we haven't found a valid ubx sentence.
 					// Flush the buffer and note the overflow event.
@@ -671,7 +815,7 @@ int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size)
 				int msg_read = ubx_parse(c, gps_rx_buffer);
 
 				if (msg_read > 0) {
-					//			printf("Found sequence\n");
+					//printf("Found sequence\n");
 					break;
 				}
 
@@ -688,28 +832,41 @@ int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size)
 	return ret;
 }
 
-int write_config_message_ubx(uint8_t *message, size_t length, int fd)
+int write_config_message_ubx(const uint8_t *message, const size_t length, const int *fd)
 {
-	//calculate and write checksum to the end
 	uint8_t ck_a = 0;
 	uint8_t ck_b = 0;
 
 	unsigned int i;
 
-	for (i = 2; i < length; i++) {
+	uint8_t buffer[2];
+	ssize_t result_write = 0;
+
+	//calculate and write checksum to the end
+	for (i = 0; i < length-2; i++) {
 		ck_a = ck_a + message[i];
 		ck_b = ck_b + ck_a;
 	}
 
-//	printf("[%x,%x]\n", ck_a, ck_b);
+	// write sync bytes first
+	buffer[0] = UBX_SYNC_1;
+	buffer[1] = UBX_SYNC_2;
+
+	// write config message without the checksum
+	result_write  = write(*fd, buffer, sizeof(buffer));
+	result_write += write(*fd, message, length-2);
+
+	buffer[0] = ck_a;
+	buffer[1] = ck_b;
 
-	unsigned int result_write =  write(fd, message, length);
-	result_write +=  write(fd, &ck_a, 1);
-	result_write +=  write(fd, &ck_b, 1);
-	fsync(fd);
+	// write the checksum
+	result_write += write(*fd, buffer, sizeof(buffer));
 
-	return (result_write != length + 2); //return 0 as success
+	fsync(*fd);
+	if ((unsigned int)result_write != length + 2)
+		return ERROR;
 
+	return OK;
 }
 
 void *ubx_watchdog_loop(void *args)
@@ -723,6 +880,9 @@ void *ubx_watchdog_loop(void *args)
 	int *fd = arguments->fd_ptr;
 	bool *thread_should_exit = arguments->thread_should_exit_ptr;
 
+	/* first try to configure the GPS anyway */
+	configure_gps_ubx(fd);
+
 	/* GPS watchdog error message skip counter */
 
 	bool ubx_healthy = false;
@@ -732,7 +892,7 @@ void *ubx_watchdog_loop(void *args)
 	bool once_ok = false;
 
 	int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-
+	ubx_config_state = UBX_CONFIG_STATE_PRT;
 	//int err_skip_counter = 0;
 
 	while (!(*thread_should_exit)) {
@@ -833,23 +993,6 @@ void *ubx_loop(void *args)
 
 	/* set parameters for ubx */
 
-	if (configure_gps_ubx(fd) != 0) {
-		printf("[gps] Configuration of gps module to ubx failed\n");
-
-		/* Write shared variable sys_status */
-		// TODO enable this again
-		//global_data_send_subsystem_info(&ubx_present);
-
-	} else {
-		if (gps_verbose) printf("[gps] Attempting to configure GPS to UBX binary protocol\n");
-
-		// XXX Shouldn't the system status only change if the module is known to work ok?
-
-		/* Write shared variable sys_status */
-		// TODO enable this again
-		//global_data_send_subsystem_info(&ubx_present_enabled);
-	}
-
 	struct vehicle_gps_position_s ubx_gps_d = {.counter = 0};
 
 	ubx_gps = &ubx_gps_d;
diff --git a/apps/gps/ubx.h b/apps/gps/ubx.h
index f4f01df9a..e700fe388 100644
--- a/apps/gps/ubx.h
+++ b/apps/gps/ubx.h
@@ -49,15 +49,17 @@
 
 
 //internal definitions (not depending on the ubx protocol
-#define CONFIGURE_UBX_FINISHED 0
-#define CONFIGURE_UBX_MESSAGE_ACKNOWLEDGED 1
-#define CONFIGURE_UBX_MESSAGE_NOT_ACKNOWLEDGED 2
 #define UBX_NO_OF_MESSAGES 7								/**< Read 7 UBX GPS messages */
 #define UBX_WATCHDOG_CRITICAL_TIME_MICROSECONDS 3000000		/**< Allow 3 seconds maximum inter-message time */
-#define UBX_WATCHDOG_WAIT_TIME_MICROSECONDS 500000			/**< Check for current state every 0.4 seconds */
+#define UBX_WATCHDOG_WAIT_TIME_MICROSECONDS 1000000			/**< Check for current state every second */
+
+#define UBX_CONFIG_TIMEOUT 500000
 
 #define APPNAME "gps: ubx"
 
+#define UBX_SYNC_1 0xB5
+#define UBX_SYNC_2 0x62
+
 //UBX Protocoll definitions (this is the subset of the messages that are parsed)
 #define UBX_CLASS_NAV 0x01
 #define UBX_CLASS_RXM 0x02
@@ -72,6 +74,24 @@
 #define UBX_MESSAGE_RXM_SVSI 0x20
 #define UBX_MESSAGE_ACK_ACK 0x01
 #define UBX_MESSAGE_ACK_NAK 0x00
+#define UBX_MESSAGE_CFG_PRT 0x00
+#define UBX_MESSAGE_CFG_NAV5 0x24
+#define UBX_MESSAGE_CFG_MSG 0x01
+
+#define UBX_CFG_PRT_LENGTH 20
+#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01         /**< port 1 */
+#define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0     /**< 0b0000100011010000: 8N1 */
+#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400      /**< always choose 38400 as GPS baudrate */
+#define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01    /**< ubx in */
+#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01   /**< ubx out */
+
+#define UBX_CFG_NAV5_LENGTH 36
+#define UBX_CFG_NAV5_PAYLOAD_MASK 0x0001		/**< only update dynamic model and fix mode */
+#define UBX_CFG_NAV5_PAYLOAD_DYNMODEL 7			/**< 0: portable, 2: stationary, 3: pedestrian, 4: automotive, 5: sea, 6: airborne <1g, 7: airborne <2g, 8: airborne <4g */
+#define UBX_CFG_NAV5_PAYLOAD_FIXMODE 2          /**< 1: 2D only, 2: 3D only, 3: Auto 2D/3D */
+
+#define UBX_CFG_MSG_LENGTH 8
+#define UBX_CFG_MSG_PAYLOAD_RATE {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} /**< UART1 chosen */
 
 
 // ************
@@ -216,7 +236,7 @@ typedef type_gps_bin_rxm_svsi_packet gps_bin_rxm_svsi_packet_t;
 
 typedef struct {
 	uint8_t clsID;
-	uint8_t msgId;
+	uint8_t msgID;
 
 	uint8_t ck_a;
 	uint8_t ck_b;
@@ -226,7 +246,7 @@ typedef type_gps_bin_ack_ack_packet gps_bin_ack_ack_packet_t;
 
 typedef struct {
 	uint8_t clsID;
-	uint8_t msgId;
+	uint8_t msgID;
 
 	uint8_t ck_a;
 	uint8_t ck_b;
@@ -234,15 +254,91 @@ typedef struct {
 
 typedef type_gps_bin_ack_nak_packet gps_bin_ack_nak_packet_t;
 
+typedef struct {
+	uint8_t clsID;
+	uint8_t msgID;
+	uint16_t length;
+	uint8_t portID;
+	uint8_t res0;
+	uint16_t res1;
+	uint32_t mode;
+	uint32_t baudRate;
+	uint16_t inProtoMask;
+	uint16_t outProtoMask;
+	uint16_t flags;
+	uint16_t pad;
+
+	uint8_t ck_a;
+	uint8_t ck_b;
+} type_gps_bin_cfg_prt_packet;
+
+typedef type_gps_bin_cfg_prt_packet type_gps_bin_cfg_prt_packet_t;
+
+typedef struct {
+	uint8_t clsID;
+	uint8_t msgID;
+	uint16_t length;
+	uint16_t mask;
+	uint8_t dynModel;
+	uint8_t fixMode;
+	int32_t fixedAlt;
+	uint32_t fixedAltVar;
+	int8_t minElev;
+	uint8_t drLimit;
+	uint16_t pDop;
+	uint16_t tDop;
+	uint16_t pAcc;
+	uint16_t tAcc;
+	uint8_t staticHoldThresh;
+	uint8_t dgpsTimeOut;
+	uint32_t reserved2;
+	uint32_t reserved3;
+	uint32_t reserved4;
+
+	uint8_t ck_a;
+	uint8_t ck_b;
+} type_gps_bin_cfg_nav5_packet;
+
+typedef type_gps_bin_cfg_nav5_packet type_gps_bin_cfg_nav5_packet_t;
+
+typedef struct {
+	uint8_t clsID;
+	uint8_t msgID;
+	uint16_t length;
+	uint8_t msgClass_payload;
+	uint8_t msgID_payload;
+	uint8_t rate[6];
+
+	uint8_t ck_a;
+	uint8_t ck_b;
+} type_gps_bin_cfg_msg_packet;
+
+typedef type_gps_bin_cfg_msg_packet type_gps_bin_cfg_msg_packet_t;
+
 
 // END the structures of the binary packets
 // ************
 
+enum UBX_CONFIG_STATE {
+	UBX_CONFIG_STATE_NONE = 0,
+	UBX_CONFIG_STATE_PRT = 1,
+	UBX_CONFIG_STATE_NAV5 = 2,
+	UBX_CONFIG_STATE_MSG_NAV_POSLLH = 3,
+	UBX_CONFIG_STATE_MSG_NAV_TIMEUTC = 4,
+	UBX_CONFIG_STATE_MSG_NAV_DOP = 5,
+	UBX_CONFIG_STATE_MSG_NAV_SVINFO = 6,
+	UBX_CONFIG_STATE_MSG_NAV_SOL = 7,
+	UBX_CONFIG_STATE_MSG_NAV_VELNED = 8,
+	UBX_CONFIG_STATE_MSG_RXM_SVSI = 9,
+	UBX_CONFIG_STATE_CONFIGURED = 10
+};
+
 enum UBX_MESSAGE_CLASSES {
 	CLASS_UNKNOWN = 0,
 	NAV = 1,
 	RXM = 2,
-	ACK = 3
+	ACK = 3,
+	CFG = 4
 };
 
 enum UBX_MESSAGE_IDS {
@@ -254,7 +350,10 @@ enum UBX_MESSAGE_IDS {
 	NAV_DOP = 4,
 	NAV_SVINFO = 5,
 	NAV_VELNED = 6,
-	RXM_SVSI = 7
+	RXM_SVSI = 7,
+	CFG_NAV5 = 8,
+	ACK_ACK = 9,
+	ACK_NAK = 10
 };
 
 enum UBX_DECODE_STATES {
@@ -304,7 +403,7 @@ int configure_gps_ubx(int *fd);
 
 int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size);
 
-int write_config_message_ubx(uint8_t *message, size_t length, int fd);
+int write_config_message_ubx(const uint8_t *message, const size_t length, const int *fd);
 
 void calculate_ubx_checksum(uint8_t *message, uint8_t length);
 
diff --git a/apps/interpreters/Kconfig b/apps/interpreters/Kconfig
index 34cbf2eee..6e7d1ac4f 100644
--- a/apps/interpreters/Kconfig
+++ b/apps/interpreters/Kconfig
@@ -7,7 +7,7 @@ comment "Interpreters"
 
 source "$APPSDIR/interpreters/ficl/Kconfig"
 
-config PCODE
+config INTERPRETERS_PCODE
 	bool "Pascal p-code interpreter"
 	default n
 	---help---
@@ -16,6 +16,6 @@ config PCODE
 		configuration implies that you have performed the required installation of the
 		Pascal run-time code.
 
-if PCODE
+if INTERPRETERS_PCODE
 endif
 
diff --git a/apps/interpreters/Make.defs b/apps/interpreters/Make.defs
index 2fc4b26d4..5d808d5d6 100644
--- a/apps/interpreters/Make.defs
+++ b/apps/interpreters/Make.defs
@@ -34,10 +34,10 @@
 #
 ############################################################################
 
-ifeq ($(CONFIG_PCODE),y)
+ifeq ($(CONFIG_INTERPRETERS_PCODE),y)
 CONFIGURED_APPS += interpreters/pcode
 endif
 
-ifeq ($(CONFIG_FICL),y)
+ifeq ($(CONFIG_INTERPRETERS_FICL),y)
 CONFIGURED_APPS += interpreters/ficl
 endif
diff --git a/apps/interpreters/Makefile b/apps/interpreters/Makefile
index 5901fc830..867d45f99 100644
--- a/apps/interpreters/Makefile
+++ b/apps/interpreters/Makefile
@@ -33,7 +33,7 @@
 #
 ############################################################################
 
--include $(TOPDIR)/.config	# Current configuration
+-include $(TOPDIR)/.config
 
 # Sub-directories containing interpreter runtime
 
@@ -41,30 +41,36 @@ SUBDIRS = pcode ficl
 
 # Create the list of installed runtime modules (INSTALLED_DIRS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+define ADD_DIRECTORY
+INSTALLED_DIRS  += ${shell if exist $1\Makefile (echo $1)}
+endef
+else
 define ADD_DIRECTORY
 INSTALLED_DIRS  += ${shell if [ -r $1/Makefile ]; then echo "$1"; fi}
 endef
+endif
 
 $(foreach DIR, $(SUBDIRS), $(eval $(call ADD_DIRECTORY,$(DIR))))
 
 all: nothing
 .PHONY: nothing context depend clean distclean
 
+define SDIR_template
+$(1)_$(2):
+	$(Q) $(MAKE) -C $(1) $(2) TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
+endef
+
+$(foreach SDIR, $(INSTALLED_DIRS), $(eval $(call SDIR_template,$(SDIR),depend)))
+$(foreach SDIR, $(INSTALLED_DIRS), $(eval $(call SDIR_template,$(SDIR),clean)))
+$(foreach SDIR, $(INSTALLED_DIRS), $(eval $(call SDIR_template,$(SDIR),distclean)))
+
 nothing:
 
 context:
 
-depend:
-	@for dir in $(INSTALLED_DIRS) ; do \
-		$(MAKE) -C $$dir depend TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
-	done
+depend: $(foreach SDIR, $(INSTALLED_DIRS), $(SDIR)_depend)
 
-clean:
-	@for dir in $(INSTALLED_DIRS) ; do \
-		$(MAKE) -C $$dir clean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
-	done
+clean: $(foreach SDIR, $(INSTALLED_DIRS), $(SDIR)_clean)
 
-distclean: clean
-	@for dir in $(INSTALLED_DIRS) ; do \
-		$(MAKE) -C $$dir distclean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
-	done
+distclean: clean $(foreach SDIR, $(INSTALLED_DIRS), $(SDIR)_distclean)
diff --git a/apps/interpreters/ficl/Kconfig b/apps/interpreters/ficl/Kconfig
index 1860a1591..ba6a7bc35 100644
--- a/apps/interpreters/ficl/Kconfig
+++ b/apps/interpreters/ficl/Kconfig
@@ -3,7 +3,7 @@
 # see misc/tools/kconfig-language.txt.
 #
 
-config FICL
+config INTERPRETERS_FICL
 	bool "Ficl Forth interpreter"
 	default n
 	---help---
@@ -11,6 +11,6 @@ config FICL
 		apps/interpreters/ficl directory.  Use of this configuration assumes
 		that you have performed the required installation of the Ficl run-time code.
 
-if FICL
+if INTERPRETERS_FICL
 endif
 
diff --git a/apps/interpreters/ficl/Makefile b/apps/interpreters/ficl/Makefile
index fb953964e..990630fb8 100644
--- a/apps/interpreters/ficl/Makefile
+++ b/apps/interpreters/ficl/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # apps/interpreters/ficl/Makefile
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -35,14 +35,11 @@
 
 BUILDDIR := ${shell pwd | sed -e 's/ /\\ /g'}
 
--include $(TOPDIR)/.config
 -include $(TOPDIR)/Make.defs
 include $(APPDIR)/Make.defs
 
 # Tools
 
-INCDIR = $(TOPDIR)/tools/incdir.sh
-
 ifeq ($(WINTOOL),y)
 INCDIROPT = -w
 endif
@@ -69,10 +66,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
 SRCS = $(ASRCS) $(CSRCS)
 OBJS = $(AOBJS) $(COBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOT_DEPPATH = --dep-path .
@@ -95,24 +96,24 @@ debug:
 	@#echo "CFLAGS: $(CFLAGS)"
 
 .built: debug $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
-	@touch .built
+	$(call ARCHIVE, $(BIN), $(OBJS))
+	$(Q) touch .built
 
 context:
 
 .depend: debug Makefile $(SRCS)
-	@$(MKDEP) $(ROOT_DEPPATH) $(SRC_DEPPATH) $(FICL_DEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
+	$(Q) $(MKDEP) $(ROOT_DEPPATH) $(SRC_DEPPATH) $(FICL_DEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .context)
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c
new file mode 100644
index 000000000..7070274da
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c
@@ -0,0 +1,159 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_abs_f32.c    

+*    

+* Description:	Vector absolute value.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------- */

+

+#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(pSrcA[n]),   0 <= n < blockSize.        

+ * </pre>        

+ *        

+ * The operation can be done in-place by setting the input and output pointers to the same 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

+

+  /* 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   */

+

+  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        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c
new file mode 100644
index 000000000..6d6a4b6d8
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c
@@ -0,0 +1,173 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_abs_q15.c    

+*    

+* Description:	Q15 vector absolute value.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#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

+

+/* 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. */

+  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

+

+    *__SIMD32(pDst)++ =

+      __PKHBT(((in1 > 0) ? in1 : __QSUB16(0, in1)),

+              ((in2 > 0) ? in2 : __QSUB16(0, in2)), 16);

+

+#else

+

+

+    *__SIMD32(pDst)++ =

+      __PKHBT(((in2 > 0) ? in2 : __QSUB16(0, in2)),

+              ((in1 > 0) ? in1 : __QSUB16(0, in1)), 16);

+

+#endif /* #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+    in1 = *pSrc++;

+    in2 = *pSrc++;

+

+

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+    *__SIMD32(pDst)++ =

+      __PKHBT(((in1 > 0) ? in1 : __QSUB16(0, in1)),

+              ((in2 > 0) ? in2 : __QSUB16(0, in2)), 16);

+

+#else

+

+

+    *__SIMD32(pDst)++ =

+      __PKHBT(((in2 > 0) ? in2 : __QSUB16(0, in2)),

+              ((in1 > 0) ? in1 : __QSUB16(0, in1)), 16);

+

+#endif /* #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+    /* 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)

+  {

+    /* 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 : __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 */

+

+}

+

+/**    

+ * @} end of BasicAbs group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c
new file mode 100644
index 000000000..d9e3e7aa3
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c
@@ -0,0 +1,125 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_abs_q31.c    

+*    

+* Description:	Q31 vector absolute value.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupMath    

+ */

+

+/**    

+ * @addtogroup BasicAbs    

+ * @{    

+ */

+

+

+/**    

+ * @brief Q31 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 Q31 value -1 (0x80000000) will be saturated to the maximum allowable positive value 0x7FFFFFFF.    

+ */

+

+void arm_abs_q31(

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+  q31_t in;                                      /* Input value */

+

+#ifndef ARM_MATH_CM0

+

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

+  q31_t in1, in2, in3, in4;

+

+  /*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 of input (if -1 then saturated to 0x7fffffff) and then store the results in the destination buffer. */

+    in1 = *pSrc++;

+    in2 = *pSrc++;

+    in3 = *pSrc++;

+    in4 = *pSrc++;

+

+    *pDst++ = (in1 > 0) ? in1 : __QSUB(0, in1);

+    *pDst++ = (in2 > 0) ? in2 : __QSUB(0, in2);

+    *pDst++ = (in3 > 0) ? in3 : __QSUB(0, in3);

+    *pDst++ = (in4 > 0) ? in4 : __QSUB(0, in4);

+

+    /* 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   */

+

+  while(blkCnt > 0u)

+  {

+    /* C = |A| */

+    /* Calculate absolute value of the input (if -1 then saturated to 0x7fffffff) and then store the results in the destination buffer. */

+    in = *pSrc++;

+    *pDst++ = (in > 0) ? in : ((in == 0x80000000) ? 0x7fffffff : -in);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+}

+

+/**    

+ * @} end of BasicAbs group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c
new file mode 100644
index 000000000..258ecef2c
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c
@@ -0,0 +1,152 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_abs_q7.c    

+*    

+* Description:	Q7 vector absolute value.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**        

+ * @ingroup groupMath        

+ */

+

+/**        

+ * @addtogroup BasicAbs        

+ * @{        

+ */

+

+/**        

+ * @brief Q7 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.        

+ *    

+ * \par Conditions for optimum performance    

+ *  Input and output buffers should be aligned by 32-bit    

+ *    

+ *        

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

+ * \par        

+ * The function uses saturating arithmetic.        

+ * The Q7 value -1 (0x80) will be saturated to the maximum allowable positive value 0x7F.        

+ */

+

+void arm_abs_q7(

+  q7_t * pSrc,

+  q7_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+  q7_t in;                                       /* Input value1 */

+

+#ifndef ARM_MATH_CM0

+

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

+  q31_t in1, in2, in3, in4;                      /* temporary input variables */

+  q31_t out1, out2, out3, out4;                  /* temporary output 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| */

+    /* Read inputs */

+    in1 = (q31_t) * pSrc;

+    in2 = (q31_t) * (pSrc + 1);

+    in3 = (q31_t) * (pSrc + 2);

+

+    /* find absolute value */

+    out1 = (in1 > 0) ? in1 : __QSUB8(0, in1);

+

+    /* read input */

+    in4 = (q31_t) * (pSrc + 3);

+

+    /* find absolute value */

+    out2 = (in2 > 0) ? in2 : __QSUB8(0, in2);

+

+    /* store result to destination */

+    *pDst = (q7_t) out1;

+

+    /* find absolute value */

+    out3 = (in3 > 0) ? in3 : __QSUB8(0, in3);

+

+    /* find absolute value */

+    out4 = (in4 > 0) ? in4 : __QSUB8(0, in4);

+

+    /* store result to destination */

+    *(pDst + 1) = (q7_t) out2;

+

+    /* store result to destination */

+    *(pDst + 2) = (q7_t) out3;

+

+    /* store result to destination */

+    *(pDst + 3) = (q7_t) out4;

+

+    /* update pointers to process next samples */

+    pSrc += 4u;

+    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 */

+  blkCnt = blockSize;

+

+#endif //      #define ARM_MATH_CM0

+

+  while(blkCnt > 0u)

+  {

+    /* C = |A| */

+    /* Read the input */

+    in = *pSrc++;

+

+    /* Store the Absolute result in the destination buffer */

+    *pDst++ = (in > 0) ? in : ((in == (q7_t) 0x80) ? 0x7f : -in);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**        

+ * @} end of BasicAbs group        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c
new file mode 100644
index 000000000..0961dd1db
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c
@@ -0,0 +1,145 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_add_f32.c    

+*    

+* Description:	Floating-point vector addition.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**        

+ * @ingroup groupMath        

+ */

+

+/**        

+ * @defgroup BasicAdd Vector Addition        

+ *        

+ * Element-by-element addition of two vectors.        

+ *        

+ * <pre>        

+ *     pDst[n] = pSrcA[n] + pSrcB[n],   0 <= n < blockSize.        

+ * </pre>        

+ *        

+ * There are separate functions for floating-point, Q7, Q15, and Q31 data types.        

+ */

+

+/**        

+ * @addtogroup BasicAdd        

+ * @{        

+ */

+

+/**        

+ * @brief Floating-point vector addition.        

+ * @param[in]       *pSrcA points to the first input vector        

+ * @param[in]       *pSrcB points to the second input vector        

+ * @param[out]      *pDst points to the output vector        

+ * @param[in]       blockSize number of samples in each vector        

+ * @return none.        

+ */

+

+void arm_add_f32(

+  float32_t * pSrcA,

+  float32_t * pSrcB,

+  float32_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

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

+  float32_t inA1, inA2, inA3, inA4;              /* temporary input variabels */

+  float32_t inB1, inB2, inB3, inB4;              /* temporary input 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 + B */

+    /* Add and then store the results in the destination buffer. */

+

+    /* read four inputs from sourceA and four inputs from sourceB */

+    inA1 = *pSrcA;

+    inB1 = *pSrcB;

+    inA2 = *(pSrcA + 1);

+    inB2 = *(pSrcB + 1);

+    inA3 = *(pSrcA + 2);

+    inB3 = *(pSrcB + 2);

+    inA4 = *(pSrcA + 3);

+    inB4 = *(pSrcB + 3);

+

+    /* C = A + B */

+    /* add and store result to destination */

+    *pDst = inA1 + inB1;

+    *(pDst + 1) = inA2 + inB2;

+    *(pDst + 2) = inA3 + inB3;

+    *(pDst + 3) = inA4 + inB4;

+

+    /* update pointers to process next samples */

+    pSrcA += 4u;

+    pSrcB += 4u;

+    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 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = A + B */

+    /* Add and then store the results in the destination buffer. */

+    *pDst++ = (*pSrcA++) + (*pSrcB++);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**        

+ * @} end of BasicAdd group        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c
new file mode 100644
index 000000000..788b2ebb2
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c
@@ -0,0 +1,135 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_add_q15.c    

+*    

+* Description:	Q15 vector addition    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupMath    

+ */

+

+/**    

+ * @addtogroup BasicAdd    

+ * @{    

+ */

+

+/**    

+ * @brief Q15 vector addition.    

+ * @param[in]       *pSrcA points to the first input vector    

+ * @param[in]       *pSrcB points to the second input vector    

+ * @param[out]      *pDst points to the output vector    

+ * @param[in]       blockSize number of samples in each vector    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function uses saturating arithmetic.    

+ * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.    

+ */

+

+void arm_add_q15(

+  q15_t * pSrcA,

+  q15_t * pSrcB,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

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

+  q31_t inA1, inA2, inB1, inB2;

+

+  /*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 + B */

+    /* Add and then store the results in the destination buffer. */

+    inA1 = *__SIMD32(pSrcA)++;

+    inA2 = *__SIMD32(pSrcA)++;

+    inB1 = *__SIMD32(pSrcB)++;

+    inB2 = *__SIMD32(pSrcB)++;

+

+    *__SIMD32(pDst)++ = __QADD16(inA1, inB1);

+    *__SIMD32(pDst)++ = __QADD16(inA2, inB2);

+

+    /* 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)

+  {

+    /* C = A + B */

+    /* Add and then store the results in the destination buffer. */

+    *pDst++ = (q15_t) __QADD16(*pSrcA++, *pSrcB++);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+

+

+

+  /* Initialize blkCnt with number of samples */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* C = A + B */

+    /* Add and then store the results in the destination buffer. */

+    *pDst++ = (q15_t) __SSAT(((q31_t) * pSrcA++ + *pSrcB++), 16);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+

+}

+

+/**    

+ * @} end of BasicAdd group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c
new file mode 100644
index 000000000..c5b18711d
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c
@@ -0,0 +1,143 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_add_q31.c    

+*    

+* Description:	Q31 vector addition.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupMath    

+ */

+

+/**    

+ * @addtogroup BasicAdd    

+ * @{    

+ */

+

+

+/**    

+ * @brief Q31 vector addition.    

+ * @param[in]       *pSrcA points to the first input vector    

+ * @param[in]       *pSrcB points to the second input vector    

+ * @param[out]      *pDst points to the output vector    

+ * @param[in]       blockSize number of samples in each vector    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function uses saturating arithmetic.    

+ * Results outside of the allowable Q31 range[0x80000000 0x7FFFFFFF] will be saturated.    

+ */

+

+void arm_add_q31(

+  q31_t * pSrcA,

+  q31_t * pSrcB,

+  q31_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

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

+  q31_t inA1, inA2, inA3, inA4;

+  q31_t inB1, inB2, inB3, inB4;

+

+  /*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 + B */

+    /* Add and then store the results in the destination buffer. */

+    inA1 = *pSrcA++;

+    inA2 = *pSrcA++;

+    inB1 = *pSrcB++;

+    inB2 = *pSrcB++;

+

+    inA3 = *pSrcA++;

+    inA4 = *pSrcA++;

+    inB3 = *pSrcB++;

+    inB4 = *pSrcB++;

+

+    *pDst++ = __QADD(inA1, inB1);

+    *pDst++ = __QADD(inA2, inB2);

+    *pDst++ = __QADD(inA3, inB3);

+    *pDst++ = __QADD(inA4, inB4);

+

+    /* 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)

+  {

+    /* C = A + B */

+    /* Add and then store the results in the destination buffer. */

+    *pDst++ = __QADD(*pSrcA++, *pSrcB++);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+

+

+

+  /* Initialize blkCnt with number of samples */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* C = A + B */

+    /* Add and then store the results in the destination buffer. */

+    *pDst++ = (q31_t) clip_q63_to_q31((q63_t) * pSrcA++ + *pSrcB++);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of BasicAdd group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c
new file mode 100644
index 000000000..5407c006f
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c
@@ -0,0 +1,129 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_add_q7.c    

+*    

+* Description:	Q7 vector addition.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupMath    

+ */

+

+/**    

+ * @addtogroup BasicAdd    

+ * @{    

+ */

+

+/**    

+ * @brief Q7 vector addition.    

+ * @param[in]       *pSrcA points to the first input vector    

+ * @param[in]       *pSrcB points to the second input vector    

+ * @param[out]      *pDst points to the output vector    

+ * @param[in]       blockSize number of samples in each vector    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function uses saturating arithmetic.    

+ * Results outside of the allowable Q7 range [0x80 0x7F] will be saturated.    

+ */

+

+void arm_add_q7(

+  q7_t * pSrcA,

+  q7_t * pSrcB,

+  q7_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+

+#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)

+  {

+    /* C = A + B */

+    /* Add and then store the results in the destination buffer. */

+    *__SIMD32(pDst)++ = __QADD8(*__SIMD32(pSrcA)++, *__SIMD32(pSrcB)++);

+

+    /* 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)

+  {

+    /* C = A + B */

+    /* Add and then store the results in the destination buffer. */

+    *pDst++ = (q7_t) __SSAT(*pSrcA++ + *pSrcB++, 8);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+

+

+

+  /* Initialize blkCnt with number of samples */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* C = A + B */

+    /* Add and then store the results in the destination buffer. */

+    *pDst++ = (q7_t) __SSAT((q15_t) * pSrcA++ + *pSrcB++, 8);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+

+}

+

+/**    

+ * @} end of BasicAdd group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c
new file mode 100644
index 000000000..6f7fbcebf
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c
@@ -0,0 +1,125 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_dot_prod_f32.c    

+*    

+* Description:	Floating-point dot product.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupMath    

+ */

+

+/**    

+ * @defgroup dot_prod Vector Dot Product    

+ *    

+ * Computes the dot product of two vectors.    

+ * The vectors are multiplied element-by-element and then summed.    

+ * There are separate functions for floating-point, Q7, Q15, and Q31 data types.    

+ */

+

+/**    

+ * @addtogroup dot_prod    

+ * @{    

+ */

+

+/**    

+ * @brief Dot product of floating-point vectors.    

+ * @param[in]       *pSrcA points to the first input vector    

+ * @param[in]       *pSrcB points to the second input vector    

+ * @param[in]       blockSize number of samples in each vector    

+ * @param[out]      *result output result returned here    

+ * @return none.    

+ */

+

+

+void arm_dot_prod_f32(

+  float32_t * pSrcA,

+  float32_t * pSrcB,

+  uint32_t blockSize,

+  float32_t * result)

+{

+  float32_t sum = 0.0f;                          /* Temporary result storage */

+  uint32_t blkCnt;                               /* loop counter */

+

+

+#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)

+  {

+    /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */

+    /* Calculate dot product and then store the result in a temporary buffer */

+    sum += (*pSrcA++) * (*pSrcB++);

+    sum += (*pSrcA++) * (*pSrcB++);

+    sum += (*pSrcA++) * (*pSrcB++);

+    sum += (*pSrcA++) * (*pSrcB++);

+

+    /* 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 */

+

+

+  while(blkCnt > 0u)

+  {

+    /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */

+    /* Calculate dot product and then store the result in a temporary buffer. */

+    sum += (*pSrcA++) * (*pSrcB++);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+  /* Store the result back in the destination buffer */

+  *result = sum;

+}

+

+/**    

+ * @} end of dot_prod group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c
new file mode 100644
index 000000000..24611a05f
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c
@@ -0,0 +1,135 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_dot_prod_q15.c    

+*    

+* Description:	Q15 dot product.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupMath    

+ */

+

+/**    

+ * @addtogroup dot_prod    

+ * @{    

+ */

+

+/**    

+ * @brief Dot product of Q15 vectors.    

+ * @param[in]       *pSrcA points to the first input vector    

+ * @param[in]       *pSrcB points to the second input vector    

+ * @param[in]       blockSize number of samples in each vector    

+ * @param[out]      *result output result returned here    

+ * @return none.    

+ *    

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

+ * \par    

+ * The intermediate multiplications are in 1.15 x 1.15 = 2.30 format and these    

+ * results are added to a 64-bit accumulator in 34.30 format.    

+ * Nonsaturating additions are used and given that there are 33 guard bits in the accumulator    

+ * there is no risk of overflow.    

+ * The return result is in 34.30 format.    

+ */

+

+void arm_dot_prod_q15(

+  q15_t * pSrcA,

+  q15_t * pSrcB,

+  uint32_t blockSize,

+  q63_t * result)

+{

+  q63_t sum = 0;                                 /* Temporary result storage */

+  uint32_t blkCnt;                               /* loop counter */

+

+#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)

+  {

+    /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */

+    /* Calculate dot product and then store the result in a temporary buffer. */

+    sum = __SMLALD(*__SIMD32(pSrcA)++, *__SIMD32(pSrcB)++, sum);

+    sum = __SMLALD(*__SIMD32(pSrcA)++, *__SIMD32(pSrcB)++, sum);

+

+    /* 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)

+  {

+    /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */

+    /* Calculate dot product and then store the results in a temporary buffer. */

+    sum = __SMLALD(*pSrcA++, *pSrcB++, sum);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+

+#else

+

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

+

+  /* Initialize blkCnt with number of samples */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */

+    /* Calculate dot product and then store the results in a temporary buffer. */

+    sum += (q63_t) ((q31_t) * pSrcA++ * *pSrcB++);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  /* Store the result in the destination buffer in 34.30 format */

+  *result = sum;

+

+}

+

+/**    

+ * @} end of dot_prod group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c
new file mode 100644
index 000000000..5e4031338
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c
@@ -0,0 +1,138 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_dot_prod_q31.c    

+*    

+* Description:	Q31 dot product.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupMath    

+ */

+

+/**    

+ * @addtogroup dot_prod    

+ * @{    

+ */

+

+/**    

+ * @brief Dot product of Q31 vectors.    

+ * @param[in]       *pSrcA points to the first input vector    

+ * @param[in]       *pSrcB points to the second input vector    

+ * @param[in]       blockSize number of samples in each vector    

+ * @param[out]      *result output result returned here    

+ * @return none.    

+ *    

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

+ * \par    

+ * The intermediate multiplications are in 1.31 x 1.31 = 2.62 format and these    

+ * are truncated to 2.48 format by discarding the lower 14 bits.    

+ * The 2.48 result is then added without saturation to a 64-bit accumulator in 16.48 format.    

+ * There are 15 guard bits in the accumulator and there is no risk of overflow as long as    

+ * the length of the vectors is less than 2^16 elements.    

+ * The return result is in 16.48 format.    

+ */

+

+void arm_dot_prod_q31(

+  q31_t * pSrcA,

+  q31_t * pSrcB,

+  uint32_t blockSize,

+  q63_t * result)

+{

+  q63_t sum = 0;                                 /* Temporary result storage */

+  uint32_t blkCnt;                               /* loop counter */

+

+

+#ifndef ARM_MATH_CM0

+

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

+  q31_t inA1, inA2, inA3, inA4;

+  q31_t inB1, inB2, inB3, inB4;

+

+  /*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[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */

+    /* Calculate dot product and then store the result in a temporary buffer. */

+    inA1 = *pSrcA++;

+    inA2 = *pSrcA++;

+    inA3 = *pSrcA++;

+    inA4 = *pSrcA++;

+    inB1 = *pSrcB++;

+    inB2 = *pSrcB++;

+    inB3 = *pSrcB++;

+    inB4 = *pSrcB++;

+

+    sum += ((q63_t) inA1 * inB1) >> 14u;

+    sum += ((q63_t) inA2 * inB2) >> 14u;

+    sum += ((q63_t) inA3 * inB3) >> 14u;

+    sum += ((q63_t) inA4 * inB4) >> 14u;

+

+    /* 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 */

+

+

+  while(blkCnt > 0u)

+  {

+    /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */

+    /* Calculate dot product and then store the result in a temporary buffer. */

+    sum += ((q63_t) * pSrcA++ * *pSrcB++) >> 14u;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Store the result in the destination buffer in 16.48 format */

+  *result = sum;

+}

+

+/**    

+ * @} end of dot_prod group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c
new file mode 100644
index 000000000..ddf2d0c24
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c
@@ -0,0 +1,154 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_dot_prod_q7.c    

+*    

+* Description:	Q7 dot product.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupMath    

+ */

+

+/**    

+ * @addtogroup dot_prod    

+ * @{    

+ */

+

+/**    

+ * @brief Dot product of Q7 vectors.    

+ * @param[in]       *pSrcA points to the first input vector    

+ * @param[in]       *pSrcB points to the second input vector    

+ * @param[in]       blockSize number of samples in each vector    

+ * @param[out]      *result output result returned here    

+ * @return none.    

+ *    

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

+ * \par    

+ * The intermediate multiplications are in 1.7 x 1.7 = 2.14 format and these    

+ * results are added to an accumulator in 18.14 format.    

+ * Nonsaturating additions are used and there is no danger of wrap around as long as    

+ * the vectors are less than 2^18 elements long.    

+ * The return result is in 18.14 format.    

+ */

+

+void arm_dot_prod_q7(

+  q7_t * pSrcA,

+  q7_t * pSrcB,

+  uint32_t blockSize,

+  q31_t * result)

+{

+  uint32_t blkCnt;                               /* loop counter */

+

+  q31_t sum = 0;                                 /* Temporary variables to store output */

+

+#ifndef ARM_MATH_CM0

+

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

+

+  q31_t input1, input2;                          /* Temporary variables to store input */

+  q31_t inA1, inA2, inB1, inB2;                  /* Temporary variables to store input */

+

+

+

+  /*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)

+  {

+    /* read 4 samples at a time from sourceA */

+    input1 = *__SIMD32(pSrcA)++;

+    /* read 4 samples at a time from sourceB */

+    input2 = *__SIMD32(pSrcB)++;

+

+    /* extract two q7_t samples to q15_t samples */

+    inA1 = __SXTB16(__ROR(input1, 8));

+    /* extract reminaing two samples */

+    inA2 = __SXTB16(input1);

+    /* extract two q7_t samples to q15_t samples */

+    inB1 = __SXTB16(__ROR(input2, 8));

+    /* extract reminaing two samples */

+    inB2 = __SXTB16(input2);

+

+    /* multiply and accumulate two samples at a time */

+    sum = __SMLAD(inA1, inB1, sum);

+    sum = __SMLAD(inA2, inB2, sum);

+

+    /* 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)

+  {

+    /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */

+    /* Dot product and then store the results in a temporary buffer. */

+    sum = __SMLAD(*pSrcA++, *pSrcB++, sum);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+

+

+

+  /* Initialize blkCnt with number of samples */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */

+    /* Dot product and then store the results in a temporary buffer. */

+    sum += (q31_t) ((q15_t) * pSrcA++ * *pSrcB++);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+

+  /* Store the result in the destination buffer in 18.14 format */

+  *result = sum;

+}

+

+/**    

+ * @} end of dot_prod group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c
new file mode 100644
index 000000000..88a458b40
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c
@@ -0,0 +1,172 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_mult_f32.c    

+*    

+* Description:	Floating-point vector 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 groupMath        

+ */

+

+/**        

+ * @defgroup BasicMult Vector Multiplication        

+ *        

+ * Element-by-element multiplication of two vectors.        

+ *        

+ * <pre>        

+ *     pDst[n] = pSrcA[n] * pSrcB[n],   0 <= n < blockSize.        

+ * </pre>        

+ *        

+ * There are separate functions for floating-point, Q7, Q15, and Q31 data types.        

+ */

+

+/**        

+ * @addtogroup BasicMult        

+ * @{        

+ */

+

+/**        

+ * @brief Floating-point vector multiplication.        

+ * @param[in]       *pSrcA points to the first input vector        

+ * @param[in]       *pSrcB points to the second input vector        

+ * @param[out]      *pDst points to the output vector        

+ * @param[in]       blockSize number of samples in each vector        

+ * @return none.        

+ */

+

+void arm_mult_f32(

+  float32_t * pSrcA,

+  float32_t * pSrcB,

+  float32_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counters */

+#ifndef ARM_MATH_CM0

+

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

+  float32_t inA1, inA2, inA3, inA4;              /* temporary input variables */

+  float32_t inB1, inB2, inB3, inB4;              /* temporary input variables */

+  float32_t out1, out2, out3, out4;              /* temporary output 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 * B */

+    /* Multiply the inputs and store the results in output buffer */

+    /* read sample from sourceA */

+    inA1 = *pSrcA;

+    /* read sample from sourceB */

+    inB1 = *pSrcB;

+    /* read sample from sourceA */

+    inA2 = *(pSrcA + 1);

+    /* read sample from sourceB */

+    inB2 = *(pSrcB + 1);

+

+    /* out = sourceA * sourceB */

+    out1 = inA1 * inB1;

+

+    /* read sample from sourceA */

+    inA3 = *(pSrcA + 2);

+    /* read sample from sourceB */

+    inB3 = *(pSrcB + 2);

+

+    /* out = sourceA * sourceB */

+    out2 = inA2 * inB2;

+

+    /* read sample from sourceA */

+    inA4 = *(pSrcA + 3);

+

+    /* store result to destination buffer */

+    *pDst = out1;

+

+    /* read sample from sourceB */

+    inB4 = *(pSrcB + 3);

+

+    /* out = sourceA * sourceB */

+    out3 = inA3 * inB3;

+

+    /* store result to destination buffer */

+    *(pDst + 1) = out2;

+

+    /* out = sourceA * sourceB */

+    out4 = inA4 * inB4;

+    /* store result to destination buffer */

+    *(pDst + 2) = out3;

+    /* store result to destination buffer */

+    *(pDst + 3) = out4;

+

+

+    /* update pointers to process next samples */

+    pSrcA += 4u;

+    pSrcB += 4u;

+    pDst += 4u;

+

+    /* Decrement the blockSize 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 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = A * B */

+    /* Multiply the inputs and store the results in output buffer */

+    *pDst++ = (*pSrcA++) * (*pSrcB++);

+

+    /* Decrement the blockSize loop counter */

+    blkCnt--;

+  }

+}

+

+/**        

+ * @} end of BasicMult group        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c
new file mode 100644
index 000000000..99d44a4ba
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c
@@ -0,0 +1,152 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_mult_q15.c    

+*    

+* Description:	Q15 vector 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 groupMath    

+ */

+

+/**    

+ * @addtogroup BasicMult    

+ * @{    

+ */

+

+

+/**    

+ * @brief           Q15 vector multiplication    

+ * @param[in]       *pSrcA points to the first input vector    

+ * @param[in]       *pSrcB points to the second input vector    

+ * @param[out]      *pDst points to the output vector    

+ * @param[in]       blockSize number of samples in each vector    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function uses saturating arithmetic.    

+ * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.    

+ */

+

+void arm_mult_q15(

+  q15_t * pSrcA,

+  q15_t * pSrcB,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counters */

+

+#ifndef ARM_MATH_CM0

+

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

+  q31_t inA1, inA2, inB1, inB2;                  /* temporary input variables */

+  q15_t out1, out2, out3, out4;                  /* temporary output variables */

+  q31_t mul1, mul2, mul3, mul4;                  /* 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)

+  {

+    /* read two samples at a time from sourceA */

+    inA1 = *__SIMD32(pSrcA)++;

+    /* read two samples at a time from sourceB */

+    inB1 = *__SIMD32(pSrcB)++;

+    /* read two samples at a time from sourceA */

+    inA2 = *__SIMD32(pSrcA)++;

+    /* read two samples at a time from sourceB */

+    inB2 = *__SIMD32(pSrcB)++;

+

+    /* multiply mul = sourceA * sourceB */

+    mul1 = (q31_t) ((q15_t) (inA1 >> 16) * (q15_t) (inB1 >> 16));

+    mul2 = (q31_t) ((q15_t) inA1 * (q15_t) inB1);

+    mul3 = (q31_t) ((q15_t) (inA2 >> 16) * (q15_t) (inB2 >> 16));

+    mul4 = (q31_t) ((q15_t) inA2 * (q15_t) inB2);

+

+    /* saturate result to 16 bit */

+    out1 = (q15_t) __SSAT(mul1 >> 15, 16);

+    out2 = (q15_t) __SSAT(mul2 >> 15, 16);

+    out3 = (q15_t) __SSAT(mul3 >> 15, 16);

+    out4 = (q15_t) __SSAT(mul4 >> 15, 16);

+

+    /* store the result */

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    *__SIMD32(pDst)++ = __PKHBT(out2, out1, 16);

+    *__SIMD32(pDst)++ = __PKHBT(out4, out3, 16);

+

+#else

+

+    *__SIMD32(pDst)++ = __PKHBT(out2, out1, 16);

+    *__SIMD32(pDst)++ = __PKHBT(out4, out3, 16);

+

+#endif //      #ifndef ARM_MATH_BIG_ENDIAN

+

+    /* Decrement the blockSize 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 */

+

+

+  while(blkCnt > 0u)

+  {

+    /* C = A * B */

+    /* Multiply the inputs and store the result in the destination buffer */

+    *pDst++ = (q15_t) __SSAT((((q31_t) (*pSrcA++) * (*pSrcB++)) >> 15), 16);

+

+    /* Decrement the blockSize loop counter */

+    blkCnt--;

+  }

+}

+

+/**    

+ * @} end of BasicMult group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c
new file mode 100644
index 000000000..37ec8e25e
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c
@@ -0,0 +1,143 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_mult_q31.c    

+*    

+* Description:	Q31 vector 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 groupMath    

+ */

+

+/**    

+ * @addtogroup BasicMult    

+ * @{    

+ */

+

+/**    

+ * @brief Q31 vector multiplication.    

+ * @param[in]       *pSrcA points to the first input vector    

+ * @param[in]       *pSrcB points to the second input vector    

+ * @param[out]      *pDst points to the output vector    

+ * @param[in]       blockSize number of samples in each vector    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function uses saturating arithmetic.    

+ * Results outside of the allowable Q31 range[0x80000000 0x7FFFFFFF] will be saturated.    

+ */

+

+void arm_mult_q31(

+  q31_t * pSrcA,

+  q31_t * pSrcB,

+  q31_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counters */

+

+#ifndef ARM_MATH_CM0

+

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

+  q31_t inA1, inA2, inA3, inA4;                  /* temporary input variables */

+  q31_t inB1, inB2, inB3, inB4;                  /* temporary input variables */

+  q31_t out1, out2, out3, out4;                  /* temporary output 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 * B */

+    /* Multiply the inputs and then store the results in the destination buffer. */

+    inA1 = *pSrcA++;

+    inA2 = *pSrcA++;

+    inA3 = *pSrcA++;

+    inA4 = *pSrcA++;

+    inB1 = *pSrcB++;

+    inB2 = *pSrcB++;

+    inB3 = *pSrcB++;

+    inB4 = *pSrcB++;

+

+    out1 = ((q63_t) inA1 * inB1) >> 32;

+    out2 = ((q63_t) inA2 * inB2) >> 32;

+    out3 = ((q63_t) inA3 * inB3) >> 32;

+    out4 = ((q63_t) inA4 * inB4) >> 32;

+

+    out1 = __SSAT(out1, 31);

+    out2 = __SSAT(out2, 31);

+    out3 = __SSAT(out3, 31);

+    out4 = __SSAT(out4, 31);

+

+    *pDst++ = out1 << 1u;

+    *pDst++ = out2 << 1u;

+    *pDst++ = out3 << 1u;

+    *pDst++ = out4 << 1u;

+

+    /* Decrement the blockSize 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 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = A * B */

+    /* Multiply the inputs and then store the results in the destination buffer. */

+    *pDst++ =

+      (q31_t) clip_q63_to_q31(((q63_t) (*pSrcA++) * (*pSrcB++)) >> 31);

+

+    /* Decrement the blockSize loop counter */

+    blkCnt--;

+  }

+}

+

+/**    

+ * @} end of BasicMult group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c
new file mode 100644
index 000000000..14ee23ea6
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c
@@ -0,0 +1,128 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_mult_q7.c    

+*    

+* Description:	Q7 vector 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+*    

+* Version 0.0.5  2010/04/26     

+*    incorporated review comments and updated with latest CMSIS layer    

+*    

+* Version 0.0.3  2010/03/10 DP    

+*    Initial version    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupMath    

+ */

+

+/**    

+ * @addtogroup BasicMult    

+ * @{    

+ */

+

+/**    

+ * @brief           Q7 vector multiplication    

+ * @param[in]       *pSrcA points to the first input vector    

+ * @param[in]       *pSrcB points to the second input vector    

+ * @param[out]      *pDst points to the output vector    

+ * @param[in]       blockSize number of samples in each vector    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function uses saturating arithmetic.    

+ * Results outside of the allowable Q7 range [0x80 0x7F] will be saturated.    

+ */

+

+void arm_mult_q7(

+  q7_t * pSrcA,

+  q7_t * pSrcB,

+  q7_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counters */

+

+#ifndef ARM_MATH_CM0

+

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

+  q7_t out1, out2, out3, out4;                   /* Temporary variables to store the product */

+

+  /* 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 * B */

+    /* Multiply the inputs and store the results in temporary variables */

+    out1 = (q7_t) __SSAT((((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7), 8);

+    out2 = (q7_t) __SSAT((((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7), 8);

+    out3 = (q7_t) __SSAT((((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7), 8);

+    out4 = (q7_t) __SSAT((((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7), 8);

+

+    /* Store the results of 4 inputs in the destination buffer in single cycle by packing */

+    *__SIMD32(pDst)++ = __PACKq7(out1, out2, out3, out4);

+

+    /* Decrement the blockSize 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 */

+

+

+  while(blkCnt > 0u)

+  {

+    /* C = A * B */

+    /* Multiply the inputs and store the result in the destination buffer */

+    *pDst++ = (q7_t) __SSAT((((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7), 8);

+

+    /* Decrement the blockSize loop counter */

+    blkCnt--;

+  }

+}

+

+/**    

+ * @} end of BasicMult group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c
new file mode 100644
index 000000000..4f4d423ac
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c
@@ -0,0 +1,137 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_negate_f32.c    

+*    

+* Description:	Negates floating-point vectors.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**        

+ * @ingroup groupMath        

+ */

+

+/**        

+ * @defgroup negate Vector Negate        

+ *        

+ * Negates the elements of a vector.        

+ *        

+ * <pre>        

+ *     pDst[n] = -pSrc[n],   0 <= n < blockSize.        

+ * </pre>        

+ */

+

+/**        

+ * @addtogroup negate        

+ * @{        

+ */

+

+/**        

+ * @brief  Negates the elements of a floating-point vector.        

+ * @param[in]  *pSrc points to the input vector        

+ * @param[out]  *pDst points to the output vector        

+ * @param[in]  blockSize number of samples in the vector        

+ * @return none.        

+ */

+

+void arm_negate_f32(

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+

+

+#ifndef ARM_MATH_CM0

+

+/* 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)

+  {

+    /* read inputs from source */

+    in1 = *pSrc;

+    in2 = *(pSrc + 1);

+    in3 = *(pSrc + 2);

+    in4 = *(pSrc + 3);

+

+    /* negate the input */

+    in1 = -in1;

+    in2 = -in2;

+    in3 = -in3;

+    in4 = -in4;

+

+    /* store the result to destination */

+    *pDst = in1;

+    *(pDst + 1) = in2;

+    *(pDst + 2) = in3;

+    *(pDst + 3) = in4;

+

+    /* update pointers to process next samples */

+    pSrc += 4u;

+    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 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = -A */

+    /* Negate and then store the results in the destination buffer. */

+    *pDst++ = -*pSrc++;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**        

+ * @} end of negate group        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c
new file mode 100644
index 000000000..21d58d1a4
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c
@@ -0,0 +1,137 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_negate_q15.c    

+*    

+* Description:	Negates Q15 vectors.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+#include "arm_math.h"

+

+/**        

+ * @ingroup groupMath        

+ */

+

+/**        

+ * @addtogroup negate        

+ * @{        

+ */

+

+/**        

+ * @brief  Negates the elements of a Q15 vector.        

+ * @param[in]  *pSrc points to the input vector        

+ * @param[out]  *pDst points to the output vector        

+ * @param[in]  blockSize number of samples in the vector        

+ * @return none.        

+ *    

+ * \par Conditions for optimum performance    

+ *  Input and output buffers should be aligned by 32-bit    

+ *    

+ *        

+ * <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_negate_q15(

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+  q15_t in;

+

+#ifndef ARM_MATH_CM0

+

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

+

+  q31_t in1, in2;                                /* 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 */

+    /* Read two inputs at a time */

+    in1 = _SIMD32_OFFSET(pSrc);

+    in2 = _SIMD32_OFFSET(pSrc + 2);

+

+    /* negate two samples at a time */

+    in1 = __QSUB16(0, in1);

+

+    /* negate two samples at a time */

+    in2 = __QSUB16(0, in2);

+

+    /* store the result to destination 2 samples at a time */

+    _SIMD32_OFFSET(pDst) = in1;

+    /* store the result to destination 2 samples at a time */

+    _SIMD32_OFFSET(pDst + 2) = in2;

+

+

+    /* update pointers to process next samples */

+    pSrc += 4u;

+    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 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = -A */

+    /* Negate and then store the result in the destination buffer. */

+    in = *pSrc++;

+    *pDst++ = (in == (q15_t) 0x8000) ? 0x7fff : -in;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**        

+ * @} end of negate group        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c
new file mode 100644
index 000000000..fc28c3621
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c
@@ -0,0 +1,124 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_negate_q31.c    

+*    

+* Description:	Negates Q31 vectors.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupMath    

+ */

+

+/**    

+ * @addtogroup negate    

+ * @{    

+ */

+

+/**    

+ * @brief  Negates the elements of a Q31 vector.    

+ * @param[in]  *pSrc points to the input vector    

+ * @param[out]  *pDst points to the output vector    

+ * @param[in]  blockSize number of samples in the vector    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function uses saturating arithmetic.    

+ * The Q31 value -1 (0x80000000) will be saturated to the maximum allowable positive value 0x7FFFFFFF.    

+ */

+

+void arm_negate_q31(

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize)

+{

+  q31_t in;                                      /* Temporary variable */

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

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

+  q31_t in1, in2, in3, in4;

+

+  /*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 */

+    /* Negate and then store the results in the destination buffer. */

+    in1 = *pSrc++;

+    in2 = *pSrc++;

+    in3 = *pSrc++;

+    in4 = *pSrc++;

+

+    *pDst++ = __QSUB(0, in1);

+    *pDst++ = __QSUB(0, in2);

+    *pDst++ = __QSUB(0, in3);

+    *pDst++ = __QSUB(0, in4);

+

+    /* 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 */

+

+

+  while(blkCnt > 0u)

+  {

+    /* C = -A */

+    /* Negate and then store the result in the destination buffer. */

+    in = *pSrc++;

+    *pDst++ = (in == 0x80000000) ? 0x7fffffff : -in;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**    

+ * @} end of negate group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c
new file mode 100644
index 000000000..601fb7393
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c
@@ -0,0 +1,120 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_negate_q7.c    

+*    

+* Description:	Negates Q7 vectors.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupMath    

+ */

+

+/**    

+ * @addtogroup negate    

+ * @{    

+ */

+

+/**    

+ * @brief  Negates the elements of a Q7 vector.    

+ * @param[in]  *pSrc points to the input vector    

+ * @param[out]  *pDst points to the output vector    

+ * @param[in]  blockSize number of samples in the vector    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function uses saturating arithmetic.    

+ * The Q7 value -1 (0x80) will be saturated to the maximum allowable positive value 0x7F.    

+ */

+

+void arm_negate_q7(

+  q7_t * pSrc,

+  q7_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+  q7_t in;

+

+#ifndef ARM_MATH_CM0

+

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

+  q31_t input;                                   /* Input values1-4 */

+  q31_t zero = 0x00000000;

+

+

+  /*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 */

+    /* Read four inputs */

+    input = *__SIMD32(pSrc)++;

+

+    /* Store the Negated results in the destination buffer in a single cycle by packing the results */

+    *__SIMD32(pDst)++ = __QSUB8(zero, input);

+

+    /* 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 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = -A */

+    /* Negate and then store the results in the destination buffer. */ \

+      in = *pSrc++;

+    *pDst++ = (in == (q7_t) 0x80) ? 0x7f : -in;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**    

+ * @} end of negate group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c
new file mode 100644
index 000000000..4bdf06ee8
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c
@@ -0,0 +1,158 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_offset_f32.c    

+*    

+* Description:	Floating-point vector offset.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------- */

+#include "arm_math.h"

+

+/**        

+ * @ingroup groupMath        

+ */

+

+/**        

+ * @defgroup offset Vector Offset        

+ *        

+ * Adds a constant offset to each element of a vector.        

+ *        

+ * <pre>        

+ *     pDst[n] = pSrc[n] + offset,   0 <= n < blockSize.        

+ * </pre>        

+ *        

+ * There are separate functions for floating-point, Q7, Q15, and Q31 data types.        

+ */

+

+/**        

+ * @addtogroup offset        

+ * @{        

+ */

+

+/**        

+ * @brief  Adds a constant offset to a floating-point vector.        

+ * @param[in]  *pSrc points to the input vector        

+ * @param[in]  offset is the offset to be added        

+ * @param[out]  *pDst points to the output vector        

+ * @param[in]  blockSize number of samples in the vector        

+ * @return none.        

+ */

+

+

+void arm_offset_f32(

+  float32_t * pSrc,

+  float32_t offset,

+  float32_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

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

+  float32_t in1, in2, in3, in4;

+

+  /*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 + offset */

+    /* Add offset and then store the results in the destination buffer. */

+    /* read samples from source */

+    in1 = *pSrc;

+    in2 = *(pSrc + 1);

+

+    /* add offset to input */

+    in1 = in1 + offset;

+

+    /* read samples from source */

+    in3 = *(pSrc + 2);

+

+    /* add offset to input */

+    in2 = in2 + offset;

+

+    /* read samples from source */

+    in4 = *(pSrc + 3);

+

+    /* add offset to input */

+    in3 = in3 + offset;

+

+    /* store result to destination */

+    *pDst = in1;

+

+    /* add offset to input */

+    in4 = in4 + offset;

+

+    /* store result to destination */

+    *(pDst + 1) = in2;

+

+    /* store result to destination */

+    *(pDst + 2) = in3;

+

+    /* store result to destination */

+    *(pDst + 3) = in4;

+

+    /* update pointers to process next samples */

+    pSrc += 4u;

+    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 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = A + offset */

+    /* Add offset and then store the result in the destination buffer. */

+    *pDst++ = (*pSrc++) + offset;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**        

+ * @} end of offset group        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c
new file mode 100644
index 000000000..f8158f066
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c
@@ -0,0 +1,131 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_offset_q15.c    

+*    

+* Description:	Q15 vector offset.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupMath    

+ */

+

+/**    

+ * @addtogroup offset    

+ * @{    

+ */

+

+/**    

+ * @brief  Adds a constant offset to a Q15 vector.    

+ * @param[in]  *pSrc points to the input vector    

+ * @param[in]  offset is the offset to be added    

+ * @param[out]  *pDst points to the output vector    

+ * @param[in]  blockSize number of samples in the vector    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function uses saturating arithmetic.    

+ * Results outside of the allowable Q15 range [0x8000 0x7FFF] are saturated.    

+ */

+

+void arm_offset_q15(

+  q15_t * pSrc,

+  q15_t offset,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

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

+  q31_t offset_packed;                           /* Offset packed to 32 bit */

+

+

+  /*loop Unrolling */

+  blkCnt = blockSize >> 2u;

+

+  /* Offset is packed to 32 bit in order to use SIMD32 for addition */

+  offset_packed = __PKHBT(offset, offset, 16);

+

+  /* 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 + offset */

+    /* Add offset and then store the results in the destination buffer, 2 samples at a time. */

+    *__SIMD32(pDst)++ = __QADD16(*__SIMD32(pSrc)++, offset_packed);

+    *__SIMD32(pDst)++ = __QADD16(*__SIMD32(pSrc)++, offset_packed);

+

+    /* 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)

+  {

+    /* C = A + offset */

+    /* Add offset and then store the results in the destination buffer. */

+    *pDst++ = (q15_t) __QADD16(*pSrc++, offset);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+

+  /* Initialize blkCnt with number of samples */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* C = A + offset */

+    /* Add offset and then store the results in the destination buffer. */

+    *pDst++ = (q15_t) __SSAT(((q31_t) * pSrc++ + offset), 16);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of offset group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c
new file mode 100644
index 000000000..8b03ee372
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c
@@ -0,0 +1,135 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_offset_q31.c    

+*    

+* Description:	Q31 vector offset.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupMath    

+ */

+

+/**    

+ * @addtogroup offset    

+ * @{    

+ */

+

+/**    

+ * @brief  Adds a constant offset to a Q31 vector.    

+ * @param[in]  *pSrc points to the input vector    

+ * @param[in]  offset is the offset to be added    

+ * @param[out]  *pDst points to the output vector    

+ * @param[in]  blockSize number of samples in the vector    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function uses saturating arithmetic.    

+ * Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] are saturated.    

+ */

+

+void arm_offset_q31(

+  q31_t * pSrc,

+  q31_t offset,

+  q31_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

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

+  q31_t in1, in2, in3, in4;

+

+

+  /*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 + offset */

+    /* Add offset and then store the results in the destination buffer. */

+    in1 = *pSrc++;

+    in2 = *pSrc++;

+    in3 = *pSrc++;

+    in4 = *pSrc++;

+

+    *pDst++ = __QADD(in1, offset);

+    *pDst++ = __QADD(in2, offset);

+    *pDst++ = __QADD(in3, offset);

+    *pDst++ = __QADD(in4, offset);

+

+    /* 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)

+  {

+    /* C = A + offset */

+    /* Add offset and then store the result in the destination buffer. */

+    *pDst++ = __QADD(*pSrc++, offset);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+

+  /* Initialize blkCnt with number of samples */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* C = A + offset */

+    /* Add offset and then store the result in the destination buffer. */

+    *pDst++ = (q31_t) clip_q63_to_q31((q63_t) * pSrc++ + offset);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of offset group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c
new file mode 100644
index 000000000..56643816f
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c
@@ -0,0 +1,130 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_offset_q7.c    

+*    

+* Description:	Q7 vector offset.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupMath    

+ */

+

+/**    

+ * @addtogroup offset    

+ * @{    

+ */

+

+/**    

+ * @brief  Adds a constant offset to a Q7 vector.    

+ * @param[in]  *pSrc points to the input vector    

+ * @param[in]  offset is the offset to be added    

+ * @param[out]  *pDst points to the output vector    

+ * @param[in]  blockSize number of samples in the vector    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function uses saturating arithmetic.    

+ * Results outside of the allowable Q7 range [0x80 0x7F] are saturated.    

+ */

+

+void arm_offset_q7(

+  q7_t * pSrc,

+  q7_t offset,

+  q7_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

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

+  q31_t offset_packed;                           /* Offset packed to 32 bit */

+

+

+  /*loop Unrolling */

+  blkCnt = blockSize >> 2u;

+

+  /* Offset is packed to 32 bit in order to use SIMD32 for addition */

+  offset_packed = __PACKq7(offset, offset, offset, offset);

+

+  /* 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 + offset */

+    /* Add offset and then store the results in the destination bufferfor 4 samples at a time. */

+    *__SIMD32(pDst)++ = __QADD8(*__SIMD32(pSrc)++, offset_packed);

+

+    /* 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)

+  {

+    /* C = A + offset */

+    /* Add offset and then store the result in the destination buffer. */

+    *pDst++ = (q7_t) __SSAT(*pSrc++ + offset, 8);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+

+  /* Initialize blkCnt with number of samples */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* C = A + offset */

+    /* Add offset and then store the result in the destination buffer. */

+    *pDst++ = (q7_t) __SSAT((q15_t) * pSrc++ + offset, 8);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of offset group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c
new file mode 100644
index 000000000..b77144a3e
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c
@@ -0,0 +1,161 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_scale_f32.c    

+*    

+* Description:	Multiplies a floating-point vector by a scalar.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**        

+ * @ingroup groupMath        

+ */

+

+/**        

+ * @defgroup scale Vector Scale        

+ *        

+ * Multiply a vector by a scalar value.  For floating-point data, the algorithm used is:        

+ *        

+ * <pre>        

+ *     pDst[n] = pSrc[n] * scale,   0 <= n < blockSize.        

+ * </pre>        

+ *        

+ * In the fixed-point Q7, Q15, and Q31 functions, <code>scale</code> is represented by        

+ * a fractional multiplication <code>scaleFract</code> and an arithmetic shift <code>shift</code>.        

+ * The shift allows the gain of the scaling operation to exceed 1.0.        

+ * The algorithm used with fixed-point data is:        

+ *        

+ * <pre>        

+ *     pDst[n] = (pSrc[n] * scaleFract) << shift,   0 <= n < blockSize.        

+ * </pre>        

+ *        

+ * The overall scale factor applied to the fixed-point data is        

+ * <pre>        

+ *     scale = scaleFract * 2^shift.        

+ * </pre>        

+ */

+

+/**        

+ * @addtogroup scale        

+ * @{        

+ */

+

+/**        

+ * @brief Multiplies a floating-point vector by a scalar.        

+ * @param[in]       *pSrc points to the input vector        

+ * @param[in]       scale scale factor to be applied        

+ * @param[out]      *pDst points to the output vector        

+ * @param[in]       blockSize number of samples in the vector        

+ * @return none.        

+ */

+

+

+void arm_scale_f32(

+  float32_t * pSrc,

+  float32_t scale,

+  float32_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+#ifndef ARM_MATH_CM0

+

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

+  float32_t in1, in2, in3, in4;                  /* temporary variabels */

+

+  /*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 * scale */

+    /* Scale the input and then store the results in the destination buffer. */

+    /* read input samples from source */

+    in1 = *pSrc;

+    in2 = *(pSrc + 1);

+

+    /* multiply with scaling factor */

+    in1 = in1 * scale;

+

+    /* read input sample from source */

+    in3 = *(pSrc + 2);

+

+    /* multiply with scaling factor */

+    in2 = in2 * scale;

+

+    /* read input sample from source */

+    in4 = *(pSrc + 3);

+

+    /* multiply with scaling factor */

+    in3 = in3 * scale;

+    in4 = in4 * scale;

+    /* store the result to destination */

+    *pDst = in1;

+    *(pDst + 1) = in2;

+    *(pDst + 2) = in3;

+    *(pDst + 3) = in4;

+

+    /* update pointers to process next samples */

+    pSrc += 4u;

+    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 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = A * scale */

+    /* Scale the input and then store the result in the destination buffer. */

+    *pDst++ = (*pSrc++) * scale;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**        

+ * @} end of scale group        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c
new file mode 100644
index 000000000..9e79202fe
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c
@@ -0,0 +1,157 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_scale_q15.c    

+*    

+* Description:	Multiplies a Q15 vector by a scalar.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupMath    

+ */

+

+/**    

+ * @addtogroup scale    

+ * @{    

+ */

+

+/**    

+ * @brief Multiplies a Q15 vector by a scalar.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       scaleFract fractional portion of the scale value    

+ * @param[in]       shift number of bits to shift the result by    

+ * @param[out]      *pDst points to the output vector    

+ * @param[in]       blockSize number of samples in the vector    

+ * @return none.    

+ *    

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

+ * \par    

+ * The input data <code>*pSrc</code> and <code>scaleFract</code> are in 1.15 format.    

+ * These are multiplied to yield a 2.30 intermediate result and this is shifted with saturation to 1.15 format.    

+ */

+

+

+void arm_scale_q15(

+  q15_t * pSrc,

+  q15_t scaleFract,

+  int8_t shift,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+  int8_t kShift = 15 - shift;                    /* shift to apply after scaling */

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

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

+  q15_t in1, in2, in3, in4;

+  q31_t inA1, inA2;                              /* Temporary variables */

+  q31_t out1, out2, out3, out4;

+

+

+  /*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)

+  {

+    /* Reading 2 inputs from memory */

+    inA1 = *__SIMD32(pSrc)++;

+    inA2 = *__SIMD32(pSrc)++;

+

+    /* C = A * scale */

+    /* Scale the inputs and then store the 2 results in the destination buffer        

+     * in single cycle by packing the outputs */

+    out1 = (q31_t) ((q15_t) (inA1 >> 16) * scaleFract);

+    out2 = (q31_t) ((q15_t) inA1 * scaleFract);

+    out3 = (q31_t) ((q15_t) (inA2 >> 16) * scaleFract);

+    out4 = (q31_t) ((q15_t) inA2 * scaleFract);

+

+    /* apply shifting */

+    out1 = out1 >> kShift;

+    out2 = out2 >> kShift;

+    out3 = out3 >> kShift;

+    out4 = out4 >> kShift;

+

+    /* saturate the output */

+    in1 = (q15_t) (__SSAT(out1, 16));

+    in2 = (q15_t) (__SSAT(out2, 16));

+    in3 = (q15_t) (__SSAT(out3, 16));

+    in4 = (q15_t) (__SSAT(out4, 16));

+

+    /* store the result to destination */

+    *__SIMD32(pDst)++ = __PKHBT(in2, in1, 16);

+    *__SIMD32(pDst)++ = __PKHBT(in4, in3, 16);

+

+    /* 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)

+  {

+    /* C = A * scale */

+    /* Scale the input and then store the result in the destination buffer. */

+    *pDst++ = (q15_t) (__SSAT(((*pSrc++) * scaleFract) >> kShift, 16));

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+

+  /* Initialize blkCnt with number of samples */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* C = A * scale */

+    /* Scale the input and then store the result in the destination buffer. */

+    *pDst++ = (q15_t) (__SSAT(((q31_t) * pSrc++ * scaleFract) >> kShift, 16));

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of scale group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c
new file mode 100644
index 000000000..8e9b50e72
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c
@@ -0,0 +1,221 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_scale_q31.c    

+*    

+* Description:	Multiplies a Q31 vector by a scalar.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**       

+ * @ingroup groupMath       

+ */

+

+/**       

+ * @addtogroup scale       

+ * @{       

+ */

+

+/**       

+ * @brief Multiplies a Q31 vector by a scalar.       

+ * @param[in]       *pSrc points to the input vector       

+ * @param[in]       scaleFract fractional portion of the scale value       

+ * @param[in]       shift number of bits to shift the result by       

+ * @param[out]      *pDst points to the output vector       

+ * @param[in]       blockSize number of samples in the vector       

+ * @return none.       

+ *       

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

+ * \par       

+ * The input data <code>*pSrc</code> and <code>scaleFract</code> are in 1.31 format.       

+ * These are multiplied to yield a 2.62 intermediate result and this is shifted with saturation to 1.31 format.       

+ */

+

+void arm_scale_q31(

+  q31_t * pSrc,

+  q31_t scaleFract,

+  int8_t shift,

+  q31_t * pDst,

+  uint32_t blockSize)

+{

+  int8_t kShift = shift + 1;                     /* Shift to apply after scaling */

+  int8_t sign = (kShift & 0x80);

+  uint32_t blkCnt;                               /* loop counter */

+  q31_t in, out;

+

+#ifndef ARM_MATH_CM0

+

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

+

+  q31_t in1, in2, in3, in4;                      /* temporary input variables */

+  q31_t out1, out2, out3, out4;                  /* temporary output variabels */

+

+

+  /*loop Unrolling */

+  blkCnt = blockSize >> 2u;

+

+  if(sign == 0u)

+  {

+    /* 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)

+    {

+      /* read four inputs from source */

+      in1 = *pSrc;

+      in2 = *(pSrc + 1);

+      in3 = *(pSrc + 2);

+      in4 = *(pSrc + 3);

+

+      /* multiply input with scaler value */

+      in1 = ((q63_t) in1 * scaleFract) >> 32;

+      in2 = ((q63_t) in2 * scaleFract) >> 32;

+      in3 = ((q63_t) in3 * scaleFract) >> 32;

+      in4 = ((q63_t) in4 * scaleFract) >> 32;

+

+      /* apply shifting */

+      out1 = in1 << kShift;

+      out2 = in2 << kShift;

+

+      /* saturate the results. */

+      if(in1 != (out1 >> kShift))

+        out1 = 0x7FFFFFFF ^ (in1 >> 31);

+

+      if(in2 != (out2 >> kShift))

+        out2 = 0x7FFFFFFF ^ (in2 >> 31);

+

+      out3 = in3 << kShift;

+      out4 = in4 << kShift;

+

+      *pDst = out1;

+      *(pDst + 1) = out2;

+

+      if(in3 != (out3 >> kShift))

+        out3 = 0x7FFFFFFF ^ (in3 >> 31);

+

+      if(in4 != (out4 >> kShift))

+        out4 = 0x7FFFFFFF ^ (in4 >> 31);

+

+      /* Store result destination */

+      *(pDst + 2) = out3;

+      *(pDst + 3) = out4;

+

+      /* Update pointers to process next sampels */

+      pSrc += 4u;

+      pDst += 4u;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+  }

+  else

+  {

+    kShift = -kShift;

+

+    /* 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)

+    {

+      /* read four inputs from source */

+      in1 = *pSrc;

+      in2 = *(pSrc + 1);

+      in3 = *(pSrc + 2);

+      in4 = *(pSrc + 3);

+

+      /* multiply input with scaler value */

+      in1 = ((q63_t) in1 * scaleFract) >> 32;

+      in2 = ((q63_t) in2 * scaleFract) >> 32;

+      in3 = ((q63_t) in3 * scaleFract) >> 32;

+      in4 = ((q63_t) in4 * scaleFract) >> 32;

+

+      /* apply shifting */

+      out1 = in1 >> kShift;

+      out2 = in2 >> kShift;

+

+      out3 = in3 >> kShift;

+      out4 = in4 >> kShift;

+

+      /* Store result destination */

+      *pDst = out1;

+      *(pDst + 1) = out2;

+

+      *(pDst + 2) = out3;

+      *(pDst + 3) = out4;

+

+      /* Update pointers to process next sampels */

+      pSrc += 4u;

+      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 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = A * scale */

+    /* Scale the input and then store the result in the destination buffer. */

+    in = *pSrc++;

+    in = ((q63_t) in * scaleFract) >> 32;

+

+    if(sign == 0)

+    {

+      out = in << kShift;

+      if(in != (out >> kShift))

+        out = 0x7FFFFFFF ^ (in >> 31);

+    }

+    else

+    {

+      out = in >> kShift;

+    }

+

+    *pDst++ = out;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**       

+ * @} end of scale group       

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c
new file mode 100644
index 000000000..76c35e656
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c
@@ -0,0 +1,144 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_scale_q7.c    

+*    

+* Description:	Multiplies a Q7 vector by a scalar.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupMath    

+ */

+

+/**    

+ * @addtogroup scale    

+ * @{    

+ */

+

+/**    

+ * @brief Multiplies a Q7 vector by a scalar.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       scaleFract fractional portion of the scale value    

+ * @param[in]       shift number of bits to shift the result by    

+ * @param[out]      *pDst points to the output vector    

+ * @param[in]       blockSize number of samples in the vector    

+ * @return none.    

+ *    

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

+ * \par    

+ * The input data <code>*pSrc</code> and <code>scaleFract</code> are in 1.7 format.    

+ * These are multiplied to yield a 2.14 intermediate result and this is shifted with saturation to 1.7 format.    

+ */

+

+void arm_scale_q7(

+  q7_t * pSrc,

+  q7_t scaleFract,

+  int8_t shift,

+  q7_t * pDst,

+  uint32_t blockSize)

+{

+  int8_t kShift = 7 - shift;                     /* shift to apply after scaling */

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

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

+  q7_t in1, in2, in3, in4, out1, out2, out3, out4;      /* Temporary variables to store input & output */

+

+

+  /*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)

+  {

+    /* Reading 4 inputs from memory */

+    in1 = *pSrc++;

+    in2 = *pSrc++;

+    in3 = *pSrc++;

+    in4 = *pSrc++;

+

+    /* C = A * scale */

+    /* Scale the inputs and then store the results in the temporary variables. */

+    out1 = (q7_t) (__SSAT(((in1) * scaleFract) >> kShift, 8));

+    out2 = (q7_t) (__SSAT(((in2) * scaleFract) >> kShift, 8));

+    out3 = (q7_t) (__SSAT(((in3) * scaleFract) >> kShift, 8));

+    out4 = (q7_t) (__SSAT(((in4) * scaleFract) >> kShift, 8));

+

+    /* Packing the individual outputs into 32bit and storing in    

+     * destination buffer in single write */

+    *__SIMD32(pDst)++ = __PACKq7(out1, out2, out3, out4);

+

+    /* 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)

+  {

+    /* C = A * scale */

+    /* Scale the input and then store the result in the destination buffer. */

+    *pDst++ = (q7_t) (__SSAT(((*pSrc++) * scaleFract) >> kShift, 8));

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+

+  /* Initialize blkCnt with number of samples */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* C = A * scale */

+    /* Scale the input and then store the result in the destination buffer. */

+    *pDst++ = (q7_t) (__SSAT((((q15_t) * pSrc++ * scaleFract) >> kShift), 8));

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of scale group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c
new file mode 100644
index 000000000..b8301e63d
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c
@@ -0,0 +1,243 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_shift_q15.c    

+*    

+* Description:	Shifts the elements of a Q15 vector by a specified number of bits.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupMath    

+ */

+

+/**    

+ * @addtogroup shift    

+ * @{    

+ */

+

+/**    

+ * @brief  Shifts the elements of a Q15 vector a specified number of bits.    

+ * @param[in]  *pSrc points to the input vector    

+ * @param[in]  shiftBits number of bits to shift.  A positive value shifts left; a negative value shifts right.    

+ * @param[out]  *pDst points to the output vector    

+ * @param[in]  blockSize number of samples in the vector    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function uses saturating arithmetic.    

+ * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.    

+ */

+

+void arm_shift_q15(

+  q15_t * pSrc,

+  int8_t shiftBits,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+  uint8_t sign;                                  /* Sign of shiftBits */

+

+#ifndef ARM_MATH_CM0

+

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

+

+  q15_t in1, in2;                                /* Temporary variables */

+

+

+  /*loop Unrolling */

+  blkCnt = blockSize >> 2u;

+

+  /* Getting the sign of shiftBits */

+  sign = (shiftBits & 0x80);

+

+  /* If the shift value is positive then do right shift else left shift */

+  if(sign == 0u)

+  {

+    /* 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)

+    {

+      /* Read 2 inputs */

+      in1 = *pSrc++;

+      in2 = *pSrc++;

+      /* C = A << shiftBits */

+      /* Shift the inputs and then store the results in the destination buffer. */

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+      *__SIMD32(pDst)++ = __PKHBT(__SSAT((in1 << shiftBits), 16),

+                                  __SSAT((in2 << shiftBits), 16), 16);

+

+#else

+

+      *__SIMD32(pDst)++ = __PKHBT(__SSAT((in2 << shiftBits), 16),

+                                  __SSAT((in1 << shiftBits), 16), 16);

+

+#endif /* #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+      in1 = *pSrc++;

+      in2 = *pSrc++;

+

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+      *__SIMD32(pDst)++ = __PKHBT(__SSAT((in1 << shiftBits), 16),

+                                  __SSAT((in2 << shiftBits), 16), 16);

+

+#else

+

+      *__SIMD32(pDst)++ = __PKHBT(__SSAT((in2 << shiftBits), 16),

+                                  __SSAT((in1 << shiftBits), 16), 16);

+

+#endif /* #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+      /* 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)

+    {

+      /* C = A << shiftBits */

+      /* Shift and then store the results in the destination buffer. */

+      *pDst++ = __SSAT((*pSrc++ << shiftBits), 16);

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+  else

+  {

+    /* 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)

+    {

+      /* Read 2 inputs */

+      in1 = *pSrc++;

+      in2 = *pSrc++;

+

+      /* C = A >> shiftBits */

+      /* Shift the inputs and then store the results in the destination buffer. */

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+      *__SIMD32(pDst)++ = __PKHBT((in1 >> -shiftBits),

+                                  (in2 >> -shiftBits), 16);

+

+#else

+

+      *__SIMD32(pDst)++ = __PKHBT((in2 >> -shiftBits),

+                                  (in1 >> -shiftBits), 16);

+

+#endif /* #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+      in1 = *pSrc++;

+      in2 = *pSrc++;

+

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+      *__SIMD32(pDst)++ = __PKHBT((in1 >> -shiftBits),

+                                  (in2 >> -shiftBits), 16);

+

+#else

+

+      *__SIMD32(pDst)++ = __PKHBT((in2 >> -shiftBits),

+                                  (in1 >> -shiftBits), 16);

+

+#endif /* #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+      /* 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)

+    {

+      /* C = A >> shiftBits */

+      /* Shift the inputs and then store the results in the destination buffer. */

+      *pDst++ = (*pSrc++ >> -shiftBits);

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+

+#else

+

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

+

+  /* Getting the sign of shiftBits */

+  sign = (shiftBits & 0x80);

+

+  /* If the shift value is positive then do right shift else left shift */

+  if(sign == 0u)

+  {

+    /* Initialize blkCnt with number of samples */

+    blkCnt = blockSize;

+

+    while(blkCnt > 0u)

+    {

+      /* C = A << shiftBits */

+      /* Shift and then store the results in the destination buffer. */

+      *pDst++ = __SSAT(((q31_t) * pSrc++ << shiftBits), 16);

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+  else

+  {

+    /* Initialize blkCnt with number of samples */

+    blkCnt = blockSize;

+

+    while(blkCnt > 0u)

+    {

+      /* C = A >> shiftBits */

+      /* Shift the inputs and then store the results in the destination buffer. */

+      *pDst++ = (*pSrc++ >> -shiftBits);

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of shift group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c
new file mode 100644
index 000000000..561225a89
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c
@@ -0,0 +1,195 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_shift_q31.c    

+*    

+* Description:	Shifts the elements of a Q31 vector by a specified number of bits.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**        

+ * @ingroup groupMath        

+ */

+/**        

+ * @defgroup shift Vector Shift        

+ *        

+ * Shifts the elements of a fixed-point vector by a specified number of bits.        

+ * There are separate functions for Q7, Q15, and Q31 data types.        

+ * The underlying algorithm used is:        

+ *        

+ * <pre>        

+ *     pDst[n] = pSrc[n] << shift,   0 <= n < blockSize.        

+ * </pre>        

+ *        

+ * If <code>shift</code> is positive then the elements of the vector are shifted to the left.        

+ * If <code>shift</code> is negative then the elements of the vector are shifted to the right.        

+ */

+

+/**        

+ * @addtogroup shift        

+ * @{        

+ */

+

+/**        

+ * @brief  Shifts the elements of a Q31 vector a specified number of bits.        

+ * @param[in]  *pSrc points to the input vector        

+ * @param[in]  shiftBits number of bits to shift.  A positive value shifts left; a negative value shifts right.        

+ * @param[out]  *pDst points to the output vector        

+ * @param[in]  blockSize number of samples in the vector        

+ * @return none.        

+ *        

+ *        

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

+ * \par        

+ * The function uses saturating arithmetic.        

+ * Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] will be saturated.        

+ */

+

+void arm_shift_q31(

+  q31_t * pSrc,

+  int8_t shiftBits,

+  q31_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+  uint8_t sign = (shiftBits & 0x80);             /* Sign of shiftBits */

+

+#ifndef ARM_MATH_CM0

+

+  q31_t in1, in2, in3, in4;                      /* Temporary input variables */

+  q31_t out1, out2, out3, out4;                  /* Temporary output variables */

+

+  /*loop Unrolling */

+  blkCnt = blockSize >> 2u;

+

+

+  if(sign == 0u)

+  {

+    /* 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  << shiftBits */

+      /* Shift the input and then store the results in the destination buffer. */

+      in1 = *pSrc;

+      in2 = *(pSrc + 1);

+      out1 = in1 << shiftBits;

+      in3 = *(pSrc + 2);

+      out2 = in2 << shiftBits;

+      in4 = *(pSrc + 3);

+      if(in1 != (out1 >> shiftBits))

+        out1 = 0x7FFFFFFF ^ (in1 >> 31);

+

+      if(in2 != (out2 >> shiftBits))

+        out2 = 0x7FFFFFFF ^ (in2 >> 31);

+

+      *pDst = out1;

+      out3 = in3 << shiftBits;

+      *(pDst + 1) = out2;

+      out4 = in4 << shiftBits;

+

+      if(in3 != (out3 >> shiftBits))

+        out3 = 0x7FFFFFFF ^ (in3 >> 31);

+

+      if(in4 != (out4 >> shiftBits))

+        out4 = 0x7FFFFFFF ^ (in4 >> 31);

+

+      *(pDst + 2) = out3;

+      *(pDst + 3) = out4;

+

+      /* Update destination pointer to process next sampels */

+      pSrc += 4u;

+      pDst += 4u;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+  else

+  {

+

+    /* 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 >>  shiftBits */

+      /* Shift the input and then store the results in the destination buffer. */

+      in1 = *pSrc;

+      in2 = *(pSrc + 1);

+      in3 = *(pSrc + 2);

+      in4 = *(pSrc + 3);

+

+      *pDst = (in1 >> -shiftBits);

+      *(pDst + 1) = (in2 >> -shiftBits);

+      *(pDst + 2) = (in3 >> -shiftBits);

+      *(pDst + 3) = (in4 >> -shiftBits);

+

+

+      pSrc += 4u;

+      pDst += 4u;

+

+      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 */

+

+

+  while(blkCnt > 0u)

+  {

+    /* C = A (>> or <<) shiftBits */

+    /* Shift the input and then store the result in the destination buffer. */

+    *pDst++ = (sign == 0u) ? clip_q63_to_q31((q63_t) * pSrc++ << shiftBits) :

+      (*pSrc++ >> -shiftBits);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+

+}

+

+/**        

+ * @} end of shift group        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c
new file mode 100644
index 000000000..6dfd25f65
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c
@@ -0,0 +1,215 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_shift_q7.c    

+*    

+* Description:	Processing function for the Q7 Shifting    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**        

+ * @ingroup groupMath        

+ */

+

+/**        

+ * @addtogroup shift        

+ * @{        

+ */

+

+

+/**        

+ * @brief  Shifts the elements of a Q7 vector a specified number of bits.        

+ * @param[in]  *pSrc points to the input vector        

+ * @param[in]  shiftBits number of bits to shift.  A positive value shifts left; a negative value shifts right.        

+ * @param[out]  *pDst points to the output vector        

+ * @param[in]  blockSize number of samples in the vector        

+ * @return none.        

+ *    

+ * \par Conditions for optimum performance    

+ *  Input and output buffers should be aligned by 32-bit    

+ *    

+ *        

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

+ * \par        

+ * The function uses saturating arithmetic.        

+ * Results outside of the allowable Q7 range [0x8 0x7F] will be saturated.        

+ */

+

+void arm_shift_q7(

+  q7_t * pSrc,

+  int8_t shiftBits,

+  q7_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+  uint8_t sign;                                  /* Sign of shiftBits */

+

+#ifndef ARM_MATH_CM0

+

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

+  q7_t in1;                                      /* Input value1 */

+  q7_t in2;                                      /* Input value2 */

+  q7_t in3;                                      /* Input value3 */

+  q7_t in4;                                      /* Input value4 */

+

+

+  /*loop Unrolling */

+  blkCnt = blockSize >> 2u;

+

+  /* Getting the sign of shiftBits */

+  sign = (shiftBits & 0x80);

+

+  /* If the shift value is positive then do right shift else left shift */

+  if(sign == 0u)

+  {

+    /* 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 << shiftBits */

+      /* Read 4 inputs */

+      in1 = *pSrc;

+      in2 = *(pSrc + 1);

+      in3 = *(pSrc + 2);

+      in4 = *(pSrc + 3);

+

+      /* Store the Shifted result in the destination buffer in single cycle by packing the outputs */

+      *__SIMD32(pDst)++ = __PACKq7(__SSAT((in1 << shiftBits), 8),

+                                   __SSAT((in2 << shiftBits), 8),

+                                   __SSAT((in3 << shiftBits), 8),

+                                   __SSAT((in4 << shiftBits), 8));

+      /* Update source pointer to process next sampels */

+      pSrc += 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;

+

+    while(blkCnt > 0u)

+    {

+      /* C = A << shiftBits */

+      /* Shift the input and then store the result in the destination buffer. */

+      *pDst++ = (q7_t) __SSAT((*pSrc++ << shiftBits), 8);

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+  else

+  {

+    shiftBits = -shiftBits;

+    /* 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 >> shiftBits */

+      /* Read 4 inputs */

+      in1 = *pSrc;

+      in2 = *(pSrc + 1);

+      in3 = *(pSrc + 2);

+      in4 = *(pSrc + 3);

+

+      /* Store the Shifted result in the destination buffer in single cycle by packing the outputs */

+      *__SIMD32(pDst)++ = __PACKq7((in1 >> shiftBits), (in2 >> shiftBits),

+                                   (in3 >> shiftBits), (in4 >> shiftBits));

+

+

+      pSrc += 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;

+

+    while(blkCnt > 0u)

+    {

+      /* C = A >> shiftBits */

+      /* Shift the input and then store the result in the destination buffer. */

+      in1 = *pSrc++;

+      *pDst++ = (in1 >> shiftBits);

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+

+#else

+

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

+

+  /* Getting the sign of shiftBits */

+  sign = (shiftBits & 0x80);

+

+  /* If the shift value is positive then do right shift else left shift */

+  if(sign == 0u)

+  {

+    /* Initialize blkCnt with number of samples */

+    blkCnt = blockSize;

+

+    while(blkCnt > 0u)

+    {

+      /* C = A << shiftBits */

+      /* Shift the input and then store the result in the destination buffer. */

+      *pDst++ = (q7_t) __SSAT(((q15_t) * pSrc++ << shiftBits), 8);

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+  else

+  {

+    /* Initialize blkCnt with number of samples */

+    blkCnt = blockSize;

+

+    while(blkCnt > 0u)

+    {

+      /* C = A >> shiftBits */

+      /* Shift the input and then store the result in the destination buffer. */

+      *pDst++ = (*pSrc++ >> -shiftBits);

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+}

+

+/**        

+ * @} end of shift group        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c
new file mode 100644
index 000000000..4a660db49
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c
@@ -0,0 +1,145 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_sub_f32.c    

+*    

+* Description:	Floating-point vector subtraction.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**        

+ * @ingroup groupMath        

+ */

+

+/**        

+ * @defgroup BasicSub Vector Subtraction        

+ *        

+ * Element-by-element subtraction of two vectors.        

+ *        

+ * <pre>        

+ *     pDst[n] = pSrcA[n] - pSrcB[n],   0 <= n < blockSize.        

+ * </pre>        

+ *        

+ * There are separate functions for floating-point, Q7, Q15, and Q31 data types.        

+ */

+

+/**        

+ * @addtogroup BasicSub        

+ * @{        

+ */

+

+

+/**        

+ * @brief Floating-point vector subtraction.        

+ * @param[in]       *pSrcA points to the first input vector        

+ * @param[in]       *pSrcB points to the second input vector        

+ * @param[out]      *pDst points to the output vector        

+ * @param[in]       blockSize number of samples in each vector        

+ * @return none.        

+ */

+

+void arm_sub_f32(

+  float32_t * pSrcA,

+  float32_t * pSrcB,

+  float32_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

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

+  float32_t inA1, inA2, inA3, inA4;              /* temporary variables */

+  float32_t inB1, inB2, inB3, inB4;              /* 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 - B */

+    /* Subtract and then store the results in the destination buffer. */

+    /* Read 4 input samples from sourceA and sourceB */

+    inA1 = *pSrcA;

+    inB1 = *pSrcB;

+    inA2 = *(pSrcA + 1);

+    inB2 = *(pSrcB + 1);

+    inA3 = *(pSrcA + 2);

+    inB3 = *(pSrcB + 2);

+    inA4 = *(pSrcA + 3);

+    inB4 = *(pSrcB + 3);

+

+    /* dst = srcA - srcB */

+    /* subtract and store the result */

+    *pDst = inA1 - inB1;

+    *(pDst + 1) = inA2 - inB2;

+    *(pDst + 2) = inA3 - inB3;

+    *(pDst + 3) = inA4 - inB4;

+

+

+    /* Update pointers to process next sampels */

+    pSrcA += 4u;

+    pSrcB += 4u;

+    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 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = A - B */

+    /* Subtract and then store the results in the destination buffer. */

+    *pDst++ = (*pSrcA++) - (*pSrcB++);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**        

+ * @} end of BasicSub group        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c
new file mode 100644
index 000000000..d8cc12220
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c
@@ -0,0 +1,135 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_sub_q15.c    

+*    

+* Description:	Q15 vector subtraction.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupMath    

+ */

+

+/**    

+ * @addtogroup BasicSub    

+ * @{    

+ */

+

+/**    

+ * @brief Q15 vector subtraction.    

+ * @param[in]       *pSrcA points to the first input vector    

+ * @param[in]       *pSrcB points to the second input vector    

+ * @param[out]      *pDst points to the output vector    

+ * @param[in]       blockSize number of samples in each vector    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function uses saturating arithmetic.    

+ * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.    

+ */

+

+void arm_sub_q15(

+  q15_t * pSrcA,

+  q15_t * pSrcB,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+

+

+#ifndef ARM_MATH_CM0

+

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

+  q31_t inA1, inA2;

+  q31_t inB1, inB2;

+

+  /*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 - B */

+    /* Subtract and then store the results in the destination buffer two samples at a time. */

+    inA1 = *__SIMD32(pSrcA)++;

+    inA2 = *__SIMD32(pSrcA)++;

+    inB1 = *__SIMD32(pSrcB)++;

+    inB2 = *__SIMD32(pSrcB)++;

+

+    *__SIMD32(pDst)++ = __QSUB16(inA1, inB1);

+    *__SIMD32(pDst)++ = __QSUB16(inA2, inB2);

+

+    /* 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)

+  {

+    /* C = A - B */

+    /* Subtract and then store the result in the destination buffer. */

+    *pDst++ = (q15_t) __QSUB16(*pSrcA++, *pSrcB++);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+

+  /* Initialize blkCnt with number of samples */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* C = A - B */

+    /* Subtract and then store the result in the destination buffer. */

+    *pDst++ = (q15_t) __SSAT(((q31_t) * pSrcA++ - *pSrcB++), 16);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+

+}

+

+/**    

+ * @} end of BasicSub group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c
new file mode 100644
index 000000000..34642f32e
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c
@@ -0,0 +1,141 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_sub_q31.c    

+*    

+* Description:	Q31 vector subtraction.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupMath    

+ */

+

+/**    

+ * @addtogroup BasicSub    

+ * @{    

+ */

+

+/**    

+ * @brief Q31 vector subtraction.    

+ * @param[in]       *pSrcA points to the first input vector    

+ * @param[in]       *pSrcB points to the second input vector    

+ * @param[out]      *pDst points to the output vector    

+ * @param[in]       blockSize number of samples in each vector    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function uses saturating arithmetic.    

+ * Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] will be saturated.    

+ */

+

+void arm_sub_q31(

+  q31_t * pSrcA,

+  q31_t * pSrcB,

+  q31_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+

+

+#ifndef ARM_MATH_CM0

+

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

+  q31_t inA1, inA2, inA3, inA4;

+  q31_t inB1, inB2, inB3, inB4;

+

+  /*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 - B */

+    /* Subtract and then store the results in the destination buffer. */

+    inA1 = *pSrcA++;

+    inA2 = *pSrcA++;

+    inB1 = *pSrcB++;

+    inB2 = *pSrcB++;

+

+    inA3 = *pSrcA++;

+    inA4 = *pSrcA++;

+    inB3 = *pSrcB++;

+    inB4 = *pSrcB++;

+

+    *pDst++ = __QSUB(inA1, inB1);

+    *pDst++ = __QSUB(inA2, inB2);

+    *pDst++ = __QSUB(inA3, inB3);

+    *pDst++ = __QSUB(inA4, inB4);

+

+    /* 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)

+  {

+    /* C = A - B */

+    /* Subtract and then store the result in the destination buffer. */

+    *pDst++ = __QSUB(*pSrcA++, *pSrcB++);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+

+  /* Initialize blkCnt with number of samples */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* C = A - B */

+    /* Subtract and then store the result in the destination buffer. */

+    *pDst++ = (q31_t) clip_q63_to_q31((q63_t) * pSrcA++ - *pSrcB++);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of BasicSub group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c
new file mode 100644
index 000000000..adbc7d0c0
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c
@@ -0,0 +1,126 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_sub_q7.c    

+*    

+* Description:	Q7 vector subtraction.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupMath    

+ */

+

+/**    

+ * @addtogroup BasicSub    

+ * @{    

+ */

+

+/**    

+ * @brief Q7 vector subtraction.    

+ * @param[in]       *pSrcA points to the first input vector    

+ * @param[in]       *pSrcB points to the second input vector    

+ * @param[out]      *pDst points to the output vector    

+ * @param[in]       blockSize number of samples in each vector    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function uses saturating arithmetic.    

+ * Results outside of the allowable Q7 range [0x80 0x7F] will be saturated.    

+ */

+

+void arm_sub_q7(

+  q7_t * pSrcA,

+  q7_t * pSrcB,

+  q7_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+

+#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)

+  {

+    /* C = A - B */

+    /* Subtract and then store the results in the destination buffer 4 samples at a time. */

+    *__SIMD32(pDst)++ = __QSUB8(*__SIMD32(pSrcA)++, *__SIMD32(pSrcB)++);

+

+    /* 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)

+  {

+    /* C = A - B */

+    /* Subtract and then store the result in the destination buffer. */

+    *pDst++ = __SSAT(*pSrcA++ - *pSrcB++, 8);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+

+  /* Initialize blkCnt with number of samples */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* C = A - B */

+    /* Subtract and then store the result in the destination buffer. */

+    *pDst++ = (q7_t) __SSAT((q15_t) * pSrcA++ - *pSrcB++, 8);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+

+}

+

+/**    

+ * @} end of BasicSub group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/CommonTables/arm_common_tables.c b/apps/mathlib/CMSIS/DSP_Lib/Source/CommonTables/arm_common_tables.c
new file mode 100644
index 000000000..bf7ab3bed
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/CommonTables/arm_common_tables.c
@@ -0,0 +1,4689 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_common_tables.c    

+*    

+* Description:	This file has common tables like fft twiddle factors, Bitreverse, reciprocal etc which are used across different functions    

+*    

+* 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"

+#include "arm_common_tables.h"

+

+/**    

+ * @ingroup groupTransforms    

+ */

+

+/**    

+ * @addtogroup CFFT_CIFFT Complex FFT Tables  

+ * @{    

+ */

+

+/**    

+* \par    

+* Pseudo code for Generation of Bit reversal Table is    

+* \par    

+* <pre>for(l=1;l <= N/4;l++)    

+* {    

+*   for(i=0;i<logN2;i++)    

+*   {     

+*     a[i]=l&(1<<i);    

+*   }    

+*   for(j=0; j<logN2; j++)    

+*   {    

+*     if (a[j]!=0)    

+*     y[l]+=(1<<((logN2-1)-j));    

+*   }    

+*   y[l] = y[l] >> 1;    

+*  } </pre>    

+* \par    

+* where N = 4096	logN2 = 12   

+* \par    

+* N is the maximum FFT Size supported    

+*/

+

+/*    

+* @brief  Table for bit reversal process    

+*/

+const uint16_t armBitRevTable[1024] = {

+  0x400, 0x200, 0x600, 0x100, 0x500, 0x300, 0x700,

+  0x80, 0x480, 0x280, 0x680, 0x180, 0x580, 0x380,

+  0x780, 0x40, 0x440, 0x240, 0x640, 0x140, 0x540,

+  0x340, 0x740, 0xc0, 0x4c0, 0x2c0, 0x6c0, 0x1c0,

+  0x5c0, 0x3c0, 0x7c0, 0x20, 0x420, 0x220, 0x620,

+  0x120, 0x520, 0x320, 0x720, 0xa0, 0x4a0, 0x2a0,

+  0x6a0, 0x1a0, 0x5a0, 0x3a0, 0x7a0, 0x60, 0x460,

+  0x260, 0x660, 0x160, 0x560, 0x360, 0x760, 0xe0,

+  0x4e0, 0x2e0, 0x6e0, 0x1e0, 0x5e0, 0x3e0, 0x7e0,

+  0x10, 0x410, 0x210, 0x610, 0x110, 0x510, 0x310,

+  0x710, 0x90, 0x490, 0x290, 0x690, 0x190, 0x590,

+  0x390, 0x790, 0x50, 0x450, 0x250, 0x650, 0x150,

+  0x550, 0x350, 0x750, 0xd0, 0x4d0, 0x2d0, 0x6d0,

+  0x1d0, 0x5d0, 0x3d0, 0x7d0, 0x30, 0x430, 0x230,

+  0x630, 0x130, 0x530, 0x330, 0x730, 0xb0, 0x4b0,

+  0x2b0, 0x6b0, 0x1b0, 0x5b0, 0x3b0, 0x7b0, 0x70,

+  0x470, 0x270, 0x670, 0x170, 0x570, 0x370, 0x770,

+  0xf0, 0x4f0, 0x2f0, 0x6f0, 0x1f0, 0x5f0, 0x3f0,

+  0x7f0, 0x8, 0x408, 0x208, 0x608, 0x108, 0x508,

+  0x308, 0x708, 0x88, 0x488, 0x288, 0x688, 0x188,

+  0x588, 0x388, 0x788, 0x48, 0x448, 0x248, 0x648,

+  0x148, 0x548, 0x348, 0x748, 0xc8, 0x4c8, 0x2c8,

+  0x6c8, 0x1c8, 0x5c8, 0x3c8, 0x7c8, 0x28, 0x428,

+  0x228, 0x628, 0x128, 0x528, 0x328, 0x728, 0xa8,

+  0x4a8, 0x2a8, 0x6a8, 0x1a8, 0x5a8, 0x3a8, 0x7a8,

+  0x68, 0x468, 0x268, 0x668, 0x168, 0x568, 0x368,

+  0x768, 0xe8, 0x4e8, 0x2e8, 0x6e8, 0x1e8, 0x5e8,

+  0x3e8, 0x7e8, 0x18, 0x418, 0x218, 0x618, 0x118,

+  0x518, 0x318, 0x718, 0x98, 0x498, 0x298, 0x698,

+  0x198, 0x598, 0x398, 0x798, 0x58, 0x458, 0x258,

+  0x658, 0x158, 0x558, 0x358, 0x758, 0xd8, 0x4d8,

+  0x2d8, 0x6d8, 0x1d8, 0x5d8, 0x3d8, 0x7d8, 0x38,

+  0x438, 0x238, 0x638, 0x138, 0x538, 0x338, 0x738,

+  0xb8, 0x4b8, 0x2b8, 0x6b8, 0x1b8, 0x5b8, 0x3b8,

+  0x7b8, 0x78, 0x478, 0x278, 0x678, 0x178, 0x578,

+  0x378, 0x778, 0xf8, 0x4f8, 0x2f8, 0x6f8, 0x1f8,

+  0x5f8, 0x3f8, 0x7f8, 0x4, 0x404, 0x204, 0x604,

+  0x104, 0x504, 0x304, 0x704, 0x84, 0x484, 0x284,

+  0x684, 0x184, 0x584, 0x384, 0x784, 0x44, 0x444,

+  0x244, 0x644, 0x144, 0x544, 0x344, 0x744, 0xc4,

+  0x4c4, 0x2c4, 0x6c4, 0x1c4, 0x5c4, 0x3c4, 0x7c4,

+  0x24, 0x424, 0x224, 0x624, 0x124, 0x524, 0x324,

+  0x724, 0xa4, 0x4a4, 0x2a4, 0x6a4, 0x1a4, 0x5a4,

+  0x3a4, 0x7a4, 0x64, 0x464, 0x264, 0x664, 0x164,

+  0x564, 0x364, 0x764, 0xe4, 0x4e4, 0x2e4, 0x6e4,

+  0x1e4, 0x5e4, 0x3e4, 0x7e4, 0x14, 0x414, 0x214,

+  0x614, 0x114, 0x514, 0x314, 0x714, 0x94, 0x494,

+  0x294, 0x694, 0x194, 0x594, 0x394, 0x794, 0x54,

+  0x454, 0x254, 0x654, 0x154, 0x554, 0x354, 0x754,

+  0xd4, 0x4d4, 0x2d4, 0x6d4, 0x1d4, 0x5d4, 0x3d4,

+  0x7d4, 0x34, 0x434, 0x234, 0x634, 0x134, 0x534,

+  0x334, 0x734, 0xb4, 0x4b4, 0x2b4, 0x6b4, 0x1b4,

+  0x5b4, 0x3b4, 0x7b4, 0x74, 0x474, 0x274, 0x674,

+  0x174, 0x574, 0x374, 0x774, 0xf4, 0x4f4, 0x2f4,

+  0x6f4, 0x1f4, 0x5f4, 0x3f4, 0x7f4, 0xc, 0x40c,

+  0x20c, 0x60c, 0x10c, 0x50c, 0x30c, 0x70c, 0x8c,

+  0x48c, 0x28c, 0x68c, 0x18c, 0x58c, 0x38c, 0x78c,

+  0x4c, 0x44c, 0x24c, 0x64c, 0x14c, 0x54c, 0x34c,

+  0x74c, 0xcc, 0x4cc, 0x2cc, 0x6cc, 0x1cc, 0x5cc,

+  0x3cc, 0x7cc, 0x2c, 0x42c, 0x22c, 0x62c, 0x12c,

+  0x52c, 0x32c, 0x72c, 0xac, 0x4ac, 0x2ac, 0x6ac,

+  0x1ac, 0x5ac, 0x3ac, 0x7ac, 0x6c, 0x46c, 0x26c,

+  0x66c, 0x16c, 0x56c, 0x36c, 0x76c, 0xec, 0x4ec,

+  0x2ec, 0x6ec, 0x1ec, 0x5ec, 0x3ec, 0x7ec, 0x1c,

+  0x41c, 0x21c, 0x61c, 0x11c, 0x51c, 0x31c, 0x71c,

+  0x9c, 0x49c, 0x29c, 0x69c, 0x19c, 0x59c, 0x39c,

+  0x79c, 0x5c, 0x45c, 0x25c, 0x65c, 0x15c, 0x55c,

+  0x35c, 0x75c, 0xdc, 0x4dc, 0x2dc, 0x6dc, 0x1dc,

+  0x5dc, 0x3dc, 0x7dc, 0x3c, 0x43c, 0x23c, 0x63c,

+  0x13c, 0x53c, 0x33c, 0x73c, 0xbc, 0x4bc, 0x2bc,

+  0x6bc, 0x1bc, 0x5bc, 0x3bc, 0x7bc, 0x7c, 0x47c,

+  0x27c, 0x67c, 0x17c, 0x57c, 0x37c, 0x77c, 0xfc,

+  0x4fc, 0x2fc, 0x6fc, 0x1fc, 0x5fc, 0x3fc, 0x7fc,

+  0x2, 0x402, 0x202, 0x602, 0x102, 0x502, 0x302,

+  0x702, 0x82, 0x482, 0x282, 0x682, 0x182, 0x582,

+  0x382, 0x782, 0x42, 0x442, 0x242, 0x642, 0x142,

+  0x542, 0x342, 0x742, 0xc2, 0x4c2, 0x2c2, 0x6c2,

+  0x1c2, 0x5c2, 0x3c2, 0x7c2, 0x22, 0x422, 0x222,

+  0x622, 0x122, 0x522, 0x322, 0x722, 0xa2, 0x4a2,

+  0x2a2, 0x6a2, 0x1a2, 0x5a2, 0x3a2, 0x7a2, 0x62,

+  0x462, 0x262, 0x662, 0x162, 0x562, 0x362, 0x762,

+  0xe2, 0x4e2, 0x2e2, 0x6e2, 0x1e2, 0x5e2, 0x3e2,

+  0x7e2, 0x12, 0x412, 0x212, 0x612, 0x112, 0x512,

+  0x312, 0x712, 0x92, 0x492, 0x292, 0x692, 0x192,

+  0x592, 0x392, 0x792, 0x52, 0x452, 0x252, 0x652,

+  0x152, 0x552, 0x352, 0x752, 0xd2, 0x4d2, 0x2d2,

+  0x6d2, 0x1d2, 0x5d2, 0x3d2, 0x7d2, 0x32, 0x432,

+  0x232, 0x632, 0x132, 0x532, 0x332, 0x732, 0xb2,

+  0x4b2, 0x2b2, 0x6b2, 0x1b2, 0x5b2, 0x3b2, 0x7b2,

+  0x72, 0x472, 0x272, 0x672, 0x172, 0x572, 0x372,

+  0x772, 0xf2, 0x4f2, 0x2f2, 0x6f2, 0x1f2, 0x5f2,

+  0x3f2, 0x7f2, 0xa, 0x40a, 0x20a, 0x60a, 0x10a,

+  0x50a, 0x30a, 0x70a, 0x8a, 0x48a, 0x28a, 0x68a,

+  0x18a, 0x58a, 0x38a, 0x78a, 0x4a, 0x44a, 0x24a,

+  0x64a, 0x14a, 0x54a, 0x34a, 0x74a, 0xca, 0x4ca,

+  0x2ca, 0x6ca, 0x1ca, 0x5ca, 0x3ca, 0x7ca, 0x2a,

+  0x42a, 0x22a, 0x62a, 0x12a, 0x52a, 0x32a, 0x72a,

+  0xaa, 0x4aa, 0x2aa, 0x6aa, 0x1aa, 0x5aa, 0x3aa,

+  0x7aa, 0x6a, 0x46a, 0x26a, 0x66a, 0x16a, 0x56a,

+  0x36a, 0x76a, 0xea, 0x4ea, 0x2ea, 0x6ea, 0x1ea,

+  0x5ea, 0x3ea, 0x7ea, 0x1a, 0x41a, 0x21a, 0x61a,

+  0x11a, 0x51a, 0x31a, 0x71a, 0x9a, 0x49a, 0x29a,

+  0x69a, 0x19a, 0x59a, 0x39a, 0x79a, 0x5a, 0x45a,

+  0x25a, 0x65a, 0x15a, 0x55a, 0x35a, 0x75a, 0xda,

+  0x4da, 0x2da, 0x6da, 0x1da, 0x5da, 0x3da, 0x7da,

+  0x3a, 0x43a, 0x23a, 0x63a, 0x13a, 0x53a, 0x33a,

+  0x73a, 0xba, 0x4ba, 0x2ba, 0x6ba, 0x1ba, 0x5ba,

+  0x3ba, 0x7ba, 0x7a, 0x47a, 0x27a, 0x67a, 0x17a,

+  0x57a, 0x37a, 0x77a, 0xfa, 0x4fa, 0x2fa, 0x6fa,

+  0x1fa, 0x5fa, 0x3fa, 0x7fa, 0x6, 0x406, 0x206,

+  0x606, 0x106, 0x506, 0x306, 0x706, 0x86, 0x486,

+  0x286, 0x686, 0x186, 0x586, 0x386, 0x786, 0x46,

+  0x446, 0x246, 0x646, 0x146, 0x546, 0x346, 0x746,

+  0xc6, 0x4c6, 0x2c6, 0x6c6, 0x1c6, 0x5c6, 0x3c6,

+  0x7c6, 0x26, 0x426, 0x226, 0x626, 0x126, 0x526,

+  0x326, 0x726, 0xa6, 0x4a6, 0x2a6, 0x6a6, 0x1a6,

+  0x5a6, 0x3a6, 0x7a6, 0x66, 0x466, 0x266, 0x666,

+  0x166, 0x566, 0x366, 0x766, 0xe6, 0x4e6, 0x2e6,

+  0x6e6, 0x1e6, 0x5e6, 0x3e6, 0x7e6, 0x16, 0x416,

+  0x216, 0x616, 0x116, 0x516, 0x316, 0x716, 0x96,

+  0x496, 0x296, 0x696, 0x196, 0x596, 0x396, 0x796,

+  0x56, 0x456, 0x256, 0x656, 0x156, 0x556, 0x356,

+  0x756, 0xd6, 0x4d6, 0x2d6, 0x6d6, 0x1d6, 0x5d6,

+  0x3d6, 0x7d6, 0x36, 0x436, 0x236, 0x636, 0x136,

+  0x536, 0x336, 0x736, 0xb6, 0x4b6, 0x2b6, 0x6b6,

+  0x1b6, 0x5b6, 0x3b6, 0x7b6, 0x76, 0x476, 0x276,

+  0x676, 0x176, 0x576, 0x376, 0x776, 0xf6, 0x4f6,

+  0x2f6, 0x6f6, 0x1f6, 0x5f6, 0x3f6, 0x7f6, 0xe,

+  0x40e, 0x20e, 0x60e, 0x10e, 0x50e, 0x30e, 0x70e,

+  0x8e, 0x48e, 0x28e, 0x68e, 0x18e, 0x58e, 0x38e,

+  0x78e, 0x4e, 0x44e, 0x24e, 0x64e, 0x14e, 0x54e,

+  0x34e, 0x74e, 0xce, 0x4ce, 0x2ce, 0x6ce, 0x1ce,

+  0x5ce, 0x3ce, 0x7ce, 0x2e, 0x42e, 0x22e, 0x62e,

+  0x12e, 0x52e, 0x32e, 0x72e, 0xae, 0x4ae, 0x2ae,

+  0x6ae, 0x1ae, 0x5ae, 0x3ae, 0x7ae, 0x6e, 0x46e,

+  0x26e, 0x66e, 0x16e, 0x56e, 0x36e, 0x76e, 0xee,

+  0x4ee, 0x2ee, 0x6ee, 0x1ee, 0x5ee, 0x3ee, 0x7ee,

+  0x1e, 0x41e, 0x21e, 0x61e, 0x11e, 0x51e, 0x31e,

+  0x71e, 0x9e, 0x49e, 0x29e, 0x69e, 0x19e, 0x59e,

+  0x39e, 0x79e, 0x5e, 0x45e, 0x25e, 0x65e, 0x15e,

+  0x55e, 0x35e, 0x75e, 0xde, 0x4de, 0x2de, 0x6de,

+  0x1de, 0x5de, 0x3de, 0x7de, 0x3e, 0x43e, 0x23e,

+  0x63e, 0x13e, 0x53e, 0x33e, 0x73e, 0xbe, 0x4be,

+  0x2be, 0x6be, 0x1be, 0x5be, 0x3be, 0x7be, 0x7e,

+  0x47e, 0x27e, 0x67e, 0x17e, 0x57e, 0x37e, 0x77e,

+  0xfe, 0x4fe, 0x2fe, 0x6fe, 0x1fe, 0x5fe, 0x3fe,

+  0x7fe, 0x1

+};

+

+

+/*    

+* @brief  Floating-point Twiddle factors Table Generation    

+*/

+

+

+/**    

+* \par    

+* Example code for Floating-point Twiddle factors Generation:    

+* \par    

+* <pre>for(i = 0; i< 3N/4; i++)    

+* {    

+*	twiddleCoef[2*i]= cos(i * 2*PI/(float)N);    

+*	twiddleCoef[2*i+1]= sin(i * 2*PI/(float)N);    

+* } </pre>    

+* \par    

+* where N = 4096	and PI = 3.14159265358979    

+* \par    

+* Cos and Sin values are in interleaved fashion    

+*     

+*/

+const float32_t twiddleCoef[6144] = {

+  1.000000000000000000f, 0.000000000000000000f, 0.999998823451701880f,

+    0.001533980186284766f, 0.999995293809576190f, 0.003067956762965976f,

+  0.999989411081928400f, 0.004601926120448571f, 0.999981175282601110f,

+    0.006135884649154475f, 0.999970586430974140f, 0.007669828739531097f,

+  0.999957644551963900f, 0.009203754782059819f, 0.999942349676023910f,

+    0.010737659167264491f, 0.999924701839144500f, 0.012271538285719925f,

+  0.999904701082852900f, 0.013805388528060391f, 0.999882347454212560f,

+    0.015339206284988100f, 0.999857641005823860f, 0.016872987947281710f,

+  0.999830581795823400f, 0.018406729905804820f, 0.999801169887884260f,

+    0.019940428551514441f, 0.999769405351215280f, 0.021474080275469508f,

+  0.999735288260561680f, 0.023007681468839369f, 0.999698818696204250f,

+    0.024541228522912288f, 0.999659996743959220f, 0.026074717829103901f,

+  0.999618822495178640f, 0.027608145778965740f, 0.999575296046749220f,

+    0.029141508764193722f, 0.999529417501093140f, 0.030674803176636626f,

+  0.999481186966166950f, 0.032208025408304586f, 0.999430604555461730f,

+    0.033741171851377580f, 0.999377670388002850f, 0.035274238898213947f,

+  0.999322384588349540f, 0.036807222941358832f, 0.999264747286594420f,

+    0.038340120373552694f, 0.999204758618363890f, 0.039872927587739811f,

+  0.999142418724816910f, 0.041405640977076739f, 0.999077727752645360f,

+    0.042938256934940820f, 0.999010685854073380f, 0.044470771854938668f,

+  0.998941293186856870f, 0.046003182130914623f, 0.998869549914283560f,

+    0.047535484156959303f, 0.998795456205172410f, 0.049067674327418015f,

+  0.998719012233872940f, 0.050599749036899282f, 0.998640218180265270f,

+    0.052131704680283324f, 0.998559074229759310f, 0.053663537652730520f,

+  0.998475580573294770f, 0.055195244349689934f, 0.998389737407340160f,

+    0.056726821166907748f, 0.998301544933892890f, 0.058258264500435752f,

+  0.998211003360478190f, 0.059789570746639868f, 0.998118112900149180f,

+    0.061320736302208578f, 0.998022873771486240f, 0.062851757564161406f,

+  0.997925286198596000f, 0.064382630929857465f, 0.997825350411111640f,

+    0.065913352797003805f, 0.997723066644191640f, 0.067443919563664051f,

+  0.997618435138519550f, 0.068974327628266746f, 0.997511456140303450f,

+    0.070504573389613856f, 0.997402129901275300f, 0.072034653246889332f,

+  0.997290456678690210f, 0.073564563599667426f, 0.997176436735326190f,

+    0.075094300847921305f, 0.997060070339482960f, 0.076623861392031492f,

+  0.996941357764982160f, 0.078153241632794232f, 0.996820299291165670f,

+    0.079682437971430126f, 0.996696895202896060f, 0.081211446809592441f,

+  0.996571145790554840f, 0.082740264549375692f, 0.996443051350042630f,

+    0.084268887593324071f, 0.996312612182778000f, 0.085797312344439894f,

+  0.996179828595696980f, 0.087325535206192059f, 0.996044700901251970f,

+    0.088853552582524600f, 0.995907229417411720f, 0.090381360877864983f,

+  0.995767414467659820f, 0.091908956497132724f, 0.995625256380994310f,

+    0.093436335845747787f, 0.995480755491926940f, 0.094963495329638992f,

+  0.995333912140482280f, 0.096490431355252593f, 0.995184726672196930f,

+    0.098017140329560604f, 0.995033199438118630f, 0.099543618660069319f,

+  0.994879330794805620f, 0.101069862754827820f, 0.994723121104325700f,

+    0.102595869022436280f, 0.994564570734255420f, 0.104121633872054590f,

+  0.994403680057679100f, 0.105647153713410620f, 0.994240449453187900f,

+    0.107172424956808840f, 0.994074879304879370f, 0.108697444013138720f,

+  0.993906970002356060f, 0.110222207293883060f, 0.993736721940724600f,

+    0.111746711211126590f, 0.993564135520595300f, 0.113270952177564350f,

+  0.993389211148080650f, 0.114794926606510080f, 0.993211949234794500f,

+    0.116318630911904750f, 0.993032350197851410f, 0.117842061508324980f,

+  0.992850414459865100f, 0.119365214810991350f, 0.992666142448948020f,

+    0.120888087235777080f, 0.992479534598709970f, 0.122410675199216200f,

+  0.992290591348257370f, 0.123932975118512160f, 0.992099313142191800f,

+    0.125454983411546230f, 0.991905700430609330f, 0.126976696496885870f,

+  0.991709753669099530f, 0.128498110793793170f, 0.991511473318743900f,

+    0.130019222722233350f, 0.991310859846115440f, 0.131540028702883120f,

+  0.991107913723276890f, 0.133060525157139060f, 0.990902635427780010f,

+    0.134580708507126170f, 0.990695025442664630f, 0.136100575175706200f,

+  0.990485084256457090f, 0.137620121586486040f, 0.990272812363169110f,

+    0.139139344163826200f, 0.990058210262297120f, 0.140658239332849210f,

+  0.989841278458820530f, 0.142176803519448030f, 0.989622017463200890f,

+    0.143695033150294470f, 0.989400427791380380f, 0.145212924652847460f,

+  0.989176509964781010f, 0.146730474455361750f, 0.988950264510302990f,

+    0.148247678986896030f, 0.988721691960323780f, 0.149764534677321510f,

+  0.988490792852696590f, 0.151281037957330220f, 0.988257567730749460f,

+    0.152797185258443440f, 0.988022017143283530f, 0.154312973013020100f,

+  0.987784141644572180f, 0.155828397654265230f, 0.987543941794359230f,

+    0.157343455616238250f, 0.987301418157858430f, 0.158858143333861450f,

+  0.987056571305750970f, 0.160372457242928280f, 0.986809401814185530f,

+    0.161886393780111830f, 0.986559910264775410f, 0.163399949382973230f,

+  0.986308097244598670f, 0.164913120489969890f, 0.986053963346195440f,

+    0.166425903540464100f, 0.985797509167567480f, 0.167938294974731170f,

+  0.985538735312176060f, 0.169450291233967960f, 0.985277642388941220f,

+    0.170961888760301220f, 0.985014231012239840f, 0.172473083996795950f,

+  0.984748501801904210f, 0.173983873387463820f, 0.984480455383220930f,

+    0.175494253377271430f, 0.984210092386929030f, 0.177004220412148750f,

+  0.983937413449218920f, 0.178513770938997510f, 0.983662419211730250f,

+    0.180022901405699510f, 0.983385110321551180f, 0.181531608261124970f,

+  0.983105487431216290f, 0.183039887955140950f, 0.982823551198705240f,

+    0.184547736938619620f, 0.982539302287441240f, 0.186055151663446630f,

+  0.982252741366289370f, 0.187562128582529600f, 0.981963869109555240f,

+    0.189068664149806190f, 0.981672686196983110f, 0.190574754820252740f,

+  0.981379193313754560f, 0.192080397049892440f, 0.981083391150486710f,

+    0.193585587295803610f, 0.980785280403230430f, 0.195090322016128250f,

+  0.980484861773469380f, 0.196594597670080220f, 0.980182135968117430f,

+    0.198098410717953560f, 0.979877103699517640f, 0.199601757621130970f,

+  0.979569765685440520f, 0.201104634842091900f, 0.979260122649082020f,

+    0.202607038844421130f, 0.978948175319062200f, 0.204108966092816870f,

+  0.978633924429423210f, 0.205610413053099240f, 0.978317370719627650f,

+    0.207111376192218560f, 0.977998514934557140f, 0.208611851978263490f,

+  0.977677357824509930f, 0.210111836880469610f, 0.977353900145199960f,

+    0.211611327369227550f, 0.977028142657754390f, 0.213110319916091360f,

+  0.976700086128711840f, 0.214608810993786760f, 0.976369731330021140f,

+    0.216106797076219520f, 0.976037079039039020f, 0.217604274638483640f,

+  0.975702130038528570f, 0.219101240156869800f, 0.975364885116656980f,

+    0.220597690108873510f, 0.975025345066994120f, 0.222093620973203510f,

+  0.974683510688510670f, 0.223589029229789990f, 0.974339382785575860f,

+    0.225083911359792830f, 0.973992962167955830f, 0.226578263845610000f,

+  0.973644249650811980f, 0.228072083170885730f, 0.973293246054698250f,

+    0.229565365820518870f, 0.972939952205560180f, 0.231058108280671110f,

+  0.972584368934732210f, 0.232550307038775240f, 0.972226497078936270f,

+    0.234041958583543430f, 0.971866337480279400f, 0.235533059404975490f,

+  0.971503890986251780f, 0.237023605994367200f, 0.971139158449725090f,

+    0.238513594844318420f, 0.970772140728950350f, 0.240003022448741500f,

+  0.970402838687555500f, 0.241491885302869330f, 0.970031253194543970f,

+    0.242980179903263870f, 0.969657385124292450f, 0.244467902747824150f,

+  0.969281235356548530f, 0.245955050335794590f, 0.968902804776428870f,

+    0.247441619167773270f, 0.968522094274417380f, 0.248927605745720150f,

+  0.968139104746362440f, 0.250413006572965220f, 0.967753837093475510f,

+    0.251897818154216970f, 0.967366292222328510f, 0.253382036995570160f,

+  0.966976471044852070f, 0.254865659604514570f, 0.966584374478333120f,

+    0.256348682489942910f, 0.966190003445412500f, 0.257831102162158990f,

+  0.965793358874083680f, 0.259312915132886230f, 0.965394441697689400f,

+    0.260794117915275510f, 0.964993252854920320f, 0.262274707023913590f,

+  0.964589793289812760f, 0.263754678974831350f, 0.964184063951745830f,

+    0.265234030285511790f, 0.963776065795439840f, 0.266712757474898370f,

+  0.963365799780954050f, 0.268190857063403180f, 0.962953266873683880f,

+    0.269668325572915090f, 0.962538468044359160f, 0.271145159526808010f,

+  0.962121404269041580f, 0.272621355449948980f, 0.961702076529122540f,

+    0.274096909868706380f, 0.961280485811320640f, 0.275571819310958140f,

+  0.960856633107679660f, 0.277046080306099900f, 0.960430519415565790f,

+    0.278519689385053060f, 0.960002145737665960f, 0.279992643080273220f,

+  0.959571513081984520f, 0.281464937925757940f, 0.959138622461841890f,

+    0.282936570457055390f, 0.958703474895871600f, 0.284407537211271880f,

+  0.958266071408017670f, 0.285877834727080620f, 0.957826413027532910f,

+    0.287347459544729510f, 0.957384500788975860f, 0.288816408206049480f,

+  0.956940335732208820f, 0.290284677254462330f, 0.956493918902395100f,

+    0.291752263234989260f, 0.956045251349996410f, 0.293219162694258630f,

+  0.955594334130771110f, 0.294685372180514330f, 0.955141168305770780f,

+    0.296150888243623790f, 0.954685754941338340f, 0.297615707435086200f,

+  0.954228095109105670f, 0.299079826308040480f, 0.953768189885990330f,

+    0.300543241417273450f, 0.953306040354193860f, 0.302005949319228080f,

+  0.952841647601198720f, 0.303467946572011320f, 0.952375012719765880f,

+    0.304929229735402370f, 0.951906136807932350f, 0.306389795370860920f,

+  0.951435020969008340f, 0.307849640041534870f, 0.950961666311575080f,

+    0.309308760312268730f, 0.950486073949481700f, 0.310767152749611470f,

+  0.950008245001843000f, 0.312224813921824880f, 0.949528180593036670f,

+    0.313681740398891520f, 0.949045881852700560f, 0.315137928752522440f,

+  0.948561349915730270f, 0.316593375556165850f, 0.948074585922276230f,

+    0.318048077385014950f, 0.947585591017741090f, 0.319502030816015690f,

+  0.947094366352777220f, 0.320955232427875210f, 0.946600913083283530f,

+    0.322407678801069850f, 0.946105232370403450f, 0.323859366517852850f,

+  0.945607325380521280f, 0.325310292162262930f, 0.945107193285260610f,

+    0.326760452320131730f, 0.944604837261480260f, 0.328209843579092500f,

+  0.944100258491272660f, 0.329658462528587490f, 0.943593458161960390f,

+    0.331106305759876430f, 0.943084437466093490f, 0.332553369866044220f,

+  0.942573197601446870f, 0.333999651442009380f, 0.942059739771017310f,

+    0.335445147084531600f, 0.941544065183020810f, 0.336889853392220050f,

+  0.941026175050889260f, 0.338333766965541130f, 0.940506070593268300f,

+    0.339776884406826850f, 0.939983753034014050f, 0.341219202320282360f,

+  0.939459223602189920f, 0.342660717311994380f, 0.938932483532064600f,

+    0.344101425989938810f, 0.938403534063108060f, 0.345541324963989090f,

+  0.937872376439989890f, 0.346980410845923680f, 0.937339011912574960f,

+    0.348418680249434560f, 0.936803441735921560f, 0.349856129790134920f,

+  0.936265667170278260f, 0.351292756085567090f, 0.935725689481080370f,

+    0.352728555755210730f, 0.935183509938947610f, 0.354163525420490340f,

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+  -0.237023605994367670f, -0.971503890986251670f, -0.235533059404975790f,

+    -0.971866337480279290f, -0.234041958583543570f, -0.972226497078936270f,

+  -0.232550307038775220f, -0.972584368934732210f, -0.231058108280670940f,

+    -0.972939952205560180f, -0.229565365820519420f, -0.973293246054698140f,

+  -0.228072083170886120f, -0.973644249650811870f, -0.226578263845610220f,

+    -0.973992962167955830f, -0.225083911359792920f, -0.974339382785575860f,

+  -0.223589029229789900f, -0.974683510688510670f, -0.222093620973203290f,

+    -0.975025345066994230f, -0.220597690108873980f, -0.975364885116656870f,

+  -0.219101240156870100f, -0.975702130038528460f, -0.217604274638483780f,

+    -0.976037079039039020f, -0.216106797076219490f, -0.976369731330021140f,

+  -0.214608810993786620f, -0.976700086128711840f, -0.213110319916091920f,

+    -0.977028142657754280f, -0.211611327369227970f, -0.977353900145199960f,

+  -0.210111836880469860f, -0.977677357824509930f, -0.208611851978263570f,

+    -0.977998514934557030f, -0.207111376192218480f, -0.978317370719627650f,

+  -0.205610413053099020f, -0.978633924429423210f, -0.204108966092817340f,

+    -0.978948175319062090f, -0.202607038844421440f, -0.979260122649082020f,

+  -0.201104634842092070f, -0.979569765685440520f, -0.199601757621130970f,

+    -0.979877103699517640f, -0.198098410717953420f, -0.980182135968117430f,

+  -0.196594597670080780f, -0.980484861773469270f, -0.195090322016128660f,

+    -0.980785280403230320f, -0.193585587295803860f, -0.981083391150486590f,

+  -0.192080397049892520f, -0.981379193313754560f, -0.190574754820252680f,

+    -0.981672686196983110f, -0.189068664149805970f, -0.981963869109555350f,

+  -0.187562128582530070f, -0.982252741366289370f, -0.186055151663446970f,

+    -0.982539302287441240f, -0.184547736938619780f, -0.982823551198705240f,

+  -0.183039887955140950f, -0.983105487431216290f, -0.181531608261124830f,

+    -0.983385110321551290f, -0.180022901405700070f, -0.983662419211730140f,

+  -0.178513770938997920f, -0.983937413449218810f, -0.177004220412149000f,

+    -0.984210092386929030f, -0.175494253377271510f, -0.984480455383220930f,

+  -0.173983873387463740f, -0.984748501801904210f, -0.172473083996795730f,

+    -0.985014231012239840f, -0.170961888760301690f, -0.985277642388941110f,

+  -0.169450291233968290f, -0.985538735312176060f, -0.167938294974731340f,

+    -0.985797509167567370f, -0.166425903540464100f, -0.986053963346195440f,

+  -0.164913120489969760f, -0.986308097244598670f, -0.163399949382973780f,

+    -0.986559910264775410f, -0.161886393780112240f, -0.986809401814185420f,

+  -0.160372457242928510f, -0.987056571305750970f, -0.158858143333861530f,

+    -0.987301418157858320f, -0.157343455616238190f, -0.987543941794359340f,

+  -0.155828397654264980f, -0.987784141644572180f, -0.154312973013020580f,

+    -0.988022017143283530f, -0.152797185258443740f, -0.988257567730749460f,

+  -0.151281037957330360f, -0.988490792852696590f, -0.149764534677321510f,

+    -0.988721691960323780f, -0.148247678986895890f, -0.988950264510302990f,

+  -0.146730474455362300f, -0.989176509964780900f, -0.145212924652847850f,

+    -0.989400427791380270f, -0.143695033150294690f, -0.989622017463200780f,

+  -0.142176803519448140f, -0.989841278458820530f, -0.140658239332849160f,

+    -0.990058210262297120f, -0.139139344163825980f, -0.990272812363169110f,

+  -0.137620121586486540f, -0.990485084256456980f, -0.136100575175706530f,

+    -0.990695025442664630f, -0.134580708507126360f, -0.990902635427780010f,

+  -0.133060525157139060f, -0.991107913723276890f, -0.131540028702882950f,

+    -0.991310859846115440f, -0.130019222722233930f, -0.991511473318743900f,

+  -0.128498110793793590f, -0.991709753669099530f, -0.126976696496886120f,

+    -0.991905700430609330f, -0.125454983411546320f, -0.992099313142191800f,

+  -0.123932975118512090f, -0.992290591348257370f, -0.122410675199215960f,

+    -0.992479534598710080f, -0.120888087235777570f, -0.992666142448947910f,

+  -0.119365214810991690f, -0.992850414459865100f, -0.117842061508325140f,

+    -0.993032350197851410f, -0.116318630911904770f, -0.993211949234794500f,

+  -0.114794926606509930f, -0.993389211148080650f, -0.113270952177564920f,

+    -0.993564135520595300f, -0.111746711211127000f, -0.993736721940724600f,

+  -0.110222207293883310f, -0.993906970002356060f, -0.108697444013138800f,

+    -0.994074879304879370f, -0.107172424956808770f, -0.994240449453187900f,

+  -0.105647153713410380f, -0.994403680057679100f, -0.104121633872055070f,

+    -0.994564570734255420f, -0.102595869022436610f, -0.994723121104325700f,

+  -0.101069862754827990f, -0.994879330794805620f, -0.099543618660069347f,

+    -0.995033199438118630f, -0.098017140329560451f, -0.995184726672196930f,

+  -0.096490431355253162f, -0.995333912140482170f, -0.094963495329639408f,

+    -0.995480755491926940f, -0.093436335845748036f, -0.995625256380994310f,

+  -0.091908956497132821f, -0.995767414467659820f, -0.090381360877864914f,

+    -0.995907229417411720f, -0.088853552582524364f, -0.996044700901251970f,

+  -0.087325535206192559f, -0.996179828595696870f, -0.085797312344440227f,

+    -0.996312612182778000f, -0.084268887593324238f, -0.996443051350042630f,

+  -0.082740264549375706f, -0.996571145790554840f, -0.081211446809592289f,

+    -0.996696895202896060f, -0.079682437971430695f, -0.996820299291165670f,

+  -0.078153241632794648f, -0.996941357764982050f, -0.076623861392031742f,

+    -0.997060070339482960f, -0.075094300847921402f, -0.997176436735326080f,

+  -0.073564563599667357f, -0.997290456678690210f, -0.072034653246889097f,

+    -0.997402129901275300f, -0.070504573389614356f, -0.997511456140303450f,

+  -0.068974327628267079f, -0.997618435138519550f, -0.067443919563664231f,

+    -0.997723066644191640f, -0.065913352797003832f, -0.997825350411111640f,

+  -0.064382630929857312f, -0.997925286198596000f, -0.062851757564161989f,

+    -0.998022873771486130f, -0.061320736302208995f, -0.998118112900149180f,

+  -0.059789570746640132f, -0.998211003360478190f, -0.058258264500435857f,

+    -0.998301544933892780f, -0.056726821166907686f, -0.998389737407340160f,

+  -0.055195244349689712f, -0.998475580573294770f, -0.053663537652731026f,

+    -0.998559074229759310f, -0.052131704680283657f, -0.998640218180265160f,

+  -0.050599749036899455f, -0.998719012233872940f, -0.049067674327418029f,

+    -0.998795456205172410f, -0.047535484156959157f, -0.998869549914283560f,

+  -0.046003182130915206f, -0.998941293186856870f, -0.044470771854939084f,

+    -0.999010685854073270f, -0.042938256934941084f, -0.999077727752645360f,

+  -0.041405640977076837f, -0.999142418724816910f, -0.039872927587739748f,

+    -0.999204758618363890f, -0.038340120373552472f, -0.999264747286594420f,

+  -0.036807222941359331f, -0.999322384588349430f, -0.035274238898214294f,

+    -0.999377670388002850f, -0.033741171851377760f, -0.999430604555461730f,

+  -0.032208025408304600f, -0.999481186966166950f, -0.030674803176636484f,

+    -0.999529417501093140f, -0.029141508764194309f, -0.999575296046749220f,

+  -0.027608145778966163f, -0.999618822495178640f, -0.026074717829104161f,

+    -0.999659996743959220f, -0.024541228522912389f, -0.999698818696204250f,

+  -0.023007681468839310f, -0.999735288260561680f, -0.021474080275469286f,

+    -0.999769405351215280f, -0.019940428551514944f, -0.999801169887884260f,

+  -0.018406729905805164f, -0.999830581795823400f, -0.016872987947281894f,

+    -0.999857641005823860f, -0.015339206284988121f, -0.999882347454212560f,

+  -0.013805388528060250f, -0.999904701082852900f, -0.012271538285720512f,

+    -0.999924701839144500f, -0.010737659167264916f, -0.999942349676023910f,

+  -0.009203754782060083f, -0.999957644551963900f, -0.007669828739531199f,

+    -0.999970586430974140f, -0.006135884649154416f, -0.999981175282601110f,

+  -0.004601926120448350f, -0.999989411081928400f, -0.003067956762966483f,

+    -0.999995293809576190f, -0.001533980186285111f, -0.999998823451701880f,

+};

+

+/*    

+* @brief  Q31 Twiddle factors Table    

+*/

+

+/**    

+* \par   

+* Example code for Q31 Twiddle factors Generation::    

+* \par    

+* <pre>for(i = 0; i< 3N/4; i++)    

+* {    

+*    twiddleCoefQ31[2*i]= cos(i * 2*PI/(float)N);    

+*    twiddleCoefQ31[2*i+1]= sin(i * 2*PI/(float)N);    

+* } </pre>    

+* \par    

+* where N = 4096	and PI = 3.14159265358979    

+* \par    

+* Cos and Sin values are interleaved fashion    

+* \par    

+* Convert Floating point to Q31(Fixed point 1.31):    

+*	round(twiddleCoefQ31(i) * pow(2, 31))    

+*    

+*/

+

+const q31_t twiddleCoefQ31[6144] = {

+  0x7fffffff, 0x0, 0x7ffff621, 0x3243f5, 0x7fffd886, 0x6487e3, 0x7fffa72c,

+    0x96cbc1,

+  0x7fff6216, 0xc90f88, 0x7fff0943, 0xfb5330, 0x7ffe9cb2, 0x12d96b1,

+    0x7ffe1c65, 0x15fda03,

+  0x7ffd885a, 0x1921d20, 0x7ffce093, 0x1c45ffe, 0x7ffc250f, 0x1f6a297,

+    0x7ffb55ce, 0x228e4e2,

+  0x7ffa72d1, 0x25b26d7, 0x7ff97c18, 0x28d6870, 0x7ff871a2, 0x2bfa9a4,

+    0x7ff75370, 0x2f1ea6c,

+  0x7ff62182, 0x3242abf, 0x7ff4dbd9, 0x3566a96, 0x7ff38274, 0x388a9ea,

+    0x7ff21553, 0x3bae8b2,

+  0x7ff09478, 0x3ed26e6, 0x7feeffe1, 0x41f6480, 0x7fed5791, 0x451a177,

+    0x7feb9b85, 0x483ddc3,

+  0x7fe9cbc0, 0x4b6195d, 0x7fe7e841, 0x4e8543e, 0x7fe5f108, 0x51a8e5c,

+    0x7fe3e616, 0x54cc7b1,

+  0x7fe1c76b, 0x57f0035, 0x7fdf9508, 0x5b137df, 0x7fdd4eec, 0x5e36ea9,

+    0x7fdaf519, 0x615a48b,

+  0x7fd8878e, 0x647d97c, 0x7fd6064c, 0x67a0d76, 0x7fd37153, 0x6ac406f,

+    0x7fd0c8a3, 0x6de7262,

+  0x7fce0c3e, 0x710a345, 0x7fcb3c23, 0x742d311, 0x7fc85854, 0x77501be,

+    0x7fc560cf, 0x7a72f45,

+  0x7fc25596, 0x7d95b9e, 0x7fbf36aa, 0x80b86c2, 0x7fbc040a, 0x83db0a7,

+    0x7fb8bdb8, 0x86fd947,

+  0x7fb563b3, 0x8a2009a, 0x7fb1f5fc, 0x8d42699, 0x7fae7495, 0x9064b3a,

+    0x7faadf7c, 0x9386e78,

+  0x7fa736b4, 0x96a9049, 0x7fa37a3c, 0x99cb0a7, 0x7f9faa15, 0x9cecf89,

+    0x7f9bc640, 0xa00ece8,

+  0x7f97cebd, 0xa3308bd, 0x7f93c38c, 0xa6522fe, 0x7f8fa4b0, 0xa973ba5,

+    0x7f8b7227, 0xac952aa,

+  0x7f872bf3, 0xafb6805, 0x7f82d214, 0xb2d7baf, 0x7f7e648c, 0xb5f8d9f,

+    0x7f79e35a, 0xb919dcf,

+  0x7f754e80, 0xbc3ac35, 0x7f70a5fe, 0xbf5b8cb, 0x7f6be9d4, 0xc27c389,

+    0x7f671a05, 0xc59cc68,

+  0x7f62368f, 0xc8bd35e, 0x7f5d3f75, 0xcbdd865, 0x7f5834b7, 0xcefdb76,

+    0x7f531655, 0xd21dc87,

+  0x7f4de451, 0xd53db92, 0x7f489eaa, 0xd85d88f, 0x7f434563, 0xdb7d376,

+    0x7f3dd87c, 0xde9cc40,

+  0x7f3857f6, 0xe1bc2e4, 0x7f32c3d1, 0xe4db75b, 0x7f2d1c0e, 0xe7fa99e,

+    0x7f2760af, 0xeb199a4,

+  0x7f2191b4, 0xee38766, 0x7f1baf1e, 0xf1572dc, 0x7f15b8ee, 0xf475bff,

+    0x7f0faf25, 0xf7942c7,

+  0x7f0991c4, 0xfab272b, 0x7f0360cb, 0xfdd0926, 0x7efd1c3c, 0x100ee8ad,

+    0x7ef6c418, 0x1040c5bb,

+  0x7ef05860, 0x1072a048, 0x7ee9d914, 0x10a4784b, 0x7ee34636, 0x10d64dbd,

+    0x7edc9fc6, 0x11082096,

+  0x7ed5e5c6, 0x1139f0cf, 0x7ecf1837, 0x116bbe60, 0x7ec8371a, 0x119d8941,

+    0x7ec14270, 0x11cf516a,

+  0x7eba3a39, 0x120116d5, 0x7eb31e78, 0x1232d979, 0x7eabef2c, 0x1264994e,

+    0x7ea4ac58, 0x1296564d,

+  0x7e9d55fc, 0x12c8106f, 0x7e95ec1a, 0x12f9c7aa, 0x7e8e6eb2, 0x132b7bf9,

+    0x7e86ddc6, 0x135d2d53,

+  0x7e7f3957, 0x138edbb1, 0x7e778166, 0x13c0870a, 0x7e6fb5f4, 0x13f22f58,

+    0x7e67d703, 0x1423d492,

+  0x7e5fe493, 0x145576b1, 0x7e57dea7, 0x148715ae, 0x7e4fc53e, 0x14b8b17f,

+    0x7e47985b, 0x14ea4a1f,

+  0x7e3f57ff, 0x151bdf86, 0x7e37042a, 0x154d71aa, 0x7e2e9cdf, 0x157f0086,

+    0x7e26221f, 0x15b08c12,

+  0x7e1d93ea, 0x15e21445, 0x7e14f242, 0x16139918, 0x7e0c3d29, 0x16451a83,

+    0x7e0374a0, 0x1676987f,

+  0x7dfa98a8, 0x16a81305, 0x7df1a942, 0x16d98a0c, 0x7de8a670, 0x170afd8d,

+    0x7ddf9034, 0x173c6d80,

+  0x7dd6668f, 0x176dd9de, 0x7dcd2981, 0x179f429f, 0x7dc3d90d, 0x17d0a7bc,

+    0x7dba7534, 0x1802092c,

+  0x7db0fdf8, 0x183366e9, 0x7da77359, 0x1864c0ea, 0x7d9dd55a, 0x18961728,

+    0x7d9423fc, 0x18c7699b,

+  0x7d8a5f40, 0x18f8b83c, 0x7d808728, 0x192a0304, 0x7d769bb5, 0x195b49ea,

+    0x7d6c9ce9, 0x198c8ce7,

+  0x7d628ac6, 0x19bdcbf3, 0x7d58654d, 0x19ef0707, 0x7d4e2c7f, 0x1a203e1b,

+    0x7d43e05e, 0x1a517128,

+  0x7d3980ec, 0x1a82a026, 0x7d2f0e2b, 0x1ab3cb0d, 0x7d24881b, 0x1ae4f1d6,

+    0x7d19eebf, 0x1b161479,

+  0x7d0f4218, 0x1b4732ef, 0x7d048228, 0x1b784d30, 0x7cf9aef0, 0x1ba96335,

+    0x7ceec873, 0x1bda74f6,

+  0x7ce3ceb2, 0x1c0b826a, 0x7cd8c1ae, 0x1c3c8b8c, 0x7ccda169, 0x1c6d9053,

+    0x7cc26de5, 0x1c9e90b8,

+  0x7cb72724, 0x1ccf8cb3, 0x7cabcd28, 0x1d00843d, 0x7ca05ff1, 0x1d31774d,

+    0x7c94df83, 0x1d6265dd,

+  0x7c894bde, 0x1d934fe5, 0x7c7da505, 0x1dc4355e, 0x7c71eaf9, 0x1df5163f,

+    0x7c661dbc, 0x1e25f282,

+  0x7c5a3d50, 0x1e56ca1e, 0x7c4e49b7, 0x1e879d0d, 0x7c4242f2, 0x1eb86b46,

+    0x7c362904, 0x1ee934c3,

+  0x7c29fbee, 0x1f19f97b, 0x7c1dbbb3, 0x1f4ab968, 0x7c116853, 0x1f7b7481,

+    0x7c0501d2, 0x1fac2abf,

+  0x7bf88830, 0x1fdcdc1b, 0x7bebfb70, 0x200d888d, 0x7bdf5b94, 0x203e300d,

+    0x7bd2a89e, 0x206ed295,

+  0x7bc5e290, 0x209f701c, 0x7bb9096b, 0x20d0089c, 0x7bac1d31, 0x21009c0c,

+    0x7b9f1de6, 0x21312a65,

+  0x7b920b89, 0x2161b3a0, 0x7b84e61f, 0x219237b5, 0x7b77ada8, 0x21c2b69c,

+    0x7b6a6227, 0x21f3304f,

+  0x7b5d039e, 0x2223a4c5, 0x7b4f920e, 0x225413f8, 0x7b420d7a, 0x22847de0,

+    0x7b3475e5, 0x22b4e274,

+  0x7b26cb4f, 0x22e541af, 0x7b190dbc, 0x23159b88, 0x7b0b3d2c, 0x2345eff8,

+    0x7afd59a4, 0x23763ef7,

+  0x7aef6323, 0x23a6887f, 0x7ae159ae, 0x23d6cc87, 0x7ad33d45, 0x24070b08,

+    0x7ac50dec, 0x243743fa,

+  0x7ab6cba4, 0x24677758, 0x7aa8766f, 0x2497a517, 0x7a9a0e50, 0x24c7cd33,

+    0x7a8b9348, 0x24f7efa2,

+  0x7a7d055b, 0x25280c5e, 0x7a6e648a, 0x2558235f, 0x7a5fb0d8, 0x2588349d,

+    0x7a50ea47, 0x25b84012,

+  0x7a4210d8, 0x25e845b6, 0x7a332490, 0x26184581, 0x7a24256f, 0x26483f6c,

+    0x7a151378, 0x26783370,

+  0x7a05eead, 0x26a82186, 0x79f6b711, 0x26d809a5, 0x79e76ca7, 0x2707ebc7,

+    0x79d80f6f, 0x2737c7e3,

+  0x79c89f6e, 0x27679df4, 0x79b91ca4, 0x27976df1, 0x79a98715, 0x27c737d3,

+    0x7999dec4, 0x27f6fb92,

+  0x798a23b1, 0x2826b928, 0x797a55e0, 0x2856708d, 0x796a7554, 0x288621b9,

+    0x795a820e, 0x28b5cca5,

+  0x794a7c12, 0x28e5714b, 0x793a6361, 0x29150fa1, 0x792a37fe, 0x2944a7a2,

+    0x7919f9ec, 0x29743946,

+  0x7909a92d, 0x29a3c485, 0x78f945c3, 0x29d34958, 0x78e8cfb2, 0x2a02c7b8,

+    0x78d846fb, 0x2a323f9e,

+  0x78c7aba2, 0x2a61b101, 0x78b6fda8, 0x2a911bdc, 0x78a63d11, 0x2ac08026,

+    0x789569df, 0x2aefddd8,

+  0x78848414, 0x2b1f34eb, 0x78738bb3, 0x2b4e8558, 0x786280bf, 0x2b7dcf17,

+    0x7851633b, 0x2bad1221,

+  0x78403329, 0x2bdc4e6f, 0x782ef08b, 0x2c0b83fa, 0x781d9b65, 0x2c3ab2b9,

+    0x780c33b8, 0x2c69daa6,

+  0x77fab989, 0x2c98fbba, 0x77e92cd9, 0x2cc815ee, 0x77d78daa, 0x2cf72939,

+    0x77c5dc01, 0x2d263596,

+  0x77b417df, 0x2d553afc, 0x77a24148, 0x2d843964, 0x7790583e, 0x2db330c7,

+    0x777e5cc3, 0x2de2211e,

+  0x776c4edb, 0x2e110a62, 0x775a2e89, 0x2e3fec8b, 0x7747fbce, 0x2e6ec792,

+    0x7735b6af, 0x2e9d9b70,

+  0x77235f2d, 0x2ecc681e, 0x7710f54c, 0x2efb2d95, 0x76fe790e, 0x2f29ebcc,

+    0x76ebea77, 0x2f58a2be,

+  0x76d94989, 0x2f875262, 0x76c69647, 0x2fb5fab2, 0x76b3d0b4, 0x2fe49ba7,

+    0x76a0f8d2, 0x30133539,

+  0x768e0ea6, 0x3041c761, 0x767b1231, 0x30705217, 0x76680376, 0x309ed556,

+    0x7654e279, 0x30cd5115,

+  0x7641af3d, 0x30fbc54d, 0x762e69c4, 0x312a31f8, 0x761b1211, 0x3158970e,

+    0x7607a828, 0x3186f487,

+  0x75f42c0b, 0x31b54a5e, 0x75e09dbd, 0x31e39889, 0x75ccfd42, 0x3211df04,

+    0x75b94a9c, 0x32401dc6,

+  0x75a585cf, 0x326e54c7, 0x7591aedd, 0x329c8402, 0x757dc5ca, 0x32caab6f,

+    0x7569ca99, 0x32f8cb07,

+  0x7555bd4c, 0x3326e2c3, 0x75419de7, 0x3354f29b, 0x752d6c6c, 0x3382fa88,

+    0x751928e0, 0x33b0fa84,

+  0x7504d345, 0x33def287, 0x74f06b9e, 0x340ce28b, 0x74dbf1ef, 0x343aca87,

+    0x74c7663a, 0x3468aa76,

+  0x74b2c884, 0x34968250, 0x749e18cd, 0x34c4520d, 0x7489571c, 0x34f219a8,

+    0x74748371, 0x351fd918,

+  0x745f9dd1, 0x354d9057, 0x744aa63f, 0x357b3f5d, 0x74359cbd, 0x35a8e625,

+    0x74208150, 0x35d684a6,

+  0x740b53fb, 0x36041ad9, 0x73f614c0, 0x3631a8b8, 0x73e0c3a3, 0x365f2e3b,

+    0x73cb60a8, 0x368cab5c,

+  0x73b5ebd1, 0x36ba2014, 0x73a06522, 0x36e78c5b, 0x738acc9e, 0x3714f02a,

+    0x73752249, 0x37424b7b,

+  0x735f6626, 0x376f9e46, 0x73499838, 0x379ce885, 0x7333b883, 0x37ca2a30,

+    0x731dc70a, 0x37f76341,

+  0x7307c3d0, 0x382493b0, 0x72f1aed9, 0x3851bb77, 0x72db8828, 0x387eda8e,

+    0x72c54fc1, 0x38abf0ef,

+  0x72af05a7, 0x38d8fe93, 0x7298a9dd, 0x39060373, 0x72823c67, 0x3932ff87,

+    0x726bbd48, 0x395ff2c9,

+  0x72552c85, 0x398cdd32, 0x723e8a20, 0x39b9bebc, 0x7227d61c, 0x39e6975e,

+    0x7211107e, 0x3a136712,

+  0x71fa3949, 0x3a402dd2, 0x71e35080, 0x3a6ceb96, 0x71cc5626, 0x3a99a057,

+    0x71b54a41, 0x3ac64c0f,

+  0x719e2cd2, 0x3af2eeb7, 0x7186fdde, 0x3b1f8848, 0x716fbd68, 0x3b4c18ba,

+    0x71586b74, 0x3b78a007,

+  0x71410805, 0x3ba51e29, 0x7129931f, 0x3bd19318, 0x71120cc5, 0x3bfdfecd,

+    0x70fa74fc, 0x3c2a6142,

+  0x70e2cbc6, 0x3c56ba70, 0x70cb1128, 0x3c830a50, 0x70b34525, 0x3caf50da,

+    0x709b67c0, 0x3cdb8e09,

+  0x708378ff, 0x3d07c1d6, 0x706b78e3, 0x3d33ec39, 0x70536771, 0x3d600d2c,

+    0x703b44ad, 0x3d8c24a8,

+  0x7023109a, 0x3db832a6, 0x700acb3c, 0x3de4371f, 0x6ff27497, 0x3e10320d,

+    0x6fda0cae, 0x3e3c2369,

+  0x6fc19385, 0x3e680b2c, 0x6fa90921, 0x3e93e950, 0x6f906d84, 0x3ebfbdcd,

+    0x6f77c0b3, 0x3eeb889c,

+  0x6f5f02b2, 0x3f1749b8, 0x6f463383, 0x3f430119, 0x6f2d532c, 0x3f6eaeb8,

+    0x6f1461b0, 0x3f9a5290,

+  0x6efb5f12, 0x3fc5ec98, 0x6ee24b57, 0x3ff17cca, 0x6ec92683, 0x401d0321,

+    0x6eaff099, 0x40487f94,

+  0x6e96a99d, 0x4073f21d, 0x6e7d5193, 0x409f5ab6, 0x6e63e87f, 0x40cab958,

+    0x6e4a6e66, 0x40f60dfb,

+  0x6e30e34a, 0x4121589b, 0x6e174730, 0x414c992f, 0x6dfd9a1c, 0x4177cfb1,

+    0x6de3dc11, 0x41a2fc1a,

+  0x6dca0d14, 0x41ce1e65, 0x6db02d29, 0x41f93689, 0x6d963c54, 0x42244481,

+    0x6d7c3a98, 0x424f4845,

+  0x6d6227fa, 0x427a41d0, 0x6d48047e, 0x42a5311b, 0x6d2dd027, 0x42d0161e,

+    0x6d138afb, 0x42faf0d4,

+  0x6cf934fc, 0x4325c135, 0x6cdece2f, 0x4350873c, 0x6cc45698, 0x437b42e1,

+    0x6ca9ce3b, 0x43a5f41e,

+  0x6c8f351c, 0x43d09aed, 0x6c748b3f, 0x43fb3746, 0x6c59d0a9, 0x4425c923,

+    0x6c3f055d, 0x4450507e,

+  0x6c242960, 0x447acd50, 0x6c093cb6, 0x44a53f93, 0x6bee3f62, 0x44cfa740,

+    0x6bd3316a, 0x44fa0450,

+  0x6bb812d1, 0x452456bd, 0x6b9ce39b, 0x454e9e80, 0x6b81a3cd, 0x4578db93,

+    0x6b66536b, 0x45a30df0,

+  0x6b4af279, 0x45cd358f, 0x6b2f80fb, 0x45f7526b, 0x6b13fef5, 0x4621647d,

+    0x6af86c6c, 0x464b6bbe,

+  0x6adcc964, 0x46756828, 0x6ac115e2, 0x469f59b4, 0x6aa551e9, 0x46c9405c,

+    0x6a897d7d, 0x46f31c1a,

+  0x6a6d98a4, 0x471cece7, 0x6a51a361, 0x4746b2bc, 0x6a359db9, 0x47706d93,

+    0x6a1987b0, 0x479a1d67,

+  0x69fd614a, 0x47c3c22f, 0x69e12a8c, 0x47ed5be6, 0x69c4e37a, 0x4816ea86,

+    0x69a88c19, 0x48406e08,

+  0x698c246c, 0x4869e665, 0x696fac78, 0x48935397, 0x69532442, 0x48bcb599,

+    0x69368bce, 0x48e60c62,

+  0x6919e320, 0x490f57ee, 0x68fd2a3d, 0x49389836, 0x68e06129, 0x4961cd33,

+    0x68c387e9, 0x498af6df,

+  0x68a69e81, 0x49b41533, 0x6889a4f6, 0x49dd282a, 0x686c9b4b, 0x4a062fbd,

+    0x684f8186, 0x4a2f2be6,

+  0x683257ab, 0x4a581c9e, 0x68151dbe, 0x4a8101de, 0x67f7d3c5, 0x4aa9dba2,

+    0x67da79c3, 0x4ad2a9e2,

+  0x67bd0fbd, 0x4afb6c98, 0x679f95b7, 0x4b2423be, 0x67820bb7, 0x4b4ccf4d,

+    0x676471c0, 0x4b756f40,

+  0x6746c7d8, 0x4b9e0390, 0x67290e02, 0x4bc68c36, 0x670b4444, 0x4bef092d,

+    0x66ed6aa1, 0x4c177a6e,

+  0x66cf8120, 0x4c3fdff4, 0x66b187c3, 0x4c6839b7, 0x66937e91, 0x4c9087b1,

+    0x6675658c, 0x4cb8c9dd,

+  0x66573cbb, 0x4ce10034, 0x66390422, 0x4d092ab0, 0x661abbc5, 0x4d31494b,

+    0x65fc63a9, 0x4d595bfe,

+  0x65ddfbd3, 0x4d8162c4, 0x65bf8447, 0x4da95d96, 0x65a0fd0b, 0x4dd14c6e,

+    0x65826622, 0x4df92f46,

+  0x6563bf92, 0x4e210617, 0x6545095f, 0x4e48d0dd, 0x6526438f, 0x4e708f8f,

+    0x65076e25, 0x4e984229,

+  0x64e88926, 0x4ebfe8a5, 0x64c99498, 0x4ee782fb, 0x64aa907f, 0x4f0f1126,

+    0x648b7ce0, 0x4f369320,

+  0x646c59bf, 0x4f5e08e3, 0x644d2722, 0x4f857269, 0x642de50d, 0x4faccfab,

+    0x640e9386, 0x4fd420a4,

+  0x63ef3290, 0x4ffb654d, 0x63cfc231, 0x50229da1, 0x63b0426d, 0x5049c999,

+    0x6390b34a, 0x5070e92f,

+  0x637114cc, 0x5097fc5e, 0x635166f9, 0x50bf031f, 0x6331a9d4, 0x50e5fd6d,

+    0x6311dd64, 0x510ceb40,

+  0x62f201ac, 0x5133cc94, 0x62d216b3, 0x515aa162, 0x62b21c7b, 0x518169a5,

+    0x6292130c, 0x51a82555,

+  0x6271fa69, 0x51ced46e, 0x6251d298, 0x51f576ea, 0x62319b9d, 0x521c0cc2,

+    0x6211557e, 0x524295f0,

+  0x61f1003f, 0x5269126e, 0x61d09be5, 0x528f8238, 0x61b02876, 0x52b5e546,

+    0x618fa5f7, 0x52dc3b92,

+  0x616f146c, 0x53028518, 0x614e73da, 0x5328c1d0, 0x612dc447, 0x534ef1b5,

+    0x610d05b7, 0x537514c2,

+  0x60ec3830, 0x539b2af0, 0x60cb5bb7, 0x53c13439, 0x60aa7050, 0x53e73097,

+    0x60897601, 0x540d2005,

+  0x60686ccf, 0x5433027d, 0x604754bf, 0x5458d7f9, 0x60262dd6, 0x547ea073,

+    0x6004f819, 0x54a45be6,

+  0x5fe3b38d, 0x54ca0a4b, 0x5fc26038, 0x54efab9c, 0x5fa0fe1f, 0x55153fd4,

+    0x5f7f8d46, 0x553ac6ee,

+  0x5f5e0db3, 0x556040e2, 0x5f3c7f6b, 0x5585adad, 0x5f1ae274, 0x55ab0d46,

+    0x5ef936d1, 0x55d05faa,

+  0x5ed77c8a, 0x55f5a4d2, 0x5eb5b3a2, 0x561adcb9, 0x5e93dc1f, 0x56400758,

+    0x5e71f606, 0x566524aa,

+  0x5e50015d, 0x568a34a9, 0x5e2dfe29, 0x56af3750, 0x5e0bec6e, 0x56d42c99,

+    0x5de9cc33, 0x56f9147e,

+  0x5dc79d7c, 0x571deefa, 0x5da5604f, 0x5742bc06, 0x5d8314b1, 0x57677b9d,

+    0x5d60baa7, 0x578c2dba,

+  0x5d3e5237, 0x57b0d256, 0x5d1bdb65, 0x57d5696d, 0x5cf95638, 0x57f9f2f8,

+    0x5cd6c2b5, 0x581e6ef1,

+  0x5cb420e0, 0x5842dd54, 0x5c9170bf, 0x58673e1b, 0x5c6eb258, 0x588b9140,

+    0x5c4be5b0, 0x58afd6bd,

+  0x5c290acc, 0x58d40e8c, 0x5c0621b2, 0x58f838a9, 0x5be32a67, 0x591c550e,

+    0x5bc024f0, 0x594063b5,

+  0x5b9d1154, 0x59646498, 0x5b79ef96, 0x598857b2, 0x5b56bfbd, 0x59ac3cfd,

+    0x5b3381ce, 0x59d01475,

+  0x5b1035cf, 0x59f3de12, 0x5aecdbc5, 0x5a1799d1, 0x5ac973b5, 0x5a3b47ab,

+    0x5aa5fda5, 0x5a5ee79a,

+  0x5a82799a, 0x5a82799a, 0x5a5ee79a, 0x5aa5fda5, 0x5a3b47ab, 0x5ac973b5,

+    0x5a1799d1, 0x5aecdbc5,

+  0x59f3de12, 0x5b1035cf, 0x59d01475, 0x5b3381ce, 0x59ac3cfd, 0x5b56bfbd,

+    0x598857b2, 0x5b79ef96,

+  0x59646498, 0x5b9d1154, 0x594063b5, 0x5bc024f0, 0x591c550e, 0x5be32a67,

+    0x58f838a9, 0x5c0621b2,

+  0x58d40e8c, 0x5c290acc, 0x58afd6bd, 0x5c4be5b0, 0x588b9140, 0x5c6eb258,

+    0x58673e1b, 0x5c9170bf,

+  0x5842dd54, 0x5cb420e0, 0x581e6ef1, 0x5cd6c2b5, 0x57f9f2f8, 0x5cf95638,

+    0x57d5696d, 0x5d1bdb65,

+  0x57b0d256, 0x5d3e5237, 0x578c2dba, 0x5d60baa7, 0x57677b9d, 0x5d8314b1,

+    0x5742bc06, 0x5da5604f,

+  0x571deefa, 0x5dc79d7c, 0x56f9147e, 0x5de9cc33, 0x56d42c99, 0x5e0bec6e,

+    0x56af3750, 0x5e2dfe29,

+  0x568a34a9, 0x5e50015d, 0x566524aa, 0x5e71f606, 0x56400758, 0x5e93dc1f,

+    0x561adcb9, 0x5eb5b3a2,

+  0x55f5a4d2, 0x5ed77c8a, 0x55d05faa, 0x5ef936d1, 0x55ab0d46, 0x5f1ae274,

+    0x5585adad, 0x5f3c7f6b,

+  0x556040e2, 0x5f5e0db3, 0x553ac6ee, 0x5f7f8d46, 0x55153fd4, 0x5fa0fe1f,

+    0x54efab9c, 0x5fc26038,

+  0x54ca0a4b, 0x5fe3b38d, 0x54a45be6, 0x6004f819, 0x547ea073, 0x60262dd6,

+    0x5458d7f9, 0x604754bf,

+  0x5433027d, 0x60686ccf, 0x540d2005, 0x60897601, 0x53e73097, 0x60aa7050,

+    0x53c13439, 0x60cb5bb7,

+  0x539b2af0, 0x60ec3830, 0x537514c2, 0x610d05b7, 0x534ef1b5, 0x612dc447,

+    0x5328c1d0, 0x614e73da,

+  0x53028518, 0x616f146c, 0x52dc3b92, 0x618fa5f7, 0x52b5e546, 0x61b02876,

+    0x528f8238, 0x61d09be5,

+  0x5269126e, 0x61f1003f, 0x524295f0, 0x6211557e, 0x521c0cc2, 0x62319b9d,

+    0x51f576ea, 0x6251d298,

+  0x51ced46e, 0x6271fa69, 0x51a82555, 0x6292130c, 0x518169a5, 0x62b21c7b,

+    0x515aa162, 0x62d216b3,

+  0x5133cc94, 0x62f201ac, 0x510ceb40, 0x6311dd64, 0x50e5fd6d, 0x6331a9d4,

+    0x50bf031f, 0x635166f9,

+  0x5097fc5e, 0x637114cc, 0x5070e92f, 0x6390b34a, 0x5049c999, 0x63b0426d,

+    0x50229da1, 0x63cfc231,

+  0x4ffb654d, 0x63ef3290, 0x4fd420a4, 0x640e9386, 0x4faccfab, 0x642de50d,

+    0x4f857269, 0x644d2722,

+  0x4f5e08e3, 0x646c59bf, 0x4f369320, 0x648b7ce0, 0x4f0f1126, 0x64aa907f,

+    0x4ee782fb, 0x64c99498,

+  0x4ebfe8a5, 0x64e88926, 0x4e984229, 0x65076e25, 0x4e708f8f, 0x6526438f,

+    0x4e48d0dd, 0x6545095f,

+  0x4e210617, 0x6563bf92, 0x4df92f46, 0x65826622, 0x4dd14c6e, 0x65a0fd0b,

+    0x4da95d96, 0x65bf8447,

+  0x4d8162c4, 0x65ddfbd3, 0x4d595bfe, 0x65fc63a9, 0x4d31494b, 0x661abbc5,

+    0x4d092ab0, 0x66390422,

+  0x4ce10034, 0x66573cbb, 0x4cb8c9dd, 0x6675658c, 0x4c9087b1, 0x66937e91,

+    0x4c6839b7, 0x66b187c3,

+  0x4c3fdff4, 0x66cf8120, 0x4c177a6e, 0x66ed6aa1, 0x4bef092d, 0x670b4444,

+    0x4bc68c36, 0x67290e02,

+  0x4b9e0390, 0x6746c7d8, 0x4b756f40, 0x676471c0, 0x4b4ccf4d, 0x67820bb7,

+    0x4b2423be, 0x679f95b7,

+  0x4afb6c98, 0x67bd0fbd, 0x4ad2a9e2, 0x67da79c3, 0x4aa9dba2, 0x67f7d3c5,

+    0x4a8101de, 0x68151dbe,

+  0x4a581c9e, 0x683257ab, 0x4a2f2be6, 0x684f8186, 0x4a062fbd, 0x686c9b4b,

+    0x49dd282a, 0x6889a4f6,

+  0x49b41533, 0x68a69e81, 0x498af6df, 0x68c387e9, 0x4961cd33, 0x68e06129,

+    0x49389836, 0x68fd2a3d,

+  0x490f57ee, 0x6919e320, 0x48e60c62, 0x69368bce, 0x48bcb599, 0x69532442,

+    0x48935397, 0x696fac78,

+  0x4869e665, 0x698c246c, 0x48406e08, 0x69a88c19, 0x4816ea86, 0x69c4e37a,

+    0x47ed5be6, 0x69e12a8c,

+  0x47c3c22f, 0x69fd614a, 0x479a1d67, 0x6a1987b0, 0x47706d93, 0x6a359db9,

+    0x4746b2bc, 0x6a51a361,

+  0x471cece7, 0x6a6d98a4, 0x46f31c1a, 0x6a897d7d, 0x46c9405c, 0x6aa551e9,

+    0x469f59b4, 0x6ac115e2,

+  0x46756828, 0x6adcc964, 0x464b6bbe, 0x6af86c6c, 0x4621647d, 0x6b13fef5,

+    0x45f7526b, 0x6b2f80fb,

+  0x45cd358f, 0x6b4af279, 0x45a30df0, 0x6b66536b, 0x4578db93, 0x6b81a3cd,

+    0x454e9e80, 0x6b9ce39b,

+  0x452456bd, 0x6bb812d1, 0x44fa0450, 0x6bd3316a, 0x44cfa740, 0x6bee3f62,

+    0x44a53f93, 0x6c093cb6,

+  0x447acd50, 0x6c242960, 0x4450507e, 0x6c3f055d, 0x4425c923, 0x6c59d0a9,

+    0x43fb3746, 0x6c748b3f,

+  0x43d09aed, 0x6c8f351c, 0x43a5f41e, 0x6ca9ce3b, 0x437b42e1, 0x6cc45698,

+    0x4350873c, 0x6cdece2f,

+  0x4325c135, 0x6cf934fc, 0x42faf0d4, 0x6d138afb, 0x42d0161e, 0x6d2dd027,

+    0x42a5311b, 0x6d48047e,

+  0x427a41d0, 0x6d6227fa, 0x424f4845, 0x6d7c3a98, 0x42244481, 0x6d963c54,

+    0x41f93689, 0x6db02d29,

+  0x41ce1e65, 0x6dca0d14, 0x41a2fc1a, 0x6de3dc11, 0x4177cfb1, 0x6dfd9a1c,

+    0x414c992f, 0x6e174730,

+  0x4121589b, 0x6e30e34a, 0x40f60dfb, 0x6e4a6e66, 0x40cab958, 0x6e63e87f,

+    0x409f5ab6, 0x6e7d5193,

+  0x4073f21d, 0x6e96a99d, 0x40487f94, 0x6eaff099, 0x401d0321, 0x6ec92683,

+    0x3ff17cca, 0x6ee24b57,

+  0x3fc5ec98, 0x6efb5f12, 0x3f9a5290, 0x6f1461b0, 0x3f6eaeb8, 0x6f2d532c,

+    0x3f430119, 0x6f463383,

+  0x3f1749b8, 0x6f5f02b2, 0x3eeb889c, 0x6f77c0b3, 0x3ebfbdcd, 0x6f906d84,

+    0x3e93e950, 0x6fa90921,

+  0x3e680b2c, 0x6fc19385, 0x3e3c2369, 0x6fda0cae, 0x3e10320d, 0x6ff27497,

+    0x3de4371f, 0x700acb3c,

+  0x3db832a6, 0x7023109a, 0x3d8c24a8, 0x703b44ad, 0x3d600d2c, 0x70536771,

+    0x3d33ec39, 0x706b78e3,

+  0x3d07c1d6, 0x708378ff, 0x3cdb8e09, 0x709b67c0, 0x3caf50da, 0x70b34525,

+    0x3c830a50, 0x70cb1128,

+  0x3c56ba70, 0x70e2cbc6, 0x3c2a6142, 0x70fa74fc, 0x3bfdfecd, 0x71120cc5,

+    0x3bd19318, 0x7129931f,

+  0x3ba51e29, 0x71410805, 0x3b78a007, 0x71586b74, 0x3b4c18ba, 0x716fbd68,

+    0x3b1f8848, 0x7186fdde,

+  0x3af2eeb7, 0x719e2cd2, 0x3ac64c0f, 0x71b54a41, 0x3a99a057, 0x71cc5626,

+    0x3a6ceb96, 0x71e35080,

+  0x3a402dd2, 0x71fa3949, 0x3a136712, 0x7211107e, 0x39e6975e, 0x7227d61c,

+    0x39b9bebc, 0x723e8a20,

+  0x398cdd32, 0x72552c85, 0x395ff2c9, 0x726bbd48, 0x3932ff87, 0x72823c67,

+    0x39060373, 0x7298a9dd,

+  0x38d8fe93, 0x72af05a7, 0x38abf0ef, 0x72c54fc1, 0x387eda8e, 0x72db8828,

+    0x3851bb77, 0x72f1aed9,

+  0x382493b0, 0x7307c3d0, 0x37f76341, 0x731dc70a, 0x37ca2a30, 0x7333b883,

+    0x379ce885, 0x73499838,

+  0x376f9e46, 0x735f6626, 0x37424b7b, 0x73752249, 0x3714f02a, 0x738acc9e,

+    0x36e78c5b, 0x73a06522,

+  0x36ba2014, 0x73b5ebd1, 0x368cab5c, 0x73cb60a8, 0x365f2e3b, 0x73e0c3a3,

+    0x3631a8b8, 0x73f614c0,

+  0x36041ad9, 0x740b53fb, 0x35d684a6, 0x74208150, 0x35a8e625, 0x74359cbd,

+    0x357b3f5d, 0x744aa63f,

+  0x354d9057, 0x745f9dd1, 0x351fd918, 0x74748371, 0x34f219a8, 0x7489571c,

+    0x34c4520d, 0x749e18cd,

+  0x34968250, 0x74b2c884, 0x3468aa76, 0x74c7663a, 0x343aca87, 0x74dbf1ef,

+    0x340ce28b, 0x74f06b9e,

+  0x33def287, 0x7504d345, 0x33b0fa84, 0x751928e0, 0x3382fa88, 0x752d6c6c,

+    0x3354f29b, 0x75419de7,

+  0x3326e2c3, 0x7555bd4c, 0x32f8cb07, 0x7569ca99, 0x32caab6f, 0x757dc5ca,

+    0x329c8402, 0x7591aedd,

+  0x326e54c7, 0x75a585cf, 0x32401dc6, 0x75b94a9c, 0x3211df04, 0x75ccfd42,

+    0x31e39889, 0x75e09dbd,

+  0x31b54a5e, 0x75f42c0b, 0x3186f487, 0x7607a828, 0x3158970e, 0x761b1211,

+    0x312a31f8, 0x762e69c4,

+  0x30fbc54d, 0x7641af3d, 0x30cd5115, 0x7654e279, 0x309ed556, 0x76680376,

+    0x30705217, 0x767b1231,

+  0x3041c761, 0x768e0ea6, 0x30133539, 0x76a0f8d2, 0x2fe49ba7, 0x76b3d0b4,

+    0x2fb5fab2, 0x76c69647,

+  0x2f875262, 0x76d94989, 0x2f58a2be, 0x76ebea77, 0x2f29ebcc, 0x76fe790e,

+    0x2efb2d95, 0x7710f54c,

+  0x2ecc681e, 0x77235f2d, 0x2e9d9b70, 0x7735b6af, 0x2e6ec792, 0x7747fbce,

+    0x2e3fec8b, 0x775a2e89,

+  0x2e110a62, 0x776c4edb, 0x2de2211e, 0x777e5cc3, 0x2db330c7, 0x7790583e,

+    0x2d843964, 0x77a24148,

+  0x2d553afc, 0x77b417df, 0x2d263596, 0x77c5dc01, 0x2cf72939, 0x77d78daa,

+    0x2cc815ee, 0x77e92cd9,

+  0x2c98fbba, 0x77fab989, 0x2c69daa6, 0x780c33b8, 0x2c3ab2b9, 0x781d9b65,

+    0x2c0b83fa, 0x782ef08b,

+  0x2bdc4e6f, 0x78403329, 0x2bad1221, 0x7851633b, 0x2b7dcf17, 0x786280bf,

+    0x2b4e8558, 0x78738bb3,

+  0x2b1f34eb, 0x78848414, 0x2aefddd8, 0x789569df, 0x2ac08026, 0x78a63d11,

+    0x2a911bdc, 0x78b6fda8,

+  0x2a61b101, 0x78c7aba2, 0x2a323f9e, 0x78d846fb, 0x2a02c7b8, 0x78e8cfb2,

+    0x29d34958, 0x78f945c3,

+  0x29a3c485, 0x7909a92d, 0x29743946, 0x7919f9ec, 0x2944a7a2, 0x792a37fe,

+    0x29150fa1, 0x793a6361,

+  0x28e5714b, 0x794a7c12, 0x28b5cca5, 0x795a820e, 0x288621b9, 0x796a7554,

+    0x2856708d, 0x797a55e0,

+  0x2826b928, 0x798a23b1, 0x27f6fb92, 0x7999dec4, 0x27c737d3, 0x79a98715,

+    0x27976df1, 0x79b91ca4,

+  0x27679df4, 0x79c89f6e, 0x2737c7e3, 0x79d80f6f, 0x2707ebc7, 0x79e76ca7,

+    0x26d809a5, 0x79f6b711,

+  0x26a82186, 0x7a05eead, 0x26783370, 0x7a151378, 0x26483f6c, 0x7a24256f,

+    0x26184581, 0x7a332490,

+  0x25e845b6, 0x7a4210d8, 0x25b84012, 0x7a50ea47, 0x2588349d, 0x7a5fb0d8,

+    0x2558235f, 0x7a6e648a,

+  0x25280c5e, 0x7a7d055b, 0x24f7efa2, 0x7a8b9348, 0x24c7cd33, 0x7a9a0e50,

+    0x2497a517, 0x7aa8766f,

+  0x24677758, 0x7ab6cba4, 0x243743fa, 0x7ac50dec, 0x24070b08, 0x7ad33d45,

+    0x23d6cc87, 0x7ae159ae,

+  0x23a6887f, 0x7aef6323, 0x23763ef7, 0x7afd59a4, 0x2345eff8, 0x7b0b3d2c,

+    0x23159b88, 0x7b190dbc,

+  0x22e541af, 0x7b26cb4f, 0x22b4e274, 0x7b3475e5, 0x22847de0, 0x7b420d7a,

+    0x225413f8, 0x7b4f920e,

+  0x2223a4c5, 0x7b5d039e, 0x21f3304f, 0x7b6a6227, 0x21c2b69c, 0x7b77ada8,

+    0x219237b5, 0x7b84e61f,

+  0x2161b3a0, 0x7b920b89, 0x21312a65, 0x7b9f1de6, 0x21009c0c, 0x7bac1d31,

+    0x20d0089c, 0x7bb9096b,

+  0x209f701c, 0x7bc5e290, 0x206ed295, 0x7bd2a89e, 0x203e300d, 0x7bdf5b94,

+    0x200d888d, 0x7bebfb70,

+  0x1fdcdc1b, 0x7bf88830, 0x1fac2abf, 0x7c0501d2, 0x1f7b7481, 0x7c116853,

+    0x1f4ab968, 0x7c1dbbb3,

+  0x1f19f97b, 0x7c29fbee, 0x1ee934c3, 0x7c362904, 0x1eb86b46, 0x7c4242f2,

+    0x1e879d0d, 0x7c4e49b7,

+  0x1e56ca1e, 0x7c5a3d50, 0x1e25f282, 0x7c661dbc, 0x1df5163f, 0x7c71eaf9,

+    0x1dc4355e, 0x7c7da505,

+  0x1d934fe5, 0x7c894bde, 0x1d6265dd, 0x7c94df83, 0x1d31774d, 0x7ca05ff1,

+    0x1d00843d, 0x7cabcd28,

+  0x1ccf8cb3, 0x7cb72724, 0x1c9e90b8, 0x7cc26de5, 0x1c6d9053, 0x7ccda169,

+    0x1c3c8b8c, 0x7cd8c1ae,

+  0x1c0b826a, 0x7ce3ceb2, 0x1bda74f6, 0x7ceec873, 0x1ba96335, 0x7cf9aef0,

+    0x1b784d30, 0x7d048228,

+  0x1b4732ef, 0x7d0f4218, 0x1b161479, 0x7d19eebf, 0x1ae4f1d6, 0x7d24881b,

+    0x1ab3cb0d, 0x7d2f0e2b,

+  0x1a82a026, 0x7d3980ec, 0x1a517128, 0x7d43e05e, 0x1a203e1b, 0x7d4e2c7f,

+    0x19ef0707, 0x7d58654d,

+  0x19bdcbf3, 0x7d628ac6, 0x198c8ce7, 0x7d6c9ce9, 0x195b49ea, 0x7d769bb5,

+    0x192a0304, 0x7d808728,

+  0x18f8b83c, 0x7d8a5f40, 0x18c7699b, 0x7d9423fc, 0x18961728, 0x7d9dd55a,

+    0x1864c0ea, 0x7da77359,

+  0x183366e9, 0x7db0fdf8, 0x1802092c, 0x7dba7534, 0x17d0a7bc, 0x7dc3d90d,

+    0x179f429f, 0x7dcd2981,

+  0x176dd9de, 0x7dd6668f, 0x173c6d80, 0x7ddf9034, 0x170afd8d, 0x7de8a670,

+    0x16d98a0c, 0x7df1a942,

+  0x16a81305, 0x7dfa98a8, 0x1676987f, 0x7e0374a0, 0x16451a83, 0x7e0c3d29,

+    0x16139918, 0x7e14f242,

+  0x15e21445, 0x7e1d93ea, 0x15b08c12, 0x7e26221f, 0x157f0086, 0x7e2e9cdf,

+    0x154d71aa, 0x7e37042a,

+  0x151bdf86, 0x7e3f57ff, 0x14ea4a1f, 0x7e47985b, 0x14b8b17f, 0x7e4fc53e,

+    0x148715ae, 0x7e57dea7,

+  0x145576b1, 0x7e5fe493, 0x1423d492, 0x7e67d703, 0x13f22f58, 0x7e6fb5f4,

+    0x13c0870a, 0x7e778166,

+  0x138edbb1, 0x7e7f3957, 0x135d2d53, 0x7e86ddc6, 0x132b7bf9, 0x7e8e6eb2,

+    0x12f9c7aa, 0x7e95ec1a,

+  0x12c8106f, 0x7e9d55fc, 0x1296564d, 0x7ea4ac58, 0x1264994e, 0x7eabef2c,

+    0x1232d979, 0x7eb31e78,

+  0x120116d5, 0x7eba3a39, 0x11cf516a, 0x7ec14270, 0x119d8941, 0x7ec8371a,

+    0x116bbe60, 0x7ecf1837,

+  0x1139f0cf, 0x7ed5e5c6, 0x11082096, 0x7edc9fc6, 0x10d64dbd, 0x7ee34636,

+    0x10a4784b, 0x7ee9d914,

+  0x1072a048, 0x7ef05860, 0x1040c5bb, 0x7ef6c418, 0x100ee8ad, 0x7efd1c3c,

+    0xfdd0926, 0x7f0360cb,

+  0xfab272b, 0x7f0991c4, 0xf7942c7, 0x7f0faf25, 0xf475bff, 0x7f15b8ee,

+    0xf1572dc, 0x7f1baf1e,

+  0xee38766, 0x7f2191b4, 0xeb199a4, 0x7f2760af, 0xe7fa99e, 0x7f2d1c0e,

+    0xe4db75b, 0x7f32c3d1,

+  0xe1bc2e4, 0x7f3857f6, 0xde9cc40, 0x7f3dd87c, 0xdb7d376, 0x7f434563,

+    0xd85d88f, 0x7f489eaa,

+  0xd53db92, 0x7f4de451, 0xd21dc87, 0x7f531655, 0xcefdb76, 0x7f5834b7,

+    0xcbdd865, 0x7f5d3f75,

+  0xc8bd35e, 0x7f62368f, 0xc59cc68, 0x7f671a05, 0xc27c389, 0x7f6be9d4,

+    0xbf5b8cb, 0x7f70a5fe,

+  0xbc3ac35, 0x7f754e80, 0xb919dcf, 0x7f79e35a, 0xb5f8d9f, 0x7f7e648c,

+    0xb2d7baf, 0x7f82d214,

+  0xafb6805, 0x7f872bf3, 0xac952aa, 0x7f8b7227, 0xa973ba5, 0x7f8fa4b0,

+    0xa6522fe, 0x7f93c38c,

+  0xa3308bd, 0x7f97cebd, 0xa00ece8, 0x7f9bc640, 0x9cecf89, 0x7f9faa15,

+    0x99cb0a7, 0x7fa37a3c,

+  0x96a9049, 0x7fa736b4, 0x9386e78, 0x7faadf7c, 0x9064b3a, 0x7fae7495,

+    0x8d42699, 0x7fb1f5fc,

+  0x8a2009a, 0x7fb563b3, 0x86fd947, 0x7fb8bdb8, 0x83db0a7, 0x7fbc040a,

+    0x80b86c2, 0x7fbf36aa,

+  0x7d95b9e, 0x7fc25596, 0x7a72f45, 0x7fc560cf, 0x77501be, 0x7fc85854,

+    0x742d311, 0x7fcb3c23,

+  0x710a345, 0x7fce0c3e, 0x6de7262, 0x7fd0c8a3, 0x6ac406f, 0x7fd37153,

+    0x67a0d76, 0x7fd6064c,

+  0x647d97c, 0x7fd8878e, 0x615a48b, 0x7fdaf519, 0x5e36ea9, 0x7fdd4eec,

+    0x5b137df, 0x7fdf9508,

+  0x57f0035, 0x7fe1c76b, 0x54cc7b1, 0x7fe3e616, 0x51a8e5c, 0x7fe5f108,

+    0x4e8543e, 0x7fe7e841,

+  0x4b6195d, 0x7fe9cbc0, 0x483ddc3, 0x7feb9b85, 0x451a177, 0x7fed5791,

+    0x41f6480, 0x7feeffe1,

+  0x3ed26e6, 0x7ff09478, 0x3bae8b2, 0x7ff21553, 0x388a9ea, 0x7ff38274,

+    0x3566a96, 0x7ff4dbd9,

+  0x3242abf, 0x7ff62182, 0x2f1ea6c, 0x7ff75370, 0x2bfa9a4, 0x7ff871a2,

+    0x28d6870, 0x7ff97c18,

+  0x25b26d7, 0x7ffa72d1, 0x228e4e2, 0x7ffb55ce, 0x1f6a297, 0x7ffc250f,

+    0x1c45ffe, 0x7ffce093,

+  0x1921d20, 0x7ffd885a, 0x15fda03, 0x7ffe1c65, 0x12d96b1, 0x7ffe9cb2,

+    0xfb5330, 0x7fff0943,

+  0xc90f88, 0x7fff6216, 0x96cbc1, 0x7fffa72c, 0x6487e3, 0x7fffd886, 0x3243f5,

+    0x7ffff621,

+  0x0, 0x7fffffff, 0xffcdbc0b, 0x7ffff621, 0xff9b781d, 0x7fffd886, 0xff69343f,

+    0x7fffa72c,

+  0xff36f078, 0x7fff6216, 0xff04acd0, 0x7fff0943, 0xfed2694f, 0x7ffe9cb2,

+    0xfea025fd, 0x7ffe1c65,

+  0xfe6de2e0, 0x7ffd885a, 0xfe3ba002, 0x7ffce093, 0xfe095d69, 0x7ffc250f,

+    0xfdd71b1e, 0x7ffb55ce,

+  0xfda4d929, 0x7ffa72d1, 0xfd729790, 0x7ff97c18, 0xfd40565c, 0x7ff871a2,

+    0xfd0e1594, 0x7ff75370,

+  0xfcdbd541, 0x7ff62182, 0xfca9956a, 0x7ff4dbd9, 0xfc775616, 0x7ff38274,

+    0xfc45174e, 0x7ff21553,

+  0xfc12d91a, 0x7ff09478, 0xfbe09b80, 0x7feeffe1, 0xfbae5e89, 0x7fed5791,

+    0xfb7c223d, 0x7feb9b85,

+  0xfb49e6a3, 0x7fe9cbc0, 0xfb17abc2, 0x7fe7e841, 0xfae571a4, 0x7fe5f108,

+    0xfab3384f, 0x7fe3e616,

+  0xfa80ffcb, 0x7fe1c76b, 0xfa4ec821, 0x7fdf9508, 0xfa1c9157, 0x7fdd4eec,

+    0xf9ea5b75, 0x7fdaf519,

+  0xf9b82684, 0x7fd8878e, 0xf985f28a, 0x7fd6064c, 0xf953bf91, 0x7fd37153,

+    0xf9218d9e, 0x7fd0c8a3,

+  0xf8ef5cbb, 0x7fce0c3e, 0xf8bd2cef, 0x7fcb3c23, 0xf88afe42, 0x7fc85854,

+    0xf858d0bb, 0x7fc560cf,

+  0xf826a462, 0x7fc25596, 0xf7f4793e, 0x7fbf36aa, 0xf7c24f59, 0x7fbc040a,

+    0xf79026b9, 0x7fb8bdb8,

+  0xf75dff66, 0x7fb563b3, 0xf72bd967, 0x7fb1f5fc, 0xf6f9b4c6, 0x7fae7495,

+    0xf6c79188, 0x7faadf7c,

+  0xf6956fb7, 0x7fa736b4, 0xf6634f59, 0x7fa37a3c, 0xf6313077, 0x7f9faa15,

+    0xf5ff1318, 0x7f9bc640,

+  0xf5ccf743, 0x7f97cebd, 0xf59add02, 0x7f93c38c, 0xf568c45b, 0x7f8fa4b0,

+    0xf536ad56, 0x7f8b7227,

+  0xf50497fb, 0x7f872bf3, 0xf4d28451, 0x7f82d214, 0xf4a07261, 0x7f7e648c,

+    0xf46e6231, 0x7f79e35a,

+  0xf43c53cb, 0x7f754e80, 0xf40a4735, 0x7f70a5fe, 0xf3d83c77, 0x7f6be9d4,

+    0xf3a63398, 0x7f671a05,

+  0xf3742ca2, 0x7f62368f, 0xf342279b, 0x7f5d3f75, 0xf310248a, 0x7f5834b7,

+    0xf2de2379, 0x7f531655,

+  0xf2ac246e, 0x7f4de451, 0xf27a2771, 0x7f489eaa, 0xf2482c8a, 0x7f434563,

+    0xf21633c0, 0x7f3dd87c,

+  0xf1e43d1c, 0x7f3857f6, 0xf1b248a5, 0x7f32c3d1, 0xf1805662, 0x7f2d1c0e,

+    0xf14e665c, 0x7f2760af,

+  0xf11c789a, 0x7f2191b4, 0xf0ea8d24, 0x7f1baf1e, 0xf0b8a401, 0x7f15b8ee,

+    0xf086bd39, 0x7f0faf25,

+  0xf054d8d5, 0x7f0991c4, 0xf022f6da, 0x7f0360cb, 0xeff11753, 0x7efd1c3c,

+    0xefbf3a45, 0x7ef6c418,

+  0xef8d5fb8, 0x7ef05860, 0xef5b87b5, 0x7ee9d914, 0xef29b243, 0x7ee34636,

+    0xeef7df6a, 0x7edc9fc6,

+  0xeec60f31, 0x7ed5e5c6, 0xee9441a0, 0x7ecf1837, 0xee6276bf, 0x7ec8371a,

+    0xee30ae96, 0x7ec14270,

+  0xedfee92b, 0x7eba3a39, 0xedcd2687, 0x7eb31e78, 0xed9b66b2, 0x7eabef2c,

+    0xed69a9b3, 0x7ea4ac58,

+  0xed37ef91, 0x7e9d55fc, 0xed063856, 0x7e95ec1a, 0xecd48407, 0x7e8e6eb2,

+    0xeca2d2ad, 0x7e86ddc6,

+  0xec71244f, 0x7e7f3957, 0xec3f78f6, 0x7e778166, 0xec0dd0a8, 0x7e6fb5f4,

+    0xebdc2b6e, 0x7e67d703,

+  0xebaa894f, 0x7e5fe493, 0xeb78ea52, 0x7e57dea7, 0xeb474e81, 0x7e4fc53e,

+    0xeb15b5e1, 0x7e47985b,

+  0xeae4207a, 0x7e3f57ff, 0xeab28e56, 0x7e37042a, 0xea80ff7a, 0x7e2e9cdf,

+    0xea4f73ee, 0x7e26221f,

+  0xea1debbb, 0x7e1d93ea, 0xe9ec66e8, 0x7e14f242, 0xe9bae57d, 0x7e0c3d29,

+    0xe9896781, 0x7e0374a0,

+  0xe957ecfb, 0x7dfa98a8, 0xe92675f4, 0x7df1a942, 0xe8f50273, 0x7de8a670,

+    0xe8c39280, 0x7ddf9034,

+  0xe8922622, 0x7dd6668f, 0xe860bd61, 0x7dcd2981, 0xe82f5844, 0x7dc3d90d,

+    0xe7fdf6d4, 0x7dba7534,

+  0xe7cc9917, 0x7db0fdf8, 0xe79b3f16, 0x7da77359, 0xe769e8d8, 0x7d9dd55a,

+    0xe7389665, 0x7d9423fc,

+  0xe70747c4, 0x7d8a5f40, 0xe6d5fcfc, 0x7d808728, 0xe6a4b616, 0x7d769bb5,

+    0xe6737319, 0x7d6c9ce9,

+  0xe642340d, 0x7d628ac6, 0xe610f8f9, 0x7d58654d, 0xe5dfc1e5, 0x7d4e2c7f,

+    0xe5ae8ed8, 0x7d43e05e,

+  0xe57d5fda, 0x7d3980ec, 0xe54c34f3, 0x7d2f0e2b, 0xe51b0e2a, 0x7d24881b,

+    0xe4e9eb87, 0x7d19eebf,

+  0xe4b8cd11, 0x7d0f4218, 0xe487b2d0, 0x7d048228, 0xe4569ccb, 0x7cf9aef0,

+    0xe4258b0a, 0x7ceec873,

+  0xe3f47d96, 0x7ce3ceb2, 0xe3c37474, 0x7cd8c1ae, 0xe3926fad, 0x7ccda169,

+    0xe3616f48, 0x7cc26de5,

+  0xe330734d, 0x7cb72724, 0xe2ff7bc3, 0x7cabcd28, 0xe2ce88b3, 0x7ca05ff1,

+    0xe29d9a23, 0x7c94df83,

+  0xe26cb01b, 0x7c894bde, 0xe23bcaa2, 0x7c7da505, 0xe20ae9c1, 0x7c71eaf9,

+    0xe1da0d7e, 0x7c661dbc,

+  0xe1a935e2, 0x7c5a3d50, 0xe17862f3, 0x7c4e49b7, 0xe14794ba, 0x7c4242f2,

+    0xe116cb3d, 0x7c362904,

+  0xe0e60685, 0x7c29fbee, 0xe0b54698, 0x7c1dbbb3, 0xe0848b7f, 0x7c116853,

+    0xe053d541, 0x7c0501d2,

+  0xe02323e5, 0x7bf88830, 0xdff27773, 0x7bebfb70, 0xdfc1cff3, 0x7bdf5b94,

+    0xdf912d6b, 0x7bd2a89e,

+  0xdf608fe4, 0x7bc5e290, 0xdf2ff764, 0x7bb9096b, 0xdeff63f4, 0x7bac1d31,

+    0xdeced59b, 0x7b9f1de6,

+  0xde9e4c60, 0x7b920b89, 0xde6dc84b, 0x7b84e61f, 0xde3d4964, 0x7b77ada8,

+    0xde0ccfb1, 0x7b6a6227,

+  0xdddc5b3b, 0x7b5d039e, 0xddabec08, 0x7b4f920e, 0xdd7b8220, 0x7b420d7a,

+    0xdd4b1d8c, 0x7b3475e5,

+  0xdd1abe51, 0x7b26cb4f, 0xdcea6478, 0x7b190dbc, 0xdcba1008, 0x7b0b3d2c,

+    0xdc89c109, 0x7afd59a4,

+  0xdc597781, 0x7aef6323, 0xdc293379, 0x7ae159ae, 0xdbf8f4f8, 0x7ad33d45,

+    0xdbc8bc06, 0x7ac50dec,

+  0xdb9888a8, 0x7ab6cba4, 0xdb685ae9, 0x7aa8766f, 0xdb3832cd, 0x7a9a0e50,

+    0xdb08105e, 0x7a8b9348,

+  0xdad7f3a2, 0x7a7d055b, 0xdaa7dca1, 0x7a6e648a, 0xda77cb63, 0x7a5fb0d8,

+    0xda47bfee, 0x7a50ea47,

+  0xda17ba4a, 0x7a4210d8, 0xd9e7ba7f, 0x7a332490, 0xd9b7c094, 0x7a24256f,

+    0xd987cc90, 0x7a151378,

+  0xd957de7a, 0x7a05eead, 0xd927f65b, 0x79f6b711, 0xd8f81439, 0x79e76ca7,

+    0xd8c8381d, 0x79d80f6f,

+  0xd898620c, 0x79c89f6e, 0xd868920f, 0x79b91ca4, 0xd838c82d, 0x79a98715,

+    0xd809046e, 0x7999dec4,

+  0xd7d946d8, 0x798a23b1, 0xd7a98f73, 0x797a55e0, 0xd779de47, 0x796a7554,

+    0xd74a335b, 0x795a820e,

+  0xd71a8eb5, 0x794a7c12, 0xd6eaf05f, 0x793a6361, 0xd6bb585e, 0x792a37fe,

+    0xd68bc6ba, 0x7919f9ec,

+  0xd65c3b7b, 0x7909a92d, 0xd62cb6a8, 0x78f945c3, 0xd5fd3848, 0x78e8cfb2,

+    0xd5cdc062, 0x78d846fb,

+  0xd59e4eff, 0x78c7aba2, 0xd56ee424, 0x78b6fda8, 0xd53f7fda, 0x78a63d11,

+    0xd5102228, 0x789569df,

+  0xd4e0cb15, 0x78848414, 0xd4b17aa8, 0x78738bb3, 0xd48230e9, 0x786280bf,

+    0xd452eddf, 0x7851633b,

+  0xd423b191, 0x78403329, 0xd3f47c06, 0x782ef08b, 0xd3c54d47, 0x781d9b65,

+    0xd396255a, 0x780c33b8,

+  0xd3670446, 0x77fab989, 0xd337ea12, 0x77e92cd9, 0xd308d6c7, 0x77d78daa,

+    0xd2d9ca6a, 0x77c5dc01,

+  0xd2aac504, 0x77b417df, 0xd27bc69c, 0x77a24148, 0xd24ccf39, 0x7790583e,

+    0xd21ddee2, 0x777e5cc3,

+  0xd1eef59e, 0x776c4edb, 0xd1c01375, 0x775a2e89, 0xd191386e, 0x7747fbce,

+    0xd1626490, 0x7735b6af,

+  0xd13397e2, 0x77235f2d, 0xd104d26b, 0x7710f54c, 0xd0d61434, 0x76fe790e,

+    0xd0a75d42, 0x76ebea77,

+  0xd078ad9e, 0x76d94989, 0xd04a054e, 0x76c69647, 0xd01b6459, 0x76b3d0b4,

+    0xcfeccac7, 0x76a0f8d2,

+  0xcfbe389f, 0x768e0ea6, 0xcf8fade9, 0x767b1231, 0xcf612aaa, 0x76680376,

+    0xcf32aeeb, 0x7654e279,

+  0xcf043ab3, 0x7641af3d, 0xced5ce08, 0x762e69c4, 0xcea768f2, 0x761b1211,

+    0xce790b79, 0x7607a828,

+  0xce4ab5a2, 0x75f42c0b, 0xce1c6777, 0x75e09dbd, 0xcdee20fc, 0x75ccfd42,

+    0xcdbfe23a, 0x75b94a9c,

+  0xcd91ab39, 0x75a585cf, 0xcd637bfe, 0x7591aedd, 0xcd355491, 0x757dc5ca,

+    0xcd0734f9, 0x7569ca99,

+  0xccd91d3d, 0x7555bd4c, 0xccab0d65, 0x75419de7, 0xcc7d0578, 0x752d6c6c,

+    0xcc4f057c, 0x751928e0,

+  0xcc210d79, 0x7504d345, 0xcbf31d75, 0x74f06b9e, 0xcbc53579, 0x74dbf1ef,

+    0xcb97558a, 0x74c7663a,

+  0xcb697db0, 0x74b2c884, 0xcb3badf3, 0x749e18cd, 0xcb0de658, 0x7489571c,

+    0xcae026e8, 0x74748371,

+  0xcab26fa9, 0x745f9dd1, 0xca84c0a3, 0x744aa63f, 0xca5719db, 0x74359cbd,

+    0xca297b5a, 0x74208150,

+  0xc9fbe527, 0x740b53fb, 0xc9ce5748, 0x73f614c0, 0xc9a0d1c5, 0x73e0c3a3,

+    0xc97354a4, 0x73cb60a8,

+  0xc945dfec, 0x73b5ebd1, 0xc91873a5, 0x73a06522, 0xc8eb0fd6, 0x738acc9e,

+    0xc8bdb485, 0x73752249,

+  0xc89061ba, 0x735f6626, 0xc863177b, 0x73499838, 0xc835d5d0, 0x7333b883,

+    0xc8089cbf, 0x731dc70a,

+  0xc7db6c50, 0x7307c3d0, 0xc7ae4489, 0x72f1aed9, 0xc7812572, 0x72db8828,

+    0xc7540f11, 0x72c54fc1,

+  0xc727016d, 0x72af05a7, 0xc6f9fc8d, 0x7298a9dd, 0xc6cd0079, 0x72823c67,

+    0xc6a00d37, 0x726bbd48,

+  0xc67322ce, 0x72552c85, 0xc6464144, 0x723e8a20, 0xc61968a2, 0x7227d61c,

+    0xc5ec98ee, 0x7211107e,

+  0xc5bfd22e, 0x71fa3949, 0xc593146a, 0x71e35080, 0xc5665fa9, 0x71cc5626,

+    0xc539b3f1, 0x71b54a41,

+  0xc50d1149, 0x719e2cd2, 0xc4e077b8, 0x7186fdde, 0xc4b3e746, 0x716fbd68,

+    0xc4875ff9, 0x71586b74,

+  0xc45ae1d7, 0x71410805, 0xc42e6ce8, 0x7129931f, 0xc4020133, 0x71120cc5,

+    0xc3d59ebe, 0x70fa74fc,

+  0xc3a94590, 0x70e2cbc6, 0xc37cf5b0, 0x70cb1128, 0xc350af26, 0x70b34525,

+    0xc32471f7, 0x709b67c0,

+  0xc2f83e2a, 0x708378ff, 0xc2cc13c7, 0x706b78e3, 0xc29ff2d4, 0x70536771,

+    0xc273db58, 0x703b44ad,

+  0xc247cd5a, 0x7023109a, 0xc21bc8e1, 0x700acb3c, 0xc1efcdf3, 0x6ff27497,

+    0xc1c3dc97, 0x6fda0cae,

+  0xc197f4d4, 0x6fc19385, 0xc16c16b0, 0x6fa90921, 0xc1404233, 0x6f906d84,

+    0xc1147764, 0x6f77c0b3,

+  0xc0e8b648, 0x6f5f02b2, 0xc0bcfee7, 0x6f463383, 0xc0915148, 0x6f2d532c,

+    0xc065ad70, 0x6f1461b0,

+  0xc03a1368, 0x6efb5f12, 0xc00e8336, 0x6ee24b57, 0xbfe2fcdf, 0x6ec92683,

+    0xbfb7806c, 0x6eaff099,

+  0xbf8c0de3, 0x6e96a99d, 0xbf60a54a, 0x6e7d5193, 0xbf3546a8, 0x6e63e87f,

+    0xbf09f205, 0x6e4a6e66,

+  0xbedea765, 0x6e30e34a, 0xbeb366d1, 0x6e174730, 0xbe88304f, 0x6dfd9a1c,

+    0xbe5d03e6, 0x6de3dc11,

+  0xbe31e19b, 0x6dca0d14, 0xbe06c977, 0x6db02d29, 0xbddbbb7f, 0x6d963c54,

+    0xbdb0b7bb, 0x6d7c3a98,

+  0xbd85be30, 0x6d6227fa, 0xbd5acee5, 0x6d48047e, 0xbd2fe9e2, 0x6d2dd027,

+    0xbd050f2c, 0x6d138afb,

+  0xbcda3ecb, 0x6cf934fc, 0xbcaf78c4, 0x6cdece2f, 0xbc84bd1f, 0x6cc45698,

+    0xbc5a0be2, 0x6ca9ce3b,

+  0xbc2f6513, 0x6c8f351c, 0xbc04c8ba, 0x6c748b3f, 0xbbda36dd, 0x6c59d0a9,

+    0xbbafaf82, 0x6c3f055d,

+  0xbb8532b0, 0x6c242960, 0xbb5ac06d, 0x6c093cb6, 0xbb3058c0, 0x6bee3f62,

+    0xbb05fbb0, 0x6bd3316a,

+  0xbadba943, 0x6bb812d1, 0xbab16180, 0x6b9ce39b, 0xba87246d, 0x6b81a3cd,

+    0xba5cf210, 0x6b66536b,

+  0xba32ca71, 0x6b4af279, 0xba08ad95, 0x6b2f80fb, 0xb9de9b83, 0x6b13fef5,

+    0xb9b49442, 0x6af86c6c,

+  0xb98a97d8, 0x6adcc964, 0xb960a64c, 0x6ac115e2, 0xb936bfa4, 0x6aa551e9,

+    0xb90ce3e6, 0x6a897d7d,

+  0xb8e31319, 0x6a6d98a4, 0xb8b94d44, 0x6a51a361, 0xb88f926d, 0x6a359db9,

+    0xb865e299, 0x6a1987b0,

+  0xb83c3dd1, 0x69fd614a, 0xb812a41a, 0x69e12a8c, 0xb7e9157a, 0x69c4e37a,

+    0xb7bf91f8, 0x69a88c19,

+  0xb796199b, 0x698c246c, 0xb76cac69, 0x696fac78, 0xb7434a67, 0x69532442,

+    0xb719f39e, 0x69368bce,

+  0xb6f0a812, 0x6919e320, 0xb6c767ca, 0x68fd2a3d, 0xb69e32cd, 0x68e06129,

+    0xb6750921, 0x68c387e9,

+  0xb64beacd, 0x68a69e81, 0xb622d7d6, 0x6889a4f6, 0xb5f9d043, 0x686c9b4b,

+    0xb5d0d41a, 0x684f8186,

+  0xb5a7e362, 0x683257ab, 0xb57efe22, 0x68151dbe, 0xb556245e, 0x67f7d3c5,

+    0xb52d561e, 0x67da79c3,

+  0xb5049368, 0x67bd0fbd, 0xb4dbdc42, 0x679f95b7, 0xb4b330b3, 0x67820bb7,

+    0xb48a90c0, 0x676471c0,

+  0xb461fc70, 0x6746c7d8, 0xb43973ca, 0x67290e02, 0xb410f6d3, 0x670b4444,

+    0xb3e88592, 0x66ed6aa1,

+  0xb3c0200c, 0x66cf8120, 0xb397c649, 0x66b187c3, 0xb36f784f, 0x66937e91,

+    0xb3473623, 0x6675658c,

+  0xb31effcc, 0x66573cbb, 0xb2f6d550, 0x66390422, 0xb2ceb6b5, 0x661abbc5,

+    0xb2a6a402, 0x65fc63a9,

+  0xb27e9d3c, 0x65ddfbd3, 0xb256a26a, 0x65bf8447, 0xb22eb392, 0x65a0fd0b,

+    0xb206d0ba, 0x65826622,

+  0xb1def9e9, 0x6563bf92, 0xb1b72f23, 0x6545095f, 0xb18f7071, 0x6526438f,

+    0xb167bdd7, 0x65076e25,

+  0xb140175b, 0x64e88926, 0xb1187d05, 0x64c99498, 0xb0f0eeda, 0x64aa907f,

+    0xb0c96ce0, 0x648b7ce0,

+  0xb0a1f71d, 0x646c59bf, 0xb07a8d97, 0x644d2722, 0xb0533055, 0x642de50d,

+    0xb02bdf5c, 0x640e9386,

+  0xb0049ab3, 0x63ef3290, 0xafdd625f, 0x63cfc231, 0xafb63667, 0x63b0426d,

+    0xaf8f16d1, 0x6390b34a,

+  0xaf6803a2, 0x637114cc, 0xaf40fce1, 0x635166f9, 0xaf1a0293, 0x6331a9d4,

+    0xaef314c0, 0x6311dd64,

+  0xaecc336c, 0x62f201ac, 0xaea55e9e, 0x62d216b3, 0xae7e965b, 0x62b21c7b,

+    0xae57daab, 0x6292130c,

+  0xae312b92, 0x6271fa69, 0xae0a8916, 0x6251d298, 0xade3f33e, 0x62319b9d,

+    0xadbd6a10, 0x6211557e,

+  0xad96ed92, 0x61f1003f, 0xad707dc8, 0x61d09be5, 0xad4a1aba, 0x61b02876,

+    0xad23c46e, 0x618fa5f7,

+  0xacfd7ae8, 0x616f146c, 0xacd73e30, 0x614e73da, 0xacb10e4b, 0x612dc447,

+    0xac8aeb3e, 0x610d05b7,

+  0xac64d510, 0x60ec3830, 0xac3ecbc7, 0x60cb5bb7, 0xac18cf69, 0x60aa7050,

+    0xabf2dffb, 0x60897601,

+  0xabccfd83, 0x60686ccf, 0xaba72807, 0x604754bf, 0xab815f8d, 0x60262dd6,

+    0xab5ba41a, 0x6004f819,

+  0xab35f5b5, 0x5fe3b38d, 0xab105464, 0x5fc26038, 0xaaeac02c, 0x5fa0fe1f,

+    0xaac53912, 0x5f7f8d46,

+  0xaa9fbf1e, 0x5f5e0db3, 0xaa7a5253, 0x5f3c7f6b, 0xaa54f2ba, 0x5f1ae274,

+    0xaa2fa056, 0x5ef936d1,

+  0xaa0a5b2e, 0x5ed77c8a, 0xa9e52347, 0x5eb5b3a2, 0xa9bff8a8, 0x5e93dc1f,

+    0xa99adb56, 0x5e71f606,

+  0xa975cb57, 0x5e50015d, 0xa950c8b0, 0x5e2dfe29, 0xa92bd367, 0x5e0bec6e,

+    0xa906eb82, 0x5de9cc33,

+  0xa8e21106, 0x5dc79d7c, 0xa8bd43fa, 0x5da5604f, 0xa8988463, 0x5d8314b1,

+    0xa873d246, 0x5d60baa7,

+  0xa84f2daa, 0x5d3e5237, 0xa82a9693, 0x5d1bdb65, 0xa8060d08, 0x5cf95638,

+    0xa7e1910f, 0x5cd6c2b5,

+  0xa7bd22ac, 0x5cb420e0, 0xa798c1e5, 0x5c9170bf, 0xa7746ec0, 0x5c6eb258,

+    0xa7502943, 0x5c4be5b0,

+  0xa72bf174, 0x5c290acc, 0xa707c757, 0x5c0621b2, 0xa6e3aaf2, 0x5be32a67,

+    0xa6bf9c4b, 0x5bc024f0,

+  0xa69b9b68, 0x5b9d1154, 0xa677a84e, 0x5b79ef96, 0xa653c303, 0x5b56bfbd,

+    0xa62feb8b, 0x5b3381ce,

+  0xa60c21ee, 0x5b1035cf, 0xa5e8662f, 0x5aecdbc5, 0xa5c4b855, 0x5ac973b5,

+    0xa5a11866, 0x5aa5fda5,

+  0xa57d8666, 0x5a82799a, 0xa55a025b, 0x5a5ee79a, 0xa5368c4b, 0x5a3b47ab,

+    0xa513243b, 0x5a1799d1,

+  0xa4efca31, 0x59f3de12, 0xa4cc7e32, 0x59d01475, 0xa4a94043, 0x59ac3cfd,

+    0xa486106a, 0x598857b2,

+  0xa462eeac, 0x59646498, 0xa43fdb10, 0x594063b5, 0xa41cd599, 0x591c550e,

+    0xa3f9de4e, 0x58f838a9,

+  0xa3d6f534, 0x58d40e8c, 0xa3b41a50, 0x58afd6bd, 0xa3914da8, 0x588b9140,

+    0xa36e8f41, 0x58673e1b,

+  0xa34bdf20, 0x5842dd54, 0xa3293d4b, 0x581e6ef1, 0xa306a9c8, 0x57f9f2f8,

+    0xa2e4249b, 0x57d5696d,

+  0xa2c1adc9, 0x57b0d256, 0xa29f4559, 0x578c2dba, 0xa27ceb4f, 0x57677b9d,

+    0xa25a9fb1, 0x5742bc06,

+  0xa2386284, 0x571deefa, 0xa21633cd, 0x56f9147e, 0xa1f41392, 0x56d42c99,

+    0xa1d201d7, 0x56af3750,

+  0xa1affea3, 0x568a34a9, 0xa18e09fa, 0x566524aa, 0xa16c23e1, 0x56400758,

+    0xa14a4c5e, 0x561adcb9,

+  0xa1288376, 0x55f5a4d2, 0xa106c92f, 0x55d05faa, 0xa0e51d8c, 0x55ab0d46,

+    0xa0c38095, 0x5585adad,

+  0xa0a1f24d, 0x556040e2, 0xa08072ba, 0x553ac6ee, 0xa05f01e1, 0x55153fd4,

+    0xa03d9fc8, 0x54efab9c,

+  0xa01c4c73, 0x54ca0a4b, 0x9ffb07e7, 0x54a45be6, 0x9fd9d22a, 0x547ea073,

+    0x9fb8ab41, 0x5458d7f9,

+  0x9f979331, 0x5433027d, 0x9f7689ff, 0x540d2005, 0x9f558fb0, 0x53e73097,

+    0x9f34a449, 0x53c13439,

+  0x9f13c7d0, 0x539b2af0, 0x9ef2fa49, 0x537514c2, 0x9ed23bb9, 0x534ef1b5,

+    0x9eb18c26, 0x5328c1d0,

+  0x9e90eb94, 0x53028518, 0x9e705a09, 0x52dc3b92, 0x9e4fd78a, 0x52b5e546,

+    0x9e2f641b, 0x528f8238,

+  0x9e0effc1, 0x5269126e, 0x9deeaa82, 0x524295f0, 0x9dce6463, 0x521c0cc2,

+    0x9dae2d68, 0x51f576ea,

+  0x9d8e0597, 0x51ced46e, 0x9d6decf4, 0x51a82555, 0x9d4de385, 0x518169a5,

+    0x9d2de94d, 0x515aa162,

+  0x9d0dfe54, 0x5133cc94, 0x9cee229c, 0x510ceb40, 0x9cce562c, 0x50e5fd6d,

+    0x9cae9907, 0x50bf031f,

+  0x9c8eeb34, 0x5097fc5e, 0x9c6f4cb6, 0x5070e92f, 0x9c4fbd93, 0x5049c999,

+    0x9c303dcf, 0x50229da1,

+  0x9c10cd70, 0x4ffb654d, 0x9bf16c7a, 0x4fd420a4, 0x9bd21af3, 0x4faccfab,

+    0x9bb2d8de, 0x4f857269,

+  0x9b93a641, 0x4f5e08e3, 0x9b748320, 0x4f369320, 0x9b556f81, 0x4f0f1126,

+    0x9b366b68, 0x4ee782fb,

+  0x9b1776da, 0x4ebfe8a5, 0x9af891db, 0x4e984229, 0x9ad9bc71, 0x4e708f8f,

+    0x9abaf6a1, 0x4e48d0dd,

+  0x9a9c406e, 0x4e210617, 0x9a7d99de, 0x4df92f46, 0x9a5f02f5, 0x4dd14c6e,

+    0x9a407bb9, 0x4da95d96,

+  0x9a22042d, 0x4d8162c4, 0x9a039c57, 0x4d595bfe, 0x99e5443b, 0x4d31494b,

+    0x99c6fbde, 0x4d092ab0,

+  0x99a8c345, 0x4ce10034, 0x998a9a74, 0x4cb8c9dd, 0x996c816f, 0x4c9087b1,

+    0x994e783d, 0x4c6839b7,

+  0x99307ee0, 0x4c3fdff4, 0x9912955f, 0x4c177a6e, 0x98f4bbbc, 0x4bef092d,

+    0x98d6f1fe, 0x4bc68c36,

+  0x98b93828, 0x4b9e0390, 0x989b8e40, 0x4b756f40, 0x987df449, 0x4b4ccf4d,

+    0x98606a49, 0x4b2423be,

+  0x9842f043, 0x4afb6c98, 0x9825863d, 0x4ad2a9e2, 0x98082c3b, 0x4aa9dba2,

+    0x97eae242, 0x4a8101de,

+  0x97cda855, 0x4a581c9e, 0x97b07e7a, 0x4a2f2be6, 0x979364b5, 0x4a062fbd,

+    0x97765b0a, 0x49dd282a,

+  0x9759617f, 0x49b41533, 0x973c7817, 0x498af6df, 0x971f9ed7, 0x4961cd33,

+    0x9702d5c3, 0x49389836,

+  0x96e61ce0, 0x490f57ee, 0x96c97432, 0x48e60c62, 0x96acdbbe, 0x48bcb599,

+    0x96905388, 0x48935397,

+  0x9673db94, 0x4869e665, 0x965773e7, 0x48406e08, 0x963b1c86, 0x4816ea86,

+    0x961ed574, 0x47ed5be6,

+  0x96029eb6, 0x47c3c22f, 0x95e67850, 0x479a1d67, 0x95ca6247, 0x47706d93,

+    0x95ae5c9f, 0x4746b2bc,

+  0x9592675c, 0x471cece7, 0x95768283, 0x46f31c1a, 0x955aae17, 0x46c9405c,

+    0x953eea1e, 0x469f59b4,

+  0x9523369c, 0x46756828, 0x95079394, 0x464b6bbe, 0x94ec010b, 0x4621647d,

+    0x94d07f05, 0x45f7526b,

+  0x94b50d87, 0x45cd358f, 0x9499ac95, 0x45a30df0, 0x947e5c33, 0x4578db93,

+    0x94631c65, 0x454e9e80,

+  0x9447ed2f, 0x452456bd, 0x942cce96, 0x44fa0450, 0x9411c09e, 0x44cfa740,

+    0x93f6c34a, 0x44a53f93,

+  0x93dbd6a0, 0x447acd50, 0x93c0faa3, 0x4450507e, 0x93a62f57, 0x4425c923,

+    0x938b74c1, 0x43fb3746,

+  0x9370cae4, 0x43d09aed, 0x935631c5, 0x43a5f41e, 0x933ba968, 0x437b42e1,

+    0x932131d1, 0x4350873c,

+  0x9306cb04, 0x4325c135, 0x92ec7505, 0x42faf0d4, 0x92d22fd9, 0x42d0161e,

+    0x92b7fb82, 0x42a5311b,

+  0x929dd806, 0x427a41d0, 0x9283c568, 0x424f4845, 0x9269c3ac, 0x42244481,

+    0x924fd2d7, 0x41f93689,

+  0x9235f2ec, 0x41ce1e65, 0x921c23ef, 0x41a2fc1a, 0x920265e4, 0x4177cfb1,

+    0x91e8b8d0, 0x414c992f,

+  0x91cf1cb6, 0x4121589b, 0x91b5919a, 0x40f60dfb, 0x919c1781, 0x40cab958,

+    0x9182ae6d, 0x409f5ab6,

+  0x91695663, 0x4073f21d, 0x91500f67, 0x40487f94, 0x9136d97d, 0x401d0321,

+    0x911db4a9, 0x3ff17cca,

+  0x9104a0ee, 0x3fc5ec98, 0x90eb9e50, 0x3f9a5290, 0x90d2acd4, 0x3f6eaeb8,

+    0x90b9cc7d, 0x3f430119,

+  0x90a0fd4e, 0x3f1749b8, 0x90883f4d, 0x3eeb889c, 0x906f927c, 0x3ebfbdcd,

+    0x9056f6df, 0x3e93e950,

+  0x903e6c7b, 0x3e680b2c, 0x9025f352, 0x3e3c2369, 0x900d8b69, 0x3e10320d,

+    0x8ff534c4, 0x3de4371f,

+  0x8fdcef66, 0x3db832a6, 0x8fc4bb53, 0x3d8c24a8, 0x8fac988f, 0x3d600d2c,

+    0x8f94871d, 0x3d33ec39,

+  0x8f7c8701, 0x3d07c1d6, 0x8f649840, 0x3cdb8e09, 0x8f4cbadb, 0x3caf50da,

+    0x8f34eed8, 0x3c830a50,

+  0x8f1d343a, 0x3c56ba70, 0x8f058b04, 0x3c2a6142, 0x8eedf33b, 0x3bfdfecd,

+    0x8ed66ce1, 0x3bd19318,

+  0x8ebef7fb, 0x3ba51e29, 0x8ea7948c, 0x3b78a007, 0x8e904298, 0x3b4c18ba,

+    0x8e790222, 0x3b1f8848,

+  0x8e61d32e, 0x3af2eeb7, 0x8e4ab5bf, 0x3ac64c0f, 0x8e33a9da, 0x3a99a057,

+    0x8e1caf80, 0x3a6ceb96,

+  0x8e05c6b7, 0x3a402dd2, 0x8deeef82, 0x3a136712, 0x8dd829e4, 0x39e6975e,

+    0x8dc175e0, 0x39b9bebc,

+  0x8daad37b, 0x398cdd32, 0x8d9442b8, 0x395ff2c9, 0x8d7dc399, 0x3932ff87,

+    0x8d675623, 0x39060373,

+  0x8d50fa59, 0x38d8fe93, 0x8d3ab03f, 0x38abf0ef, 0x8d2477d8, 0x387eda8e,

+    0x8d0e5127, 0x3851bb77,

+  0x8cf83c30, 0x382493b0, 0x8ce238f6, 0x37f76341, 0x8ccc477d, 0x37ca2a30,

+    0x8cb667c8, 0x379ce885,

+  0x8ca099da, 0x376f9e46, 0x8c8addb7, 0x37424b7b, 0x8c753362, 0x3714f02a,

+    0x8c5f9ade, 0x36e78c5b,

+  0x8c4a142f, 0x36ba2014, 0x8c349f58, 0x368cab5c, 0x8c1f3c5d, 0x365f2e3b,

+    0x8c09eb40, 0x3631a8b8,

+  0x8bf4ac05, 0x36041ad9, 0x8bdf7eb0, 0x35d684a6, 0x8bca6343, 0x35a8e625,

+    0x8bb559c1, 0x357b3f5d,

+  0x8ba0622f, 0x354d9057, 0x8b8b7c8f, 0x351fd918, 0x8b76a8e4, 0x34f219a8,

+    0x8b61e733, 0x34c4520d,

+  0x8b4d377c, 0x34968250, 0x8b3899c6, 0x3468aa76, 0x8b240e11, 0x343aca87,

+    0x8b0f9462, 0x340ce28b,

+  0x8afb2cbb, 0x33def287, 0x8ae6d720, 0x33b0fa84, 0x8ad29394, 0x3382fa88,

+    0x8abe6219, 0x3354f29b,

+  0x8aaa42b4, 0x3326e2c3, 0x8a963567, 0x32f8cb07, 0x8a823a36, 0x32caab6f,

+    0x8a6e5123, 0x329c8402,

+  0x8a5a7a31, 0x326e54c7, 0x8a46b564, 0x32401dc6, 0x8a3302be, 0x3211df04,

+    0x8a1f6243, 0x31e39889,

+  0x8a0bd3f5, 0x31b54a5e, 0x89f857d8, 0x3186f487, 0x89e4edef, 0x3158970e,

+    0x89d1963c, 0x312a31f8,

+  0x89be50c3, 0x30fbc54d, 0x89ab1d87, 0x30cd5115, 0x8997fc8a, 0x309ed556,

+    0x8984edcf, 0x30705217,

+  0x8971f15a, 0x3041c761, 0x895f072e, 0x30133539, 0x894c2f4c, 0x2fe49ba7,

+    0x893969b9, 0x2fb5fab2,

+  0x8926b677, 0x2f875262, 0x89141589, 0x2f58a2be, 0x890186f2, 0x2f29ebcc,

+    0x88ef0ab4, 0x2efb2d95,

+  0x88dca0d3, 0x2ecc681e, 0x88ca4951, 0x2e9d9b70, 0x88b80432, 0x2e6ec792,

+    0x88a5d177, 0x2e3fec8b,

+  0x8893b125, 0x2e110a62, 0x8881a33d, 0x2de2211e, 0x886fa7c2, 0x2db330c7,

+    0x885dbeb8, 0x2d843964,

+  0x884be821, 0x2d553afc, 0x883a23ff, 0x2d263596, 0x88287256, 0x2cf72939,

+    0x8816d327, 0x2cc815ee,

+  0x88054677, 0x2c98fbba, 0x87f3cc48, 0x2c69daa6, 0x87e2649b, 0x2c3ab2b9,

+    0x87d10f75, 0x2c0b83fa,

+  0x87bfccd7, 0x2bdc4e6f, 0x87ae9cc5, 0x2bad1221, 0x879d7f41, 0x2b7dcf17,

+    0x878c744d, 0x2b4e8558,

+  0x877b7bec, 0x2b1f34eb, 0x876a9621, 0x2aefddd8, 0x8759c2ef, 0x2ac08026,

+    0x87490258, 0x2a911bdc,

+  0x8738545e, 0x2a61b101, 0x8727b905, 0x2a323f9e, 0x8717304e, 0x2a02c7b8,

+    0x8706ba3d, 0x29d34958,

+  0x86f656d3, 0x29a3c485, 0x86e60614, 0x29743946, 0x86d5c802, 0x2944a7a2,

+    0x86c59c9f, 0x29150fa1,

+  0x86b583ee, 0x28e5714b, 0x86a57df2, 0x28b5cca5, 0x86958aac, 0x288621b9,

+    0x8685aa20, 0x2856708d,

+  0x8675dc4f, 0x2826b928, 0x8666213c, 0x27f6fb92, 0x865678eb, 0x27c737d3,

+    0x8646e35c, 0x27976df1,

+  0x86376092, 0x27679df4, 0x8627f091, 0x2737c7e3, 0x86189359, 0x2707ebc7,

+    0x860948ef, 0x26d809a5,

+  0x85fa1153, 0x26a82186, 0x85eaec88, 0x26783370, 0x85dbda91, 0x26483f6c,

+    0x85ccdb70, 0x26184581,

+  0x85bdef28, 0x25e845b6, 0x85af15b9, 0x25b84012, 0x85a04f28, 0x2588349d,

+    0x85919b76, 0x2558235f,

+  0x8582faa5, 0x25280c5e, 0x85746cb8, 0x24f7efa2, 0x8565f1b0, 0x24c7cd33,

+    0x85578991, 0x2497a517,

+  0x8549345c, 0x24677758, 0x853af214, 0x243743fa, 0x852cc2bb, 0x24070b08,

+    0x851ea652, 0x23d6cc87,

+  0x85109cdd, 0x23a6887f, 0x8502a65c, 0x23763ef7, 0x84f4c2d4, 0x2345eff8,

+    0x84e6f244, 0x23159b88,

+  0x84d934b1, 0x22e541af, 0x84cb8a1b, 0x22b4e274, 0x84bdf286, 0x22847de0,

+    0x84b06df2, 0x225413f8,

+  0x84a2fc62, 0x2223a4c5, 0x84959dd9, 0x21f3304f, 0x84885258, 0x21c2b69c,

+    0x847b19e1, 0x219237b5,

+  0x846df477, 0x2161b3a0, 0x8460e21a, 0x21312a65, 0x8453e2cf, 0x21009c0c,

+    0x8446f695, 0x20d0089c,

+  0x843a1d70, 0x209f701c, 0x842d5762, 0x206ed295, 0x8420a46c, 0x203e300d,

+    0x84140490, 0x200d888d,

+  0x840777d0, 0x1fdcdc1b, 0x83fafe2e, 0x1fac2abf, 0x83ee97ad, 0x1f7b7481,

+    0x83e2444d, 0x1f4ab968,

+  0x83d60412, 0x1f19f97b, 0x83c9d6fc, 0x1ee934c3, 0x83bdbd0e, 0x1eb86b46,

+    0x83b1b649, 0x1e879d0d,

+  0x83a5c2b0, 0x1e56ca1e, 0x8399e244, 0x1e25f282, 0x838e1507, 0x1df5163f,

+    0x83825afb, 0x1dc4355e,

+  0x8376b422, 0x1d934fe5, 0x836b207d, 0x1d6265dd, 0x835fa00f, 0x1d31774d,

+    0x835432d8, 0x1d00843d,

+  0x8348d8dc, 0x1ccf8cb3, 0x833d921b, 0x1c9e90b8, 0x83325e97, 0x1c6d9053,

+    0x83273e52, 0x1c3c8b8c,

+  0x831c314e, 0x1c0b826a, 0x8311378d, 0x1bda74f6, 0x83065110, 0x1ba96335,

+    0x82fb7dd8, 0x1b784d30,

+  0x82f0bde8, 0x1b4732ef, 0x82e61141, 0x1b161479, 0x82db77e5, 0x1ae4f1d6,

+    0x82d0f1d5, 0x1ab3cb0d,

+  0x82c67f14, 0x1a82a026, 0x82bc1fa2, 0x1a517128, 0x82b1d381, 0x1a203e1b,

+    0x82a79ab3, 0x19ef0707,

+  0x829d753a, 0x19bdcbf3, 0x82936317, 0x198c8ce7, 0x8289644b, 0x195b49ea,

+    0x827f78d8, 0x192a0304,

+  0x8275a0c0, 0x18f8b83c, 0x826bdc04, 0x18c7699b, 0x82622aa6, 0x18961728,

+    0x82588ca7, 0x1864c0ea,

+  0x824f0208, 0x183366e9, 0x82458acc, 0x1802092c, 0x823c26f3, 0x17d0a7bc,

+    0x8232d67f, 0x179f429f,

+  0x82299971, 0x176dd9de, 0x82206fcc, 0x173c6d80, 0x82175990, 0x170afd8d,

+    0x820e56be, 0x16d98a0c,

+  0x82056758, 0x16a81305, 0x81fc8b60, 0x1676987f, 0x81f3c2d7, 0x16451a83,

+    0x81eb0dbe, 0x16139918,

+  0x81e26c16, 0x15e21445, 0x81d9dde1, 0x15b08c12, 0x81d16321, 0x157f0086,

+    0x81c8fbd6, 0x154d71aa,

+  0x81c0a801, 0x151bdf86, 0x81b867a5, 0x14ea4a1f, 0x81b03ac2, 0x14b8b17f,

+    0x81a82159, 0x148715ae,

+  0x81a01b6d, 0x145576b1, 0x819828fd, 0x1423d492, 0x81904a0c, 0x13f22f58,

+    0x81887e9a, 0x13c0870a,

+  0x8180c6a9, 0x138edbb1, 0x8179223a, 0x135d2d53, 0x8171914e, 0x132b7bf9,

+    0x816a13e6, 0x12f9c7aa,

+  0x8162aa04, 0x12c8106f, 0x815b53a8, 0x1296564d, 0x815410d4, 0x1264994e,

+    0x814ce188, 0x1232d979,

+  0x8145c5c7, 0x120116d5, 0x813ebd90, 0x11cf516a, 0x8137c8e6, 0x119d8941,

+    0x8130e7c9, 0x116bbe60,

+  0x812a1a3a, 0x1139f0cf, 0x8123603a, 0x11082096, 0x811cb9ca, 0x10d64dbd,

+    0x811626ec, 0x10a4784b,

+  0x810fa7a0, 0x1072a048, 0x81093be8, 0x1040c5bb, 0x8102e3c4, 0x100ee8ad,

+    0x80fc9f35, 0xfdd0926,

+  0x80f66e3c, 0xfab272b, 0x80f050db, 0xf7942c7, 0x80ea4712, 0xf475bff,

+    0x80e450e2, 0xf1572dc,

+  0x80de6e4c, 0xee38766, 0x80d89f51, 0xeb199a4, 0x80d2e3f2, 0xe7fa99e,

+    0x80cd3c2f, 0xe4db75b,

+  0x80c7a80a, 0xe1bc2e4, 0x80c22784, 0xde9cc40, 0x80bcba9d, 0xdb7d376,

+    0x80b76156, 0xd85d88f,

+  0x80b21baf, 0xd53db92, 0x80ace9ab, 0xd21dc87, 0x80a7cb49, 0xcefdb76,

+    0x80a2c08b, 0xcbdd865,

+  0x809dc971, 0xc8bd35e, 0x8098e5fb, 0xc59cc68, 0x8094162c, 0xc27c389,

+    0x808f5a02, 0xbf5b8cb,

+  0x808ab180, 0xbc3ac35, 0x80861ca6, 0xb919dcf, 0x80819b74, 0xb5f8d9f,

+    0x807d2dec, 0xb2d7baf,

+  0x8078d40d, 0xafb6805, 0x80748dd9, 0xac952aa, 0x80705b50, 0xa973ba5,

+    0x806c3c74, 0xa6522fe,

+  0x80683143, 0xa3308bd, 0x806439c0, 0xa00ece8, 0x806055eb, 0x9cecf89,

+    0x805c85c4, 0x99cb0a7,

+  0x8058c94c, 0x96a9049, 0x80552084, 0x9386e78, 0x80518b6b, 0x9064b3a,

+    0x804e0a04, 0x8d42699,

+  0x804a9c4d, 0x8a2009a, 0x80474248, 0x86fd947, 0x8043fbf6, 0x83db0a7,

+    0x8040c956, 0x80b86c2,

+  0x803daa6a, 0x7d95b9e, 0x803a9f31, 0x7a72f45, 0x8037a7ac, 0x77501be,

+    0x8034c3dd, 0x742d311,

+  0x8031f3c2, 0x710a345, 0x802f375d, 0x6de7262, 0x802c8ead, 0x6ac406f,

+    0x8029f9b4, 0x67a0d76,

+  0x80277872, 0x647d97c, 0x80250ae7, 0x615a48b, 0x8022b114, 0x5e36ea9,

+    0x80206af8, 0x5b137df,

+  0x801e3895, 0x57f0035, 0x801c19ea, 0x54cc7b1, 0x801a0ef8, 0x51a8e5c,

+    0x801817bf, 0x4e8543e,

+  0x80163440, 0x4b6195d, 0x8014647b, 0x483ddc3, 0x8012a86f, 0x451a177,

+    0x8011001f, 0x41f6480,

+  0x800f6b88, 0x3ed26e6, 0x800deaad, 0x3bae8b2, 0x800c7d8c, 0x388a9ea,

+    0x800b2427, 0x3566a96,

+  0x8009de7e, 0x3242abf, 0x8008ac90, 0x2f1ea6c, 0x80078e5e, 0x2bfa9a4,

+    0x800683e8, 0x28d6870,

+  0x80058d2f, 0x25b26d7, 0x8004aa32, 0x228e4e2, 0x8003daf1, 0x1f6a297,

+    0x80031f6d, 0x1c45ffe,

+  0x800277a6, 0x1921d20, 0x8001e39b, 0x15fda03, 0x8001634e, 0x12d96b1,

+    0x8000f6bd, 0xfb5330,

+  0x80009dea, 0xc90f88, 0x800058d4, 0x96cbc1, 0x8000277a, 0x6487e3,

+    0x800009df, 0x3243f5,

+  0x80000000, 0x0, 0x800009df, 0xffcdbc0b, 0x8000277a, 0xff9b781d, 0x800058d4,

+    0xff69343f,

+  0x80009dea, 0xff36f078, 0x8000f6bd, 0xff04acd0, 0x8001634e, 0xfed2694f,

+    0x8001e39b, 0xfea025fd,

+  0x800277a6, 0xfe6de2e0, 0x80031f6d, 0xfe3ba002, 0x8003daf1, 0xfe095d69,

+    0x8004aa32, 0xfdd71b1e,

+  0x80058d2f, 0xfda4d929, 0x800683e8, 0xfd729790, 0x80078e5e, 0xfd40565c,

+    0x8008ac90, 0xfd0e1594,

+  0x8009de7e, 0xfcdbd541, 0x800b2427, 0xfca9956a, 0x800c7d8c, 0xfc775616,

+    0x800deaad, 0xfc45174e,

+  0x800f6b88, 0xfc12d91a, 0x8011001f, 0xfbe09b80, 0x8012a86f, 0xfbae5e89,

+    0x8014647b, 0xfb7c223d,

+  0x80163440, 0xfb49e6a3, 0x801817bf, 0xfb17abc2, 0x801a0ef8, 0xfae571a4,

+    0x801c19ea, 0xfab3384f,

+  0x801e3895, 0xfa80ffcb, 0x80206af8, 0xfa4ec821, 0x8022b114, 0xfa1c9157,

+    0x80250ae7, 0xf9ea5b75,

+  0x80277872, 0xf9b82684, 0x8029f9b4, 0xf985f28a, 0x802c8ead, 0xf953bf91,

+    0x802f375d, 0xf9218d9e,

+  0x8031f3c2, 0xf8ef5cbb, 0x8034c3dd, 0xf8bd2cef, 0x8037a7ac, 0xf88afe42,

+    0x803a9f31, 0xf858d0bb,

+  0x803daa6a, 0xf826a462, 0x8040c956, 0xf7f4793e, 0x8043fbf6, 0xf7c24f59,

+    0x80474248, 0xf79026b9,

+  0x804a9c4d, 0xf75dff66, 0x804e0a04, 0xf72bd967, 0x80518b6b, 0xf6f9b4c6,

+    0x80552084, 0xf6c79188,

+  0x8058c94c, 0xf6956fb7, 0x805c85c4, 0xf6634f59, 0x806055eb, 0xf6313077,

+    0x806439c0, 0xf5ff1318,

+  0x80683143, 0xf5ccf743, 0x806c3c74, 0xf59add02, 0x80705b50, 0xf568c45b,

+    0x80748dd9, 0xf536ad56,

+  0x8078d40d, 0xf50497fb, 0x807d2dec, 0xf4d28451, 0x80819b74, 0xf4a07261,

+    0x80861ca6, 0xf46e6231,

+  0x808ab180, 0xf43c53cb, 0x808f5a02, 0xf40a4735, 0x8094162c, 0xf3d83c77,

+    0x8098e5fb, 0xf3a63398,

+  0x809dc971, 0xf3742ca2, 0x80a2c08b, 0xf342279b, 0x80a7cb49, 0xf310248a,

+    0x80ace9ab, 0xf2de2379,

+  0x80b21baf, 0xf2ac246e, 0x80b76156, 0xf27a2771, 0x80bcba9d, 0xf2482c8a,

+    0x80c22784, 0xf21633c0,

+  0x80c7a80a, 0xf1e43d1c, 0x80cd3c2f, 0xf1b248a5, 0x80d2e3f2, 0xf1805662,

+    0x80d89f51, 0xf14e665c,

+  0x80de6e4c, 0xf11c789a, 0x80e450e2, 0xf0ea8d24, 0x80ea4712, 0xf0b8a401,

+    0x80f050db, 0xf086bd39,

+  0x80f66e3c, 0xf054d8d5, 0x80fc9f35, 0xf022f6da, 0x8102e3c4, 0xeff11753,

+    0x81093be8, 0xefbf3a45,

+  0x810fa7a0, 0xef8d5fb8, 0x811626ec, 0xef5b87b5, 0x811cb9ca, 0xef29b243,

+    0x8123603a, 0xeef7df6a,

+  0x812a1a3a, 0xeec60f31, 0x8130e7c9, 0xee9441a0, 0x8137c8e6, 0xee6276bf,

+    0x813ebd90, 0xee30ae96,

+  0x8145c5c7, 0xedfee92b, 0x814ce188, 0xedcd2687, 0x815410d4, 0xed9b66b2,

+    0x815b53a8, 0xed69a9b3,

+  0x8162aa04, 0xed37ef91, 0x816a13e6, 0xed063856, 0x8171914e, 0xecd48407,

+    0x8179223a, 0xeca2d2ad,

+  0x8180c6a9, 0xec71244f, 0x81887e9a, 0xec3f78f6, 0x81904a0c, 0xec0dd0a8,

+    0x819828fd, 0xebdc2b6e,

+  0x81a01b6d, 0xebaa894f, 0x81a82159, 0xeb78ea52, 0x81b03ac2, 0xeb474e81,

+    0x81b867a5, 0xeb15b5e1,

+  0x81c0a801, 0xeae4207a, 0x81c8fbd6, 0xeab28e56, 0x81d16321, 0xea80ff7a,

+    0x81d9dde1, 0xea4f73ee,

+  0x81e26c16, 0xea1debbb, 0x81eb0dbe, 0xe9ec66e8, 0x81f3c2d7, 0xe9bae57d,

+    0x81fc8b60, 0xe9896781,

+  0x82056758, 0xe957ecfb, 0x820e56be, 0xe92675f4, 0x82175990, 0xe8f50273,

+    0x82206fcc, 0xe8c39280,

+  0x82299971, 0xe8922622, 0x8232d67f, 0xe860bd61, 0x823c26f3, 0xe82f5844,

+    0x82458acc, 0xe7fdf6d4,

+  0x824f0208, 0xe7cc9917, 0x82588ca7, 0xe79b3f16, 0x82622aa6, 0xe769e8d8,

+    0x826bdc04, 0xe7389665,

+  0x8275a0c0, 0xe70747c4, 0x827f78d8, 0xe6d5fcfc, 0x8289644b, 0xe6a4b616,

+    0x82936317, 0xe6737319,

+  0x829d753a, 0xe642340d, 0x82a79ab3, 0xe610f8f9, 0x82b1d381, 0xe5dfc1e5,

+    0x82bc1fa2, 0xe5ae8ed8,

+  0x82c67f14, 0xe57d5fda, 0x82d0f1d5, 0xe54c34f3, 0x82db77e5, 0xe51b0e2a,

+    0x82e61141, 0xe4e9eb87,

+  0x82f0bde8, 0xe4b8cd11, 0x82fb7dd8, 0xe487b2d0, 0x83065110, 0xe4569ccb,

+    0x8311378d, 0xe4258b0a,

+  0x831c314e, 0xe3f47d96, 0x83273e52, 0xe3c37474, 0x83325e97, 0xe3926fad,

+    0x833d921b, 0xe3616f48,

+  0x8348d8dc, 0xe330734d, 0x835432d8, 0xe2ff7bc3, 0x835fa00f, 0xe2ce88b3,

+    0x836b207d, 0xe29d9a23,

+  0x8376b422, 0xe26cb01b, 0x83825afb, 0xe23bcaa2, 0x838e1507, 0xe20ae9c1,

+    0x8399e244, 0xe1da0d7e,

+  0x83a5c2b0, 0xe1a935e2, 0x83b1b649, 0xe17862f3, 0x83bdbd0e, 0xe14794ba,

+    0x83c9d6fc, 0xe116cb3d,

+  0x83d60412, 0xe0e60685, 0x83e2444d, 0xe0b54698, 0x83ee97ad, 0xe0848b7f,

+    0x83fafe2e, 0xe053d541,

+  0x840777d0, 0xe02323e5, 0x84140490, 0xdff27773, 0x8420a46c, 0xdfc1cff3,

+    0x842d5762, 0xdf912d6b,

+  0x843a1d70, 0xdf608fe4, 0x8446f695, 0xdf2ff764, 0x8453e2cf, 0xdeff63f4,

+    0x8460e21a, 0xdeced59b,

+  0x846df477, 0xde9e4c60, 0x847b19e1, 0xde6dc84b, 0x84885258, 0xde3d4964,

+    0x84959dd9, 0xde0ccfb1,

+  0x84a2fc62, 0xdddc5b3b, 0x84b06df2, 0xddabec08, 0x84bdf286, 0xdd7b8220,

+    0x84cb8a1b, 0xdd4b1d8c,

+  0x84d934b1, 0xdd1abe51, 0x84e6f244, 0xdcea6478, 0x84f4c2d4, 0xdcba1008,

+    0x8502a65c, 0xdc89c109,

+  0x85109cdd, 0xdc597781, 0x851ea652, 0xdc293379, 0x852cc2bb, 0xdbf8f4f8,

+    0x853af214, 0xdbc8bc06,

+  0x8549345c, 0xdb9888a8, 0x85578991, 0xdb685ae9, 0x8565f1b0, 0xdb3832cd,

+    0x85746cb8, 0xdb08105e,

+  0x8582faa5, 0xdad7f3a2, 0x85919b76, 0xdaa7dca1, 0x85a04f28, 0xda77cb63,

+    0x85af15b9, 0xda47bfee,

+  0x85bdef28, 0xda17ba4a, 0x85ccdb70, 0xd9e7ba7f, 0x85dbda91, 0xd9b7c094,

+    0x85eaec88, 0xd987cc90,

+  0x85fa1153, 0xd957de7a, 0x860948ef, 0xd927f65b, 0x86189359, 0xd8f81439,

+    0x8627f091, 0xd8c8381d,

+  0x86376092, 0xd898620c, 0x8646e35c, 0xd868920f, 0x865678eb, 0xd838c82d,

+    0x8666213c, 0xd809046e,

+  0x8675dc4f, 0xd7d946d8, 0x8685aa20, 0xd7a98f73, 0x86958aac, 0xd779de47,

+    0x86a57df2, 0xd74a335b,

+  0x86b583ee, 0xd71a8eb5, 0x86c59c9f, 0xd6eaf05f, 0x86d5c802, 0xd6bb585e,

+    0x86e60614, 0xd68bc6ba,

+  0x86f656d3, 0xd65c3b7b, 0x8706ba3d, 0xd62cb6a8, 0x8717304e, 0xd5fd3848,

+    0x8727b905, 0xd5cdc062,

+  0x8738545e, 0xd59e4eff, 0x87490258, 0xd56ee424, 0x8759c2ef, 0xd53f7fda,

+    0x876a9621, 0xd5102228,

+  0x877b7bec, 0xd4e0cb15, 0x878c744d, 0xd4b17aa8, 0x879d7f41, 0xd48230e9,

+    0x87ae9cc5, 0xd452eddf,

+  0x87bfccd7, 0xd423b191, 0x87d10f75, 0xd3f47c06, 0x87e2649b, 0xd3c54d47,

+    0x87f3cc48, 0xd396255a,

+  0x88054677, 0xd3670446, 0x8816d327, 0xd337ea12, 0x88287256, 0xd308d6c7,

+    0x883a23ff, 0xd2d9ca6a,

+  0x884be821, 0xd2aac504, 0x885dbeb8, 0xd27bc69c, 0x886fa7c2, 0xd24ccf39,

+    0x8881a33d, 0xd21ddee2,

+  0x8893b125, 0xd1eef59e, 0x88a5d177, 0xd1c01375, 0x88b80432, 0xd191386e,

+    0x88ca4951, 0xd1626490,

+  0x88dca0d3, 0xd13397e2, 0x88ef0ab4, 0xd104d26b, 0x890186f2, 0xd0d61434,

+    0x89141589, 0xd0a75d42,

+  0x8926b677, 0xd078ad9e, 0x893969b9, 0xd04a054e, 0x894c2f4c, 0xd01b6459,

+    0x895f072e, 0xcfeccac7,

+  0x8971f15a, 0xcfbe389f, 0x8984edcf, 0xcf8fade9, 0x8997fc8a, 0xcf612aaa,

+    0x89ab1d87, 0xcf32aeeb,

+  0x89be50c3, 0xcf043ab3, 0x89d1963c, 0xced5ce08, 0x89e4edef, 0xcea768f2,

+    0x89f857d8, 0xce790b79,

+  0x8a0bd3f5, 0xce4ab5a2, 0x8a1f6243, 0xce1c6777, 0x8a3302be, 0xcdee20fc,

+    0x8a46b564, 0xcdbfe23a,

+  0x8a5a7a31, 0xcd91ab39, 0x8a6e5123, 0xcd637bfe, 0x8a823a36, 0xcd355491,

+    0x8a963567, 0xcd0734f9,

+  0x8aaa42b4, 0xccd91d3d, 0x8abe6219, 0xccab0d65, 0x8ad29394, 0xcc7d0578,

+    0x8ae6d720, 0xcc4f057c,

+  0x8afb2cbb, 0xcc210d79, 0x8b0f9462, 0xcbf31d75, 0x8b240e11, 0xcbc53579,

+    0x8b3899c6, 0xcb97558a,

+  0x8b4d377c, 0xcb697db0, 0x8b61e733, 0xcb3badf3, 0x8b76a8e4, 0xcb0de658,

+    0x8b8b7c8f, 0xcae026e8,

+  0x8ba0622f, 0xcab26fa9, 0x8bb559c1, 0xca84c0a3, 0x8bca6343, 0xca5719db,

+    0x8bdf7eb0, 0xca297b5a,

+  0x8bf4ac05, 0xc9fbe527, 0x8c09eb40, 0xc9ce5748, 0x8c1f3c5d, 0xc9a0d1c5,

+    0x8c349f58, 0xc97354a4,

+  0x8c4a142f, 0xc945dfec, 0x8c5f9ade, 0xc91873a5, 0x8c753362, 0xc8eb0fd6,

+    0x8c8addb7, 0xc8bdb485,

+  0x8ca099da, 0xc89061ba, 0x8cb667c8, 0xc863177b, 0x8ccc477d, 0xc835d5d0,

+    0x8ce238f6, 0xc8089cbf,

+  0x8cf83c30, 0xc7db6c50, 0x8d0e5127, 0xc7ae4489, 0x8d2477d8, 0xc7812572,

+    0x8d3ab03f, 0xc7540f11,

+  0x8d50fa59, 0xc727016d, 0x8d675623, 0xc6f9fc8d, 0x8d7dc399, 0xc6cd0079,

+    0x8d9442b8, 0xc6a00d37,

+  0x8daad37b, 0xc67322ce, 0x8dc175e0, 0xc6464144, 0x8dd829e4, 0xc61968a2,

+    0x8deeef82, 0xc5ec98ee,

+  0x8e05c6b7, 0xc5bfd22e, 0x8e1caf80, 0xc593146a, 0x8e33a9da, 0xc5665fa9,

+    0x8e4ab5bf, 0xc539b3f1,

+  0x8e61d32e, 0xc50d1149, 0x8e790222, 0xc4e077b8, 0x8e904298, 0xc4b3e746,

+    0x8ea7948c, 0xc4875ff9,

+  0x8ebef7fb, 0xc45ae1d7, 0x8ed66ce1, 0xc42e6ce8, 0x8eedf33b, 0xc4020133,

+    0x8f058b04, 0xc3d59ebe,

+  0x8f1d343a, 0xc3a94590, 0x8f34eed8, 0xc37cf5b0, 0x8f4cbadb, 0xc350af26,

+    0x8f649840, 0xc32471f7,

+  0x8f7c8701, 0xc2f83e2a, 0x8f94871d, 0xc2cc13c7, 0x8fac988f, 0xc29ff2d4,

+    0x8fc4bb53, 0xc273db58,

+  0x8fdcef66, 0xc247cd5a, 0x8ff534c4, 0xc21bc8e1, 0x900d8b69, 0xc1efcdf3,

+    0x9025f352, 0xc1c3dc97,

+  0x903e6c7b, 0xc197f4d4, 0x9056f6df, 0xc16c16b0, 0x906f927c, 0xc1404233,

+    0x90883f4d, 0xc1147764,

+  0x90a0fd4e, 0xc0e8b648, 0x90b9cc7d, 0xc0bcfee7, 0x90d2acd4, 0xc0915148,

+    0x90eb9e50, 0xc065ad70,

+  0x9104a0ee, 0xc03a1368, 0x911db4a9, 0xc00e8336, 0x9136d97d, 0xbfe2fcdf,

+    0x91500f67, 0xbfb7806c,

+  0x91695663, 0xbf8c0de3, 0x9182ae6d, 0xbf60a54a, 0x919c1781, 0xbf3546a8,

+    0x91b5919a, 0xbf09f205,

+  0x91cf1cb6, 0xbedea765, 0x91e8b8d0, 0xbeb366d1, 0x920265e4, 0xbe88304f,

+    0x921c23ef, 0xbe5d03e6,

+  0x9235f2ec, 0xbe31e19b, 0x924fd2d7, 0xbe06c977, 0x9269c3ac, 0xbddbbb7f,

+    0x9283c568, 0xbdb0b7bb,

+  0x929dd806, 0xbd85be30, 0x92b7fb82, 0xbd5acee5, 0x92d22fd9, 0xbd2fe9e2,

+    0x92ec7505, 0xbd050f2c,

+  0x9306cb04, 0xbcda3ecb, 0x932131d1, 0xbcaf78c4, 0x933ba968, 0xbc84bd1f,

+    0x935631c5, 0xbc5a0be2,

+  0x9370cae4, 0xbc2f6513, 0x938b74c1, 0xbc04c8ba, 0x93a62f57, 0xbbda36dd,

+    0x93c0faa3, 0xbbafaf82,

+  0x93dbd6a0, 0xbb8532b0, 0x93f6c34a, 0xbb5ac06d, 0x9411c09e, 0xbb3058c0,

+    0x942cce96, 0xbb05fbb0,

+  0x9447ed2f, 0xbadba943, 0x94631c65, 0xbab16180, 0x947e5c33, 0xba87246d,

+    0x9499ac95, 0xba5cf210,

+  0x94b50d87, 0xba32ca71, 0x94d07f05, 0xba08ad95, 0x94ec010b, 0xb9de9b83,

+    0x95079394, 0xb9b49442,

+  0x9523369c, 0xb98a97d8, 0x953eea1e, 0xb960a64c, 0x955aae17, 0xb936bfa4,

+    0x95768283, 0xb90ce3e6,

+  0x9592675c, 0xb8e31319, 0x95ae5c9f, 0xb8b94d44, 0x95ca6247, 0xb88f926d,

+    0x95e67850, 0xb865e299,

+  0x96029eb6, 0xb83c3dd1, 0x961ed574, 0xb812a41a, 0x963b1c86, 0xb7e9157a,

+    0x965773e7, 0xb7bf91f8,

+  0x9673db94, 0xb796199b, 0x96905388, 0xb76cac69, 0x96acdbbe, 0xb7434a67,

+    0x96c97432, 0xb719f39e,

+  0x96e61ce0, 0xb6f0a812, 0x9702d5c3, 0xb6c767ca, 0x971f9ed7, 0xb69e32cd,

+    0x973c7817, 0xb6750921,

+  0x9759617f, 0xb64beacd, 0x97765b0a, 0xb622d7d6, 0x979364b5, 0xb5f9d043,

+    0x97b07e7a, 0xb5d0d41a,

+  0x97cda855, 0xb5a7e362, 0x97eae242, 0xb57efe22, 0x98082c3b, 0xb556245e,

+    0x9825863d, 0xb52d561e,

+  0x9842f043, 0xb5049368, 0x98606a49, 0xb4dbdc42, 0x987df449, 0xb4b330b3,

+    0x989b8e40, 0xb48a90c0,

+  0x98b93828, 0xb461fc70, 0x98d6f1fe, 0xb43973ca, 0x98f4bbbc, 0xb410f6d3,

+    0x9912955f, 0xb3e88592,

+  0x99307ee0, 0xb3c0200c, 0x994e783d, 0xb397c649, 0x996c816f, 0xb36f784f,

+    0x998a9a74, 0xb3473623,

+  0x99a8c345, 0xb31effcc, 0x99c6fbde, 0xb2f6d550, 0x99e5443b, 0xb2ceb6b5,

+    0x9a039c57, 0xb2a6a402,

+  0x9a22042d, 0xb27e9d3c, 0x9a407bb9, 0xb256a26a, 0x9a5f02f5, 0xb22eb392,

+    0x9a7d99de, 0xb206d0ba,

+  0x9a9c406e, 0xb1def9e9, 0x9abaf6a1, 0xb1b72f23, 0x9ad9bc71, 0xb18f7071,

+    0x9af891db, 0xb167bdd7,

+  0x9b1776da, 0xb140175b, 0x9b366b68, 0xb1187d05, 0x9b556f81, 0xb0f0eeda,

+    0x9b748320, 0xb0c96ce0,

+  0x9b93a641, 0xb0a1f71d, 0x9bb2d8de, 0xb07a8d97, 0x9bd21af3, 0xb0533055,

+    0x9bf16c7a, 0xb02bdf5c,

+  0x9c10cd70, 0xb0049ab3, 0x9c303dcf, 0xafdd625f, 0x9c4fbd93, 0xafb63667,

+    0x9c6f4cb6, 0xaf8f16d1,

+  0x9c8eeb34, 0xaf6803a2, 0x9cae9907, 0xaf40fce1, 0x9cce562c, 0xaf1a0293,

+    0x9cee229c, 0xaef314c0,

+  0x9d0dfe54, 0xaecc336c, 0x9d2de94d, 0xaea55e9e, 0x9d4de385, 0xae7e965b,

+    0x9d6decf4, 0xae57daab,

+  0x9d8e0597, 0xae312b92, 0x9dae2d68, 0xae0a8916, 0x9dce6463, 0xade3f33e,

+    0x9deeaa82, 0xadbd6a10,

+  0x9e0effc1, 0xad96ed92, 0x9e2f641b, 0xad707dc8, 0x9e4fd78a, 0xad4a1aba,

+    0x9e705a09, 0xad23c46e,

+  0x9e90eb94, 0xacfd7ae8, 0x9eb18c26, 0xacd73e30, 0x9ed23bb9, 0xacb10e4b,

+    0x9ef2fa49, 0xac8aeb3e,

+  0x9f13c7d0, 0xac64d510, 0x9f34a449, 0xac3ecbc7, 0x9f558fb0, 0xac18cf69,

+    0x9f7689ff, 0xabf2dffb,

+  0x9f979331, 0xabccfd83, 0x9fb8ab41, 0xaba72807, 0x9fd9d22a, 0xab815f8d,

+    0x9ffb07e7, 0xab5ba41a,

+  0xa01c4c73, 0xab35f5b5, 0xa03d9fc8, 0xab105464, 0xa05f01e1, 0xaaeac02c,

+    0xa08072ba, 0xaac53912,

+  0xa0a1f24d, 0xaa9fbf1e, 0xa0c38095, 0xaa7a5253, 0xa0e51d8c, 0xaa54f2ba,

+    0xa106c92f, 0xaa2fa056,

+  0xa1288376, 0xaa0a5b2e, 0xa14a4c5e, 0xa9e52347, 0xa16c23e1, 0xa9bff8a8,

+    0xa18e09fa, 0xa99adb56,

+  0xa1affea3, 0xa975cb57, 0xa1d201d7, 0xa950c8b0, 0xa1f41392, 0xa92bd367,

+    0xa21633cd, 0xa906eb82,

+  0xa2386284, 0xa8e21106, 0xa25a9fb1, 0xa8bd43fa, 0xa27ceb4f, 0xa8988463,

+    0xa29f4559, 0xa873d246,

+  0xa2c1adc9, 0xa84f2daa, 0xa2e4249b, 0xa82a9693, 0xa306a9c8, 0xa8060d08,

+    0xa3293d4b, 0xa7e1910f,

+  0xa34bdf20, 0xa7bd22ac, 0xa36e8f41, 0xa798c1e5, 0xa3914da8, 0xa7746ec0,

+    0xa3b41a50, 0xa7502943,

+  0xa3d6f534, 0xa72bf174, 0xa3f9de4e, 0xa707c757, 0xa41cd599, 0xa6e3aaf2,

+    0xa43fdb10, 0xa6bf9c4b,

+  0xa462eeac, 0xa69b9b68, 0xa486106a, 0xa677a84e, 0xa4a94043, 0xa653c303,

+    0xa4cc7e32, 0xa62feb8b,

+  0xa4efca31, 0xa60c21ee, 0xa513243b, 0xa5e8662f, 0xa5368c4b, 0xa5c4b855,

+    0xa55a025b, 0xa5a11866,

+  0xa57d8666, 0xa57d8666, 0xa5a11866, 0xa55a025b, 0xa5c4b855, 0xa5368c4b,

+    0xa5e8662f, 0xa513243b,

+  0xa60c21ee, 0xa4efca31, 0xa62feb8b, 0xa4cc7e32, 0xa653c303, 0xa4a94043,

+    0xa677a84e, 0xa486106a,

+  0xa69b9b68, 0xa462eeac, 0xa6bf9c4b, 0xa43fdb10, 0xa6e3aaf2, 0xa41cd599,

+    0xa707c757, 0xa3f9de4e,

+  0xa72bf174, 0xa3d6f534, 0xa7502943, 0xa3b41a50, 0xa7746ec0, 0xa3914da8,

+    0xa798c1e5, 0xa36e8f41,

+  0xa7bd22ac, 0xa34bdf20, 0xa7e1910f, 0xa3293d4b, 0xa8060d08, 0xa306a9c8,

+    0xa82a9693, 0xa2e4249b,

+  0xa84f2daa, 0xa2c1adc9, 0xa873d246, 0xa29f4559, 0xa8988463, 0xa27ceb4f,

+    0xa8bd43fa, 0xa25a9fb1,

+  0xa8e21106, 0xa2386284, 0xa906eb82, 0xa21633cd, 0xa92bd367, 0xa1f41392,

+    0xa950c8b0, 0xa1d201d7,

+  0xa975cb57, 0xa1affea3, 0xa99adb56, 0xa18e09fa, 0xa9bff8a8, 0xa16c23e1,

+    0xa9e52347, 0xa14a4c5e,

+  0xaa0a5b2e, 0xa1288376, 0xaa2fa056, 0xa106c92f, 0xaa54f2ba, 0xa0e51d8c,

+    0xaa7a5253, 0xa0c38095,

+  0xaa9fbf1e, 0xa0a1f24d, 0xaac53912, 0xa08072ba, 0xaaeac02c, 0xa05f01e1,

+    0xab105464, 0xa03d9fc8,

+  0xab35f5b5, 0xa01c4c73, 0xab5ba41a, 0x9ffb07e7, 0xab815f8d, 0x9fd9d22a,

+    0xaba72807, 0x9fb8ab41,

+  0xabccfd83, 0x9f979331, 0xabf2dffb, 0x9f7689ff, 0xac18cf69, 0x9f558fb0,

+    0xac3ecbc7, 0x9f34a449,

+  0xac64d510, 0x9f13c7d0, 0xac8aeb3e, 0x9ef2fa49, 0xacb10e4b, 0x9ed23bb9,

+    0xacd73e30, 0x9eb18c26,

+  0xacfd7ae8, 0x9e90eb94, 0xad23c46e, 0x9e705a09, 0xad4a1aba, 0x9e4fd78a,

+    0xad707dc8, 0x9e2f641b,

+  0xad96ed92, 0x9e0effc1, 0xadbd6a10, 0x9deeaa82, 0xade3f33e, 0x9dce6463,

+    0xae0a8916, 0x9dae2d68,

+  0xae312b92, 0x9d8e0597, 0xae57daab, 0x9d6decf4, 0xae7e965b, 0x9d4de385,

+    0xaea55e9e, 0x9d2de94d,

+  0xaecc336c, 0x9d0dfe54, 0xaef314c0, 0x9cee229c, 0xaf1a0293, 0x9cce562c,

+    0xaf40fce1, 0x9cae9907,

+  0xaf6803a2, 0x9c8eeb34, 0xaf8f16d1, 0x9c6f4cb6, 0xafb63667, 0x9c4fbd93,

+    0xafdd625f, 0x9c303dcf,

+  0xb0049ab3, 0x9c10cd70, 0xb02bdf5c, 0x9bf16c7a, 0xb0533055, 0x9bd21af3,

+    0xb07a8d97, 0x9bb2d8de,

+  0xb0a1f71d, 0x9b93a641, 0xb0c96ce0, 0x9b748320, 0xb0f0eeda, 0x9b556f81,

+    0xb1187d05, 0x9b366b68,

+  0xb140175b, 0x9b1776da, 0xb167bdd7, 0x9af891db, 0xb18f7071, 0x9ad9bc71,

+    0xb1b72f23, 0x9abaf6a1,

+  0xb1def9e9, 0x9a9c406e, 0xb206d0ba, 0x9a7d99de, 0xb22eb392, 0x9a5f02f5,

+    0xb256a26a, 0x9a407bb9,

+  0xb27e9d3c, 0x9a22042d, 0xb2a6a402, 0x9a039c57, 0xb2ceb6b5, 0x99e5443b,

+    0xb2f6d550, 0x99c6fbde,

+  0xb31effcc, 0x99a8c345, 0xb3473623, 0x998a9a74, 0xb36f784f, 0x996c816f,

+    0xb397c649, 0x994e783d,

+  0xb3c0200c, 0x99307ee0, 0xb3e88592, 0x9912955f, 0xb410f6d3, 0x98f4bbbc,

+    0xb43973ca, 0x98d6f1fe,

+  0xb461fc70, 0x98b93828, 0xb48a90c0, 0x989b8e40, 0xb4b330b3, 0x987df449,

+    0xb4dbdc42, 0x98606a49,

+  0xb5049368, 0x9842f043, 0xb52d561e, 0x9825863d, 0xb556245e, 0x98082c3b,

+    0xb57efe22, 0x97eae242,

+  0xb5a7e362, 0x97cda855, 0xb5d0d41a, 0x97b07e7a, 0xb5f9d043, 0x979364b5,

+    0xb622d7d6, 0x97765b0a,

+  0xb64beacd, 0x9759617f, 0xb6750921, 0x973c7817, 0xb69e32cd, 0x971f9ed7,

+    0xb6c767ca, 0x9702d5c3,

+  0xb6f0a812, 0x96e61ce0, 0xb719f39e, 0x96c97432, 0xb7434a67, 0x96acdbbe,

+    0xb76cac69, 0x96905388,

+  0xb796199b, 0x9673db94, 0xb7bf91f8, 0x965773e7, 0xb7e9157a, 0x963b1c86,

+    0xb812a41a, 0x961ed574,

+  0xb83c3dd1, 0x96029eb6, 0xb865e299, 0x95e67850, 0xb88f926d, 0x95ca6247,

+    0xb8b94d44, 0x95ae5c9f,

+  0xb8e31319, 0x9592675c, 0xb90ce3e6, 0x95768283, 0xb936bfa4, 0x955aae17,

+    0xb960a64c, 0x953eea1e,

+  0xb98a97d8, 0x9523369c, 0xb9b49442, 0x95079394, 0xb9de9b83, 0x94ec010b,

+    0xba08ad95, 0x94d07f05,

+  0xba32ca71, 0x94b50d87, 0xba5cf210, 0x9499ac95, 0xba87246d, 0x947e5c33,

+    0xbab16180, 0x94631c65,

+  0xbadba943, 0x9447ed2f, 0xbb05fbb0, 0x942cce96, 0xbb3058c0, 0x9411c09e,

+    0xbb5ac06d, 0x93f6c34a,

+  0xbb8532b0, 0x93dbd6a0, 0xbbafaf82, 0x93c0faa3, 0xbbda36dd, 0x93a62f57,

+    0xbc04c8ba, 0x938b74c1,

+  0xbc2f6513, 0x9370cae4, 0xbc5a0be2, 0x935631c5, 0xbc84bd1f, 0x933ba968,

+    0xbcaf78c4, 0x932131d1,

+  0xbcda3ecb, 0x9306cb04, 0xbd050f2c, 0x92ec7505, 0xbd2fe9e2, 0x92d22fd9,

+    0xbd5acee5, 0x92b7fb82,

+  0xbd85be30, 0x929dd806, 0xbdb0b7bb, 0x9283c568, 0xbddbbb7f, 0x9269c3ac,

+    0xbe06c977, 0x924fd2d7,

+  0xbe31e19b, 0x9235f2ec, 0xbe5d03e6, 0x921c23ef, 0xbe88304f, 0x920265e4,

+    0xbeb366d1, 0x91e8b8d0,

+  0xbedea765, 0x91cf1cb6, 0xbf09f205, 0x91b5919a, 0xbf3546a8, 0x919c1781,

+    0xbf60a54a, 0x9182ae6d,

+  0xbf8c0de3, 0x91695663, 0xbfb7806c, 0x91500f67, 0xbfe2fcdf, 0x9136d97d,

+    0xc00e8336, 0x911db4a9,

+  0xc03a1368, 0x9104a0ee, 0xc065ad70, 0x90eb9e50, 0xc0915148, 0x90d2acd4,

+    0xc0bcfee7, 0x90b9cc7d,

+  0xc0e8b648, 0x90a0fd4e, 0xc1147764, 0x90883f4d, 0xc1404233, 0x906f927c,

+    0xc16c16b0, 0x9056f6df,

+  0xc197f4d4, 0x903e6c7b, 0xc1c3dc97, 0x9025f352, 0xc1efcdf3, 0x900d8b69,

+    0xc21bc8e1, 0x8ff534c4,

+  0xc247cd5a, 0x8fdcef66, 0xc273db58, 0x8fc4bb53, 0xc29ff2d4, 0x8fac988f,

+    0xc2cc13c7, 0x8f94871d,

+  0xc2f83e2a, 0x8f7c8701, 0xc32471f7, 0x8f649840, 0xc350af26, 0x8f4cbadb,

+    0xc37cf5b0, 0x8f34eed8,

+  0xc3a94590, 0x8f1d343a, 0xc3d59ebe, 0x8f058b04, 0xc4020133, 0x8eedf33b,

+    0xc42e6ce8, 0x8ed66ce1,

+  0xc45ae1d7, 0x8ebef7fb, 0xc4875ff9, 0x8ea7948c, 0xc4b3e746, 0x8e904298,

+    0xc4e077b8, 0x8e790222,

+  0xc50d1149, 0x8e61d32e, 0xc539b3f1, 0x8e4ab5bf, 0xc5665fa9, 0x8e33a9da,

+    0xc593146a, 0x8e1caf80,

+  0xc5bfd22e, 0x8e05c6b7, 0xc5ec98ee, 0x8deeef82, 0xc61968a2, 0x8dd829e4,

+    0xc6464144, 0x8dc175e0,

+  0xc67322ce, 0x8daad37b, 0xc6a00d37, 0x8d9442b8, 0xc6cd0079, 0x8d7dc399,

+    0xc6f9fc8d, 0x8d675623,

+  0xc727016d, 0x8d50fa59, 0xc7540f11, 0x8d3ab03f, 0xc7812572, 0x8d2477d8,

+    0xc7ae4489, 0x8d0e5127,

+  0xc7db6c50, 0x8cf83c30, 0xc8089cbf, 0x8ce238f6, 0xc835d5d0, 0x8ccc477d,

+    0xc863177b, 0x8cb667c8,

+  0xc89061ba, 0x8ca099da, 0xc8bdb485, 0x8c8addb7, 0xc8eb0fd6, 0x8c753362,

+    0xc91873a5, 0x8c5f9ade,

+  0xc945dfec, 0x8c4a142f, 0xc97354a4, 0x8c349f58, 0xc9a0d1c5, 0x8c1f3c5d,

+    0xc9ce5748, 0x8c09eb40,

+  0xc9fbe527, 0x8bf4ac05, 0xca297b5a, 0x8bdf7eb0, 0xca5719db, 0x8bca6343,

+    0xca84c0a3, 0x8bb559c1,

+  0xcab26fa9, 0x8ba0622f, 0xcae026e8, 0x8b8b7c8f, 0xcb0de658, 0x8b76a8e4,

+    0xcb3badf3, 0x8b61e733,

+  0xcb697db0, 0x8b4d377c, 0xcb97558a, 0x8b3899c6, 0xcbc53579, 0x8b240e11,

+    0xcbf31d75, 0x8b0f9462,

+  0xcc210d79, 0x8afb2cbb, 0xcc4f057c, 0x8ae6d720, 0xcc7d0578, 0x8ad29394,

+    0xccab0d65, 0x8abe6219,

+  0xccd91d3d, 0x8aaa42b4, 0xcd0734f9, 0x8a963567, 0xcd355491, 0x8a823a36,

+    0xcd637bfe, 0x8a6e5123,

+  0xcd91ab39, 0x8a5a7a31, 0xcdbfe23a, 0x8a46b564, 0xcdee20fc, 0x8a3302be,

+    0xce1c6777, 0x8a1f6243,

+  0xce4ab5a2, 0x8a0bd3f5, 0xce790b79, 0x89f857d8, 0xcea768f2, 0x89e4edef,

+    0xced5ce08, 0x89d1963c,

+  0xcf043ab3, 0x89be50c3, 0xcf32aeeb, 0x89ab1d87, 0xcf612aaa, 0x8997fc8a,

+    0xcf8fade9, 0x8984edcf,

+  0xcfbe389f, 0x8971f15a, 0xcfeccac7, 0x895f072e, 0xd01b6459, 0x894c2f4c,

+    0xd04a054e, 0x893969b9,

+  0xd078ad9e, 0x8926b677, 0xd0a75d42, 0x89141589, 0xd0d61434, 0x890186f2,

+    0xd104d26b, 0x88ef0ab4,

+  0xd13397e2, 0x88dca0d3, 0xd1626490, 0x88ca4951, 0xd191386e, 0x88b80432,

+    0xd1c01375, 0x88a5d177,

+  0xd1eef59e, 0x8893b125, 0xd21ddee2, 0x8881a33d, 0xd24ccf39, 0x886fa7c2,

+    0xd27bc69c, 0x885dbeb8,

+  0xd2aac504, 0x884be821, 0xd2d9ca6a, 0x883a23ff, 0xd308d6c7, 0x88287256,

+    0xd337ea12, 0x8816d327,

+  0xd3670446, 0x88054677, 0xd396255a, 0x87f3cc48, 0xd3c54d47, 0x87e2649b,

+    0xd3f47c06, 0x87d10f75,

+  0xd423b191, 0x87bfccd7, 0xd452eddf, 0x87ae9cc5, 0xd48230e9, 0x879d7f41,

+    0xd4b17aa8, 0x878c744d,

+  0xd4e0cb15, 0x877b7bec, 0xd5102228, 0x876a9621, 0xd53f7fda, 0x8759c2ef,

+    0xd56ee424, 0x87490258,

+  0xd59e4eff, 0x8738545e, 0xd5cdc062, 0x8727b905, 0xd5fd3848, 0x8717304e,

+    0xd62cb6a8, 0x8706ba3d,

+  0xd65c3b7b, 0x86f656d3, 0xd68bc6ba, 0x86e60614, 0xd6bb585e, 0x86d5c802,

+    0xd6eaf05f, 0x86c59c9f,

+  0xd71a8eb5, 0x86b583ee, 0xd74a335b, 0x86a57df2, 0xd779de47, 0x86958aac,

+    0xd7a98f73, 0x8685aa20,

+  0xd7d946d8, 0x8675dc4f, 0xd809046e, 0x8666213c, 0xd838c82d, 0x865678eb,

+    0xd868920f, 0x8646e35c,

+  0xd898620c, 0x86376092, 0xd8c8381d, 0x8627f091, 0xd8f81439, 0x86189359,

+    0xd927f65b, 0x860948ef,

+  0xd957de7a, 0x85fa1153, 0xd987cc90, 0x85eaec88, 0xd9b7c094, 0x85dbda91,

+    0xd9e7ba7f, 0x85ccdb70,

+  0xda17ba4a, 0x85bdef28, 0xda47bfee, 0x85af15b9, 0xda77cb63, 0x85a04f28,

+    0xdaa7dca1, 0x85919b76,

+  0xdad7f3a2, 0x8582faa5, 0xdb08105e, 0x85746cb8, 0xdb3832cd, 0x8565f1b0,

+    0xdb685ae9, 0x85578991,

+  0xdb9888a8, 0x8549345c, 0xdbc8bc06, 0x853af214, 0xdbf8f4f8, 0x852cc2bb,

+    0xdc293379, 0x851ea652,

+  0xdc597781, 0x85109cdd, 0xdc89c109, 0x8502a65c, 0xdcba1008, 0x84f4c2d4,

+    0xdcea6478, 0x84e6f244,

+  0xdd1abe51, 0x84d934b1, 0xdd4b1d8c, 0x84cb8a1b, 0xdd7b8220, 0x84bdf286,

+    0xddabec08, 0x84b06df2,

+  0xdddc5b3b, 0x84a2fc62, 0xde0ccfb1, 0x84959dd9, 0xde3d4964, 0x84885258,

+    0xde6dc84b, 0x847b19e1,

+  0xde9e4c60, 0x846df477, 0xdeced59b, 0x8460e21a, 0xdeff63f4, 0x8453e2cf,

+    0xdf2ff764, 0x8446f695,

+  0xdf608fe4, 0x843a1d70, 0xdf912d6b, 0x842d5762, 0xdfc1cff3, 0x8420a46c,

+    0xdff27773, 0x84140490,

+  0xe02323e5, 0x840777d0, 0xe053d541, 0x83fafe2e, 0xe0848b7f, 0x83ee97ad,

+    0xe0b54698, 0x83e2444d,

+  0xe0e60685, 0x83d60412, 0xe116cb3d, 0x83c9d6fc, 0xe14794ba, 0x83bdbd0e,

+    0xe17862f3, 0x83b1b649,

+  0xe1a935e2, 0x83a5c2b0, 0xe1da0d7e, 0x8399e244, 0xe20ae9c1, 0x838e1507,

+    0xe23bcaa2, 0x83825afb,

+  0xe26cb01b, 0x8376b422, 0xe29d9a23, 0x836b207d, 0xe2ce88b3, 0x835fa00f,

+    0xe2ff7bc3, 0x835432d8,

+  0xe330734d, 0x8348d8dc, 0xe3616f48, 0x833d921b, 0xe3926fad, 0x83325e97,

+    0xe3c37474, 0x83273e52,

+  0xe3f47d96, 0x831c314e, 0xe4258b0a, 0x8311378d, 0xe4569ccb, 0x83065110,

+    0xe487b2d0, 0x82fb7dd8,

+  0xe4b8cd11, 0x82f0bde8, 0xe4e9eb87, 0x82e61141, 0xe51b0e2a, 0x82db77e5,

+    0xe54c34f3, 0x82d0f1d5,

+  0xe57d5fda, 0x82c67f14, 0xe5ae8ed8, 0x82bc1fa2, 0xe5dfc1e5, 0x82b1d381,

+    0xe610f8f9, 0x82a79ab3,

+  0xe642340d, 0x829d753a, 0xe6737319, 0x82936317, 0xe6a4b616, 0x8289644b,

+    0xe6d5fcfc, 0x827f78d8,

+  0xe70747c4, 0x8275a0c0, 0xe7389665, 0x826bdc04, 0xe769e8d8, 0x82622aa6,

+    0xe79b3f16, 0x82588ca7,

+  0xe7cc9917, 0x824f0208, 0xe7fdf6d4, 0x82458acc, 0xe82f5844, 0x823c26f3,

+    0xe860bd61, 0x8232d67f,

+  0xe8922622, 0x82299971, 0xe8c39280, 0x82206fcc, 0xe8f50273, 0x82175990,

+    0xe92675f4, 0x820e56be,

+  0xe957ecfb, 0x82056758, 0xe9896781, 0x81fc8b60, 0xe9bae57d, 0x81f3c2d7,

+    0xe9ec66e8, 0x81eb0dbe,

+  0xea1debbb, 0x81e26c16, 0xea4f73ee, 0x81d9dde1, 0xea80ff7a, 0x81d16321,

+    0xeab28e56, 0x81c8fbd6,

+  0xeae4207a, 0x81c0a801, 0xeb15b5e1, 0x81b867a5, 0xeb474e81, 0x81b03ac2,

+    0xeb78ea52, 0x81a82159,

+  0xebaa894f, 0x81a01b6d, 0xebdc2b6e, 0x819828fd, 0xec0dd0a8, 0x81904a0c,

+    0xec3f78f6, 0x81887e9a,

+  0xec71244f, 0x8180c6a9, 0xeca2d2ad, 0x8179223a, 0xecd48407, 0x8171914e,

+    0xed063856, 0x816a13e6,

+  0xed37ef91, 0x8162aa04, 0xed69a9b3, 0x815b53a8, 0xed9b66b2, 0x815410d4,

+    0xedcd2687, 0x814ce188,

+  0xedfee92b, 0x8145c5c7, 0xee30ae96, 0x813ebd90, 0xee6276bf, 0x8137c8e6,

+    0xee9441a0, 0x8130e7c9,

+  0xeec60f31, 0x812a1a3a, 0xeef7df6a, 0x8123603a, 0xef29b243, 0x811cb9ca,

+    0xef5b87b5, 0x811626ec,

+  0xef8d5fb8, 0x810fa7a0, 0xefbf3a45, 0x81093be8, 0xeff11753, 0x8102e3c4,

+    0xf022f6da, 0x80fc9f35,

+  0xf054d8d5, 0x80f66e3c, 0xf086bd39, 0x80f050db, 0xf0b8a401, 0x80ea4712,

+    0xf0ea8d24, 0x80e450e2,

+  0xf11c789a, 0x80de6e4c, 0xf14e665c, 0x80d89f51, 0xf1805662, 0x80d2e3f2,

+    0xf1b248a5, 0x80cd3c2f,

+  0xf1e43d1c, 0x80c7a80a, 0xf21633c0, 0x80c22784, 0xf2482c8a, 0x80bcba9d,

+    0xf27a2771, 0x80b76156,

+  0xf2ac246e, 0x80b21baf, 0xf2de2379, 0x80ace9ab, 0xf310248a, 0x80a7cb49,

+    0xf342279b, 0x80a2c08b,

+  0xf3742ca2, 0x809dc971, 0xf3a63398, 0x8098e5fb, 0xf3d83c77, 0x8094162c,

+    0xf40a4735, 0x808f5a02,

+  0xf43c53cb, 0x808ab180, 0xf46e6231, 0x80861ca6, 0xf4a07261, 0x80819b74,

+    0xf4d28451, 0x807d2dec,

+  0xf50497fb, 0x8078d40d, 0xf536ad56, 0x80748dd9, 0xf568c45b, 0x80705b50,

+    0xf59add02, 0x806c3c74,

+  0xf5ccf743, 0x80683143, 0xf5ff1318, 0x806439c0, 0xf6313077, 0x806055eb,

+    0xf6634f59, 0x805c85c4,

+  0xf6956fb7, 0x8058c94c, 0xf6c79188, 0x80552084, 0xf6f9b4c6, 0x80518b6b,

+    0xf72bd967, 0x804e0a04,

+  0xf75dff66, 0x804a9c4d, 0xf79026b9, 0x80474248, 0xf7c24f59, 0x8043fbf6,

+    0xf7f4793e, 0x8040c956,

+  0xf826a462, 0x803daa6a, 0xf858d0bb, 0x803a9f31, 0xf88afe42, 0x8037a7ac,

+    0xf8bd2cef, 0x8034c3dd,

+  0xf8ef5cbb, 0x8031f3c2, 0xf9218d9e, 0x802f375d, 0xf953bf91, 0x802c8ead,

+    0xf985f28a, 0x8029f9b4,

+  0xf9b82684, 0x80277872, 0xf9ea5b75, 0x80250ae7, 0xfa1c9157, 0x8022b114,

+    0xfa4ec821, 0x80206af8,

+  0xfa80ffcb, 0x801e3895, 0xfab3384f, 0x801c19ea, 0xfae571a4, 0x801a0ef8,

+    0xfb17abc2, 0x801817bf,

+  0xfb49e6a3, 0x80163440, 0xfb7c223d, 0x8014647b, 0xfbae5e89, 0x8012a86f,

+    0xfbe09b80, 0x8011001f,

+  0xfc12d91a, 0x800f6b88, 0xfc45174e, 0x800deaad, 0xfc775616, 0x800c7d8c,

+    0xfca9956a, 0x800b2427,

+  0xfcdbd541, 0x8009de7e, 0xfd0e1594, 0x8008ac90, 0xfd40565c, 0x80078e5e,

+    0xfd729790, 0x800683e8,

+  0xfda4d929, 0x80058d2f, 0xfdd71b1e, 0x8004aa32, 0xfe095d69, 0x8003daf1,

+    0xfe3ba002, 0x80031f6d,

+  0xfe6de2e0, 0x800277a6, 0xfea025fd, 0x8001e39b, 0xfed2694f, 0x8001634e,

+    0xff04acd0, 0x8000f6bd,

+  0xff36f078, 0x80009dea, 0xff69343f, 0x800058d4, 0xff9b781d, 0x8000277a,

+    0xffcdbc0b, 0x800009df,

+

+};

+

+

+/*    

+* @brief  Q15 Twiddle factors Table    

+*/

+

+/**   

+* \par    

+* Example code for Q15 Twiddle factors Generation::    

+* \par    

+* <pre>for(i = 0; i< 3N/4; i++)    

+* {    

+*	twiddleCoefQ15[2*i]= cos(i * 2*PI/(float)N);    

+*	twiddleCoefQ15[2*i+1]= sin(i * 2*PI/(float)N);    

+* } </pre>    

+* \par    

+* where N = 4096	and PI = 3.14159265358979    

+* \par    

+* Cos and Sin values are interleaved fashion    

+* \par    

+* Convert Floating point to Q15(Fixed point 1.15):    

+*	round(twiddleCoefQ15(i) * pow(2, 15))    

+*    

+*/

+

+const q15_t ALIGN4 twiddleCoefQ15[6144] = {

+

+  0x7fff, 0x0, 0x7fff, 0x32, 0x7fff, 0x65, 0x7fff, 0x97,

+  0x7fff, 0xc9, 0x7fff, 0xfb, 0x7fff, 0x12e, 0x7ffe, 0x160,

+  0x7ffe, 0x192, 0x7ffd, 0x1c4, 0x7ffc, 0x1f7, 0x7ffb, 0x229,

+  0x7ffa, 0x25b, 0x7ff9, 0x28d, 0x7ff8, 0x2c0, 0x7ff7, 0x2f2,

+  0x7ff6, 0x324, 0x7ff5, 0x356, 0x7ff4, 0x389, 0x7ff2, 0x3bb,

+  0x7ff1, 0x3ed, 0x7fef, 0x41f, 0x7fed, 0x452, 0x7fec, 0x484,

+  0x7fea, 0x4b6, 0x7fe8, 0x4e8, 0x7fe6, 0x51b, 0x7fe4, 0x54d,

+  0x7fe2, 0x57f, 0x7fe0, 0x5b1, 0x7fdd, 0x5e3, 0x7fdb, 0x616,

+  0x7fd9, 0x648, 0x7fd6, 0x67a, 0x7fd3, 0x6ac, 0x7fd1, 0x6de,

+  0x7fce, 0x711, 0x7fcb, 0x743, 0x7fc8, 0x775, 0x7fc5, 0x7a7,

+  0x7fc2, 0x7d9, 0x7fbf, 0x80c, 0x7fbc, 0x83e, 0x7fb9, 0x870,

+  0x7fb5, 0x8a2, 0x7fb2, 0x8d4, 0x7fae, 0x906, 0x7fab, 0x938,

+  0x7fa7, 0x96b, 0x7fa3, 0x99d, 0x7fa0, 0x9cf, 0x7f9c, 0xa01,

+  0x7f98, 0xa33, 0x7f94, 0xa65, 0x7f90, 0xa97, 0x7f8b, 0xac9,

+  0x7f87, 0xafb, 0x7f83, 0xb2d, 0x7f7e, 0xb60, 0x7f7a, 0xb92,

+  0x7f75, 0xbc4, 0x7f71, 0xbf6, 0x7f6c, 0xc28, 0x7f67, 0xc5a,

+  0x7f62, 0xc8c, 0x7f5d, 0xcbe, 0x7f58, 0xcf0, 0x7f53, 0xd22,

+  0x7f4e, 0xd54, 0x7f49, 0xd86, 0x7f43, 0xdb8, 0x7f3e, 0xdea,

+  0x7f38, 0xe1c, 0x7f33, 0xe4e, 0x7f2d, 0xe80, 0x7f27, 0xeb2,

+  0x7f22, 0xee4, 0x7f1c, 0xf15, 0x7f16, 0xf47, 0x7f10, 0xf79,

+  0x7f0a, 0xfab, 0x7f03, 0xfdd, 0x7efd, 0x100f, 0x7ef7, 0x1041,

+  0x7ef0, 0x1073, 0x7eea, 0x10a4, 0x7ee3, 0x10d6, 0x7edd, 0x1108,

+  0x7ed6, 0x113a, 0x7ecf, 0x116c, 0x7ec8, 0x119e, 0x7ec1, 0x11cf,

+  0x7eba, 0x1201, 0x7eb3, 0x1233, 0x7eac, 0x1265, 0x7ea5, 0x1296,

+  0x7e9d, 0x12c8, 0x7e96, 0x12fa, 0x7e8e, 0x132b, 0x7e87, 0x135d,

+  0x7e7f, 0x138f, 0x7e78, 0x13c1, 0x7e70, 0x13f2, 0x7e68, 0x1424,

+  0x7e60, 0x1455, 0x7e58, 0x1487, 0x7e50, 0x14b9, 0x7e48, 0x14ea,

+  0x7e3f, 0x151c, 0x7e37, 0x154d, 0x7e2f, 0x157f, 0x7e26, 0x15b1,

+  0x7e1e, 0x15e2, 0x7e15, 0x1614, 0x7e0c, 0x1645, 0x7e03, 0x1677,

+  0x7dfb, 0x16a8, 0x7df2, 0x16da, 0x7de9, 0x170b, 0x7de0, 0x173c,

+  0x7dd6, 0x176e, 0x7dcd, 0x179f, 0x7dc4, 0x17d1, 0x7dba, 0x1802,

+  0x7db1, 0x1833, 0x7da7, 0x1865, 0x7d9e, 0x1896, 0x7d94, 0x18c7,

+  0x7d8a, 0x18f9, 0x7d81, 0x192a, 0x7d77, 0x195b, 0x7d6d, 0x198d,

+  0x7d63, 0x19be, 0x7d58, 0x19ef, 0x7d4e, 0x1a20, 0x7d44, 0x1a51,

+  0x7d3a, 0x1a83, 0x7d2f, 0x1ab4, 0x7d25, 0x1ae5, 0x7d1a, 0x1b16,

+  0x7d0f, 0x1b47, 0x7d05, 0x1b78, 0x7cfa, 0x1ba9, 0x7cef, 0x1bda,

+  0x7ce4, 0x1c0c, 0x7cd9, 0x1c3d, 0x7cce, 0x1c6e, 0x7cc2, 0x1c9f,

+  0x7cb7, 0x1cd0, 0x7cac, 0x1d01, 0x7ca0, 0x1d31, 0x7c95, 0x1d62,

+  0x7c89, 0x1d93, 0x7c7e, 0x1dc4, 0x7c72, 0x1df5, 0x7c66, 0x1e26,

+  0x7c5a, 0x1e57, 0x7c4e, 0x1e88, 0x7c42, 0x1eb8, 0x7c36, 0x1ee9,

+  0x7c2a, 0x1f1a, 0x7c1e, 0x1f4b, 0x7c11, 0x1f7b, 0x7c05, 0x1fac,

+  0x7bf9, 0x1fdd, 0x7bec, 0x200e, 0x7bdf, 0x203e, 0x7bd3, 0x206f,

+  0x7bc6, 0x209f, 0x7bb9, 0x20d0, 0x7bac, 0x2101, 0x7b9f, 0x2131,

+  0x7b92, 0x2162, 0x7b85, 0x2192, 0x7b78, 0x21c3, 0x7b6a, 0x21f3,

+  0x7b5d, 0x2224, 0x7b50, 0x2254, 0x7b42, 0x2284, 0x7b34, 0x22b5,

+  0x7b27, 0x22e5, 0x7b19, 0x2316, 0x7b0b, 0x2346, 0x7afd, 0x2376,

+  0x7aef, 0x23a7, 0x7ae1, 0x23d7, 0x7ad3, 0x2407, 0x7ac5, 0x2437,

+  0x7ab7, 0x2467, 0x7aa8, 0x2498, 0x7a9a, 0x24c8, 0x7a8c, 0x24f8,

+  0x7a7d, 0x2528, 0x7a6e, 0x2558, 0x7a60, 0x2588, 0x7a51, 0x25b8,

+  0x7a42, 0x25e8, 0x7a33, 0x2618, 0x7a24, 0x2648, 0x7a15, 0x2678,

+  0x7a06, 0x26a8, 0x79f7, 0x26d8, 0x79e7, 0x2708, 0x79d8, 0x2738,

+  0x79c9, 0x2768, 0x79b9, 0x2797, 0x79aa, 0x27c7, 0x799a, 0x27f7,

+  0x798a, 0x2827, 0x797a, 0x2856, 0x796a, 0x2886, 0x795b, 0x28b6,

+  0x794a, 0x28e5, 0x793a, 0x2915, 0x792a, 0x2945, 0x791a, 0x2974,

+  0x790a, 0x29a4, 0x78f9, 0x29d3, 0x78e9, 0x2a03, 0x78d8, 0x2a32,

+  0x78c8, 0x2a62, 0x78b7, 0x2a91, 0x78a6, 0x2ac1, 0x7895, 0x2af0,

+  0x7885, 0x2b1f, 0x7874, 0x2b4f, 0x7863, 0x2b7e, 0x7851, 0x2bad,

+  0x7840, 0x2bdc, 0x782f, 0x2c0c, 0x781e, 0x2c3b, 0x780c, 0x2c6a,

+  0x77fb, 0x2c99, 0x77e9, 0x2cc8, 0x77d8, 0x2cf7, 0x77c6, 0x2d26,

+  0x77b4, 0x2d55, 0x77a2, 0x2d84, 0x7790, 0x2db3, 0x777e, 0x2de2,

+  0x776c, 0x2e11, 0x775a, 0x2e40, 0x7748, 0x2e6f, 0x7736, 0x2e9e,

+  0x7723, 0x2ecc, 0x7711, 0x2efb, 0x76fe, 0x2f2a, 0x76ec, 0x2f59,

+  0x76d9, 0x2f87, 0x76c7, 0x2fb6, 0x76b4, 0x2fe5, 0x76a1, 0x3013,

+  0x768e, 0x3042, 0x767b, 0x3070, 0x7668, 0x309f, 0x7655, 0x30cd,

+  0x7642, 0x30fc, 0x762e, 0x312a, 0x761b, 0x3159, 0x7608, 0x3187,

+  0x75f4, 0x31b5, 0x75e1, 0x31e4, 0x75cd, 0x3212, 0x75b9, 0x3240,

+  0x75a6, 0x326e, 0x7592, 0x329d, 0x757e, 0x32cb, 0x756a, 0x32f9,

+  0x7556, 0x3327, 0x7542, 0x3355, 0x752d, 0x3383, 0x7519, 0x33b1,

+  0x7505, 0x33df, 0x74f0, 0x340d, 0x74dc, 0x343b, 0x74c7, 0x3469,

+  0x74b3, 0x3497, 0x749e, 0x34c4, 0x7489, 0x34f2, 0x7475, 0x3520,

+  0x7460, 0x354e, 0x744b, 0x357b, 0x7436, 0x35a9, 0x7421, 0x35d7,

+  0x740b, 0x3604, 0x73f6, 0x3632, 0x73e1, 0x365f, 0x73cb, 0x368d,

+  0x73b6, 0x36ba, 0x73a0, 0x36e8, 0x738b, 0x3715, 0x7375, 0x3742,

+  0x735f, 0x3770, 0x734a, 0x379d, 0x7334, 0x37ca, 0x731e, 0x37f7,

+  0x7308, 0x3825, 0x72f2, 0x3852, 0x72dc, 0x387f, 0x72c5, 0x38ac,

+  0x72af, 0x38d9, 0x7299, 0x3906, 0x7282, 0x3933, 0x726c, 0x3960,

+  0x7255, 0x398d, 0x723f, 0x39ba, 0x7228, 0x39e7, 0x7211, 0x3a13,

+  0x71fa, 0x3a40, 0x71e3, 0x3a6d, 0x71cc, 0x3a9a, 0x71b5, 0x3ac6,

+  0x719e, 0x3af3, 0x7187, 0x3b20, 0x7170, 0x3b4c, 0x7158, 0x3b79,

+  0x7141, 0x3ba5, 0x712a, 0x3bd2, 0x7112, 0x3bfe, 0x70fa, 0x3c2a,

+  0x70e3, 0x3c57, 0x70cb, 0x3c83, 0x70b3, 0x3caf, 0x709b, 0x3cdc,

+  0x7083, 0x3d08, 0x706b, 0x3d34, 0x7053, 0x3d60, 0x703b, 0x3d8c,

+  0x7023, 0x3db8, 0x700b, 0x3de4, 0x6ff2, 0x3e10, 0x6fda, 0x3e3c,

+  0x6fc2, 0x3e68, 0x6fa9, 0x3e94, 0x6f90, 0x3ec0, 0x6f78, 0x3eec,

+  0x6f5f, 0x3f17, 0x6f46, 0x3f43, 0x6f2d, 0x3f6f, 0x6f14, 0x3f9a,

+  0x6efb, 0x3fc6, 0x6ee2, 0x3ff1, 0x6ec9, 0x401d, 0x6eb0, 0x4048,

+  0x6e97, 0x4074, 0x6e7d, 0x409f, 0x6e64, 0x40cb, 0x6e4a, 0x40f6,

+  0x6e31, 0x4121, 0x6e17, 0x414d, 0x6dfe, 0x4178, 0x6de4, 0x41a3,

+  0x6dca, 0x41ce, 0x6db0, 0x41f9, 0x6d96, 0x4224, 0x6d7c, 0x424f,

+  0x6d62, 0x427a, 0x6d48, 0x42a5, 0x6d2e, 0x42d0, 0x6d14, 0x42fb,

+  0x6cf9, 0x4326, 0x6cdf, 0x4351, 0x6cc4, 0x437b, 0x6caa, 0x43a6,

+  0x6c8f, 0x43d1, 0x6c75, 0x43fb, 0x6c5a, 0x4426, 0x6c3f, 0x4450,

+  0x6c24, 0x447b, 0x6c09, 0x44a5, 0x6bee, 0x44d0, 0x6bd3, 0x44fa,

+  0x6bb8, 0x4524, 0x6b9d, 0x454f, 0x6b82, 0x4579, 0x6b66, 0x45a3,

+  0x6b4b, 0x45cd, 0x6b30, 0x45f7, 0x6b14, 0x4621, 0x6af8, 0x464b,

+  0x6add, 0x4675, 0x6ac1, 0x469f, 0x6aa5, 0x46c9, 0x6a89, 0x46f3,

+  0x6a6e, 0x471d, 0x6a52, 0x4747, 0x6a36, 0x4770, 0x6a1a, 0x479a,

+  0x69fd, 0x47c4, 0x69e1, 0x47ed, 0x69c5, 0x4817, 0x69a9, 0x4840,

+  0x698c, 0x486a, 0x6970, 0x4893, 0x6953, 0x48bd, 0x6937, 0x48e6,

+  0x691a, 0x490f, 0x68fd, 0x4939, 0x68e0, 0x4962, 0x68c4, 0x498b,

+  0x68a7, 0x49b4, 0x688a, 0x49dd, 0x686d, 0x4a06, 0x6850, 0x4a2f,

+  0x6832, 0x4a58, 0x6815, 0x4a81, 0x67f8, 0x4aaa, 0x67da, 0x4ad3,

+  0x67bd, 0x4afb, 0x67a0, 0x4b24, 0x6782, 0x4b4d, 0x6764, 0x4b75,

+  0x6747, 0x4b9e, 0x6729, 0x4bc7, 0x670b, 0x4bef, 0x66ed, 0x4c17,

+  0x66d0, 0x4c40, 0x66b2, 0x4c68, 0x6693, 0x4c91, 0x6675, 0x4cb9,

+  0x6657, 0x4ce1, 0x6639, 0x4d09, 0x661b, 0x4d31, 0x65fc, 0x4d59,

+  0x65de, 0x4d81, 0x65c0, 0x4da9, 0x65a1, 0x4dd1, 0x6582, 0x4df9,

+  0x6564, 0x4e21, 0x6545, 0x4e49, 0x6526, 0x4e71, 0x6507, 0x4e98,

+  0x64e9, 0x4ec0, 0x64ca, 0x4ee8, 0x64ab, 0x4f0f, 0x648b, 0x4f37,

+  0x646c, 0x4f5e, 0x644d, 0x4f85, 0x642e, 0x4fad, 0x640f, 0x4fd4,

+  0x63ef, 0x4ffb, 0x63d0, 0x5023, 0x63b0, 0x504a, 0x6391, 0x5071,

+  0x6371, 0x5098, 0x6351, 0x50bf, 0x6332, 0x50e6, 0x6312, 0x510d,

+  0x62f2, 0x5134, 0x62d2, 0x515b, 0x62b2, 0x5181, 0x6292, 0x51a8,

+  0x6272, 0x51cf, 0x6252, 0x51f5, 0x6232, 0x521c, 0x6211, 0x5243,

+  0x61f1, 0x5269, 0x61d1, 0x5290, 0x61b0, 0x52b6, 0x6190, 0x52dc,

+  0x616f, 0x5303, 0x614e, 0x5329, 0x612e, 0x534f, 0x610d, 0x5375,

+  0x60ec, 0x539b, 0x60cb, 0x53c1, 0x60aa, 0x53e7, 0x6089, 0x540d,

+  0x6068, 0x5433, 0x6047, 0x5459, 0x6026, 0x547f, 0x6005, 0x54a4,

+  0x5fe4, 0x54ca, 0x5fc2, 0x54f0, 0x5fa1, 0x5515, 0x5f80, 0x553b,

+  0x5f5e, 0x5560, 0x5f3c, 0x5586, 0x5f1b, 0x55ab, 0x5ef9, 0x55d0,

+  0x5ed7, 0x55f6, 0x5eb6, 0x561b, 0x5e94, 0x5640, 0x5e72, 0x5665,

+  0x5e50, 0x568a, 0x5e2e, 0x56af, 0x5e0c, 0x56d4, 0x5dea, 0x56f9,

+  0x5dc8, 0x571e, 0x5da5, 0x5743, 0x5d83, 0x5767, 0x5d61, 0x578c,

+  0x5d3e, 0x57b1, 0x5d1c, 0x57d5, 0x5cf9, 0x57fa, 0x5cd7, 0x581e,

+  0x5cb4, 0x5843, 0x5c91, 0x5867, 0x5c6f, 0x588c, 0x5c4c, 0x58b0,

+  0x5c29, 0x58d4, 0x5c06, 0x58f8, 0x5be3, 0x591c, 0x5bc0, 0x5940,

+  0x5b9d, 0x5964, 0x5b7a, 0x5988, 0x5b57, 0x59ac, 0x5b34, 0x59d0,

+  0x5b10, 0x59f4, 0x5aed, 0x5a18, 0x5ac9, 0x5a3b, 0x5aa6, 0x5a5f,

+  0x5a82, 0x5a82, 0x5a5f, 0x5aa6, 0x5a3b, 0x5ac9, 0x5a18, 0x5aed,

+  0x59f4, 0x5b10, 0x59d0, 0x5b34, 0x59ac, 0x5b57, 0x5988, 0x5b7a,

+  0x5964, 0x5b9d, 0x5940, 0x5bc0, 0x591c, 0x5be3, 0x58f8, 0x5c06,

+  0x58d4, 0x5c29, 0x58b0, 0x5c4c, 0x588c, 0x5c6f, 0x5867, 0x5c91,

+  0x5843, 0x5cb4, 0x581e, 0x5cd7, 0x57fa, 0x5cf9, 0x57d5, 0x5d1c,

+  0x57b1, 0x5d3e, 0x578c, 0x5d61, 0x5767, 0x5d83, 0x5743, 0x5da5,

+  0x571e, 0x5dc8, 0x56f9, 0x5dea, 0x56d4, 0x5e0c, 0x56af, 0x5e2e,

+  0x568a, 0x5e50, 0x5665, 0x5e72, 0x5640, 0x5e94, 0x561b, 0x5eb6,

+  0x55f6, 0x5ed7, 0x55d0, 0x5ef9, 0x55ab, 0x5f1b, 0x5586, 0x5f3c,

+  0x5560, 0x5f5e, 0x553b, 0x5f80, 0x5515, 0x5fa1, 0x54f0, 0x5fc2,

+  0x54ca, 0x5fe4, 0x54a4, 0x6005, 0x547f, 0x6026, 0x5459, 0x6047,

+  0x5433, 0x6068, 0x540d, 0x6089, 0x53e7, 0x60aa, 0x53c1, 0x60cb,

+  0x539b, 0x60ec, 0x5375, 0x610d, 0x534f, 0x612e, 0x5329, 0x614e,

+  0x5303, 0x616f, 0x52dc, 0x6190, 0x52b6, 0x61b0, 0x5290, 0x61d1,

+  0x5269, 0x61f1, 0x5243, 0x6211, 0x521c, 0x6232, 0x51f5, 0x6252,

+  0x51cf, 0x6272, 0x51a8, 0x6292, 0x5181, 0x62b2, 0x515b, 0x62d2,

+  0x5134, 0x62f2, 0x510d, 0x6312, 0x50e6, 0x6332, 0x50bf, 0x6351,

+  0x5098, 0x6371, 0x5071, 0x6391, 0x504a, 0x63b0, 0x5023, 0x63d0,

+  0x4ffb, 0x63ef, 0x4fd4, 0x640f, 0x4fad, 0x642e, 0x4f85, 0x644d,

+  0x4f5e, 0x646c, 0x4f37, 0x648b, 0x4f0f, 0x64ab, 0x4ee8, 0x64ca,

+  0x4ec0, 0x64e9, 0x4e98, 0x6507, 0x4e71, 0x6526, 0x4e49, 0x6545,

+  0x4e21, 0x6564, 0x4df9, 0x6582, 0x4dd1, 0x65a1, 0x4da9, 0x65c0,

+  0x4d81, 0x65de, 0x4d59, 0x65fc, 0x4d31, 0x661b, 0x4d09, 0x6639,

+  0x4ce1, 0x6657, 0x4cb9, 0x6675, 0x4c91, 0x6693, 0x4c68, 0x66b2,

+  0x4c40, 0x66d0, 0x4c17, 0x66ed, 0x4bef, 0x670b, 0x4bc7, 0x6729,

+  0x4b9e, 0x6747, 0x4b75, 0x6764, 0x4b4d, 0x6782, 0x4b24, 0x67a0,

+  0x4afb, 0x67bd, 0x4ad3, 0x67da, 0x4aaa, 0x67f8, 0x4a81, 0x6815,

+  0x4a58, 0x6832, 0x4a2f, 0x6850, 0x4a06, 0x686d, 0x49dd, 0x688a,

+  0x49b4, 0x68a7, 0x498b, 0x68c4, 0x4962, 0x68e0, 0x4939, 0x68fd,

+  0x490f, 0x691a, 0x48e6, 0x6937, 0x48bd, 0x6953, 0x4893, 0x6970,

+  0x486a, 0x698c, 0x4840, 0x69a9, 0x4817, 0x69c5, 0x47ed, 0x69e1,

+  0x47c4, 0x69fd, 0x479a, 0x6a1a, 0x4770, 0x6a36, 0x4747, 0x6a52,

+  0x471d, 0x6a6e, 0x46f3, 0x6a89, 0x46c9, 0x6aa5, 0x469f, 0x6ac1,

+  0x4675, 0x6add, 0x464b, 0x6af8, 0x4621, 0x6b14, 0x45f7, 0x6b30,

+  0x45cd, 0x6b4b, 0x45a3, 0x6b66, 0x4579, 0x6b82, 0x454f, 0x6b9d,

+  0x4524, 0x6bb8, 0x44fa, 0x6bd3, 0x44d0, 0x6bee, 0x44a5, 0x6c09,

+  0x447b, 0x6c24, 0x4450, 0x6c3f, 0x4426, 0x6c5a, 0x43fb, 0x6c75,

+  0x43d1, 0x6c8f, 0x43a6, 0x6caa, 0x437b, 0x6cc4, 0x4351, 0x6cdf,

+  0x4326, 0x6cf9, 0x42fb, 0x6d14, 0x42d0, 0x6d2e, 0x42a5, 0x6d48,

+  0x427a, 0x6d62, 0x424f, 0x6d7c, 0x4224, 0x6d96, 0x41f9, 0x6db0,

+  0x41ce, 0x6dca, 0x41a3, 0x6de4, 0x4178, 0x6dfe, 0x414d, 0x6e17,

+  0x4121, 0x6e31, 0x40f6, 0x6e4a, 0x40cb, 0x6e64, 0x409f, 0x6e7d,

+  0x4074, 0x6e97, 0x4048, 0x6eb0, 0x401d, 0x6ec9, 0x3ff1, 0x6ee2,

+  0x3fc6, 0x6efb, 0x3f9a, 0x6f14, 0x3f6f, 0x6f2d, 0x3f43, 0x6f46,

+  0x3f17, 0x6f5f, 0x3eec, 0x6f78, 0x3ec0, 0x6f90, 0x3e94, 0x6fa9,

+  0x3e68, 0x6fc2, 0x3e3c, 0x6fda, 0x3e10, 0x6ff2, 0x3de4, 0x700b,

+  0x3db8, 0x7023, 0x3d8c, 0x703b, 0x3d60, 0x7053, 0x3d34, 0x706b,

+  0x3d08, 0x7083, 0x3cdc, 0x709b, 0x3caf, 0x70b3, 0x3c83, 0x70cb,

+  0x3c57, 0x70e3, 0x3c2a, 0x70fa, 0x3bfe, 0x7112, 0x3bd2, 0x712a,

+  0x3ba5, 0x7141, 0x3b79, 0x7158, 0x3b4c, 0x7170, 0x3b20, 0x7187,

+  0x3af3, 0x719e, 0x3ac6, 0x71b5, 0x3a9a, 0x71cc, 0x3a6d, 0x71e3,

+  0x3a40, 0x71fa, 0x3a13, 0x7211, 0x39e7, 0x7228, 0x39ba, 0x723f,

+  0x398d, 0x7255, 0x3960, 0x726c, 0x3933, 0x7282, 0x3906, 0x7299,

+  0x38d9, 0x72af, 0x38ac, 0x72c5, 0x387f, 0x72dc, 0x3852, 0x72f2,

+  0x3825, 0x7308, 0x37f7, 0x731e, 0x37ca, 0x7334, 0x379d, 0x734a,

+  0x3770, 0x735f, 0x3742, 0x7375, 0x3715, 0x738b, 0x36e8, 0x73a0,

+  0x36ba, 0x73b6, 0x368d, 0x73cb, 0x365f, 0x73e1, 0x3632, 0x73f6,

+  0x3604, 0x740b, 0x35d7, 0x7421, 0x35a9, 0x7436, 0x357b, 0x744b,

+  0x354e, 0x7460, 0x3520, 0x7475, 0x34f2, 0x7489, 0x34c4, 0x749e,

+  0x3497, 0x74b3, 0x3469, 0x74c7, 0x343b, 0x74dc, 0x340d, 0x74f0,

+  0x33df, 0x7505, 0x33b1, 0x7519, 0x3383, 0x752d, 0x3355, 0x7542,

+  0x3327, 0x7556, 0x32f9, 0x756a, 0x32cb, 0x757e, 0x329d, 0x7592,

+  0x326e, 0x75a6, 0x3240, 0x75b9, 0x3212, 0x75cd, 0x31e4, 0x75e1,

+  0x31b5, 0x75f4, 0x3187, 0x7608, 0x3159, 0x761b, 0x312a, 0x762e,

+  0x30fc, 0x7642, 0x30cd, 0x7655, 0x309f, 0x7668, 0x3070, 0x767b,

+  0x3042, 0x768e, 0x3013, 0x76a1, 0x2fe5, 0x76b4, 0x2fb6, 0x76c7,

+  0x2f87, 0x76d9, 0x2f59, 0x76ec, 0x2f2a, 0x76fe, 0x2efb, 0x7711,

+  0x2ecc, 0x7723, 0x2e9e, 0x7736, 0x2e6f, 0x7748, 0x2e40, 0x775a,

+  0x2e11, 0x776c, 0x2de2, 0x777e, 0x2db3, 0x7790, 0x2d84, 0x77a2,

+  0x2d55, 0x77b4, 0x2d26, 0x77c6, 0x2cf7, 0x77d8, 0x2cc8, 0x77e9,

+  0x2c99, 0x77fb, 0x2c6a, 0x780c, 0x2c3b, 0x781e, 0x2c0c, 0x782f,

+  0x2bdc, 0x7840, 0x2bad, 0x7851, 0x2b7e, 0x7863, 0x2b4f, 0x7874,

+  0x2b1f, 0x7885, 0x2af0, 0x7895, 0x2ac1, 0x78a6, 0x2a91, 0x78b7,

+  0x2a62, 0x78c8, 0x2a32, 0x78d8, 0x2a03, 0x78e9, 0x29d3, 0x78f9,

+  0x29a4, 0x790a, 0x2974, 0x791a, 0x2945, 0x792a, 0x2915, 0x793a,

+  0x28e5, 0x794a, 0x28b6, 0x795b, 0x2886, 0x796a, 0x2856, 0x797a,

+  0x2827, 0x798a, 0x27f7, 0x799a, 0x27c7, 0x79aa, 0x2797, 0x79b9,

+  0x2768, 0x79c9, 0x2738, 0x79d8, 0x2708, 0x79e7, 0x26d8, 0x79f7,

+  0x26a8, 0x7a06, 0x2678, 0x7a15, 0x2648, 0x7a24, 0x2618, 0x7a33,

+  0x25e8, 0x7a42, 0x25b8, 0x7a51, 0x2588, 0x7a60, 0x2558, 0x7a6e,

+  0x2528, 0x7a7d, 0x24f8, 0x7a8c, 0x24c8, 0x7a9a, 0x2498, 0x7aa8,

+  0x2467, 0x7ab7, 0x2437, 0x7ac5, 0x2407, 0x7ad3, 0x23d7, 0x7ae1,

+  0x23a7, 0x7aef, 0x2376, 0x7afd, 0x2346, 0x7b0b, 0x2316, 0x7b19,

+  0x22e5, 0x7b27, 0x22b5, 0x7b34, 0x2284, 0x7b42, 0x2254, 0x7b50,

+  0x2224, 0x7b5d, 0x21f3, 0x7b6a, 0x21c3, 0x7b78, 0x2192, 0x7b85,

+  0x2162, 0x7b92, 0x2131, 0x7b9f, 0x2101, 0x7bac, 0x20d0, 0x7bb9,

+  0x209f, 0x7bc6, 0x206f, 0x7bd3, 0x203e, 0x7bdf, 0x200e, 0x7bec,

+  0x1fdd, 0x7bf9, 0x1fac, 0x7c05, 0x1f7b, 0x7c11, 0x1f4b, 0x7c1e,

+  0x1f1a, 0x7c2a, 0x1ee9, 0x7c36, 0x1eb8, 0x7c42, 0x1e88, 0x7c4e,

+  0x1e57, 0x7c5a, 0x1e26, 0x7c66, 0x1df5, 0x7c72, 0x1dc4, 0x7c7e,

+  0x1d93, 0x7c89, 0x1d62, 0x7c95, 0x1d31, 0x7ca0, 0x1d01, 0x7cac,

+  0x1cd0, 0x7cb7, 0x1c9f, 0x7cc2, 0x1c6e, 0x7cce, 0x1c3d, 0x7cd9,

+  0x1c0c, 0x7ce4, 0x1bda, 0x7cef, 0x1ba9, 0x7cfa, 0x1b78, 0x7d05,

+  0x1b47, 0x7d0f, 0x1b16, 0x7d1a, 0x1ae5, 0x7d25, 0x1ab4, 0x7d2f,

+  0x1a83, 0x7d3a, 0x1a51, 0x7d44, 0x1a20, 0x7d4e, 0x19ef, 0x7d58,

+  0x19be, 0x7d63, 0x198d, 0x7d6d, 0x195b, 0x7d77, 0x192a, 0x7d81,

+  0x18f9, 0x7d8a, 0x18c7, 0x7d94, 0x1896, 0x7d9e, 0x1865, 0x7da7,

+  0x1833, 0x7db1, 0x1802, 0x7dba, 0x17d1, 0x7dc4, 0x179f, 0x7dcd,

+  0x176e, 0x7dd6, 0x173c, 0x7de0, 0x170b, 0x7de9, 0x16da, 0x7df2,

+  0x16a8, 0x7dfb, 0x1677, 0x7e03, 0x1645, 0x7e0c, 0x1614, 0x7e15,

+  0x15e2, 0x7e1e, 0x15b1, 0x7e26, 0x157f, 0x7e2f, 0x154d, 0x7e37,

+  0x151c, 0x7e3f, 0x14ea, 0x7e48, 0x14b9, 0x7e50, 0x1487, 0x7e58,

+  0x1455, 0x7e60, 0x1424, 0x7e68, 0x13f2, 0x7e70, 0x13c1, 0x7e78,

+  0x138f, 0x7e7f, 0x135d, 0x7e87, 0x132b, 0x7e8e, 0x12fa, 0x7e96,

+  0x12c8, 0x7e9d, 0x1296, 0x7ea5, 0x1265, 0x7eac, 0x1233, 0x7eb3,

+  0x1201, 0x7eba, 0x11cf, 0x7ec1, 0x119e, 0x7ec8, 0x116c, 0x7ecf,

+  0x113a, 0x7ed6, 0x1108, 0x7edd, 0x10d6, 0x7ee3, 0x10a4, 0x7eea,

+  0x1073, 0x7ef0, 0x1041, 0x7ef7, 0x100f, 0x7efd, 0xfdd, 0x7f03,

+  0xfab, 0x7f0a, 0xf79, 0x7f10, 0xf47, 0x7f16, 0xf15, 0x7f1c,

+  0xee4, 0x7f22, 0xeb2, 0x7f27, 0xe80, 0x7f2d, 0xe4e, 0x7f33,

+  0xe1c, 0x7f38, 0xdea, 0x7f3e, 0xdb8, 0x7f43, 0xd86, 0x7f49,

+  0xd54, 0x7f4e, 0xd22, 0x7f53, 0xcf0, 0x7f58, 0xcbe, 0x7f5d,

+  0xc8c, 0x7f62, 0xc5a, 0x7f67, 0xc28, 0x7f6c, 0xbf6, 0x7f71,

+  0xbc4, 0x7f75, 0xb92, 0x7f7a, 0xb60, 0x7f7e, 0xb2d, 0x7f83,

+  0xafb, 0x7f87, 0xac9, 0x7f8b, 0xa97, 0x7f90, 0xa65, 0x7f94,

+  0xa33, 0x7f98, 0xa01, 0x7f9c, 0x9cf, 0x7fa0, 0x99d, 0x7fa3,

+  0x96b, 0x7fa7, 0x938, 0x7fab, 0x906, 0x7fae, 0x8d4, 0x7fb2,

+  0x8a2, 0x7fb5, 0x870, 0x7fb9, 0x83e, 0x7fbc, 0x80c, 0x7fbf,

+  0x7d9, 0x7fc2, 0x7a7, 0x7fc5, 0x775, 0x7fc8, 0x743, 0x7fcb,

+  0x711, 0x7fce, 0x6de, 0x7fd1, 0x6ac, 0x7fd3, 0x67a, 0x7fd6,

+  0x648, 0x7fd9, 0x616, 0x7fdb, 0x5e3, 0x7fdd, 0x5b1, 0x7fe0,

+  0x57f, 0x7fe2, 0x54d, 0x7fe4, 0x51b, 0x7fe6, 0x4e8, 0x7fe8,

+  0x4b6, 0x7fea, 0x484, 0x7fec, 0x452, 0x7fed, 0x41f, 0x7fef,

+  0x3ed, 0x7ff1, 0x3bb, 0x7ff2, 0x389, 0x7ff4, 0x356, 0x7ff5,

+  0x324, 0x7ff6, 0x2f2, 0x7ff7, 0x2c0, 0x7ff8, 0x28d, 0x7ff9,

+  0x25b, 0x7ffa, 0x229, 0x7ffb, 0x1f7, 0x7ffc, 0x1c4, 0x7ffd,

+  0x192, 0x7ffe, 0x160, 0x7ffe, 0x12e, 0x7fff, 0xfb, 0x7fff,

+  0xc9, 0x7fff, 0x97, 0x7fff, 0x65, 0x7fff, 0x32, 0x7fff,

+  0x0, 0x7fff, 0xffce, 0x7fff, 0xff9b, 0x7fff, 0xff69, 0x7fff,

+  0xff37, 0x7fff, 0xff05, 0x7fff, 0xfed2, 0x7fff, 0xfea0, 0x7ffe,

+  0xfe6e, 0x7ffe, 0xfe3c, 0x7ffd, 0xfe09, 0x7ffc, 0xfdd7, 0x7ffb,

+  0xfda5, 0x7ffa, 0xfd73, 0x7ff9, 0xfd40, 0x7ff8, 0xfd0e, 0x7ff7,

+  0xfcdc, 0x7ff6, 0xfcaa, 0x7ff5, 0xfc77, 0x7ff4, 0xfc45, 0x7ff2,

+  0xfc13, 0x7ff1, 0xfbe1, 0x7fef, 0xfbae, 0x7fed, 0xfb7c, 0x7fec,

+  0xfb4a, 0x7fea, 0xfb18, 0x7fe8, 0xfae5, 0x7fe6, 0xfab3, 0x7fe4,

+  0xfa81, 0x7fe2, 0xfa4f, 0x7fe0, 0xfa1d, 0x7fdd, 0xf9ea, 0x7fdb,

+  0xf9b8, 0x7fd9, 0xf986, 0x7fd6, 0xf954, 0x7fd3, 0xf922, 0x7fd1,

+  0xf8ef, 0x7fce, 0xf8bd, 0x7fcb, 0xf88b, 0x7fc8, 0xf859, 0x7fc5,

+  0xf827, 0x7fc2, 0xf7f4, 0x7fbf, 0xf7c2, 0x7fbc, 0xf790, 0x7fb9,

+  0xf75e, 0x7fb5, 0xf72c, 0x7fb2, 0xf6fa, 0x7fae, 0xf6c8, 0x7fab,

+  0xf695, 0x7fa7, 0xf663, 0x7fa3, 0xf631, 0x7fa0, 0xf5ff, 0x7f9c,

+  0xf5cd, 0x7f98, 0xf59b, 0x7f94, 0xf569, 0x7f90, 0xf537, 0x7f8b,

+  0xf505, 0x7f87, 0xf4d3, 0x7f83, 0xf4a0, 0x7f7e, 0xf46e, 0x7f7a,

+  0xf43c, 0x7f75, 0xf40a, 0x7f71, 0xf3d8, 0x7f6c, 0xf3a6, 0x7f67,

+  0xf374, 0x7f62, 0xf342, 0x7f5d, 0xf310, 0x7f58, 0xf2de, 0x7f53,

+  0xf2ac, 0x7f4e, 0xf27a, 0x7f49, 0xf248, 0x7f43, 0xf216, 0x7f3e,

+  0xf1e4, 0x7f38, 0xf1b2, 0x7f33, 0xf180, 0x7f2d, 0xf14e, 0x7f27,

+  0xf11c, 0x7f22, 0xf0eb, 0x7f1c, 0xf0b9, 0x7f16, 0xf087, 0x7f10,

+  0xf055, 0x7f0a, 0xf023, 0x7f03, 0xeff1, 0x7efd, 0xefbf, 0x7ef7,

+  0xef8d, 0x7ef0, 0xef5c, 0x7eea, 0xef2a, 0x7ee3, 0xeef8, 0x7edd,

+  0xeec6, 0x7ed6, 0xee94, 0x7ecf, 0xee62, 0x7ec8, 0xee31, 0x7ec1,

+  0xedff, 0x7eba, 0xedcd, 0x7eb3, 0xed9b, 0x7eac, 0xed6a, 0x7ea5,

+  0xed38, 0x7e9d, 0xed06, 0x7e96, 0xecd5, 0x7e8e, 0xeca3, 0x7e87,

+  0xec71, 0x7e7f, 0xec3f, 0x7e78, 0xec0e, 0x7e70, 0xebdc, 0x7e68,

+  0xebab, 0x7e60, 0xeb79, 0x7e58, 0xeb47, 0x7e50, 0xeb16, 0x7e48,

+  0xeae4, 0x7e3f, 0xeab3, 0x7e37, 0xea81, 0x7e2f, 0xea4f, 0x7e26,

+  0xea1e, 0x7e1e, 0xe9ec, 0x7e15, 0xe9bb, 0x7e0c, 0xe989, 0x7e03,

+  0xe958, 0x7dfb, 0xe926, 0x7df2, 0xe8f5, 0x7de9, 0xe8c4, 0x7de0,

+  0xe892, 0x7dd6, 0xe861, 0x7dcd, 0xe82f, 0x7dc4, 0xe7fe, 0x7dba,

+  0xe7cd, 0x7db1, 0xe79b, 0x7da7, 0xe76a, 0x7d9e, 0xe739, 0x7d94,

+  0xe707, 0x7d8a, 0xe6d6, 0x7d81, 0xe6a5, 0x7d77, 0xe673, 0x7d6d,

+  0xe642, 0x7d63, 0xe611, 0x7d58, 0xe5e0, 0x7d4e, 0xe5af, 0x7d44,

+  0xe57d, 0x7d3a, 0xe54c, 0x7d2f, 0xe51b, 0x7d25, 0xe4ea, 0x7d1a,

+  0xe4b9, 0x7d0f, 0xe488, 0x7d05, 0xe457, 0x7cfa, 0xe426, 0x7cef,

+  0xe3f4, 0x7ce4, 0xe3c3, 0x7cd9, 0xe392, 0x7cce, 0xe361, 0x7cc2,

+  0xe330, 0x7cb7, 0xe2ff, 0x7cac, 0xe2cf, 0x7ca0, 0xe29e, 0x7c95,

+  0xe26d, 0x7c89, 0xe23c, 0x7c7e, 0xe20b, 0x7c72, 0xe1da, 0x7c66,

+  0xe1a9, 0x7c5a, 0xe178, 0x7c4e, 0xe148, 0x7c42, 0xe117, 0x7c36,

+  0xe0e6, 0x7c2a, 0xe0b5, 0x7c1e, 0xe085, 0x7c11, 0xe054, 0x7c05,

+  0xe023, 0x7bf9, 0xdff2, 0x7bec, 0xdfc2, 0x7bdf, 0xdf91, 0x7bd3,

+  0xdf61, 0x7bc6, 0xdf30, 0x7bb9, 0xdeff, 0x7bac, 0xdecf, 0x7b9f,

+  0xde9e, 0x7b92, 0xde6e, 0x7b85, 0xde3d, 0x7b78, 0xde0d, 0x7b6a,

+  0xdddc, 0x7b5d, 0xddac, 0x7b50, 0xdd7c, 0x7b42, 0xdd4b, 0x7b34,

+  0xdd1b, 0x7b27, 0xdcea, 0x7b19, 0xdcba, 0x7b0b, 0xdc8a, 0x7afd,

+  0xdc59, 0x7aef, 0xdc29, 0x7ae1, 0xdbf9, 0x7ad3, 0xdbc9, 0x7ac5,

+  0xdb99, 0x7ab7, 0xdb68, 0x7aa8, 0xdb38, 0x7a9a, 0xdb08, 0x7a8c,

+  0xdad8, 0x7a7d, 0xdaa8, 0x7a6e, 0xda78, 0x7a60, 0xda48, 0x7a51,

+  0xda18, 0x7a42, 0xd9e8, 0x7a33, 0xd9b8, 0x7a24, 0xd988, 0x7a15,

+  0xd958, 0x7a06, 0xd928, 0x79f7, 0xd8f8, 0x79e7, 0xd8c8, 0x79d8,

+  0xd898, 0x79c9, 0xd869, 0x79b9, 0xd839, 0x79aa, 0xd809, 0x799a,

+  0xd7d9, 0x798a, 0xd7aa, 0x797a, 0xd77a, 0x796a, 0xd74a, 0x795b,

+  0xd71b, 0x794a, 0xd6eb, 0x793a, 0xd6bb, 0x792a, 0xd68c, 0x791a,

+  0xd65c, 0x790a, 0xd62d, 0x78f9, 0xd5fd, 0x78e9, 0xd5ce, 0x78d8,

+  0xd59e, 0x78c8, 0xd56f, 0x78b7, 0xd53f, 0x78a6, 0xd510, 0x7895,

+  0xd4e1, 0x7885, 0xd4b1, 0x7874, 0xd482, 0x7863, 0xd453, 0x7851,

+  0xd424, 0x7840, 0xd3f4, 0x782f, 0xd3c5, 0x781e, 0xd396, 0x780c,

+  0xd367, 0x77fb, 0xd338, 0x77e9, 0xd309, 0x77d8, 0xd2da, 0x77c6,

+  0xd2ab, 0x77b4, 0xd27c, 0x77a2, 0xd24d, 0x7790, 0xd21e, 0x777e,

+  0xd1ef, 0x776c, 0xd1c0, 0x775a, 0xd191, 0x7748, 0xd162, 0x7736,

+  0xd134, 0x7723, 0xd105, 0x7711, 0xd0d6, 0x76fe, 0xd0a7, 0x76ec,

+  0xd079, 0x76d9, 0xd04a, 0x76c7, 0xd01b, 0x76b4, 0xcfed, 0x76a1,

+  0xcfbe, 0x768e, 0xcf90, 0x767b, 0xcf61, 0x7668, 0xcf33, 0x7655,

+  0xcf04, 0x7642, 0xced6, 0x762e, 0xcea7, 0x761b, 0xce79, 0x7608,

+  0xce4b, 0x75f4, 0xce1c, 0x75e1, 0xcdee, 0x75cd, 0xcdc0, 0x75b9,

+  0xcd92, 0x75a6, 0xcd63, 0x7592, 0xcd35, 0x757e, 0xcd07, 0x756a,

+  0xccd9, 0x7556, 0xccab, 0x7542, 0xcc7d, 0x752d, 0xcc4f, 0x7519,

+  0xcc21, 0x7505, 0xcbf3, 0x74f0, 0xcbc5, 0x74dc, 0xcb97, 0x74c7,

+  0xcb69, 0x74b3, 0xcb3c, 0x749e, 0xcb0e, 0x7489, 0xcae0, 0x7475,

+  0xcab2, 0x7460, 0xca85, 0x744b, 0xca57, 0x7436, 0xca29, 0x7421,

+  0xc9fc, 0x740b, 0xc9ce, 0x73f6, 0xc9a1, 0x73e1, 0xc973, 0x73cb,

+  0xc946, 0x73b6, 0xc918, 0x73a0, 0xc8eb, 0x738b, 0xc8be, 0x7375,

+  0xc890, 0x735f, 0xc863, 0x734a, 0xc836, 0x7334, 0xc809, 0x731e,

+  0xc7db, 0x7308, 0xc7ae, 0x72f2, 0xc781, 0x72dc, 0xc754, 0x72c5,

+  0xc727, 0x72af, 0xc6fa, 0x7299, 0xc6cd, 0x7282, 0xc6a0, 0x726c,

+  0xc673, 0x7255, 0xc646, 0x723f, 0xc619, 0x7228, 0xc5ed, 0x7211,

+  0xc5c0, 0x71fa, 0xc593, 0x71e3, 0xc566, 0x71cc, 0xc53a, 0x71b5,

+  0xc50d, 0x719e, 0xc4e0, 0x7187, 0xc4b4, 0x7170, 0xc487, 0x7158,

+  0xc45b, 0x7141, 0xc42e, 0x712a, 0xc402, 0x7112, 0xc3d6, 0x70fa,

+  0xc3a9, 0x70e3, 0xc37d, 0x70cb, 0xc351, 0x70b3, 0xc324, 0x709b,

+  0xc2f8, 0x7083, 0xc2cc, 0x706b, 0xc2a0, 0x7053, 0xc274, 0x703b,

+  0xc248, 0x7023, 0xc21c, 0x700b, 0xc1f0, 0x6ff2, 0xc1c4, 0x6fda,

+  0xc198, 0x6fc2, 0xc16c, 0x6fa9, 0xc140, 0x6f90, 0xc114, 0x6f78,

+  0xc0e9, 0x6f5f, 0xc0bd, 0x6f46, 0xc091, 0x6f2d, 0xc066, 0x6f14,

+  0xc03a, 0x6efb, 0xc00f, 0x6ee2, 0xbfe3, 0x6ec9, 0xbfb8, 0x6eb0,

+  0xbf8c, 0x6e97, 0xbf61, 0x6e7d, 0xbf35, 0x6e64, 0xbf0a, 0x6e4a,

+  0xbedf, 0x6e31, 0xbeb3, 0x6e17, 0xbe88, 0x6dfe, 0xbe5d, 0x6de4,

+  0xbe32, 0x6dca, 0xbe07, 0x6db0, 0xbddc, 0x6d96, 0xbdb1, 0x6d7c,

+  0xbd86, 0x6d62, 0xbd5b, 0x6d48, 0xbd30, 0x6d2e, 0xbd05, 0x6d14,

+  0xbcda, 0x6cf9, 0xbcaf, 0x6cdf, 0xbc85, 0x6cc4, 0xbc5a, 0x6caa,

+  0xbc2f, 0x6c8f, 0xbc05, 0x6c75, 0xbbda, 0x6c5a, 0xbbb0, 0x6c3f,

+  0xbb85, 0x6c24, 0xbb5b, 0x6c09, 0xbb30, 0x6bee, 0xbb06, 0x6bd3,

+  0xbadc, 0x6bb8, 0xbab1, 0x6b9d, 0xba87, 0x6b82, 0xba5d, 0x6b66,

+  0xba33, 0x6b4b, 0xba09, 0x6b30, 0xb9df, 0x6b14, 0xb9b5, 0x6af8,

+  0xb98b, 0x6add, 0xb961, 0x6ac1, 0xb937, 0x6aa5, 0xb90d, 0x6a89,

+  0xb8e3, 0x6a6e, 0xb8b9, 0x6a52, 0xb890, 0x6a36, 0xb866, 0x6a1a,

+  0xb83c, 0x69fd, 0xb813, 0x69e1, 0xb7e9, 0x69c5, 0xb7c0, 0x69a9,

+  0xb796, 0x698c, 0xb76d, 0x6970, 0xb743, 0x6953, 0xb71a, 0x6937,

+  0xb6f1, 0x691a, 0xb6c7, 0x68fd, 0xb69e, 0x68e0, 0xb675, 0x68c4,

+  0xb64c, 0x68a7, 0xb623, 0x688a, 0xb5fa, 0x686d, 0xb5d1, 0x6850,

+  0xb5a8, 0x6832, 0xb57f, 0x6815, 0xb556, 0x67f8, 0xb52d, 0x67da,

+  0xb505, 0x67bd, 0xb4dc, 0x67a0, 0xb4b3, 0x6782, 0xb48b, 0x6764,

+  0xb462, 0x6747, 0xb439, 0x6729, 0xb411, 0x670b, 0xb3e9, 0x66ed,

+  0xb3c0, 0x66d0, 0xb398, 0x66b2, 0xb36f, 0x6693, 0xb347, 0x6675,

+  0xb31f, 0x6657, 0xb2f7, 0x6639, 0xb2cf, 0x661b, 0xb2a7, 0x65fc,

+  0xb27f, 0x65de, 0xb257, 0x65c0, 0xb22f, 0x65a1, 0xb207, 0x6582,

+  0xb1df, 0x6564, 0xb1b7, 0x6545, 0xb18f, 0x6526, 0xb168, 0x6507,

+  0xb140, 0x64e9, 0xb118, 0x64ca, 0xb0f1, 0x64ab, 0xb0c9, 0x648b,

+  0xb0a2, 0x646c, 0xb07b, 0x644d, 0xb053, 0x642e, 0xb02c, 0x640f,

+  0xb005, 0x63ef, 0xafdd, 0x63d0, 0xafb6, 0x63b0, 0xaf8f, 0x6391,

+  0xaf68, 0x6371, 0xaf41, 0x6351, 0xaf1a, 0x6332, 0xaef3, 0x6312,

+  0xaecc, 0x62f2, 0xaea5, 0x62d2, 0xae7f, 0x62b2, 0xae58, 0x6292,

+  0xae31, 0x6272, 0xae0b, 0x6252, 0xade4, 0x6232, 0xadbd, 0x6211,

+  0xad97, 0x61f1, 0xad70, 0x61d1, 0xad4a, 0x61b0, 0xad24, 0x6190,

+  0xacfd, 0x616f, 0xacd7, 0x614e, 0xacb1, 0x612e, 0xac8b, 0x610d,

+  0xac65, 0x60ec, 0xac3f, 0x60cb, 0xac19, 0x60aa, 0xabf3, 0x6089,

+  0xabcd, 0x6068, 0xaba7, 0x6047, 0xab81, 0x6026, 0xab5c, 0x6005,

+  0xab36, 0x5fe4, 0xab10, 0x5fc2, 0xaaeb, 0x5fa1, 0xaac5, 0x5f80,

+  0xaaa0, 0x5f5e, 0xaa7a, 0x5f3c, 0xaa55, 0x5f1b, 0xaa30, 0x5ef9,

+  0xaa0a, 0x5ed7, 0xa9e5, 0x5eb6, 0xa9c0, 0x5e94, 0xa99b, 0x5e72,

+  0xa976, 0x5e50, 0xa951, 0x5e2e, 0xa92c, 0x5e0c, 0xa907, 0x5dea,

+  0xa8e2, 0x5dc8, 0xa8bd, 0x5da5, 0xa899, 0x5d83, 0xa874, 0x5d61,

+  0xa84f, 0x5d3e, 0xa82b, 0x5d1c, 0xa806, 0x5cf9, 0xa7e2, 0x5cd7,

+  0xa7bd, 0x5cb4, 0xa799, 0x5c91, 0xa774, 0x5c6f, 0xa750, 0x5c4c,

+  0xa72c, 0x5c29, 0xa708, 0x5c06, 0xa6e4, 0x5be3, 0xa6c0, 0x5bc0,

+  0xa69c, 0x5b9d, 0xa678, 0x5b7a, 0xa654, 0x5b57, 0xa630, 0x5b34,

+  0xa60c, 0x5b10, 0xa5e8, 0x5aed, 0xa5c5, 0x5ac9, 0xa5a1, 0x5aa6,

+  0xa57e, 0x5a82, 0xa55a, 0x5a5f, 0xa537, 0x5a3b, 0xa513, 0x5a18,

+  0xa4f0, 0x59f4, 0xa4cc, 0x59d0, 0xa4a9, 0x59ac, 0xa486, 0x5988,

+  0xa463, 0x5964, 0xa440, 0x5940, 0xa41d, 0x591c, 0xa3fa, 0x58f8,

+  0xa3d7, 0x58d4, 0xa3b4, 0x58b0, 0xa391, 0x588c, 0xa36f, 0x5867,

+  0xa34c, 0x5843, 0xa329, 0x581e, 0xa307, 0x57fa, 0xa2e4, 0x57d5,

+  0xa2c2, 0x57b1, 0xa29f, 0x578c, 0xa27d, 0x5767, 0xa25b, 0x5743,

+  0xa238, 0x571e, 0xa216, 0x56f9, 0xa1f4, 0x56d4, 0xa1d2, 0x56af,

+  0xa1b0, 0x568a, 0xa18e, 0x5665, 0xa16c, 0x5640, 0xa14a, 0x561b,

+  0xa129, 0x55f6, 0xa107, 0x55d0, 0xa0e5, 0x55ab, 0xa0c4, 0x5586,

+  0xa0a2, 0x5560, 0xa080, 0x553b, 0xa05f, 0x5515, 0xa03e, 0x54f0,

+  0xa01c, 0x54ca, 0x9ffb, 0x54a4, 0x9fda, 0x547f, 0x9fb9, 0x5459,

+  0x9f98, 0x5433, 0x9f77, 0x540d, 0x9f56, 0x53e7, 0x9f35, 0x53c1,

+  0x9f14, 0x539b, 0x9ef3, 0x5375, 0x9ed2, 0x534f, 0x9eb2, 0x5329,

+  0x9e91, 0x5303, 0x9e70, 0x52dc, 0x9e50, 0x52b6, 0x9e2f, 0x5290,

+  0x9e0f, 0x5269, 0x9def, 0x5243, 0x9dce, 0x521c, 0x9dae, 0x51f5,

+  0x9d8e, 0x51cf, 0x9d6e, 0x51a8, 0x9d4e, 0x5181, 0x9d2e, 0x515b,

+  0x9d0e, 0x5134, 0x9cee, 0x510d, 0x9cce, 0x50e6, 0x9caf, 0x50bf,

+  0x9c8f, 0x5098, 0x9c6f, 0x5071, 0x9c50, 0x504a, 0x9c30, 0x5023,

+  0x9c11, 0x4ffb, 0x9bf1, 0x4fd4, 0x9bd2, 0x4fad, 0x9bb3, 0x4f85,

+  0x9b94, 0x4f5e, 0x9b75, 0x4f37, 0x9b55, 0x4f0f, 0x9b36, 0x4ee8,

+  0x9b17, 0x4ec0, 0x9af9, 0x4e98, 0x9ada, 0x4e71, 0x9abb, 0x4e49,

+  0x9a9c, 0x4e21, 0x9a7e, 0x4df9, 0x9a5f, 0x4dd1, 0x9a40, 0x4da9,

+  0x9a22, 0x4d81, 0x9a04, 0x4d59, 0x99e5, 0x4d31, 0x99c7, 0x4d09,

+  0x99a9, 0x4ce1, 0x998b, 0x4cb9, 0x996d, 0x4c91, 0x994e, 0x4c68,

+  0x9930, 0x4c40, 0x9913, 0x4c17, 0x98f5, 0x4bef, 0x98d7, 0x4bc7,

+  0x98b9, 0x4b9e, 0x989c, 0x4b75, 0x987e, 0x4b4d, 0x9860, 0x4b24,

+  0x9843, 0x4afb, 0x9826, 0x4ad3, 0x9808, 0x4aaa, 0x97eb, 0x4a81,

+  0x97ce, 0x4a58, 0x97b0, 0x4a2f, 0x9793, 0x4a06, 0x9776, 0x49dd,

+  0x9759, 0x49b4, 0x973c, 0x498b, 0x9720, 0x4962, 0x9703, 0x4939,

+  0x96e6, 0x490f, 0x96c9, 0x48e6, 0x96ad, 0x48bd, 0x9690, 0x4893,

+  0x9674, 0x486a, 0x9657, 0x4840, 0x963b, 0x4817, 0x961f, 0x47ed,

+  0x9603, 0x47c4, 0x95e6, 0x479a, 0x95ca, 0x4770, 0x95ae, 0x4747,

+  0x9592, 0x471d, 0x9577, 0x46f3, 0x955b, 0x46c9, 0x953f, 0x469f,

+  0x9523, 0x4675, 0x9508, 0x464b, 0x94ec, 0x4621, 0x94d0, 0x45f7,

+  0x94b5, 0x45cd, 0x949a, 0x45a3, 0x947e, 0x4579, 0x9463, 0x454f,

+  0x9448, 0x4524, 0x942d, 0x44fa, 0x9412, 0x44d0, 0x93f7, 0x44a5,

+  0x93dc, 0x447b, 0x93c1, 0x4450, 0x93a6, 0x4426, 0x938b, 0x43fb,

+  0x9371, 0x43d1, 0x9356, 0x43a6, 0x933c, 0x437b, 0x9321, 0x4351,

+  0x9307, 0x4326, 0x92ec, 0x42fb, 0x92d2, 0x42d0, 0x92b8, 0x42a5,

+  0x929e, 0x427a, 0x9284, 0x424f, 0x926a, 0x4224, 0x9250, 0x41f9,

+  0x9236, 0x41ce, 0x921c, 0x41a3, 0x9202, 0x4178, 0x91e9, 0x414d,

+  0x91cf, 0x4121, 0x91b6, 0x40f6, 0x919c, 0x40cb, 0x9183, 0x409f,

+  0x9169, 0x4074, 0x9150, 0x4048, 0x9137, 0x401d, 0x911e, 0x3ff1,

+  0x9105, 0x3fc6, 0x90ec, 0x3f9a, 0x90d3, 0x3f6f, 0x90ba, 0x3f43,

+  0x90a1, 0x3f17, 0x9088, 0x3eec, 0x9070, 0x3ec0, 0x9057, 0x3e94,

+  0x903e, 0x3e68, 0x9026, 0x3e3c, 0x900e, 0x3e10, 0x8ff5, 0x3de4,

+  0x8fdd, 0x3db8, 0x8fc5, 0x3d8c, 0x8fad, 0x3d60, 0x8f95, 0x3d34,

+  0x8f7d, 0x3d08, 0x8f65, 0x3cdc, 0x8f4d, 0x3caf, 0x8f35, 0x3c83,

+  0x8f1d, 0x3c57, 0x8f06, 0x3c2a, 0x8eee, 0x3bfe, 0x8ed6, 0x3bd2,

+  0x8ebf, 0x3ba5, 0x8ea8, 0x3b79, 0x8e90, 0x3b4c, 0x8e79, 0x3b20,

+  0x8e62, 0x3af3, 0x8e4b, 0x3ac6, 0x8e34, 0x3a9a, 0x8e1d, 0x3a6d,

+  0x8e06, 0x3a40, 0x8def, 0x3a13, 0x8dd8, 0x39e7, 0x8dc1, 0x39ba,

+  0x8dab, 0x398d, 0x8d94, 0x3960, 0x8d7e, 0x3933, 0x8d67, 0x3906,

+  0x8d51, 0x38d9, 0x8d3b, 0x38ac, 0x8d24, 0x387f, 0x8d0e, 0x3852,

+  0x8cf8, 0x3825, 0x8ce2, 0x37f7, 0x8ccc, 0x37ca, 0x8cb6, 0x379d,

+  0x8ca1, 0x3770, 0x8c8b, 0x3742, 0x8c75, 0x3715, 0x8c60, 0x36e8,

+  0x8c4a, 0x36ba, 0x8c35, 0x368d, 0x8c1f, 0x365f, 0x8c0a, 0x3632,

+  0x8bf5, 0x3604, 0x8bdf, 0x35d7, 0x8bca, 0x35a9, 0x8bb5, 0x357b,

+  0x8ba0, 0x354e, 0x8b8b, 0x3520, 0x8b77, 0x34f2, 0x8b62, 0x34c4,

+  0x8b4d, 0x3497, 0x8b39, 0x3469, 0x8b24, 0x343b, 0x8b10, 0x340d,

+  0x8afb, 0x33df, 0x8ae7, 0x33b1, 0x8ad3, 0x3383, 0x8abe, 0x3355,

+  0x8aaa, 0x3327, 0x8a96, 0x32f9, 0x8a82, 0x32cb, 0x8a6e, 0x329d,

+  0x8a5a, 0x326e, 0x8a47, 0x3240, 0x8a33, 0x3212, 0x8a1f, 0x31e4,

+  0x8a0c, 0x31b5, 0x89f8, 0x3187, 0x89e5, 0x3159, 0x89d2, 0x312a,

+  0x89be, 0x30fc, 0x89ab, 0x30cd, 0x8998, 0x309f, 0x8985, 0x3070,

+  0x8972, 0x3042, 0x895f, 0x3013, 0x894c, 0x2fe5, 0x8939, 0x2fb6,

+  0x8927, 0x2f87, 0x8914, 0x2f59, 0x8902, 0x2f2a, 0x88ef, 0x2efb,

+  0x88dd, 0x2ecc, 0x88ca, 0x2e9e, 0x88b8, 0x2e6f, 0x88a6, 0x2e40,

+  0x8894, 0x2e11, 0x8882, 0x2de2, 0x8870, 0x2db3, 0x885e, 0x2d84,

+  0x884c, 0x2d55, 0x883a, 0x2d26, 0x8828, 0x2cf7, 0x8817, 0x2cc8,

+  0x8805, 0x2c99, 0x87f4, 0x2c6a, 0x87e2, 0x2c3b, 0x87d1, 0x2c0c,

+  0x87c0, 0x2bdc, 0x87af, 0x2bad, 0x879d, 0x2b7e, 0x878c, 0x2b4f,

+  0x877b, 0x2b1f, 0x876b, 0x2af0, 0x875a, 0x2ac1, 0x8749, 0x2a91,

+  0x8738, 0x2a62, 0x8728, 0x2a32, 0x8717, 0x2a03, 0x8707, 0x29d3,

+  0x86f6, 0x29a4, 0x86e6, 0x2974, 0x86d6, 0x2945, 0x86c6, 0x2915,

+  0x86b6, 0x28e5, 0x86a5, 0x28b6, 0x8696, 0x2886, 0x8686, 0x2856,

+  0x8676, 0x2827, 0x8666, 0x27f7, 0x8656, 0x27c7, 0x8647, 0x2797,

+  0x8637, 0x2768, 0x8628, 0x2738, 0x8619, 0x2708, 0x8609, 0x26d8,

+  0x85fa, 0x26a8, 0x85eb, 0x2678, 0x85dc, 0x2648, 0x85cd, 0x2618,

+  0x85be, 0x25e8, 0x85af, 0x25b8, 0x85a0, 0x2588, 0x8592, 0x2558,

+  0x8583, 0x2528, 0x8574, 0x24f8, 0x8566, 0x24c8, 0x8558, 0x2498,

+  0x8549, 0x2467, 0x853b, 0x2437, 0x852d, 0x2407, 0x851f, 0x23d7,

+  0x8511, 0x23a7, 0x8503, 0x2376, 0x84f5, 0x2346, 0x84e7, 0x2316,

+  0x84d9, 0x22e5, 0x84cc, 0x22b5, 0x84be, 0x2284, 0x84b0, 0x2254,

+  0x84a3, 0x2224, 0x8496, 0x21f3, 0x8488, 0x21c3, 0x847b, 0x2192,

+  0x846e, 0x2162, 0x8461, 0x2131, 0x8454, 0x2101, 0x8447, 0x20d0,

+  0x843a, 0x209f, 0x842d, 0x206f, 0x8421, 0x203e, 0x8414, 0x200e,

+  0x8407, 0x1fdd, 0x83fb, 0x1fac, 0x83ef, 0x1f7b, 0x83e2, 0x1f4b,

+  0x83d6, 0x1f1a, 0x83ca, 0x1ee9, 0x83be, 0x1eb8, 0x83b2, 0x1e88,

+  0x83a6, 0x1e57, 0x839a, 0x1e26, 0x838e, 0x1df5, 0x8382, 0x1dc4,

+  0x8377, 0x1d93, 0x836b, 0x1d62, 0x8360, 0x1d31, 0x8354, 0x1d01,

+  0x8349, 0x1cd0, 0x833e, 0x1c9f, 0x8332, 0x1c6e, 0x8327, 0x1c3d,

+  0x831c, 0x1c0c, 0x8311, 0x1bda, 0x8306, 0x1ba9, 0x82fb, 0x1b78,

+  0x82f1, 0x1b47, 0x82e6, 0x1b16, 0x82db, 0x1ae5, 0x82d1, 0x1ab4,

+  0x82c6, 0x1a83, 0x82bc, 0x1a51, 0x82b2, 0x1a20, 0x82a8, 0x19ef,

+  0x829d, 0x19be, 0x8293, 0x198d, 0x8289, 0x195b, 0x827f, 0x192a,

+  0x8276, 0x18f9, 0x826c, 0x18c7, 0x8262, 0x1896, 0x8259, 0x1865,

+  0x824f, 0x1833, 0x8246, 0x1802, 0x823c, 0x17d1, 0x8233, 0x179f,

+  0x822a, 0x176e, 0x8220, 0x173c, 0x8217, 0x170b, 0x820e, 0x16da,

+  0x8205, 0x16a8, 0x81fd, 0x1677, 0x81f4, 0x1645, 0x81eb, 0x1614,

+  0x81e2, 0x15e2, 0x81da, 0x15b1, 0x81d1, 0x157f, 0x81c9, 0x154d,

+  0x81c1, 0x151c, 0x81b8, 0x14ea, 0x81b0, 0x14b9, 0x81a8, 0x1487,

+  0x81a0, 0x1455, 0x8198, 0x1424, 0x8190, 0x13f2, 0x8188, 0x13c1,

+  0x8181, 0x138f, 0x8179, 0x135d, 0x8172, 0x132b, 0x816a, 0x12fa,

+  0x8163, 0x12c8, 0x815b, 0x1296, 0x8154, 0x1265, 0x814d, 0x1233,

+  0x8146, 0x1201, 0x813f, 0x11cf, 0x8138, 0x119e, 0x8131, 0x116c,

+  0x812a, 0x113a, 0x8123, 0x1108, 0x811d, 0x10d6, 0x8116, 0x10a4,

+  0x8110, 0x1073, 0x8109, 0x1041, 0x8103, 0x100f, 0x80fd, 0xfdd,

+  0x80f6, 0xfab, 0x80f0, 0xf79, 0x80ea, 0xf47, 0x80e4, 0xf15,

+  0x80de, 0xee4, 0x80d9, 0xeb2, 0x80d3, 0xe80, 0x80cd, 0xe4e,

+  0x80c8, 0xe1c, 0x80c2, 0xdea, 0x80bd, 0xdb8, 0x80b7, 0xd86,

+  0x80b2, 0xd54, 0x80ad, 0xd22, 0x80a8, 0xcf0, 0x80a3, 0xcbe,

+  0x809e, 0xc8c, 0x8099, 0xc5a, 0x8094, 0xc28, 0x808f, 0xbf6,

+  0x808b, 0xbc4, 0x8086, 0xb92, 0x8082, 0xb60, 0x807d, 0xb2d,

+  0x8079, 0xafb, 0x8075, 0xac9, 0x8070, 0xa97, 0x806c, 0xa65,

+  0x8068, 0xa33, 0x8064, 0xa01, 0x8060, 0x9cf, 0x805d, 0x99d,

+  0x8059, 0x96b, 0x8055, 0x938, 0x8052, 0x906, 0x804e, 0x8d4,

+  0x804b, 0x8a2, 0x8047, 0x870, 0x8044, 0x83e, 0x8041, 0x80c,

+  0x803e, 0x7d9, 0x803b, 0x7a7, 0x8038, 0x775, 0x8035, 0x743,

+  0x8032, 0x711, 0x802f, 0x6de, 0x802d, 0x6ac, 0x802a, 0x67a,

+  0x8027, 0x648, 0x8025, 0x616, 0x8023, 0x5e3, 0x8020, 0x5b1,

+  0x801e, 0x57f, 0x801c, 0x54d, 0x801a, 0x51b, 0x8018, 0x4e8,

+  0x8016, 0x4b6, 0x8014, 0x484, 0x8013, 0x452, 0x8011, 0x41f,

+  0x800f, 0x3ed, 0x800e, 0x3bb, 0x800c, 0x389, 0x800b, 0x356,

+  0x800a, 0x324, 0x8009, 0x2f2, 0x8008, 0x2c0, 0x8007, 0x28d,

+  0x8006, 0x25b, 0x8005, 0x229, 0x8004, 0x1f7, 0x8003, 0x1c4,

+  0x8002, 0x192, 0x8002, 0x160, 0x8001, 0x12e, 0x8001, 0xfb,

+  0x8001, 0xc9, 0x8000, 0x97, 0x8000, 0x65, 0x8000, 0x32,

+  0x8000, 0x0, 0x8000, 0xffce, 0x8000, 0xff9b, 0x8000, 0xff69,

+  0x8001, 0xff37, 0x8001, 0xff05, 0x8001, 0xfed2, 0x8002, 0xfea0,

+  0x8002, 0xfe6e, 0x8003, 0xfe3c, 0x8004, 0xfe09, 0x8005, 0xfdd7,

+  0x8006, 0xfda5, 0x8007, 0xfd73, 0x8008, 0xfd40, 0x8009, 0xfd0e,

+  0x800a, 0xfcdc, 0x800b, 0xfcaa, 0x800c, 0xfc77, 0x800e, 0xfc45,

+  0x800f, 0xfc13, 0x8011, 0xfbe1, 0x8013, 0xfbae, 0x8014, 0xfb7c,

+  0x8016, 0xfb4a, 0x8018, 0xfb18, 0x801a, 0xfae5, 0x801c, 0xfab3,

+  0x801e, 0xfa81, 0x8020, 0xfa4f, 0x8023, 0xfa1d, 0x8025, 0xf9ea,

+  0x8027, 0xf9b8, 0x802a, 0xf986, 0x802d, 0xf954, 0x802f, 0xf922,

+  0x8032, 0xf8ef, 0x8035, 0xf8bd, 0x8038, 0xf88b, 0x803b, 0xf859,

+  0x803e, 0xf827, 0x8041, 0xf7f4, 0x8044, 0xf7c2, 0x8047, 0xf790,

+  0x804b, 0xf75e, 0x804e, 0xf72c, 0x8052, 0xf6fa, 0x8055, 0xf6c8,

+  0x8059, 0xf695, 0x805d, 0xf663, 0x8060, 0xf631, 0x8064, 0xf5ff,

+  0x8068, 0xf5cd, 0x806c, 0xf59b, 0x8070, 0xf569, 0x8075, 0xf537,

+  0x8079, 0xf505, 0x807d, 0xf4d3, 0x8082, 0xf4a0, 0x8086, 0xf46e,

+  0x808b, 0xf43c, 0x808f, 0xf40a, 0x8094, 0xf3d8, 0x8099, 0xf3a6,

+  0x809e, 0xf374, 0x80a3, 0xf342, 0x80a8, 0xf310, 0x80ad, 0xf2de,

+  0x80b2, 0xf2ac, 0x80b7, 0xf27a, 0x80bd, 0xf248, 0x80c2, 0xf216,

+  0x80c8, 0xf1e4, 0x80cd, 0xf1b2, 0x80d3, 0xf180, 0x80d9, 0xf14e,

+  0x80de, 0xf11c, 0x80e4, 0xf0eb, 0x80ea, 0xf0b9, 0x80f0, 0xf087,

+  0x80f6, 0xf055, 0x80fd, 0xf023, 0x8103, 0xeff1, 0x8109, 0xefbf,

+  0x8110, 0xef8d, 0x8116, 0xef5c, 0x811d, 0xef2a, 0x8123, 0xeef8,

+  0x812a, 0xeec6, 0x8131, 0xee94, 0x8138, 0xee62, 0x813f, 0xee31,

+  0x8146, 0xedff, 0x814d, 0xedcd, 0x8154, 0xed9b, 0x815b, 0xed6a,

+  0x8163, 0xed38, 0x816a, 0xed06, 0x8172, 0xecd5, 0x8179, 0xeca3,

+  0x8181, 0xec71, 0x8188, 0xec3f, 0x8190, 0xec0e, 0x8198, 0xebdc,

+  0x81a0, 0xebab, 0x81a8, 0xeb79, 0x81b0, 0xeb47, 0x81b8, 0xeb16,

+  0x81c1, 0xeae4, 0x81c9, 0xeab3, 0x81d1, 0xea81, 0x81da, 0xea4f,

+  0x81e2, 0xea1e, 0x81eb, 0xe9ec, 0x81f4, 0xe9bb, 0x81fd, 0xe989,

+  0x8205, 0xe958, 0x820e, 0xe926, 0x8217, 0xe8f5, 0x8220, 0xe8c4,

+  0x822a, 0xe892, 0x8233, 0xe861, 0x823c, 0xe82f, 0x8246, 0xe7fe,

+  0x824f, 0xe7cd, 0x8259, 0xe79b, 0x8262, 0xe76a, 0x826c, 0xe739,

+  0x8276, 0xe707, 0x827f, 0xe6d6, 0x8289, 0xe6a5, 0x8293, 0xe673,

+  0x829d, 0xe642, 0x82a8, 0xe611, 0x82b2, 0xe5e0, 0x82bc, 0xe5af,

+  0x82c6, 0xe57d, 0x82d1, 0xe54c, 0x82db, 0xe51b, 0x82e6, 0xe4ea,

+  0x82f1, 0xe4b9, 0x82fb, 0xe488, 0x8306, 0xe457, 0x8311, 0xe426,

+  0x831c, 0xe3f4, 0x8327, 0xe3c3, 0x8332, 0xe392, 0x833e, 0xe361,

+  0x8349, 0xe330, 0x8354, 0xe2ff, 0x8360, 0xe2cf, 0x836b, 0xe29e,

+  0x8377, 0xe26d, 0x8382, 0xe23c, 0x838e, 0xe20b, 0x839a, 0xe1da,

+  0x83a6, 0xe1a9, 0x83b2, 0xe178, 0x83be, 0xe148, 0x83ca, 0xe117,

+  0x83d6, 0xe0e6, 0x83e2, 0xe0b5, 0x83ef, 0xe085, 0x83fb, 0xe054,

+  0x8407, 0xe023, 0x8414, 0xdff2, 0x8421, 0xdfc2, 0x842d, 0xdf91,

+  0x843a, 0xdf61, 0x8447, 0xdf30, 0x8454, 0xdeff, 0x8461, 0xdecf,

+  0x846e, 0xde9e, 0x847b, 0xde6e, 0x8488, 0xde3d, 0x8496, 0xde0d,

+  0x84a3, 0xdddc, 0x84b0, 0xddac, 0x84be, 0xdd7c, 0x84cc, 0xdd4b,

+  0x84d9, 0xdd1b, 0x84e7, 0xdcea, 0x84f5, 0xdcba, 0x8503, 0xdc8a,

+  0x8511, 0xdc59, 0x851f, 0xdc29, 0x852d, 0xdbf9, 0x853b, 0xdbc9,

+  0x8549, 0xdb99, 0x8558, 0xdb68, 0x8566, 0xdb38, 0x8574, 0xdb08,

+  0x8583, 0xdad8, 0x8592, 0xdaa8, 0x85a0, 0xda78, 0x85af, 0xda48,

+  0x85be, 0xda18, 0x85cd, 0xd9e8, 0x85dc, 0xd9b8, 0x85eb, 0xd988,

+  0x85fa, 0xd958, 0x8609, 0xd928, 0x8619, 0xd8f8, 0x8628, 0xd8c8,

+  0x8637, 0xd898, 0x8647, 0xd869, 0x8656, 0xd839, 0x8666, 0xd809,

+  0x8676, 0xd7d9, 0x8686, 0xd7aa, 0x8696, 0xd77a, 0x86a5, 0xd74a,

+  0x86b6, 0xd71b, 0x86c6, 0xd6eb, 0x86d6, 0xd6bb, 0x86e6, 0xd68c,

+  0x86f6, 0xd65c, 0x8707, 0xd62d, 0x8717, 0xd5fd, 0x8728, 0xd5ce,

+  0x8738, 0xd59e, 0x8749, 0xd56f, 0x875a, 0xd53f, 0x876b, 0xd510,

+  0x877b, 0xd4e1, 0x878c, 0xd4b1, 0x879d, 0xd482, 0x87af, 0xd453,

+  0x87c0, 0xd424, 0x87d1, 0xd3f4, 0x87e2, 0xd3c5, 0x87f4, 0xd396,

+  0x8805, 0xd367, 0x8817, 0xd338, 0x8828, 0xd309, 0x883a, 0xd2da,

+  0x884c, 0xd2ab, 0x885e, 0xd27c, 0x8870, 0xd24d, 0x8882, 0xd21e,

+  0x8894, 0xd1ef, 0x88a6, 0xd1c0, 0x88b8, 0xd191, 0x88ca, 0xd162,

+  0x88dd, 0xd134, 0x88ef, 0xd105, 0x8902, 0xd0d6, 0x8914, 0xd0a7,

+  0x8927, 0xd079, 0x8939, 0xd04a, 0x894c, 0xd01b, 0x895f, 0xcfed,

+  0x8972, 0xcfbe, 0x8985, 0xcf90, 0x8998, 0xcf61, 0x89ab, 0xcf33,

+  0x89be, 0xcf04, 0x89d2, 0xced6, 0x89e5, 0xcea7, 0x89f8, 0xce79,

+  0x8a0c, 0xce4b, 0x8a1f, 0xce1c, 0x8a33, 0xcdee, 0x8a47, 0xcdc0,

+  0x8a5a, 0xcd92, 0x8a6e, 0xcd63, 0x8a82, 0xcd35, 0x8a96, 0xcd07,

+  0x8aaa, 0xccd9, 0x8abe, 0xccab, 0x8ad3, 0xcc7d, 0x8ae7, 0xcc4f,

+  0x8afb, 0xcc21, 0x8b10, 0xcbf3, 0x8b24, 0xcbc5, 0x8b39, 0xcb97,

+  0x8b4d, 0xcb69, 0x8b62, 0xcb3c, 0x8b77, 0xcb0e, 0x8b8b, 0xcae0,

+  0x8ba0, 0xcab2, 0x8bb5, 0xca85, 0x8bca, 0xca57, 0x8bdf, 0xca29,

+  0x8bf5, 0xc9fc, 0x8c0a, 0xc9ce, 0x8c1f, 0xc9a1, 0x8c35, 0xc973,

+  0x8c4a, 0xc946, 0x8c60, 0xc918, 0x8c75, 0xc8eb, 0x8c8b, 0xc8be,

+  0x8ca1, 0xc890, 0x8cb6, 0xc863, 0x8ccc, 0xc836, 0x8ce2, 0xc809,

+  0x8cf8, 0xc7db, 0x8d0e, 0xc7ae, 0x8d24, 0xc781, 0x8d3b, 0xc754,

+  0x8d51, 0xc727, 0x8d67, 0xc6fa, 0x8d7e, 0xc6cd, 0x8d94, 0xc6a0,

+  0x8dab, 0xc673, 0x8dc1, 0xc646, 0x8dd8, 0xc619, 0x8def, 0xc5ed,

+  0x8e06, 0xc5c0, 0x8e1d, 0xc593, 0x8e34, 0xc566, 0x8e4b, 0xc53a,

+  0x8e62, 0xc50d, 0x8e79, 0xc4e0, 0x8e90, 0xc4b4, 0x8ea8, 0xc487,

+  0x8ebf, 0xc45b, 0x8ed6, 0xc42e, 0x8eee, 0xc402, 0x8f06, 0xc3d6,

+  0x8f1d, 0xc3a9, 0x8f35, 0xc37d, 0x8f4d, 0xc351, 0x8f65, 0xc324,

+  0x8f7d, 0xc2f8, 0x8f95, 0xc2cc, 0x8fad, 0xc2a0, 0x8fc5, 0xc274,

+  0x8fdd, 0xc248, 0x8ff5, 0xc21c, 0x900e, 0xc1f0, 0x9026, 0xc1c4,

+  0x903e, 0xc198, 0x9057, 0xc16c, 0x9070, 0xc140, 0x9088, 0xc114,

+  0x90a1, 0xc0e9, 0x90ba, 0xc0bd, 0x90d3, 0xc091, 0x90ec, 0xc066,

+  0x9105, 0xc03a, 0x911e, 0xc00f, 0x9137, 0xbfe3, 0x9150, 0xbfb8,

+  0x9169, 0xbf8c, 0x9183, 0xbf61, 0x919c, 0xbf35, 0x91b6, 0xbf0a,

+  0x91cf, 0xbedf, 0x91e9, 0xbeb3, 0x9202, 0xbe88, 0x921c, 0xbe5d,

+  0x9236, 0xbe32, 0x9250, 0xbe07, 0x926a, 0xbddc, 0x9284, 0xbdb1,

+  0x929e, 0xbd86, 0x92b8, 0xbd5b, 0x92d2, 0xbd30, 0x92ec, 0xbd05,

+  0x9307, 0xbcda, 0x9321, 0xbcaf, 0x933c, 0xbc85, 0x9356, 0xbc5a,

+  0x9371, 0xbc2f, 0x938b, 0xbc05, 0x93a6, 0xbbda, 0x93c1, 0xbbb0,

+  0x93dc, 0xbb85, 0x93f7, 0xbb5b, 0x9412, 0xbb30, 0x942d, 0xbb06,

+  0x9448, 0xbadc, 0x9463, 0xbab1, 0x947e, 0xba87, 0x949a, 0xba5d,

+  0x94b5, 0xba33, 0x94d0, 0xba09, 0x94ec, 0xb9df, 0x9508, 0xb9b5,

+  0x9523, 0xb98b, 0x953f, 0xb961, 0x955b, 0xb937, 0x9577, 0xb90d,

+  0x9592, 0xb8e3, 0x95ae, 0xb8b9, 0x95ca, 0xb890, 0x95e6, 0xb866,

+  0x9603, 0xb83c, 0x961f, 0xb813, 0x963b, 0xb7e9, 0x9657, 0xb7c0,

+  0x9674, 0xb796, 0x9690, 0xb76d, 0x96ad, 0xb743, 0x96c9, 0xb71a,

+  0x96e6, 0xb6f1, 0x9703, 0xb6c7, 0x9720, 0xb69e, 0x973c, 0xb675,

+  0x9759, 0xb64c, 0x9776, 0xb623, 0x9793, 0xb5fa, 0x97b0, 0xb5d1,

+  0x97ce, 0xb5a8, 0x97eb, 0xb57f, 0x9808, 0xb556, 0x9826, 0xb52d,

+  0x9843, 0xb505, 0x9860, 0xb4dc, 0x987e, 0xb4b3, 0x989c, 0xb48b,

+  0x98b9, 0xb462, 0x98d7, 0xb439, 0x98f5, 0xb411, 0x9913, 0xb3e9,

+  0x9930, 0xb3c0, 0x994e, 0xb398, 0x996d, 0xb36f, 0x998b, 0xb347,

+  0x99a9, 0xb31f, 0x99c7, 0xb2f7, 0x99e5, 0xb2cf, 0x9a04, 0xb2a7,

+  0x9a22, 0xb27f, 0x9a40, 0xb257, 0x9a5f, 0xb22f, 0x9a7e, 0xb207,

+  0x9a9c, 0xb1df, 0x9abb, 0xb1b7, 0x9ada, 0xb18f, 0x9af9, 0xb168,

+  0x9b17, 0xb140, 0x9b36, 0xb118, 0x9b55, 0xb0f1, 0x9b75, 0xb0c9,

+  0x9b94, 0xb0a2, 0x9bb3, 0xb07b, 0x9bd2, 0xb053, 0x9bf1, 0xb02c,

+  0x9c11, 0xb005, 0x9c30, 0xafdd, 0x9c50, 0xafb6, 0x9c6f, 0xaf8f,

+  0x9c8f, 0xaf68, 0x9caf, 0xaf41, 0x9cce, 0xaf1a, 0x9cee, 0xaef3,

+  0x9d0e, 0xaecc, 0x9d2e, 0xaea5, 0x9d4e, 0xae7f, 0x9d6e, 0xae58,

+  0x9d8e, 0xae31, 0x9dae, 0xae0b, 0x9dce, 0xade4, 0x9def, 0xadbd,

+  0x9e0f, 0xad97, 0x9e2f, 0xad70, 0x9e50, 0xad4a, 0x9e70, 0xad24,

+  0x9e91, 0xacfd, 0x9eb2, 0xacd7, 0x9ed2, 0xacb1, 0x9ef3, 0xac8b,

+  0x9f14, 0xac65, 0x9f35, 0xac3f, 0x9f56, 0xac19, 0x9f77, 0xabf3,

+  0x9f98, 0xabcd, 0x9fb9, 0xaba7, 0x9fda, 0xab81, 0x9ffb, 0xab5c,

+  0xa01c, 0xab36, 0xa03e, 0xab10, 0xa05f, 0xaaeb, 0xa080, 0xaac5,

+  0xa0a2, 0xaaa0, 0xa0c4, 0xaa7a, 0xa0e5, 0xaa55, 0xa107, 0xaa30,

+  0xa129, 0xaa0a, 0xa14a, 0xa9e5, 0xa16c, 0xa9c0, 0xa18e, 0xa99b,

+  0xa1b0, 0xa976, 0xa1d2, 0xa951, 0xa1f4, 0xa92c, 0xa216, 0xa907,

+  0xa238, 0xa8e2, 0xa25b, 0xa8bd, 0xa27d, 0xa899, 0xa29f, 0xa874,

+  0xa2c2, 0xa84f, 0xa2e4, 0xa82b, 0xa307, 0xa806, 0xa329, 0xa7e2,

+  0xa34c, 0xa7bd, 0xa36f, 0xa799, 0xa391, 0xa774, 0xa3b4, 0xa750,

+  0xa3d7, 0xa72c, 0xa3fa, 0xa708, 0xa41d, 0xa6e4, 0xa440, 0xa6c0,

+  0xa463, 0xa69c, 0xa486, 0xa678, 0xa4a9, 0xa654, 0xa4cc, 0xa630,

+  0xa4f0, 0xa60c, 0xa513, 0xa5e8, 0xa537, 0xa5c5, 0xa55a, 0xa5a1,

+  0xa57e, 0xa57e, 0xa5a1, 0xa55a, 0xa5c5, 0xa537, 0xa5e8, 0xa513,

+  0xa60c, 0xa4f0, 0xa630, 0xa4cc, 0xa654, 0xa4a9, 0xa678, 0xa486,

+  0xa69c, 0xa463, 0xa6c0, 0xa440, 0xa6e4, 0xa41d, 0xa708, 0xa3fa,

+  0xa72c, 0xa3d7, 0xa750, 0xa3b4, 0xa774, 0xa391, 0xa799, 0xa36f,

+  0xa7bd, 0xa34c, 0xa7e2, 0xa329, 0xa806, 0xa307, 0xa82b, 0xa2e4,

+  0xa84f, 0xa2c2, 0xa874, 0xa29f, 0xa899, 0xa27d, 0xa8bd, 0xa25b,

+  0xa8e2, 0xa238, 0xa907, 0xa216, 0xa92c, 0xa1f4, 0xa951, 0xa1d2,

+  0xa976, 0xa1b0, 0xa99b, 0xa18e, 0xa9c0, 0xa16c, 0xa9e5, 0xa14a,

+  0xaa0a, 0xa129, 0xaa30, 0xa107, 0xaa55, 0xa0e5, 0xaa7a, 0xa0c4,

+  0xaaa0, 0xa0a2, 0xaac5, 0xa080, 0xaaeb, 0xa05f, 0xab10, 0xa03e,

+  0xab36, 0xa01c, 0xab5c, 0x9ffb, 0xab81, 0x9fda, 0xaba7, 0x9fb9,

+  0xabcd, 0x9f98, 0xabf3, 0x9f77, 0xac19, 0x9f56, 0xac3f, 0x9f35,

+  0xac65, 0x9f14, 0xac8b, 0x9ef3, 0xacb1, 0x9ed2, 0xacd7, 0x9eb2,

+  0xacfd, 0x9e91, 0xad24, 0x9e70, 0xad4a, 0x9e50, 0xad70, 0x9e2f,

+  0xad97, 0x9e0f, 0xadbd, 0x9def, 0xade4, 0x9dce, 0xae0b, 0x9dae,

+  0xae31, 0x9d8e, 0xae58, 0x9d6e, 0xae7f, 0x9d4e, 0xaea5, 0x9d2e,

+  0xaecc, 0x9d0e, 0xaef3, 0x9cee, 0xaf1a, 0x9cce, 0xaf41, 0x9caf,

+  0xaf68, 0x9c8f, 0xaf8f, 0x9c6f, 0xafb6, 0x9c50, 0xafdd, 0x9c30,

+  0xb005, 0x9c11, 0xb02c, 0x9bf1, 0xb053, 0x9bd2, 0xb07b, 0x9bb3,

+  0xb0a2, 0x9b94, 0xb0c9, 0x9b75, 0xb0f1, 0x9b55, 0xb118, 0x9b36,

+  0xb140, 0x9b17, 0xb168, 0x9af9, 0xb18f, 0x9ada, 0xb1b7, 0x9abb,

+  0xb1df, 0x9a9c, 0xb207, 0x9a7e, 0xb22f, 0x9a5f, 0xb257, 0x9a40,

+  0xb27f, 0x9a22, 0xb2a7, 0x9a04, 0xb2cf, 0x99e5, 0xb2f7, 0x99c7,

+  0xb31f, 0x99a9, 0xb347, 0x998b, 0xb36f, 0x996d, 0xb398, 0x994e,

+  0xb3c0, 0x9930, 0xb3e9, 0x9913, 0xb411, 0x98f5, 0xb439, 0x98d7,

+  0xb462, 0x98b9, 0xb48b, 0x989c, 0xb4b3, 0x987e, 0xb4dc, 0x9860,

+  0xb505, 0x9843, 0xb52d, 0x9826, 0xb556, 0x9808, 0xb57f, 0x97eb,

+  0xb5a8, 0x97ce, 0xb5d1, 0x97b0, 0xb5fa, 0x9793, 0xb623, 0x9776,

+  0xb64c, 0x9759, 0xb675, 0x973c, 0xb69e, 0x9720, 0xb6c7, 0x9703,

+  0xb6f1, 0x96e6, 0xb71a, 0x96c9, 0xb743, 0x96ad, 0xb76d, 0x9690,

+  0xb796, 0x9674, 0xb7c0, 0x9657, 0xb7e9, 0x963b, 0xb813, 0x961f,

+  0xb83c, 0x9603, 0xb866, 0x95e6, 0xb890, 0x95ca, 0xb8b9, 0x95ae,

+  0xb8e3, 0x9592, 0xb90d, 0x9577, 0xb937, 0x955b, 0xb961, 0x953f,

+  0xb98b, 0x9523, 0xb9b5, 0x9508, 0xb9df, 0x94ec, 0xba09, 0x94d0,

+  0xba33, 0x94b5, 0xba5d, 0x949a, 0xba87, 0x947e, 0xbab1, 0x9463,

+  0xbadc, 0x9448, 0xbb06, 0x942d, 0xbb30, 0x9412, 0xbb5b, 0x93f7,

+  0xbb85, 0x93dc, 0xbbb0, 0x93c1, 0xbbda, 0x93a6, 0xbc05, 0x938b,

+  0xbc2f, 0x9371, 0xbc5a, 0x9356, 0xbc85, 0x933c, 0xbcaf, 0x9321,

+  0xbcda, 0x9307, 0xbd05, 0x92ec, 0xbd30, 0x92d2, 0xbd5b, 0x92b8,

+  0xbd86, 0x929e, 0xbdb1, 0x9284, 0xbddc, 0x926a, 0xbe07, 0x9250,

+  0xbe32, 0x9236, 0xbe5d, 0x921c, 0xbe88, 0x9202, 0xbeb3, 0x91e9,

+  0xbedf, 0x91cf, 0xbf0a, 0x91b6, 0xbf35, 0x919c, 0xbf61, 0x9183,

+  0xbf8c, 0x9169, 0xbfb8, 0x9150, 0xbfe3, 0x9137, 0xc00f, 0x911e,

+  0xc03a, 0x9105, 0xc066, 0x90ec, 0xc091, 0x90d3, 0xc0bd, 0x90ba,

+  0xc0e9, 0x90a1, 0xc114, 0x9088, 0xc140, 0x9070, 0xc16c, 0x9057,

+  0xc198, 0x903e, 0xc1c4, 0x9026, 0xc1f0, 0x900e, 0xc21c, 0x8ff5,

+  0xc248, 0x8fdd, 0xc274, 0x8fc5, 0xc2a0, 0x8fad, 0xc2cc, 0x8f95,

+  0xc2f8, 0x8f7d, 0xc324, 0x8f65, 0xc351, 0x8f4d, 0xc37d, 0x8f35,

+  0xc3a9, 0x8f1d, 0xc3d6, 0x8f06, 0xc402, 0x8eee, 0xc42e, 0x8ed6,

+  0xc45b, 0x8ebf, 0xc487, 0x8ea8, 0xc4b4, 0x8e90, 0xc4e0, 0x8e79,

+  0xc50d, 0x8e62, 0xc53a, 0x8e4b, 0xc566, 0x8e34, 0xc593, 0x8e1d,

+  0xc5c0, 0x8e06, 0xc5ed, 0x8def, 0xc619, 0x8dd8, 0xc646, 0x8dc1,

+  0xc673, 0x8dab, 0xc6a0, 0x8d94, 0xc6cd, 0x8d7e, 0xc6fa, 0x8d67,

+  0xc727, 0x8d51, 0xc754, 0x8d3b, 0xc781, 0x8d24, 0xc7ae, 0x8d0e,

+  0xc7db, 0x8cf8, 0xc809, 0x8ce2, 0xc836, 0x8ccc, 0xc863, 0x8cb6,

+  0xc890, 0x8ca1, 0xc8be, 0x8c8b, 0xc8eb, 0x8c75, 0xc918, 0x8c60,

+  0xc946, 0x8c4a, 0xc973, 0x8c35, 0xc9a1, 0x8c1f, 0xc9ce, 0x8c0a,

+  0xc9fc, 0x8bf5, 0xca29, 0x8bdf, 0xca57, 0x8bca, 0xca85, 0x8bb5,

+  0xcab2, 0x8ba0, 0xcae0, 0x8b8b, 0xcb0e, 0x8b77, 0xcb3c, 0x8b62,

+  0xcb69, 0x8b4d, 0xcb97, 0x8b39, 0xcbc5, 0x8b24, 0xcbf3, 0x8b10,

+  0xcc21, 0x8afb, 0xcc4f, 0x8ae7, 0xcc7d, 0x8ad3, 0xccab, 0x8abe,

+  0xccd9, 0x8aaa, 0xcd07, 0x8a96, 0xcd35, 0x8a82, 0xcd63, 0x8a6e,

+  0xcd92, 0x8a5a, 0xcdc0, 0x8a47, 0xcdee, 0x8a33, 0xce1c, 0x8a1f,

+  0xce4b, 0x8a0c, 0xce79, 0x89f8, 0xcea7, 0x89e5, 0xced6, 0x89d2,

+  0xcf04, 0x89be, 0xcf33, 0x89ab, 0xcf61, 0x8998, 0xcf90, 0x8985,

+  0xcfbe, 0x8972, 0xcfed, 0x895f, 0xd01b, 0x894c, 0xd04a, 0x8939,

+  0xd079, 0x8927, 0xd0a7, 0x8914, 0xd0d6, 0x8902, 0xd105, 0x88ef,

+  0xd134, 0x88dd, 0xd162, 0x88ca, 0xd191, 0x88b8, 0xd1c0, 0x88a6,

+  0xd1ef, 0x8894, 0xd21e, 0x8882, 0xd24d, 0x8870, 0xd27c, 0x885e,

+  0xd2ab, 0x884c, 0xd2da, 0x883a, 0xd309, 0x8828, 0xd338, 0x8817,

+  0xd367, 0x8805, 0xd396, 0x87f4, 0xd3c5, 0x87e2, 0xd3f4, 0x87d1,

+  0xd424, 0x87c0, 0xd453, 0x87af, 0xd482, 0x879d, 0xd4b1, 0x878c,

+  0xd4e1, 0x877b, 0xd510, 0x876b, 0xd53f, 0x875a, 0xd56f, 0x8749,

+  0xd59e, 0x8738, 0xd5ce, 0x8728, 0xd5fd, 0x8717, 0xd62d, 0x8707,

+  0xd65c, 0x86f6, 0xd68c, 0x86e6, 0xd6bb, 0x86d6, 0xd6eb, 0x86c6,

+  0xd71b, 0x86b6, 0xd74a, 0x86a5, 0xd77a, 0x8696, 0xd7aa, 0x8686,

+  0xd7d9, 0x8676, 0xd809, 0x8666, 0xd839, 0x8656, 0xd869, 0x8647,

+  0xd898, 0x8637, 0xd8c8, 0x8628, 0xd8f8, 0x8619, 0xd928, 0x8609,

+  0xd958, 0x85fa, 0xd988, 0x85eb, 0xd9b8, 0x85dc, 0xd9e8, 0x85cd,

+  0xda18, 0x85be, 0xda48, 0x85af, 0xda78, 0x85a0, 0xdaa8, 0x8592,

+  0xdad8, 0x8583, 0xdb08, 0x8574, 0xdb38, 0x8566, 0xdb68, 0x8558,

+  0xdb99, 0x8549, 0xdbc9, 0x853b, 0xdbf9, 0x852d, 0xdc29, 0x851f,

+  0xdc59, 0x8511, 0xdc8a, 0x8503, 0xdcba, 0x84f5, 0xdcea, 0x84e7,

+  0xdd1b, 0x84d9, 0xdd4b, 0x84cc, 0xdd7c, 0x84be, 0xddac, 0x84b0,

+  0xdddc, 0x84a3, 0xde0d, 0x8496, 0xde3d, 0x8488, 0xde6e, 0x847b,

+  0xde9e, 0x846e, 0xdecf, 0x8461, 0xdeff, 0x8454, 0xdf30, 0x8447,

+  0xdf61, 0x843a, 0xdf91, 0x842d, 0xdfc2, 0x8421, 0xdff2, 0x8414,

+  0xe023, 0x8407, 0xe054, 0x83fb, 0xe085, 0x83ef, 0xe0b5, 0x83e2,

+  0xe0e6, 0x83d6, 0xe117, 0x83ca, 0xe148, 0x83be, 0xe178, 0x83b2,

+  0xe1a9, 0x83a6, 0xe1da, 0x839a, 0xe20b, 0x838e, 0xe23c, 0x8382,

+  0xe26d, 0x8377, 0xe29e, 0x836b, 0xe2cf, 0x8360, 0xe2ff, 0x8354,

+  0xe330, 0x8349, 0xe361, 0x833e, 0xe392, 0x8332, 0xe3c3, 0x8327,

+  0xe3f4, 0x831c, 0xe426, 0x8311, 0xe457, 0x8306, 0xe488, 0x82fb,

+  0xe4b9, 0x82f1, 0xe4ea, 0x82e6, 0xe51b, 0x82db, 0xe54c, 0x82d1,

+  0xe57d, 0x82c6, 0xe5af, 0x82bc, 0xe5e0, 0x82b2, 0xe611, 0x82a8,

+  0xe642, 0x829d, 0xe673, 0x8293, 0xe6a5, 0x8289, 0xe6d6, 0x827f,

+  0xe707, 0x8276, 0xe739, 0x826c, 0xe76a, 0x8262, 0xe79b, 0x8259,

+  0xe7cd, 0x824f, 0xe7fe, 0x8246, 0xe82f, 0x823c, 0xe861, 0x8233,

+  0xe892, 0x822a, 0xe8c4, 0x8220, 0xe8f5, 0x8217, 0xe926, 0x820e,

+  0xe958, 0x8205, 0xe989, 0x81fd, 0xe9bb, 0x81f4, 0xe9ec, 0x81eb,

+  0xea1e, 0x81e2, 0xea4f, 0x81da, 0xea81, 0x81d1, 0xeab3, 0x81c9,

+  0xeae4, 0x81c1, 0xeb16, 0x81b8, 0xeb47, 0x81b0, 0xeb79, 0x81a8,

+  0xebab, 0x81a0, 0xebdc, 0x8198, 0xec0e, 0x8190, 0xec3f, 0x8188,

+  0xec71, 0x8181, 0xeca3, 0x8179, 0xecd5, 0x8172, 0xed06, 0x816a,

+  0xed38, 0x8163, 0xed6a, 0x815b, 0xed9b, 0x8154, 0xedcd, 0x814d,

+  0xedff, 0x8146, 0xee31, 0x813f, 0xee62, 0x8138, 0xee94, 0x8131,

+  0xeec6, 0x812a, 0xeef8, 0x8123, 0xef2a, 0x811d, 0xef5c, 0x8116,

+  0xef8d, 0x8110, 0xefbf, 0x8109, 0xeff1, 0x8103, 0xf023, 0x80fd,

+  0xf055, 0x80f6, 0xf087, 0x80f0, 0xf0b9, 0x80ea, 0xf0eb, 0x80e4,

+  0xf11c, 0x80de, 0xf14e, 0x80d9, 0xf180, 0x80d3, 0xf1b2, 0x80cd,

+  0xf1e4, 0x80c8, 0xf216, 0x80c2, 0xf248, 0x80bd, 0xf27a, 0x80b7,

+  0xf2ac, 0x80b2, 0xf2de, 0x80ad, 0xf310, 0x80a8, 0xf342, 0x80a3,

+  0xf374, 0x809e, 0xf3a6, 0x8099, 0xf3d8, 0x8094, 0xf40a, 0x808f,

+  0xf43c, 0x808b, 0xf46e, 0x8086, 0xf4a0, 0x8082, 0xf4d3, 0x807d,

+  0xf505, 0x8079, 0xf537, 0x8075, 0xf569, 0x8070, 0xf59b, 0x806c,

+  0xf5cd, 0x8068, 0xf5ff, 0x8064, 0xf631, 0x8060, 0xf663, 0x805d,

+  0xf695, 0x8059, 0xf6c8, 0x8055, 0xf6fa, 0x8052, 0xf72c, 0x804e,

+  0xf75e, 0x804b, 0xf790, 0x8047, 0xf7c2, 0x8044, 0xf7f4, 0x8041,

+  0xf827, 0x803e, 0xf859, 0x803b, 0xf88b, 0x8038, 0xf8bd, 0x8035,

+  0xf8ef, 0x8032, 0xf922, 0x802f, 0xf954, 0x802d, 0xf986, 0x802a,

+  0xf9b8, 0x8027, 0xf9ea, 0x8025, 0xfa1d, 0x8023, 0xfa4f, 0x8020,

+  0xfa81, 0x801e, 0xfab3, 0x801c, 0xfae5, 0x801a, 0xfb18, 0x8018,

+  0xfb4a, 0x8016, 0xfb7c, 0x8014, 0xfbae, 0x8013, 0xfbe1, 0x8011,

+  0xfc13, 0x800f, 0xfc45, 0x800e, 0xfc77, 0x800c, 0xfcaa, 0x800b,

+  0xfcdc, 0x800a, 0xfd0e, 0x8009, 0xfd40, 0x8008, 0xfd73, 0x8007,

+  0xfda5, 0x8006, 0xfdd7, 0x8005, 0xfe09, 0x8004, 0xfe3c, 0x8003,

+  0xfe6e, 0x8002, 0xfea0, 0x8002, 0xfed2, 0x8001, 0xff05, 0x8001,

+  0xff37, 0x8001, 0xff69, 0x8000, 0xff9b, 0x8000, 0xffce, 0x8000,

+};

+

+/**    

+ * @} end of CFFT_CIFFT group    

+ */

+

+/*    

+* @brief  Q15 table for reciprocal    

+*/

+const q15_t ALIGN4 armRecipTableQ15[64] = {

+  0x7F03, 0x7D13, 0x7B31, 0x795E, 0x7798, 0x75E0,

+  0x7434, 0x7294, 0x70FF, 0x6F76, 0x6DF6, 0x6C82,

+  0x6B16, 0x69B5, 0x685C, 0x670C, 0x65C4, 0x6484,

+  0x634C, 0x621C, 0x60F3, 0x5FD0, 0x5EB5, 0x5DA0,

+  0x5C91, 0x5B88, 0x5A85, 0x5988, 0x5890, 0x579E,

+  0x56B0, 0x55C8, 0x54E4, 0x5405, 0x532B, 0x5255,

+  0x5183, 0x50B6, 0x4FEC, 0x4F26, 0x4E64, 0x4DA6,

+  0x4CEC, 0x4C34, 0x4B81, 0x4AD0, 0x4A23, 0x4978,

+  0x48D1, 0x482D, 0x478C, 0x46ED, 0x4651, 0x45B8,

+  0x4521, 0x448D, 0x43FC, 0x436C, 0x42DF, 0x4255,

+  0x41CC, 0x4146, 0x40C2, 0x4040

+};

+

+/*    

+* @brief  Q31 table for reciprocal    

+*/

+const q31_t armRecipTableQ31[64] = {

+  0x7F03F03F, 0x7D137420, 0x7B31E739, 0x795E9F94, 0x7798FD29, 0x75E06928,

+  0x7434554D, 0x72943B4B, 0x70FF9C40, 0x6F760031, 0x6DF6F593, 0x6C8210E3,

+  0x6B16EC3A, 0x69B526F6, 0x685C655F, 0x670C505D, 0x65C4952D, 0x6484E519,

+  0x634CF53E, 0x621C7E4F, 0x60F33C61, 0x5FD0EEB3, 0x5EB55785, 0x5DA03BEB,

+  0x5C9163A1, 0x5B8898E6, 0x5A85A85A, 0x598860DF, 0x58909373, 0x579E1318,

+  0x56B0B4B8, 0x55C84F0B, 0x54E4BA80, 0x5405D124, 0x532B6E8F, 0x52556FD0,

+  0x5183B35A, 0x50B618F3, 0x4FEC81A2, 0x4F26CFA2, 0x4E64E64E, 0x4DA6AA1D,

+  0x4CEC008B, 0x4C34D010, 0x4B810016, 0x4AD078EF, 0x4A2323C4, 0x4978EA96,

+  0x48D1B827, 0x482D77FE, 0x478C1657, 0x46ED801D, 0x4651A2E5, 0x45B86CE2,

+  0x4521CCE1, 0x448DB244, 0x43FC0CFA, 0x436CCD78, 0x42DFE4B4, 0x42554426,

+  0x41CCDDB6, 0x4146A3C6, 0x40C28923, 0x40408102

+};

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c
new file mode 100644
index 000000000..31bbaa7a8
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c
@@ -0,0 +1,174 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_cmplx_conj_f32.c    

+*    

+* Description:	Floating-point complex conjugate.    

+*    

+* 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 groupCmplxMath        

+ */

+

+/**        

+ * @defgroup cmplx_conj Complex Conjugate        

+ *        

+ * Conjugates the elements of a complex data vector.        

+ *       

+ * The <code>pSrc</code> points to the source data and        

+ * <code>pDst</code> points to the where the result should be written.        

+ * <code>numSamples</code> specifies the number of complex samples        

+ * and the data in each array is stored in an interleaved fashion        

+ * (real, imag, real, imag, ...).        

+ * Each array has a total of <code>2*numSamples</code> values.        

+ * The underlying algorithm is used:        

+ *        

+ * <pre>        

+ * for(n=0; n<numSamples; n++) {        

+ *     pDst[(2*n)+0)] = pSrc[(2*n)+0];     // real part        

+ *     pDst[(2*n)+1)] = -pSrc[(2*n)+1];    // imag part        

+ * }        

+ * </pre>        

+ *        

+ * There are separate functions for floating-point, Q15, and Q31 data types.        

+ */

+

+/**        

+ * @addtogroup cmplx_conj        

+ * @{        

+ */

+

+/**        

+ * @brief  Floating-point complex conjugate.        

+ * @param  *pSrc points to the input vector        

+ * @param  *pDst points to the output vector        

+ * @param  numSamples number of complex samples in each vector        

+ * @return none.        

+ */

+

+void arm_cmplx_conj_f32(

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t numSamples)

+{

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

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

+  float32_t inR1, inR2, inR3, inR4;

+  float32_t inI1, inI2, inI3, inI4;

+

+  /*loop Unrolling */

+  blkCnt = numSamples >> 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[0]+jC[1] = A[0]+ j (-1) A[1] */

+    /* Calculate Complex Conjugate and then store the results in the destination buffer. */

+    /* read real input samples */

+    inR1 = pSrc[0];

+    /* store real samples to destination */

+    pDst[0] = inR1;

+    inR2 = pSrc[2];

+    pDst[2] = inR2;

+    inR3 = pSrc[4];

+    pDst[4] = inR3;

+    inR4 = pSrc[6];

+    pDst[6] = inR4;

+

+    /* read imaginary input samples */

+    inI1 = pSrc[1];

+    inI2 = pSrc[3];

+

+    /* conjugate input */

+    inI1 = -inI1;

+

+    /* read imaginary input samples */

+    inI3 = pSrc[5];

+

+    /* conjugate input */

+    inI2 = -inI2;

+

+    /* read imaginary input samples */

+    inI4 = pSrc[7];

+

+    /* conjugate input */

+    inI3 = -inI3;

+

+    /* store imaginary samples to destination */

+    pDst[1] = inI1;

+    pDst[3] = inI2;

+

+    /* conjugate input */

+    inI4 = -inI4;

+

+    /* store imaginary samples to destination */

+    pDst[5] = inI3;

+

+    /* increment source pointer by 8 to process next sampels */

+    pSrc += 8u;

+

+    /* store imaginary sample to destination */

+    pDst[7] = inI4;

+

+    /* increment destination pointer by 8 to store next samples */

+    pDst += 8u;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.        

+   ** No loop unrolling is used. */

+  blkCnt = numSamples % 0x4u;

+

+#else

+

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

+  blkCnt = numSamples;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* realOut + j (imagOut) = realIn + j (-1) imagIn */

+    /* Calculate Complex Conjugate and then store the results in the destination buffer. */

+    *pDst++ = *pSrc++;

+    *pDst++ = -*pSrc++;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**        

+ * @} end of cmplx_conj group        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c
new file mode 100644
index 000000000..c5a370315
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c
@@ -0,0 +1,153 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_cmplx_conj_q15.c    

+*    

+* Description:	Q15 complex conjugate.    

+*    

+* 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 groupCmplxMath    

+ */

+

+/**    

+ * @addtogroup cmplx_conj    

+ * @{    

+ */

+

+/**    

+ * @brief  Q15 complex conjugate.    

+ * @param  *pSrc points to the input vector    

+ * @param  *pDst points to the output vector    

+ * @param  numSamples number of complex 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_cmplx_conj_q15(

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t numSamples)

+{

+

+#ifndef ARM_MATH_CM0

+

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

+  uint32_t blkCnt;                               /* loop counter */

+  q31_t in1, in2, in3, in4;

+  q31_t zero = 0;

+

+  /*loop Unrolling */

+  blkCnt = numSamples >> 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[0]+jC[1] = A[0]+ j (-1) A[1] */

+    /* Calculate Complex Conjugate and then store the results in the destination buffer. */

+    in1 = *__SIMD32(pSrc)++;

+    in2 = *__SIMD32(pSrc)++;

+    in3 = *__SIMD32(pSrc)++;

+    in4 = *__SIMD32(pSrc)++;

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    in1 = __QASX(zero, in1);

+    in2 = __QASX(zero, in2);

+    in3 = __QASX(zero, in3);

+    in4 = __QASX(zero, in4);

+

+#else

+

+    in1 = __QSAX(zero, in1);

+    in2 = __QSAX(zero, in2);

+    in3 = __QSAX(zero, in3);

+    in4 = __QSAX(zero, in4);

+

+#endif //       #ifndef ARM_MATH_BIG_ENDIAN

+

+    in1 = ((uint32_t) in1 >> 16) | ((uint32_t) in1 << 16);

+    in2 = ((uint32_t) in2 >> 16) | ((uint32_t) in2 << 16);

+    in3 = ((uint32_t) in3 >> 16) | ((uint32_t) in3 << 16);

+    in4 = ((uint32_t) in4 >> 16) | ((uint32_t) in4 << 16);

+

+    *__SIMD32(pDst)++ = in1;

+    *__SIMD32(pDst)++ = in2;

+    *__SIMD32(pDst)++ = in3;

+    *__SIMD32(pDst)++ = in4;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    

+   ** No loop unrolling is used. */

+  blkCnt = numSamples % 0x4u;

+

+  while(blkCnt > 0u)

+  {

+    /* C[0]+jC[1] = A[0]+ j (-1) A[1] */

+    /* Calculate Complex Conjugate and then store the results in the destination buffer. */

+    *pDst++ = *pSrc++;

+    *pDst++ = __SSAT(-*pSrc++, 16);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#else

+

+  q15_t in;

+

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

+

+  while(numSamples > 0u)

+  {

+    /* realOut + j (imagOut) = realIn+ j (-1) imagIn */

+    /* Calculate Complex Conjugate and then store the results in the destination buffer. */

+    *pDst++ = *pSrc++;

+    in = *pSrc++;

+    *pDst++ = (in == (q15_t) 0x8000) ? 0x7fff : -in;

+

+    /* Decrement the loop counter */

+    numSamples--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of cmplx_conj group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c
new file mode 100644
index 000000000..7475962d5
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c
@@ -0,0 +1,172 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_cmplx_conj_q31.c    

+*    

+* Description:	Q31 complex conjugate.    

+*    

+* 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 groupCmplxMath        

+ */

+

+/**        

+ * @addtogroup cmplx_conj        

+ * @{        

+ */

+

+/**        

+ * @brief  Q31 complex conjugate.        

+ * @param  *pSrc points to the input vector        

+ * @param  *pDst points to the output vector        

+ * @param  numSamples number of complex samples in each vector        

+ * @return none.        

+ *        

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

+ * \par        

+ * The function uses saturating arithmetic.        

+ * The Q31 value -1 (0x80000000) will be saturated to the maximum allowable positive value 0x7FFFFFFF.        

+ */

+

+void arm_cmplx_conj_q31(

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t numSamples)

+{

+  uint32_t blkCnt;                               /* loop counter */

+  q31_t in;                                      /* Input value */

+

+#ifndef ARM_MATH_CM0

+

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

+  q31_t inR1, inR2, inR3, inR4;                  /* Temporary real variables */

+  q31_t inI1, inI2, inI3, inI4;                  /* Temporary imaginary variables */

+

+  /*loop Unrolling */

+  blkCnt = numSamples >> 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[0]+jC[1] = A[0]+ j (-1) A[1] */

+    /* Calculate Complex Conjugate and then store the results in the destination buffer. */

+    /* Saturated to 0x7fffffff if the input is -1(0x80000000) */

+    /* read real input sample */

+    inR1 = pSrc[0];

+    /* store real input sample */

+    pDst[0] = inR1;

+

+    /* read imaginary input sample */

+    inI1 = pSrc[1];

+

+    /* read real input sample */

+    inR2 = pSrc[2];

+    /* store real input sample */

+    pDst[2] = inR2;

+

+    /* read imaginary input sample */

+    inI2 = pSrc[3];

+

+    /* negate imaginary input sample */

+    inI1 = __QSUB(0, inI1);

+

+    /* read real input sample */

+    inR3 = pSrc[4];

+    /* store real input sample */

+    pDst[4] = inR3;

+

+    /* read imaginary input sample */

+    inI3 = pSrc[5];

+

+    /* negate imaginary input sample */

+    inI2 = __QSUB(0, inI2);

+

+    /* read real input sample */

+    inR4 = pSrc[6];

+    /* store real input sample */

+    pDst[6] = inR4;

+

+    /* negate imaginary input sample */

+    inI3 = __QSUB(0, inI3);

+

+    /* store imaginary input sample */

+    inI4 = pSrc[7];

+

+    /* store imaginary input samples */

+    pDst[1] = inI1;

+

+    /* negate imaginary input sample */

+    inI4 = __QSUB(0, inI4);

+

+    /* store imaginary input samples */

+    pDst[3] = inI2;

+

+    /* increment source pointer by 8 to proecess next samples */

+    pSrc += 8u;

+

+    /* store imaginary input samples */

+    pDst[5] = inI3;

+    pDst[7] = inI4;

+

+    /* increment destination pointer by 8 to process next samples */

+    pDst += 8u;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.        

+   ** No loop unrolling is used. */

+  blkCnt = numSamples % 0x4u;

+

+#else

+

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

+  blkCnt = numSamples;

+

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C[0]+jC[1] = A[0]+ j (-1) A[1] */

+    /* Calculate Complex Conjugate and then store the results in the destination buffer. */

+    /* Saturated to 0x7fffffff if the input is -1(0x80000000) */

+    *pDst++ = *pSrc++;

+    in = *pSrc++;

+    *pDst++ = (in == 0x80000000) ? 0x7fffffff : -in;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**        

+ * @} end of cmplx_conj group        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c
new file mode 100644
index 000000000..4f265d690
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c
@@ -0,0 +1,160 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_cmplx_dot_prod_f32.c    

+*    

+* Description:	Floating-point complex dot product    

+*    

+* 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 groupCmplxMath    

+ */

+

+/**    

+ * @defgroup cmplx_dot_prod Complex Dot Product    

+ *    

+ * Computes the dot product of two complex vectors.    

+ * The vectors are multiplied element-by-element and then summed.    

+ *   

+ * The <code>pSrcA</code> points to the first complex input vector and    

+ * <code>pSrcB</code> points to the second complex input vector.    

+ * <code>numSamples</code> specifies the number of complex samples    

+ * and the data in each array is stored in an interleaved fashion    

+ * (real, imag, real, imag, ...).    

+ * Each array has a total of <code>2*numSamples</code> values.    

+ *    

+ * The underlying algorithm is used:    

+ * <pre>    

+ * realResult=0;    

+ * imagResult=0;    

+ * for(n=0; n<numSamples; n++) {    

+ *     realResult += pSrcA[(2*n)+0]*pSrcB[(2*n)+0] - pSrcA[(2*n)+1]*pSrcB[(2*n)+1];    

+ *     imagResult += pSrcA[(2*n)+0]*pSrcB[(2*n)+1] + pSrcA[(2*n)+1]*pSrcB[(2*n)+0];    

+ * }    

+ * </pre>    

+ *    

+ * There are separate functions for floating-point, Q15, and Q31 data types.    

+ */

+

+/**    

+ * @addtogroup cmplx_dot_prod    

+ * @{    

+ */

+

+/**    

+ * @brief  Floating-point complex dot product    

+ * @param  *pSrcA points to the first input vector    

+ * @param  *pSrcB points to the second input vector    

+ * @param  numSamples number of complex samples in each vector    

+ * @param  *realResult real part of the result returned here    

+ * @param  *imagResult imaginary part of the result returned here    

+ * @return none.    

+ */

+

+void arm_cmplx_dot_prod_f32(

+  float32_t * pSrcA,

+  float32_t * pSrcB,

+  uint32_t numSamples,

+  float32_t * realResult,

+  float32_t * imagResult)

+{

+  float32_t real_sum = 0.0f, imag_sum = 0.0f;    /* Temporary result storage */

+

+#ifndef ARM_MATH_CM0

+

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

+  uint32_t blkCnt;                               /* loop counter */

+

+  /*loop Unrolling */

+  blkCnt = numSamples >> 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)

+  {

+    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */

+    real_sum += (*pSrcA++) * (*pSrcB++);

+    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */

+    imag_sum += (*pSrcA++) * (*pSrcB++);

+

+    real_sum += (*pSrcA++) * (*pSrcB++);

+    imag_sum += (*pSrcA++) * (*pSrcB++);

+

+    real_sum += (*pSrcA++) * (*pSrcB++);

+    imag_sum += (*pSrcA++) * (*pSrcB++);

+

+    real_sum += (*pSrcA++) * (*pSrcB++);

+    imag_sum += (*pSrcA++) * (*pSrcB++);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    

+   ** No loop unrolling is used. */

+  blkCnt = numSamples % 0x4u;

+

+  while(blkCnt > 0u)

+  {

+    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */

+    real_sum += (*pSrcA++) * (*pSrcB++);

+    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */

+    imag_sum += (*pSrcA++) * (*pSrcB++);

+

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+

+  while(numSamples > 0u)

+  {

+    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */

+    real_sum += (*pSrcA++) * (*pSrcB++);

+    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */

+    imag_sum += (*pSrcA++) * (*pSrcB++);

+

+

+    /* Decrement the loop counter */

+    numSamples--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  /* Store the real and imaginary results in the destination buffers */

+  *realResult = real_sum;

+  *imagResult = imag_sum;

+}

+

+/**    

+ * @} end of cmplx_dot_prod group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c
new file mode 100644
index 000000000..33df820a5
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c
@@ -0,0 +1,144 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_cmplx_dot_prod_q15.c    

+*    

+* Description:	Processing function for the Q15 Complex Dot product    

+*    

+* 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 groupCmplxMath    

+ */

+

+/**    

+ * @addtogroup cmplx_dot_prod    

+ * @{    

+ */

+

+/**    

+ * @brief  Q15 complex dot product    

+ * @param  *pSrcA points to the first input vector    

+ * @param  *pSrcB points to the second input vector    

+ * @param  numSamples number of complex samples in each vector    

+ * @param  *realResult real part of the result returned here    

+ * @param  *imagResult imaginary part of the result returned here    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function is implemented using an internal 64-bit accumulator.    

+ * The intermediate 1.15 by 1.15 multiplications are performed with full precision and yield a 2.30 result.    

+ * These are accumulated in a 64-bit accumulator with 34.30 precision.    

+ * As a final step, the accumulators are converted to 8.24 format.    

+ * The return results <code>realResult</code> and <code>imagResult</code> are in 8.24 format.    

+ */

+

+void arm_cmplx_dot_prod_q15(

+  q15_t * pSrcA,

+  q15_t * pSrcB,

+  uint32_t numSamples,

+  q31_t * realResult,

+  q31_t * imagResult)

+{

+  q63_t real_sum = 0, imag_sum = 0;              /* Temporary result storage */

+

+#ifndef ARM_MATH_CM0

+

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

+  uint32_t blkCnt;                               /* loop counter */

+

+

+  /*loop Unrolling */

+  blkCnt = numSamples >> 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)

+  {

+    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */

+    real_sum += ((q31_t) * pSrcA++ * *pSrcB++);

+

+    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */

+    imag_sum += ((q31_t) * pSrcA++ * *pSrcB++);

+

+    real_sum += ((q31_t) * pSrcA++ * *pSrcB++);

+    imag_sum += ((q31_t) * pSrcA++ * *pSrcB++);

+

+    real_sum += ((q31_t) * pSrcA++ * *pSrcB++);

+    imag_sum += ((q31_t) * pSrcA++ * *pSrcB++);

+

+    real_sum += ((q31_t) * pSrcA++ * *pSrcB++);

+    imag_sum += ((q31_t) * pSrcA++ * *pSrcB++);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    

+   ** No loop unrolling is used. */

+  blkCnt = numSamples % 0x4u;

+

+  while(blkCnt > 0u)

+  {

+    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */

+    real_sum += ((q31_t) * pSrcA++ * *pSrcB++);

+    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */

+    imag_sum += ((q31_t) * pSrcA++ * *pSrcB++);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+

+  while(numSamples > 0u)

+  {

+    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */

+    real_sum += ((q31_t) * pSrcA++ * *pSrcB++);

+    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */

+    imag_sum += ((q31_t) * pSrcA++ * *pSrcB++);

+

+    /* Decrement the loop counter */

+    numSamples--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  /* Store the real and imaginary results in 8.24 format  */

+  /* Convert real data in 34.30 to 8.24 by 6 right shifts */

+  *realResult = (q31_t) (real_sum) >> 6;

+  /* Convert imaginary data in 34.30 to 8.24 by 6 right shifts */

+  *imagResult = (q31_t) (imag_sum) >> 6;

+}

+

+/**    

+ * @} end of cmplx_dot_prod group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c
new file mode 100644
index 000000000..d371dff8b
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c
@@ -0,0 +1,145 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_cmplx_dot_prod_q31.c    

+*    

+* Description:	Q31 complex dot product    

+*    

+* 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 groupCmplxMath    

+ */

+

+/**    

+ * @addtogroup cmplx_dot_prod    

+ * @{    

+ */

+

+/**    

+ * @brief  Q31 complex dot product    

+ * @param  *pSrcA points to the first input vector    

+ * @param  *pSrcB points to the second input vector    

+ * @param  numSamples number of complex samples in each vector    

+ * @param  *realResult real part of the result returned here    

+ * @param  *imagResult imaginary part of the result returned here    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function is implemented using an internal 64-bit accumulator.    

+ * The intermediate 1.31 by 1.31 multiplications are performed with 64-bit precision and then shifted to 16.48 format.    

+ * The internal real and imaginary accumulators are in 16.48 format and provide 15 guard bits.    

+ * Additions are nonsaturating and no overflow will occur as long as <code>numSamples</code> is less than 32768.    

+ * The return results <code>realResult</code> and <code>imagResult</code> are in 16.48 format.    

+ * Input down scaling is not required.    

+ */

+

+void arm_cmplx_dot_prod_q31(

+  q31_t * pSrcA,

+  q31_t * pSrcB,

+  uint32_t numSamples,

+  q63_t * realResult,

+  q63_t * imagResult)

+{

+  q63_t real_sum = 0, imag_sum = 0;              /* Temporary result storage */

+

+#ifndef ARM_MATH_CM0

+

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

+  uint32_t blkCnt;                               /* loop counter */

+

+

+  /*loop Unrolling */

+  blkCnt = numSamples >> 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)

+  {

+    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */

+    /* Convert real data in 2.62 to 16.48 by 14 right shifts */

+    real_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;

+    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */

+    /* Convert imag data in 2.62 to 16.48 by 14 right shifts */

+    imag_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;

+

+    real_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;

+    imag_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;

+

+    real_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;

+    imag_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;

+

+    real_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;

+    imag_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;

+

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* If the numSamples  is not a multiple of 4, compute any remaining output samples here.    

+   ** No loop unrolling is used. */

+  blkCnt = numSamples % 0x4u;

+

+  while(blkCnt > 0u)

+  {

+    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */

+    real_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;

+    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */

+    imag_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+

+  while(numSamples > 0u)

+  {

+    /* outReal = realA[0]* realB[0] + realA[2]* realB[2] + realA[4]* realB[4] + .....+ realA[numSamples-2]* realB[numSamples-2] */

+    real_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;

+    /* outImag = imagA[1]* imagB[1] + imagA[3]* imagB[3] + imagA[5]* imagB[5] + .....+ imagA[numSamples-1]* imagB[numSamples-1] */

+    imag_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;

+

+    /* Decrement the loop counter */

+    numSamples--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  /* Store the real and imaginary results in 16.48 format  */

+  *realResult = real_sum;

+  *imagResult = imag_sum;

+}

+

+/**    

+ * @} end of cmplx_dot_prod group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
new file mode 100644
index 000000000..59bbc2742
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
@@ -0,0 +1,157 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_cmplx_mag_f32.c    

+*    

+* Description:	Floating-point complex magnitude.    

+*    

+* 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 groupCmplxMath    

+ */

+

+/**    

+ * @defgroup cmplx_mag Complex Magnitude    

+ *    

+ * Computes the magnitude of the elements of a complex data vector.    

+ *   

+ * The <code>pSrc</code> points to the source data and    

+ * <code>pDst</code> points to the where the result should be written.    

+ * <code>numSamples</code> specifies the number of complex samples    

+ * in the input array and the data is stored in an interleaved fashion    

+ * (real, imag, real, imag, ...).    

+ * The input array has a total of <code>2*numSamples</code> values;    

+ * the output array has a total of <code>numSamples</code> values.    

+ * The underlying algorithm is used:    

+ *    

+ * <pre>    

+ * for(n=0; n<numSamples; n++) {    

+ *     pDst[n] = sqrt(pSrc[(2*n)+0]^2 + pSrc[(2*n)+1]^2);    

+ * }    

+ * </pre>    

+ *    

+ * There are separate functions for floating-point, Q15, and Q31 data types.    

+ */

+

+/**    

+ * @addtogroup cmplx_mag    

+ * @{    

+ */

+/**    

+ * @brief Floating-point complex magnitude.    

+ * @param[in]       *pSrc points to complex input buffer    

+ * @param[out]      *pDst points to real output buffer    

+ * @param[in]       numSamples number of complex samples in the input vector    

+ * @return none.    

+ *    

+ */

+

+

+void arm_cmplx_mag_f32(

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t numSamples)

+{

+  float32_t realIn, imagIn;                      /* Temporary variables to hold input values */

+

+#ifndef ARM_MATH_CM0

+

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

+  uint32_t blkCnt;                               /* loop counter */

+

+  /*loop Unrolling */

+  blkCnt = numSamples >> 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[0] = sqrt(A[0] * A[0] + A[1] * A[1]) */

+    realIn = *pSrc++;

+    imagIn = *pSrc++;

+    /* store the result in the destination buffer. */

+    arm_sqrt_f32((realIn * realIn) + (imagIn * imagIn), pDst++);

+

+    realIn = *pSrc++;

+    imagIn = *pSrc++;

+    arm_sqrt_f32((realIn * realIn) + (imagIn * imagIn), pDst++);

+

+    realIn = *pSrc++;

+    imagIn = *pSrc++;

+    arm_sqrt_f32((realIn * realIn) + (imagIn * imagIn), pDst++);

+

+    realIn = *pSrc++;

+    imagIn = *pSrc++;

+    arm_sqrt_f32((realIn * realIn) + (imagIn * imagIn), pDst++);

+

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    

+   ** No loop unrolling is used. */

+  blkCnt = numSamples % 0x4u;

+

+  while(blkCnt > 0u)

+  {

+    /* C[0] = sqrt(A[0] * A[0] + A[1] * A[1]) */

+    realIn = *pSrc++;

+    imagIn = *pSrc++;

+    /* store the result in the destination buffer. */

+    arm_sqrt_f32((realIn * realIn) + (imagIn * imagIn), pDst++);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+

+  while(numSamples > 0u)

+  {

+    /* out = sqrt((real * real) + (imag * imag)) */

+    realIn = *pSrc++;

+    imagIn = *pSrc++;

+    /* store the result in the destination buffer. */

+    arm_sqrt_f32((realIn * realIn) + (imagIn * imagIn), pDst++);

+

+    /* Decrement the loop counter */

+    numSamples--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of cmplx_mag group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c
new file mode 100644
index 000000000..122ca8bc1
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c
@@ -0,0 +1,145 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_cmplx_mag_q15.c    

+*    

+* Description:	Q15 complex magnitude.    

+*    

+* 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 groupCmplxMath    

+ */

+

+/**    

+ * @addtogroup cmplx_mag    

+ * @{    

+ */

+

+

+/**    

+ * @brief  Q15 complex magnitude    

+ * @param  *pSrc points to the complex input vector    

+ * @param  *pDst points to the real output vector    

+ * @param  numSamples number of complex samples in the input vector    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function implements 1.15 by 1.15 multiplications and finally output is converted into 2.14 format.    

+ */

+

+void arm_cmplx_mag_q15(

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t numSamples)

+{

+  q31_t acc0, acc1;                              /* Accumulators */

+

+#ifndef ARM_MATH_CM0

+

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

+  uint32_t blkCnt;                               /* loop counter */

+  q31_t in1, in2, in3, in4;

+  q31_t acc2, acc3;

+

+

+  /*loop Unrolling */

+  blkCnt = numSamples >> 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[0] = sqrt(A[0] * A[0] + A[1] * A[1]) */

+    in1 = *__SIMD32(pSrc)++;

+    in2 = *__SIMD32(pSrc)++;

+    in3 = *__SIMD32(pSrc)++;

+    in4 = *__SIMD32(pSrc)++;

+

+    acc0 = __SMUAD(in1, in1);

+    acc1 = __SMUAD(in2, in2);

+    acc2 = __SMUAD(in3, in3);

+    acc3 = __SMUAD(in4, in4);

+

+    /* store the result in 2.14 format in the destination buffer. */

+    arm_sqrt_q15((q15_t) ((acc0) >> 17), pDst++);

+    arm_sqrt_q15((q15_t) ((acc1) >> 17), pDst++);

+    arm_sqrt_q15((q15_t) ((acc2) >> 17), pDst++);

+    arm_sqrt_q15((q15_t) ((acc3) >> 17), pDst++);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    

+   ** No loop unrolling is used. */

+  blkCnt = numSamples % 0x4u;

+

+  while(blkCnt > 0u)

+  {

+    /* C[0] = sqrt(A[0] * A[0] + A[1] * A[1]) */

+    in1 = *__SIMD32(pSrc)++;

+    acc0 = __SMUAD(in1, in1);

+

+    /* store the result in 2.14 format in the destination buffer. */

+    arm_sqrt_q15((q15_t) (acc0 >> 17), pDst++);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+  q15_t real, imag;                              /* Temporary variables to hold input values */

+

+  while(numSamples > 0u)

+  {

+    /* out = sqrt(real * real + imag * imag) */

+    real = *pSrc++;

+    imag = *pSrc++;

+

+    acc0 = (real * real);

+    acc1 = (imag * imag);

+

+    /* store the result in 2.14 format in the destination buffer. */

+    arm_sqrt_q15((q15_t) (((q63_t) acc0 + acc1) >> 17), pDst++);

+

+    /* Decrement the loop counter */

+    numSamples--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of cmplx_mag group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c
new file mode 100644
index 000000000..59384f5dc
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c
@@ -0,0 +1,177 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_cmplx_mag_q31.c    

+*    

+* Description:	Q31 complex magnitude    

+*    

+* 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 groupCmplxMath        

+ */

+

+/**        

+ * @addtogroup cmplx_mag        

+ * @{        

+ */

+

+/**        

+ * @brief  Q31 complex magnitude        

+ * @param  *pSrc points to the complex input vector        

+ * @param  *pDst points to the real output vector        

+ * @param  numSamples number of complex samples in the input vector        

+ * @return none.        

+ *        

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

+ * \par        

+ * The function implements 1.31 by 1.31 multiplications and finally output is converted into 2.30 format.        

+ * Input down scaling is not required.        

+ */

+

+void arm_cmplx_mag_q31(

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t numSamples)

+{

+  q31_t real, imag;                              /* Temporary variables to hold input values */

+  q31_t acc0, acc1;                              /* Accumulators */

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

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

+  q31_t real1, real2, imag1, imag2;              /* Temporary variables to hold input values */

+  q31_t out1, out2, out3, out4;                  /* Accumulators */

+  q63_t mul1, mul2, mul3, mul4;                  /* Temporary variables */

+

+

+  /*loop Unrolling */

+  blkCnt = numSamples >> 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)

+  {

+    /* read complex input from source buffer */

+    real1 = pSrc[0];

+    imag1 = pSrc[1];

+    real2 = pSrc[2];

+    imag2 = pSrc[3];

+

+    /* calculate power of input values */

+    mul1 = (q63_t) real1 *real1;

+    mul2 = (q63_t) imag1 *imag1;

+    mul3 = (q63_t) real2 *real2;

+    mul4 = (q63_t) imag2 *imag2;

+

+    /* get the result to 3.29 format */

+    out1 = (q31_t) (mul1 >> 33);

+    out2 = (q31_t) (mul2 >> 33);

+    out3 = (q31_t) (mul3 >> 33);

+    out4 = (q31_t) (mul4 >> 33);

+

+    /* add real and imaginary accumulators */

+    out1 = out1 + out2;

+    out3 = out3 + out4;

+

+    /* read complex input from source buffer */

+    real1 = pSrc[4];

+    imag1 = pSrc[5];

+    real2 = pSrc[6];

+    imag2 = pSrc[7];

+

+    /* calculate square root */

+    arm_sqrt_q31(out1, &pDst[0]);

+

+    /* calculate power of input values */

+    mul1 = (q63_t) real1 *real1;

+

+    /* calculate square root */

+    arm_sqrt_q31(out3, &pDst[1]);

+

+    /* calculate power of input values */

+    mul2 = (q63_t) imag1 *imag1;

+    mul3 = (q63_t) real2 *real2;

+    mul4 = (q63_t) imag2 *imag2;

+

+    /* get the result to 3.29 format */

+    out1 = (q31_t) (mul1 >> 33);

+    out2 = (q31_t) (mul2 >> 33);

+    out3 = (q31_t) (mul3 >> 33);

+    out4 = (q31_t) (mul4 >> 33);

+

+    /* add real and imaginary accumulators */

+    out1 = out1 + out2;

+    out3 = out3 + out4;

+

+    /* calculate square root */

+    arm_sqrt_q31(out1, &pDst[2]);

+

+    /* increment destination by 8 to process next samples */

+    pSrc += 8u;

+

+    /* calculate square root */

+    arm_sqrt_q31(out3, &pDst[3]);

+

+    /* increment destination by 4 to process next samples */

+    pDst += 4u;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.        

+   ** No loop unrolling is used. */

+  blkCnt = numSamples % 0x4u;

+

+#else

+

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

+  blkCnt = numSamples;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C[0] = sqrt(A[0] * A[0] + A[1] * A[1]) */

+    real = *pSrc++;

+    imag = *pSrc++;

+    acc0 = (q31_t) (((q63_t) real * real) >> 33);

+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);

+    /* store the result in 2.30 format in the destination buffer. */

+    arm_sqrt_q31(acc0 + acc1, pDst++);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**        

+ * @} end of cmplx_mag group        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c
new file mode 100644
index 000000000..7350fd1c9
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c
@@ -0,0 +1,207 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_cmplx_mag_squared_f32.c    

+*    

+* Description:	Floating-point complex magnitude squared.    

+*    

+* 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 groupCmplxMath        

+ */

+

+/**        

+ * @defgroup cmplx_mag_squared Complex Magnitude Squared        

+ *        

+ * Computes the magnitude squared of the elements of a complex data vector.        

+ *       

+ * The <code>pSrc</code> points to the source data and        

+ * <code>pDst</code> points to the where the result should be written.        

+ * <code>numSamples</code> specifies the number of complex samples        

+ * in the input array and the data is stored in an interleaved fashion        

+ * (real, imag, real, imag, ...).        

+ * The input array has a total of <code>2*numSamples</code> values;        

+ * the output array has a total of <code>numSamples</code> values.        

+ *        

+ * The underlying algorithm is used:        

+ *        

+ * <pre>        

+ * for(n=0; n<numSamples; n++) {        

+ *     pDst[n] = pSrc[(2*n)+0]^2 + pSrc[(2*n)+1]^2;        

+ * }        

+ * </pre>        

+ *        

+ * There are separate functions for floating-point, Q15, and Q31 data types.        

+ */

+

+/**        

+ * @addtogroup cmplx_mag_squared        

+ * @{        

+ */

+

+

+/**        

+ * @brief  Floating-point complex magnitude squared        

+ * @param[in]  *pSrc points to the complex input vector        

+ * @param[out]  *pDst points to the real output vector        

+ * @param[in]  numSamples number of complex samples in the input vector        

+ * @return none.        

+ */

+

+void arm_cmplx_mag_squared_f32(

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t numSamples)

+{

+  float32_t real, imag;                          /* Temporary variables to store real and imaginary values */

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+  float32_t real1, real2, real3, real4;          /* Temporary variables to hold real values */

+  float32_t imag1, imag2, imag3, imag4;          /* Temporary variables to hold imaginary values */

+  float32_t mul1, mul2, mul3, mul4;              /* Temporary variables */

+  float32_t mul5, mul6, mul7, mul8;              /* Temporary variables */

+  float32_t out1, out2, out3, out4;              /* Temporary variables to hold output values */

+

+  /*loop Unrolling */

+  blkCnt = numSamples >> 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[0] = (A[0] * A[0] + A[1] * A[1]) */

+    /* read real input sample from source buffer */

+    real1 = pSrc[0];

+    /* read imaginary input sample from source buffer */

+    imag1 = pSrc[1];

+

+    /* calculate power of real value */

+    mul1 = real1 * real1;

+

+    /* read real input sample from source buffer */

+    real2 = pSrc[2];

+

+    /* calculate power of imaginary value */

+    mul2 = imag1 * imag1;

+

+    /* read imaginary input sample from source buffer */

+    imag2 = pSrc[3];

+

+    /* calculate power of real value */

+    mul3 = real2 * real2;

+

+    /* read real input sample from source buffer */

+    real3 = pSrc[4];

+

+    /* calculate power of imaginary value */

+    mul4 = imag2 * imag2;

+

+    /* read imaginary input sample from source buffer */

+    imag3 = pSrc[5];

+

+    /* calculate power of real value */

+    mul5 = real3 * real3;

+    /* calculate power of imaginary value */

+    mul6 = imag3 * imag3;

+

+    /* read real input sample from source buffer */

+    real4 = pSrc[6];

+

+    /* accumulate real and imaginary powers */

+    out1 = mul1 + mul2;

+

+    /* read imaginary input sample from source buffer */

+    imag4 = pSrc[7];

+

+    /* accumulate real and imaginary powers */

+    out2 = mul3 + mul4;

+

+    /* calculate power of real value */

+    mul7 = real4 * real4;

+    /* calculate power of imaginary value */

+    mul8 = imag4 * imag4;

+

+    /* store output to destination */

+    pDst[0] = out1;

+

+    /* accumulate real and imaginary powers */

+    out3 = mul5 + mul6;

+

+    /* store output to destination */

+    pDst[1] = out2;

+

+    /* accumulate real and imaginary powers */

+    out4 = mul7 + mul8;

+

+    /* store output to destination */

+    pDst[2] = out3;

+

+    /* increment destination pointer by 8 to process next samples */

+    pSrc += 8u;

+

+    /* store output to destination */

+    pDst[3] = out4;

+

+    /* increment destination pointer by 4 to process next samples */

+    pDst += 4u;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.        

+   ** No loop unrolling is used. */

+  blkCnt = numSamples % 0x4u;

+

+#else

+

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

+

+  blkCnt = numSamples;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C[0] = (A[0] * A[0] + A[1] * A[1]) */

+    real = *pSrc++;

+    imag = *pSrc++;

+

+    /* out = (real * real) + (imag * imag) */

+    /* store the result in the destination buffer. */

+    *pDst++ = (real * real) + (imag * imag);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**        

+ * @} end of cmplx_mag_squared group        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c
new file mode 100644
index 000000000..623229b8f
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c
@@ -0,0 +1,140 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_cmplx_mag_squared_q15.c    

+*    

+* Description:	Q15 complex magnitude squared.    

+*    

+* 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 groupCmplxMath    

+ */

+

+/**    

+ * @addtogroup cmplx_mag_squared    

+ * @{    

+ */

+

+/**    

+ * @brief  Q15 complex magnitude squared    

+ * @param  *pSrc points to the complex input vector    

+ * @param  *pDst points to the real output vector    

+ * @param  numSamples number of complex samples in the input vector    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function implements 1.15 by 1.15 multiplications and finally output is converted into 3.13 format.    

+ */

+

+void arm_cmplx_mag_squared_q15(

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t numSamples)

+{

+  q31_t acc0, acc1;                              /* Accumulators */

+

+#ifndef ARM_MATH_CM0

+

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

+  uint32_t blkCnt;                               /* loop counter */

+  q31_t in1, in2, in3, in4;

+  q31_t acc2, acc3;

+

+  /*loop Unrolling */

+  blkCnt = numSamples >> 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[0] = (A[0] * A[0] + A[1] * A[1]) */

+    in1 = *__SIMD32(pSrc)++;

+    in2 = *__SIMD32(pSrc)++;

+    in3 = *__SIMD32(pSrc)++;

+    in4 = *__SIMD32(pSrc)++;

+

+    acc0 = __SMUAD(in1, in1);

+    acc1 = __SMUAD(in2, in2);

+    acc2 = __SMUAD(in3, in3);

+    acc3 = __SMUAD(in4, in4);

+

+    /* store the result in 3.13 format in the destination buffer. */

+    *pDst++ = (q15_t) (acc0 >> 17);

+    *pDst++ = (q15_t) (acc1 >> 17);

+    *pDst++ = (q15_t) (acc2 >> 17);

+    *pDst++ = (q15_t) (acc3 >> 17);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    

+   ** No loop unrolling is used. */

+  blkCnt = numSamples % 0x4u;

+

+  while(blkCnt > 0u)

+  {

+    /* C[0] = (A[0] * A[0] + A[1] * A[1]) */

+    in1 = *__SIMD32(pSrc)++;

+    acc0 = __SMUAD(in1, in1);

+

+    /* store the result in 3.13 format in the destination buffer. */

+    *pDst++ = (q15_t) (acc0 >> 17);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+  q15_t real, imag;                              /* Temporary variables to store real and imaginary values */

+

+  while(numSamples > 0u)

+  {

+    /* out = ((real * real) + (imag * imag)) */

+    real = *pSrc++;

+    imag = *pSrc++;

+    acc0 = (real * real);

+    acc1 = (imag * imag);

+    /* store the result in 3.13 format in the destination buffer. */

+    *pDst++ = (q15_t) (((q63_t) acc0 + acc1) >> 17);

+

+    /* Decrement the loop counter */

+    numSamples--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of cmplx_mag_squared group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c
new file mode 100644
index 000000000..d45ccfab2
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c
@@ -0,0 +1,153 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_cmplx_mag_squared_q31.c    

+*    

+* Description:	Q31 complex magnitude squared.    

+*    

+* 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 groupCmplxMath    

+ */

+

+/**    

+ * @addtogroup cmplx_mag_squared    

+ * @{    

+ */

+

+

+/**    

+ * @brief  Q31 complex magnitude squared    

+ * @param  *pSrc points to the complex input vector    

+ * @param  *pDst points to the real output vector    

+ * @param  numSamples number of complex samples in the input vector    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function implements 1.31 by 1.31 multiplications and finally output is converted into 3.29 format.    

+ * Input down scaling is not required.    

+ */

+

+void arm_cmplx_mag_squared_q31(

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t numSamples)

+{

+  q31_t real, imag;                              /* Temporary variables to store real and imaginary values */

+  q31_t acc0, acc1;                              /* Accumulators */

+

+#ifndef ARM_MATH_CM0

+

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

+  uint32_t blkCnt;                               /* loop counter */

+

+  /* loop Unrolling */

+  blkCnt = numSamples >> 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[0] = (A[0] * A[0] + A[1] * A[1]) */

+    real = *pSrc++;

+    imag = *pSrc++;

+    acc0 = (q31_t) (((q63_t) real * real) >> 33);

+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);

+    /* store the result in 3.29 format in the destination buffer. */

+    *pDst++ = acc0 + acc1;

+

+    real = *pSrc++;

+    imag = *pSrc++;

+    acc0 = (q31_t) (((q63_t) real * real) >> 33);

+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);

+    /* store the result in 3.29 format in the destination buffer. */

+    *pDst++ = acc0 + acc1;

+

+    real = *pSrc++;

+    imag = *pSrc++;

+    acc0 = (q31_t) (((q63_t) real * real) >> 33);

+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);

+    /* store the result in 3.29 format in the destination buffer. */

+    *pDst++ = acc0 + acc1;

+

+    real = *pSrc++;

+    imag = *pSrc++;

+    acc0 = (q31_t) (((q63_t) real * real) >> 33);

+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);

+    /* store the result in 3.29 format in the destination buffer. */

+    *pDst++ = acc0 + acc1;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    

+   ** No loop unrolling is used. */

+  blkCnt = numSamples % 0x4u;

+

+  while(blkCnt > 0u)

+  {

+    /* C[0] = (A[0] * A[0] + A[1] * A[1]) */

+    real = *pSrc++;

+    imag = *pSrc++;

+    acc0 = (q31_t) (((q63_t) real * real) >> 33);

+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);

+    /* store the result in 3.29 format in the destination buffer. */

+    *pDst++ = acc0 + acc1;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+

+  while(numSamples > 0u)

+  {

+    /* out = ((real * real) + (imag * imag)) */

+    real = *pSrc++;

+    imag = *pSrc++;

+    acc0 = (q31_t) (((q63_t) real * real) >> 33);

+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);

+    /* store the result in 3.29 format in the destination buffer. */

+    *pDst++ = acc0 + acc1;

+

+    /* Decrement the loop counter */

+    numSamples--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of cmplx_mag_squared group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c
new file mode 100644
index 000000000..2ec9ee862
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c
@@ -0,0 +1,199 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_cmplx_mult_cmplx_f32.c    

+*    

+* Description:	Floating-point complex-by-complex 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.    

+* -------------------------------------------------------------------- */

+#include "arm_math.h"

+

+/**        

+ * @ingroup groupCmplxMath        

+ */

+

+/**        

+ * @defgroup CmplxByCmplxMult Complex-by-Complex Multiplication        

+ *        

+ * Multiplies a complex vector by another complex vector and generates a complex result.        

+ * The data in the complex arrays is stored in an interleaved fashion        

+ * (real, imag, real, imag, ...).        

+ * The parameter <code>numSamples</code> represents the number of complex        

+ * samples processed.  The complex arrays have a total of <code>2*numSamples</code>        

+ * real values.        

+ *        

+ * The underlying algorithm is used:        

+ *        

+ * <pre>        

+ * for(n=0; n<numSamples; n++) {        

+ *     pDst[(2*n)+0] = pSrcA[(2*n)+0] * pSrcB[(2*n)+0] - pSrcA[(2*n)+1] * pSrcB[(2*n)+1];        

+ *     pDst[(2*n)+1] = pSrcA[(2*n)+0] * pSrcB[(2*n)+1] + pSrcA[(2*n)+1] * pSrcB[(2*n)+0];        

+ * }        

+ * </pre>        

+ *        

+ * There are separate functions for floating-point, Q15, and Q31 data types.        

+ */

+

+/**        

+ * @addtogroup CmplxByCmplxMult        

+ * @{        

+ */

+

+

+/**        

+ * @brief  Floating-point complex-by-complex multiplication        

+ * @param[in]  *pSrcA points to the first input vector        

+ * @param[in]  *pSrcB points to the second input vector        

+ * @param[out]  *pDst  points to the output vector        

+ * @param[in]  numSamples number of complex samples in each vector        

+ * @return none.        

+ */

+

+void arm_cmplx_mult_cmplx_f32(

+  float32_t * pSrcA,

+  float32_t * pSrcB,

+  float32_t * pDst,

+  uint32_t numSamples)

+{

+  float32_t a1, b1, c1, d1;                      /* Temporary variables to store real and imaginary values */

+  uint32_t blkCnt;                               /* loop counters */

+

+#ifndef ARM_MATH_CM0

+

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

+  float32_t a2, b2, c2, d2;                      /* Temporary variables to store real and imaginary values */

+  float32_t acc1, acc2, acc3, acc4;

+

+

+  /* loop Unrolling */

+  blkCnt = numSamples >> 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[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */

+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */

+    a1 = *pSrcA;                /* A[2 * i] */

+    c1 = *pSrcB;                /* B[2 * i] */

+

+    b1 = *(pSrcA + 1);          /* A[2 * i + 1] */

+    acc1 = a1 * c1;             /* acc1 = A[2 * i] * B[2 * i] */

+

+    a2 = *(pSrcA + 2);          /* A[2 * i + 2] */

+    acc2 = (b1 * c1);           /* acc2 = A[2 * i + 1] * B[2 * i] */

+

+    d1 = *(pSrcB + 1);          /* B[2 * i + 1] */

+    c2 = *(pSrcB + 2);          /* B[2 * i + 2] */

+    acc1 -= b1 * d1;            /* acc1 =      A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1] */

+

+    d2 = *(pSrcB + 3);          /* B[2 * i + 3] */

+    acc3 = a2 * c2;             /* acc3 =       A[2 * i + 2] * B[2 * i + 2] */

+

+    b2 = *(pSrcA + 3);          /* A[2 * i + 3] */

+    acc2 += (a1 * d1);          /* acc2 =      A[2 * i + 1] * B[2 * i] + A[2 * i] * B[2 * i + 1] */

+

+    a1 = *(pSrcA + 4);          /* A[2 * i + 4] */

+    acc4 = (a2 * d2);           /* acc4 =   A[2 * i + 2] * B[2 * i + 3] */

+

+    c1 = *(pSrcB + 4);          /* B[2 * i + 4] */

+    acc3 -= (b2 * d2);          /* acc3 =       A[2 * i + 2] * B[2 * i + 2] - A[2 * i + 3] * B[2 * i + 3] */

+    *pDst = acc1;               /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1] */

+

+    b1 = *(pSrcA + 5);          /* A[2 * i + 5] */

+    acc4 += b2 * c2;            /* acc4 =   A[2 * i + 2] * B[2 * i + 3] + A[2 * i + 3] * B[2 * i + 2] */

+

+    *(pDst + 1) = acc2;         /* C[2 * i + 1] = A[2 * i + 1] * B[2 * i] + A[2 * i] * B[2 * i + 1]  */

+    acc1 = (a1 * c1);

+

+    d1 = *(pSrcB + 5);

+    acc2 = (b1 * c1);

+

+    *(pDst + 2) = acc3;

+    *(pDst + 3) = acc4;

+

+    a2 = *(pSrcA + 6);

+    acc1 -= (b1 * d1);

+

+    c2 = *(pSrcB + 6);

+    acc2 += (a1 * d1);

+

+    b2 = *(pSrcA + 7);

+    acc3 = (a2 * c2);

+

+    d2 = *(pSrcB + 7);

+    acc4 = (b2 * c2);

+

+    *(pDst + 4) = acc1;

+    pSrcA += 8u;

+

+    acc3 -= (b2 * d2);

+    acc4 += (a2 * d2);

+

+    *(pDst + 5) = acc2;

+    pSrcB += 8u;

+

+    *(pDst + 6) = acc3;

+    *(pDst + 7) = acc4;

+

+    pDst += 8u;

+

+    /* Decrement the numSamples loop counter */

+    blkCnt--;

+  }

+

+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.        

+   ** No loop unrolling is used. */

+  blkCnt = numSamples % 0x4u;

+

+#else

+

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

+  blkCnt = numSamples;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */

+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */

+    a1 = *pSrcA++;

+    b1 = *pSrcA++;

+    c1 = *pSrcB++;

+    d1 = *pSrcB++;

+

+    /* store the result in the destination buffer. */

+    *pDst++ = (a1 * c1) - (b1 * d1);

+    *pDst++ = (a1 * d1) + (b1 * c1);

+

+    /* Decrement the numSamples loop counter */

+    blkCnt--;

+  }

+}

+

+/**        

+ * @} end of CmplxByCmplxMult group        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c
new file mode 100644
index 000000000..0219aea48
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c
@@ -0,0 +1,185 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_cmplx_mult_cmplx_q15.c    

+*    

+* Description:	Q15 complex-by-complex 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.    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupCmplxMath    

+ */

+

+/**    

+ * @addtogroup CmplxByCmplxMult    

+ * @{    

+ */

+

+/**    

+ * @brief  Q15 complex-by-complex multiplication    

+ * @param[in]  *pSrcA points to the first input vector    

+ * @param[in]  *pSrcB points to the second input vector    

+ * @param[out]  *pDst  points to the output vector    

+ * @param[in]  numSamples number of complex samples in each vector    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function implements 1.15 by 1.15 multiplications and finally output is converted into 3.13 format.    

+ */

+

+void arm_cmplx_mult_cmplx_q15(

+  q15_t * pSrcA,

+  q15_t * pSrcB,

+  q15_t * pDst,

+  uint32_t numSamples)

+{

+  q15_t a, b, c, d;                              /* Temporary variables to store real and imaginary values */

+

+#ifndef ARM_MATH_CM0

+

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

+  uint32_t blkCnt;                               /* loop counters */

+

+  /* loop Unrolling */

+  blkCnt = numSamples >> 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[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */

+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */

+    a = *pSrcA++;

+    b = *pSrcA++;

+    c = *pSrcB++;

+    d = *pSrcB++;

+

+    /* store the result in 3.13 format in the destination buffer. */

+    *pDst++ =

+      (q15_t) (q31_t) (((q31_t) a * c) >> 17) - (((q31_t) b * d) >> 17);

+    /* store the result in 3.13 format in the destination buffer. */

+    *pDst++ =

+      (q15_t) (q31_t) (((q31_t) a * d) >> 17) + (((q31_t) b * c) >> 17);

+

+    a = *pSrcA++;

+    b = *pSrcA++;

+    c = *pSrcB++;

+    d = *pSrcB++;

+

+    /* store the result in 3.13 format in the destination buffer. */

+    *pDst++ =

+      (q15_t) (q31_t) (((q31_t) a * c) >> 17) - (((q31_t) b * d) >> 17);

+    /* store the result in 3.13 format in the destination buffer. */

+    *pDst++ =

+      (q15_t) (q31_t) (((q31_t) a * d) >> 17) + (((q31_t) b * c) >> 17);

+

+    a = *pSrcA++;

+    b = *pSrcA++;

+    c = *pSrcB++;

+    d = *pSrcB++;

+

+    /* store the result in 3.13 format in the destination buffer. */

+    *pDst++ =

+      (q15_t) (q31_t) (((q31_t) a * c) >> 17) - (((q31_t) b * d) >> 17);

+    /* store the result in 3.13 format in the destination buffer. */

+    *pDst++ =

+      (q15_t) (q31_t) (((q31_t) a * d) >> 17) + (((q31_t) b * c) >> 17);

+

+    a = *pSrcA++;

+    b = *pSrcA++;

+    c = *pSrcB++;

+    d = *pSrcB++;

+

+    /* store the result in 3.13 format in the destination buffer. */

+    *pDst++ =

+      (q15_t) (q31_t) (((q31_t) a * c) >> 17) - (((q31_t) b * d) >> 17);

+    /* store the result in 3.13 format in the destination buffer. */

+    *pDst++ =

+      (q15_t) (q31_t) (((q31_t) a * d) >> 17) + (((q31_t) b * c) >> 17);

+

+    /* Decrement the blockSize loop counter */

+    blkCnt--;

+  }

+

+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    

+   ** No loop unrolling is used. */

+  blkCnt = numSamples % 0x4u;

+

+  while(blkCnt > 0u)

+  {

+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */

+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */

+    a = *pSrcA++;

+    b = *pSrcA++;

+    c = *pSrcB++;

+    d = *pSrcB++;

+

+    /* store the result in 3.13 format in the destination buffer. */

+    *pDst++ =

+      (q15_t) (q31_t) (((q31_t) a * c) >> 17) - (((q31_t) b * d) >> 17);

+    /* store the result in 3.13 format in the destination buffer. */

+    *pDst++ =

+      (q15_t) (q31_t) (((q31_t) a * d) >> 17) + (((q31_t) b * c) >> 17);

+

+    /* Decrement the blockSize loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+

+  while(numSamples > 0u)

+  {

+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */

+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */

+    a = *pSrcA++;

+    b = *pSrcA++;

+    c = *pSrcB++;

+    d = *pSrcB++;

+

+    /* store the result in 3.13 format in the destination buffer. */

+    *pDst++ =

+      (q15_t) (q31_t) (((q31_t) a * c) >> 17) - (((q31_t) b * d) >> 17);

+    /* store the result in 3.13 format in the destination buffer. */

+    *pDst++ =

+      (q15_t) (q31_t) (((q31_t) a * d) >> 17) + (((q31_t) b * c) >> 17);

+

+    /* Decrement the blockSize loop counter */

+    numSamples--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of CmplxByCmplxMult group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c
new file mode 100644
index 000000000..13fc060a2
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c
@@ -0,0 +1,318 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_cmplx_mult_cmplx_q31.c    

+*    

+* Description:	Q31 complex-by-complex 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.    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupCmplxMath    

+ */

+

+/**    

+ * @addtogroup CmplxByCmplxMult    

+ * @{    

+ */

+

+

+/**    

+ * @brief  Q31 complex-by-complex multiplication    

+ * @param[in]  *pSrcA points to the first input vector    

+ * @param[in]  *pSrcB points to the second input vector    

+ * @param[out]  *pDst  points to the output vector    

+ * @param[in]  numSamples number of complex samples in each vector    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function implements 1.31 by 1.31 multiplications and finally output is converted into 3.29 format.    

+ * Input down scaling is not required.    

+ */

+

+void arm_cmplx_mult_cmplx_q31(

+  q31_t * pSrcA,

+  q31_t * pSrcB,

+  q31_t * pDst,

+  uint32_t numSamples)

+{

+  q31_t a, b, c, d;                              /* Temporary variables to store real and imaginary values */

+  uint32_t blkCnt;                               /* loop counters */

+  q31_t mul1, mul2, mul3, mul4;

+  q31_t out1, out2;

+

+#ifndef ARM_MATH_CM0

+

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

+

+  /* loop Unrolling */

+  blkCnt = numSamples >> 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[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */

+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */

+    a = *pSrcA++;

+    b = *pSrcA++;

+    c = *pSrcB++;

+    d = *pSrcB++;

+

+    mul1 = (q31_t) (((q63_t) a * c) >> 32);

+    mul2 = (q31_t) (((q63_t) b * d) >> 32);

+    mul3 = (q31_t) (((q63_t) a * d) >> 32);

+    mul4 = (q31_t) (((q63_t) b * c) >> 32);

+

+    mul1 = (mul1 >> 1);

+    mul2 = (mul2 >> 1);

+    mul3 = (mul3 >> 1);

+    mul4 = (mul4 >> 1);

+

+    out1 = mul1 - mul2;

+    out2 = mul3 + mul4;

+

+    /* store the real result in 3.29 format in the destination buffer. */

+    *pDst++ = out1;

+    /* store the imag result in 3.29 format in the destination buffer. */

+    *pDst++ = out2;

+

+    a = *pSrcA++;

+    b = *pSrcA++;

+    c = *pSrcB++;

+    d = *pSrcB++;

+

+    mul1 = (q31_t) (((q63_t) a * c) >> 32);

+    mul2 = (q31_t) (((q63_t) b * d) >> 32);

+    mul3 = (q31_t) (((q63_t) a * d) >> 32);

+    mul4 = (q31_t) (((q63_t) b * c) >> 32);

+

+    mul1 = (mul1 >> 1);

+    mul2 = (mul2 >> 1);

+    mul3 = (mul3 >> 1);

+    mul4 = (mul4 >> 1);

+

+    out1 = mul1 - mul2;

+    out2 = mul3 + mul4;

+

+    /* store the real result in 3.29 format in the destination buffer. */

+    *pDst++ = out1;

+    /* store the imag result in 3.29 format in the destination buffer. */

+    *pDst++ = out2;

+

+    a = *pSrcA++;

+    b = *pSrcA++;

+    c = *pSrcB++;

+    d = *pSrcB++;

+

+    mul1 = (q31_t) (((q63_t) a * c) >> 32);

+    mul2 = (q31_t) (((q63_t) b * d) >> 32);

+    mul3 = (q31_t) (((q63_t) a * d) >> 32);

+    mul4 = (q31_t) (((q63_t) b * c) >> 32);

+

+    mul1 = (mul1 >> 1);

+    mul2 = (mul2 >> 1);

+    mul3 = (mul3 >> 1);

+    mul4 = (mul4 >> 1);

+

+    out1 = mul1 - mul2;

+    out2 = mul3 + mul4;

+

+    /* store the real result in 3.29 format in the destination buffer. */

+    *pDst++ = out1;

+    /* store the imag result in 3.29 format in the destination buffer. */

+    *pDst++ = out2;

+

+    a = *pSrcA++;

+    b = *pSrcA++;

+    c = *pSrcB++;

+    d = *pSrcB++;

+

+    mul1 = (q31_t) (((q63_t) a * c) >> 32);

+    mul2 = (q31_t) (((q63_t) b * d) >> 32);

+    mul3 = (q31_t) (((q63_t) a * d) >> 32);

+    mul4 = (q31_t) (((q63_t) b * c) >> 32);

+

+    mul1 = (mul1 >> 1);

+    mul2 = (mul2 >> 1);

+    mul3 = (mul3 >> 1);

+    mul4 = (mul4 >> 1);

+

+    out1 = mul1 - mul2;

+    out2 = mul3 + mul4;

+

+    /* store the real result in 3.29 format in the destination buffer. */

+    *pDst++ = out1;

+    /* store the imag result in 3.29 format in the destination buffer. */

+    *pDst++ = out2;

+

+    /* Decrement the blockSize loop counter */

+    blkCnt--;

+  }

+

+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    

+   ** No loop unrolling is used. */

+  blkCnt = numSamples % 0x4u;

+

+  while(blkCnt > 0u)

+  {

+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */

+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */

+    a = *pSrcA++;

+    b = *pSrcA++;

+    c = *pSrcB++;

+    d = *pSrcB++;

+

+    mul1 = (q31_t) (((q63_t) a * c) >> 32);

+    mul2 = (q31_t) (((q63_t) b * d) >> 32);

+    mul3 = (q31_t) (((q63_t) a * d) >> 32);

+    mul4 = (q31_t) (((q63_t) b * c) >> 32);

+

+    mul1 = (mul1 >> 1);

+    mul2 = (mul2 >> 1);

+    mul3 = (mul3 >> 1);

+    mul4 = (mul4 >> 1);

+

+    out1 = mul1 - mul2;

+    out2 = mul3 + mul4;

+

+    /* store the real result in 3.29 format in the destination buffer. */

+    *pDst++ = out1;

+    /* store the imag result in 3.29 format in the destination buffer. */

+    *pDst++ = out2;

+

+    /* Decrement the blockSize loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+

+  /* loop Unrolling */

+  blkCnt = numSamples >> 1u;

+

+  /* First part of the processing with loop unrolling.  Compute 2 outputs at a time.     

+   ** a second loop below computes the remaining 1 sample. */

+  while(blkCnt > 0u)

+  {

+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */

+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */

+    a = *pSrcA++;

+    b = *pSrcA++;

+    c = *pSrcB++;

+    d = *pSrcB++;

+

+    mul1 = (q31_t) (((q63_t) a * c) >> 32);

+    mul2 = (q31_t) (((q63_t) b * d) >> 32);

+    mul3 = (q31_t) (((q63_t) a * d) >> 32);

+    mul4 = (q31_t) (((q63_t) b * c) >> 32);

+

+    mul1 = (mul1 >> 1);

+    mul2 = (mul2 >> 1);

+    mul3 = (mul3 >> 1);

+    mul4 = (mul4 >> 1);

+

+    out1 = mul1 - mul2;

+    out2 = mul3 + mul4;

+

+    /* store the real result in 3.29 format in the destination buffer. */

+    *pDst++ = out1;

+    /* store the imag result in 3.29 format in the destination buffer. */

+    *pDst++ = out2;

+

+    a = *pSrcA++;

+    b = *pSrcA++;

+    c = *pSrcB++;

+    d = *pSrcB++;

+

+    mul1 = (q31_t) (((q63_t) a * c) >> 32);

+    mul2 = (q31_t) (((q63_t) b * d) >> 32);

+    mul3 = (q31_t) (((q63_t) a * d) >> 32);

+    mul4 = (q31_t) (((q63_t) b * c) >> 32);

+

+    mul1 = (mul1 >> 1);

+    mul2 = (mul2 >> 1);

+    mul3 = (mul3 >> 1);

+    mul4 = (mul4 >> 1);

+

+    out1 = mul1 - mul2;

+    out2 = mul3 + mul4;

+

+    /* store the real result in 3.29 format in the destination buffer. */

+    *pDst++ = out1;

+    /* store the imag result in 3.29 format in the destination buffer. */

+    *pDst++ = out2;

+

+    /* Decrement the blockSize loop counter */

+    blkCnt--;

+  }

+

+  /* If the blockSize is not a multiple of 2, compute any remaining output samples here.     

+   ** No loop unrolling is used. */

+  blkCnt = numSamples % 0x2u;

+

+  while(blkCnt > 0u)

+  {

+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */

+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */

+    a = *pSrcA++;

+    b = *pSrcA++;

+    c = *pSrcB++;

+    d = *pSrcB++;

+

+    mul1 = (q31_t) (((q63_t) a * c) >> 32);

+    mul2 = (q31_t) (((q63_t) b * d) >> 32);

+    mul3 = (q31_t) (((q63_t) a * d) >> 32);

+    mul4 = (q31_t) (((q63_t) b * c) >> 32);

+

+    mul1 = (mul1 >> 1);

+    mul2 = (mul2 >> 1);

+    mul3 = (mul3 >> 1);

+    mul4 = (mul4 >> 1);

+

+    out1 = mul1 - mul2;

+    out2 = mul3 + mul4;

+

+    /* store the real result in 3.29 format in the destination buffer. */

+    *pDst++ = out1;

+    /* store the imag result in 3.29 format in the destination buffer. */

+    *pDst++ = out2;

+

+    /* Decrement the blockSize loop counter */

+    blkCnt--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of CmplxByCmplxMult group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c
new file mode 100644
index 000000000..7a5bdf9cd
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c
@@ -0,0 +1,217 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_cmplx_mult_real_f32.c    

+*    

+* Description:	Floating-point complex by real 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.    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**        

+ * @ingroup groupCmplxMath        

+ */

+

+/**        

+ * @defgroup CmplxByRealMult Complex-by-Real Multiplication        

+ *        

+ * Multiplies a complex vector by a real vector and generates a complex result.        

+ * The data in the complex arrays is stored in an interleaved fashion        

+ * (real, imag, real, imag, ...).        

+ * The parameter <code>numSamples</code> represents the number of complex        

+ * samples processed.  The complex arrays have a total of <code>2*numSamples</code>        

+ * real values while the real array has a total of <code>numSamples</code>        

+ * real values.        

+ *        

+ * The underlying algorithm is used:        

+ *        

+ * <pre>        

+ * for(n=0; n<numSamples; n++) {        

+ *     pCmplxDst[(2*n)+0] = pSrcCmplx[(2*n)+0] * pSrcReal[n];        

+ *     pCmplxDst[(2*n)+1] = pSrcCmplx[(2*n)+1] * pSrcReal[n];        

+ * }        

+ * </pre>        

+ *        

+ * There are separate functions for floating-point, Q15, and Q31 data types.        

+ */

+

+/**        

+ * @addtogroup CmplxByRealMult        

+ * @{        

+ */

+

+

+/**        

+ * @brief  Floating-point complex-by-real multiplication        

+ * @param[in]  *pSrcCmplx points to the complex input vector        

+ * @param[in]  *pSrcReal points to the real input vector        

+ * @param[out]  *pCmplxDst points to the complex output vector        

+ * @param[in]  numSamples number of samples in each vector        

+ * @return none.        

+ */

+

+void arm_cmplx_mult_real_f32(

+  float32_t * pSrcCmplx,

+  float32_t * pSrcReal,

+  float32_t * pCmplxDst,

+  uint32_t numSamples)

+{

+  float32_t in;                                  /* Temporary variable to store input value */

+  uint32_t blkCnt;                               /* loop counters */

+

+#ifndef ARM_MATH_CM0

+

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

+  float32_t inA1, inA2, inA3, inA4;              /* Temporary variables to hold input data */

+  float32_t inA5, inA6, inA7, inA8;              /* Temporary variables to hold input data */

+  float32_t inB1, inB2, inB3, inB4;              /* Temporary variables to hold input data */

+  float32_t out1, out2, out3, out4;              /* Temporary variables to hold output data */

+  float32_t out5, out6, out7, out8;              /* Temporary variables to hold output data */

+

+  /* loop Unrolling */

+  blkCnt = numSamples >> 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[2 * i] = A[2 * i] * B[i].            */

+    /* C[2 * i + 1] = A[2 * i + 1] * B[i].        */

+    /* read input from complex input buffer */

+    inA1 = pSrcCmplx[0];

+    inA2 = pSrcCmplx[1];

+    /* read input from real input buffer */

+    inB1 = pSrcReal[0];

+

+    /* read input from complex input buffer */

+    inA3 = pSrcCmplx[2];

+

+    /* multiply complex buffer real input with real buffer input */

+    out1 = inA1 * inB1;

+

+    /* read input from complex input buffer */

+    inA4 = pSrcCmplx[3];

+

+    /* multiply complex buffer imaginary input with real buffer input */

+    out2 = inA2 * inB1;

+

+    /* read input from real input buffer */

+    inB2 = pSrcReal[1];

+    /* read input from complex input buffer */

+    inA5 = pSrcCmplx[4];

+

+    /* multiply complex buffer real input with real buffer input */

+    out3 = inA3 * inB2;

+

+    /* read input from complex input buffer */

+    inA6 = pSrcCmplx[5];

+    /* read input from real input buffer */

+    inB3 = pSrcReal[2];

+

+    /* multiply complex buffer imaginary input with real buffer input */

+    out4 = inA4 * inB2;

+

+    /* read input from complex input buffer */

+    inA7 = pSrcCmplx[6];

+

+    /* multiply complex buffer real input with real buffer input */

+    out5 = inA5 * inB3;

+

+    /* read input from complex input buffer */

+    inA8 = pSrcCmplx[7];

+

+    /* multiply complex buffer imaginary input with real buffer input */

+    out6 = inA6 * inB3;

+

+    /* read input from real input buffer */

+    inB4 = pSrcReal[3];

+

+    /* store result to destination bufer */

+    pCmplxDst[0] = out1;

+

+    /* multiply complex buffer real input with real buffer input */

+    out7 = inA7 * inB4;

+

+    /* store result to destination bufer */

+    pCmplxDst[1] = out2;

+

+    /* multiply complex buffer imaginary input with real buffer input */

+    out8 = inA8 * inB4;

+

+    /* store result to destination bufer */

+    pCmplxDst[2] = out3;

+    pCmplxDst[3] = out4;

+    pCmplxDst[4] = out5;

+

+    /* incremnet complex input buffer by 8 to process next samples */

+    pSrcCmplx += 8u;

+

+    /* store result to destination bufer */

+    pCmplxDst[5] = out6;

+

+    /* increment real input buffer by 4 to process next samples */

+    pSrcReal += 4u;

+

+    /* store result to destination bufer */

+    pCmplxDst[6] = out7;

+    pCmplxDst[7] = out8;

+

+    /* increment destination buffer by 8 to process next sampels */

+    pCmplxDst += 8u;

+

+    /* Decrement the numSamples loop counter */

+    blkCnt--;

+  }

+

+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.        

+   ** No loop unrolling is used. */

+  blkCnt = numSamples % 0x4u;

+

+#else

+

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

+  blkCnt = numSamples;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C[2 * i] = A[2 * i] * B[i].            */

+    /* C[2 * i + 1] = A[2 * i + 1] * B[i].        */

+    in = *pSrcReal++;

+    /* store the result in the destination buffer. */

+    *pCmplxDst++ = (*pSrcCmplx++) * (in);

+    *pCmplxDst++ = (*pSrcCmplx++) * (in);

+

+    /* Decrement the numSamples loop counter */

+    blkCnt--;

+  }

+}

+

+/**        

+ * @} end of CmplxByRealMult group        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c
new file mode 100644
index 000000000..a44158c4f
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c
@@ -0,0 +1,195 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_cmplx_mult_real_q15.c    

+*    

+* Description:	Q15 complex by real 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.    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupCmplxMath    

+ */

+

+/**    

+ * @addtogroup CmplxByRealMult    

+ * @{    

+ */

+

+

+/**    

+ * @brief  Q15 complex-by-real multiplication    

+ * @param[in]  *pSrcCmplx points to the complex input vector    

+ * @param[in]  *pSrcReal points to the real input vector    

+ * @param[out]  *pCmplxDst points to the complex output vector    

+ * @param[in]  numSamples number of samples in each vector    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function uses saturating arithmetic.    

+ * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.    

+ */

+

+void arm_cmplx_mult_real_q15(

+  q15_t * pSrcCmplx,

+  q15_t * pSrcReal,

+  q15_t * pCmplxDst,

+  uint32_t numSamples)

+{

+  q15_t in;                                      /* Temporary variable to store input value */

+

+#ifndef ARM_MATH_CM0

+

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

+  uint32_t blkCnt;                               /* loop counters */

+  q31_t inA1, inA2;                              /* Temporary variables to hold input data */

+  q31_t inB1;                                    /* Temporary variables to hold input data */

+  q15_t out1, out2, out3, out4;                  /* Temporary variables to hold output data */

+  q31_t mul1, mul2, mul3, mul4;                  /* Temporary variables to hold intermediate data */

+

+  /* loop Unrolling */

+  blkCnt = numSamples >> 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[2 * i] = A[2 * i] * B[i].            */

+    /* C[2 * i + 1] = A[2 * i + 1] * B[i].        */

+    /* read complex number both real and imaginary from complex input buffer */

+    inA1 = *__SIMD32(pSrcCmplx)++;

+    /* read two real values at a time from real input buffer */

+    inB1 = *__SIMD32(pSrcReal)++;

+    /* read complex number both real and imaginary from complex input buffer */

+    inA2 = *__SIMD32(pSrcCmplx)++;

+

+    /* multiply complex number with real numbers */

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    mul1 = (q31_t) ((q15_t) (inA1) * (q15_t) (inB1));

+    mul2 = (q31_t) ((q15_t) (inA1 >> 16) * (q15_t) (inB1));

+    mul3 = (q31_t) ((q15_t) (inA2) * (q15_t) (inB1 >> 16));

+    mul4 = (q31_t) ((q15_t) (inA2 >> 16) * (q15_t) (inB1 >> 16));

+

+#else

+

+    mul2 = (q31_t) ((q15_t) (inA1 >> 16) * (q15_t) (inB1 >> 16));

+    mul1 = (q31_t) ((q15_t) inA1 * (q15_t) (inB1 >> 16));

+    mul4 = (q31_t) ((q15_t) (inA2 >> 16) * (q15_t) inB1);

+    mul3 = (q31_t) ((q15_t) inA2 * (q15_t) inB1);

+

+#endif //      #ifndef ARM_MATH_BIG_ENDIAN

+

+    /* saturate the result */

+    out1 = (q15_t) __SSAT(mul1 >> 15u, 16);

+    out2 = (q15_t) __SSAT(mul2 >> 15u, 16);

+    out3 = (q15_t) __SSAT(mul3 >> 15u, 16);

+    out4 = (q15_t) __SSAT(mul4 >> 15u, 16);

+

+    /* pack real and imaginary outputs and store them to destination */

+    *__SIMD32(pCmplxDst)++ = __PKHBT(out1, out2, 16);

+    *__SIMD32(pCmplxDst)++ = __PKHBT(out3, out4, 16);

+

+    inA1 = *__SIMD32(pSrcCmplx)++;

+    inB1 = *__SIMD32(pSrcReal)++;

+    inA2 = *__SIMD32(pSrcCmplx)++;

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    mul1 = (q31_t) ((q15_t) (inA1) * (q15_t) (inB1));

+    mul2 = (q31_t) ((q15_t) (inA1 >> 16) * (q15_t) (inB1));

+    mul3 = (q31_t) ((q15_t) (inA2) * (q15_t) (inB1 >> 16));

+    mul4 = (q31_t) ((q15_t) (inA2 >> 16) * (q15_t) (inB1 >> 16));

+

+#else

+

+    mul2 = (q31_t) ((q15_t) (inA1 >> 16) * (q15_t) (inB1 >> 16));

+    mul1 = (q31_t) ((q15_t) inA1 * (q15_t) (inB1 >> 16));

+    mul4 = (q31_t) ((q15_t) (inA2 >> 16) * (q15_t) inB1);

+    mul3 = (q31_t) ((q15_t) inA2 * (q15_t) inB1);

+

+#endif //      #ifndef ARM_MATH_BIG_ENDIAN

+

+    out1 = (q15_t) __SSAT(mul1 >> 15u, 16);

+    out2 = (q15_t) __SSAT(mul2 >> 15u, 16);

+    out3 = (q15_t) __SSAT(mul3 >> 15u, 16);

+    out4 = (q15_t) __SSAT(mul4 >> 15u, 16);

+

+    *__SIMD32(pCmplxDst)++ = __PKHBT(out1, out2, 16);

+    *__SIMD32(pCmplxDst)++ = __PKHBT(out3, out4, 16);

+

+    /* Decrement the numSamples loop counter */

+    blkCnt--;

+  }

+

+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    

+   ** No loop unrolling is used. */

+  blkCnt = numSamples % 0x4u;

+

+  while(blkCnt > 0u)

+  {

+    /* C[2 * i] = A[2 * i] * B[i].            */

+    /* C[2 * i + 1] = A[2 * i + 1] * B[i].        */

+    in = *pSrcReal++;

+    /* store the result in the destination buffer. */

+    *pCmplxDst++ =

+      (q15_t) __SSAT((((q31_t) (*pSrcCmplx++) * (in)) >> 15), 16);

+    *pCmplxDst++ =

+      (q15_t) __SSAT((((q31_t) (*pSrcCmplx++) * (in)) >> 15), 16);

+

+    /* Decrement the numSamples loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+

+  while(numSamples > 0u)

+  {

+    /* realOut = realA * realB.            */

+    /* imagOut = imagA * realB.                */

+    in = *pSrcReal++;

+    /* store the result in the destination buffer. */

+    *pCmplxDst++ =

+      (q15_t) __SSAT((((q31_t) (*pSrcCmplx++) * (in)) >> 15), 16);

+    *pCmplxDst++ =

+      (q15_t) __SSAT((((q31_t) (*pSrcCmplx++) * (in)) >> 15), 16);

+

+    /* Decrement the numSamples loop counter */

+    numSamples--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of CmplxByRealMult group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c
new file mode 100644
index 000000000..b286acdb6
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c
@@ -0,0 +1,215 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_cmplx_mult_real_q31.c    

+*    

+* Description:	Q31 complex by real 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.    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupCmplxMath    

+ */

+

+/**    

+ * @addtogroup CmplxByRealMult    

+ * @{    

+ */

+

+

+/**    

+ * @brief  Q31 complex-by-real multiplication    

+ * @param[in]  *pSrcCmplx points to the complex input vector    

+ * @param[in]  *pSrcReal points to the real input vector    

+ * @param[out]  *pCmplxDst points to the complex output vector    

+ * @param[in]  numSamples number of samples in each vector    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function uses saturating arithmetic.    

+ * Results outside of the allowable Q31 range[0x80000000 0x7FFFFFFF] will be saturated.    

+ */

+

+void arm_cmplx_mult_real_q31(

+  q31_t * pSrcCmplx,

+  q31_t * pSrcReal,

+  q31_t * pCmplxDst,

+  uint32_t numSamples)

+{

+  q31_t inA1;                                    /* Temporary variable to store input value */

+

+#ifndef ARM_MATH_CM0

+

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

+  uint32_t blkCnt;                               /* loop counters */

+  q31_t inA2, inA3, inA4;                        /* Temporary variables to hold input data */

+  q31_t inB1, inB2;                              /* Temporary variabels to hold input data */

+  q31_t out1, out2, out3, out4;                  /* Temporary variables to hold output data */

+

+  /* loop Unrolling */

+  blkCnt = numSamples >> 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[2 * i] = A[2 * i] * B[i].            */

+    /* C[2 * i + 1] = A[2 * i + 1] * B[i].        */

+    /* read real input from complex input buffer */

+    inA1 = *pSrcCmplx++;

+    inA2 = *pSrcCmplx++;

+    /* read input from real input bufer */

+    inB1 = *pSrcReal++;

+    inB2 = *pSrcReal++;

+    /* read imaginary input from complex input buffer */

+    inA3 = *pSrcCmplx++;

+    inA4 = *pSrcCmplx++;

+

+    /* multiply complex input with real input */

+    out1 = ((q63_t) inA1 * inB1) >> 32;

+    out2 = ((q63_t) inA2 * inB1) >> 32;

+    out3 = ((q63_t) inA3 * inB2) >> 32;

+    out4 = ((q63_t) inA4 * inB2) >> 32;

+

+    /* sature the result */

+    out1 = __SSAT(out1, 31);

+    out2 = __SSAT(out2, 31);

+    out3 = __SSAT(out3, 31);

+    out4 = __SSAT(out4, 31);

+

+    /* get result in 1.31 format */

+    out1 = out1 << 1;

+    out2 = out2 << 1;

+    out3 = out3 << 1;

+    out4 = out4 << 1;

+

+    /* store the result to destination buffer */

+    *pCmplxDst++ = out1;

+    *pCmplxDst++ = out2;

+    *pCmplxDst++ = out3;

+    *pCmplxDst++ = out4;

+

+    /* read real input from complex input buffer */

+    inA1 = *pSrcCmplx++;

+    inA2 = *pSrcCmplx++;

+    /* read input from real input bufer */

+    inB1 = *pSrcReal++;

+    inB2 = *pSrcReal++;

+    /* read imaginary input from complex input buffer */

+    inA3 = *pSrcCmplx++;

+    inA4 = *pSrcCmplx++;

+

+    /* multiply complex input with real input */

+    out1 = ((q63_t) inA1 * inB1) >> 32;

+    out2 = ((q63_t) inA2 * inB1) >> 32;

+    out3 = ((q63_t) inA3 * inB2) >> 32;

+    out4 = ((q63_t) inA4 * inB2) >> 32;

+

+    /* sature the result */

+    out1 = __SSAT(out1, 31);

+    out2 = __SSAT(out2, 31);

+    out3 = __SSAT(out3, 31);

+    out4 = __SSAT(out4, 31);

+

+    /* get result in 1.31 format */

+    out1 = out1 << 1;

+    out2 = out2 << 1;

+    out3 = out3 << 1;

+    out4 = out4 << 1;

+

+    /* store the result to destination buffer */

+    *pCmplxDst++ = out1;

+    *pCmplxDst++ = out2;

+    *pCmplxDst++ = out3;

+    *pCmplxDst++ = out4;

+

+    /* Decrement the numSamples loop counter */

+    blkCnt--;

+  }

+

+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    

+   ** No loop unrolling is used. */

+  blkCnt = numSamples % 0x4u;

+

+  while(blkCnt > 0u)

+  {

+    /* C[2 * i] = A[2 * i] * B[i].            */

+    /* C[2 * i + 1] = A[2 * i + 1] * B[i].        */

+    /* read real input from complex input buffer */

+    inA1 = *pSrcCmplx++;

+    inA2 = *pSrcCmplx++;

+    /* read input from real input bufer */

+    inB1 = *pSrcReal++;

+

+    /* multiply complex input with real input */

+    out1 = ((q63_t) inA1 * inB1) >> 32;

+    out2 = ((q63_t) inA2 * inB1) >> 32;

+

+    /* sature the result */

+    out1 = __SSAT(out1, 31);

+    out2 = __SSAT(out2, 31);

+

+    /* get result in 1.31 format */

+    out1 = out1 << 1;

+    out2 = out2 << 1;

+

+    /* store the result to destination buffer */

+    *pCmplxDst++ = out1;

+    *pCmplxDst++ = out2;

+

+    /* Decrement the numSamples loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+

+  while(numSamples > 0u)

+  {

+    /* realOut = realA * realB.            */

+    /* imagReal = imagA * realB.               */

+    inA1 = *pSrcReal++;

+    /* store the result in the destination buffer. */

+    *pCmplxDst++ =

+      (q31_t) clip_q63_to_q31(((q63_t) * pSrcCmplx++ * inA1) >> 31);

+    *pCmplxDst++ =

+      (q31_t) clip_q63_to_q31(((q63_t) * pSrcCmplx++ * inA1) >> 31);

+

+    /* Decrement the numSamples loop counter */

+    numSamples--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of CmplxByRealMult group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c
new file mode 100644
index 000000000..37e48f609
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c
@@ -0,0 +1,79 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_pid_init_f32.c    

+*    

+* Description:	Floating-point PID Control initialization 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.    

+* ------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+ /**    

+ * @addtogroup PID    

+ * @{    

+ */

+

+/**    

+ * @brief  Initialization function for the floating-point PID Control.   

+ * @param[in,out] *S points to an instance of the PID structure.   

+ * @param[in]     resetStateFlag  flag to reset the state. 0 = no change in state & 1 = reset the state.   

+ * @return none.   

+ * \par Description:   

+ * \par    

+ * The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n   

+ * The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>    

+ * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)    

+ * also sets the state variables to all zeros.    

+ */

+

+void arm_pid_init_f32(

+  arm_pid_instance_f32 * S,

+  int32_t resetStateFlag)

+{

+

+  /* Derived coefficient A0 */

+  S->A0 = S->Kp + S->Ki + S->Kd;

+

+  /* Derived coefficient A1 */

+  S->A1 = (-S->Kp) - ((float32_t) 2.0 * S->Kd);

+

+  /* Derived coefficient A2 */

+  S->A2 = S->Kd;

+

+  /* Check whether state needs reset or not */

+  if(resetStateFlag)

+  {

+    /* Clear the state buffer.  The size will be always 3 samples */

+    memset(S->state, 0, 3u * sizeof(float32_t));

+  }

+

+}

+

+/**    

+ * @} end of PID group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c
new file mode 100644
index 000000000..1816bc9aa
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c
@@ -0,0 +1,114 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_pid_init_q15.c    

+*    

+* Description:	Q15 PID Control initialization 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.    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+ /**    

+ * @addtogroup PID    

+ * @{    

+ */

+

+/**    

+ * @details    

+ * @param[in,out] *S points to an instance of the Q15 PID structure.    

+ * @param[in]     resetStateFlag  flag to reset the state. 0 = no change in state 1 = reset the state.    

+ * @return none.    

+ * \par Description:   

+ * \par    

+ * The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n   

+ * The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>    

+ * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)    

+ * also sets the state variables to all zeros.    

+ */

+

+void arm_pid_init_q15(

+  arm_pid_instance_q15 * S,

+  int32_t resetStateFlag)

+{

+

+#ifndef ARM_MATH_CM0

+

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

+

+  /* Derived coefficient A0 */

+  S->A0 = __QADD16(__QADD16(S->Kp, S->Ki), S->Kd);

+

+  /* Derived coefficients and pack into A1 */

+

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+  S->A1 = __PKHBT(-__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), S->Kd, 16);

+

+#else

+

+  S->A1 = __PKHBT(S->Kd, -__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), 16);

+

+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+  /* Check whether state needs reset or not */

+  if(resetStateFlag)

+  {

+    /* Clear the state buffer.  The size will be always 3 samples */

+    memset(S->state, 0, 3u * sizeof(q15_t));

+  }

+

+#else

+

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

+

+  q31_t temp;                                    /*to store the sum */

+

+  /* Derived coefficient A0 */

+  temp = S->Kp + S->Ki + S->Kd;

+  S->A0 = (q15_t) __SSAT(temp, 16);

+

+  /* Derived coefficients and pack into A1 */

+  temp = -(S->Kd + S->Kd + S->Kp);

+  S->A1 = (q15_t) __SSAT(temp, 16);

+  S->A2 = S->Kd;

+

+

+

+  /* Check whether state needs reset or not */

+  if(resetStateFlag)

+  {

+    /* Clear the state buffer.  The size will be always 3 samples */

+    memset(S->state, 0, 3u * sizeof(q15_t));

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of PID group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c
new file mode 100644
index 000000000..da40ce973
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c
@@ -0,0 +1,99 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_pid_init_q31.c    

+*    

+* Description:	Q31 PID Control initialization 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.    

+* ------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+ /**    

+ * @addtogroup PID    

+ * @{    

+ */

+

+/**    

+ * @brief  Initialization function for the Q31 PID Control.   

+ * @param[in,out] *S points to an instance of the Q31 PID structure.   

+ * @param[in]     resetStateFlag  flag to reset the state. 0 = no change in state 1 = reset the state.   

+ * @return none.    

+ * \par Description:   

+ * \par    

+ * The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n   

+ * The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>    

+ * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)    

+ * also sets the state variables to all zeros.    

+ */

+

+void arm_pid_init_q31(

+  arm_pid_instance_q31 * S,

+  int32_t resetStateFlag)

+{

+

+#ifndef ARM_MATH_CM0

+

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

+

+  /* Derived coefficient A0 */

+  S->A0 = __QADD(__QADD(S->Kp, S->Ki), S->Kd);

+

+  /* Derived coefficient A1 */

+  S->A1 = -__QADD(__QADD(S->Kd, S->Kd), S->Kp);

+

+

+#else

+

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

+

+  q31_t temp;

+

+  /* Derived coefficient A0 */

+  temp = clip_q63_to_q31((q63_t) S->Kp + S->Ki);

+  S->A0 = clip_q63_to_q31((q63_t) temp + S->Kd);

+

+  /* Derived coefficient A1 */

+  temp = clip_q63_to_q31((q63_t) S->Kd + S->Kd);

+  S->A1 = -clip_q63_to_q31((q63_t) temp + S->Kp);

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  /* Derived coefficient A2 */

+  S->A2 = S->Kd;

+

+  /* Check whether state needs reset or not */

+  if(resetStateFlag)

+  {

+    /* Clear the state buffer.  The size will be always 3 samples */

+    memset(S->state, 0, 3u * sizeof(q31_t));

+  }

+

+}

+

+/**    

+ * @} end of PID group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c
new file mode 100644
index 000000000..491ad5268
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c
@@ -0,0 +1,57 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_pid_reset_f32.c    

+*    

+* Description:	Floating-point PID Control reset 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.    

+* ------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+ /**    

+ * @addtogroup PID    

+ * @{    

+ */

+

+/**    

+* @brief  Reset function for the floating-point PID Control.   

+* @param[in] *S	Instance pointer of PID control data structure.   

+* @return none.    

+* \par Description:   

+* The function resets the state buffer to zeros.    

+*/

+void arm_pid_reset_f32(

+  arm_pid_instance_f32 * S)

+{

+

+  /* Clear the state buffer.  The size will be always 3 samples */

+  memset(S->state, 0, 3u * sizeof(float32_t));

+}

+

+/**    

+ * @} end of PID group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c
new file mode 100644
index 000000000..dc0078746
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c
@@ -0,0 +1,56 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_pid_reset_q15.c    

+*    

+* Description:	Q15 PID Control reset 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.    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+ /**    

+ * @addtogroup PID    

+ * @{    

+ */

+

+/**    

+* @brief  Reset function for the Q15 PID Control.   

+* @param[in] *S		Instance pointer of PID control data structure.   

+* @return none.    

+* \par Description:   

+* The function resets the state buffer to zeros.    

+*/

+void arm_pid_reset_q15(

+  arm_pid_instance_q15 * S)

+{

+  /* Reset state to zero, The size will be always 3 samples */

+  memset(S->state, 0, 3u * sizeof(q15_t));

+}

+

+/**    

+ * @} end of PID group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c
new file mode 100644
index 000000000..b1ff753af
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c
@@ -0,0 +1,57 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_pid_reset_q31.c    

+*    

+* Description:	Q31 PID Control reset 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.    

+* ------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+ /**    

+ * @addtogroup PID    

+ * @{    

+ */

+

+/**    

+* @brief  Reset function for the Q31 PID Control.   

+* @param[in] *S	Instance pointer of PID control data structure.   

+* @return none.    

+* \par Description:   

+* The function resets the state buffer to zeros.    

+*/

+void arm_pid_reset_q31(

+  arm_pid_instance_q31 * S)

+{

+

+  /* Clear the state buffer.  The size will be always 3 samples */

+  memset(S->state, 0, 3u * sizeof(q31_t));

+}

+

+/**    

+ * @} end of PID group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c
new file mode 100644
index 000000000..1679a780c
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c
@@ -0,0 +1,428 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_sin_cos_f32.c    

+*    

+* Description:	Sine and Cosine calculation for floating-point values.   

+*    

+* 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 groupController    

+ */

+

+/**    

+ * @defgroup SinCos Sine Cosine   

+ *    

+ * Computes the trigonometric sine and cosine values using a combination of table lookup   

+ * and linear interpolation.     

+ * There are separate functions for Q31 and floating-point data types.   

+ * The input to the floating-point version is in degrees while the   

+ * fixed-point Q31 have a scaled input with the range   

+ * [-1 0.9999] mapping to [-180 179] degrees.   

+ *   

+ * The implementation is based on table lookup using 360 values together with linear interpolation.   

+ * The steps used are:   

+ *  -# Calculation of the nearest integer table index.   

+ *  -# Compute the fractional portion (fract) of the input.   

+ *  -# Fetch the value corresponding to \c index from sine table to \c y0 and also value from \c index+1 to \c y1.      

+ *  -# Sine value is computed as <code> *psinVal = y0 + (fract * (y1 - y0))</code>.    

+ *  -# Fetch the value corresponding to \c index from cosine table to \c y0 and also value from \c index+1 to \c y1.      

+ *  -# Cosine value is computed as <code> *pcosVal = y0 + (fract * (y1 - y0))</code>.    

+ */

+

+ /**    

+ * @addtogroup SinCos    

+ * @{    

+ */

+

+

+/**    

+* \par    

+* Cosine Table is generated from following loop    

+* <pre>for(i = 0; i < 360; i++)    

+* {    

+*    cosTable[i]= cos((i-180) * PI/180.0);    

+* } </pre>   

+*/

+

+static const float32_t cosTable[360] = {

+  -0.999847695156391270f, -0.999390827019095760f, -0.998629534754573830f,

+  -0.997564050259824200f, -0.996194698091745550f, -0.994521895368273290f,

+  -0.992546151641321980f, -0.990268068741570250f,

+  -0.987688340595137660f, -0.984807753012208020f, -0.981627183447663980f,

+  -0.978147600733805690f, -0.974370064785235250f, -0.970295726275996470f,

+  -0.965925826289068200f, -0.961261695938318670f,

+  -0.956304755963035440f, -0.951056516295153530f, -0.945518575599316740f,

+  -0.939692620785908320f, -0.933580426497201740f, -0.927183854566787310f,

+  -0.920504853452440150f, -0.913545457642600760f,

+  -0.906307787036649940f, -0.898794046299167040f, -0.891006524188367790f,

+  -0.882947592858926770f, -0.874619707139395740f, -0.866025403784438710f,

+  -0.857167300702112220f, -0.848048096156425960f,

+  -0.838670567945424160f, -0.829037572555041620f, -0.819152044288991580f,

+  -0.809016994374947340f, -0.798635510047292940f, -0.788010753606721900f,

+  -0.777145961456970680f, -0.766044443118977900f,

+  -0.754709580222772010f, -0.743144825477394130f, -0.731353701619170460f,

+  -0.719339800338651300f, -0.707106781186547460f, -0.694658370458997030f,

+  -0.681998360062498370f, -0.669130606358858240f,

+  -0.656059028990507500f, -0.642787609686539360f, -0.629320391049837280f,

+  -0.615661475325658290f, -0.601815023152048380f, -0.587785252292473030f,

+  -0.573576436351045830f, -0.559192903470746680f,

+  -0.544639035015027080f, -0.529919264233204790f, -0.515038074910054270f,

+  -0.499999999999999780f, -0.484809620246337000f, -0.469471562785890530f,

+  -0.453990499739546750f, -0.438371146789077510f,

+  -0.422618261740699330f, -0.406736643075800100f, -0.390731128489273600f,

+  -0.374606593415912070f, -0.358367949545300270f, -0.342020143325668710f,

+  -0.325568154457156420f, -0.309016994374947340f,

+  -0.292371704722736660f, -0.275637355816999050f, -0.258819045102520850f,

+  -0.241921895599667790f, -0.224951054343864810f, -0.207911690817759120f,

+  -0.190808995376544800f, -0.173648177666930300f,

+  -0.156434465040231040f, -0.139173100960065350f, -0.121869343405147370f,

+  -0.104528463267653330f, -0.087155742747658235f, -0.069756473744125330f,

+  -0.052335956242943620f, -0.034899496702500733f,

+  -0.017452406437283477f, 0.000000000000000061f, 0.017452406437283376f,

+  0.034899496702501080f, 0.052335956242943966f, 0.069756473744125455f,

+  0.087155742747658138f, 0.104528463267653460f,

+  0.121869343405147490f, 0.139173100960065690f, 0.156434465040230920f,

+  0.173648177666930410f, 0.190808995376544920f, 0.207911690817759450f,

+  0.224951054343864920f, 0.241921895599667900f,

+  0.258819045102520740f, 0.275637355816999160f, 0.292371704722736770f,

+  0.309016994374947450f, 0.325568154457156760f, 0.342020143325668820f,

+  0.358367949545300380f, 0.374606593415911960f,

+  0.390731128489273940f, 0.406736643075800210f, 0.422618261740699440f,

+  0.438371146789077460f, 0.453990499739546860f, 0.469471562785890860f,

+  0.484809620246337110f, 0.500000000000000110f,

+  0.515038074910054380f, 0.529919264233204900f, 0.544639035015027200f,

+  0.559192903470746790f, 0.573576436351046050f, 0.587785252292473140f,

+  0.601815023152048270f, 0.615661475325658290f,

+  0.629320391049837500f, 0.642787609686539360f, 0.656059028990507280f,

+  0.669130606358858240f, 0.681998360062498480f, 0.694658370458997370f,

+  0.707106781186547570f, 0.719339800338651190f,

+  0.731353701619170570f, 0.743144825477394240f, 0.754709580222772010f,

+  0.766044443118978010f, 0.777145961456970900f, 0.788010753606722010f,

+  0.798635510047292830f, 0.809016994374947450f,

+  0.819152044288991800f, 0.829037572555041620f, 0.838670567945424050f,

+  0.848048096156425960f, 0.857167300702112330f, 0.866025403784438710f,

+  0.874619707139395740f, 0.882947592858926990f,

+  0.891006524188367900f, 0.898794046299167040f, 0.906307787036649940f,

+  0.913545457642600870f, 0.920504853452440370f, 0.927183854566787420f,

+  0.933580426497201740f, 0.939692620785908430f,

+  0.945518575599316850f, 0.951056516295153530f, 0.956304755963035440f,

+  0.961261695938318890f, 0.965925826289068310f, 0.970295726275996470f,

+  0.974370064785235250f, 0.978147600733805690f,

+  0.981627183447663980f, 0.984807753012208020f, 0.987688340595137770f,

+  0.990268068741570360f, 0.992546151641321980f, 0.994521895368273290f,

+  0.996194698091745550f, 0.997564050259824200f,

+  0.998629534754573830f, 0.999390827019095760f, 0.999847695156391270f,

+  1.000000000000000000f, 0.999847695156391270f, 0.999390827019095760f,

+  0.998629534754573830f, 0.997564050259824200f,

+  0.996194698091745550f, 0.994521895368273290f, 0.992546151641321980f,

+  0.990268068741570360f, 0.987688340595137770f, 0.984807753012208020f,

+  0.981627183447663980f, 0.978147600733805690f,

+  0.974370064785235250f, 0.970295726275996470f, 0.965925826289068310f,

+  0.961261695938318890f, 0.956304755963035440f, 0.951056516295153530f,

+  0.945518575599316850f, 0.939692620785908430f,

+  0.933580426497201740f, 0.927183854566787420f, 0.920504853452440370f,

+  0.913545457642600870f, 0.906307787036649940f, 0.898794046299167040f,

+  0.891006524188367900f, 0.882947592858926990f,

+  0.874619707139395740f, 0.866025403784438710f, 0.857167300702112330f,

+  0.848048096156425960f, 0.838670567945424050f, 0.829037572555041620f,

+  0.819152044288991800f, 0.809016994374947450f,

+  0.798635510047292830f, 0.788010753606722010f, 0.777145961456970900f,

+  0.766044443118978010f, 0.754709580222772010f, 0.743144825477394240f,

+  0.731353701619170570f, 0.719339800338651190f,

+  0.707106781186547570f, 0.694658370458997370f, 0.681998360062498480f,

+  0.669130606358858240f, 0.656059028990507280f, 0.642787609686539360f,

+  0.629320391049837500f, 0.615661475325658290f,

+  0.601815023152048270f, 0.587785252292473140f, 0.573576436351046050f,

+  0.559192903470746790f, 0.544639035015027200f, 0.529919264233204900f,

+  0.515038074910054380f, 0.500000000000000110f,

+  0.484809620246337110f, 0.469471562785890860f, 0.453990499739546860f,

+  0.438371146789077460f, 0.422618261740699440f, 0.406736643075800210f,

+  0.390731128489273940f, 0.374606593415911960f,

+  0.358367949545300380f, 0.342020143325668820f, 0.325568154457156760f,

+  0.309016994374947450f, 0.292371704722736770f, 0.275637355816999160f,

+  0.258819045102520740f, 0.241921895599667900f,

+  0.224951054343864920f, 0.207911690817759450f, 0.190808995376544920f,

+  0.173648177666930410f, 0.156434465040230920f, 0.139173100960065690f,

+  0.121869343405147490f, 0.104528463267653460f,

+  0.087155742747658138f, 0.069756473744125455f, 0.052335956242943966f,

+  0.034899496702501080f, 0.017452406437283376f, 0.000000000000000061f,

+  -0.017452406437283477f, -0.034899496702500733f,

+  -0.052335956242943620f, -0.069756473744125330f, -0.087155742747658235f,

+  -0.104528463267653330f, -0.121869343405147370f, -0.139173100960065350f,

+  -0.156434465040231040f, -0.173648177666930300f,

+  -0.190808995376544800f, -0.207911690817759120f, -0.224951054343864810f,

+  -0.241921895599667790f, -0.258819045102520850f, -0.275637355816999050f,

+  -0.292371704722736660f, -0.309016994374947340f,

+  -0.325568154457156420f, -0.342020143325668710f, -0.358367949545300270f,

+  -0.374606593415912070f, -0.390731128489273600f, -0.406736643075800100f,

+  -0.422618261740699330f, -0.438371146789077510f,

+  -0.453990499739546750f, -0.469471562785890530f, -0.484809620246337000f,

+  -0.499999999999999780f, -0.515038074910054270f, -0.529919264233204790f,

+  -0.544639035015027080f, -0.559192903470746680f,

+  -0.573576436351045830f, -0.587785252292473030f, -0.601815023152048380f,

+  -0.615661475325658290f, -0.629320391049837280f, -0.642787609686539360f,

+  -0.656059028990507500f, -0.669130606358858240f,

+  -0.681998360062498370f, -0.694658370458997030f, -0.707106781186547460f,

+  -0.719339800338651300f, -0.731353701619170460f, -0.743144825477394130f,

+  -0.754709580222772010f, -0.766044443118977900f,

+  -0.777145961456970680f, -0.788010753606721900f, -0.798635510047292940f,

+  -0.809016994374947340f, -0.819152044288991580f, -0.829037572555041620f,

+  -0.838670567945424160f, -0.848048096156425960f,

+  -0.857167300702112220f, -0.866025403784438710f, -0.874619707139395740f,

+  -0.882947592858926770f, -0.891006524188367790f, -0.898794046299167040f,

+  -0.906307787036649940f, -0.913545457642600760f,

+  -0.920504853452440150f, -0.927183854566787310f, -0.933580426497201740f,

+  -0.939692620785908320f, -0.945518575599316740f, -0.951056516295153530f,

+  -0.956304755963035440f, -0.961261695938318670f,

+  -0.965925826289068200f, -0.970295726275996470f, -0.974370064785235250f,

+  -0.978147600733805690f, -0.981627183447663980f, -0.984807753012208020f,

+  -0.987688340595137660f, -0.990268068741570250f,

+  -0.992546151641321980f, -0.994521895368273290f, -0.996194698091745550f,

+  -0.997564050259824200f, -0.998629534754573830f, -0.999390827019095760f,

+  -0.999847695156391270f, -1.000000000000000000f

+};

+

+/**    

+* \par    

+* Sine Table is generated from following loop    

+* <pre>for(i = 0; i < 360; i++)    

+* {    

+*    sinTable[i]= sin((i-180) * PI/180.0);    

+* } </pre>    

+*/

+

+

+static const float32_t sinTable[360] = {

+  -0.017452406437283439f, -0.034899496702500699f, -0.052335956242943807f,

+  -0.069756473744125524f, -0.087155742747658638f, -0.104528463267653730f,

+  -0.121869343405147550f, -0.139173100960065740f,

+  -0.156434465040230980f, -0.173648177666930280f, -0.190808995376544970f,

+  -0.207911690817759310f, -0.224951054343864780f, -0.241921895599667730f,

+  -0.258819045102521020f, -0.275637355816999660f,

+  -0.292371704722737050f, -0.309016994374947510f, -0.325568154457156980f,

+  -0.342020143325668880f, -0.358367949545300210f, -0.374606593415912240f,

+  -0.390731128489274160f, -0.406736643075800430f,

+  -0.422618261740699500f, -0.438371146789077290f, -0.453990499739546860f,

+  -0.469471562785891080f, -0.484809620246337170f, -0.499999999999999940f,

+  -0.515038074910054380f, -0.529919264233204900f,

+  -0.544639035015026860f, -0.559192903470746900f, -0.573576436351046380f,

+  -0.587785252292473250f, -0.601815023152048160f, -0.615661475325658400f,

+  -0.629320391049837720f, -0.642787609686539470f,

+  -0.656059028990507280f, -0.669130606358858350f, -0.681998360062498590f,

+  -0.694658370458997140f, -0.707106781186547570f, -0.719339800338651410f,

+  -0.731353701619170570f, -0.743144825477394240f,

+  -0.754709580222771790f, -0.766044443118978010f, -0.777145961456971010f,

+  -0.788010753606722010f, -0.798635510047292720f, -0.809016994374947450f,

+  -0.819152044288992020f, -0.829037572555041740f,

+  -0.838670567945424050f, -0.848048096156426070f, -0.857167300702112330f,

+  -0.866025403784438710f, -0.874619707139395850f, -0.882947592858927100f,

+  -0.891006524188367900f, -0.898794046299166930f,

+  -0.906307787036650050f, -0.913545457642600980f, -0.920504853452440370f,

+  -0.927183854566787420f, -0.933580426497201740f, -0.939692620785908430f,

+  -0.945518575599316850f, -0.951056516295153640f,

+  -0.956304755963035550f, -0.961261695938318890f, -0.965925826289068310f,

+  -0.970295726275996470f, -0.974370064785235250f, -0.978147600733805690f,

+  -0.981627183447663980f, -0.984807753012208020f,

+  -0.987688340595137660f, -0.990268068741570360f, -0.992546151641322090f,

+  -0.994521895368273400f, -0.996194698091745550f, -0.997564050259824200f,

+  -0.998629534754573830f, -0.999390827019095760f,

+  -0.999847695156391270f, -1.000000000000000000f, -0.999847695156391270f,

+  -0.999390827019095760f, -0.998629534754573830f, -0.997564050259824200f,

+  -0.996194698091745550f, -0.994521895368273290f,

+  -0.992546151641321980f, -0.990268068741570250f, -0.987688340595137770f,

+  -0.984807753012208020f, -0.981627183447663980f, -0.978147600733805580f,

+  -0.974370064785235250f, -0.970295726275996470f,

+  -0.965925826289068310f, -0.961261695938318890f, -0.956304755963035440f,

+  -0.951056516295153530f, -0.945518575599316740f, -0.939692620785908320f,

+  -0.933580426497201740f, -0.927183854566787420f,

+  -0.920504853452440260f, -0.913545457642600870f, -0.906307787036649940f,

+  -0.898794046299167040f, -0.891006524188367790f, -0.882947592858926880f,

+  -0.874619707139395740f, -0.866025403784438600f,

+  -0.857167300702112220f, -0.848048096156426070f, -0.838670567945423940f,

+  -0.829037572555041740f, -0.819152044288991800f, -0.809016994374947450f,

+  -0.798635510047292830f, -0.788010753606722010f,

+  -0.777145961456970790f, -0.766044443118978010f, -0.754709580222772010f,

+  -0.743144825477394240f, -0.731353701619170460f, -0.719339800338651080f,

+  -0.707106781186547460f, -0.694658370458997250f,

+  -0.681998360062498480f, -0.669130606358858240f, -0.656059028990507160f,

+  -0.642787609686539250f, -0.629320391049837390f, -0.615661475325658180f,

+  -0.601815023152048270f, -0.587785252292473140f,

+  -0.573576436351046050f, -0.559192903470746900f, -0.544639035015027080f,

+  -0.529919264233204900f, -0.515038074910054160f, -0.499999999999999940f,

+  -0.484809620246337060f, -0.469471562785890810f,

+  -0.453990499739546750f, -0.438371146789077400f, -0.422618261740699440f,

+  -0.406736643075800150f, -0.390731128489273720f, -0.374606593415912010f,

+  -0.358367949545300270f, -0.342020143325668710f,

+  -0.325568154457156640f, -0.309016994374947400f, -0.292371704722736770f,

+  -0.275637355816999160f, -0.258819045102520740f, -0.241921895599667730f,

+  -0.224951054343865000f, -0.207911690817759310f,

+  -0.190808995376544800f, -0.173648177666930330f, -0.156434465040230870f,

+  -0.139173100960065440f, -0.121869343405147480f, -0.104528463267653460f,

+  -0.087155742747658166f, -0.069756473744125302f,

+  -0.052335956242943828f, -0.034899496702500969f, -0.017452406437283512f,

+  0.000000000000000000f, 0.017452406437283512f, 0.034899496702500969f,

+  0.052335956242943828f, 0.069756473744125302f,

+  0.087155742747658166f, 0.104528463267653460f, 0.121869343405147480f,

+  0.139173100960065440f, 0.156434465040230870f, 0.173648177666930330f,

+  0.190808995376544800f, 0.207911690817759310f,

+  0.224951054343865000f, 0.241921895599667730f, 0.258819045102520740f,

+  0.275637355816999160f, 0.292371704722736770f, 0.309016994374947400f,

+  0.325568154457156640f, 0.342020143325668710f,

+  0.358367949545300270f, 0.374606593415912010f, 0.390731128489273720f,

+  0.406736643075800150f, 0.422618261740699440f, 0.438371146789077400f,

+  0.453990499739546750f, 0.469471562785890810f,

+  0.484809620246337060f, 0.499999999999999940f, 0.515038074910054160f,

+  0.529919264233204900f, 0.544639035015027080f, 0.559192903470746900f,

+  0.573576436351046050f, 0.587785252292473140f,

+  0.601815023152048270f, 0.615661475325658180f, 0.629320391049837390f,

+  0.642787609686539250f, 0.656059028990507160f, 0.669130606358858240f,

+  0.681998360062498480f, 0.694658370458997250f,

+  0.707106781186547460f, 0.719339800338651080f, 0.731353701619170460f,

+  0.743144825477394240f, 0.754709580222772010f, 0.766044443118978010f,

+  0.777145961456970790f, 0.788010753606722010f,

+  0.798635510047292830f, 0.809016994374947450f, 0.819152044288991800f,

+  0.829037572555041740f, 0.838670567945423940f, 0.848048096156426070f,

+  0.857167300702112220f, 0.866025403784438600f,

+  0.874619707139395740f, 0.882947592858926880f, 0.891006524188367790f,

+  0.898794046299167040f, 0.906307787036649940f, 0.913545457642600870f,

+  0.920504853452440260f, 0.927183854566787420f,

+  0.933580426497201740f, 0.939692620785908320f, 0.945518575599316740f,

+  0.951056516295153530f, 0.956304755963035440f, 0.961261695938318890f,

+  0.965925826289068310f, 0.970295726275996470f,

+  0.974370064785235250f, 0.978147600733805580f, 0.981627183447663980f,

+  0.984807753012208020f, 0.987688340595137770f, 0.990268068741570250f,

+  0.992546151641321980f, 0.994521895368273290f,

+  0.996194698091745550f, 0.997564050259824200f, 0.998629534754573830f,

+  0.999390827019095760f, 0.999847695156391270f, 1.000000000000000000f,

+  0.999847695156391270f, 0.999390827019095760f,

+  0.998629534754573830f, 0.997564050259824200f, 0.996194698091745550f,

+  0.994521895368273400f, 0.992546151641322090f, 0.990268068741570360f,

+  0.987688340595137660f, 0.984807753012208020f,

+  0.981627183447663980f, 0.978147600733805690f, 0.974370064785235250f,

+  0.970295726275996470f, 0.965925826289068310f, 0.961261695938318890f,

+  0.956304755963035550f, 0.951056516295153640f,

+  0.945518575599316850f, 0.939692620785908430f, 0.933580426497201740f,

+  0.927183854566787420f, 0.920504853452440370f, 0.913545457642600980f,

+  0.906307787036650050f, 0.898794046299166930f,

+  0.891006524188367900f, 0.882947592858927100f, 0.874619707139395850f,

+  0.866025403784438710f, 0.857167300702112330f, 0.848048096156426070f,

+  0.838670567945424050f, 0.829037572555041740f,

+  0.819152044288992020f, 0.809016994374947450f, 0.798635510047292720f,

+  0.788010753606722010f, 0.777145961456971010f, 0.766044443118978010f,

+  0.754709580222771790f, 0.743144825477394240f,

+  0.731353701619170570f, 0.719339800338651410f, 0.707106781186547570f,

+  0.694658370458997140f, 0.681998360062498590f, 0.669130606358858350f,

+  0.656059028990507280f, 0.642787609686539470f,

+  0.629320391049837720f, 0.615661475325658400f, 0.601815023152048160f,

+  0.587785252292473250f, 0.573576436351046380f, 0.559192903470746900f,

+  0.544639035015026860f, 0.529919264233204900f,

+  0.515038074910054380f, 0.499999999999999940f, 0.484809620246337170f,

+  0.469471562785891080f, 0.453990499739546860f, 0.438371146789077290f,

+  0.422618261740699500f, 0.406736643075800430f,

+  0.390731128489274160f, 0.374606593415912240f, 0.358367949545300210f,

+  0.342020143325668880f, 0.325568154457156980f, 0.309016994374947510f,

+  0.292371704722737050f, 0.275637355816999660f,

+  0.258819045102521020f, 0.241921895599667730f, 0.224951054343864780f,

+  0.207911690817759310f, 0.190808995376544970f, 0.173648177666930280f,

+  0.156434465040230980f, 0.139173100960065740f,

+  0.121869343405147550f, 0.104528463267653730f, 0.087155742747658638f,

+  0.069756473744125524f, 0.052335956242943807f, 0.034899496702500699f,

+  0.017452406437283439f, 0.000000000000000122f

+};

+

+

+/**    

+ * @brief  Floating-point sin_cos function.   

+ * @param[in]  theta    input value in degrees    

+ * @param[out] *pSinVal points to the processed sine output.    

+ * @param[out] *pCosVal points to the processed cos output.    

+ * @return none.   

+ */

+

+

+void arm_sin_cos_f32(

+  float32_t theta,

+  float32_t * pSinVal,

+  float32_t * pCosVal)

+{

+  int32_t i;                                     /* Index for reading nearwst output values */

+  float32_t x1 = -179.0f;                        /* Initial input value */

+  float32_t y0, y1;                              /* nearest output values */

+  float32_t y2, y3;

+  float32_t fract;                               /* fractional part of input */

+

+  /* Calculation of fractional part */

+  if(theta > 0.0f)

+  {

+    fract = theta - (float32_t) ((int32_t) theta);

+  }

+  else

+  {

+    fract = (theta - (float32_t) ((int32_t) theta)) + 1.0f;

+  }

+

+  /* index calculation for reading nearest output values */

+  i = (uint32_t) (theta - x1);

+

+  /* Checking min and max index of table */

+  if(i < 0)

+  {

+    i = 0;

+  }

+  else if(i >= 359)

+  {

+    i = 358;

+  }

+

+  /* reading nearest sine output values */

+  y0 = sinTable[i];

+  y1 = sinTable[i + 1u];

+

+  /* reading nearest cosine output values */

+  y2 = cosTable[i];

+  y3 = cosTable[i + 1u];

+

+  y1 = y1 - y0;

+  y3 = y3 - y2;

+

+  y1 = fract * y1;

+  y3 = fract * y3;

+

+  /* Calculation of sine value */

+  *pSinVal = y0 + y1;

+

+  /* Calculation of cosine value */

+  *pCosVal = y2 + y3;

+

+}

+

+/**    

+ * @} end of SinCos group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c
new file mode 100644
index 000000000..e22d25e53
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c
@@ -0,0 +1,324 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_sin_cos_q31.c    

+*    

+* Description:	Cosine & Sine calculation for Q31 values.   

+*    

+* 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 groupController    

+ */

+

+ /**    

+ * @addtogroup SinCos    

+ * @{    

+ */

+

+/**    

+* \par    

+* Sine Table is generated from following loop    

+* <pre>for(i = 0; i < 360; i++)    

+* {    

+*    sinTable[i]= sin((i-180) * PI/180.0);    

+* } </pre>   

+* Convert above coefficients to fixed point 1.31 format.    

+*/

+

+static const int32_t sinTableQ31[360] = {

+

+  0x0, 0xfdc41e9b, 0xfb8869ce, 0xf94d0e2e, 0xf7123849, 0xf4d814a4, 0xf29ecfb2,

+  0xf06695da,

+  0xee2f9369, 0xebf9f498, 0xe9c5e582, 0xe7939223, 0xe5632654, 0xe334cdc9,

+  0xe108b40d, 0xdedf047d,

+  0xdcb7ea46, 0xda939061, 0xd8722192, 0xd653c860, 0xd438af17, 0xd220ffc0,

+  0xd00ce422, 0xcdfc85bb,

+  0xcbf00dbe, 0xc9e7a512, 0xc7e3744b, 0xc5e3a3a9, 0xc3e85b18, 0xc1f1c224,

+  0xc0000000, 0xbe133b7c,

+  0xbc2b9b05, 0xba4944a2, 0xb86c5df0, 0xb6950c1e, 0xb4c373ee, 0xb2f7b9af,

+  0xb1320139, 0xaf726def,

+  0xadb922b7, 0xac0641fb, 0xaa59eda4, 0xa8b4471a, 0xa7156f3c, 0xa57d8666,

+  0xa3ecac65, 0xa263007d,

+  0xa0e0a15f, 0x9f65ad2d, 0x9df24175, 0x9c867b2c, 0x9b2276b0, 0x99c64fc5,

+  0x98722192, 0x9726069c,

+  0x95e218c9, 0x94a6715d, 0x937328f5, 0x92485786, 0x9126145f, 0x900c7621,

+  0x8efb92c2, 0x8df37f8b,

+  0x8cf45113, 0x8bfe1b3f, 0x8b10f144, 0x8a2ce59f, 0x89520a1a, 0x88806fc4,

+  0x87b826f7, 0x86f93f50,

+  0x8643c7b3, 0x8597ce46, 0x84f56073, 0x845c8ae3, 0x83cd5982, 0x8347d77b,

+  0x82cc0f36, 0x825a0a5b,

+  0x81f1d1ce, 0x81936daf, 0x813ee55b, 0x80f43f69, 0x80b381ac, 0x807cb130,

+  0x804fd23a, 0x802ce84c,

+  0x8013f61d, 0x8004fda0, 0x80000000, 0x8004fda0, 0x8013f61d, 0x802ce84c,

+  0x804fd23a, 0x807cb130,

+  0x80b381ac, 0x80f43f69, 0x813ee55b, 0x81936daf, 0x81f1d1ce, 0x825a0a5b,

+  0x82cc0f36, 0x8347d77b,

+  0x83cd5982, 0x845c8ae3, 0x84f56073, 0x8597ce46, 0x8643c7b3, 0x86f93f50,

+  0x87b826f7, 0x88806fc4,

+  0x89520a1a, 0x8a2ce59f, 0x8b10f144, 0x8bfe1b3f, 0x8cf45113, 0x8df37f8b,

+  0x8efb92c2, 0x900c7621,

+  0x9126145f, 0x92485786, 0x937328f5, 0x94a6715d, 0x95e218c9, 0x9726069c,

+  0x98722192, 0x99c64fc5,

+  0x9b2276b0, 0x9c867b2c, 0x9df24175, 0x9f65ad2d, 0xa0e0a15f, 0xa263007d,

+  0xa3ecac65, 0xa57d8666,

+  0xa7156f3c, 0xa8b4471a, 0xaa59eda4, 0xac0641fb, 0xadb922b7, 0xaf726def,

+  0xb1320139, 0xb2f7b9af,

+  0xb4c373ee, 0xb6950c1e, 0xb86c5df0, 0xba4944a2, 0xbc2b9b05, 0xbe133b7c,

+  0xc0000000, 0xc1f1c224,

+  0xc3e85b18, 0xc5e3a3a9, 0xc7e3744b, 0xc9e7a512, 0xcbf00dbe, 0xcdfc85bb,

+  0xd00ce422, 0xd220ffc0,

+  0xd438af17, 0xd653c860, 0xd8722192, 0xda939061, 0xdcb7ea46, 0xdedf047d,

+  0xe108b40d, 0xe334cdc9,

+  0xe5632654, 0xe7939223, 0xe9c5e582, 0xebf9f498, 0xee2f9369, 0xf06695da,

+  0xf29ecfb2, 0xf4d814a4,

+  0xf7123849, 0xf94d0e2e, 0xfb8869ce, 0xfdc41e9b, 0x0, 0x23be165, 0x4779632,

+  0x6b2f1d2,

+  0x8edc7b7, 0xb27eb5c, 0xd61304e, 0xf996a26, 0x11d06c97, 0x14060b68,

+  0x163a1a7e, 0x186c6ddd,

+  0x1a9cd9ac, 0x1ccb3237, 0x1ef74bf3, 0x2120fb83, 0x234815ba, 0x256c6f9f,

+  0x278dde6e, 0x29ac37a0,

+  0x2bc750e9, 0x2ddf0040, 0x2ff31bde, 0x32037a45, 0x340ff242, 0x36185aee,

+  0x381c8bb5, 0x3a1c5c57,

+  0x3c17a4e8, 0x3e0e3ddc, 0x40000000, 0x41ecc484, 0x43d464fb, 0x45b6bb5e,

+  0x4793a210, 0x496af3e2,

+  0x4b3c8c12, 0x4d084651, 0x4ecdfec7, 0x508d9211, 0x5246dd49, 0x53f9be05,

+  0x55a6125c, 0x574bb8e6,

+  0x58ea90c4, 0x5a82799a, 0x5c13539b, 0x5d9cff83, 0x5f1f5ea1, 0x609a52d3,

+  0x620dbe8b, 0x637984d4,

+  0x64dd8950, 0x6639b03b, 0x678dde6e, 0x68d9f964, 0x6a1de737, 0x6b598ea3,

+  0x6c8cd70b, 0x6db7a87a,

+  0x6ed9eba1, 0x6ff389df, 0x71046d3e, 0x720c8075, 0x730baeed, 0x7401e4c1,

+  0x74ef0ebc, 0x75d31a61,

+  0x76adf5e6, 0x777f903c, 0x7847d909, 0x7906c0b0, 0x79bc384d, 0x7a6831ba,

+  0x7b0a9f8d, 0x7ba3751d,

+  0x7c32a67e, 0x7cb82885, 0x7d33f0ca, 0x7da5f5a5, 0x7e0e2e32, 0x7e6c9251,

+  0x7ec11aa5, 0x7f0bc097,

+  0x7f4c7e54, 0x7f834ed0, 0x7fb02dc6, 0x7fd317b4, 0x7fec09e3, 0x7ffb0260,

+  0x7fffffff, 0x7ffb0260,

+  0x7fec09e3, 0x7fd317b4, 0x7fb02dc6, 0x7f834ed0, 0x7f4c7e54, 0x7f0bc097,

+  0x7ec11aa5, 0x7e6c9251,

+  0x7e0e2e32, 0x7da5f5a5, 0x7d33f0ca, 0x7cb82885, 0x7c32a67e, 0x7ba3751d,

+  0x7b0a9f8d, 0x7a6831ba,

+  0x79bc384d, 0x7906c0b0, 0x7847d909, 0x777f903c, 0x76adf5e6, 0x75d31a61,

+  0x74ef0ebc, 0x7401e4c1,

+  0x730baeed, 0x720c8075, 0x71046d3e, 0x6ff389df, 0x6ed9eba1, 0x6db7a87a,

+  0x6c8cd70b, 0x6b598ea3,

+  0x6a1de737, 0x68d9f964, 0x678dde6e, 0x6639b03b, 0x64dd8950, 0x637984d4,

+  0x620dbe8b, 0x609a52d3,

+  0x5f1f5ea1, 0x5d9cff83, 0x5c13539b, 0x5a82799a, 0x58ea90c4, 0x574bb8e6,

+  0x55a6125c, 0x53f9be05,

+  0x5246dd49, 0x508d9211, 0x4ecdfec7, 0x4d084651, 0x4b3c8c12, 0x496af3e2,

+  0x4793a210, 0x45b6bb5e,

+  0x43d464fb, 0x41ecc484, 0x40000000, 0x3e0e3ddc, 0x3c17a4e8, 0x3a1c5c57,

+  0x381c8bb5, 0x36185aee,

+  0x340ff242, 0x32037a45, 0x2ff31bde, 0x2ddf0040, 0x2bc750e9, 0x29ac37a0,

+  0x278dde6e, 0x256c6f9f,

+  0x234815ba, 0x2120fb83, 0x1ef74bf3, 0x1ccb3237, 0x1a9cd9ac, 0x186c6ddd,

+  0x163a1a7e, 0x14060b68,

+  0x11d06c97, 0xf996a26, 0xd61304e, 0xb27eb5c, 0x8edc7b7, 0x6b2f1d2,

+  0x4779632, 0x23be165,

+

+

+};

+

+/**    

+* \par    

+* Cosine Table is generated from following loop    

+* <pre>for(i = 0; i < 360; i++)    

+* {    

+*    cosTable[i]= cos((i-180) * PI/180.0);    

+* } </pre>   

+* \par    

+* Convert above coefficients to fixed point 1.31 format.    

+*/

+static const int32_t cosTableQ31[360] = {

+  0x80000000, 0x8004fda0, 0x8013f61d, 0x802ce84c, 0x804fd23a, 0x807cb130,

+  0x80b381ac, 0x80f43f69,

+  0x813ee55b, 0x81936daf, 0x81f1d1ce, 0x825a0a5b, 0x82cc0f36, 0x8347d77b,

+  0x83cd5982, 0x845c8ae3,

+  0x84f56073, 0x8597ce46, 0x8643c7b3, 0x86f93f50, 0x87b826f7, 0x88806fc4,

+  0x89520a1a, 0x8a2ce59f,

+  0x8b10f144, 0x8bfe1b3f, 0x8cf45113, 0x8df37f8b, 0x8efb92c2, 0x900c7621,

+  0x9126145f, 0x92485786,

+  0x937328f5, 0x94a6715d, 0x95e218c9, 0x9726069c, 0x98722192, 0x99c64fc5,

+  0x9b2276b0, 0x9c867b2c,

+  0x9df24175, 0x9f65ad2d, 0xa0e0a15f, 0xa263007d, 0xa3ecac65, 0xa57d8666,

+  0xa7156f3c, 0xa8b4471a,

+  0xaa59eda4, 0xac0641fb, 0xadb922b7, 0xaf726def, 0xb1320139, 0xb2f7b9af,

+  0xb4c373ee, 0xb6950c1e,

+  0xb86c5df0, 0xba4944a2, 0xbc2b9b05, 0xbe133b7c, 0xc0000000, 0xc1f1c224,

+  0xc3e85b18, 0xc5e3a3a9,

+  0xc7e3744b, 0xc9e7a512, 0xcbf00dbe, 0xcdfc85bb, 0xd00ce422, 0xd220ffc0,

+  0xd438af17, 0xd653c860,

+  0xd8722192, 0xda939061, 0xdcb7ea46, 0xdedf047d, 0xe108b40d, 0xe334cdc9,

+  0xe5632654, 0xe7939223,

+  0xe9c5e582, 0xebf9f498, 0xee2f9369, 0xf06695da, 0xf29ecfb2, 0xf4d814a4,

+  0xf7123849, 0xf94d0e2e,

+  0xfb8869ce, 0xfdc41e9b, 0x0, 0x23be165, 0x4779632, 0x6b2f1d2, 0x8edc7b7,

+  0xb27eb5c,

+  0xd61304e, 0xf996a26, 0x11d06c97, 0x14060b68, 0x163a1a7e, 0x186c6ddd,

+  0x1a9cd9ac, 0x1ccb3237,

+  0x1ef74bf3, 0x2120fb83, 0x234815ba, 0x256c6f9f, 0x278dde6e, 0x29ac37a0,

+  0x2bc750e9, 0x2ddf0040,

+  0x2ff31bde, 0x32037a45, 0x340ff242, 0x36185aee, 0x381c8bb5, 0x3a1c5c57,

+  0x3c17a4e8, 0x3e0e3ddc,

+  0x40000000, 0x41ecc484, 0x43d464fb, 0x45b6bb5e, 0x4793a210, 0x496af3e2,

+  0x4b3c8c12, 0x4d084651,

+  0x4ecdfec7, 0x508d9211, 0x5246dd49, 0x53f9be05, 0x55a6125c, 0x574bb8e6,

+  0x58ea90c4, 0x5a82799a,

+  0x5c13539b, 0x5d9cff83, 0x5f1f5ea1, 0x609a52d3, 0x620dbe8b, 0x637984d4,

+  0x64dd8950, 0x6639b03b,

+  0x678dde6e, 0x68d9f964, 0x6a1de737, 0x6b598ea3, 0x6c8cd70b, 0x6db7a87a,

+  0x6ed9eba1, 0x6ff389df,

+  0x71046d3e, 0x720c8075, 0x730baeed, 0x7401e4c1, 0x74ef0ebc, 0x75d31a61,

+  0x76adf5e6, 0x777f903c,

+  0x7847d909, 0x7906c0b0, 0x79bc384d, 0x7a6831ba, 0x7b0a9f8d, 0x7ba3751d,

+  0x7c32a67e, 0x7cb82885,

+  0x7d33f0ca, 0x7da5f5a5, 0x7e0e2e32, 0x7e6c9251, 0x7ec11aa5, 0x7f0bc097,

+  0x7f4c7e54, 0x7f834ed0,

+  0x7fb02dc6, 0x7fd317b4, 0x7fec09e3, 0x7ffb0260, 0x7fffffff, 0x7ffb0260,

+  0x7fec09e3, 0x7fd317b4,

+  0x7fb02dc6, 0x7f834ed0, 0x7f4c7e54, 0x7f0bc097, 0x7ec11aa5, 0x7e6c9251,

+  0x7e0e2e32, 0x7da5f5a5,

+  0x7d33f0ca, 0x7cb82885, 0x7c32a67e, 0x7ba3751d, 0x7b0a9f8d, 0x7a6831ba,

+  0x79bc384d, 0x7906c0b0,

+  0x7847d909, 0x777f903c, 0x76adf5e6, 0x75d31a61, 0x74ef0ebc, 0x7401e4c1,

+  0x730baeed, 0x720c8075,

+  0x71046d3e, 0x6ff389df, 0x6ed9eba1, 0x6db7a87a, 0x6c8cd70b, 0x6b598ea3,

+  0x6a1de737, 0x68d9f964,

+  0x678dde6e, 0x6639b03b, 0x64dd8950, 0x637984d4, 0x620dbe8b, 0x609a52d3,

+  0x5f1f5ea1, 0x5d9cff83,

+  0x5c13539b, 0x5a82799a, 0x58ea90c4, 0x574bb8e6, 0x55a6125c, 0x53f9be05,

+  0x5246dd49, 0x508d9211,

+  0x4ecdfec7, 0x4d084651, 0x4b3c8c12, 0x496af3e2, 0x4793a210, 0x45b6bb5e,

+  0x43d464fb, 0x41ecc484,

+  0x40000000, 0x3e0e3ddc, 0x3c17a4e8, 0x3a1c5c57, 0x381c8bb5, 0x36185aee,

+  0x340ff242, 0x32037a45,

+  0x2ff31bde, 0x2ddf0040, 0x2bc750e9, 0x29ac37a0, 0x278dde6e, 0x256c6f9f,

+  0x234815ba, 0x2120fb83,

+  0x1ef74bf3, 0x1ccb3237, 0x1a9cd9ac, 0x186c6ddd, 0x163a1a7e, 0x14060b68,

+  0x11d06c97, 0xf996a26,

+  0xd61304e, 0xb27eb5c, 0x8edc7b7, 0x6b2f1d2, 0x4779632, 0x23be165, 0x0,

+  0xfdc41e9b,

+  0xfb8869ce, 0xf94d0e2e, 0xf7123849, 0xf4d814a4, 0xf29ecfb2, 0xf06695da,

+  0xee2f9369, 0xebf9f498,

+  0xe9c5e582, 0xe7939223, 0xe5632654, 0xe334cdc9, 0xe108b40d, 0xdedf047d,

+  0xdcb7ea46, 0xda939061,

+  0xd8722192, 0xd653c860, 0xd438af17, 0xd220ffc0, 0xd00ce422, 0xcdfc85bb,

+  0xcbf00dbe, 0xc9e7a512,

+  0xc7e3744b, 0xc5e3a3a9, 0xc3e85b18, 0xc1f1c224, 0xc0000000, 0xbe133b7c,

+  0xbc2b9b05, 0xba4944a2,

+  0xb86c5df0, 0xb6950c1e, 0xb4c373ee, 0xb2f7b9af, 0xb1320139, 0xaf726def,

+  0xadb922b7, 0xac0641fb,

+  0xaa59eda4, 0xa8b4471a, 0xa7156f3c, 0xa57d8666, 0xa3ecac65, 0xa263007d,

+  0xa0e0a15f, 0x9f65ad2d,

+  0x9df24175, 0x9c867b2c, 0x9b2276b0, 0x99c64fc5, 0x98722192, 0x9726069c,

+  0x95e218c9, 0x94a6715d,

+  0x937328f5, 0x92485786, 0x9126145f, 0x900c7621, 0x8efb92c2, 0x8df37f8b,

+  0x8cf45113, 0x8bfe1b3f,

+  0x8b10f144, 0x8a2ce59f, 0x89520a1a, 0x88806fc4, 0x87b826f7, 0x86f93f50,

+  0x8643c7b3, 0x8597ce46,

+  0x84f56073, 0x845c8ae3, 0x83cd5982, 0x8347d77b, 0x82cc0f36, 0x825a0a5b,

+  0x81f1d1ce, 0x81936daf,

+  0x813ee55b, 0x80f43f69, 0x80b381ac, 0x807cb130, 0x804fd23a, 0x802ce84c,

+  0x8013f61d, 0x8004fda0,

+

+};

+

+

+/**    

+ * @brief  Q31 sin_cos function.   

+ * @param[in]  theta    scaled input value in degrees    

+ * @param[out] *pSinVal points to the processed sine output.    

+ * @param[out] *pCosVal points to the processed cosine output.    

+ * @return none.   

+ *    

+ * The Q31 input value is in the range [-1 0.999999] and is mapped to a degree value in the range [-180 179].   

+ *    

+ */

+

+

+void arm_sin_cos_q31(

+  q31_t theta,

+  q31_t * pSinVal,

+  q31_t * pCosVal)

+{

+  q31_t x0;                                      /* Nearest input value */

+  q31_t y0, y1;                                  /* Nearest output values */

+  q31_t xSpacing = INPUT_SPACING;                /* Spaing between inputs */

+  int32_t i;                                     /* Index */

+  q31_t oneByXSpacing;                           /* 1/ xSpacing value */

+  q31_t out;                                     /* temporary variable */

+  uint32_t sign_bits;                            /* No.of sign bits */

+  uint32_t firstX = 0x80000000;                  /* First X value */

+

+  /* Calculation of index */

+  i = ((uint32_t) theta - firstX) / (uint32_t) xSpacing;

+

+  /* Checking min and max index of table */

+  if(i < 0)

+  {

+    i = 0;

+  }

+  else if(i >= 359)

+  {

+    i = 358;

+  }

+

+  /* Calculation of first nearest input value */

+  x0 = (q31_t) firstX + ((q31_t) i * xSpacing);

+

+  /* Reading nearest sine output values from table */

+  y0 = sinTableQ31[i];

+  y1 = sinTableQ31[i + 1u];

+

+  /* Calculation of 1/(x1-x0) */

+  /* (x1-x0) is xSpacing which is fixed value */

+  sign_bits = 8u;

+  oneByXSpacing = 0x5A000000;

+

+  /* Calculation of (theta - x0)/(x1-x0) */

+  out =

+    (((q31_t) (((q63_t) (theta - x0) * oneByXSpacing) >> 32)) << sign_bits);

+

+  /* Calculation of y0 + (y1 - y0) * ((theta - x0)/(x1-x0)) */

+  *pSinVal = __QADD(y0, ((q31_t) (((q63_t) (y1 - y0) * out) >> 30)));

+

+  /* Reading nearest cosine output values from table */

+  y0 = cosTableQ31[i];

+  y1 = cosTableQ31[i + 1u];

+

+  /* Calculation of y0 + (y1 - y0) * ((theta - x0)/(x1-x0)) */

+  *pCosVal = __QADD(y0, ((q31_t) (((q63_t) (y1 - y0) * out) >> 30)));

+

+}

+

+/**    

+ * @} end of SinCos group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c
new file mode 100644
index 000000000..bee758bff
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c
@@ -0,0 +1,280 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_cos_f32.c    

+*    

+* Description:	Fast cosine calculation for floating-point values.   

+*    

+* 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 groupFastMath    

+ */

+

+/**    

+ * @defgroup cos Cosine    

+ *    

+ * Computes the trigonometric cosine function using a combination of table lookup   

+ * and cubic 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), Where range excludes 2*pi.   

+ *   

+ * The implementation is based on table lookup using 256 values together with cubic interpolation.   

+ * The steps used are:   

+ *  -# Calculation of the nearest integer table index   

+ *  -# Fetch the four table values a, b, c, and d     

+ *  -# Compute the fractional portion (fract) of the table index.   

+ *  -# Calculation of wa, wb, wc, wd    

+ *  -# The final result equals <code>a*wa + b*wb + c*wc + d*wd</code>   

+ *   

+ * where   

+ * <pre>    

+ *    a=Table[index-1];    

+ *    b=Table[index+0];    

+ *    c=Table[index+1];    

+ *    d=Table[index+2];    

+ * </pre>   

+ * and   

+ * <pre>    

+ *    wa=-(1/6)*fract.^3 + (1/2)*fract.^2 - (1/3)*fract;    

+ *    wb=(1/2)*fract.^3 - fract.^2 - (1/2)*fract + 1;    

+ *    wc=-(1/2)*fract.^3+(1/2)*fract.^2+fract;    

+ *    wd=(1/6)*fract.^3 - (1/6)*fract;    

+ * </pre>    

+ */

+

+ /**    

+ * @addtogroup cos    

+ * @{    

+ */

+

+

+/**    

+* \par    

+* <b>Example code for Generation of Cos Table:</b>   

+* tableSize = 256;    

+* <pre>for(n = -1; n < (tableSize + 2); n++)    

+* {    

+*	cosTable[n+1]= cos(2*pi*n/tableSize);    

+* } </pre>    

+* where pi value is  3.14159265358979    

+*/

+

+static const float32_t cosTable[260] = {

+  0.999698817729949950f, 1.000000000000000000f, 0.999698817729949950f,

+  0.998795449733734130f, 0.997290432453155520f, 0.995184719562530520f,

+  0.992479562759399410f, 0.989176511764526370f,

+  0.985277652740478520f, 0.980785250663757320f, 0.975702106952667240f,

+  0.970031261444091800f, 0.963776051998138430f, 0.956940352916717530f,

+  0.949528157711029050f, 0.941544055938720700f,

+  0.932992815971374510f, 0.923879504203796390f, 0.914209783077239990f,

+  0.903989315032958980f, 0.893224298954010010f, 0.881921291351318360f,

+  0.870086967945098880f, 0.857728600502014160f,

+  0.844853579998016360f, 0.831469595432281490f, 0.817584812641143800f,

+  0.803207516670227050f, 0.788346409797668460f, 0.773010432720184330f,

+  0.757208824157714840f, 0.740951120853424070f,

+  0.724247097969055180f, 0.707106769084930420f, 0.689540565013885500f,

+  0.671558976173400880f, 0.653172850608825680f, 0.634393274784088130f,

+  0.615231573581695560f, 0.595699310302734380f,

+  0.575808167457580570f, 0.555570244789123540f, 0.534997642040252690f,

+  0.514102756977081300f, 0.492898195981979370f, 0.471396744251251220f,

+  0.449611335992813110f, 0.427555084228515630f,

+  0.405241310596466060f, 0.382683426141738890f, 0.359895050525665280f,

+  0.336889863014221190f, 0.313681751489639280f, 0.290284663438797000f,

+  0.266712754964828490f, 0.242980182170867920f,

+  0.219101235270500180f, 0.195090323686599730f, 0.170961886644363400f,

+  0.146730467677116390f, 0.122410677373409270f, 0.098017141222953796f,

+  0.073564566671848297f, 0.049067676067352295f,

+  0.024541229009628296f, 0.000000000000000061f, -0.024541229009628296f,

+  -0.049067676067352295f, -0.073564566671848297f, -0.098017141222953796f,

+  -0.122410677373409270f, -0.146730467677116390f,

+  -0.170961886644363400f, -0.195090323686599730f, -0.219101235270500180f,

+  -0.242980182170867920f, -0.266712754964828490f, -0.290284663438797000f,

+  -0.313681751489639280f, -0.336889863014221190f,

+  -0.359895050525665280f, -0.382683426141738890f, -0.405241310596466060f,

+  -0.427555084228515630f, -0.449611335992813110f, -0.471396744251251220f,

+  -0.492898195981979370f, -0.514102756977081300f,

+  -0.534997642040252690f, -0.555570244789123540f, -0.575808167457580570f,

+  -0.595699310302734380f, -0.615231573581695560f, -0.634393274784088130f,

+  -0.653172850608825680f, -0.671558976173400880f,

+  -0.689540565013885500f, -0.707106769084930420f, -0.724247097969055180f,

+  -0.740951120853424070f, -0.757208824157714840f, -0.773010432720184330f,

+  -0.788346409797668460f, -0.803207516670227050f,

+  -0.817584812641143800f, -0.831469595432281490f, -0.844853579998016360f,

+  -0.857728600502014160f, -0.870086967945098880f, -0.881921291351318360f,

+  -0.893224298954010010f, -0.903989315032958980f,

+  -0.914209783077239990f, -0.923879504203796390f, -0.932992815971374510f,

+  -0.941544055938720700f, -0.949528157711029050f, -0.956940352916717530f,

+  -0.963776051998138430f, -0.970031261444091800f,

+  -0.975702106952667240f, -0.980785250663757320f, -0.985277652740478520f,

+  -0.989176511764526370f, -0.992479562759399410f, -0.995184719562530520f,

+  -0.997290432453155520f, -0.998795449733734130f,

+  -0.999698817729949950f, -1.000000000000000000f, -0.999698817729949950f,

+  -0.998795449733734130f, -0.997290432453155520f, -0.995184719562530520f,

+  -0.992479562759399410f, -0.989176511764526370f,

+  -0.985277652740478520f, -0.980785250663757320f, -0.975702106952667240f,

+  -0.970031261444091800f, -0.963776051998138430f, -0.956940352916717530f,

+  -0.949528157711029050f, -0.941544055938720700f,

+  -0.932992815971374510f, -0.923879504203796390f, -0.914209783077239990f,

+  -0.903989315032958980f, -0.893224298954010010f, -0.881921291351318360f,

+  -0.870086967945098880f, -0.857728600502014160f,

+  -0.844853579998016360f, -0.831469595432281490f, -0.817584812641143800f,

+  -0.803207516670227050f, -0.788346409797668460f, -0.773010432720184330f,

+  -0.757208824157714840f, -0.740951120853424070f,

+  -0.724247097969055180f, -0.707106769084930420f, -0.689540565013885500f,

+  -0.671558976173400880f, -0.653172850608825680f, -0.634393274784088130f,

+  -0.615231573581695560f, -0.595699310302734380f,

+  -0.575808167457580570f, -0.555570244789123540f, -0.534997642040252690f,

+  -0.514102756977081300f, -0.492898195981979370f, -0.471396744251251220f,

+  -0.449611335992813110f, -0.427555084228515630f,

+  -0.405241310596466060f, -0.382683426141738890f, -0.359895050525665280f,

+  -0.336889863014221190f, -0.313681751489639280f, -0.290284663438797000f,

+  -0.266712754964828490f, -0.242980182170867920f,

+  -0.219101235270500180f, -0.195090323686599730f, -0.170961886644363400f,

+  -0.146730467677116390f, -0.122410677373409270f, -0.098017141222953796f,

+  -0.073564566671848297f, -0.049067676067352295f,

+  -0.024541229009628296f, -0.000000000000000184f, 0.024541229009628296f,

+  0.049067676067352295f, 0.073564566671848297f, 0.098017141222953796f,

+  0.122410677373409270f, 0.146730467677116390f,

+  0.170961886644363400f, 0.195090323686599730f, 0.219101235270500180f,

+  0.242980182170867920f, 0.266712754964828490f, 0.290284663438797000f,

+  0.313681751489639280f, 0.336889863014221190f,

+  0.359895050525665280f, 0.382683426141738890f, 0.405241310596466060f,

+  0.427555084228515630f, 0.449611335992813110f, 0.471396744251251220f,

+  0.492898195981979370f, 0.514102756977081300f,

+  0.534997642040252690f, 0.555570244789123540f, 0.575808167457580570f,

+  0.595699310302734380f, 0.615231573581695560f, 0.634393274784088130f,

+  0.653172850608825680f, 0.671558976173400880f,

+  0.689540565013885500f, 0.707106769084930420f, 0.724247097969055180f,

+  0.740951120853424070f, 0.757208824157714840f, 0.773010432720184330f,

+  0.788346409797668460f, 0.803207516670227050f,

+  0.817584812641143800f, 0.831469595432281490f, 0.844853579998016360f,

+  0.857728600502014160f, 0.870086967945098880f, 0.881921291351318360f,

+  0.893224298954010010f, 0.903989315032958980f,

+  0.914209783077239990f, 0.923879504203796390f, 0.932992815971374510f,

+  0.941544055938720700f, 0.949528157711029050f, 0.956940352916717530f,

+  0.963776051998138430f, 0.970031261444091800f,

+  0.975702106952667240f, 0.980785250663757320f, 0.985277652740478520f,

+  0.989176511764526370f, 0.992479562759399410f, 0.995184719562530520f,

+  0.997290432453155520f, 0.998795449733734130f,

+  0.999698817729949950f, 1.000000000000000000f, 0.999698817729949950f,

+  0.998795449733734130f

+};

+

+/**   

+ * @brief  Fast approximation to the trigonometric cosine function for floating-point data.   

+ * @param[in] x input value in radians.   

+ * @return cos(x).   

+ */

+

+

+float32_t arm_cos_f32(

+  float32_t x)

+{

+  float32_t cosVal, fract, in;

+  int32_t index;

+  uint32_t tableSize = (uint32_t) TABLE_SIZE;

+  float32_t wa, wb, wc, wd;

+  float32_t a, b, c, d;

+  float32_t *tablePtr;

+  int32_t n;

+  float32_t fractsq, fractby2, fractby6, fractby3, fractsqby2;

+  float32_t oneminusfractby2;

+  float32_t frby2xfrsq, frby6xfrsq;

+

+  /* input x is in radians */

+  /* Scale the 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(x < 0.0f)

+  {

+    n = n - 1;

+  }

+

+  /* Map input value to [0 1] */

+  in = in - (float32_t) n;

+

+  /* Calculation of index of the table */

+  index = (uint32_t) (tableSize * in);

+

+  /* fractional value calculation */

+  fract = ((float32_t) tableSize * in) - (float32_t) index;

+

+  /* Checking min and max index of table */

+  if(index < 0)

+  {

+    index = 0;

+  }

+  else if(index > 256)

+  {

+    index = 256;

+  }

+

+  /* Initialise table pointer */

+  tablePtr = (float32_t *) & cosTable[index];

+

+  /* Read four nearest values of input value from the cos table */

+  a = tablePtr[0];

+  b = tablePtr[1];

+  c = tablePtr[2];

+  d = tablePtr[3];

+

+  /* Cubic interpolation process */

+  fractsq = fract * fract;

+  fractby2 = fract * 0.5f;

+  fractby6 = fract * 0.166666667f;

+  fractby3 = fract * 0.3333333333333f;

+  fractsqby2 = fractsq * 0.5f;

+  frby2xfrsq = (fractby2) * fractsq;

+  frby6xfrsq = (fractby6) * fractsq;

+  oneminusfractby2 = 1.0f - fractby2;

+  wb = fractsqby2 - fractby3;

+  wc = (fractsqby2 + fract);

+  wa = wb - frby6xfrsq;

+  wb = frby2xfrsq - fractsq;

+  cosVal = wa * a;

+  wc = wc - frby2xfrsq;

+  wd = (frby6xfrsq) - fractby6;

+  wb = wb + oneminusfractby2;

+

+  /* Calculate cos value */

+  cosVal = (cosVal + (b * wb)) + ((c * wc) + (d * wd));

+

+  /* Return the output value */

+  return (cosVal);

+

+}

+

+/**    

+ * @} end of cos group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c
new file mode 100644
index 000000000..0edf68b89
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c
@@ -0,0 +1,205 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_cos_q15.c    

+*    

+* Description:	Fast cosine calculation for Q15 values.   

+*    

+* 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 groupFastMath    

+ */

+

+ /**    

+ * @addtogroup cos    

+ * @{    

+ */

+

+/**   

+* \par    

+* Table Values are in Q15(1.15 Fixed point format) and generation is done in three steps    

+* \par    

+* First Generate cos values in floating point:    

+* tableSize = 256;     

+* <pre>for(n = -1; n < (tableSize + 1); n++)    

+* {    

+*	cosTable[n+1]= cos(2*pi*n/tableSize);    

+* }</pre>   

+* where pi value is  3.14159265358979    

+* \par    

+* Secondly Convert Floating point to Q15(Fixed point):    

+*	(cosTable[i] * pow(2, 15))    

+* \par    

+* Finally Rounding to nearest integer is done    

+* 	cosTable[i] += (cosTable[i] > 0 ? 0.5 :-0.5);    

+*/

+

+static const q15_t cosTableQ15[259] = {

+  0x7ff6, 0x7fff, 0x7ff6, 0x7fd9, 0x7fa7, 0x7f62, 0x7f0a, 0x7e9d,

+  0x7e1e, 0x7d8a, 0x7ce4, 0x7c2a, 0x7b5d, 0x7a7d, 0x798a, 0x7885,

+  0x776c, 0x7642, 0x7505, 0x73b6, 0x7255, 0x70e3, 0x6f5f, 0x6dca,

+  0x6c24, 0x6a6e, 0x68a7, 0x66d0, 0x64e9, 0x62f2, 0x60ec, 0x5ed7,

+  0x5cb4, 0x5a82, 0x5843, 0x55f6, 0x539b, 0x5134, 0x4ec0, 0x4c40,

+  0x49b4, 0x471d, 0x447b, 0x41ce, 0x3f17, 0x3c57, 0x398d, 0x36ba,

+  0x33df, 0x30fc, 0x2e11, 0x2b1f, 0x2827, 0x2528, 0x2224, 0x1f1a,

+  0x1c0c, 0x18f9, 0x15e2, 0x12c8, 0xfab, 0xc8c, 0x96b, 0x648,

+  0x324, 0x0, 0xfcdc, 0xf9b8, 0xf695, 0xf374, 0xf055, 0xed38,

+  0xea1e, 0xe707, 0xe3f4, 0xe0e6, 0xdddc, 0xdad8, 0xd7d9, 0xd4e1,

+  0xd1ef, 0xcf04, 0xcc21, 0xc946, 0xc673, 0xc3a9, 0xc0e9, 0xbe32,

+  0xbb85, 0xb8e3, 0xb64c, 0xb3c0, 0xb140, 0xaecc, 0xac65, 0xaa0a,

+  0xa7bd, 0xa57e, 0xa34c, 0xa129, 0x9f14, 0x9d0e, 0x9b17, 0x9930,

+  0x9759, 0x9592, 0x93dc, 0x9236, 0x90a1, 0x8f1d, 0x8dab, 0x8c4a,

+  0x8afb, 0x89be, 0x8894, 0x877b, 0x8676, 0x8583, 0x84a3, 0x83d6,

+  0x831c, 0x8276, 0x81e2, 0x8163, 0x80f6, 0x809e, 0x8059, 0x8027,

+  0x800a, 0x8000, 0x800a, 0x8027, 0x8059, 0x809e, 0x80f6, 0x8163,

+  0x81e2, 0x8276, 0x831c, 0x83d6, 0x84a3, 0x8583, 0x8676, 0x877b,

+  0x8894, 0x89be, 0x8afb, 0x8c4a, 0x8dab, 0x8f1d, 0x90a1, 0x9236,

+  0x93dc, 0x9592, 0x9759, 0x9930, 0x9b17, 0x9d0e, 0x9f14, 0xa129,

+  0xa34c, 0xa57e, 0xa7bd, 0xaa0a, 0xac65, 0xaecc, 0xb140, 0xb3c0,

+  0xb64c, 0xb8e3, 0xbb85, 0xbe32, 0xc0e9, 0xc3a9, 0xc673, 0xc946,

+  0xcc21, 0xcf04, 0xd1ef, 0xd4e1, 0xd7d9, 0xdad8, 0xdddc, 0xe0e6,

+  0xe3f4, 0xe707, 0xea1e, 0xed38, 0xf055, 0xf374, 0xf695, 0xf9b8,

+  0xfcdc, 0x0, 0x324, 0x648, 0x96b, 0xc8c, 0xfab, 0x12c8,

+  0x15e2, 0x18f9, 0x1c0c, 0x1f1a, 0x2224, 0x2528, 0x2827, 0x2b1f,

+  0x2e11, 0x30fc, 0x33df, 0x36ba, 0x398d, 0x3c57, 0x3f17, 0x41ce,

+  0x447b, 0x471d, 0x49b4, 0x4c40, 0x4ec0, 0x5134, 0x539b, 0x55f6,

+  0x5843, 0x5a82, 0x5cb4, 0x5ed7, 0x60ec, 0x62f2, 0x64e9, 0x66d0,

+  0x68a7, 0x6a6e, 0x6c24, 0x6dca, 0x6f5f, 0x70e3, 0x7255, 0x73b6,

+  0x7505, 0x7642, 0x776c, 0x7885, 0x798a, 0x7a7d, 0x7b5d, 0x7c2a,

+  0x7ce4, 0x7d8a, 0x7e1e, 0x7e9d, 0x7f0a, 0x7f62, 0x7fa7, 0x7fd9,

+  0x7ff6, 0x7fff, 0x7ff6

+};

+

+

+/**   

+ * @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), Here range excludes 2*pi.   

+ */

+

+q15_t arm_cos_q15(

+  q15_t x)

+{

+  q31_t cosVal;                                  /* Temporary variable for output */

+  q15_t *tablePtr;                               /* Pointer to table */

+  q15_t in, in2;                                 /* Temporary variables for input */

+  q31_t wa, wb, wc, wd;                          /* Cubic interpolation coefficients */

+  q15_t a, b, c, d;                              /* Four nearest output values */

+  q15_t fract, fractCube, fractSquare;           /* Variables for fractional value */

+  q15_t oneBy6 = 0x1555;                         /* Fixed point value of 1/6 */

+  q15_t tableSpacing = TABLE_SPACING_Q15;        /* Table spacing */

+  int32_t index;                                 /* Index variable */

+

+  in = x;

+

+  /* Calculate the nearest index */

+  index = (int32_t) in / tableSpacing;

+

+  /* Calculate the nearest value of input */

+  in2 = (q15_t) index *tableSpacing;

+

+  /* Calculation of fractional value */

+  fract = (in - in2) << 8;

+

+  /* fractSquare = fract * fract */

+  fractSquare = (q15_t) ((fract * fract) >> 15);

+

+  /* fractCube = fract * fract * fract */

+  fractCube = (q15_t) ((fractSquare * fract) >> 15);

+

+  /* Checking min and max index of table */

+  if(index < 0)

+  {

+    index = 0;

+  }

+  else if(index > 256)

+  {

+    index = 256;

+  }

+

+  /* Initialise table pointer */

+  tablePtr = (q15_t *) & cosTableQ15[index];

+

+  /* Cubic interpolation process */

+  /* Calculation of wa */

+  /* wa = -(oneBy6)*fractCube + (fractSquare >> 1u) - (0x2AAA)*fract; */

+  wa = (q31_t) oneBy6 *fractCube;

+  wa += (q31_t) 0x2AAA *fract;

+  wa = -(wa >> 15);

+  wa += (fractSquare >> 1u);

+

+  /* Read first nearest value of output from the cos table */

+  a = *tablePtr++;

+

+  /* cosVal = a * wa */

+  cosVal = a * wa;

+

+  /* Calculation of wb */

+  wb = (((fractCube >> 1u) - fractSquare) - (fract >> 1u)) + 0x7FFF;

+

+  /* Read second nearest value of output from the cos table */

+  b = *tablePtr++;

+

+  /*      cosVal += b*wb */

+  cosVal += b * wb;

+

+  /* Calculation of wc */

+  wc = -(q31_t) fractCube + fractSquare;

+  wc = (wc >> 1u) + fract;

+

+  /* Read third nearest value of output from the cos table */

+  c = *tablePtr++;

+

+  /* cosVal += c*wc */

+  cosVal += c * wc;

+

+  /* Calculation of wd */

+  /* wd = (oneBy6)*fractCube - (oneBy6)*fract; */

+  fractCube = fractCube - fract;

+  wd = ((q15_t) (((q31_t) oneBy6 * fractCube) >> 15));

+

+  /* Read fourth nearest value of output from the cos table */

+  d = *tablePtr++;

+

+  /* cosVal += d*wd; */

+  cosVal += d * wd;

+

+  /* Convert output value in 1.15(q15) format and saturate */

+  cosVal = __SSAT((cosVal >> 15), 16);

+

+  /* Return the output value in 1.15(q15) format */

+  return ((q15_t) cosVal);

+

+}

+

+/**    

+ * @} end of cos group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c
new file mode 100644
index 000000000..1326215fe
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c
@@ -0,0 +1,239 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_cos_q31.c    

+*    

+* Description:	Fast cosine calculation for Q31 values.   

+*    

+* 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 groupFastMath    

+ */

+

+ /**    

+ * @addtogroup cos    

+ * @{    

+ */

+

+/**    

+ * \par    

+ * Table Values are in Q31(1.31 Fixed point format) and generation is done in three steps    

+ * First Generate cos values in floating point:    

+ * tableSize = 256;      

+ * <pre>for(n = -1; n < (tableSize + 1); n++)    

+ * {    

+ *	cosTable[n+1]= cos(2*pi*n/tableSize);    

+ * } </pre>     

+ * where pi value is  3.14159265358979    

+ * \par    

+ * Secondly Convert Floating point to Q31(Fixed point):    

+ *	(cosTable[i] * pow(2, 31))    

+ * \par    

+ * Finally Rounding to nearest integer is done    

+ * 	cosTable[i] += (cosTable[i] > 0 ? 0.5 :-0.5);    

+ */

+

+

+static const q31_t cosTableQ31[259] = {

+  0x7ff62182, 0x7fffffff, 0x7ff62182, 0x7fd8878e, 0x7fa736b4, 0x7f62368f,

+  0x7f0991c4, 0x7e9d55fc,

+  0x7e1d93ea, 0x7d8a5f40, 0x7ce3ceb2, 0x7c29fbee, 0x7b5d039e, 0x7a7d055b,

+  0x798a23b1, 0x78848414,

+  0x776c4edb, 0x7641af3d, 0x7504d345, 0x73b5ebd1, 0x72552c85, 0x70e2cbc6,

+  0x6f5f02b2, 0x6dca0d14,

+  0x6c242960, 0x6a6d98a4, 0x68a69e81, 0x66cf8120, 0x64e88926, 0x62f201ac,

+  0x60ec3830, 0x5ed77c8a,

+  0x5cb420e0, 0x5a82799a, 0x5842dd54, 0x55f5a4d2, 0x539b2af0, 0x5133cc94,

+  0x4ebfe8a5, 0x4c3fdff4,

+  0x49b41533, 0x471cece7, 0x447acd50, 0x41ce1e65, 0x3f1749b8, 0x3c56ba70,

+  0x398cdd32, 0x36ba2014,

+  0x33def287, 0x30fbc54d, 0x2e110a62, 0x2b1f34eb, 0x2826b928, 0x25280c5e,

+  0x2223a4c5, 0x1f19f97b,

+  0x1c0b826a, 0x18f8b83c, 0x15e21445, 0x12c8106f, 0xfab272b, 0xc8bd35e,

+  0x96a9049, 0x647d97c,

+  0x3242abf, 0x0, 0xfcdbd541, 0xf9b82684, 0xf6956fb7, 0xf3742ca2, 0xf054d8d5,

+  0xed37ef91,

+  0xea1debbb, 0xe70747c4, 0xe3f47d96, 0xe0e60685, 0xdddc5b3b, 0xdad7f3a2,

+  0xd7d946d8, 0xd4e0cb15,

+  0xd1eef59e, 0xcf043ab3, 0xcc210d79, 0xc945dfec, 0xc67322ce, 0xc3a94590,

+  0xc0e8b648, 0xbe31e19b,

+  0xbb8532b0, 0xb8e31319, 0xb64beacd, 0xb3c0200c, 0xb140175b, 0xaecc336c,

+  0xac64d510, 0xaa0a5b2e,

+  0xa7bd22ac, 0xa57d8666, 0xa34bdf20, 0xa1288376, 0x9f13c7d0, 0x9d0dfe54,

+  0x9b1776da, 0x99307ee0,

+  0x9759617f, 0x9592675c, 0x93dbd6a0, 0x9235f2ec, 0x90a0fd4e, 0x8f1d343a,

+  0x8daad37b, 0x8c4a142f,

+  0x8afb2cbb, 0x89be50c3, 0x8893b125, 0x877b7bec, 0x8675dc4f, 0x8582faa5,

+  0x84a2fc62, 0x83d60412,

+  0x831c314e, 0x8275a0c0, 0x81e26c16, 0x8162aa04, 0x80f66e3c, 0x809dc971,

+  0x8058c94c, 0x80277872,

+  0x8009de7e, 0x80000000, 0x8009de7e, 0x80277872, 0x8058c94c, 0x809dc971,

+  0x80f66e3c, 0x8162aa04,

+  0x81e26c16, 0x8275a0c0, 0x831c314e, 0x83d60412, 0x84a2fc62, 0x8582faa5,

+  0x8675dc4f, 0x877b7bec,

+  0x8893b125, 0x89be50c3, 0x8afb2cbb, 0x8c4a142f, 0x8daad37b, 0x8f1d343a,

+  0x90a0fd4e, 0x9235f2ec,

+  0x93dbd6a0, 0x9592675c, 0x9759617f, 0x99307ee0, 0x9b1776da, 0x9d0dfe54,

+  0x9f13c7d0, 0xa1288376,

+  0xa34bdf20, 0xa57d8666, 0xa7bd22ac, 0xaa0a5b2e, 0xac64d510, 0xaecc336c,

+  0xb140175b, 0xb3c0200c,

+  0xb64beacd, 0xb8e31319, 0xbb8532b0, 0xbe31e19b, 0xc0e8b648, 0xc3a94590,

+  0xc67322ce, 0xc945dfec,

+  0xcc210d79, 0xcf043ab3, 0xd1eef59e, 0xd4e0cb15, 0xd7d946d8, 0xdad7f3a2,

+  0xdddc5b3b, 0xe0e60685,

+  0xe3f47d96, 0xe70747c4, 0xea1debbb, 0xed37ef91, 0xf054d8d5, 0xf3742ca2,

+  0xf6956fb7, 0xf9b82684,

+  0xfcdbd541, 0x0, 0x3242abf, 0x647d97c, 0x96a9049, 0xc8bd35e, 0xfab272b,

+  0x12c8106f,

+  0x15e21445, 0x18f8b83c, 0x1c0b826a, 0x1f19f97b, 0x2223a4c5, 0x25280c5e,

+  0x2826b928, 0x2b1f34eb,

+  0x2e110a62, 0x30fbc54d, 0x33def287, 0x36ba2014, 0x398cdd32, 0x3c56ba70,

+  0x3f1749b8, 0x41ce1e65,

+  0x447acd50, 0x471cece7, 0x49b41533, 0x4c3fdff4, 0x4ebfe8a5, 0x5133cc94,

+  0x539b2af0, 0x55f5a4d2,

+  0x5842dd54, 0x5a82799a, 0x5cb420e0, 0x5ed77c8a, 0x60ec3830, 0x62f201ac,

+  0x64e88926, 0x66cf8120,

+  0x68a69e81, 0x6a6d98a4, 0x6c242960, 0x6dca0d14, 0x6f5f02b2, 0x70e2cbc6,

+  0x72552c85, 0x73b5ebd1,

+  0x7504d345, 0x7641af3d, 0x776c4edb, 0x78848414, 0x798a23b1, 0x7a7d055b,

+  0x7b5d039e, 0x7c29fbee,

+  0x7ce3ceb2, 0x7d8a5f40, 0x7e1d93ea, 0x7e9d55fc, 0x7f0991c4, 0x7f62368f,

+  0x7fa736b4, 0x7fd8878e,

+  0x7ff62182, 0x7fffffff, 0x7ff62182

+};

+

+/**   

+ * @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), Here range excludes 2*pi.   

+ */

+

+q31_t arm_cos_q31(

+  q31_t x)

+{

+  q31_t cosVal, in, in2;                         /* Temporary variables for input, output */

+  q31_t wa, wb, wc, wd;                          /* Cubic interpolation coefficients */

+  q31_t a, b, c, d;                              /* Four nearest output values */

+  q31_t *tablePtr;                               /* Pointer to table */

+  q31_t fract, fractCube, fractSquare;           /* Temporary values for fractional values */

+  q31_t oneBy6 = 0x15555555;                     /* Fixed point value of 1/6 */

+  q31_t tableSpacing = TABLE_SPACING_Q31;        /* Table spacing */

+  q31_t temp;                                    /* Temporary variable for intermediate process */

+  int32_t index;                                 /* Index variable */

+

+  in = x;

+

+  /* Calculate the nearest index */

+  index = in / tableSpacing;

+

+  /* Calculate the nearest value of input */

+  in2 = ((q31_t) index) * tableSpacing;

+

+  /* Calculation of fractional value */

+  fract = (in - in2) << 8;

+

+  /* fractSquare = fract * fract */

+  fractSquare = ((q31_t) (((q63_t) fract * fract) >> 32));

+  fractSquare = fractSquare << 1;

+

+  /* fractCube = fract * fract * fract */

+  fractCube = ((q31_t) (((q63_t) fractSquare * fract) >> 32));

+  fractCube = fractCube << 1;

+

+  /* Checking min and max index of table */

+  if(index < 0)

+  {

+    index = 0;

+  }

+  else if(index > 256)

+  {

+    index = 256;

+  }

+

+  /* Initialise table pointer */

+  tablePtr = (q31_t *) & cosTableQ31[index];

+

+  /* Cubic interpolation process */

+  /* Calculation of wa */

+  /* wa = -(oneBy6)*fractCube + (fractSquare >> 1u) - (0x2AAAAAAA)*fract; */

+  wa = ((q31_t) (((q63_t) oneBy6 * fractCube) >> 32));

+  temp = 0x2AAAAAAA;

+  wa = (q31_t) ((((q63_t) wa << 32) + ((q63_t) temp * fract)) >> 32);

+  wa = -(wa << 1u);

+  wa += (fractSquare >> 1u);

+

+  /* Read first nearest value of output from the cos table */

+  a = *tablePtr++;

+

+  /* cosVal = a*wa */

+  cosVal = ((q31_t) (((q63_t) a * wa) >> 32));

+

+  /* q31(1.31) Fixed point value of 1 */

+  temp = 0x7FFFFFFF;

+

+  /* Calculation of wb */

+  wb = ((fractCube >> 1u) - (fractSquare + (fract >> 1u))) + temp;

+  /* Read second nearest value of output from the cos table */

+  b = *tablePtr++;

+

+  /*      cosVal += b*wb */

+  cosVal = (q31_t) ((((q63_t) cosVal << 32) + ((q63_t) b * (wb))) >> 32);

+

+  /* Calculation of wc */

+  wc = -fractCube + fractSquare;

+  wc = (wc >> 1u) + fract;

+  /* Read third nearest values of output value from the cos table */

+  c = *tablePtr++;

+

+  /*      cosVal += c*wc */

+  cosVal = (q31_t) ((((q63_t) cosVal << 32) + ((q63_t) c * (wc))) >> 32);

+

+  /* Calculation of wd */

+  /* wd = (oneBy6)*fractCube - (oneBy6)*fract; */

+  fractCube = fractCube - fract;

+  wd = ((q31_t) (((q63_t) oneBy6 * fractCube) >> 32));

+  wd = (wd << 1u);

+

+  /* Read fourth nearest value of output from the cos table */

+  d = *tablePtr++;

+

+  /* cosVal += d*wd; */

+  cosVal = (q31_t) ((((q63_t) cosVal << 32) + ((q63_t) d * (wd))) >> 32);

+

+

+  /* convert cosVal in 2.30 format to 1.31 format */

+  return (__QADD(cosVal, cosVal));

+

+}

+

+/**    

+ * @} end of cos group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c
new file mode 100644
index 000000000..bfe58d5c8
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c
@@ -0,0 +1,281 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_sin_f32.c    

+*    

+* Description:	Fast sine calculation for floating-point values.   

+*    

+* 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 groupFastMath    

+ */

+

+/**    

+ * @defgroup sin Sine    

+ *    

+ * Computes the trigonometric sine function using a combination of table lookup   

+ * and cubic 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), Where range excludes 2*pi.   

+ *   

+ * The implementation is based on table lookup using 256 values together with cubic interpolation.   

+ * The steps used are:   

+ *  -# Calculation of the nearest integer table index   

+ *  -# Fetch the four table values a, b, c, and d     

+ *  -# Compute the fractional portion (fract) of the table index.   

+ *  -# Calculation of wa, wb, wc, wd    

+ *  -# The final result equals <code>a*wa + b*wb + c*wc + d*wd</code>   

+ *   

+ * where   

+ * <pre>    

+ *    a=Table[index-1];    

+ *    b=Table[index+0];    

+ *    c=Table[index+1];    

+ *    d=Table[index+2];    

+ * </pre>   

+ * and   

+ * <pre>    

+ *    wa=-(1/6)*fract.^3 + (1/2)*fract.^2 - (1/3)*fract;    

+ *    wb=(1/2)*fract.^3 - fract.^2 - (1/2)*fract + 1;    

+ *    wc=-(1/2)*fract.^3+(1/2)*fract.^2+fract;    

+ *    wd=(1/6)*fract.^3 - (1/6)*fract;    

+ * </pre>    

+ */

+

+/**    

+ * @addtogroup sin    

+ * @{    

+ */

+

+

+/**   

+ * \par    

+ * Example code for Generation of Floating-point Sin Table:   

+ * tableSize = 256;    

+ * <pre>for(n = -1; n < (tableSize + 1); n++)    

+ * {    

+ *	sinTable[n+1]=sin(2*pi*n/tableSize);    

+ * }</pre>    

+ * \par    

+ * where pi value is  3.14159265358979    

+ */

+

+static const float32_t sinTable[259] = {

+  -0.024541229009628296f, 0.000000000000000000f, 0.024541229009628296f,

+  0.049067676067352295f, 0.073564566671848297f, 0.098017141222953796f,

+  0.122410677373409270f, 0.146730467677116390f,

+  0.170961886644363400f, 0.195090323686599730f, 0.219101235270500180f,

+  0.242980182170867920f, 0.266712754964828490f, 0.290284663438797000f,

+  0.313681751489639280f, 0.336889863014221190f,

+  0.359895050525665280f, 0.382683426141738890f, 0.405241310596466060f,

+  0.427555084228515630f, 0.449611335992813110f, 0.471396744251251220f,

+  0.492898195981979370f, 0.514102756977081300f,

+  0.534997642040252690f, 0.555570244789123540f, 0.575808167457580570f,

+  0.595699310302734380f, 0.615231573581695560f, 0.634393274784088130f,

+  0.653172850608825680f, 0.671558976173400880f,

+  0.689540565013885500f, 0.707106769084930420f, 0.724247097969055180f,

+  0.740951120853424070f, 0.757208824157714840f, 0.773010432720184330f,

+  0.788346409797668460f, 0.803207516670227050f,

+  0.817584812641143800f, 0.831469595432281490f, 0.844853579998016360f,

+  0.857728600502014160f, 0.870086967945098880f, 0.881921291351318360f,

+  0.893224298954010010f, 0.903989315032958980f,

+  0.914209783077239990f, 0.923879504203796390f, 0.932992815971374510f,

+  0.941544055938720700f, 0.949528157711029050f, 0.956940352916717530f,

+  0.963776051998138430f, 0.970031261444091800f,

+  0.975702106952667240f, 0.980785250663757320f, 0.985277652740478520f,

+  0.989176511764526370f, 0.992479562759399410f, 0.995184719562530520f,

+  0.997290432453155520f, 0.998795449733734130f,

+  0.999698817729949950f, 1.000000000000000000f, 0.999698817729949950f,

+  0.998795449733734130f, 0.997290432453155520f, 0.995184719562530520f,

+  0.992479562759399410f, 0.989176511764526370f,

+  0.985277652740478520f, 0.980785250663757320f, 0.975702106952667240f,

+  0.970031261444091800f, 0.963776051998138430f, 0.956940352916717530f,

+  0.949528157711029050f, 0.941544055938720700f,

+  0.932992815971374510f, 0.923879504203796390f, 0.914209783077239990f,

+  0.903989315032958980f, 0.893224298954010010f, 0.881921291351318360f,

+  0.870086967945098880f, 0.857728600502014160f,

+  0.844853579998016360f, 0.831469595432281490f, 0.817584812641143800f,

+  0.803207516670227050f, 0.788346409797668460f, 0.773010432720184330f,

+  0.757208824157714840f, 0.740951120853424070f,

+  0.724247097969055180f, 0.707106769084930420f, 0.689540565013885500f,

+  0.671558976173400880f, 0.653172850608825680f, 0.634393274784088130f,

+  0.615231573581695560f, 0.595699310302734380f,

+  0.575808167457580570f, 0.555570244789123540f, 0.534997642040252690f,

+  0.514102756977081300f, 0.492898195981979370f, 0.471396744251251220f,

+  0.449611335992813110f, 0.427555084228515630f,

+  0.405241310596466060f, 0.382683426141738890f, 0.359895050525665280f,

+  0.336889863014221190f, 0.313681751489639280f, 0.290284663438797000f,

+  0.266712754964828490f, 0.242980182170867920f,

+  0.219101235270500180f, 0.195090323686599730f, 0.170961886644363400f,

+  0.146730467677116390f, 0.122410677373409270f, 0.098017141222953796f,

+  0.073564566671848297f, 0.049067676067352295f,

+  0.024541229009628296f, 0.000000000000000122f, -0.024541229009628296f,

+  -0.049067676067352295f, -0.073564566671848297f, -0.098017141222953796f,

+  -0.122410677373409270f, -0.146730467677116390f,

+  -0.170961886644363400f, -0.195090323686599730f, -0.219101235270500180f,

+  -0.242980182170867920f, -0.266712754964828490f, -0.290284663438797000f,

+  -0.313681751489639280f, -0.336889863014221190f,

+  -0.359895050525665280f, -0.382683426141738890f, -0.405241310596466060f,

+  -0.427555084228515630f, -0.449611335992813110f, -0.471396744251251220f,

+  -0.492898195981979370f, -0.514102756977081300f,

+  -0.534997642040252690f, -0.555570244789123540f, -0.575808167457580570f,

+  -0.595699310302734380f, -0.615231573581695560f, -0.634393274784088130f,

+  -0.653172850608825680f, -0.671558976173400880f,

+  -0.689540565013885500f, -0.707106769084930420f, -0.724247097969055180f,

+  -0.740951120853424070f, -0.757208824157714840f, -0.773010432720184330f,

+  -0.788346409797668460f, -0.803207516670227050f,

+  -0.817584812641143800f, -0.831469595432281490f, -0.844853579998016360f,

+  -0.857728600502014160f, -0.870086967945098880f, -0.881921291351318360f,

+  -0.893224298954010010f, -0.903989315032958980f,

+  -0.914209783077239990f, -0.923879504203796390f, -0.932992815971374510f,

+  -0.941544055938720700f, -0.949528157711029050f, -0.956940352916717530f,

+  -0.963776051998138430f, -0.970031261444091800f,

+  -0.975702106952667240f, -0.980785250663757320f, -0.985277652740478520f,

+  -0.989176511764526370f, -0.992479562759399410f, -0.995184719562530520f,

+  -0.997290432453155520f, -0.998795449733734130f,

+  -0.999698817729949950f, -1.000000000000000000f, -0.999698817729949950f,

+  -0.998795449733734130f, -0.997290432453155520f, -0.995184719562530520f,

+  -0.992479562759399410f, -0.989176511764526370f,

+  -0.985277652740478520f, -0.980785250663757320f, -0.975702106952667240f,

+  -0.970031261444091800f, -0.963776051998138430f, -0.956940352916717530f,

+  -0.949528157711029050f, -0.941544055938720700f,

+  -0.932992815971374510f, -0.923879504203796390f, -0.914209783077239990f,

+  -0.903989315032958980f, -0.893224298954010010f, -0.881921291351318360f,

+  -0.870086967945098880f, -0.857728600502014160f,

+  -0.844853579998016360f, -0.831469595432281490f, -0.817584812641143800f,

+  -0.803207516670227050f, -0.788346409797668460f, -0.773010432720184330f,

+  -0.757208824157714840f, -0.740951120853424070f,

+  -0.724247097969055180f, -0.707106769084930420f, -0.689540565013885500f,

+  -0.671558976173400880f, -0.653172850608825680f, -0.634393274784088130f,

+  -0.615231573581695560f, -0.595699310302734380f,

+  -0.575808167457580570f, -0.555570244789123540f, -0.534997642040252690f,

+  -0.514102756977081300f, -0.492898195981979370f, -0.471396744251251220f,

+  -0.449611335992813110f, -0.427555084228515630f,

+  -0.405241310596466060f, -0.382683426141738890f, -0.359895050525665280f,

+  -0.336889863014221190f, -0.313681751489639280f, -0.290284663438797000f,

+  -0.266712754964828490f, -0.242980182170867920f,

+  -0.219101235270500180f, -0.195090323686599730f, -0.170961886644363400f,

+  -0.146730467677116390f, -0.122410677373409270f, -0.098017141222953796f,

+  -0.073564566671848297f, -0.049067676067352295f,

+  -0.024541229009628296f, -0.000000000000000245f, 0.024541229009628296f

+};

+

+

+/**   

+ * @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 variables for input, output */

+  int32_t index;                                 /* Index variable */

+  uint32_t tableSize = (uint32_t) TABLE_SIZE;    /* Initialise tablesize */

+  float32_t wa, wb, wc, wd;                      /* Cubic interpolation coefficients */

+  float32_t a, b, c, d;                          /* Four nearest output values */

+  float32_t *tablePtr;                           /* Pointer to table */

+  int32_t n;

+  float32_t fractsq, fractby2, fractby6, fractby3, fractsqby2;

+  float32_t oneminusfractby2;

+  float32_t frby2xfrsq, frby6xfrsq;

+

+  /* input x is in radians */

+  /* Scale the 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(x < 0.0f)

+  {

+    n = n - 1;

+  }

+

+  /* Map input value to [0 1] */

+  in = in - (float32_t) n;

+

+  /* Calculation of index of the table */

+  index = (uint32_t) (tableSize * in);

+

+  /* fractional value calculation */

+  fract = ((float32_t) tableSize * in) - (float32_t) index;

+

+  /* Checking min and max index of table */

+  if(index < 0)

+  {

+    index = 0;

+  }

+  else if(index > 256)

+  {

+    index = 256;

+  }

+

+  /* Initialise table pointer */

+  tablePtr = (float32_t *) & sinTable[index];

+

+  /* Read four nearest values of input value from the sin table */

+  a = tablePtr[0];

+  b = tablePtr[1];

+  c = tablePtr[2];

+  d = tablePtr[3];

+

+  /* Cubic interpolation process */

+  fractsq = fract * fract;

+  fractby2 = fract * 0.5f;

+  fractby6 = fract * 0.166666667f;

+  fractby3 = fract * 0.3333333333333f;

+  fractsqby2 = fractsq * 0.5f;

+  frby2xfrsq = (fractby2) * fractsq;

+  frby6xfrsq = (fractby6) * fractsq;

+  oneminusfractby2 = 1.0f - fractby2;

+  wb = fractsqby2 - fractby3;

+  wc = (fractsqby2 + fract);

+  wa = wb - frby6xfrsq;

+  wb = frby2xfrsq - fractsq;

+  sinVal = wa * a;

+  wc = wc - frby2xfrsq;

+  wd = (frby6xfrsq) - fractby6;

+  wb = wb + oneminusfractby2;

+

+  /* Calculate sin value */

+  sinVal = (sinVal + (b * wb)) + ((c * wc) + (d * wd));

+

+  /* Return the output value */

+  return (sinVal);

+

+}

+

+/**    

+ * @} end of sin group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c
new file mode 100644
index 000000000..b53ca3ecc
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c
@@ -0,0 +1,208 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_sin_q15.c    

+*    

+* Description:	Fast sine calculation for Q15 values.   

+*    

+* 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 groupFastMath    

+ */

+

+ /**    

+ * @addtogroup sin    

+ * @{    

+ */

+

+

+/**    

+ * \par    

+ * Example code for Generation of Q15 Sin Table:   

+ * \par    

+ * <pre>tableSize = 256;    

+ * for(n = -1; n < (tableSize + 1); n++)    

+ * {    

+ *	sinTable[n+1]=sin(2*pi*n/tableSize);    

+ * } </pre>    

+ * where pi value is  3.14159265358979    

+ * \par    

+ * Convert Floating point to Q15(Fixed point):    

+ *	(sinTable[i] * pow(2, 15))    

+ * \par    

+ * rounding to nearest integer is done    

+ * 	sinTable[i] += (sinTable[i] > 0 ? 0.5 :-0.5);    

+ */

+

+

+static const q15_t sinTableQ15[259] = {

+  0xfcdc, 0x0, 0x324, 0x648, 0x96b, 0xc8c, 0xfab, 0x12c8,

+  0x15e2, 0x18f9, 0x1c0c, 0x1f1a, 0x2224, 0x2528, 0x2827, 0x2b1f,

+  0x2e11, 0x30fc, 0x33df, 0x36ba, 0x398d, 0x3c57, 0x3f17, 0x41ce,

+  0x447b, 0x471d, 0x49b4, 0x4c40, 0x4ec0, 0x5134, 0x539b, 0x55f6,

+  0x5843, 0x5a82, 0x5cb4, 0x5ed7, 0x60ec, 0x62f2, 0x64e9, 0x66d0,

+  0x68a7, 0x6a6e, 0x6c24, 0x6dca, 0x6f5f, 0x70e3, 0x7255, 0x73b6,

+  0x7505, 0x7642, 0x776c, 0x7885, 0x798a, 0x7a7d, 0x7b5d, 0x7c2a,

+  0x7ce4, 0x7d8a, 0x7e1e, 0x7e9d, 0x7f0a, 0x7f62, 0x7fa7, 0x7fd9,

+  0x7ff6, 0x7fff, 0x7ff6, 0x7fd9, 0x7fa7, 0x7f62, 0x7f0a, 0x7e9d,

+  0x7e1e, 0x7d8a, 0x7ce4, 0x7c2a, 0x7b5d, 0x7a7d, 0x798a, 0x7885,

+  0x776c, 0x7642, 0x7505, 0x73b6, 0x7255, 0x70e3, 0x6f5f, 0x6dca,

+  0x6c24, 0x6a6e, 0x68a7, 0x66d0, 0x64e9, 0x62f2, 0x60ec, 0x5ed7,

+  0x5cb4, 0x5a82, 0x5843, 0x55f6, 0x539b, 0x5134, 0x4ec0, 0x4c40,

+  0x49b4, 0x471d, 0x447b, 0x41ce, 0x3f17, 0x3c57, 0x398d, 0x36ba,

+  0x33df, 0x30fc, 0x2e11, 0x2b1f, 0x2827, 0x2528, 0x2224, 0x1f1a,

+  0x1c0c, 0x18f9, 0x15e2, 0x12c8, 0xfab, 0xc8c, 0x96b, 0x648,

+  0x324, 0x0, 0xfcdc, 0xf9b8, 0xf695, 0xf374, 0xf055, 0xed38,

+  0xea1e, 0xe707, 0xe3f4, 0xe0e6, 0xdddc, 0xdad8, 0xd7d9, 0xd4e1,

+  0xd1ef, 0xcf04, 0xcc21, 0xc946, 0xc673, 0xc3a9, 0xc0e9, 0xbe32,

+  0xbb85, 0xb8e3, 0xb64c, 0xb3c0, 0xb140, 0xaecc, 0xac65, 0xaa0a,

+  0xa7bd, 0xa57e, 0xa34c, 0xa129, 0x9f14, 0x9d0e, 0x9b17, 0x9930,

+  0x9759, 0x9592, 0x93dc, 0x9236, 0x90a1, 0x8f1d, 0x8dab, 0x8c4a,

+  0x8afb, 0x89be, 0x8894, 0x877b, 0x8676, 0x8583, 0x84a3, 0x83d6,

+  0x831c, 0x8276, 0x81e2, 0x8163, 0x80f6, 0x809e, 0x8059, 0x8027,

+  0x800a, 0x8000, 0x800a, 0x8027, 0x8059, 0x809e, 0x80f6, 0x8163,

+  0x81e2, 0x8276, 0x831c, 0x83d6, 0x84a3, 0x8583, 0x8676, 0x877b,

+  0x8894, 0x89be, 0x8afb, 0x8c4a, 0x8dab, 0x8f1d, 0x90a1, 0x9236,

+  0x93dc, 0x9592, 0x9759, 0x9930, 0x9b17, 0x9d0e, 0x9f14, 0xa129,

+  0xa34c, 0xa57e, 0xa7bd, 0xaa0a, 0xac65, 0xaecc, 0xb140, 0xb3c0,

+  0xb64c, 0xb8e3, 0xbb85, 0xbe32, 0xc0e9, 0xc3a9, 0xc673, 0xc946,

+  0xcc21, 0xcf04, 0xd1ef, 0xd4e1, 0xd7d9, 0xdad8, 0xdddc, 0xe0e6,

+  0xe3f4, 0xe707, 0xea1e, 0xed38, 0xf055, 0xf374, 0xf695, 0xf9b8,

+  0xfcdc, 0x0, 0x324

+};

+

+

+/**   

+ * @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), Here range excludes 2*pi.   

+ */

+

+q15_t arm_sin_q15(

+  q15_t x)

+{

+  q31_t sinVal;                                  /* Temporary variables output */

+  q15_t *tablePtr;                               /* Pointer to table */

+  q15_t fract, in, in2;                          /* Temporary variables for input, output */

+  q31_t wa, wb, wc, wd;                          /* Cubic interpolation coefficients */

+  q15_t a, b, c, d;                              /* Four nearest output values */

+  q15_t fractCube, fractSquare;                  /* Temporary values for fractional value */

+  q15_t oneBy6 = 0x1555;                         /* Fixed point value of 1/6 */

+  q15_t tableSpacing = TABLE_SPACING_Q15;        /* Table spacing */

+  int32_t index;                                 /* Index variable */

+

+  in = x;

+

+  /* Calculate the nearest index */

+  index = (int32_t) in / tableSpacing;

+

+  /* Calculate the nearest value of input */

+  in2 = (q15_t) ((index) * tableSpacing);

+

+  /* Calculation of fractional value */

+  fract = (in - in2) << 8;

+

+  /* fractSquare = fract * fract */

+  fractSquare = (q15_t) ((fract * fract) >> 15);

+

+  /* fractCube = fract * fract * fract */

+  fractCube = (q15_t) ((fractSquare * fract) >> 15);

+

+  /* Checking min and max index of table */

+  if(index < 0)

+  {

+    index = 0;

+  }

+  else if(index > 256)

+  {

+    index = 256;

+  }

+

+  /* Initialise table pointer */

+  tablePtr = (q15_t *) & sinTableQ15[index];

+

+  /* Cubic interpolation process */

+  /* Calculation of wa */

+  /* wa = -(oneBy6)*fractCube + (fractSquare >> 1u) - (0x2AAA)*fract; */

+  wa = (q31_t) oneBy6 *fractCube;

+  wa += (q31_t) 0x2AAA *fract;

+  wa = -(wa >> 15);

+  wa += ((q31_t) fractSquare >> 1u);

+

+  /* Read first nearest value of output from the sin table */

+  a = *tablePtr++;

+

+  /* sinVal = a * wa */

+  sinVal = a * wa;

+

+  /* Calculation of wb */

+  wb = (((q31_t) fractCube >> 1u) - (q31_t) fractSquare) -

+    (((q31_t) fract >> 1u) - 0x7FFF);

+

+  /* Read second nearest value of output from the sin table */

+  b = *tablePtr++;

+

+  /*      sinVal += b*wb */

+  sinVal += b * wb;

+

+

+  /* Calculation of wc */

+  wc = -(q31_t) fractCube + fractSquare;

+  wc = (wc >> 1u) + fract;

+

+  /* Read third nearest value of output from the sin table */

+  c = *tablePtr++;

+

+  /* sinVal += c*wc */

+  sinVal += c * wc;

+

+  /* Calculation of wd */

+  /* wd = (oneBy6)*fractCube - (oneBy6)*fract; */

+  fractCube = fractCube - fract;

+  wd = ((q15_t) (((q31_t) oneBy6 * fractCube) >> 15));

+

+  /* Read fourth nearest value of output from the sin table */

+  d = *tablePtr++;

+

+  /* sinVal += d*wd; */

+  sinVal += d * wd;

+

+  /* Convert output value in 1.15(q15) format and saturate */

+  sinVal = __SSAT((sinVal >> 15), 16);

+

+  /* Return the output value in 1.15(q15) format */

+  return ((q15_t) sinVal);

+

+}

+

+/**    

+ * @} end of sin group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c
new file mode 100644
index 000000000..336796b5c
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c
@@ -0,0 +1,240 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_sin_q31.c    

+*    

+* Description:	Fast sine calculation for Q31 values.   

+*    

+* 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 groupFastMath    

+ */

+

+ /**    

+ * @addtogroup sin    

+ * @{    

+ */

+

+/**   

+ * \par    

+ * Tables generated are in Q31(1.31 Fixed point format)    

+ * Generation of sin values in floating point:    

+ * <pre>tableSize = 256;      

+ * for(n = -1; n < (tableSize + 1); n++)    

+ * {    

+ *	sinTable[n+1]= sin(2*pi*n/tableSize);    

+ * } </pre>    

+ * where pi value is  3.14159265358979    

+ * \par    

+ * Convert Floating point to Q31(Fixed point):    

+ *	(sinTable[i] * pow(2, 31))    

+ * \par    

+ * rounding to nearest integer is done    

+ * 	sinTable[i] += (sinTable[i] > 0 ? 0.5 :-0.5);    

+ */

+

+static const q31_t sinTableQ31[259] = {

+  0xfcdbd541, 0x0, 0x3242abf, 0x647d97c, 0x96a9049, 0xc8bd35e, 0xfab272b,

+  0x12c8106f,

+  0x15e21445, 0x18f8b83c, 0x1c0b826a, 0x1f19f97b, 0x2223a4c5, 0x25280c5e,

+  0x2826b928, 0x2b1f34eb,

+  0x2e110a62, 0x30fbc54d, 0x33def287, 0x36ba2014, 0x398cdd32, 0x3c56ba70,

+  0x3f1749b8, 0x41ce1e65,

+  0x447acd50, 0x471cece7, 0x49b41533, 0x4c3fdff4, 0x4ebfe8a5, 0x5133cc94,

+  0x539b2af0, 0x55f5a4d2,

+  0x5842dd54, 0x5a82799a, 0x5cb420e0, 0x5ed77c8a, 0x60ec3830, 0x62f201ac,

+  0x64e88926, 0x66cf8120,

+  0x68a69e81, 0x6a6d98a4, 0x6c242960, 0x6dca0d14, 0x6f5f02b2, 0x70e2cbc6,

+  0x72552c85, 0x73b5ebd1,

+  0x7504d345, 0x7641af3d, 0x776c4edb, 0x78848414, 0x798a23b1, 0x7a7d055b,

+  0x7b5d039e, 0x7c29fbee,

+  0x7ce3ceb2, 0x7d8a5f40, 0x7e1d93ea, 0x7e9d55fc, 0x7f0991c4, 0x7f62368f,

+  0x7fa736b4, 0x7fd8878e,

+  0x7ff62182, 0x7fffffff, 0x7ff62182, 0x7fd8878e, 0x7fa736b4, 0x7f62368f,

+  0x7f0991c4, 0x7e9d55fc,

+  0x7e1d93ea, 0x7d8a5f40, 0x7ce3ceb2, 0x7c29fbee, 0x7b5d039e, 0x7a7d055b,

+  0x798a23b1, 0x78848414,

+  0x776c4edb, 0x7641af3d, 0x7504d345, 0x73b5ebd1, 0x72552c85, 0x70e2cbc6,

+  0x6f5f02b2, 0x6dca0d14,

+  0x6c242960, 0x6a6d98a4, 0x68a69e81, 0x66cf8120, 0x64e88926, 0x62f201ac,

+  0x60ec3830, 0x5ed77c8a,

+  0x5cb420e0, 0x5a82799a, 0x5842dd54, 0x55f5a4d2, 0x539b2af0, 0x5133cc94,

+  0x4ebfe8a5, 0x4c3fdff4,

+  0x49b41533, 0x471cece7, 0x447acd50, 0x41ce1e65, 0x3f1749b8, 0x3c56ba70,

+  0x398cdd32, 0x36ba2014,

+  0x33def287, 0x30fbc54d, 0x2e110a62, 0x2b1f34eb, 0x2826b928, 0x25280c5e,

+  0x2223a4c5, 0x1f19f97b,

+  0x1c0b826a, 0x18f8b83c, 0x15e21445, 0x12c8106f, 0xfab272b, 0xc8bd35e,

+  0x96a9049, 0x647d97c,

+  0x3242abf, 0x0, 0xfcdbd541, 0xf9b82684, 0xf6956fb7, 0xf3742ca2, 0xf054d8d5,

+  0xed37ef91,

+  0xea1debbb, 0xe70747c4, 0xe3f47d96, 0xe0e60685, 0xdddc5b3b, 0xdad7f3a2,

+  0xd7d946d8, 0xd4e0cb15,

+  0xd1eef59e, 0xcf043ab3, 0xcc210d79, 0xc945dfec, 0xc67322ce, 0xc3a94590,

+  0xc0e8b648, 0xbe31e19b,

+  0xbb8532b0, 0xb8e31319, 0xb64beacd, 0xb3c0200c, 0xb140175b, 0xaecc336c,

+  0xac64d510, 0xaa0a5b2e,

+  0xa7bd22ac, 0xa57d8666, 0xa34bdf20, 0xa1288376, 0x9f13c7d0, 0x9d0dfe54,

+  0x9b1776da, 0x99307ee0,

+  0x9759617f, 0x9592675c, 0x93dbd6a0, 0x9235f2ec, 0x90a0fd4e, 0x8f1d343a,

+  0x8daad37b, 0x8c4a142f,

+  0x8afb2cbb, 0x89be50c3, 0x8893b125, 0x877b7bec, 0x8675dc4f, 0x8582faa5,

+  0x84a2fc62, 0x83d60412,

+  0x831c314e, 0x8275a0c0, 0x81e26c16, 0x8162aa04, 0x80f66e3c, 0x809dc971,

+  0x8058c94c, 0x80277872,

+  0x8009de7e, 0x80000000, 0x8009de7e, 0x80277872, 0x8058c94c, 0x809dc971,

+  0x80f66e3c, 0x8162aa04,

+  0x81e26c16, 0x8275a0c0, 0x831c314e, 0x83d60412, 0x84a2fc62, 0x8582faa5,

+  0x8675dc4f, 0x877b7bec,

+  0x8893b125, 0x89be50c3, 0x8afb2cbb, 0x8c4a142f, 0x8daad37b, 0x8f1d343a,

+  0x90a0fd4e, 0x9235f2ec,

+  0x93dbd6a0, 0x9592675c, 0x9759617f, 0x99307ee0, 0x9b1776da, 0x9d0dfe54,

+  0x9f13c7d0, 0xa1288376,

+  0xa34bdf20, 0xa57d8666, 0xa7bd22ac, 0xaa0a5b2e, 0xac64d510, 0xaecc336c,

+  0xb140175b, 0xb3c0200c,

+  0xb64beacd, 0xb8e31319, 0xbb8532b0, 0xbe31e19b, 0xc0e8b648, 0xc3a94590,

+  0xc67322ce, 0xc945dfec,

+  0xcc210d79, 0xcf043ab3, 0xd1eef59e, 0xd4e0cb15, 0xd7d946d8, 0xdad7f3a2,

+  0xdddc5b3b, 0xe0e60685,

+  0xe3f47d96, 0xe70747c4, 0xea1debbb, 0xed37ef91, 0xf054d8d5, 0xf3742ca2,

+  0xf6956fb7, 0xf9b82684,

+  0xfcdbd541, 0x0, 0x3242abf

+};

+

+

+/**   

+ * @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), Here range excludes 2*pi.   

+ */

+

+q31_t arm_sin_q31(

+  q31_t x)

+{

+  q31_t sinVal, in, in2;                         /* Temporary variables for input, output */

+  int32_t index;                                 /* Index variables */

+  q31_t wa, wb, wc, wd;                          /* Cubic interpolation coefficients */

+  q31_t a, b, c, d;                              /* Four nearest output values */

+  q31_t *tablePtr;                               /* Pointer to table */

+  q31_t fract, fractCube, fractSquare;           /* Temporary values for fractional values */

+  q31_t oneBy6 = 0x15555555;                     /* Fixed point value of 1/6 */

+  q31_t tableSpacing = TABLE_SPACING_Q31;        /* Table spacing */

+  q31_t temp;                                    /* Temporary variable for intermediate process */

+

+  in = x;

+

+  /* Calculate the nearest index */

+  index = (uint32_t) in / (uint32_t) tableSpacing;

+

+  /* Calculate the nearest value of input */

+  in2 = (q31_t) index *tableSpacing;

+

+  /* Calculation of fractional value */

+  fract = (in - in2) << 8;

+

+  /* fractSquare = fract * fract */

+  fractSquare = ((q31_t) (((q63_t) fract * fract) >> 32));

+  fractSquare = fractSquare << 1;

+

+  /* fractCube = fract * fract * fract */

+  fractCube = ((q31_t) (((q63_t) fractSquare * fract) >> 32));

+  fractCube = fractCube << 1;

+

+  /* Checking min and max index of table */

+  if(index < 0)

+  {

+    index = 0;

+  }

+  else if(index > 256)

+  {

+    index = 256;

+  }

+

+  /* Initialise table pointer */

+  tablePtr = (q31_t *) & sinTableQ31[index];

+

+  /* Cubic interpolation process */

+  /* Calculation of wa */

+  /* wa = -(oneBy6)*fractCube + (fractSquare >> 1u) - (0x2AAAAAAA)*fract; */

+  wa = ((q31_t) (((q63_t) oneBy6 * fractCube) >> 32));

+  temp = 0x2AAAAAAA;

+  wa = (q31_t) ((((q63_t) wa << 32) + ((q63_t) temp * fract)) >> 32);

+  wa = -(wa << 1u);

+  wa += (fractSquare >> 1u);

+

+  /* Read first nearest value of output from the sin table */

+  a = *tablePtr++;

+

+  /* sinVal = a*wa */

+  sinVal = ((q31_t) (((q63_t) a * wa) >> 32));

+

+  /* q31(1.31) Fixed point value of 1 */

+  temp = 0x7FFFFFFF;

+

+  /* Calculation of wb */

+  wb = ((fractCube >> 1u) - (fractSquare + (fract >> 1u))) + temp;

+

+  /* Read second nearest value of output from the sin table */

+  b = *tablePtr++;

+

+  /*  sinVal += b*wb */

+  sinVal = (q31_t) ((((q63_t) sinVal << 32) + (q63_t) b * (wb)) >> 32);

+

+  /* Calculation of wc */

+  wc = -fractCube + fractSquare;

+  wc = (wc >> 1u) + fract;

+

+  /* Read third nearest value of output from the sin table */

+  c = *tablePtr++;

+

+  /*      sinVal += c*wc */

+  sinVal = (q31_t) ((((q63_t) sinVal << 32) + ((q63_t) c * wc)) >> 32);

+

+  /* Calculation of wd */

+  /* wd = (oneBy6) * fractCube - (oneBy6) * fract; */

+  fractCube = fractCube - fract;

+  wd = ((q31_t) (((q63_t) oneBy6 * fractCube) >> 32));

+  wd = (wd << 1u);

+

+  /* Read fourth nearest value of output from the sin table */

+  d = *tablePtr++;

+

+  /* sinVal += d*wd; */

+  sinVal = (q31_t) ((((q63_t) sinVal << 32) + ((q63_t) d * wd)) >> 32);

+

+  /* convert sinVal in 2.30 format to 1.31 format */

+  return (__QADD(sinVal, sinVal));

+

+}

+

+/**    

+ * @} end of sin group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c
new file mode 100644
index 000000000..0a6d6a53a
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c
@@ -0,0 +1,131 @@
+/* ----------------------------------------------------------------------     

+* Copyright (C) 2011 ARM Limited. All rights reserved.  

+*     

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*     

+* Project:      CMSIS DSP Library  

+* Title:		arm_sqrt_q15.c     

+*     

+* Description:	Q15 square root 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 1.0.0 2011/03/08 

+*     Alpha release. 

+* 

+* Version 1.0.1 2011/09/30 

+*     Beta release.  

+*     

+* -------------------------------------------------------------------- */

+#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  square root of input value.    

+   * @return The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if    

+   * <code>in</code> is negative value and returns zero output for negative values.    

+   */

+

+arm_status arm_sqrt_q15(

+  q15_t in,

+  q15_t * pOut)

+{

+  q15_t number, temp1, var1, signBits1, half;

+  q31_t bits_val1;

+  float32_t temp_float1;

+

+  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 */

+    bits_val1 = *(int *) &temp_float1;

+    /* Subtract the shifted value from the magic number to give intial guess */

+    bits_val1 = 0x5f3759df - (bits_val1 >> 1);  // gives initial guess  

+    /* Store as float */

+    temp_float1 = *(float *) &bits_val1;

+    /* 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     

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c
new file mode 100644
index 000000000..2a3b7ac18
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c
@@ -0,0 +1,129 @@
+/* ----------------------------------------------------------------------     

+* Copyright (C) 2011 ARM Limited. All rights reserved.  

+*     

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*     

+* Project:      CMSIS DSP Library  

+* Title:		arm_sqrt_q31.c     

+*     

+* Description:	Q31 square root 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 1.0.0 2011/03/08 

+*     Alpha release. 

+* 

+* Version 1.0.1 2011/09/30 

+*     Beta release.  

+*     

+* -------------------------------------------------------------------- */

+#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 square root of input value.    

+ * @return The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if    

+ * <code>in</code> is negative value and returns zero output for negative values.    

+ */

+

+arm_status arm_sqrt_q31(

+  q31_t in,

+  q31_t * pOut)

+{

+  q31_t number, temp1, bits_val1, var1, signBits1, half;

+  float32_t temp_float1;

+

+  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 */

+    bits_val1 = *(int *) &temp_float1;

+    /* Subtract the shifted value from the magic number to give intial guess */

+    bits_val1 = 0x5f3759df - (bits_val1 >> 1);  // gives initial guess  

+    /* Store as float */

+    temp_float1 = *(float *) &bits_val1;

+    /* 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     

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c
new file mode 100644
index 000000000..a6745c0cd
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c
@@ -0,0 +1,105 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_biquad_cascade_df1_32x64_init_q31.c    

+*    

+* Description:	High precision Q31 Biquad cascade filter initialization 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup BiquadCascadeDF1_32x64    

+ * @{    

+ */

+

+/**    

+ * @details    

+ *    

+ * @param[in,out] *S           	points to an instance of the high precision Q31 Biquad cascade filter structure.    

+ * @param[in]     numStages     number of 2nd order stages in the filter.    

+ * @param[in]     *pCoeffs      points to the filter coefficients.    

+ * @param[in]     *pState       points to the state buffer.    

+ * @param[in]     postShift     Shift to be applied after the accumulator.  Varies according to the coefficients format.    

+ * @return        none    

+ *    

+ * <b>Coefficient and State Ordering:</b>    

+ *    

+ * \par    

+ * The coefficients are stored in the array <code>pCoeffs</code> in the following order:    

+ * <pre>    

+ *     {b10, b11, b12, a11, a12, b20, b21, b22, a21, a22, ...}    

+ * </pre>    

+ * where <code>b1x</code> and <code>a1x</code> are the coefficients for the first stage,    

+ * <code>b2x</code> and <code>a2x</code> are the coefficients for the second stage,    

+ * and so on.  The <code>pCoeffs</code> array contains a total of <code>5*numStages</code> values.    

+ *    

+ * \par    

+ * The <code>pState</code> points to state variables array and size of each state variable is 1.63 format.    

+ * Each Biquad stage has 4 state variables <code>x[n-1], x[n-2], y[n-1],</code> and <code>y[n-2]</code>.    

+ * The state variables are arranged in the state array as:    

+ * <pre>    

+ *     {x[n-1], x[n-2], y[n-1], y[n-2]}    

+ * </pre>    

+ * The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on.    

+ * The state array has a total length of <code>4*numStages</code> values.    

+ * The state variables are updated after each block of data is processed; the coefficients are untouched.    

+ */

+

+void arm_biquad_cas_df1_32x64_init_q31(

+  arm_biquad_cas_df1_32x64_ins_q31 * S,

+  uint8_t numStages,

+  q31_t * pCoeffs,

+  q63_t * pState,

+  uint8_t postShift)

+{

+  /* Assign filter stages */

+  S->numStages = numStages;

+

+  /* Assign postShift to be applied to the output */

+  S->postShift = postShift;

+

+  /* Assign coefficient pointer */

+  S->pCoeffs = pCoeffs;

+

+  /* Clear state buffer and size is always 4 * numStages */

+  memset(pState, 0, (4u * (uint32_t) numStages) * sizeof(q63_t));

+

+  /* Assign state pointer */

+  S->pState = pState;

+}

+

+/**    

+ * @} end of BiquadCascadeDF1_32x64 group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c
new file mode 100644
index 000000000..82d6164ee
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c
@@ -0,0 +1,553 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_biquad_cascade_df1_32x64_q31.c    

+*    

+* Description:	High precision Q31 Biquad cascade 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @defgroup BiquadCascadeDF1_32x64 High Precision Q31 Biquad Cascade Filter    

+ *    

+ * This function implements a high precision Biquad cascade filter which operates on    

+ * Q31 data values.  The filter coefficients are in 1.31 format and the state variables    

+ * are in 1.63 format.  The double precision state variables reduce quantization noise    

+ * in the filter and provide a cleaner output.    

+ * These filters are particularly useful when implementing filters in which the    

+ * singularities are close to the unit circle.  This is common for low pass or high    

+ * pass filters with very low cutoff frequencies.    

+ *    

+ * The function operates on blocks of input and output data    

+ * and each call to the function processes <code>blockSize</code> samples through    

+ * the filter. <code>pSrc</code> and <code>pDst</code> points to input and output arrays    

+ * containing <code>blockSize</code> Q31 values.    

+ *    

+ * \par Algorithm    

+ * Each Biquad stage implements a second order filter using the difference equation:    

+ * <pre>    

+ *     y[n] = b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]    

+ * </pre>    

+ * A Direct Form I algorithm is used with 5 coefficients and 4 state variables per stage.    

+ * \image html Biquad.gif "Single Biquad filter stage"    

+ * Coefficients <code>b0, b1, and b2 </code> multiply the input signal <code>x[n]</code> and are referred to as the feedforward coefficients.    

+ * Coefficients <code>a1</code> and <code>a2</code> multiply the output signal <code>y[n]</code> and are referred to as the feedback coefficients.    

+ * Pay careful attention to the sign of the feedback coefficients.    

+ * Some design tools use the difference equation    

+ * <pre>    

+ *     y[n] = b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] - a1 * y[n-1] - a2 * y[n-2]    

+ * </pre>    

+ * In this case the feedback coefficients <code>a1</code> and <code>a2</code> must be negated when used with the CMSIS DSP Library.    

+ *    

+ * \par    

+ * Higher order filters are realized as a cascade of second order sections.    

+ * <code>numStages</code> refers to the number of second order stages used.    

+ * For example, an 8th order filter would be realized with <code>numStages=4</code> second order stages.    

+ * \image html BiquadCascade.gif "8th order filter using a cascade of Biquad stages"    

+ * A 9th order filter would be realized with <code>numStages=5</code> second order stages with the coefficients for one of the stages configured as a first order filter (<code>b2=0</code> and <code>a2=0</code>).    

+ *    

+ * \par    

+ * The <code>pState</code> points to state variables array .    

+ * Each Biquad stage has 4 state variables <code>x[n-1], x[n-2], y[n-1],</code> and <code>y[n-2]</code> and each state variable in 1.63 format to improve precision.    

+ * The state variables are arranged in the array as:    

+ * <pre>    

+ *     {x[n-1], x[n-2], y[n-1], y[n-2]}    

+ * </pre>    

+ *    

+ * \par    

+ * The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on.    

+ * The state array has a total length of <code>4*numStages</code> values of data in 1.63 format.    

+ * The state variables are updated after each block of data is processed; the coefficients are untouched.    

+ *    

+ * \par Instance Structure    

+ * The coefficients and state variables for a filter are stored together in an instance data structure.    

+ * A separate instance structure must be defined for each filter.    

+ * Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.    

+ *    

+ * \par Init Function    

+ * There is also an associated initialization function which performs the following operations:    

+ * - Sets the values of the internal structure fields.    

+ * - Zeros out the values in the state buffer.    

+ * \par    

+ * Use of the initialization function is optional.    

+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    

+ * To place an instance structure into a const data section, the instance structure must be manually initialized.    

+ * Set the values in the state buffer to zeros before static initialization.    

+ * For example, to statically initialize the filter instance structure use    

+ * <pre>    

+ *     arm_biquad_cas_df1_32x64_ins_q31 S1 = {numStages, pState, pCoeffs, postShift};    

+ * </pre>    

+ * where <code>numStages</code> is the number of Biquad stages in the filter; <code>pState</code> is the address of the state buffer;    

+ * <code>pCoeffs</code> is the address of the coefficient buffer; <code>postShift</code> shift to be applied which is described in detail below.    

+ * \par Fixed-Point Behavior    

+ * Care must be taken while using Biquad Cascade 32x64 filter function.    

+ * Following issues must be considered:    

+ * - Scaling of coefficients    

+ * - Filter gain    

+ * - Overflow and saturation    

+ *    

+ * \par    

+ * Filter coefficients are represented as fractional values and    

+ * restricted to lie in the range <code>[-1 +1)</code>.    

+ * The processing function has an additional scaling parameter <code>postShift</code>    

+ * which allows the filter coefficients to exceed the range <code>[+1 -1)</code>.    

+ * At the output of the filter's accumulator is a shift register which shifts the result by <code>postShift</code> bits.    

+ * \image html BiquadPostshift.gif "Fixed-point Biquad with shift by postShift bits after accumulator"    

+ * This essentially scales the filter coefficients by <code>2^postShift</code>.    

+ * For example, to realize the coefficients    

+ * <pre>    

+ *    {1.5, -0.8, 1.2, 1.6, -0.9}    

+ * </pre>    

+ * set the Coefficient array to:    

+ * <pre>    

+ *    {0.75, -0.4, 0.6, 0.8, -0.45}    

+ * </pre>    

+ * and set <code>postShift=1</code>    

+ *    

+ * \par    

+ * The second thing to keep in mind is the gain through the filter.    

+ * The frequency response of a Biquad filter is a function of its coefficients.    

+ * It is possible for the gain through the filter to exceed 1.0 meaning that the filter increases the amplitude of certain frequencies.    

+ * This means that an input signal with amplitude < 1.0 may result in an output > 1.0 and these are saturated or overflowed based on the implementation of the filter.    

+ * To avoid this behavior the filter needs to be scaled down such that its peak gain < 1.0 or the input signal must be scaled down so that the combination of input and filter are never overflowed.    

+ *    

+ * \par    

+ * The third item to consider is the overflow and saturation behavior of the fixed-point Q31 version.    

+ * This is described in the function specific documentation below.    

+ */

+

+/**    

+ * @addtogroup BiquadCascadeDF1_32x64    

+ * @{    

+ */

+

+/**    

+ * @details    

+    

+ * @param[in]  *S points to an instance of the high precision Q31 Biquad cascade filter.    

+ * @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.    

+ * @return none.    

+ *    

+ * \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.    

+ * Thus, if the accumulator result overflows it wraps around rather than clip.    

+ * In order to avoid overflows completely the input signal must be scaled down by 2 bits and lie in the range [-0.25 +0.25).    

+ * After all 5 multiply-accumulates are performed, the 2.62 accumulator is shifted by <code>postShift</code> bits and the result truncated to    

+ * 1.31 format by discarding the low 32 bits.    

+ *    

+ * \par    

+ * Two related functions are provided in the CMSIS DSP library.    

+ * <code>arm_biquad_cascade_df1_q31()</code> implements a Biquad cascade with 32-bit coefficients and state variables with a Q63 accumulator.    

+ * <code>arm_biquad_cascade_df1_fast_q31()</code> implements a Biquad cascade with 32-bit coefficients and state variables with a Q31 accumulator.    

+ */

+

+void arm_biquad_cas_df1_32x64_q31(

+  const arm_biquad_cas_df1_32x64_ins_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize)

+{

+  q31_t *pIn = pSrc;                             /*  input pointer initialization  */

+  q31_t *pOut = pDst;                            /*  output pointer initialization */

+  q63_t *pState = S->pState;                     /*  state pointer initialization  */

+  q31_t *pCoeffs = S->pCoeffs;                   /*  coeff pointer initialization  */

+  q63_t acc;                                     /*  accumulator                   */

+  q31_t Xn1, Xn2;                                /*  Input Filter state variables        */

+  q63_t Yn1, Yn2;                                /*  Output Filter state variables        */

+  q31_t b0, b1, b2, a1, a2;                      /*  Filter coefficients           */

+  q31_t Xn;                                      /*  temporary input               */

+  int32_t shift = (int32_t) S->postShift + 1;    /*  Shift to be applied to the output */

+  uint32_t sample, stage = S->numStages;         /*  loop counters                     */

+  q31_t acc_l, acc_h;                            /*  temporary output               */

+  uint32_t uShift = ((uint32_t) S->postShift + 1u);

+  uint32_t lShift = 32u - uShift;                /*  Shift to be applied to the output */

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  do

+  {

+    /* Reading the coefficients */

+    b0 = *pCoeffs++;

+    b1 = *pCoeffs++;

+    b2 = *pCoeffs++;

+    a1 = *pCoeffs++;

+    a2 = *pCoeffs++;

+

+    /* Reading the state values */

+    Xn1 = (q31_t) (pState[0]);

+    Xn2 = (q31_t) (pState[1]);

+    Yn1 = pState[2];

+    Yn2 = pState[3];

+

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

+    /* The variable acc hold output value that is being computed and    

+     * stored in the destination buffer    

+     * acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]    

+     */

+

+    sample = 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(sample > 0u)

+    {

+      /* Read the input */

+      Xn = *pIn++;

+

+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */

+

+      /* acc =  b0 * x[n] */

+      acc = (q63_t) Xn *b0;

+

+      /* acc +=  b1 * x[n-1] */

+      acc += (q63_t) Xn1 *b1;

+

+      /* acc +=  b[2] * x[n-2] */

+      acc += (q63_t) Xn2 *b2;

+

+      /* acc +=  a1 * y[n-1] */

+      acc += mult32x64(Yn1, a1);

+

+      /* acc +=  a2 * y[n-2] */

+      acc += mult32x64(Yn2, a2);

+

+      /* The result is converted to 1.63 , Yn2 variable is reused */

+      Yn2 = acc << shift;

+

+      /* Calc lower part of acc */

+      acc_l = acc & 0xffffffff;

+

+      /* Calc upper part of acc */

+      acc_h = (acc >> 32) & 0xffffffff;

+

+      /* Apply shift for lower part of acc and upper part of acc */

+      acc_h = (uint32_t) acc_l >> lShift | acc_h << uShift;

+

+      /* Store the output in the destination buffer in 1.31 format. */

+      *pOut = acc_h;

+

+      /* Read the second input into Xn2, to reuse the value */

+      Xn2 = *pIn++;

+

+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */

+

+      /* acc +=  b1 * x[n-1] */

+      acc = (q63_t) Xn *b1;

+

+      /* acc =  b0 * x[n] */

+      acc += (q63_t) Xn2 *b0;

+

+      /* acc +=  b[2] * x[n-2] */

+      acc += (q63_t) Xn1 *b2;

+

+      /* acc +=  a1 * y[n-1] */

+      acc += mult32x64(Yn2, a1);

+

+      /* acc +=  a2 * y[n-2] */

+      acc += mult32x64(Yn1, a2);

+

+      /* The result is converted to 1.63, Yn1 variable is reused */

+      Yn1 = acc << shift;

+

+      /* Calc lower part of acc */

+      acc_l = acc & 0xffffffff;

+

+      /* Calc upper part of acc */

+      acc_h = (acc >> 32) & 0xffffffff;

+

+      /* Apply shift for lower part of acc and upper part of acc */

+      acc_h = (uint32_t) acc_l >> lShift | acc_h << uShift;

+

+      /* Read the third input into Xn1, to reuse the value */

+      Xn1 = *pIn++;

+

+      /* The result is converted to 1.31 */

+      /* Store the output in the destination buffer. */

+      *(pOut + 1u) = acc_h;

+

+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */

+

+      /* acc =  b0 * x[n] */

+      acc = (q63_t) Xn1 *b0;

+

+      /* acc +=  b1 * x[n-1] */

+      acc += (q63_t) Xn2 *b1;

+

+      /* acc +=  b[2] * x[n-2] */

+      acc += (q63_t) Xn *b2;

+

+      /* acc +=  a1 * y[n-1] */

+      acc += mult32x64(Yn1, a1);

+

+      /* acc +=  a2 * y[n-2] */

+      acc += mult32x64(Yn2, a2);

+

+      /* The result is converted to 1.63, Yn2 variable is reused  */

+      Yn2 = acc << shift;

+

+      /* Calc lower part of acc */

+      acc_l = acc & 0xffffffff;

+

+      /* Calc upper part of acc */

+      acc_h = (acc >> 32) & 0xffffffff;

+

+      /* Apply shift for lower part of acc and upper part of acc */

+      acc_h = (uint32_t) acc_l >> lShift | acc_h << uShift;

+

+      /* Store the output in the destination buffer in 1.31 format. */

+      *(pOut + 2u) = acc_h;

+

+      /* Read the fourth input into Xn, to reuse the value */

+      Xn = *pIn++;

+

+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */

+      /* acc =  b0 * x[n] */

+      acc = (q63_t) Xn *b0;

+

+      /* acc +=  b1 * x[n-1] */

+      acc += (q63_t) Xn1 *b1;

+

+      /* acc +=  b[2] * x[n-2] */

+      acc += (q63_t) Xn2 *b2;

+

+      /* acc +=  a1 * y[n-1] */

+      acc += mult32x64(Yn2, a1);

+

+      /* acc +=  a2 * y[n-2] */

+      acc += mult32x64(Yn1, a2);

+

+      /* The result is converted to 1.63, Yn1 variable is reused  */

+      Yn1 = acc << shift;

+

+      /* Calc lower part of acc */

+      acc_l = acc & 0xffffffff;

+

+      /* Calc upper part of acc */

+      acc_h = (acc >> 32) & 0xffffffff;

+

+      /* Apply shift for lower part of acc and upper part of acc */

+      acc_h = (uint32_t) acc_l >> lShift | acc_h << uShift;

+

+      /* Store the output in the destination buffer in 1.31 format. */

+      *(pOut + 3u) = acc_h;

+

+      /* Every time after the output is computed state should be updated. */

+      /* The states should be updated as:  */

+      /* Xn2 = Xn1    */

+      /* Xn1 = Xn     */

+      /* Yn2 = Yn1    */

+      /* Yn1 = acc    */

+      Xn2 = Xn1;

+      Xn1 = Xn;

+

+      /* update output pointer */

+      pOut += 4u;

+

+      /* decrement the loop counter */

+      sample--;

+    }

+

+    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    

+     ** No loop unrolling is used. */

+    sample = (blockSize & 0x3u);

+

+    while(sample > 0u)

+    {

+      /* Read the input */

+      Xn = *pIn++;

+

+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */

+

+      /* acc =  b0 * x[n] */

+      acc = (q63_t) Xn *b0;

+      /* acc +=  b1 * x[n-1] */

+      acc += (q63_t) Xn1 *b1;

+      /* acc +=  b[2] * x[n-2] */

+      acc += (q63_t) Xn2 *b2;

+      /* acc +=  a1 * y[n-1] */

+      acc += mult32x64(Yn1, a1);

+      /* acc +=  a2 * y[n-2] */

+      acc += mult32x64(Yn2, a2);

+

+      /* Every time after the output is computed state should be updated. */

+      /* The states should be updated as:  */

+      /* Xn2 = Xn1    */

+      /* Xn1 = Xn     */

+      /* Yn2 = Yn1    */

+      /* Yn1 = acc    */

+      Xn2 = Xn1;

+      Xn1 = Xn;

+      Yn2 = Yn1;

+      /* The result is converted to 1.63, Yn1 variable is reused  */

+      Yn1 = acc << shift;

+

+      /* Calc lower part of acc */

+      acc_l = acc & 0xffffffff;

+

+      /* Calc upper part of acc */

+      acc_h = (acc >> 32) & 0xffffffff;

+

+      /* Apply shift for lower part of acc and upper part of acc */

+      acc_h = (uint32_t) acc_l >> lShift | acc_h << uShift;

+

+      /* Store the output in the destination buffer in 1.31 format. */

+      *pOut++ = acc_h;

+      //Yn1 = acc << shift; 

+

+      /* Store the output in the destination buffer in 1.31 format. */

+//      *pOut++ = (q31_t) (acc >> (32 - shift)); 

+

+      /* decrement the loop counter */

+      sample--;

+    }

+

+    /*  The first stage output is given as input to the second stage. */

+    pIn = pDst;

+

+    /* Reset to destination buffer working pointer */

+    pOut = pDst;

+

+    /*  Store the updated state variables back into the pState array */

+    /*  Store the updated state variables back into the pState array */

+    *pState++ = (q63_t) Xn1;

+    *pState++ = (q63_t) Xn2;

+    *pState++ = Yn1;

+    *pState++ = Yn2;

+

+  } while(--stage);

+

+#else

+

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

+

+  do

+  {

+    /* Reading the coefficients */

+    b0 = *pCoeffs++;

+    b1 = *pCoeffs++;

+    b2 = *pCoeffs++;

+    a1 = *pCoeffs++;

+    a2 = *pCoeffs++;

+

+    /* Reading the state values */

+    Xn1 = pState[0];

+    Xn2 = pState[1];

+    Yn1 = pState[2];

+    Yn2 = pState[3];

+

+    /* The variable acc hold output value that is being computed and        

+     * stored in the destination buffer            

+     * acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]            

+     */

+

+    sample = blockSize;

+

+    while(sample > 0u)

+    {

+      /* Read the input */

+      Xn = *pIn++;

+

+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */

+      /* acc =  b0 * x[n] */

+      acc = (q63_t) Xn *b0;

+      /* acc +=  b1 * x[n-1] */

+      acc += (q63_t) Xn1 *b1;

+      /* acc +=  b[2] * x[n-2] */

+      acc += (q63_t) Xn2 *b2;

+      /* acc +=  a1 * y[n-1] */

+      acc += mult32x64(Yn1, a1);

+      /* acc +=  a2 * y[n-2] */

+      acc += mult32x64(Yn2, a2);

+

+      /* Every time after the output is computed state should be updated. */

+      /* The states should be updated as:  */

+      /* Xn2 = Xn1    */

+      /* Xn1 = Xn     */

+      /* Yn2 = Yn1    */

+      /* Yn1 = acc    */

+      Xn2 = Xn1;

+      Xn1 = Xn;

+      Yn2 = Yn1;

+

+      /* The result is converted to 1.63, Yn1 variable is reused  */

+      Yn1 = acc << shift;

+

+      /* Calc lower part of acc */

+      acc_l = acc & 0xffffffff;

+

+      /* Calc upper part of acc */

+      acc_h = (acc >> 32) & 0xffffffff;

+

+      /* Apply shift for lower part of acc and upper part of acc */

+      acc_h = (uint32_t) acc_l >> lShift | acc_h << uShift;

+

+      /* Store the output in the destination buffer in 1.31 format. */

+      *pOut++ = acc_h;

+

+      //Yn1 = acc << shift; 

+

+      /* Store the output in the destination buffer in 1.31 format. */

+      //*pOut++ = (q31_t) (acc >> (32 - shift)); 

+

+      /* decrement the loop counter */

+      sample--;

+    }

+

+    /*  The first stage output is given as input to the second stage. */

+    pIn = pDst;

+

+    /* Reset to destination buffer working pointer */

+    pOut = pDst;

+

+    /*  Store the updated state variables back into the pState array */

+    *pState++ = (q63_t) Xn1;

+    *pState++ = (q63_t) Xn2;

+    *pState++ = Yn1;

+    *pState++ = Yn2;

+

+  } while(--stage);

+

+#endif /*    #ifndef ARM_MATH_CM0     */

+}

+

+  /**    

+   * @} end of BiquadCascadeDF1_32x64 group    

+   */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c
new file mode 100644
index 000000000..ee20dfeec
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c
@@ -0,0 +1,421 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_biquad_cascade_df1_f32.c    

+*    

+* Description:	Processing function for the    

+*               floating-point Biquad cascade DirectFormI(DF1) filter.    

+*    

+* 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    

+ */

+

+/**    

+ * @defgroup BiquadCascadeDF1 Biquad Cascade IIR Filters Using Direct Form I Structure    

+ *    

+ * This set of functions implements arbitrary order recursive (IIR) filters.    

+ * The filters are implemented as a cascade of second order Biquad sections.    

+ * The functions support Q15, Q31 and floating-point data types.  

+ * Fast version of Q15 and Q31 also supported on CortexM4 and Cortex-M3.    

+ *    

+ * The functions operate on blocks of input and output data and each call to the function    

+ * processes <code>blockSize</code> samples through the filter.    

+ * <code>pSrc</code> points to the array of input data and    

+ * <code>pDst</code> points to the array of output data.    

+ * Both arrays contain <code>blockSize</code> values.    

+ *    

+ * \par Algorithm    

+ * Each Biquad stage implements a second order filter using the difference equation:    

+ * <pre>    

+ *     y[n] = b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]    

+ * </pre>    

+ * A Direct Form I algorithm is used with 5 coefficients and 4 state variables per stage.    

+ * \image html Biquad.gif "Single Biquad filter stage"    

+ * Coefficients <code>b0, b1 and b2 </code> multiply the input signal <code>x[n]</code> and are referred to as the feedforward coefficients.    

+ * Coefficients <code>a1</code> and <code>a2</code> multiply the output signal <code>y[n]</code> and are referred to as the feedback coefficients.    

+ * Pay careful attention to the sign of the feedback coefficients.    

+ * Some design tools use the difference equation    

+ * <pre>    

+ *     y[n] = b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] - a1 * y[n-1] - a2 * y[n-2]    

+ * </pre>    

+ * In this case the feedback coefficients <code>a1</code> and <code>a2</code> must be negated when used with the CMSIS DSP Library.    

+ *    

+ * \par    

+ * Higher order filters are realized as a cascade of second order sections.    

+ * <code>numStages</code> refers to the number of second order stages used.    

+ * For example, an 8th order filter would be realized with <code>numStages=4</code> second order stages.    

+ * \image html BiquadCascade.gif "8th order filter using a cascade of Biquad stages"    

+ * A 9th order filter would be realized with <code>numStages=5</code> second order stages with the coefficients for one of the stages configured as a first order filter (<code>b2=0</code> and <code>a2=0</code>).    

+ *    

+ * \par    

+ * The <code>pState</code> points to state variables array.    

+ * Each Biquad stage has 4 state variables <code>x[n-1], x[n-2], y[n-1],</code> and <code>y[n-2]</code>.    

+ * The state variables are arranged in the <code>pState</code> array as:    

+ * <pre>    

+ *     {x[n-1], x[n-2], y[n-1], y[n-2]}    

+ * </pre>    

+ *    

+ * \par    

+ * The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on.    

+ * The state array has a total length of <code>4*numStages</code> values.    

+ * The state variables are updated after each block of data is processed, the coefficients are untouched.    

+ *    

+ * \par Instance Structure    

+ * The coefficients and state variables for a filter are stored together in an instance data structure.    

+ * A separate instance structure must be defined for each filter.    

+ * Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.    

+ * There are separate instance structure declarations for each of the 3 supported data types.    

+ *    

+ * \par Init Functions    

+ * There is also an associated initialization function for each data type.    

+ * The initialization function performs following operations:    

+ * - Sets the values of the internal structure fields.    

+ * - Zeros out the values in the state buffer.    

+ *    

+ * \par    

+ * Use of the initialization function is optional.    

+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    

+ * To place an instance structure into a const data section, the instance structure must be manually initialized.    

+ * Set the values in the state buffer to zeros before static initialization.    

+ * The code below statically initializes each of the 3 different data type filter instance structures    

+ * <pre>    

+ *     arm_biquad_casd_df1_inst_f32 S1 = {numStages, pState, pCoeffs};    

+ *     arm_biquad_casd_df1_inst_q15 S2 = {numStages, pState, pCoeffs, postShift};    

+ *     arm_biquad_casd_df1_inst_q31 S3 = {numStages, pState, pCoeffs, postShift};    

+ * </pre>    

+ * where <code>numStages</code> is the number of Biquad stages in the filter; <code>pState</code> is the address of the state buffer;    

+ * <code>pCoeffs</code> is the address of the coefficient buffer; <code>postShift</code> shift to be applied.    

+ *    

+ * \par Fixed-Point Behavior    

+ * Care must be taken when using the Q15 and Q31 versions of the Biquad Cascade filter functions.    

+ * Following issues must be considered:    

+ * - Scaling of coefficients    

+ * - Filter gain    

+ * - Overflow and saturation    

+ *    

+ * \par    

+ * <b>Scaling of coefficients: </b>    

+ * Filter coefficients are represented as fractional values and    

+ * coefficients are restricted to lie in the range <code>[-1 +1)</code>.    

+ * The fixed-point functions have an additional scaling parameter <code>postShift</code>    

+ * which allow the filter coefficients to exceed the range <code>[+1 -1)</code>.    

+ * At the output of the filter's accumulator is a shift register which shifts the result by <code>postShift</code> bits.    

+ * \image html BiquadPostshift.gif "Fixed-point Biquad with shift by postShift bits after accumulator"    

+ * This essentially scales the filter coefficients by <code>2^postShift</code>.    

+ * For example, to realize the coefficients    

+ * <pre>    

+ *    {1.5, -0.8, 1.2, 1.6, -0.9}    

+ * </pre>    

+ * set the pCoeffs array to:    

+ * <pre>    

+ *    {0.75, -0.4, 0.6, 0.8, -0.45}    

+ * </pre>    

+ * and set <code>postShift=1</code>    

+ *    

+ * \par    

+ * <b>Filter gain: </b>    

+ * The frequency response of a Biquad filter is a function of its coefficients.    

+ * It is possible for the gain through the filter to exceed 1.0 meaning that the filter increases the amplitude of certain frequencies.    

+ * This means that an input signal with amplitude < 1.0 may result in an output > 1.0 and these are saturated or overflowed based on the implementation of the filter.    

+ * To avoid this behavior the filter needs to be scaled down such that its peak gain < 1.0 or the input signal must be scaled down so that the combination of input and filter are never overflowed.    

+ *    

+ * \par    

+ * <b>Overflow and saturation: </b>    

+ * For Q15 and Q31 versions, it is described separately as part of the function specific documentation below.    

+ */

+

+/**    

+ * @addtogroup BiquadCascadeDF1    

+ * @{    

+ */

+

+/**    

+ * @param[in]  *S         points to an instance of the floating-point Biquad cascade 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.    

+ *    

+ */

+

+void arm_biquad_cascade_df1_f32(

+  const arm_biquad_casd_df1_inst_f32 * S,

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize)

+{

+  float32_t *pIn = pSrc;                         /*  source pointer            */

+  float32_t *pOut = pDst;                        /*  destination pointer       */

+  float32_t *pState = S->pState;                 /*  pState pointer            */

+  float32_t *pCoeffs = S->pCoeffs;               /*  coefficient pointer       */

+  float32_t acc;                                 /*  Simulates the accumulator */

+  float32_t b0, b1, b2, a1, a2;                  /*  Filter coefficients       */

+  float32_t Xn1, Xn2, Yn1, Yn2;                  /*  Filter pState variables   */

+  float32_t Xn;                                  /*  temporary input           */

+  uint32_t sample, stage = S->numStages;         /*  loop counters             */

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  do

+  {

+    /* Reading the coefficients */

+    b0 = *pCoeffs++;

+    b1 = *pCoeffs++;

+    b2 = *pCoeffs++;

+    a1 = *pCoeffs++;

+    a2 = *pCoeffs++;

+

+    /* Reading the pState values */

+    Xn1 = pState[0];

+    Xn2 = pState[1];

+    Yn1 = pState[2];

+    Yn2 = pState[3];

+

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

+    /*      The variable acc hold output values that are being computed:    

+     *    

+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1]   + a2 * y[n-2]    

+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1]   + a2 * y[n-2]    

+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1]   + a2 * y[n-2]    

+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1]   + a2 * y[n-2]    

+     */

+

+    sample = 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(sample > 0u)

+    {

+      /* Read the first input */

+      Xn = *pIn++;

+

+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */

+      Yn2 = (b0 * Xn) + (b1 * Xn1) + (b2 * Xn2) + (a1 * Yn1) + (a2 * Yn2);

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = Yn2;

+

+      /* Every time after the output is computed state should be updated. */

+      /* The states should be updated as:  */

+      /* Xn2 = Xn1    */

+      /* Xn1 = Xn     */

+      /* Yn2 = Yn1    */

+      /* Yn1 = acc   */

+

+      /* Read the second input */

+      Xn2 = *pIn++;

+

+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */

+      Yn1 = (b0 * Xn2) + (b1 * Xn) + (b2 * Xn1) + (a1 * Yn2) + (a2 * Yn1);

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = Yn1;

+

+      /* Every time after the output is computed state should be updated. */

+      /* The states should be updated as:  */

+      /* Xn2 = Xn1    */

+      /* Xn1 = Xn     */

+      /* Yn2 = Yn1    */

+      /* Yn1 = acc   */

+

+      /* Read the third input */

+      Xn1 = *pIn++;

+

+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */

+      Yn2 = (b0 * Xn1) + (b1 * Xn2) + (b2 * Xn) + (a1 * Yn1) + (a2 * Yn2);

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = Yn2;

+

+      /* Every time after the output is computed state should be updated. */

+      /* The states should be updated as: */

+      /* Xn2 = Xn1    */

+      /* Xn1 = Xn     */

+      /* Yn2 = Yn1    */

+      /* Yn1 = acc   */

+

+      /* Read the forth input */

+      Xn = *pIn++;

+

+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */

+      Yn1 = (b0 * Xn) + (b1 * Xn1) + (b2 * Xn2) + (a1 * Yn2) + (a2 * Yn1);

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = Yn1;

+

+      /* Every time after the output is computed state should be updated. */

+      /* The states should be updated as:  */

+      /* Xn2 = Xn1    */

+      /* Xn1 = Xn     */

+      /* Yn2 = Yn1    */

+      /* Yn1 = acc   */

+      Xn2 = Xn1;

+      Xn1 = Xn;

+

+      /* decrement the loop counter */

+      sample--;

+

+    }

+

+    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    

+     ** No loop unrolling is used. */

+    sample = blockSize & 0x3u;

+

+    while(sample > 0u)

+    {

+      /* Read the input */

+      Xn = *pIn++;

+

+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */

+      acc = (b0 * Xn) + (b1 * Xn1) + (b2 * Xn2) + (a1 * Yn1) + (a2 * Yn2);

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = acc;

+

+      /* Every time after the output is computed state should be updated. */

+      /* The states should be updated as:    */

+      /* Xn2 = Xn1    */

+      /* Xn1 = Xn     */

+      /* Yn2 = Yn1    */

+      /* Yn1 = acc   */

+      Xn2 = Xn1;

+      Xn1 = Xn;

+      Yn2 = Yn1;

+      Yn1 = acc;

+

+      /* decrement the loop counter */

+      sample--;

+

+    }

+

+    /*  Store the updated state variables back into the pState array */

+    *pState++ = Xn1;

+    *pState++ = Xn2;

+    *pState++ = Yn1;

+    *pState++ = Yn2;

+

+    /*  The first stage goes from the input buffer to the output buffer. */

+    /*  Subsequent numStages  occur in-place in the output buffer */

+    pIn = pDst;

+

+    /* Reset the output pointer */

+    pOut = pDst;

+

+    /* decrement the loop counter */

+    stage--;

+

+  } while(stage > 0u);

+

+#else

+

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

+

+  do

+  {

+    /* Reading the coefficients */

+    b0 = *pCoeffs++;

+    b1 = *pCoeffs++;

+    b2 = *pCoeffs++;

+    a1 = *pCoeffs++;

+    a2 = *pCoeffs++;

+

+    /* Reading the pState values */

+    Xn1 = pState[0];

+    Xn2 = pState[1];

+    Yn1 = pState[2];

+    Yn2 = pState[3];

+

+    /*      The variables acc holds the output value that is computed:        

+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1]   + a2 * y[n-2]        

+     */

+

+    sample = blockSize;

+

+    while(sample > 0u)

+    {

+      /* Read the input */

+      Xn = *pIn++;

+

+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */

+      acc = (b0 * Xn) + (b1 * Xn1) + (b2 * Xn2) + (a1 * Yn1) + (a2 * Yn2);

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = acc;

+

+      /* Every time after the output is computed state should be updated. */

+      /* The states should be updated as:    */

+      /* Xn2 = Xn1    */

+      /* Xn1 = Xn     */

+      /* Yn2 = Yn1    */

+      /* Yn1 = acc   */

+      Xn2 = Xn1;

+      Xn1 = Xn;

+      Yn2 = Yn1;

+      Yn1 = acc;

+

+      /* decrement the loop counter */

+      sample--;

+    }

+

+    /*  Store the updated state variables back into the pState array */

+    *pState++ = Xn1;

+    *pState++ = Xn2;

+    *pState++ = Yn1;

+    *pState++ = Yn2;

+

+    /*  The first stage goes from the input buffer to the output buffer. */

+    /*  Subsequent numStages  occur in-place in the output buffer */

+    pIn = pDst;

+

+    /* Reset the output pointer */

+    pOut = pDst;

+

+    /* decrement the loop counter */

+    stage--;

+

+  } while(stage > 0u);

+

+#endif /*   #ifndef ARM_MATH_CM0         */

+

+}

+

+

+  /**    

+   * @} end of BiquadCascadeDF1 group    

+   */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c
new file mode 100644
index 000000000..29afffa03
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c
@@ -0,0 +1,283 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_biquad_cascade_df1_fast_q15.c    

+*    

+* Description:	Fast processing function for the    

+*				Q15 Biquad cascade filter.    

+*    

+* Target Processor: Cortex-M4/Cortex-M3

+*  

+* 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 0.0.9  2010/08/16     

+*    Initial version    

+*    

+*    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup BiquadCascadeDF1    

+ * @{    

+ */

+

+/**    

+ * @details    

+ * @param[in]  *S points to an instance of the Q15 Biquad cascade 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    

+ * This fast version uses a 32-bit accumulator with 2.30 format.    

+ * The accumulator maintains full precision of the intermediate multiplication results but provides only a single guard bit.    

+ * Thus, if the accumulator result overflows it wraps around and distorts the result.    

+ * In order to avoid overflows completely the input signal must be scaled down by two bits and lie in the range [-0.25 +0.25).    

+ * The 2.30 accumulator is then shifted by <code>postShift</code> bits and the result truncated to 1.15 format by discarding the low 16 bits.    

+ *    

+ * \par    

+ * Refer to the function <code>arm_biquad_cascade_df1_q15()</code> for a slower implementation of this function which uses 64-bit accumulation to avoid wrap around distortion.  Both the slow and the fast versions use the same instance structure.    

+ * Use the function <code>arm_biquad_cascade_df1_init_q15()</code> to initialize the filter structure.    

+ *    

+ */

+

+void arm_biquad_cascade_df1_fast_q15(

+  const arm_biquad_casd_df1_inst_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+  q15_t *pIn = pSrc;                             /*  Source pointer                               */

+  q15_t *pOut = pDst;                            /*  Destination pointer                          */

+  q31_t in;                                      /*  Temporary variable to hold input value       */

+  q31_t out;                                     /*  Temporary variable to hold output value      */

+  q31_t b0;                                      /*  Temporary variable to hold bo value          */

+  q31_t b1, a1;                                  /*  Filter coefficients                          */

+  q31_t state_in, state_out;                     /*  Filter state variables                       */

+  q31_t acc;                                     /*  Accumulator                                  */

+  int32_t shift = (int32_t) (15 - S->postShift); /*  Post shift                                   */

+  q15_t *pState = S->pState;                     /*  State pointer                                */

+  q15_t *pCoeffs = S->pCoeffs;                   /*  Coefficient pointer                          */

+  uint32_t sample, stage = S->numStages;         /*  Stage loop counter                           */

+

+

+

+  do

+  {

+

+    /* Read the b0 and 0 coefficients using SIMD  */

+    b0 = *__SIMD32(pCoeffs)++;

+

+    /* Read the b1 and b2 coefficients using SIMD */

+    b1 = *__SIMD32(pCoeffs)++;

+

+    /* Read the a1 and a2 coefficients using SIMD */

+    a1 = *__SIMD32(pCoeffs)++;

+

+    /* Read the input state values from the state buffer:  x[n-1], x[n-2] */

+    state_in = *__SIMD32(pState)++;

+

+    /* Read the output state values from the state buffer:  y[n-1], y[n-2] */

+    state_out = *__SIMD32(pState)--;

+

+    /* Apply loop unrolling and compute 2 output values simultaneously. */

+    /*      The variable acc hold output values that are being computed:       

+     *    

+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]       

+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]       

+     */

+    sample = blockSize >> 1u;

+

+    /* First part of the processing with loop unrolling.  Compute 2 outputs at a time.    

+     ** a second loop below computes the remaining 1 sample. */

+    while(sample > 0u)

+    {

+

+      /* Read the input */

+      in = *__SIMD32(pIn)++;

+

+      /* out =  b0 * x[n] + 0 * 0 */

+      out = __SMUAD(b0, in);

+      /* acc =  b1 * x[n-1] + acc +=  b2 * x[n-2] + out */

+      acc = __SMLAD(b1, state_in, out);

+      /* acc +=  a1 * y[n-1] + acc +=  a2 * y[n-2] */

+      acc = __SMLAD(a1, state_out, acc);

+

+      /* The result is converted from 3.29 to 1.31 and then saturation is applied */

+      out = __SSAT((acc >> shift), 16);

+

+      /* Every time after the output is computed state should be updated. */

+      /* The states should be updated as:  */

+      /* Xn2 = Xn1    */

+      /* Xn1 = Xn     */

+      /* Yn2 = Yn1    */

+      /* Yn1 = acc   */

+      /* x[n-N], x[n-N-1] are packed together to make state_in of type q31 */

+      /* y[n-N], y[n-N-1] are packed together to make state_out of type q31 */

+

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+      state_in = __PKHBT(in, state_in, 16);

+      state_out = __PKHBT(out, state_out, 16);

+

+#else

+

+      state_in = __PKHBT(state_in >> 16, (in >> 16), 16);

+      state_out = __PKHBT(state_out >> 16, (out), 16);

+

+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+      /* out =  b0 * x[n] + 0 * 0 */

+      out = __SMUADX(b0, in);

+      /* acc0 =  b1 * x[n-1] , acc0 +=  b2 * x[n-2] + out */

+      acc = __SMLAD(b1, state_in, out);

+      /* acc +=  a1 * y[n-1] + acc +=  a2 * y[n-2] */

+      acc = __SMLAD(a1, state_out, acc);

+

+      /* The result is converted from 3.29 to 1.31 and then saturation is applied */

+      out = __SSAT((acc >> shift), 16);

+

+

+      /* Store the output in the destination buffer. */

+

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+      *__SIMD32(pOut)++ = __PKHBT(state_out, out, 16);

+

+#else

+

+      *__SIMD32(pOut)++ = __PKHBT(out, state_out >> 16, 16);

+

+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+      /* Every time after the output is computed state should be updated. */

+      /* The states should be updated as:  */

+      /* Xn2 = Xn1    */

+      /* Xn1 = Xn     */

+      /* Yn2 = Yn1    */

+      /* Yn1 = acc   */

+      /* x[n-N], x[n-N-1] are packed together to make state_in of type q31 */

+      /* y[n-N], y[n-N-1] are packed together to make state_out of type q31 */

+

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+      state_in = __PKHBT(in >> 16, state_in, 16);

+      state_out = __PKHBT(out, state_out, 16);

+

+#else

+

+      state_in = __PKHBT(state_in >> 16, in, 16);

+      state_out = __PKHBT(state_out >> 16, out, 16);

+

+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+

+      /* Decrement the loop counter */

+      sample--;

+

+    }

+

+    /* If the blockSize is not a multiple of 2, compute any remaining output samples here.    

+     ** No loop unrolling is used. */

+

+    if((blockSize & 0x1u) != 0u)

+    {

+      /* Read the input */

+      in = *pIn++;

+

+      /* out =  b0 * x[n] + 0 * 0 */

+

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+      out = __SMUAD(b0, in);

+

+#else

+

+      out = __SMUADX(b0, in);

+

+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+      /* acc =  b1 * x[n-1], acc +=  b2 * x[n-2] + out */

+      acc = __SMLAD(b1, state_in, out);

+      /* acc +=  a1 * y[n-1] + acc +=  a2 * y[n-2] */

+      acc = __SMLAD(a1, state_out, acc);

+

+      /* The result is converted from 3.29 to 1.31 and then saturation is applied */

+      out = __SSAT((acc >> shift), 16);

+

+      /* Store the output in the destination buffer. */

+      *pOut++ = (q15_t) out;

+

+      /* Every time after the output is computed state should be updated. */

+      /* The states should be updated as:  */

+      /* Xn2 = Xn1    */

+      /* Xn1 = Xn     */

+      /* Yn2 = Yn1    */

+      /* Yn1 = acc   */

+      /* x[n-N], x[n-N-1] are packed together to make state_in of type q31 */

+      /* y[n-N], y[n-N-1] are packed together to make state_out of type q31 */

+

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+      state_in = __PKHBT(in, state_in, 16);

+      state_out = __PKHBT(out, state_out, 16);

+

+#else

+

+      state_in = __PKHBT(state_in >> 16, in, 16);

+      state_out = __PKHBT(state_out >> 16, out, 16);

+

+#endif /*   #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+    }

+

+    /*  The first stage goes from the input buffer to the output buffer.  */

+    /*  Subsequent (numStages - 1) occur in-place in the output buffer  */

+    pIn = pDst;

+

+    /* Reset the output pointer */

+    pOut = pDst;

+

+    /*  Store the updated state variables back into the state array */

+    *__SIMD32(pState)++ = state_in;

+    *__SIMD32(pState)++ = state_out;

+

+

+    /* Decrement the loop counter */

+    stage--;

+

+  } while(stage > 0u);

+}

+

+

+/**    

+ * @} end of BiquadCascadeDF1 group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c
new file mode 100644
index 000000000..0a479fe6b
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c
@@ -0,0 +1,275 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_biquad_cascade_df1_fast_q31.c    

+*    

+* Description:	Processing function for the    

+*				Q31 Fast Biquad cascade DirectFormI(DF1) filter.    

+*    

+* Target Processor: Cortex-M4/Cortex-M3

+*  

+* 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 0.0.9  2010/08/27     

+*    Initial version    

+*    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup BiquadCascadeDF1    

+ * @{    

+ */

+

+/**    

+ * @details    

+ *    

+ * @param[in]  *S        points to an instance of the Q31 Biquad cascade 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    

+ * This function is optimized for speed at the expense of fixed-point precision and overflow protection.    

+ * The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format.    

+ * These intermediate results are added to a 2.30 accumulator.    

+ * Finally, the accumulator is saturated and converted to a 1.31 result.    

+ * The fast version has the same overflow behavior as the standard version and provides less precision since it discards the low 32 bits of each multiplication result.    

+ * In order to avoid overflows completely the input signal must be scaled down by two bits and lie in the range [-0.25 +0.25). Use the intialization function    

+ * arm_biquad_cascade_df1_init_q31() to initialize filter structure.    

+ *    

+ * \par    

+ * Refer to the function <code>arm_biquad_cascade_df1_q31()</code> for a slower implementation of this function which uses 64-bit accumulation to provide higher precision.  Both the slow and the fast versions use the same instance structure.    

+ * Use the function <code>arm_biquad_cascade_df1_init_q31()</code> to initialize the filter structure.    

+ */

+

+void arm_biquad_cascade_df1_fast_q31(

+  const arm_biquad_casd_df1_inst_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize)

+{

+  q31_t acc;                                     /*  accumulator                   */

+  q31_t Xn1, Xn2, Yn1, Yn2;                      /*  Filter state variables        */

+  q31_t b0, b1, b2, a1, a2;                      /*  Filter coefficients           */

+  q31_t *pIn = pSrc;                             /*  input pointer initialization  */

+  q31_t *pOut = pDst;                            /*  output pointer initialization */

+  q31_t *pState = S->pState;                     /*  pState pointer initialization */

+  q31_t *pCoeffs = S->pCoeffs;                   /*  coeff pointer initialization  */

+  q31_t Xn;                                      /*  temporary input               */

+  int32_t shift = (int32_t) S->postShift + 1;    /*  Shift to be applied to the output */

+  uint32_t sample, stage = S->numStages;         /*  loop counters                     */

+

+

+  do

+  {

+    /* Reading the coefficients */

+    b0 = *pCoeffs++;

+    b1 = *pCoeffs++;

+    b2 = *pCoeffs++;

+    a1 = *pCoeffs++;

+    a2 = *pCoeffs++;

+

+    /* Reading the state values */

+    Xn1 = pState[0];

+    Xn2 = pState[1];

+    Yn1 = pState[2];

+    Yn2 = pState[3];

+

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

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

+     *       

+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]       

+     */

+

+    sample = 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(sample > 0u)

+    {

+      /* Read the input */

+      Xn = *pIn;

+

+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */

+      /* acc =  b0 * x[n] */

+      acc = (q31_t) (((q63_t) b1 * Xn1) >> 32);

+      /* acc +=  b1 * x[n-1] */

+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b0 * (Xn))) >> 32);

+      /* acc +=  b[2] * x[n-2] */

+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b2 * (Xn2))) >> 32);

+      /* acc +=  a1 * y[n-1] */

+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a1 * (Yn1))) >> 32);

+      /* acc +=  a2 * y[n-2] */

+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a2 * (Yn2))) >> 32);

+

+      /* The result is converted to 1.31 , Yn2 variable is reused */

+      Yn2 = acc << shift;

+

+      /* Read the second input */

+      Xn2 = *(pIn + 1u);

+

+      /* Store the output in the destination buffer. */

+      *pOut = Yn2;

+

+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */

+      /* acc =  b0 * x[n] */

+      acc = (q31_t) (((q63_t) b0 * (Xn2)) >> 32);

+      /* acc +=  b1 * x[n-1] */

+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b1 * (Xn))) >> 32);

+      /* acc +=  b[2] * x[n-2] */

+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b2 * (Xn1))) >> 32);

+      /* acc +=  a1 * y[n-1] */

+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a1 * (Yn2))) >> 32);

+      /* acc +=  a2 * y[n-2] */

+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a2 * (Yn1))) >> 32);

+

+      /* The result is converted to 1.31, Yn1 variable is reused  */

+      Yn1 = acc << shift;

+

+      /* Read the third input  */

+      Xn1 = *(pIn + 2u);

+

+      /* Store the output in the destination buffer. */

+      *(pOut + 1u) = Yn1;

+

+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */

+      /* acc =  b0 * x[n] */

+      acc = (q31_t) (((q63_t) b0 * (Xn1)) >> 32);

+      /* acc +=  b1 * x[n-1] */

+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b1 * (Xn2))) >> 32);

+      /* acc +=  b[2] * x[n-2] */

+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b2 * (Xn))) >> 32);

+      /* acc +=  a1 * y[n-1] */

+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a1 * (Yn1))) >> 32);

+      /* acc +=  a2 * y[n-2] */

+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a2 * (Yn2))) >> 32);

+

+      /* The result is converted to 1.31, Yn2 variable is reused  */

+      Yn2 = acc << shift;

+

+      /* Read the forth input */

+      Xn = *(pIn + 3u);

+

+      /* Store the output in the destination buffer. */

+      *(pOut + 2u) = Yn2;

+      pIn += 4u;

+

+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */

+      /* acc =  b0 * x[n] */

+      acc = (q31_t) (((q63_t) b0 * (Xn)) >> 32);

+      /* acc +=  b1 * x[n-1] */

+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b1 * (Xn1))) >> 32);

+      /* acc +=  b[2] * x[n-2] */

+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b2 * (Xn2))) >> 32);

+      /* acc +=  a1 * y[n-1] */

+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a1 * (Yn2))) >> 32);

+      /* acc +=  a2 * y[n-2] */

+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a2 * (Yn1))) >> 32);

+

+      /* Every time after the output is computed state should be updated. */

+      /* The states should be updated as:  */

+      /* Xn2 = Xn1    */

+      Xn2 = Xn1;

+

+      /* The result is converted to 1.31, Yn1 variable is reused  */

+      Yn1 = acc << shift;

+

+      /* Xn1 = Xn     */

+      Xn1 = Xn;

+

+      /* Store the output in the destination buffer. */

+      *(pOut + 3u) = Yn1;

+      pOut += 4u;

+

+      /* decrement the loop counter */

+      sample--;

+    }

+

+    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.       

+     ** No loop unrolling is used. */

+    sample = (blockSize & 0x3u);

+

+    while(sample > 0u)

+    {

+      /* Read the input */

+      Xn = *pIn++;

+

+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */

+      /* acc =  b0 * x[n] */

+      acc = (q31_t) (((q63_t) b0 * (Xn)) >> 32);

+      /* acc +=  b1 * x[n-1] */

+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b1 * (Xn1))) >> 32);

+      /* acc +=  b[2] * x[n-2] */

+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b2 * (Xn2))) >> 32);

+      /* acc +=  a1 * y[n-1] */

+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a1 * (Yn1))) >> 32);

+      /* acc +=  a2 * y[n-2] */

+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a2 * (Yn2))) >> 32);

+      /* The result is converted to 1.31  */

+      acc = acc << shift;

+

+      /* Every time after the output is computed state should be updated. */

+      /* The states should be updated as:  */

+      /* Xn2 = Xn1    */

+      /* Xn1 = Xn     */

+      /* Yn2 = Yn1    */

+      /* Yn1 = acc    */

+      Xn2 = Xn1;

+      Xn1 = Xn;

+      Yn2 = Yn1;

+      Yn1 = acc;

+

+      /* Store the output in the destination buffer. */

+      *pOut++ = acc;

+

+      /* decrement the loop counter */

+      sample--;

+    }

+

+    /*  The first stage goes from the input buffer to the output buffer. */

+    /*  Subsequent stages occur in-place in the output buffer */

+    pIn = pDst;

+

+    /* Reset to destination pointer */

+    pOut = pDst;

+

+    /*  Store the updated state variables back into the pState array */

+    *pState++ = Xn1;

+    *pState++ = Xn2;

+    *pState++ = Yn1;

+    *pState++ = Yn2;

+

+  } while(--stage);

+}

+

+/**    

+  * @} end of BiquadCascadeDF1 group    

+  */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c
new file mode 100644
index 000000000..d50b69f3c
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c
@@ -0,0 +1,107 @@
+/*-----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_biquad_cascade_df1_init_f32.c    

+*    

+* Description:  floating-point Biquad cascade DirectFormI(DF1) filter initialization 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 BiquadCascadeDF1    

+ * @{    

+ */

+

+/**    

+ * @details    

+ * @brief  Initialization function for the floating-point Biquad cascade filter.    

+ * @param[in,out] *S           points to an instance of the floating-point Biquad cascade structure.    

+ * @param[in]     numStages    number of 2nd order stages in the filter.    

+ * @param[in]     *pCoeffs     points to the filter coefficients array.    

+ * @param[in]     *pState      points to the state array.    

+ * @return        none    

+ *    

+ *    

+ * <b>Coefficient and State Ordering:</b>    

+ *    

+ * \par    

+ * The coefficients are stored in the array <code>pCoeffs</code> in the following order:    

+ * <pre>    

+ *     {b10, b11, b12, a11, a12, b20, b21, b22, a21, a22, ...}    

+ * </pre>    

+ *    

+ * \par    

+ * where <code>b1x</code> and <code>a1x</code> are the coefficients for the first stage,    

+ * <code>b2x</code> and <code>a2x</code> are the coefficients for the second stage,    

+ * and so on.  The <code>pCoeffs</code> array contains a total of <code>5*numStages</code> values.    

+ *    

+ * \par    

+ * The <code>pState</code> is a pointer to state array.    

+ * Each Biquad stage has 4 state variables <code>x[n-1], x[n-2], y[n-1],</code> and <code>y[n-2]</code>.    

+ * The state variables are arranged in the <code>pState</code> array as:    

+ * <pre>    

+ *     {x[n-1], x[n-2], y[n-1], y[n-2]}    

+ * </pre>    

+ * The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on.    

+ * The state array has a total length of <code>4*numStages</code> values.    

+ * The state variables are updated after each block of data is processed; the coefficients are untouched.    

+ *    

+ */

+

+void arm_biquad_cascade_df1_init_f32(

+  arm_biquad_casd_df1_inst_f32 * S,

+  uint8_t numStages,

+  float32_t * pCoeffs,

+  float32_t * pState)

+{

+  /* Assign filter stages */

+  S->numStages = numStages;

+

+  /* Assign coefficient pointer */

+  S->pCoeffs = pCoeffs;

+

+  /* Clear state buffer and size is always 4 * numStages */

+  memset(pState, 0, (4u * (uint32_t) numStages) * sizeof(float32_t));

+

+  /* Assign state pointer */

+  S->pState = pState;

+}

+

+/**    

+ * @} end of BiquadCascadeDF1 group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c
new file mode 100644
index 000000000..d5fda28ac
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c
@@ -0,0 +1,109 @@
+/*-----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_biquad_cascade_df1_init_q15.c    

+*    

+* Description:  Q15 Biquad cascade DirectFormI(DF1) filter initialization 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 BiquadCascadeDF1    

+ * @{    

+ */

+

+/**    

+ * @details    

+ *    

+ * @param[in,out] *S           points to an instance of the Q15 Biquad cascade structure.    

+ * @param[in]     numStages    number of 2nd order stages in the filter.    

+ * @param[in]     *pCoeffs     points to the filter coefficients.    

+ * @param[in]     *pState      points to the state buffer.    

+ * @param[in]     postShift    Shift to be applied to the accumulator result. Varies according to the coefficients format    

+ * @return        none    

+ *    

+ * <b>Coefficient and State Ordering:</b>    

+ *    

+ * \par    

+ * The coefficients are stored in the array <code>pCoeffs</code> in the following order:    

+ * <pre>    

+ *     {b10, 0, b11, b12, a11, a12, b20, 0, b21, b22, a21, a22, ...}    

+ * </pre>    

+ * where <code>b1x</code> and <code>a1x</code> are the coefficients for the first stage,    

+ * <code>b2x</code> and <code>a2x</code> are the coefficients for the second stage,    

+ * and so on.  The <code>pCoeffs</code> array contains a total of <code>6*numStages</code> values.    

+ * The zero coefficient between <code>b1</code> and <code>b2</code> facilities  use of 16-bit SIMD instructions on the Cortex-M4.    

+ *    

+ * \par    

+ * The state variables are stored in the array <code>pState</code>.    

+ * Each Biquad stage has 4 state variables <code>x[n-1], x[n-2], y[n-1],</code> and <code>y[n-2]</code>.    

+ * The state variables are arranged in the <code>pState</code> array as:    

+ * <pre>    

+ *     {x[n-1], x[n-2], y[n-1], y[n-2]}    

+ * </pre>    

+ * The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on.    

+ * The state array has a total length of <code>4*numStages</code> values.    

+ * The state variables are updated after each block of data is processed; the coefficients are untouched.    

+ */

+

+void arm_biquad_cascade_df1_init_q15(

+  arm_biquad_casd_df1_inst_q15 * S,

+  uint8_t numStages,

+  q15_t * pCoeffs,

+  q15_t * pState,

+  int8_t postShift)

+{

+  /* Assign filter stages */

+  S->numStages = numStages;

+

+  /* Assign postShift to be applied to the output */

+  S->postShift = postShift;

+

+  /* Assign coefficient pointer */

+  S->pCoeffs = pCoeffs;

+

+  /* Clear state buffer and size is always 4 * numStages */

+  memset(pState, 0, (4u * (uint32_t) numStages) * sizeof(q15_t));

+

+  /* Assign state pointer */

+  S->pState = pState;

+}

+

+/**    

+ * @} end of BiquadCascadeDF1 group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c
new file mode 100644
index 000000000..dbbb8aa2b
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c
@@ -0,0 +1,109 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_biquad_cascade_df1_init_q31.c    

+*    

+* Description:	Q31 Biquad cascade DirectFormI(DF1) filter initialization 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 BiquadCascadeDF1    

+ * @{    

+ */

+

+/**    

+ * @details    

+ *    

+ * @param[in,out] *S           points to an instance of the Q31 Biquad cascade structure.    

+ * @param[in]     numStages    number of 2nd order stages in the filter.    

+ * @param[in]     *pCoeffs     points to the filter coefficients buffer.    

+ * @param[in]     *pState      points to the state buffer.    

+ * @param[in]     postShift    Shift to be applied after the accumulator.  Varies according to the coefficients format    

+ * @return        none    

+ *    

+ * <b>Coefficient and State Ordering:</b>    

+ *    

+ * \par    

+ * The coefficients are stored in the array <code>pCoeffs</code> in the following order:    

+ * <pre>    

+ *     {b10, b11, b12, a11, a12, b20, b21, b22, a21, a22, ...}    

+ * </pre>    

+ * where <code>b1x</code> and <code>a1x</code> are the coefficients for the first stage,    

+ * <code>b2x</code> and <code>a2x</code> are the coefficients for the second stage,    

+ * and so on.  The <code>pCoeffs</code> array contains a total of <code>5*numStages</code> values.    

+ *    

+ * \par    

+ * The <code>pState</code> points to state variables array.    

+ * Each Biquad stage has 4 state variables <code>x[n-1], x[n-2], y[n-1],</code> and <code>y[n-2]</code>.    

+ * The state variables are arranged in the <code>pState</code> array as:    

+ * <pre>    

+ *     {x[n-1], x[n-2], y[n-1], y[n-2]}    

+ * </pre>    

+ * The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on.    

+ * The state array has a total length of <code>4*numStages</code> values.    

+ * The state variables are updated after each block of data is processed; the coefficients are untouched.    

+ */

+

+void arm_biquad_cascade_df1_init_q31(

+  arm_biquad_casd_df1_inst_q31 * S,

+  uint8_t numStages,

+  q31_t * pCoeffs,

+  q31_t * pState,

+  int8_t postShift)

+{

+  /* Assign filter stages */

+  S->numStages = numStages;

+

+  /* Assign postShift to be applied to the output */

+  S->postShift = postShift;

+

+  /* Assign coefficient pointer */

+  S->pCoeffs = pCoeffs;

+

+  /* Clear state buffer and size is always 4 * numStages */

+  memset(pState, 0, (4u * (uint32_t) numStages) * sizeof(q31_t));

+

+  /* Assign state pointer */

+  S->pState = pState;

+}

+

+/**    

+ * @} end of BiquadCascadeDF1 group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c
new file mode 100644
index 000000000..484cd85e8
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c
@@ -0,0 +1,408 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_biquad_cascade_df1_q15.c    

+*    

+* Description:	Processing function for the    

+*				Q15 Biquad cascade DirectFormI(DF1) filter.    

+*    

+* 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 BiquadCascadeDF1    

+ * @{    

+ */

+

+/**    

+ * @brief Processing function for the Q15 Biquad cascade filter.    

+ * @param[in]  *S points to an instance of the Q15 Biquad cascade structure.    

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

+ * @param[out] *pDst points to the location where the output result is written.    

+ * @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 64-bit internal accumulator.    

+ * Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result.    

+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.    

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

+ * The accumulator is then shifted by <code>postShift</code> bits to truncate the result to 1.15 format by discarding the low 16 bits.    

+ * Finally, the result is saturated to 1.15 format.    

+ *    

+ * \par    

+ * Refer to the function <code>arm_biquad_cascade_df1_fast_q15()</code> for a faster but less precise implementation of this filter for Cortex-M3 and Cortex-M4.    

+ */

+

+void arm_biquad_cascade_df1_q15(

+  const arm_biquad_casd_df1_inst_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  q15_t *pIn = pSrc;                             /*  Source pointer                               */

+  q15_t *pOut = pDst;                            /*  Destination pointer                          */

+  q31_t in;                                      /*  Temporary variable to hold input value       */

+  q31_t out;                                     /*  Temporary variable to hold output value      */

+  q31_t b0;                                      /*  Temporary variable to hold bo value          */

+  q31_t b1, a1;                                  /*  Filter coefficients                          */

+  q31_t state_in, state_out;                     /*  Filter state variables                       */

+  q31_t acc_l, acc_h;

+  q63_t acc;                                     /*  Accumulator                                  */

+  int32_t lShift = (15 - (int32_t) S->postShift);       /*  Post shift                                   */

+  q15_t *pState = S->pState;                     /*  State pointer                                */

+  q15_t *pCoeffs = S->pCoeffs;                   /*  Coefficient pointer                          */

+  uint32_t sample, stage = (uint32_t) S->numStages;     /*  Stage loop counter                           */

+  int32_t uShift = (32 - lShift);

+

+  do

+  {

+    /* Read the b0 and 0 coefficients using SIMD  */

+    b0 = *__SIMD32(pCoeffs)++;

+

+    /* Read the b1 and b2 coefficients using SIMD */

+    b1 = *__SIMD32(pCoeffs)++;

+

+    /* Read the a1 and a2 coefficients using SIMD */

+    a1 = *__SIMD32(pCoeffs)++;

+

+    /* Read the input state values from the state buffer:  x[n-1], x[n-2] */

+    state_in = *__SIMD32(pState)++;

+

+    /* Read the output state values from the state buffer:  y[n-1], y[n-2] */

+    state_out = *__SIMD32(pState)--;

+

+    /* Apply loop unrolling and compute 2 output values simultaneously. */

+    /*      The variable acc hold output values that are being computed:    

+     *    

+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]    

+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]    

+     */

+    sample = blockSize >> 1u;

+

+    /* First part of the processing with loop unrolling.  Compute 2 outputs at a time.    

+     ** a second loop below computes the remaining 1 sample. */

+    while(sample > 0u)

+    {

+

+      /* Read the input */

+      in = *__SIMD32(pIn)++;

+

+      /* out =  b0 * x[n] + 0 * 0 */

+      out = __SMUAD(b0, in);

+

+      /* acc +=  b1 * x[n-1] +  b2 * x[n-2] + out */

+      acc = __SMLALD(b1, state_in, out);

+      /* acc +=  a1 * y[n-1] +  a2 * y[n-2] */

+      acc = __SMLALD(a1, state_out, acc);

+

+      /* The result is converted from 3.29 to 1.31 if postShift = 1, and then saturation is applied */

+      /* Calc lower part of acc */

+      acc_l = acc & 0xffffffff;

+

+      /* Calc upper part of acc */

+      acc_h = (acc >> 32) & 0xffffffff;

+

+      /* Apply shift for lower part of acc and upper part of acc */

+      out = (uint32_t) acc_l >> lShift | acc_h << uShift;

+

+      out = __SSAT(out, 16);

+

+      /* Every time after the output is computed state should be updated. */

+      /* The states should be updated as:  */

+      /* Xn2 = Xn1    */

+      /* Xn1 = Xn     */

+      /* Yn2 = Yn1    */

+      /* Yn1 = acc   */

+      /* x[n-N], x[n-N-1] are packed together to make state_in of type q31 */

+      /* y[n-N], y[n-N-1] are packed together to make state_out of type q31 */

+

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+      state_in = __PKHBT(in, state_in, 16);

+      state_out = __PKHBT(out, state_out, 16);

+

+#else

+

+      state_in = __PKHBT(state_in >> 16, (in >> 16), 16);

+      state_out = __PKHBT(state_out >> 16, (out), 16);

+

+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+      /* out =  b0 * x[n] + 0 * 0 */

+      out = __SMUADX(b0, in);

+      /* acc +=  b1 * x[n-1] +  b2 * x[n-2] + out */

+      acc = __SMLALD(b1, state_in, out);

+      /* acc +=  a1 * y[n-1] + a2 * y[n-2] */

+      acc = __SMLALD(a1, state_out, acc);

+

+      /* The result is converted from 3.29 to 1.31 if postShift = 1, and then saturation is applied */

+      /* Calc lower part of acc */

+      acc_l = acc & 0xffffffff;

+

+      /* Calc upper part of acc */

+      acc_h = (acc >> 32) & 0xffffffff;

+

+      /* Apply shift for lower part of acc and upper part of acc */

+      out = (uint32_t) acc_l >> lShift | acc_h << uShift;

+

+      out = __SSAT(out, 16);

+

+      /* Store the output in the destination buffer. */

+

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+      *__SIMD32(pOut)++ = __PKHBT(state_out, out, 16);

+

+#else

+

+      *__SIMD32(pOut)++ = __PKHBT(out, state_out >> 16, 16);

+

+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+      /* Every time after the output is computed state should be updated. */

+      /* The states should be updated as:  */

+      /* Xn2 = Xn1    */

+      /* Xn1 = Xn     */

+      /* Yn2 = Yn1    */

+      /* Yn1 = acc   */

+      /* x[n-N], x[n-N-1] are packed together to make state_in of type q31 */

+      /* y[n-N], y[n-N-1] are packed together to make state_out of type q31 */

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+      state_in = __PKHBT(in >> 16, state_in, 16);

+      state_out = __PKHBT(out, state_out, 16);

+

+#else

+

+      state_in = __PKHBT(state_in >> 16, in, 16);

+      state_out = __PKHBT(state_out >> 16, out, 16);

+

+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+

+      /* Decrement the loop counter */

+      sample--;

+

+    }

+

+    /* If the blockSize is not a multiple of 2, compute any remaining output samples here.    

+     ** No loop unrolling is used. */

+

+    if((blockSize & 0x1u) != 0u)

+    {

+      /* Read the input */

+      in = *pIn++;

+

+      /* out =  b0 * x[n] + 0 * 0 */

+

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+      out = __SMUAD(b0, in);

+

+#else

+

+      out = __SMUADX(b0, in);

+

+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+      /* acc =  b1 * x[n-1] + b2 * x[n-2] + out */

+      acc = __SMLALD(b1, state_in, out);

+      /* acc +=  a1 * y[n-1] + a2 * y[n-2] */

+      acc = __SMLALD(a1, state_out, acc);

+

+      /* The result is converted from 3.29 to 1.31 if postShift = 1, and then saturation is applied */

+      /* Calc lower part of acc */

+      acc_l = acc & 0xffffffff;

+

+      /* Calc upper part of acc */

+      acc_h = (acc >> 32) & 0xffffffff;

+

+      /* Apply shift for lower part of acc and upper part of acc */

+      out = (uint32_t) acc_l >> lShift | acc_h << uShift;

+

+      out = __SSAT(out, 16);

+

+      /* Store the output in the destination buffer. */

+      *pOut++ = (q15_t) out;

+

+      /* Every time after the output is computed state should be updated. */

+      /* The states should be updated as:  */

+      /* Xn2 = Xn1    */

+      /* Xn1 = Xn     */

+      /* Yn2 = Yn1    */

+      /* Yn1 = acc   */

+      /* x[n-N], x[n-N-1] are packed together to make state_in of type q31 */

+      /* y[n-N], y[n-N-1] are packed together to make state_out of type q31 */

+

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+      state_in = __PKHBT(in, state_in, 16);

+      state_out = __PKHBT(out, state_out, 16);

+

+#else

+

+      state_in = __PKHBT(state_in >> 16, in, 16);

+      state_out = __PKHBT(state_out >> 16, out, 16);

+

+#endif /*   #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+    }

+

+    /*  The first stage goes from the input wire to the output wire.  */

+    /*  Subsequent numStages occur in-place in the output wire  */

+    pIn = pDst;

+

+    /* Reset the output pointer */

+    pOut = pDst;

+

+    /*  Store the updated state variables back into the state array */

+    *__SIMD32(pState)++ = state_in;

+    *__SIMD32(pState)++ = state_out;

+

+

+    /* Decrement the loop counter */

+    stage--;

+

+  } while(stage > 0u);

+

+#else

+

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

+

+  q15_t *pIn = pSrc;                             /*  Source pointer                               */

+  q15_t *pOut = pDst;                            /*  Destination pointer                          */

+  q15_t b0, b1, b2, a1, a2;                      /*  Filter coefficients           */

+  q15_t Xn1, Xn2, Yn1, Yn2;                      /*  Filter state variables        */

+  q15_t Xn;                                      /*  temporary input               */

+  q63_t acc;                                     /*  Accumulator                                  */

+  int32_t shift = (15 - (int32_t) S->postShift); /*  Post shift                                   */

+  q15_t *pState = S->pState;                     /*  State pointer                                */

+  q15_t *pCoeffs = S->pCoeffs;                   /*  Coefficient pointer                          */

+  uint32_t sample, stage = (uint32_t) S->numStages;     /*  Stage loop counter                           */

+

+  do

+  {

+    /* Reading the coefficients */

+    b0 = *pCoeffs++;

+    b1 = *pCoeffs++;

+    b2 = *pCoeffs++;

+    a1 = *pCoeffs++;

+    a2 = *pCoeffs++;

+

+    /* Reading the state values */

+    Xn1 = pState[0];

+    Xn2 = pState[1];

+    Yn1 = pState[2];

+    Yn2 = pState[3];

+

+    /*      The variables acc holds the output value that is computed:         

+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]         

+     */

+

+    sample = blockSize;

+

+    while(sample > 0u)

+    {

+      /* Read the input */

+      Xn = *pIn++;

+

+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */

+      /* acc =  b0 * x[n] */

+      acc = (q31_t) b0 *Xn;

+

+      /* acc +=  b1 * x[n-1] */

+      acc += (q31_t) b1 *Xn1;

+      /* acc +=  b[2] * x[n-2] */

+      acc += (q31_t) b2 *Xn2;

+      /* acc +=  a1 * y[n-1] */

+      acc += (q31_t) a1 *Yn1;

+      /* acc +=  a2 * y[n-2] */

+      acc += (q31_t) a2 *Yn2;

+

+      /* The result is converted to 1.31  */

+      acc = __SSAT((acc >> shift), 16);

+

+      /* Every time after the output is computed state should be updated. */

+      /* The states should be updated as:  */

+      /* Xn2 = Xn1    */

+      /* Xn1 = Xn     */

+      /* Yn2 = Yn1    */

+      /* Yn1 = acc    */

+      Xn2 = Xn1;

+      Xn1 = Xn;

+      Yn2 = Yn1;

+      Yn1 = (q15_t) acc;

+

+      /* Store the output in the destination buffer. */

+      *pOut++ = (q15_t) acc;

+

+      /* decrement the loop counter */

+      sample--;

+    }

+

+    /*  The first stage goes from the input buffer to the output buffer. */

+    /*  Subsequent stages occur in-place in the output buffer */

+    pIn = pDst;

+

+    /* Reset to destination pointer */

+    pOut = pDst;

+

+    /*  Store the updated state variables back into the pState array */

+    *pState++ = Xn1;

+    *pState++ = Xn2;

+    *pState++ = Yn1;

+    *pState++ = Yn2;

+

+  } while(--stage);

+

+#endif /*     #ifndef ARM_MATH_CM0 */

+

+}

+

+

+/**    

+ * @} end of BiquadCascadeDF1 group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c
new file mode 100644
index 000000000..5626bdd1c
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c
@@ -0,0 +1,400 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_biquad_cascade_df1_q31.c    

+*    

+* Description:	Processing function for the    

+*				Q31 Biquad cascade filter    

+*    

+* 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 BiquadCascadeDF1    

+ * @{    

+ */

+

+/**    

+ * @brief Processing function for the Q31 Biquad cascade filter.    

+ * @param[in]  *S         points to an instance of the Q31 Biquad cascade 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 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.    

+ * Thus, if the accumulator result overflows it wraps around rather than clip.    

+ * In order to avoid overflows completely the input signal must be scaled down by 2 bits and lie in the range [-0.25 +0.25).    

+ * After all 5 multiply-accumulates are performed, the 2.62 accumulator is shifted by <code>postShift</code> bits and the result truncated to    

+ * 1.31 format by discarding the low 32 bits.    

+ *    

+ * \par    

+ * Refer to the function <code>arm_biquad_cascade_df1_fast_q31()</code> for a faster but less precise implementation of this filter for Cortex-M3 and Cortex-M4.    

+ */

+

+void arm_biquad_cascade_df1_q31(

+  const arm_biquad_casd_df1_inst_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize)

+{

+  q63_t acc;                                     /*  accumulator                   */

+  uint32_t uShift = ((uint32_t) S->postShift + 1u);

+  uint32_t lShift = 32u - uShift;                /*  Shift to be applied to the output */

+  q31_t *pIn = pSrc;                             /*  input pointer initialization  */

+  q31_t *pOut = pDst;                            /*  output pointer initialization */

+  q31_t *pState = S->pState;                     /*  pState pointer initialization */

+  q31_t *pCoeffs = S->pCoeffs;                   /*  coeff pointer initialization  */

+  q31_t Xn1, Xn2, Yn1, Yn2;                      /*  Filter state variables        */

+  q31_t b0, b1, b2, a1, a2;                      /*  Filter coefficients           */

+  q31_t Xn;                                      /*  temporary input               */

+  uint32_t sample, stage = S->numStages;         /*  loop counters                     */

+

+

+#ifndef ARM_MATH_CM0

+

+  q31_t acc_l, acc_h;                            /*  temporary output variables    */

+

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

+

+  do

+  {

+    /* Reading the coefficients */

+    b0 = *pCoeffs++;

+    b1 = *pCoeffs++;

+    b2 = *pCoeffs++;

+    a1 = *pCoeffs++;

+    a2 = *pCoeffs++;

+

+    /* Reading the state values */

+    Xn1 = pState[0];

+    Xn2 = pState[1];

+    Yn1 = pState[2];

+    Yn2 = pState[3];

+

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

+    /*      The variable acc hold output values that are being computed:    

+     *    

+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]    

+     */

+

+    sample = 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(sample > 0u)

+    {

+      /* Read the input */

+      Xn = *pIn++;

+

+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */

+

+      /* acc =  b0 * x[n] */

+      acc = (q63_t) b0 *Xn;

+      /* acc +=  b1 * x[n-1] */

+      acc += (q63_t) b1 *Xn1;

+      /* acc +=  b[2] * x[n-2] */

+      acc += (q63_t) b2 *Xn2;

+      /* acc +=  a1 * y[n-1] */

+      acc += (q63_t) a1 *Yn1;

+      /* acc +=  a2 * y[n-2] */

+      acc += (q63_t) a2 *Yn2;

+

+      /* The result is converted to 1.31 , Yn2 variable is reused */

+

+      /* Calc lower part of acc */

+      acc_l = acc & 0xffffffff;

+

+      /* Calc upper part of acc */

+      acc_h = (acc >> 32) & 0xffffffff;

+

+      /* Apply shift for lower part of acc and upper part of acc */

+      Yn2 = (uint32_t) acc_l >> lShift | acc_h << uShift;

+

+      /* Store the output in the destination buffer. */

+      *pOut++ = Yn2;

+

+      /* Read the second input */

+      Xn2 = *pIn++;

+

+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */

+

+      /* acc =  b0 * x[n] */

+      acc = (q63_t) b0 *Xn2;

+      /* acc +=  b1 * x[n-1] */

+      acc += (q63_t) b1 *Xn;

+      /* acc +=  b[2] * x[n-2] */

+      acc += (q63_t) b2 *Xn1;

+      /* acc +=  a1 * y[n-1] */

+      acc += (q63_t) a1 *Yn2;

+      /* acc +=  a2 * y[n-2] */

+      acc += (q63_t) a2 *Yn1;

+

+

+      /* The result is converted to 1.31, Yn1 variable is reused  */

+

+      /* Calc lower part of acc */

+      acc_l = acc & 0xffffffff;

+

+      /* Calc upper part of acc */

+      acc_h = (acc >> 32) & 0xffffffff;

+

+

+      /* Apply shift for lower part of acc and upper part of acc */

+      Yn1 = (uint32_t) acc_l >> lShift | acc_h << uShift;

+

+      /* Store the output in the destination buffer. */

+      *pOut++ = Yn1;

+

+      /* Read the third input  */

+      Xn1 = *pIn++;

+

+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */

+

+      /* acc =  b0 * x[n] */

+      acc = (q63_t) b0 *Xn1;

+      /* acc +=  b1 * x[n-1] */

+      acc += (q63_t) b1 *Xn2;

+      /* acc +=  b[2] * x[n-2] */

+      acc += (q63_t) b2 *Xn;

+      /* acc +=  a1 * y[n-1] */

+      acc += (q63_t) a1 *Yn1;

+      /* acc +=  a2 * y[n-2] */

+      acc += (q63_t) a2 *Yn2;

+

+      /* The result is converted to 1.31, Yn2 variable is reused  */

+      /* Calc lower part of acc */

+      acc_l = acc & 0xffffffff;

+

+      /* Calc upper part of acc */

+      acc_h = (acc >> 32) & 0xffffffff;

+

+

+      /* Apply shift for lower part of acc and upper part of acc */

+      Yn2 = (uint32_t) acc_l >> lShift | acc_h << uShift;

+

+      /* Store the output in the destination buffer. */

+      *pOut++ = Yn2;

+

+      /* Read the forth input */

+      Xn = *pIn++;

+

+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */

+

+      /* acc =  b0 * x[n] */

+      acc = (q63_t) b0 *Xn;

+      /* acc +=  b1 * x[n-1] */

+      acc += (q63_t) b1 *Xn1;

+      /* acc +=  b[2] * x[n-2] */

+      acc += (q63_t) b2 *Xn2;

+      /* acc +=  a1 * y[n-1] */

+      acc += (q63_t) a1 *Yn2;

+      /* acc +=  a2 * y[n-2] */

+      acc += (q63_t) a2 *Yn1;

+

+      /* The result is converted to 1.31, Yn1 variable is reused  */

+      /* Calc lower part of acc */

+      acc_l = acc & 0xffffffff;

+

+      /* Calc upper part of acc */

+      acc_h = (acc >> 32) & 0xffffffff;

+

+      /* Apply shift for lower part of acc and upper part of acc */

+      Yn1 = (uint32_t) acc_l >> lShift | acc_h << uShift;

+

+      /* Every time after the output is computed state should be updated. */

+      /* The states should be updated as:  */

+      /* Xn2 = Xn1    */

+      /* Xn1 = Xn     */

+      /* Yn2 = Yn1    */

+      /* Yn1 = acc    */

+      Xn2 = Xn1;

+      Xn1 = Xn;

+

+      /* Store the output in the destination buffer. */

+      *pOut++ = Yn1;

+

+      /* decrement the loop counter */

+      sample--;

+    }

+

+    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    

+     ** No loop unrolling is used. */

+    sample = (blockSize & 0x3u);

+

+    while(sample > 0u)

+    {

+      /* Read the input */

+      Xn = *pIn++;

+

+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */

+

+      /* acc =  b0 * x[n] */

+      acc = (q63_t) b0 *Xn;

+      /* acc +=  b1 * x[n-1] */

+      acc += (q63_t) b1 *Xn1;

+      /* acc +=  b[2] * x[n-2] */

+      acc += (q63_t) b2 *Xn2;

+      /* acc +=  a1 * y[n-1] */

+      acc += (q63_t) a1 *Yn1;

+      /* acc +=  a2 * y[n-2] */

+      acc += (q63_t) a2 *Yn2;

+

+      /* The result is converted to 1.31  */

+      acc = acc >> lShift;

+

+      /* Every time after the output is computed state should be updated. */

+      /* The states should be updated as:  */

+      /* Xn2 = Xn1    */

+      /* Xn1 = Xn     */

+      /* Yn2 = Yn1    */

+      /* Yn1 = acc    */

+      Xn2 = Xn1;

+      Xn1 = Xn;

+      Yn2 = Yn1;

+      Yn1 = (q31_t) acc;

+

+      /* Store the output in the destination buffer. */

+      *pOut++ = (q31_t) acc;

+

+      /* decrement the loop counter */

+      sample--;

+    }

+

+    /*  The first stage goes from the input buffer to the output buffer. */

+    /*  Subsequent stages occur in-place in the output buffer */

+    pIn = pDst;

+

+    /* Reset to destination pointer */

+    pOut = pDst;

+

+    /*  Store the updated state variables back into the pState array */

+    *pState++ = Xn1;

+    *pState++ = Xn2;

+    *pState++ = Yn1;

+    *pState++ = Yn2;

+

+  } while(--stage);

+

+#else

+

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

+

+  do

+  {

+    /* Reading the coefficients */

+    b0 = *pCoeffs++;

+    b1 = *pCoeffs++;

+    b2 = *pCoeffs++;

+    a1 = *pCoeffs++;

+    a2 = *pCoeffs++;

+

+    /* Reading the state values */

+    Xn1 = pState[0];

+    Xn2 = pState[1];

+    Yn1 = pState[2];

+    Yn2 = pState[3];

+

+    /*      The variables acc holds the output value that is computed:         

+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]         

+     */

+

+    sample = blockSize;

+

+    while(sample > 0u)

+    {

+      /* Read the input */

+      Xn = *pIn++;

+

+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */

+      /* acc =  b0 * x[n] */

+      acc = (q63_t) b0 *Xn;

+

+      /* acc +=  b1 * x[n-1] */

+      acc += (q63_t) b1 *Xn1;

+      /* acc +=  b[2] * x[n-2] */

+      acc += (q63_t) b2 *Xn2;

+      /* acc +=  a1 * y[n-1] */

+      acc += (q63_t) a1 *Yn1;

+      /* acc +=  a2 * y[n-2] */

+      acc += (q63_t) a2 *Yn2;

+

+      /* The result is converted to 1.31  */

+      acc = acc >> lShift;

+

+      /* Every time after the output is computed state should be updated. */

+      /* The states should be updated as:  */

+      /* Xn2 = Xn1    */

+      /* Xn1 = Xn     */

+      /* Yn2 = Yn1    */

+      /* Yn1 = acc    */

+      Xn2 = Xn1;

+      Xn1 = Xn;

+      Yn2 = Yn1;

+      Yn1 = (q31_t) acc;

+

+      /* Store the output in the destination buffer. */

+      *pOut++ = (q31_t) acc;

+

+      /* decrement the loop counter */

+      sample--;

+    }

+

+    /*  The first stage goes from the input buffer to the output buffer. */

+    /*  Subsequent stages occur in-place in the output buffer */

+    pIn = pDst;

+

+    /* Reset to destination pointer */

+    pOut = pDst;

+

+    /*  Store the updated state variables back into the pState array */

+    *pState++ = Xn1;

+    *pState++ = Xn2;

+    *pState++ = Yn1;

+    *pState++ = Yn2;

+

+  } while(--stage);

+

+#endif /*  #ifndef ARM_MATH_CM0 */

+}

+

+/**    

+  * @} end of BiquadCascadeDF1 group    

+  */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c
new file mode 100644
index 000000000..a8cb0c98c
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c
@@ -0,0 +1,377 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_biquad_cascade_df2T_f32.c    

+*    

+* Description:  Processing function for the floating-point transposed    

+*               direct form II Biquad cascade filter.   

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**       

+ * @ingroup groupFilters       

+ */

+

+/**       

+ * @defgroup BiquadCascadeDF2T Biquad Cascade IIR Filters Using a Direct Form II Transposed Structure       

+ *       

+ * This set of functions implements arbitrary order recursive (IIR) filters using a transposed direct form II structure.       

+ * The filters are implemented as a cascade of second order Biquad sections.       

+ * These functions provide a slight memory savings as compared to the direct form I Biquad filter functions.      

+ * Only floating-point data is supported.       

+ *       

+ * This function operate on blocks of input and output data and each call to the function       

+ * processes <code>blockSize</code> samples through the filter.       

+ * <code>pSrc</code> points to the array of input data and       

+ * <code>pDst</code> points to the array of output data.       

+ * Both arrays contain <code>blockSize</code> values.       

+ *       

+ * \par Algorithm       

+ * Each Biquad stage implements a second order filter using the difference equation:       

+ * <pre>       

+ *    y[n] = b0 * x[n] + d1       

+ *    d1 = b1 * x[n] + a1 * y[n] + d2       

+ *    d2 = b2 * x[n] + a2 * y[n]       

+ * </pre>       

+ * where d1 and d2 represent the two state values.       

+ *       

+ * \par       

+ * A Biquad filter using a transposed Direct Form II structure is shown below.       

+ * \image html BiquadDF2Transposed.gif "Single transposed Direct Form II Biquad"       

+ * Coefficients <code>b0, b1, and b2 </code> multiply the input signal <code>x[n]</code> and are referred to as the feedforward coefficients.       

+ * Coefficients <code>a1</code> and <code>a2</code> multiply the output signal <code>y[n]</code> and are referred to as the feedback coefficients.       

+ * Pay careful attention to the sign of the feedback coefficients.       

+ * Some design tools flip the sign of the feedback coefficients:       

+ * <pre>       

+ *    y[n] = b0 * x[n] + d1;       

+ *    d1 = b1 * x[n] - a1 * y[n] + d2;       

+ *    d2 = b2 * x[n] - a2 * y[n];       

+ * </pre>       

+ * In this case the feedback coefficients <code>a1</code> and <code>a2</code> must be negated when used with the CMSIS DSP Library.       

+ *       

+ * \par       

+ * Higher order filters are realized as a cascade of second order sections.       

+ * <code>numStages</code> refers to the number of second order stages used.       

+ * For example, an 8th order filter would be realized with <code>numStages=4</code> second order stages.       

+ * A 9th order filter would be realized with <code>numStages=5</code> second order stages with the       

+ * coefficients for one of the stages configured as a first order filter (<code>b2=0</code> and <code>a2=0</code>).       

+ *       

+ * \par       

+ * <code>pState</code> points to the state variable array.       

+ * Each Biquad stage has 2 state variables <code>d1</code> and <code>d2</code>.       

+ * The state variables are arranged in the <code>pState</code> array as:       

+ * <pre>       

+ *     {d11, d12, d21, d22, ...}       

+ * </pre>       

+ * where <code>d1x</code> refers to the state variables for the first Biquad and       

+ * <code>d2x</code> refers to the state variables for the second Biquad.       

+ * The state array has a total length of <code>2*numStages</code> values.       

+ * The state variables are updated after each block of data is processed; the coefficients are untouched.       

+ *       

+ * \par       

+ * The CMSIS library contains Biquad filters in both Direct Form I and transposed Direct Form II.    

+ * The advantage of the Direct Form I structure is that it is numerically more robust for fixed-point data types.    

+ * That is why the Direct Form I structure supports Q15 and Q31 data types.    

+ * The transposed Direct Form II structure, on the other hand, requires a wide dynamic range for the state variables <code>d1</code> and <code>d2</code>.    

+ * Because of this, the CMSIS library only has a floating-point version of the Direct Form II Biquad.    

+ * The advantage of the Direct Form II Biquad is that it requires half the number of state variables, 2 rather than 4, per Biquad stage.    

+ *       

+ * \par Instance Structure       

+ * The coefficients and state variables for a filter are stored together in an instance data structure.       

+ * A separate instance structure must be defined for each filter.       

+ * Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.       

+ *       

+ * \par Init Functions       

+ * There is also an associated initialization function.      

+ * The initialization function performs following operations:       

+ * - Sets the values of the internal structure fields.       

+ * - Zeros out the values in the state buffer.       

+ *       

+ * \par       

+ * Use of the initialization function is optional.       

+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.       

+ * To place an instance structure into a const data section, the instance structure must be manually initialized.       

+ * Set the values in the state buffer to zeros before static initialization.       

+ * For example, to statically initialize the instance structure use       

+ * <pre>       

+ *     arm_biquad_cascade_df2T_instance_f32 S1 = {numStages, pState, pCoeffs};       

+ * </pre>       

+ * where <code>numStages</code> is the number of Biquad stages in the filter; <code>pState</code> is the address of the state buffer.       

+ * <code>pCoeffs</code> is the address of the coefficient buffer;        

+ *       

+ */

+

+/**       

+ * @addtogroup BiquadCascadeDF2T       

+ * @{       

+ */

+

+/**      

+ * @brief Processing function for the floating-point transposed direct form II Biquad cascade filter.      

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

+ * @return none.      

+ */

+

+void arm_biquad_cascade_df2T_f32(

+  const arm_biquad_cascade_df2T_instance_f32 * S,

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize)

+{

+

+  float32_t *pIn = pSrc;                         /*  source pointer            */

+  float32_t *pOut = pDst;                        /*  destination pointer       */

+  float32_t *pState = S->pState;                 /*  State pointer             */

+  float32_t *pCoeffs = S->pCoeffs;               /*  coefficient pointer       */

+  float32_t acc0;                                /*  accumulator               */

+  float32_t b0, b1, b2, a1, a2;                  /*  Filter coefficients       */

+  float32_t Xn;                                  /*  temporary input           */

+  float32_t d1, d2;                              /*  state variables           */

+  uint32_t sample, stage = S->numStages;         /*  loop counters             */

+

+#ifndef ARM_MATH_CM0

+

+  float32_t Xn1, Xn2;                            /*  Input State variables     */

+  float32_t acc1;                                /*  accumulator               */

+

+

+

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

+  do

+  {

+    /* Reading the coefficients */

+    b0 = *pCoeffs++;

+    b1 = *pCoeffs++;

+    b2 = *pCoeffs++;

+    a1 = *pCoeffs++;

+    a2 = *pCoeffs++;

+

+    /*Reading the state values */

+    d1 = pState[0];

+    d2 = pState[1];

+

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

+    sample = 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(sample > 0u)

+    {

+

+      /* y[n] = b0 * x[n] + d1 */

+      /* d1 = b1 * x[n] + a1 * y[n] + d2 */

+      /* d2 = b2 * x[n] + a2 * y[n] */

+

+      /* Read the first input */

+      Xn1 = *pIn++;

+

+      /* y[n] = b0 * x[n] + d1 */

+      acc0 = (b0 * Xn1) + d1;

+

+      /* d1 = b1 * x[n] + d2 */

+      d1 = (b1 * Xn1) + d2;

+

+      /* d2 = b2 * x[n] */

+      d2 = (b2 * Xn1);

+

+      /* Read the second input */

+      Xn2 = *pIn++;

+

+      /* d1 = b1 * x[n] + a1 * y[n] */

+      d1 = (a1 * acc0) + d1;

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = acc0;

+

+      d2 = (a2 * acc0) + d2;

+

+      /* y[n] = b0 * x[n] + d1 */

+      acc1 = (b0 * Xn2) + d1;

+

+      /* Read the third input */

+      Xn1 = *pIn++;

+

+      d1 = (b1 * Xn2) + d2;

+

+      d2 = (b2 * Xn2);

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = acc1;

+

+      d1 = (a1 * acc1) + d1;

+

+      d2 = (a2 * acc1) + d2;

+

+      /* y[n] = b0 * x[n] + d1 */

+      acc0 = (b0 * Xn1) + d1;

+

+      d1 = (b1 * Xn1) + d2;

+

+      d2 = (b2 * Xn1);

+

+      /* Read the fourth input */

+      Xn2 = *pIn++;

+

+      d1 = (a1 * acc0) + d1;

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = acc0;

+

+      d2 = (a2 * acc0) + d2;

+

+      /* y[n] = b0 * x[n] + d1 */

+      acc1 = (b0 * Xn2) + d1;

+

+      d1 = (b1 * Xn2) + d2;

+

+      d2 = (b2 * Xn2);

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = acc1;

+

+      d1 = (a1 * acc1) + d1;

+

+      d2 = (a2 * acc1) + d2;

+

+      /* decrement the loop counter */

+      sample--;

+

+    }

+

+    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.       

+     ** No loop unrolling is used. */

+    sample = blockSize & 0x3u;

+

+    while(sample > 0u)

+    {

+      /* Read the input */

+      Xn = *pIn++;

+

+      /* y[n] = b0 * x[n] + d1 */

+      acc0 = (b0 * Xn) + d1;

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = acc0;

+

+      /* Every time after the output is computed state should be updated. */

+      /* d1 = b1 * x[n] + a1 * y[n] + d2 */

+      d1 = ((b1 * Xn) + (a1 * acc0)) + d2;

+

+      /* d2 = b2 * x[n] + a2 * y[n] */

+      d2 = (b2 * Xn) + (a2 * acc0);

+

+      /* decrement the loop counter */

+      sample--;

+    }

+

+    /* Store the updated state variables back into the state array */

+    *pState++ = d1;

+    *pState++ = d2;

+

+    /* The current stage input is given as the output to the next stage */

+    pIn = pDst;

+

+    /*Reset the output working pointer */

+    pOut = pDst;

+

+    /* decrement the loop counter */

+    stage--;

+

+  } while(stage > 0u);

+

+#else

+

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

+

+  do

+  {

+    /* Reading the coefficients */

+    b0 = *pCoeffs++;

+    b1 = *pCoeffs++;

+    b2 = *pCoeffs++;

+    a1 = *pCoeffs++;

+    a2 = *pCoeffs++;

+

+    /*Reading the state values */

+    d1 = pState[0];

+    d2 = pState[1];

+

+

+    sample = blockSize;

+

+    while(sample > 0u)

+    {

+      /* Read the input */

+      Xn = *pIn++;

+

+      /* y[n] = b0 * x[n] + d1 */

+      acc0 = (b0 * Xn) + d1;

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = acc0;

+

+      /* Every time after the output is computed state should be updated. */

+      /* d1 = b1 * x[n] + a1 * y[n] + d2 */

+      d1 = ((b1 * Xn) + (a1 * acc0)) + d2;

+

+      /* d2 = b2 * x[n] + a2 * y[n] */

+      d2 = (b2 * Xn) + (a2 * acc0);

+

+      /* decrement the loop counter */

+      sample--;

+    }

+

+    /* Store the updated state variables back into the state array */

+    *pState++ = d1;

+    *pState++ = d2;

+

+    /* The current stage input is given as the output to the next stage */

+    pIn = pDst;

+

+    /*Reset the output working pointer */

+    pOut = pDst;

+

+    /* decrement the loop counter */

+    stage--;

+

+  } while(stage > 0u);

+

+#endif /*  #ifndef ARM_MATH_CM0         */

+

+}

+

+

+  /**       

+   * @} end of BiquadCascadeDF2T group       

+   */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c
new file mode 100644
index 000000000..e4225d008
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c
@@ -0,0 +1,97 @@
+/*-----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_biquad_cascade_df2T_init_f32.c    

+*    

+* Description:  Initialization function for the floating-point transposed   

+*               direct form II Biquad cascade filter.   

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------*/

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup BiquadCascadeDF2T    

+ * @{    

+ */

+

+/**   

+ * @brief  Initialization function for the floating-point transposed direct form II Biquad cascade filter.   

+ * @param[in,out] *S           points to an instance of the filter data structure.   

+ * @param[in]     numStages    number of 2nd order stages in the filter.   

+ * @param[in]     *pCoeffs     points to the filter coefficients.   

+ * @param[in]     *pState      points to the state buffer.   

+ * @return        none   

+ *    

+ * <b>Coefficient and State Ordering:</b>    

+ * \par    

+ * The coefficients are stored in the array <code>pCoeffs</code> in the following order:    

+ * <pre>    

+ *     {b10, b11, b12, a11, a12, b20, b21, b22, a21, a22, ...}    

+ * </pre>    

+ *    

+ * \par    

+ * where <code>b1x</code> and <code>a1x</code> are the coefficients for the first stage,    

+ * <code>b2x</code> and <code>a2x</code> are the coefficients for the second stage,    

+ * and so on.  The <code>pCoeffs</code> array contains a total of <code>5*numStages</code> values.    

+ *    

+ * \par    

+ * The <code>pState</code> is a pointer to state array.    

+ * Each Biquad stage has 2 state variables <code>d1,</code> and <code>d2</code>.    

+ * The 2 state variables for stage 1 are first, then the 2 state variables for stage 2, and so on.    

+ * The state array has a total length of <code>2*numStages</code> values.    

+ * The state variables are updated after each block of data is processed; the coefficients are untouched.    

+ */

+

+void arm_biquad_cascade_df2T_init_f32(

+  arm_biquad_cascade_df2T_instance_f32 * S,

+  uint8_t numStages,

+  float32_t * pCoeffs,

+  float32_t * pState)

+{

+  /* Assign filter stages */

+  S->numStages = numStages;

+

+  /* Assign coefficient pointer */

+  S->pCoeffs = pCoeffs;

+

+  /* Clear state buffer and size is always 2 * numStages */

+  memset(pState, 0, (2u * (uint32_t) numStages) * sizeof(float32_t));

+

+  /* Assign state pointer */

+  S->pState = pState;

+}

+

+/**    

+ * @} end of BiquadCascadeDF2T group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c
new file mode 100644
index 000000000..48dd45f2b
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c
@@ -0,0 +1,646 @@
+/* ----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_conv_f32.c    

+*    

+* Description:	Convolution of floating-point sequences.    

+*    

+* 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 1.0.11 2011/10/18  

+*    Bug Fix in conv, correlation, partial convolution.  

+* 

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+*    

+* -------------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @defgroup Conv Convolution    

+ *    

+ * Convolution is a mathematical operation that operates on two finite length vectors to generate a finite length output vector.    

+ * Convolution is similar to correlation and is frequently used in filtering and data analysis.    

+ * The CMSIS DSP library contains functions for convolving Q7, Q15, Q31, and floating-point data types.    

+ * The library also provides fast versions of the Q15 and Q31 functions on Cortex-M4 and Cortex-M3.    

+ *    

+ * \par Algorithm    

+ * Let <code>a[n]</code> and <code>b[n]</code> be sequences of length <code>srcALen</code> and <code>srcBLen</code> samples respectively.    

+ * Then the convolution    

+ *    

+ * <pre>    

+ *                   c[n] = a[n] * b[n]    

+ * </pre>    

+ *    

+ * \par    

+ * is defined as    

+ * \image html ConvolutionEquation.gif    

+ * \par    

+ * Note that <code>c[n]</code> is of length <code>srcALen + srcBLen - 1</code> and is defined over the interval <code>n=0, 1, 2, ..., srcALen + srcBLen - 2</code>.    

+ * <code>pSrcA</code> points to the first input vector of length <code>srcALen</code> and    

+ * <code>pSrcB</code> points to the second input vector of length <code>srcBLen</code>.    

+ * The output result is written to <code>pDst</code> and the calling function must allocate <code>srcALen+srcBLen-1</code> words for the result.    

+ *    

+ * \par    

+ * Conceptually, when two signals <code>a[n]</code> and <code>b[n]</code> are convolved,    

+ * the signal <code>b[n]</code> slides over <code>a[n]</code>.    

+ * For each offset \c n, the overlapping portions of a[n] and b[n] are multiplied and summed together.    

+ *    

+ * \par    

+ * Note that convolution is a commutative operation:    

+ *    

+ * <pre>    

+ *                   a[n] * b[n] = b[n] * a[n].    

+ * </pre>    

+ *    

+ * \par    

+ * This means that switching the A and B arguments to the convolution functions has no effect.    

+ *    

+ * <b>Fixed-Point Behavior</b>    

+ *    

+ * \par    

+ * Convolution requires summing up a large number of intermediate products.    

+ * As such, the Q7, Q15, and Q31 functions run a risk of overflow and saturation.    

+ * Refer to the function specific documentation below for further details of the particular algorithm used.    

+ *

+ *

+ * <b>Fast Versions</b>

+ *

+ * \par 

+ * Fast versions are supported for Q31 and Q15.  Cycles for Fast versions are less compared to Q31 and Q15 of conv and the design requires

+ * the input signals should be scaled down to avoid intermediate overflows.   

+ *

+ *

+ * <b>Opt Versions</b>

+ *

+ * \par 

+ * Opt versions are supported for Q15 and Q7.  Design uses internal scratch buffer for getting good optimisation.

+ * These versions are optimised in cycles and consumes more memory(Scratch memory) compared to Q15 and Q7 versions 

+ */

+

+/**    

+ * @addtogroup Conv    

+ * @{    

+ */

+

+/**    

+ * @brief Convolution of floating-point sequences.    

+ * @param[in] *pSrcA points to the first input sequence.    

+ * @param[in] srcALen length of the first input sequence.    

+ * @param[in] *pSrcB points to the second input sequence.    

+ * @param[in] srcBLen length of the second input sequence.    

+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.    

+ * @return none.    

+ */

+

+void arm_conv_f32(

+  float32_t * pSrcA,

+  uint32_t srcALen,

+  float32_t * pSrcB,

+  uint32_t srcBLen,

+  float32_t * pDst)

+{

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  float32_t *pIn1;                               /* inputA pointer */

+  float32_t *pIn2;                               /* inputB pointer */

+  float32_t *pOut = pDst;                        /* output pointer */

+  float32_t *px;                                 /* Intermediate inputA pointer */

+  float32_t *py;                                 /* Intermediate inputB pointer */

+  float32_t *pSrc1, *pSrc2;                      /* Intermediate pointers */

+  float32_t sum, acc0, acc1, acc2, acc3;         /* Accumulator */

+  float32_t x0, x1, x2, x3, c0;                  /* Temporary variables to hold state and coefficient values */

+  uint32_t j, k, count, blkCnt, blockSize1, blockSize2, blockSize3;     /* loop counters */

+

+  /* The algorithm implementation is based on the lengths of the inputs. */

+  /* srcB is always made to slide across srcA. */

+  /* So srcBLen is always considered as shorter or equal to srcALen */

+  if(srcALen >= srcBLen)

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = pSrcA;

+

+    /* Initialization of inputB pointer */

+    pIn2 = pSrcB;

+  }

+  else

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = pSrcB;

+

+    /* Initialization of inputB pointer */

+    pIn2 = pSrcA;

+

+    /* srcBLen is always considered as shorter or equal to srcALen */

+    j = srcBLen;

+    srcBLen = srcALen;

+    srcALen = j;

+  }

+

+  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */

+  /* The function is internally    

+   * divided into three stages according to the number of multiplications that has to be    

+   * taken place between inputA samples and inputB samples. In the first stage of the    

+   * algorithm, the multiplications increase by one for every iteration.    

+   * In the second stage of the algorithm, srcBLen number of multiplications are done.    

+   * In the third stage of the algorithm, the multiplications decrease by one    

+   * for every iteration. */

+

+  /* The algorithm is implemented in three stages.    

+     The loop counters of each stage is initiated here. */

+  blockSize1 = srcBLen - 1u;

+  blockSize2 = srcALen - (srcBLen - 1u);

+  blockSize3 = blockSize1;

+

+  /* --------------------------    

+   * initializations of stage1    

+   * -------------------------*/

+

+  /* sum = x[0] * y[0]    

+   * sum = x[0] * y[1] + x[1] * y[0]    

+   * ....    

+   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]    

+   */

+

+  /* In this stage the MAC operations are increased by 1 for every iteration.    

+     The count variable holds the number of MAC operations performed */

+  count = 1u;

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  py = pIn2;

+

+

+  /* ------------------------    

+   * Stage1 process    

+   * ----------------------*/

+

+  /* The first stage starts here */

+  while(blockSize1 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0.0f;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = count >> 2u;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* x[0] * y[srcBLen - 1] */

+      sum += *px++ * *py--;

+

+      /* x[1] * y[srcBLen - 2] */

+      sum += *px++ * *py--;

+

+      /* x[2] * y[srcBLen - 3] */

+      sum += *px++ * *py--;

+

+      /* x[3] * y[srcBLen - 4] */

+      sum += *px++ * *py--;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, compute any remaining MACs here.    

+     ** No loop unrolling is used. */

+    k = count % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      sum += *px++ * *py--;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut++ = sum;

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    py = pIn2 + count;

+    px = pIn1;

+

+    /* Increment the MAC count */

+    count++;

+

+    /* Decrement the loop counter */

+    blockSize1--;

+  }

+

+  /* --------------------------    

+   * Initializations of stage2    

+   * ------------------------*/

+

+  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]    

+   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]    

+   * ....    

+   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]    

+   */

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  pSrc2 = pIn2 + (srcBLen - 1u);

+  py = pSrc2;

+

+  /* count is index by which the pointer pIn1 to be incremented */

+  count = 0u;

+

+  /* -------------------    

+   * Stage2 process    

+   * ------------------*/

+

+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    

+   * So, to loop unroll over blockSize2,    

+   * srcBLen should be greater than or equal to 4 */

+  if(srcBLen >= 4u)

+  {

+    /* Loop unroll over blockSize2, by 4 */

+    blkCnt = blockSize2 >> 2u;

+

+    while(blkCnt > 0u)

+    {

+      /* Set all accumulators to zero */

+      acc0 = 0.0f;

+      acc1 = 0.0f;

+      acc2 = 0.0f;

+      acc3 = 0.0f;

+

+      /* read x[0], x[1], x[2] samples */

+      x0 = *(px++);

+      x1 = *(px++);

+      x2 = *(px++);

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      do

+      {

+        /* Read y[srcBLen - 1] sample */

+        c0 = *(py--);

+

+        /* Read x[3] sample */

+        x3 = *(px);

+

+        /* Perform the multiply-accumulate */

+        /* acc0 +=  x[0] * y[srcBLen - 1] */

+        acc0 += x0 * c0;

+

+        /* acc1 +=  x[1] * y[srcBLen - 1] */

+        acc1 += x1 * c0;

+

+        /* acc2 +=  x[2] * y[srcBLen - 1] */

+        acc2 += x2 * c0;

+

+        /* acc3 +=  x[3] * y[srcBLen - 1] */

+        acc3 += x3 * c0;

+

+        /* Read y[srcBLen - 2] sample */

+        c0 = *(py--);

+

+        /* Read x[4] sample */

+        x0 = *(px + 1u);

+

+        /* Perform the multiply-accumulate */

+        /* acc0 +=  x[1] * y[srcBLen - 2] */

+        acc0 += x1 * c0;

+        /* acc1 +=  x[2] * y[srcBLen - 2] */

+        acc1 += x2 * c0;

+        /* acc2 +=  x[3] * y[srcBLen - 2] */

+        acc2 += x3 * c0;

+        /* acc3 +=  x[4] * y[srcBLen - 2] */

+        acc3 += x0 * c0;

+

+        /* Read y[srcBLen - 3] sample */

+        c0 = *(py--);

+

+        /* Read x[5] sample */

+        x1 = *(px + 2u);

+

+        /* Perform the multiply-accumulates */

+        /* acc0 +=  x[2] * y[srcBLen - 3] */

+        acc0 += x2 * c0;

+        /* acc1 +=  x[3] * y[srcBLen - 2] */

+        acc1 += x3 * c0;

+        /* acc2 +=  x[4] * y[srcBLen - 2] */

+        acc2 += x0 * c0;

+        /* acc3 +=  x[5] * y[srcBLen - 2] */

+        acc3 += x1 * c0;

+

+        /* Read y[srcBLen - 4] sample */

+        c0 = *(py--);

+

+        /* Read x[6] sample */

+        x2 = *(px + 3u);

+        px += 4u;

+

+        /* Perform the multiply-accumulates */

+        /* acc0 +=  x[3] * y[srcBLen - 4] */

+        acc0 += x3 * c0;

+        /* acc1 +=  x[4] * y[srcBLen - 4] */

+        acc1 += x0 * c0;

+        /* acc2 +=  x[5] * y[srcBLen - 4] */

+        acc2 += x1 * c0;

+        /* acc3 +=  x[6] * y[srcBLen - 4] */

+        acc3 += x2 * c0;

+

+

+      } while(--k);

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Read y[srcBLen - 5] sample */

+        c0 = *(py--);

+

+        /* Read x[7] sample */

+        x3 = *(px++);

+

+        /* Perform the multiply-accumulates */

+        /* acc0 +=  x[4] * y[srcBLen - 5] */

+        acc0 += x0 * c0;

+        /* acc1 +=  x[5] * y[srcBLen - 5] */

+        acc1 += x1 * c0;

+        /* acc2 +=  x[6] * y[srcBLen - 5] */

+        acc2 += x2 * c0;

+        /* acc3 +=  x[7] * y[srcBLen - 5] */

+        acc3 += x3 * c0;

+

+        /* Reuse the present samples for the next MAC */

+        x0 = x1;

+        x1 = x2;

+        x2 = x3;

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = acc0;

+      *pOut++ = acc1;

+      *pOut++ = acc2;

+      *pOut++ = acc3;

+

+      /* Increment the pointer pIn1 index, count by 4 */

+      count += 4u;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pSrc2;

+

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+

+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.    

+     ** No loop unrolling is used. */

+    blkCnt = blockSize2 % 0x4u;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0.0f;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum += *px++ * *py--;

+        sum += *px++ * *py--;

+        sum += *px++ * *py--;

+        sum += *px++ * *py--;

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulate */

+        sum += *px++ * *py--;

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = sum;

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pSrc2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+  else

+  {

+    /* If the srcBLen is not a multiple of 4,    

+     * the blockSize2 loop cannot be unrolled by 4 */

+    blkCnt = blockSize2;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0.0f;

+

+      /* srcBLen number of MACS should be performed */

+      k = srcBLen;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulate */

+        sum += *px++ * *py--;

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = sum;

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pSrc2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+

+

+  /* --------------------------    

+   * Initializations of stage3    

+   * -------------------------*/

+

+  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]    

+   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]    

+   * ....    

+   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]    

+   * sum +=  x[srcALen-1] * y[srcBLen-1]    

+   */

+

+  /* In this stage the MAC operations are decreased by 1 for every iteration.    

+     The blockSize3 variable holds the number of MAC operations performed */

+

+  /* Working pointer of inputA */

+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);

+  px = pSrc1;

+

+  /* Working pointer of inputB */

+  pSrc2 = pIn2 + (srcBLen - 1u);

+  py = pSrc2;

+

+  /* -------------------    

+   * Stage3 process    

+   * ------------------*/

+

+  while(blockSize3 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0.0f;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = blockSize3 >> 2u;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */

+      sum += *px++ * *py--;

+

+      /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */

+      sum += *px++ * *py--;

+

+      /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */

+      sum += *px++ * *py--;

+

+      /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */

+      sum += *px++ * *py--;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.    

+     ** No loop unrolling is used. */

+    k = blockSize3 % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      /* sum +=  x[srcALen-1] * y[srcBLen-1] */

+      sum += *px++ * *py--;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut++ = sum;

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    px = ++pSrc1;

+    py = pSrc2;

+

+    /* Decrement the loop counter */

+    blockSize3--;

+  }

+

+#else

+

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

+

+  float32_t *pIn1 = pSrcA;                       /* inputA pointer */

+  float32_t *pIn2 = pSrcB;                       /* inputB pointer */

+  float32_t sum;                                 /* Accumulator */

+  uint32_t i, j;                                 /* loop counters */

+

+  /* Loop to calculate convolution for output length number of times */

+  for (i = 0u; i < ((srcALen + srcBLen) - 1u); i++)

+  {

+    /* Initialize sum with zero to carry out MAC operations */

+    sum = 0.0f;

+

+    /* Loop to perform MAC operations according to convolution equation */

+    for (j = 0u; j <= i; j++)

+    {

+      /* Check the array limitations */

+      if((((i - j) < srcBLen) && (j < srcALen)))

+      {

+        /* z[i] += x[i-j] * y[j] */

+        sum += pIn1[j] * pIn2[i - j];

+      }

+    }

+    /* Store the output in the destination buffer */

+    pDst[i] = sum;

+  }

+

+#endif /*   #ifndef ARM_MATH_CM0        */

+

+}

+

+/**    

+ * @} end of Conv group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_opt_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_opt_q15.c
new file mode 100644
index 000000000..3e85a25ba
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_opt_q15.c
@@ -0,0 +1,538 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_conv_fast_opt_q15.c    

+*    

+* Description:	Fast Q15 Convolution.    

+*    

+* Target Processor: Cortex-M4/Cortex-M3

+*  

+* Version 1.1.0 2012/02/15 

+*    Updated with more optimizations, bug fixes and minor API changes.  

+*  

+* Version 1.0.11 2011/10/18  

+*    Bug Fix in conv, correlation, partial convolution.  

+* 

+* 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 groupFilters    

+ */

+

+/**    

+ * @addtogroup Conv    

+ * @{    

+ */

+

+/**    

+ * @brief Convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.    

+ * @param[in] *pSrcA points to the first input sequence.    

+ * @param[in] srcALen length of the first input sequence.    

+ * @param[in] *pSrcB points to the second input sequence.    

+ * @param[in] srcBLen length of the second input sequence.    

+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.    

+ * @param[in]  *pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   

+ * @param[in]  *pScratch2 points to scratch buffer of size min(srcALen, srcBLen).   

+ * @return none.    

+ *    

+ * \par Restrictions    

+ *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    

+ *	In this case input, output, scratch1 and scratch2 buffers should be aligned by 32-bit    

+ *     

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

+ *    

+ * \par    

+ * This fast version uses a 32-bit accumulator with 2.30 format.    

+ * The accumulator 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.    

+ * Scale down the inputs by log2(min(srcALen, srcBLen)) (log2 is read as log to the base 2) times to avoid overflows,    

+ * as maximum of min(srcALen, srcBLen) number of additions are carried internally.    

+ * The 2.30 accumulator is right shifted by 15 bits and then saturated to 1.15 format to yield the final result.    

+ *    

+ * \par    

+ * See <code>arm_conv_q15()</code> for a slower implementation of this function which uses 64-bit accumulation to avoid wrap around distortion.    

+ */

+

+void arm_conv_fast_opt_q15(

+  q15_t * pSrcA,

+  uint32_t srcALen,

+  q15_t * pSrcB,

+  uint32_t srcBLen,

+  q15_t * pDst,

+  q15_t * pScratch1,

+  q15_t * pScratch2)

+{

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

+  q31_t x1, x2, x3;                              /* Temporary variables to hold state and coefficient values */

+  q31_t y1, y2;                                  /* State variables */

+  q15_t *pOut = pDst;                            /* output pointer */

+  q15_t *pScr1 = pScratch1;                      /* Temporary pointer for scratch1 */

+  q15_t *pScr2 = pScratch2;                      /* Temporary pointer for scratch1 */

+  q15_t *pIn1;                                   /* inputA pointer */

+  q15_t *pIn2;                                   /* inputB pointer */

+  q15_t *px;                                     /* Intermediate inputA pointer  */

+  q15_t *py;                                     /* Intermediate inputB pointer  */

+  uint32_t j, k, blkCnt;                         /* loop counter */

+  uint32_t tapCnt;                               /* loop count */

+#ifdef UNALIGNED_SUPPORT_DISABLE

+

+  q15_t a, b;

+

+#endif	/*	#ifdef UNALIGNED_SUPPORT_DISABLE	*/

+

+  /* The algorithm implementation is based on the lengths of the inputs. */

+  /* srcB is always made to slide across srcA. */

+  /* So srcBLen is always considered as shorter or equal to srcALen */

+  if(srcALen >= srcBLen)

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = pSrcA;

+

+    /* Initialization of inputB pointer */

+    pIn2 = pSrcB;

+  }

+  else

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = pSrcB;

+

+    /* Initialization of inputB pointer */

+    pIn2 = pSrcA;

+

+    /* srcBLen is always considered as shorter or equal to srcALen */

+    j = srcBLen;

+    srcBLen = srcALen;

+    srcALen = j;

+  }

+

+  /* Pointer to take end of scratch2 buffer */

+  pScr2 = pScratch2 + srcBLen - 1;

+

+  /* points to smaller length sequence */

+  px = pIn2;

+

+  /* Apply loop unrolling and do 4 Copies simultaneously. */

+  k = srcBLen >> 2u;

+

+  /* First part of the processing with loop unrolling copies 4 data points at a time.       

+   ** a second loop below copies for the remaining 1 to 3 samples. */

+

+  /* Copy smaller length input sequence in reverse order into second scratch buffer */

+  while(k > 0u)

+  {

+    /* copy second buffer in reversal manner */

+    *pScr2-- = *px++;

+    *pScr2-- = *px++;

+    *pScr2-- = *px++;

+    *pScr2-- = *px++;

+

+    /* Decrement the loop counter */

+    k--;

+  }

+

+  /* If the count is not a multiple of 4, copy remaining samples here.       

+   ** No loop unrolling is used. */

+  k = srcBLen % 0x4u;

+

+  while(k > 0u)

+  {

+    /* copy second buffer in reversal manner for remaining samples */

+    *pScr2-- = *px++;

+

+    /* Decrement the loop counter */

+    k--;

+  }

+

+  /* Initialze temporary scratch pointer */

+  pScr1 = pScratch1;

+

+  /* Assuming scratch1 buffer is aligned by 32-bit */

+  /* Fill (srcBLen - 1u) zeros in scratch1 buffer */

+  arm_fill_q15(0, pScr1, (srcBLen - 1u));

+

+  /* Update temporary scratch pointer */

+  pScr1 += (srcBLen - 1u);

+

+  /* Copy bigger length sequence(srcALen) samples in scratch1 buffer */

+

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+  /* Copy (srcALen) samples in scratch buffer */

+  arm_copy_q15(pIn1, pScr1, srcALen);

+

+  /* Update pointers */

+  pScr1 += srcALen;

+

+#else

+

+  /* Apply loop unrolling and do 4 Copies simultaneously. */

+  k = srcALen >> 2u;

+

+  /* First part of the processing with loop unrolling copies 4 data points at a time.       

+   ** a second loop below copies for the remaining 1 to 3 samples. */

+  while(k > 0u)

+  {

+    /* copy second buffer in reversal manner */

+    *pScr1++ = *pIn1++;

+    *pScr1++ = *pIn1++;

+    *pScr1++ = *pIn1++;

+    *pScr1++ = *pIn1++;

+

+    /* Decrement the loop counter */

+    k--;

+  }

+

+  /* If the count is not a multiple of 4, copy remaining samples here.       

+   ** No loop unrolling is used. */

+  k = srcALen % 0x4u;

+

+  while(k > 0u)

+  {

+    /* copy second buffer in reversal manner for remaining samples */

+    *pScr1++ = *pIn1++;

+

+    /* Decrement the loop counter */

+    k--;

+  }

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+  /* Fill (srcBLen - 1u) zeros at end of scratch buffer */

+  arm_fill_q15(0, pScr1, (srcBLen - 1u));

+

+  /* Update pointer */

+  pScr1 += (srcBLen - 1u);

+

+#else

+

+  /* Apply loop unrolling and do 4 Copies simultaneously. */

+  k = (srcBLen - 1u) >> 2u;

+

+  /* First part of the processing with loop unrolling copies 4 data points at a time.       

+   ** a second loop below copies for the remaining 1 to 3 samples. */

+  while(k > 0u)

+  {

+    /* copy second buffer in reversal manner */

+    *pScr1++ = 0;

+    *pScr1++ = 0;

+    *pScr1++ = 0;

+    *pScr1++ = 0;

+

+    /* Decrement the loop counter */

+    k--;

+  }

+

+  /* If the count is not a multiple of 4, copy remaining samples here.       

+   ** No loop unrolling is used. */

+  k = (srcBLen - 1u) % 0x4u;

+

+  while(k > 0u)

+  {

+    /* copy second buffer in reversal manner for remaining samples */

+    *pScr1++ = 0;

+

+    /* Decrement the loop counter */

+    k--;

+  }

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+  /* Temporary pointer for scratch2 */

+  py = pScratch2;

+

+

+  /* Initialization of pIn2 pointer */

+  pIn2 = py;

+

+  /* First part of the processing with loop unrolling process 4 data points at a time.       

+   ** a second loop below process for the remaining 1 to 3 samples. */

+

+  /* Actual convolution process starts here */

+  blkCnt = (srcALen + srcBLen - 1u) >> 2;

+

+  while(blkCnt > 0)

+  {

+    /* Initialze temporary scratch pointer as scratch1 */

+    pScr1 = pScratch1;

+

+    /* Clear Accumlators */

+    acc0 = 0;

+    acc1 = 0;

+    acc2 = 0;

+    acc3 = 0;

+

+    /* Read two samples from scratch1 buffer */

+    x1 = *__SIMD32(pScr1)++;

+

+    /* Read next two samples from scratch1 buffer */

+    x2 = *__SIMD32(pScr1)++;

+

+    tapCnt = (srcBLen) >> 2u;

+

+    while(tapCnt > 0u)

+    {

+

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+      /* Read four samples from smaller buffer */

+      y1 = _SIMD32_OFFSET(pIn2);

+      y2 = _SIMD32_OFFSET(pIn2 + 2u);

+

+      /* multiply and accumlate */

+      acc0 = __SMLAD(x1, y1, acc0);

+      acc2 = __SMLAD(x2, y1, acc2);

+

+      /* pack input data */

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x2, x1, 0);

+#else

+      x3 = __PKHBT(x1, x2, 0);

+#endif

+

+      /* multiply and accumlate */

+      acc1 = __SMLADX(x3, y1, acc1);

+

+      /* Read next two samples from scratch1 buffer */

+      x1 = _SIMD32_OFFSET(pScr1);

+

+      /* multiply and accumlate */

+      acc0 = __SMLAD(x2, y2, acc0);

+      acc2 = __SMLAD(x1, y2, acc2);

+

+      /* pack input data */

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x1, x2, 0);

+#else

+      x3 = __PKHBT(x2, x1, 0);

+#endif

+

+      acc3 = __SMLADX(x3, y1, acc3);

+      acc1 = __SMLADX(x3, y2, acc1);

+

+      x2 = _SIMD32_OFFSET(pScr1 + 2u);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x2, x1, 0);

+#else

+      x3 = __PKHBT(x1, x2, 0);

+#endif

+

+      acc3 = __SMLADX(x3, y2, acc3);

+

+#else	 

+

+      /* Read four samples from smaller buffer */

+	  a = *pIn2;

+	  b = *(pIn2 + 1);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      y1 = __PKHBT(a, b, 16);

+#else

+      y1 = __PKHBT(b, a, 16);

+#endif

+	  

+	  a = *(pIn2 + 2);

+	  b = *(pIn2 + 3);

+#ifndef ARM_MATH_BIG_ENDIAN

+      y2 = __PKHBT(a, b, 16);

+#else

+      y2 = __PKHBT(b, a, 16);

+#endif				

+

+      acc0 = __SMLAD(x1, y1, acc0);

+

+      acc2 = __SMLAD(x2, y1, acc2);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x2, x1, 0);

+#else

+      x3 = __PKHBT(x1, x2, 0);

+#endif

+

+      acc1 = __SMLADX(x3, y1, acc1);

+

+	  a = *pScr1;

+	  b = *(pScr1 + 1);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x1 = __PKHBT(a, b, 16);

+#else

+      x1 = __PKHBT(b, a, 16);

+#endif

+

+      acc0 = __SMLAD(x2, y2, acc0);

+

+      acc2 = __SMLAD(x1, y2, acc2);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x1, x2, 0);

+#else

+      x3 = __PKHBT(x2, x1, 0);

+#endif

+

+      acc3 = __SMLADX(x3, y1, acc3);

+

+      acc1 = __SMLADX(x3, y2, acc1);

+

+	  a = *(pScr1 + 2);

+	  b = *(pScr1 + 3);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x2 = __PKHBT(a, b, 16);

+#else

+      x2 = __PKHBT(b, a, 16);

+#endif

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x2, x1, 0);

+#else

+      x3 = __PKHBT(x1, x2, 0);

+#endif

+

+      acc3 = __SMLADX(x3, y2, acc3);

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+      /* update scratch pointers */

+      pIn2 += 4u;

+      pScr1 += 4u;

+

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Update scratch pointer for remaining samples of smaller length sequence */

+    pScr1 -= 4u;

+

+    /* apply same above for remaining samples of smaller length sequence */

+    tapCnt = (srcBLen) & 3u;

+

+    while(tapCnt > 0u)

+    {

+

+      /* accumlate the results */

+      acc0 += (*pScr1++ * *pIn2);

+      acc1 += (*pScr1++ * *pIn2);

+      acc2 += (*pScr1++ * *pIn2);

+      acc3 += (*pScr1++ * *pIn2++);

+

+      pScr1 -= 3u;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    blkCnt--;

+

+

+    /* Store the results in the accumulators in the destination buffer. */

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    *__SIMD32(pOut)++ =

+      __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);

+

+    *__SIMD32(pOut)++ =

+      __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);

+

+

+#else

+

+    *__SIMD32(pOut)++ =

+      __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);

+

+    *__SIMD32(pOut)++ =

+      __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);

+

+

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN       */

+

+    /* Initialization of inputB pointer */

+    pIn2 = py;

+

+    pScratch1 += 4u;

+

+  }

+

+

+  blkCnt = (srcALen + srcBLen - 1u) & 0x3;

+

+  /* Calculate convolution for remaining samples of Bigger length sequence */

+  while(blkCnt > 0)

+  {

+    /* Initialze temporary scratch pointer as scratch1 */

+    pScr1 = pScratch1;

+

+    /* Clear Accumlators */

+    acc0 = 0;

+

+    tapCnt = (srcBLen) >> 1u;

+

+    while(tapCnt > 0u)

+    {

+

+      acc0 += (*pScr1++ * *pIn2++);

+      acc0 += (*pScr1++ * *pIn2++);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    tapCnt = (srcBLen) & 1u;

+

+    /* apply same above for remaining samples of smaller length sequence */

+    while(tapCnt > 0u)

+    {

+

+      /* accumlate the results */

+      acc0 += (*pScr1++ * *pIn2++);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    blkCnt--;

+

+    /* The result is in 2.30 format.  Convert to 1.15 with saturation.       

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

+    *pOut++ = (q15_t) (__SSAT((acc0 >> 15), 16));

+

+    /* Initialization of inputB pointer */

+    pIn2 = py;

+

+    pScratch1 += 1u;

+

+  }

+

+}

+

+/**    

+ * @} end of Conv group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c
new file mode 100644
index 000000000..e21be3523
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c
@@ -0,0 +1,1405 @@
+/* ----------------------------------------------------------------------   

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

+*   

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*   

+* Project: 	    CMSIS DSP Library   

+* Title:		arm_conv_fast_q15.c   

+*   

+* Description:	Fast Q15 Convolution.   

+*   

+* Target Processor: Cortex-M4/Cortex-M3

+* 

+* Version 1.1.0 2012/02/15 

+*    Updated with more optimizations, bug fixes and minor API changes.  

+* 

+* Version 1.0.11 2011/10/18 

+*    Bug Fix in conv, correlation, partial convolution. 

+*

+* 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 groupFilters   

+ */

+

+/**   

+ * @addtogroup Conv   

+ * @{   

+ */

+

+/**   

+ * @brief Convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.   

+ * @param[in] *pSrcA points to the first input sequence.   

+ * @param[in] srcALen length of the first input sequence.   

+ * @param[in] *pSrcB points to the second input sequence.   

+ * @param[in] srcBLen length of the second input sequence.   

+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.   

+ * @return none.   

+ *   

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

+ *   

+ * \par   

+ * This fast version uses a 32-bit accumulator with 2.30 format.   

+ * The accumulator 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.   

+ * Scale down the inputs by log2(min(srcALen, srcBLen)) (log2 is read as log to the base 2) times to avoid overflows,   

+ * as maximum of min(srcALen, srcBLen) number of additions are carried internally.   

+ * The 2.30 accumulator is right shifted by 15 bits and then saturated to 1.15 format to yield the final result.   

+ *   

+ * \par   

+ * See <code>arm_conv_q15()</code> for a slower implementation of this function which uses 64-bit accumulation to avoid wrap around distortion.   

+ */

+

+void arm_conv_fast_q15(

+  q15_t * pSrcA,

+  uint32_t srcALen,

+  q15_t * pSrcB,

+  uint32_t srcBLen,

+  q15_t * pDst)

+{

+#ifndef UNALIGNED_SUPPORT_DISABLE

+  q15_t *pIn1;                                   /* inputA pointer */

+  q15_t *pIn2;                                   /* inputB pointer */

+  q15_t *pOut = pDst;                            /* output pointer */

+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator */

+  q15_t *px;                                     /* Intermediate inputA pointer  */

+  q15_t *py;                                     /* Intermediate inputB pointer  */

+  q15_t *pSrc1, *pSrc2;                          /* Intermediate pointers */

+  q31_t x0, x1, x2, x3, c0;                      /* Temporary variables to hold state and coefficient values */

+  uint32_t blockSize1, blockSize2, blockSize3, j, k, count, blkCnt;     /* loop counter */

+

+  /* The algorithm implementation is based on the lengths of the inputs. */

+  /* srcB is always made to slide across srcA. */

+  /* So srcBLen is always considered as shorter or equal to srcALen */

+  if(srcALen >= srcBLen)

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = pSrcA;

+

+    /* Initialization of inputB pointer */

+    pIn2 = pSrcB;

+  }

+  else

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = pSrcB;

+

+    /* Initialization of inputB pointer */

+    pIn2 = pSrcA;

+

+    /* srcBLen is always considered as shorter or equal to srcALen */

+    j = srcBLen;

+    srcBLen = srcALen;

+    srcALen = j;

+  }

+

+  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */

+  /* The function is internally   

+   * divided into three stages according to the number of multiplications that has to be   

+   * taken place between inputA samples and inputB samples. In the first stage of the   

+   * algorithm, the multiplications increase by one for every iteration.   

+   * In the second stage of the algorithm, srcBLen number of multiplications are done.   

+   * In the third stage of the algorithm, the multiplications decrease by one   

+   * for every iteration. */

+

+  /* The algorithm is implemented in three stages.   

+     The loop counters of each stage is initiated here. */

+  blockSize1 = srcBLen - 1u;

+  blockSize2 = srcALen - (srcBLen - 1u);

+  blockSize3 = blockSize1;

+

+  /* --------------------------   

+   * Initializations of stage1   

+   * -------------------------*/

+

+  /* sum = x[0] * y[0]   

+   * sum = x[0] * y[1] + x[1] * y[0]   

+   * ....   

+   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   

+   */

+

+  /* In this stage the MAC operations are increased by 1 for every iteration.   

+     The count variable holds the number of MAC operations performed */

+  count = 1u;

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  py = pIn2;

+

+

+  /* ------------------------   

+   * Stage1 process   

+   * ----------------------*/

+

+  /* For loop unrolling by 4, this stage is divided into two. */

+  /* First part of this stage computes the MAC operations less than 4 */

+  /* Second part of this stage computes the MAC operations greater than or equal to 4 */

+

+  /* The first part of the stage starts here */

+  while((count < 4u) && (blockSize1 > 0u))

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Loop over number of MAC operations between   

+     * inputA samples and inputB samples */

+    k = count;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      sum = __SMLAD(*px++, *py--, sum);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut++ = (q15_t) (sum >> 15);

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    py = pIn2 + count;

+    px = pIn1;

+

+    /* Increment the MAC count */

+    count++;

+

+    /* Decrement the loop counter */

+    blockSize1--;

+  }

+

+  /* The second part of the stage starts here */

+  /* The internal loop, over count, is unrolled by 4 */

+  /* To, read the last two inputB samples using SIMD:   

+   * y[srcBLen] and y[srcBLen-1] coefficients, py is decremented by 1 */

+  py = py - 1;

+

+  while(blockSize1 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = count >> 2u;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      /* x[0], x[1] are multiplied with y[srcBLen - 1], y[srcBLen - 2] respectively */

+      sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);

+      /* x[2], x[3] are multiplied with y[srcBLen - 3], y[srcBLen - 4] respectively */

+      sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* For the next MAC operations, the pointer py is used without SIMD   

+     * So, py is incremented by 1 */

+    py = py + 1u;

+

+    /* If the count is not a multiple of 4, compute any remaining MACs here.   

+     ** No loop unrolling is used. */

+    k = count % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      sum = __SMLAD(*px++, *py--, sum);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut++ = (q15_t) (sum >> 15);

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    py = pIn2 + (count - 1u);

+    px = pIn1;

+

+    /* Increment the MAC count */

+    count++;

+

+    /* Decrement the loop counter */

+    blockSize1--;

+  }

+

+  /* --------------------------   

+   * Initializations of stage2   

+   * ------------------------*/

+

+  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   

+   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   

+   * ....   

+   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   

+   */

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  pSrc2 = pIn2 + (srcBLen - 1u);

+  py = pSrc2;

+

+  /* count is the index by which the pointer pIn1 to be incremented */

+  count = 0u;

+

+

+  /* --------------------   

+   * Stage2 process   

+   * -------------------*/

+

+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   

+   * So, to loop unroll over blockSize2,   

+   * srcBLen should be greater than or equal to 4 */

+  if(srcBLen >= 4u)

+  {

+    /* Loop unroll over blockSize2, by 4 */

+    blkCnt = blockSize2 >> 2u;

+

+    while(blkCnt > 0u)

+    {

+      py = py - 1u;

+

+      /* Set all accumulators to zero */

+      acc0 = 0;

+      acc1 = 0;

+      acc2 = 0;

+      acc3 = 0;

+

+

+      /* read x[0], x[1] samples */

+      x0 = *__SIMD32(px);

+      /* read x[1], x[2] samples */

+      x1 = _SIMD32_OFFSET(px+1);

+	  px+= 2u;

+

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      do

+      {

+        /* Read the last two inputB samples using SIMD:   

+         * y[srcBLen - 1] and y[srcBLen - 2] */

+        c0 = *__SIMD32(py)--;

+

+        /* acc0 +=  x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2] */

+        acc0 = __SMLADX(x0, c0, acc0);

+

+        /* acc1 +=  x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2] */

+        acc1 = __SMLADX(x1, c0, acc1);

+

+        /* Read x[2], x[3] */

+        x2 = *__SIMD32(px);

+

+        /* Read x[3], x[4] */

+        x3 = _SIMD32_OFFSET(px+1);

+

+        /* acc2 +=  x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2] */

+        acc2 = __SMLADX(x2, c0, acc2);

+

+        /* acc3 +=  x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2] */

+        acc3 = __SMLADX(x3, c0, acc3);

+

+        /* Read y[srcBLen - 3] and y[srcBLen - 4] */

+        c0 = *__SIMD32(py)--;

+

+        /* acc0 +=  x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4] */

+        acc0 = __SMLADX(x2, c0, acc0);

+

+        /* acc1 +=  x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4] */

+        acc1 = __SMLADX(x3, c0, acc1);

+

+        /* Read x[4], x[5] */

+        x0 = _SIMD32_OFFSET(px+2);

+

+        /* Read x[5], x[6] */

+        x1 = _SIMD32_OFFSET(px+3);

+		px += 4u;

+

+        /* acc2 +=  x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4] */

+        acc2 = __SMLADX(x0, c0, acc2);

+

+        /* acc3 +=  x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4] */

+        acc3 = __SMLADX(x1, c0, acc3);

+

+      } while(--k);

+

+      /* For the next MAC operations, SIMD is not used   

+       * So, the 16 bit pointer if inputB, py is updated */

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      if(k == 1u)

+      {

+        /* Read y[srcBLen - 5] */

+        c0 = *(py+1);

+

+#ifdef  ARM_MATH_BIG_ENDIAN

+

+        c0 = c0 << 16u;

+

+#else

+

+        c0 = c0 & 0x0000FFFF;

+

+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */

+

+        /* Read x[7] */

+        x3 = *__SIMD32(px);

+		px++;

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLAD(x0, c0, acc0);

+        acc1 = __SMLAD(x1, c0, acc1);

+        acc2 = __SMLADX(x1, c0, acc2);

+        acc3 = __SMLADX(x3, c0, acc3);

+      }

+

+      if(k == 2u)

+      {

+        /* Read y[srcBLen - 5], y[srcBLen - 6] */

+        c0 = _SIMD32_OFFSET(py);

+

+        /* Read x[7], x[8] */

+        x3 = *__SIMD32(px);

+

+        /* Read x[9] */

+        x2 = _SIMD32_OFFSET(px+1);

+		px += 2u;

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLADX(x0, c0, acc0);

+        acc1 = __SMLADX(x1, c0, acc1);

+        acc2 = __SMLADX(x3, c0, acc2);

+        acc3 = __SMLADX(x2, c0, acc3);

+      }

+

+      if(k == 3u)

+      {

+        /* Read y[srcBLen - 5], y[srcBLen - 6] */

+        c0 = _SIMD32_OFFSET(py);

+

+        /* Read x[7], x[8] */

+        x3 = *__SIMD32(px);

+

+        /* Read x[9] */

+        x2 = _SIMD32_OFFSET(px+1);

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLADX(x0, c0, acc0);

+        acc1 = __SMLADX(x1, c0, acc1);

+        acc2 = __SMLADX(x3, c0, acc2);

+        acc3 = __SMLADX(x2, c0, acc3);

+

+        /* Read y[srcBLen - 7] */

+		c0 = *(py-1);

+#ifdef  ARM_MATH_BIG_ENDIAN

+

+        c0 = c0 << 16u;

+#else

+

+        c0 = c0 & 0x0000FFFF;

+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */

+

+        /* Read x[10] */

+        x3 =  _SIMD32_OFFSET(px+2);

+		px += 3u;

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLADX(x1, c0, acc0);

+        acc1 = __SMLAD(x2, c0, acc1);

+        acc2 = __SMLADX(x2, c0, acc2);

+        acc3 = __SMLADX(x3, c0, acc3);

+      }

+

+      /* Store the results in the accumulators in the destination buffer. */

+#ifndef ARM_MATH_BIG_ENDIAN

+

+      *__SIMD32(pOut)++ = __PKHBT((acc0 >> 15), (acc1 >> 15), 16);

+      *__SIMD32(pOut)++ = __PKHBT((acc2 >> 15), (acc3 >> 15), 16);

+

+#else

+

+      *__SIMD32(pOut)++ = __PKHBT((acc1 >> 15), (acc0 >> 15), 16);

+      *__SIMD32(pOut)++ = __PKHBT((acc3 >> 15), (acc2 >> 15), 16);

+

+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+      /* Increment the pointer pIn1 index, count by 4 */

+      count += 4u;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pSrc2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   

+     ** No loop unrolling is used. */

+    blkCnt = blockSize2 % 0x4u;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum += ((q31_t) * px++ * *py--);

+        sum += ((q31_t) * px++ * *py--);

+        sum += ((q31_t) * px++ * *py--);

+        sum += ((q31_t) * px++ * *py--);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum += ((q31_t) * px++ * *py--);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q15_t) (sum >> 15);

+

+      /* Increment the pointer pIn1 index, count by 1 */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pSrc2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+  else

+  {

+    /* If the srcBLen is not a multiple of 4,   

+     * the blockSize2 loop cannot be unrolled by 4 */

+    blkCnt = blockSize2;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* srcBLen number of MACS should be performed */

+      k = srcBLen;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulate */

+        sum += ((q31_t) * px++ * *py--);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q15_t) (sum >> 15);

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pSrc2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+

+

+  /* --------------------------   

+   * Initializations of stage3   

+   * -------------------------*/

+

+  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   

+   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   

+   * ....   

+   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   

+   * sum +=  x[srcALen-1] * y[srcBLen-1]   

+   */

+

+  /* In this stage the MAC operations are decreased by 1 for every iteration.   

+     The blockSize3 variable holds the number of MAC operations performed */

+

+  /* Working pointer of inputA */

+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);

+  px = pSrc1;

+

+  /* Working pointer of inputB */

+  pSrc2 = pIn2 + (srcBLen - 1u);

+  pIn2 = pSrc2 - 1u;

+  py = pIn2;

+

+  /* -------------------   

+   * Stage3 process   

+   * ------------------*/

+

+  /* For loop unrolling by 4, this stage is divided into two. */

+  /* First part of this stage computes the MAC operations greater than 4 */

+  /* Second part of this stage computes the MAC operations less than or equal to 4 */

+

+  /* The first part of the stage starts here */

+  j = blockSize3 >> 2u;

+

+  while((j > 0u) && (blockSize3 > 0u))

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = blockSize3 >> 2u;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* x[srcALen - srcBLen + 1], x[srcALen - srcBLen + 2] are multiplied   

+       * with y[srcBLen - 1], y[srcBLen - 2] respectively */

+      sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);

+      /* x[srcALen - srcBLen + 3], x[srcALen - srcBLen + 4] are multiplied   

+       * with y[srcBLen - 3], y[srcBLen - 4] respectively */

+      sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* For the next MAC operations, the pointer py is used without SIMD   

+     * So, py is incremented by 1 */

+    py = py + 1u;

+

+    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.   

+     ** No loop unrolling is used. */

+    k = blockSize3 % 0x4u;

+

+    while(k > 0u)

+    {

+      /* sum += x[srcALen - srcBLen + 5] * y[srcBLen - 5] */

+      sum = __SMLAD(*px++, *py--, sum);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut++ = (q15_t) (sum >> 15);

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    px = ++pSrc1;

+    py = pIn2;

+

+    /* Decrement the loop counter */

+    blockSize3--;

+

+    j--;

+  }

+

+  /* The second part of the stage starts here */

+  /* SIMD is not used for the next MAC operations,   

+   * so pointer py is updated to read only one sample at a time */

+  py = py + 1u;

+

+  while(blockSize3 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = blockSize3;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      /* sum +=  x[srcALen-1] * y[srcBLen-1] */

+      sum = __SMLAD(*px++, *py--, sum);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut++ = (q15_t) (sum >> 15);

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    px = ++pSrc1;

+    py = pSrc2;

+

+    /* Decrement the loop counter */

+    blockSize3--;

+  }

+

+#else

+  q15_t *pIn1;                                   /* inputA pointer */

+  q15_t *pIn2;                                   /* inputB pointer */

+  q15_t *pOut = pDst;                            /* output pointer */

+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator */

+  q15_t *px;                                     /* Intermediate inputA pointer  */

+  q15_t *py;                                     /* Intermediate inputB pointer  */

+  q15_t *pSrc1, *pSrc2;                          /* Intermediate pointers */

+  q31_t x0, x1, x2, x3, c0;                      /* Temporary variables to hold state and coefficient values */

+  uint32_t blockSize1, blockSize2, blockSize3, j, k, count, blkCnt;     /* loop counter */

+  q15_t a, b;

+

+  /* The algorithm implementation is based on the lengths of the inputs. */

+  /* srcB is always made to slide across srcA. */

+  /* So srcBLen is always considered as shorter or equal to srcALen */

+  if(srcALen >= srcBLen)

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = pSrcA;

+

+    /* Initialization of inputB pointer */

+    pIn2 = pSrcB;

+  }

+  else

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = pSrcB;

+

+    /* Initialization of inputB pointer */

+    pIn2 = pSrcA;

+

+    /* srcBLen is always considered as shorter or equal to srcALen */

+    j = srcBLen;

+    srcBLen = srcALen;

+    srcALen = j;

+  }

+

+  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */

+  /* The function is internally   

+   * divided into three stages according to the number of multiplications that has to be   

+   * taken place between inputA samples and inputB samples. In the first stage of the   

+   * algorithm, the multiplications increase by one for every iteration.   

+   * In the second stage of the algorithm, srcBLen number of multiplications are done.   

+   * In the third stage of the algorithm, the multiplications decrease by one   

+   * for every iteration. */

+

+  /* The algorithm is implemented in three stages.   

+     The loop counters of each stage is initiated here. */

+  blockSize1 = srcBLen - 1u;

+  blockSize2 = srcALen - (srcBLen - 1u);

+  blockSize3 = blockSize1;

+

+  /* --------------------------   

+   * Initializations of stage1   

+   * -------------------------*/

+

+  /* sum = x[0] * y[0]   

+   * sum = x[0] * y[1] + x[1] * y[0]   

+   * ....   

+   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   

+   */

+

+  /* In this stage the MAC operations are increased by 1 for every iteration.   

+     The count variable holds the number of MAC operations performed */

+  count = 1u;

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  py = pIn2;

+

+

+  /* ------------------------   

+   * Stage1 process   

+   * ----------------------*/

+

+  /* For loop unrolling by 4, this stage is divided into two. */

+  /* First part of this stage computes the MAC operations less than 4 */

+  /* Second part of this stage computes the MAC operations greater than or equal to 4 */

+

+  /* The first part of the stage starts here */

+  while((count < 4u) && (blockSize1 > 0u))

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Loop over number of MAC operations between   

+     * inputA samples and inputB samples */

+    k = count;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      sum += ((q31_t) * px++ * *py--);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut++ = (q15_t) (sum >> 15);

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    py = pIn2 + count;

+    px = pIn1;

+

+    /* Increment the MAC count */

+    count++;

+

+    /* Decrement the loop counter */

+    blockSize1--;

+  }

+

+  /* The second part of the stage starts here */

+  /* The internal loop, over count, is unrolled by 4 */

+  /* To, read the last two inputB samples using SIMD:   

+   * y[srcBLen] and y[srcBLen-1] coefficients, py is decremented by 1 */

+  py = py - 1;

+

+  while(blockSize1 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = count >> 2u;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+	py++;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+        sum += ((q31_t) * px++ * *py--);

+        sum += ((q31_t) * px++ * *py--);

+        sum += ((q31_t) * px++ * *py--);

+        sum += ((q31_t) * px++ * *py--);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, compute any remaining MACs here.   

+     ** No loop unrolling is used. */

+    k = count % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      sum += ((q31_t) * px++ * *py--);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut++ = (q15_t) (sum >> 15);

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    py = pIn2 + (count - 1u);

+    px = pIn1;

+

+    /* Increment the MAC count */

+    count++;

+

+    /* Decrement the loop counter */

+    blockSize1--;

+  }

+

+  /* --------------------------   

+   * Initializations of stage2   

+   * ------------------------*/

+

+  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   

+   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   

+   * ....   

+   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   

+   */

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  pSrc2 = pIn2 + (srcBLen - 1u);

+  py = pSrc2;

+

+  /* count is the index by which the pointer pIn1 to be incremented */

+  count = 0u;

+

+

+  /* --------------------   

+   * Stage2 process   

+   * -------------------*/

+

+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   

+   * So, to loop unroll over blockSize2,   

+   * srcBLen should be greater than or equal to 4 */

+  if(srcBLen >= 4u)

+  {

+    /* Loop unroll over blockSize2, by 4 */

+    blkCnt = blockSize2 >> 2u;

+

+    while(blkCnt > 0u)

+    {

+      py = py - 1u;

+

+      /* Set all accumulators to zero */

+      acc0 = 0;

+      acc1 = 0;

+      acc2 = 0;

+      acc3 = 0;	  

+

+      /* read x[0], x[1] samples */

+	  a = *px++;

+	  b = *px++;

+

+#ifndef ARM_MATH_BIG_ENDIAN

+	

+	  x0 = __PKHBT(a, b, 16);

+	  a = *px;

+	  x1 = __PKHBT(b, a, 16);

+

+#else

+

+	  x0 = __PKHBT(b, a, 16);

+	  a = *px;

+	  x1 = __PKHBT(a, b, 16);

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      do

+      {

+        /* Read the last two inputB samples using SIMD:   

+         * y[srcBLen - 1] and y[srcBLen - 2] */

+		a = *py;

+		b = *(py+1);

+		py -= 2;

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+		c0 = __PKHBT(a, b, 16);

+

+#else

+

+ 		c0 = __PKHBT(b, a, 16);;

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/

+

+        /* acc0 +=  x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2] */

+        acc0 = __SMLADX(x0, c0, acc0);

+

+        /* acc1 +=  x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2] */

+        acc1 = __SMLADX(x1, c0, acc1);

+

+	  a = *px;

+	  b = *(px + 1);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+	

+	  x2 = __PKHBT(a, b, 16);

+	  a = *(px + 2);

+	  x3 = __PKHBT(b, a, 16);

+

+#else

+

+	  x2 = __PKHBT(b, a, 16);

+	  a = *(px + 2);

+	  x3 = __PKHBT(a, b, 16);

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */

+

+        /* acc2 +=  x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2] */

+        acc2 = __SMLADX(x2, c0, acc2);

+

+        /* acc3 +=  x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2] */

+        acc3 = __SMLADX(x3, c0, acc3);

+

+        /* Read y[srcBLen - 3] and y[srcBLen - 4] */

+		a = *py;

+		b = *(py+1);

+		py -= 2;

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+		c0 = __PKHBT(a, b, 16);

+

+#else

+

+ 		c0 = __PKHBT(b, a, 16);;

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/

+

+        /* acc0 +=  x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4] */

+        acc0 = __SMLADX(x2, c0, acc0);

+

+        /* acc1 +=  x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4] */

+        acc1 = __SMLADX(x3, c0, acc1);

+

+        /* Read x[4], x[5], x[6] */

+	  a = *(px + 2);

+	  b = *(px + 3);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+	

+	  x0 = __PKHBT(a, b, 16);

+	  a = *(px + 4);

+	  x1 = __PKHBT(b, a, 16);

+

+#else

+

+	  x0 = __PKHBT(b, a, 16);

+	  a = *(px + 4);

+	  x1 = __PKHBT(a, b, 16);

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */

+

+		px += 4u;

+

+        /* acc2 +=  x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4] */

+        acc2 = __SMLADX(x0, c0, acc2);

+

+        /* acc3 +=  x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4] */

+        acc3 = __SMLADX(x1, c0, acc3);

+

+      } while(--k);

+

+      /* For the next MAC operations, SIMD is not used   

+       * So, the 16 bit pointer if inputB, py is updated */

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      if(k == 1u)

+      {

+        /* Read y[srcBLen - 5] */

+        c0 = *(py+1);

+

+#ifdef  ARM_MATH_BIG_ENDIAN

+

+        c0 = c0 << 16u;

+

+#else

+

+        c0 = c0 & 0x0000FFFF;

+

+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */

+

+        /* Read x[7] */

+		a = *px;

+		b = *(px+1);

+		px++;

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+		x3 = __PKHBT(a, b, 16);

+

+#else

+

+ 		x3 = __PKHBT(b, a, 16);;

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/

+

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLAD(x0, c0, acc0);

+        acc1 = __SMLAD(x1, c0, acc1);

+        acc2 = __SMLADX(x1, c0, acc2);

+        acc3 = __SMLADX(x3, c0, acc3);

+      }

+

+      if(k == 2u)

+      {

+        /* Read y[srcBLen - 5], y[srcBLen - 6] */

+		a = *py;

+		b = *(py+1);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+		c0 = __PKHBT(a, b, 16);

+

+#else

+

+ 		c0 = __PKHBT(b, a, 16);;

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/

+

+        /* Read x[7], x[8], x[9] */

+	  a = *px;

+	  b = *(px + 1);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+	

+	  x3 = __PKHBT(a, b, 16);

+	  a = *(px + 2);

+	  x2 = __PKHBT(b, a, 16);

+

+#else

+

+	  x3 = __PKHBT(b, a, 16);

+	  a = *(px + 2);

+	  x2 = __PKHBT(a, b, 16);

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */

+		px += 2u;

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLADX(x0, c0, acc0);

+        acc1 = __SMLADX(x1, c0, acc1);

+        acc2 = __SMLADX(x3, c0, acc2);

+        acc3 = __SMLADX(x2, c0, acc3);

+      }

+

+      if(k == 3u)

+      {

+        /* Read y[srcBLen - 5], y[srcBLen - 6] */

+		a = *py;

+		b = *(py+1);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+		c0 = __PKHBT(a, b, 16);

+

+#else

+

+ 		c0 = __PKHBT(b, a, 16);;

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/

+

+        /* Read x[7], x[8], x[9] */

+	  a = *px;

+	  b = *(px + 1);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+	

+	  x3 = __PKHBT(a, b, 16);

+	  a = *(px + 2);

+	  x2 = __PKHBT(b, a, 16);

+

+#else

+

+	  x3 = __PKHBT(b, a, 16);

+	  a = *(px + 2);

+	  x2 = __PKHBT(a, b, 16);

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLADX(x0, c0, acc0);

+        acc1 = __SMLADX(x1, c0, acc1);

+        acc2 = __SMLADX(x3, c0, acc2);

+        acc3 = __SMLADX(x2, c0, acc3);

+

+        /* Read y[srcBLen - 7] */

+		c0 = *(py-1);

+#ifdef  ARM_MATH_BIG_ENDIAN

+

+        c0 = c0 << 16u;

+#else

+

+        c0 = c0 & 0x0000FFFF;

+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */

+

+        /* Read x[10] */

+		a = *(px+2);

+		b = *(px+3);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+		x3 = __PKHBT(a, b, 16);

+

+#else

+

+ 		x3 = __PKHBT(b, a, 16);;

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/

+

+		px += 3u;

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLADX(x1, c0, acc0);

+        acc1 = __SMLAD(x2, c0, acc1);

+        acc2 = __SMLADX(x2, c0, acc2);

+        acc3 = __SMLADX(x3, c0, acc3);

+      }

+

+      /* Store the results in the accumulators in the destination buffer. */

+	  *pOut++ = (q15_t)(acc0 >> 15);

+	  *pOut++ = (q15_t)(acc1 >> 15);

+	  *pOut++ = (q15_t)(acc2 >> 15);

+	  *pOut++ = (q15_t)(acc3 >> 15);

+

+      /* Increment the pointer pIn1 index, count by 4 */

+      count += 4u;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pSrc2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   

+     ** No loop unrolling is used. */

+    blkCnt = blockSize2 % 0x4u;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum += ((q31_t) * px++ * *py--);

+        sum += ((q31_t) * px++ * *py--);

+        sum += ((q31_t) * px++ * *py--);

+        sum += ((q31_t) * px++ * *py--);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum += ((q31_t) * px++ * *py--);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q15_t) (sum >> 15);

+

+      /* Increment the pointer pIn1 index, count by 1 */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pSrc2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+  else

+  {

+    /* If the srcBLen is not a multiple of 4,   

+     * the blockSize2 loop cannot be unrolled by 4 */

+    blkCnt = blockSize2;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* srcBLen number of MACS should be performed */

+      k = srcBLen;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulate */

+        sum += ((q31_t) * px++ * *py--);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q15_t) (sum >> 15);

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pSrc2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+

+

+  /* --------------------------   

+   * Initializations of stage3   

+   * -------------------------*/

+

+  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   

+   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   

+   * ....   

+   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   

+   * sum +=  x[srcALen-1] * y[srcBLen-1]   

+   */

+

+  /* In this stage the MAC operations are decreased by 1 for every iteration.   

+     The blockSize3 variable holds the number of MAC operations performed */

+

+  /* Working pointer of inputA */

+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);

+  px = pSrc1;

+

+  /* Working pointer of inputB */

+  pSrc2 = pIn2 + (srcBLen - 1u);

+  pIn2 = pSrc2 - 1u;

+  py = pIn2;

+

+  /* -------------------   

+   * Stage3 process   

+   * ------------------*/

+

+  /* For loop unrolling by 4, this stage is divided into two. */

+  /* First part of this stage computes the MAC operations greater than 4 */

+  /* Second part of this stage computes the MAC operations less than or equal to 4 */

+

+  /* The first part of the stage starts here */

+  j = blockSize3 >> 2u;

+

+  while((j > 0u) && (blockSize3 > 0u))

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = blockSize3 >> 2u;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+	py++;

+

+    while(k > 0u)

+    {	

+        sum += ((q31_t) * px++ * *py--);

+        sum += ((q31_t) * px++ * *py--);

+        sum += ((q31_t) * px++ * *py--);

+        sum += ((q31_t) * px++ * *py--);

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.   

+     ** No loop unrolling is used. */

+    k = blockSize3 % 0x4u;

+

+    while(k > 0u)

+    {

+      /* sum += x[srcALen - srcBLen + 5] * y[srcBLen - 5] */

+        sum += ((q31_t) * px++ * *py--);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut++ = (q15_t) (sum >> 15);

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    px = ++pSrc1;

+    py = pIn2;

+

+    /* Decrement the loop counter */

+    blockSize3--;

+

+    j--;

+  }

+

+  /* The second part of the stage starts here */

+  /* SIMD is not used for the next MAC operations,   

+   * so pointer py is updated to read only one sample at a time */

+  py = py + 1u;

+

+  while(blockSize3 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = blockSize3;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      /* sum +=  x[srcALen-1] * y[srcBLen-1] */

+        sum += ((q31_t) * px++ * *py--);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut++ = (q15_t) (sum >> 15);

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    px = ++pSrc1;

+    py = pSrc2;

+

+    /* Decrement the loop counter */

+    blockSize3--;

+  }

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+}

+

+/**   

+ * @} end of Conv group   

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c
new file mode 100644
index 000000000..e675c11ce
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c
@@ -0,0 +1,572 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_conv_fast_q31.c    

+*    

+* Description:	Q31 Convolution (fast version).    

+*    

+* Target Processor: Cortex-M4/Cortex-M3

+*  

+* Version 1.1.0 2012/02/15 

+*    Updated with more optimizations, bug fixes and minor API changes.  

+*  

+* Version 1.0.11 2011/10/18  

+*    Bug Fix in conv, correlation, partial convolution.  

+* 

+* 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 groupFilters    

+ */

+

+/**    

+ * @addtogroup Conv    

+ * @{    

+ */

+

+/**    

+ * @param[in] *pSrcA points to the first input sequence.    

+ * @param[in] srcALen length of the first input sequence.    

+ * @param[in] *pSrcB points to the second input sequence.    

+ * @param[in] srcBLen length of the second input sequence.    

+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.    

+ * @return none.    

+ *    

+ * @details    

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

+ *    

+ * \par    

+ * This function is optimized for speed at the expense of fixed-point precision and overflow protection.    

+ * The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format.    

+ * These intermediate results are accumulated in a 32-bit register in 2.30 format.    

+ * Finally, the accumulator is saturated and converted to a 1.31 result.    

+ *    

+ * \par    

+ * The fast version has the same overflow behavior as the standard version but provides less precision since it discards the low 32 bits of each multiplication result.    

+ * In order to avoid overflows completely the input signals must be scaled down.    

+ * Scale down the inputs by log2(min(srcALen, srcBLen)) (log2 is read as log to the base 2) times to avoid overflows,    

+ * as maximum of min(srcALen, srcBLen) number of additions are carried internally.    

+ *    

+ * \par    

+ * See <code>arm_conv_q31()</code> for a slower implementation of this function which uses 64-bit accumulation to provide higher precision.    

+ */

+

+void arm_conv_fast_q31(

+  q31_t * pSrcA,

+  uint32_t srcALen,

+  q31_t * pSrcB,

+  uint32_t srcBLen,

+  q31_t * pDst)

+{

+  q31_t *pIn1;                                   /* inputA pointer */

+  q31_t *pIn2;                                   /* inputB pointer */

+  q31_t *pOut = pDst;                            /* output pointer */

+  q31_t *px;                                     /* Intermediate inputA pointer  */

+  q31_t *py;                                     /* Intermediate inputB pointer  */

+  q31_t *pSrc1, *pSrc2;                          /* Intermediate pointers */

+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator */

+  q31_t x0, x1, x2, x3, c0;                      /* Temporary variables to hold state and coefficient values */

+  uint32_t j, k, count, blkCnt, blockSize1, blockSize2, blockSize3;     /* loop counter */

+

+  /* The algorithm implementation is based on the lengths of the inputs. */

+  /* srcB is always made to slide across srcA. */

+  /* So srcBLen is always considered as shorter or equal to srcALen */

+  if(srcALen >= srcBLen)

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = pSrcA;

+

+    /* Initialization of inputB pointer */

+    pIn2 = pSrcB;

+  }

+  else

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = pSrcB;

+

+    /* Initialization of inputB pointer */

+    pIn2 = pSrcA;

+

+    /* srcBLen is always considered as shorter or equal to srcALen */

+    j = srcBLen;

+    srcBLen = srcALen;

+    srcALen = j;

+  }

+

+  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */

+  /* The function is internally    

+   * divided into three stages according to the number of multiplications that has to be    

+   * taken place between inputA samples and inputB samples. In the first stage of the    

+   * algorithm, the multiplications increase by one for every iteration.    

+   * In the second stage of the algorithm, srcBLen number of multiplications are done.    

+   * In the third stage of the algorithm, the multiplications decrease by one    

+   * for every iteration. */

+

+  /* The algorithm is implemented in three stages.    

+     The loop counters of each stage is initiated here. */

+  blockSize1 = srcBLen - 1u;

+  blockSize2 = srcALen - (srcBLen - 1u);

+  blockSize3 = blockSize1;

+

+  /* --------------------------    

+   * Initializations of stage1    

+   * -------------------------*/

+

+  /* sum = x[0] * y[0]    

+   * sum = x[0] * y[1] + x[1] * y[0]    

+   * ....    

+   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]    

+   */

+

+  /* In this stage the MAC operations are increased by 1 for every iteration.    

+     The count variable holds the number of MAC operations performed */

+  count = 1u;

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  py = pIn2;

+

+

+  /* ------------------------    

+   * Stage1 process    

+   * ----------------------*/

+

+  /* The first stage starts here */

+  while(blockSize1 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = count >> 2u;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* x[0] * y[srcBLen - 1] */

+      sum = (q31_t) ((((q63_t) sum << 32) +

+                      ((q63_t) * px++ * (*py--))) >> 32);

+

+      /* x[1] * y[srcBLen - 2] */

+      sum = (q31_t) ((((q63_t) sum << 32) +

+                      ((q63_t) * px++ * (*py--))) >> 32);

+

+      /* x[2] * y[srcBLen - 3] */

+      sum = (q31_t) ((((q63_t) sum << 32) +

+                      ((q63_t) * px++ * (*py--))) >> 32);

+

+      /* x[3] * y[srcBLen - 4] */

+      sum = (q31_t) ((((q63_t) sum << 32) +

+                      ((q63_t) * px++ * (*py--))) >> 32);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, compute any remaining MACs here.    

+     ** No loop unrolling is used. */

+    k = count % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      sum = (q31_t) ((((q63_t) sum << 32) +

+                      ((q63_t) * px++ * (*py--))) >> 32);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut++ = sum << 1;

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    py = pIn2 + count;

+    px = pIn1;

+

+    /* Increment the MAC count */

+    count++;

+

+    /* Decrement the loop counter */

+    blockSize1--;

+  }

+

+  /* --------------------------    

+   * Initializations of stage2    

+   * ------------------------*/

+

+  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]    

+   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]    

+   * ....    

+   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]    

+   */

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  pSrc2 = pIn2 + (srcBLen - 1u);

+  py = pSrc2;

+

+  /* count is index by which the pointer pIn1 to be incremented */

+  count = 0u;

+

+  /* -------------------    

+   * Stage2 process    

+   * ------------------*/

+

+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    

+   * So, to loop unroll over blockSize2,    

+   * srcBLen should be greater than or equal to 4 */

+  if(srcBLen >= 4u)

+  {

+    /* Loop unroll over blockSize2, by 4 */

+    blkCnt = blockSize2 >> 2u;

+

+    while(blkCnt > 0u)

+    {

+      /* Set all accumulators to zero */

+      acc0 = 0;

+      acc1 = 0;

+      acc2 = 0;

+      acc3 = 0;

+

+      /* read x[0], x[1], x[2] samples */

+      x0 = *(px++);

+      x1 = *(px++);

+      x2 = *(px++);

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      do

+      {

+        /* Read y[srcBLen - 1] sample */

+        c0 = *(py--);

+

+        /* Read x[3] sample */

+        x3 = *(px++);

+

+        /* Perform the multiply-accumulates */

+        /* acc0 +=  x[0] * y[srcBLen - 1] */

+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);

+

+        /* acc1 +=  x[1] * y[srcBLen - 1] */

+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);

+

+        /* acc2 +=  x[2] * y[srcBLen - 1] */

+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);

+

+        /* acc3 +=  x[3] * y[srcBLen - 1] */

+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);

+

+        /* Read y[srcBLen - 2] sample */

+        c0 = *(py--);

+

+        /* Read x[4] sample */

+        x0 = *(px++);

+

+        /* Perform the multiply-accumulate */

+        /* acc0 +=  x[1] * y[srcBLen - 2] */

+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x1 * c0)) >> 32);

+        /* acc1 +=  x[2] * y[srcBLen - 2] */

+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x2 * c0)) >> 32);

+        /* acc2 +=  x[3] * y[srcBLen - 2] */

+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x3 * c0)) >> 32);

+        /* acc3 +=  x[4] * y[srcBLen - 2] */

+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x0 * c0)) >> 32);

+

+        /* Read y[srcBLen - 3] sample */

+        c0 = *(py--);

+

+        /* Read x[5] sample */

+        x1 = *(px++);

+

+        /* Perform the multiply-accumulates */

+        /* acc0 +=  x[2] * y[srcBLen - 3] */

+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x2 * c0)) >> 32);

+        /* acc1 +=  x[3] * y[srcBLen - 3] */

+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x3 * c0)) >> 32);

+        /* acc2 +=  x[4] * y[srcBLen - 3] */

+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x0 * c0)) >> 32);

+        /* acc3 +=  x[5] * y[srcBLen - 3] */

+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x1 * c0)) >> 32);

+

+        /* Read y[srcBLen - 4] sample */

+        c0 = *(py--);

+

+        /* Read x[6] sample */

+        x2 = *(px++);

+

+        /* Perform the multiply-accumulates */

+        /* acc0 +=  x[3] * y[srcBLen - 4] */

+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x3 * c0)) >> 32);

+        /* acc1 +=  x[4] * y[srcBLen - 4] */

+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x0 * c0)) >> 32);

+        /* acc2 +=  x[5] * y[srcBLen - 4] */

+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x1 * c0)) >> 32);

+        /* acc3 +=  x[6] * y[srcBLen - 4] */

+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x2 * c0)) >> 32);

+

+

+      } while(--k);

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Read y[srcBLen - 5] sample */

+        c0 = *(py--);

+

+        /* Read x[7] sample */

+        x3 = *(px++);

+

+        /* Perform the multiply-accumulates */

+        /* acc0 +=  x[4] * y[srcBLen - 5] */

+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);

+        /* acc1 +=  x[5] * y[srcBLen - 5] */

+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);

+        /* acc2 +=  x[6] * y[srcBLen - 5] */

+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);

+        /* acc3 +=  x[7] * y[srcBLen - 5] */

+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);

+

+        /* Reuse the present samples for the next MAC */

+        x0 = x1;

+        x1 = x2;

+        x2 = x3;

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the results in the accumulators in the destination buffer. */

+      *pOut++ = (q31_t) (acc0 << 1);

+      *pOut++ = (q31_t) (acc1 << 1);

+      *pOut++ = (q31_t) (acc2 << 1);

+      *pOut++ = (q31_t) (acc3 << 1);

+

+      /* Increment the pointer pIn1 index, count by 4 */

+      count += 4u;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pSrc2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.    

+     ** No loop unrolling is used. */

+    blkCnt = blockSize2 % 0x4u;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum = (q31_t) ((((q63_t) sum << 32) +

+                        ((q63_t) * px++ * (*py--))) >> 32);

+        sum = (q31_t) ((((q63_t) sum << 32) +

+                        ((q63_t) * px++ * (*py--))) >> 32);

+        sum = (q31_t) ((((q63_t) sum << 32) +

+                        ((q63_t) * px++ * (*py--))) >> 32);

+        sum = (q31_t) ((((q63_t) sum << 32) +

+                        ((q63_t) * px++ * (*py--))) >> 32);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulate */

+        sum = (q31_t) ((((q63_t) sum << 32) +

+                        ((q63_t) * px++ * (*py--))) >> 32);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = sum << 1;

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pSrc2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+  else

+  {

+    /* If the srcBLen is not a multiple of 4,    

+     * the blockSize2 loop cannot be unrolled by 4 */

+    blkCnt = blockSize2;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* srcBLen number of MACS should be performed */

+      k = srcBLen;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulate */

+        sum = (q31_t) ((((q63_t) sum << 32) +

+                        ((q63_t) * px++ * (*py--))) >> 32);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = sum << 1;

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pSrc2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+

+

+  /* --------------------------    

+   * Initializations of stage3    

+   * -------------------------*/

+

+  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]    

+   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]    

+   * ....    

+   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]    

+   * sum +=  x[srcALen-1] * y[srcBLen-1]    

+   */

+

+  /* In this stage the MAC operations are decreased by 1 for every iteration.    

+     The blockSize3 variable holds the number of MAC operations performed */

+

+  /* Working pointer of inputA */

+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);

+  px = pSrc1;

+

+  /* Working pointer of inputB */

+  pSrc2 = pIn2 + (srcBLen - 1u);

+  py = pSrc2;

+

+  /* -------------------    

+   * Stage3 process    

+   * ------------------*/

+

+  while(blockSize3 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = blockSize3 >> 2u;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */

+      sum = (q31_t) ((((q63_t) sum << 32) +

+                      ((q63_t) * px++ * (*py--))) >> 32);

+

+      /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */

+      sum = (q31_t) ((((q63_t) sum << 32) +

+                      ((q63_t) * px++ * (*py--))) >> 32);

+

+      /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */

+      sum = (q31_t) ((((q63_t) sum << 32) +

+                      ((q63_t) * px++ * (*py--))) >> 32);

+

+      /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */

+      sum = (q31_t) ((((q63_t) sum << 32) +

+                      ((q63_t) * px++ * (*py--))) >> 32);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.    

+     ** No loop unrolling is used. */

+    k = blockSize3 % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      sum = (q31_t) ((((q63_t) sum << 32) +

+                      ((q63_t) * px++ * (*py--))) >> 32);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut++ = sum << 1;

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    px = ++pSrc1;

+    py = pSrc2;

+

+    /* Decrement the loop counter */

+    blockSize3--;

+  }

+

+}

+

+/**    

+ * @} end of Conv group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q15.c
new file mode 100644
index 000000000..70b4125d9
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q15.c
@@ -0,0 +1,544 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_conv_opt_q15.c    

+*    

+* Description:	Convolution of Q15 sequences.      

+*    

+* 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 1.0.11 2011/10/18  

+*    Bug Fix in conv, correlation, partial convolution.  

+* 

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+*    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup Conv    

+ * @{    

+ */

+

+/**    

+ * @brief Convolution of Q15 sequences.    

+ * @param[in] *pSrcA points to the first input sequence.    

+ * @param[in] srcALen length of the first input sequence.    

+ * @param[in] *pSrcB points to the second input sequence.    

+ * @param[in] srcBLen length of the second input sequence.    

+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.    

+ * @param[in]  *pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.    

+ * @param[in]  *pScratch2 points to scratch buffer of size min(srcALen, srcBLen).    

+ * @return none.    

+ *    

+ * \par Restrictions    

+ *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    

+ *	In this case input, output, scratch1 and scratch2 buffers should be aligned by 32-bit    

+ *    

+ *       

+ * @details    

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

+ *    

+ * \par    

+ * The function is implemented using a 64-bit internal accumulator.    

+ * Both inputs are in 1.15 format and multiplications yield a 2.30 result.    

+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.    

+ * This approach provides 33 guard bits and there is no risk of overflow.    

+ * The 34.30 result is then truncated to 34.15 format by discarding the low 15 bits and then saturated to 1.15 format.    

+ *  

+ *   

+ * \par    

+ * Refer to <code>arm_conv_fast_q15()</code> for a faster but less precise version of this function for Cortex-M3 and Cortex-M4.     

+ * 

+ *  

+ */

+

+void arm_conv_opt_q15(

+  q15_t * pSrcA,

+  uint32_t srcALen,

+  q15_t * pSrcB,

+  uint32_t srcBLen,

+  q15_t * pDst,

+  q15_t * pScratch1,

+  q15_t * pScratch2)

+{

+  q63_t acc0, acc1, acc2, acc3;                  /* Accumulator */

+  q31_t x1, x2, x3;                              /* Temporary variables to hold state and coefficient values */

+  q31_t y1, y2;                                  /* State variables */

+  q15_t *pOut = pDst;                            /* output pointer */

+  q15_t *pScr1 = pScratch1;                      /* Temporary pointer for scratch1 */

+  q15_t *pScr2 = pScratch2;                      /* Temporary pointer for scratch1 */

+  q15_t *pIn1;                                   /* inputA pointer */

+  q15_t *pIn2;                                   /* inputB pointer */

+  q15_t *px;                                     /* Intermediate inputA pointer  */

+  q15_t *py;                                     /* Intermediate inputB pointer  */

+  uint32_t j, k, blkCnt;                         /* loop counter */

+  uint32_t tapCnt;                               /* loop count */

+#ifdef UNALIGNED_SUPPORT_DISABLE

+

+  q15_t a, b;

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+  /* The algorithm implementation is based on the lengths of the inputs. */

+  /* srcB is always made to slide across srcA. */

+  /* So srcBLen is always considered as shorter or equal to srcALen */

+  if(srcALen >= srcBLen)

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = pSrcA;

+

+    /* Initialization of inputB pointer */

+    pIn2 = pSrcB;

+

+  }

+  else

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = pSrcB;

+

+    /* Initialization of inputB pointer */

+    pIn2 = pSrcA;

+

+    /* srcBLen is always considered as shorter or equal to srcALen */

+    j = srcBLen;

+    srcBLen = srcALen;

+    srcALen = j;

+  }

+

+  /* pointer to take end of scratch2 buffer */

+  pScr2 = pScratch2 + srcBLen - 1;

+

+  /* points to smaller length sequence */

+  px = pIn2;

+

+  /* Apply loop unrolling and do 4 Copies simultaneously. */

+  k = srcBLen >> 2u;

+

+  /* First part of the processing with loop unrolling copies 4 data points at a time.       

+   ** a second loop below copies for the remaining 1 to 3 samples. */

+  /* Copy smaller length input sequence in reverse order into second scratch buffer */

+  while(k > 0u)

+  {

+    /* copy second buffer in reversal manner */

+    *pScr2-- = *px++;

+    *pScr2-- = *px++;

+    *pScr2-- = *px++;

+    *pScr2-- = *px++;

+

+    /* Decrement the loop counter */

+    k--;

+  }

+

+  /* If the count is not a multiple of 4, copy remaining samples here.       

+   ** No loop unrolling is used. */

+  k = srcBLen % 0x4u;

+

+  while(k > 0u)

+  {

+    /* copy second buffer in reversal manner for remaining samples */

+    *pScr2-- = *px++;

+

+    /* Decrement the loop counter */

+    k--;

+  }

+

+  /* Initialze temporary scratch pointer */

+  pScr1 = pScratch1;

+

+  /* Assuming scratch1 buffer is aligned by 32-bit */

+  /* Fill (srcBLen - 1u) zeros in scratch buffer */

+  arm_fill_q15(0, pScr1, (srcBLen - 1u));

+

+  /* Update temporary scratch pointer */

+  pScr1 += (srcBLen - 1u);

+

+  /* Copy bigger length sequence(srcALen) samples in scratch1 buffer */

+

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+  /* Copy (srcALen) samples in scratch buffer */

+  arm_copy_q15(pIn1, pScr1, srcALen);

+

+  /* Update pointers */

+  pScr1 += srcALen;

+

+#else

+

+  /* Apply loop unrolling and do 4 Copies simultaneously. */

+  k = srcALen >> 2u;

+

+  /* First part of the processing with loop unrolling copies 4 data points at a time.       

+   ** a second loop below copies for the remaining 1 to 3 samples. */

+  while(k > 0u)

+  {

+    /* copy second buffer in reversal manner */

+    *pScr1++ = *pIn1++;

+    *pScr1++ = *pIn1++;

+    *pScr1++ = *pIn1++;

+    *pScr1++ = *pIn1++;

+

+    /* Decrement the loop counter */

+    k--;

+  }

+

+  /* If the count is not a multiple of 4, copy remaining samples here.       

+   ** No loop unrolling is used. */

+  k = srcALen % 0x4u;

+

+  while(k > 0u)

+  {

+    /* copy second buffer in reversal manner for remaining samples */

+    *pScr1++ = *pIn1++;

+

+    /* Decrement the loop counter */

+    k--;

+  }

+

+#endif

+

+

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+  /* Fill (srcBLen - 1u) zeros at end of scratch buffer */

+  arm_fill_q15(0, pScr1, (srcBLen - 1u));

+

+  /* Update pointer */

+  pScr1 += (srcBLen - 1u);

+

+#else

+

+  /* Apply loop unrolling and do 4 Copies simultaneously. */

+  k = (srcBLen - 1u) >> 2u;

+

+  /* First part of the processing with loop unrolling copies 4 data points at a time.       

+   ** a second loop below copies for the remaining 1 to 3 samples. */

+  while(k > 0u)

+  {

+    /* copy second buffer in reversal manner */

+    *pScr1++ = 0;

+    *pScr1++ = 0;

+    *pScr1++ = 0;

+    *pScr1++ = 0;

+

+    /* Decrement the loop counter */

+    k--;

+  }

+

+  /* If the count is not a multiple of 4, copy remaining samples here.       

+   ** No loop unrolling is used. */

+  k = (srcBLen - 1u) % 0x4u;

+

+  while(k > 0u)

+  {

+    /* copy second buffer in reversal manner for remaining samples */

+    *pScr1++ = 0;

+

+    /* Decrement the loop counter */

+    k--;

+  }

+

+#endif

+

+  /* Temporary pointer for scratch2 */

+  py = pScratch2;

+

+

+  /* Initialization of pIn2 pointer */

+  pIn2 = py;

+

+  /* First part of the processing with loop unrolling process 4 data points at a time.       

+   ** a second loop below process for the remaining 1 to 3 samples. */

+

+  /* Actual convolution process starts here */

+  blkCnt = (srcALen + srcBLen - 1u) >> 2;

+

+  while(blkCnt > 0)

+  {

+    /* Initialze temporary scratch pointer as scratch1 */

+    pScr1 = pScratch1;

+

+    /* Clear Accumlators */

+    acc0 = 0;

+    acc1 = 0;

+    acc2 = 0;

+    acc3 = 0;

+

+    /* Read two samples from scratch1 buffer */

+    x1 = *__SIMD32(pScr1)++;

+

+    /* Read next two samples from scratch1 buffer */

+    x2 = *__SIMD32(pScr1)++;

+

+    tapCnt = (srcBLen) >> 2u;

+

+    while(tapCnt > 0u)

+    {

+

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+      /* Read four samples from smaller buffer */

+      y1 = _SIMD32_OFFSET(pIn2);

+      y2 = _SIMD32_OFFSET(pIn2 + 2u);

+

+      /* multiply and accumlate */

+      acc0 = __SMLALD(x1, y1, acc0);

+      acc2 = __SMLALD(x2, y1, acc2);

+

+      /* pack input data */

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x2, x1, 0);

+#else

+      x3 = __PKHBT(x1, x2, 0);

+#endif

+

+      /* multiply and accumlate */

+      acc1 = __SMLALDX(x3, y1, acc1);

+

+      /* Read next two samples from scratch1 buffer */

+      x1 = _SIMD32_OFFSET(pScr1);

+

+      /* multiply and accumlate */

+      acc0 = __SMLALD(x2, y2, acc0);

+      acc2 = __SMLALD(x1, y2, acc2);

+

+      /* pack input data */

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x1, x2, 0);

+#else

+      x3 = __PKHBT(x2, x1, 0);

+#endif

+

+      acc3 = __SMLALDX(x3, y1, acc3);

+      acc1 = __SMLALDX(x3, y2, acc1);

+

+      x2 = _SIMD32_OFFSET(pScr1 + 2u);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x2, x1, 0);

+#else

+      x3 = __PKHBT(x1, x2, 0);

+#endif

+

+      acc3 = __SMLALDX(x3, y2, acc3);

+

+#else	 

+

+      /* Read four samples from smaller buffer */

+	  a = *pIn2;

+	  b = *(pIn2 + 1);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      y1 = __PKHBT(a, b, 16);

+#else

+      y1 = __PKHBT(b, a, 16);

+#endif

+	  

+	  a = *(pIn2 + 2);

+	  b = *(pIn2 + 3);

+#ifndef ARM_MATH_BIG_ENDIAN

+      y2 = __PKHBT(a, b, 16);

+#else

+      y2 = __PKHBT(b, a, 16);

+#endif				

+

+      acc0 = __SMLALD(x1, y1, acc0);

+

+      acc2 = __SMLALD(x2, y1, acc2);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x2, x1, 0);

+#else

+      x3 = __PKHBT(x1, x2, 0);

+#endif

+

+      acc1 = __SMLALDX(x3, y1, acc1);

+

+	  a = *pScr1;

+	  b = *(pScr1 + 1);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x1 = __PKHBT(a, b, 16);

+#else

+      x1 = __PKHBT(b, a, 16);

+#endif

+

+      acc0 = __SMLALD(x2, y2, acc0);

+

+      acc2 = __SMLALD(x1, y2, acc2);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x1, x2, 0);

+#else

+      x3 = __PKHBT(x2, x1, 0);

+#endif

+

+      acc3 = __SMLALDX(x3, y1, acc3);

+

+      acc1 = __SMLALDX(x3, y2, acc1);

+

+	  a = *(pScr1 + 2);

+	  b = *(pScr1 + 3);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x2 = __PKHBT(a, b, 16);

+#else

+      x2 = __PKHBT(b, a, 16);

+#endif

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x2, x1, 0);

+#else

+      x3 = __PKHBT(x1, x2, 0);

+#endif

+

+      acc3 = __SMLALDX(x3, y2, acc3);

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+      pIn2 += 4u;

+      pScr1 += 4u;

+

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Update scratch pointer for remaining samples of smaller length sequence */

+    pScr1 -= 4u;

+

+    /* apply same above for remaining samples of smaller length sequence */

+    tapCnt = (srcBLen) & 3u;

+

+    while(tapCnt > 0u)

+    {

+

+      /* accumlate the results */

+      acc0 += (*pScr1++ * *pIn2);

+      acc1 += (*pScr1++ * *pIn2);

+      acc2 += (*pScr1++ * *pIn2);

+      acc3 += (*pScr1++ * *pIn2++);

+

+      pScr1 -= 3u;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    blkCnt--;

+

+

+    /* Store the results in the accumulators in the destination buffer. */

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    *__SIMD32(pOut)++ =

+      __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);

+

+    *__SIMD32(pOut)++ =

+      __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);

+

+#else

+

+    *__SIMD32(pOut)++ =

+      __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);

+

+    *__SIMD32(pOut)++ =

+      __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);

+

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN       */

+

+    /* Initialization of inputB pointer */

+    pIn2 = py;

+

+    pScratch1 += 4u;

+

+  }

+

+

+  blkCnt = (srcALen + srcBLen - 1u) & 0x3;

+

+  /* Calculate convolution for remaining samples of Bigger length sequence */

+  while(blkCnt > 0)

+  {

+    /* Initialze temporary scratch pointer as scratch1 */

+    pScr1 = pScratch1;

+

+    /* Clear Accumlators */

+    acc0 = 0;

+

+    tapCnt = (srcBLen) >> 1u;

+

+    while(tapCnt > 0u)

+    {

+

+      /* Read next two samples from scratch1 buffer */

+      acc0 += (*pScr1++ * *pIn2++);

+      acc0 += (*pScr1++ * *pIn2++);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    tapCnt = (srcBLen) & 1u;

+

+    /* apply same above for remaining samples of smaller length sequence */

+    while(tapCnt > 0u)

+    {

+

+      /* accumlate the results */

+      acc0 += (*pScr1++ * *pIn2++);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    blkCnt--;

+

+    /* The result is in 2.30 format.  Convert to 1.15 with saturation.       

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

+    *pOut++ = (q15_t) (__SSAT((acc0 >> 15), 16));

+

+

+    /* Initialization of inputB pointer */

+    pIn2 = py;

+

+    pScratch1 += 1u;

+

+  }

+

+}

+

+

+/**    

+ * @} end of Conv group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q7.c
new file mode 100644
index 000000000..7fe9f55cf
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q7.c
@@ -0,0 +1,434 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_conv_opt_q7.c    

+*    

+* Description:	Convolution of Q7 sequences.  

+*    

+* 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 1.0.11 2011/10/18  

+*    Bug Fix in conv, correlation, partial convolution.  

+* 

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+*    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup Conv    

+ * @{    

+ */

+

+/**    

+ * @brief Convolution of Q7 sequences.    

+ * @param[in] *pSrcA points to the first input sequence.    

+ * @param[in] srcALen length of the first input sequence.    

+ * @param[in] *pSrcB points to the second input sequence.    

+ * @param[in] srcBLen length of the second input sequence.    

+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.    

+ * @param[in]  *pScratch1 points to scratch buffer(of type q15_t) of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   

+ * @param[in]  *pScratch2 points to scratch buffer (of type q15_t) of size min(srcALen, srcBLen).   

+ * @return none.    

+ *    

+ * \par Restrictions    

+ *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    

+ *	In this case input, output, scratch1 and scratch2 buffers should be aligned by 32-bit     

+ *       

+ * @details    

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

+ *    

+ * \par    

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

+ * Both the inputs 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.    

+ * This approach provides 17 guard bits and there is no risk of overflow as long as <code>max(srcALen, srcBLen)<131072</code>.    

+ * The 18.14 result is then truncated to 18.7 format by discarding the low 7 bits and then saturated to 1.7 format.    

+ *

+ */

+

+void arm_conv_opt_q7(

+  q7_t * pSrcA,

+  uint32_t srcALen,

+  q7_t * pSrcB,

+  uint32_t srcBLen,

+  q7_t * pDst,

+  q15_t * pScratch1,

+  q15_t * pScratch2)

+{

+

+  q15_t *pScr2, *pScr1;                          /* Intermediate pointers for scratch pointers */

+  q15_t x4;                                      /* Temporary input variable */

+  q7_t *pIn1, *pIn2;                             /* inputA and inputB pointer */

+  uint32_t j, k, blkCnt, tapCnt;                 /* loop counter */

+  q7_t *px;                                      /* Temporary input1 pointer */

+  q15_t *py;                                     /* Temporary input2 pointer */

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

+  q31_t x1, x2, x3, y1;                          /* Temporary input variables */

+  q7_t *pOut = pDst;                             /* output pointer */

+  q7_t out0, out1, out2, out3;                   /* temporary variables */

+

+  /* The algorithm implementation is based on the lengths of the inputs. */

+  /* srcB is always made to slide across srcA. */

+  /* So srcBLen is always considered as shorter or equal to srcALen */

+  if(srcALen >= srcBLen)

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = pSrcA;

+

+    /* Initialization of inputB pointer */

+    pIn2 = pSrcB;

+  }

+  else

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = pSrcB;

+

+    /* Initialization of inputB pointer */

+    pIn2 = pSrcA;

+

+    /* srcBLen is always considered as shorter or equal to srcALen */

+    j = srcBLen;

+    srcBLen = srcALen;

+    srcALen = j;

+  }

+

+  /* pointer to take end of scratch2 buffer */

+  pScr2 = pScratch2;

+

+  /* points to smaller length sequence */

+  px = pIn2 + srcBLen - 1;

+

+  /* Apply loop unrolling and do 4 Copies simultaneously. */

+  k = srcBLen >> 2u;

+

+  /* First part of the processing with loop unrolling copies 4 data points at a time.       

+   ** a second loop below copies for the remaining 1 to 3 samples. */

+  while(k > 0u)

+  {

+    /* copy second buffer in reversal manner */

+    x4 = (q15_t) * px--;

+    *pScr2++ = x4;

+    x4 = (q15_t) * px--;

+    *pScr2++ = x4;

+    x4 = (q15_t) * px--;

+    *pScr2++ = x4;

+    x4 = (q15_t) * px--;

+    *pScr2++ = x4;

+

+    /* Decrement the loop counter */

+    k--;

+  }

+

+  /* If the count is not a multiple of 4, copy remaining samples here.       

+   ** No loop unrolling is used. */

+  k = srcBLen % 0x4u;

+

+  while(k > 0u)

+  {

+    /* copy second buffer in reversal manner for remaining samples */

+    x4 = (q15_t) * px--;

+    *pScr2++ = x4;

+

+    /* Decrement the loop counter */

+    k--;

+  }

+

+  /* Initialze temporary scratch pointer */

+  pScr1 = pScratch1;

+

+  /* Fill (srcBLen - 1u) zeros in scratch buffer */

+  arm_fill_q15(0, pScr1, (srcBLen - 1u));

+

+  /* Update temporary scratch pointer */

+  pScr1 += (srcBLen - 1u);

+

+  /* Copy (srcALen) samples in scratch buffer */

+  /* Apply loop unrolling and do 4 Copies simultaneously. */

+  k = srcALen >> 2u;

+

+  /* First part of the processing with loop unrolling copies 4 data points at a time.       

+   ** a second loop below copies for the remaining 1 to 3 samples. */

+  while(k > 0u)

+  {

+    /* copy second buffer in reversal manner */

+    x4 = (q15_t) * pIn1++;

+    *pScr1++ = x4;

+    x4 = (q15_t) * pIn1++;

+    *pScr1++ = x4;

+    x4 = (q15_t) * pIn1++;

+    *pScr1++ = x4;

+    x4 = (q15_t) * pIn1++;

+    *pScr1++ = x4;

+

+    /* Decrement the loop counter */

+    k--;

+  }

+

+  /* If the count is not a multiple of 4, copy remaining samples here.       

+   ** No loop unrolling is used. */

+  k = srcALen % 0x4u;

+

+  while(k > 0u)

+  {

+    /* copy second buffer in reversal manner for remaining samples */

+    x4 = (q15_t) * pIn1++;

+    *pScr1++ = x4;

+

+    /* Decrement the loop counter */

+    k--;

+  }

+

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+  /* Fill (srcBLen - 1u) zeros at end of scratch buffer */

+  arm_fill_q15(0, pScr1, (srcBLen - 1u));

+

+  /* Update pointer */

+  pScr1 += (srcBLen - 1u);

+

+#else

+

+  /* Apply loop unrolling and do 4 Copies simultaneously. */

+  k = (srcBLen - 1u) >> 2u;

+

+  /* First part of the processing with loop unrolling copies 4 data points at a time.       

+   ** a second loop below copies for the remaining 1 to 3 samples. */

+  while(k > 0u)

+  {

+    /* copy second buffer in reversal manner */

+    *pScr1++ = 0;

+    *pScr1++ = 0;

+    *pScr1++ = 0;

+    *pScr1++ = 0;

+

+    /* Decrement the loop counter */

+    k--;

+  }

+

+  /* If the count is not a multiple of 4, copy remaining samples here.       

+   ** No loop unrolling is used. */

+  k = (srcBLen - 1u) % 0x4u;

+

+  while(k > 0u)

+  {

+    /* copy second buffer in reversal manner for remaining samples */

+    *pScr1++ = 0;

+

+    /* Decrement the loop counter */

+    k--;

+  }

+

+#endif

+

+  /* Temporary pointer for scratch2 */

+  py = pScratch2;

+

+  /* Initialization of pIn2 pointer */

+  pIn2 = (q7_t *) py;

+

+  pScr2 = py;

+

+  /* Actual convolution process starts here */

+  blkCnt = (srcALen + srcBLen - 1u) >> 2;

+

+  while(blkCnt > 0)

+  {

+    /* Initialze temporary scratch pointer as scratch1 */

+    pScr1 = pScratch1;

+

+    /* Clear Accumlators */

+    acc0 = 0;

+    acc1 = 0;

+    acc2 = 0;

+    acc3 = 0;

+

+    /* Read two samples from scratch1 buffer */

+    x1 = *__SIMD32(pScr1)++;

+

+    /* Read next two samples from scratch1 buffer */

+    x2 = *__SIMD32(pScr1)++;

+

+    tapCnt = (srcBLen) >> 2u;

+

+    while(tapCnt > 0u)

+    {

+

+      /* Read four samples from smaller buffer */

+      y1 = _SIMD32_OFFSET(pScr2);

+

+      /* multiply and accumlate */

+      acc0 = __SMLAD(x1, y1, acc0);

+      acc2 = __SMLAD(x2, y1, acc2);

+

+      /* pack input data */

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x2, x1, 0);

+#else

+      x3 = __PKHBT(x1, x2, 0);

+#endif

+

+      /* multiply and accumlate */

+      acc1 = __SMLADX(x3, y1, acc1);

+

+      /* Read next two samples from scratch1 buffer */

+      x1 = *__SIMD32(pScr1)++;

+

+      /* pack input data */

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x1, x2, 0);

+#else

+      x3 = __PKHBT(x2, x1, 0);

+#endif

+

+      acc3 = __SMLADX(x3, y1, acc3);

+

+      /* Read four samples from smaller buffer */

+      y1 = _SIMD32_OFFSET(pScr2 + 2u);

+

+      acc0 = __SMLAD(x2, y1, acc0);

+

+      acc2 = __SMLAD(x1, y1, acc2);

+

+      acc1 = __SMLADX(x3, y1, acc1);

+

+      x2 = *__SIMD32(pScr1)++;

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x2, x1, 0);

+#else

+      x3 = __PKHBT(x1, x2, 0);

+#endif

+

+      acc3 = __SMLADX(x3, y1, acc3);

+

+      pScr2 += 4u;

+

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+

+

+    /* Update scratch pointer for remaining samples of smaller length sequence */

+    pScr1 -= 4u;

+

+

+    /* apply same above for remaining samples of smaller length sequence */

+    tapCnt = (srcBLen) & 3u;

+

+    while(tapCnt > 0u)

+    {

+

+      /* accumlate the results */

+      acc0 += (*pScr1++ * *pScr2);

+      acc1 += (*pScr1++ * *pScr2);

+      acc2 += (*pScr1++ * *pScr2);

+      acc3 += (*pScr1++ * *pScr2++);

+

+      pScr1 -= 3u;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    blkCnt--;

+

+    /* Store the result in the accumulator in the destination buffer. */

+    out0 = (q7_t) (__SSAT(acc0 >> 7u, 8));

+    out1 = (q7_t) (__SSAT(acc1 >> 7u, 8));

+    out2 = (q7_t) (__SSAT(acc2 >> 7u, 8));

+    out3 = (q7_t) (__SSAT(acc3 >> 7u, 8));

+

+    *__SIMD32(pOut)++ = __PACKq7(out0, out1, out2, out3);

+

+    /* Initialization of inputB pointer */

+    pScr2 = py;

+

+    pScratch1 += 4u;

+

+  }

+

+

+  blkCnt = (srcALen + srcBLen - 1u) & 0x3;

+

+  /* Calculate convolution for remaining samples of Bigger length sequence */

+  while(blkCnt > 0)

+  {

+    /* Initialze temporary scratch pointer as scratch1 */

+    pScr1 = pScratch1;

+

+    /* Clear Accumlators */

+    acc0 = 0;

+

+    tapCnt = (srcBLen) >> 1u;

+

+    while(tapCnt > 0u)

+    {

+      acc0 += (*pScr1++ * *pScr2++);

+      acc0 += (*pScr1++ * *pScr2++);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    tapCnt = (srcBLen) & 1u;

+

+    /* apply same above for remaining samples of smaller length sequence */

+    while(tapCnt > 0u)

+    {

+

+      /* accumlate the results */

+      acc0 += (*pScr1++ * *pScr2++);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    blkCnt--;

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut++ = (q7_t) (__SSAT(acc0 >> 7u, 8));

+

+    /* Initialization of inputB pointer */

+    pScr2 = py;

+

+    pScratch1 += 1u;

+

+  }

+

+}

+

+

+/**    

+ * @} end of Conv group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c
new file mode 100644
index 000000000..58f572735
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c
@@ -0,0 +1,661 @@
+/* ----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_conv_partial_f32.c    

+*    

+* Description:	Partial convolution of floating-point sequences.    

+*    

+* 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 1.0.11 2011/10/18  

+*    Bug Fix in conv, correlation, partial convolution.  

+* 

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+*    

+* -------------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @defgroup PartialConv Partial Convolution    

+ *    

+ * Partial Convolution is equivalent to Convolution except that a subset of the output samples is generated.    

+ * Each function has two additional arguments.    

+ * <code>firstIndex</code> specifies the starting index of the subset of output samples.    

+ * <code>numPoints</code> is the number of output samples to compute.    

+ * The function computes the output in the range    

+ * <code>[firstIndex, ..., firstIndex+numPoints-1]</code>.    

+ * The output array <code>pDst</code> contains <code>numPoints</code> values.    

+ *    

+ * The allowable range of output indices is [0 srcALen+srcBLen-2].    

+ * If the requested subset does not fall in this range then the functions return ARM_MATH_ARGUMENT_ERROR.    

+ * Otherwise the functions return ARM_MATH_SUCCESS.    

+ * \note Refer arm_conv_f32() for details on fixed point behavior.   

+ *

+ * 

+ * <b>Fast Versions</b>

+ *

+ * \par 

+ * Fast versions are supported for Q31 and Q15 of partial convolution.  Cycles for Fast versions are less compared to Q31 and Q15 of partial conv and the design requires

+ * the input signals should be scaled down to avoid intermediate overflows.   

+ *

+ *

+ * <b>Opt Versions</b>

+ *

+ * \par 

+ * Opt versions are supported for Q15 and Q7.  Design uses internal scratch buffer for getting good optimisation.

+ * These versions are optimised in cycles and consumes more memory(Scratch memory) compared to Q15 and Q7 versions of partial convolution

+ */

+

+/**    

+ * @addtogroup PartialConv    

+ * @{    

+ */

+

+/**    

+ * @brief Partial convolution of floating-point sequences.    

+ * @param[in]       *pSrcA points to the first input sequence.    

+ * @param[in]       srcALen length of the first input sequence.    

+ * @param[in]       *pSrcB points to the second input sequence.    

+ * @param[in]       srcBLen length of the second input sequence.    

+ * @param[out]      *pDst points to the location where the output result is written.    

+ * @param[in]       firstIndex is the first output sample to start with.    

+ * @param[in]       numPoints is the number of output points to be computed.    

+ * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].    

+ */

+

+arm_status arm_conv_partial_f32(

+  float32_t * pSrcA,

+  uint32_t srcALen,

+  float32_t * pSrcB,

+  uint32_t srcBLen,

+  float32_t * pDst,

+  uint32_t firstIndex,

+  uint32_t numPoints)

+{

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  float32_t *pIn1 = pSrcA;                       /* inputA pointer */

+  float32_t *pIn2 = pSrcB;                       /* inputB pointer */

+  float32_t *pOut = pDst;                        /* output pointer */

+  float32_t *px;                                 /* Intermediate inputA pointer */

+  float32_t *py;                                 /* Intermediate inputB pointer */

+  float32_t *pSrc1, *pSrc2;                      /* Intermediate pointers */

+  float32_t sum, acc0, acc1, acc2, acc3;         /* Accumulator */

+  float32_t x0, x1, x2, x3, c0;                  /* Temporary variables to hold state and coefficient values */

+  uint32_t j, k, count = 0u, blkCnt, check;

+  int32_t blockSize1, blockSize2, blockSize3;    /* loop counters */

+  arm_status status;                             /* status of Partial convolution */

+

+

+  /* Check for range of output samples to be calculated */

+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))

+  {

+    /* Set status as ARM_MATH_ARGUMENT_ERROR */

+    status = ARM_MATH_ARGUMENT_ERROR;

+  }

+  else

+  {

+

+    /* The algorithm implementation is based on the lengths of the inputs. */

+    /* srcB is always made to slide across srcA. */

+    /* So srcBLen is always considered as shorter or equal to srcALen */

+    if(srcALen >= srcBLen)

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcA;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcB;

+    }

+    else

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcB;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcA;

+

+      /* srcBLen is always considered as shorter or equal to srcALen */

+      j = srcBLen;

+      srcBLen = srcALen;

+      srcALen = j;

+    }

+

+    /* Conditions to check which loopCounter holds    

+     * the first and last indices of the output samples to be calculated. */

+    check = firstIndex + numPoints;

+    blockSize3 = (int32_t) check - (int32_t) srcALen;

+    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;

+    blockSize1 = ((int32_t) srcBLen - 1) - (int32_t) firstIndex;

+    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :

+                                     (int32_t) numPoints) : 0;

+    blockSize2 = ((int32_t) check - blockSize3) -

+      (blockSize1 + (int32_t) firstIndex);

+    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;

+

+    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */

+    /* The function is internally    

+     * divided into three stages according to the number of multiplications that has to be    

+     * taken place between inputA samples and inputB samples. In the first stage of the    

+     * algorithm, the multiplications increase by one for every iteration.    

+     * In the second stage of the algorithm, srcBLen number of multiplications are done.    

+     * In the third stage of the algorithm, the multiplications decrease by one    

+     * for every iteration. */

+

+    /* Set the output pointer to point to the firstIndex    

+     * of the output sample to be calculated. */

+    pOut = pDst + firstIndex;

+

+    /* --------------------------    

+     * Initializations of stage1    

+     * -------------------------*/

+

+    /* sum = x[0] * y[0]    

+     * sum = x[0] * y[1] + x[1] * y[0]    

+     * ....    

+     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]    

+     */

+

+    /* In this stage the MAC operations are increased by 1 for every iteration.    

+       The count variable holds the number of MAC operations performed.    

+       Since the partial convolution starts from from firstIndex    

+       Number of Macs to be performed is firstIndex + 1 */

+    count = 1u + firstIndex;

+

+    /* Working pointer of inputA */

+    px = pIn1;

+

+    /* Working pointer of inputB */

+    pSrc1 = pIn2 + firstIndex;

+    py = pSrc1;

+

+    /* ------------------------    

+     * Stage1 process    

+     * ----------------------*/

+

+    /* The first stage starts here */

+    while(blockSize1 > 0)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0.0f;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = count >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        /* x[0] * y[srcBLen - 1] */

+        sum += *px++ * *py--;

+

+        /* x[1] * y[srcBLen - 2] */

+        sum += *px++ * *py--;

+

+        /* x[2] * y[srcBLen - 3] */

+        sum += *px++ * *py--;

+

+        /* x[3] * y[srcBLen - 4] */

+        sum += *px++ * *py--;

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* If the count is not a multiple of 4, compute any remaining MACs here.    

+       ** No loop unrolling is used. */

+      k = count % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum += *px++ * *py--;

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = sum;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      py = ++pSrc1;

+      px = pIn1;

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Decrement the loop counter */

+      blockSize1--;

+    }

+

+    /* --------------------------    

+     * Initializations of stage2    

+     * ------------------------*/

+

+    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]    

+     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]    

+     * ....    

+     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]    

+     */

+

+    /* Working pointer of inputA */

+    px = pIn1;

+

+    /* Working pointer of inputB */

+    pSrc2 = pIn2 + (srcBLen - 1u);

+    py = pSrc2;

+

+    /* count is index by which the pointer pIn1 to be incremented */

+    count = 0u;

+

+    /* -------------------    

+     * Stage2 process    

+     * ------------------*/

+

+    /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    

+     * So, to loop unroll over blockSize2,    

+     * srcBLen should be greater than or equal to 4 */

+    if(srcBLen >= 4u)

+    {

+      /* Loop unroll over blockSize2, by 4 */

+      blkCnt = ((uint32_t) blockSize2 >> 2u);

+

+      while(blkCnt > 0u)

+      {

+        /* Set all accumulators to zero */

+        acc0 = 0.0f;

+        acc1 = 0.0f;

+        acc2 = 0.0f;

+        acc3 = 0.0f;

+

+        /* read x[0], x[1], x[2] samples */

+        x0 = *(px++);

+        x1 = *(px++);

+        x2 = *(px++);

+

+        /* Apply loop unrolling and compute 4 MACs simultaneously. */

+        k = srcBLen >> 2u;

+

+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+        do

+        {

+          /* Read y[srcBLen - 1] sample */

+          c0 = *(py--);

+

+          /* Read x[3] sample */

+          x3 = *(px++);

+

+          /* Perform the multiply-accumulate */

+          /* acc0 +=  x[0] * y[srcBLen - 1] */

+          acc0 += x0 * c0;

+

+          /* acc1 +=  x[1] * y[srcBLen - 1] */

+          acc1 += x1 * c0;

+

+          /* acc2 +=  x[2] * y[srcBLen - 1] */

+          acc2 += x2 * c0;

+

+          /* acc3 +=  x[3] * y[srcBLen - 1] */

+          acc3 += x3 * c0;

+

+          /* Read y[srcBLen - 2] sample */

+          c0 = *(py--);

+

+          /* Read x[4] sample */

+          x0 = *(px++);

+

+          /* Perform the multiply-accumulate */

+          /* acc0 +=  x[1] * y[srcBLen - 2] */

+          acc0 += x1 * c0;

+          /* acc1 +=  x[2] * y[srcBLen - 2] */

+          acc1 += x2 * c0;

+          /* acc2 +=  x[3] * y[srcBLen - 2] */

+          acc2 += x3 * c0;

+          /* acc3 +=  x[4] * y[srcBLen - 2] */

+          acc3 += x0 * c0;

+

+          /* Read y[srcBLen - 3] sample */

+          c0 = *(py--);

+

+          /* Read x[5] sample */

+          x1 = *(px++);

+

+          /* Perform the multiply-accumulates */

+          /* acc0 +=  x[2] * y[srcBLen - 3] */

+          acc0 += x2 * c0;

+          /* acc1 +=  x[3] * y[srcBLen - 2] */

+          acc1 += x3 * c0;

+          /* acc2 +=  x[4] * y[srcBLen - 2] */

+          acc2 += x0 * c0;

+          /* acc3 +=  x[5] * y[srcBLen - 2] */

+          acc3 += x1 * c0;

+

+          /* Read y[srcBLen - 4] sample */

+          c0 = *(py--);

+

+          /* Read x[6] sample */

+          x2 = *(px++);

+

+          /* Perform the multiply-accumulates */

+          /* acc0 +=  x[3] * y[srcBLen - 4] */

+          acc0 += x3 * c0;

+          /* acc1 +=  x[4] * y[srcBLen - 4] */

+          acc1 += x0 * c0;

+          /* acc2 +=  x[5] * y[srcBLen - 4] */

+          acc2 += x1 * c0;

+          /* acc3 +=  x[6] * y[srcBLen - 4] */

+          acc3 += x2 * c0;

+

+

+        } while(--k);

+

+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    

+         ** No loop unrolling is used. */

+        k = srcBLen % 0x4u;

+

+        while(k > 0u)

+        {

+          /* Read y[srcBLen - 5] sample */

+          c0 = *(py--);

+

+          /* Read x[7] sample */

+          x3 = *(px++);

+

+          /* Perform the multiply-accumulates */

+          /* acc0 +=  x[4] * y[srcBLen - 5] */

+          acc0 += x0 * c0;

+          /* acc1 +=  x[5] * y[srcBLen - 5] */

+          acc1 += x1 * c0;

+          /* acc2 +=  x[6] * y[srcBLen - 5] */

+          acc2 += x2 * c0;

+          /* acc3 +=  x[7] * y[srcBLen - 5] */

+          acc3 += x3 * c0;

+

+          /* Reuse the present samples for the next MAC */

+          x0 = x1;

+          x1 = x2;

+          x2 = x3;

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* Store the result in the accumulator in the destination buffer. */

+        *pOut++ = acc0;

+        *pOut++ = acc1;

+        *pOut++ = acc2;

+        *pOut++ = acc3;

+

+        /* Increment the pointer pIn1 index, count by 1 */

+        count += 4u;

+

+        /* Update the inputA and inputB pointers for next MAC calculation */

+        px = pIn1 + count;

+        py = pSrc2;

+

+        /* Decrement the loop counter */

+        blkCnt--;

+      }

+

+      /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.    

+       ** No loop unrolling is used. */

+      blkCnt = (uint32_t) blockSize2 % 0x4u;

+

+      while(blkCnt > 0u)

+      {

+        /* Accumulator is made zero for every iteration */

+        sum = 0.0f;

+

+        /* Apply loop unrolling and compute 4 MACs simultaneously. */

+        k = srcBLen >> 2u;

+

+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+        while(k > 0u)

+        {

+          /* Perform the multiply-accumulates */

+          sum += *px++ * *py--;

+          sum += *px++ * *py--;

+          sum += *px++ * *py--;

+          sum += *px++ * *py--;

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    

+         ** No loop unrolling is used. */

+        k = srcBLen % 0x4u;

+

+        while(k > 0u)

+        {

+          /* Perform the multiply-accumulate */

+          sum += *px++ * *py--;

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* Store the result in the accumulator in the destination buffer. */

+        *pOut++ = sum;

+

+        /* Increment the MAC count */

+        count++;

+

+        /* Update the inputA and inputB pointers for next MAC calculation */

+        px = pIn1 + count;

+        py = pSrc2;

+

+        /* Decrement the loop counter */

+        blkCnt--;

+      }

+    }

+    else

+    {

+      /* If the srcBLen is not a multiple of 4,    

+       * the blockSize2 loop cannot be unrolled by 4 */

+      blkCnt = (uint32_t) blockSize2;

+

+      while(blkCnt > 0u)

+      {

+        /* Accumulator is made zero for every iteration */

+        sum = 0.0f;

+

+        /* srcBLen number of MACS should be performed */

+        k = srcBLen;

+

+        while(k > 0u)

+        {

+          /* Perform the multiply-accumulate */

+          sum += *px++ * *py--;

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* Store the result in the accumulator in the destination buffer. */

+        *pOut++ = sum;

+

+        /* Increment the MAC count */

+        count++;

+

+        /* Update the inputA and inputB pointers for next MAC calculation */

+        px = pIn1 + count;

+        py = pSrc2;

+

+        /* Decrement the loop counter */

+        blkCnt--;

+      }

+    }

+

+

+    /* --------------------------    

+     * Initializations of stage3    

+     * -------------------------*/

+

+    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]    

+     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]    

+     * ....    

+     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]    

+     * sum +=  x[srcALen-1] * y[srcBLen-1]    

+     */

+

+    /* In this stage the MAC operations are decreased by 1 for every iteration.    

+       The count variable holds the number of MAC operations performed */

+    count = srcBLen - 1u;

+

+    /* Working pointer of inputA */

+    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);

+    px = pSrc1;

+

+    /* Working pointer of inputB */

+    pSrc2 = pIn2 + (srcBLen - 1u);

+    py = pSrc2;

+

+    while(blockSize3 > 0)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0.0f;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = count >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */

+        sum += *px++ * *py--;

+

+        /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */

+        sum += *px++ * *py--;

+

+        /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */

+        sum += *px++ * *py--;

+

+        /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */

+        sum += *px++ * *py--;

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* If the count is not a multiple of 4, compute any remaining MACs here.    

+       ** No loop unrolling is used. */

+      k = count % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        /* sum +=  x[srcALen-1] * y[srcBLen-1] */

+        sum += *px++ * *py--;

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = sum;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = ++pSrc1;

+      py = pSrc2;

+

+      /* Decrement the MAC count */

+      count--;

+

+      /* Decrement the loop counter */

+      blockSize3--;

+

+    }

+

+    /* set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+  }

+

+  /* Return to application */

+  return (status);

+

+#else

+

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

+

+  float32_t *pIn1 = pSrcA;                       /* inputA pointer */

+  float32_t *pIn2 = pSrcB;                       /* inputB pointer */

+  float32_t sum;                                 /* Accumulator */

+  uint32_t i, j;                                 /* loop counters */

+  arm_status status;                             /* status of Partial convolution */

+

+  /* Check for range of output samples to be calculated */

+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))

+  {

+    /* Set status as ARM_ARGUMENT_ERROR */

+    status = ARM_MATH_ARGUMENT_ERROR;

+  }

+  else

+  {

+    /* Loop to calculate convolution for output length number of values */

+    for (i = firstIndex; i <= (firstIndex + numPoints - 1); i++)

+    {

+      /* Initialize sum with zero to carry on MAC operations */

+      sum = 0.0f;

+

+      /* Loop to perform MAC operations according to convolution equation */

+      for (j = 0u; j <= i; j++)

+      {

+        /* Check the array limitations for inputs */

+        if((((i - j) < srcBLen) && (j < srcALen)))

+        {

+          /* z[i] += x[i-j] * y[j] */

+          sum += pIn1[j] * pIn2[i - j];

+        }

+      }

+      /* Store the output in the destination buffer */

+      pDst[i] = sum;

+    }

+    /* set status as ARM_SUCCESS as there are no argument errors */

+    status = ARM_MATH_SUCCESS;

+  }

+  return (status);

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of PartialConv group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_opt_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_opt_q15.c
new file mode 100644
index 000000000..25b3ba8c3
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_opt_q15.c
@@ -0,0 +1,763 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_conv_partial_fast_opt_q15.c    

+*    

+* Description:	Fast Q15 Partial convolution.    

+*    

+* Target Processor: Cortex-M4/Cortex-M3

+*  

+* Version 1.1.0 2012/02/15 

+*    Updated with more optimizations, bug fixes and minor API changes.  

+* 

+* Version 1.0.11 2011/10/18  

+*    Bug Fix in conv, correlation, partial convolution.  

+* 

+* 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 groupFilters    

+ */

+

+/**    

+ * @addtogroup PartialConv    

+ * @{    

+ */

+

+/**    

+ * @brief Partial convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.    

+ * @param[in]       *pSrcA points to the first input sequence.    

+ * @param[in]       srcALen length of the first input sequence.    

+ * @param[in]       *pSrcB points to the second input sequence.    

+ * @param[in]       srcBLen length of the second input sequence.    

+ * @param[out]      *pDst points to the location where the output result is written.    

+ * @param[in]       firstIndex is the first output sample to start with.    

+ * @param[in]       numPoints is the number of output points to be computed.    

+ * @param[in]       *pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   

+ * @param[in]       *pScratch2 points to scratch buffer of size min(srcALen, srcBLen).   

+ * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].    

+ *    

+ * See <code>arm_conv_partial_q15()</code> for a slower implementation of this function which uses a 64-bit accumulator to avoid wrap around distortion.    

+ *    

+ * \par Restrictions    

+ *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    

+ *	In this case input, output, scratch1 and scratch2 buffers should be aligned by 32-bit    

+ *     

+ */

+

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+arm_status arm_conv_partial_fast_opt_q15(

+  q15_t * pSrcA,

+  uint32_t srcALen,

+  q15_t * pSrcB,

+  uint32_t srcBLen,

+  q15_t * pDst,

+  uint32_t firstIndex,

+  uint32_t numPoints,

+  q15_t * pScratch1,

+  q15_t * pScratch2)

+{

+

+  q15_t *pOut = pDst;                            /* output pointer */

+  q15_t *pScr1 = pScratch1;                      /* Temporary pointer for scratch1 */

+  q15_t *pScr2 = pScratch2;                      /* Temporary pointer for scratch1 */

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

+  q31_t x1, x2, x3;                              /* Temporary variables to hold state and coefficient values */

+  q31_t y1, y2;                                  /* State variables */

+  q15_t *pIn1;                                   /* inputA pointer */

+  q15_t *pIn2;                                   /* inputB pointer */

+  q15_t *px;                                     /* Intermediate inputA pointer  */

+  q15_t *py;                                     /* Intermediate inputB pointer  */

+  uint32_t j, k, blkCnt;                         /* loop counter */

+  arm_status status;

+

+  uint32_t tapCnt;                               /* loop count */

+

+  /* Check for range of output samples to be calculated */

+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))

+  {

+    /* Set status as ARM_MATH_ARGUMENT_ERROR */

+    status = ARM_MATH_ARGUMENT_ERROR;

+  }

+  else

+  {

+

+    /* The algorithm implementation is based on the lengths of the inputs. */

+    /* srcB is always made to slide across srcA. */

+    /* So srcBLen is always considered as shorter or equal to srcALen */

+    if(srcALen >= srcBLen)

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcA;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcB;

+    }

+    else

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcB;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcA;

+

+      /* srcBLen is always considered as shorter or equal to srcALen */

+      j = srcBLen;

+      srcBLen = srcALen;

+      srcALen = j;

+    }

+

+    /* Temporary pointer for scratch2 */

+    py = pScratch2;

+

+    /* pointer to take end of scratch2 buffer */

+    pScr2 = pScratch2 + srcBLen - 1;

+

+    /* points to smaller length sequence */

+    px = pIn2;

+

+    /* Apply loop unrolling and do 4 Copies simultaneously. */

+    k = srcBLen >> 2u;

+

+    /* First part of the processing with loop unrolling copies 4 data points at a time.       

+     ** a second loop below copies for the remaining 1 to 3 samples. */

+

+    /* Copy smaller length input sequence in reverse order into second scratch buffer */

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner */

+      *pScr2-- = *px++;

+      *pScr2-- = *px++;

+      *pScr2-- = *px++;

+      *pScr2-- = *px++;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, copy remaining samples here.       

+     ** No loop unrolling is used. */

+    k = srcBLen % 0x4u;

+

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner for remaining samples */

+      *pScr2-- = *px++;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Initialze temporary scratch pointer */

+    pScr1 = pScratch1;

+

+    /* Assuming scratch1 buffer is aligned by 32-bit */

+    /* Fill (srcBLen - 1u) zeros in scratch buffer */

+    arm_fill_q15(0, pScr1, (srcBLen - 1u));

+

+    /* Update temporary scratch pointer */

+    pScr1 += (srcBLen - 1u);

+

+    /* Copy bigger length sequence(srcALen) samples in scratch1 buffer */

+

+    /* Copy (srcALen) samples in scratch buffer */

+    arm_copy_q15(pIn1, pScr1, srcALen);

+

+    /* Update pointers */

+    pScr1 += srcALen;

+

+    /* Fill (srcBLen - 1u) zeros at end of scratch buffer */

+    arm_fill_q15(0, pScr1, (srcBLen - 1u));

+

+    /* Update pointer */

+    pScr1 += (srcBLen - 1u);

+

+    /* Initialization of pIn2 pointer */

+    pIn2 = py;

+

+    pScratch1 += firstIndex;

+

+    pOut = pDst + firstIndex;

+

+    /* First part of the processing with loop unrolling process 4 data points at a time.       

+     ** a second loop below process for the remaining 1 to 3 samples. */

+

+    /* Actual convolution process starts here */

+    blkCnt = (numPoints) >> 2;

+

+    while(blkCnt > 0)

+    {

+      /* Initialze temporary scratch pointer as scratch1 */

+      pScr1 = pScratch1;

+

+      /* Clear Accumlators */

+      acc0 = 0;

+      acc1 = 0;

+      acc2 = 0;

+      acc3 = 0;

+

+      /* Read two samples from scratch1 buffer */

+      x1 = *__SIMD32(pScr1)++;

+

+      /* Read next two samples from scratch1 buffer */

+      x2 = *__SIMD32(pScr1)++;

+

+      tapCnt = (srcBLen) >> 2u;

+

+      while(tapCnt > 0u)

+      {

+

+        /* Read four samples from smaller buffer */

+        y1 = _SIMD32_OFFSET(pIn2);

+        y2 = _SIMD32_OFFSET(pIn2 + 2u);

+

+        /* multiply and accumlate */

+        acc0 = __SMLAD(x1, y1, acc0);

+        acc2 = __SMLAD(x2, y1, acc2);

+

+        /* pack input data */

+#ifndef ARM_MATH_BIG_ENDIAN

+        x3 = __PKHBT(x2, x1, 0);

+#else

+        x3 = __PKHBT(x1, x2, 0);

+#endif

+

+        /* multiply and accumlate */

+        acc1 = __SMLADX(x3, y1, acc1);

+

+        /* Read next two samples from scratch1 buffer */

+        x1 = _SIMD32_OFFSET(pScr1);

+

+        /* multiply and accumlate */

+        acc0 = __SMLAD(x2, y2, acc0);

+

+        acc2 = __SMLAD(x1, y2, acc2);

+

+        /* pack input data */

+#ifndef ARM_MATH_BIG_ENDIAN

+        x3 = __PKHBT(x1, x2, 0);

+#else

+        x3 = __PKHBT(x2, x1, 0);

+#endif

+

+        acc3 = __SMLADX(x3, y1, acc3);

+        acc1 = __SMLADX(x3, y2, acc1);

+

+        x2 = _SIMD32_OFFSET(pScr1 + 2u);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+        x3 = __PKHBT(x2, x1, 0);

+#else

+        x3 = __PKHBT(x1, x2, 0);

+#endif

+

+        acc3 = __SMLADX(x3, y2, acc3);

+

+        /* update scratch pointers */

+        pIn2 += 4u;

+        pScr1 += 4u;

+

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      /* Update scratch pointer for remaining samples of smaller length sequence */

+      pScr1 -= 4u;

+

+      /* apply same above for remaining samples of smaller length sequence */

+      tapCnt = (srcBLen) & 3u;

+

+      while(tapCnt > 0u)

+      {

+

+        /* accumlate the results */

+        acc0 += (*pScr1++ * *pIn2);

+        acc1 += (*pScr1++ * *pIn2);

+        acc2 += (*pScr1++ * *pIn2);

+        acc3 += (*pScr1++ * *pIn2++);

+

+        pScr1 -= 3u;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      blkCnt--;

+

+

+      /* Store the results in the accumulators in the destination buffer. */

+

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+      *__SIMD32(pOut)++ =

+        __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);

+      *__SIMD32(pOut)++ =

+        __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);

+

+#else

+

+      *__SIMD32(pOut)++ =

+        __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);

+      *__SIMD32(pOut)++ =

+        __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);

+

+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+      /* Initialization of inputB pointer */

+      pIn2 = py;

+

+      pScratch1 += 4u;

+

+    }

+

+

+    blkCnt = numPoints & 0x3;

+

+    /* Calculate convolution for remaining samples of Bigger length sequence */

+    while(blkCnt > 0)

+    {

+      /* Initialze temporary scratch pointer as scratch1 */

+      pScr1 = pScratch1;

+

+      /* Clear Accumlators */

+      acc0 = 0;

+

+      tapCnt = (srcBLen) >> 1u;

+

+      while(tapCnt > 0u)

+      {

+

+        /* Read next two samples from scratch1 buffer */

+        x1 = *__SIMD32(pScr1)++;

+

+        /* Read two samples from smaller buffer */

+        y1 = *__SIMD32(pIn2)++;

+

+        acc0 = __SMLAD(x1, y1, acc0);

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      tapCnt = (srcBLen) & 1u;

+

+      /* apply same above for remaining samples of smaller length sequence */

+      while(tapCnt > 0u)

+      {

+

+        /* accumlate the results */

+        acc0 += (*pScr1++ * *pIn2++);

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      blkCnt--;

+

+      /* The result is in 2.30 format.  Convert to 1.15 with saturation.       

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

+      *pOut++ = (q15_t) (__SSAT((acc0 >> 15), 16));

+

+      /* Initialization of inputB pointer */

+      pIn2 = py;

+

+      pScratch1 += 1u;

+

+    }

+    /* set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+  }

+  /* Return to application */

+  return (status);

+}

+

+#else

+

+arm_status arm_conv_partial_fast_opt_q15(

+  q15_t * pSrcA,

+  uint32_t srcALen,

+  q15_t * pSrcB,

+  uint32_t srcBLen,

+  q15_t * pDst,

+  uint32_t firstIndex,

+  uint32_t numPoints,

+  q15_t * pScratch1,

+  q15_t * pScratch2)

+{

+

+  q15_t *pOut = pDst;                            /* output pointer */

+  q15_t *pScr1 = pScratch1;                      /* Temporary pointer for scratch1 */

+  q15_t *pScr2 = pScratch2;                      /* Temporary pointer for scratch1 */

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

+  q15_t *pIn1;                                   /* inputA pointer */

+  q15_t *pIn2;                                   /* inputB pointer */

+  q15_t *px;                                     /* Intermediate inputA pointer  */

+  q15_t *py;                                     /* Intermediate inputB pointer  */

+  uint32_t j, k, blkCnt;                         /* loop counter */

+  arm_status status;                             /* Status variable */

+  uint32_t tapCnt;                               /* loop count */

+  q15_t x10, x11, x20, x21;                      /* Temporary variables to hold srcA buffer */

+  q15_t y10, y11;                                /* Temporary variables to hold srcB buffer */

+

+

+  /* Check for range of output samples to be calculated */

+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))

+  {

+    /* Set status as ARM_MATH_ARGUMENT_ERROR */

+    status = ARM_MATH_ARGUMENT_ERROR;

+  }

+  else

+  {

+

+    /* The algorithm implementation is based on the lengths of the inputs. */

+    /* srcB is always made to slide across srcA. */

+    /* So srcBLen is always considered as shorter or equal to srcALen */

+    if(srcALen >= srcBLen)

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcA;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcB;

+    }

+    else

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcB;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcA;

+

+      /* srcBLen is always considered as shorter or equal to srcALen */

+      j = srcBLen;

+      srcBLen = srcALen;

+      srcALen = j;

+    }

+

+    /* Temporary pointer for scratch2 */

+    py = pScratch2;

+

+    /* pointer to take end of scratch2 buffer */

+    pScr2 = pScratch2 + srcBLen - 1;

+

+    /* points to smaller length sequence */

+    px = pIn2;

+

+    /* Apply loop unrolling and do 4 Copies simultaneously. */

+    k = srcBLen >> 2u;

+

+    /* First part of the processing with loop unrolling copies 4 data points at a time.       

+     ** a second loop below copies for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner */

+      *pScr2-- = *px++;

+      *pScr2-- = *px++;

+      *pScr2-- = *px++;

+      *pScr2-- = *px++;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, copy remaining samples here.       

+     ** No loop unrolling is used. */

+    k = srcBLen % 0x4u;

+

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner for remaining samples */

+      *pScr2-- = *px++;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Initialze temporary scratch pointer */

+    pScr1 = pScratch1;

+

+    /* Fill (srcBLen - 1u) zeros in scratch buffer */

+    arm_fill_q15(0, pScr1, (srcBLen - 1u));

+

+    /* Update temporary scratch pointer */

+    pScr1 += (srcBLen - 1u);

+

+    /* Copy bigger length sequence(srcALen) samples in scratch1 buffer */

+

+

+    /* Apply loop unrolling and do 4 Copies simultaneously. */

+    k = srcALen >> 2u;

+

+    /* First part of the processing with loop unrolling copies 4 data points at a time.       

+     ** a second loop below copies for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner */

+      *pScr1++ = *pIn1++;

+      *pScr1++ = *pIn1++;

+      *pScr1++ = *pIn1++;

+      *pScr1++ = *pIn1++;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, copy remaining samples here.       

+     ** No loop unrolling is used. */

+    k = srcALen % 0x4u;

+

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner for remaining samples */

+      *pScr1++ = *pIn1++;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+

+    /* Apply loop unrolling and do 4 Copies simultaneously. */

+    k = (srcBLen - 1u) >> 2u;

+

+    /* First part of the processing with loop unrolling copies 4 data points at a time.       

+     ** a second loop below copies for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner */

+      *pScr1++ = 0;

+      *pScr1++ = 0;

+      *pScr1++ = 0;

+      *pScr1++ = 0;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, copy remaining samples here.       

+     ** No loop unrolling is used. */

+    k = (srcBLen - 1u) % 0x4u;

+

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner for remaining samples */

+      *pScr1++ = 0;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+

+    /* Initialization of pIn2 pointer */

+    pIn2 = py;

+

+    pScratch1 += firstIndex;

+

+    pOut = pDst + firstIndex;

+

+    /* Actual convolution process starts here */

+    blkCnt = (numPoints) >> 2;

+

+    while(blkCnt > 0)

+    {

+      /* Initialze temporary scratch pointer as scratch1 */

+      pScr1 = pScratch1;

+

+      /* Clear Accumlators */

+      acc0 = 0;

+      acc1 = 0;

+      acc2 = 0;

+      acc3 = 0;

+

+      /* Read two samples from scratch1 buffer */

+      x10 = *pScr1++;

+      x11 = *pScr1++;

+

+      /* Read next two samples from scratch1 buffer */

+      x20 = *pScr1++;

+      x21 = *pScr1++;

+

+      tapCnt = (srcBLen) >> 2u;

+

+      while(tapCnt > 0u)

+      {

+

+        /* Read two samples from smaller buffer */

+        y10 = *pIn2;

+        y11 = *(pIn2 + 1u);

+

+        /* multiply and accumlate */

+        acc0 += (q31_t) x10 *y10;

+        acc0 += (q31_t) x11 *y11;

+        acc2 += (q31_t) x20 *y10;

+        acc2 += (q31_t) x21 *y11;

+

+        /* multiply and accumlate */

+        acc1 += (q31_t) x11 *y10;

+        acc1 += (q31_t) x20 *y11;

+

+        /* Read next two samples from scratch1 buffer */

+        x10 = *pScr1;

+        x11 = *(pScr1 + 1u);

+

+        /* multiply and accumlate */

+        acc3 += (q31_t) x21 *y10;

+        acc3 += (q31_t) x10 *y11;

+

+        /* Read next two samples from scratch2 buffer */

+        y10 = *(pIn2 + 2u);

+        y11 = *(pIn2 + 3u);

+

+        /* multiply and accumlate */

+        acc0 += (q31_t) x20 *y10;

+        acc0 += (q31_t) x21 *y11;

+        acc2 += (q31_t) x10 *y10;

+        acc2 += (q31_t) x11 *y11;

+        acc1 += (q31_t) x21 *y10;

+        acc1 += (q31_t) x10 *y11;

+

+        /* Read next two samples from scratch1 buffer */

+        x20 = *(pScr1 + 2);

+        x21 = *(pScr1 + 3);

+

+        /* multiply and accumlate */

+        acc3 += (q31_t) x11 *y10;

+        acc3 += (q31_t) x20 *y11;

+

+        /* update scratch pointers */

+        pIn2 += 4u;

+        pScr1 += 4u;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      /* Update scratch pointer for remaining samples of smaller length sequence */

+      pScr1 -= 4u;

+

+      /* apply same above for remaining samples of smaller length sequence */

+      tapCnt = (srcBLen) & 3u;

+

+      while(tapCnt > 0u)

+      {

+        /* accumlate the results */

+        acc0 += (*pScr1++ * *pIn2);

+        acc1 += (*pScr1++ * *pIn2);

+        acc2 += (*pScr1++ * *pIn2);

+        acc3 += (*pScr1++ * *pIn2++);

+

+        pScr1 -= 3u;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      blkCnt--;

+

+

+      /* Store the results in the accumulators in the destination buffer. */

+      *pOut++ = __SSAT((acc0 >> 15), 16);

+      *pOut++ = __SSAT((acc1 >> 15), 16);

+      *pOut++ = __SSAT((acc2 >> 15), 16);

+      *pOut++ = __SSAT((acc3 >> 15), 16);

+

+      /* Initialization of inputB pointer */

+      pIn2 = py;

+

+      pScratch1 += 4u;

+

+    }

+

+

+    blkCnt = numPoints & 0x3;

+

+    /* Calculate convolution for remaining samples of Bigger length sequence */

+    while(blkCnt > 0)

+    {

+      /* Initialze temporary scratch pointer as scratch1 */

+      pScr1 = pScratch1;

+

+      /* Clear Accumlators */

+      acc0 = 0;

+

+      tapCnt = (srcBLen) >> 1u;

+

+      while(tapCnt > 0u)

+      {

+

+        /* Read next two samples from scratch1 buffer */

+        x10 = *pScr1++;

+        x11 = *pScr1++;

+

+        /* Read two samples from smaller buffer */

+        y10 = *pIn2++;

+        y11 = *pIn2++;

+

+        /* multiply and accumlate */

+        acc0 += (q31_t) x10 *y10;

+        acc0 += (q31_t) x11 *y11;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      tapCnt = (srcBLen) & 1u;

+

+      /* apply same above for remaining samples of smaller length sequence */

+      while(tapCnt > 0u)

+      {

+

+        /* accumlate the results */

+        acc0 += (*pScr1++ * *pIn2++);

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      blkCnt--;

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q15_t) (__SSAT((acc0 >> 15), 16));

+

+      /* Initialization of inputB pointer */

+      pIn2 = py;

+

+      pScratch1 += 1u;

+

+    }

+

+    /* set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+

+  }

+

+  /* Return to application */

+  return (status);

+}

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+/**    

+ * @} end of PartialConv group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c
new file mode 100644
index 000000000..98216bb6a
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c
@@ -0,0 +1,1473 @@
+/* ----------------------------------------------------------------------   

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

+*   

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*   

+* Project: 	    CMSIS DSP Library   

+* Title:		arm_conv_partial_fast_q15.c   

+*   

+* Description:	Fast Q15 Partial convolution.   

+*   

+* Target Processor: Cortex-M4/Cortex-M3

+*  

+* Version 1.1.0 2012/02/15 

+*    Updated with more optimizations, bug fixes and minor API changes.  

+* 

+* Version 1.0.11 2011/10/18 

+*    Bug Fix in conv, correlation, partial convolution. 

+*

+* 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 groupFilters   

+ */

+

+/**   

+ * @addtogroup PartialConv   

+ * @{   

+ */

+

+/**   

+ * @brief Partial convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.   

+ * @param[in]       *pSrcA points to the first input sequence.   

+ * @param[in]       srcALen length of the first input sequence.   

+ * @param[in]       *pSrcB points to the second input sequence.   

+ * @param[in]       srcBLen length of the second input sequence.   

+ * @param[out]      *pDst points to the location where the output result is written.   

+ * @param[in]       firstIndex is the first output sample to start with.   

+ * @param[in]       numPoints is the number of output points to be computed.   

+ * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].   

+ *   

+ * See <code>arm_conv_partial_q15()</code> for a slower implementation of this function which uses a 64-bit accumulator to avoid wrap around distortion.   

+ */

+

+

+arm_status arm_conv_partial_fast_q15(

+  q15_t * pSrcA,

+  uint32_t srcALen,

+  q15_t * pSrcB,

+  uint32_t srcBLen,

+  q15_t * pDst,

+  uint32_t firstIndex,

+  uint32_t numPoints)

+{

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+  q15_t *pIn1;                                   /* inputA pointer               */

+  q15_t *pIn2;                                   /* inputB pointer               */

+  q15_t *pOut = pDst;                            /* output pointer               */

+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator                  */

+  q15_t *px;                                     /* Intermediate inputA pointer  */

+  q15_t *py;                                     /* Intermediate inputB pointer  */

+  q15_t *pSrc1, *pSrc2;                          /* Intermediate pointers        */

+  q31_t x0, x1, x2, x3, c0;

+  uint32_t j, k, count, check, blkCnt;

+  int32_t blockSize1, blockSize2, blockSize3;    /* loop counters                 */

+  arm_status status;                             /* status of Partial convolution */

+

+  /* Check for range of output samples to be calculated */

+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))

+  {

+    /* Set status as ARM_MATH_ARGUMENT_ERROR */

+    status = ARM_MATH_ARGUMENT_ERROR;

+  }

+  else

+  {

+

+    /* The algorithm implementation is based on the lengths of the inputs. */

+    /* srcB is always made to slide across srcA. */

+    /* So srcBLen is always considered as shorter or equal to srcALen */

+    if(srcALen >=srcBLen)

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcA;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcB;

+    }

+    else

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcB;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcA;

+

+      /* srcBLen is always considered as shorter or equal to srcALen */

+      j = srcBLen;

+      srcBLen = srcALen;

+      srcALen = j;

+    }

+

+    /* Conditions to check which loopCounter holds   

+     * the first and last indices of the output samples to be calculated. */

+    check = firstIndex + numPoints;

+    blockSize3 = ((int32_t) check - (int32_t) srcALen);

+    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;

+    blockSize1 = (((int32_t) srcBLen - 1) - (int32_t) firstIndex);

+    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :

+                                     (int32_t) numPoints) : 0;

+    blockSize2 = (int32_t) check - ((blockSize3 + blockSize1) +

+                                    (int32_t) firstIndex);

+    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;

+

+    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */

+    /* The function is internally   

+     * divided into three stages according to the number of multiplications that has to be   

+     * taken place between inputA samples and inputB samples. In the first stage of the   

+     * algorithm, the multiplications increase by one for every iteration.   

+     * In the second stage of the algorithm, srcBLen number of multiplications are done.   

+     * In the third stage of the algorithm, the multiplications decrease by one   

+     * for every iteration. */

+

+    /* Set the output pointer to point to the firstIndex   

+     * of the output sample to be calculated. */

+    pOut = pDst + firstIndex;

+

+    /* --------------------------   

+     * Initializations of stage1   

+     * -------------------------*/

+

+    /* sum = x[0] * y[0]   

+     * sum = x[0] * y[1] + x[1] * y[0]   

+     * ....   

+     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   

+     */

+

+    /* In this stage the MAC operations are increased by 1 for every iteration.   

+       The count variable holds the number of MAC operations performed.   

+       Since the partial convolution starts from firstIndex   

+       Number of Macs to be performed is firstIndex + 1 */

+    count = 1u + firstIndex;

+

+    /* Working pointer of inputA */

+    px = pIn1;

+

+    /* Working pointer of inputB */

+    pSrc2 = pIn2 + firstIndex;

+    py = pSrc2;

+

+    /* ------------------------   

+     * Stage1 process   

+     * ----------------------*/

+

+    /* For loop unrolling by 4, this stage is divided into two. */

+    /* First part of this stage computes the MAC operations less than 4 */

+    /* Second part of this stage computes the MAC operations greater than or equal to 4 */

+

+    /* The first part of the stage starts here */

+    while((count < 4u) && (blockSize1 > 0))

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Loop over number of MAC operations between   

+       * inputA samples and inputB samples */

+      k = count;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum = __SMLAD(*px++, *py--, sum);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q15_t) (sum >> 15);

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      py = ++pSrc2;

+      px = pIn1;

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Decrement the loop counter */

+      blockSize1--;

+    }

+

+    /* The second part of the stage starts here */

+    /* The internal loop, over count, is unrolled by 4 */

+    /* To, read the last two inputB samples using SIMD:   

+     * y[srcBLen] and y[srcBLen-1] coefficients, py is decremented by 1 */

+    py = py - 1;

+

+    while(blockSize1 > 0)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = count >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        /* x[0], x[1] are multiplied with y[srcBLen - 1], y[srcBLen - 2] respectively */

+        sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);

+        /* x[2], x[3] are multiplied with y[srcBLen - 3], y[srcBLen - 4] respectively */

+        sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* For the next MAC operations, the pointer py is used without SIMD   

+       * So, py is incremented by 1 */

+      py = py + 1u;

+

+      /* If the count is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = count % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum = __SMLAD(*px++, *py--, sum);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q15_t) (sum >> 15);

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      py = ++pSrc2 - 1u;

+      px = pIn1;

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Decrement the loop counter */

+      blockSize1--;

+    }

+

+    /* --------------------------   

+     * Initializations of stage2   

+     * ------------------------*/

+

+    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   

+     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   

+     * ....   

+     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   

+     */

+

+    /* Working pointer of inputA */

+    px = pIn1;

+

+    /* Working pointer of inputB */

+    pSrc2 = pIn2 + (srcBLen - 1u);

+    py = pSrc2;

+

+    /* count is the index by which the pointer pIn1 to be incremented */

+    count = 0u;

+

+

+    /* --------------------   

+     * Stage2 process   

+     * -------------------*/

+

+    /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   

+     * So, to loop unroll over blockSize2,   

+     * srcBLen should be greater than or equal to 4 */

+    if(srcBLen >= 4u)

+    {

+      /* Loop unroll over blockSize2, by 4 */

+      blkCnt = ((uint32_t) blockSize2 >> 2u);

+

+      while(blkCnt > 0u)

+      {

+      py = py - 1u;

+

+        /* Set all accumulators to zero */

+        acc0 = 0;

+        acc1 = 0;

+        acc2 = 0;

+        acc3 = 0;

+

+

+        /* read x[0], x[1] samples */

+      x0 = *__SIMD32(px);

+        /* read x[1], x[2] samples */

+      x1 = _SIMD32_OFFSET(px+1);

+	  px+= 2u;

+

+

+        /* Apply loop unrolling and compute 4 MACs simultaneously. */

+        k = srcBLen >> 2u;

+

+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+        do

+        {

+          /* Read the last two inputB samples using SIMD:   

+           * y[srcBLen - 1] and y[srcBLen - 2] */

+        c0 = *__SIMD32(py)--;

+

+          /* acc0 +=  x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2] */

+          acc0 = __SMLADX(x0, c0, acc0);

+

+          /* acc1 +=  x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2] */

+          acc1 = __SMLADX(x1, c0, acc1);

+

+          /* Read x[2], x[3] */

+        x2 = *__SIMD32(px);

+

+          /* Read x[3], x[4] */

+        x3 = _SIMD32_OFFSET(px+1);

+

+          /* acc2 +=  x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2] */

+          acc2 = __SMLADX(x2, c0, acc2);

+

+          /* acc3 +=  x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2] */

+          acc3 = __SMLADX(x3, c0, acc3);

+

+          /* Read y[srcBLen - 3] and y[srcBLen - 4] */

+        c0 = *__SIMD32(py)--;

+

+          /* acc0 +=  x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4] */

+          acc0 = __SMLADX(x2, c0, acc0);

+

+          /* acc1 +=  x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4] */

+          acc1 = __SMLADX(x3, c0, acc1);

+

+          /* Read x[4], x[5] */

+        x0 = _SIMD32_OFFSET(px+2);

+

+          /* Read x[5], x[6] */

+        x1 = _SIMD32_OFFSET(px+3);

+		px += 4u;

+

+          /* acc2 +=  x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4] */

+          acc2 = __SMLADX(x0, c0, acc2);

+

+          /* acc3 +=  x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4] */

+          acc3 = __SMLADX(x1, c0, acc3);

+

+        } while(--k);

+

+        /* For the next MAC operations, SIMD is not used   

+         * So, the 16 bit pointer if inputB, py is updated */

+

+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   

+         ** No loop unrolling is used. */

+        k = srcBLen % 0x4u;

+

+        if(k == 1u)

+        {

+          /* Read y[srcBLen - 5] */

+        c0 = *(py+1);

+#ifdef  ARM_MATH_BIG_ENDIAN

+

+        c0 = c0 << 16u;

+

+#else

+

+        c0 = c0 & 0x0000FFFF;

+

+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */

+

+          /* Read x[7] */

+        x3 = *__SIMD32(px);

+		px++;

+

+          /* Perform the multiply-accumulates */

+          acc0 = __SMLAD(x0, c0, acc0);

+          acc1 = __SMLAD(x1, c0, acc1);

+          acc2 = __SMLADX(x1, c0, acc2);

+          acc3 = __SMLADX(x3, c0, acc3);

+        }

+

+        if(k == 2u)

+        {

+          /* Read y[srcBLen - 5], y[srcBLen - 6] */

+        c0 = _SIMD32_OFFSET(py);

+

+          /* Read x[7], x[8] */

+        x3 = *__SIMD32(px);

+

+        /* Read x[9] */

+        x2 = _SIMD32_OFFSET(px+1);

+		px += 2u;

+

+          /* Perform the multiply-accumulates */

+          acc0 = __SMLADX(x0, c0, acc0);

+          acc1 = __SMLADX(x1, c0, acc1);

+          acc2 = __SMLADX(x3, c0, acc2);

+          acc3 = __SMLADX(x2, c0, acc3);

+        }

+

+        if(k == 3u)

+        {

+          /* Read y[srcBLen - 5], y[srcBLen - 6] */

+        c0 = _SIMD32_OFFSET(py);

+

+          /* Read x[7], x[8] */

+        x3 = *__SIMD32(px);

+

+          /* Read x[9] */

+        x2 = _SIMD32_OFFSET(px+1);

+

+          /* Perform the multiply-accumulates */

+          acc0 = __SMLADX(x0, c0, acc0);

+          acc1 = __SMLADX(x1, c0, acc1);

+          acc2 = __SMLADX(x3, c0, acc2);

+          acc3 = __SMLADX(x2, c0, acc3);

+

+		c0 = *(py-1);

+#ifdef  ARM_MATH_BIG_ENDIAN

+

+        c0 = c0 << 16u;

+#else

+

+        c0 = c0 & 0x0000FFFF;

+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */

+

+          /* Read x[10] */

+        x3 =  _SIMD32_OFFSET(px+2);

+		px += 3u;

+

+          /* Perform the multiply-accumulates */

+          acc0 = __SMLADX(x1, c0, acc0);

+          acc1 = __SMLAD(x2, c0, acc1);

+          acc2 = __SMLADX(x2, c0, acc2);

+          acc3 = __SMLADX(x3, c0, acc3);

+        }

+

+        /* Store the results in the accumulators in the destination buffer. */

+#ifndef ARM_MATH_BIG_ENDIAN

+

+        *__SIMD32(pOut)++ = __PKHBT(acc0 >> 15, acc1 >> 15, 16);

+        *__SIMD32(pOut)++ = __PKHBT(acc2 >> 15, acc3 >> 15, 16);

+

+#else

+

+        *__SIMD32(pOut)++ = __PKHBT(acc1 >> 15, acc0 >> 15, 16);

+        *__SIMD32(pOut)++ = __PKHBT(acc3 >> 15, acc2 >> 15, 16);

+

+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+        /* Increment the pointer pIn1 index, count by 4 */

+        count += 4u;

+

+        /* Update the inputA and inputB pointers for next MAC calculation */

+        px = pIn1 + count;

+        py = pSrc2;

+

+        /* Decrement the loop counter */

+        blkCnt--;

+      }

+

+      /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   

+       ** No loop unrolling is used. */

+      blkCnt = (uint32_t) blockSize2 % 0x4u;

+

+      while(blkCnt > 0u)

+      {

+        /* Accumulator is made zero for every iteration */

+        sum = 0;

+

+        /* Apply loop unrolling and compute 4 MACs simultaneously. */

+        k = srcBLen >> 2u;

+

+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+        while(k > 0u)

+        {

+          /* Perform the multiply-accumulates */

+          sum += ((q31_t) * px++ * *py--);

+          sum += ((q31_t) * px++ * *py--);

+          sum += ((q31_t) * px++ * *py--);

+          sum += ((q31_t) * px++ * *py--);

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   

+         ** No loop unrolling is used. */

+        k = srcBLen % 0x4u;

+

+        while(k > 0u)

+        {

+          /* Perform the multiply-accumulates */

+          sum += ((q31_t) * px++ * *py--);

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* Store the result in the accumulator in the destination buffer. */

+        *pOut++ = (q15_t) (sum >> 15);

+

+        /* Increment the pointer pIn1 index, count by 1 */

+        count++;

+

+        /* Update the inputA and inputB pointers for next MAC calculation */

+        px = pIn1 + count;

+        py = pSrc2;

+

+        /* Decrement the loop counter */

+        blkCnt--;

+      }

+    }

+    else

+    {

+      /* If the srcBLen is not a multiple of 4,   

+       * the blockSize2 loop cannot be unrolled by 4 */

+      blkCnt = (uint32_t) blockSize2;

+

+      while(blkCnt > 0u)

+      {

+        /* Accumulator is made zero for every iteration */

+        sum = 0;

+

+        /* srcBLen number of MACS should be performed */

+        k = srcBLen;

+

+        while(k > 0u)

+        {

+          /* Perform the multiply-accumulate */

+          sum += ((q31_t) * px++ * *py--);

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* Store the result in the accumulator in the destination buffer. */

+        *pOut++ = (q15_t) (sum >> 15);

+

+        /* Increment the MAC count */

+        count++;

+

+        /* Update the inputA and inputB pointers for next MAC calculation */

+        px = pIn1 + count;

+        py = pSrc2;

+

+        /* Decrement the loop counter */

+        blkCnt--;

+      }

+    }

+

+

+    /* --------------------------   

+     * Initializations of stage3   

+     * -------------------------*/

+

+    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   

+     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   

+     * ....   

+     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   

+     * sum +=  x[srcALen-1] * y[srcBLen-1]   

+     */

+

+    /* In this stage the MAC operations are decreased by 1 for every iteration.   

+       The count variable holds the number of MAC operations performed */

+    count = srcBLen - 1u;

+

+    /* Working pointer of inputA */

+    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);

+    px = pSrc1;

+

+    /* Working pointer of inputB */

+    pSrc2 = pIn2 + (srcBLen - 1u);

+    pIn2 = pSrc2 - 1u;

+    py = pIn2;

+

+    /* -------------------   

+     * Stage3 process   

+     * ------------------*/

+

+    /* For loop unrolling by 4, this stage is divided into two. */

+    /* First part of this stage computes the MAC operations greater than 4 */

+    /* Second part of this stage computes the MAC operations less than or equal to 4 */

+

+    /* The first part of the stage starts here */

+    j = count >> 2u;

+

+    while((j > 0u) && (blockSize3 > 0))

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = count >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        /* x[srcALen - srcBLen + 1], x[srcALen - srcBLen + 2] are multiplied   

+         * with y[srcBLen - 1], y[srcBLen - 2] respectively */

+        sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);

+        /* x[srcALen - srcBLen + 3], x[srcALen - srcBLen + 4] are multiplied   

+         * with y[srcBLen - 3], y[srcBLen - 4] respectively */

+        sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* For the next MAC operations, the pointer py is used without SIMD   

+       * So, py is incremented by 1 */

+      py = py + 1u;

+

+      /* If the count is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = count % 0x4u;

+

+      while(k > 0u)

+      {

+        /* sum += x[srcALen - srcBLen + 5] * y[srcBLen - 5] */

+        sum = __SMLAD(*px++, *py--, sum);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q15_t) (sum >> 15);

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = ++pSrc1;

+      py = pIn2;

+

+      /* Decrement the MAC count */

+      count--;

+

+      /* Decrement the loop counter */

+      blockSize3--;

+

+      j--;

+    }

+

+    /* The second part of the stage starts here */

+    /* SIMD is not used for the next MAC operations,   

+     * so pointer py is updated to read only one sample at a time */

+    py = py + 1u;

+

+    while(blockSize3 > 0)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = count;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        /* sum +=  x[srcALen-1] * y[srcBLen-1] */

+        sum = __SMLAD(*px++, *py--, sum);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q15_t) (sum >> 15);

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = ++pSrc1;

+      py = pSrc2;

+

+      /* Decrement the MAC count */

+      count--;

+

+      /* Decrement the loop counter */

+      blockSize3--;

+    }

+

+    /* set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+  }

+

+  /* Return to application */

+  return (status);

+

+#else

+

+  q15_t *pIn1;                                   /* inputA pointer               */

+  q15_t *pIn2;                                   /* inputB pointer               */

+  q15_t *pOut = pDst;                            /* output pointer               */

+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator                  */

+  q15_t *px;                                     /* Intermediate inputA pointer  */

+  q15_t *py;                                     /* Intermediate inputB pointer  */

+  q15_t *pSrc1, *pSrc2;                          /* Intermediate pointers        */

+  q31_t x0, x1, x2, x3, c0;

+  uint32_t j, k, count, check, blkCnt;

+  int32_t blockSize1, blockSize2, blockSize3;    /* loop counters                 */

+  arm_status status;                             /* status of Partial convolution */

+  q15_t a, b;

+

+  /* Check for range of output samples to be calculated */

+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))

+  {

+    /* Set status as ARM_MATH_ARGUMENT_ERROR */

+    status = ARM_MATH_ARGUMENT_ERROR;

+  }

+  else

+  {

+

+    /* The algorithm implementation is based on the lengths of the inputs. */

+    /* srcB is always made to slide across srcA. */

+    /* So srcBLen is always considered as shorter or equal to srcALen */

+    if(srcALen >=srcBLen)

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcA;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcB;

+    }

+    else

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcB;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcA;

+

+      /* srcBLen is always considered as shorter or equal to srcALen */

+      j = srcBLen;

+      srcBLen = srcALen;

+      srcALen = j;

+    }

+

+    /* Conditions to check which loopCounter holds   

+     * the first and last indices of the output samples to be calculated. */

+    check = firstIndex + numPoints;

+    blockSize3 = ((int32_t) check - (int32_t) srcALen);

+    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;

+    blockSize1 = (((int32_t) srcBLen - 1) - (int32_t) firstIndex);

+    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :

+                                     (int32_t) numPoints) : 0;

+    blockSize2 = (int32_t) check - ((blockSize3 + blockSize1) +

+                                    (int32_t) firstIndex);

+    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;

+

+    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */

+    /* The function is internally   

+     * divided into three stages according to the number of multiplications that has to be   

+     * taken place between inputA samples and inputB samples. In the first stage of the   

+     * algorithm, the multiplications increase by one for every iteration.   

+     * In the second stage of the algorithm, srcBLen number of multiplications are done.   

+     * In the third stage of the algorithm, the multiplications decrease by one   

+     * for every iteration. */

+

+    /* Set the output pointer to point to the firstIndex   

+     * of the output sample to be calculated. */

+    pOut = pDst + firstIndex;

+

+    /* --------------------------   

+     * Initializations of stage1   

+     * -------------------------*/

+

+    /* sum = x[0] * y[0]   

+     * sum = x[0] * y[1] + x[1] * y[0]   

+     * ....   

+     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   

+     */

+

+    /* In this stage the MAC operations are increased by 1 for every iteration.   

+       The count variable holds the number of MAC operations performed.   

+       Since the partial convolution starts from firstIndex   

+       Number of Macs to be performed is firstIndex + 1 */

+    count = 1u + firstIndex;

+

+    /* Working pointer of inputA */

+    px = pIn1;

+

+    /* Working pointer of inputB */

+    pSrc2 = pIn2 + firstIndex;

+    py = pSrc2;

+

+    /* ------------------------   

+     * Stage1 process   

+     * ----------------------*/

+

+    /* For loop unrolling by 4, this stage is divided into two. */

+    /* First part of this stage computes the MAC operations less than 4 */

+    /* Second part of this stage computes the MAC operations greater than or equal to 4 */

+

+    /* The first part of the stage starts here */

+  while((count < 4u) && (blockSize1 > 0u))

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Loop over number of MAC operations between   

+       * inputA samples and inputB samples */

+      k = count;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+      sum += ((q31_t) * px++ * *py--);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q15_t) (sum >> 15);

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      py = ++pSrc2;

+      px = pIn1;

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Decrement the loop counter */

+      blockSize1--;

+    }

+

+    /* The second part of the stage starts here */

+    /* The internal loop, over count, is unrolled by 4 */

+    /* To, read the last two inputB samples using SIMD:   

+     * y[srcBLen] and y[srcBLen-1] coefficients, py is decremented by 1 */

+    py = py - 1;

+

+  while(blockSize1 > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = count >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+	py++;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+        sum += ((q31_t) * px++ * *py--);

+        sum += ((q31_t) * px++ * *py--);

+        sum += ((q31_t) * px++ * *py--);

+        sum += ((q31_t) * px++ * *py--);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+      /* If the count is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = count % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+      sum += ((q31_t) * px++ * *py--);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q15_t) (sum >> 15);

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      py = ++pSrc2 - 1u;

+      px = pIn1;

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Decrement the loop counter */

+      blockSize1--;

+    }

+

+    /* --------------------------   

+     * Initializations of stage2   

+     * ------------------------*/

+

+    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   

+     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   

+     * ....   

+     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   

+     */

+

+    /* Working pointer of inputA */

+    px = pIn1;

+

+    /* Working pointer of inputB */

+    pSrc2 = pIn2 + (srcBLen - 1u);

+    py = pSrc2;

+

+    /* count is the index by which the pointer pIn1 to be incremented */

+    count = 0u;

+

+

+    /* --------------------   

+     * Stage2 process   

+     * -------------------*/

+

+    /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   

+     * So, to loop unroll over blockSize2,   

+     * srcBLen should be greater than or equal to 4 */

+    if(srcBLen >= 4u)

+    {

+      /* Loop unroll over blockSize2, by 4 */

+      blkCnt = ((uint32_t) blockSize2 >> 2u);

+

+      while(blkCnt > 0u)

+      {

+      py = py - 1u;

+

+        /* Set all accumulators to zero */

+        acc0 = 0;

+        acc1 = 0;

+        acc2 = 0;

+        acc3 = 0;

+

+      /* read x[0], x[1] samples */

+	  a = *px++;

+	  b = *px++;

+

+#ifndef ARM_MATH_BIG_ENDIAN

+	

+	  x0 = __PKHBT(a, b, 16);

+	  a = *px;

+	  x1 = __PKHBT(b, a, 16);

+

+#else

+

+	  x0 = __PKHBT(b, a, 16);

+	  a = *px;

+	  x1 = __PKHBT(a, b, 16);

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      do

+      {

+        /* Read the last two inputB samples using SIMD:   

+         * y[srcBLen - 1] and y[srcBLen - 2] */

+		a = *py;

+		b = *(py+1);

+		py -= 2;

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+		c0 = __PKHBT(a, b, 16);

+

+#else

+

+ 		c0 = __PKHBT(b, a, 16);;

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/

+

+        /* acc0 +=  x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2] */

+        acc0 = __SMLADX(x0, c0, acc0);

+

+        /* acc1 +=  x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2] */

+        acc1 = __SMLADX(x1, c0, acc1);

+

+	  a = *px;

+	  b = *(px + 1);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+	

+	  x2 = __PKHBT(a, b, 16);

+	  a = *(px + 2);

+	  x3 = __PKHBT(b, a, 16);

+

+#else

+

+	  x2 = __PKHBT(b, a, 16);

+	  a = *(px + 2);

+	  x3 = __PKHBT(a, b, 16);

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */

+

+        /* acc2 +=  x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2] */

+        acc2 = __SMLADX(x2, c0, acc2);

+

+        /* acc3 +=  x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2] */

+        acc3 = __SMLADX(x3, c0, acc3);

+

+        /* Read y[srcBLen - 3] and y[srcBLen - 4] */

+		a = *py;

+		b = *(py+1);

+		py -= 2;

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+		c0 = __PKHBT(a, b, 16);

+

+#else

+

+ 		c0 = __PKHBT(b, a, 16);;

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/

+

+        /* acc0 +=  x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4] */

+        acc0 = __SMLADX(x2, c0, acc0);

+

+        /* acc1 +=  x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4] */

+        acc1 = __SMLADX(x3, c0, acc1);

+

+        /* Read x[4], x[5], x[6] */

+	  a = *(px + 2);

+	  b = *(px + 3);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+	

+	  x0 = __PKHBT(a, b, 16);

+	  a = *(px + 4);

+	  x1 = __PKHBT(b, a, 16);

+

+#else

+

+	  x0 = __PKHBT(b, a, 16);

+	  a = *(px + 4);

+	  x1 = __PKHBT(a, b, 16);

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */

+

+		px += 4u;

+

+        /* acc2 +=  x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4] */

+        acc2 = __SMLADX(x0, c0, acc2);

+

+        /* acc3 +=  x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4] */

+        acc3 = __SMLADX(x1, c0, acc3);

+

+      } while(--k);

+

+      /* For the next MAC operations, SIMD is not used   

+       * So, the 16 bit pointer if inputB, py is updated */

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      if(k == 1u)

+      {

+        /* Read y[srcBLen - 5] */

+        c0 = *(py+1);

+

+#ifdef  ARM_MATH_BIG_ENDIAN

+

+        c0 = c0 << 16u;

+

+#else

+

+        c0 = c0 & 0x0000FFFF;

+

+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */

+

+        /* Read x[7] */

+		a = *px;

+		b = *(px+1);

+		px++;

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+		x3 = __PKHBT(a, b, 16);

+

+#else

+

+ 		x3 = __PKHBT(b, a, 16);;

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/

+

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLAD(x0, c0, acc0);

+        acc1 = __SMLAD(x1, c0, acc1);

+        acc2 = __SMLADX(x1, c0, acc2);

+        acc3 = __SMLADX(x3, c0, acc3);

+      }

+

+      if(k == 2u)

+      {

+        /* Read y[srcBLen - 5], y[srcBLen - 6] */

+		a = *py;

+		b = *(py+1);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+		c0 = __PKHBT(a, b, 16);

+

+#else

+

+ 		c0 = __PKHBT(b, a, 16);;

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/

+

+        /* Read x[7], x[8], x[9] */

+	  a = *px;

+	  b = *(px + 1);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+	

+	  x3 = __PKHBT(a, b, 16);

+	  a = *(px + 2);

+	  x2 = __PKHBT(b, a, 16);

+

+#else

+

+	  x3 = __PKHBT(b, a, 16);

+	  a = *(px + 2);

+	  x2 = __PKHBT(a, b, 16);

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */

+		px += 2u;

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLADX(x0, c0, acc0);

+        acc1 = __SMLADX(x1, c0, acc1);

+        acc2 = __SMLADX(x3, c0, acc2);

+        acc3 = __SMLADX(x2, c0, acc3);

+      }

+

+      if(k == 3u)

+      {

+        /* Read y[srcBLen - 5], y[srcBLen - 6] */

+		a = *py;

+		b = *(py+1);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+		c0 = __PKHBT(a, b, 16);

+

+#else

+

+ 		c0 = __PKHBT(b, a, 16);;

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/

+

+        /* Read x[7], x[8], x[9] */

+	  a = *px;

+	  b = *(px + 1);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+	

+	  x3 = __PKHBT(a, b, 16);

+	  a = *(px + 2);

+	  x2 = __PKHBT(b, a, 16);

+

+#else

+

+	  x3 = __PKHBT(b, a, 16);

+	  a = *(px + 2);

+	  x2 = __PKHBT(a, b, 16);

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLADX(x0, c0, acc0);

+        acc1 = __SMLADX(x1, c0, acc1);

+        acc2 = __SMLADX(x3, c0, acc2);

+        acc3 = __SMLADX(x2, c0, acc3);

+

+        /* Read y[srcBLen - 7] */

+		c0 = *(py-1);

+#ifdef  ARM_MATH_BIG_ENDIAN

+

+        c0 = c0 << 16u;

+#else

+

+        c0 = c0 & 0x0000FFFF;

+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */

+

+        /* Read x[10] */

+		a = *(px+2);

+		b = *(px+3);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+		x3 = __PKHBT(a, b, 16);

+

+#else

+

+ 		x3 = __PKHBT(b, a, 16);;

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/

+

+		px += 3u;

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLADX(x1, c0, acc0);

+        acc1 = __SMLAD(x2, c0, acc1);

+        acc2 = __SMLADX(x2, c0, acc2);

+        acc3 = __SMLADX(x3, c0, acc3);

+      }

+

+      /* Store the results in the accumulators in the destination buffer. */

+	  *pOut++ = (q15_t)(acc0 >> 15);

+	  *pOut++ = (q15_t)(acc1 >> 15);

+	  *pOut++ = (q15_t)(acc2 >> 15);

+	  *pOut++ = (q15_t)(acc3 >> 15);

+

+        /* Increment the pointer pIn1 index, count by 4 */

+        count += 4u;

+

+        /* Update the inputA and inputB pointers for next MAC calculation */

+        px = pIn1 + count;

+        py = pSrc2;

+

+        /* Decrement the loop counter */

+        blkCnt--;

+      }

+

+      /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   

+       ** No loop unrolling is used. */

+      blkCnt = (uint32_t) blockSize2 % 0x4u;

+

+      while(blkCnt > 0u)

+      {

+        /* Accumulator is made zero for every iteration */

+        sum = 0;

+

+        /* Apply loop unrolling and compute 4 MACs simultaneously. */

+        k = srcBLen >> 2u;

+

+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+        while(k > 0u)

+        {

+          /* Perform the multiply-accumulates */

+          sum += ((q31_t) * px++ * *py--);

+          sum += ((q31_t) * px++ * *py--);

+          sum += ((q31_t) * px++ * *py--);

+          sum += ((q31_t) * px++ * *py--);

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   

+         ** No loop unrolling is used. */

+        k = srcBLen % 0x4u;

+

+        while(k > 0u)

+        {

+          /* Perform the multiply-accumulates */

+          sum += ((q31_t) * px++ * *py--);

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* Store the result in the accumulator in the destination buffer. */

+        *pOut++ = (q15_t) (sum >> 15);

+

+        /* Increment the pointer pIn1 index, count by 1 */

+        count++;

+

+        /* Update the inputA and inputB pointers for next MAC calculation */

+        px = pIn1 + count;

+        py = pSrc2;

+

+        /* Decrement the loop counter */

+        blkCnt--;

+      }

+    }

+    else

+    {

+      /* If the srcBLen is not a multiple of 4,   

+       * the blockSize2 loop cannot be unrolled by 4 */

+      blkCnt = (uint32_t) blockSize2;

+

+      while(blkCnt > 0u)

+      {

+        /* Accumulator is made zero for every iteration */

+        sum = 0;

+

+        /* srcBLen number of MACS should be performed */

+        k = srcBLen;

+

+        while(k > 0u)

+        {

+          /* Perform the multiply-accumulate */

+          sum += ((q31_t) * px++ * *py--);

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* Store the result in the accumulator in the destination buffer. */

+        *pOut++ = (q15_t) (sum >> 15);

+

+        /* Increment the MAC count */

+        count++;

+

+        /* Update the inputA and inputB pointers for next MAC calculation */

+        px = pIn1 + count;

+        py = pSrc2;

+

+        /* Decrement the loop counter */

+        blkCnt--;

+      }

+    }

+

+

+    /* --------------------------   

+     * Initializations of stage3   

+     * -------------------------*/

+

+    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   

+     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   

+     * ....   

+     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   

+     * sum +=  x[srcALen-1] * y[srcBLen-1]   

+     */

+

+    /* In this stage the MAC operations are decreased by 1 for every iteration.   

+       The count variable holds the number of MAC operations performed */

+    count = srcBLen - 1u;

+

+    /* Working pointer of inputA */

+    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);

+    px = pSrc1;

+

+    /* Working pointer of inputB */

+    pSrc2 = pIn2 + (srcBLen - 1u);

+    pIn2 = pSrc2 - 1u;

+    py = pIn2;

+

+    /* -------------------   

+     * Stage3 process   

+     * ------------------*/

+

+    /* For loop unrolling by 4, this stage is divided into two. */

+    /* First part of this stage computes the MAC operations greater than 4 */

+    /* Second part of this stage computes the MAC operations less than or equal to 4 */

+

+    /* The first part of the stage starts here */

+    j = count >> 2u;

+

+    while((j > 0u) && (blockSize3 > 0))

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = count >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+	py++;

+

+    while(k > 0u)

+    {	

+      /* Perform the multiply-accumulates */

+        sum += ((q31_t) * px++ * *py--);

+        sum += ((q31_t) * px++ * *py--);

+        sum += ((q31_t) * px++ * *py--);

+        sum += ((q31_t) * px++ * *py--);

+      /* Decrement the loop counter */

+      k--;

+    }

+

+

+      /* If the count is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = count % 0x4u;

+

+      while(k > 0u)

+      {

+      /* Perform the multiply-accumulates */

+        sum += ((q31_t) * px++ * *py--);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q15_t) (sum >> 15);

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = ++pSrc1;

+      py = pIn2;

+

+      /* Decrement the MAC count */

+      count--;

+

+      /* Decrement the loop counter */

+      blockSize3--;

+

+      j--;

+    }

+

+    /* The second part of the stage starts here */

+    /* SIMD is not used for the next MAC operations,   

+     * so pointer py is updated to read only one sample at a time */

+    py = py + 1u;

+

+  while(blockSize3 > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = count;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        /* sum +=  x[srcALen-1] * y[srcBLen-1] */

+        sum += ((q31_t) * px++ * *py--);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q15_t) (sum >> 15);

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = ++pSrc1;

+      py = pSrc2;

+

+      /* Decrement the MAC count */

+      count--;

+

+      /* Decrement the loop counter */

+      blockSize3--;

+    }

+

+    /* set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+  }

+

+  /* Return to application */

+  return (status);

+

+#endif /*     #ifndef UNALIGNED_SUPPORT_DISABLE      */

+}

+

+/**   

+ * @} end of PartialConv group   

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c
new file mode 100644
index 000000000..17902f593
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c
@@ -0,0 +1,599 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_conv_partial_fast_q31.c    

+*    

+* Description:	Fast Q31 Partial convolution.    

+*    

+* Target Processor: Cortex-M4/Cortex-M3

+*  

+* Version 1.1.0 2012/02/15 

+*    Updated with more optimizations, bug fixes and minor API changes.  

+*   

+* Version 1.0.11 2011/10/18  

+*    Bug Fix in conv, correlation, partial convolution.  

+* 

+* 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 groupFilters    

+ */

+

+/**    

+ * @addtogroup PartialConv    

+ * @{    

+ */

+

+/**    

+ * @brief Partial convolution of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4.    

+ * @param[in]       *pSrcA points to the first input sequence.    

+ * @param[in]       srcALen length of the first input sequence.    

+ * @param[in]       *pSrcB points to the second input sequence.    

+ * @param[in]       srcBLen length of the second input sequence.    

+ * @param[out]      *pDst points to the location where the output result is written.    

+ * @param[in]       firstIndex is the first output sample to start with.    

+ * @param[in]       numPoints is the number of output points to be computed.    

+ * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].    

+ *    

+ * \par    

+ * See <code>arm_conv_partial_q31()</code> for a slower implementation of this function which uses a 64-bit accumulator to provide higher precision.    

+ */

+

+arm_status arm_conv_partial_fast_q31(

+  q31_t * pSrcA,

+  uint32_t srcALen,

+  q31_t * pSrcB,

+  uint32_t srcBLen,

+  q31_t * pDst,

+  uint32_t firstIndex,

+  uint32_t numPoints)

+{

+  q31_t *pIn1;                                   /* inputA pointer               */

+  q31_t *pIn2;                                   /* inputB pointer               */

+  q31_t *pOut = pDst;                            /* output pointer               */

+  q31_t *px;                                     /* Intermediate inputA pointer  */

+  q31_t *py;                                     /* Intermediate inputB pointer  */

+  q31_t *pSrc1, *pSrc2;                          /* Intermediate pointers        */

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

+  q31_t x0, x1, x2, x3, c0;

+  uint32_t j, k, count, check, blkCnt;

+  int32_t blockSize1, blockSize2, blockSize3;    /* loop counters                 */

+  arm_status status;                             /* status of Partial convolution */

+

+

+  /* Check for range of output samples to be calculated */

+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))

+  {

+    /* Set status as ARM_MATH_ARGUMENT_ERROR */

+    status = ARM_MATH_ARGUMENT_ERROR;

+  }

+  else

+  {

+

+    /* The algorithm implementation is based on the lengths of the inputs. */

+    /* srcB is always made to slide across srcA. */

+    /* So srcBLen is always considered as shorter or equal to srcALen */

+    if(srcALen >= srcBLen)

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcA;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcB;

+    }

+    else

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcB;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcA;

+

+      /* srcBLen is always considered as shorter or equal to srcALen */

+      j = srcBLen;

+      srcBLen = srcALen;

+      srcALen = j;

+    }

+

+    /* Conditions to check which loopCounter holds    

+     * the first and last indices of the output samples to be calculated. */

+    check = firstIndex + numPoints;

+    blockSize3 = ((int32_t) check - (int32_t) srcALen);

+    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;

+    blockSize1 = (((int32_t) srcBLen - 1) - (int32_t) firstIndex);

+    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :

+                                     (int32_t) numPoints) : 0;

+    blockSize2 = (int32_t) check - ((blockSize3 + blockSize1) +

+                                    (int32_t) firstIndex);

+    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;

+

+    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */

+    /* The function is internally    

+     * divided into three stages according to the number of multiplications that has to be    

+     * taken place between inputA samples and inputB samples. In the first stage of the    

+     * algorithm, the multiplications increase by one for every iteration.    

+     * In the second stage of the algorithm, srcBLen number of multiplications are done.    

+     * In the third stage of the algorithm, the multiplications decrease by one    

+     * for every iteration. */

+

+    /* Set the output pointer to point to the firstIndex    

+     * of the output sample to be calculated. */

+    pOut = pDst + firstIndex;

+

+    /* --------------------------    

+     * Initializations of stage1    

+     * -------------------------*/

+

+    /* sum = x[0] * y[0]    

+     * sum = x[0] * y[1] + x[1] * y[0]    

+     * ....    

+     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]    

+     */

+

+    /* In this stage the MAC operations are increased by 1 for every iteration.    

+       The count variable holds the number of MAC operations performed.    

+       Since the partial convolution starts from firstIndex    

+       Number of Macs to be performed is firstIndex + 1 */

+    count = 1u + firstIndex;

+

+    /* Working pointer of inputA */

+    px = pIn1;

+

+    /* Working pointer of inputB */

+    pSrc2 = pIn2 + firstIndex;

+    py = pSrc2;

+

+    /* ------------------------    

+     * Stage1 process    

+     * ----------------------*/

+

+    /* The first loop starts here */

+    while(blockSize1 > 0)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = count >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        /* x[0] * y[srcBLen - 1] */

+        sum = (q31_t) ((((q63_t) sum << 32) +

+                        ((q63_t) * px++ * (*py--))) >> 32);

+

+        /* x[1] * y[srcBLen - 2] */

+        sum = (q31_t) ((((q63_t) sum << 32) +

+                        ((q63_t) * px++ * (*py--))) >> 32);

+

+        /* x[2] * y[srcBLen - 3] */

+        sum = (q31_t) ((((q63_t) sum << 32) +

+                        ((q63_t) * px++ * (*py--))) >> 32);

+

+        /* x[3] * y[srcBLen - 4] */

+        sum = (q31_t) ((((q63_t) sum << 32) +

+                        ((q63_t) * px++ * (*py--))) >> 32);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* If the count is not a multiple of 4, compute any remaining MACs here.    

+       ** No loop unrolling is used. */

+      k = count % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum = (q31_t) ((((q63_t) sum << 32) +

+                        ((q63_t) * px++ * (*py--))) >> 32);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = sum << 1;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      py = ++pSrc2;

+      px = pIn1;

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Decrement the loop counter */

+      blockSize1--;

+    }

+

+    /* --------------------------    

+     * Initializations of stage2    

+     * ------------------------*/

+

+    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]    

+     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]    

+     * ....    

+     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]    

+     */

+

+    /* Working pointer of inputA */

+    px = pIn1;

+

+    /* Working pointer of inputB */

+    pSrc2 = pIn2 + (srcBLen - 1u);

+    py = pSrc2;

+

+    /* count is index by which the pointer pIn1 to be incremented */

+    count = 0u;

+

+    /* -------------------    

+     * Stage2 process    

+     * ------------------*/

+

+    /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    

+     * So, to loop unroll over blockSize2,    

+     * srcBLen should be greater than or equal to 4 */

+    if(srcBLen >= 4u)

+    {

+      /* Loop unroll over blockSize2 */

+      blkCnt = ((uint32_t) blockSize2 >> 2u);

+

+      while(blkCnt > 0u)

+      {

+        /* Set all accumulators to zero */

+        acc0 = 0;

+        acc1 = 0;

+        acc2 = 0;

+        acc3 = 0;

+

+        /* read x[0], x[1], x[2] samples */

+        x0 = *(px++);

+        x1 = *(px++);

+        x2 = *(px++);

+

+        /* Apply loop unrolling and compute 4 MACs simultaneously. */

+        k = srcBLen >> 2u;

+

+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+        do

+        {

+          /* Read y[srcBLen - 1] sample */

+          c0 = *(py--);

+

+          /* Read x[3] sample */

+          x3 = *(px++);

+

+          /* Perform the multiply-accumulate */

+          /* acc0 +=  x[0] * y[srcBLen - 1] */

+          acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);

+

+          /* acc1 +=  x[1] * y[srcBLen - 1] */

+          acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);

+

+          /* acc2 +=  x[2] * y[srcBLen - 1] */

+          acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);

+

+          /* acc3 +=  x[3] * y[srcBLen - 1] */

+          acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);

+

+          /* Read y[srcBLen - 2] sample */

+          c0 = *(py--);

+

+          /* Read x[4] sample */

+          x0 = *(px++);

+

+          /* Perform the multiply-accumulate */

+          /* acc0 +=  x[1] * y[srcBLen - 2] */

+          acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x1 * c0)) >> 32);

+          /* acc1 +=  x[2] * y[srcBLen - 2] */

+          acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x2 * c0)) >> 32);

+          /* acc2 +=  x[3] * y[srcBLen - 2] */

+          acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x3 * c0)) >> 32);

+          /* acc3 +=  x[4] * y[srcBLen - 2] */

+          acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x0 * c0)) >> 32);

+

+          /* Read y[srcBLen - 3] sample */

+          c0 = *(py--);

+

+          /* Read x[5] sample */

+          x1 = *(px++);

+

+          /* Perform the multiply-accumulates */

+          /* acc0 +=  x[2] * y[srcBLen - 3] */

+          acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x2 * c0)) >> 32);

+          /* acc1 +=  x[3] * y[srcBLen - 2] */

+          acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x3 * c0)) >> 32);

+          /* acc2 +=  x[4] * y[srcBLen - 2] */

+          acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x0 * c0)) >> 32);

+          /* acc3 +=  x[5] * y[srcBLen - 2] */

+          acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x1 * c0)) >> 32);

+

+          /* Read y[srcBLen - 4] sample */

+          c0 = *(py--);

+

+          /* Read x[6] sample */

+          x2 = *(px++);

+

+          /* Perform the multiply-accumulates */

+          /* acc0 +=  x[3] * y[srcBLen - 4] */

+          acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x3 * c0)) >> 32);

+          /* acc1 +=  x[4] * y[srcBLen - 4] */

+          acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x0 * c0)) >> 32);

+          /* acc2 +=  x[5] * y[srcBLen - 4] */

+          acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x1 * c0)) >> 32);

+          /* acc3 +=  x[6] * y[srcBLen - 4] */

+          acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x2 * c0)) >> 32);

+

+

+        } while(--k);

+

+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    

+         ** No loop unrolling is used. */

+        k = srcBLen % 0x4u;

+

+        while(k > 0u)

+        {

+          /* Read y[srcBLen - 5] sample */

+          c0 = *(py--);

+

+          /* Read x[7] sample */

+          x3 = *(px++);

+

+          /* Perform the multiply-accumulates */

+          /* acc0 +=  x[4] * y[srcBLen - 5] */

+          acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);

+          /* acc1 +=  x[5] * y[srcBLen - 5] */

+          acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);

+          /* acc2 +=  x[6] * y[srcBLen - 5] */

+          acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);

+          /* acc3 +=  x[7] * y[srcBLen - 5] */

+          acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);

+

+          /* Reuse the present samples for the next MAC */

+          x0 = x1;

+          x1 = x2;

+          x2 = x3;

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* Store the result in the accumulator in the destination buffer. */

+        *pOut++ = (q31_t) (acc0 << 1);

+        *pOut++ = (q31_t) (acc1 << 1);

+        *pOut++ = (q31_t) (acc2 << 1);

+        *pOut++ = (q31_t) (acc3 << 1);

+

+        /* Increment the pointer pIn1 index, count by 4 */

+        count += 4u;

+

+        /* Update the inputA and inputB pointers for next MAC calculation */

+        px = pIn1 + count;

+        py = pSrc2;

+

+        /* Decrement the loop counter */

+        blkCnt--;

+      }

+

+      /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.    

+       ** No loop unrolling is used. */

+      blkCnt = (uint32_t) blockSize2 % 0x4u;

+

+      while(blkCnt > 0u)

+      {

+        /* Accumulator is made zero for every iteration */

+        sum = 0;

+

+        /* Apply loop unrolling and compute 4 MACs simultaneously. */

+        k = srcBLen >> 2u;

+

+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+        while(k > 0u)

+        {

+          /* Perform the multiply-accumulates */

+          sum = (q31_t) ((((q63_t) sum << 32) +

+                          ((q63_t) * px++ * (*py--))) >> 32);

+          sum = (q31_t) ((((q63_t) sum << 32) +

+                          ((q63_t) * px++ * (*py--))) >> 32);

+          sum = (q31_t) ((((q63_t) sum << 32) +

+                          ((q63_t) * px++ * (*py--))) >> 32);

+          sum = (q31_t) ((((q63_t) sum << 32) +

+                          ((q63_t) * px++ * (*py--))) >> 32);

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    

+         ** No loop unrolling is used. */

+        k = srcBLen % 0x4u;

+

+        while(k > 0u)

+        {

+          /* Perform the multiply-accumulate */

+          sum = (q31_t) ((((q63_t) sum << 32) +

+                          ((q63_t) * px++ * (*py--))) >> 32);

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* Store the result in the accumulator in the destination buffer. */

+        *pOut++ = sum << 1;

+

+        /* Increment the MAC count */

+        count++;

+

+        /* Update the inputA and inputB pointers for next MAC calculation */

+        px = pIn1 + count;

+        py = pSrc2;

+

+        /* Decrement the loop counter */

+        blkCnt--;

+      }

+    }

+    else

+    {

+      /* If the srcBLen is not a multiple of 4,    

+       * the blockSize2 loop cannot be unrolled by 4 */

+      blkCnt = (uint32_t) blockSize2;

+

+      while(blkCnt > 0u)

+      {

+        /* Accumulator is made zero for every iteration */

+        sum = 0;

+

+        /* srcBLen number of MACS should be performed */

+        k = srcBLen;

+

+        while(k > 0u)

+        {

+          /* Perform the multiply-accumulate */

+          sum = (q31_t) ((((q63_t) sum << 32) +

+                          ((q63_t) * px++ * (*py--))) >> 32);

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* Store the result in the accumulator in the destination buffer. */

+        *pOut++ = sum << 1;

+

+        /* Increment the MAC count */

+        count++;

+

+        /* Update the inputA and inputB pointers for next MAC calculation */

+        px = pIn1 + count;

+        py = pSrc2;

+

+        /* Decrement the loop counter */

+        blkCnt--;

+      }

+    }

+

+

+    /* --------------------------    

+     * Initializations of stage3    

+     * -------------------------*/

+

+    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]    

+     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]    

+     * ....    

+     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]    

+     * sum +=  x[srcALen-1] * y[srcBLen-1]    

+     */

+

+    /* In this stage the MAC operations are decreased by 1 for every iteration.    

+       The count variable holds the number of MAC operations performed */

+    count = srcBLen - 1u;

+

+    /* Working pointer of inputA */

+    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);

+    px = pSrc1;

+

+    /* Working pointer of inputB */

+    pSrc2 = pIn2 + (srcBLen - 1u);

+    py = pSrc2;

+

+    /* -------------------    

+     * Stage3 process    

+     * ------------------*/

+

+    while(blockSize3 > 0)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = count >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */

+        sum = (q31_t) ((((q63_t) sum << 32) +

+                        ((q63_t) * px++ * (*py--))) >> 32);

+

+        /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */

+        sum = (q31_t) ((((q63_t) sum << 32) +

+                        ((q63_t) * px++ * (*py--))) >> 32);

+

+        /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */

+        sum = (q31_t) ((((q63_t) sum << 32) +

+                        ((q63_t) * px++ * (*py--))) >> 32);

+

+        /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */

+        sum = (q31_t) ((((q63_t) sum << 32) +

+                        ((q63_t) * px++ * (*py--))) >> 32);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* If the count is not a multiple of 4, compute any remaining MACs here.    

+       ** No loop unrolling is used. */

+      k = count % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        /* sum +=  x[srcALen-1] * y[srcBLen-1] */

+        sum = (q31_t) ((((q63_t) sum << 32) +

+                        ((q63_t) * px++ * (*py--))) >> 32);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = sum << 1;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = ++pSrc1;

+      py = pSrc2;

+

+      /* Decrement the MAC count */

+      count--;

+

+      /* Decrement the loop counter */

+      blockSize3--;

+

+    }

+

+    /* set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+  }

+

+  /* Return to application */

+  return (status);

+

+}

+

+/**    

+ * @} end of PartialConv group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q15.c
new file mode 100644
index 000000000..fe14f9fd3
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q15.c
@@ -0,0 +1,764 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_conv_partial_opt_q15.c    

+*    

+* Description:	Partial convolution of Q15 sequences.   

+*    

+* Target Processor: Cortex-M4/Cortex-M3

+*  

+* Version 1.1.0 2012/02/15 

+*    Updated with more optimizations, bug fixes and minor API changes.  

+*  

+* Version 1.0.11 2011/10/18  

+*    Bug Fix in conv, correlation, partial convolution.  

+* 

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+*    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup PartialConv    

+ * @{    

+ */

+

+/**    

+ * @brief Partial convolution of Q15 sequences.    

+ * @param[in]       *pSrcA points to the first input sequence.    

+ * @param[in]       srcALen length of the first input sequence.    

+ * @param[in]       *pSrcB points to the second input sequence.    

+ * @param[in]       srcBLen length of the second input sequence.    

+ * @param[out]      *pDst points to the location where the output result is written.    

+ * @param[in]       firstIndex is the first output sample to start with.    

+ * @param[in]       numPoints is the number of output points to be computed.    

+ * @param[in]       *pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   

+ * @param[in]       *pScratch2 points to scratch buffer of size min(srcALen, srcBLen).   

+ * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].    

+ *    

+ * \par Restrictions    

+ *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    

+ *	In this case input, output, state buffers should be aligned by 32-bit    

+ *    

+ * Refer to <code>arm_conv_partial_fast_q15()</code> for a faster but less precise version of this function for Cortex-M3 and Cortex-M4.   

+ *  

+ * 

+ */

+

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+arm_status arm_conv_partial_opt_q15(

+  q15_t * pSrcA,

+  uint32_t srcALen,

+  q15_t * pSrcB,

+  uint32_t srcBLen,

+  q15_t * pDst,

+  uint32_t firstIndex,

+  uint32_t numPoints,

+  q15_t * pScratch1,

+  q15_t * pScratch2)

+{

+

+  q15_t *pOut = pDst;                            /* output pointer */

+  q15_t *pScr1 = pScratch1;                      /* Temporary pointer for scratch1 */

+  q15_t *pScr2 = pScratch2;                      /* Temporary pointer for scratch1 */

+  q63_t acc0, acc1, acc2, acc3;                  /* Accumulator */

+  q31_t x1, x2, x3;                              /* Temporary variables to hold state and coefficient values */

+  q31_t y1, y2;                                  /* State variables */

+  q15_t *pIn1;                                   /* inputA pointer */

+  q15_t *pIn2;                                   /* inputB pointer */

+  q15_t *px;                                     /* Intermediate inputA pointer  */

+  q15_t *py;                                     /* Intermediate inputB pointer  */

+  uint32_t j, k, blkCnt;                         /* loop counter */

+  arm_status status;                             /* Status variable */

+  uint32_t tapCnt;                               /* loop count */

+

+  /* Check for range of output samples to be calculated */

+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))

+  {

+    /* Set status as ARM_MATH_ARGUMENT_ERROR */

+    status = ARM_MATH_ARGUMENT_ERROR;

+  }

+  else

+  {

+

+    /* The algorithm implementation is based on the lengths of the inputs. */

+    /* srcB is always made to slide across srcA. */

+    /* So srcBLen is always considered as shorter or equal to srcALen */

+    if(srcALen >= srcBLen)

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcA;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcB;

+    }

+    else

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcB;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcA;

+

+      /* srcBLen is always considered as shorter or equal to srcALen */

+      j = srcBLen;

+      srcBLen = srcALen;

+      srcALen = j;

+    }

+

+    /* Temporary pointer for scratch2 */

+    py = pScratch2;

+

+    /* pointer to take end of scratch2 buffer */

+    pScr2 = pScratch2 + srcBLen - 1;

+

+    /* points to smaller length sequence */

+    px = pIn2;

+

+    /* Apply loop unrolling and do 4 Copies simultaneously. */

+    k = srcBLen >> 2u;

+

+    /* First part of the processing with loop unrolling copies 4 data points at a time.       

+     ** a second loop below copies for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner */

+      *pScr2-- = *px++;

+      *pScr2-- = *px++;

+      *pScr2-- = *px++;

+      *pScr2-- = *px++;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, copy remaining samples here.       

+     ** No loop unrolling is used. */

+    k = srcBLen % 0x4u;

+

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner for remaining samples */

+      *pScr2-- = *px++;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Initialze temporary scratch pointer */

+    pScr1 = pScratch1;

+

+    /* Fill (srcBLen - 1u) zeros in scratch buffer */

+    arm_fill_q15(0, pScr1, (srcBLen - 1u));

+

+    /* Update temporary scratch pointer */

+    pScr1 += (srcBLen - 1u);

+

+    /* Copy bigger length sequence(srcALen) samples in scratch1 buffer */

+

+    /* Copy (srcALen) samples in scratch buffer */

+    arm_copy_q15(pIn1, pScr1, srcALen);

+

+    /* Update pointers */

+    pScr1 += srcALen;

+

+    /* Fill (srcBLen - 1u) zeros at end of scratch buffer */

+    arm_fill_q15(0, pScr1, (srcBLen - 1u));

+

+    /* Update pointer */

+    pScr1 += (srcBLen - 1u);

+

+    /* Initialization of pIn2 pointer */

+    pIn2 = py;

+

+    pScratch1 += firstIndex;

+

+    pOut = pDst + firstIndex;

+

+    /* Actual convolution process starts here */

+    blkCnt = (numPoints) >> 2;

+

+    while(blkCnt > 0)

+    {

+      /* Initialze temporary scratch pointer as scratch1 */

+      pScr1 = pScratch1;

+

+      /* Clear Accumlators */

+      acc0 = 0;

+      acc1 = 0;

+      acc2 = 0;

+      acc3 = 0;

+

+      /* Read two samples from scratch1 buffer */

+      x1 = *__SIMD32(pScr1)++;

+

+      /* Read next two samples from scratch1 buffer */

+      x2 = *__SIMD32(pScr1)++;

+

+      tapCnt = (srcBLen) >> 2u;

+

+      while(tapCnt > 0u)

+      {

+

+        /* Read four samples from smaller buffer */

+        y1 = _SIMD32_OFFSET(pIn2);

+        y2 = _SIMD32_OFFSET(pIn2 + 2u);

+

+        /* multiply and accumlate */

+        acc0 = __SMLALD(x1, y1, acc0);

+        acc2 = __SMLALD(x2, y1, acc2);

+

+        /* pack input data */

+#ifndef ARM_MATH_BIG_ENDIAN

+        x3 = __PKHBT(x2, x1, 0);

+#else

+        x3 = __PKHBT(x1, x2, 0);

+#endif

+

+        /* multiply and accumlate */

+        acc1 = __SMLALDX(x3, y1, acc1);

+

+        /* Read next two samples from scratch1 buffer */

+        x1 = _SIMD32_OFFSET(pScr1);

+

+        /* multiply and accumlate */

+        acc0 = __SMLALD(x2, y2, acc0);

+        acc2 = __SMLALD(x1, y2, acc2);

+

+        /* pack input data */

+#ifndef ARM_MATH_BIG_ENDIAN

+        x3 = __PKHBT(x1, x2, 0);

+#else

+        x3 = __PKHBT(x2, x1, 0);

+#endif

+

+        acc3 = __SMLALDX(x3, y1, acc3);

+        acc1 = __SMLALDX(x3, y2, acc1);

+

+        x2 = _SIMD32_OFFSET(pScr1 + 2u);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+        x3 = __PKHBT(x2, x1, 0);

+#else

+        x3 = __PKHBT(x1, x2, 0);

+#endif

+

+        acc3 = __SMLALDX(x3, y2, acc3);

+

+        /* update scratch pointers */

+        pIn2 += 4u;

+        pScr1 += 4u;

+

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      /* Update scratch pointer for remaining samples of smaller length sequence */

+      pScr1 -= 4u;

+

+      /* apply same above for remaining samples of smaller length sequence */

+      tapCnt = (srcBLen) & 3u;

+

+      while(tapCnt > 0u)

+      {

+        /* accumlate the results */

+        acc0 += (*pScr1++ * *pIn2);

+        acc1 += (*pScr1++ * *pIn2);

+        acc2 += (*pScr1++ * *pIn2);

+        acc3 += (*pScr1++ * *pIn2++);

+

+        pScr1 -= 3u;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      blkCnt--;

+

+

+      /* Store the results in the accumulators in the destination buffer. */

+

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+      *__SIMD32(pOut)++ =

+        __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);

+      *__SIMD32(pOut)++ =

+        __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);

+

+#else

+

+      *__SIMD32(pOut)++ =

+        __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);

+      *__SIMD32(pOut)++ =

+        __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);

+

+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+      /* Initialization of inputB pointer */

+      pIn2 = py;

+

+      pScratch1 += 4u;

+

+    }

+

+

+    blkCnt = numPoints & 0x3;

+

+    /* Calculate convolution for remaining samples of Bigger length sequence */

+    while(blkCnt > 0)

+    {

+      /* Initialze temporary scratch pointer as scratch1 */

+      pScr1 = pScratch1;

+

+      /* Clear Accumlators */

+      acc0 = 0;

+

+      tapCnt = (srcBLen) >> 1u;

+

+      while(tapCnt > 0u)

+      {

+

+        /* Read next two samples from scratch1 buffer */

+        x1 = *__SIMD32(pScr1)++;

+

+        /* Read two samples from smaller buffer */

+        y1 = *__SIMD32(pIn2)++;

+

+        acc0 = __SMLALD(x1, y1, acc0);

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      tapCnt = (srcBLen) & 1u;

+

+      /* apply same above for remaining samples of smaller length sequence */

+      while(tapCnt > 0u)

+      {

+

+        /* accumlate the results */

+        acc0 += (*pScr1++ * *pIn2++);

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      blkCnt--;

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q15_t) (__SSAT((acc0 >> 15), 16));

+

+      /* Initialization of inputB pointer */

+      pIn2 = py;

+

+      pScratch1 += 1u;

+

+    }

+

+    /* set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+

+  }

+

+  /* Return to application */

+  return (status);

+}

+

+#else

+

+arm_status arm_conv_partial_opt_q15(

+  q15_t * pSrcA,

+  uint32_t srcALen,

+  q15_t * pSrcB,

+  uint32_t srcBLen,

+  q15_t * pDst,

+  uint32_t firstIndex,

+  uint32_t numPoints,

+  q15_t * pScratch1,

+  q15_t * pScratch2)

+{

+

+  q15_t *pOut = pDst;                            /* output pointer */

+  q15_t *pScr1 = pScratch1;                      /* Temporary pointer for scratch1 */

+  q15_t *pScr2 = pScratch2;                      /* Temporary pointer for scratch1 */

+  q63_t acc0, acc1, acc2, acc3;                  /* Accumulator */

+  q15_t *pIn1;                                   /* inputA pointer */

+  q15_t *pIn2;                                   /* inputB pointer */

+  q15_t *px;                                     /* Intermediate inputA pointer  */

+  q15_t *py;                                     /* Intermediate inputB pointer  */

+  uint32_t j, k, blkCnt;                         /* loop counter */

+  arm_status status;                             /* Status variable */

+  uint32_t tapCnt;                               /* loop count */

+  q15_t x10, x11, x20, x21;                      /* Temporary variables to hold srcA buffer */

+  q15_t y10, y11;                                /* Temporary variables to hold srcB buffer */

+

+

+  /* Check for range of output samples to be calculated */

+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))

+  {

+    /* Set status as ARM_MATH_ARGUMENT_ERROR */

+    status = ARM_MATH_ARGUMENT_ERROR;

+  }

+  else

+  {

+

+    /* The algorithm implementation is based on the lengths of the inputs. */

+    /* srcB is always made to slide across srcA. */

+    /* So srcBLen is always considered as shorter or equal to srcALen */

+    if(srcALen >= srcBLen)

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcA;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcB;

+    }

+    else

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcB;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcA;

+

+      /* srcBLen is always considered as shorter or equal to srcALen */

+      j = srcBLen;

+      srcBLen = srcALen;

+      srcALen = j;

+    }

+

+    /* Temporary pointer for scratch2 */

+    py = pScratch2;

+

+    /* pointer to take end of scratch2 buffer */

+    pScr2 = pScratch2 + srcBLen - 1;

+

+    /* points to smaller length sequence */

+    px = pIn2;

+

+    /* Apply loop unrolling and do 4 Copies simultaneously. */

+    k = srcBLen >> 2u;

+

+    /* First part of the processing with loop unrolling copies 4 data points at a time.       

+     ** a second loop below copies for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner */

+      *pScr2-- = *px++;

+      *pScr2-- = *px++;

+      *pScr2-- = *px++;

+      *pScr2-- = *px++;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, copy remaining samples here.       

+     ** No loop unrolling is used. */

+    k = srcBLen % 0x4u;

+

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner for remaining samples */

+      *pScr2-- = *px++;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Initialze temporary scratch pointer */

+    pScr1 = pScratch1;

+

+    /* Fill (srcBLen - 1u) zeros in scratch buffer */

+    arm_fill_q15(0, pScr1, (srcBLen - 1u));

+

+    /* Update temporary scratch pointer */

+    pScr1 += (srcBLen - 1u);

+

+    /* Copy bigger length sequence(srcALen) samples in scratch1 buffer */

+

+

+    /* Apply loop unrolling and do 4 Copies simultaneously. */

+    k = srcALen >> 2u;

+

+    /* First part of the processing with loop unrolling copies 4 data points at a time.       

+     ** a second loop below copies for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner */

+      *pScr1++ = *pIn1++;

+      *pScr1++ = *pIn1++;

+      *pScr1++ = *pIn1++;

+      *pScr1++ = *pIn1++;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, copy remaining samples here.       

+     ** No loop unrolling is used. */

+    k = srcALen % 0x4u;

+

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner for remaining samples */

+      *pScr1++ = *pIn1++;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+

+    /* Apply loop unrolling and do 4 Copies simultaneously. */

+    k = (srcBLen - 1u) >> 2u;

+

+    /* First part of the processing with loop unrolling copies 4 data points at a time.       

+     ** a second loop below copies for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner */

+      *pScr1++ = 0;

+      *pScr1++ = 0;

+      *pScr1++ = 0;

+      *pScr1++ = 0;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, copy remaining samples here.       

+     ** No loop unrolling is used. */

+    k = (srcBLen - 1u) % 0x4u;

+

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner for remaining samples */

+      *pScr1++ = 0;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+

+    /* Initialization of pIn2 pointer */

+    pIn2 = py;

+

+    pScratch1 += firstIndex;

+

+    pOut = pDst + firstIndex;

+

+    /* Actual convolution process starts here */

+    blkCnt = (numPoints) >> 2;

+

+    while(blkCnt > 0)

+    {

+      /* Initialze temporary scratch pointer as scratch1 */

+      pScr1 = pScratch1;

+

+      /* Clear Accumlators */

+      acc0 = 0;

+      acc1 = 0;

+      acc2 = 0;

+      acc3 = 0;

+

+      /* Read two samples from scratch1 buffer */

+      x10 = *pScr1++;

+      x11 = *pScr1++;

+

+      /* Read next two samples from scratch1 buffer */

+      x20 = *pScr1++;

+      x21 = *pScr1++;

+

+      tapCnt = (srcBLen) >> 2u;

+

+      while(tapCnt > 0u)

+      {

+

+        /* Read two samples from smaller buffer */

+        y10 = *pIn2;

+        y11 = *(pIn2 + 1u);

+

+        /* multiply and accumlate */

+        acc0 += (q63_t) x10 *y10;

+        acc0 += (q63_t) x11 *y11;

+        acc2 += (q63_t) x20 *y10;

+        acc2 += (q63_t) x21 *y11;

+

+        /* multiply and accumlate */

+        acc1 += (q63_t) x11 *y10;

+        acc1 += (q63_t) x20 *y11;

+

+        /* Read next two samples from scratch1 buffer */

+        x10 = *pScr1;

+        x11 = *(pScr1 + 1u);

+

+        /* multiply and accumlate */

+        acc3 += (q63_t) x21 *y10;

+        acc3 += (q63_t) x10 *y11;

+

+        /* Read next two samples from scratch2 buffer */

+        y10 = *(pIn2 + 2u);

+        y11 = *(pIn2 + 3u);

+

+        /* multiply and accumlate */

+        acc0 += (q63_t) x20 *y10;

+        acc0 += (q63_t) x21 *y11;

+        acc2 += (q63_t) x10 *y10;

+        acc2 += (q63_t) x11 *y11;

+        acc1 += (q63_t) x21 *y10;

+        acc1 += (q63_t) x10 *y11;

+

+        /* Read next two samples from scratch1 buffer */

+        x20 = *(pScr1 + 2);

+        x21 = *(pScr1 + 3);

+

+        /* multiply and accumlate */

+        acc3 += (q63_t) x11 *y10;

+        acc3 += (q63_t) x20 *y11;

+

+        /* update scratch pointers */

+        pIn2 += 4u;

+        pScr1 += 4u;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      /* Update scratch pointer for remaining samples of smaller length sequence */

+      pScr1 -= 4u;

+

+      /* apply same above for remaining samples of smaller length sequence */

+      tapCnt = (srcBLen) & 3u;

+

+      while(tapCnt > 0u)

+      {

+        /* accumlate the results */

+        acc0 += (*pScr1++ * *pIn2);

+        acc1 += (*pScr1++ * *pIn2);

+        acc2 += (*pScr1++ * *pIn2);

+        acc3 += (*pScr1++ * *pIn2++);

+

+        pScr1 -= 3u;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      blkCnt--;

+

+

+      /* Store the results in the accumulators in the destination buffer. */

+      *pOut++ = __SSAT((acc0 >> 15), 16);

+      *pOut++ = __SSAT((acc1 >> 15), 16);

+      *pOut++ = __SSAT((acc2 >> 15), 16);

+      *pOut++ = __SSAT((acc3 >> 15), 16);

+

+

+      /* Initialization of inputB pointer */

+      pIn2 = py;

+

+      pScratch1 += 4u;

+

+    }

+

+

+    blkCnt = numPoints & 0x3;

+

+    /* Calculate convolution for remaining samples of Bigger length sequence */

+    while(blkCnt > 0)

+    {

+      /* Initialze temporary scratch pointer as scratch1 */

+      pScr1 = pScratch1;

+

+      /* Clear Accumlators */

+      acc0 = 0;

+

+      tapCnt = (srcBLen) >> 1u;

+

+      while(tapCnt > 0u)

+      {

+

+        /* Read next two samples from scratch1 buffer */

+        x10 = *pScr1++;

+        x11 = *pScr1++;

+

+        /* Read two samples from smaller buffer */

+        y10 = *pIn2++;

+        y11 = *pIn2++;

+

+        /* multiply and accumlate */

+        acc0 += (q63_t) x10 *y10;

+        acc0 += (q63_t) x11 *y11;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      tapCnt = (srcBLen) & 1u;

+

+      /* apply same above for remaining samples of smaller length sequence */

+      while(tapCnt > 0u)

+      {

+

+        /* accumlate the results */

+        acc0 += (*pScr1++ * *pIn2++);

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      blkCnt--;

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q15_t) (__SSAT((acc0 >> 15), 16));

+

+

+      /* Initialization of inputB pointer */

+      pIn2 = py;

+

+      pScratch1 += 1u;

+

+    }

+

+    /* set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+

+  }

+

+  /* Return to application */

+  return (status);

+}

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+

+/**    

+ * @} end of PartialConv group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q7.c
new file mode 100644
index 000000000..513d89d87
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q7.c
@@ -0,0 +1,806 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_conv_partial_opt_q7.c    

+*    

+* Description:	Partial convolution of Q7 sequences.    

+*    

+* Target Processor: Cortex-M4/Cortex-M3

+*  

+* Version 1.1.0 2012/02/15 

+*    Updated with more optimizations, bug fixes and minor API changes.  

+*  

+* Version 1.0.11 2011/10/18  

+*    Bug Fix in conv, correlation, partial convolution.  

+* 

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+*    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup PartialConv    

+ * @{    

+ */

+

+/**    

+ * @brief Partial convolution of Q7 sequences.    

+ * @param[in]       *pSrcA points to the first input sequence.    

+ * @param[in]       srcALen length of the first input sequence.    

+ * @param[in]       *pSrcB points to the second input sequence.    

+ * @param[in]       srcBLen length of the second input sequence.    

+ * @param[out]      *pDst points to the location where the output result is written.    

+ * @param[in]       firstIndex is the first output sample to start with.    

+ * @param[in]       numPoints is the number of output points to be computed.    

+ * @param[in]      *pScratch1 points to scratch buffer(of type q15_t) of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.    

+ * @param[in]      *pScratch2 points to scratch buffer (of type q15_t) of size min(srcALen, srcBLen).    

+ * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].    

+ *    

+ * \par Restrictions    

+ *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    

+ *	In this case input, output, scratch1 and scratch2 buffers should be aligned by 32-bit   

+ * 

+ *

+ * 

+ */

+

+

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+arm_status arm_conv_partial_opt_q7(

+  q7_t * pSrcA,

+  uint32_t srcALen,

+  q7_t * pSrcB,

+  uint32_t srcBLen,

+  q7_t * pDst,

+  uint32_t firstIndex,

+  uint32_t numPoints,

+  q15_t * pScratch1,

+  q15_t * pScratch2)

+{

+

+  q15_t *pScr2, *pScr1;                          /* Intermediate pointers for scratch pointers */

+  q15_t x4;                                      /* Temporary input variable */

+  q7_t *pIn1, *pIn2;                             /* inputA and inputB pointer */

+  uint32_t j, k, blkCnt, tapCnt;                 /* loop counter */

+  q7_t *px;                                      /* Temporary input1 pointer */

+  q15_t *py;                                     /* Temporary input2 pointer */

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

+  q31_t x1, x2, x3, y1;                          /* Temporary input variables */

+  arm_status status;

+  q7_t *pOut = pDst;                             /* output pointer */

+  q7_t out0, out1, out2, out3;                   /* temporary variables */

+

+  /* Check for range of output samples to be calculated */

+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))

+  {

+    /* Set status as ARM_MATH_ARGUMENT_ERROR */

+    status = ARM_MATH_ARGUMENT_ERROR;

+  }

+  else

+  {

+

+    /* The algorithm implementation is based on the lengths of the inputs. */

+    /* srcB is always made to slide across srcA. */

+    /* So srcBLen is always considered as shorter or equal to srcALen */

+    if(srcALen >= srcBLen)

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcA;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcB;

+    }

+    else

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcB;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcA;

+

+      /* srcBLen is always considered as shorter or equal to srcALen */

+      j = srcBLen;

+      srcBLen = srcALen;

+      srcALen = j;

+    }

+

+    /* pointer to take end of scratch2 buffer */

+    pScr2 = pScratch2;

+

+    /* points to smaller length sequence */

+    px = pIn2 + srcBLen - 1;

+

+    /* Apply loop unrolling and do 4 Copies simultaneously. */

+    k = srcBLen >> 2u;

+

+    /* First part of the processing with loop unrolling copies 4 data points at a time.       

+     ** a second loop below copies for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner */

+      x4 = (q15_t) * px--;

+      *pScr2++ = x4;

+      x4 = (q15_t) * px--;

+      *pScr2++ = x4;

+      x4 = (q15_t) * px--;

+      *pScr2++ = x4;

+      x4 = (q15_t) * px--;

+      *pScr2++ = x4;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, copy remaining samples here.       

+     ** No loop unrolling is used. */

+    k = srcBLen % 0x4u;

+

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner for remaining samples */

+      x4 = (q15_t) * px--;

+      *pScr2++ = x4;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Initialze temporary scratch pointer */

+    pScr1 = pScratch1;

+

+    /* Fill (srcBLen - 1u) zeros in scratch buffer */

+    arm_fill_q15(0, pScr1, (srcBLen - 1u));

+

+    /* Update temporary scratch pointer */

+    pScr1 += (srcBLen - 1u);

+

+    /* Copy (srcALen) samples in scratch buffer */

+    /* Apply loop unrolling and do 4 Copies simultaneously. */

+    k = srcALen >> 2u;

+

+    /* First part of the processing with loop unrolling copies 4 data points at a time.       

+     ** a second loop below copies for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner */

+      x4 = (q15_t) * pIn1++;

+      *pScr1++ = x4;

+      x4 = (q15_t) * pIn1++;

+      *pScr1++ = x4;

+      x4 = (q15_t) * pIn1++;

+      *pScr1++ = x4;

+      x4 = (q15_t) * pIn1++;

+      *pScr1++ = x4;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, copy remaining samples here.       

+     ** No loop unrolling is used. */

+    k = srcALen % 0x4u;

+

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner for remaining samples */

+      x4 = (q15_t) * pIn1++;

+      *pScr1++ = x4;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Fill (srcBLen - 1u) zeros at end of scratch buffer */

+    arm_fill_q15(0, pScr1, (srcBLen - 1u));

+

+    /* Update pointer */

+    pScr1 += (srcBLen - 1u);

+

+

+    /* Temporary pointer for scratch2 */

+    py = pScratch2;

+

+    /* Initialization of pIn2 pointer */

+    pIn2 = (q7_t *) py;

+

+    pScr2 = py;

+

+    pOut = pDst + firstIndex;

+

+    pScratch1 += firstIndex;

+

+    /* Actual convolution process starts here */

+    blkCnt = (numPoints) >> 2;

+

+

+    while(blkCnt > 0)

+    {

+      /* Initialze temporary scratch pointer as scratch1 */

+      pScr1 = pScratch1;

+

+      /* Clear Accumlators */

+      acc0 = 0;

+      acc1 = 0;

+      acc2 = 0;

+      acc3 = 0;

+

+      /* Read two samples from scratch1 buffer */

+      x1 = *__SIMD32(pScr1)++;

+

+      /* Read next two samples from scratch1 buffer */

+      x2 = *__SIMD32(pScr1)++;

+

+      tapCnt = (srcBLen) >> 2u;

+

+      while(tapCnt > 0u)

+      {

+

+        /* Read four samples from smaller buffer */

+        y1 = _SIMD32_OFFSET(pScr2);

+

+        /* multiply and accumlate */

+        acc0 = __SMLAD(x1, y1, acc0);

+        acc2 = __SMLAD(x2, y1, acc2);

+

+        /* pack input data */

+#ifndef ARM_MATH_BIG_ENDIAN

+        x3 = __PKHBT(x2, x1, 0);

+#else

+        x3 = __PKHBT(x1, x2, 0);

+#endif

+

+        /* multiply and accumlate */

+        acc1 = __SMLADX(x3, y1, acc1);

+

+        /* Read next two samples from scratch1 buffer */

+        x1 = *__SIMD32(pScr1)++;

+

+        /* pack input data */

+#ifndef ARM_MATH_BIG_ENDIAN

+        x3 = __PKHBT(x1, x2, 0);

+#else

+        x3 = __PKHBT(x2, x1, 0);

+#endif

+

+        acc3 = __SMLADX(x3, y1, acc3);

+

+        /* Read four samples from smaller buffer */

+        y1 = _SIMD32_OFFSET(pScr2 + 2u);

+

+        acc0 = __SMLAD(x2, y1, acc0);

+

+        acc2 = __SMLAD(x1, y1, acc2);

+

+        acc1 = __SMLADX(x3, y1, acc1);

+

+        x2 = *__SIMD32(pScr1)++;

+

+#ifndef ARM_MATH_BIG_ENDIAN

+        x3 = __PKHBT(x2, x1, 0);

+#else

+        x3 = __PKHBT(x1, x2, 0);

+#endif

+

+        acc3 = __SMLADX(x3, y1, acc3);

+

+        pScr2 += 4u;

+

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+

+

+      /* Update scratch pointer for remaining samples of smaller length sequence */

+      pScr1 -= 4u;

+

+

+      /* apply same above for remaining samples of smaller length sequence */

+      tapCnt = (srcBLen) & 3u;

+

+      while(tapCnt > 0u)

+      {

+

+        /* accumlate the results */

+        acc0 += (*pScr1++ * *pScr2);

+        acc1 += (*pScr1++ * *pScr2);

+        acc2 += (*pScr1++ * *pScr2);

+        acc3 += (*pScr1++ * *pScr2++);

+

+        pScr1 -= 3u;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      blkCnt--;

+

+      /* Store the result in the accumulator in the destination buffer. */

+      out0 = (q7_t) (__SSAT(acc0 >> 7u, 8));

+      out1 = (q7_t) (__SSAT(acc1 >> 7u, 8));

+      out2 = (q7_t) (__SSAT(acc2 >> 7u, 8));

+      out3 = (q7_t) (__SSAT(acc3 >> 7u, 8));

+

+      *__SIMD32(pOut)++ = __PACKq7(out0, out1, out2, out3);

+

+      /* Initialization of inputB pointer */

+      pScr2 = py;

+

+      pScratch1 += 4u;

+

+    }

+

+    blkCnt = (numPoints) & 0x3;

+

+    /* Calculate convolution for remaining samples of Bigger length sequence */

+    while(blkCnt > 0)

+    {

+      /* Initialze temporary scratch pointer as scratch1 */

+      pScr1 = pScratch1;

+

+      /* Clear Accumlators */

+      acc0 = 0;

+

+      tapCnt = (srcBLen) >> 1u;

+

+      while(tapCnt > 0u)

+      {

+

+        /* Read next two samples from scratch1 buffer */

+        x1 = *__SIMD32(pScr1)++;

+

+        /* Read two samples from smaller buffer */

+        y1 = *__SIMD32(pScr2)++;

+

+        acc0 = __SMLAD(x1, y1, acc0);

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      tapCnt = (srcBLen) & 1u;

+

+      /* apply same above for remaining samples of smaller length sequence */

+      while(tapCnt > 0u)

+      {

+

+        /* accumlate the results */

+        acc0 += (*pScr1++ * *pScr2++);

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      blkCnt--;

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q7_t) (__SSAT(acc0 >> 7u, 8));

+

+      /* Initialization of inputB pointer */

+      pScr2 = py;

+

+      pScratch1 += 1u;

+

+    }

+

+    /* set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+

+

+  }

+

+  return (status);

+

+}

+

+#else

+

+arm_status arm_conv_partial_opt_q7(

+  q7_t * pSrcA,

+  uint32_t srcALen,

+  q7_t * pSrcB,

+  uint32_t srcBLen,

+  q7_t * pDst,

+  uint32_t firstIndex,

+  uint32_t numPoints,

+  q15_t * pScratch1,

+  q15_t * pScratch2)

+{

+

+  q15_t *pScr2, *pScr1;                          /* Intermediate pointers for scratch pointers */

+  q15_t x4;                                      /* Temporary input variable */

+  q7_t *pIn1, *pIn2;                             /* inputA and inputB pointer */

+  uint32_t j, k, blkCnt, tapCnt;                 /* loop counter */

+  q7_t *px;                                      /* Temporary input1 pointer */

+  q15_t *py;                                     /* Temporary input2 pointer */

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

+  arm_status status;

+  q7_t *pOut = pDst;                             /* output pointer */

+  q15_t x10, x11, x20, x21;                      /* Temporary input variables */

+  q15_t y10, y11;                                /* Temporary input variables */

+  q7_t out0, out1, out2, out3;                   /* temporary variables */

+

+  /* Check for range of output samples to be calculated */

+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))

+  {

+    /* Set status as ARM_MATH_ARGUMENT_ERROR */

+    status = ARM_MATH_ARGUMENT_ERROR;

+  }

+  else

+  {

+

+    /* The algorithm implementation is based on the lengths of the inputs. */

+    /* srcB is always made to slide across srcA. */

+    /* So srcBLen is always considered as shorter or equal to srcALen */

+    if(srcALen >= srcBLen)

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcA;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcB;

+    }

+    else

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcB;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcA;

+

+      /* srcBLen is always considered as shorter or equal to srcALen */

+      j = srcBLen;

+      srcBLen = srcALen;

+      srcALen = j;

+    }

+

+    /* pointer to take end of scratch2 buffer */

+    pScr2 = pScratch2;

+

+    /* points to smaller length sequence */

+    px = pIn2 + srcBLen - 1;

+

+    /* Apply loop unrolling and do 4 Copies simultaneously. */

+    k = srcBLen >> 2u;

+

+    /* First part of the processing with loop unrolling copies 4 data points at a time.       

+     ** a second loop below copies for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner */

+      x4 = (q15_t) * px--;

+      *pScr2++ = x4;

+      x4 = (q15_t) * px--;

+      *pScr2++ = x4;

+      x4 = (q15_t) * px--;

+      *pScr2++ = x4;

+      x4 = (q15_t) * px--;

+      *pScr2++ = x4;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, copy remaining samples here.       

+     ** No loop unrolling is used. */

+    k = srcBLen % 0x4u;

+

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner for remaining samples */

+      x4 = (q15_t) * px--;

+      *pScr2++ = x4;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Initialze temporary scratch pointer */

+    pScr1 = pScratch1;

+

+    /* Fill (srcBLen - 1u) zeros in scratch buffer */

+    arm_fill_q15(0, pScr1, (srcBLen - 1u));

+

+    /* Update temporary scratch pointer */

+    pScr1 += (srcBLen - 1u);

+

+    /* Copy (srcALen) samples in scratch buffer */

+    /* Apply loop unrolling and do 4 Copies simultaneously. */

+    k = srcALen >> 2u;

+

+    /* First part of the processing with loop unrolling copies 4 data points at a time.       

+     ** a second loop below copies for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner */

+      x4 = (q15_t) * pIn1++;

+      *pScr1++ = x4;

+      x4 = (q15_t) * pIn1++;

+      *pScr1++ = x4;

+      x4 = (q15_t) * pIn1++;

+      *pScr1++ = x4;

+      x4 = (q15_t) * pIn1++;

+      *pScr1++ = x4;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, copy remaining samples here.       

+     ** No loop unrolling is used. */

+    k = srcALen % 0x4u;

+

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner for remaining samples */

+      x4 = (q15_t) * pIn1++;

+      *pScr1++ = x4;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Apply loop unrolling and do 4 Copies simultaneously. */

+    k = (srcBLen - 1u) >> 2u;

+

+    /* First part of the processing with loop unrolling copies 4 data points at a time.       

+     ** a second loop below copies for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner */

+      *pScr1++ = 0;

+      *pScr1++ = 0;

+      *pScr1++ = 0;

+      *pScr1++ = 0;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, copy remaining samples here.       

+     ** No loop unrolling is used. */

+    k = (srcBLen - 1u) % 0x4u;

+

+    while(k > 0u)

+    {

+      /* copy second buffer in reversal manner for remaining samples */

+      *pScr1++ = 0;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+

+    /* Temporary pointer for scratch2 */

+    py = pScratch2;

+

+    /* Initialization of pIn2 pointer */

+    pIn2 = (q7_t *) py;

+

+    pScr2 = py;

+

+    pOut = pDst + firstIndex;

+

+    pScratch1 += firstIndex;

+

+    /* Actual convolution process starts here */

+    blkCnt = (numPoints) >> 2;

+

+

+    while(blkCnt > 0)

+    {

+      /* Initialze temporary scratch pointer as scratch1 */

+      pScr1 = pScratch1;

+

+      /* Clear Accumlators */

+      acc0 = 0;

+      acc1 = 0;

+      acc2 = 0;

+      acc3 = 0;

+

+      /* Read two samples from scratch1 buffer */

+      x10 = *pScr1++;

+      x11 = *pScr1++;

+

+      /* Read next two samples from scratch1 buffer */

+      x20 = *pScr1++;

+      x21 = *pScr1++;

+

+      tapCnt = (srcBLen) >> 2u;

+

+      while(tapCnt > 0u)

+      {

+

+        /* Read four samples from smaller buffer */

+        y10 = *pScr2;

+        y11 = *(pScr2 + 1u);

+

+        /* multiply and accumlate */

+        acc0 += (q31_t) x10 *y10;

+        acc0 += (q31_t) x11 *y11;

+        acc2 += (q31_t) x20 *y10;

+        acc2 += (q31_t) x21 *y11;

+

+

+        acc1 += (q31_t) x11 *y10;

+        acc1 += (q31_t) x20 *y11;

+

+        /* Read next two samples from scratch1 buffer */

+        x10 = *pScr1;

+        x11 = *(pScr1 + 1u);

+

+        /* multiply and accumlate */

+        acc3 += (q31_t) x21 *y10;

+        acc3 += (q31_t) x10 *y11;

+

+        /* Read next two samples from scratch2 buffer */

+        y10 = *(pScr2 + 2u);

+        y11 = *(pScr2 + 3u);

+

+        /* multiply and accumlate */

+        acc0 += (q31_t) x20 *y10;

+        acc0 += (q31_t) x21 *y11;

+        acc2 += (q31_t) x10 *y10;

+        acc2 += (q31_t) x11 *y11;

+        acc1 += (q31_t) x21 *y10;

+        acc1 += (q31_t) x10 *y11;

+

+        /* Read next two samples from scratch1 buffer */

+        x20 = *(pScr1 + 2);

+        x21 = *(pScr1 + 3);

+

+        /* multiply and accumlate */

+        acc3 += (q31_t) x11 *y10;

+        acc3 += (q31_t) x20 *y11;

+

+        /* update scratch pointers */

+

+        pScr1 += 4u;

+        pScr2 += 4u;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+

+

+      /* Update scratch pointer for remaining samples of smaller length sequence */

+      pScr1 -= 4u;

+

+

+      /* apply same above for remaining samples of smaller length sequence */

+      tapCnt = (srcBLen) & 3u;

+

+      while(tapCnt > 0u)

+      {

+

+        /* accumlate the results */

+        acc0 += (*pScr1++ * *pScr2);

+        acc1 += (*pScr1++ * *pScr2);

+        acc2 += (*pScr1++ * *pScr2);

+        acc3 += (*pScr1++ * *pScr2++);

+

+        pScr1 -= 3u;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      blkCnt--;

+

+      /* Store the result in the accumulator in the destination buffer. */

+      out0 = (q7_t) (__SSAT(acc0 >> 7u, 8));

+      out1 = (q7_t) (__SSAT(acc1 >> 7u, 8));

+      out2 = (q7_t) (__SSAT(acc2 >> 7u, 8));

+      out3 = (q7_t) (__SSAT(acc3 >> 7u, 8));

+

+

+      *__SIMD32(pOut)++ = __PACKq7(out0, out1, out2, out3);

+

+      /* Initialization of inputB pointer */

+      pScr2 = py;

+

+      pScratch1 += 4u;

+

+    }

+

+    blkCnt = (numPoints) & 0x3;

+

+    /* Calculate convolution for remaining samples of Bigger length sequence */

+    while(blkCnt > 0)

+    {

+      /* Initialze temporary scratch pointer as scratch1 */

+      pScr1 = pScratch1;

+

+      /* Clear Accumlators */

+      acc0 = 0;

+

+      tapCnt = (srcBLen) >> 1u;

+

+      while(tapCnt > 0u)

+      {

+

+        /* Read next two samples from scratch1 buffer */

+        x10 = *pScr1++;

+        x11 = *pScr1++;

+

+        /* Read two samples from smaller buffer */

+        y10 = *pScr2++;

+        y11 = *pScr2++;

+

+        /* multiply and accumlate */

+        acc0 += (q31_t) x10 *y10;

+        acc0 += (q31_t) x11 *y11;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      tapCnt = (srcBLen) & 1u;

+

+      /* apply same above for remaining samples of smaller length sequence */

+      while(tapCnt > 0u)

+      {

+

+        /* accumlate the results */

+        acc0 += (*pScr1++ * *pScr2++);

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      blkCnt--;

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q7_t) (__SSAT(acc0 >> 7u, 8));

+

+      /* Initialization of inputB pointer */

+      pScr2 = py;

+

+      pScratch1 += 1u;

+

+    }

+

+    /* set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+

+  }

+

+  return (status);

+

+}

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+

+

+/**    

+ * @} end of PartialConv group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c
new file mode 100644
index 000000000..8c7ed5f86
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c
@@ -0,0 +1,778 @@
+/* ----------------------------------------------------------------------   

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

+*   

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*   

+* Project: 	    CMSIS DSP Library   

+* Title:		arm_conv_partial_q15.c   

+*   

+* Description:	Partial convolution of Q15 sequences.  

+*   

+* 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 1.0.11 2011/10/18 

+*    Bug Fix in conv, correlation, partial convolution. 

+*

+* 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 0.0.7  2010/06/10    

+*    Misra-C changes done   

+*   

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**   

+ * @ingroup groupFilters   

+ */

+

+/**   

+ * @addtogroup PartialConv   

+ * @{   

+ */

+

+/**   

+ * @brief Partial convolution of Q15 sequences.   

+ * @param[in]       *pSrcA points to the first input sequence.   

+ * @param[in]       srcALen length of the first input sequence.   

+ * @param[in]       *pSrcB points to the second input sequence.   

+ * @param[in]       srcBLen length of the second input sequence.   

+ * @param[out]      *pDst points to the location where the output result is written.   

+ * @param[in]       firstIndex is the first output sample to start with.   

+ * @param[in]       numPoints is the number of output points to be computed.   

+ * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].   

+ *   

+ * Refer to <code>arm_conv_partial_fast_q15()</code> for a faster but less precise version of this function for Cortex-M3 and Cortex-M4.  

+ * 

+ * \par    

+ * Refer the function <code>arm_conv_partial_opt_q15()</code> for a faster implementation of this function using scratch buffers.

+ * 

+ */

+

+

+arm_status arm_conv_partial_q15(

+  q15_t * pSrcA,

+  uint32_t srcALen,

+  q15_t * pSrcB,

+  uint32_t srcBLen,

+  q15_t * pDst,

+  uint32_t firstIndex,

+  uint32_t numPoints)

+{

+

+#if (defined(ARM_MATH_CM4) || defined(ARM_MATH_CM3)) && !defined(UNALIGNED_SUPPORT_DISABLE)

+

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

+

+  q15_t *pIn1;                                   /* inputA pointer               */

+  q15_t *pIn2;                                   /* inputB pointer               */

+  q15_t *pOut = pDst;                            /* output pointer               */

+  q63_t sum, acc0, acc1, acc2, acc3;             /* Accumulator                  */

+  q15_t *px;                                     /* Intermediate inputA pointer  */

+  q15_t *py;                                     /* Intermediate inputB pointer  */

+  q15_t *pSrc1, *pSrc2;                          /* Intermediate pointers        */

+  q31_t x0, x1, x2, x3, c0;                      /* Temporary input variables */

+  uint32_t j, k, count, check, blkCnt;

+  int32_t blockSize1, blockSize2, blockSize3;    /* loop counter                 */

+  arm_status status;                             /* status of Partial convolution */

+

+  /* Check for range of output samples to be calculated */

+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))

+  {

+    /* Set status as ARM_MATH_ARGUMENT_ERROR */

+    status = ARM_MATH_ARGUMENT_ERROR;

+  }

+  else

+  {

+

+    /* The algorithm implementation is based on the lengths of the inputs. */

+    /* srcB is always made to slide across srcA. */

+    /* So srcBLen is always considered as shorter or equal to srcALen */

+    if(srcALen >= srcBLen)

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcA;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcB;

+    }

+    else

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcB;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcA;

+

+      /* srcBLen is always considered as shorter or equal to srcALen */

+      j = srcBLen;

+      srcBLen = srcALen;

+      srcALen = j;

+    }

+

+    /* Conditions to check which loopCounter holds   

+     * the first and last indices of the output samples to be calculated. */

+    check = firstIndex + numPoints;

+    blockSize3 = ((int32_t) check - (int32_t) srcALen);

+    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;

+    blockSize1 = (((int32_t) srcBLen - 1) - (int32_t) firstIndex);

+    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :

+                                     (int32_t) numPoints) : 0;

+    blockSize2 = (int32_t) check - ((blockSize3 + blockSize1) +

+                                    (int32_t) firstIndex);

+    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;

+

+    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */

+    /* The function is internally   

+     * divided into three stages according to the number of multiplications that has to be   

+     * taken place between inputA samples and inputB samples. In the first stage of the   

+     * algorithm, the multiplications increase by one for every iteration.   

+     * In the second stage of the algorithm, srcBLen number of multiplications are done.   

+     * In the third stage of the algorithm, the multiplications decrease by one   

+     * for every iteration. */

+

+    /* Set the output pointer to point to the firstIndex   

+     * of the output sample to be calculated. */

+    pOut = pDst + firstIndex;

+

+    /* --------------------------   

+     * Initializations of stage1   

+     * -------------------------*/

+

+    /* sum = x[0] * y[0]   

+     * sum = x[0] * y[1] + x[1] * y[0]   

+     * ....   

+     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   

+     */

+

+    /* In this stage the MAC operations are increased by 1 for every iteration.   

+       The count variable holds the number of MAC operations performed.   

+       Since the partial convolution starts from firstIndex   

+       Number of Macs to be performed is firstIndex + 1 */

+    count = 1u + firstIndex;

+

+    /* Working pointer of inputA */

+    px = pIn1;

+

+    /* Working pointer of inputB */

+    pSrc2 = pIn2 + firstIndex;

+    py = pSrc2;

+

+    /* ------------------------   

+     * Stage1 process   

+     * ----------------------*/

+

+    /* For loop unrolling by 4, this stage is divided into two. */

+    /* First part of this stage computes the MAC operations less than 4 */

+    /* Second part of this stage computes the MAC operations greater than or equal to 4 */

+

+    /* The first part of the stage starts here */

+    while((count < 4u) && (blockSize1 > 0))

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Loop over number of MAC operations between   

+       * inputA samples and inputB samples */

+      k = count;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum = __SMLALD(*px++, *py--, sum);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      py = ++pSrc2;

+      px = pIn1;

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Decrement the loop counter */

+      blockSize1--;

+    }

+

+    /* The second part of the stage starts here */

+    /* The internal loop, over count, is unrolled by 4 */

+    /* To, read the last two inputB samples using SIMD:   

+     * y[srcBLen] and y[srcBLen-1] coefficients, py is decremented by 1 */

+    py = py - 1;

+

+    while(blockSize1 > 0)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = count >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        /* x[0], x[1] are multiplied with y[srcBLen - 1], y[srcBLen - 2] respectively */

+        sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);

+        /* x[2], x[3] are multiplied with y[srcBLen - 3], y[srcBLen - 4] respectively */

+        sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* For the next MAC operations, the pointer py is used without SIMD   

+       * So, py is incremented by 1 */

+      py = py + 1u;

+

+      /* If the count is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = count % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum = __SMLALD(*px++, *py--, sum);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      py = ++pSrc2 - 1u;

+      px = pIn1;

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Decrement the loop counter */

+      blockSize1--;

+    }

+

+    /* --------------------------   

+     * Initializations of stage2   

+     * ------------------------*/

+

+    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   

+     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   

+     * ....   

+     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   

+     */

+

+    /* Working pointer of inputA */

+    px = pIn1;

+

+    /* Working pointer of inputB */

+    pSrc2 = pIn2 + (srcBLen - 1u);

+    py = pSrc2;

+

+  /* count is the index by which the pointer pIn1 to be incremented */

+  count = 0u;

+

+

+  /* --------------------   

+   * Stage2 process   

+   * -------------------*/

+

+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   

+   * So, to loop unroll over blockSize2,   

+   * srcBLen should be greater than or equal to 4 */

+  if(srcBLen >= 4u)

+  {

+    /* Loop unroll over blockSize2, by 4 */

+    blkCnt = blockSize2 >> 2u;

+

+    while(blkCnt > 0u)

+    {

+      py = py - 1u;

+

+      /* Set all accumulators to zero */

+      acc0 = 0;

+      acc1 = 0;

+      acc2 = 0;

+      acc3 = 0;

+

+

+      /* read x[0], x[1] samples */

+      x0 = *__SIMD32(px);

+      /* read x[1], x[2] samples */

+      x1 = _SIMD32_OFFSET(px+1);

+	  px+= 2u;

+

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      do

+      {

+        /* Read the last two inputB samples using SIMD:   

+         * y[srcBLen - 1] and y[srcBLen - 2] */

+        c0 = *__SIMD32(py)--;

+

+        /* acc0 +=  x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2] */

+        acc0 = __SMLALDX(x0, c0, acc0);

+

+        /* acc1 +=  x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2] */

+        acc1 = __SMLALDX(x1, c0, acc1);

+

+        /* Read x[2], x[3] */

+        x2 = *__SIMD32(px);

+

+        /* Read x[3], x[4] */

+        x3 = _SIMD32_OFFSET(px+1);

+

+        /* acc2 +=  x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2] */

+        acc2 = __SMLALDX(x2, c0, acc2);

+

+        /* acc3 +=  x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2] */

+        acc3 = __SMLALDX(x3, c0, acc3);

+

+        /* Read y[srcBLen - 3] and y[srcBLen - 4] */

+        c0 = *__SIMD32(py)--;

+

+        /* acc0 +=  x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4] */

+        acc0 = __SMLALDX(x2, c0, acc0);

+

+        /* acc1 +=  x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4] */

+        acc1 = __SMLALDX(x3, c0, acc1);

+

+        /* Read x[4], x[5] */

+        x0 = _SIMD32_OFFSET(px+2);

+

+        /* Read x[5], x[6] */

+        x1 = _SIMD32_OFFSET(px+3);

+		px += 4u;

+

+        /* acc2 +=  x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4] */

+        acc2 = __SMLALDX(x0, c0, acc2);

+

+        /* acc3 +=  x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4] */

+        acc3 = __SMLALDX(x1, c0, acc3);

+

+      } while(--k);

+

+      /* For the next MAC operations, SIMD is not used   

+       * So, the 16 bit pointer if inputB, py is updated */

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      if(k == 1u)

+      {

+        /* Read y[srcBLen - 5] */

+        c0 = *(py+1);

+

+#ifdef  ARM_MATH_BIG_ENDIAN

+

+        c0 = c0 << 16u;

+

+#else

+

+        c0 = c0 & 0x0000FFFF;

+

+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */

+

+        /* Read x[7] */

+        x3 = *__SIMD32(px);

+		px++;

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLALD(x0, c0, acc0);

+        acc1 = __SMLALD(x1, c0, acc1);

+        acc2 = __SMLALDX(x1, c0, acc2);

+        acc3 = __SMLALDX(x3, c0, acc3);

+      }

+

+      if(k == 2u)

+      {

+        /* Read y[srcBLen - 5], y[srcBLen - 6] */

+        c0 = _SIMD32_OFFSET(py);

+

+        /* Read x[7], x[8] */

+        x3 = *__SIMD32(px);

+

+        /* Read x[9] */

+        x2 = _SIMD32_OFFSET(px+1);

+		px += 2u;

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLALDX(x0, c0, acc0);

+        acc1 = __SMLALDX(x1, c0, acc1);

+        acc2 = __SMLALDX(x3, c0, acc2);

+        acc3 = __SMLALDX(x2, c0, acc3);

+      }

+

+      if(k == 3u)

+      {

+        /* Read y[srcBLen - 5], y[srcBLen - 6] */

+        c0 = _SIMD32_OFFSET(py);

+

+        /* Read x[7], x[8] */

+        x3 = *__SIMD32(px);

+

+        /* Read x[9] */

+        x2 = _SIMD32_OFFSET(px+1);

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLALDX(x0, c0, acc0);

+        acc1 = __SMLALDX(x1, c0, acc1);

+        acc2 = __SMLALDX(x3, c0, acc2);

+        acc3 = __SMLALDX(x2, c0, acc3);

+

+		c0 = *(py-1);

+

+#ifdef  ARM_MATH_BIG_ENDIAN

+

+        c0 = c0 << 16u;

+#else

+

+        c0 = c0 & 0x0000FFFF;

+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */

+

+        /* Read x[10] */

+        x3 =  _SIMD32_OFFSET(px+2);

+		px += 3u;

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLALDX(x1, c0, acc0);

+        acc1 = __SMLALD(x2, c0, acc1);

+        acc2 = __SMLALDX(x2, c0, acc2);

+        acc3 = __SMLALDX(x3, c0, acc3);

+      }

+

+

+      /* Store the results in the accumulators in the destination buffer. */

+

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+      *__SIMD32(pOut)++ =

+        __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);

+      *__SIMD32(pOut)++ =

+        __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);

+

+#else

+

+      *__SIMD32(pOut)++ =

+        __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);

+      *__SIMD32(pOut)++ =

+        __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);

+

+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+      /* Increment the pointer pIn1 index, count by 4 */

+      count += 4u;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pSrc2;

+

+        /* Decrement the loop counter */

+        blkCnt--;

+      }

+

+      /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   

+       ** No loop unrolling is used. */

+      blkCnt = (uint32_t) blockSize2 % 0x4u;

+  	  

+      while(blkCnt > 0u)

+      {

+        /* Accumulator is made zero for every iteration */

+        sum = 0;

+

+        /* Apply loop unrolling and compute 4 MACs simultaneously. */

+        k = srcBLen >> 2u;

+

+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+        while(k > 0u)

+        {

+          /* Perform the multiply-accumulates */

+          sum += (q63_t) ((q31_t) * px++ * *py--);

+          sum += (q63_t) ((q31_t) * px++ * *py--);

+          sum += (q63_t) ((q31_t) * px++ * *py--);

+          sum += (q63_t) ((q31_t) * px++ * *py--);

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   

+         ** No loop unrolling is used. */

+        k = srcBLen % 0x4u;

+

+        while(k > 0u)

+        {

+          /* Perform the multiply-accumulates */

+          sum += (q63_t) ((q31_t) * px++ * *py--);

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* Store the result in the accumulator in the destination buffer. */

+        *pOut++ = (q15_t) (__SSAT(sum >> 15, 16));

+

+        /* Increment the pointer pIn1 index, count by 1 */

+        count++;

+

+        /* Update the inputA and inputB pointers for next MAC calculation */

+        px = pIn1 + count;

+        py = pSrc2;

+

+        /* Decrement the loop counter */

+        blkCnt--;

+      }

+    }

+    else

+    {

+      /* If the srcBLen is not a multiple of 4,   

+       * the blockSize2 loop cannot be unrolled by 4 */

+      blkCnt = (uint32_t) blockSize2;

+

+      while(blkCnt > 0u)

+      {

+        /* Accumulator is made zero for every iteration */

+        sum = 0;

+

+        /* srcBLen number of MACS should be performed */

+        k = srcBLen;

+

+        while(k > 0u)

+        {

+          /* Perform the multiply-accumulate */

+          sum += (q63_t) ((q31_t) * px++ * *py--);

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* Store the result in the accumulator in the destination buffer. */

+        *pOut++ = (q15_t) (__SSAT(sum >> 15, 16));

+

+        /* Increment the MAC count */

+        count++;

+

+        /* Update the inputA and inputB pointers for next MAC calculation */

+        px = pIn1 + count;

+        py = pSrc2;

+  

+        /* Decrement the loop counter */

+        blkCnt--;

+      }

+    }

+

+

+    /* --------------------------   

+     * Initializations of stage3   

+     * -------------------------*/

+

+    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   

+     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   

+     * ....   

+     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   

+     * sum +=  x[srcALen-1] * y[srcBLen-1]   

+     */

+

+    /* In this stage the MAC operations are decreased by 1 for every iteration.   

+       The count variable holds the number of MAC operations performed */

+    count = srcBLen - 1u;

+

+    /* Working pointer of inputA */

+    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);

+    px = pSrc1;

+

+    /* Working pointer of inputB */

+    pSrc2 = pIn2 + (srcBLen - 1u);

+    pIn2 = pSrc2 - 1u;

+    py = pIn2;

+

+    /* -------------------   

+     * Stage3 process   

+     * ------------------*/

+

+    /* For loop unrolling by 4, this stage is divided into two. */

+    /* First part of this stage computes the MAC operations greater than 4 */

+    /* Second part of this stage computes the MAC operations less than or equal to 4 */

+

+    /* The first part of the stage starts here */

+    j = count >> 2u;

+

+    while((j > 0u) && (blockSize3 > 0))

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = count >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        /* x[srcALen - srcBLen + 1], x[srcALen - srcBLen + 2] are multiplied   

+         * with y[srcBLen - 1], y[srcBLen - 2] respectively */

+        sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);

+        /* x[srcALen - srcBLen + 3], x[srcALen - srcBLen + 4] are multiplied   

+         * with y[srcBLen - 3], y[srcBLen - 4] respectively */

+        sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* For the next MAC operations, the pointer py is used without SIMD   

+       * So, py is incremented by 1 */

+      py = py + 1u;

+

+      /* If the count is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = count % 0x4u;

+

+      while(k > 0u)

+      {

+        /* sum += x[srcALen - srcBLen + 5] * y[srcBLen - 5] */

+        sum = __SMLALD(*px++, *py--, sum);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = ++pSrc1;

+      py = pIn2;

+

+      /* Decrement the MAC count */

+      count--;

+

+      /* Decrement the loop counter */

+      blockSize3--;

+

+      j--;

+    }

+

+    /* The second part of the stage starts here */

+    /* SIMD is not used for the next MAC operations,   

+     * so pointer py is updated to read only one sample at a time */

+    py = py + 1u;

+

+    while(blockSize3 > 0)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = count;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        /* sum +=  x[srcALen-1] * y[srcBLen-1] */

+        sum = __SMLALD(*px++, *py--, sum);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = ++pSrc1;

+      py = pSrc2;

+

+      /* Decrement the MAC count */

+      count--;

+

+      /* Decrement the loop counter */

+      blockSize3--;

+    }

+

+    /* set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+  }

+

+  /* Return to application */

+  return (status);

+

+#else

+

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

+

+  q15_t *pIn1 = pSrcA;                           /* inputA pointer */

+  q15_t *pIn2 = pSrcB;                           /* inputB pointer */

+  q63_t sum;                                     /* Accumulator */

+  uint32_t i, j;                                 /* loop counters */

+  arm_status status;                             /* status of Partial convolution */

+

+  /* Check for range of output samples to be calculated */

+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))

+  {

+    /* Set status as ARM_ARGUMENT_ERROR */

+    status = ARM_MATH_ARGUMENT_ERROR;

+  }

+  else

+  {

+    /* Loop to calculate convolution for output length number of values */

+    for (i = firstIndex; i <= (firstIndex + numPoints - 1); i++)

+    {

+      /* Initialize sum with zero to carry on MAC operations */

+      sum = 0;

+

+      /* Loop to perform MAC operations according to convolution equation */

+      for (j = 0; j <= i; j++)

+      {

+        /* Check the array limitations */

+        if(((i - j) < srcBLen) && (j < srcALen))

+        {

+          /* z[i] += x[i-j] * y[j] */

+          sum += ((q31_t) pIn1[j] * (pIn2[i - j]));

+        }

+      }

+

+      /* Store the output in the destination buffer */

+      pDst[i] = (q15_t) __SSAT((sum >> 15u), 16u);

+    }

+    /* set status as ARM_SUCCESS as there are no argument errors */

+    status = ARM_MATH_SUCCESS;

+  }

+  return (status);

+

+#endif /* #if (defined(ARM_MATH_CM4) || defined(ARM_MATH_CM3)) && !defined(UNALIGNED_SUPPORT_DISABLE)  */

+

+}

+

+/**   

+ * @} end of PartialConv group   

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c
new file mode 100644
index 000000000..16a060648
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c
@@ -0,0 +1,599 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_conv_partial_q31.c    

+*    

+* Description:	Partial convolution of Q31 sequences.    

+*    

+* 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 1.0.11 2011/10/18  

+*    Bug Fix in conv, correlation, partial convolution.  

+* 

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+*    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup PartialConv    

+ * @{    

+ */

+

+/**    

+ * @brief Partial convolution of Q31 sequences.    

+ * @param[in]       *pSrcA points to the first input sequence.    

+ * @param[in]       srcALen length of the first input sequence.    

+ * @param[in]       *pSrcB points to the second input sequence.    

+ * @param[in]       srcBLen length of the second input sequence.    

+ * @param[out]      *pDst points to the location where the output result is written.    

+ * @param[in]       firstIndex is the first output sample to start with.    

+ * @param[in]       numPoints is the number of output points to be computed.    

+ * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].    

+ *    

+ * See <code>arm_conv_partial_fast_q31()</code> for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.    

+ */

+

+arm_status arm_conv_partial_q31(

+  q31_t * pSrcA,

+  uint32_t srcALen,

+  q31_t * pSrcB,

+  uint32_t srcBLen,

+  q31_t * pDst,

+  uint32_t firstIndex,

+  uint32_t numPoints)

+{

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  q31_t *pIn1;                                   /* inputA pointer               */

+  q31_t *pIn2;                                   /* inputB pointer               */

+  q31_t *pOut = pDst;                            /* output pointer               */

+  q31_t *px;                                     /* Intermediate inputA pointer  */

+  q31_t *py;                                     /* Intermediate inputB pointer  */

+  q31_t *pSrc1, *pSrc2;                          /* Intermediate pointers        */

+  q63_t sum, acc0, acc1, acc2;                   /* Accumulator                  */

+  q31_t x0, x1, x2, c0;

+  uint32_t j, k, count, check, blkCnt;

+  int32_t blockSize1, blockSize2, blockSize3;    /* loop counter                 */

+  arm_status status;                             /* status of Partial convolution */

+

+

+  /* Check for range of output samples to be calculated */

+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))

+  {

+    /* Set status as ARM_MATH_ARGUMENT_ERROR */

+    status = ARM_MATH_ARGUMENT_ERROR;

+  }

+  else

+  {

+

+    /* The algorithm implementation is based on the lengths of the inputs. */

+    /* srcB is always made to slide across srcA. */

+    /* So srcBLen is always considered as shorter or equal to srcALen */

+    if(srcALen >= srcBLen)

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcA;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcB;

+    }

+    else

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcB;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcA;

+

+      /* srcBLen is always considered as shorter or equal to srcALen */

+      j = srcBLen;

+      srcBLen = srcALen;

+      srcALen = j;

+    }

+

+    /* Conditions to check which loopCounter holds    

+     * the first and last indices of the output samples to be calculated. */

+    check = firstIndex + numPoints;

+    blockSize3 = ((int32_t) check - (int32_t) srcALen);

+    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;

+    blockSize1 = (((int32_t) srcBLen - 1) - (int32_t) firstIndex);

+    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :

+                                     (int32_t) numPoints) : 0;

+    blockSize2 = (int32_t) check - ((blockSize3 + blockSize1) +

+                                    (int32_t) firstIndex);

+    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;

+

+    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */

+    /* The function is internally    

+     * divided into three stages according to the number of multiplications that has to be    

+     * taken place between inputA samples and inputB samples. In the first stage of the    

+     * algorithm, the multiplications increase by one for every iteration.    

+     * In the second stage of the algorithm, srcBLen number of multiplications are done.    

+     * In the third stage of the algorithm, the multiplications decrease by one    

+     * for every iteration. */

+

+    /* Set the output pointer to point to the firstIndex    

+     * of the output sample to be calculated. */

+    pOut = pDst + firstIndex;

+

+    /* --------------------------    

+     * Initializations of stage1    

+     * -------------------------*/

+

+    /* sum = x[0] * y[0]    

+     * sum = x[0] * y[1] + x[1] * y[0]    

+     * ....    

+     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]    

+     */

+

+    /* In this stage the MAC operations are increased by 1 for every iteration.    

+       The count variable holds the number of MAC operations performed.    

+       Since the partial convolution starts from firstIndex    

+       Number of Macs to be performed is firstIndex + 1 */

+    count = 1u + firstIndex;

+

+    /* Working pointer of inputA */

+    px = pIn1;

+

+    /* Working pointer of inputB */

+    pSrc2 = pIn2 + firstIndex;

+    py = pSrc2;

+

+    /* ------------------------    

+     * Stage1 process    

+     * ----------------------*/

+

+    /* The first loop starts here */

+    while(blockSize1 > 0)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = count >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        /* x[0] * y[srcBLen - 1] */

+        sum += (q63_t) * px++ * (*py--);

+        /* x[1] * y[srcBLen - 2] */

+        sum += (q63_t) * px++ * (*py--);

+        /* x[2] * y[srcBLen - 3] */

+        sum += (q63_t) * px++ * (*py--);

+        /* x[3] * y[srcBLen - 4] */

+        sum += (q63_t) * px++ * (*py--);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* If the count is not a multiple of 4, compute any remaining MACs here.    

+       ** No loop unrolling is used. */

+      k = count % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulate */

+        sum += (q63_t) * px++ * (*py--);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q31_t) (sum >> 31);

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      py = ++pSrc2;

+      px = pIn1;

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Decrement the loop counter */

+      blockSize1--;

+    }

+

+    /* --------------------------    

+     * Initializations of stage2    

+     * ------------------------*/

+

+    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]    

+     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]    

+     * ....    

+     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]    

+     */

+

+    /* Working pointer of inputA */

+    px = pIn1;

+

+    /* Working pointer of inputB */

+    pSrc2 = pIn2 + (srcBLen - 1u);

+    py = pSrc2;

+

+    /* count is index by which the pointer pIn1 to be incremented */

+    count = 0u;

+

+    /* -------------------    

+     * Stage2 process    

+     * ------------------*/

+

+    /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    

+     * So, to loop unroll over blockSize2,    

+     * srcBLen should be greater than or equal to 4 */

+    if(srcBLen >= 4u)

+    {

+      /* Loop unroll over blkCnt */

+

+      blkCnt = blockSize2 / 3;

+      while(blkCnt > 0u)

+      {

+        /* Set all accumulators to zero */

+        acc0 = 0;

+        acc1 = 0;

+        acc2 = 0;

+

+        /* read x[0], x[1] samples */

+        x0 = *(px++);

+        x1 = *(px++);

+

+        /* Apply loop unrolling and compute 3 MACs simultaneously. */

+        k = srcBLen / 3;

+

+        /* First part of the processing with loop unrolling.  Compute 3 MACs at a time.        

+         ** a second loop below computes MACs for the remaining 1 to 2 samples. */

+        do

+        {

+          /* Read y[srcBLen - 1] sample */

+          c0 = *(py);

+

+          /* Read x[2] sample */

+          x2 = *(px);

+

+          /* Perform the multiply-accumulates */

+          /* acc0 +=  x[0] * y[srcBLen - 1] */

+          acc0 += (q63_t) x0 *c0;

+          /* acc1 +=  x[1] * y[srcBLen - 1] */

+          acc1 += (q63_t) x1 *c0;

+          /* acc2 +=  x[2] * y[srcBLen - 1] */

+          acc2 += (q63_t) x2 *c0;

+

+          /* Read y[srcBLen - 2] sample */

+          c0 = *(py - 1u);

+

+          /* Read x[3] sample */

+          x0 = *(px + 1u);

+

+          /* Perform the multiply-accumulate */

+          /* acc0 +=  x[1] * y[srcBLen - 2] */

+          acc0 += (q63_t) x1 *c0;

+          /* acc1 +=  x[2] * y[srcBLen - 2] */

+          acc1 += (q63_t) x2 *c0;

+          /* acc2 +=  x[3] * y[srcBLen - 2] */

+          acc2 += (q63_t) x0 *c0;

+

+          /* Read y[srcBLen - 3] sample */

+          c0 = *(py - 2u);

+

+          /* Read x[4] sample */

+          x1 = *(px + 2u);

+

+          /* Perform the multiply-accumulates */

+          /* acc0 +=  x[2] * y[srcBLen - 3] */

+          acc0 += (q63_t) x2 *c0;

+          /* acc1 +=  x[3] * y[srcBLen - 2] */

+          acc1 += (q63_t) x0 *c0;

+          /* acc2 +=  x[4] * y[srcBLen - 2] */

+          acc2 += (q63_t) x1 *c0;

+

+

+          px += 3u;

+

+          py -= 3u;

+

+        } while(--k);

+

+        /* If the srcBLen is not a multiple of 3, compute any remaining MACs here.        

+         ** No loop unrolling is used. */

+        k = srcBLen - (3 * (srcBLen / 3));

+

+        while(k > 0u)

+        {

+          /* Read y[srcBLen - 5] sample */

+          c0 = *(py--);

+

+          /* Read x[7] sample */

+          x2 = *(px++);

+

+          /* Perform the multiply-accumulates */

+          /* acc0 +=  x[4] * y[srcBLen - 5] */

+          acc0 += (q63_t) x0 *c0;

+          /* acc1 +=  x[5] * y[srcBLen - 5] */

+          acc1 += (q63_t) x1 *c0;

+          /* acc2 +=  x[6] * y[srcBLen - 5] */

+          acc2 += (q63_t) x2 *c0;

+

+          /* Reuse the present samples for the next MAC */

+          x0 = x1;

+          x1 = x2;

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* Store the result in the accumulator in the destination buffer. */

+        *pOut++ = (q31_t) (acc0 >> 31);

+        *pOut++ = (q31_t) (acc1 >> 31);

+        *pOut++ = (q31_t) (acc2 >> 31);

+

+        /* Increment the pointer pIn1 index, count by 3 */

+        count += 3u;

+

+        /* Update the inputA and inputB pointers for next MAC calculation */

+        px = pIn1 + count;

+        py = pSrc2;

+

+        /* Decrement the loop counter */

+        blkCnt--;

+      }

+

+      /* If the blockSize2 is not a multiple of 3, compute any remaining output samples here.        

+       ** No loop unrolling is used. */

+      blkCnt = blockSize2 - 3 * (blockSize2 / 3);

+

+      while(blkCnt > 0u)

+      {

+        /* Accumulator is made zero for every iteration */

+        sum = 0;

+

+        /* Apply loop unrolling and compute 4 MACs simultaneously. */

+        k = srcBLen >> 2u;

+

+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+        while(k > 0u)

+        {

+          /* Perform the multiply-accumulates */

+          sum += (q63_t) * px++ * (*py--);

+          sum += (q63_t) * px++ * (*py--);

+          sum += (q63_t) * px++ * (*py--);

+          sum += (q63_t) * px++ * (*py--);

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    

+         ** No loop unrolling is used. */

+        k = srcBLen % 0x4u;

+

+        while(k > 0u)

+        {

+          /* Perform the multiply-accumulate */

+          sum += (q63_t) * px++ * (*py--);

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* Store the result in the accumulator in the destination buffer. */

+        *pOut++ = (q31_t) (sum >> 31);

+

+        /* Increment the MAC count */

+        count++;

+

+        /* Update the inputA and inputB pointers for next MAC calculation */

+        px = pIn1 + count;

+        py = pSrc2;

+

+        /* Decrement the loop counter */

+        blkCnt--;

+      }

+    }

+    else

+    {

+      /* If the srcBLen is not a multiple of 4,    

+       * the blockSize2 loop cannot be unrolled by 4 */

+      blkCnt = (uint32_t) blockSize2;

+

+      while(blkCnt > 0u)

+      {

+        /* Accumulator is made zero for every iteration */

+        sum = 0;

+

+        /* srcBLen number of MACS should be performed */

+        k = srcBLen;

+

+        while(k > 0u)

+        {

+          /* Perform the multiply-accumulate */

+          sum += (q63_t) * px++ * (*py--);

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* Store the result in the accumulator in the destination buffer. */

+        *pOut++ = (q31_t) (sum >> 31);

+

+        /* Increment the MAC count */

+        count++;

+

+        /* Update the inputA and inputB pointers for next MAC calculation */

+        px = pIn1 + count;

+        py = pSrc2;

+

+        /* Decrement the loop counter */

+        blkCnt--;

+      }

+    }

+

+

+    /* --------------------------    

+     * Initializations of stage3    

+     * -------------------------*/

+

+    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]    

+     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]    

+     * ....    

+     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]    

+     * sum +=  x[srcALen-1] * y[srcBLen-1]    

+     */

+

+    /* In this stage the MAC operations are decreased by 1 for every iteration.    

+       The blockSize3 variable holds the number of MAC operations performed */

+    count = srcBLen - 1u;

+

+    /* Working pointer of inputA */

+    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);

+    px = pSrc1;

+

+    /* Working pointer of inputB */

+    pSrc2 = pIn2 + (srcBLen - 1u);

+    py = pSrc2;

+

+    /* -------------------    

+     * Stage3 process    

+     * ------------------*/

+

+    while(blockSize3 > 0)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = count >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        sum += (q63_t) * px++ * (*py--);

+        sum += (q63_t) * px++ * (*py--);

+        sum += (q63_t) * px++ * (*py--);

+        sum += (q63_t) * px++ * (*py--);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.    

+       ** No loop unrolling is used. */

+      k = count % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulate */

+        sum += (q63_t) * px++ * (*py--);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q31_t) (sum >> 31);

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = ++pSrc1;

+      py = pSrc2;

+

+      /* Decrement the MAC count */

+      count--;

+

+      /* Decrement the loop counter */

+      blockSize3--;

+

+    }

+

+    /* set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+  }

+

+  /* Return to application */

+  return (status);

+

+#else

+

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

+

+  q31_t *pIn1 = pSrcA;                           /* inputA pointer */

+  q31_t *pIn2 = pSrcB;                           /* inputB pointer */

+  q63_t sum;                                     /* Accumulator */

+  uint32_t i, j;                                 /* loop counters */

+  arm_status status;                             /* status of Partial convolution */

+

+  /* Check for range of output samples to be calculated */

+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))

+  {

+    /* Set status as ARM_ARGUMENT_ERROR */

+    status = ARM_MATH_ARGUMENT_ERROR;

+  }

+  else

+  {

+    /* Loop to calculate convolution for output length number of values */

+    for (i = firstIndex; i <= (firstIndex + numPoints - 1); i++)

+    {

+      /* Initialize sum with zero to carry on MAC operations */

+      sum = 0;

+

+      /* Loop to perform MAC operations according to convolution equation */

+      for (j = 0; j <= i; j++)

+      {

+        /* Check the array limitations */

+        if(((i - j) < srcBLen) && (j < srcALen))

+        {

+          /* z[i] += x[i-j] * y[j] */

+          sum += ((q63_t) pIn1[j] * (pIn2[i - j]));

+        }

+      }

+

+      /* Store the output in the destination buffer */

+      pDst[i] = (q31_t) (sum >> 31u);

+    }

+    /* set status as ARM_SUCCESS as there are no argument errors */

+    status = ARM_MATH_SUCCESS;

+  }

+  return (status);

+

+#endif /*    #ifndef ARM_MATH_CM0      */

+

+}

+

+/**    

+ * @} end of PartialConv group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c
new file mode 100644
index 000000000..ed205838e
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c
@@ -0,0 +1,733 @@
+/* ----------------------------------------------------------------------   

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

+*   

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*   

+* Project: 	    CMSIS DSP Library   

+* Title:		arm_conv_partial_q7.c   

+*   

+* Description:	Partial convolution of Q7 sequences.   

+*   

+* 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 1.0.11 2011/10/18 

+*    Bug Fix in conv, correlation, partial convolution. 

+*

+* 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 0.0.7  2010/06/10    

+*    Misra-C changes done   

+*   

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**   

+ * @ingroup groupFilters   

+ */

+

+/**   

+ * @addtogroup PartialConv   

+ * @{   

+ */

+

+/**   

+ * @brief Partial convolution of Q7 sequences.   

+ * @param[in]       *pSrcA points to the first input sequence.   

+ * @param[in]       srcALen length of the first input sequence.   

+ * @param[in]       *pSrcB points to the second input sequence.   

+ * @param[in]       srcBLen length of the second input sequence.   

+ * @param[out]      *pDst points to the location where the output result is written.   

+ * @param[in]       firstIndex is the first output sample to start with.   

+ * @param[in]       numPoints is the number of output points to be computed.   

+ * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].   

+ *  

+ * \par    

+ * Refer the function <code>arm_conv_partial_opt_q7()</code> for a faster implementation of this function.

+ *  

+ */

+

+arm_status arm_conv_partial_q7(

+  q7_t * pSrcA,

+  uint32_t srcALen,

+  q7_t * pSrcB,

+  uint32_t srcBLen,

+  q7_t * pDst,

+  uint32_t firstIndex,

+  uint32_t numPoints)

+{

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  q7_t *pIn1;                                    /* inputA pointer */

+  q7_t *pIn2;                                    /* inputB pointer */

+  q7_t *pOut = pDst;                             /* output pointer */

+  q7_t *px;                                      /* Intermediate inputA pointer */

+  q7_t *py;                                      /* Intermediate inputB pointer */

+  q7_t *pSrc1, *pSrc2;                           /* Intermediate pointers */

+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator */

+  q31_t input1, input2;

+  q15_t in1, in2;

+  q7_t x0, x1, x2, x3, c0, c1;

+  uint32_t j, k, count, check, blkCnt;

+  int32_t blockSize1, blockSize2, blockSize3;    /* loop counter */

+  arm_status status;

+

+

+  /* Check for range of output samples to be calculated */

+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))

+  {

+    /* Set status as ARM_MATH_ARGUMENT_ERROR */

+    status = ARM_MATH_ARGUMENT_ERROR;

+  }

+  else

+  {

+

+    /* The algorithm implementation is based on the lengths of the inputs. */

+    /* srcB is always made to slide across srcA. */

+    /* So srcBLen is always considered as shorter or equal to srcALen */

+    if(srcALen >= srcBLen)

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcA;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcB;

+    }

+    else

+    {

+      /* Initialization of inputA pointer */

+      pIn1 = pSrcB;

+

+      /* Initialization of inputB pointer */

+      pIn2 = pSrcA;

+

+      /* srcBLen is always considered as shorter or equal to srcALen */

+      j = srcBLen;

+      srcBLen = srcALen;

+      srcALen = j;

+    }

+

+    /* Conditions to check which loopCounter holds   

+     * the first and last indices of the output samples to be calculated. */

+    check = firstIndex + numPoints;

+    blockSize3 = ((int32_t) check - (int32_t) srcALen);

+    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;

+    blockSize1 = (((int32_t) srcBLen - 1) - (int32_t) firstIndex);

+    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :

+                                     (int32_t) numPoints) : 0;

+    blockSize2 = (int32_t) check - ((blockSize3 + blockSize1) +

+                                    (int32_t) firstIndex);

+    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;

+

+    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */

+    /* The function is internally   

+     * divided into three stages according to the number of multiplications that has to be   

+     * taken place between inputA samples and inputB samples. In the first stage of the   

+     * algorithm, the multiplications increase by one for every iteration.   

+     * In the second stage of the algorithm, srcBLen number of multiplications are done.   

+     * In the third stage of the algorithm, the multiplications decrease by one   

+     * for every iteration. */

+

+    /* Set the output pointer to point to the firstIndex   

+     * of the output sample to be calculated. */

+    pOut = pDst + firstIndex;

+

+    /* --------------------------   

+     * Initializations of stage1   

+     * -------------------------*/

+

+    /* sum = x[0] * y[0]   

+     * sum = x[0] * y[1] + x[1] * y[0]   

+     * ....   

+     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   

+     */

+

+    /* In this stage the MAC operations are increased by 1 for every iteration.   

+       The count variable holds the number of MAC operations performed.   

+       Since the partial convolution starts from from firstIndex   

+       Number of Macs to be performed is firstIndex + 1 */

+    count = 1u + firstIndex;

+

+    /* Working pointer of inputA */

+    px = pIn1;

+

+    /* Working pointer of inputB */

+    pSrc2 = pIn2 + firstIndex;

+    py = pSrc2;

+

+    /* ------------------------   

+     * Stage1 process   

+     * ----------------------*/

+

+    /* The first stage starts here */

+    while(blockSize1 > 0)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = count >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        /* x[0] , x[1] */

+        in1 = (q15_t) * px++;

+        in2 = (q15_t) * px++;

+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+        /* y[srcBLen - 1] , y[srcBLen - 2] */

+        in1 = (q15_t) * py--;

+        in2 = (q15_t) * py--;

+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+        /* x[0] * y[srcBLen - 1] */

+        /* x[1] * y[srcBLen - 2] */

+        sum = __SMLAD(input1, input2, sum);

+

+        /* x[2] , x[3] */

+        in1 = (q15_t) * px++;

+        in2 = (q15_t) * px++;

+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+        /* y[srcBLen - 3] , y[srcBLen - 4] */

+        in1 = (q15_t) * py--;

+        in2 = (q15_t) * py--;

+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+        /* x[2] * y[srcBLen - 3] */

+        /* x[3] * y[srcBLen - 4] */

+        sum = __SMLAD(input1, input2, sum);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* If the count is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = count % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum += ((q31_t) * px++ * *py--);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q7_t) (__SSAT(sum >> 7, 8));

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      py = ++pSrc2;

+      px = pIn1;

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Decrement the loop counter */

+      blockSize1--;

+    }

+

+    /* --------------------------   

+     * Initializations of stage2   

+     * ------------------------*/

+

+    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   

+     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   

+     * ....   

+     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   

+     */

+

+    /* Working pointer of inputA */

+    px = pIn1;

+

+    /* Working pointer of inputB */

+    pSrc2 = pIn2 + (srcBLen - 1u);

+    py = pSrc2;

+

+    /* count is index by which the pointer pIn1 to be incremented */

+    count = 0u;

+

+    /* -------------------   

+     * Stage2 process   

+     * ------------------*/

+

+    /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   

+     * So, to loop unroll over blockSize2,   

+     * srcBLen should be greater than or equal to 4 */

+    if(srcBLen >= 4u)

+    {

+      /* Loop unroll over blockSize2, by 4 */

+      blkCnt = ((uint32_t) blockSize2 >> 2u);

+

+      while(blkCnt > 0u)

+      {

+        /* Set all accumulators to zero */

+        acc0 = 0;

+        acc1 = 0;

+        acc2 = 0;

+        acc3 = 0;

+

+        /* read x[0], x[1], x[2] samples */

+        x0 = *(px++);

+        x1 = *(px++);

+        x2 = *(px++);

+

+        /* Apply loop unrolling and compute 4 MACs simultaneously. */

+        k = srcBLen >> 2u;

+

+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+        do

+        {

+          /* Read y[srcBLen - 1] sample */

+          c0 = *(py--);

+          /* Read y[srcBLen - 2] sample */

+          c1 = *(py--);

+

+          /* Read x[3] sample */

+          x3 = *(px++);

+

+          /* x[0] and x[1] are packed */

+          in1 = (q15_t) x0;

+          in2 = (q15_t) x1;

+

+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+          /* y[srcBLen - 1]   and y[srcBLen - 2] are packed */

+          in1 = (q15_t) c0;

+          in2 = (q15_t) c1;

+

+          input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+          /* acc0 += x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2]  */

+          acc0 = __SMLAD(input1, input2, acc0);

+

+          /* x[1] and x[2] are packed */

+          in1 = (q15_t) x1;

+          in2 = (q15_t) x2;

+

+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+          /* acc1 += x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2]  */

+          acc1 = __SMLAD(input1, input2, acc1);

+

+          /* x[2] and x[3] are packed */

+          in1 = (q15_t) x2;

+          in2 = (q15_t) x3;

+

+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+          /* acc2 += x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2]  */

+          acc2 = __SMLAD(input1, input2, acc2);

+

+          /* Read x[4] sample */

+          x0 = *(px++);

+

+          /* x[3] and x[4] are packed */

+          in1 = (q15_t) x3;

+          in2 = (q15_t) x0;

+

+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+          /* acc3 += x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2]  */

+          acc3 = __SMLAD(input1, input2, acc3);

+

+          /* Read y[srcBLen - 3] sample */

+          c0 = *(py--);

+          /* Read y[srcBLen - 4] sample */

+          c1 = *(py--);

+

+          /* Read x[5] sample */

+          x1 = *(px++);

+

+          /* x[2] and x[3] are packed */

+          in1 = (q15_t) x2;

+          in2 = (q15_t) x3;

+

+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+          /* y[srcBLen - 3] and y[srcBLen - 4] are packed */

+          in1 = (q15_t) c0;

+          in2 = (q15_t) c1;

+

+          input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+          /* acc0 += x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4]  */

+          acc0 = __SMLAD(input1, input2, acc0);

+

+          /* x[3] and x[4] are packed */

+          in1 = (q15_t) x3;

+          in2 = (q15_t) x0;

+

+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+          /* acc1 += x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4]  */

+          acc1 = __SMLAD(input1, input2, acc1);

+

+          /* x[4] and x[5] are packed */

+          in1 = (q15_t) x0;

+          in2 = (q15_t) x1;

+

+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+          /* acc2 += x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4]  */

+          acc2 = __SMLAD(input1, input2, acc2);

+

+          /* Read x[6] sample */

+          x2 = *(px++);

+

+          /* x[5] and x[6] are packed */

+          in1 = (q15_t) x1;

+          in2 = (q15_t) x2;

+

+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+          /* acc3 += x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4]  */

+          acc3 = __SMLAD(input1, input2, acc3);

+

+        } while(--k);

+

+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   

+         ** No loop unrolling is used. */

+        k = srcBLen % 0x4u;

+

+        while(k > 0u)

+        {

+          /* Read y[srcBLen - 5] sample */

+          c0 = *(py--);

+

+          /* Read x[7] sample */

+          x3 = *(px++);

+

+          /* Perform the multiply-accumulates */

+          /* acc0 +=  x[4] * y[srcBLen - 5] */

+          acc0 += ((q31_t) x0 * c0);

+          /* acc1 +=  x[5] * y[srcBLen - 5] */

+          acc1 += ((q31_t) x1 * c0);

+          /* acc2 +=  x[6] * y[srcBLen - 5] */

+          acc2 += ((q31_t) x2 * c0);

+          /* acc3 +=  x[7] * y[srcBLen - 5] */

+          acc3 += ((q31_t) x3 * c0);

+

+          /* Reuse the present samples for the next MAC */

+          x0 = x1;

+          x1 = x2;

+          x2 = x3;

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* Store the result in the accumulator in the destination buffer. */

+        *pOut++ = (q7_t) (__SSAT(acc0 >> 7, 8));

+        *pOut++ = (q7_t) (__SSAT(acc1 >> 7, 8));

+        *pOut++ = (q7_t) (__SSAT(acc2 >> 7, 8));

+        *pOut++ = (q7_t) (__SSAT(acc3 >> 7, 8));

+

+        /* Increment the pointer pIn1 index, count by 4 */

+        count += 4u;

+

+        /* Update the inputA and inputB pointers for next MAC calculation */

+        px = pIn1 + count;

+        py = pSrc2;

+

+

+        /* Decrement the loop counter */

+        blkCnt--;

+      }

+

+      /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   

+       ** No loop unrolling is used. */

+      blkCnt = (uint32_t) blockSize2 % 0x4u;

+

+      while(blkCnt > 0u)

+      {

+        /* Accumulator is made zero for every iteration */

+        sum = 0;

+

+        /* Apply loop unrolling and compute 4 MACs simultaneously. */

+        k = srcBLen >> 2u;

+

+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+        while(k > 0u)

+        {

+

+          /* Reading two inputs of SrcA buffer and packing */

+          in1 = (q15_t) * px++;

+          in2 = (q15_t) * px++;

+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+          /* Reading two inputs of SrcB buffer and packing */

+          in1 = (q15_t) * py--;

+          in2 = (q15_t) * py--;

+          input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+          /* Perform the multiply-accumulates */

+          sum = __SMLAD(input1, input2, sum);

+

+          /* Reading two inputs of SrcA buffer and packing */

+          in1 = (q15_t) * px++;

+          in2 = (q15_t) * px++;

+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+          /* Reading two inputs of SrcB buffer and packing */

+          in1 = (q15_t) * py--;

+          in2 = (q15_t) * py--;

+          input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+          /* Perform the multiply-accumulates */

+          sum = __SMLAD(input1, input2, sum);

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   

+         ** No loop unrolling is used. */

+        k = srcBLen % 0x4u;

+

+        while(k > 0u)

+        {

+          /* Perform the multiply-accumulates */

+          sum += ((q31_t) * px++ * *py--);

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* Store the result in the accumulator in the destination buffer. */

+        *pOut++ = (q7_t) (__SSAT(sum >> 7, 8));

+

+        /* Increment the pointer pIn1 index, count by 1 */

+ 	    count++;

+

+        /* Update the inputA and inputB pointers for next MAC calculation */

+      	px = pIn1 + count;

+        py = pSrc2;	

+

+        /* Decrement the loop counter */

+        blkCnt--;

+      }

+    }

+    else

+    {

+      /* If the srcBLen is not a multiple of 4,   

+       * the blockSize2 loop cannot be unrolled by 4 */

+      blkCnt = (uint32_t) blockSize2;

+

+      while(blkCnt > 0u)

+      {

+        /* Accumulator is made zero for every iteration */

+        sum = 0;

+

+        /* srcBLen number of MACS should be performed */

+        k = srcBLen;

+

+        while(k > 0u)

+        {

+          /* Perform the multiply-accumulate */

+          sum += ((q31_t) * px++ * *py--);

+

+          /* Decrement the loop counter */

+          k--;

+        }

+

+        /* Store the result in the accumulator in the destination buffer. */

+        *pOut++ = (q7_t) (__SSAT(sum >> 7, 8));

+

+        /* Increment the MAC count */

+        count++;

+

+        /* Update the inputA and inputB pointers for next MAC calculation */

+        px = pIn1 + count;

+        py = pSrc2;

+

+        /* Decrement the loop counter */

+        blkCnt--;

+      }

+    }

+

+

+    /* --------------------------   

+     * Initializations of stage3   

+     * -------------------------*/

+

+    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   

+     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   

+     * ....   

+     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   

+     * sum +=  x[srcALen-1] * y[srcBLen-1]   

+     */

+

+    /* In this stage the MAC operations are decreased by 1 for every iteration.   

+       The count variable holds the number of MAC operations performed */

+    count = srcBLen - 1u;

+

+    /* Working pointer of inputA */

+    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);

+    px = pSrc1;

+

+    /* Working pointer of inputB */

+    pSrc2 = pIn2 + (srcBLen - 1u);

+    py = pSrc2;

+

+    /* -------------------   

+     * Stage3 process   

+     * ------------------*/

+

+    while(blockSize3 > 0)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = count >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        /* Reading two inputs, x[srcALen - srcBLen + 1] and x[srcALen - srcBLen + 2] of SrcA buffer and packing */

+        in1 = (q15_t) * px++;

+        in2 = (q15_t) * px++;

+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+        /* Reading two inputs, y[srcBLen - 1] and y[srcBLen - 2] of SrcB buffer and packing */

+        in1 = (q15_t) * py--;

+        in2 = (q15_t) * py--;

+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+        /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */

+        /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */

+        sum = __SMLAD(input1, input2, sum);

+

+        /* Reading two inputs, x[srcALen - srcBLen + 3] and x[srcALen - srcBLen + 4] of SrcA buffer and packing */

+        in1 = (q15_t) * px++;

+        in2 = (q15_t) * px++;

+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+        /* Reading two inputs, y[srcBLen - 3] and y[srcBLen - 4] of SrcB buffer and packing */

+        in1 = (q15_t) * py--;

+        in2 = (q15_t) * py--;

+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+        /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */

+        /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */

+        sum = __SMLAD(input1, input2, sum);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* If the count is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = count % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        /* sum +=  x[srcALen-1] * y[srcBLen-1] */

+        sum += ((q31_t) * px++ * *py--);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q7_t) (__SSAT(sum >> 7, 8));

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = ++pSrc1;

+      py = pSrc2;

+

+      /* Decrement the MAC count */

+      count--;

+

+      /* Decrement the loop counter */

+      blockSize3--;

+

+    }

+

+    /* set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+  }

+

+  /* Return to application */

+  return (status);

+

+#else

+

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

+

+  q7_t *pIn1 = pSrcA;                            /* inputA pointer */

+  q7_t *pIn2 = pSrcB;                            /* inputB pointer */

+  q31_t sum;                                     /* Accumulator */

+  uint32_t i, j;                                 /* loop counters */

+  arm_status status;                             /* status of Partial convolution */

+

+  /* Check for range of output samples to be calculated */

+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))

+  {

+    /* Set status as ARM_ARGUMENT_ERROR */

+    status = ARM_MATH_ARGUMENT_ERROR;

+  }

+  else

+  {

+    /* Loop to calculate convolution for output length number of values */

+    for (i = firstIndex; i <= (firstIndex + numPoints - 1); i++)

+    {

+      /* Initialize sum with zero to carry on MAC operations */

+      sum = 0;

+

+      /* Loop to perform MAC operations according to convolution equation */

+      for (j = 0; j <= i; j++)

+      {

+        /* Check the array limitations */

+        if(((i - j) < srcBLen) && (j < srcALen))

+        {

+          /* z[i] += x[i-j] * y[j] */

+          sum += ((q15_t) pIn1[j] * (pIn2[i - j]));

+        }

+      }

+

+      /* Store the output in the destination buffer */

+      pDst[i] = (q7_t) __SSAT((sum >> 7u), 8u);

+    }

+    /* set status as ARM_SUCCESS as there are no argument errors */

+    status = ARM_MATH_SUCCESS;

+  }

+  return (status);

+

+#endif /*  #ifndef ARM_MATH_CM0 */

+

+}

+

+/**   

+ * @} end of PartialConv group   

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c
new file mode 100644
index 000000000..1907719e7
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c
@@ -0,0 +1,733 @@
+/* ----------------------------------------------------------------------   

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

+*   

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*   

+* Project: 	    CMSIS DSP Library   

+* Title:		arm_conv_q15.c   

+*   

+* Description:	Convolution of Q15 sequences.     

+*   

+* 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 1.0.11 2011/10/18 

+*    Bug Fix in conv, correlation, partial convolution. 

+*

+* 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 0.0.7  2010/06/10    

+*    Misra-C changes done   

+*   

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**   

+ * @ingroup groupFilters   

+ */

+

+/**   

+ * @addtogroup Conv   

+ * @{   

+ */

+

+/**   

+ * @brief Convolution of Q15 sequences.   

+ * @param[in] *pSrcA points to the first input sequence.   

+ * @param[in] srcALen length of the first input sequence.   

+ * @param[in] *pSrcB points to the second input sequence.   

+ * @param[in] srcBLen length of the second input sequence.   

+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.   

+ * @return none.   

+ *   

+ * @details   

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

+ *   

+ * \par   

+ * The function is implemented using a 64-bit internal accumulator.   

+ * Both inputs are in 1.15 format and multiplications yield a 2.30 result.   

+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.   

+ * This approach provides 33 guard bits and there is no risk of overflow.   

+ * The 34.30 result is then truncated to 34.15 format by discarding the low 15 bits and then saturated to 1.15 format.   

+ *   

+ * \par   

+ * Refer to <code>arm_conv_fast_q15()</code> for a faster but less precise version of this function for Cortex-M3 and Cortex-M4. 

+ *

+ * \par    

+ * Refer the function <code>arm_conv_opt_q15()</code> for a faster implementation of this function using scratch buffers.

+ *  

+ */

+

+void arm_conv_q15(

+  q15_t * pSrcA,

+  uint32_t srcALen,

+  q15_t * pSrcB,

+  uint32_t srcBLen,

+  q15_t * pDst)

+{

+

+#if (defined(ARM_MATH_CM4) || defined(ARM_MATH_CM3)) && !defined(UNALIGNED_SUPPORT_DISABLE)

+

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

+

+  q15_t *pIn1;                                   /* inputA pointer */

+  q15_t *pIn2;                                   /* inputB pointer */

+  q15_t *pOut = pDst;                            /* output pointer */

+  q63_t sum, acc0, acc1, acc2, acc3;             /* Accumulator */

+  q15_t *px;                                     /* Intermediate inputA pointer  */

+  q15_t *py;                                     /* Intermediate inputB pointer  */

+  q15_t *pSrc1, *pSrc2;                          /* Intermediate pointers */

+  q31_t x0, x1, x2, x3, c0;                      /* Temporary variables to hold state and coefficient values */

+  uint32_t blockSize1, blockSize2, blockSize3, j, k, count, blkCnt;     /* loop counter */

+

+  /* The algorithm implementation is based on the lengths of the inputs. */

+  /* srcB is always made to slide across srcA. */

+  /* So srcBLen is always considered as shorter or equal to srcALen */

+  if(srcALen >= srcBLen)

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = pSrcA;

+

+    /* Initialization of inputB pointer */

+    pIn2 = pSrcB;

+  }

+  else

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = pSrcB;

+

+    /* Initialization of inputB pointer */

+    pIn2 = pSrcA;

+

+    /* srcBLen is always considered as shorter or equal to srcALen */

+    j = srcBLen;

+    srcBLen = srcALen;

+    srcALen = j;

+  }

+

+  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */

+  /* The function is internally   

+   * divided into three stages according to the number of multiplications that has to be   

+   * taken place between inputA samples and inputB samples. In the first stage of the   

+   * algorithm, the multiplications increase by one for every iteration.   

+   * In the second stage of the algorithm, srcBLen number of multiplications are done.   

+   * In the third stage of the algorithm, the multiplications decrease by one   

+   * for every iteration. */

+

+  /* The algorithm is implemented in three stages.   

+     The loop counters of each stage is initiated here. */

+  blockSize1 = srcBLen - 1u;

+  blockSize2 = srcALen - (srcBLen - 1u);

+

+  /* --------------------------   

+   * Initializations of stage1   

+   * -------------------------*/

+

+  /* sum = x[0] * y[0]   

+   * sum = x[0] * y[1] + x[1] * y[0]   

+   * ....   

+   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   

+   */

+

+  /* In this stage the MAC operations are increased by 1 for every iteration.   

+     The count variable holds the number of MAC operations performed */

+  count = 1u;

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  py = pIn2;

+

+

+  /* ------------------------   

+   * Stage1 process   

+   * ----------------------*/

+

+  /* For loop unrolling by 4, this stage is divided into two. */

+  /* First part of this stage computes the MAC operations less than 4 */

+  /* Second part of this stage computes the MAC operations greater than or equal to 4 */

+

+  /* The first part of the stage starts here */

+  while((count < 4u) && (blockSize1 > 0u))

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Loop over number of MAC operations between   

+     * inputA samples and inputB samples */

+    k = count;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      sum = __SMLALD(*px++, *py--, sum);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    py = pIn2 + count;

+    px = pIn1;

+

+    /* Increment the MAC count */

+    count++;

+

+    /* Decrement the loop counter */

+    blockSize1--;

+  }

+

+  /* The second part of the stage starts here */

+  /* The internal loop, over count, is unrolled by 4 */

+  /* To, read the last two inputB samples using SIMD:   

+   * y[srcBLen] and y[srcBLen-1] coefficients, py is decremented by 1 */

+  py = py - 1;

+

+  while(blockSize1 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = count >> 2u;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      /* x[0], x[1] are multiplied with y[srcBLen - 1], y[srcBLen - 2] respectively */

+      sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);

+      /* x[2], x[3] are multiplied with y[srcBLen - 3], y[srcBLen - 4] respectively */

+      sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* For the next MAC operations, the pointer py is used without SIMD   

+     * So, py is incremented by 1 */

+    py = py + 1u;

+

+    /* If the count is not a multiple of 4, compute any remaining MACs here.   

+     ** No loop unrolling is used. */

+    k = count % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      sum = __SMLALD(*px++, *py--, sum);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    py = pIn2 + (count - 1u);

+    px = pIn1;

+

+    /* Increment the MAC count */

+    count++;

+

+    /* Decrement the loop counter */

+    blockSize1--;

+  }

+

+  /* --------------------------   

+   * Initializations of stage2   

+   * ------------------------*/

+

+  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   

+   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   

+   * ....   

+   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   

+   */

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  pSrc2 = pIn2 + (srcBLen - 1u);

+  py = pSrc2;

+

+  /* count is the index by which the pointer pIn1 to be incremented */

+  count = 0u;

+

+

+  /* --------------------   

+   * Stage2 process   

+   * -------------------*/

+

+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   

+   * So, to loop unroll over blockSize2,   

+   * srcBLen should be greater than or equal to 4 */

+  if(srcBLen >= 4u)

+  {

+    /* Loop unroll over blockSize2, by 4 */

+    blkCnt = blockSize2 >> 2u;

+

+    while(blkCnt > 0u)

+    {

+      py = py - 1u;

+

+      /* Set all accumulators to zero */

+      acc0 = 0;

+      acc1 = 0;

+      acc2 = 0;

+      acc3 = 0;

+

+

+      /* read x[0], x[1] samples */

+      x0 = *__SIMD32(px);

+      /* read x[1], x[2] samples */

+      x1 = _SIMD32_OFFSET(px+1);

+	  px+= 2u;

+

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      do

+      {

+        /* Read the last two inputB samples using SIMD:   

+         * y[srcBLen - 1] and y[srcBLen - 2] */

+        c0 = *__SIMD32(py)--;

+

+        /* acc0 +=  x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2] */

+        acc0 = __SMLALDX(x0, c0, acc0);

+

+        /* acc1 +=  x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2] */

+        acc1 = __SMLALDX(x1, c0, acc1);

+

+        /* Read x[2], x[3] */

+        x2 = *__SIMD32(px);

+

+        /* Read x[3], x[4] */

+        x3 = _SIMD32_OFFSET(px+1);

+

+        /* acc2 +=  x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2] */

+        acc2 = __SMLALDX(x2, c0, acc2);

+

+        /* acc3 +=  x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2] */

+        acc3 = __SMLALDX(x3, c0, acc3);

+

+        /* Read y[srcBLen - 3] and y[srcBLen - 4] */

+        c0 = *__SIMD32(py)--;

+

+        /* acc0 +=  x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4] */

+        acc0 = __SMLALDX(x2, c0, acc0);

+

+        /* acc1 +=  x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4] */

+        acc1 = __SMLALDX(x3, c0, acc1);

+

+        /* Read x[4], x[5] */

+        x0 = _SIMD32_OFFSET(px+2);

+

+        /* Read x[5], x[6] */

+        x1 = _SIMD32_OFFSET(px+3);

+		px += 4u;

+

+        /* acc2 +=  x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4] */

+        acc2 = __SMLALDX(x0, c0, acc2);

+

+        /* acc3 +=  x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4] */

+        acc3 = __SMLALDX(x1, c0, acc3);

+

+      } while(--k);

+

+      /* For the next MAC operations, SIMD is not used   

+       * So, the 16 bit pointer if inputB, py is updated */

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      if(k == 1u)

+      {

+        /* Read y[srcBLen - 5] */

+        c0 = *(py+1);

+

+#ifdef  ARM_MATH_BIG_ENDIAN

+

+        c0 = c0 << 16u;

+

+#else

+

+        c0 = c0 & 0x0000FFFF;

+

+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */

+        /* Read x[7] */

+        x3 = *__SIMD32(px);

+		px++;

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLALD(x0, c0, acc0);

+        acc1 = __SMLALD(x1, c0, acc1);

+        acc2 = __SMLALDX(x1, c0, acc2);

+        acc3 = __SMLALDX(x3, c0, acc3);

+      }

+

+      if(k == 2u)

+      {

+        /* Read y[srcBLen - 5], y[srcBLen - 6] */

+        c0 = _SIMD32_OFFSET(py);

+

+        /* Read x[7], x[8] */

+        x3 = *__SIMD32(px);

+

+        /* Read x[9] */

+        x2 = _SIMD32_OFFSET(px+1);

+		px += 2u;

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLALDX(x0, c0, acc0);

+        acc1 = __SMLALDX(x1, c0, acc1);

+        acc2 = __SMLALDX(x3, c0, acc2);

+        acc3 = __SMLALDX(x2, c0, acc3);

+      }

+

+      if(k == 3u)

+      {

+        /* Read y[srcBLen - 5], y[srcBLen - 6] */

+        c0 = _SIMD32_OFFSET(py);

+

+        /* Read x[7], x[8] */

+        x3 = *__SIMD32(px);

+

+        /* Read x[9] */

+        x2 = _SIMD32_OFFSET(px+1);

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLALDX(x0, c0, acc0);

+        acc1 = __SMLALDX(x1, c0, acc1);

+        acc2 = __SMLALDX(x3, c0, acc2);

+        acc3 = __SMLALDX(x2, c0, acc3);

+

+		c0 = *(py-1);

+

+#ifdef  ARM_MATH_BIG_ENDIAN

+

+        c0 = c0 << 16u;

+#else

+

+        c0 = c0 & 0x0000FFFF;

+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */

+        /* Read x[10] */

+        x3 =  _SIMD32_OFFSET(px+2);

+		px += 3u;

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLALDX(x1, c0, acc0);

+        acc1 = __SMLALD(x2, c0, acc1);

+        acc2 = __SMLALDX(x2, c0, acc2);

+        acc3 = __SMLALDX(x3, c0, acc3);

+      }

+

+

+      /* Store the results in the accumulators in the destination buffer. */

+

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+      *__SIMD32(pOut)++ =

+        __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);

+      *__SIMD32(pOut)++ =

+        __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);

+

+#else

+

+      *__SIMD32(pOut)++ =

+        __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);

+      *__SIMD32(pOut)++ =

+        __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);

+

+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+      /* Increment the pointer pIn1 index, count by 4 */

+      count += 4u;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pSrc2;

+

+       /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   

+     ** No loop unrolling is used. */

+    blkCnt = blockSize2 % 0x4u;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum += (q63_t) ((q31_t) * px++ * *py--);

+        sum += (q63_t) ((q31_t) * px++ * *py--);

+        sum += (q63_t) ((q31_t) * px++ * *py--);

+        sum += (q63_t) ((q31_t) * px++ * *py--);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum += (q63_t) ((q31_t) * px++ * *py--);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q15_t) (__SSAT(sum >> 15, 16));

+

+      /* Increment the pointer pIn1 index, count by 1 */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pSrc2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+  else

+  {

+    /* If the srcBLen is not a multiple of 4,   

+     * the blockSize2 loop cannot be unrolled by 4 */

+    blkCnt = blockSize2;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* srcBLen number of MACS should be performed */

+      k = srcBLen;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulate */

+        sum += (q63_t) ((q31_t) * px++ * *py--);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q15_t) (__SSAT(sum >> 15, 16));

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pSrc2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+

+

+  /* --------------------------   

+   * Initializations of stage3   

+   * -------------------------*/

+

+  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   

+   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   

+   * ....   

+   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   

+   * sum +=  x[srcALen-1] * y[srcBLen-1]   

+   */

+

+  /* In this stage the MAC operations are decreased by 1 for every iteration.   

+     The blockSize3 variable holds the number of MAC operations performed */

+

+  blockSize3 = srcBLen - 1u;

+

+  /* Working pointer of inputA */

+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);

+  px = pSrc1;

+

+  /* Working pointer of inputB */

+  pSrc2 = pIn2 + (srcBLen - 1u);

+  pIn2 = pSrc2 - 1u;

+  py = pIn2;

+

+  /* -------------------   

+   * Stage3 process   

+   * ------------------*/

+

+  /* For loop unrolling by 4, this stage is divided into two. */

+  /* First part of this stage computes the MAC operations greater than 4 */

+  /* Second part of this stage computes the MAC operations less than or equal to 4 */

+

+  /* The first part of the stage starts here */

+  j = blockSize3 >> 2u;

+

+  while((j > 0u) && (blockSize3 > 0u))

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = blockSize3 >> 2u;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* x[srcALen - srcBLen + 1], x[srcALen - srcBLen + 2] are multiplied   

+       * with y[srcBLen - 1], y[srcBLen - 2] respectively */

+      sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);

+      /* x[srcALen - srcBLen + 3], x[srcALen - srcBLen + 4] are multiplied   

+       * with y[srcBLen - 3], y[srcBLen - 4] respectively */

+      sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* For the next MAC operations, the pointer py is used without SIMD   

+     * So, py is incremented by 1 */

+    py = py + 1u;

+

+    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.   

+     ** No loop unrolling is used. */

+    k = blockSize3 % 0x4u;

+

+    while(k > 0u)

+    {

+      /* sum += x[srcALen - srcBLen + 5] * y[srcBLen - 5] */

+      sum = __SMLALD(*px++, *py--, sum);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    px = ++pSrc1;

+    py = pIn2;

+

+    /* Decrement the loop counter */

+    blockSize3--;

+

+    j--;

+  }

+

+  /* The second part of the stage starts here */

+  /* SIMD is not used for the next MAC operations,   

+   * so pointer py is updated to read only one sample at a time */

+  py = py + 1u;

+

+  while(blockSize3 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = blockSize3;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      /* sum +=  x[srcALen-1] * y[srcBLen-1] */

+      sum = __SMLALD(*px++, *py--, sum);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    px = ++pSrc1;

+    py = pSrc2;

+

+    /* Decrement the loop counter */

+    blockSize3--;

+  }

+

+#else

+

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

+

+  q15_t *pIn1 = pSrcA;                           /* input pointer */

+  q15_t *pIn2 = pSrcB;                           /* coefficient pointer */

+  q63_t sum;                                     /* Accumulator */

+  uint32_t i, j;                                 /* loop counter */

+

+  /* Loop to calculate output of convolution for output length number of times */

+  for (i = 0; i < (srcALen + srcBLen - 1); i++)

+  {

+    /* Initialize sum with zero to carry on MAC operations */

+    sum = 0;

+

+    /* Loop to perform MAC operations according to convolution equation */

+    for (j = 0; j <= i; j++)

+    {

+      /* Check the array limitations */

+      if(((i - j) < srcBLen) && (j < srcALen))

+      {

+        /* z[i] += x[i-j] * y[j] */

+        sum += (q31_t) pIn1[j] * (pIn2[i - j]);

+      }

+    }

+

+    /* Store the output in the destination buffer */

+    pDst[i] = (q15_t) __SSAT((sum >> 15u), 16u);

+  }

+

+#endif /*  #if (defined(ARM_MATH_CM4) || defined(ARM_MATH_CM3)) && !defined(UNALIGNED_SUPPORT_DISABLE)*/

+

+}

+

+/**   

+ * @} end of Conv group   

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c
new file mode 100644
index 000000000..769b95abb
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c
@@ -0,0 +1,564 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_conv_q31.c    

+*    

+* Description:	Convolution of Q31 sequences.  

+*    

+* 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 1.0.11 2011/10/18  

+*    Bug Fix in conv, correlation, partial convolution.  

+*   

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+*    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup Conv    

+ * @{    

+ */

+

+/**    

+ * @brief Convolution of Q31 sequences.    

+ * @param[in] *pSrcA points to the first input sequence.    

+ * @param[in] srcALen length of the first input sequence.    

+ * @param[in] *pSrcB points to the second input sequence.    

+ * @param[in] srcBLen length of the second input sequence.    

+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.    

+ * @return none.    

+ *    

+ * @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.    

+ * Scale down the inputs by log2(min(srcALen, srcBLen)) (log2 is read as log to the base 2) times to avoid overflows,    

+ * as maximum of min(srcALen, srcBLen) number of additions are carried 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_conv_fast_q31()</code> for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.    

+ */

+

+void arm_conv_q31(

+  q31_t * pSrcA,

+  uint32_t srcALen,

+  q31_t * pSrcB,

+  uint32_t srcBLen,

+  q31_t * pDst)

+{

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  q31_t *pIn1;                                   /* inputA pointer */

+  q31_t *pIn2;                                   /* inputB pointer */

+  q31_t *pOut = pDst;                            /* output pointer */

+  q31_t *px;                                     /* Intermediate inputA pointer  */

+  q31_t *py;                                     /* Intermediate inputB pointer  */

+  q31_t *pSrc1, *pSrc2;                          /* Intermediate pointers */

+  q63_t sum;                                     /* Accumulator */

+  q63_t acc0, acc1, acc2;                        /* Accumulator */

+  q31_t x0, x1, x2, c0;                          /* Temporary variables to hold state and coefficient values */

+  uint32_t j, k, count, blkCnt, blockSize1, blockSize2, blockSize3;     /* loop counter */

+

+  /* The algorithm implementation is based on the lengths of the inputs. */

+  /* srcB is always made to slide across srcA. */

+  /* So srcBLen is always considered as shorter or equal to srcALen */

+  if(srcALen >= srcBLen)

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = pSrcA;

+

+    /* Initialization of inputB pointer */

+    pIn2 = pSrcB;

+  }

+  else

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = (q31_t *) pSrcB;

+

+    /* Initialization of inputB pointer */

+    pIn2 = (q31_t *) pSrcA;

+

+    /* srcBLen is always considered as shorter or equal to srcALen */

+    j = srcBLen;

+    srcBLen = srcALen;

+    srcALen = j;

+  }

+

+  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */

+  /* The function is internally    

+   * divided into three stages according to the number of multiplications that has to be    

+   * taken place between inputA samples and inputB samples. In the first stage of the    

+   * algorithm, the multiplications increase by one for every iteration.    

+   * In the second stage of the algorithm, srcBLen number of multiplications are done.    

+   * In the third stage of the algorithm, the multiplications decrease by one    

+   * for every iteration. */

+

+  /* The algorithm is implemented in three stages.    

+     The loop counters of each stage is initiated here. */

+  blockSize1 = srcBLen - 1u;

+  blockSize2 = srcALen - (srcBLen - 1u);

+  blockSize3 = blockSize1;

+

+  /* --------------------------    

+   * Initializations of stage1    

+   * -------------------------*/

+

+  /* sum = x[0] * y[0]    

+   * sum = x[0] * y[1] + x[1] * y[0]    

+   * ....    

+   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]    

+   */

+

+  /* In this stage the MAC operations are increased by 1 for every iteration.    

+     The count variable holds the number of MAC operations performed */

+  count = 1u;

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  py = pIn2;

+

+

+  /* ------------------------    

+   * Stage1 process    

+   * ----------------------*/

+

+  /* The first stage starts here */

+  while(blockSize1 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = count >> 2u;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* x[0] * y[srcBLen - 1] */

+      sum += (q63_t) * px++ * (*py--);

+      /* x[1] * y[srcBLen - 2] */

+      sum += (q63_t) * px++ * (*py--);

+      /* x[2] * y[srcBLen - 3] */

+      sum += (q63_t) * px++ * (*py--);

+      /* x[3] * y[srcBLen - 4] */

+      sum += (q63_t) * px++ * (*py--);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, compute any remaining MACs here.    

+     ** No loop unrolling is used. */

+    k = count % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      sum += (q63_t) * px++ * (*py--);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut++ = (q31_t) (sum >> 31);

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    py = pIn2 + count;

+    px = pIn1;

+

+    /* Increment the MAC count */

+    count++;

+

+    /* Decrement the loop counter */

+    blockSize1--;

+  }

+

+  /* --------------------------    

+   * Initializations of stage2    

+   * ------------------------*/

+

+  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]    

+   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]    

+   * ....    

+   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]    

+   */

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  pSrc2 = pIn2 + (srcBLen - 1u);

+  py = pSrc2;

+

+  /* count is index by which the pointer pIn1 to be incremented */

+  count = 0u;

+

+  /* -------------------    

+   * Stage2 process    

+   * ------------------*/

+

+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    

+   * So, to loop unroll over blockSize2,    

+   * srcBLen should be greater than or equal to 4 */

+  if(srcBLen >= 4u)

+  {

+    /* Loop unroll by 3 */

+    blkCnt = blockSize2 / 3;

+

+    while(blkCnt > 0u)

+    {

+      /* Set all accumulators to zero */

+      acc0 = 0;

+      acc1 = 0;

+      acc2 = 0;

+

+      /* read x[0], x[1], x[2] samples */

+      x0 = *(px++);

+      x1 = *(px++);

+

+      /* Apply loop unrolling and compute 3 MACs simultaneously. */

+      k = srcBLen / 3;

+

+      /* First part of the processing with loop unrolling.  Compute 3 MACs at a time.        

+       ** a second loop below computes MACs for the remaining 1 to 2 samples. */

+      do

+      {

+        /* Read y[srcBLen - 1] sample */

+        c0 = *(py);

+

+        /* Read x[3] sample */

+        x2 = *(px);

+

+        /* Perform the multiply-accumulates */

+        /* acc0 +=  x[0] * y[srcBLen - 1] */

+        acc0 += ((q63_t) x0 * c0);

+        /* acc1 +=  x[1] * y[srcBLen - 1] */

+        acc1 += ((q63_t) x1 * c0);

+        /* acc2 +=  x[2] * y[srcBLen - 1] */

+        acc2 += ((q63_t) x2 * c0);

+

+        /* Read y[srcBLen - 2] sample */

+        c0 = *(py - 1u);

+

+        /* Read x[4] sample */

+        x0 = *(px + 1u);

+

+        /* Perform the multiply-accumulate */

+        /* acc0 +=  x[1] * y[srcBLen - 2] */

+        acc0 += ((q63_t) x1 * c0);

+        /* acc1 +=  x[2] * y[srcBLen - 2] */

+        acc1 += ((q63_t) x2 * c0);

+        /* acc2 +=  x[3] * y[srcBLen - 2] */

+        acc2 += ((q63_t) x0 * c0);

+

+        /* Read y[srcBLen - 3] sample */

+        c0 = *(py - 2u);

+

+        /* Read x[5] sample */

+        x1 = *(px + 2u);

+

+        /* Perform the multiply-accumulates */

+        /* acc0 +=  x[2] * y[srcBLen - 3] */

+        acc0 += ((q63_t) x2 * c0);

+        /* acc1 +=  x[3] * y[srcBLen - 2] */

+        acc1 += ((q63_t) x0 * c0);

+        /* acc2 +=  x[4] * y[srcBLen - 2] */

+        acc2 += ((q63_t) x1 * c0);

+

+        /* update scratch pointers */

+        px += 3u;

+        py -= 3u;

+

+      } while(--k);

+

+      /* If the srcBLen is not a multiple of 3, compute any remaining MACs here.        

+       ** No loop unrolling is used. */

+      k = srcBLen - (3 * (srcBLen / 3));

+

+      while(k > 0u)

+      {

+        /* Read y[srcBLen - 5] sample */

+        c0 = *(py--);

+

+        /* Read x[7] sample */

+        x2 = *(px++);

+

+        /* Perform the multiply-accumulates */

+        /* acc0 +=  x[4] * y[srcBLen - 5] */

+        acc0 += ((q63_t) x0 * c0);

+        /* acc1 +=  x[5] * y[srcBLen - 5] */

+        acc1 += ((q63_t) x1 * c0);

+        /* acc2 +=  x[6] * y[srcBLen - 5] */

+        acc2 += ((q63_t) x2 * c0);

+

+        /* Reuse the present samples for the next MAC */

+        x0 = x1;

+        x1 = x2;

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the results in the accumulators in the destination buffer. */

+      *pOut++ = (q31_t) (acc0 >> 31);

+      *pOut++ = (q31_t) (acc1 >> 31);

+      *pOut++ = (q31_t) (acc2 >> 31);

+

+      /* Increment the pointer pIn1 index, count by 3 */

+      count += 3u;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pSrc2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* If the blockSize2 is not a multiple of 3, compute any remaining output samples here.        

+     ** No loop unrolling is used. */

+    blkCnt = blockSize2 - 3 * (blockSize2 / 3);

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum += (q63_t) * px++ * (*py--);

+        sum += (q63_t) * px++ * (*py--);

+        sum += (q63_t) * px++ * (*py--);

+        sum += (q63_t) * px++ * (*py--);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulate */

+        sum += (q63_t) * px++ * (*py--);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q31_t) (sum >> 31);

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pSrc2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+  else

+  {

+    /* If the srcBLen is not a multiple of 4,    

+     * the blockSize2 loop cannot be unrolled by 4 */

+    blkCnt = blockSize2;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* srcBLen number of MACS should be performed */

+      k = srcBLen;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulate */

+        sum += (q63_t) * px++ * (*py--);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q31_t) (sum >> 31);

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pSrc2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+

+

+  /* --------------------------    

+   * Initializations of stage3    

+   * -------------------------*/

+

+  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]    

+   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]    

+   * ....    

+   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]    

+   * sum +=  x[srcALen-1] * y[srcBLen-1]    

+   */

+

+  /* In this stage the MAC operations are decreased by 1 for every iteration.    

+     The blockSize3 variable holds the number of MAC operations performed */

+

+  /* Working pointer of inputA */

+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);

+  px = pSrc1;

+

+  /* Working pointer of inputB */

+  pSrc2 = pIn2 + (srcBLen - 1u);

+  py = pSrc2;

+

+  /* -------------------    

+   * Stage3 process    

+   * ------------------*/

+

+  while(blockSize3 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = blockSize3 >> 2u;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */

+      sum += (q63_t) * px++ * (*py--);

+      /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */

+      sum += (q63_t) * px++ * (*py--);

+      /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */

+      sum += (q63_t) * px++ * (*py--);

+      /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */

+      sum += (q63_t) * px++ * (*py--);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.    

+     ** No loop unrolling is used. */

+    k = blockSize3 % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      sum += (q63_t) * px++ * (*py--);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut++ = (q31_t) (sum >> 31);

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    px = ++pSrc1;

+    py = pSrc2;

+

+    /* Decrement the loop counter */

+    blockSize3--;

+  }

+

+#else

+

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

+

+  q31_t *pIn1 = pSrcA;                           /* input pointer */

+  q31_t *pIn2 = pSrcB;                           /* coefficient pointer */

+  q63_t sum;                                     /* Accumulator */

+  uint32_t i, j;                                 /* loop counter */

+

+  /* Loop to calculate output of convolution for output length number of times */

+  for (i = 0; i < (srcALen + srcBLen - 1); i++)

+  {

+    /* Initialize sum with zero to carry on MAC operations */

+    sum = 0;

+

+    /* Loop to perform MAC operations according to convolution equation */

+    for (j = 0; j <= i; j++)

+    {

+      /* Check the array limitations */

+      if(((i - j) < srcBLen) && (j < srcALen))

+      {

+        /* z[i] += x[i-j] * y[j] */

+        sum += ((q63_t) pIn1[j] * (pIn2[i - j]));

+      }

+    }

+

+    /* Store the output in the destination buffer */

+    pDst[i] = (q31_t) (sum >> 31u);

+  }

+

+#endif /*     #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of Conv group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c
new file mode 100644
index 000000000..eb78fd533
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c
@@ -0,0 +1,689 @@
+/* ----------------------------------------------------------------------   

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

+*   

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*   

+* Project: 	    CMSIS DSP Library   

+* Title:		arm_conv_q7.c   

+*   

+* Description:	Convolution of Q7 sequences. 

+*   

+* 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 1.0.11 2011/10/18 

+*    Bug Fix in conv, correlation, partial convolution. 

+*

+* 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 0.0.7  2010/06/10    

+*    Misra-C changes done   

+*   

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**   

+ * @ingroup groupFilters   

+ */

+

+/**   

+ * @addtogroup Conv   

+ * @{   

+ */

+

+/**   

+ * @brief Convolution of Q7 sequences.   

+ * @param[in] *pSrcA points to the first input sequence.   

+ * @param[in] srcALen length of the first input sequence.   

+ * @param[in] *pSrcB points to the second input sequence.   

+ * @param[in] srcBLen length of the second input sequence.   

+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.   

+ * @return none.   

+ *   

+ * @details   

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

+ *   

+ * \par   

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

+ * Both the inputs 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.   

+ * This approach provides 17 guard bits and there is no risk of overflow as long as <code>max(srcALen, srcBLen)<131072</code>.   

+ * The 18.14 result is then truncated to 18.7 format by discarding the low 7 bits and then saturated to 1.7 format.   

+ *

+ * \par    

+ * Refer the function <code>arm_conv_opt_q7()</code> for a faster implementation of this function.

+ * 

+ */

+

+void arm_conv_q7(

+  q7_t * pSrcA,

+  uint32_t srcALen,

+  q7_t * pSrcB,

+  uint32_t srcBLen,

+  q7_t * pDst)

+{

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  q7_t *pIn1;                                    /* inputA pointer */

+  q7_t *pIn2;                                    /* inputB pointer */

+  q7_t *pOut = pDst;                             /* output pointer */

+  q7_t *px;                                      /* Intermediate inputA pointer */

+  q7_t *py;                                      /* Intermediate inputB pointer */

+  q7_t *pSrc1, *pSrc2;                           /* Intermediate pointers */

+  q7_t x0, x1, x2, x3, c0, c1;                   /* Temporary variables to hold state and coefficient values */

+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator */

+  q31_t input1, input2;                          /* Temporary input variables */

+  q15_t in1, in2;                                /* Temporary input variables */

+  uint32_t j, k, count, blkCnt, blockSize1, blockSize2, blockSize3;     /* loop counter */

+

+  /* The algorithm implementation is based on the lengths of the inputs. */

+  /* srcB is always made to slide across srcA. */

+  /* So srcBLen is always considered as shorter or equal to srcALen */

+  if(srcALen >= srcBLen)

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = pSrcA;

+

+    /* Initialization of inputB pointer */

+    pIn2 = pSrcB;

+  }

+  else

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = pSrcB;

+

+    /* Initialization of inputB pointer */

+    pIn2 = pSrcA;

+

+    /* srcBLen is always considered as shorter or equal to srcALen */

+    j = srcBLen;

+    srcBLen = srcALen;

+    srcALen = j;

+  }

+

+  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */

+  /* The function is internally   

+   * divided into three stages according to the number of multiplications that has to be   

+   * taken place between inputA samples and inputB samples. In the first stage of the   

+   * algorithm, the multiplications increase by one for every iteration.   

+   * In the second stage of the algorithm, srcBLen number of multiplications are done.   

+   * In the third stage of the algorithm, the multiplications decrease by one   

+   * for every iteration. */

+

+  /* The algorithm is implemented in three stages.   

+     The loop counters of each stage is initiated here. */

+  blockSize1 = srcBLen - 1u;

+  blockSize2 = (srcALen - srcBLen) + 1u;

+  blockSize3 = blockSize1;

+

+  /* --------------------------   

+   * Initializations of stage1   

+   * -------------------------*/

+

+  /* sum = x[0] * y[0]   

+   * sum = x[0] * y[1] + x[1] * y[0]   

+   * ....   

+   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   

+   */

+

+  /* In this stage the MAC operations are increased by 1 for every iteration.   

+     The count variable holds the number of MAC operations performed */

+  count = 1u;

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  py = pIn2;

+

+

+  /* ------------------------   

+   * Stage1 process   

+   * ----------------------*/

+

+  /* The first stage starts here */

+  while(blockSize1 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = count >> 2u;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* x[0] , x[1] */

+      in1 = (q15_t) * px++;

+      in2 = (q15_t) * px++;

+      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);

+

+      /* y[srcBLen - 1] , y[srcBLen - 2] */

+      in1 = (q15_t) * py--;

+      in2 = (q15_t) * py--;

+      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);

+

+      /* x[0] * y[srcBLen - 1] */

+      /* x[1] * y[srcBLen - 2] */

+      sum = __SMLAD(input1, input2, sum);

+

+      /* x[2] , x[3] */

+      in1 = (q15_t) * px++;

+      in2 = (q15_t) * px++;

+      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);

+

+      /* y[srcBLen - 3] , y[srcBLen - 4] */

+      in1 = (q15_t) * py--;

+      in2 = (q15_t) * py--;

+      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);

+

+      /* x[2] * y[srcBLen - 3] */

+      /* x[3] * y[srcBLen - 4] */

+      sum = __SMLAD(input1, input2, sum);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, compute any remaining MACs here.   

+     ** No loop unrolling is used. */

+    k = count % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      sum += ((q15_t) * px++ * *py--);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut++ = (q7_t) (__SSAT(sum >> 7u, 8));

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    py = pIn2 + count;

+    px = pIn1;

+

+    /* Increment the MAC count */

+    count++;

+

+    /* Decrement the loop counter */

+    blockSize1--;

+  }

+

+  /* --------------------------   

+   * Initializations of stage2   

+   * ------------------------*/

+

+  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   

+   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   

+   * ....   

+   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   

+   */

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  pSrc2 = pIn2 + (srcBLen - 1u);

+  py = pSrc2;

+

+  /* count is index by which the pointer pIn1 to be incremented */

+  count = 0u;

+

+  /* -------------------   

+   * Stage2 process   

+   * ------------------*/

+

+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   

+   * So, to loop unroll over blockSize2,   

+   * srcBLen should be greater than or equal to 4 */

+  if(srcBLen >= 4u)

+  {

+    /* Loop unroll over blockSize2, by 4 */

+    blkCnt = blockSize2 >> 2u;

+

+    while(blkCnt > 0u)

+    {

+      /* Set all accumulators to zero */

+      acc0 = 0;

+      acc1 = 0;

+      acc2 = 0;

+      acc3 = 0;

+

+      /* read x[0], x[1], x[2] samples */

+      x0 = *(px++);

+      x1 = *(px++);

+      x2 = *(px++);

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      do

+      {

+        /* Read y[srcBLen - 1] sample */

+        c0 = *(py--);

+        /* Read y[srcBLen - 2] sample */

+        c1 = *(py--);

+

+        /* Read x[3] sample */

+        x3 = *(px++);

+

+        /* x[0] and x[1] are packed */

+        in1 = (q15_t) x0;

+        in2 = (q15_t) x1;

+

+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);

+

+        /* y[srcBLen - 1]   and y[srcBLen - 2] are packed */

+        in1 = (q15_t) c0;

+        in2 = (q15_t) c1;

+

+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);

+

+        /* acc0 += x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2]  */

+        acc0 = __SMLAD(input1, input2, acc0);

+

+        /* x[1] and x[2] are packed */

+        in1 = (q15_t) x1;

+        in2 = (q15_t) x2;

+

+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);

+

+        /* acc1 += x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2]  */

+        acc1 = __SMLAD(input1, input2, acc1);

+

+        /* x[2] and x[3] are packed */

+        in1 = (q15_t) x2;

+        in2 = (q15_t) x3;

+

+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);

+

+        /* acc2 += x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2]  */

+        acc2 = __SMLAD(input1, input2, acc2);

+

+        /* Read x[4] sample */

+        x0 = *(px++);

+

+        /* x[3] and x[4] are packed */

+        in1 = (q15_t) x3;

+        in2 = (q15_t) x0;

+

+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);

+

+        /* acc3 += x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2]  */

+        acc3 = __SMLAD(input1, input2, acc3);

+

+        /* Read y[srcBLen - 3] sample */

+        c0 = *(py--);

+        /* Read y[srcBLen - 4] sample */

+        c1 = *(py--);

+

+        /* Read x[5] sample */

+        x1 = *(px++);

+

+        /* x[2] and x[3] are packed */

+        in1 = (q15_t) x2;

+        in2 = (q15_t) x3;

+

+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);

+

+        /* y[srcBLen - 3] and y[srcBLen - 4] are packed */

+        in1 = (q15_t) c0;

+        in2 = (q15_t) c1;

+

+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);

+

+        /* acc0 += x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4]  */

+        acc0 = __SMLAD(input1, input2, acc0);

+

+        /* x[3] and x[4] are packed */

+        in1 = (q15_t) x3;

+        in2 = (q15_t) x0;

+

+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);

+

+        /* acc1 += x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4]  */

+        acc1 = __SMLAD(input1, input2, acc1);

+

+        /* x[4] and x[5] are packed */

+        in1 = (q15_t) x0;

+        in2 = (q15_t) x1;

+

+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);

+

+        /* acc2 += x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4]  */

+        acc2 = __SMLAD(input1, input2, acc2);

+

+        /* Read x[6] sample */

+        x2 = *(px++);

+

+        /* x[5] and x[6] are packed */

+        in1 = (q15_t) x1;

+        in2 = (q15_t) x2;

+

+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);

+

+        /* acc3 += x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4]  */

+        acc3 = __SMLAD(input1, input2, acc3);

+

+      } while(--k);

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Read y[srcBLen - 5] sample */

+        c0 = *(py--);

+

+        /* Read x[7] sample */

+        x3 = *(px++);

+

+        /* Perform the multiply-accumulates */

+        /* acc0 +=  x[4] * y[srcBLen - 5] */

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

+        /* acc1 +=  x[5] * y[srcBLen - 5] */

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

+        /* acc2 +=  x[6] * y[srcBLen - 5] */

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

+        /* acc3 +=  x[7] * y[srcBLen - 5] */

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

+

+        /* Reuse the present samples for the next MAC */

+        x0 = x1;

+        x1 = x2;

+        x2 = x3;

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q7_t) (__SSAT(acc0 >> 7u, 8));

+      *pOut++ = (q7_t) (__SSAT(acc1 >> 7u, 8));

+      *pOut++ = (q7_t) (__SSAT(acc2 >> 7u, 8));

+      *pOut++ = (q7_t) (__SSAT(acc3 >> 7u, 8));

+

+      /* Increment the pointer pIn1 index, count by 4 */

+      count += 4u;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pSrc2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   

+     ** No loop unrolling is used. */

+    blkCnt = blockSize2 % 0x4u;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+

+        /* Reading two inputs of SrcA buffer and packing */

+        in1 = (q15_t) * px++;

+        in2 = (q15_t) * px++;

+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);

+

+        /* Reading two inputs of SrcB buffer and packing */

+        in1 = (q15_t) * py--;

+        in2 = (q15_t) * py--;

+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);

+

+        /* Perform the multiply-accumulates */

+        sum = __SMLAD(input1, input2, sum);

+

+        /* Reading two inputs of SrcA buffer and packing */

+        in1 = (q15_t) * px++;

+        in2 = (q15_t) * px++;

+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);

+

+        /* Reading two inputs of SrcB buffer and packing */

+        in1 = (q15_t) * py--;

+        in2 = (q15_t) * py--;

+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);

+

+        /* Perform the multiply-accumulates */

+        sum = __SMLAD(input1, input2, sum);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum += ((q15_t) * px++ * *py--);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q7_t) (__SSAT(sum >> 7u, 8));

+

+      /* Increment the pointer pIn1 index, count by 1 */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pSrc2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+  else

+  {

+    /* If the srcBLen is not a multiple of 4,   

+     * the blockSize2 loop cannot be unrolled by 4 */

+    blkCnt = blockSize2;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* srcBLen number of MACS should be performed */

+      k = srcBLen;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulate */

+        sum += ((q15_t) * px++ * *py--);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut++ = (q7_t) (__SSAT(sum >> 7u, 8));

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pSrc2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+

+

+  /* --------------------------   

+   * Initializations of stage3   

+   * -------------------------*/

+

+  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   

+   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   

+   * ....   

+   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   

+   * sum +=  x[srcALen-1] * y[srcBLen-1]   

+   */

+

+  /* In this stage the MAC operations are decreased by 1 for every iteration.   

+     The blockSize3 variable holds the number of MAC operations performed */

+

+  /* Working pointer of inputA */

+  pSrc1 = pIn1 + (srcALen - (srcBLen - 1u));

+  px = pSrc1;

+

+  /* Working pointer of inputB */

+  pSrc2 = pIn2 + (srcBLen - 1u);

+  py = pSrc2;

+

+  /* -------------------   

+   * Stage3 process   

+   * ------------------*/

+

+  while(blockSize3 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = blockSize3 >> 2u;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* Reading two inputs, x[srcALen - srcBLen + 1] and x[srcALen - srcBLen + 2] of SrcA buffer and packing */

+      in1 = (q15_t) * px++;

+      in2 = (q15_t) * px++;

+      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);

+

+      /* Reading two inputs, y[srcBLen - 1] and y[srcBLen - 2] of SrcB buffer and packing */

+      in1 = (q15_t) * py--;

+      in2 = (q15_t) * py--;

+      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);

+

+      /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */

+      /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */

+      sum = __SMLAD(input1, input2, sum);

+

+      /* Reading two inputs, x[srcALen - srcBLen + 3] and x[srcALen - srcBLen + 4] of SrcA buffer and packing */

+      in1 = (q15_t) * px++;

+      in2 = (q15_t) * px++;

+      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);

+

+      /* Reading two inputs, y[srcBLen - 3] and y[srcBLen - 4] of SrcB buffer and packing */

+      in1 = (q15_t) * py--;

+      in2 = (q15_t) * py--;

+      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);

+

+      /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */

+      /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */

+      sum = __SMLAD(input1, input2, sum);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.   

+     ** No loop unrolling is used. */

+    k = blockSize3 % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      sum += ((q15_t) * px++ * *py--);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut++ = (q7_t) (__SSAT(sum >> 7u, 8));

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    px = ++pSrc1;

+    py = pSrc2;

+

+    /* Decrement the loop counter */

+    blockSize3--;

+  }

+

+#else

+

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

+

+  q7_t *pIn1 = pSrcA;                            /* input pointer */

+  q7_t *pIn2 = pSrcB;                            /* coefficient pointer */

+  q31_t sum;                                     /* Accumulator */

+  uint32_t i, j;                                 /* loop counter */

+

+  /* Loop to calculate output of convolution for output length number of times */

+  for (i = 0; i < (srcALen + srcBLen - 1); i++)

+  {

+    /* Initialize sum with zero to carry on MAC operations */

+    sum = 0;

+

+    /* Loop to perform MAC operations according to convolution equation */

+    for (j = 0; j <= i; j++)

+    {

+      /* Check the array limitations */

+      if(((i - j) < srcBLen) && (j < srcALen))

+      {

+        /* z[i] += x[i-j] * y[j] */

+        sum += (q15_t) pIn1[j] * (pIn2[i - j]);

+      }

+    }

+

+    /* Store the output in the destination buffer */

+    pDst[i] = (q7_t) __SSAT((sum >> 7u), 8u);

+  }

+

+#endif /*   #ifndef ARM_MATH_CM0        */

+

+}

+

+/**   

+ * @} end of Conv group   

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c
new file mode 100644
index 000000000..6a99eafc1
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c
@@ -0,0 +1,738 @@
+/* ----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_correlate_f32.c    

+*    

+* Description:	 Correlation of floating-point sequences.    

+*    

+* 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 1.0.11 2011/10/18  

+*    Bug Fix in conv, correlation, partial convolution.  

+* 

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+*    

+* -------------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @defgroup Corr Correlation    

+ *    

+ * Correlation is a mathematical operation that is similar to convolution.    

+ * As with convolution, correlation uses two signals to produce a third signal.    

+ * The underlying algorithms in correlation and convolution are identical except that one of the inputs is flipped in convolution.    

+ * Correlation is commonly used to measure the similarity between two signals.    

+ * It has applications in pattern recognition, cryptanalysis, and searching.    

+ * The CMSIS library provides correlation functions for Q7, Q15, Q31 and floating-point data types.    

+ * Fast versions of the Q15 and Q31 functions are also provided.    

+ *    

+ * \par Algorithm    

+ * Let <code>a[n]</code> and <code>b[n]</code> be sequences of length <code>srcALen</code> and <code>srcBLen</code> samples respectively.    

+ * The convolution of the two signals is denoted by    

+ * <pre>    

+ *                   c[n] = a[n] * b[n]    

+ * </pre>    

+ * In correlation, one of the signals is flipped in time    

+ * <pre>    

+ *                   c[n] = a[n] * b[-n]    

+ * </pre>    

+ *    

+ * \par    

+ * and this is mathematically defined as    

+ * \image html CorrelateEquation.gif    

+ * \par    

+ * The <code>pSrcA</code> points to the first input vector of length <code>srcALen</code> and <code>pSrcB</code> points to the second input vector of length <code>srcBLen</code>.    

+ * The result <code>c[n]</code> is of length <code>2 * max(srcALen, srcBLen) - 1</code> and is defined over the interval <code>n=0, 1, 2, ..., (2 * max(srcALen, srcBLen) - 2)</code>.    

+ * The output result is written to <code>pDst</code> and the calling function must allocate <code>2 * max(srcALen, srcBLen) - 1</code> words for the result.    

+ *    

+ * <b>Note</b>   

+ * \par  

+ * The <code>pDst</code> should be initialized to all zeros before being used.  

+ *  

+ * <b>Fixed-Point Behavior</b>    

+ * \par    

+ * Correlation requires summing up a large number of intermediate products.    

+ * As such, the Q7, Q15, and Q31 functions run a risk of overflow and saturation.    

+ * Refer to the function specific documentation below for further details of the particular algorithm used.    

+ *

+ *

+ * <b>Fast Versions</b>

+ *

+ * \par 

+ * Fast versions are supported for Q31 and Q15.  Cycles for Fast versions are less compared to Q31 and Q15 of correlate and the design requires

+ * the input signals should be scaled down to avoid intermediate overflows.   

+ *

+ *

+ * <b>Opt Versions</b>

+ *

+ * \par 

+ * Opt versions are supported for Q15 and Q7.  Design uses internal scratch buffer for getting good optimisation.

+ * These versions are optimised in cycles and consumes more memory(Scratch memory) compared to Q15 and Q7 versions of correlate 

+ */

+

+/**    

+ * @addtogroup Corr    

+ * @{    

+ */

+/**    

+ * @brief Correlation of floating-point sequences.    

+ * @param[in]  *pSrcA points to the first input sequence.    

+ * @param[in]  srcALen length of the first input sequence.    

+ * @param[in]  *pSrcB points to the second input sequence.    

+ * @param[in]  srcBLen length of the second input sequence.    

+ * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.    

+ * @return none.    

+ */

+

+void arm_correlate_f32(

+  float32_t * pSrcA,

+  uint32_t srcALen,

+  float32_t * pSrcB,

+  uint32_t srcBLen,

+  float32_t * pDst)

+{

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  float32_t *pIn1;                               /* inputA pointer */

+  float32_t *pIn2;                               /* inputB pointer */

+  float32_t *pOut = pDst;                        /* output pointer */

+  float32_t *px;                                 /* Intermediate inputA pointer */

+  float32_t *py;                                 /* Intermediate inputB pointer */

+  float32_t *pSrc1;                              /* Intermediate pointers */

+  float32_t sum, acc0, acc1, acc2, acc3;         /* Accumulators */

+  float32_t x0, x1, x2, x3, c0;                  /* temporary variables for holding input and coefficient values */

+  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counters */

+  int32_t inc = 1;                               /* Destination address modifier */

+

+

+  /* The algorithm implementation is based on the lengths of the inputs. */

+  /* srcB is always made to slide across srcA. */

+  /* So srcBLen is always considered as shorter or equal to srcALen */

+  /* But CORR(x, y) is reverse of CORR(y, x) */

+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */

+  /* and the destination pointer modifier, inc is set to -1 */

+  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */

+  /* But to improve the performance,    

+   * we include zeroes in the output instead of zero padding either of the the inputs*/

+  /* If srcALen > srcBLen,    

+   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */

+  /* If srcALen < srcBLen,    

+   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */

+  if(srcALen >= srcBLen)

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = pSrcA;

+

+    /* Initialization of inputB pointer */

+    pIn2 = pSrcB;

+

+    /* Number of output samples is calculated */

+    outBlockSize = (2u * srcALen) - 1u;

+

+    /* When srcALen > srcBLen, zero padding has to be done to srcB    

+     * to make their lengths equal.    

+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))    

+     * number of output samples are made zero */

+    j = outBlockSize - (srcALen + (srcBLen - 1u));

+

+    /* Updating the pointer position to non zero value */

+    pOut += j;

+

+    //while(j > 0u)   

+    //{   

+    //  /* Zero is stored in the destination buffer */   

+    //  *pOut++ = 0.0f;   

+

+    //  /* Decrement the loop counter */   

+    //  j--;   

+    //}   

+

+  }

+  else

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = pSrcB;

+

+    /* Initialization of inputB pointer */

+    pIn2 = pSrcA;

+

+    /* srcBLen is always considered as shorter or equal to srcALen */

+    j = srcBLen;

+    srcBLen = srcALen;

+    srcALen = j;

+

+    /* CORR(x, y) = Reverse order(CORR(y, x)) */

+    /* Hence set the destination pointer to point to the last output sample */

+    pOut = pDst + ((srcALen + srcBLen) - 2u);

+

+    /* Destination address modifier is set to -1 */

+    inc = -1;

+

+  }

+

+  /* The function is internally    

+   * divided into three parts according to the number of multiplications that has to be    

+   * taken place between inputA samples and inputB samples. In the first part of the    

+   * algorithm, the multiplications increase by one for every iteration.    

+   * In the second part of the algorithm, srcBLen number of multiplications are done.    

+   * In the third part of the algorithm, the multiplications decrease by one    

+   * for every iteration.*/

+  /* The algorithm is implemented in three stages.    

+   * The loop counters of each stage is initiated here. */

+  blockSize1 = srcBLen - 1u;

+  blockSize2 = srcALen - (srcBLen - 1u);

+  blockSize3 = blockSize1;

+

+  /* --------------------------    

+   * Initializations of stage1    

+   * -------------------------*/

+

+  /* sum = x[0] * y[srcBlen - 1]    

+   * sum = x[0] * y[srcBlen-2] + x[1] * y[srcBlen - 1]    

+   * ....    

+   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]    

+   */

+

+  /* In this stage the MAC operations are increased by 1 for every iteration.    

+     The count variable holds the number of MAC operations performed */

+  count = 1u;

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  pSrc1 = pIn2 + (srcBLen - 1u);

+  py = pSrc1;

+

+  /* ------------------------    

+   * Stage1 process    

+   * ----------------------*/

+

+  /* The first stage starts here */

+  while(blockSize1 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0.0f;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = count >> 2u;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* x[0] * y[srcBLen - 4] */

+      sum += *px++ * *py++;

+      /* x[1] * y[srcBLen - 3] */

+      sum += *px++ * *py++;

+      /* x[2] * y[srcBLen - 2] */

+      sum += *px++ * *py++;

+      /* x[3] * y[srcBLen - 1] */

+      sum += *px++ * *py++;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, compute any remaining MACs here.    

+     ** No loop unrolling is used. */

+    k = count % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      /* x[0] * y[srcBLen - 1] */

+      sum += *px++ * *py++;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut = sum;

+    /* Destination pointer is updated according to the address modifier, inc */

+    pOut += inc;

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    py = pSrc1 - count;

+    px = pIn1;

+

+    /* Increment the MAC count */

+    count++;

+

+    /* Decrement the loop counter */

+    blockSize1--;

+  }

+

+  /* --------------------------    

+   * Initializations of stage2    

+   * ------------------------*/

+

+  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]    

+   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]    

+   * ....    

+   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    

+   */

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  py = pIn2;

+

+  /* count is index by which the pointer pIn1 to be incremented */

+  count = 0u;

+

+  /* -------------------    

+   * Stage2 process    

+   * ------------------*/

+

+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    

+   * So, to loop unroll over blockSize2,    

+   * srcBLen should be greater than or equal to 4, to loop unroll the srcBLen loop */

+  if(srcBLen >= 4u)

+  {

+    /* Loop unroll over blockSize2, by 4 */

+    blkCnt = blockSize2 >> 2u;

+

+    while(blkCnt > 0u)

+    {

+      /* Set all accumulators to zero */

+      acc0 = 0.0f;

+      acc1 = 0.0f;

+      acc2 = 0.0f;

+      acc3 = 0.0f;

+

+      /* read x[0], x[1], x[2] samples */

+      x0 = *(px++);

+      x1 = *(px++);

+      x2 = *(px++);

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      do

+      {

+        /* Read y[0] sample */

+        c0 = *(py++);

+

+        /* Read x[3] sample */

+        x3 = *(px++);

+

+        /* Perform the multiply-accumulate */

+        /* acc0 +=  x[0] * y[0] */

+        acc0 += x0 * c0;

+        /* acc1 +=  x[1] * y[0] */

+        acc1 += x1 * c0;

+        /* acc2 +=  x[2] * y[0] */

+        acc2 += x2 * c0;

+        /* acc3 +=  x[3] * y[0] */

+        acc3 += x3 * c0;

+

+        /* Read y[1] sample */

+        c0 = *(py++);

+

+        /* Read x[4] sample */

+        x0 = *(px++);

+

+        /* Perform the multiply-accumulate */

+        /* acc0 +=  x[1] * y[1] */

+        acc0 += x1 * c0;

+        /* acc1 +=  x[2] * y[1] */

+        acc1 += x2 * c0;

+        /* acc2 +=  x[3] * y[1] */

+        acc2 += x3 * c0;

+        /* acc3 +=  x[4] * y[1] */

+        acc3 += x0 * c0;

+

+        /* Read y[2] sample */

+        c0 = *(py++);

+

+        /* Read x[5] sample */

+        x1 = *(px++);

+

+        /* Perform the multiply-accumulates */

+        /* acc0 +=  x[2] * y[2] */

+        acc0 += x2 * c0;

+        /* acc1 +=  x[3] * y[2] */

+        acc1 += x3 * c0;

+        /* acc2 +=  x[4] * y[2] */

+        acc2 += x0 * c0;

+        /* acc3 +=  x[5] * y[2] */

+        acc3 += x1 * c0;

+

+        /* Read y[3] sample */

+        c0 = *(py++);

+

+        /* Read x[6] sample */

+        x2 = *(px++);

+

+        /* Perform the multiply-accumulates */

+        /* acc0 +=  x[3] * y[3] */

+        acc0 += x3 * c0;

+        /* acc1 +=  x[4] * y[3] */

+        acc1 += x0 * c0;

+        /* acc2 +=  x[5] * y[3] */

+        acc2 += x1 * c0;

+        /* acc3 +=  x[6] * y[3] */

+        acc3 += x2 * c0;

+

+

+      } while(--k);

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Read y[4] sample */

+        c0 = *(py++);

+

+        /* Read x[7] sample */

+        x3 = *(px++);

+

+        /* Perform the multiply-accumulates */

+        /* acc0 +=  x[4] * y[4] */

+        acc0 += x0 * c0;

+        /* acc1 +=  x[5] * y[4] */

+        acc1 += x1 * c0;

+        /* acc2 +=  x[6] * y[4] */

+        acc2 += x2 * c0;

+        /* acc3 +=  x[7] * y[4] */

+        acc3 += x3 * c0;

+

+        /* Reuse the present samples for the next MAC */

+        x0 = x1;

+        x1 = x2;

+        x2 = x3;

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut = acc0;

+      /* Destination pointer is updated according to the address modifier, inc */

+      pOut += inc;

+

+      *pOut = acc1;

+      pOut += inc;

+

+      *pOut = acc2;

+      pOut += inc;

+

+      *pOut = acc3;

+      pOut += inc;

+

+      /* Increment the pointer pIn1 index, count by 4 */

+      count += 4u;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pIn2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.    

+     ** No loop unrolling is used. */

+    blkCnt = blockSize2 % 0x4u;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0.0f;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum += *px++ * *py++;

+        sum += *px++ * *py++;

+        sum += *px++ * *py++;

+        sum += *px++ * *py++;

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulate */

+        sum += *px++ * *py++;

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut = sum;

+      /* Destination pointer is updated according to the address modifier, inc */

+      pOut += inc;

+

+      /* Increment the pointer pIn1 index, count by 1 */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pIn2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+  else

+  {

+    /* If the srcBLen is not a multiple of 4,    

+     * the blockSize2 loop cannot be unrolled by 4 */

+    blkCnt = blockSize2;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0.0f;

+

+      /* Loop over srcBLen */

+      k = srcBLen;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulate */

+        sum += *px++ * *py++;

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut = sum;

+      /* Destination pointer is updated according to the address modifier, inc */

+      pOut += inc;

+

+      /* Increment the pointer pIn1 index, count by 1 */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pIn2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+

+  /* --------------------------    

+   * Initializations of stage3    

+   * -------------------------*/

+

+  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    

+   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    

+   * ....    

+   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]    

+   * sum +=  x[srcALen-1] * y[0]    

+   */

+

+  /* In this stage the MAC operations are decreased by 1 for every iteration.    

+     The count variable holds the number of MAC operations performed */

+  count = srcBLen - 1u;

+

+  /* Working pointer of inputA */

+  pSrc1 = pIn1 + (srcALen - (srcBLen - 1u));

+  px = pSrc1;

+

+  /* Working pointer of inputB */

+  py = pIn2;

+

+  /* -------------------    

+   * Stage3 process    

+   * ------------------*/

+

+  while(blockSize3 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0.0f;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = count >> 2u;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      /* sum += x[srcALen - srcBLen + 4] * y[3] */

+      sum += *px++ * *py++;

+      /* sum += x[srcALen - srcBLen + 3] * y[2] */

+      sum += *px++ * *py++;

+      /* sum += x[srcALen - srcBLen + 2] * y[1] */

+      sum += *px++ * *py++;

+      /* sum += x[srcALen - srcBLen + 1] * y[0] */

+      sum += *px++ * *py++;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, compute any remaining MACs here.    

+     ** No loop unrolling is used. */

+    k = count % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      sum += *px++ * *py++;

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut = sum;

+    /* Destination pointer is updated according to the address modifier, inc */

+    pOut += inc;

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    px = ++pSrc1;

+    py = pIn2;

+

+    /* Decrement the MAC count */

+    count--;

+

+    /* Decrement the loop counter */

+    blockSize3--;

+  }

+

+#else

+

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

+

+  float32_t *pIn1 = pSrcA;                       /* inputA pointer */

+  float32_t *pIn2 = pSrcB + (srcBLen - 1u);      /* inputB pointer */

+  float32_t sum;                                 /* Accumulator */

+  uint32_t i = 0u, j;                            /* loop counters */

+  uint32_t inv = 0u;                             /* Reverse order flag */

+  uint32_t tot = 0u;                             /* Length */

+

+  /* The algorithm implementation is based on the lengths of the inputs. */

+  /* srcB is always made to slide across srcA. */

+  /* So srcBLen is always considered as shorter or equal to srcALen */

+  /* But CORR(x, y) is reverse of CORR(y, x) */

+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */

+  /* and a varaible, inv is set to 1 */

+  /* If lengths are not equal then zero pad has to be done to  make the two    

+   * inputs of same length. But to improve the performance, we include zeroes    

+   * in the output instead of zero padding either of the the inputs*/

+  /* If srcALen > srcBLen, (srcALen - srcBLen) zeroes has to included in the    

+   * starting of the output buffer */

+  /* If srcALen < srcBLen, (srcALen - srcBLen) zeroes has to included in the   

+   * ending of the output buffer */

+  /* Once the zero padding is done the remaining of the output is calcualted   

+   * using convolution but with the shorter signal time shifted. */

+

+  /* Calculate the length of the remaining sequence */

+  tot = ((srcALen + srcBLen) - 2u);

+

+  if(srcALen > srcBLen)

+  {

+    /* Calculating the number of zeros to be padded to the output */

+    j = srcALen - srcBLen;

+

+    /* Initialise the pointer after zero padding */

+    pDst += j;

+  }

+

+  else if(srcALen < srcBLen)

+  {

+    /* Initialization to inputB pointer */

+    pIn1 = pSrcB;

+

+    /* Initialization to the end of inputA pointer */

+    pIn2 = pSrcA + (srcALen - 1u);

+

+    /* Initialisation of the pointer after zero padding */

+    pDst = pDst + tot;

+

+    /* Swapping the lengths */

+    j = srcALen;

+    srcALen = srcBLen;

+    srcBLen = j;

+

+    /* Setting the reverse flag */

+    inv = 1;

+

+  }

+

+  /* Loop to calculate convolution for output length number of times */

+  for (i = 0u; i <= tot; i++)

+  {

+    /* Initialize sum with zero to carry on MAC operations */

+    sum = 0.0f;

+

+    /* Loop to perform MAC operations according to convolution equation */

+    for (j = 0u; j <= i; j++)

+    {

+      /* Check the array limitations */

+      if((((i - j) < srcBLen) && (j < srcALen)))

+      {

+        /* z[i] += x[i-j] * y[j] */

+        sum += pIn1[j] * pIn2[-((int32_t) i - j)];

+      }

+    }

+    /* Store the output in the destination buffer */

+    if(inv == 1)

+      *pDst-- = sum;

+    else

+      *pDst++ = sum;

+  }

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of Corr group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_opt_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_opt_q15.c
new file mode 100644
index 000000000..a99225a2f
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_opt_q15.c
@@ -0,0 +1,507 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_correlate_fast_opt_q15.c    

+*    

+* Description:	Fast Q15 Correlation.    

+*    

+* Target Processor: Cortex-M4/Cortex-M3

+*  

+* Version 1.1.0 2012/02/15 

+*    Updated with more optimizations, bug fixes and minor API changes.  

+* 

+* Version 1.0.11 2011/10/18  

+*    Bug Fix in conv, correlation, partial convolution.  

+* 

+* 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 groupFilters    

+ */

+

+/**    

+ * @addtogroup Corr    

+ * @{    

+ */

+

+/**    

+ * @brief Correlation of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.    

+ * @param[in] *pSrcA points to the first input sequence.    

+ * @param[in] srcALen length of the first input sequence.    

+ * @param[in] *pSrcB points to the second input sequence.    

+ * @param[in] srcBLen length of the second input sequence.    

+ * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.    

+ * @param[in]  *pScratch points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   

+ * @return none.    

+ *    

+ *    

+ * \par Restrictions    

+ *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    

+ *	In this case input, output, scratch buffers should be aligned by 32-bit    

+ *    

+ *     

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

+ *    

+ * \par    

+ * This fast version uses a 32-bit accumulator with 2.30 format.    

+ * The accumulator 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.    

+ * Scale down one of the inputs by 1/min(srcALen, srcBLen) to avoid overflow since a    

+ * maximum of min(srcALen, srcBLen) number of additions is carried internally.    

+ * The 2.30 accumulator is right shifted by 15 bits and then saturated to 1.15 format to yield the final result.    

+ *    

+ * \par    

+ * See <code>arm_correlate_q15()</code> for a slower implementation of this function which uses a 64-bit accumulator to avoid wrap around distortion.    

+ */

+

+void arm_correlate_fast_opt_q15(

+  q15_t * pSrcA,

+  uint32_t srcALen,

+  q15_t * pSrcB,

+  uint32_t srcBLen,

+  q15_t * pDst,

+  q15_t * pScratch)

+{

+  q15_t *pIn1;                                   /* inputA pointer               */

+  q15_t *pIn2;                                   /* inputB pointer               */

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

+  q15_t *py;                                     /* Intermediate inputB pointer  */

+  q31_t x1, x2, x3;                              /* temporary variables for holding input and coefficient values */

+  uint32_t j, blkCnt, outBlockSize;              /* loop counter                 */

+  int32_t inc = 1;                               /* Destination address modifier */

+  uint32_t tapCnt;

+  q31_t y1, y2;

+  q15_t *pScr;                                   /* Intermediate pointers        */

+  q15_t *pOut = pDst;                            /* output pointer               */

+#ifdef UNALIGNED_SUPPORT_DISABLE

+

+  q15_t a, b;

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+  /* The algorithm implementation is based on the lengths of the inputs. */

+  /* srcB is always made to slide across srcA. */

+  /* So srcBLen is always considered as shorter or equal to srcALen */

+  /* But CORR(x, y) is reverse of CORR(y, x) */

+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */

+  /* and the destination pointer modifier, inc is set to -1 */

+  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */

+  /* But to improve the performance,        

+   * we include zeroes in the output instead of zero padding either of the the inputs*/

+  /* If srcALen > srcBLen,        

+   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */

+  /* If srcALen < srcBLen,        

+   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */

+  if(srcALen >= srcBLen)

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = (pSrcA);

+

+    /* Initialization of inputB pointer */

+    pIn2 = (pSrcB);

+

+    /* Number of output samples is calculated */

+    outBlockSize = (2u * srcALen) - 1u;

+

+    /* When srcALen > srcBLen, zero padding is done to srcB        

+     * to make their lengths equal.        

+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))        

+     * number of output samples are made zero */

+    j = outBlockSize - (srcALen + (srcBLen - 1u));

+

+    /* Updating the pointer position to non zero value */

+    pOut += j;

+

+  }

+  else

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = (pSrcB);

+

+    /* Initialization of inputB pointer */

+    pIn2 = (pSrcA);

+

+    /* srcBLen is always considered as shorter or equal to srcALen */

+    j = srcBLen;

+    srcBLen = srcALen;

+    srcALen = j;

+

+    /* CORR(x, y) = Reverse order(CORR(y, x)) */

+    /* Hence set the destination pointer to point to the last output sample */

+    pOut = pDst + ((srcALen + srcBLen) - 2u);

+

+    /* Destination address modifier is set to -1 */

+    inc = -1;

+

+  }

+

+  pScr = pScratch;

+

+  /* Fill (srcBLen - 1u) zeros in scratch buffer */

+  arm_fill_q15(0, pScr, (srcBLen - 1u));

+

+  /* Update temporary scratch pointer */

+  pScr += (srcBLen - 1u);

+

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+  /* Copy (srcALen) samples in scratch buffer */

+  arm_copy_q15(pIn1, pScr, srcALen);

+

+  /* Update pointers */

+  pScr += srcALen;

+

+#else

+

+  /* Apply loop unrolling and do 4 Copies simultaneously. */

+  j = srcALen >> 2u;

+

+  /* First part of the processing with loop unrolling copies 4 data points at a time.       

+   ** a second loop below copies for the remaining 1 to 3 samples. */

+  while(j > 0u)

+  {

+    /* copy second buffer in reversal manner */

+    *pScr++ = *pIn1++;

+    *pScr++ = *pIn1++;

+    *pScr++ = *pIn1++;

+    *pScr++ = *pIn1++;

+

+    /* Decrement the loop counter */

+    j--;

+  }

+

+  /* If the count is not a multiple of 4, copy remaining samples here.       

+   ** No loop unrolling is used. */

+  j = srcALen % 0x4u;

+

+  while(j > 0u)

+  {

+    /* copy second buffer in reversal manner for remaining samples */

+    *pScr++ = *pIn1++;

+

+    /* Decrement the loop counter */

+    j--;

+  }

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+  /* Fill (srcBLen - 1u) zeros at end of scratch buffer */

+  arm_fill_q15(0, pScr, (srcBLen - 1u));

+

+  /* Update pointer */

+  pScr += (srcBLen - 1u);

+

+#else

+

+/* Apply loop unrolling and do 4 Copies simultaneously. */

+  j = (srcBLen - 1u) >> 2u;

+

+  /* First part of the processing with loop unrolling copies 4 data points at a time.       

+   ** a second loop below copies for the remaining 1 to 3 samples. */

+  while(j > 0u)

+  {

+    /* copy second buffer in reversal manner */

+    *pScr++ = 0;

+    *pScr++ = 0;

+    *pScr++ = 0;

+    *pScr++ = 0;

+

+    /* Decrement the loop counter */

+    j--;

+  }

+

+  /* If the count is not a multiple of 4, copy remaining samples here.       

+   ** No loop unrolling is used. */

+  j = (srcBLen - 1u) % 0x4u;

+

+  while(j > 0u)

+  {

+    /* copy second buffer in reversal manner for remaining samples */

+    *pScr++ = 0;

+

+    /* Decrement the loop counter */

+    j--;

+  }

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+  /* Temporary pointer for scratch2 */

+  py = pIn2;

+

+

+  /* Actual correlation process starts here */

+  blkCnt = (srcALen + srcBLen - 1u) >> 2;

+

+  while(blkCnt > 0)

+  {

+    /* Initialze temporary scratch pointer as scratch1 */

+    pScr = pScratch;

+

+    /* Clear Accumlators */

+    acc0 = 0;

+    acc1 = 0;

+    acc2 = 0;

+    acc3 = 0;

+

+    /* Read four samples from scratch1 buffer */

+    x1 = *__SIMD32(pScr)++;

+

+    /* Read next four samples from scratch1 buffer */

+    x2 = *__SIMD32(pScr)++;

+

+    tapCnt = (srcBLen) >> 2u;

+

+    while(tapCnt > 0u)

+    {

+

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+      /* Read four samples from smaller buffer */

+      y1 = _SIMD32_OFFSET(pIn2);

+      y2 = _SIMD32_OFFSET(pIn2 + 2u);

+

+      acc0 = __SMLAD(x1, y1, acc0);

+

+      acc2 = __SMLAD(x2, y1, acc2);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x2, x1, 0);

+#else

+      x3 = __PKHBT(x1, x2, 0);

+#endif

+

+      acc1 = __SMLADX(x3, y1, acc1);

+

+      x1 = _SIMD32_OFFSET(pScr);

+

+      acc0 = __SMLAD(x2, y2, acc0);

+

+      acc2 = __SMLAD(x1, y2, acc2);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x1, x2, 0);

+#else

+      x3 = __PKHBT(x2, x1, 0);

+#endif

+

+      acc3 = __SMLADX(x3, y1, acc3);

+

+      acc1 = __SMLADX(x3, y2, acc1);

+

+      x2 = _SIMD32_OFFSET(pScr + 2u);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x2, x1, 0);

+#else

+      x3 = __PKHBT(x1, x2, 0);

+#endif

+

+      acc3 = __SMLADX(x3, y2, acc3);

+#else	 

+

+      /* Read four samples from smaller buffer */

+	  a = *pIn2;

+	  b = *(pIn2 + 1);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      y1 = __PKHBT(a, b, 16);

+#else

+      y1 = __PKHBT(b, a, 16);

+#endif

+	  

+	  a = *(pIn2 + 2);

+	  b = *(pIn2 + 3);

+#ifndef ARM_MATH_BIG_ENDIAN

+      y2 = __PKHBT(a, b, 16);

+#else

+      y2 = __PKHBT(b, a, 16);

+#endif				

+

+      acc0 = __SMLAD(x1, y1, acc0);

+

+      acc2 = __SMLAD(x2, y1, acc2);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x2, x1, 0);

+#else

+      x3 = __PKHBT(x1, x2, 0);

+#endif

+

+      acc1 = __SMLADX(x3, y1, acc1);

+

+	  a = *pScr;

+	  b = *(pScr + 1);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x1 = __PKHBT(a, b, 16);

+#else

+      x1 = __PKHBT(b, a, 16);

+#endif

+

+      acc0 = __SMLAD(x2, y2, acc0);

+

+      acc2 = __SMLAD(x1, y2, acc2);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x1, x2, 0);

+#else

+      x3 = __PKHBT(x2, x1, 0);

+#endif

+

+      acc3 = __SMLADX(x3, y1, acc3);

+

+      acc1 = __SMLADX(x3, y2, acc1);

+

+	  a = *(pScr + 2);

+	  b = *(pScr + 3);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x2 = __PKHBT(a, b, 16);

+#else

+      x2 = __PKHBT(b, a, 16);

+#endif

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x2, x1, 0);

+#else

+      x3 = __PKHBT(x1, x2, 0);

+#endif

+

+      acc3 = __SMLADX(x3, y2, acc3);

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+      pIn2 += 4u;

+

+      pScr += 4u;

+

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+

+

+    /* Update scratch pointer for remaining samples of smaller length sequence */

+    pScr -= 4u;

+

+

+    /* apply same above for remaining samples of smaller length sequence */

+    tapCnt = (srcBLen) & 3u;

+

+    while(tapCnt > 0u)

+    {

+

+      /* accumlate the results */

+      acc0 += (*pScr++ * *pIn2);

+      acc1 += (*pScr++ * *pIn2);

+      acc2 += (*pScr++ * *pIn2);

+      acc3 += (*pScr++ * *pIn2++);

+

+      pScr -= 3u;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    blkCnt--;

+

+

+    /* Store the results in the accumulators in the destination buffer. */

+    *pOut = (__SSAT(acc0 >> 15u, 16));

+    pOut += inc;

+    *pOut = (__SSAT(acc1 >> 15u, 16));

+    pOut += inc;

+    *pOut = (__SSAT(acc2 >> 15u, 16));

+    pOut += inc;

+    *pOut = (__SSAT(acc3 >> 15u, 16));

+    pOut += inc;

+

+

+    /* Initialization of inputB pointer */

+    pIn2 = py;

+

+    pScratch += 4u;

+

+  }

+

+

+  blkCnt = (srcALen + srcBLen - 1u) & 0x3;

+

+  /* Calculate correlation for remaining samples of Bigger length sequence */

+  while(blkCnt > 0)

+  {

+    /* Initialze temporary scratch pointer as scratch1 */

+    pScr = pScratch;

+

+    /* Clear Accumlators */

+    acc0 = 0;

+

+    tapCnt = (srcBLen) >> 1u;

+

+    while(tapCnt > 0u)

+    {

+

+      acc0 += (*pScr++ * *pIn2++);

+      acc0 += (*pScr++ * *pIn2++);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    tapCnt = (srcBLen) & 1u;

+

+    /* apply same above for remaining samples of smaller length sequence */

+    while(tapCnt > 0u)

+    {

+

+      /* accumlate the results */

+      acc0 += (*pScr++ * *pIn2++);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    blkCnt--;

+

+    /* Store the result in the accumulator in the destination buffer. */

+

+    *pOut = (q15_t) (__SSAT((acc0 >> 15), 16));

+

+    pOut += inc;

+

+    /* Initialization of inputB pointer */

+    pIn2 = py;

+

+    pScratch += 1u;

+

+  }

+}

+

+/**    

+ * @} end of Corr group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c
new file mode 100644
index 000000000..0c79bc896
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c
@@ -0,0 +1,1314 @@
+/* ----------------------------------------------------------------------   

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

+*   

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*   

+* Project: 	    CMSIS DSP Library   

+* Title:		arm_correlate_fast_q15.c   

+*   

+* Description:	Fast Q15 Correlation.   

+*   

+* Target Processor: Cortex-M4/Cortex-M3

+*  

+* Version 1.1.0 2012/02/15 

+*    Updated with more optimizations, bug fixes and minor API changes.  

+* 

+* Version 1.0.11 2011/10/18 

+*    Bug Fix in conv, correlation, partial convolution. 

+*

+* 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 groupFilters   

+ */

+

+/**   

+ * @addtogroup Corr   

+ * @{   

+ */

+

+/**   

+ * @brief Correlation of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.   

+ * @param[in] *pSrcA points to the first input sequence.   

+ * @param[in] srcALen length of the first input sequence.   

+ * @param[in] *pSrcB points to the second input sequence.   

+ * @param[in] srcBLen length of the second input sequence.   

+ * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.   

+ * @return none.   

+ *   

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

+ *   

+ * \par   

+ * This fast version uses a 32-bit accumulator with 2.30 format.   

+ * The accumulator 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.   

+ * Scale down one of the inputs by 1/min(srcALen, srcBLen) to avoid overflow since a   

+ * maximum of min(srcALen, srcBLen) number of additions is carried internally.   

+ * The 2.30 accumulator is right shifted by 15 bits and then saturated to 1.15 format to yield the final result.   

+ *   

+ * \par   

+ * See <code>arm_correlate_q15()</code> for a slower implementation of this function which uses a 64-bit accumulator to avoid wrap around distortion.   

+ */

+

+void arm_correlate_fast_q15(

+  q15_t * pSrcA,

+  uint32_t srcALen,

+  q15_t * pSrcB,

+  uint32_t srcBLen,

+  q15_t * pDst)

+{

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+  q15_t *pIn1;                                   /* inputA pointer               */

+  q15_t *pIn2;                                   /* inputB pointer               */

+  q15_t *pOut = pDst;                            /* output pointer               */

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

+  q15_t *px;                                     /* Intermediate inputA pointer  */

+  q15_t *py;                                     /* Intermediate inputB pointer  */

+  q15_t *pSrc1;                                  /* Intermediate pointers        */

+  q31_t x0, x1, x2, x3, c0;                      /* temporary variables for holding input and coefficient values */

+  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counter                 */

+  int32_t inc = 1;                               /* Destination address modifier */

+

+

+  /* The algorithm implementation is based on the lengths of the inputs. */

+  /* srcB is always made to slide across srcA. */

+  /* So srcBLen is always considered as shorter or equal to srcALen */

+  /* But CORR(x, y) is reverse of CORR(y, x) */

+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */

+  /* and the destination pointer modifier, inc is set to -1 */

+  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */

+  /* But to improve the performance,   

+   * we include zeroes in the output instead of zero padding either of the the inputs*/

+  /* If srcALen > srcBLen,   

+   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */

+  /* If srcALen < srcBLen,   

+   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */

+  if(srcALen >= srcBLen)

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = (pSrcA);

+

+    /* Initialization of inputB pointer */

+    pIn2 = (pSrcB);

+

+    /* Number of output samples is calculated */

+    outBlockSize = (2u * srcALen) - 1u;

+

+    /* When srcALen > srcBLen, zero padding is done to srcB   

+     * to make their lengths equal.   

+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))   

+     * number of output samples are made zero */

+    j = outBlockSize - (srcALen + (srcBLen - 1u));

+

+    /* Updating the pointer position to non zero value */

+    pOut += j;

+

+  }

+  else

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = (pSrcB);

+

+    /* Initialization of inputB pointer */

+    pIn2 = (pSrcA);

+

+    /* srcBLen is always considered as shorter or equal to srcALen */

+    j = srcBLen;

+    srcBLen = srcALen;

+    srcALen = j;

+

+    /* CORR(x, y) = Reverse order(CORR(y, x)) */

+    /* Hence set the destination pointer to point to the last output sample */

+    pOut = pDst + ((srcALen + srcBLen) - 2u);

+

+    /* Destination address modifier is set to -1 */

+    inc = -1;

+

+  }

+

+  /* The function is internally   

+   * divided into three parts according to the number of multiplications that has to be   

+   * taken place between inputA samples and inputB samples. In the first part of the   

+   * algorithm, the multiplications increase by one for every iteration.   

+   * In the second part of the algorithm, srcBLen number of multiplications are done.   

+   * In the third part of the algorithm, the multiplications decrease by one   

+   * for every iteration.*/

+  /* The algorithm is implemented in three stages.   

+   * The loop counters of each stage is initiated here. */

+  blockSize1 = srcBLen - 1u;

+  blockSize2 = srcALen - (srcBLen - 1u);

+  blockSize3 = blockSize1;

+

+  /* --------------------------   

+   * Initializations of stage1   

+   * -------------------------*/

+

+  /* sum = x[0] * y[srcBlen - 1]   

+   * sum = x[0] * y[srcBlen - 2] + x[1] * y[srcBlen - 1]   

+   * ....   

+   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]   

+   */

+

+  /* In this stage the MAC operations are increased by 1 for every iteration.   

+     The count variable holds the number of MAC operations performed */

+  count = 1u;

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  pSrc1 = pIn2 + (srcBLen - 1u);

+  py = pSrc1;

+

+  /* ------------------------   

+   * Stage1 process   

+   * ----------------------*/

+

+  /* The first loop starts here */

+  while(blockSize1 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = count >> 2;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* x[0] * y[srcBLen - 4] , x[1] * y[srcBLen - 3] */

+      sum = __SMLAD(*__SIMD32(px)++, *__SIMD32(py)++, sum);

+      /* x[3] * y[srcBLen - 1] , x[2] * y[srcBLen - 2] */

+      sum = __SMLAD(*__SIMD32(px)++, *__SIMD32(py)++, sum);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, compute any remaining MACs here.   

+     ** No loop unrolling is used. */

+    k = count % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      /* x[0] * y[srcBLen - 1] */

+      sum = __SMLAD(*px++, *py++, sum);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut = (q15_t) (sum >> 15);

+    /* Destination pointer is updated according to the address modifier, inc */

+    pOut += inc;

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    py = pSrc1 - count;

+    px = pIn1;

+

+    /* Increment the MAC count */

+    count++;

+

+    /* Decrement the loop counter */

+    blockSize1--;

+  }

+

+  /* --------------------------   

+   * Initializations of stage2   

+   * ------------------------*/

+

+  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]   

+   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]   

+   * ....   

+   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   

+   */

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  py = pIn2;

+

+  /* count is index by which the pointer pIn1 to be incremented */

+  count = 0u;

+

+  /* -------------------   

+   * Stage2 process   

+   * ------------------*/

+

+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   

+   * So, to loop unroll over blockSize2,   

+   * srcBLen should be greater than or equal to 4, to loop unroll the srcBLen loop */

+  if(srcBLen >= 4u)

+  {

+    /* Loop unroll over blockSize2, by 4 */

+    blkCnt = blockSize2 >> 2u;

+

+    while(blkCnt > 0u)

+    {

+      /* Set all accumulators to zero */

+      acc0 = 0;

+      acc1 = 0;

+      acc2 = 0;

+      acc3 = 0;

+

+      /* read x[0], x[1] samples */

+      x0 = *__SIMD32(px);

+      /* read x[1], x[2] samples */

+      x1 = _SIMD32_OFFSET(px + 1);

+	  px += 2u;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      do

+      {

+        /* Read the first two inputB samples using SIMD:   

+         * y[0] and y[1] */

+        c0 = *__SIMD32(py)++;

+

+        /* acc0 +=  x[0] * y[0] + x[1] * y[1] */

+        acc0 = __SMLAD(x0, c0, acc0);

+

+        /* acc1 +=  x[1] * y[0] + x[2] * y[1] */

+        acc1 = __SMLAD(x1, c0, acc1);

+

+        /* Read x[2], x[3] */

+        x2 = *__SIMD32(px);

+

+        /* Read x[3], x[4] */

+        x3 = _SIMD32_OFFSET(px + 1);

+

+        /* acc2 +=  x[2] * y[0] + x[3] * y[1] */

+        acc2 = __SMLAD(x2, c0, acc2);

+

+        /* acc3 +=  x[3] * y[0] + x[4] * y[1] */

+        acc3 = __SMLAD(x3, c0, acc3);

+

+        /* Read y[2] and y[3] */

+        c0 = *__SIMD32(py)++;

+

+        /* acc0 +=  x[2] * y[2] + x[3] * y[3] */

+        acc0 = __SMLAD(x2, c0, acc0);

+

+        /* acc1 +=  x[3] * y[2] + x[4] * y[3] */

+        acc1 = __SMLAD(x3, c0, acc1);

+

+        /* Read x[4], x[5] */

+        x0 = _SIMD32_OFFSET(px + 2);

+

+        /* Read x[5], x[6] */

+        x1 = _SIMD32_OFFSET(px + 3);

+		px += 4u;

+

+        /* acc2 +=  x[4] * y[2] + x[5] * y[3] */

+        acc2 = __SMLAD(x0, c0, acc2);

+

+        /* acc3 +=  x[5] * y[2] + x[6] * y[3] */

+        acc3 = __SMLAD(x1, c0, acc3);

+

+      } while(--k);

+

+      /* For the next MAC operations, SIMD is not used   

+       * So, the 16 bit pointer if inputB, py is updated */

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      if(k == 1u)

+      {

+        /* Read y[4] */

+        c0 = *py;

+#ifdef  ARM_MATH_BIG_ENDIAN

+

+        c0 = c0 << 16u;

+

+#else

+

+        c0 = c0 & 0x0000FFFF;

+

+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */

+

+        /* Read x[7] */

+        x3 = *__SIMD32(px);

+		px++;

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLAD(x0, c0, acc0);

+        acc1 = __SMLAD(x1, c0, acc1);

+        acc2 = __SMLADX(x1, c0, acc2);

+        acc3 = __SMLADX(x3, c0, acc3);

+      }

+

+      if(k == 2u)

+      {

+        /* Read y[4], y[5] */

+        c0 = *__SIMD32(py);

+

+        /* Read x[7], x[8] */

+        x3 = *__SIMD32(px);

+

+        /* Read x[9] */

+        x2 = _SIMD32_OFFSET(px + 1);

+		px += 2u;

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLAD(x0, c0, acc0);

+        acc1 = __SMLAD(x1, c0, acc1);

+        acc2 = __SMLAD(x3, c0, acc2);

+        acc3 = __SMLAD(x2, c0, acc3);

+      }

+

+      if(k == 3u)

+      {

+        /* Read y[4], y[5] */

+        c0 = *__SIMD32(py)++;

+

+        /* Read x[7], x[8] */

+        x3 = *__SIMD32(px);

+

+        /* Read x[9] */

+        x2 = _SIMD32_OFFSET(px + 1);

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLAD(x0, c0, acc0);

+        acc1 = __SMLAD(x1, c0, acc1);

+        acc2 = __SMLAD(x3, c0, acc2);

+        acc3 = __SMLAD(x2, c0, acc3);

+

+        c0 = (*py);

+        /* Read y[6] */

+#ifdef  ARM_MATH_BIG_ENDIAN

+

+        c0 = c0 << 16u;

+#else

+

+        c0 = c0 & 0x0000FFFF;

+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */

+

+        /* Read x[10] */

+        x3 = _SIMD32_OFFSET(px + 2);

+		px += 3u;

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLADX(x1, c0, acc0);

+        acc1 = __SMLAD(x2, c0, acc1);

+        acc2 = __SMLADX(x2, c0, acc2);

+        acc3 = __SMLADX(x3, c0, acc3);

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut = (q15_t) (acc0 >> 15);

+      /* Destination pointer is updated according to the address modifier, inc */

+      pOut += inc;

+

+      *pOut = (q15_t) (acc1 >> 15);

+      pOut += inc;

+

+      *pOut = (q15_t) (acc2 >> 15);

+      pOut += inc;

+

+      *pOut = (q15_t) (acc3 >> 15);

+      pOut += inc;

+

+      /* Increment the pointer pIn1 index, count by 1 */

+      count += 4u;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pIn2;

+

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   

+     ** No loop unrolling is used. */

+    blkCnt = blockSize2 % 0x4u;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum += ((q31_t) * px++ * *py++);

+        sum += ((q31_t) * px++ * *py++);

+        sum += ((q31_t) * px++ * *py++);

+        sum += ((q31_t) * px++ * *py++);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum += ((q31_t) * px++ * *py++);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut = (q15_t) (sum >> 15);

+      /* Destination pointer is updated according to the address modifier, inc */

+      pOut += inc;

+

+      /* Increment the pointer pIn1 index, count by 1 */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pIn2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+  else

+  {

+    /* If the srcBLen is not a multiple of 4,   

+     * the blockSize2 loop cannot be unrolled by 4 */

+    blkCnt = blockSize2;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Loop over srcBLen */

+      k = srcBLen;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulate */

+        sum += ((q31_t) * px++ * *py++);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut = (q15_t) (sum >> 15);

+      /* Destination pointer is updated according to the address modifier, inc */

+      pOut += inc;

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pIn2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+

+  /* --------------------------   

+   * Initializations of stage3   

+   * -------------------------*/

+

+  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   

+   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   

+   * ....   

+   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]   

+   * sum +=  x[srcALen-1] * y[0]   

+   */

+

+  /* In this stage the MAC operations are decreased by 1 for every iteration.   

+     The count variable holds the number of MAC operations performed */

+  count = srcBLen - 1u;

+

+  /* Working pointer of inputA */

+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);

+  px = pSrc1;

+

+  /* Working pointer of inputB */

+  py = pIn2;

+

+  /* -------------------   

+   * Stage3 process   

+   * ------------------*/

+

+  while(blockSize3 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = count >> 2u;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      /* sum += x[srcALen - srcBLen + 4] * y[3] , sum += x[srcALen - srcBLen + 3] * y[2] */

+      sum = __SMLAD(*__SIMD32(px)++, *__SIMD32(py)++, sum);

+      /* sum += x[srcALen - srcBLen + 2] * y[1] , sum += x[srcALen - srcBLen + 1] * y[0] */

+      sum = __SMLAD(*__SIMD32(px)++, *__SIMD32(py)++, sum);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, compute any remaining MACs here.   

+     ** No loop unrolling is used. */

+    k = count % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      sum = __SMLAD(*px++, *py++, sum);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut = (q15_t) (sum >> 15);

+    /* Destination pointer is updated according to the address modifier, inc */

+    pOut += inc;

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    px = ++pSrc1;

+    py = pIn2;

+

+    /* Decrement the MAC count */

+    count--;

+

+    /* Decrement the loop counter */

+    blockSize3--;

+  }

+

+#else

+

+  q15_t *pIn1;                                   /* inputA pointer               */

+  q15_t *pIn2;                                   /* inputB pointer               */

+  q15_t *pOut = pDst;                            /* output pointer               */

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

+  q15_t *px;                                     /* Intermediate inputA pointer  */

+  q15_t *py;                                     /* Intermediate inputB pointer  */

+  q15_t *pSrc1;                                  /* Intermediate pointers        */

+  q31_t x0, x1, x2, x3, c0;                      /* temporary variables for holding input and coefficient values */

+  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counter                 */

+  int32_t inc = 1;                               /* Destination address modifier */

+  q15_t a, b;

+

+

+  /* The algorithm implementation is based on the lengths of the inputs. */

+  /* srcB is always made to slide across srcA. */

+  /* So srcBLen is always considered as shorter or equal to srcALen */

+  /* But CORR(x, y) is reverse of CORR(y, x) */

+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */

+  /* and the destination pointer modifier, inc is set to -1 */

+  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */

+  /* But to improve the performance,   

+   * we include zeroes in the output instead of zero padding either of the the inputs*/

+  /* If srcALen > srcBLen,   

+   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */

+  /* If srcALen < srcBLen,   

+   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */

+  if(srcALen >= srcBLen)

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = (pSrcA);

+

+    /* Initialization of inputB pointer */

+    pIn2 = (pSrcB);

+

+    /* Number of output samples is calculated */

+    outBlockSize = (2u * srcALen) - 1u;

+

+    /* When srcALen > srcBLen, zero padding is done to srcB   

+     * to make their lengths equal.   

+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))   

+     * number of output samples are made zero */

+    j = outBlockSize - (srcALen + (srcBLen - 1u));

+

+    /* Updating the pointer position to non zero value */

+    pOut += j;

+

+  }

+  else

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = (pSrcB);

+

+    /* Initialization of inputB pointer */

+    pIn2 = (pSrcA);

+

+    /* srcBLen is always considered as shorter or equal to srcALen */

+    j = srcBLen;

+    srcBLen = srcALen;

+    srcALen = j;

+

+    /* CORR(x, y) = Reverse order(CORR(y, x)) */

+    /* Hence set the destination pointer to point to the last output sample */

+    pOut = pDst + ((srcALen + srcBLen) - 2u);

+

+    /* Destination address modifier is set to -1 */

+    inc = -1;

+

+  }

+

+  /* The function is internally   

+   * divided into three parts according to the number of multiplications that has to be   

+   * taken place between inputA samples and inputB samples. In the first part of the   

+   * algorithm, the multiplications increase by one for every iteration.   

+   * In the second part of the algorithm, srcBLen number of multiplications are done.   

+   * In the third part of the algorithm, the multiplications decrease by one   

+   * for every iteration.*/

+  /* The algorithm is implemented in three stages.   

+   * The loop counters of each stage is initiated here. */

+  blockSize1 = srcBLen - 1u;

+  blockSize2 = srcALen - (srcBLen - 1u);

+  blockSize3 = blockSize1;

+

+  /* --------------------------   

+   * Initializations of stage1   

+   * -------------------------*/

+

+  /* sum = x[0] * y[srcBlen - 1]   

+   * sum = x[0] * y[srcBlen - 2] + x[1] * y[srcBlen - 1]   

+   * ....   

+   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]   

+   */

+

+  /* In this stage the MAC operations are increased by 1 for every iteration.   

+     The count variable holds the number of MAC operations performed */

+  count = 1u;

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  pSrc1 = pIn2 + (srcBLen - 1u);

+  py = pSrc1;

+

+  /* ------------------------   

+   * Stage1 process   

+   * ----------------------*/

+

+  /* The first loop starts here */

+  while(blockSize1 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = count >> 2;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* x[0] * y[srcBLen - 4] , x[1] * y[srcBLen - 3] */

+        sum += ((q31_t) * px++ * *py++);

+        sum += ((q31_t) * px++ * *py++);

+        sum += ((q31_t) * px++ * *py++);

+        sum += ((q31_t) * px++ * *py++);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, compute any remaining MACs here.   

+     ** No loop unrolling is used. */

+    k = count % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      /* x[0] * y[srcBLen - 1] */

+        sum += ((q31_t) * px++ * *py++);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut = (q15_t) (sum >> 15);

+    /* Destination pointer is updated according to the address modifier, inc */

+    pOut += inc;

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    py = pSrc1 - count;

+    px = pIn1;

+

+    /* Increment the MAC count */

+    count++;

+

+    /* Decrement the loop counter */

+    blockSize1--;

+  }

+

+  /* --------------------------   

+   * Initializations of stage2   

+   * ------------------------*/

+

+  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]   

+   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]   

+   * ....   

+   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   

+   */

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  py = pIn2;

+

+  /* count is index by which the pointer pIn1 to be incremented */

+  count = 0u;

+

+  /* -------------------   

+   * Stage2 process   

+   * ------------------*/

+

+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   

+   * So, to loop unroll over blockSize2,   

+   * srcBLen should be greater than or equal to 4, to loop unroll the srcBLen loop */

+  if(srcBLen >= 4u)

+  {

+    /* Loop unroll over blockSize2, by 4 */

+    blkCnt = blockSize2 >> 2u;

+

+    while(blkCnt > 0u)

+    {

+      /* Set all accumulators to zero */

+      acc0 = 0;

+      acc1 = 0;

+      acc2 = 0;

+      acc3 = 0;

+

+      /* read x[0], x[1], x[2] samples */

+	  a = *px;

+	  b = *(px + 1);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+	  x0 = __PKHBT(a, b, 16);

+	  a = *(px + 2);

+	  x1 = __PKHBT(b, a, 16);

+

+#else

+

+	  x0 = __PKHBT(b, a, 16);

+	  a = *(px + 2);

+	  x1 = __PKHBT(a, b, 16);

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/

+

+	  px += 2u;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      do

+      {

+        /* Read the first two inputB samples using SIMD:   

+         * y[0] and y[1] */

+		  a = *py;

+		  b = *(py + 1);

+	

+#ifndef ARM_MATH_BIG_ENDIAN

+	

+		  c0 = __PKHBT(a, b, 16);

+	

+#else

+	

+		  c0 = __PKHBT(b, a, 16);

+	

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/

+

+        /* acc0 +=  x[0] * y[0] + x[1] * y[1] */

+        acc0 = __SMLAD(x0, c0, acc0);

+

+        /* acc1 +=  x[1] * y[0] + x[2] * y[1] */

+        acc1 = __SMLAD(x1, c0, acc1);

+

+        /* Read x[2], x[3], x[4] */

+	  	a = *px;

+	  	b = *(px + 1);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+	  	x2 = __PKHBT(a, b, 16);

+	  	a = *(px + 2);

+	  	x3 = __PKHBT(b, a, 16);

+

+#else

+

+	  	x2 = __PKHBT(b, a, 16);

+	  	a = *(px + 2);

+	  	x3 = __PKHBT(a, b, 16);

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/

+

+        /* acc2 +=  x[2] * y[0] + x[3] * y[1] */

+        acc2 = __SMLAD(x2, c0, acc2);

+

+        /* acc3 +=  x[3] * y[0] + x[4] * y[1] */

+        acc3 = __SMLAD(x3, c0, acc3);

+

+        /* Read y[2] and y[3] */

+		  a = *(py + 2);

+		  b = *(py + 3);

+

+		  py += 4u;

+	

+#ifndef ARM_MATH_BIG_ENDIAN

+	

+		  c0 = __PKHBT(a, b, 16);

+	

+#else

+	

+		  c0 = __PKHBT(b, a, 16);

+	

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/

+

+        /* acc0 +=  x[2] * y[2] + x[3] * y[3] */

+        acc0 = __SMLAD(x2, c0, acc0);

+

+        /* acc1 +=  x[3] * y[2] + x[4] * y[3] */

+        acc1 = __SMLAD(x3, c0, acc1);

+

+        /* Read x[4], x[5], x[6] */

+	  	a = *(px + 2);

+	  	b = *(px + 3);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+	  	x0 = __PKHBT(a, b, 16);

+	  	a = *(px + 4);

+	  	x1 = __PKHBT(b, a, 16);

+

+#else

+

+	  	x0 = __PKHBT(b, a, 16);

+	  	a = *(px + 4);

+	  	x1 = __PKHBT(a, b, 16);

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/

+

+		px += 4u;

+

+        /* acc2 +=  x[4] * y[2] + x[5] * y[3] */

+        acc2 = __SMLAD(x0, c0, acc2);

+

+        /* acc3 +=  x[5] * y[2] + x[6] * y[3] */

+        acc3 = __SMLAD(x1, c0, acc3);

+

+      } while(--k);

+

+      /* For the next MAC operations, SIMD is not used   

+       * So, the 16 bit pointer if inputB, py is updated */

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      if(k == 1u)

+      {

+        /* Read y[4] */

+        c0 = *py;

+#ifdef  ARM_MATH_BIG_ENDIAN

+

+        c0 = c0 << 16u;

+

+#else

+

+        c0 = c0 & 0x0000FFFF;

+

+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */

+

+        /* Read x[7] */

+		a = *px;

+		b = *(px + 1);

+

+		px++;;

+	

+#ifndef ARM_MATH_BIG_ENDIAN

+	

+		x3 = __PKHBT(a, b, 16);

+	

+#else

+	

+		x3 = __PKHBT(b, a, 16);

+	

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/

+

+		px++;

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLAD(x0, c0, acc0);

+        acc1 = __SMLAD(x1, c0, acc1);

+        acc2 = __SMLADX(x1, c0, acc2);

+        acc3 = __SMLADX(x3, c0, acc3);

+      }

+

+      if(k == 2u)

+      {

+        /* Read y[4], y[5] */

+		  a = *py;

+		  b = *(py + 1);

+	

+#ifndef ARM_MATH_BIG_ENDIAN

+	

+		  c0 = __PKHBT(a, b, 16);

+	

+#else

+	

+		  c0 = __PKHBT(b, a, 16);

+	

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/

+

+        /* Read x[7], x[8], x[9] */

+	  	a = *px;

+	  	b = *(px + 1);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+	  	x3 = __PKHBT(a, b, 16);

+	  	a = *(px + 2);

+	  	x2 = __PKHBT(b, a, 16);

+

+#else

+

+	  	x3 = __PKHBT(b, a, 16);

+	  	a = *(px + 2);

+	  	x2 = __PKHBT(a, b, 16);

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/

+

+		px += 2u;

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLAD(x0, c0, acc0);

+        acc1 = __SMLAD(x1, c0, acc1);

+        acc2 = __SMLAD(x3, c0, acc2);

+        acc3 = __SMLAD(x2, c0, acc3);

+      }

+

+      if(k == 3u)

+      {

+        /* Read y[4], y[5] */

+		  a = *py;

+		  b = *(py + 1);

+	

+#ifndef ARM_MATH_BIG_ENDIAN

+	

+		  c0 = __PKHBT(a, b, 16);

+	

+#else

+	

+		  c0 = __PKHBT(b, a, 16);

+	

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/

+

+		py += 2u;

+

+        /* Read x[7], x[8], x[9] */

+	  	a = *px;

+	  	b = *(px + 1);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+	  	x3 = __PKHBT(a, b, 16);

+	  	a = *(px + 2);

+	  	x2 = __PKHBT(b, a, 16);

+

+#else

+

+	  	x3 = __PKHBT(b, a, 16);

+	  	a = *(px + 2);

+	  	x2 = __PKHBT(a, b, 16);

+

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLAD(x0, c0, acc0);

+        acc1 = __SMLAD(x1, c0, acc1);

+        acc2 = __SMLAD(x3, c0, acc2);

+        acc3 = __SMLAD(x2, c0, acc3);

+

+        c0 = (*py);

+        /* Read y[6] */

+#ifdef  ARM_MATH_BIG_ENDIAN

+

+        c0 = c0 << 16u;

+#else

+

+        c0 = c0 & 0x0000FFFF;

+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */

+

+        /* Read x[10] */

+		b = *(px + 3);

+	

+#ifndef ARM_MATH_BIG_ENDIAN

+	

+		x3 = __PKHBT(a, b, 16);

+	

+#else

+	

+		x3 = __PKHBT(b, a, 16);

+	

+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/

+

+		px += 3u;

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLADX(x1, c0, acc0);

+        acc1 = __SMLAD(x2, c0, acc1);

+        acc2 = __SMLADX(x2, c0, acc2);

+        acc3 = __SMLADX(x3, c0, acc3);

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut = (q15_t) (acc0 >> 15);

+      /* Destination pointer is updated according to the address modifier, inc */

+      pOut += inc;

+

+      *pOut = (q15_t) (acc1 >> 15);

+      pOut += inc;

+

+      *pOut = (q15_t) (acc2 >> 15);

+      pOut += inc;

+

+      *pOut = (q15_t) (acc3 >> 15);

+      pOut += inc;

+

+      /* Increment the pointer pIn1 index, count by 1 */

+      count += 4u;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pIn2;

+

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   

+     ** No loop unrolling is used. */

+    blkCnt = blockSize2 % 0x4u;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum += ((q31_t) * px++ * *py++);

+        sum += ((q31_t) * px++ * *py++);

+        sum += ((q31_t) * px++ * *py++);

+        sum += ((q31_t) * px++ * *py++);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum += ((q31_t) * px++ * *py++);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut = (q15_t) (sum >> 15);

+      /* Destination pointer is updated according to the address modifier, inc */

+      pOut += inc;

+

+      /* Increment the pointer pIn1 index, count by 1 */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pIn2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+  else

+  {

+    /* If the srcBLen is not a multiple of 4,   

+     * the blockSize2 loop cannot be unrolled by 4 */

+    blkCnt = blockSize2;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Loop over srcBLen */

+      k = srcBLen;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulate */

+        sum += ((q31_t) * px++ * *py++);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut = (q15_t) (sum >> 15);

+      /* Destination pointer is updated according to the address modifier, inc */

+      pOut += inc;

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pIn2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+

+  /* --------------------------   

+   * Initializations of stage3   

+   * -------------------------*/

+

+  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   

+   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   

+   * ....   

+   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]   

+   * sum +=  x[srcALen-1] * y[0]   

+   */

+

+  /* In this stage the MAC operations are decreased by 1 for every iteration.   

+     The count variable holds the number of MAC operations performed */

+  count = srcBLen - 1u;

+

+  /* Working pointer of inputA */

+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);

+  px = pSrc1;

+

+  /* Working pointer of inputB */

+  py = pIn2;

+

+  /* -------------------   

+   * Stage3 process   

+   * ------------------*/

+

+  while(blockSize3 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = count >> 2u;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+        sum += ((q31_t) * px++ * *py++);

+        sum += ((q31_t) * px++ * *py++);

+        sum += ((q31_t) * px++ * *py++);

+        sum += ((q31_t) * px++ * *py++);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, compute any remaining MACs here.   

+     ** No loop unrolling is used. */

+    k = count % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+        sum += ((q31_t) * px++ * *py++);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut = (q15_t) (sum >> 15);

+    /* Destination pointer is updated according to the address modifier, inc */

+    pOut += inc;

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    px = ++pSrc1;

+    py = pIn2;

+

+    /* Decrement the MAC count */

+    count--;

+

+    /* Decrement the loop counter */

+    blockSize3--;

+  }

+

+#endif /*   #ifndef UNALIGNED_SUPPORT_DISABLE */

+

+}

+

+/**   

+ * @} end of Corr group   

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c
new file mode 100644
index 000000000..628fd3ea5
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c
@@ -0,0 +1,607 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_correlate_fast_q31.c    

+*    

+* Description:	Fast Q31 Correlation.    

+*    

+* Target Processor: Cortex-M4/Cortex-M3

+*  

+* Version 1.1.0 2012/02/15 

+*    Updated with more optimizations, bug fixes and minor API changes.  

+* 

+* Version 1.0.11 2011/10/18  

+*    Bug Fix in conv, correlation, partial convolution.  

+* 

+* 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 groupFilters    

+ */

+

+/**    

+ * @addtogroup Corr    

+ * @{    

+ */

+

+/**    

+ * @brief Correlation of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4.    

+ * @param[in] *pSrcA points to the first input sequence.    

+ * @param[in] srcALen length of the first input sequence.    

+ * @param[in] *pSrcB points to the second input sequence.    

+ * @param[in] srcBLen length of the second input sequence.    

+ * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.    

+ * @return none.    

+ *    

+ * @details    

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

+ *    

+ * \par    

+ * This function is optimized for speed at the expense of fixed-point precision and overflow protection.    

+ * The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format.    

+ * These intermediate results are accumulated in a 32-bit register in 2.30 format.    

+ * Finally, the accumulator is saturated and converted to a 1.31 result.    

+ *    

+ * \par    

+ * The fast version has the same overflow behavior as the standard version but provides less precision since it discards the low 32 bits of each multiplication result.    

+ * In order to avoid overflows completely the input signals must be scaled down.    

+ * The input signals should be scaled down to avoid intermediate overflows.    

+ * Scale down one of the inputs by 1/min(srcALen, srcBLen)to avoid overflows since a    

+ * maximum of min(srcALen, srcBLen) number of additions is carried internally.    

+ *    

+ * \par    

+ * See <code>arm_correlate_q31()</code> for a slower implementation of this function which uses 64-bit accumulation to provide higher precision.    

+ */

+

+void arm_correlate_fast_q31(

+  q31_t * pSrcA,

+  uint32_t srcALen,

+  q31_t * pSrcB,

+  uint32_t srcBLen,

+  q31_t * pDst)

+{

+  q31_t *pIn1;                                   /* inputA pointer               */

+  q31_t *pIn2;                                   /* inputB pointer               */

+  q31_t *pOut = pDst;                            /* output pointer               */

+  q31_t *px;                                     /* Intermediate inputA pointer  */

+  q31_t *py;                                     /* Intermediate inputB pointer  */

+  q31_t *pSrc1;                                  /* Intermediate pointers        */

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

+  q31_t x0, x1, x2, x3, c0;                      /* temporary variables for holding input and coefficient values */

+  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counter                 */

+  int32_t inc = 1;                               /* Destination address modifier */

+

+

+  /* The algorithm implementation is based on the lengths of the inputs. */

+  /* srcB is always made to slide across srcA. */

+  /* So srcBLen is always considered as shorter or equal to srcALen */

+  if(srcALen >= srcBLen)

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = (pSrcA);

+

+    /* Initialization of inputB pointer */

+    pIn2 = (pSrcB);

+

+    /* Number of output samples is calculated */

+    outBlockSize = (2u * srcALen) - 1u;

+

+    /* When srcALen > srcBLen, zero padding is done to srcB    

+     * to make their lengths equal.    

+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))    

+     * number of output samples are made zero */

+    j = outBlockSize - (srcALen + (srcBLen - 1u));

+

+    /* Updating the pointer position to non zero value */

+    pOut += j;

+

+  }

+  else

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = (pSrcB);

+

+    /* Initialization of inputB pointer */

+    pIn2 = (pSrcA);

+

+    /* srcBLen is always considered as shorter or equal to srcALen */

+    j = srcBLen;

+    srcBLen = srcALen;

+    srcALen = j;

+

+    /* CORR(x, y) = Reverse order(CORR(y, x)) */

+    /* Hence set the destination pointer to point to the last output sample */

+    pOut = pDst + ((srcALen + srcBLen) - 2u);

+

+    /* Destination address modifier is set to -1 */

+    inc = -1;

+

+  }

+

+  /* The function is internally    

+   * divided into three parts according to the number of multiplications that has to be    

+   * taken place between inputA samples and inputB samples. In the first part of the    

+   * algorithm, the multiplications increase by one for every iteration.    

+   * In the second part of the algorithm, srcBLen number of multiplications are done.    

+   * In the third part of the algorithm, the multiplications decrease by one    

+   * for every iteration.*/

+  /* The algorithm is implemented in three stages.    

+   * The loop counters of each stage is initiated here. */

+  blockSize1 = srcBLen - 1u;

+  blockSize2 = srcALen - (srcBLen - 1u);

+  blockSize3 = blockSize1;

+

+  /* --------------------------    

+   * Initializations of stage1    

+   * -------------------------*/

+

+  /* sum = x[0] * y[srcBlen - 1]    

+   * sum = x[0] * y[srcBlen - 2] + x[1] * y[srcBlen - 1]    

+   * ....    

+   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]    

+   */

+

+  /* In this stage the MAC operations are increased by 1 for every iteration.    

+     The count variable holds the number of MAC operations performed */

+  count = 1u;

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  pSrc1 = pIn2 + (srcBLen - 1u);

+  py = pSrc1;

+

+  /* ------------------------    

+   * Stage1 process    

+   * ----------------------*/

+

+  /* The first stage starts here */

+  while(blockSize1 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = count >> 2;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* x[0] * y[srcBLen - 4] */

+      sum = (q31_t) ((((q63_t) sum << 32) +

+                      ((q63_t) * px++ * (*py++))) >> 32);

+      /* x[1] * y[srcBLen - 3] */

+      sum = (q31_t) ((((q63_t) sum << 32) +

+                      ((q63_t) * px++ * (*py++))) >> 32);

+      /* x[2] * y[srcBLen - 2] */

+      sum = (q31_t) ((((q63_t) sum << 32) +

+                      ((q63_t) * px++ * (*py++))) >> 32);

+      /* x[3] * y[srcBLen - 1] */

+      sum = (q31_t) ((((q63_t) sum << 32) +

+                      ((q63_t) * px++ * (*py++))) >> 32);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, compute any remaining MACs here.    

+     ** No loop unrolling is used. */

+    k = count % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      /* x[0] * y[srcBLen - 1] */

+      sum = (q31_t) ((((q63_t) sum << 32) +

+                      ((q63_t) * px++ * (*py++))) >> 32);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut = sum << 1;

+    /* Destination pointer is updated according to the address modifier, inc */

+    pOut += inc;

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    py = pSrc1 - count;

+    px = pIn1;

+

+    /* Increment the MAC count */

+    count++;

+

+    /* Decrement the loop counter */

+    blockSize1--;

+  }

+

+  /* --------------------------    

+   * Initializations of stage2    

+   * ------------------------*/

+

+  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]    

+   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]    

+   * ....    

+   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    

+   */

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  py = pIn2;

+

+  /* count is index by which the pointer pIn1 to be incremented */

+  count = 0u;

+

+  /* -------------------    

+   * Stage2 process    

+   * ------------------*/

+

+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    

+   * So, to loop unroll over blockSize2,    

+   * srcBLen should be greater than or equal to 4 */

+  if(srcBLen >= 4u)

+  {

+    /* Loop unroll over blockSize2, by 4 */

+    blkCnt = blockSize2 >> 2u;

+

+    while(blkCnt > 0u)

+    {

+      /* Set all accumulators to zero */

+      acc0 = 0;

+      acc1 = 0;

+      acc2 = 0;

+      acc3 = 0;

+

+      /* read x[0], x[1], x[2] samples */

+      x0 = *(px++);

+      x1 = *(px++);

+      x2 = *(px++);

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      do

+      {

+        /* Read y[0] sample */

+        c0 = *(py++);

+

+        /* Read x[3] sample */

+        x3 = *(px++);

+

+        /* Perform the multiply-accumulate */

+        /* acc0 +=  x[0] * y[0] */

+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);

+        /* acc1 +=  x[1] * y[0] */

+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);

+        /* acc2 +=  x[2] * y[0] */

+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);

+        /* acc3 +=  x[3] * y[0] */

+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);

+

+        /* Read y[1] sample */

+        c0 = *(py++);

+

+        /* Read x[4] sample */

+        x0 = *(px++);

+

+        /* Perform the multiply-accumulates */

+        /* acc0 +=  x[1] * y[1] */

+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x1 * c0)) >> 32);

+        /* acc1 +=  x[2] * y[1] */

+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x2 * c0)) >> 32);

+        /* acc2 +=  x[3] * y[1] */

+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x3 * c0)) >> 32);

+        /* acc3 +=  x[4] * y[1] */

+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x0 * c0)) >> 32);

+

+        /* Read y[2] sample */

+        c0 = *(py++);

+

+        /* Read x[5] sample */

+        x1 = *(px++);

+

+        /* Perform the multiply-accumulates */

+        /* acc0 +=  x[2] * y[2] */

+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x2 * c0)) >> 32);

+        /* acc1 +=  x[3] * y[2] */

+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x3 * c0)) >> 32);

+        /* acc2 +=  x[4] * y[2] */

+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x0 * c0)) >> 32);

+        /* acc3 +=  x[5] * y[2] */

+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x1 * c0)) >> 32);

+

+        /* Read y[3] sample */

+        c0 = *(py++);

+

+        /* Read x[6] sample */

+        x2 = *(px++);

+

+        /* Perform the multiply-accumulates */

+        /* acc0 +=  x[3] * y[3] */

+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x3 * c0)) >> 32);

+        /* acc1 +=  x[4] * y[3] */

+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x0 * c0)) >> 32);

+        /* acc2 +=  x[5] * y[3] */

+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x1 * c0)) >> 32);

+        /* acc3 +=  x[6] * y[3] */

+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x2 * c0)) >> 32);

+

+

+      } while(--k);

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Read y[4] sample */

+        c0 = *(py++);

+

+        /* Read x[7] sample */

+        x3 = *(px++);

+

+        /* Perform the multiply-accumulates */

+        /* acc0 +=  x[4] * y[4] */

+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);

+        /* acc1 +=  x[5] * y[4] */

+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);

+        /* acc2 +=  x[6] * y[4] */

+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);

+        /* acc3 +=  x[7] * y[4] */

+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);

+

+        /* Reuse the present samples for the next MAC */

+        x0 = x1;

+        x1 = x2;

+        x2 = x3;

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut = (q31_t) (acc0 << 1);

+      /* Destination pointer is updated according to the address modifier, inc */

+      pOut += inc;

+

+      *pOut = (q31_t) (acc1 << 1);

+      pOut += inc;

+

+      *pOut = (q31_t) (acc2 << 1);

+      pOut += inc;

+

+      *pOut = (q31_t) (acc3 << 1);

+      pOut += inc;

+

+      /* Increment the pointer pIn1 index, count by 4 */

+      count += 4u;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pIn2;

+

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.    

+     ** No loop unrolling is used. */

+    blkCnt = blockSize2 % 0x4u;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum = (q31_t) ((((q63_t) sum << 32) +

+                        ((q63_t) * px++ * (*py++))) >> 32);

+        sum = (q31_t) ((((q63_t) sum << 32) +

+                        ((q63_t) * px++ * (*py++))) >> 32);

+        sum = (q31_t) ((((q63_t) sum << 32) +

+                        ((q63_t) * px++ * (*py++))) >> 32);

+        sum = (q31_t) ((((q63_t) sum << 32) +

+                        ((q63_t) * px++ * (*py++))) >> 32);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulate */

+        sum = (q31_t) ((((q63_t) sum << 32) +

+                        ((q63_t) * px++ * (*py++))) >> 32);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut = sum << 1;

+      /* Destination pointer is updated according to the address modifier, inc */

+      pOut += inc;

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pIn2;

+

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+  else

+  {

+    /* If the srcBLen is not a multiple of 4,    

+     * the blockSize2 loop cannot be unrolled by 4 */

+    blkCnt = blockSize2;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Loop over srcBLen */

+      k = srcBLen;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulate */

+        sum = (q31_t) ((((q63_t) sum << 32) +

+                        ((q63_t) * px++ * (*py++))) >> 32);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut = sum << 1;

+      /* Destination pointer is updated according to the address modifier, inc */

+      pOut += inc;

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pIn2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+

+  /* --------------------------    

+   * Initializations of stage3    

+   * -------------------------*/

+

+  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    

+   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    

+   * ....    

+   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]    

+   * sum +=  x[srcALen-1] * y[0]    

+   */

+

+  /* In this stage the MAC operations are decreased by 1 for every iteration.    

+     The count variable holds the number of MAC operations performed */

+  count = srcBLen - 1u;

+

+  /* Working pointer of inputA */

+  pSrc1 = ((pIn1 + srcALen) - srcBLen) + 1u;

+  px = pSrc1;

+

+  /* Working pointer of inputB */

+  py = pIn2;

+

+  /* -------------------    

+   * Stage3 process    

+   * ------------------*/

+

+  while(blockSize3 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = count >> 2u;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      /* sum += x[srcALen - srcBLen + 4] * y[3] */

+      sum = (q31_t) ((((q63_t) sum << 32) +

+                      ((q63_t) * px++ * (*py++))) >> 32);

+      /* sum += x[srcALen - srcBLen + 3] * y[2] */

+      sum = (q31_t) ((((q63_t) sum << 32) +

+                      ((q63_t) * px++ * (*py++))) >> 32);

+      /* sum += x[srcALen - srcBLen + 2] * y[1] */

+      sum = (q31_t) ((((q63_t) sum << 32) +

+                      ((q63_t) * px++ * (*py++))) >> 32);

+      /* sum += x[srcALen - srcBLen + 1] * y[0] */

+      sum = (q31_t) ((((q63_t) sum << 32) +

+                      ((q63_t) * px++ * (*py++))) >> 32);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, compute any remaining MACs here.    

+     ** No loop unrolling is used. */

+    k = count % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      sum = (q31_t) ((((q63_t) sum << 32) +

+                      ((q63_t) * px++ * (*py++))) >> 32);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut = sum << 1;

+    /* Destination pointer is updated according to the address modifier, inc */

+    pOut += inc;

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    px = ++pSrc1;

+    py = pIn2;

+

+    /* Decrement the MAC count */

+    count--;

+

+    /* Decrement the loop counter */

+    blockSize3--;

+  }

+

+}

+

+/**    

+ * @} end of Corr group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q15.c
new file mode 100644
index 000000000..cc33b54f5
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q15.c
@@ -0,0 +1,512 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_correlate_opt_q15.c    

+*    

+* Description:	Correlation of Q15 sequences.  

+*    

+* Target Processor: Cortex-M4/Cortex-M3

+*  

+* Version 1.1.0 2012/02/15 

+*    Updated with more optimizations, bug fixes and minor API changes.  

+* 

+* Version 1.0.11 2011/10/18  

+*    Bug Fix in conv, correlation, partial convolution.  

+* 

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+*    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup Corr    

+ * @{    

+ */

+

+/**    

+ * @brief Correlation of Q15 sequences.  

+ * @param[in] *pSrcA points to the first input sequence.    

+ * @param[in] srcALen length of the first input sequence.    

+ * @param[in] *pSrcB points to the second input sequence.    

+ * @param[in] srcBLen length of the second input sequence.    

+ * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.    

+ * @param[in]  *pScratch points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.    

+ * @return none.    

+ *    

+ * \par Restrictions    

+ *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    

+ *	In this case input, output, scratch buffers should be aligned by 32-bit    

+ *     

+ * @details    

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

+ *    

+ * \par    

+ * The function is implemented using a 64-bit internal accumulator.    

+ * Both inputs are in 1.15 format and multiplications yield a 2.30 result.    

+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.    

+ * This approach provides 33 guard bits and there is no risk of overflow.    

+ * The 34.30 result is then truncated to 34.15 format by discarding the low 15 bits and then saturated to 1.15 format.    

+ *    

+ * \par    

+ * Refer to <code>arm_correlate_fast_q15()</code> for a faster but less precise version of this function for Cortex-M3 and Cortex-M4.   

+ *  

+ * 

+ */

+

+

+void arm_correlate_opt_q15(

+  q15_t * pSrcA,

+  uint32_t srcALen,

+  q15_t * pSrcB,

+  uint32_t srcBLen,

+  q15_t * pDst,

+  q15_t * pScratch)

+{

+  q15_t *pIn1;                                   /* inputA pointer               */

+  q15_t *pIn2;                                   /* inputB pointer               */

+  q63_t acc0, acc1, acc2, acc3;                  /* Accumulators                  */

+  q15_t *py;                                     /* Intermediate inputB pointer  */

+  q31_t x1, x2, x3;                              /* temporary variables for holding input1 and input2 values */

+  uint32_t j, blkCnt, outBlockSize;              /* loop counter                 */

+  int32_t inc = 1;                               /* output pointer increment     */

+  uint32_t tapCnt;

+  q31_t y1, y2;

+  q15_t *pScr;                                   /* Intermediate pointers        */

+  q15_t *pOut = pDst;                            /* output pointer               */

+#ifdef UNALIGNED_SUPPORT_DISABLE

+

+  q15_t a, b;

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+  /* The algorithm implementation is based on the lengths of the inputs. */

+  /* srcB is always made to slide across srcA. */

+  /* So srcBLen is always considered as shorter or equal to srcALen */

+  /* But CORR(x, y) is reverse of CORR(y, x) */

+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */

+  /* and the destination pointer modifier, inc is set to -1 */

+  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */

+  /* But to improve the performance,        

+   * we include zeroes in the output instead of zero padding either of the the inputs*/

+  /* If srcALen > srcBLen,        

+   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */

+  /* If srcALen < srcBLen,        

+   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */

+  if(srcALen >= srcBLen)

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = (pSrcA);

+

+    /* Initialization of inputB pointer */

+    pIn2 = (pSrcB);

+

+    /* Number of output samples is calculated */

+    outBlockSize = (2u * srcALen) - 1u;

+

+    /* When srcALen > srcBLen, zero padding is done to srcB        

+     * to make their lengths equal.        

+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))        

+     * number of output samples are made zero */

+    j = outBlockSize - (srcALen + (srcBLen - 1u));

+

+    /* Updating the pointer position to non zero value */

+    pOut += j;

+

+  }

+  else

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = (pSrcB);

+

+    /* Initialization of inputB pointer */

+    pIn2 = (pSrcA);

+

+    /* srcBLen is always considered as shorter or equal to srcALen */

+    j = srcBLen;

+    srcBLen = srcALen;

+    srcALen = j;

+

+    /* CORR(x, y) = Reverse order(CORR(y, x)) */

+    /* Hence set the destination pointer to point to the last output sample */

+    pOut = pDst + ((srcALen + srcBLen) - 2u);

+

+    /* Destination address modifier is set to -1 */

+    inc = -1;

+

+  }

+

+  pScr = pScratch;

+

+  /* Fill (srcBLen - 1u) zeros in scratch buffer */

+  arm_fill_q15(0, pScr, (srcBLen - 1u));

+

+  /* Update temporary scratch pointer */

+  pScr += (srcBLen - 1u);

+

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+  /* Copy (srcALen) samples in scratch buffer */

+  arm_copy_q15(pIn1, pScr, srcALen);

+

+  /* Update pointers */

+  //pIn1 += srcALen;    

+  pScr += srcALen;

+

+#else

+

+  /* Apply loop unrolling and do 4 Copies simultaneously. */

+  j = srcALen >> 2u;

+

+  /* First part of the processing with loop unrolling copies 4 data points at a time.       

+   ** a second loop below copies for the remaining 1 to 3 samples. */

+  while(j > 0u)

+  {

+    /* copy second buffer in reversal manner */

+    *pScr++ = *pIn1++;

+    *pScr++ = *pIn1++;

+    *pScr++ = *pIn1++;

+    *pScr++ = *pIn1++;

+

+    /* Decrement the loop counter */

+    j--;

+  }

+

+  /* If the count is not a multiple of 4, copy remaining samples here.       

+   ** No loop unrolling is used. */

+  j = srcALen % 0x4u;

+

+  while(j > 0u)

+  {

+    /* copy second buffer in reversal manner for remaining samples */

+    *pScr++ = *pIn1++;

+

+    /* Decrement the loop counter */

+    j--;

+  }

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+  /* Fill (srcBLen - 1u) zeros at end of scratch buffer */

+  arm_fill_q15(0, pScr, (srcBLen - 1u));

+

+  /* Update pointer */

+  pScr += (srcBLen - 1u);

+

+#else

+

+/* Apply loop unrolling and do 4 Copies simultaneously. */

+  j = (srcBLen - 1u) >> 2u;

+

+  /* First part of the processing with loop unrolling copies 4 data points at a time.       

+   ** a second loop below copies for the remaining 1 to 3 samples. */

+  while(j > 0u)

+  {

+    /* copy second buffer in reversal manner */

+    *pScr++ = 0;

+    *pScr++ = 0;

+    *pScr++ = 0;

+    *pScr++ = 0;

+

+    /* Decrement the loop counter */

+    j--;

+  }

+

+  /* If the count is not a multiple of 4, copy remaining samples here.       

+   ** No loop unrolling is used. */

+  j = (srcBLen - 1u) % 0x4u;

+

+  while(j > 0u)

+  {

+    /* copy second buffer in reversal manner for remaining samples */

+    *pScr++ = 0;

+

+    /* Decrement the loop counter */

+    j--;

+  }

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+  /* Temporary pointer for scratch2 */

+  py = pIn2;

+

+

+  /* Actual correlation process starts here */

+  blkCnt = (srcALen + srcBLen - 1u) >> 2;

+

+  while(blkCnt > 0)

+  {

+    /* Initialze temporary scratch pointer as scratch1 */

+    pScr = pScratch;

+

+    /* Clear Accumlators */

+    acc0 = 0;

+    acc1 = 0;

+    acc2 = 0;

+    acc3 = 0;

+

+    /* Read four samples from scratch1 buffer */

+    x1 = *__SIMD32(pScr)++;

+

+    /* Read next four samples from scratch1 buffer */

+    x2 = *__SIMD32(pScr)++;

+

+    tapCnt = (srcBLen) >> 2u;

+

+    while(tapCnt > 0u)

+    {

+

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+      /* Read four samples from smaller buffer */

+      y1 = _SIMD32_OFFSET(pIn2);

+      y2 = _SIMD32_OFFSET(pIn2 + 2u);

+

+      acc0 = __SMLALD(x1, y1, acc0);

+

+      acc2 = __SMLALD(x2, y1, acc2);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x2, x1, 0);

+#else

+      x3 = __PKHBT(x1, x2, 0);

+#endif

+

+      acc1 = __SMLALDX(x3, y1, acc1);

+

+      x1 = _SIMD32_OFFSET(pScr);

+

+      acc0 = __SMLALD(x2, y2, acc0);

+

+      acc2 = __SMLALD(x1, y2, acc2);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x1, x2, 0);

+#else

+      x3 = __PKHBT(x2, x1, 0);

+#endif

+

+      acc3 = __SMLALDX(x3, y1, acc3);

+

+      acc1 = __SMLALDX(x3, y2, acc1);

+

+      x2 = _SIMD32_OFFSET(pScr + 2u);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x2, x1, 0);

+#else

+      x3 = __PKHBT(x1, x2, 0);

+#endif

+

+      acc3 = __SMLALDX(x3, y2, acc3);

+

+#else	 

+

+      /* Read four samples from smaller buffer */

+	  a = *pIn2;

+	  b = *(pIn2 + 1);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      y1 = __PKHBT(a, b, 16);

+#else

+      y1 = __PKHBT(b, a, 16);

+#endif

+	  

+	  a = *(pIn2 + 2);

+	  b = *(pIn2 + 3);

+#ifndef ARM_MATH_BIG_ENDIAN

+      y2 = __PKHBT(a, b, 16);

+#else

+      y2 = __PKHBT(b, a, 16);

+#endif				

+

+      acc0 = __SMLALD(x1, y1, acc0);

+

+      acc2 = __SMLALD(x2, y1, acc2);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x2, x1, 0);

+#else

+      x3 = __PKHBT(x1, x2, 0);

+#endif

+

+      acc1 = __SMLALDX(x3, y1, acc1);

+

+	  a = *pScr;

+	  b = *(pScr + 1);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x1 = __PKHBT(a, b, 16);

+#else

+      x1 = __PKHBT(b, a, 16);

+#endif

+

+      acc0 = __SMLALD(x2, y2, acc0);

+

+      acc2 = __SMLALD(x1, y2, acc2);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x1, x2, 0);

+#else

+      x3 = __PKHBT(x2, x1, 0);

+#endif

+

+      acc3 = __SMLALDX(x3, y1, acc3);

+

+      acc1 = __SMLALDX(x3, y2, acc1);

+

+	  a = *(pScr + 2);

+	  b = *(pScr + 3);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x2 = __PKHBT(a, b, 16);

+#else

+      x2 = __PKHBT(b, a, 16);

+#endif

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x2, x1, 0);

+#else

+      x3 = __PKHBT(x1, x2, 0);

+#endif

+

+      acc3 = __SMLALDX(x3, y2, acc3);

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+      pIn2 += 4u;

+

+      pScr += 4u;

+

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+

+

+    /* Update scratch pointer for remaining samples of smaller length sequence */

+    pScr -= 4u;

+

+

+    /* apply same above for remaining samples of smaller length sequence */

+    tapCnt = (srcBLen) & 3u;

+

+    while(tapCnt > 0u)

+    {

+

+      /* accumlate the results */

+      acc0 += (*pScr++ * *pIn2);

+      acc1 += (*pScr++ * *pIn2);

+      acc2 += (*pScr++ * *pIn2);

+      acc3 += (*pScr++ * *pIn2++);

+

+      pScr -= 3u;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    blkCnt--;

+

+

+    /* Store the results in the accumulators in the destination buffer. */

+    *pOut = (__SSAT(acc0 >> 15u, 16));

+    pOut += inc;

+    *pOut = (__SSAT(acc1 >> 15u, 16));

+    pOut += inc;

+    *pOut = (__SSAT(acc2 >> 15u, 16));

+    pOut += inc;

+    *pOut = (__SSAT(acc3 >> 15u, 16));

+    pOut += inc;

+

+    /* Initialization of inputB pointer */

+    pIn2 = py;

+

+    pScratch += 4u;

+

+  }

+

+

+  blkCnt = (srcALen + srcBLen - 1u) & 0x3;

+

+  /* Calculate correlation for remaining samples of Bigger length sequence */

+  while(blkCnt > 0)

+  {

+    /* Initialze temporary scratch pointer as scratch1 */

+    pScr = pScratch;

+

+    /* Clear Accumlators */

+    acc0 = 0;

+

+    tapCnt = (srcBLen) >> 1u;

+

+    while(tapCnt > 0u)

+    {

+

+      acc0 += (*pScr++ * *pIn2++);

+      acc0 += (*pScr++ * *pIn2++);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    tapCnt = (srcBLen) & 1u;

+

+    /* apply same above for remaining samples of smaller length sequence */

+    while(tapCnt > 0u)

+    {

+

+      /* accumlate the results */

+      acc0 += (*pScr++ * *pIn2++);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    blkCnt--;

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut = (q15_t) (__SSAT((acc0 >> 15), 16));

+

+    pOut += inc;

+

+    /* Initialization of inputB pointer */

+    pIn2 = py;

+

+    pScratch += 1u;

+

+  }

+

+

+}

+

+/**    

+ * @} end of Corr group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q7.c
new file mode 100644
index 000000000..6749b01b3
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q7.c
@@ -0,0 +1,463 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_correlate_opt_q7.c    

+*    

+* Description:	Correlation of Q7 sequences.  

+*    

+* Target Processor: Cortex-M4/Cortex-M3

+*  

+* Version 1.1.0 2012/02/15 

+*    Updated with more optimizations, bug fixes and minor API changes.  

+* 

+* Version 1.0.11 2011/10/18  

+*    Bug Fix in conv, correlation, partial convolution.  

+* 

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+*    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup Corr    

+ * @{    

+ */

+

+/**    

+ * @brief Correlation of Q7 sequences.    

+ * @param[in] *pSrcA points to the first input sequence.    

+ * @param[in] srcALen length of the first input sequence.    

+ * @param[in] *pSrcB points to the second input sequence.    

+ * @param[in] srcBLen length of the second input sequence.    

+ * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.    

+ * @param[in]  *pScratch1 points to scratch buffer(of type q15_t) of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.    

+ * @param[in]  *pScratch2 points to scratch buffer (of type q15_t) of size min(srcALen, srcBLen).    

+ * @return none.    

+ *    

+ *    

+ * \par Restrictions    

+ *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    

+ *	In this case input, output, scratch1 and scratch2 buffers should be aligned by 32-bit     

+ *        

+ * @details    

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

+ *    

+ * \par    

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

+ * Both the inputs 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.    

+ * This approach provides 17 guard bits and there is no risk of overflow as long as <code>max(srcALen, srcBLen)<131072</code>.    

+ * The 18.14 result is then truncated to 18.7 format by discarding the low 7 bits and saturated to 1.7 format.  

+ *  

+ * 

+ */

+

+

+

+void arm_correlate_opt_q7(

+  q7_t * pSrcA,

+  uint32_t srcALen,

+  q7_t * pSrcB,

+  uint32_t srcBLen,

+  q7_t * pDst,

+  q15_t * pScratch1,

+  q15_t * pScratch2)

+{

+  q7_t *pOut = pDst;                             /* output pointer                */

+  q15_t *pScr1 = pScratch1;                      /* Temporary pointer for scratch */

+  q15_t *pScr2 = pScratch2;                      /* Temporary pointer for scratch */

+  q7_t *pIn1;                                    /* inputA pointer                */

+  q7_t *pIn2;                                    /* inputB pointer                */

+  q15_t *py;                                     /* Intermediate inputB pointer   */

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

+  uint32_t j, k = 0u, blkCnt;                    /* loop counter                  */

+  int32_t inc = 1;                               /* output pointer increment          */

+  uint32_t outBlockSize;                         /* loop counter                  */

+  q15_t x4;                                      /* Temporary input variable      */

+  uint32_t tapCnt;                               /* loop counter                  */

+  q31_t x1, x2, x3, y1;                          /* Temporary input variables     */

+

+  /* The algorithm implementation is based on the lengths of the inputs. */

+  /* srcB is always made to slide across srcA. */

+  /* So srcBLen is always considered as shorter or equal to srcALen */

+  /* But CORR(x, y) is reverse of CORR(y, x) */

+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */

+  /* and the destination pointer modifier, inc is set to -1 */

+  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */

+  /* But to improve the performance,        

+   * we include zeroes in the output instead of zero padding either of the the inputs*/

+  /* If srcALen > srcBLen,        

+   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */

+  /* If srcALen < srcBLen,        

+   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */

+  if(srcALen >= srcBLen)

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = (pSrcA);

+

+    /* Initialization of inputB pointer */

+    pIn2 = (pSrcB);

+

+    /* Number of output samples is calculated */

+    outBlockSize = (2u * srcALen) - 1u;

+

+    /* When srcALen > srcBLen, zero padding is done to srcB        

+     * to make their lengths equal.        

+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))        

+     * number of output samples are made zero */

+    j = outBlockSize - (srcALen + (srcBLen - 1u));

+

+    /* Updating the pointer position to non zero value */

+    pOut += j;

+

+  }

+  else

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = (pSrcB);

+

+    /* Initialization of inputB pointer */

+    pIn2 = (pSrcA);

+

+    /* srcBLen is always considered as shorter or equal to srcALen */

+    j = srcBLen;

+    srcBLen = srcALen;

+    srcALen = j;

+

+    /* CORR(x, y) = Reverse order(CORR(y, x)) */

+    /* Hence set the destination pointer to point to the last output sample */

+    pOut = pDst + ((srcALen + srcBLen) - 2u);

+

+    /* Destination address modifier is set to -1 */

+    inc = -1;

+

+  }

+

+

+  /* Copy (srcBLen) samples in scratch buffer */

+  k = srcBLen >> 2u;

+

+  /* First part of the processing with loop unrolling copies 4 data points at a time.       

+   ** a second loop below copies for the remaining 1 to 3 samples. */

+  while(k > 0u)

+  {

+    /* copy second buffer in reversal manner */

+    x4 = (q15_t) * pIn2++;

+    *pScr2++ = x4;

+    x4 = (q15_t) * pIn2++;

+    *pScr2++ = x4;

+    x4 = (q15_t) * pIn2++;

+    *pScr2++ = x4;

+    x4 = (q15_t) * pIn2++;

+    *pScr2++ = x4;

+

+    /* Decrement the loop counter */

+    k--;

+  }

+

+  /* If the count is not a multiple of 4, copy remaining samples here.       

+   ** No loop unrolling is used. */

+  k = srcBLen % 0x4u;

+

+  while(k > 0u)

+  {

+    /* copy second buffer in reversal manner for remaining samples */

+    x4 = (q15_t) * pIn2++;

+    *pScr2++ = x4;

+

+    /* Decrement the loop counter */

+    k--;

+  }

+

+  /* Fill (srcBLen - 1u) zeros in scratch buffer */

+  arm_fill_q15(0, pScr1, (srcBLen - 1u));

+

+  /* Update temporary scratch pointer */

+  pScr1 += (srcBLen - 1u);

+

+  /* Copy (srcALen) samples in scratch buffer */

+  k = srcALen >> 2u;

+

+  /* First part of the processing with loop unrolling copies 4 data points at a time.       

+   ** a second loop below copies for the remaining 1 to 3 samples. */

+  while(k > 0u)

+  {

+    /* copy second buffer in reversal manner */

+    x4 = (q15_t) * pIn1++;

+    *pScr1++ = x4;

+    x4 = (q15_t) * pIn1++;

+    *pScr1++ = x4;

+    x4 = (q15_t) * pIn1++;

+    *pScr1++ = x4;

+    x4 = (q15_t) * pIn1++;

+    *pScr1++ = x4;

+

+    /* Decrement the loop counter */

+    k--;

+  }

+

+  /* If the count is not a multiple of 4, copy remaining samples here.       

+   ** No loop unrolling is used. */

+  k = srcALen % 0x4u;

+

+  while(k > 0u)

+  {

+    /* copy second buffer in reversal manner for remaining samples */

+    x4 = (q15_t) * pIn1++;

+    *pScr1++ = x4;

+

+    /* Decrement the loop counter */

+    k--;

+  }

+

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+  /* Fill (srcBLen - 1u) zeros at end of scratch buffer */

+  arm_fill_q15(0, pScr1, (srcBLen - 1u));

+

+  /* Update pointer */

+  pScr1 += (srcBLen - 1u);

+

+#else

+

+/* Apply loop unrolling and do 4 Copies simultaneously. */

+  k = (srcBLen - 1u) >> 2u;

+

+  /* First part of the processing with loop unrolling copies 4 data points at a time.       

+   ** a second loop below copies for the remaining 1 to 3 samples. */

+  while(k > 0u)

+  {

+    /* copy second buffer in reversal manner */

+    *pScr1++ = 0;

+    *pScr1++ = 0;

+    *pScr1++ = 0;

+    *pScr1++ = 0;

+

+    /* Decrement the loop counter */

+    k--;

+  }

+

+  /* If the count is not a multiple of 4, copy remaining samples here.       

+   ** No loop unrolling is used. */

+  k = (srcBLen - 1u) % 0x4u;

+

+  while(k > 0u)

+  {

+    /* copy second buffer in reversal manner for remaining samples */

+    *pScr1++ = 0;

+

+    /* Decrement the loop counter */

+    k--;

+  }

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+  /* Temporary pointer for second sequence */

+  py = pScratch2;

+

+  /* Initialization of pScr2 pointer */

+  pScr2 = pScratch2;

+

+  /* Actual correlation process starts here */

+  blkCnt = (srcALen + srcBLen - 1u) >> 2;

+

+  while(blkCnt > 0)

+  {

+    /* Initialze temporary scratch pointer as scratch1 */

+    pScr1 = pScratch1;

+

+    /* Clear Accumlators */

+    acc0 = 0;

+    acc1 = 0;

+    acc2 = 0;

+    acc3 = 0;

+

+    /* Read two samples from scratch1 buffer */

+    x1 = *__SIMD32(pScr1)++;

+

+    /* Read next two samples from scratch1 buffer */

+    x2 = *__SIMD32(pScr1)++;

+

+    tapCnt = (srcBLen) >> 2u;

+

+    while(tapCnt > 0u)

+    {

+

+      /* Read four samples from smaller buffer */

+      y1 = _SIMD32_OFFSET(pScr2);

+

+      /* multiply and accumlate */

+      acc0 = __SMLAD(x1, y1, acc0);

+      acc2 = __SMLAD(x2, y1, acc2);

+

+      /* pack input data */

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x2, x1, 0);

+#else

+      x3 = __PKHBT(x1, x2, 0);

+#endif

+

+      /* multiply and accumlate */

+      acc1 = __SMLADX(x3, y1, acc1);

+

+      /* Read next two samples from scratch1 buffer */

+      x1 = *__SIMD32(pScr1)++;

+

+      /* pack input data */

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x1, x2, 0);

+#else

+      x3 = __PKHBT(x2, x1, 0);

+#endif

+

+      acc3 = __SMLADX(x3, y1, acc3);

+

+      /* Read four samples from smaller buffer */

+      y1 = _SIMD32_OFFSET(pScr2 + 2u);

+

+      acc0 = __SMLAD(x2, y1, acc0);

+

+      acc2 = __SMLAD(x1, y1, acc2);

+

+      acc1 = __SMLADX(x3, y1, acc1);

+

+      x2 = *__SIMD32(pScr1)++;

+

+#ifndef ARM_MATH_BIG_ENDIAN

+      x3 = __PKHBT(x2, x1, 0);

+#else

+      x3 = __PKHBT(x1, x2, 0);

+#endif

+

+      acc3 = __SMLADX(x3, y1, acc3);

+

+      pScr2 += 4u;

+

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+

+

+    /* Update scratch pointer for remaining samples of smaller length sequence */

+    pScr1 -= 4u;

+

+

+    /* apply same above for remaining samples of smaller length sequence */

+    tapCnt = (srcBLen) & 3u;

+

+    while(tapCnt > 0u)

+    {

+

+      /* accumlate the results */

+      acc0 += (*pScr1++ * *pScr2);

+      acc1 += (*pScr1++ * *pScr2);

+      acc2 += (*pScr1++ * *pScr2);

+      acc3 += (*pScr1++ * *pScr2++);

+

+      pScr1 -= 3u;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    blkCnt--;

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut = (q7_t) (__SSAT(acc0 >> 7u, 8));

+    pOut += inc;

+    *pOut = (q7_t) (__SSAT(acc1 >> 7u, 8));

+    pOut += inc;

+    *pOut = (q7_t) (__SSAT(acc2 >> 7u, 8));

+    pOut += inc;

+    *pOut = (q7_t) (__SSAT(acc3 >> 7u, 8));

+    pOut += inc;

+

+    /* Initialization of inputB pointer */

+    pScr2 = py;

+

+    pScratch1 += 4u;

+

+  }

+

+

+  blkCnt = (srcALen + srcBLen - 1u) & 0x3;

+

+  /* Calculate correlation for remaining samples of Bigger length sequence */

+  while(blkCnt > 0)

+  {

+    /* Initialze temporary scratch pointer as scratch1 */

+    pScr1 = pScratch1;

+

+    /* Clear Accumlators */

+    acc0 = 0;

+

+    tapCnt = (srcBLen) >> 1u;

+

+    while(tapCnt > 0u)

+    {

+      acc0 += (*pScr1++ * *pScr2++);

+      acc0 += (*pScr1++ * *pScr2++);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    tapCnt = (srcBLen) & 1u;

+

+    /* apply same above for remaining samples of smaller length sequence */

+    while(tapCnt > 0u)

+    {

+

+      /* accumlate the results */

+      acc0 += (*pScr1++ * *pScr2++);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    blkCnt--;

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut = (q7_t) (__SSAT(acc0 >> 7u, 8));

+

+    pOut += inc;

+

+    /* Initialization of inputB pointer */

+    pScr2 = py;

+

+    pScratch1 += 1u;

+

+  }

+

+}

+

+/**    

+ * @} end of Corr group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c
new file mode 100644
index 000000000..fc4134b7b
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c
@@ -0,0 +1,718 @@
+/* ----------------------------------------------------------------------   

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

+*   

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*   

+* Project: 	    CMSIS DSP Library   

+* Title:		arm_correlate_q15.c   

+*   

+* Description:	Correlation of Q15 sequences. 

+*   

+* 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 1.0.11 2011/10/18 

+*    Bug Fix in conv, correlation, partial convolution. 

+*

+* 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 0.0.7  2010/06/10    

+*    Misra-C changes done   

+*   

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**   

+ * @ingroup groupFilters   

+ */

+

+/**   

+ * @addtogroup Corr   

+ * @{   

+ */

+

+/**   

+ * @brief Correlation of Q15 sequences. 

+ * @param[in] *pSrcA points to the first input sequence.   

+ * @param[in] srcALen length of the first input sequence.   

+ * @param[in] *pSrcB points to the second input sequence.   

+ * @param[in] srcBLen length of the second input sequence.   

+ * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.   

+ * @return none.   

+ *   

+ * @details   

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

+ *   

+ * \par   

+ * The function is implemented using a 64-bit internal accumulator.   

+ * Both inputs are in 1.15 format and multiplications yield a 2.30 result.   

+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.   

+ * This approach provides 33 guard bits and there is no risk of overflow.   

+ * The 34.30 result is then truncated to 34.15 format by discarding the low 15 bits and then saturated to 1.15 format.   

+ *   

+ * \par   

+ * Refer to <code>arm_correlate_fast_q15()</code> for a faster but less precise version of this function for Cortex-M3 and Cortex-M4. 

+ *

+ * \par    

+ * Refer the function <code>arm_correlate_opt_q15()</code> for a faster implementation of this function using scratch buffers.

+ * 

+ */

+

+void arm_correlate_q15(

+  q15_t * pSrcA,

+  uint32_t srcALen,

+  q15_t * pSrcB,

+  uint32_t srcBLen,

+  q15_t * pDst)

+{

+

+#if (defined(ARM_MATH_CM4) || defined(ARM_MATH_CM3)) && !defined(UNALIGNED_SUPPORT_DISABLE)

+

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

+

+  q15_t *pIn1;                                   /* inputA pointer               */

+  q15_t *pIn2;                                   /* inputB pointer               */

+  q15_t *pOut = pDst;                            /* output pointer               */

+  q63_t sum, acc0, acc1, acc2, acc3;             /* Accumulators                  */

+  q15_t *px;                                     /* Intermediate inputA pointer  */

+  q15_t *py;                                     /* Intermediate inputB pointer  */

+  q15_t *pSrc1;                                  /* Intermediate pointers        */

+  q31_t x0, x1, x2, x3, c0;                      /* temporary variables for holding input and coefficient values */

+  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counter                 */

+  int32_t inc = 1;                               /* Destination address modifier */

+

+

+  /* The algorithm implementation is based on the lengths of the inputs. */

+  /* srcB is always made to slide across srcA. */

+  /* So srcBLen is always considered as shorter or equal to srcALen */

+  /* But CORR(x, y) is reverse of CORR(y, x) */

+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */

+  /* and the destination pointer modifier, inc is set to -1 */

+  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */

+  /* But to improve the performance,   

+   * we include zeroes in the output instead of zero padding either of the the inputs*/

+  /* If srcALen > srcBLen,   

+   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */

+  /* If srcALen < srcBLen,   

+   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */

+  if(srcALen >= srcBLen)

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = (pSrcA);

+

+    /* Initialization of inputB pointer */

+    pIn2 = (pSrcB);

+

+    /* Number of output samples is calculated */

+    outBlockSize = (2u * srcALen) - 1u;

+

+    /* When srcALen > srcBLen, zero padding is done to srcB   

+     * to make their lengths equal.   

+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))   

+     * number of output samples are made zero */

+    j = outBlockSize - (srcALen + (srcBLen - 1u));

+

+    /* Updating the pointer position to non zero value */

+    pOut += j;

+

+  }

+  else

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = (pSrcB);

+

+    /* Initialization of inputB pointer */

+    pIn2 = (pSrcA);

+

+    /* srcBLen is always considered as shorter or equal to srcALen */

+    j = srcBLen;

+    srcBLen = srcALen;

+    srcALen = j;

+

+    /* CORR(x, y) = Reverse order(CORR(y, x)) */

+    /* Hence set the destination pointer to point to the last output sample */

+    pOut = pDst + ((srcALen + srcBLen) - 2u);

+

+    /* Destination address modifier is set to -1 */

+    inc = -1;

+

+  }

+

+  /* The function is internally   

+   * divided into three parts according to the number of multiplications that has to be   

+   * taken place between inputA samples and inputB samples. In the first part of the   

+   * algorithm, the multiplications increase by one for every iteration.   

+   * In the second part of the algorithm, srcBLen number of multiplications are done.   

+   * In the third part of the algorithm, the multiplications decrease by one   

+   * for every iteration.*/

+  /* The algorithm is implemented in three stages.   

+   * The loop counters of each stage is initiated here. */

+  blockSize1 = srcBLen - 1u;

+  blockSize2 = srcALen - (srcBLen - 1u);

+  blockSize3 = blockSize1;

+

+  /* --------------------------   

+   * Initializations of stage1   

+   * -------------------------*/

+

+  /* sum = x[0] * y[srcBlen - 1]   

+   * sum = x[0] * y[srcBlen - 2] + x[1] * y[srcBlen - 1]   

+   * ....   

+   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]   

+   */

+

+  /* In this stage the MAC operations are increased by 1 for every iteration.   

+     The count variable holds the number of MAC operations performed */

+  count = 1u;

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  pSrc1 = pIn2 + (srcBLen - 1u);

+  py = pSrc1;

+

+  /* ------------------------   

+   * Stage1 process   

+   * ----------------------*/

+

+  /* The first loop starts here */

+  while(blockSize1 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = count >> 2;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* x[0] * y[srcBLen - 4] , x[1] * y[srcBLen - 3] */

+      sum = __SMLALD(*__SIMD32(px)++, *__SIMD32(py)++, sum);

+      /* x[3] * y[srcBLen - 1] , x[2] * y[srcBLen - 2] */

+      sum = __SMLALD(*__SIMD32(px)++, *__SIMD32(py)++, sum);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, compute any remaining MACs here.   

+     ** No loop unrolling is used. */

+    k = count % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      /* x[0] * y[srcBLen - 1] */

+      sum = __SMLALD(*px++, *py++, sum);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut = (q15_t) (__SSAT((sum >> 15), 16));

+    /* Destination pointer is updated according to the address modifier, inc */

+    pOut += inc;

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    py = pSrc1 - count;

+    px = pIn1;

+

+    /* Increment the MAC count */

+    count++;

+

+    /* Decrement the loop counter */

+    blockSize1--;

+  }

+

+  /* --------------------------   

+   * Initializations of stage2   

+   * ------------------------*/

+

+  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]   

+   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]   

+   * ....   

+   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   

+   */

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  py = pIn2;

+

+  /* count is index by which the pointer pIn1 to be incremented */

+  count = 0u;

+

+  /* -------------------   

+   * Stage2 process   

+   * ------------------*/

+

+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   

+   * So, to loop unroll over blockSize2,   

+   * srcBLen should be greater than or equal to 4, to loop unroll the srcBLen loop */

+  if(srcBLen >= 4u)

+  {

+    /* Loop unroll over blockSize2, by 4 */

+    blkCnt = blockSize2 >> 2u;

+

+    while(blkCnt > 0u)

+    {

+      /* Set all accumulators to zero */

+      acc0 = 0;

+      acc1 = 0;

+      acc2 = 0;

+      acc3 = 0;

+

+      /* read x[0], x[1] samples */

+      x0 = *__SIMD32(px);

+      /* read x[1], x[2] samples */

+      x1 = _SIMD32_OFFSET(px + 1);

+	  px += 2u;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      do

+      {

+        /* Read the first two inputB samples using SIMD:   

+         * y[0] and y[1] */

+        c0 = *__SIMD32(py)++;

+

+        /* acc0 +=  x[0] * y[0] + x[1] * y[1] */

+        acc0 = __SMLALD(x0, c0, acc0);

+

+        /* acc1 +=  x[1] * y[0] + x[2] * y[1] */

+        acc1 = __SMLALD(x1, c0, acc1);

+

+        /* Read x[2], x[3] */

+        x2 = *__SIMD32(px);

+

+        /* Read x[3], x[4] */

+        x3 = _SIMD32_OFFSET(px + 1);

+

+        /* acc2 +=  x[2] * y[0] + x[3] * y[1] */

+        acc2 = __SMLALD(x2, c0, acc2);

+

+        /* acc3 +=  x[3] * y[0] + x[4] * y[1] */

+        acc3 = __SMLALD(x3, c0, acc3);

+

+        /* Read y[2] and y[3] */

+        c0 = *__SIMD32(py)++;

+

+        /* acc0 +=  x[2] * y[2] + x[3] * y[3] */

+        acc0 = __SMLALD(x2, c0, acc0);

+

+        /* acc1 +=  x[3] * y[2] + x[4] * y[3] */

+        acc1 = __SMLALD(x3, c0, acc1);

+

+        /* Read x[4], x[5] */

+        x0 = _SIMD32_OFFSET(px + 2);

+

+        /* Read x[5], x[6] */

+        x1 = _SIMD32_OFFSET(px + 3);

+

+		px += 4u;

+

+        /* acc2 +=  x[4] * y[2] + x[5] * y[3] */

+        acc2 = __SMLALD(x0, c0, acc2);

+

+        /* acc3 +=  x[5] * y[2] + x[6] * y[3] */

+        acc3 = __SMLALD(x1, c0, acc3);

+

+      } while(--k);

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      if(k == 1u)

+      {

+        /* Read y[4] */

+        c0 = *py;

+#ifdef  ARM_MATH_BIG_ENDIAN

+

+        c0 = c0 << 16u;

+

+#else

+

+        c0 = c0 & 0x0000FFFF;

+

+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */

+        /* Read x[7] */

+        x3 = *__SIMD32(px);

+		px++;

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLALD(x0, c0, acc0);

+        acc1 = __SMLALD(x1, c0, acc1);

+        acc2 = __SMLALDX(x1, c0, acc2);

+        acc3 = __SMLALDX(x3, c0, acc3);

+      }

+

+      if(k == 2u)

+      {

+        /* Read y[4], y[5] */

+        c0 = *__SIMD32(py);

+

+        /* Read x[7], x[8] */

+        x3 = *__SIMD32(px);

+

+        /* Read x[9] */

+        x2 = _SIMD32_OFFSET(px + 1);

+		px += 2u;

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLALD(x0, c0, acc0);

+        acc1 = __SMLALD(x1, c0, acc1);

+        acc2 = __SMLALD(x3, c0, acc2);

+        acc3 = __SMLALD(x2, c0, acc3);

+      }

+

+      if(k == 3u)

+      {

+        /* Read y[4], y[5] */

+        c0 = *__SIMD32(py)++;

+

+        /* Read x[7], x[8] */

+        x3 = *__SIMD32(px);

+

+        /* Read x[9] */

+        x2 = _SIMD32_OFFSET(px + 1);

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLALD(x0, c0, acc0);

+        acc1 = __SMLALD(x1, c0, acc1);

+        acc2 = __SMLALD(x3, c0, acc2);

+        acc3 = __SMLALD(x2, c0, acc3);

+

+        c0 = (*py);

+

+        /* Read y[6] */

+#ifdef  ARM_MATH_BIG_ENDIAN

+

+        c0 = c0 << 16u;

+#else

+

+        c0 = c0 & 0x0000FFFF;

+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */

+        /* Read x[10] */

+        x3 = _SIMD32_OFFSET(px + 2);

+		px += 3u;

+

+        /* Perform the multiply-accumulates */

+        acc0 = __SMLALDX(x1, c0, acc0);

+        acc1 = __SMLALD(x2, c0, acc1);

+        acc2 = __SMLALDX(x2, c0, acc2);

+        acc3 = __SMLALDX(x3, c0, acc3);

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut = (q15_t) (__SSAT(acc0 >> 15, 16));

+      /* Destination pointer is updated according to the address modifier, inc */

+      pOut += inc;

+

+      *pOut = (q15_t) (__SSAT(acc1 >> 15, 16));

+      pOut += inc;

+

+      *pOut = (q15_t) (__SSAT(acc2 >> 15, 16));

+      pOut += inc;

+

+      *pOut = (q15_t) (__SSAT(acc3 >> 15, 16));

+      pOut += inc;

+

+      /* Increment the count by 4 as 4 output values are computed */

+      count += 4u;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pIn2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   

+     ** No loop unrolling is used. */

+    blkCnt = blockSize2 % 0x4u;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum += ((q63_t) * px++ * *py++);

+        sum += ((q63_t) * px++ * *py++);

+        sum += ((q63_t) * px++ * *py++);

+        sum += ((q63_t) * px++ * *py++);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum += ((q63_t) * px++ * *py++);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut = (q15_t) (__SSAT(sum >> 15, 16));

+      /* Destination pointer is updated according to the address modifier, inc */

+      pOut += inc;

+

+      /* Increment count by 1, as one output value is computed */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pIn2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+  else

+  {

+    /* If the srcBLen is not a multiple of 4,   

+     * the blockSize2 loop cannot be unrolled by 4 */

+    blkCnt = blockSize2;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Loop over srcBLen */

+      k = srcBLen;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulate */

+        sum += ((q63_t) * px++ * *py++);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut = (q15_t) (__SSAT(sum >> 15, 16));

+      /* Destination pointer is updated according to the address modifier, inc */

+      pOut += inc;

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pIn2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+

+  /* --------------------------   

+   * Initializations of stage3   

+   * -------------------------*/

+

+  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   

+   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   

+   * ....   

+   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]   

+   * sum +=  x[srcALen-1] * y[0]   

+   */

+

+  /* In this stage the MAC operations are decreased by 1 for every iteration.   

+     The count variable holds the number of MAC operations performed */

+  count = srcBLen - 1u;

+

+  /* Working pointer of inputA */

+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);

+  px = pSrc1;

+

+  /* Working pointer of inputB */

+  py = pIn2;

+

+  /* -------------------   

+   * Stage3 process   

+   * ------------------*/

+

+  while(blockSize3 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = count >> 2u;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      /* sum += x[srcALen - srcBLen + 4] * y[3] , sum += x[srcALen - srcBLen + 3] * y[2] */

+      sum = __SMLALD(*__SIMD32(px)++, *__SIMD32(py)++, sum);

+      /* sum += x[srcALen - srcBLen + 2] * y[1] , sum += x[srcALen - srcBLen + 1] * y[0] */

+      sum = __SMLALD(*__SIMD32(px)++, *__SIMD32(py)++, sum);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, compute any remaining MACs here.   

+     ** No loop unrolling is used. */

+    k = count % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      sum = __SMLALD(*px++, *py++, sum);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut = (q15_t) (__SSAT((sum >> 15), 16));

+    /* Destination pointer is updated according to the address modifier, inc */

+    pOut += inc;

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    px = ++pSrc1;

+    py = pIn2;

+

+    /* Decrement the MAC count */

+    count--;

+

+    /* Decrement the loop counter */

+    blockSize3--;

+  }

+

+#else

+

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

+

+  q15_t *pIn1 = pSrcA;                           /* inputA pointer               */

+  q15_t *pIn2 = pSrcB + (srcBLen - 1u);          /* inputB pointer               */

+  q63_t sum;                                     /* Accumulators                  */

+  uint32_t i = 0u, j;                            /* loop counters */

+  uint32_t inv = 0u;                             /* Reverse order flag */

+  uint32_t tot = 0u;                             /* Length */

+

+  /* The algorithm implementation is based on the lengths of the inputs. */

+  /* srcB is always made to slide across srcA. */

+  /* So srcBLen is always considered as shorter or equal to srcALen */

+  /* But CORR(x, y) is reverse of CORR(y, x) */

+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */

+  /* and a varaible, inv is set to 1 */

+  /* If lengths are not equal then zero pad has to be done to  make the two   

+   * inputs of same length. But to improve the performance, we include zeroes   

+   * in the output instead of zero padding either of the the inputs*/

+  /* If srcALen > srcBLen, (srcALen - srcBLen) zeroes has to included in the   

+   * starting of the output buffer */

+  /* If srcALen < srcBLen, (srcALen - srcBLen) zeroes has to included in the  

+   * ending of the output buffer */

+  /* Once the zero padding is done the remaining of the output is calcualted  

+   * using convolution but with the shorter signal time shifted. */

+

+  /* Calculate the length of the remaining sequence */

+  tot = ((srcALen + srcBLen) - 2u);

+

+  if(srcALen > srcBLen)

+  {

+    /* Calculating the number of zeros to be padded to the output */

+    j = srcALen - srcBLen;

+

+    /* Initialise the pointer after zero padding */

+    pDst += j;

+  }

+

+  else if(srcALen < srcBLen)

+  {

+    /* Initialization to inputB pointer */

+    pIn1 = pSrcB;

+

+    /* Initialization to the end of inputA pointer */

+    pIn2 = pSrcA + (srcALen - 1u);

+

+    /* Initialisation of the pointer after zero padding */

+    pDst = pDst + tot;

+

+    /* Swapping the lengths */

+    j = srcALen;

+    srcALen = srcBLen;

+    srcBLen = j;

+

+    /* Setting the reverse flag */

+    inv = 1;

+

+  }

+

+  /* Loop to calculate convolution for output length number of times */

+  for (i = 0u; i <= tot; i++)

+  {

+    /* Initialize sum with zero to carry on MAC operations */

+    sum = 0;

+

+    /* Loop to perform MAC operations according to convolution equation */

+    for (j = 0u; j <= i; j++)

+    {

+      /* Check the array limitations */

+      if((((i - j) < srcBLen) && (j < srcALen)))

+      {

+        /* z[i] += x[i-j] * y[j] */

+        sum += ((q31_t) pIn1[j] * pIn2[-((int32_t) i - j)]);

+      }

+    }

+    /* Store the output in the destination buffer */

+    if(inv == 1)

+      *pDst-- = (q15_t) __SSAT((sum >> 15u), 16u);

+    else

+      *pDst++ = (q15_t) __SSAT((sum >> 15u), 16u);

+  }

+

+#endif /*#if (defined(ARM_MATH_CM4) || defined(ARM_MATH_CM3)) && !defined(UNALIGNED_SUPPORT_DISABLE) */

+

+}

+

+/**   

+ * @} end of Corr group   

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c
new file mode 100644
index 000000000..c81f8600d
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c
@@ -0,0 +1,664 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_correlate_q31.c    

+*    

+* Description:	Correlation of Q31 sequences.  

+*    

+* 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 1.0.11 2011/10/18  

+*    Bug Fix in conv, correlation, partial convolution.  

+* 

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+*    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup Corr    

+ * @{    

+ */

+

+/**    

+ * @brief Correlation of Q31 sequences.    

+ * @param[in] *pSrcA points to the first input sequence.    

+ * @param[in] srcALen length of the first input sequence.    

+ * @param[in] *pSrcB points to the second input sequence.    

+ * @param[in] srcBLen length of the second input sequence.    

+ * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.    

+ * @return none.    

+ *    

+ * @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.    

+ * Scale down one of the inputs by 1/min(srcALen, srcBLen)to avoid overflows since a    

+ * maximum of min(srcALen, srcBLen) number of additions is carried 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_correlate_fast_q31()</code> for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.    

+ */

+

+void arm_correlate_q31(

+  q31_t * pSrcA,

+  uint32_t srcALen,

+  q31_t * pSrcB,

+  uint32_t srcBLen,

+  q31_t * pDst)

+{

+

+#ifndef ARM_MATH_CM0

+

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

+

+  q31_t *pIn1;                                   /* inputA pointer               */

+  q31_t *pIn2;                                   /* inputB pointer               */

+  q31_t *pOut = pDst;                            /* output pointer               */

+  q31_t *px;                                     /* Intermediate inputA pointer  */

+  q31_t *py;                                     /* Intermediate inputB pointer  */

+  q31_t *pSrc1;                                  /* Intermediate pointers        */

+  q63_t sum, acc0, acc1, acc2;                   /* Accumulators                  */

+  q31_t x0, x1, x2, c0;                          /* temporary variables for holding input and coefficient values */

+  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counter                 */

+  int32_t inc = 1;                               /* Destination address modifier */

+

+

+  /* The algorithm implementation is based on the lengths of the inputs. */

+  /* srcB is always made to slide across srcA. */

+  /* So srcBLen is always considered as shorter or equal to srcALen */

+  /* But CORR(x, y) is reverse of CORR(y, x) */

+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */

+  /* and the destination pointer modifier, inc is set to -1 */

+  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */

+  /* But to improve the performance,    

+   * we include zeroes in the output instead of zero padding either of the the inputs*/

+  /* If srcALen > srcBLen,    

+   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */

+  /* If srcALen < srcBLen,    

+   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */

+  if(srcALen >= srcBLen)

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = (pSrcA);

+

+    /* Initialization of inputB pointer */

+    pIn2 = (pSrcB);

+

+    /* Number of output samples is calculated */

+    outBlockSize = (2u * srcALen) - 1u;

+

+    /* When srcALen > srcBLen, zero padding is done to srcB    

+     * to make their lengths equal.    

+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))    

+     * number of output samples are made zero */

+    j = outBlockSize - (srcALen + (srcBLen - 1u));

+

+    /* Updating the pointer position to non zero value */

+    pOut += j;

+

+  }

+  else

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = (pSrcB);

+

+    /* Initialization of inputB pointer */

+    pIn2 = (pSrcA);

+

+    /* srcBLen is always considered as shorter or equal to srcALen */

+    j = srcBLen;

+    srcBLen = srcALen;

+    srcALen = j;

+

+    /* CORR(x, y) = Reverse order(CORR(y, x)) */

+    /* Hence set the destination pointer to point to the last output sample */

+    pOut = pDst + ((srcALen + srcBLen) - 2u);

+

+    /* Destination address modifier is set to -1 */

+    inc = -1;

+

+  }

+

+  /* The function is internally    

+   * divided into three parts according to the number of multiplications that has to be    

+   * taken place between inputA samples and inputB samples. In the first part of the    

+   * algorithm, the multiplications increase by one for every iteration.    

+   * In the second part of the algorithm, srcBLen number of multiplications are done.    

+   * In the third part of the algorithm, the multiplications decrease by one    

+   * for every iteration.*/

+  /* The algorithm is implemented in three stages.    

+   * The loop counters of each stage is initiated here. */

+  blockSize1 = srcBLen - 1u;

+  blockSize2 = srcALen - (srcBLen - 1u);

+  blockSize3 = blockSize1;

+

+  /* --------------------------    

+   * Initializations of stage1    

+   * -------------------------*/

+

+  /* sum = x[0] * y[srcBlen - 1]    

+   * sum = x[0] * y[srcBlen - 2] + x[1] * y[srcBlen - 1]    

+   * ....    

+   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]    

+   */

+

+  /* In this stage the MAC operations are increased by 1 for every iteration.    

+     The count variable holds the number of MAC operations performed */

+  count = 1u;

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  pSrc1 = pIn2 + (srcBLen - 1u);

+  py = pSrc1;

+

+  /* ------------------------    

+   * Stage1 process    

+   * ----------------------*/

+

+  /* The first stage starts here */

+  while(blockSize1 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = count >> 2;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* x[0] * y[srcBLen - 4] */

+      sum += (q63_t) * px++ * (*py++);

+      /* x[1] * y[srcBLen - 3] */

+      sum += (q63_t) * px++ * (*py++);

+      /* x[2] * y[srcBLen - 2] */

+      sum += (q63_t) * px++ * (*py++);

+      /* x[3] * y[srcBLen - 1] */

+      sum += (q63_t) * px++ * (*py++);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, compute any remaining MACs here.    

+     ** No loop unrolling is used. */

+    k = count % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      /* x[0] * y[srcBLen - 1] */

+      sum += (q63_t) * px++ * (*py++);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut = (q31_t) (sum >> 31);

+    /* Destination pointer is updated according to the address modifier, inc */

+    pOut += inc;

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    py = pSrc1 - count;

+    px = pIn1;

+

+    /* Increment the MAC count */

+    count++;

+

+    /* Decrement the loop counter */

+    blockSize1--;

+  }

+

+  /* --------------------------    

+   * Initializations of stage2    

+   * ------------------------*/

+

+  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]    

+   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]    

+   * ....    

+   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    

+   */

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  py = pIn2;

+

+  /* count is index by which the pointer pIn1 to be incremented */

+  count = 0u;

+

+  /* -------------------    

+   * Stage2 process    

+   * ------------------*/

+

+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    

+   * So, to loop unroll over blockSize2,    

+   * srcBLen should be greater than or equal to 4 */

+  if(srcBLen >= 4u)

+  {

+    /* Loop unroll by 3 */

+    blkCnt = blockSize2 / 3;

+

+    while(blkCnt > 0u)

+    {

+      /* Set all accumulators to zero */

+      acc0 = 0;

+      acc1 = 0;

+      acc2 = 0;

+

+      /* read x[0], x[1] samples */

+      x0 = *(px++);

+      x1 = *(px++);

+

+      /* Apply loop unrolling and compute 3 MACs simultaneously. */

+      k = srcBLen / 3;

+

+      /* First part of the processing with loop unrolling.  Compute 3 MACs at a time.        

+       ** a second loop below computes MACs for the remaining 1 to 2 samples. */

+      do

+      {

+        /* Read y[0] sample */

+        c0 = *(py);

+

+        /* Read x[2] sample */

+        x2 = *(px);

+

+        /* Perform the multiply-accumulate */

+        /* acc0 +=  x[0] * y[0] */

+        acc0 += ((q63_t) x0 * c0);

+        /* acc1 +=  x[1] * y[0] */

+        acc1 += ((q63_t) x1 * c0);

+        /* acc2 +=  x[2] * y[0] */

+        acc2 += ((q63_t) x2 * c0);

+

+        /* Read y[1] sample */

+        c0 = *(py + 1u);

+

+        /* Read x[3] sample */

+        x0 = *(px + 1u);

+

+        /* Perform the multiply-accumulates */

+        /* acc0 +=  x[1] * y[1] */

+        acc0 += ((q63_t) x1 * c0);

+        /* acc1 +=  x[2] * y[1] */

+        acc1 += ((q63_t) x2 * c0);

+        /* acc2 +=  x[3] * y[1] */

+        acc2 += ((q63_t) x0 * c0);

+

+        /* Read y[2] sample */

+        c0 = *(py + 2u);

+

+        /* Read x[4] sample */

+        x1 = *(px + 2u);

+

+        /* Perform the multiply-accumulates */

+        /* acc0 +=  x[2] * y[2] */

+        acc0 += ((q63_t) x2 * c0);

+        /* acc1 +=  x[3] * y[2] */

+        acc1 += ((q63_t) x0 * c0);

+        /* acc2 +=  x[4] * y[2] */

+        acc2 += ((q63_t) x1 * c0);

+

+        /* update scratch pointers */

+        px += 3u;

+        py += 3u;

+

+      } while(--k);

+

+      /* If the srcBLen is not a multiple of 3, compute any remaining MACs here.        

+       ** No loop unrolling is used. */

+      k = srcBLen - (3 * (srcBLen / 3));

+

+      while(k > 0u)

+      {

+        /* Read y[4] sample */

+        c0 = *(py++);

+

+        /* Read x[7] sample */

+        x2 = *(px++);

+

+        /* Perform the multiply-accumulates */

+        /* acc0 +=  x[4] * y[4] */

+        acc0 += ((q63_t) x0 * c0);

+        /* acc1 +=  x[5] * y[4] */

+        acc1 += ((q63_t) x1 * c0);

+        /* acc2 +=  x[6] * y[4] */

+        acc2 += ((q63_t) x2 * c0);

+

+        /* Reuse the present samples for the next MAC */

+        x0 = x1;

+        x1 = x2;

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut = (q31_t) (acc0 >> 31);

+      /* Destination pointer is updated according to the address modifier, inc */

+      pOut += inc;

+

+      *pOut = (q31_t) (acc1 >> 31);

+      pOut += inc;

+

+      *pOut = (q31_t) (acc2 >> 31);

+      pOut += inc;

+

+      /* Increment the pointer pIn1 index, count by 3 */

+      count += 3u;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pIn2;

+

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* If the blockSize2 is not a multiple of 3, compute any remaining output samples here.        

+     ** No loop unrolling is used. */

+    blkCnt = blockSize2 - 3 * (blockSize2 / 3);

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum += (q63_t) * px++ * (*py++);

+        sum += (q63_t) * px++ * (*py++);

+        sum += (q63_t) * px++ * (*py++);

+        sum += (q63_t) * px++ * (*py++);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulate */

+        sum += (q63_t) * px++ * (*py++);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut = (q31_t) (sum >> 31);

+      /* Destination pointer is updated according to the address modifier, inc */

+      pOut += inc;

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pIn2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+  else

+  {

+    /* If the srcBLen is not a multiple of 4,    

+     * the blockSize2 loop cannot be unrolled by 4 */

+    blkCnt = blockSize2;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Loop over srcBLen */

+      k = srcBLen;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulate */

+        sum += (q63_t) * px++ * (*py++);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut = (q31_t) (sum >> 31);

+      /* Destination pointer is updated according to the address modifier, inc */

+      pOut += inc;

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pIn2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+

+  /* --------------------------    

+   * Initializations of stage3    

+   * -------------------------*/

+

+  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    

+   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    

+   * ....    

+   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]    

+   * sum +=  x[srcALen-1] * y[0]    

+   */

+

+  /* In this stage the MAC operations are decreased by 1 for every iteration.    

+     The count variable holds the number of MAC operations performed */

+  count = srcBLen - 1u;

+

+  /* Working pointer of inputA */

+  pSrc1 = pIn1 + (srcALen - (srcBLen - 1u));

+  px = pSrc1;

+

+  /* Working pointer of inputB */

+  py = pIn2;

+

+  /* -------------------    

+   * Stage3 process    

+   * ------------------*/

+

+  while(blockSize3 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = count >> 2u;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      /* sum += x[srcALen - srcBLen + 4] * y[3] */

+      sum += (q63_t) * px++ * (*py++);

+      /* sum += x[srcALen - srcBLen + 3] * y[2] */

+      sum += (q63_t) * px++ * (*py++);

+      /* sum += x[srcALen - srcBLen + 2] * y[1] */

+      sum += (q63_t) * px++ * (*py++);

+      /* sum += x[srcALen - srcBLen + 1] * y[0] */

+      sum += (q63_t) * px++ * (*py++);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, compute any remaining MACs here.    

+     ** No loop unrolling is used. */

+    k = count % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      sum += (q63_t) * px++ * (*py++);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut = (q31_t) (sum >> 31);

+    /* Destination pointer is updated according to the address modifier, inc */

+    pOut += inc;

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    px = ++pSrc1;

+    py = pIn2;

+

+    /* Decrement the MAC count */

+    count--;

+

+    /* Decrement the loop counter */

+    blockSize3--;

+  }

+

+#else

+

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

+

+  q31_t *pIn1 = pSrcA;                           /* inputA pointer               */

+  q31_t *pIn2 = pSrcB + (srcBLen - 1u);          /* inputB pointer               */

+  q63_t sum;                                     /* Accumulators                  */

+  uint32_t i = 0u, j;                            /* loop counters */

+  uint32_t inv = 0u;                             /* Reverse order flag */

+  uint32_t tot = 0u;                             /* Length */

+

+  /* The algorithm implementation is based on the lengths of the inputs. */

+  /* srcB is always made to slide across srcA. */

+  /* So srcBLen is always considered as shorter or equal to srcALen */

+  /* But CORR(x, y) is reverse of CORR(y, x) */

+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */

+  /* and a varaible, inv is set to 1 */

+  /* If lengths are not equal then zero pad has to be done to  make the two    

+   * inputs of same length. But to improve the performance, we include zeroes    

+   * in the output instead of zero padding either of the the inputs*/

+  /* If srcALen > srcBLen, (srcALen - srcBLen) zeroes has to included in the    

+   * starting of the output buffer */

+  /* If srcALen < srcBLen, (srcALen - srcBLen) zeroes has to included in the   

+   * ending of the output buffer */

+  /* Once the zero padding is done the remaining of the output is calcualted   

+   * using correlation but with the shorter signal time shifted. */

+

+  /* Calculate the length of the remaining sequence */

+  tot = ((srcALen + srcBLen) - 2u);

+

+  if(srcALen > srcBLen)

+  {

+    /* Calculating the number of zeros to be padded to the output */

+    j = srcALen - srcBLen;

+

+    /* Initialise the pointer after zero padding */

+    pDst += j;

+  }

+

+  else if(srcALen < srcBLen)

+  {

+    /* Initialization to inputB pointer */

+    pIn1 = pSrcB;

+

+    /* Initialization to the end of inputA pointer */

+    pIn2 = pSrcA + (srcALen - 1u);

+

+    /* Initialisation of the pointer after zero padding */

+    pDst = pDst + tot;

+

+    /* Swapping the lengths */

+    j = srcALen;

+    srcALen = srcBLen;

+    srcBLen = j;

+

+    /* Setting the reverse flag */

+    inv = 1;

+

+  }

+

+  /* Loop to calculate correlation for output length number of times */

+  for (i = 0u; i <= tot; i++)

+  {

+    /* Initialize sum with zero to carry on MAC operations */

+    sum = 0;

+

+    /* Loop to perform MAC operations according to correlation equation */

+    for (j = 0u; j <= i; j++)

+    {

+      /* Check the array limitations */

+      if((((i - j) < srcBLen) && (j < srcALen)))

+      {

+        /* z[i] += x[i-j] * y[j] */

+        sum += ((q63_t) pIn1[j] * pIn2[-((int32_t) i - j)]);

+      }

+    }

+    /* Store the output in the destination buffer */

+    if(inv == 1)

+      *pDst-- = (q31_t) (sum >> 31u);

+    else

+      *pDst++ = (q31_t) (sum >> 31u);

+  }

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of Corr group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c
new file mode 100644
index 000000000..e03e4997b
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c
@@ -0,0 +1,789 @@
+/* ----------------------------------------------------------------------   

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

+*   

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*   

+* Project: 	    CMSIS DSP Library   

+* Title:		arm_correlate_q7.c   

+*   

+* Description:	Correlation of Q7 sequences. 

+*   

+* 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 1.0.11 2011/10/18 

+*    Bug Fix in conv, correlation, partial convolution. 

+*

+* 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 0.0.7  2010/06/10    

+*    Misra-C changes done   

+*   

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**   

+ * @ingroup groupFilters   

+ */

+

+/**   

+ * @addtogroup Corr   

+ * @{   

+ */

+

+/**   

+ * @brief Correlation of Q7 sequences.   

+ * @param[in] *pSrcA points to the first input sequence.   

+ * @param[in] srcALen length of the first input sequence.   

+ * @param[in] *pSrcB points to the second input sequence.   

+ * @param[in] srcBLen length of the second input sequence.   

+ * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.   

+ * @return none.   

+ *   

+ * @details   

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

+ *   

+ * \par   

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

+ * Both the inputs 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.   

+ * This approach provides 17 guard bits and there is no risk of overflow as long as <code>max(srcALen, srcBLen)<131072</code>.   

+ * The 18.14 result is then truncated to 18.7 format by discarding the low 7 bits and saturated to 1.7 format.   

+ *

+ * \par    

+ * Refer the function <code>arm_correlate_opt_q7()</code> for a faster implementation of this function.

+ * 

+ */

+

+void arm_correlate_q7(

+  q7_t * pSrcA,

+  uint32_t srcALen,

+  q7_t * pSrcB,

+  uint32_t srcBLen,

+  q7_t * pDst)

+{

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  q7_t *pIn1;                                    /* inputA pointer               */

+  q7_t *pIn2;                                    /* inputB pointer               */

+  q7_t *pOut = pDst;                             /* output pointer               */

+  q7_t *px;                                      /* Intermediate inputA pointer  */

+  q7_t *py;                                      /* Intermediate inputB pointer  */

+  q7_t *pSrc1;                                   /* Intermediate pointers        */

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

+  q31_t input1, input2;                          /* temporary variables */

+  q15_t in1, in2;                                /* temporary variables */

+  q7_t x0, x1, x2, x3, c0, c1;                   /* temporary variables for holding input and coefficient values */

+  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counter                 */

+  int32_t inc = 1;

+

+

+  /* The algorithm implementation is based on the lengths of the inputs. */

+  /* srcB is always made to slide across srcA. */

+  /* So srcBLen is always considered as shorter or equal to srcALen */

+  /* But CORR(x, y) is reverse of CORR(y, x) */

+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */

+  /* and the destination pointer modifier, inc is set to -1 */

+  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */

+  /* But to improve the performance,   

+   * we include zeroes in the output instead of zero padding either of the the inputs*/

+  /* If srcALen > srcBLen,   

+   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */

+  /* If srcALen < srcBLen,   

+   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */

+  if(srcALen >= srcBLen)

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = (pSrcA);

+

+    /* Initialization of inputB pointer */

+    pIn2 = (pSrcB);

+

+    /* Number of output samples is calculated */

+    outBlockSize = (2u * srcALen) - 1u;

+

+    /* When srcALen > srcBLen, zero padding is done to srcB   

+     * to make their lengths equal.   

+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))   

+     * number of output samples are made zero */

+    j = outBlockSize - (srcALen + (srcBLen - 1u));

+

+    /* Updating the pointer position to non zero value */

+    pOut += j;

+

+  }

+  else

+  {

+    /* Initialization of inputA pointer */

+    pIn1 = (pSrcB);

+

+    /* Initialization of inputB pointer */

+    pIn2 = (pSrcA);

+

+    /* srcBLen is always considered as shorter or equal to srcALen */

+    j = srcBLen;

+    srcBLen = srcALen;

+    srcALen = j;

+

+    /* CORR(x, y) = Reverse order(CORR(y, x)) */

+    /* Hence set the destination pointer to point to the last output sample */

+    pOut = pDst + ((srcALen + srcBLen) - 2u);

+

+    /* Destination address modifier is set to -1 */

+    inc = -1;

+

+  }

+

+  /* The function is internally   

+   * divided into three parts according to the number of multiplications that has to be   

+   * taken place between inputA samples and inputB samples. In the first part of the   

+   * algorithm, the multiplications increase by one for every iteration.   

+   * In the second part of the algorithm, srcBLen number of multiplications are done.   

+   * In the third part of the algorithm, the multiplications decrease by one   

+   * for every iteration.*/

+  /* The algorithm is implemented in three stages.   

+   * The loop counters of each stage is initiated here. */

+  blockSize1 = srcBLen - 1u;

+  blockSize2 = srcALen - (srcBLen - 1u);

+  blockSize3 = blockSize1;

+

+  /* --------------------------   

+   * Initializations of stage1   

+   * -------------------------*/

+

+  /* sum = x[0] * y[srcBlen - 1]   

+   * sum = x[0] * y[srcBlen - 2] + x[1] * y[srcBlen - 1]   

+   * ....   

+   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]   

+   */

+

+  /* In this stage the MAC operations are increased by 1 for every iteration.   

+     The count variable holds the number of MAC operations performed */

+  count = 1u;

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  pSrc1 = pIn2 + (srcBLen - 1u);

+  py = pSrc1;

+

+  /* ------------------------   

+   * Stage1 process   

+   * ----------------------*/

+

+  /* The first stage starts here */

+  while(blockSize1 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = count >> 2;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* x[0] , x[1] */

+      in1 = (q15_t) * px++;

+      in2 = (q15_t) * px++;

+      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+      /* y[srcBLen - 4] , y[srcBLen - 3] */

+      in1 = (q15_t) * py++;

+      in2 = (q15_t) * py++;

+      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+      /* x[0] * y[srcBLen - 4] */

+      /* x[1] * y[srcBLen - 3] */

+      sum = __SMLAD(input1, input2, sum);

+

+      /* x[2] , x[3] */

+      in1 = (q15_t) * px++;

+      in2 = (q15_t) * px++;

+      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+      /* y[srcBLen - 2] , y[srcBLen - 1] */

+      in1 = (q15_t) * py++;

+      in2 = (q15_t) * py++;

+      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+      /* x[2] * y[srcBLen - 2] */

+      /* x[3] * y[srcBLen - 1] */

+      sum = __SMLAD(input1, input2, sum);

+

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, compute any remaining MACs here.   

+     ** No loop unrolling is used. */

+    k = count % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      /* x[0] * y[srcBLen - 1] */

+      sum += (q31_t) ((q15_t) * px++ * *py++);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut = (q7_t) (__SSAT(sum >> 7, 8));

+    /* Destination pointer is updated according to the address modifier, inc */

+    pOut += inc;

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    py = pSrc1 - count;

+    px = pIn1;

+

+    /* Increment the MAC count */

+    count++;

+

+    /* Decrement the loop counter */

+    blockSize1--;

+  }

+

+  /* --------------------------   

+   * Initializations of stage2   

+   * ------------------------*/

+

+  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]   

+   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]   

+   * ....   

+   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   

+   */

+

+  /* Working pointer of inputA */

+  px = pIn1;

+

+  /* Working pointer of inputB */

+  py = pIn2;

+

+  /* count is index by which the pointer pIn1 to be incremented */

+  count = 0u;

+

+  /* -------------------   

+   * Stage2 process   

+   * ------------------*/

+

+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   

+   * So, to loop unroll over blockSize2,   

+   * srcBLen should be greater than or equal to 4 */

+  if(srcBLen >= 4u)

+  {

+    /* Loop unroll over blockSize2, by 4 */

+    blkCnt = blockSize2 >> 2u;

+

+    while(blkCnt > 0u)

+    {

+      /* Set all accumulators to zero */

+      acc0 = 0;

+      acc1 = 0;

+      acc2 = 0;

+      acc3 = 0;

+

+      /* read x[0], x[1], x[2] samples */

+      x0 = *px++;

+      x1 = *px++;

+      x2 = *px++;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      do

+      {

+        /* Read y[0] sample */

+        c0 = *py++;

+        /* Read y[1] sample */

+        c1 = *py++;

+

+        /* Read x[3] sample */

+        x3 = *px++;

+

+        /* x[0] and x[1] are packed */

+        in1 = (q15_t) x0;

+        in2 = (q15_t) x1;

+

+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+        /* y[0] and y[1] are packed */

+        in1 = (q15_t) c0;

+        in2 = (q15_t) c1;

+

+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+        /* acc0 += x[0] * y[0] + x[1] * y[1]  */

+        acc0 = __SMLAD(input1, input2, acc0);

+

+        /* x[1] and x[2] are packed */

+        in1 = (q15_t) x1;

+        in2 = (q15_t) x2;

+

+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+        /* acc1 += x[1] * y[0] + x[2] * y[1] */

+        acc1 = __SMLAD(input1, input2, acc1);

+

+        /* x[2] and x[3] are packed */

+        in1 = (q15_t) x2;

+        in2 = (q15_t) x3;

+

+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+        /* acc2 += x[2] * y[0] + x[3] * y[1]  */

+        acc2 = __SMLAD(input1, input2, acc2);

+

+        /* Read x[4] sample */

+        x0 = *(px++);

+

+        /* x[3] and x[4] are packed */

+        in1 = (q15_t) x3;

+        in2 = (q15_t) x0;

+

+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+        /* acc3 += x[3] * y[0] + x[4] * y[1]  */

+        acc3 = __SMLAD(input1, input2, acc3);

+

+        /* Read y[2] sample */

+        c0 = *py++;

+        /* Read y[3] sample */

+        c1 = *py++;

+

+        /* Read x[5] sample */

+        x1 = *px++;

+

+        /* x[2] and x[3] are packed */

+        in1 = (q15_t) x2;

+        in2 = (q15_t) x3;

+

+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+        /* y[2] and y[3] are packed */

+        in1 = (q15_t) c0;

+        in2 = (q15_t) c1;

+

+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+        /* acc0 += x[2] * y[2] + x[3] * y[3]  */

+        acc0 = __SMLAD(input1, input2, acc0);

+

+        /* x[3] and x[4] are packed */

+        in1 = (q15_t) x3;

+        in2 = (q15_t) x0;

+

+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+        /* acc1 += x[3] * y[2] + x[4] * y[3]  */

+        acc1 = __SMLAD(input1, input2, acc1);

+

+        /* x[4] and x[5] are packed */

+        in1 = (q15_t) x0;

+        in2 = (q15_t) x1;

+

+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+        /* acc2 += x[4] * y[2] + x[5] * y[3]  */

+        acc2 = __SMLAD(input1, input2, acc2);

+

+        /* Read x[6] sample */

+        x2 = *px++;

+

+        /* x[5] and x[6] are packed */

+        in1 = (q15_t) x1;

+        in2 = (q15_t) x2;

+

+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+        /* acc3 += x[5] * y[2] + x[6] * y[3]  */

+        acc3 = __SMLAD(input1, input2, acc3);

+

+      } while(--k);

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Read y[4] sample */

+        c0 = *py++;

+

+        /* Read x[7] sample */

+        x3 = *px++;

+

+        /* Perform the multiply-accumulates */

+        /* acc0 +=  x[4] * y[4] */

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

+        /* acc1 +=  x[5] * y[4] */

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

+        /* acc2 +=  x[6] * y[4] */

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

+        /* acc3 +=  x[7] * y[4] */

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

+

+        /* Reuse the present samples for the next MAC */

+        x0 = x1;

+        x1 = x2;

+        x2 = x3;

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut = (q7_t) (__SSAT(acc0 >> 7, 8));

+      /* Destination pointer is updated according to the address modifier, inc */

+      pOut += inc;

+

+      *pOut = (q7_t) (__SSAT(acc1 >> 7, 8));

+      pOut += inc;

+

+      *pOut = (q7_t) (__SSAT(acc2 >> 7, 8));

+      pOut += inc;

+

+      *pOut = (q7_t) (__SSAT(acc3 >> 7, 8));

+      pOut += inc;

+

+	  count += 4u;

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pIn2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   

+     ** No loop unrolling is used. */

+    blkCnt = blockSize2 % 0x4u;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Apply loop unrolling and compute 4 MACs simultaneously. */

+      k = srcBLen >> 2u;

+

+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+      while(k > 0u)

+      {

+        /* Reading two inputs of SrcA buffer and packing */

+        in1 = (q15_t) * px++;

+        in2 = (q15_t) * px++;

+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+        /* Reading two inputs of SrcB buffer and packing */

+        in1 = (q15_t) * py++;

+        in2 = (q15_t) * py++;

+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+        /* Perform the multiply-accumulates */

+        sum = __SMLAD(input1, input2, sum);

+

+        /* Reading two inputs of SrcA buffer and packing */

+        in1 = (q15_t) * px++;

+        in2 = (q15_t) * px++;

+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+        /* Reading two inputs of SrcB buffer and packing */

+        in1 = (q15_t) * py++;

+        in2 = (q15_t) * py++;

+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+        /* Perform the multiply-accumulates */

+        sum = __SMLAD(input1, input2, sum);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   

+       ** No loop unrolling is used. */

+      k = srcBLen % 0x4u;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulates */

+        sum += ((q15_t) * px++ * *py++);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut = (q7_t) (__SSAT(sum >> 7, 8));

+      /* Destination pointer is updated according to the address modifier, inc */

+      pOut += inc;

+

+      /* Increment the pointer pIn1 index, count by 1 */

+	  count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pIn2;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+  else

+  {

+    /* If the srcBLen is not a multiple of 4,   

+     * the blockSize2 loop cannot be unrolled by 4 */

+    blkCnt = blockSize2;

+

+    while(blkCnt > 0u)

+    {

+      /* Accumulator is made zero for every iteration */

+      sum = 0;

+

+      /* Loop over srcBLen */

+      k = srcBLen;

+

+      while(k > 0u)

+      {

+        /* Perform the multiply-accumulate */

+        sum += ((q15_t) * px++ * *py++);

+

+        /* Decrement the loop counter */

+        k--;

+      }

+

+      /* Store the result in the accumulator in the destination buffer. */

+      *pOut = (q7_t) (__SSAT(sum >> 7, 8));

+      /* Destination pointer is updated according to the address modifier, inc */

+      pOut += inc;

+

+      /* Increment the MAC count */

+      count++;

+

+      /* Update the inputA and inputB pointers for next MAC calculation */

+      px = pIn1 + count;

+      py = pIn2;

+

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+  }

+

+  /* --------------------------   

+   * Initializations of stage3   

+   * -------------------------*/

+

+  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   

+   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   

+   * ....   

+   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]   

+   * sum +=  x[srcALen-1] * y[0]   

+   */

+

+  /* In this stage the MAC operations are decreased by 1 for every iteration.   

+     The count variable holds the number of MAC operations performed */

+  count = srcBLen - 1u;

+

+  /* Working pointer of inputA */

+  pSrc1 = pIn1 + (srcALen - (srcBLen - 1u));

+  px = pSrc1;

+

+  /* Working pointer of inputB */

+  py = pIn2;

+

+  /* -------------------   

+   * Stage3 process   

+   * ------------------*/

+

+  while(blockSize3 > 0u)

+  {

+    /* Accumulator is made zero for every iteration */

+    sum = 0;

+

+    /* Apply loop unrolling and compute 4 MACs simultaneously. */

+    k = count >> 2u;

+

+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   

+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */

+    while(k > 0u)

+    {

+      /* x[srcALen - srcBLen + 1] , x[srcALen - srcBLen + 2]  */

+      in1 = (q15_t) * px++;

+      in2 = (q15_t) * px++;

+      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+      /* y[0] , y[1] */

+      in1 = (q15_t) * py++;

+      in2 = (q15_t) * py++;

+      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+      /* sum += x[srcALen - srcBLen + 1] * y[0] */

+      /* sum += x[srcALen - srcBLen + 2] * y[1] */

+      sum = __SMLAD(input1, input2, sum);

+

+      /* x[srcALen - srcBLen + 3] , x[srcALen - srcBLen + 4] */

+      in1 = (q15_t) * px++;

+      in2 = (q15_t) * px++;

+      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+      /* y[2] , y[3] */

+      in1 = (q15_t) * py++;

+      in2 = (q15_t) * py++;

+      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);

+

+      /* sum += x[srcALen - srcBLen + 3] * y[2] */

+      /* sum += x[srcALen - srcBLen + 4] * y[3] */

+      sum = __SMLAD(input1, input2, sum);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* If the count is not a multiple of 4, compute any remaining MACs here.   

+     ** No loop unrolling is used. */

+    k = count % 0x4u;

+

+    while(k > 0u)

+    {

+      /* Perform the multiply-accumulates */

+      sum += ((q15_t) * px++ * *py++);

+

+      /* Decrement the loop counter */

+      k--;

+    }

+

+    /* Store the result in the accumulator in the destination buffer. */

+    *pOut = (q7_t) (__SSAT(sum >> 7, 8));

+    /* Destination pointer is updated according to the address modifier, inc */

+    pOut += inc;

+

+    /* Update the inputA and inputB pointers for next MAC calculation */

+    px = ++pSrc1;

+    py = pIn2;

+

+    /* Decrement the MAC count */

+    count--;

+

+    /* Decrement the loop counter */

+    blockSize3--;

+  }

+

+#else

+

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

+

+  q7_t *pIn1 = pSrcA;                            /* inputA pointer */

+  q7_t *pIn2 = pSrcB + (srcBLen - 1u);           /* inputB pointer */

+  q31_t sum;                                     /* Accumulator */

+  uint32_t i = 0u, j;                            /* loop counters */

+  uint32_t inv = 0u;                             /* Reverse order flag */

+  uint32_t tot = 0u;                             /* Length */

+

+  /* The algorithm implementation is based on the lengths of the inputs. */

+  /* srcB is always made to slide across srcA. */

+  /* So srcBLen is always considered as shorter or equal to srcALen */

+  /* But CORR(x, y) is reverse of CORR(y, x) */

+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */

+  /* and a varaible, inv is set to 1 */

+  /* If lengths are not equal then zero pad has to be done to  make the two   

+   * inputs of same length. But to improve the performance, we include zeroes   

+   * in the output instead of zero padding either of the the inputs*/

+  /* If srcALen > srcBLen, (srcALen - srcBLen) zeroes has to included in the   

+   * starting of the output buffer */

+  /* If srcALen < srcBLen, (srcALen - srcBLen) zeroes has to included in the  

+   * ending of the output buffer */

+  /* Once the zero padding is done the remaining of the output is calcualted  

+   * using convolution but with the shorter signal time shifted. */

+

+  /* Calculate the length of the remaining sequence */

+  tot = ((srcALen + srcBLen) - 2u);

+

+  if(srcALen > srcBLen)

+  {

+    /* Calculating the number of zeros to be padded to the output */

+    j = srcALen - srcBLen;

+

+    /* Initialise the pointer after zero padding */

+    pDst += j;

+  }

+

+  else if(srcALen < srcBLen)

+  {

+    /* Initialization to inputB pointer */

+    pIn1 = pSrcB;

+

+    /* Initialization to the end of inputA pointer */

+    pIn2 = pSrcA + (srcALen - 1u);

+

+    /* Initialisation of the pointer after zero padding */

+    pDst = pDst + tot;

+

+    /* Swapping the lengths */

+    j = srcALen;

+    srcALen = srcBLen;

+    srcBLen = j;

+

+    /* Setting the reverse flag */

+    inv = 1;

+

+  }

+

+  /* Loop to calculate convolution for output length number of times */

+  for (i = 0u; i <= tot; i++)

+  {

+    /* Initialize sum with zero to carry on MAC operations */

+    sum = 0;

+

+    /* Loop to perform MAC operations according to convolution equation */

+    for (j = 0u; j <= i; j++)

+    {

+      /* Check the array limitations */

+      if((((i - j) < srcBLen) && (j < srcALen)))

+      {

+        /* z[i] += x[i-j] * y[j] */

+        sum += ((q15_t) pIn1[j] * pIn2[-((int32_t) i - j)]);

+      }

+    }

+    /* Store the output in the destination buffer */

+    if(inv == 1)

+      *pDst-- = (q7_t) __SSAT((sum >> 7u), 8u);

+    else

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

+  }

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+}

+

+/**   

+ * @} end of Corr group   

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c
new file mode 100644
index 000000000..1546f407d
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c
@@ -0,0 +1,518 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_fir_decimate_f32.c    

+*    

+* Description:	FIR decimation for floating-point sequences.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+*    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @defgroup FIR_decimate Finite Impulse Response (FIR) Decimator    

+ *    

+ * These functions combine an FIR filter together with a decimator.    

+ * They are used in multirate systems for reducing the sample rate of a signal without introducing aliasing distortion.    

+ * Conceptually, the functions are equivalent to the block diagram below:    

+ * \image html FIRDecimator.gif "Components included in the FIR Decimator functions"    

+ * When decimating by a factor of <code>M</code>, the signal should be prefiltered by a lowpass filter with a normalized    

+ * cutoff frequency of <code>1/M</code> in order to prevent aliasing distortion.    

+ * The user of the function is responsible for providing the filter coefficients.    

+ *    

+ * The FIR decimator functions provided in the CMSIS DSP Library combine the FIR filter and the decimator in an efficient manner.    

+ * Instead of calculating all of the FIR filter outputs and discarding <code>M-1</code> out of every <code>M</code>, only the    

+ * samples output by the decimator are computed.    

+ * The functions operate on blocks of input and output data.    

+ * <code>pSrc</code> points to an array of <code>blockSize</code> input values and    

+ * <code>pDst</code> points to an array of <code>blockSize/M</code> output values.    

+ * In order to have an integer number of output samples <code>blockSize</code>    

+ * must always be a multiple of the decimation factor <code>M</code>.    

+ *    

+ * The library provides separate functions for Q15, Q31 and floating-point data types.    

+ *    

+ * \par Algorithm:    

+ * The FIR portion of the algorithm uses the standard form filter:    

+ * <pre>    

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

+ * </pre>    

+ * where, <code>b[n]</code> are the filter coefficients.    

+ * \par   

+ * The <code>pCoeffs</code> points to a coefficient array of size <code>numTaps</code>.    

+ * Coefficients are stored in time reversed order.    

+ * \par    

+ * <pre>    

+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    

+ * </pre>    

+ * \par    

+ * <code>pState</code> points to a state array of size <code>numTaps + blockSize - 1</code>.    

+ * Samples in the state buffer are stored in the order:    

+ * \par    

+ * <pre>    

+ *    {x[n-numTaps+1], x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2]....x[0], x[1], ..., x[blockSize-1]}    

+ * </pre>    

+ * The state variables are updated after each block of data is processed, the coefficients are untouched.    

+ *    

+ * \par Instance Structure    

+ * The coefficients and state variables for a filter are stored together in an instance data structure.    

+ * A separate instance structure must be defined for each filter.    

+ * Coefficient arrays may be shared among several instances while state variable array should be allocated separately.    

+ * There are separate instance structure declarations for each of the 3 supported data types.    

+ *    

+ * \par Initialization Functions    

+ * There is also an associated initialization function for each data type.    

+ * The initialization function performs the following operations:    

+ * - Sets the values of the internal structure fields.    

+ * - Zeros out the values in the state buffer.    

+ * - Checks to make sure that the size of the input is a multiple of the decimation factor.    

+ *    

+ * \par    

+ * Use of the initialization function is optional.    

+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    

+ * To place an instance structure into a const data section, the instance structure must be manually initialized.    

+ * The code below statically initializes each of the 3 different data type filter instance structures    

+ * <pre>    

+ *arm_fir_decimate_instance_f32 S = {M, numTaps, pCoeffs, pState};    

+ *arm_fir_decimate_instance_q31 S = {M, numTaps, pCoeffs, pState};    

+ *arm_fir_decimate_instance_q15 S = {M, numTaps, pCoeffs, pState};    

+ * </pre>    

+ * where <code>M</code> is the decimation factor; <code>numTaps</code> is the number of filter coefficients in the filter;    

+ * <code>pCoeffs</code> is the address of the coefficient buffer;    

+ * <code>pState</code> is the address of the state buffer.    

+ * Be sure to set the values in the state buffer to zeros when doing static initialization.    

+ *    

+ * \par Fixed-Point Behavior    

+ * Care must be taken when using the fixed-point versions of the FIR decimate filter functions.    

+ * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.    

+ * Refer to the function specific documentation below for usage guidelines.    

+ */

+

+/**    

+ * @addtogroup FIR_decimate    

+ * @{    

+ */

+

+  /**    

+   * @brief Processing function for the floating-point FIR decimator.    

+   * @param[in] *S        points to an instance of the floating-point FIR decimator 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 input samples to process per call.    

+   * @return none.    

+   */

+

+void arm_fir_decimate_f32(

+  const arm_fir_decimate_instance_f32 * S,

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize)

+{

+  float32_t *pState = S->pState;                 /* State pointer */

+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */

+  float32_t *pStateCurnt;                        /* Points to the current sample of the state */

+  float32_t *px, *pb;                            /* Temporary pointers for state and coefficient buffers */

+  float32_t sum0;                                /* Accumulator */

+  float32_t x0, c0;                              /* Temporary variables to hold state and coefficient values */

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

+  uint32_t i, tapCnt, blkCnt, outBlockSize = blockSize / S->M;  /* Loop counters */

+

+#ifndef ARM_MATH_CM0

+

+  uint32_t blkCntN4;

+  float32_t *px0, *px1, *px2, *px3;

+  float32_t acc0, acc1, acc2, acc3;

+  float32_t x1, x2, x3;

+

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

+

+  /* S->pState buffer contains previous frame (numTaps - 1) samples */

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

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

+

+  /* Total number of output samples to be computed */

+  blkCnt = outBlockSize / 4;

+  blkCntN4 = outBlockSize - (4 * blkCnt);

+

+  while(blkCnt > 0u)

+  {

+    /* Copy 4 * decimation factor number of new input samples into the state buffer */

+    i = 4 * S->M;

+

+    do

+    {

+      *pStateCurnt++ = *pSrc++;

+

+    } while(--i);

+

+    /* Set accumulators to zero */

+    acc0 = 0.0f;

+    acc1 = 0.0f;

+    acc2 = 0.0f;

+    acc3 = 0.0f;

+

+    /* Initialize state pointer for all the samples */

+    px0 = pState;

+    px1 = pState + S->M;

+    px2 = pState + 2 * S->M;

+    px3 = pState + 3 * S->M;

+

+    /* Initialize coeff pointer */

+    pb = pCoeffs;

+

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

+    tapCnt = numTaps >> 2;

+

+    /* Loop over the number of taps.  Unroll by a factor of 4.       

+     ** Repeat until we've computed numTaps-4 coefficients. */

+

+    while(tapCnt > 0u)

+    {

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

+      c0 = *(pb++);

+

+      /* Read x[n-numTaps-1] sample for acc0 */

+      x0 = *(px0++);

+      /* Read x[n-numTaps-1] sample for acc1 */

+      x1 = *(px1++);

+      /* Read x[n-numTaps-1] sample for acc2 */

+      x2 = *(px2++);

+      /* Read x[n-numTaps-1] sample for acc3 */

+      x3 = *(px3++);

+

+      /* Perform the multiply-accumulate */

+      acc0 += x0 * c0;

+      acc1 += x1 * c0;

+      acc2 += x2 * c0;

+      acc3 += x3 * c0;

+

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

+      c0 = *(pb++);

+

+      /* Read x[n-numTaps-2] sample for acc0, acc1, acc2, acc3 */

+      x0 = *(px0++);

+      x1 = *(px1++);

+      x2 = *(px2++);

+      x3 = *(px3++);

+

+      /* Perform the multiply-accumulate */

+      acc0 += x0 * c0;

+      acc1 += x1 * c0;

+      acc2 += x2 * c0;

+      acc3 += x3 * c0;

+

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

+      c0 = *(pb++);

+

+      /* Read x[n-numTaps-3] sample acc0, acc1, acc2, acc3 */

+      x0 = *(px0++);

+      x1 = *(px1++);

+      x2 = *(px2++);

+      x3 = *(px3++);

+

+      /* Perform the multiply-accumulate */

+      acc0 += x0 * c0;

+      acc1 += x1 * c0;

+      acc2 += x2 * c0;

+      acc3 += x3 * c0;

+

+      /* Read the b[numTaps-4] coefficient */

+      c0 = *(pb++);

+

+      /* Read x[n-numTaps-4] sample acc0, acc1, acc2, acc3 */

+      x0 = *(px0++);

+      x1 = *(px1++);

+      x2 = *(px2++);

+      x3 = *(px3++);

+

+      /* Perform the multiply-accumulate */

+      acc0 += x0 * c0;

+      acc1 += x1 * c0;

+      acc2 += x2 * c0;

+      acc3 += x3 * c0;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Read coefficients */

+      c0 = *(pb++);

+

+      /* Fetch  state variables for acc0, acc1, acc2, acc3 */

+      x0 = *(px0++);

+      x1 = *(px1++);

+      x2 = *(px2++);

+      x3 = *(px3++);

+

+      /* Perform the multiply-accumulate */

+      acc0 += x0 * c0;

+      acc1 += x1 * c0;

+      acc2 += x2 * c0;

+      acc3 += x3 * c0;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Advance the state pointer by the decimation factor       

+     * to process the next group of decimation factor number samples */

+    pState = pState + 4 * S->M;

+

+    /* The result is in the accumulator, store in the destination buffer. */

+    *pDst++ = acc0;

+    *pDst++ = acc1;

+    *pDst++ = acc2;

+    *pDst++ = acc3;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  while(blkCntN4 > 0u)

+  {

+    /* Copy decimation factor number of new input samples into the state buffer */

+    i = S->M;

+

+    do

+    {

+      *pStateCurnt++ = *pSrc++;

+

+    } while(--i);

+

+    /* Set accumulator to zero */

+    sum0 = 0.0f;

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* Initialize coeff pointer */

+    pb = pCoeffs;

+

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

+    tapCnt = numTaps >> 2;

+

+    /* Loop over the number of taps.  Unroll by a factor of 4.       

+     ** Repeat until we've computed numTaps-4 coefficients. */

+    while(tapCnt > 0u)

+    {

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

+      c0 = *(pb++);

+

+      /* Read x[n-numTaps-1] sample */

+      x0 = *(px++);

+

+      /* Perform the multiply-accumulate */

+      sum0 += x0 * c0;

+

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

+      c0 = *(pb++);

+

+      /* Read x[n-numTaps-2] sample */

+      x0 = *(px++);

+

+      /* Perform the multiply-accumulate */

+      sum0 += x0 * c0;

+

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

+      c0 = *(pb++);

+

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

+      x0 = *(px++);

+

+      /* Perform the multiply-accumulate */

+      sum0 += x0 * c0;

+

+      /* Read the b[numTaps-4] coefficient */

+      c0 = *(pb++);

+

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

+      x0 = *(px++);

+

+      /* Perform the multiply-accumulate */

+      sum0 += x0 * c0;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Read coefficients */

+      c0 = *(pb++);

+

+      /* Fetch 1 state variable */

+      x0 = *(px++);

+

+      /* Perform the multiply-accumulate */

+      sum0 += x0 * c0;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Advance the state pointer by the decimation factor       

+     * to process the next group of decimation factor number samples */

+    pState = pState + S->M;

+

+    /* The result is in the accumulator, store in the destination buffer. */

+    *pDst++ = sum0;

+

+    /* Decrement the loop counter */

+    blkCntN4--;

+  }

+

+  /* 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;

+

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

+

+  /* copy data */

+  while(i > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    i--;

+  }

+

+  i = (numTaps - 1u) % 0x04u;

+

+  /* copy data */

+  while(i > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    i--;

+  }

+

+#else

+

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

+

+  /* S->pState buffer contains previous frame (numTaps - 1) samples */

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

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

+

+  /* Total number of output samples to be computed */

+  blkCnt = outBlockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* Copy decimation factor number of new input samples into the state buffer */

+    i = S->M;

+

+    do

+    {

+      *pStateCurnt++ = *pSrc++;

+

+    } while(--i);

+

+    /* Set accumulator to zero */

+    sum0 = 0.0f;

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* Initialize coeff pointer */

+    pb = pCoeffs;

+

+    tapCnt = numTaps;

+

+    while(tapCnt > 0u)

+    {

+      /* Read coefficients */

+      c0 = *pb++;

+

+      /* Fetch 1 state variable */

+      x0 = *px++;

+

+      /* Perform the multiply-accumulate */

+      sum0 += x0 * c0;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Advance the state pointer by the decimation factor           

+     * to process the next group of decimation factor number samples */

+    pState = pState + S->M;

+

+    /* The result is in the accumulator, store in the destination buffer. */

+    *pDst++ = sum0;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Processing is complete.         

+   ** Now copy the last numTaps - 1 samples to the start 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 data */

+  while(i > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    i--;

+  }

+

+#endif /*   #ifndef ARM_MATH_CM0        */

+

+}

+

+/**    

+ * @} end of FIR_decimate group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c
new file mode 100644
index 000000000..96f50e6f2
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c
@@ -0,0 +1,590 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_fir_decimate_fast_q15.c    

+*    

+* Description:	Fast Q15 FIR Decimator.    

+*    

+* Target Processor: Cortex-M4/Cortex-M3

+*  

+* 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 groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR_decimate    

+ * @{    

+ */

+

+/**    

+ * @brief Processing function for the Q15 FIR decimator (fast variant) for Cortex-M3 and Cortex-M4.    

+ * @param[in] *S points to an instance of the Q15 FIR decimator 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 input samples to process per call.    

+ * @return none    

+ *    

+ * \par Restrictions   

+ *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE   

+ *	In this case input, output, state buffers should be aligned by 32-bit   

+ *    

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

+ * \par    

+ * This fast version uses a 32-bit accumulator with 2.30 format.    

+ * The accumulator maintains full precision of the intermediate multiplication results but provides only a single guard bit.    

+ * Thus, if the accumulator result overflows it wraps around and distorts the result.    

+ * In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits (log2 is read as log to the base 2).    

+ * The 2.30 accumulator is then truncated to 2.15 format and saturated to yield the 1.15 result.    

+ *    

+ * \par    

+ * Refer to the function <code>arm_fir_decimate_q15()</code> for a slower implementation of this function which uses 64-bit accumulation to avoid wrap around distortion.    

+ * Both the slow and the fast versions use the same instance structure.    

+ * Use the function <code>arm_fir_decimate_init_q15()</code> to initialize the filter structure.    

+ */

+

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+void arm_fir_decimate_fast_q15(

+  const arm_fir_decimate_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+  q15_t *pState = S->pState;                     /* State pointer */

+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */

+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */

+  q15_t *px;                                     /* Temporary pointer for state buffer */

+  q15_t *pb;                                     /* Temporary pointer coefficient buffer */

+  q31_t x0, x1, c0, c1;                          /* Temporary variables to hold state and coefficient values */

+  q31_t sum0;                                    /* Accumulators */

+  q31_t acc0, acc1;

+  q15_t *px0, *px1;

+  uint32_t blkCntN3;

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

+  uint32_t i, blkCnt, tapCnt, outBlockSize = blockSize / S->M;  /* Loop counters */

+

+

+  /* S->pState buffer contains previous frame (numTaps - 1) samples */

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

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

+

+

+  /* Total number of output samples to be computed */

+  blkCnt = outBlockSize / 2;

+  blkCntN3 = outBlockSize - (2 * blkCnt);

+

+

+  while(blkCnt > 0u)

+  {

+    /* Copy decimation factor number of new input samples into the state buffer */

+    i = 2 * S->M;

+

+    do

+    {

+      *pStateCurnt++ = *pSrc++;

+

+    } while(--i);

+

+    /* Set accumulator to zero */

+    acc0 = 0;

+    acc1 = 0;

+

+    /* Initialize state pointer */

+    px0 = pState;

+

+    px1 = pState + S->M;

+

+

+    /* Initialize coeff pointer */

+    pb = pCoeffs;

+

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

+    tapCnt = numTaps >> 2;

+

+    /* Loop over the number of taps.  Unroll by a factor of 4.       

+     ** Repeat until we've computed numTaps-4 coefficients. */

+    while(tapCnt > 0u)

+    {

+      /* Read the Read b[numTaps-1] and b[numTaps-2]  coefficients */

+      c0 = *__SIMD32(pb)++;

+

+      /* Read x[n-numTaps-1] and x[n-numTaps-2]sample */

+      x0 = *__SIMD32(px0)++;

+

+      x1 = *__SIMD32(px1)++;

+

+      /* Perform the multiply-accumulate */

+      acc0 = __SMLAD(x0, c0, acc0);

+

+      acc1 = __SMLAD(x1, c0, acc1);

+

+      /* Read the b[numTaps-3] and b[numTaps-4] coefficient */

+      c0 = *__SIMD32(pb)++;

+

+      /* Read x[n-numTaps-2] and x[n-numTaps-3] sample */

+      x0 = *__SIMD32(px0)++;

+

+      x1 = *__SIMD32(px1)++;

+

+      /* Perform the multiply-accumulate */

+      acc0 = __SMLAD(x0, c0, acc0);

+

+      acc1 = __SMLAD(x1, c0, acc1);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Read coefficients */

+      c0 = *pb++;

+

+      /* Fetch 1 state variable */

+      x0 = *px0++;

+

+      x1 = *px1++;

+

+      /* Perform the multiply-accumulate */

+      acc0 = __SMLAD(x0, c0, acc0);

+      acc1 = __SMLAD(x1, c0, acc1);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Advance the state pointer by the decimation factor       

+     * to process the next group of decimation factor number samples */

+    pState = pState + S->M * 2;

+

+    /* Store filter output, smlad returns the values in 2.14 format */

+    /* so downsacle by 15 to get output in 1.15 */

+    *pDst++ = (q15_t) (__SSAT((acc0 >> 15), 16));

+    *pDst++ = (q15_t) (__SSAT((acc1 >> 15), 16));

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+

+

+  while(blkCntN3 > 0u)

+  {

+    /* Copy decimation factor number of new input samples into the state buffer */

+    i = S->M;

+

+    do

+    {

+      *pStateCurnt++ = *pSrc++;

+

+    } while(--i);

+

+    /*Set sum to zero */

+    sum0 = 0;

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* Initialize coeff pointer */

+    pb = pCoeffs;

+

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

+    tapCnt = numTaps >> 2;

+

+    /* Loop over the number of taps.  Unroll by a factor of 4.       

+     ** Repeat until we've computed numTaps-4 coefficients. */

+    while(tapCnt > 0u)

+    {

+      /* Read the Read b[numTaps-1] and b[numTaps-2]  coefficients */

+      c0 = *__SIMD32(pb)++;

+

+      /* Read x[n-numTaps-1] and x[n-numTaps-2]sample */

+      x0 = *__SIMD32(px)++;

+

+      /* Read the b[numTaps-3] and b[numTaps-4] coefficient */

+      c1 = *__SIMD32(pb)++;

+

+      /* Perform the multiply-accumulate */

+      sum0 = __SMLAD(x0, c0, sum0);

+

+      /* Read x[n-numTaps-2] and x[n-numTaps-3] sample */

+      x0 = *__SIMD32(px)++;

+

+      /* Perform the multiply-accumulate */

+      sum0 = __SMLAD(x0, c1, sum0);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Read coefficients */

+      c0 = *pb++;

+

+      /* Fetch 1 state variable */

+      x0 = *px++;

+

+      /* Perform the multiply-accumulate */

+      sum0 = __SMLAD(x0, c0, sum0);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Advance the state pointer by the decimation factor       

+     * to process the next group of decimation factor number samples */

+    pState = pState + S->M;

+

+    /* Store filter output, smlad returns the values in 2.14 format */

+    /* so downsacle by 15 to get output in 1.15 */

+    *pDst++ = (q15_t) (__SSAT((sum0 >> 15), 16));

+

+    /* Decrement the loop counter */

+    blkCntN3--;

+  }

+

+  /* 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;

+

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

+

+  /* copy data */

+  while(i > 0u)

+  {

+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;

+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;

+

+    /* Decrement the loop counter */

+    i--;

+  }

+

+  i = (numTaps - 1u) % 0x04u;

+

+  /* copy data */

+  while(i > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    i--;

+  }

+}

+

+#else

+

+

+void arm_fir_decimate_fast_q15(

+  const arm_fir_decimate_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+  q15_t *pState = S->pState;                     /* State pointer */

+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */

+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */

+  q15_t *px;                                     /* Temporary pointer for state buffer */

+  q15_t *pb;                                     /* Temporary pointer coefficient buffer */

+  q15_t x0, x1, c0;                              /* Temporary variables to hold state and coefficient values */

+  q31_t sum0;                                    /* Accumulators */

+  q31_t acc0, acc1;

+  q15_t *px0, *px1;

+  uint32_t blkCntN3;

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

+  uint32_t i, blkCnt, tapCnt, outBlockSize = blockSize / S->M;  /* Loop counters */

+

+

+  /* S->pState buffer contains previous frame (numTaps - 1) samples */

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

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

+

+

+  /* Total number of output samples to be computed */

+  blkCnt = outBlockSize / 2;

+  blkCntN3 = outBlockSize - (2 * blkCnt);

+

+  while(blkCnt > 0u)

+  {

+    /* Copy decimation factor number of new input samples into the state buffer */

+    i = 2 * S->M;

+

+    do

+    {

+      *pStateCurnt++ = *pSrc++;

+

+    } while(--i);

+

+    /* Set accumulator to zero */

+    acc0 = 0;

+    acc1 = 0;

+

+    /* Initialize state pointer */

+    px0 = pState;

+

+    px1 = pState + S->M;

+

+

+    /* Initialize coeff pointer */

+    pb = pCoeffs;

+

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

+    tapCnt = numTaps >> 2;

+

+    /* Loop over the number of taps.  Unroll by a factor of 4.       

+     ** Repeat until we've computed numTaps-4 coefficients. */

+    while(tapCnt > 0u)

+    {

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

+      c0 = *pb++;

+

+      /* Read x[n-numTaps-1] for sample 0 and for sample 1 */

+      x0 = *px0++;

+      x1 = *px1++;

+

+      /* Perform the multiply-accumulate */

+      acc0 += x0 * c0;

+      acc1 += x1 * c0;

+

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

+      c0 = *pb++;

+

+      /* Read x[n-numTaps-2] for sample 0 and sample 1 */

+      x0 = *px0++;

+      x1 = *px1++;

+

+      /* Perform the multiply-accumulate */

+      acc0 += x0 * c0;

+      acc1 += x1 * c0;

+

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

+      c0 = *pb++;

+

+      /* Read x[n-numTaps-3] for sample 0 and sample 1 */

+      x0 = *px0++;

+      x1 = *px1++;

+

+      /* Perform the multiply-accumulate */

+      acc0 += x0 * c0;

+      acc1 += x1 * c0;

+

+      /* Read the b[numTaps-4] coefficient */

+      c0 = *pb++;

+

+      /* Read x[n-numTaps-4] for sample 0 and sample 1 */

+      x0 = *px0++;

+      x1 = *px1++;

+

+      /* Perform the multiply-accumulate */

+      acc0 += x0 * c0;

+      acc1 += x1 * c0;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Read coefficients */

+      c0 = *pb++;

+

+      /* Fetch 1 state variable */

+      x0 = *px0++;

+      x1 = *px1++;

+

+      /* Perform the multiply-accumulate */

+      acc0 += x0 * c0;

+      acc1 += x1 * c0;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Advance the state pointer by the decimation factor       

+     * to process the next group of decimation factor number samples */

+    pState = pState + S->M * 2;

+

+    /* Store filter output, smlad returns the values in 2.14 format */

+    /* so downsacle by 15 to get output in 1.15 */

+

+    *pDst++ = (q15_t) (__SSAT((acc0 >> 15), 16));

+    *pDst++ = (q15_t) (__SSAT((acc1 >> 15), 16));

+

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  while(blkCntN3 > 0u)

+  {

+    /* Copy decimation factor number of new input samples into the state buffer */

+    i = S->M;

+

+    do

+    {

+      *pStateCurnt++ = *pSrc++;

+

+    } while(--i);

+

+    /*Set sum to zero */

+    sum0 = 0;

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* Initialize coeff pointer */

+    pb = pCoeffs;

+

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

+    tapCnt = numTaps >> 2;

+

+    /* Loop over the number of taps.  Unroll by a factor of 4.       

+     ** Repeat until we've computed numTaps-4 coefficients. */

+    while(tapCnt > 0u)

+    {

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

+      c0 = *pb++;

+

+      /* Read x[n-numTaps-1] and sample */

+      x0 = *px++;

+

+      /* Perform the multiply-accumulate */

+      sum0 += x0 * c0;

+

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

+      c0 = *pb++;

+

+      /* Read x[n-numTaps-2] and  sample */

+      x0 = *px++;

+

+      /* Perform the multiply-accumulate */

+      sum0 += x0 * c0;

+

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

+      c0 = *pb++;

+

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

+      x0 = *px++;

+

+      /* Perform the multiply-accumulate */

+      sum0 += x0 * c0;

+

+      /* Read the b[numTaps-4] coefficient */

+      c0 = *pb++;

+

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

+      x0 = *px++;

+

+      /* Perform the multiply-accumulate */

+      sum0 += x0 * c0;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Read coefficients */

+      c0 = *pb++;

+

+      /* Fetch 1 state variable */

+      x0 = *px++;

+

+      /* Perform the multiply-accumulate */

+      sum0 += x0 * c0;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Advance the state pointer by the decimation factor       

+     * to process the next group of decimation factor number samples */

+    pState = pState + S->M;

+

+    /* Store filter output, smlad returns the values in 2.14 format */

+    /* so downsacle by 15 to get output in 1.15 */

+    *pDst++ = (q15_t) (__SSAT((sum0 >> 15), 16));

+

+    /* Decrement the loop counter */

+    blkCntN3--;

+  }

+

+  /* 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;

+

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

+

+  /* copy data */

+  while(i > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    i--;

+  }

+

+  i = (numTaps - 1u) % 0x04u;

+

+  /* copy data */

+  while(i > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    i--;

+  }

+}

+

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+/**    

+ * @} end of FIR_decimate group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c
new file mode 100644
index 000000000..a43fd0b4c
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c
@@ -0,0 +1,343 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_fir_decimate_fast_q31.c    

+*    

+* Description:	Fast Q31 FIR Decimator.    

+*    

+* Target Processor: Cortex-M4/Cortex-M3

+*  

+* 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 groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR_decimate    

+ * @{    

+ */

+

+/**    

+ * @brief Processing function for the Q31 FIR decimator (fast variant) for Cortex-M3 and Cortex-M4.    

+ * @param[in] *S points to an instance of the Q31 FIR decimator 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 input samples to process per call.    

+ * @return none    

+ *    

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

+ *    

+ * \par    

+ * This function is optimized for speed at the expense of fixed-point precision and overflow protection.    

+ * The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format.    

+ * These intermediate results are added to a 2.30 accumulator.    

+ * Finally, the accumulator is saturated and converted to a 1.31 result.    

+ * The fast version has the same overflow behavior as the standard version and provides less precision since it discards the low 32 bits of each multiplication result.    

+ * In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits (where log2 is read as log to the base 2).    

+ *    

+ * \par    

+ * Refer to the function <code>arm_fir_decimate_q31()</code> for a slower implementation of this function which uses a 64-bit accumulator to provide higher precision.    

+ * Both the slow and the fast versions use the same instance structure.    

+ * Use the function <code>arm_fir_decimate_init_q31()</code> to initialize the filter structure.    

+ */

+

+void arm_fir_decimate_fast_q31(

+  arm_fir_decimate_instance_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize)

+{

+  q31_t *pState = S->pState;                     /* State pointer */

+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */

+  q31_t *pStateCurnt;                            /* Points to the current sample of the state */

+  q31_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */

+  q31_t *px;                                     /* Temporary pointers for state buffer */

+  q31_t *pb;                                     /* Temporary pointers for coefficient buffer */

+  q31_t sum0;                                    /* Accumulator */

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

+  uint32_t i, tapCnt, blkCnt, outBlockSize = blockSize / S->M;  /* Loop counters */

+  uint32_t blkCntN2;

+  q31_t x1;

+  q31_t acc0, acc1;

+  q31_t *px0, *px1;

+

+  /* S->pState buffer contains previous frame (numTaps - 1) samples */

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

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

+

+  /* Total number of output samples to be computed */

+

+  blkCnt = outBlockSize / 2;

+  blkCntN2 = outBlockSize - (2 * blkCnt);

+

+  while(blkCnt > 0u)

+  {

+    /* Copy decimation factor number of new input samples into the state buffer */

+    i = 2 * S->M;

+

+    do

+    {

+      *pStateCurnt++ = *pSrc++;

+

+    } while(--i);

+

+    /* Set accumulator to zero */

+    acc0 = 0;

+    acc1 = 0;

+

+    /* Initialize state pointer */

+    px0 = pState;

+    px1 = pState + S->M;

+

+    /* Initialize coeff pointer */

+    pb = pCoeffs;

+

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

+    tapCnt = numTaps >> 2;

+

+    /* Loop over the number of taps.  Unroll by a factor of 4.       

+     ** Repeat until we've computed numTaps-4 coefficients. */

+    while(tapCnt > 0u)

+    {

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

+      c0 = *(pb);

+

+      /* Read x[n-numTaps-1] for sample 0 sample 1 */

+      x0 = *(px0);

+      x1 = *(px1);

+

+      /* Perform the multiply-accumulate */

+      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);

+      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);

+

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

+      c0 = *(pb + 1u);

+

+      /* Read x[n-numTaps-2]  for sample 0 sample 1  */

+      x0 = *(px0 + 1u);

+      x1 = *(px1 + 1u);

+

+      /* Perform the multiply-accumulate */

+      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);

+      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);

+

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

+      c0 = *(pb + 2u);

+

+      /* Read x[n-numTaps-3]  for sample 0 sample 1 */

+      x0 = *(px0 + 2u);

+      x1 = *(px1 + 2u);

+      pb += 4u;

+

+      /* Perform the multiply-accumulate */

+      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);

+      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);

+

+      /* Read the b[numTaps-4] coefficient */

+      c0 = *(pb - 1u);

+

+      /* Read x[n-numTaps-4] for sample 0 sample 1 */

+      x0 = *(px0 + 3u);

+      x1 = *(px1 + 3u);

+

+

+      /* Perform the multiply-accumulate */

+      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);

+      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);

+

+      /* update state pointers */

+      px0 += 4u;

+      px1 += 4u;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Read coefficients */

+      c0 = *(pb++);

+

+      /* Fetch 1 state variable */

+      x0 = *(px0++);

+      x1 = *(px1++);

+

+      /* Perform the multiply-accumulate */

+      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);

+      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Advance the state pointer by the decimation factor       

+     * to process the next group of decimation factor number samples */

+    pState = pState + S->M * 2;

+

+    /* The result is in the accumulator, store in the destination buffer. */

+    *pDst++ = (q31_t) (acc0 << 1);

+    *pDst++ = (q31_t) (acc1 << 1);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  while(blkCntN2 > 0u)

+  {

+    /* Copy decimation factor number of new input samples into the state buffer */

+    i = S->M;

+

+    do

+    {

+      *pStateCurnt++ = *pSrc++;

+

+    } while(--i);

+

+    /* Set accumulator to zero */

+    sum0 = 0;

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* Initialize coeff pointer */

+    pb = pCoeffs;

+

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

+    tapCnt = numTaps >> 2;

+

+    /* Loop over the number of taps.  Unroll by a factor of 4.       

+     ** Repeat until we've computed numTaps-4 coefficients. */

+    while(tapCnt > 0u)

+    {

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

+      c0 = *(pb++);

+

+      /* Read x[n-numTaps-1] sample */

+      x0 = *(px++);

+

+      /* Perform the multiply-accumulate */

+      sum0 = (q31_t) ((((q63_t) sum0 << 32) + ((q63_t) x0 * c0)) >> 32);

+

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

+      c0 = *(pb++);

+

+      /* Read x[n-numTaps-2] sample */

+      x0 = *(px++);

+

+      /* Perform the multiply-accumulate */

+      sum0 = (q31_t) ((((q63_t) sum0 << 32) + ((q63_t) x0 * c0)) >> 32);

+

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

+      c0 = *(pb++);

+

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

+      x0 = *(px++);

+

+      /* Perform the multiply-accumulate */

+      sum0 = (q31_t) ((((q63_t) sum0 << 32) + ((q63_t) x0 * c0)) >> 32);

+

+      /* Read the b[numTaps-4] coefficient */

+      c0 = *(pb++);

+

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

+      x0 = *(px++);

+

+      /* Perform the multiply-accumulate */

+      sum0 = (q31_t) ((((q63_t) sum0 << 32) + ((q63_t) x0 * c0)) >> 32);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Read coefficients */

+      c0 = *(pb++);

+

+      /* Fetch 1 state variable */

+      x0 = *(px++);

+

+      /* Perform the multiply-accumulate */

+      sum0 = (q31_t) ((((q63_t) sum0 << 32) + ((q63_t) x0 * c0)) >> 32);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Advance the state pointer by the decimation factor       

+     * to process the next group of decimation factor number samples */

+    pState = pState + S->M;

+

+    /* The result is in the accumulator, store in the destination buffer. */

+    *pDst++ = (q31_t) (sum0 << 1);

+

+    /* Decrement the loop counter */

+    blkCntN2--;

+  }

+

+  /* 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;

+

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

+

+  /* copy data */

+  while(i > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    i--;

+  }

+

+  i = (numTaps - 1u) % 0x04u;

+

+  /* copy data */

+  while(i > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    i--;

+  }

+}

+

+/**    

+ * @} end of FIR_decimate group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c
new file mode 100644
index 000000000..b655a6be6
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c
@@ -0,0 +1,112 @@
+/*-----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_fir_decimate_init_f32.c    

+*    

+* Description:  Floating-point FIR Decimator initialization 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------*/

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR_decimate    

+ * @{    

+ */

+

+/**    

+ * @brief  Initialization function for the floating-point FIR decimator.    

+ * @param[in,out] *S points to an instance of the floating-point FIR decimator structure.    

+ * @param[in] numTaps  number of coefficients in the filter.    

+ * @param[in] M  decimation factor.    

+ * @param[in] *pCoeffs points to the filter coefficients.    

+ * @param[in] *pState points to the state buffer.    

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

+ * @return    The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if    

+ * <code>blockSize</code> is not a multiple of <code>M</code>.    

+ *    

+ * <b>Description:</b>    

+ * \par    

+ * <code>pCoeffs</code> points to the array of filter coefficients stored in time reversed order:    

+ * <pre>    

+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    

+ * </pre>    

+ * \par    

+ * <code>pState</code> points to the array of state variables.    

+ * <code>pState</code> is of length <code>numTaps+blockSize-1</code> words where <code>blockSize</code> is the number of input samples passed to <code>arm_fir_decimate_f32()</code>.    

+ * <code>M</code> is the decimation factor.    

+ */

+

+arm_status arm_fir_decimate_init_f32(

+  arm_fir_decimate_instance_f32 * S,

+  uint16_t numTaps,

+  uint8_t M,

+  float32_t * pCoeffs,

+  float32_t * pState,

+  uint32_t blockSize)

+{

+  arm_status status;

+

+  /* The size of the input block must be a multiple of the decimation factor */

+  if((blockSize % M) != 0u)

+  {

+    /* Set status as ARM_MATH_LENGTH_ERROR */

+    status = ARM_MATH_LENGTH_ERROR;

+  }

+  else

+  {

+    /* Assign filter taps */

+    S->numTaps = numTaps;

+

+    /* Assign coefficient pointer */

+    S->pCoeffs = pCoeffs;

+

+    /* Clear state buffer and size is always (blockSize + numTaps - 1) */

+    memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(float32_t));

+

+    /* Assign state pointer */

+    S->pState = pState;

+

+    /* Assign Decimation Factor */

+    S->M = M;

+

+    status = ARM_MATH_SUCCESS;

+  }

+

+  return (status);

+

+}

+

+/**    

+ * @} end of FIR_decimate group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c
new file mode 100644
index 000000000..1a1fee8a2
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c
@@ -0,0 +1,114 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_fir_decimate_init_q15.c    

+*    

+* Description:  Initialization function for the Q15 FIR Decimator.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR_decimate    

+ * @{    

+ */

+

+/**    

+ * @brief  Initialization function for the Q15 FIR decimator.    

+ * @param[in,out] *S points to an instance of the Q15 FIR decimator structure.    

+ * @param[in] numTaps  number of coefficients in the filter.    

+ * @param[in] M  decimation factor.    

+ * @param[in] *pCoeffs points to the filter coefficients.    

+ * @param[in] *pState points to the state buffer.    

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

+ * @return    The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if    

+ * <code>blockSize</code> is not a multiple of <code>M</code>.    

+ *    

+ * <b>Description:</b>    

+ * \par    

+ * <code>pCoeffs</code> points to the array of filter coefficients stored in time reversed order:    

+ * <pre>    

+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    

+ * </pre>    

+ * \par    

+ * <code>pState</code> points to the array of state variables.    

+ * <code>pState</code> is of length <code>numTaps+blockSize-1</code> words where <code>blockSize</code> is the number of input samples    

+ * to the call <code>arm_fir_decimate_q15()</code>.    

+ * <code>M</code> is the decimation factor.    

+ */

+

+arm_status arm_fir_decimate_init_q15(

+  arm_fir_decimate_instance_q15 * S,

+  uint16_t numTaps,

+  uint8_t M,

+  q15_t * pCoeffs,

+  q15_t * pState,

+  uint32_t blockSize)

+{

+

+  arm_status status;

+

+  /* The size of the input block must be a multiple of the decimation factor */

+  if((blockSize % M) != 0u)

+  {

+    /* Set status as ARM_MATH_LENGTH_ERROR */

+    status = ARM_MATH_LENGTH_ERROR;

+  }

+  else

+  {

+    /* Assign filter taps */

+    S->numTaps = numTaps;

+

+    /* Assign coefficient pointer */

+    S->pCoeffs = pCoeffs;

+

+    /* Clear the state buffer.  The size of buffer is always (blockSize + numTaps - 1) */

+    memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q15_t));

+

+    /* Assign state pointer */

+    S->pState = pState;

+

+    /* Assign Decimation factor */

+    S->M = M;

+

+    status = ARM_MATH_SUCCESS;

+  }

+

+  return (status);

+

+}

+

+/**    

+ * @} end of FIR_decimate group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c
new file mode 100644
index 000000000..e2ac8165e
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c
@@ -0,0 +1,112 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_fir_decimate_init_q31.c    

+*    

+* Description:  Initialization function for Q31 FIR Decimation filter.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR_decimate    

+ * @{    

+ */

+

+/**    

+ * @brief  Initialization function for the Q31 FIR decimator.    

+ * @param[in,out] *S points to an instance of the Q31 FIR decimator structure.    

+ * @param[in] numTaps  number of coefficients in the filter.    

+ * @param[in] M  decimation factor.    

+ * @param[in] *pCoeffs points to the filter coefficients.    

+ * @param[in] *pState points to the state buffer.    

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

+ * @return    The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if    

+ * <code>blockSize</code> is not a multiple of <code>M</code>.    

+ *    

+ * <b>Description:</b>    

+ * \par    

+ * <code>pCoeffs</code> points to the array of filter coefficients stored in time reversed order:    

+ * <pre>    

+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    

+ * </pre>    

+ * \par    

+ * <code>pState</code> points to the array of state variables.    

+ * <code>pState</code> is of length <code>numTaps+blockSize-1</code> words where <code>blockSize</code> is the number of input samples passed to <code>arm_fir_decimate_q31()</code>.    

+ * <code>M</code> is the decimation factor.    

+ */

+

+arm_status arm_fir_decimate_init_q31(

+  arm_fir_decimate_instance_q31 * S,

+  uint16_t numTaps,

+  uint8_t M,

+  q31_t * pCoeffs,

+  q31_t * pState,

+  uint32_t blockSize)

+{

+  arm_status status;

+

+  /* The size of the input block must be a multiple of the decimation factor */

+  if((blockSize % M) != 0u)

+  {

+    /* Set status as ARM_MATH_LENGTH_ERROR */

+    status = ARM_MATH_LENGTH_ERROR;

+  }

+  else

+  {

+    /* Assign filter taps */

+    S->numTaps = numTaps;

+

+    /* Assign coefficient pointer */

+    S->pCoeffs = pCoeffs;

+

+    /* Clear the state buffer.  The size is always (blockSize + numTaps - 1) */

+    memset(pState, 0, (numTaps + (blockSize - 1)) * sizeof(q31_t));

+

+    /* Assign state pointer */

+    S->pState = pState;

+

+    /* Assign Decimation factor */

+    S->M = M;

+

+    status = ARM_MATH_SUCCESS;

+  }

+

+  return (status);

+

+}

+

+/**    

+ * @} end of FIR_decimate group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c
new file mode 100644
index 000000000..28b5f13dd
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c
@@ -0,0 +1,691 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_fir_decimate_q15.c    

+*    

+* Description:	Q15 FIR Decimator.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR_decimate    

+ * @{    

+ */

+

+/**    

+ * @brief Processing function for the Q15 FIR decimator.    

+ * @param[in] *S points to an instance of the Q15 FIR decimator structure.    

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

+ * @param[out] *pDst points to the location where the output result is written.    

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

+ * @return none.    

+ *    

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

+ * \par    

+ * The function is implemented using a 64-bit internal accumulator.    

+ * Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result.    

+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.    

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

+ * After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits.    

+ * Lastly, the accumulator is saturated to yield a result in 1.15 format.    

+ *    

+ * \par    

+ * Refer to the function <code>arm_fir_decimate_fast_q15()</code> for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.    

+ */

+

+#ifndef ARM_MATH_CM0

+

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+void arm_fir_decimate_q15(

+  const arm_fir_decimate_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+  q15_t *pState = S->pState;                     /* State pointer */

+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */

+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */

+  q15_t *px;                                     /* Temporary pointer for state buffer */

+  q15_t *pb;                                     /* Temporary pointer coefficient buffer */

+  q31_t x0, x1, c0, c1;                          /* Temporary variables to hold state and coefficient values */

+  q63_t sum0;                                    /* Accumulators */

+  q63_t acc0, acc1;

+  q15_t *px0, *px1;

+  uint32_t blkCntN3;

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

+  uint32_t i, blkCnt, tapCnt, outBlockSize = blockSize / S->M;  /* Loop counters */

+

+

+  /* S->pState buffer contains previous frame (numTaps - 1) samples */

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

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

+

+

+  /* Total number of output samples to be computed */

+  blkCnt = outBlockSize / 2;

+  blkCntN3 = outBlockSize - (2 * blkCnt);

+

+

+  while(blkCnt > 0u)

+  {

+    /* Copy decimation factor number of new input samples into the state buffer */

+    i = 2 * S->M;

+

+    do

+    {

+      *pStateCurnt++ = *pSrc++;

+

+    } while(--i);

+

+    /* Set accumulator to zero */

+    acc0 = 0;

+    acc1 = 0;

+

+    /* Initialize state pointer */

+    px0 = pState;

+

+    px1 = pState + S->M;

+

+

+    /* Initialize coeff pointer */

+    pb = pCoeffs;

+

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

+    tapCnt = numTaps >> 2;

+

+    /* Loop over the number of taps.  Unroll by a factor of 4.       

+     ** Repeat until we've computed numTaps-4 coefficients. */

+    while(tapCnt > 0u)

+    {

+      /* Read the Read b[numTaps-1] and b[numTaps-2]  coefficients */

+      c0 = *__SIMD32(pb)++;

+

+      /* Read x[n-numTaps-1] and x[n-numTaps-2]sample */

+      x0 = *__SIMD32(px0)++;

+

+      x1 = *__SIMD32(px1)++;

+

+      /* Perform the multiply-accumulate */

+      acc0 = __SMLALD(x0, c0, acc0);

+

+      acc1 = __SMLALD(x1, c0, acc1);

+

+      /* Read the b[numTaps-3] and b[numTaps-4] coefficient */

+      c0 = *__SIMD32(pb)++;

+

+      /* Read x[n-numTaps-2] and x[n-numTaps-3] sample */

+      x0 = *__SIMD32(px0)++;

+

+      x1 = *__SIMD32(px1)++;

+

+      /* Perform the multiply-accumulate */

+      acc0 = __SMLALD(x0, c0, acc0);

+

+      acc1 = __SMLALD(x1, c0, acc1);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Read coefficients */

+      c0 = *pb++;

+

+      /* Fetch 1 state variable */

+      x0 = *px0++;

+

+      x1 = *px1++;

+

+      /* Perform the multiply-accumulate */

+      acc0 = __SMLALD(x0, c0, acc0);

+      acc1 = __SMLALD(x1, c0, acc1);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Advance the state pointer by the decimation factor       

+     * to process the next group of decimation factor number samples */

+    pState = pState + S->M * 2;

+

+    /* Store filter output, smlad returns the values in 2.14 format */

+    /* so downsacle by 15 to get output in 1.15 */

+    *pDst++ = (q15_t) (__SSAT((acc0 >> 15), 16));

+    *pDst++ = (q15_t) (__SSAT((acc1 >> 15), 16));

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+

+

+  while(blkCntN3 > 0u)

+  {

+    /* Copy decimation factor number of new input samples into the state buffer */

+    i = S->M;

+

+    do

+    {

+      *pStateCurnt++ = *pSrc++;

+

+    } while(--i);

+

+    /*Set sum to zero */

+    sum0 = 0;

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* Initialize coeff pointer */

+    pb = pCoeffs;

+

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

+    tapCnt = numTaps >> 2;

+

+    /* Loop over the number of taps.  Unroll by a factor of 4.       

+     ** Repeat until we've computed numTaps-4 coefficients. */

+    while(tapCnt > 0u)

+    {

+      /* Read the Read b[numTaps-1] and b[numTaps-2]  coefficients */

+      c0 = *__SIMD32(pb)++;

+

+      /* Read x[n-numTaps-1] and x[n-numTaps-2]sample */

+      x0 = *__SIMD32(px)++;

+

+      /* Read the b[numTaps-3] and b[numTaps-4] coefficient */

+      c1 = *__SIMD32(pb)++;

+

+      /* Perform the multiply-accumulate */

+      sum0 = __SMLALD(x0, c0, sum0);

+

+      /* Read x[n-numTaps-2] and x[n-numTaps-3] sample */

+      x0 = *__SIMD32(px)++;

+

+      /* Perform the multiply-accumulate */

+      sum0 = __SMLALD(x0, c1, sum0);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Read coefficients */

+      c0 = *pb++;

+

+      /* Fetch 1 state variable */

+      x0 = *px++;

+

+      /* Perform the multiply-accumulate */

+      sum0 = __SMLALD(x0, c0, sum0);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Advance the state pointer by the decimation factor       

+     * to process the next group of decimation factor number samples */

+    pState = pState + S->M;

+

+    /* Store filter output, smlad returns the values in 2.14 format */

+    /* so downsacle by 15 to get output in 1.15 */

+    *pDst++ = (q15_t) (__SSAT((sum0 >> 15), 16));

+

+    /* Decrement the loop counter */

+    blkCntN3--;

+  }

+

+  /* 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;

+

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

+

+  /* copy data */

+  while(i > 0u)

+  {

+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;

+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;

+

+    /* Decrement the loop counter */

+    i--;

+  }

+

+  i = (numTaps - 1u) % 0x04u;

+

+  /* copy data */

+  while(i > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    i--;

+  }

+}

+

+#else

+

+

+void arm_fir_decimate_q15(

+  const arm_fir_decimate_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+  q15_t *pState = S->pState;                     /* State pointer */

+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */

+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */

+  q15_t *px;                                     /* Temporary pointer for state buffer */

+  q15_t *pb;                                     /* Temporary pointer coefficient buffer */

+  q15_t x0, x1, c0;                              /* Temporary variables to hold state and coefficient values */

+  q63_t sum0;                                    /* Accumulators */

+  q63_t acc0, acc1;

+  q15_t *px0, *px1;

+  uint32_t blkCntN3;

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

+  uint32_t i, blkCnt, tapCnt, outBlockSize = blockSize / S->M;  /* Loop counters */

+

+

+  /* S->pState buffer contains previous frame (numTaps - 1) samples */

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

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

+

+

+  /* Total number of output samples to be computed */

+  blkCnt = outBlockSize / 2;

+  blkCntN3 = outBlockSize - (2 * blkCnt);

+

+  while(blkCnt > 0u)

+  {

+    /* Copy decimation factor number of new input samples into the state buffer */

+    i = 2 * S->M;

+

+    do

+    {

+      *pStateCurnt++ = *pSrc++;

+

+    } while(--i);

+

+    /* Set accumulator to zero */

+    acc0 = 0;

+    acc1 = 0;

+

+    /* Initialize state pointer */

+    px0 = pState;

+

+    px1 = pState + S->M;

+

+

+    /* Initialize coeff pointer */

+    pb = pCoeffs;

+

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

+    tapCnt = numTaps >> 2;

+

+    /* Loop over the number of taps.  Unroll by a factor of 4.       

+     ** Repeat until we've computed numTaps-4 coefficients. */

+    while(tapCnt > 0u)

+    {

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

+      c0 = *pb++;

+

+      /* Read x[n-numTaps-1] for sample 0 and for sample 1 */

+      x0 = *px0++;

+      x1 = *px1++;

+

+      /* Perform the multiply-accumulate */

+      acc0 += x0 * c0;

+      acc1 += x1 * c0;

+

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

+      c0 = *pb++;

+

+      /* Read x[n-numTaps-2] for sample 0 and sample 1 */

+      x0 = *px0++;

+      x1 = *px1++;

+

+      /* Perform the multiply-accumulate */

+      acc0 += x0 * c0;

+      acc1 += x1 * c0;

+

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

+      c0 = *pb++;

+

+      /* Read x[n-numTaps-3] for sample 0 and sample 1 */

+      x0 = *px0++;

+      x1 = *px1++;

+

+      /* Perform the multiply-accumulate */

+      acc0 += x0 * c0;

+      acc1 += x1 * c0;

+

+      /* Read the b[numTaps-4] coefficient */

+      c0 = *pb++;

+

+      /* Read x[n-numTaps-4] for sample 0 and sample 1 */

+      x0 = *px0++;

+      x1 = *px1++;

+

+      /* Perform the multiply-accumulate */

+      acc0 += x0 * c0;

+      acc1 += x1 * c0;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Read coefficients */

+      c0 = *pb++;

+

+      /* Fetch 1 state variable */

+      x0 = *px0++;

+      x1 = *px1++;

+

+      /* Perform the multiply-accumulate */

+      acc0 += x0 * c0;

+      acc1 += x1 * c0;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Advance the state pointer by the decimation factor       

+     * to process the next group of decimation factor number samples */

+    pState = pState + S->M * 2;

+

+    /* Store filter output, smlad returns the values in 2.14 format */

+    /* so downsacle by 15 to get output in 1.15 */

+

+    *pDst++ = (q15_t) (__SSAT((acc0 >> 15), 16));

+    *pDst++ = (q15_t) (__SSAT((acc1 >> 15), 16));

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  while(blkCntN3 > 0u)

+  {

+    /* Copy decimation factor number of new input samples into the state buffer */

+    i = S->M;

+

+    do

+    {

+      *pStateCurnt++ = *pSrc++;

+

+    } while(--i);

+

+    /*Set sum to zero */

+    sum0 = 0;

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* Initialize coeff pointer */

+    pb = pCoeffs;

+

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

+    tapCnt = numTaps >> 2;

+

+    /* Loop over the number of taps.  Unroll by a factor of 4.       

+     ** Repeat until we've computed numTaps-4 coefficients. */

+    while(tapCnt > 0u)

+    {

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

+      c0 = *pb++;

+

+      /* Read x[n-numTaps-1] and sample */

+      x0 = *px++;

+

+      /* Perform the multiply-accumulate */

+      sum0 += x0 * c0;

+

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

+      c0 = *pb++;

+

+      /* Read x[n-numTaps-2] and  sample */

+      x0 = *px++;

+

+      /* Perform the multiply-accumulate */

+      sum0 += x0 * c0;

+

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

+      c0 = *pb++;

+

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

+      x0 = *px++;

+

+      /* Perform the multiply-accumulate */

+      sum0 += x0 * c0;

+

+      /* Read the b[numTaps-4] coefficient */

+      c0 = *pb++;

+

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

+      x0 = *px++;

+

+      /* Perform the multiply-accumulate */

+      sum0 += x0 * c0;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Read coefficients */

+      c0 = *pb++;

+

+      /* Fetch 1 state variable */

+      x0 = *px++;

+

+      /* Perform the multiply-accumulate */

+      sum0 += x0 * c0;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Advance the state pointer by the decimation factor       

+     * to process the next group of decimation factor number samples */

+    pState = pState + S->M;

+

+    /* Store filter output, smlad returns the values in 2.14 format */

+    /* so downsacle by 15 to get output in 1.15 */

+    *pDst++ = (q15_t) (__SSAT((sum0 >> 15), 16));

+

+    /* Decrement the loop counter */

+    blkCntN3--;

+  }

+

+  /* 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;

+

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

+

+  /* copy data */

+  while(i > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    i--;

+  }

+

+  i = (numTaps - 1u) % 0x04u;

+

+  /* copy data */

+  while(i > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    i--;

+  }

+}

+

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+#else

+

+

+void arm_fir_decimate_q15(

+  const arm_fir_decimate_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+  q15_t *pState = S->pState;                     /* State pointer */

+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */

+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */

+  q15_t *px;                                     /* Temporary pointer for state buffer */

+  q15_t *pb;                                     /* Temporary pointer coefficient buffer */

+  q31_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */

+  q63_t sum0;                                    /* Accumulators */

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

+  uint32_t i, blkCnt, tapCnt, outBlockSize = blockSize / S->M;  /* Loop counters */

+

+

+

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

+

+  /* S->pState buffer contains previous frame (numTaps - 1) samples */

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

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

+

+  /* Total number of output samples to be computed */

+  blkCnt = outBlockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* Copy decimation factor number of new input samples into the state buffer */

+    i = S->M;

+

+    do

+    {

+      *pStateCurnt++ = *pSrc++;

+

+    } while(--i);

+

+    /*Set sum to zero */

+    sum0 = 0;

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* Initialize coeff pointer */

+    pb = pCoeffs;

+

+    tapCnt = numTaps;

+

+    while(tapCnt > 0u)

+    {

+      /* Read coefficients */

+      c0 = *pb++;

+

+      /* Fetch 1 state variable */

+      x0 = *px++;

+

+      /* Perform the multiply-accumulate */

+      sum0 += (q31_t) x0 *c0;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Advance the state pointer by the decimation factor           

+     * to process the next group of decimation factor number samples */

+    pState = pState + S->M;

+

+    /*Store filter output , smlad will return the values in 2.14 format */

+    /* so downsacle by 15 to get output in 1.15 */

+    *pDst++ = (q15_t) (__SSAT((sum0 >> 15), 16));

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Processing is complete.         

+   ** Now copy the last numTaps - 1 samples to the start 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;

+

+  i = numTaps - 1u;

+

+  /* copy data */

+  while(i > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    i--;

+  }

+

+

+}

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+

+/**    

+ * @} end of FIR_decimate group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c
new file mode 100644
index 000000000..59c0fed7f
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c
@@ -0,0 +1,306 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_fir_decimate_q31.c    

+*    

+* Description:	Q31 FIR Decimator.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR_decimate    

+ * @{    

+ */

+

+/**    

+ * @brief Processing function for the Q31 FIR decimator.    

+ * @param[in] *S points to an instance of the Q31 FIR decimator 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 input samples to process per call.    

+ * @return none    

+ *    

+ * <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.    

+ * Thus, if the accumulator result overflows it wraps around rather than clip.    

+ * In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits (where log2 is read as log to the base 2).    

+ * After all multiply-accumulates are performed, the 2.62 accumulator is truncated to 1.32 format and then saturated to 1.31 format.    

+ *    

+ * \par    

+ * Refer to the function <code>arm_fir_decimate_fast_q31()</code> for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.    

+ */

+

+void arm_fir_decimate_q31(

+  const arm_fir_decimate_instance_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize)

+{

+  q31_t *pState = S->pState;                     /* State pointer */

+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */

+  q31_t *pStateCurnt;                            /* Points to the current sample of the state */

+  q31_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */

+  q31_t *px;                                     /* Temporary pointers for state buffer */

+  q31_t *pb;                                     /* Temporary pointers for coefficient buffer */

+  q63_t sum0;                                    /* Accumulator */

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

+  uint32_t i, tapCnt, blkCnt, outBlockSize = blockSize / S->M;  /* Loop counters */

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  /* S->pState buffer contains previous frame (numTaps - 1) samples */

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

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

+

+  /* Total number of output samples to be computed */

+  blkCnt = outBlockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* Copy decimation factor number of new input samples into the state buffer */

+    i = S->M;

+

+    do

+    {

+      *pStateCurnt++ = *pSrc++;

+

+    } while(--i);

+

+    /* Set accumulator to zero */

+    sum0 = 0;

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* Initialize coeff pointer */

+    pb = pCoeffs;

+

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

+    tapCnt = numTaps >> 2;

+

+    /* Loop over the number of taps.  Unroll by a factor of 4.    

+     ** Repeat until we've computed numTaps-4 coefficients. */

+    while(tapCnt > 0u)

+    {

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

+      c0 = *(pb++);

+

+      /* Read x[n-numTaps-1] sample */

+      x0 = *(px++);

+

+      /* Perform the multiply-accumulate */

+      sum0 += (q63_t) x0 *c0;

+

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

+      c0 = *(pb++);

+

+      /* Read x[n-numTaps-2] sample */

+      x0 = *(px++);

+

+      /* Perform the multiply-accumulate */

+      sum0 += (q63_t) x0 *c0;

+

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

+      c0 = *(pb++);

+

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

+      x0 = *(px++);

+

+      /* Perform the multiply-accumulate */

+      sum0 += (q63_t) x0 *c0;

+

+      /* Read the b[numTaps-4] coefficient */

+      c0 = *(pb++);

+

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

+      x0 = *(px++);

+

+      /* Perform the multiply-accumulate */

+      sum0 += (q63_t) x0 *c0;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Read coefficients */

+      c0 = *(pb++);

+

+      /* Fetch 1 state variable */

+      x0 = *(px++);

+

+      /* Perform the multiply-accumulate */

+      sum0 += (q63_t) x0 *c0;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Advance the state pointer by the decimation factor    

+     * to process the next group of decimation factor number samples */

+    pState = pState + S->M;

+

+    /* The result is in the accumulator, store in the destination buffer. */

+    *pDst++ = (q31_t) (sum0 >> 31);

+

+    /* 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;

+

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

+

+  /* copy data */

+  while(i > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    i--;

+  }

+

+  i = (numTaps - 1u) % 0x04u;

+

+  /* copy data */

+  while(i > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    i--;

+  }

+

+#else

+

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

+

+  /* S->pState buffer contains previous frame (numTaps - 1) samples */

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

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

+

+  /* Total number of output samples to be computed */

+  blkCnt = outBlockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* Copy decimation factor number of new input samples into the state buffer */

+    i = S->M;

+

+    do

+    {

+      *pStateCurnt++ = *pSrc++;

+

+    } while(--i);

+

+    /* Set accumulator to zero */

+    sum0 = 0;

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* Initialize coeff pointer */

+    pb = pCoeffs;

+

+    tapCnt = numTaps;

+

+    while(tapCnt > 0u)

+    {

+      /* Read coefficients */

+      c0 = *pb++;

+

+      /* Fetch 1 state variable */

+      x0 = *px++;

+

+      /* Perform the multiply-accumulate */

+      sum0 += (q63_t) x0 *c0;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Advance the state pointer by the decimation factor           

+     * to process the next group of decimation factor number samples */

+    pState = pState + S->M;

+

+    /* The result is in the accumulator, store in the destination buffer. */

+    *pDst++ = (q31_t) (sum0 >> 31);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Processing is complete.         

+   ** Now copy the last numTaps - 1 samples to the start 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;

+

+  i = numTaps - 1u;

+

+  /* copy data */

+  while(i > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    i--;

+  }

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of FIR_decimate group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c
new file mode 100644
index 000000000..7f951f86b
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c
@@ -0,0 +1,554 @@
+/* ----------------------------------------------------------------------  

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

+*  

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*  

+* Project: 	    CMSIS DSP Library  

+* Title:	    arm_fir_f32.c  

+*  

+* Description:	Floating-point 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 1.0.2 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  

+ */

+

+/**  

+ * @defgroup FIR Finite Impulse Response (FIR) Filters  

+ *  

+ * This set of functions implements Finite Impulse Response (FIR) filters  

+ * for Q7, Q15, Q31, and floating-point data types.  Fast versions of Q15 and Q31 are also provided.  

+ * The functions operate on blocks of input and output data and each call to the function processes  

+ * <code>blockSize</code> samples through the filter.  <code>pSrc</code> and  

+ * <code>pDst</code> points to input and output arrays containing <code>blockSize</code> values.  

+ *  

+ * \par Algorithm:  

+ * The FIR filter algorithm is based upon a sequence of multiply-accumulate (MAC) operations.  

+ * Each filter coefficient <code>b[n]</code> is multiplied by a state variable which equals a previous input sample <code>x[n]</code>.  

+ * <pre>  

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

+ * </pre>  

+ * \par  

+ * \image html FIR.gif "Finite Impulse Response filter"  

+ * \par  

+ * <code>pCoeffs</code> points to a coefficient array of size <code>numTaps</code>.  

+ * Coefficients are stored in time reversed order.  

+ * \par  

+ * <pre>  

+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}  

+ * </pre>  

+ * \par  

+ * <code>pState</code> points to a state array of size <code>numTaps + blockSize - 1</code>.  

+ * Samples in the state buffer are stored in the following order.  

+ * \par  

+ * <pre>  

+ *    {x[n-numTaps+1], x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2]....x[0], x[1], ..., x[blockSize-1]}  

+ * </pre>  

+ * \par  

+ * Note that the length of the state buffer exceeds the length of the coefficient array by <code>blockSize-1</code>.  

+ * The increased state buffer length allows circular addressing, which is traditionally used in the FIR filters,  

+ * to be avoided and yields a significant speed improvement.  

+ * The state variables are updated after each block of data is processed; the coefficients are untouched.  

+ * \par Instance Structure  

+ * The coefficients and state variables for a filter are stored together in an instance data structure.  

+ * A separate instance structure must be defined for each filter.  

+ * Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.  

+ * There are separate instance structure declarations for each of the 4 supported data types.  

+ *  

+ * \par Initialization Functions  

+ * There is also an associated initialization function for each data type.  

+ * The initialization function performs the following operations:  

+ * - Sets the values of the internal structure fields.  

+ * - Zeros out the values in the state buffer.  

+ *  

+ * \par  

+ * Use of the initialization function is optional.  

+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.  

+ * To place an instance structure into a const data section, the instance structure must be manually initialized.  

+ * Set the values in the state buffer to zeros before static initialization.  

+ * The code below statically initializes each of the 4 different data type filter instance structures  

+ * <pre>  

+ *arm_fir_instance_f32 S = {numTaps, pState, pCoeffs};  

+ *arm_fir_instance_q31 S = {numTaps, pState, pCoeffs};  

+ *arm_fir_instance_q15 S = {numTaps, pState, pCoeffs};  

+ *arm_fir_instance_q7 S =  {numTaps, pState, pCoeffs};  

+ * </pre>  

+ *  

+ * where <code>numTaps</code> is the number of filter coefficients in the filter; <code>pState</code> is the address of the state buffer;  

+ * <code>pCoeffs</code> is the address of the coefficient buffer.  

+ *  

+ * \par Fixed-Point Behavior  

+ * Care must be taken when using the fixed-point versions of the FIR filter functions.  

+ * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.  

+ * Refer to the function specific documentation below for usage guidelines.  

+ */

+

+/**  

+ * @addtogroup FIR  

+ * @{  

+ */

+

+/**  

+ *  

+ * @param[in]  *S points to an instance of the floating-point 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.  

+ *  

+ */

+

+#ifndef ARM_MATH_CM0

+

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

+

+void arm_fir_f32(

+  const arm_fir_instance_f32 * S,

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize)

+{

+  float32_t *pState = S->pState;                 /* State pointer */

+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */

+  float32_t *pStateCurnt;                        /* Points to the current sample of the state */

+  float32_t *px, *pb;                            /* Temporary pointers for state and coefficient buffers */

+  float32_t acc0, acc1, acc2, acc3, acc4, acc5, acc6, acc7;     /* Accumulators */

+  float32_t x0, x1, x2, x3, x4, x5, x6, x7, c0;  /* Temporary variables to hold state and coefficient values */

+  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 >> 3;

+

+  /* 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++;

+    *pStateCurnt++ = *pSrc++;

+    *pStateCurnt++ = *pSrc++;

+    *pStateCurnt++ = *pSrc++;

+    *pStateCurnt++ = *pSrc++;

+

+    /* Set all accumulators to zero */

+    acc0 = 0.0f;

+    acc1 = 0.0f;

+    acc2 = 0.0f;

+    acc3 = 0.0f;

+    acc4 = 0.0f;

+    acc5 = 0.0f;

+    acc6 = 0.0f;

+    acc7 = 0.0f;

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* Initialize coeff 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++;

+    x3 = *px++;

+    x4 = *px++;

+    x5 = *px++;

+    x6 = *px++;

+

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

+    tapCnt = numTaps >> 3u;

+

+    /* Loop over the number of taps.  Unroll by a factor of 4.  

+     ** Repeat until we've computed numTaps-4 coefficients. */

+    while(tapCnt > 0u)

+    {

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

+      c0 = *(pb++);

+

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

+      x7 = *(px++);

+

+      /* acc0 +=  b[numTaps-1] * x[n-numTaps] */

+      acc0 += x0 * c0;

+

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

+      acc1 += x1 * c0;

+

+      /* acc2 +=  b[numTaps-1] * x[n-numTaps-2] */

+      acc2 += x2 * c0;

+

+      /* acc3 +=  b[numTaps-1] * x[n-numTaps-3] */

+      acc3 += x3 * c0;

+

+      /* acc4 +=  b[numTaps-1] * x[n-numTaps-4] */

+      acc4 += x4 * c0;

+

+      /* acc1 +=  b[numTaps-1] * x[n-numTaps-5] */

+      acc5 += x5 * c0;

+

+      /* acc2 +=  b[numTaps-1] * x[n-numTaps-6] */

+      acc6 += x6 * c0;

+

+      /* acc3 +=  b[numTaps-1] * x[n-numTaps-7] */

+      acc7 += x7 * c0;

+

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

+      c0 = *(pb++);

+

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

+      x0 = *(px++);

+

+      /* Perform the multiply-accumulate */

+      acc0 += x1 * c0;

+      acc1 += x2 * c0;

+      acc2 += x3 * c0;

+      acc3 += x4 * c0;

+      acc4 += x5 * c0;

+      acc5 += x6 * c0;

+      acc6 += x7 * c0;

+      acc7 += x0 * c0;

+

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

+      c0 = *(pb++);

+

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

+      x1 = *(px++);

+

+      /* Perform the multiply-accumulates */

+      acc0 += x2 * c0;

+      acc1 += x3 * c0;

+      acc2 += x4 * c0;

+      acc3 += x5 * c0;

+      acc4 += x6 * c0;

+      acc5 += x7 * c0;

+      acc6 += x0 * c0;

+      acc7 += x1 * c0;

+

+      /* Read the b[numTaps-4] coefficient */

+      c0 = *(pb++);

+

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

+      x2 = *(px++);

+

+      /* Perform the multiply-accumulates */

+      acc0 += x3 * c0;

+      acc1 += x4 * c0;

+      acc2 += x5 * c0;

+      acc3 += x6 * c0;

+      acc4 += x7 * c0;

+      acc5 += x0 * c0;

+      acc6 += x1 * c0;

+      acc7 += x2 * c0;

+

+      /* Read the b[numTaps-4] coefficient */

+      c0 = *(pb++);

+

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

+      x3 = *(px++);

+

+      /* Perform the multiply-accumulates */

+      acc0 += x4 * c0;

+      acc1 += x5 * c0;

+      acc2 += x6 * c0;

+      acc3 += x7 * c0;

+      acc4 += x0 * c0;

+      acc5 += x1 * c0;

+      acc6 += x2 * c0;

+      acc7 += x3 * c0;

+

+      /* Read the b[numTaps-4] coefficient */

+      c0 = *(pb++);

+

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

+      x4 = *(px++);

+

+      /* Perform the multiply-accumulates */

+      acc0 += x5 * c0;

+      acc1 += x6 * c0;

+      acc2 += x7 * c0;

+      acc3 += x0 * c0;

+      acc4 += x1 * c0;

+      acc5 += x2 * c0;

+      acc6 += x3 * c0;

+      acc7 += x4 * c0;

+

+      /* Read the b[numTaps-4] coefficient */

+      c0 = *(pb++);

+

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

+      x5 = *(px++);

+

+      /* Perform the multiply-accumulates */

+      acc0 += x6 * c0;

+      acc1 += x7 * c0;

+      acc2 += x0 * c0;

+      acc3 += x1 * c0;

+      acc4 += x2 * c0;

+      acc5 += x3 * c0;

+      acc6 += x4 * c0;

+      acc7 += x5 * c0;

+

+      /* Read the b[numTaps-4] coefficient */

+      c0 = *(pb++);

+

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

+      x6 = *(px++);

+

+      /* Perform the multiply-accumulates */

+      acc0 += x7 * c0;

+      acc1 += x0 * c0;

+      acc2 += x1 * c0;

+      acc3 += x2 * c0;

+      acc4 += x3 * c0;

+      acc5 += x4 * c0;

+      acc6 += x5 * c0;

+      acc7 += x6 * c0;

+

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x8u;

+

+    while(tapCnt > 0u)

+    {

+      /* Read coefficients */

+      c0 = *(pb++);

+

+      /* Fetch 1 state variable */

+      x7 = *(px++);

+

+      /* Perform the multiply-accumulates */

+      acc0 += x0 * c0;

+      acc1 += x1 * c0;

+      acc2 += x2 * c0;

+      acc3 += x3 * c0;

+      acc4 += x4 * c0;

+      acc5 += x5 * c0;

+      acc6 += x6 * c0;

+      acc7 += x7 * c0;

+

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

+      x0 = x1;

+      x1 = x2;

+      x2 = x3;

+      x3 = x4;

+      x4 = x5;

+      x5 = x6;

+      x6 = x7;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    pState = pState + 8;

+

+    /* The results in the 4 accumulators, store in the destination buffer. */

+    *pDst++ = acc0;

+    *pDst++ = acc1;

+    *pDst++ = acc2;

+    *pDst++ = acc3;

+    *pDst++ = acc4;

+    *pDst++ = acc5;

+    *pDst++ = acc6;

+    *pDst++ = acc7;

+

+    blkCnt--;

+  }

+

+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.  

+   ** No loop unrolling is used. */

+  blkCnt = blockSize % 0x8u;

+

+  while(blkCnt > 0u)

+  {

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

+    *pStateCurnt++ = *pSrc++;

+

+    /* Set the accumulator to zero */

+    acc0 = 0.0f;

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* Initialize Coefficient pointer */

+    pb = (pCoeffs);

+

+    i = numTaps;

+

+    /* Perform the multiply-accumulates */

+    do

+    {

+      acc0 += *px++ * *pb++;

+      i--;

+

+    } while(i > 0u);

+

+    /* The result is store in the destination buffer. */

+    *pDst++ = acc0;

+

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

+    pState = pState + 1;

+

+    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

+

+void arm_fir_f32(

+  const arm_fir_instance_f32 * S,

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize)

+{

+  float32_t *pState = S->pState;                 /* State pointer */

+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */

+  float32_t *pStateCurnt;                        /* Points to the current sample of the state */

+  float32_t *px, *pb;                            /* Temporary pointers for state and coefficient buffers */

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

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

+

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

+

+  float32_t acc;

+

+  /* 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;

+

+  while(blkCnt > 0u)

+  {

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

+    *pStateCurnt++ = *pSrc++;

+

+    /* Set the accumulator to zero */

+    acc = 0.0f;

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* Initialize Coefficient pointer */

+    pb = pCoeffs;

+

+    i = numTaps;

+

+    /* Perform the multiply-accumulates */

+    do

+    {

+      /* 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 += *px++ * *pb++;

+      i--;

+

+    } while(i > 0u);

+

+    /* The result is store in the destination buffer. */

+    *pDst++ = acc;

+

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

+    pState = pState + 1;

+

+    blkCnt--;

+  }

+

+  /* Processing is complete.         

+   ** Now copy the last numTaps - 1 samples to the starting 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 */

+  tapCnt = numTaps - 1u;

+

+  /* Copy data */

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+

+}

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+/**  

+ * @} end of FIR group  

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c
new file mode 100644
index 000000000..59abff2f5
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c
@@ -0,0 +1,341 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_fir_fast_q15.c    

+*    

+* Description:  Q15 Fast FIR filter processing function.    

+*    

+* Target Processor: Cortex-M4/Cortex-M3

+*  

+* 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 0.0.9  2010/08/16     

+*    Initial version    

+*    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR    

+ * @{    

+ */

+

+/**    

+ * @param[in] *S points to an instance of the Q15 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    

+ * This fast version uses a 32-bit accumulator with 2.30 format.    

+ * The accumulator maintains full precision of the intermediate multiplication results but provides only a single guard bit.    

+ * Thus, if the accumulator result overflows it wraps around and distorts the result.    

+ * In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits.    

+ * The 2.30 accumulator is then truncated to 2.15 format and saturated to yield the 1.15 result.    

+ *    

+ * \par    

+ * Refer to the function <code>arm_fir_q15()</code> for a slower implementation of this function which uses 64-bit accumulation to avoid wrap around distortion.  Both the slow and the fast versions use the same instance structure.    

+ * Use the function <code>arm_fir_init_q15()</code> to initialize the filter structure.    

+ */

+

+void arm_fir_fast_q15(

+  const arm_fir_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+  q15_t *pState = S->pState;                     /* State pointer */

+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */

+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */

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

+  q15_t *pb;                                     /* Temporary pointer for coefficient buffer */

+  q15_t *px;                                     /* Temporary q31 pointer for SIMD state buffer accesses */

+  q31_t x0, x1, x2, c0;                          /* Temporary variables to hold SIMD state and coefficient values */

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

+  uint32_t 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.      

+     ** Use 32-bit SIMD to move the 16-bit data.  Only requires two copies. */

+    *pStateCurnt++ = *pSrc++;

+    *pStateCurnt++ = *pSrc++;

+    *pStateCurnt++ = *pSrc++;

+    *pStateCurnt++ = *pSrc++;

+

+

+    /* Set all accumulators to zero */

+    acc0 = 0;

+    acc1 = 0;

+    acc2 = 0;

+    acc3 = 0;

+

+    /* Typecast q15_t pointer to q31_t pointer for state reading in q31_t */

+    px = pState;

+

+    /* Typecast q15_t pointer to q31_t pointer for coefficient reading in q31_t */

+    pb = pCoeffs;

+

+    /* Read the first two samples from the state buffer:  x[n-N], x[n-N-1] */

+    x0 = *__SIMD32(px)++;

+

+    /* Read the third and forth samples from the state buffer: x[n-N-2], x[n-N-3] */

+    x2 = *__SIMD32(px)++;

+

+    /* Loop over the number of taps.  Unroll by a factor of 4.      

+     ** Repeat until we've computed numTaps-(numTaps%4) coefficients. */

+    tapCnt = numTaps >> 2;

+

+    while(tapCnt > 0)

+    {

+      /* Read the first two coefficients using SIMD:  b[N] and b[N-1] coefficients */

+      c0 = *__SIMD32(pb)++;

+

+      /* acc0 +=  b[N] * x[n-N] + b[N-1] * x[n-N-1] */

+      acc0 = __SMLAD(x0, c0, acc0);

+

+      /* acc2 +=  b[N] * x[n-N-2] + b[N-1] * x[n-N-3] */

+      acc2 = __SMLAD(x2, c0, acc2);

+

+      /* pack  x[n-N-1] and x[n-N-2] */

+#ifndef ARM_MATH_BIG_ENDIAN

+      x1 = __PKHBT(x2, x0, 0);

+#else

+      x1 = __PKHBT(x0, x2, 0);

+#endif

+

+      /* Read state x[n-N-4], x[n-N-5] */

+      x0 = _SIMD32_OFFSET(px);

+

+      /* acc1 +=  b[N] * x[n-N-1] + b[N-1] * x[n-N-2] */

+      acc1 = __SMLADX(x1, c0, acc1);

+

+      /* pack  x[n-N-3] and x[n-N-4] */

+#ifndef ARM_MATH_BIG_ENDIAN

+      x1 = __PKHBT(x0, x2, 0);

+#else

+      x1 = __PKHBT(x2, x0, 0);

+#endif

+

+      /* acc3 +=  b[N] * x[n-N-3] + b[N-1] * x[n-N-4] */

+      acc3 = __SMLADX(x1, c0, acc3);

+

+      /* Read coefficients b[N-2], b[N-3] */

+      c0 = *__SIMD32(pb)++;

+

+      /* acc0 +=  b[N-2] * x[n-N-2] + b[N-3] * x[n-N-3] */

+      acc0 = __SMLAD(x2, c0, acc0);

+

+      /* Read state x[n-N-6], x[n-N-7] with offset */

+      x2 = _SIMD32_OFFSET(px + 2u);

+

+      /* acc2 +=  b[N-2] * x[n-N-4] + b[N-3] * x[n-N-5] */

+      acc2 = __SMLAD(x0, c0, acc2);

+

+      /* acc1 +=  b[N-2] * x[n-N-3] + b[N-3] * x[n-N-4] */

+      acc1 = __SMLADX(x1, c0, acc1);

+

+      /* pack  x[n-N-5] and x[n-N-6] */

+#ifndef ARM_MATH_BIG_ENDIAN

+      x1 = __PKHBT(x2, x0, 0);

+#else

+      x1 = __PKHBT(x0, x2, 0);

+#endif

+

+      /* acc3 +=  b[N-2] * x[n-N-5] + b[N-3] * x[n-N-6] */

+      acc3 = __SMLADX(x1, c0, acc3);

+

+      /* Update state pointer for next state reading */

+      px += 4u;

+

+      /* Decrement tap count */

+      tapCnt--;

+

+    }

+

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

+     ** This is always be 2 taps since the filter length is even. */

+    if((numTaps & 0x3u) != 0u)

+    {

+

+      /* Read last two coefficients */

+      c0 = *__SIMD32(pb)++;

+

+      /* Perform the multiply-accumulates */

+      acc0 = __SMLAD(x0, c0, acc0);

+      acc2 = __SMLAD(x2, c0, acc2);

+

+      /* pack state variables */

+#ifndef ARM_MATH_BIG_ENDIAN

+      x1 = __PKHBT(x2, x0, 0);

+#else

+      x1 = __PKHBT(x0, x2, 0);

+#endif

+

+      /* Read last state variables */

+      x0 = *__SIMD32(px);

+

+      /* Perform the multiply-accumulates */

+      acc1 = __SMLADX(x1, c0, acc1);

+

+      /* pack state variables */

+#ifndef ARM_MATH_BIG_ENDIAN

+      x1 = __PKHBT(x0, x2, 0);

+#else

+      x1 = __PKHBT(x2, x0, 0);

+#endif

+

+      /* Perform the multiply-accumulates */

+      acc3 = __SMLADX(x1, c0, acc3);

+    }

+

+    /* The results in the 4 accumulators are in 2.30 format.  Convert to 1.15 with saturation.       

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

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    *__SIMD32(pDst)++ =

+      __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);

+

+    *__SIMD32(pDst)++ =

+      __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);

+

+#else

+

+    *__SIMD32(pDst)++ =

+      __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);

+

+    *__SIMD32(pDst)++ =

+      __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);

+

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN       */

+

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

+    pState = pState + 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;

+  while(blkCnt > 0u)

+  {

+    /* Copy two samples into state buffer */

+    *pStateCurnt++ = *pSrc++;

+

+    /* Set the accumulator to zero */

+    acc0 = 0;

+

+    /* Use SIMD to hold states and coefficients */

+    px = pState;

+    pb = pCoeffs;

+

+    tapCnt = numTaps >> 1u;

+

+    do

+    {

+

+      acc0 += (q31_t) * px++ * *pb++;

+	  acc0 += (q31_t) * px++ * *pb++;

+

+      tapCnt--;

+    }

+    while(tapCnt > 0u);

+

+    /* The result is in 2.30 format.  Convert to 1.15 with saturation.      

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

+    *pDst++ = (q15_t) (__SSAT((acc0 >> 15), 16));

+

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

+    pState = pState + 1u;

+

+    /* 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;

+

+  /* Calculation of count for copying integer writes */

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

+

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+

+    tapCnt--;

+

+  }

+

+  /* Calculation of count for remaining q15_t data */

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

+

+  /* copy remaining data */

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+

+}

+

+/**    

+ * @} end of FIR group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c
new file mode 100644
index 000000000..e384ff973
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c
@@ -0,0 +1,309 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_fir_fast_q31.c    

+*    

+* Description:	Processing function for the Q31 Fast FIR filter.    

+*    

+* Target Processor: Cortex-M4/Cortex-M3

+*  

+* 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 0.0.9  2010/08/27     

+*    Initial version    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR    

+ * @{    

+ */

+

+/**    

+ * @param[in] *S points to an instance of the Q31 structure.    

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

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

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

+ * @return none.    

+ *    

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

+ *    

+ * \par    

+ * This function is optimized for speed at the expense of fixed-point precision and overflow protection.    

+ * The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format.    

+ * These intermediate results are added to a 2.30 accumulator.    

+ * Finally, the accumulator is saturated and converted to a 1.31 result.    

+ * The fast version has the same overflow behavior as the standard version and provides less precision since it discards the low 32 bits of each multiplication result.    

+ * In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits.    

+ *    

+ * \par    

+ * Refer to the function <code>arm_fir_q31()</code> for a slower implementation of this function which uses a 64-bit accumulator to provide higher precision.  Both the slow and the fast versions use the same instance structure.    

+ * Use the function <code>arm_fir_init_q31()</code> to initialize the filter structure.    

+ */

+

+void arm_fir_fast_q31(

+  const arm_fir_instance_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize)

+{

+  q31_t *pState = S->pState;                     /* State pointer */

+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */

+  q31_t *pStateCurnt;                            /* Points to the current sample of the state */

+  q31_t x0, x1, x2, x3;                          /* Temporary variables to hold state */

+  q31_t c0;                                      /* Temporary variable to hold coefficient value */

+  q31_t *px;                                     /* Temporary pointer for state */

+  q31_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 buffer 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 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);

+

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

+      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);

+

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

+      acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);

+

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

+      acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);

+

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

+      c0 = *(pb++);

+

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

+      x0 = *(px++);

+

+      /* Perform the multiply-accumulates */

+      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x1 * c0)) >> 32);

+      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x2 * c0)) >> 32);

+      acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x3 * c0)) >> 32);

+      acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x0 * c0)) >> 32);

+

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

+      c0 = *(pb++);

+

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

+      x1 = *(px++);

+

+      /* Perform the multiply-accumulates */

+      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x2 * c0)) >> 32);

+      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x3 * c0)) >> 32);

+      acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x0 * c0)) >> 32);

+      acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x1 * c0)) >> 32);

+

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

+      c0 = *(pb++);

+

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

+      x2 = *(px++);

+

+      /* Perform the multiply-accumulates */

+      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x3 * c0)) >> 32);

+      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x0 * c0)) >> 32);

+      acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x1 * c0)) >> 32);

+      acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x2 * c0)) >> 32);

+      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 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);

+      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);

+      acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);

+      acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);

+

+      /* 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 2.30 format.  Convert to 1.31    

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

+    *pDst++ = (q31_t) (acc0 << 1);

+    *pDst++ = (q31_t) (acc1 << 1);

+    *pDst++ = (q31_t) (acc2 << 1);

+    *pDst++ = (q31_t) (acc3 << 1);

+

+    /* 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 =

+        (q31_t) ((((q63_t) acc0 << 32) +

+                  ((q63_t) (*px++) * (*(pb++)))) >> 32);

+      i--;

+    } while(i > 0u);

+

+    /* The result is in 2.30 format.  Convert to 1.31    

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

+    *pDst++ = (q31_t) (acc0 << 1);

+

+    /* 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--;

+  }

+

+

+}

+

+/**    

+ * @} end of FIR group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c
new file mode 100644
index 000000000..aaeddf5f6
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c
@@ -0,0 +1,94 @@
+/*-----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_fir_init_f32.c    

+*    

+* Description:  Floating-point FIR filter initialization 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    

+ * @{    

+ */

+

+/**    

+ * @details    

+ *    

+ * @param[in,out] *S points to an instance of the floating-point FIR filter structure.    

+ * @param[in] 	  numTaps  Number of filter coefficients in the filter.    

+ * @param[in]     *pCoeffs points to the filter coefficients buffer.    

+ * @param[in]     *pState points to the state buffer.    

+ * @param[in] 	  blockSize number of samples that are processed per call.    

+ * @return 		  none.    

+ *    

+ * <b>Description:</b>    

+ * \par    

+ * <code>pCoeffs</code> points to the array of filter coefficients stored in time reversed order:    

+ * <pre>    

+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    

+ * </pre>    

+ * \par    

+ * <code>pState</code> points to the array of state variables.    

+ * <code>pState</code> is of length <code>numTaps+blockSize-1</code> samples, where <code>blockSize</code> is the number of input samples processed by each call to <code>arm_fir_f32()</code>.    

+ */

+

+void arm_fir_init_f32(

+  arm_fir_instance_f32 * S,

+  uint16_t numTaps,

+  float32_t * pCoeffs,

+  float32_t * pState,

+  uint32_t blockSize)

+{

+  /* Assign filter taps */

+  S->numTaps = numTaps;

+

+  /* Assign coefficient pointer */

+  S->pCoeffs = pCoeffs;

+

+  /* Clear state buffer and the size of state buffer is (blockSize + numTaps - 1) */

+  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(float32_t));

+

+  /* Assign state pointer */

+  S->pState = pState;

+

+}

+

+/**    

+ * @} end of FIR group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c
new file mode 100644
index 000000000..02bb33623
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c
@@ -0,0 +1,152 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_fir_init_q15.c    

+*    

+* Description:  Q15 FIR filter initialization 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,out]  *S points to an instance of the Q15 FIR filter structure.    

+ * @param[in] 	   numTaps  Number of filter coefficients in the filter. Must be even and greater than or equal to 4.    

+ * @param[in]      *pCoeffs points to the filter coefficients buffer.    

+ * @param[in]      *pState points to the state buffer.    

+ * @param[in]      blockSize is number of samples processed per call.    

+ * @return The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if    

+ * <code>numTaps</code> is not greater than or equal to 4 and even.    

+ *    

+ * <b>Description:</b>    

+ * \par    

+ * <code>pCoeffs</code> points to the array of filter coefficients stored in time reversed order:    

+ * <pre>    

+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    

+ * </pre>    

+ * Note that <code>numTaps</code> must be even and greater than or equal to 4.    

+ * To implement an odd length filter simply increase <code>numTaps</code> by 1 and set the last coefficient to zero.    

+ * For example, to implement a filter with <code>numTaps=3</code> and coefficients    

+ * <pre>    

+ *     {0.3, -0.8, 0.3}    

+ * </pre>    

+ * set <code>numTaps=4</code> and use the coefficients:    

+ * <pre>    

+ *     {0.3, -0.8, 0.3, 0}.    

+ * </pre>    

+ * Similarly, to implement a two point filter    

+ * <pre>    

+ *     {0.3, -0.3}    

+ * </pre>    

+ * set <code>numTaps=4</code> and use the coefficients:    

+ * <pre>    

+ *     {0.3, -0.3, 0, 0}.    

+ * </pre>    

+ * \par    

+ * <code>pState</code> points to the array of state variables.    

+ * <code>pState</code> is of length <code>numTaps+blockSize</code>, when running on Cortex-M4 and Cortex-M3  and is of length <code>numTaps+blockSize-1</code>, when running on Cortex-M0 where <code>blockSize</code> is the number of input samples processed by each call to <code>arm_fir_q15()</code>.    

+ */

+

+arm_status arm_fir_init_q15(

+  arm_fir_instance_q15 * S,

+  uint16_t numTaps,

+  q15_t * pCoeffs,

+  q15_t * pState,

+  uint32_t blockSize)

+{

+  arm_status status;

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  /* The Number of filter coefficients in the filter must be even and at least 4 */

+  if(numTaps & 0x1u)

+  {

+    status = ARM_MATH_ARGUMENT_ERROR;

+  }

+  else

+  {

+    /* Assign filter taps */

+    S->numTaps = numTaps;

+

+    /* Assign coefficient pointer */

+    S->pCoeffs = pCoeffs;

+

+    /* Clear the state buffer.  The size is always (blockSize + numTaps ) */

+    memset(pState, 0, (numTaps + (blockSize)) * sizeof(q15_t));

+

+    /* Assign state pointer */

+    S->pState = pState;

+

+    status = ARM_MATH_SUCCESS;

+  }

+

+  return (status);

+

+#else

+

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

+

+  /* Assign filter taps */

+  S->numTaps = numTaps;

+

+  /* Assign coefficient pointer */

+  S->pCoeffs = pCoeffs;

+

+  /* Clear the state buffer.  The size is always (blockSize + numTaps - 1) */

+  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q15_t));

+

+  /* Assign state pointer */

+  S->pState = pState;

+

+  status = ARM_MATH_SUCCESS;

+

+  return (status);

+

+#endif /*  #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of FIR group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c
new file mode 100644
index 000000000..997a78427
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c
@@ -0,0 +1,94 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_fir_init_q31.c    

+*    

+* Description:	Q31 FIR filter initialization 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    

+ * @{    

+ */

+

+/**    

+ * @details    

+ *    

+ * @param[in,out] *S points to an instance of the Q31 FIR filter structure.    

+ * @param[in] 	  numTaps  Number of filter coefficients in the filter.    

+ * @param[in] 	  *pCoeffs points to the filter coefficients buffer.    

+ * @param[in] 	  *pState points to the state buffer.    

+ * @param[in] 	  blockSize number of samples that are processed per call.    

+ * @return        none.    

+ *    

+ * <b>Description:</b>    

+ * \par    

+ * <code>pCoeffs</code> points to the array of filter coefficients stored in time reversed order:    

+ * <pre>    

+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    

+ * </pre>    

+ * \par    

+ * <code>pState</code> points to the array of state variables.    

+ * <code>pState</code> is of length <code>numTaps+blockSize-1</code> samples, where <code>blockSize</code> is the number of input samples processed by each call to <code>arm_fir_q31()</code>.    

+ */

+

+void arm_fir_init_q31(

+  arm_fir_instance_q31 * S,

+  uint16_t numTaps,

+  q31_t * pCoeffs,

+  q31_t * pState,

+  uint32_t blockSize)

+{

+  /* Assign filter taps */

+  S->numTaps = numTaps;

+

+  /* Assign coefficient pointer */

+  S->pCoeffs = pCoeffs;

+

+  /* Clear state buffer and state array size is (blockSize + numTaps - 1) */

+  memset(pState, 0, (blockSize + ((uint32_t) numTaps - 1u)) * sizeof(q31_t));

+

+  /* Assign state pointer */

+  S->pState = pState;

+

+}

+

+/**    

+ * @} end of FIR group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c
new file mode 100644
index 000000000..65a49a823
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c
@@ -0,0 +1,92 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_fir_init_q7.c    

+*    

+* Description:  Q7 FIR filter initialization 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,out] *S points to an instance of the Q7 FIR filter structure.    

+ * @param[in] 	  numTaps  Number of filter coefficients in the filter.    

+ * @param[in] 	  *pCoeffs points to the filter coefficients buffer.    

+ * @param[in]     *pState points to the state buffer.    

+ * @param[in]     blockSize number of samples that are processed per call.    

+ * @return     	  none    

+ *    

+ * <b>Description:</b>    

+ * \par    

+ * <code>pCoeffs</code> points to the array of filter coefficients stored in time reversed order:    

+ * <pre>    

+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    

+ * </pre>    

+ * \par    

+ * <code>pState</code> points to the array of state variables.    

+ * <code>pState</code> is of length <code>numTaps+blockSize-1</code> samples, where <code>blockSize</code> is the number of input samples processed by each call to <code>arm_fir_q7()</code>.    

+ */

+

+void arm_fir_init_q7(

+  arm_fir_instance_q7 * S,

+  uint16_t numTaps,

+  q7_t * pCoeffs,

+  q7_t * pState,

+  uint32_t blockSize)

+{

+

+  /* Assign filter taps */

+  S->numTaps = numTaps;

+

+  /* Assign coefficient pointer */

+  S->pCoeffs = pCoeffs;

+

+  /* Clear the state buffer.  The size is always (blockSize + numTaps - 1) */

+  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q7_t));

+

+  /* Assign state pointer */

+  S->pState = pState;

+

+}

+

+/**    

+ * @} end of FIR group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c
new file mode 100644
index 000000000..c966a0ced
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c
@@ -0,0 +1,574 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_fir_interpolate_f32.c    

+*    

+* Description:	FIR interpolation for floating-point sequences.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @defgroup FIR_Interpolate Finite Impulse Response (FIR) Interpolator    

+ *    

+ * These functions combine an upsampler (zero stuffer) and an FIR filter.    

+ * They are used in multirate systems for increasing the sample rate of a signal without introducing high frequency images.    

+ * Conceptually, the functions are equivalent to the block diagram below:    

+ * \image html FIRInterpolator.gif "Components included in the FIR Interpolator functions"    

+ * After upsampling by a factor of <code>L</code>, the signal should be filtered by a lowpass filter with a normalized    

+ * cutoff frequency of <code>1/L</code> in order to eliminate high frequency copies of the spectrum.    

+ * The user of the function is responsible for providing the filter coefficients.    

+ *    

+ * The FIR interpolator functions provided in the CMSIS DSP Library combine the upsampler and FIR filter in an efficient manner.    

+ * The upsampler inserts <code>L-1</code> zeros between each sample.    

+ * Instead of multiplying by these zero values, the FIR filter is designed to skip them.    

+ * This leads to an efficient implementation without any wasted effort.    

+ * The functions operate on blocks of input and output data.    

+ * <code>pSrc</code> points to an array of <code>blockSize</code> input values and    

+ * <code>pDst</code> points to an array of <code>blockSize*L</code> output values.    

+ *    

+ * The library provides separate functions for Q15, Q31, and floating-point data types.    

+ *    

+ * \par Algorithm:    

+ * The functions use a polyphase filter structure:    

+ * <pre>    

+ *    y[n] = b[0] * x[n] + b[L]   * x[n-1] + ... + b[L*(phaseLength-1)] * x[n-phaseLength+1]    

+ *    y[n+1] = b[1] * x[n] + b[L+1] * x[n-1] + ... + b[L*(phaseLength-1)+1] * x[n-phaseLength+1]    

+ *    ...    

+ *    y[n+(L-1)] = b[L-1] * x[n] + b[2*L-1] * x[n-1] + ....+ b[L*(phaseLength-1)+(L-1)] * x[n-phaseLength+1]    

+ * </pre>    

+ * This approach is more efficient than straightforward upsample-then-filter algorithms.    

+ * With this method the computation is reduced by a factor of <code>1/L</code> when compared to using a standard FIR filter.    

+ * \par    

+ * <code>pCoeffs</code> points to a coefficient array of size <code>numTaps</code>.    

+ * <code>numTaps</code> must be a multiple of the interpolation factor <code>L</code> and this is checked by the    

+ * initialization functions.    

+ * Internally, the function divides the FIR filter's impulse response into shorter filters of length    

+ * <code>phaseLength=numTaps/L</code>.    

+ * Coefficients are stored in time reversed order.    

+ * \par    

+ * <pre>    

+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    

+ * </pre>    

+ * \par    

+ * <code>pState</code> points to a state array of size <code>blockSize + phaseLength - 1</code>.    

+ * Samples in the state buffer are stored in the order:    

+ * \par    

+ * <pre>    

+ *    {x[n-phaseLength+1], x[n-phaseLength], x[n-phaseLength-1], x[n-phaseLength-2]....x[0], x[1], ..., x[blockSize-1]}    

+ * </pre>    

+ * The state variables are updated after each block of data is processed, the coefficients are untouched.    

+ *    

+ * \par Instance Structure    

+ * The coefficients and state variables for a filter are stored together in an instance data structure.    

+ * A separate instance structure must be defined for each filter.    

+ * Coefficient arrays may be shared among several instances while state variable array should be allocated separately.    

+ * There are separate instance structure declarations for each of the 3 supported data types.    

+ *    

+ * \par Initialization Functions    

+ * There is also an associated initialization function for each data type.    

+ * The initialization function performs the following operations:    

+ * - Sets the values of the internal structure fields.    

+ * - Zeros out the values in the state buffer.    

+ * - Checks to make sure that the length of the filter is a multiple of the interpolation factor.    

+ *    

+ * \par    

+ * Use of the initialization function is optional.    

+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    

+ * To place an instance structure into a const data section, the instance structure must be manually initialized.    

+ * The code below statically initializes each of the 3 different data type filter instance structures    

+ * <pre>    

+ * arm_fir_interpolate_instance_f32 S = {L, phaseLength, pCoeffs, pState};    

+ * arm_fir_interpolate_instance_q31 S = {L, phaseLength, pCoeffs, pState};    

+ * arm_fir_interpolate_instance_q15 S = {L, phaseLength, pCoeffs, pState};    

+ * </pre>    

+ * where <code>L</code> is the interpolation factor; <code>phaseLength=numTaps/L</code> is the    

+ * length of each of the shorter FIR filters used internally,    

+ * <code>pCoeffs</code> is the address of the coefficient buffer;    

+ * <code>pState</code> is the address of the state buffer.    

+ * Be sure to set the values in the state buffer to zeros when doing static initialization.    

+ *    

+ * \par Fixed-Point Behavior    

+ * Care must be taken when using the fixed-point versions of the FIR interpolate filter functions.    

+ * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.    

+ * Refer to the function specific documentation below for usage guidelines.    

+ */

+

+/**    

+ * @addtogroup FIR_Interpolate    

+ * @{    

+ */

+

+/**    

+ * @brief Processing function for the floating-point FIR interpolator.    

+ * @param[in] *S        points to an instance of the floating-point FIR interpolator 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 input samples to process per call.    

+ * @return none.    

+ */

+#ifndef ARM_MATH_CM0

+

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

+

+void arm_fir_interpolate_f32(

+  const arm_fir_interpolate_instance_f32 * S,

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize)

+{

+  float32_t *pState = S->pState;                 /* State pointer */

+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */

+  float32_t *pStateCurnt;                        /* Points to the current sample of the state */

+  float32_t *ptr1, *ptr2;                        /* Temporary pointers for state and coefficient buffers */

+  float32_t sum0;                                /* Accumulators */

+  float32_t x0, c0;                              /* Temporary variables to hold state and coefficient values */

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

+  uint16_t phaseLen = S->phaseLength, tapCnt;    /* Length of each polyphase filter component */

+  float32_t acc0, acc1, acc2, acc3;

+  float32_t x1, x2, x3;

+  uint32_t blkCntN4;

+  float32_t c1, c2, c3;

+

+  /* S->pState buffer contains previous frame (phaseLen - 1) samples */

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

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

+

+  /* Initialise  blkCnt */

+  blkCnt = blockSize / 4;

+  blkCntN4 = blockSize - (4 * blkCnt);

+

+  /* Samples loop unrolled by 4 */

+  while(blkCnt > 0u)

+  {

+    /* Copy new input sample into the state buffer */

+    *pStateCurnt++ = *pSrc++;

+    *pStateCurnt++ = *pSrc++;

+    *pStateCurnt++ = *pSrc++;

+    *pStateCurnt++ = *pSrc++;

+

+    /* Address modifier index of coefficient buffer */

+    j = 1u;

+

+    /* Loop over the Interpolation factor. */

+    i = (S->L);

+

+    while(i > 0u)

+    {

+      /* Set accumulator to zero */

+      acc0 = 0.0f;

+      acc1 = 0.0f;

+      acc2 = 0.0f;

+      acc3 = 0.0f;

+

+      /* Initialize state pointer */

+      ptr1 = pState;

+

+      /* Initialize coefficient pointer */

+      ptr2 = pCoeffs + (S->L - j);

+

+      /* Loop over the polyPhase length. Unroll by a factor of 4.        

+       ** Repeat until we've computed numTaps-(4*S->L) coefficients. */

+      tapCnt = phaseLen >> 2u;

+

+      x0 = *(ptr1++);

+      x1 = *(ptr1++);

+      x2 = *(ptr1++);

+

+      while(tapCnt > 0u)

+      {

+

+        /* Read the input sample */

+        x3 = *(ptr1++);

+

+        /* Read the coefficient */

+        c0 = *(ptr2);

+

+        /* Perform the multiply-accumulate */

+        acc0 += x0 * c0;

+        acc1 += x1 * c0;

+        acc2 += x2 * c0;

+        acc3 += x3 * c0;

+

+        /* Read the coefficient */

+        c1 = *(ptr2 + S->L);

+

+        /* Read the input sample */

+        x0 = *(ptr1++);

+

+        /* Perform the multiply-accumulate */

+        acc0 += x1 * c1;

+        acc1 += x2 * c1;

+        acc2 += x3 * c1;

+        acc3 += x0 * c1;

+

+        /* Read the coefficient */

+        c2 = *(ptr2 + S->L * 2);

+

+        /* Read the input sample */

+        x1 = *(ptr1++);

+

+        /* Perform the multiply-accumulate */

+        acc0 += x2 * c2;

+        acc1 += x3 * c2;

+        acc2 += x0 * c2;

+        acc3 += x1 * c2;

+

+        /* Read the coefficient */

+        c3 = *(ptr2 + S->L * 3);

+

+        /* Read the input sample */

+        x2 = *(ptr1++);

+

+        /* Perform the multiply-accumulate */

+        acc0 += x3 * c3;

+        acc1 += x0 * c3;

+        acc2 += x1 * c3;

+        acc3 += x2 * c3;

+

+

+        /* Upsampling is done by stuffing L-1 zeros between each sample.        

+         * So instead of multiplying zeros with coefficients,        

+         * Increment the coefficient pointer by interpolation factor times. */

+        ptr2 += 4 * S->L;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

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

+      tapCnt = phaseLen % 0x4u;

+

+      while(tapCnt > 0u)

+      {

+

+        /* Read the input sample */

+        x3 = *(ptr1++);

+

+        /* Read the coefficient */

+        c0 = *(ptr2);

+

+        /* Perform the multiply-accumulate */

+        acc0 += x0 * c0;

+        acc1 += x1 * c0;

+        acc2 += x2 * c0;

+        acc3 += x3 * c0;

+

+        /* Increment the coefficient pointer by interpolation factor times. */

+        ptr2 += S->L;

+

+        /* update states for next sample processing */

+        x0 = x1;

+        x1 = x2;

+        x2 = x3;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      /* The result is in the accumulator, store in the destination buffer. */

+      *pDst = acc0;

+      *(pDst + S->L) = acc1;

+      *(pDst + 2 * S->L) = acc2;

+      *(pDst + 3 * S->L) = acc3;

+

+      pDst++;

+

+      /* Increment the address modifier index of coefficient buffer */

+      j++;

+

+      /* Decrement the loop counter */

+      i--;

+    }

+

+    /* Advance the state pointer by 1        

+     * to process the next group of interpolation factor number samples */

+    pState = pState + 4;

+

+    pDst += S->L * 3;

+

+    /* 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. */

+

+  while(blkCntN4 > 0u)

+  {

+    /* Copy new input sample into the state buffer */

+    *pStateCurnt++ = *pSrc++;

+

+    /* Address modifier index of coefficient buffer */

+    j = 1u;

+

+    /* Loop over the Interpolation factor. */

+    i = S->L;

+    while(i > 0u)

+    {

+      /* Set accumulator to zero */

+      sum0 = 0.0f;

+

+      /* Initialize state pointer */

+      ptr1 = pState;

+

+      /* Initialize coefficient pointer */

+      ptr2 = pCoeffs + (S->L - j);

+

+      /* Loop over the polyPhase length. Unroll by a factor of 4.        

+       ** Repeat until we've computed numTaps-(4*S->L) coefficients. */

+      tapCnt = phaseLen >> 2u;

+      while(tapCnt > 0u)

+      {

+

+        /* Read the coefficient */

+        c0 = *(ptr2);

+

+        /* Upsampling is done by stuffing L-1 zeros between each sample.        

+         * So instead of multiplying zeros with coefficients,        

+         * Increment the coefficient pointer by interpolation factor times. */

+        ptr2 += S->L;

+

+        /* Read the input sample */

+        x0 = *(ptr1++);

+

+        /* Perform the multiply-accumulate */

+        sum0 += x0 * c0;

+

+        /* Read the coefficient */

+        c0 = *(ptr2);

+

+        /* Increment the coefficient pointer by interpolation factor times. */

+        ptr2 += S->L;

+

+        /* Read the input sample */

+        x0 = *(ptr1++);

+

+        /* Perform the multiply-accumulate */

+        sum0 += x0 * c0;

+

+        /* Read the coefficient */

+        c0 = *(ptr2);

+

+        /* Increment the coefficient pointer by interpolation factor times. */

+        ptr2 += S->L;

+

+        /* Read the input sample */

+        x0 = *(ptr1++);

+

+        /* Perform the multiply-accumulate */

+        sum0 += x0 * c0;

+

+        /* Read the coefficient */

+        c0 = *(ptr2);

+

+        /* Increment the coefficient pointer by interpolation factor times. */

+        ptr2 += S->L;

+

+        /* Read the input sample */

+        x0 = *(ptr1++);

+

+        /* Perform the multiply-accumulate */

+        sum0 += x0 * c0;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

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

+      tapCnt = phaseLen % 0x4u;

+

+      while(tapCnt > 0u)

+      {

+        /* Perform the multiply-accumulate */

+        sum0 += *(ptr1++) * (*ptr2);

+

+        /* Increment the coefficient pointer by interpolation factor times. */

+        ptr2 += S->L;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      /* The result is in the accumulator, store in the destination buffer. */

+      *pDst++ = sum0;

+

+      /* Increment the address modifier index of coefficient buffer */

+      j++;

+

+      /* Decrement the loop counter */

+      i--;

+    }

+

+    /* Advance the state pointer by 1        

+     * to process the next group of interpolation factor number samples */

+    pState = pState + 1;

+

+    /* Decrement the loop counter */

+    blkCntN4--;

+  }

+

+  /* Processing is complete.        

+   ** Now copy the last phaseLen - 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 = (phaseLen - 1u) >> 2u;

+

+  /* copy data */

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+

+  tapCnt = (phaseLen - 1u) % 0x04u;

+

+  /* copy data */

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+}

+

+#else

+

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

+

+void arm_fir_interpolate_f32(

+  const arm_fir_interpolate_instance_f32 * S,

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize)

+{

+  float32_t *pState = S->pState;                 /* State pointer */

+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */

+  float32_t *pStateCurnt;                        /* Points to the current sample of the state */

+  float32_t *ptr1, *ptr2;                        /* Temporary pointers for state and coefficient buffers */

+

+

+  float32_t sum;                                 /* Accumulator */

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

+  uint16_t phaseLen = S->phaseLength, tapCnt;    /* Length of each polyphase filter component */

+

+

+  /* S->pState buffer contains previous frame (phaseLen - 1) samples */

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

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

+

+  /* Total number of intput samples */

+  blkCnt = blockSize;

+

+  /* Loop over the blockSize. */

+  while(blkCnt > 0u)

+  {

+    /* Copy new input sample into the state buffer */

+    *pStateCurnt++ = *pSrc++;

+

+    /* Loop over the Interpolation factor. */

+    i = S->L;

+

+    while(i > 0u)

+    {

+      /* Set accumulator to zero */

+      sum = 0.0f;

+

+      /* Initialize state pointer */

+      ptr1 = pState;

+

+      /* Initialize coefficient pointer */

+      ptr2 = pCoeffs + (i - 1u);

+

+      /* Loop over the polyPhase length */

+      tapCnt = phaseLen;

+

+      while(tapCnt > 0u)

+      {

+        /* Perform the multiply-accumulate */

+        sum += *ptr1++ * *ptr2;

+

+        /* Increment the coefficient pointer by interpolation factor times. */

+        ptr2 += S->L;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      /* The result is in the accumulator, store in the destination buffer. */

+      *pDst++ = sum;

+

+      /* Decrement the loop counter */

+      i--;

+    }

+

+    /* Advance the state pointer by 1           

+     * to process the next group of interpolation factor number samples */

+    pState = pState + 1;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Processing is complete.         

+   ** Now copy the last phaseLen - 1 samples to the start 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 = phaseLen - 1u;

+

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+

+}

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+

+

+ /**    

+  * @} end of FIR_Interpolate group    

+  */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c
new file mode 100644
index 000000000..b19347264
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c
@@ -0,0 +1,116 @@
+/*-----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_fir_interpolate_init_f32.c    

+*    

+* Description:  Floating-point FIR interpolator initialization 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------*/

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR_Interpolate    

+ * @{    

+ */

+

+/**    

+ * @brief  Initialization function for the floating-point FIR interpolator.    

+ * @param[in,out] *S        points to an instance of the floating-point FIR interpolator structure.    

+ * @param[in]     L         upsample factor.    

+ * @param[in]     numTaps   number of filter coefficients in the filter.    

+ * @param[in]     *pCoeffs  points to the filter coefficient buffer.    

+ * @param[in]     *pState   points to the state buffer.    

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

+ * @return        The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if    

+ * the filter length <code>numTaps</code> is not a multiple of the interpolation factor <code>L</code>.    

+ *    

+ * <b>Description:</b>    

+ * \par    

+ * <code>pCoeffs</code> points to the array of filter coefficients stored in time reversed order:    

+ * <pre>    

+ *    {b[numTaps-1], b[numTaps-2], b[numTaps-2], ..., b[1], b[0]}    

+ * </pre>    

+ * The length of the filter <code>numTaps</code> must be a multiple of the interpolation factor <code>L</code>.    

+ * \par    

+ * <code>pState</code> points to the array of state variables.    

+ * <code>pState</code> is of length <code>(numTaps/L)+blockSize-1</code> words    

+ * where <code>blockSize</code> is the number of input samples processed by each call to <code>arm_fir_interpolate_f32()</code>.    

+ */

+

+arm_status arm_fir_interpolate_init_f32(

+  arm_fir_interpolate_instance_f32 * S,

+  uint8_t L,

+  uint16_t numTaps,

+  float32_t * pCoeffs,

+  float32_t * pState,

+  uint32_t blockSize)

+{

+  arm_status status;

+

+  /* The filter length must be a multiple of the interpolation factor */

+  if((numTaps % L) != 0u)

+  {

+    /* Set status as ARM_MATH_LENGTH_ERROR */

+    status = ARM_MATH_LENGTH_ERROR;

+  }

+  else

+  {

+

+    /* Assign coefficient pointer */

+    S->pCoeffs = pCoeffs;

+

+    /* Assign Interpolation factor */

+    S->L = L;

+

+    /* Assign polyPhaseLength */

+    S->phaseLength = numTaps / L;

+

+    /* Clear state buffer and size of state array is always phaseLength + blockSize - 1 */

+    memset(pState, 0,

+           (blockSize +

+            ((uint32_t) S->phaseLength - 1u)) * sizeof(float32_t));

+

+    /* Assign state pointer */

+    S->pState = pState;

+

+    status = ARM_MATH_SUCCESS;

+  }

+

+  return (status);

+

+}

+

+ /**    

+  * @} end of FIR_Interpolate group    

+  */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c
new file mode 100644
index 000000000..b344fc785
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c
@@ -0,0 +1,115 @@
+/*-----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_fir_interpolate_init_q15.c    

+*    

+* Description:  Q15 FIR interpolator initialization 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------*/

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR_Interpolate    

+ * @{    

+ */

+

+/**    

+ * @brief  Initialization function for the Q15 FIR interpolator.    

+ * @param[in,out] *S        points to an instance of the Q15 FIR interpolator structure.    

+ * @param[in]     L         upsample factor.    

+ * @param[in]     numTaps   number of filter coefficients in the filter.    

+ * @param[in]     *pCoeffs  points to the filter coefficient buffer.    

+ * @param[in]     *pState   points to the state buffer.    

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

+ * @return        The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if    

+ * the filter length <code>numTaps</code> is not a multiple of the interpolation factor <code>L</code>.    

+ *    

+ * <b>Description:</b>    

+ * \par    

+ * <code>pCoeffs</code> points to the array of filter coefficients stored in time reversed order:    

+ * <pre>    

+ *    {b[numTaps-1], b[numTaps-2], b[numTaps-2], ..., b[1], b[0]}    

+ * </pre>    

+ * The length of the filter <code>numTaps</code> must be a multiple of the interpolation factor <code>L</code>.    

+ * \par    

+ * <code>pState</code> points to the array of state variables.    

+ * <code>pState</code> is of length <code>(numTaps/L)+blockSize-1</code> words    

+ * where <code>blockSize</code> is the number of input samples processed by each call to <code>arm_fir_interpolate_q15()</code>.    

+ */

+

+arm_status arm_fir_interpolate_init_q15(

+  arm_fir_interpolate_instance_q15 * S,

+  uint8_t L,

+  uint16_t numTaps,

+  q15_t * pCoeffs,

+  q15_t * pState,

+  uint32_t blockSize)

+{

+  arm_status status;

+

+  /* The filter length must be a multiple of the interpolation factor */

+  if((numTaps % L) != 0u)

+  {

+    /* Set status as ARM_MATH_LENGTH_ERROR */

+    status = ARM_MATH_LENGTH_ERROR;

+  }

+  else

+  {

+

+    /* Assign coefficient pointer */

+    S->pCoeffs = pCoeffs;

+

+    /* Assign Interpolation factor */

+    S->L = L;

+

+    /* Assign polyPhaseLength */

+    S->phaseLength = numTaps / L;

+

+    /* Clear state buffer and size of buffer is always phaseLength + blockSize - 1 */

+    memset(pState, 0,

+           (blockSize + ((uint32_t) S->phaseLength - 1u)) * sizeof(q15_t));

+

+    /* Assign state pointer */

+    S->pState = pState;

+

+    status = ARM_MATH_SUCCESS;

+  }

+

+  return (status);

+

+}

+

+ /**    

+  * @} end of FIR_Interpolate group    

+  */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c
new file mode 100644
index 000000000..f0383b8e9
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c
@@ -0,0 +1,116 @@
+/*-----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_fir_interpolate_init_q31.c    

+*    

+* Description:  Q31 FIR interpolator initialization 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------*/

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR_Interpolate    

+ * @{    

+ */

+

+

+/**    

+ * @brief  Initialization function for the Q31 FIR interpolator.    

+ * @param[in,out] *S        points to an instance of the Q31 FIR interpolator structure.    

+ * @param[in]     L         upsample factor.    

+ * @param[in]     numTaps   number of filter coefficients in the filter.    

+ * @param[in]     *pCoeffs  points to the filter coefficient buffer.    

+ * @param[in]     *pState   points to the state buffer.    

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

+ * @return        The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if    

+ * the filter length <code>numTaps</code> is not a multiple of the interpolation factor <code>L</code>.    

+ *    

+ * <b>Description:</b>    

+ * \par    

+ * <code>pCoeffs</code> points to the array of filter coefficients stored in time reversed order:    

+ * <pre>    

+ *    {b[numTaps-1], b[numTaps-2], b[numTaps-2], ..., b[1], b[0]}    

+ * </pre>    

+ * The length of the filter <code>numTaps</code> must be a multiple of the interpolation factor <code>L</code>.    

+ * \par    

+ * <code>pState</code> points to the array of state variables.    

+ * <code>pState</code> is of length <code>(numTaps/L)+blockSize-1</code> words    

+ * where <code>blockSize</code> is the number of input samples processed by each call to <code>arm_fir_interpolate_q31()</code>.    

+ */

+

+arm_status arm_fir_interpolate_init_q31(

+  arm_fir_interpolate_instance_q31 * S,

+  uint8_t L,

+  uint16_t numTaps,

+  q31_t * pCoeffs,

+  q31_t * pState,

+  uint32_t blockSize)

+{

+  arm_status status;

+

+  /* The filter length must be a multiple of the interpolation factor */

+  if((numTaps % L) != 0u)

+  {

+    /* Set status as ARM_MATH_LENGTH_ERROR */

+    status = ARM_MATH_LENGTH_ERROR;

+  }

+  else

+  {

+

+    /* Assign coefficient pointer */

+    S->pCoeffs = pCoeffs;

+

+    /* Assign Interpolation factor */

+    S->L = L;

+

+    /* Assign polyPhaseLength */

+    S->phaseLength = numTaps / L;

+

+    /* Clear state buffer and size of buffer is always phaseLength + blockSize - 1 */

+    memset(pState, 0,

+           (blockSize + ((uint32_t) S->phaseLength - 1u)) * sizeof(q31_t));

+

+    /* Assign state pointer */

+    S->pState = pState;

+

+    status = ARM_MATH_SUCCESS;

+  }

+

+  return (status);

+

+}

+

+ /**    

+  * @} end of FIR_Interpolate group    

+  */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c
new file mode 100644
index 000000000..d17d8d803
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c
@@ -0,0 +1,503 @@
+/*-----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_fir_interpolate_q15.c    

+*    

+* Description:	Q15 FIR interpolation.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------*/

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR_Interpolate    

+ * @{    

+ */

+

+/**    

+ * @brief Processing function for the Q15 FIR interpolator.    

+ * @param[in] *S        points to an instance of the Q15 FIR interpolator 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 input samples to process per call.    

+ * @return none.    

+ *    

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

+ * \par    

+ * The function is implemented using a 64-bit internal accumulator.    

+ * Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result.    

+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.    

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

+ * After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits.    

+ * Lastly, the accumulator is saturated to yield a result in 1.15 format.    

+ */

+

+#ifndef ARM_MATH_CM0

+

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

+

+void arm_fir_interpolate_q15(

+  const arm_fir_interpolate_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+  q15_t *pState = S->pState;                     /* State pointer                                            */

+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer                                      */

+  q15_t *pStateCurnt;                            /* Points to the current sample of the state                */

+  q15_t *ptr1, *ptr2;                            /* Temporary pointers for state and coefficient buffers     */

+  q63_t sum0;                                    /* Accumulators                                             */

+  q15_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */

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

+  uint16_t phaseLen = S->phaseLength;            /* Length of each polyphase filter component */

+  uint32_t blkCntN2;

+  q63_t acc0, acc1;

+  q15_t x1;

+

+  /* S->pState buffer contains previous frame (phaseLen - 1) samples */

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

+  pStateCurnt = S->pState + ((q31_t) phaseLen - 1);

+

+  /* Initialise  blkCnt */

+  blkCnt = blockSize / 2;

+  blkCntN2 = blockSize - (2 * blkCnt);

+

+  /* Samples loop unrolled by 2 */

+  while(blkCnt > 0u)

+  {

+    /* Copy new input sample into the state buffer */

+    *pStateCurnt++ = *pSrc++;

+    *pStateCurnt++ = *pSrc++;

+

+    /* Address modifier index of coefficient buffer */

+    j = 1u;

+

+    /* Loop over the Interpolation factor. */

+    i = (S->L);

+

+    while(i > 0u)

+    {

+      /* Set accumulator to zero */

+      acc0 = 0;

+      acc1 = 0;

+

+      /* Initialize state pointer */

+      ptr1 = pState;

+

+      /* Initialize coefficient pointer */

+      ptr2 = pCoeffs + (S->L - j);

+

+      /* Loop over the polyPhase length. Unroll by a factor of 4.        

+       ** Repeat until we've computed numTaps-(4*S->L) coefficients. */

+      tapCnt = phaseLen >> 2u;

+

+      x0 = *(ptr1++);

+

+      while(tapCnt > 0u)

+      {

+

+        /* Read the input sample */

+        x1 = *(ptr1++);

+

+        /* Read the coefficient */

+        c0 = *(ptr2);

+

+        /* Perform the multiply-accumulate */

+        acc0 += (q63_t) x0 *c0;

+        acc1 += (q63_t) x1 *c0;

+

+

+        /* Read the coefficient */

+        c0 = *(ptr2 + S->L);

+

+        /* Read the input sample */

+        x0 = *(ptr1++);

+

+        /* Perform the multiply-accumulate */

+        acc0 += (q63_t) x1 *c0;

+        acc1 += (q63_t) x0 *c0;

+

+

+        /* Read the coefficient */

+        c0 = *(ptr2 + S->L * 2);

+

+        /* Read the input sample */

+        x1 = *(ptr1++);

+

+        /* Perform the multiply-accumulate */

+        acc0 += (q63_t) x0 *c0;

+        acc1 += (q63_t) x1 *c0;

+

+        /* Read the coefficient */

+        c0 = *(ptr2 + S->L * 3);

+

+        /* Read the input sample */

+        x0 = *(ptr1++);

+

+        /* Perform the multiply-accumulate */

+        acc0 += (q63_t) x1 *c0;

+        acc1 += (q63_t) x0 *c0;

+

+

+        /* Upsampling is done by stuffing L-1 zeros between each sample.        

+         * So instead of multiplying zeros with coefficients,        

+         * Increment the coefficient pointer by interpolation factor times. */

+        ptr2 += 4 * S->L;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

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

+      tapCnt = phaseLen % 0x4u;

+

+      while(tapCnt > 0u)

+      {

+

+        /* Read the input sample */

+        x1 = *(ptr1++);

+

+        /* Read the coefficient */

+        c0 = *(ptr2);

+

+        /* Perform the multiply-accumulate */

+        acc0 += (q63_t) x0 *c0;

+        acc1 += (q63_t) x1 *c0;

+

+        /* Increment the coefficient pointer by interpolation factor times. */

+        ptr2 += S->L;

+

+        /* update states for next sample processing */

+        x0 = x1;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      /* The result is in the accumulator, store in the destination buffer. */

+      *pDst = (q15_t) (__SSAT((acc0 >> 15), 16));

+      *(pDst + S->L) = (q15_t) (__SSAT((acc1 >> 15), 16));

+

+      pDst++;

+

+      /* Increment the address modifier index of coefficient buffer */

+      j++;

+

+      /* Decrement the loop counter */

+      i--;

+    }

+

+    /* Advance the state pointer by 1        

+     * to process the next group of interpolation factor number samples */

+    pState = pState + 2;

+

+    pDst += S->L;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* If the blockSize is not a multiple of 2, compute any remaining output samples here.        

+   ** No loop unrolling is used. */

+  blkCnt = blkCntN2;

+

+  /* Loop over the blockSize. */

+  while(blkCnt > 0u)

+  {

+    /* Copy new input sample into the state buffer */

+    *pStateCurnt++ = *pSrc++;

+

+    /* Address modifier index of coefficient buffer */

+    j = 1u;

+

+    /* Loop over the Interpolation factor. */

+    i = S->L;

+    while(i > 0u)

+    {

+      /* Set accumulator to zero */

+      sum0 = 0;

+

+      /* Initialize state pointer */

+      ptr1 = pState;

+

+      /* Initialize coefficient pointer */

+      ptr2 = pCoeffs + (S->L - j);

+

+      /* Loop over the polyPhase length. Unroll by a factor of 4.        

+       ** Repeat until we've computed numTaps-(4*S->L) coefficients. */

+      tapCnt = phaseLen >> 2;

+      while(tapCnt > 0u)

+      {

+

+        /* Read the coefficient */

+        c0 = *(ptr2);

+

+        /* Upsampling is done by stuffing L-1 zeros between each sample.        

+         * So instead of multiplying zeros with coefficients,        

+         * Increment the coefficient pointer by interpolation factor times. */

+        ptr2 += S->L;

+

+        /* Read the input sample */

+        x0 = *(ptr1++);

+

+        /* Perform the multiply-accumulate */

+        sum0 += (q63_t) x0 *c0;

+

+        /* Read the coefficient */

+        c0 = *(ptr2);

+

+        /* Increment the coefficient pointer by interpolation factor times. */

+        ptr2 += S->L;

+

+        /* Read the input sample */

+        x0 = *(ptr1++);

+

+        /* Perform the multiply-accumulate */

+        sum0 += (q63_t) x0 *c0;

+

+        /* Read the coefficient */

+        c0 = *(ptr2);

+

+        /* Increment the coefficient pointer by interpolation factor times. */

+        ptr2 += S->L;

+

+        /* Read the input sample */

+        x0 = *(ptr1++);

+

+        /* Perform the multiply-accumulate */

+        sum0 += (q63_t) x0 *c0;

+

+        /* Read the coefficient */

+        c0 = *(ptr2);

+

+        /* Increment the coefficient pointer by interpolation factor times. */

+        ptr2 += S->L;

+

+        /* Read the input sample */

+        x0 = *(ptr1++);

+

+        /* Perform the multiply-accumulate */

+        sum0 += (q63_t) x0 *c0;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

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

+      tapCnt = phaseLen & 0x3u;

+

+      while(tapCnt > 0u)

+      {

+        /* Read the coefficient */

+        c0 = *(ptr2);

+

+        /* Increment the coefficient pointer by interpolation factor times. */

+        ptr2 += S->L;

+

+        /* Read the input sample */

+        x0 = *(ptr1++);

+

+        /* Perform the multiply-accumulate */

+        sum0 += (q63_t) x0 *c0;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      /* The result is in the accumulator, store in the destination buffer. */

+      *pDst++ = (q15_t) (__SSAT((sum0 >> 15), 16));

+

+      j++;

+

+      /* Decrement the loop counter */

+      i--;

+    }

+

+    /* Advance the state pointer by 1        

+     * to process the next group of interpolation factor number samples */

+    pState = pState + 1;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+

+  /* Processing is complete.    

+   ** Now copy the last phaseLen - 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;

+

+  i = ((uint32_t) phaseLen - 1u) >> 2u;

+

+  /* copy data */

+  while(i > 0u)

+  {

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;

+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;

+

+#else

+

+    *pStateCurnt++ = *pState++;

+	*pStateCurnt++ = *pState++;

+	*pStateCurnt++ = *pState++;

+	*pStateCurnt++ = *pState++;

+	

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+	

+	/* Decrement the loop counter */

+    i--;

+  }

+

+  i = ((uint32_t) phaseLen - 1u) % 0x04u;

+

+  while(i > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    i--;

+  }

+}

+

+#else

+

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

+

+void arm_fir_interpolate_q15(

+  const arm_fir_interpolate_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+  q15_t *pState = S->pState;                     /* State pointer                                            */

+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer                                      */

+  q15_t *pStateCurnt;                            /* Points to the current sample of the state                */

+  q15_t *ptr1, *ptr2;                            /* Temporary pointers for state and coefficient buffers     */

+  q63_t sum;                                     /* Accumulator */

+  q15_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */

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

+  uint16_t phaseLen = S->phaseLength;            /* Length of each polyphase filter component */

+

+

+  /* S->pState buffer contains previous frame (phaseLen - 1) samples */

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

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

+

+  /* Total number of intput samples */

+  blkCnt = blockSize;

+

+  /* Loop over the blockSize. */

+  while(blkCnt > 0u)

+  {

+    /* Copy new input sample into the state buffer */

+    *pStateCurnt++ = *pSrc++;

+

+    /* Loop over the Interpolation factor. */

+    i = S->L;

+

+    while(i > 0u)

+    {

+      /* Set accumulator to zero */

+      sum = 0;

+

+      /* Initialize state pointer */

+      ptr1 = pState;

+

+      /* Initialize coefficient pointer */

+      ptr2 = pCoeffs + (i - 1u);

+

+      /* Loop over the polyPhase length */

+      tapCnt = (uint32_t) phaseLen;

+

+      while(tapCnt > 0u)

+      {

+        /* Read the coefficient */

+        c0 = *ptr2;

+

+        /* Increment the coefficient pointer by interpolation factor times. */

+        ptr2 += S->L;

+

+        /* Read the input sample */

+        x0 = *ptr1++;

+

+        /* Perform the multiply-accumulate */

+        sum += ((q31_t) x0 * c0);

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      /* Store the result after converting to 1.15 format in the destination buffer */

+      *pDst++ = (q15_t) (__SSAT((sum >> 15), 16));

+

+      /* Decrement the loop counter */

+      i--;

+    }

+

+    /* Advance the state pointer by 1           

+     * to process the next group of interpolation factor number samples */

+    pState = pState + 1;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Processing is complete.         

+   ** Now copy the last phaseLen - 1 samples to the start 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;

+

+  i = (uint32_t) phaseLen - 1u;

+

+  while(i > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    i--;

+  }

+

+}

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+

+ /**    

+  * @} end of FIR_Interpolate group    

+  */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c
new file mode 100644
index 000000000..689b4d337
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c
@@ -0,0 +1,499 @@
+/*-----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_fir_interpolate_q31.c    

+*    

+* Description:	Q31 FIR interpolation.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------*/

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR_Interpolate    

+ * @{    

+ */

+

+/**    

+ * @brief Processing function for the Q31 FIR interpolator.    

+ * @param[in] *S        points to an instance of the Q31 FIR interpolator 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 input samples to process per call.    

+ * @return none.    

+ *    

+ * <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.    

+ * Thus, if the accumulator result overflows it wraps around rather than clip.    

+ * In order to avoid overflows completely the input signal must be scaled down by <code>1/(numTaps/L)</code>.    

+ * since <code>numTaps/L</code> additions occur per output sample.    

+ * After all multiply-accumulates are performed, the 2.62 accumulator is truncated to 1.32 format and then saturated to 1.31 format.    

+ */

+

+#ifndef ARM_MATH_CM0

+

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

+

+void arm_fir_interpolate_q31(

+  const arm_fir_interpolate_instance_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize)

+{

+  q31_t *pState = S->pState;                     /* State pointer */

+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */

+  q31_t *pStateCurnt;                            /* Points to the current sample of the state */

+  q31_t *ptr1, *ptr2;                            /* Temporary pointers for state and coefficient buffers */

+  q63_t sum0;                                    /* Accumulators */

+  q31_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */

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

+  uint16_t phaseLen = S->phaseLength, tapCnt;    /* Length of each polyphase filter component */

+

+  uint32_t blkCntN2;

+  q63_t acc0, acc1;

+  q31_t x1;

+

+  /* S->pState buffer contains previous frame (phaseLen - 1) samples */

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

+  pStateCurnt = S->pState + ((q31_t) phaseLen - 1);

+

+  /* Initialise  blkCnt */

+  blkCnt = blockSize / 2;

+  blkCntN2 = blockSize - (2 * blkCnt);

+

+  /* Samples loop unrolled by 2 */

+  while(blkCnt > 0u)

+  {

+    /* Copy new input sample into the state buffer */

+    *pStateCurnt++ = *pSrc++;

+    *pStateCurnt++ = *pSrc++;

+

+    /* Address modifier index of coefficient buffer */

+    j = 1u;

+

+    /* Loop over the Interpolation factor. */

+    i = (S->L);

+

+    while(i > 0u)

+    {

+      /* Set accumulator to zero */

+      acc0 = 0;

+      acc1 = 0;

+

+      /* Initialize state pointer */

+      ptr1 = pState;

+

+      /* Initialize coefficient pointer */

+      ptr2 = pCoeffs + (S->L - j);

+

+      /* Loop over the polyPhase length. Unroll by a factor of 4.        

+       ** Repeat until we've computed numTaps-(4*S->L) coefficients. */

+      tapCnt = phaseLen >> 2u;

+

+      x0 = *(ptr1++);

+

+      while(tapCnt > 0u)

+      {

+

+        /* Read the input sample */

+        x1 = *(ptr1++);

+

+        /* Read the coefficient */

+        c0 = *(ptr2);

+

+        /* Perform the multiply-accumulate */

+        acc0 += (q63_t) x0 *c0;

+        acc1 += (q63_t) x1 *c0;

+

+

+        /* Read the coefficient */

+        c0 = *(ptr2 + S->L);

+

+        /* Read the input sample */

+        x0 = *(ptr1++);

+

+        /* Perform the multiply-accumulate */

+        acc0 += (q63_t) x1 *c0;

+        acc1 += (q63_t) x0 *c0;

+

+

+        /* Read the coefficient */

+        c0 = *(ptr2 + S->L * 2);

+

+        /* Read the input sample */

+        x1 = *(ptr1++);

+

+        /* Perform the multiply-accumulate */

+        acc0 += (q63_t) x0 *c0;

+        acc1 += (q63_t) x1 *c0;

+

+        /* Read the coefficient */

+        c0 = *(ptr2 + S->L * 3);

+

+        /* Read the input sample */

+        x0 = *(ptr1++);

+

+        /* Perform the multiply-accumulate */

+        acc0 += (q63_t) x1 *c0;

+        acc1 += (q63_t) x0 *c0;

+

+

+        /* Upsampling is done by stuffing L-1 zeros between each sample.        

+         * So instead of multiplying zeros with coefficients,        

+         * Increment the coefficient pointer by interpolation factor times. */

+        ptr2 += 4 * S->L;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

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

+      tapCnt = phaseLen % 0x4u;

+

+      while(tapCnt > 0u)

+      {

+

+        /* Read the input sample */

+        x1 = *(ptr1++);

+

+        /* Read the coefficient */

+        c0 = *(ptr2);

+

+        /* Perform the multiply-accumulate */

+        acc0 += (q63_t) x0 *c0;

+        acc1 += (q63_t) x1 *c0;

+

+        /* Increment the coefficient pointer by interpolation factor times. */

+        ptr2 += S->L;

+

+        /* update states for next sample processing */

+        x0 = x1;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      /* The result is in the accumulator, store in the destination buffer. */

+      *pDst = (q31_t) (acc0 >> 31);

+      *(pDst + S->L) = (q31_t) (acc1 >> 31);

+

+

+      pDst++;

+

+      /* Increment the address modifier index of coefficient buffer */

+      j++;

+

+      /* Decrement the loop counter */

+      i--;

+    }

+

+    /* Advance the state pointer by 1        

+     * to process the next group of interpolation factor number samples */

+    pState = pState + 2;

+

+    pDst += S->L;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* If the blockSize is not a multiple of 2, compute any remaining output samples here.        

+   ** No loop unrolling is used. */

+  blkCnt = blkCntN2;

+

+  /* Loop over the blockSize. */

+  while(blkCnt > 0u)

+  {

+    /* Copy new input sample into the state buffer */

+    *pStateCurnt++ = *pSrc++;

+

+    /* Address modifier index of coefficient buffer */

+    j = 1u;

+

+    /* Loop over the Interpolation factor. */

+    i = S->L;

+    while(i > 0u)

+    {

+      /* Set accumulator to zero */

+      sum0 = 0;

+

+      /* Initialize state pointer */

+      ptr1 = pState;

+

+      /* Initialize coefficient pointer */

+      ptr2 = pCoeffs + (S->L - j);

+

+      /* Loop over the polyPhase length. Unroll by a factor of 4.        

+       ** Repeat until we've computed numTaps-(4*S->L) coefficients. */

+      tapCnt = phaseLen >> 2;

+      while(tapCnt > 0u)

+      {

+

+        /* Read the coefficient */

+        c0 = *(ptr2);

+

+        /* Upsampling is done by stuffing L-1 zeros between each sample.        

+         * So instead of multiplying zeros with coefficients,        

+         * Increment the coefficient pointer by interpolation factor times. */

+        ptr2 += S->L;

+

+        /* Read the input sample */

+        x0 = *(ptr1++);

+

+        /* Perform the multiply-accumulate */

+        sum0 += (q63_t) x0 *c0;

+

+        /* Read the coefficient */

+        c0 = *(ptr2);

+

+        /* Increment the coefficient pointer by interpolation factor times. */

+        ptr2 += S->L;

+

+        /* Read the input sample */

+        x0 = *(ptr1++);

+

+        /* Perform the multiply-accumulate */

+        sum0 += (q63_t) x0 *c0;

+

+        /* Read the coefficient */

+        c0 = *(ptr2);

+

+        /* Increment the coefficient pointer by interpolation factor times. */

+        ptr2 += S->L;

+

+        /* Read the input sample */

+        x0 = *(ptr1++);

+

+        /* Perform the multiply-accumulate */

+        sum0 += (q63_t) x0 *c0;

+

+        /* Read the coefficient */

+        c0 = *(ptr2);

+

+        /* Increment the coefficient pointer by interpolation factor times. */

+        ptr2 += S->L;

+

+        /* Read the input sample */

+        x0 = *(ptr1++);

+

+        /* Perform the multiply-accumulate */

+        sum0 += (q63_t) x0 *c0;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

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

+      tapCnt = phaseLen & 0x3u;

+

+      while(tapCnt > 0u)

+      {

+        /* Read the coefficient */

+        c0 = *(ptr2);

+

+        /* Increment the coefficient pointer by interpolation factor times. */

+        ptr2 += S->L;

+

+        /* Read the input sample */

+        x0 = *(ptr1++);

+

+        /* Perform the multiply-accumulate */

+        sum0 += (q63_t) x0 *c0;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      /* The result is in the accumulator, store in the destination buffer. */

+      *pDst++ = (q31_t) (sum0 >> 31);

+

+      /* Increment the address modifier index of coefficient buffer */

+      j++;

+

+      /* Decrement the loop counter */

+      i--;

+    }

+

+    /* Advance the state pointer by 1        

+     * to process the next group of interpolation factor number samples */

+    pState = pState + 1;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Processing is complete.        

+   ** Now copy the last phaseLen - 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 = (phaseLen - 1u) >> 2u;

+

+  /* copy data */

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+

+  tapCnt = (phaseLen - 1u) % 0x04u;

+

+  /* copy data */

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+

+}

+

+

+#else

+

+void arm_fir_interpolate_q31(

+  const arm_fir_interpolate_instance_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize)

+{

+  q31_t *pState = S->pState;                     /* State pointer */

+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */

+  q31_t *pStateCurnt;                            /* Points to the current sample of the state */

+  q31_t *ptr1, *ptr2;                            /* Temporary pointers for state and coefficient buffers */

+

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

+

+  q63_t sum;                                     /* Accumulator */

+  q31_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */

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

+  uint16_t phaseLen = S->phaseLength, tapCnt;    /* Length of each polyphase filter component */

+

+

+  /* S->pState buffer contains previous frame (phaseLen - 1) samples */

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

+  pStateCurnt = S->pState + ((q31_t) phaseLen - 1);

+

+  /* Total number of intput samples */

+  blkCnt = blockSize;

+

+  /* Loop over the blockSize. */

+  while(blkCnt > 0u)

+  {

+    /* Copy new input sample into the state buffer */

+    *pStateCurnt++ = *pSrc++;

+

+    /* Loop over the Interpolation factor. */

+    i = S->L;

+

+    while(i > 0u)

+    {

+      /* Set accumulator to zero */

+      sum = 0;

+

+      /* Initialize state pointer */

+      ptr1 = pState;

+

+      /* Initialize coefficient pointer */

+      ptr2 = pCoeffs + (i - 1u);

+

+      tapCnt = phaseLen;

+

+      while(tapCnt > 0u)

+      {

+        /* Read the coefficient */

+        c0 = *(ptr2);

+

+        /* Increment the coefficient pointer by interpolation factor times. */

+        ptr2 += S->L;

+

+        /* Read the input sample */

+        x0 = *ptr1++;

+

+        /* Perform the multiply-accumulate */

+        sum += (q63_t) x0 *c0;

+

+        /* Decrement the loop counter */

+        tapCnt--;

+      }

+

+      /* The result is in the accumulator, store in the destination buffer. */

+      *pDst++ = (q31_t) (sum >> 31);

+

+      /* Decrement the loop counter */

+      i--;

+    }

+

+    /* Advance the state pointer by 1           

+     * to process the next group of interpolation factor number samples */

+    pState = pState + 1;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Processing is complete.         

+   ** Now copy the last phaseLen - 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 = phaseLen - 1u;

+

+  /* copy data */

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+

+}

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+ /**    

+  * @} end of FIR_Interpolate group    

+  */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c
new file mode 100644
index 000000000..3745ffb6a
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c
@@ -0,0 +1,499 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_fir_lattice_f32.c    

+*    

+* Description:	Processing function for the floating-point FIR Lattice filter.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @defgroup FIR_Lattice Finite Impulse Response (FIR) Lattice Filters    

+ *    

+ * This set of functions implements Finite Impulse Response (FIR) lattice filters    

+ * for Q15, Q31 and floating-point data types.  Lattice filters are used in a     

+ * variety of adaptive filter applications.  The filter structure is feedforward and    

+ * the net impulse response is finite length.    

+ * The functions operate on blocks    

+ * of input and output data and each call to the function processes    

+ * <code>blockSize</code> samples through the filter.  <code>pSrc</code> and    

+ * <code>pDst</code> point to input and output arrays containing <code>blockSize</code> values.    

+ *    

+ * \par Algorithm:    

+ * \image html FIRLattice.gif "Finite Impulse Response Lattice filter"    

+ * The following difference equation is implemented:    

+ * <pre>    

+ *    f0[n] = g0[n] = x[n]    

+ *    fm[n] = fm-1[n] + km * gm-1[n-1] for m = 1, 2, ...M    

+ *    gm[n] = km * fm-1[n] + gm-1[n-1] for m = 1, 2, ...M    

+ *    y[n] = fM[n]    

+ * </pre>    

+ * \par    

+ * <code>pCoeffs</code> points to tha array of reflection coefficients of size <code>numStages</code>.    

+ * Reflection Coefficients are stored in the following order.    

+ * \par    

+ * <pre>    

+ *    {k1, k2, ..., kM}    

+ * </pre>    

+ * where M is number of stages    

+ * \par    

+ * <code>pState</code> points to a state array of size <code>numStages</code>.    

+ * The state variables (g values) hold previous inputs and are stored in the following order.    

+ * <pre>    

+ *    {g0[n], g1[n], g2[n] ...gM-1[n]}    

+ * </pre>    

+ * The state variables are updated after each block of data is processed; the coefficients are untouched.    

+ * \par Instance Structure    

+ * The coefficients and state variables for a filter are stored together in an instance data structure.    

+ * A separate instance structure must be defined for each filter.    

+ * Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.    

+ * There are separate instance structure declarations for each of the 3 supported data types.    

+ *    

+ * \par Initialization Functions    

+ * There is also an associated initialization function for each data type.    

+ * The initialization function performs the following operations:    

+ * - Sets the values of the internal structure fields.    

+ * - Zeros out the values in the state buffer.    

+ *    

+ * \par    

+ * Use of the initialization function is optional.    

+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    

+ * To place an instance structure into a const data section, the instance structure must be manually initialized.    

+ * Set the values in the state buffer to zeros and then manually initialize the instance structure as follows:    

+ * <pre>    

+ *arm_fir_lattice_instance_f32 S = {numStages, pState, pCoeffs};    

+ *arm_fir_lattice_instance_q31 S = {numStages, pState, pCoeffs};    

+ *arm_fir_lattice_instance_q15 S = {numStages, pState, pCoeffs};    

+ * </pre>    

+ * \par    

+ * where <code>numStages</code> is the number of stages in the filter; <code>pState</code> is the address of the state buffer;    

+ * <code>pCoeffs</code> is the address of the coefficient buffer.    

+ * \par Fixed-Point Behavior    

+ * Care must be taken when using the fixed-point versions of the FIR Lattice filter functions.    

+ * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.    

+ * Refer to the function specific documentation below for usage guidelines.    

+ */

+

+/**    

+ * @addtogroup FIR_Lattice    

+ * @{    

+ */

+

+

+  /**    

+   * @brief Processing function for the floating-point FIR lattice filter.    

+   * @param[in]  *S        points to an instance of the floating-point FIR lattice 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.    

+   * @return none.    

+   */

+

+void arm_fir_lattice_f32(

+  const arm_fir_lattice_instance_f32 * S,

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize)

+{

+  float32_t *pState;                             /* State pointer */

+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */

+  float32_t *px;                                 /* temporary state pointer */

+  float32_t *pk;                                 /* temporary coefficient pointer */

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  float32_t fcurr1, fnext1, gcurr1, gnext1;      /* temporary variables for first sample in loop unrolling */

+  float32_t fcurr2, fnext2, gnext2;              /* temporary variables for second sample in loop unrolling */

+  float32_t fcurr3, fnext3, gnext3;              /* temporary variables for third sample in loop unrolling */

+  float32_t fcurr4, fnext4, gnext4;              /* temporary variables for fourth sample in loop unrolling */

+  uint32_t numStages = S->numStages;             /* Number of stages in the filter */

+  uint32_t blkCnt, stageCnt;                     /* temporary variables for counts */

+

+  gcurr1 = 0.0f;

+  pState = &S->pState[0];

+

+  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)

+  {

+

+    /* Read two samples from input buffer */

+    /* f0(n) = x(n) */

+    fcurr1 = *pSrc++;

+    fcurr2 = *pSrc++;

+

+    /* Initialize coeff pointer */

+    pk = (pCoeffs);

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* Read g0(n-1) from state */

+    gcurr1 = *px;

+

+    /* Process first sample for first tap */

+    /* f1(n) = f0(n) +  K1 * g0(n-1) */

+    fnext1 = fcurr1 + ((*pk) * gcurr1);

+    /* g1(n) = f0(n) * K1  +  g0(n-1) */

+    gnext1 = (fcurr1 * (*pk)) + gcurr1;

+

+    /* Process second sample for first tap */

+    /* for sample 2 processing */

+    fnext2 = fcurr2 + ((*pk) * fcurr1);

+    gnext2 = (fcurr2 * (*pk)) + fcurr1;

+

+    /* Read next two samples from input buffer */

+    /* f0(n+2) = x(n+2) */

+    fcurr3 = *pSrc++;

+    fcurr4 = *pSrc++;

+

+    /* Copy only last input samples into the state buffer    

+       which will be used for next four samples processing */

+    *px++ = fcurr4;

+

+    /* Process third sample for first tap */

+    fnext3 = fcurr3 + ((*pk) * fcurr2);

+    gnext3 = (fcurr3 * (*pk)) + fcurr2;

+

+    /* Process fourth sample for first tap */

+    fnext4 = fcurr4 + ((*pk) * fcurr3);

+    gnext4 = (fcurr4 * (*pk++)) + fcurr3;

+

+    /* Update of f values for next coefficient set processing */

+    fcurr1 = fnext1;

+    fcurr2 = fnext2;

+    fcurr3 = fnext3;

+    fcurr4 = fnext4;

+

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

+    stageCnt = (numStages - 1u) >> 2u;

+

+    /* Loop over the number of taps.  Unroll by a factor of 4.    

+     ** Repeat until we've computed numStages-3 coefficients. */

+

+    /* Process 2nd, 3rd, 4th and 5th taps ... here */

+    while(stageCnt > 0u)

+    {

+      /* Read g1(n-1), g3(n-1) .... from state */

+      gcurr1 = *px;

+

+      /* save g1(n) in state buffer */

+      *px++ = gnext4;

+

+      /* Process first sample for 2nd, 6th .. tap */

+      /* Sample processing for K2, K6.... */

+      /* f2(n) = f1(n) +  K2 * g1(n-1) */

+      fnext1 = fcurr1 + ((*pk) * gcurr1);

+      /* Process second sample for 2nd, 6th .. tap */

+      /* for sample 2 processing */

+      fnext2 = fcurr2 + ((*pk) * gnext1);

+      /* Process third sample for 2nd, 6th .. tap */

+      fnext3 = fcurr3 + ((*pk) * gnext2);

+      /* Process fourth sample for 2nd, 6th .. tap */

+      fnext4 = fcurr4 + ((*pk) * gnext3);

+

+      /* g2(n) = f1(n) * K2  +  g1(n-1) */

+      /* Calculation of state values for next stage */

+      gnext4 = (fcurr4 * (*pk)) + gnext3;

+      gnext3 = (fcurr3 * (*pk)) + gnext2;

+      gnext2 = (fcurr2 * (*pk)) + gnext1;

+      gnext1 = (fcurr1 * (*pk++)) + gcurr1;

+

+

+      /* Read g2(n-1), g4(n-1) .... from state */

+      gcurr1 = *px;

+

+      /* save g2(n) in state buffer */

+      *px++ = gnext4;

+

+      /* Sample processing for K3, K7.... */

+      /* Process first sample for 3rd, 7th .. tap */

+      /* f3(n) = f2(n) +  K3 * g2(n-1) */

+      fcurr1 = fnext1 + ((*pk) * gcurr1);

+      /* Process second sample for 3rd, 7th .. tap */

+      fcurr2 = fnext2 + ((*pk) * gnext1);

+      /* Process third sample for 3rd, 7th .. tap */

+      fcurr3 = fnext3 + ((*pk) * gnext2);

+      /* Process fourth sample for 3rd, 7th .. tap */

+      fcurr4 = fnext4 + ((*pk) * gnext3);

+

+      /* Calculation of state values for next stage */

+      /* g3(n) = f2(n) * K3  +  g2(n-1) */

+      gnext4 = (fnext4 * (*pk)) + gnext3;

+      gnext3 = (fnext3 * (*pk)) + gnext2;

+      gnext2 = (fnext2 * (*pk)) + gnext1;

+      gnext1 = (fnext1 * (*pk++)) + gcurr1;

+

+

+      /* Read g1(n-1), g3(n-1) .... from state */

+      gcurr1 = *px;

+

+      /* save g3(n) in state buffer */

+      *px++ = gnext4;

+

+      /* Sample processing for K4, K8.... */

+      /* Process first sample for 4th, 8th .. tap */

+      /* f4(n) = f3(n) +  K4 * g3(n-1) */

+      fnext1 = fcurr1 + ((*pk) * gcurr1);

+      /* Process second sample for 4th, 8th .. tap */

+      /* for sample 2 processing */

+      fnext2 = fcurr2 + ((*pk) * gnext1);

+      /* Process third sample for 4th, 8th .. tap */

+      fnext3 = fcurr3 + ((*pk) * gnext2);

+      /* Process fourth sample for 4th, 8th .. tap */

+      fnext4 = fcurr4 + ((*pk) * gnext3);

+

+      /* g4(n) = f3(n) * K4  +  g3(n-1) */

+      /* Calculation of state values for next stage */

+      gnext4 = (fcurr4 * (*pk)) + gnext3;

+      gnext3 = (fcurr3 * (*pk)) + gnext2;

+      gnext2 = (fcurr2 * (*pk)) + gnext1;

+      gnext1 = (fcurr1 * (*pk++)) + gcurr1;

+

+      /* Read g2(n-1), g4(n-1) .... from state */

+      gcurr1 = *px;

+

+      /* save g4(n) in state buffer */

+      *px++ = gnext4;

+

+      /* Sample processing for K5, K9.... */

+      /* Process first sample for 5th, 9th .. tap */

+      /* f5(n) = f4(n) +  K5 * g4(n-1) */

+      fcurr1 = fnext1 + ((*pk) * gcurr1);

+      /* Process second sample for 5th, 9th .. tap */

+      fcurr2 = fnext2 + ((*pk) * gnext1);

+      /* Process third sample for 5th, 9th .. tap */

+      fcurr3 = fnext3 + ((*pk) * gnext2);

+      /* Process fourth sample for 5th, 9th .. tap */

+      fcurr4 = fnext4 + ((*pk) * gnext3);

+

+      /* Calculation of state values for next stage */

+      /* g5(n) = f4(n) * K5  +  g4(n-1) */

+      gnext4 = (fnext4 * (*pk)) + gnext3;

+      gnext3 = (fnext3 * (*pk)) + gnext2;

+      gnext2 = (fnext2 * (*pk)) + gnext1;

+      gnext1 = (fnext1 * (*pk++)) + gcurr1;

+

+      stageCnt--;

+    }

+

+    /* If the (filter length -1) is not a multiple of 4, compute the remaining filter taps */

+    stageCnt = (numStages - 1u) % 0x4u;

+

+    while(stageCnt > 0u)

+    {

+      gcurr1 = *px;

+

+      /* save g value in state buffer */

+      *px++ = gnext4;

+

+      /* Process four samples for last three taps here */

+      fnext1 = fcurr1 + ((*pk) * gcurr1);

+      fnext2 = fcurr2 + ((*pk) * gnext1);

+      fnext3 = fcurr3 + ((*pk) * gnext2);

+      fnext4 = fcurr4 + ((*pk) * gnext3);

+

+      /* g1(n) = f0(n) * K1  +  g0(n-1) */

+      gnext4 = (fcurr4 * (*pk)) + gnext3;

+      gnext3 = (fcurr3 * (*pk)) + gnext2;

+      gnext2 = (fcurr2 * (*pk)) + gnext1;

+      gnext1 = (fcurr1 * (*pk++)) + gcurr1;

+

+      /* Update of f values for next coefficient set processing */

+      fcurr1 = fnext1;

+      fcurr2 = fnext2;

+      fcurr3 = fnext3;

+      fcurr4 = fnext4;

+

+      stageCnt--;

+

+    }

+

+    /* The results in the 4 accumulators, store in the destination buffer. */

+    /* y(n) = fN(n) */

+    *pDst++ = fcurr1;

+    *pDst++ = fcurr2;

+    *pDst++ = fcurr3;

+    *pDst++ = fcurr4;

+

+    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)

+  {

+    /* f0(n) = x(n) */

+    fcurr1 = *pSrc++;

+

+    /* Initialize coeff pointer */

+    pk = (pCoeffs);

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* read g2(n) from state buffer */

+    gcurr1 = *px;

+

+    /* for sample 1 processing */

+    /* f1(n) = f0(n) +  K1 * g0(n-1) */

+    fnext1 = fcurr1 + ((*pk) * gcurr1);

+    /* g1(n) = f0(n) * K1  +  g0(n-1) */

+    gnext1 = (fcurr1 * (*pk++)) + gcurr1;

+

+    /* save g1(n) in state buffer */

+    *px++ = fcurr1;

+

+    /* f1(n) is saved in fcurr1    

+       for next stage processing */

+    fcurr1 = fnext1;

+

+    stageCnt = (numStages - 1u);

+

+    /* stage loop */

+    while(stageCnt > 0u)

+    {

+      /* read g2(n) from state buffer */

+      gcurr1 = *px;

+

+      /* save g1(n) in state buffer */

+      *px++ = gnext1;

+

+      /* Sample processing for K2, K3.... */

+      /* f2(n) = f1(n) +  K2 * g1(n-1) */

+      fnext1 = fcurr1 + ((*pk) * gcurr1);

+      /* g2(n) = f1(n) * K2  +  g1(n-1) */

+      gnext1 = (fcurr1 * (*pk++)) + gcurr1;

+

+      /* f1(n) is saved in fcurr1    

+         for next stage processing */

+      fcurr1 = fnext1;

+

+      stageCnt--;

+

+    }

+

+    /* y(n) = fN(n) */

+    *pDst++ = fcurr1;

+

+    blkCnt--;

+

+  }

+

+#else

+

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

+

+  float32_t fcurr, fnext, gcurr, gnext;          /* temporary variables */

+  uint32_t numStages = S->numStages;             /* Length of the filter */

+  uint32_t blkCnt, stageCnt;                     /* temporary variables for counts */

+

+  pState = &S->pState[0];

+

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* f0(n) = x(n) */

+    fcurr = *pSrc++;

+

+    /* Initialize coeff pointer */

+    pk = pCoeffs;

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* read g0(n-1) from state buffer */

+    gcurr = *px;

+

+    /* for sample 1 processing */

+    /* f1(n) = f0(n) +  K1 * g0(n-1) */

+    fnext = fcurr + ((*pk) * gcurr);

+    /* g1(n) = f0(n) * K1  +  g0(n-1) */

+    gnext = (fcurr * (*pk++)) + gcurr;

+

+    /* save f0(n) in state buffer */

+    *px++ = fcurr;

+

+    /* f1(n) is saved in fcurr            

+       for next stage processing */

+    fcurr = fnext;

+

+    stageCnt = (numStages - 1u);

+

+    /* stage loop */

+    while(stageCnt > 0u)

+    {

+      /* read g2(n) from state buffer */

+      gcurr = *px;

+

+      /* save g1(n) in state buffer */

+      *px++ = gnext;

+

+      /* Sample processing for K2, K3.... */

+      /* f2(n) = f1(n) +  K2 * g1(n-1) */

+      fnext = fcurr + ((*pk) * gcurr);

+      /* g2(n) = f1(n) * K2  +  g1(n-1) */

+      gnext = (fcurr * (*pk++)) + gcurr;

+

+      /* f1(n) is saved in fcurr1            

+         for next stage processing */

+      fcurr = fnext;

+

+      stageCnt--;

+

+    }

+

+    /* y(n) = fN(n) */

+    *pDst++ = fcurr;

+

+    blkCnt--;

+

+  }

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of FIR_Lattice group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c
new file mode 100644
index 000000000..a53ae92e2
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c
@@ -0,0 +1,78 @@
+/*-----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_fir_lattice_init_f32.c    

+*    

+* Description:  Floating-point FIR Lattice filter initialization 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------*/

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR_Lattice    

+ * @{    

+ */

+

+/**    

+ * @brief Initialization function for the floating-point FIR lattice filter.    

+ * @param[in] *S points to an instance of the floating-point FIR lattice structure.    

+ * @param[in] numStages  number of filter stages.    

+ * @param[in] *pCoeffs points to the coefficient buffer.  The array is of length numStages.    

+ * @param[in] *pState points to the state buffer.  The array is of length numStages.    

+ * @return none.    

+ */

+

+void arm_fir_lattice_init_f32(

+  arm_fir_lattice_instance_f32 * S,

+  uint16_t numStages,

+  float32_t * pCoeffs,

+  float32_t * pState)

+{

+  /* Assign filter taps */

+  S->numStages = numStages;

+

+  /* Assign coefficient pointer */

+  S->pCoeffs = pCoeffs;

+

+  /* Clear state buffer and size is always numStages */

+  memset(pState, 0, (numStages) * sizeof(float32_t));

+

+  /* Assign state pointer */

+  S->pState = pState;

+

+}

+

+/**    

+ * @} end of FIR_Lattice group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c
new file mode 100644
index 000000000..8db498509
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c
@@ -0,0 +1,78 @@
+/*-----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_fir_lattice_init_q15.c    

+*    

+* Description:  Q15 FIR Lattice filter initialization 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------*/

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR_Lattice    

+ * @{    

+ */

+

+  /**    

+   * @brief Initialization function for the Q15 FIR lattice filter.    

+   * @param[in] *S points to an instance of the Q15 FIR lattice structure.    

+   * @param[in] numStages  number of filter stages.    

+   * @param[in] *pCoeffs points to the coefficient buffer.  The array is of length numStages.     

+   * @param[in] *pState points to the state buffer.  The array is of length numStages.     

+   * @return none.    

+   */

+

+void arm_fir_lattice_init_q15(

+  arm_fir_lattice_instance_q15 * S,

+  uint16_t numStages,

+  q15_t * pCoeffs,

+  q15_t * pState)

+{

+  /* Assign filter taps */

+  S->numStages = numStages;

+

+  /* Assign coefficient pointer */

+  S->pCoeffs = pCoeffs;

+

+  /* Clear state buffer and size is always numStages */

+  memset(pState, 0, (numStages) * sizeof(q15_t));

+

+  /* Assign state pointer */

+  S->pState = pState;

+

+}

+

+/**    

+ * @} end of FIR_Lattice group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c
new file mode 100644
index 000000000..035c5e056
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c
@@ -0,0 +1,78 @@
+/*-----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_fir_lattice_init_q31.c    

+*    

+* Description:  Q31 FIR lattice filter initialization 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------*/

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR_Lattice    

+ * @{    

+ */

+

+  /**    

+   * @brief Initialization function for the Q31 FIR lattice filter.    

+   * @param[in] *S points to an instance of the Q31 FIR lattice structure.    

+   * @param[in] numStages  number of filter stages.    

+   * @param[in] *pCoeffs points to the coefficient buffer.  The array is of length numStages.    

+   * @param[in] *pState points to the state buffer.   The array is of length numStages.    

+   * @return none.    

+   */

+

+void arm_fir_lattice_init_q31(

+  arm_fir_lattice_instance_q31 * S,

+  uint16_t numStages,

+  q31_t * pCoeffs,

+  q31_t * pState)

+{

+  /* Assign filter taps */

+  S->numStages = numStages;

+

+  /* Assign coefficient pointer */

+  S->pCoeffs = pCoeffs;

+

+  /* Clear state buffer and size is always numStages */

+  memset(pState, 0, (numStages) * sizeof(q31_t));

+

+  /* Assign state pointer */

+  S->pState = pState;

+

+}

+

+/**    

+ * @} end of FIR_Lattice group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c
new file mode 100644
index 000000000..abfb33cf2
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c
@@ -0,0 +1,531 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_fir_lattice_q15.c    

+*    

+* Description:	Q15 FIR lattice 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR_Lattice    

+ * @{    

+ */

+

+

+/**    

+ * @brief Processing function for the Q15 FIR lattice filter.    

+ * @param[in]  *S        points to an instance of the Q15 FIR lattice 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.    

+ * @return none.    

+ */

+

+void arm_fir_lattice_q15(

+  const arm_fir_lattice_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+  q15_t *pState;                                 /* State pointer */

+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */

+  q15_t *px;                                     /* temporary state pointer */

+  q15_t *pk;                                     /* temporary coefficient pointer */

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  q31_t fcurnt1, fnext1, gcurnt1 = 0, gnext1;    /* temporary variables for first sample in loop unrolling */

+  q31_t fcurnt2, fnext2, gnext2;                 /* temporary variables for second sample in loop unrolling */

+  q31_t fcurnt3, fnext3, gnext3;                 /* temporary variables for third sample in loop unrolling */

+  q31_t fcurnt4, fnext4, gnext4;                 /* temporary variables for fourth sample in loop unrolling */

+  uint32_t numStages = S->numStages;             /* Number of stages in the filter */

+  uint32_t blkCnt, stageCnt;                     /* temporary variables for counts */

+

+  pState = &S->pState[0];

+

+  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)

+  {

+

+    /* Read two samples from input buffer */

+    /* f0(n) = x(n) */

+    fcurnt1 = *pSrc++;

+    fcurnt2 = *pSrc++;

+

+    /* Initialize coeff pointer */

+    pk = (pCoeffs);

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* Read g0(n-1) from state */

+    gcurnt1 = *px;

+

+    /* Process first sample for first tap */

+    /* f1(n) = f0(n) +  K1 * g0(n-1) */

+    fnext1 = (q31_t) ((gcurnt1 * (*pk)) >> 15u) + fcurnt1;

+    fnext1 = __SSAT(fnext1, 16);

+

+    /* g1(n) = f0(n) * K1  +  g0(n-1) */

+    gnext1 = (q31_t) ((fcurnt1 * (*pk)) >> 15u) + gcurnt1;

+    gnext1 = __SSAT(gnext1, 16);

+

+    /* Process second sample for first tap */

+    /* for sample 2 processing */

+    fnext2 = (q31_t) ((fcurnt1 * (*pk)) >> 15u) + fcurnt2;

+    fnext2 = __SSAT(fnext2, 16);

+

+    gnext2 = (q31_t) ((fcurnt2 * (*pk)) >> 15u) + fcurnt1;

+    gnext2 = __SSAT(gnext2, 16);

+

+

+    /* Read next two samples from input buffer */

+    /* f0(n+2) = x(n+2) */

+    fcurnt3 = *pSrc++;

+    fcurnt4 = *pSrc++;

+

+    /* Copy only last input samples into the state buffer    

+       which is used for next four samples processing */

+    *px++ = (q15_t) fcurnt4;

+

+    /* Process third sample for first tap */

+    fnext3 = (q31_t) ((fcurnt2 * (*pk)) >> 15u) + fcurnt3;

+    fnext3 = __SSAT(fnext3, 16);

+    gnext3 = (q31_t) ((fcurnt3 * (*pk)) >> 15u) + fcurnt2;

+    gnext3 = __SSAT(gnext3, 16);

+

+    /* Process fourth sample for first tap */

+    fnext4 = (q31_t) ((fcurnt3 * (*pk)) >> 15u) + fcurnt4;

+    fnext4 = __SSAT(fnext4, 16);

+    gnext4 = (q31_t) ((fcurnt4 * (*pk++)) >> 15u) + fcurnt3;

+    gnext4 = __SSAT(gnext4, 16);

+

+    /* Update of f values for next coefficient set processing */

+    fcurnt1 = fnext1;

+    fcurnt2 = fnext2;

+    fcurnt3 = fnext3;

+    fcurnt4 = fnext4;

+

+

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

+    stageCnt = (numStages - 1u) >> 2;

+

+

+    /* Loop over the number of taps.  Unroll by a factor of 4.    

+     ** Repeat until we've computed numStages-3 coefficients. */

+

+    /* Process 2nd, 3rd, 4th and 5th taps ... here */

+    while(stageCnt > 0u)

+    {

+      /* Read g1(n-1), g3(n-1) .... from state */

+      gcurnt1 = *px;

+

+      /* save g1(n) in state buffer */

+      *px++ = (q15_t) gnext4;

+

+      /* Process first sample for 2nd, 6th .. tap */

+      /* Sample processing for K2, K6.... */

+      /* f1(n) = f0(n) +  K1 * g0(n-1) */

+      fnext1 = (q31_t) ((gcurnt1 * (*pk)) >> 15u) + fcurnt1;

+      fnext1 = __SSAT(fnext1, 16);

+

+

+      /* Process second sample for 2nd, 6th .. tap */

+      /* for sample 2 processing */

+      fnext2 = (q31_t) ((gnext1 * (*pk)) >> 15u) + fcurnt2;

+      fnext2 = __SSAT(fnext2, 16);

+      /* Process third sample for 2nd, 6th .. tap */

+      fnext3 = (q31_t) ((gnext2 * (*pk)) >> 15u) + fcurnt3;

+      fnext3 = __SSAT(fnext3, 16);

+      /* Process fourth sample for 2nd, 6th .. tap */

+      /* fnext4 = fcurnt4 + (*pk) * gnext3; */

+      fnext4 = (q31_t) ((gnext3 * (*pk)) >> 15u) + fcurnt4;

+      fnext4 = __SSAT(fnext4, 16);

+

+      /* g1(n) = f0(n) * K1  +  g0(n-1) */

+      /* Calculation of state values for next stage */

+      gnext4 = (q31_t) ((fcurnt4 * (*pk)) >> 15u) + gnext3;

+      gnext4 = __SSAT(gnext4, 16);

+      gnext3 = (q31_t) ((fcurnt3 * (*pk)) >> 15u) + gnext2;

+      gnext3 = __SSAT(gnext3, 16);

+

+      gnext2 = (q31_t) ((fcurnt2 * (*pk)) >> 15u) + gnext1;

+      gnext2 = __SSAT(gnext2, 16);

+

+      gnext1 = (q31_t) ((fcurnt1 * (*pk++)) >> 15u) + gcurnt1;

+      gnext1 = __SSAT(gnext1, 16);

+

+

+      /* Read g2(n-1), g4(n-1) .... from state */

+      gcurnt1 = *px;

+

+      /* save g1(n) in state buffer */

+      *px++ = (q15_t) gnext4;

+

+      /* Sample processing for K3, K7.... */

+      /* Process first sample for 3rd, 7th .. tap */

+      /* f3(n) = f2(n) +  K3 * g2(n-1) */

+      fcurnt1 = (q31_t) ((gcurnt1 * (*pk)) >> 15u) + fnext1;

+      fcurnt1 = __SSAT(fcurnt1, 16);

+

+      /* Process second sample for 3rd, 7th .. tap */

+      fcurnt2 = (q31_t) ((gnext1 * (*pk)) >> 15u) + fnext2;

+      fcurnt2 = __SSAT(fcurnt2, 16);

+

+      /* Process third sample for 3rd, 7th .. tap */

+      fcurnt3 = (q31_t) ((gnext2 * (*pk)) >> 15u) + fnext3;

+      fcurnt3 = __SSAT(fcurnt3, 16);

+

+      /* Process fourth sample for 3rd, 7th .. tap */

+      fcurnt4 = (q31_t) ((gnext3 * (*pk)) >> 15u) + fnext4;

+      fcurnt4 = __SSAT(fcurnt4, 16);

+

+      /* Calculation of state values for next stage */

+      /* g3(n) = f2(n) * K3  +  g2(n-1) */

+      gnext4 = (q31_t) ((fnext4 * (*pk)) >> 15u) + gnext3;

+      gnext4 = __SSAT(gnext4, 16);

+

+      gnext3 = (q31_t) ((fnext3 * (*pk)) >> 15u) + gnext2;

+      gnext3 = __SSAT(gnext3, 16);

+

+      gnext2 = (q31_t) ((fnext2 * (*pk)) >> 15u) + gnext1;

+      gnext2 = __SSAT(gnext2, 16);

+

+      gnext1 = (q31_t) ((fnext1 * (*pk++)) >> 15u) + gcurnt1;

+      gnext1 = __SSAT(gnext1, 16);

+

+      /* Read g1(n-1), g3(n-1) .... from state */

+      gcurnt1 = *px;

+

+      /* save g1(n) in state buffer */

+      *px++ = (q15_t) gnext4;

+

+      /* Sample processing for K4, K8.... */

+      /* Process first sample for 4th, 8th .. tap */

+      /* f4(n) = f3(n) +  K4 * g3(n-1) */

+      fnext1 = (q31_t) ((gcurnt1 * (*pk)) >> 15u) + fcurnt1;

+      fnext1 = __SSAT(fnext1, 16);

+

+      /* Process second sample for 4th, 8th .. tap */

+      /* for sample 2 processing */

+      fnext2 = (q31_t) ((gnext1 * (*pk)) >> 15u) + fcurnt2;

+      fnext2 = __SSAT(fnext2, 16);

+

+      /* Process third sample for 4th, 8th .. tap */

+      fnext3 = (q31_t) ((gnext2 * (*pk)) >> 15u) + fcurnt3;

+      fnext3 = __SSAT(fnext3, 16);

+

+      /* Process fourth sample for 4th, 8th .. tap */

+      fnext4 = (q31_t) ((gnext3 * (*pk)) >> 15u) + fcurnt4;

+      fnext4 = __SSAT(fnext4, 16);

+

+      /* g4(n) = f3(n) * K4  +  g3(n-1) */

+      /* Calculation of state values for next stage */

+      gnext4 = (q31_t) ((fcurnt4 * (*pk)) >> 15u) + gnext3;

+      gnext4 = __SSAT(gnext4, 16);

+

+      gnext3 = (q31_t) ((fcurnt3 * (*pk)) >> 15u) + gnext2;

+      gnext3 = __SSAT(gnext3, 16);

+

+      gnext2 = (q31_t) ((fcurnt2 * (*pk)) >> 15u) + gnext1;

+      gnext2 = __SSAT(gnext2, 16);

+      gnext1 = (q31_t) ((fcurnt1 * (*pk++)) >> 15u) + gcurnt1;

+      gnext1 = __SSAT(gnext1, 16);

+

+

+      /* Read g2(n-1), g4(n-1) .... from state */

+      gcurnt1 = *px;

+

+      /* save g4(n) in state buffer */

+      *px++ = (q15_t) gnext4;

+

+      /* Sample processing for K5, K9.... */

+      /* Process first sample for 5th, 9th .. tap */

+      /* f5(n) = f4(n) +  K5 * g4(n-1) */

+      fcurnt1 = (q31_t) ((gcurnt1 * (*pk)) >> 15u) + fnext1;

+      fcurnt1 = __SSAT(fcurnt1, 16);

+

+      /* Process second sample for 5th, 9th .. tap */

+      fcurnt2 = (q31_t) ((gnext1 * (*pk)) >> 15u) + fnext2;

+      fcurnt2 = __SSAT(fcurnt2, 16);

+

+      /* Process third sample for 5th, 9th .. tap */

+      fcurnt3 = (q31_t) ((gnext2 * (*pk)) >> 15u) + fnext3;

+      fcurnt3 = __SSAT(fcurnt3, 16);

+

+      /* Process fourth sample for 5th, 9th .. tap */

+      fcurnt4 = (q31_t) ((gnext3 * (*pk)) >> 15u) + fnext4;

+      fcurnt4 = __SSAT(fcurnt4, 16);

+

+      /* Calculation of state values for next stage */

+      /* g5(n) = f4(n) * K5  +  g4(n-1) */

+      gnext4 = (q31_t) ((fnext4 * (*pk)) >> 15u) + gnext3;

+      gnext4 = __SSAT(gnext4, 16);

+      gnext3 = (q31_t) ((fnext3 * (*pk)) >> 15u) + gnext2;

+      gnext3 = __SSAT(gnext3, 16);

+      gnext2 = (q31_t) ((fnext2 * (*pk)) >> 15u) + gnext1;

+      gnext2 = __SSAT(gnext2, 16);

+      gnext1 = (q31_t) ((fnext1 * (*pk++)) >> 15u) + gcurnt1;

+      gnext1 = __SSAT(gnext1, 16);

+

+      stageCnt--;

+    }

+

+    /* If the (filter length -1) is not a multiple of 4, compute the remaining filter taps */

+    stageCnt = (numStages - 1u) % 0x4u;

+

+    while(stageCnt > 0u)

+    {

+      gcurnt1 = *px;

+

+      /* save g value in state buffer */

+      *px++ = (q15_t) gnext4;

+

+      /* Process four samples for last three taps here */

+      fnext1 = (q31_t) ((gcurnt1 * (*pk)) >> 15u) + fcurnt1;

+      fnext1 = __SSAT(fnext1, 16);

+      fnext2 = (q31_t) ((gnext1 * (*pk)) >> 15u) + fcurnt2;

+      fnext2 = __SSAT(fnext2, 16);

+

+      fnext3 = (q31_t) ((gnext2 * (*pk)) >> 15u) + fcurnt3;

+      fnext3 = __SSAT(fnext3, 16);

+

+      fnext4 = (q31_t) ((gnext3 * (*pk)) >> 15u) + fcurnt4;

+      fnext4 = __SSAT(fnext4, 16);

+

+      /* g1(n) = f0(n) * K1  +  g0(n-1) */

+      gnext4 = (q31_t) ((fcurnt4 * (*pk)) >> 15u) + gnext3;

+      gnext4 = __SSAT(gnext4, 16);

+      gnext3 = (q31_t) ((fcurnt3 * (*pk)) >> 15u) + gnext2;

+      gnext3 = __SSAT(gnext3, 16);

+      gnext2 = (q31_t) ((fcurnt2 * (*pk)) >> 15u) + gnext1;

+      gnext2 = __SSAT(gnext2, 16);

+      gnext1 = (q31_t) ((fcurnt1 * (*pk++)) >> 15u) + gcurnt1;

+      gnext1 = __SSAT(gnext1, 16);

+

+      /* Update of f values for next coefficient set processing */

+      fcurnt1 = fnext1;

+      fcurnt2 = fnext2;

+      fcurnt3 = fnext3;

+      fcurnt4 = fnext4;

+

+      stageCnt--;

+

+    }

+

+    /* The results in the 4 accumulators, store in the destination buffer. */

+    /* y(n) = fN(n) */

+

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+    *__SIMD32(pDst)++ = __PKHBT(fcurnt1, fcurnt2, 16);

+    *__SIMD32(pDst)++ = __PKHBT(fcurnt3, fcurnt4, 16);

+

+#else

+

+    *__SIMD32(pDst)++ = __PKHBT(fcurnt2, fcurnt1, 16);

+    *__SIMD32(pDst)++ = __PKHBT(fcurnt4, fcurnt3, 16);

+

+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+    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)

+  {

+    /* f0(n) = x(n) */

+    fcurnt1 = *pSrc++;

+

+    /* Initialize coeff pointer */

+    pk = (pCoeffs);

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* read g2(n) from state buffer */

+    gcurnt1 = *px;

+

+    /* for sample 1 processing */

+    /* f1(n) = f0(n) +  K1 * g0(n-1) */

+    fnext1 = (((q31_t) gcurnt1 * (*pk)) >> 15u) + fcurnt1;

+    fnext1 = __SSAT(fnext1, 16);

+

+

+    /* g1(n) = f0(n) * K1  +  g0(n-1) */

+    gnext1 = (((q31_t) fcurnt1 * (*pk++)) >> 15u) + gcurnt1;

+    gnext1 = __SSAT(gnext1, 16);

+

+    /* save g1(n) in state buffer */

+    *px++ = (q15_t) fcurnt1;

+

+    /* f1(n) is saved in fcurnt1    

+       for next stage processing */

+    fcurnt1 = fnext1;

+

+    stageCnt = (numStages - 1u);

+

+    /* stage loop */

+    while(stageCnt > 0u)

+    {

+      /* read g2(n) from state buffer */

+      gcurnt1 = *px;

+

+      /* save g1(n) in state buffer */

+      *px++ = (q15_t) gnext1;

+

+      /* Sample processing for K2, K3.... */

+      /* f2(n) = f1(n) +  K2 * g1(n-1) */

+      fnext1 = (((q31_t) gcurnt1 * (*pk)) >> 15u) + fcurnt1;

+      fnext1 = __SSAT(fnext1, 16);

+

+      /* g2(n) = f1(n) * K2  +  g1(n-1) */

+      gnext1 = (((q31_t) fcurnt1 * (*pk++)) >> 15u) + gcurnt1;

+      gnext1 = __SSAT(gnext1, 16);

+

+

+      /* f1(n) is saved in fcurnt1    

+         for next stage processing */

+      fcurnt1 = fnext1;

+

+      stageCnt--;

+

+    }

+

+    /* y(n) = fN(n) */

+    *pDst++ = __SSAT(fcurnt1, 16);

+

+

+    blkCnt--;

+

+  }

+

+#else

+

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

+

+  q31_t fcurnt, fnext, gcurnt, gnext;            /* temporary variables */

+  uint32_t numStages = S->numStages;             /* Length of the filter */

+  uint32_t blkCnt, stageCnt;                     /* temporary variables for counts */

+

+  pState = &S->pState[0];

+

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* f0(n) = x(n) */

+    fcurnt = *pSrc++;

+

+    /* Initialize coeff pointer */

+    pk = (pCoeffs);

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* read g0(n-1) from state buffer */

+    gcurnt = *px;

+

+    /* for sample 1 processing */

+    /* f1(n) = f0(n) +  K1 * g0(n-1) */

+    fnext = ((gcurnt * (*pk)) >> 15u) + fcurnt;

+    fnext = __SSAT(fnext, 16);

+

+

+    /* g1(n) = f0(n) * K1  +  g0(n-1) */

+    gnext = ((fcurnt * (*pk++)) >> 15u) + gcurnt;

+    gnext = __SSAT(gnext, 16);

+

+    /* save f0(n) in state buffer */

+    *px++ = (q15_t) fcurnt;

+

+    /* f1(n) is saved in fcurnt            

+       for next stage processing */

+    fcurnt = fnext;

+

+    stageCnt = (numStages - 1u);

+

+    /* stage loop */

+    while(stageCnt > 0u)

+    {

+      /* read g1(n-1) from state buffer */

+      gcurnt = *px;

+

+      /* save g0(n-1) in state buffer */

+      *px++ = (q15_t) gnext;

+

+      /* Sample processing for K2, K3.... */

+      /* f2(n) = f1(n) +  K2 * g1(n-1) */

+      fnext = ((gcurnt * (*pk)) >> 15u) + fcurnt;

+      fnext = __SSAT(fnext, 16);

+

+      /* g2(n) = f1(n) * K2  +  g1(n-1) */

+      gnext = ((fcurnt * (*pk++)) >> 15u) + gcurnt;

+      gnext = __SSAT(gnext, 16);

+

+

+      /* f1(n) is saved in fcurnt            

+         for next stage processing */

+      fcurnt = fnext;

+

+      stageCnt--;

+

+    }

+

+    /* y(n) = fN(n) */

+    *pDst++ = __SSAT(fcurnt, 16);

+

+

+    blkCnt--;

+

+  }

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of FIR_Lattice group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c
new file mode 100644
index 000000000..9fb46459d
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c
@@ -0,0 +1,348 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_fir_lattice_q31.c    

+*    

+* Description:	Q31 FIR lattice 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR_Lattice    

+ * @{    

+ */

+

+

+/**    

+ * @brief Processing function for the Q31 FIR lattice filter.    

+ * @param[in]  *S        points to an instance of the Q31 FIR lattice 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.    

+ * @return none.    

+ *    

+ * @details    

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

+ * In order to avoid overflows the input signal must be scaled down by 2*log2(numStages) bits.    

+ */

+

+#ifndef ARM_MATH_CM0

+

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

+

+void arm_fir_lattice_q31(

+  const arm_fir_lattice_instance_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize)

+{

+  q31_t *pState;                                 /* State pointer */

+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */

+  q31_t *px;                                     /* temporary state pointer */

+  q31_t *pk;                                     /* temporary coefficient pointer */

+  q31_t fcurr1, fnext1, gcurr1 = 0, gnext1;      /* temporary variables for first sample in loop unrolling */

+  q31_t fcurr2, fnext2, gnext2;                  /* temporary variables for second sample in loop unrolling */

+  uint32_t numStages = S->numStages;             /* Length of the filter */

+  uint32_t blkCnt, stageCnt;                     /* temporary variables for counts */

+  q31_t k;

+

+  pState = &S->pState[0];

+

+  blkCnt = blockSize >> 1u;

+

+  /* First part of the processing with loop unrolling.  Compute 2 outputs at a time.        

+     a second loop below computes the remaining 1 sample. */

+  while(blkCnt > 0u)

+  {

+    /* f0(n) = x(n) */

+    fcurr1 = *pSrc++;

+

+    /* f0(n) = x(n) */

+    fcurr2 = *pSrc++;

+

+    /* Initialize coeff pointer */

+    pk = (pCoeffs);

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* read g0(n - 1) from state buffer */

+    gcurr1 = *px;

+

+    /* Read the reflection coefficient */

+    k = *pk++;

+

+    /* for sample 1 processing */

+    /* f1(n) = f0(n) +  K1 * g0(n-1) */

+    fnext1 = (q31_t) (((q63_t) gcurr1 * k) >> 32);

+

+    /* g1(n) = f0(n) * K1  +  g0(n-1) */

+    gnext1 = (q31_t) (((q63_t) fcurr1 * (k)) >> 32);

+    fnext1 = fcurr1 + (fnext1 << 1u);

+    gnext1 = gcurr1 + (gnext1 << 1u);

+

+    /* for sample 1 processing */

+    /* f1(n) = f0(n) +  K1 * g0(n-1) */

+    fnext2 = (q31_t) (((q63_t) fcurr1 * k) >> 32);

+

+    /* g1(n) = f0(n) * K1  +  g0(n-1) */

+    gnext2 = (q31_t) (((q63_t) fcurr2 * (k)) >> 32);

+    fnext2 = fcurr2 + (fnext2 << 1u);

+    gnext2 = fcurr1 + (gnext2 << 1u);

+

+    /* save g1(n) in state buffer */

+    *px++ = fcurr2;

+

+    /* f1(n) is saved in fcurr1        

+       for next stage processing */

+    fcurr1 = fnext1;

+    fcurr2 = fnext2;

+

+    stageCnt = (numStages - 1u);

+

+    /* stage loop */

+    while(stageCnt > 0u)

+    {

+

+      /* Read the reflection coefficient */

+      k = *pk++;

+

+      /* read g2(n) from state buffer */

+      gcurr1 = *px;

+

+      /* save g1(n) in state buffer */

+      *px++ = gnext2;

+

+      /* Sample processing for K2, K3.... */

+      /* f2(n) = f1(n) +  K2 * g1(n-1) */

+      fnext1 = (q31_t) (((q63_t) gcurr1 * k) >> 32);

+      fnext2 = (q31_t) (((q63_t) gnext1 * k) >> 32);

+

+      fnext1 = fcurr1 + (fnext1 << 1u);

+      fnext2 = fcurr2 + (fnext2 << 1u);

+

+      /* g2(n) = f1(n) * K2  +  g1(n-1) */

+      gnext2 = (q31_t) (((q63_t) fcurr2 * (k)) >> 32);

+      gnext2 = gnext1 + (gnext2 << 1u);

+

+      /* g2(n) = f1(n) * K2  +  g1(n-1) */

+      gnext1 = (q31_t) (((q63_t) fcurr1 * (k)) >> 32);

+      gnext1 = gcurr1 + (gnext1 << 1u);

+

+      /* f1(n) is saved in fcurr1        

+         for next stage processing */

+      fcurr1 = fnext1;

+      fcurr2 = fnext2;

+

+      stageCnt--;

+

+    }

+

+    /* y(n) = fN(n) */

+    *pDst++ = fcurr1;

+    *pDst++ = fcurr2;

+

+    blkCnt--;

+

+  }

+

+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.        

+   ** No loop unrolling is used. */

+  blkCnt = blockSize % 0x2u;

+

+  while(blkCnt > 0u)

+  {

+    /* f0(n) = x(n) */

+    fcurr1 = *pSrc++;

+

+    /* Initialize coeff pointer */

+    pk = (pCoeffs);

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* read g0(n - 1) from state buffer */

+    gcurr1 = *px;

+

+    /* Read the reflection coefficient */

+    k = *pk++;

+

+    /* for sample 1 processing */

+    /* f1(n) = f0(n) +  K1 * g0(n-1) */

+    fnext1 = (q31_t) (((q63_t) gcurr1 * k) >> 32);

+    fnext1 = fcurr1 + (fnext1 << 1u);

+

+    /* g1(n) = f0(n) * K1  +  g0(n-1) */

+    gnext1 = (q31_t) (((q63_t) fcurr1 * (k)) >> 32);

+    gnext1 = gcurr1 + (gnext1 << 1u);

+

+    /* save g1(n) in state buffer */

+    *px++ = fcurr1;

+

+    /* f1(n) is saved in fcurr1        

+       for next stage processing */

+    fcurr1 = fnext1;

+

+    stageCnt = (numStages - 1u);

+

+    /* stage loop */

+    while(stageCnt > 0u)

+    {

+      /* Read the reflection coefficient */

+      k = *pk++;

+

+      /* read g2(n) from state buffer */

+      gcurr1 = *px;

+

+      /* save g1(n) in state buffer */

+      *px++ = gnext1;

+

+      /* Sample processing for K2, K3.... */

+      /* f2(n) = f1(n) +  K2 * g1(n-1) */

+      fnext1 = (q31_t) (((q63_t) gcurr1 * k) >> 32);

+      fnext1 = fcurr1 + (fnext1 << 1u);

+

+      /* g2(n) = f1(n) * K2  +  g1(n-1) */

+      gnext1 = (q31_t) (((q63_t) fcurr1 * (k)) >> 32);

+      gnext1 = gcurr1 + (gnext1 << 1u);

+

+      /* f1(n) is saved in fcurr1        

+         for next stage processing */

+      fcurr1 = fnext1;

+

+      stageCnt--;

+

+    }

+

+

+    /* y(n) = fN(n) */

+    *pDst++ = fcurr1;

+

+    blkCnt--;

+

+  }

+

+

+}

+

+

+#else

+

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

+

+void arm_fir_lattice_q31(

+  const arm_fir_lattice_instance_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize)

+{

+  q31_t *pState;                                 /* State pointer */

+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */

+  q31_t *px;                                     /* temporary state pointer */

+  q31_t *pk;                                     /* temporary coefficient pointer */

+  q31_t fcurr, fnext, gcurr, gnext;              /* temporary variables */

+  uint32_t numStages = S->numStages;             /* Length of the filter */

+  uint32_t blkCnt, stageCnt;                     /* temporary variables for counts */

+

+  pState = &S->pState[0];

+

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* f0(n) = x(n) */

+    fcurr = *pSrc++;

+

+    /* Initialize coeff pointer */

+    pk = (pCoeffs);

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* read g0(n-1) from state buffer */

+    gcurr = *px;

+

+    /* for sample 1 processing */

+    /* f1(n) = f0(n) +  K1 * g0(n-1) */

+    fnext = (q31_t) (((q63_t) gcurr * (*pk)) >> 31) + fcurr;

+    /* g1(n) = f0(n) * K1  +  g0(n-1) */

+    gnext = (q31_t) (((q63_t) fcurr * (*pk++)) >> 31) + gcurr;

+    /* save g1(n) in state buffer */

+    *px++ = fcurr;

+

+    /* f1(n) is saved in fcurr1            

+       for next stage processing */

+    fcurr = fnext;

+

+    stageCnt = (numStages - 1u);

+

+    /* stage loop */

+    while(stageCnt > 0u)

+    {

+      /* read g2(n) from state buffer */

+      gcurr = *px;

+

+      /* save g1(n) in state buffer */

+      *px++ = gnext;

+

+      /* Sample processing for K2, K3.... */

+      /* f2(n) = f1(n) +  K2 * g1(n-1) */

+      fnext = (q31_t) (((q63_t) gcurr * (*pk)) >> 31) + fcurr;

+      /* g2(n) = f1(n) * K2  +  g1(n-1) */

+      gnext = (q31_t) (((q63_t) fcurr * (*pk++)) >> 31) + gcurr;

+

+      /* f1(n) is saved in fcurr1            

+         for next stage processing */

+      fcurr = fnext;

+

+      stageCnt--;

+

+    }

+

+    /* y(n) = fN(n) */

+    *pDst++ = fcurr;

+

+    blkCnt--;

+

+  }

+

+}

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+

+/**    

+ * @} end of FIR_Lattice group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c
new file mode 100644
index 000000000..368014f43
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c
@@ -0,0 +1,689 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_fir_q15.c    

+*    

+* Description:  Q15 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       

+ * @{       

+ */

+

+/**       

+ * @brief Processing function for the Q15 FIR filter.       

+ * @param[in] *S points to an instance of the Q15 FIR 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.       

+ *   

+ *   

+ * \par Restrictions   

+ *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE   

+ *	In this case input, output, state buffers should be aligned by 32-bit   

+ *   

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

+ * \par       

+ * The function is implemented using a 64-bit internal accumulator.       

+ * Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result.       

+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.       

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

+ * After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits.       

+ * Lastly, the accumulator is saturated to yield a result in 1.15 format.       

+ *       

+ * \par       

+ * Refer to the function <code>arm_fir_fast_q15()</code> for a faster but less precise implementation of this function.       

+ */

+

+#ifndef ARM_MATH_CM0

+

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

+

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+

+void arm_fir_q15(

+  const arm_fir_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+  q15_t *pState = S->pState;                     /* State pointer */

+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */

+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */

+  q15_t *px1;                                    /* Temporary q15 pointer for state buffer */

+  q15_t *pb;                                     /* Temporary pointer for coefficient buffer */

+  q31_t x0, x1, x2, x3, c0;                      /* Temporary variables to hold SIMD state and coefficient values */

+  q63_t acc0, acc1, acc2, acc3;                  /* Accumulators */

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

+  uint32_t 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.       

+     ** Use 32-bit SIMD to move the 16-bit data.  Only requires two copies. */

+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pSrc)++;

+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pSrc)++;

+

+    /* Set all accumulators to zero */

+    acc0 = 0;

+    acc1 = 0;

+    acc2 = 0;

+    acc3 = 0;

+

+    /* Initialize state pointer of type q15 */

+    px1 = pState;

+

+    /* Initialize coeff pointer of type q31 */

+    pb = pCoeffs;

+

+    /* Read the first two samples from the state buffer:  x[n-N], x[n-N-1] */

+    x0 = _SIMD32_OFFSET(px1);

+

+    /* Read the third and forth samples from the state buffer: x[n-N-1], x[n-N-2] */

+    x1 = _SIMD32_OFFSET(px1 + 1u);

+

+    px1 += 2u;

+

+    /* Loop over the number of taps.  Unroll by a factor of 4.       

+     ** Repeat until we've computed numTaps-4 coefficients. */

+    tapCnt = numTaps >> 2;

+

+    while(tapCnt > 0u)

+    {

+      /* Read the first two coefficients using SIMD:  b[N] and b[N-1] coefficients */

+      c0 = *__SIMD32(pb)++;

+

+      /* acc0 +=  b[N] * x[n-N] + b[N-1] * x[n-N-1] */

+      acc0 = __SMLALD(x0, c0, acc0);

+

+      /* acc1 +=  b[N] * x[n-N-1] + b[N-1] * x[n-N-2] */

+      acc1 = __SMLALD(x1, c0, acc1);

+

+      /* Read state x[n-N-2], x[n-N-3] */

+      x2 = _SIMD32_OFFSET(px1);

+

+      /* Read state x[n-N-3], x[n-N-4] */

+      x3 = _SIMD32_OFFSET(px1 + 1u);

+

+      /* acc2 +=  b[N] * x[n-N-2] + b[N-1] * x[n-N-3] */

+      acc2 = __SMLALD(x2, c0, acc2);

+

+      /* acc3 +=  b[N] * x[n-N-3] + b[N-1] * x[n-N-4] */

+      acc3 = __SMLALD(x3, c0, acc3);

+

+      /* Read coefficients b[N-2], b[N-3] */

+      c0 = *__SIMD32(pb)++;

+

+      /* acc0 +=  b[N-2] * x[n-N-2] + b[N-3] * x[n-N-3] */

+      acc0 = __SMLALD(x2, c0, acc0);

+

+      /* acc1 +=  b[N-2] * x[n-N-3] + b[N-3] * x[n-N-4] */

+      acc1 = __SMLALD(x3, c0, acc1);

+

+      /* Read state x[n-N-4], x[n-N-5] */

+      x0 = _SIMD32_OFFSET(px1 + 2u);

+

+      /* Read state x[n-N-5], x[n-N-6] */

+      x1 = _SIMD32_OFFSET(px1 + 3u);

+

+      /* acc2 +=  b[N-2] * x[n-N-4] + b[N-3] * x[n-N-5] */

+      acc2 = __SMLALD(x0, c0, acc2);

+

+      /* acc3 +=  b[N-2] * x[n-N-5] + b[N-3] * x[n-N-6] */

+      acc3 = __SMLALD(x1, c0, acc3);

+

+      px1 += 4u;

+

+      tapCnt--;

+

+    }

+

+

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

+     ** This is always be 2 taps since the filter length is even. */

+    if((numTaps & 0x3u) != 0u)

+    {

+      /* Read 2 coefficients */

+      c0 = *__SIMD32(pb)++;

+

+      /* Fetch 4 state variables */

+      x2 = _SIMD32_OFFSET(px1);

+

+      x3 = _SIMD32_OFFSET(px1 + 1u);

+

+      /* Perform the multiply-accumulates */

+      acc0 = __SMLALD(x0, c0, acc0);

+

+      px1 += 2u;

+

+      acc1 = __SMLALD(x1, c0, acc1);

+      acc2 = __SMLALD(x2, c0, acc2);

+      acc3 = __SMLALD(x3, c0, acc3);

+    }

+

+    /* The results in the 4 accumulators are in 2.30 format.  Convert to 1.15 with saturation.       

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

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    *__SIMD32(pDst)++ =

+      __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);

+    *__SIMD32(pDst)++ =

+      __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);

+

+#else

+

+    *__SIMD32(pDst)++ =

+      __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);

+    *__SIMD32(pDst)++ =

+      __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN       */

+

+

+

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

+    pState = pState + 4;

+

+    /* 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)

+  {

+    /* Copy two samples into state buffer */

+    *pStateCurnt++ = *pSrc++;

+

+    /* Set the accumulator to zero */

+    acc0 = 0;

+

+    /* Initialize state pointer of type q15 */

+    px1 = pState;

+

+    /* Initialize coeff pointer of type q31 */

+    pb = pCoeffs;

+

+    tapCnt = numTaps >> 1;

+

+    do

+    {

+

+      c0 = *__SIMD32(pb)++;

+      x0 = *__SIMD32(px1)++;

+

+      acc0 = __SMLALD(x0, c0, acc0);

+      tapCnt--;

+    }

+    while(tapCnt > 0u);

+

+    /* The result is in 2.30 format.  Convert to 1.15 with saturation.       

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

+    *pDst++ = (q15_t) (__SSAT((acc0 >> 15), 16));

+

+    /* Advance state pointer by 1 for 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;

+

+  /* Calculation of count for copying integer writes */

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

+

+  while(tapCnt > 0u)

+  {

+

+    /* Copy state values to start of state buffer */

+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;

+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;

+

+    tapCnt--;

+

+  }

+

+  /* Calculation of count for remaining q15_t data */

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

+

+  /* copy remaining data */

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+}

+

+#else /* UNALIGNED_SUPPORT_DISABLE */

+

+void arm_fir_q15(

+  const arm_fir_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+  q15_t *pState = S->pState;                     /* State pointer */

+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */

+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */

+  q63_t acc0, acc1, acc2, acc3;                  /* Accumulators */

+  q15_t *pb;                                     /* Temporary pointer for coefficient buffer */

+  q15_t *px;                                     /* Temporary q31 pointer for SIMD state buffer accesses */

+  q31_t x0, x1, x2, c0;                          /* Temporary variables to hold SIMD state and coefficient values */

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

+  uint32_t 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.      

+     ** Use 32-bit SIMD to move the 16-bit data.  Only requires two copies. */

+    *pStateCurnt++ = *pSrc++;

+    *pStateCurnt++ = *pSrc++;

+    *pStateCurnt++ = *pSrc++;

+    *pStateCurnt++ = *pSrc++;

+

+

+    /* Set all accumulators to zero */

+    acc0 = 0;

+    acc1 = 0;

+    acc2 = 0;

+    acc3 = 0;

+

+    /* Typecast q15_t pointer to q31_t pointer for state reading in q31_t */

+    px = pState;

+

+    /* Typecast q15_t pointer to q31_t pointer for coefficient reading in q31_t */

+    pb = pCoeffs;

+

+    /* Read the first two samples from the state buffer:  x[n-N], x[n-N-1] */

+    x0 = *__SIMD32(px)++;

+

+    /* Read the third and forth samples from the state buffer: x[n-N-2], x[n-N-3] */

+    x2 = *__SIMD32(px)++;

+

+    /* Loop over the number of taps.  Unroll by a factor of 4.      

+     ** Repeat until we've computed numTaps-(numTaps%4) coefficients. */

+    tapCnt = numTaps >> 2;

+

+    while(tapCnt > 0)

+    {

+      /* Read the first two coefficients using SIMD:  b[N] and b[N-1] coefficients */

+      c0 = *__SIMD32(pb)++;

+

+      /* acc0 +=  b[N] * x[n-N] + b[N-1] * x[n-N-1] */

+      acc0 = __SMLALD(x0, c0, acc0);

+

+      /* acc2 +=  b[N] * x[n-N-2] + b[N-1] * x[n-N-3] */

+      acc2 = __SMLALD(x2, c0, acc2);

+

+      /* pack  x[n-N-1] and x[n-N-2] */

+#ifndef ARM_MATH_BIG_ENDIAN

+      x1 = __PKHBT(x2, x0, 0);

+#else

+      x1 = __PKHBT(x0, x2, 0);

+#endif

+

+      /* Read state x[n-N-4], x[n-N-5] */

+      x0 = _SIMD32_OFFSET(px);

+

+      /* acc1 +=  b[N] * x[n-N-1] + b[N-1] * x[n-N-2] */

+      acc1 = __SMLALDX(x1, c0, acc1);

+

+      /* pack  x[n-N-3] and x[n-N-4] */

+#ifndef ARM_MATH_BIG_ENDIAN

+      x1 = __PKHBT(x0, x2, 0);

+#else

+      x1 = __PKHBT(x2, x0, 0);

+#endif

+

+      /* acc3 +=  b[N] * x[n-N-3] + b[N-1] * x[n-N-4] */

+      acc3 = __SMLALDX(x1, c0, acc3);

+

+      /* Read coefficients b[N-2], b[N-3] */

+      c0 = *__SIMD32(pb)++;

+

+      /* acc0 +=  b[N-2] * x[n-N-2] + b[N-3] * x[n-N-3] */

+      acc0 = __SMLALD(x2, c0, acc0);

+

+      /* Read state x[n-N-6], x[n-N-7] with offset */

+      x2 = _SIMD32_OFFSET(px + 2u);

+

+      /* acc2 +=  b[N-2] * x[n-N-4] + b[N-3] * x[n-N-5] */

+      acc2 = __SMLALD(x0, c0, acc2);

+

+      /* acc1 +=  b[N-2] * x[n-N-3] + b[N-3] * x[n-N-4] */

+      acc1 = __SMLALDX(x1, c0, acc1);

+

+      /* pack  x[n-N-5] and x[n-N-6] */

+#ifndef ARM_MATH_BIG_ENDIAN

+      x1 = __PKHBT(x2, x0, 0);

+#else

+      x1 = __PKHBT(x0, x2, 0);

+#endif

+

+      /* acc3 +=  b[N-2] * x[n-N-5] + b[N-3] * x[n-N-6] */

+      acc3 = __SMLALDX(x1, c0, acc3);

+

+      /* Update state pointer for next state reading */

+      px += 4u;

+

+      /* Decrement tap count */

+      tapCnt--;

+

+    }

+

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

+     ** This is always be 2 taps since the filter length is even. */

+    if((numTaps & 0x3u) != 0u)

+    {

+

+      /* Read last two coefficients */

+      c0 = *__SIMD32(pb)++;

+

+      /* Perform the multiply-accumulates */

+      acc0 = __SMLALD(x0, c0, acc0);

+      acc2 = __SMLALD(x2, c0, acc2);

+

+      /* pack state variables */

+#ifndef ARM_MATH_BIG_ENDIAN

+      x1 = __PKHBT(x2, x0, 0);

+#else

+      x1 = __PKHBT(x0, x2, 0);

+#endif

+

+      /* Read last state variables */

+      x0 = *__SIMD32(px);

+

+      /* Perform the multiply-accumulates */

+      acc1 = __SMLALDX(x1, c0, acc1);

+

+      /* pack state variables */

+#ifndef ARM_MATH_BIG_ENDIAN

+      x1 = __PKHBT(x0, x2, 0);

+#else

+      x1 = __PKHBT(x2, x0, 0);

+#endif

+

+      /* Perform the multiply-accumulates */

+      acc3 = __SMLALDX(x1, c0, acc3);

+    }

+

+    /* The results in the 4 accumulators are in 2.30 format.  Convert to 1.15 with saturation.       

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

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    *__SIMD32(pDst)++ =

+      __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);

+

+    *__SIMD32(pDst)++ =

+      __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);

+

+#else

+

+    *__SIMD32(pDst)++ =

+      __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);

+

+    *__SIMD32(pDst)++ =

+      __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN       */

+

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

+    pState = pState + 4;

+

+    /* 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)

+  {

+    /* Copy two samples into state buffer */

+    *pStateCurnt++ = *pSrc++;

+

+    /* Set the accumulator to zero */

+    acc0 = 0;

+

+    /* Use SIMD to hold states and coefficients */

+    px = pState;

+    pb = pCoeffs;

+

+    tapCnt = numTaps >> 1u;

+

+    do

+    {

+      acc0 += (q31_t) * px++ * *pb++;

+	  acc0 += (q31_t) * px++ * *pb++;

+      tapCnt--;

+    }

+    while(tapCnt > 0u);

+

+    /* The result is in 2.30 format.  Convert to 1.15 with saturation.      

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

+    *pDst++ = (q15_t) (__SSAT((acc0 >> 15), 16));

+

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

+    pState = pState + 1u;

+

+    /* 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;

+

+  /* Calculation of count for copying integer writes */

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

+

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+

+    tapCnt--;

+

+  }

+

+  /* Calculation of count for remaining q15_t data */

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

+

+  /* copy remaining data */

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+}

+

+

+#endif /* #ifndef UNALIGNED_SUPPORT_DISABLE */

+

+#else /* ARM_MATH_CM0 */

+

+

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

+

+void arm_fir_q15(

+  const arm_fir_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+  q15_t *pState = S->pState;                     /* State pointer */

+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */

+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */

+

+

+

+  q15_t *px;                                     /* Temporary pointer for state buffer */

+  q15_t *pb;                                     /* Temporary pointer for coefficient buffer */

+  q63_t acc;                                     /* Accumulator */

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

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

+

+  /* S->pState buffer 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;

+

+  while(blkCnt > 0u)

+  {

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

+    *pStateCurnt++ = *pSrc++;

+

+    /* Set the accumulator to zero */

+    acc = 0;

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* Initialize Coefficient pointer */

+    pb = pCoeffs;

+

+    tapCnt = numTaps;

+

+    /* Perform the multiply-accumulates */

+    do

+    {

+      /* 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 += (q31_t) * px++ * *pb++;

+      tapCnt--;

+    } while(tapCnt > 0u);

+

+    /* The result is in 2.30 format.  Convert to 1.15         

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

+    *pDst++ = (q15_t) __SSAT((acc >> 15u), 16);

+

+    /* 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;

+

+  /* Copy numTaps number of values */

+  tapCnt = (numTaps - 1u);

+

+  /* copy data */

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+

+}

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+

+

+

+/**       

+ * @} end of FIR group       

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c
new file mode 100644
index 000000000..b3b84ec51
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c
@@ -0,0 +1,363 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_fir_q31.c    

+*    

+* Description:	Q31 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 Q31 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.    

+ *    

+ * @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.    

+ * Thus, if the accumulator result overflows it wraps around rather than clip.    

+ * In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits.    

+ * After all multiply-accumulates are performed, the 2.62 accumulator is right shifted by 31 bits and saturated to 1.31 format to yield the final result.  

+ *    

+ * \par    

+ * Refer to the function <code>arm_fir_fast_q31()</code> for a faster but less precise implementation of this filter for Cortex-M3 and Cortex-M4.    

+ */

+

+void arm_fir_q31(

+  const arm_fir_instance_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize)

+{

+  q31_t *pState = S->pState;                     /* State pointer */

+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */

+  q31_t *pStateCurnt;                            /* Points to the current sample of the state */

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  q31_t x0, x1, x2;                              /* Temporary variables to hold state */

+  q31_t c0;                                      /* Temporary variable to hold coefficient value */

+  q31_t *px;                                     /* Temporary pointer for state */

+  q31_t *pb;                                     /* Temporary pointer for coefficient buffer */

+  q63_t acc0, acc1, acc2;                        /* Accumulators */

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

+  uint32_t i, tapCnt, blkCnt, tapCntN3;          /* 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 / 3;

+  blockSize = blockSize - (3 * blkCnt);

+

+  tapCnt = numTaps / 3;

+  tapCntN3 = numTaps - (3 * tapCnt);

+

+  /* 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 three new input samples into the state buffer */

+    *pStateCurnt++ = *pSrc++;

+    *pStateCurnt++ = *pSrc++;

+    *pStateCurnt++ = *pSrc++;

+

+    /* Set all accumulators to zero */

+    acc0 = 0;

+    acc1 = 0;

+    acc2 = 0;

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* Initialize coefficient pointer */

+    pb = pCoeffs;

+

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

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

+    x0 = *(px++);

+    x1 = *(px++);

+

+    /* Loop unrolling.  Process 3 taps at a time. */

+    i = tapCnt;

+

+    while(i > 0u)

+    {

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

+      c0 = *pb;

+

+      /* Read x[n-numTaps-2] sample */

+      x2 = *(px++);

+

+      /* Perform the multiply-accumulates */

+      acc0 += ((q63_t) x0 * c0);

+      acc1 += ((q63_t) x1 * c0);

+      acc2 += ((q63_t) x2 * c0);

+

+      /* Read the coefficient and state */

+      c0 = *(pb + 1u);

+      x0 = *(px++);

+

+      /* Perform the multiply-accumulates */

+      acc0 += ((q63_t) x1 * c0);

+      acc1 += ((q63_t) x2 * c0);

+      acc2 += ((q63_t) x0 * c0);

+

+      /* Read the coefficient and state */

+      c0 = *(pb + 2u);

+      x1 = *(px++);

+

+      /* update coefficient pointer */

+      pb += 3u;

+

+      /* Perform the multiply-accumulates */

+      acc0 += ((q63_t) x2 * c0);

+      acc1 += ((q63_t) x0 * c0);

+      acc2 += ((q63_t) x1 * c0);

+

+      /* Decrement the loop counter */

+      i--;

+    }

+

+    /* If the filter length is not a multiple of 3, compute the remaining filter taps */

+

+    i = tapCntN3;

+

+    while(i > 0u)

+    {

+      /* Read coefficients */

+      c0 = *(pb++);

+

+      /* Fetch 1 state variable */

+      x2 = *(px++);

+

+      /* Perform the multiply-accumulates */

+      acc0 += ((q63_t) x0 * c0);

+      acc1 += ((q63_t) x1 * c0);

+      acc2 += ((q63_t) x2 * c0);

+

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

+      x0 = x1;

+      x1 = x2;

+

+      /* Decrement the loop counter */

+      i--;

+    }

+

+    /* Advance the state pointer by 3 to process the next group of 3 samples */

+    pState = pState + 3;

+

+    /* The results in the 3 accumulators are in 2.30 format.  Convert to 1.31    

+     ** Then store the 3 outputs in the destination buffer. */

+    *pDst++ = (q31_t) (acc0 >> 31u);

+    *pDst++ = (q31_t) (acc1 >> 31u);

+    *pDst++ = (q31_t) (acc2 >> 31u);

+

+    /* Decrement the samples loop counter */

+    blkCnt--;

+  }

+

+  /* If the blockSize is not a multiple of 3, compute any remaining output samples here.    

+   ** No loop unrolling is used. */

+

+  while(blockSize > 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 += (q63_t) * (px++) * (*(pb++));

+      i--;

+    } while(i > 0u);

+

+    /* The result is in 2.62 format.  Convert to 1.31    

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

+    *pDst++ = (q31_t) (acc0 >> 31u);

+

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

+    pState = pState + 1;

+

+    /* Decrement the samples loop counter */

+    blockSize--;

+  }

+

+  /* 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 */

+

+  q31_t *px;                                     /* Temporary pointer for state */

+  q31_t *pb;                                     /* Temporary pointer for coefficient buffer */

+  q63_t acc;                                     /* Accumulator */

+  uint32_t numTaps = S->numTaps;                 /* Length of the filter */

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

+

+  /* S->pState buffer 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;

+

+  while(blkCnt > 0u)

+  {

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

+    *pStateCurnt++ = *pSrc++;

+

+    /* Set the accumulator to zero */

+    acc = 0;

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* Initialize Coefficient pointer */

+    pb = pCoeffs;

+

+    i = numTaps;

+

+    /* Perform the multiply-accumulates */

+    do

+    {

+      /* 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 += (q63_t) * px++ * *pb++;

+      i--;

+    } while(i > 0u);

+

+    /* The result is in 2.62 format.  Convert to 1.31         

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

+    *pDst++ = (q31_t) (acc >> 31u);

+

+    /* 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 starting 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 */

+  tapCnt = numTaps - 1u;

+

+  /* Copy the data */

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+

+

+#endif /*  #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of FIR group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c
new file mode 100644
index 000000000..624afa130
--- /dev/null
+++ b/apps/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    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c
new file mode 100644
index 000000000..e969d5c84
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c
@@ -0,0 +1,365 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_fir_sparse_f32.c    

+*    

+* Description:	Floating-point sparse 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ------------------------------------------------------------------- */

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @defgroup FIR_Sparse Finite Impulse Response (FIR) Sparse Filters    

+ *    

+ * This group of functions implements sparse FIR filters.     

+ * Sparse FIR filters are equivalent to standard FIR filters except that most of the coefficients are equal to zero.   

+ * Sparse filters are used for simulating reflections in communications and audio applications.   

+ *   

+ * There are separate functions for Q7, Q15, Q31, and floating-point data types.    

+ * The functions operate on blocks  of input and output data and each call to the function processes    

+ * <code>blockSize</code> samples through the filter.  <code>pSrc</code> and    

+ * <code>pDst</code> points to input and output arrays respectively containing <code>blockSize</code> values.    

+ *    

+ * \par Algorithm:    

+ * The sparse filter instant structure contains an array of tap indices <code>pTapDelay</code> which specifies the locations of the non-zero coefficients.   

+ * This is in addition to the coefficient array <code>b</code>.   

+ * The implementation essentially skips the multiplications by zero and leads to an efficient realization.   

+ * <pre>   

+ *     y[n] = b[0] * x[n-pTapDelay[0]] + b[1] * x[n-pTapDelay[1]] + b[2] * x[n-pTapDelay[2]] + ...+ b[numTaps-1] * x[n-pTapDelay[numTaps-1]]    

+ * </pre>    

+ * \par    

+ * \image html FIRSparse.gif "Sparse FIR filter.  b[n] represents the filter coefficients"   

+ * \par    

+ * <code>pCoeffs</code> points to a coefficient array of size <code>numTaps</code>;    

+ * <code>pTapDelay</code> points to an array of nonzero indices and is also of size <code>numTaps</code>;   

+ * <code>pState</code> points to a state array of size <code>maxDelay + blockSize</code>, where   

+ * <code>maxDelay</code> is the largest offset value that is ever used in the <code>pTapDelay</code> array.   

+ * Some of the processing functions also require temporary working buffers.   

+ *   

+ * \par Instance Structure    

+ * The coefficients and state variables for a filter are stored together in an instance data structure.    

+ * A separate instance structure must be defined for each filter.    

+ * Coefficient and offset arrays may be shared among several instances while state variable arrays cannot be shared.    

+ * There are separate instance structure declarations for each of the 4 supported data types.    

+ *    

+ * \par Initialization Functions    

+ * There is also an associated initialization function for each data type.    

+ * The initialization function performs the following operations:    

+ * - Sets the values of the internal structure fields.    

+ * - Zeros out the values in the state buffer.    

+ *    

+ * \par    

+ * Use of the initialization function is optional.    

+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    

+ * To place an instance structure into a const data section, the instance structure must be manually initialized.    

+ * Set the values in the state buffer to zeros before static initialization.    

+ * The code below statically initializes each of the 4 different data type filter instance structures    

+ * <pre>    

+ *arm_fir_sparse_instance_f32 S = {numTaps, 0, pState, pCoeffs, maxDelay, pTapDelay};    

+ *arm_fir_sparse_instance_q31 S = {numTaps, 0, pState, pCoeffs, maxDelay, pTapDelay};    

+ *arm_fir_sparse_instance_q15 S = {numTaps, 0, pState, pCoeffs, maxDelay, pTapDelay};    

+ *arm_fir_sparse_instance_q7 S =  {numTaps, 0, pState, pCoeffs, maxDelay, pTapDelay};    

+ * </pre>    

+ * \par    

+ *    

+ * \par Fixed-Point Behavior    

+ * Care must be taken when using the fixed-point versions of the sparse FIR filter functions.    

+ * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.    

+ * Refer to the function specific documentation below for usage guidelines.    

+ */

+

+/**    

+ * @addtogroup FIR_Sparse    

+ * @{    

+ */

+

+/**   

+ * @brief Processing function for the floating-point sparse FIR filter.   

+ * @param[in]  *S          points to an instance of the floating-point sparse FIR structure.   

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

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

+ * @param[in]  *pScratchIn points to a temporary buffer of size blockSize.   

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

+ * @return none.   

+ */

+

+void arm_fir_sparse_f32(

+  arm_fir_sparse_instance_f32 * S,

+  float32_t * pSrc,

+  float32_t * pDst,

+  float32_t * pScratchIn,

+  uint32_t blockSize)

+{

+

+  float32_t *pState = S->pState;                 /* State pointer */

+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */

+  float32_t *px;                                 /* Scratch buffer pointer */

+  float32_t *py = pState;                        /* Temporary pointers for state buffer */

+  float32_t *pb = pScratchIn;                    /* Temporary pointers for scratch buffer */

+  float32_t *pOut;                               /* Destination pointer */

+  int32_t *pTapDelay = S->pTapDelay;             /* Pointer to the array containing offset of the non-zero tap values. */

+  uint32_t delaySize = S->maxDelay + blockSize;  /* state length */

+  uint16_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter  */

+  int32_t readIndex;                             /* Read index of the state buffer */

+  uint32_t tapCnt, blkCnt;                       /* loop counters */

+  float32_t coeff = *pCoeffs++;                  /* Read the first coefficient value */

+

+

+

+  /* BlockSize of Input samples are copied into the state buffer */

+  /* StateIndex points to the starting position to write in the state buffer */

+  arm_circularWrite_f32((int32_t *) py, delaySize, &S->stateIndex, 1,

+                        (int32_t *) pSrc, 1, blockSize);

+

+

+  /* Read Index, from where the state buffer should be read, is calculated. */

+  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;

+

+  /* Wraparound of readIndex */

+  if(readIndex < 0)

+  {

+    readIndex += (int32_t) delaySize;

+  }

+

+  /* Working pointer for state buffer is updated */

+  py = pState;

+

+  /* blockSize samples are read from the state buffer */

+  arm_circularRead_f32((int32_t *) py, delaySize, &readIndex, 1,

+                       (int32_t *) pb, (int32_t *) pb, blockSize, 1,

+                       blockSize);

+

+  /* Working pointer for the scratch buffer */

+  px = pb;

+

+  /* Working pointer for destination buffer */

+  pOut = pDst;

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  /* Loop over the blockSize. Unroll by a factor of 4.    

+   * Compute 4 Multiplications at a time. */

+  blkCnt = blockSize >> 2u;

+

+  while(blkCnt > 0u)

+  {

+    /* Perform Multiplications and store in destination buffer */

+    *pOut++ = *px++ * coeff;

+    *pOut++ = *px++ * coeff;

+    *pOut++ = *px++ * coeff;

+    *pOut++ = *px++ * coeff;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* If the blockSize is not a multiple of 4,    

+   * compute the remaining samples */

+  blkCnt = blockSize % 0x4u;

+

+  while(blkCnt > 0u)

+  {

+    /* Perform Multiplications and store in destination buffer */

+    *pOut++ = *px++ * coeff;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Load the coefficient value and    

+   * increment the coefficient buffer for the next set of state values */

+  coeff = *pCoeffs++;

+

+  /* Read Index, from where the state buffer should be read, is calculated. */

+  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;

+

+  /* Wraparound of readIndex */

+  if(readIndex < 0)

+  {

+    readIndex += (int32_t) delaySize;

+  }

+

+  /* Loop over the number of taps. */

+  tapCnt = (uint32_t) numTaps - 1u;

+

+  while(tapCnt > 0u)

+  {

+

+    /* Working pointer for state buffer is updated */

+    py = pState;

+

+    /* blockSize samples are read from the state buffer */

+    arm_circularRead_f32((int32_t *) py, delaySize, &readIndex, 1,

+                         (int32_t *) pb, (int32_t *) pb, blockSize, 1,

+                         blockSize);

+

+    /* Working pointer for the scratch buffer */

+    px = pb;

+

+    /* Working pointer for destination buffer */

+    pOut = pDst;

+

+    /* Loop over the blockSize. Unroll by a factor of 4.    

+     * Compute 4 MACS at a time. */

+    blkCnt = blockSize >> 2u;

+

+    while(blkCnt > 0u)

+    {

+      /* Perform Multiply-Accumulate */

+      *pOut++ += *px++ * coeff;

+      *pOut++ += *px++ * coeff;

+      *pOut++ += *px++ * coeff;

+      *pOut++ += *px++ * coeff;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* If the blockSize is not a multiple of 4,    

+     * compute the remaining samples */

+    blkCnt = blockSize % 0x4u;

+

+    while(blkCnt > 0u)

+    {

+      /* Perform Multiply-Accumulate */

+      *pOut++ += *px++ * coeff;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* Load the coefficient value and    

+     * increment the coefficient buffer for the next set of state values */

+    coeff = *pCoeffs++;

+

+    /* Read Index, from where the state buffer should be read, is calculated. */

+    readIndex = ((int32_t) S->stateIndex -

+                 (int32_t) blockSize) - *pTapDelay++;

+

+    /* Wraparound of readIndex */

+    if(readIndex < 0)

+    {

+      readIndex += (int32_t) delaySize;

+    }

+

+    /* Decrement the tap loop counter */

+    tapCnt--;

+  }

+

+#else

+

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

+

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* Perform Multiplications and store in destination buffer */

+    *pOut++ = *px++ * coeff;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Load the coefficient value and           

+   * increment the coefficient buffer for the next set of state values */

+  coeff = *pCoeffs++;

+

+  /* Read Index, from where the state buffer should be read, is calculated. */

+  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;

+

+  /* Wraparound of readIndex */

+  if(readIndex < 0)

+  {

+    readIndex += (int32_t) delaySize;

+  }

+

+  /* Loop over the number of taps. */

+  tapCnt = (uint32_t) numTaps - 1u;

+

+  while(tapCnt > 0u)

+  {

+

+    /* Working pointer for state buffer is updated */

+    py = pState;

+

+    /* blockSize samples are read from the state buffer */

+    arm_circularRead_f32((int32_t *) py, delaySize, &readIndex, 1,

+                         (int32_t *) pb, (int32_t *) pb, blockSize, 1,

+                         blockSize);

+

+    /* Working pointer for the scratch buffer */

+    px = pb;

+

+    /* Working pointer for destination buffer */

+    pOut = pDst;

+

+    blkCnt = blockSize;

+

+    while(blkCnt > 0u)

+    {

+      /* Perform Multiply-Accumulate */

+      *pOut++ += *px++ * coeff;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* Load the coefficient value and           

+     * increment the coefficient buffer for the next set of state values */

+    coeff = *pCoeffs++;

+

+    /* Read Index, from where the state buffer should be read, is calculated. */

+    readIndex =

+      ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;

+

+    /* Wraparound of readIndex */

+    if(readIndex < 0)

+    {

+      readIndex += (int32_t) delaySize;

+    }

+

+    /* Decrement the tap loop counter */

+    tapCnt--;

+  }

+

+#endif /*   #ifndef ARM_MATH_CM0        */

+

+}

+

+/**    

+ * @} end of FIR_Sparse group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c
new file mode 100644
index 000000000..2934352d0
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c
@@ -0,0 +1,102 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_fir_sparse_init_f32.c    

+*    

+* Description:	Floating-point sparse FIR filter initialization 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------*/

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR_Sparse    

+ * @{    

+ */

+

+/**   

+ * @brief  Initialization function for the floating-point sparse FIR filter.   

+ * @param[in,out] *S         points to an instance of the floating-point sparse FIR structure.   

+ * @param[in]     numTaps    number of nonzero coefficients in the filter.   

+ * @param[in]     *pCoeffs   points to the array of filter coefficients.   

+ * @param[in]     *pState    points to the state buffer.   

+ * @param[in]     *pTapDelay points to the array of offset times.   

+ * @param[in]     maxDelay   maximum offset time supported.   

+ * @param[in]     blockSize  number of samples that will be processed per block.   

+ * @return none   

+ *    

+ * <b>Description:</b>    

+ * \par    

+ * <code>pCoeffs</code> holds the filter coefficients and has length <code>numTaps</code>.    

+ * <code>pState</code> holds the filter's state variables and must be of length    

+ * <code>maxDelay + blockSize</code>, where <code>maxDelay</code>    

+ * is the maximum number of delay line values.    

+ * <code>blockSize</code> is the    

+ * number of samples processed by the <code>arm_fir_sparse_f32()</code> function.    

+ */

+

+void arm_fir_sparse_init_f32(

+  arm_fir_sparse_instance_f32 * S,

+  uint16_t numTaps,

+  float32_t * pCoeffs,

+  float32_t * pState,

+  int32_t * pTapDelay,

+  uint16_t maxDelay,

+  uint32_t blockSize)

+{

+  /* Assign filter taps */

+  S->numTaps = numTaps;

+

+  /* Assign coefficient pointer */

+  S->pCoeffs = pCoeffs;

+

+  /* Assign TapDelay pointer */

+  S->pTapDelay = pTapDelay;

+

+  /* Assign MaxDelay */

+  S->maxDelay = maxDelay;

+

+  /* reset the stateIndex to 0 */

+  S->stateIndex = 0u;

+

+  /* Clear state buffer and size is always maxDelay + blockSize */

+  memset(pState, 0, (maxDelay + blockSize) * sizeof(float32_t));

+

+  /* Assign state pointer */

+  S->pState = pState;

+

+}

+

+/**    

+ * @} end of FIR_Sparse group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c
new file mode 100644
index 000000000..47a116e95
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c
@@ -0,0 +1,102 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_fir_sparse_init_q15.c    

+*    

+* Description:	Q15 sparse FIR filter initialization 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------*/

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR_Sparse    

+ * @{    

+ */

+

+/**   

+ * @brief  Initialization function for the Q15 sparse FIR filter.   

+ * @param[in,out] *S         points to an instance of the Q15 sparse FIR structure.   

+ * @param[in]     numTaps    number of nonzero coefficients in the filter.   

+ * @param[in]     *pCoeffs   points to the array of filter coefficients.   

+ * @param[in]     *pState    points to the state buffer.   

+ * @param[in]     *pTapDelay points to the array of offset times.   

+ * @param[in]     maxDelay   maximum offset time supported.   

+ * @param[in]     blockSize  number of samples that will be processed per block.   

+ * @return none   

+ *    

+ * <b>Description:</b>    

+ * \par    

+ * <code>pCoeffs</code> holds the filter coefficients and has length <code>numTaps</code>.    

+ * <code>pState</code> holds the filter's state variables and must be of length    

+ * <code>maxDelay + blockSize</code>, where <code>maxDelay</code>    

+ * is the maximum number of delay line values.    

+ * <code>blockSize</code> is the    

+ * number of words processed by <code>arm_fir_sparse_q15()</code> function.    

+ */

+

+void arm_fir_sparse_init_q15(

+  arm_fir_sparse_instance_q15 * S,

+  uint16_t numTaps,

+  q15_t * pCoeffs,

+  q15_t * pState,

+  int32_t * pTapDelay,

+  uint16_t maxDelay,

+  uint32_t blockSize)

+{

+  /* Assign filter taps */

+  S->numTaps = numTaps;

+

+  /* Assign coefficient pointer */

+  S->pCoeffs = pCoeffs;

+

+  /* Assign TapDelay pointer */

+  S->pTapDelay = pTapDelay;

+

+  /* Assign MaxDelay */

+  S->maxDelay = maxDelay;

+

+  /* reset the stateIndex to 0 */

+  S->stateIndex = 0u;

+

+  /* Clear state buffer and size is always maxDelay + blockSize */

+  memset(pState, 0, (maxDelay + blockSize) * sizeof(q15_t));

+

+  /* Assign state pointer */

+  S->pState = pState;

+

+}

+

+/**    

+ * @} end of FIR_Sparse group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c
new file mode 100644
index 000000000..360a219b2
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c
@@ -0,0 +1,101 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_fir_sparse_init_q31.c    

+*    

+* Description:	Q31 sparse FIR filter initialization 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------*/

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR_Sparse    

+ * @{    

+ */

+

+/**   

+ * @brief  Initialization function for the Q31 sparse FIR filter.   

+ * @param[in,out] *S         points to an instance of the Q31 sparse FIR structure.   

+ * @param[in]     numTaps    number of nonzero coefficients in the filter.   

+ * @param[in]     *pCoeffs   points to the array of filter coefficients.   

+ * @param[in]     *pState    points to the state buffer.   

+ * @param[in]     *pTapDelay points to the array of offset times.   

+ * @param[in]     maxDelay   maximum offset time supported.   

+ * @param[in]     blockSize  number of samples that will be processed per block.   

+ * @return none   

+ *    

+ * <b>Description:</b>    

+ * \par    

+ * <code>pCoeffs</code> holds the filter coefficients and has length <code>numTaps</code>.    

+ * <code>pState</code> holds the filter's state variables and must be of length    

+ * <code>maxDelay + blockSize</code>, where <code>maxDelay</code>    

+ * is the maximum number of delay line values.    

+ * <code>blockSize</code> is the number of words processed by <code>arm_fir_sparse_q31()</code> function.    

+ */

+

+void arm_fir_sparse_init_q31(

+  arm_fir_sparse_instance_q31 * S,

+  uint16_t numTaps,

+  q31_t * pCoeffs,

+  q31_t * pState,

+  int32_t * pTapDelay,

+  uint16_t maxDelay,

+  uint32_t blockSize)

+{

+  /* Assign filter taps */

+  S->numTaps = numTaps;

+

+  /* Assign coefficient pointer */

+  S->pCoeffs = pCoeffs;

+

+  /* Assign TapDelay pointer */

+  S->pTapDelay = pTapDelay;

+

+  /* Assign MaxDelay */

+  S->maxDelay = maxDelay;

+

+  /* reset the stateIndex to 0 */

+  S->stateIndex = 0u;

+

+  /* Clear state buffer and size is always maxDelay + blockSize */

+  memset(pState, 0, (maxDelay + blockSize) * sizeof(q31_t));

+

+  /* Assign state pointer */

+  S->pState = pState;

+

+}

+

+/**    

+ * @} end of FIR_Sparse group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c
new file mode 100644
index 000000000..b400297ca
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c
@@ -0,0 +1,102 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_fir_sparse_init_q7.c    

+*    

+* Description:	Q7 sparse FIR filter initialization 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------*/

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR_Sparse    

+ * @{    

+ */

+

+/**   

+ * @brief  Initialization function for the Q7 sparse FIR filter.   

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

+ * @param[in]     numTaps    number of nonzero coefficients in the filter.   

+ * @param[in]     *pCoeffs   points to the array of filter coefficients.   

+ * @param[in]     *pState    points to the state buffer.   

+ * @param[in]     *pTapDelay points to the array of offset times.   

+ * @param[in]     maxDelay   maximum offset time supported.   

+ * @param[in]     blockSize  number of samples that will be processed per block.   

+ * @return none   

+ *    

+ * <b>Description:</b>    

+ * \par    

+ * <code>pCoeffs</code> holds the filter coefficients and has length <code>numTaps</code>.    

+ * <code>pState</code> holds the filter's state variables and must be of length    

+ * <code>maxDelay + blockSize</code>, where <code>maxDelay</code>    

+ * is the maximum number of delay line values.    

+ * <code>blockSize</code> is the    

+ * number of samples processed by the <code>arm_fir_sparse_q7()</code> function.    

+ */

+

+void arm_fir_sparse_init_q7(

+  arm_fir_sparse_instance_q7 * S,

+  uint16_t numTaps,

+  q7_t * pCoeffs,

+  q7_t * pState,

+  int32_t * pTapDelay,

+  uint16_t maxDelay,

+  uint32_t blockSize)

+{

+  /* Assign filter taps */

+  S->numTaps = numTaps;

+

+  /* Assign coefficient pointer */

+  S->pCoeffs = pCoeffs;

+

+  /* Assign TapDelay pointer */

+  S->pTapDelay = pTapDelay;

+

+  /* Assign MaxDelay */

+  S->maxDelay = maxDelay;

+

+  /* reset the stateIndex to 0 */

+  S->stateIndex = 0u;

+

+  /* Clear state buffer and size is always maxDelay + blockSize */

+  memset(pState, 0, (maxDelay + blockSize) * sizeof(q7_t));

+

+  /* Assign state pointer */

+  S->pState = pState;

+

+}

+

+/**    

+ * @} end of FIR_Sparse group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c
new file mode 100644
index 000000000..016f83345
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c
@@ -0,0 +1,406 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_fir_sparse_q15.c    

+*    

+* Description:	Q15 sparse 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ------------------------------------------------------------------- */

+#include "arm_math.h"

+

+/**    

+ * @addtogroup FIR_Sparse    

+ * @{    

+ */

+

+/**   

+ * @brief Processing function for the Q15 sparse FIR filter.   

+ * @param[in]  *S           points to an instance of the Q15 sparse FIR structure.   

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

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

+ * @param[in]  *pScratchIn  points to a temporary buffer of size blockSize.   

+ * @param[in]  *pScratchOut points to a temporary buffer of size blockSize.   

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

+ * @return none.   

+ *    

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

+ * \par    

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

+ * The 1.15 x 1.15 multiplications yield a 2.30 result and these are added to a 2.30 accumulator.   

+ * Thus the full precision of the multiplications is maintained but there is only a single guard bit in the accumulator.   

+ * If the accumulator result overflows it will wrap around rather than saturate.   

+ * After all multiply-accumulates are performed, the 2.30 accumulator is truncated to 2.15 format and then saturated to 1.15 format.    

+ * In order to avoid overflows the input signal or coefficients must be scaled down by log2(numTaps) bits.   

+ */

+

+

+void arm_fir_sparse_q15(

+  arm_fir_sparse_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  q15_t * pScratchIn,

+  q31_t * pScratchOut,

+  uint32_t blockSize)

+{

+

+  q15_t *pState = S->pState;                     /* State pointer */

+  q15_t *pIn = pSrc;                             /* Working pointer for input */

+  q15_t *pOut = pDst;                            /* Working pointer for output */

+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */

+  q15_t *px;                                     /* Temporary pointers for scratch buffer */

+  q15_t *pb = pScratchIn;                        /* Temporary pointers for scratch buffer */

+  q15_t *py = pState;                            /* Temporary pointers for state buffer */

+  int32_t *pTapDelay = S->pTapDelay;             /* Pointer to the array containing offset of the non-zero tap values. */

+  uint32_t delaySize = S->maxDelay + blockSize;  /* state length */

+  uint16_t numTaps = S->numTaps;                 /* Filter order */

+  int32_t readIndex;                             /* Read index of the state buffer */

+  uint32_t tapCnt, blkCnt;                       /* loop counters */

+  q15_t coeff = *pCoeffs++;                      /* Read the first coefficient value */

+  q31_t *pScr2 = pScratchOut;                    /* Working pointer for pScratchOut */

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  q31_t in1, in2;                                /* Temporary variables */

+

+

+  /* BlockSize of Input samples are copied into the state buffer */

+  /* StateIndex points to the starting position to write in the state buffer */

+  arm_circularWrite_q15(py, delaySize, &S->stateIndex, 1, pIn, 1, blockSize);

+

+  /* Loop over the number of taps. */

+  tapCnt = numTaps;

+

+  /* Read Index, from where the state buffer should be read, is calculated. */

+  readIndex = (S->stateIndex - blockSize) - *pTapDelay++;

+

+  /* Wraparound of readIndex */

+  if(readIndex < 0)

+  {

+    readIndex += (int32_t) delaySize;

+  }

+

+  /* Working pointer for state buffer is updated */

+  py = pState;

+

+  /* blockSize samples are read from the state buffer */

+  arm_circularRead_q15(py, delaySize, &readIndex, 1,

+                       pb, pb, blockSize, 1, blockSize);

+

+  /* Working pointer for the scratch buffer of state values */

+  px = pb;

+

+  /* Working pointer for scratch buffer of output values */

+  pScratchOut = pScr2;

+

+  /* Loop over the blockSize. Unroll by a factor of 4.    

+   * Compute 4 multiplications at a time. */

+  blkCnt = blockSize >> 2;

+

+  while(blkCnt > 0u)

+  {

+    /* Perform multiplication and store in the scratch buffer */

+    *pScratchOut++ = ((q31_t) * px++ * coeff);

+    *pScratchOut++ = ((q31_t) * px++ * coeff);

+    *pScratchOut++ = ((q31_t) * px++ * coeff);

+    *pScratchOut++ = ((q31_t) * px++ * coeff);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* If the blockSize is not a multiple of 4,    

+   * compute the remaining samples */

+  blkCnt = blockSize % 0x4u;

+

+  while(blkCnt > 0u)

+  {

+    /* Perform multiplication and store in the scratch buffer */

+    *pScratchOut++ = ((q31_t) * px++ * coeff);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Load the coefficient value and    

+   * increment the coefficient buffer for the next set of state values */

+  coeff = *pCoeffs++;

+

+  /* Read Index, from where the state buffer should be read, is calculated. */

+  readIndex = (S->stateIndex - blockSize) - *pTapDelay++;

+

+  /* Wraparound of readIndex */

+  if(readIndex < 0)

+  {

+    readIndex += (int32_t) delaySize;

+  }

+

+  /* Loop over the number of taps. */

+  tapCnt = (uint32_t) numTaps - 1u;

+

+  while(tapCnt > 0u)

+  {

+    /* Working pointer for state buffer is updated */

+    py = pState;

+

+    /* blockSize samples are read from the state buffer */

+    arm_circularRead_q15(py, delaySize, &readIndex, 1,

+                         pb, pb, blockSize, 1, blockSize);

+

+    /* Working pointer for the scratch buffer of state values */

+    px = pb;

+

+    /* Working pointer for scratch buffer of output values */

+    pScratchOut = pScr2;

+

+    /* Loop over the blockSize. Unroll by a factor of 4.    

+     * Compute 4 MACS at a time. */

+    blkCnt = blockSize >> 2;

+

+    while(blkCnt > 0u)

+    {

+      /* Perform Multiply-Accumulate */

+      *pScratchOut++ += (q31_t) * px++ * coeff;

+      *pScratchOut++ += (q31_t) * px++ * coeff;

+      *pScratchOut++ += (q31_t) * px++ * coeff;

+      *pScratchOut++ += (q31_t) * px++ * coeff;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* If the blockSize is not a multiple of 4,    

+     * compute the remaining samples */

+    blkCnt = blockSize % 0x4u;

+

+    while(blkCnt > 0u)

+    {

+      /* Perform Multiply-Accumulate */

+      *pScratchOut++ += (q31_t) * px++ * coeff;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* Load the coefficient value and    

+     * increment the coefficient buffer for the next set of state values */

+    coeff = *pCoeffs++;

+

+    /* Read Index, from where the state buffer should be read, is calculated. */

+    readIndex = (S->stateIndex - blockSize) - *pTapDelay++;

+

+    /* Wraparound of readIndex */

+    if(readIndex < 0)

+    {

+      readIndex += (int32_t) delaySize;

+    }

+

+    /* Decrement the tap loop counter */

+    tapCnt--;

+  }

+

+  /* All the output values are in pScratchOut buffer.    

+     Convert them into 1.15 format, saturate and store in the destination buffer. */

+  /* Loop over the blockSize. */

+  blkCnt = blockSize >> 2;

+

+  while(blkCnt > 0u)

+  {

+    in1 = *pScr2++;

+    in2 = *pScr2++;

+

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+    *__SIMD32(pOut)++ =

+      __PKHBT((q15_t) __SSAT(in1 >> 15, 16), (q15_t) __SSAT(in2 >> 15, 16),

+              16);

+

+#else

+    *__SIMD32(pOut)++ =

+      __PKHBT((q15_t) __SSAT(in2 >> 15, 16), (q15_t) __SSAT(in1 >> 15, 16),

+              16);

+

+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+    in1 = *pScr2++;

+

+    in2 = *pScr2++;

+

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+    *__SIMD32(pOut)++ =

+      __PKHBT((q15_t) __SSAT(in1 >> 15, 16), (q15_t) __SSAT(in2 >> 15, 16),

+              16);

+

+#else

+

+    *__SIMD32(pOut)++ =

+      __PKHBT((q15_t) __SSAT(in2 >> 15, 16), (q15_t) __SSAT(in1 >> 15, 16),

+              16);

+

+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+

+    blkCnt--;

+

+  }

+

+  /* If the blockSize is not a multiple of 4,    

+     remaining samples are processed in the below loop */

+  blkCnt = blockSize % 0x4u;

+

+  while(blkCnt > 0u)

+  {

+    *pOut++ = (q15_t) __SSAT(*pScr2++ >> 15, 16);

+    blkCnt--;

+  }

+

+#else

+

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

+

+  /* BlockSize of Input samples are copied into the state buffer */

+  /* StateIndex points to the starting position to write in the state buffer */

+  arm_circularWrite_q15(py, delaySize, &S->stateIndex, 1, pIn, 1, blockSize);

+

+  /* Loop over the number of taps. */

+  tapCnt = numTaps;

+

+  /* Read Index, from where the state buffer should be read, is calculated. */

+  readIndex = (S->stateIndex - blockSize) - *pTapDelay++;

+

+  /* Wraparound of readIndex */

+  if(readIndex < 0)

+  {

+    readIndex += (int32_t) delaySize;

+  }

+

+  /* Working pointer for state buffer is updated */

+  py = pState;

+

+  /* blockSize samples are read from the state buffer */

+  arm_circularRead_q15(py, delaySize, &readIndex, 1,

+                       pb, pb, blockSize, 1, blockSize);

+

+  /* Working pointer for the scratch buffer of state values */

+  px = pb;

+

+  /* Working pointer for scratch buffer of output values */

+  pScratchOut = pScr2;

+

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* Perform multiplication and store in the scratch buffer */

+    *pScratchOut++ = ((q31_t) * px++ * coeff);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Load the coefficient value and           

+   * increment the coefficient buffer for the next set of state values */

+  coeff = *pCoeffs++;

+

+  /* Read Index, from where the state buffer should be read, is calculated. */

+  readIndex = (S->stateIndex - blockSize) - *pTapDelay++;

+

+  /* Wraparound of readIndex */

+  if(readIndex < 0)

+  {

+    readIndex += (int32_t) delaySize;

+  }

+

+  /* Loop over the number of taps. */

+  tapCnt = (uint32_t) numTaps - 1u;

+

+  while(tapCnt > 0u)

+  {

+    /* Working pointer for state buffer is updated */

+    py = pState;

+

+    /* blockSize samples are read from the state buffer */

+    arm_circularRead_q15(py, delaySize, &readIndex, 1,

+                         pb, pb, blockSize, 1, blockSize);

+

+    /* Working pointer for the scratch buffer of state values */

+    px = pb;

+

+    /* Working pointer for scratch buffer of output values */

+    pScratchOut = pScr2;

+

+    blkCnt = blockSize;

+

+    while(blkCnt > 0u)

+    {

+      /* Perform Multiply-Accumulate */

+      *pScratchOut++ += (q31_t) * px++ * coeff;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* Load the coefficient value and           

+     * increment the coefficient buffer for the next set of state values */

+    coeff = *pCoeffs++;

+

+    /* Read Index, from where the state buffer should be read, is calculated. */

+    readIndex = (S->stateIndex - blockSize) - *pTapDelay++;

+

+    /* Wraparound of readIndex */

+    if(readIndex < 0)

+    {

+      readIndex += (int32_t) delaySize;

+    }

+

+    /* Decrement the tap loop counter */

+    tapCnt--;

+  }

+

+  /* All the output values are in pScratchOut buffer.       

+     Convert them into 1.15 format, saturate and store in the destination buffer. */

+  /* Loop over the blockSize. */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    *pOut++ = (q15_t) __SSAT(*pScr2++ >> 15, 16);

+    blkCnt--;

+  }

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of FIR_Sparse group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c
new file mode 100644
index 000000000..3d2f6d402
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c
@@ -0,0 +1,370 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_fir_sparse_q31.c    

+*    

+* Description:	Q31 sparse 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ------------------------------------------------------------------- */

+#include "arm_math.h"

+

+

+/**    

+ * @addtogroup FIR_Sparse    

+ * @{    

+ */

+

+/**   

+ * @brief Processing function for the Q31 sparse FIR filter.   

+ * @param[in]  *S          points to an instance of the Q31 sparse FIR structure.   

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

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

+ * @param[in]  *pScratchIn points to a temporary buffer of size blockSize.   

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

+ * @return none.   

+ *    

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

+ * \par    

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

+ * The 1.31 x 1.31 multiplications are truncated to 2.30 format.   

+ * This leads to loss of precision on the intermediate multiplications and provides only a single guard bit.    

+ * If the accumulator result overflows, it wraps around rather than saturate.   

+ * In order to avoid overflows the input signal or coefficients must be scaled down by log2(numTaps) bits.   

+ */

+

+void arm_fir_sparse_q31(

+  arm_fir_sparse_instance_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst,

+  q31_t * pScratchIn,

+  uint32_t blockSize)

+{

+

+  q31_t *pState = S->pState;                     /* State pointer */

+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */

+  q31_t *px;                                     /* Scratch buffer pointer */

+  q31_t *py = pState;                            /* Temporary pointers for state buffer */

+  q31_t *pb = pScratchIn;                        /* Temporary pointers for scratch buffer */

+  q31_t *pOut;                                   /* Destination pointer */

+  q63_t out;                                     /* Temporary output variable */

+  int32_t *pTapDelay = S->pTapDelay;             /* Pointer to the array containing offset of the non-zero tap values. */

+  uint32_t delaySize = S->maxDelay + blockSize;  /* state length */

+  uint16_t numTaps = S->numTaps;                 /* Filter order */

+  int32_t readIndex;                             /* Read index of the state buffer */

+  uint32_t tapCnt, blkCnt;                       /* loop counters */

+  q31_t coeff = *pCoeffs++;                      /* Read the first coefficient value */

+  q31_t in;

+

+

+  /* BlockSize of Input samples are copied into the state buffer */

+  /* StateIndex points to the starting position to write in the state buffer */

+  arm_circularWrite_f32((int32_t *) py, delaySize, &S->stateIndex, 1,

+                        (int32_t *) pSrc, 1, blockSize);

+

+  /* Read Index, from where the state buffer should be read, is calculated. */

+  readIndex = (int32_t) (S->stateIndex - blockSize) - *pTapDelay++;

+

+  /* Wraparound of readIndex */

+  if(readIndex < 0)

+  {

+    readIndex += (int32_t) delaySize;

+  }

+

+  /* Working pointer for state buffer is updated */

+  py = pState;

+

+  /* blockSize samples are read from the state buffer */

+  arm_circularRead_f32((int32_t *) py, delaySize, &readIndex, 1,

+                       (int32_t *) pb, (int32_t *) pb, blockSize, 1,

+                       blockSize);

+

+  /* Working pointer for the scratch buffer of state values */

+  px = pb;

+

+  /* Working pointer for scratch buffer of output values */

+  pOut = pDst;

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  /* Loop over the blockSize. Unroll by a factor of 4.    

+   * Compute 4 Multiplications at a time. */

+  blkCnt = blockSize >> 2;

+

+  while(blkCnt > 0u)

+  {

+    /* Perform Multiplications and store in the destination buffer */

+    *pOut++ = (q31_t) (((q63_t) * px++ * coeff) >> 32);

+    *pOut++ = (q31_t) (((q63_t) * px++ * coeff) >> 32);

+    *pOut++ = (q31_t) (((q63_t) * px++ * coeff) >> 32);

+    *pOut++ = (q31_t) (((q63_t) * px++ * coeff) >> 32);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* If the blockSize is not a multiple of 4,    

+   * compute the remaining samples */

+  blkCnt = blockSize % 0x4u;

+

+  while(blkCnt > 0u)

+  {

+    /* Perform Multiplications and store in the destination buffer */

+    *pOut++ = (q31_t) (((q63_t) * px++ * coeff) >> 32);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Load the coefficient value and    

+   * increment the coefficient buffer for the next set of state values */

+  coeff = *pCoeffs++;

+

+  /* Read Index, from where the state buffer should be read, is calculated. */

+  readIndex = (int32_t) (S->stateIndex - blockSize) - *pTapDelay++;

+

+  /* Wraparound of readIndex */

+  if(readIndex < 0)

+  {

+    readIndex += (int32_t) delaySize;

+  }

+

+  /* Loop over the number of taps. */

+  tapCnt = (uint32_t) numTaps - 1u;

+

+  while(tapCnt > 0u)

+  {

+    /* Working pointer for state buffer is updated */

+    py = pState;

+

+    /* blockSize samples are read from the state buffer */

+    arm_circularRead_f32((int32_t *) py, delaySize, &readIndex, 1,

+                         (int32_t *) pb, (int32_t *) pb, blockSize, 1,

+                         blockSize);

+

+    /* Working pointer for the scratch buffer of state values */

+    px = pb;

+

+    /* Working pointer for scratch buffer of output values */

+    pOut = pDst;

+

+    /* Loop over the blockSize. Unroll by a factor of 4.    

+     * Compute 4 MACS at a time. */

+    blkCnt = blockSize >> 2;

+

+    while(blkCnt > 0u)

+    {

+      out = *pOut;

+      out += ((q63_t) * px++ * coeff) >> 32;

+      *pOut++ = (q31_t) (out);

+

+      out = *pOut;

+      out += ((q63_t) * px++ * coeff) >> 32;

+      *pOut++ = (q31_t) (out);

+

+      out = *pOut;

+      out += ((q63_t) * px++ * coeff) >> 32;

+      *pOut++ = (q31_t) (out);

+

+      out = *pOut;

+      out += ((q63_t) * px++ * coeff) >> 32;

+      *pOut++ = (q31_t) (out);

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* If the blockSize is not a multiple of 4,    

+     * compute the remaining samples */

+    blkCnt = blockSize % 0x4u;

+

+    while(blkCnt > 0u)

+    {

+      /* Perform Multiply-Accumulate */

+      out = *pOut;

+      out += ((q63_t) * px++ * coeff) >> 32;

+      *pOut++ = (q31_t) (out);

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* Load the coefficient value and    

+     * increment the coefficient buffer for the next set of state values */

+    coeff = *pCoeffs++;

+

+    /* Read Index, from where the state buffer should be read, is calculated. */

+    readIndex = (int32_t) (S->stateIndex - blockSize) - *pTapDelay++;

+

+    /* Wraparound of readIndex */

+    if(readIndex < 0)

+    {

+      readIndex += (int32_t) delaySize;

+    }

+

+    /* Decrement the tap loop counter */

+    tapCnt--;

+  }

+

+  /* Working output pointer is updated */

+  pOut = pDst;

+

+  /* Output is converted into 1.31 format. */

+  /* Loop over the blockSize. Unroll by a factor of 4.    

+   * process 4 output samples at a time. */

+  blkCnt = blockSize >> 2;

+

+  while(blkCnt > 0u)

+  {

+    in = *pOut << 1;

+    *pOut++ = in;

+    in = *pOut << 1;

+    *pOut++ = in;

+    in = *pOut << 1;

+    *pOut++ = in;

+    in = *pOut << 1;

+    *pOut++ = in;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* If the blockSize is not a multiple of 4,    

+   * process the remaining output samples */

+  blkCnt = blockSize % 0x4u;

+

+  while(blkCnt > 0u)

+  {

+    in = *pOut << 1;

+    *pOut++ = in;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* Perform Multiplications and store in the destination buffer */

+    *pOut++ = (q31_t) (((q63_t) * px++ * coeff) >> 32);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Load the coefficient value and           

+   * increment the coefficient buffer for the next set of state values */

+  coeff = *pCoeffs++;

+

+  /* Read Index, from where the state buffer should be read, is calculated. */

+  readIndex = (int32_t) (S->stateIndex - blockSize) - *pTapDelay++;

+

+  /* Wraparound of readIndex */

+  if(readIndex < 0)

+  {

+    readIndex += (int32_t) delaySize;

+  }

+

+  /* Loop over the number of taps. */

+  tapCnt = (uint32_t) numTaps - 1u;

+

+  while(tapCnt > 0u)

+  {

+    /* Working pointer for state buffer is updated */

+    py = pState;

+

+    /* blockSize samples are read from the state buffer */

+    arm_circularRead_f32((int32_t *) py, delaySize, &readIndex, 1,

+                         (int32_t *) pb, (int32_t *) pb, blockSize, 1,

+                         blockSize);

+

+    /* Working pointer for the scratch buffer of state values */

+    px = pb;

+

+    /* Working pointer for scratch buffer of output values */

+    pOut = pDst;

+

+    blkCnt = blockSize;

+

+    while(blkCnt > 0u)

+    {

+      /* Perform Multiply-Accumulate */

+      out = *pOut;

+      out += ((q63_t) * px++ * coeff) >> 32;

+      *pOut++ = (q31_t) (out);

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* Load the coefficient value and           

+     * increment the coefficient buffer for the next set of state values */

+    coeff = *pCoeffs++;

+

+    /* Read Index, from where the state buffer should be read, is calculated. */

+    readIndex = (int32_t) (S->stateIndex - blockSize) - *pTapDelay++;

+

+    /* Wraparound of readIndex */

+    if(readIndex < 0)

+    {

+      readIndex += (int32_t) delaySize;

+    }

+

+    /* Decrement the tap loop counter */

+    tapCnt--;

+  }

+

+  /* Working output pointer is updated */

+  pOut = pDst;

+

+  /* Output is converted into 1.31 format. */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    in = *pOut << 1;

+    *pOut++ = in;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of FIR_Sparse group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c
new file mode 100644
index 000000000..ace5d0703
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c
@@ -0,0 +1,398 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_fir_sparse_q7.c    

+*    

+* Description:	Q7 sparse 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ------------------------------------------------------------------- */

+#include "arm_math.h"

+

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR_Sparse    

+ * @{    

+ */

+

+

+/**   

+ * @brief Processing function for the Q7 sparse FIR filter.   

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

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

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

+ * @param[in]  *pScratchIn  points to a temporary buffer of size blockSize.   

+ * @param[in]  *pScratchOut points to a temporary buffer of size blockSize.   

+ * @param[in]  blockSize    number of input 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 then converted to 18.7 format by discarding the low 7 bits.   

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

+ */

+

+void arm_fir_sparse_q7(

+  arm_fir_sparse_instance_q7 * S,

+  q7_t * pSrc,

+  q7_t * pDst,

+  q7_t * pScratchIn,

+  q31_t * pScratchOut,

+  uint32_t blockSize)

+{

+

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

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

+  q7_t *px;                                      /* Scratch buffer pointer */

+  q7_t *py = pState;                             /* Temporary pointers for state buffer */

+  q7_t *pb = pScratchIn;                         /* Temporary pointers for scratch buffer */

+  q7_t *pOut = pDst;                             /* Destination pointer */

+  int32_t *pTapDelay = S->pTapDelay;             /* Pointer to the array containing offset of the non-zero tap values. */

+  uint32_t delaySize = S->maxDelay + blockSize;  /* state length */

+  uint16_t numTaps = S->numTaps;                 /* Filter order */

+  int32_t readIndex;                             /* Read index of the state buffer */

+  uint32_t tapCnt, blkCnt;                       /* loop counters */

+  q7_t coeff = *pCoeffs++;                       /* Read the coefficient value */

+  q31_t *pScr2 = pScratchOut;                    /* Working pointer for scratch buffer of output values */

+  q31_t in;

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  q7_t in1, in2, in3, in4;

+

+  /* BlockSize of Input samples are copied into the state buffer */

+  /* StateIndex points to the starting position to write in the state buffer */

+  arm_circularWrite_q7(py, (int32_t) delaySize, &S->stateIndex, 1, pSrc, 1,

+                       blockSize);

+

+  /* Loop over the number of taps. */

+  tapCnt = numTaps;

+

+  /* Read Index, from where the state buffer should be read, is calculated. */

+  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;

+

+  /* Wraparound of readIndex */

+  if(readIndex < 0)

+  {

+    readIndex += (int32_t) delaySize;

+  }

+

+  /* Working pointer for state buffer is updated */

+  py = pState;

+

+  /* blockSize samples are read from the state buffer */

+  arm_circularRead_q7(py, (int32_t) delaySize, &readIndex, 1, pb, pb,

+                      (int32_t) blockSize, 1, blockSize);

+

+  /* Working pointer for the scratch buffer of state values */

+  px = pb;

+

+  /* Working pointer for scratch buffer of output values */

+  pScratchOut = pScr2;

+

+  /* Loop over the blockSize. Unroll by a factor of 4.    

+   * Compute 4 multiplications at a time. */

+  blkCnt = blockSize >> 2;

+

+  while(blkCnt > 0u)

+  {

+    /* Perform multiplication and store in the scratch buffer */

+    *pScratchOut++ = ((q31_t) * px++ * coeff);

+    *pScratchOut++ = ((q31_t) * px++ * coeff);

+    *pScratchOut++ = ((q31_t) * px++ * coeff);

+    *pScratchOut++ = ((q31_t) * px++ * coeff);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* If the blockSize is not a multiple of 4,    

+   * compute the remaining samples */

+  blkCnt = blockSize % 0x4u;

+

+  while(blkCnt > 0u)

+  {

+    /* Perform multiplication and store in the scratch buffer */

+    *pScratchOut++ = ((q31_t) * px++ * coeff);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Load the coefficient value and    

+   * increment the coefficient buffer for the next set of state values */

+  coeff = *pCoeffs++;

+

+  /* Read Index, from where the state buffer should be read, is calculated. */

+  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;

+

+  /* Wraparound of readIndex */

+  if(readIndex < 0)

+  {

+    readIndex += (int32_t) delaySize;

+  }

+

+  /* Loop over the number of taps. */

+  tapCnt = (uint32_t) numTaps - 1u;

+

+  while(tapCnt > 0u)

+  {

+    /* Working pointer for state buffer is updated */

+    py = pState;

+

+    /* blockSize samples are read from the state buffer */

+    arm_circularRead_q7(py, (int32_t) delaySize, &readIndex, 1, pb, pb,

+                        (int32_t) blockSize, 1, blockSize);

+

+    /* Working pointer for the scratch buffer of state values */

+    px = pb;

+

+    /* Working pointer for scratch buffer of output values */

+    pScratchOut = pScr2;

+

+    /* Loop over the blockSize. Unroll by a factor of 4.    

+     * Compute 4 MACS at a time. */

+    blkCnt = blockSize >> 2;

+

+    while(blkCnt > 0u)

+    {

+      /* Perform Multiply-Accumulate */

+      in = *pScratchOut + ((q31_t) * px++ * coeff);

+      *pScratchOut++ = in;

+      in = *pScratchOut + ((q31_t) * px++ * coeff);

+      *pScratchOut++ = in;

+      in = *pScratchOut + ((q31_t) * px++ * coeff);

+      *pScratchOut++ = in;

+      in = *pScratchOut + ((q31_t) * px++ * coeff);

+      *pScratchOut++ = in;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* If the blockSize is not a multiple of 4,    

+     * compute the remaining samples */

+    blkCnt = blockSize % 0x4u;

+

+    while(blkCnt > 0u)

+    {

+      /* Perform Multiply-Accumulate */

+      in = *pScratchOut + ((q31_t) * px++ * coeff);

+      *pScratchOut++ = in;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* Load the coefficient value and    

+     * increment the coefficient buffer for the next set of state values */

+    coeff = *pCoeffs++;

+

+    /* Read Index, from where the state buffer should be read, is calculated. */

+    readIndex = ((int32_t) S->stateIndex -

+                 (int32_t) blockSize) - *pTapDelay++;

+

+    /* Wraparound of readIndex */

+    if(readIndex < 0)

+    {

+      readIndex += (int32_t) delaySize;

+    }

+

+    /* Decrement the tap loop counter */

+    tapCnt--;

+  }

+

+  /* All the output values are in pScratchOut buffer.    

+     Convert them into 1.15 format, saturate and store in the destination buffer. */

+  /* Loop over the blockSize. */

+  blkCnt = blockSize >> 2;

+

+  while(blkCnt > 0u)

+  {

+    in1 = (q7_t) __SSAT(*pScr2++ >> 7, 8);

+    in2 = (q7_t) __SSAT(*pScr2++ >> 7, 8);

+    in3 = (q7_t) __SSAT(*pScr2++ >> 7, 8);

+    in4 = (q7_t) __SSAT(*pScr2++ >> 7, 8);

+

+    *__SIMD32(pOut)++ = __PACKq7(in1, in2, in3, in4);

+

+    /* Decrement the blockSize loop counter */

+    blkCnt--;

+  }

+

+  /* If the blockSize is not a multiple of 4,    

+     remaining samples are processed in the below loop */

+  blkCnt = blockSize % 0x4u;

+

+  while(blkCnt > 0u)

+  {

+    *pOut++ = (q7_t) __SSAT(*pScr2++ >> 7, 8);

+

+    /* Decrement the blockSize loop counter */

+    blkCnt--;

+  }

+

+#else

+

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

+

+  /* BlockSize of Input samples are copied into the state buffer */

+  /* StateIndex points to the starting position to write in the state buffer */

+  arm_circularWrite_q7(py, (int32_t) delaySize, &S->stateIndex, 1, pSrc, 1,

+                       blockSize);

+

+  /* Loop over the number of taps. */

+  tapCnt = numTaps;

+

+  /* Read Index, from where the state buffer should be read, is calculated. */

+  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;

+

+  /* Wraparound of readIndex */

+  if(readIndex < 0)

+  {

+    readIndex += (int32_t) delaySize;

+  }

+

+  /* Working pointer for state buffer is updated */

+  py = pState;

+

+  /* blockSize samples are read from the state buffer */

+  arm_circularRead_q7(py, (int32_t) delaySize, &readIndex, 1, pb, pb,

+                      (int32_t) blockSize, 1, blockSize);

+

+  /* Working pointer for the scratch buffer of state values */

+  px = pb;

+

+  /* Working pointer for scratch buffer of output values */

+  pScratchOut = pScr2;

+

+  /* Loop over the blockSize */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* Perform multiplication and store in the scratch buffer */

+    *pScratchOut++ = ((q31_t) * px++ * coeff);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Load the coefficient value and           

+   * increment the coefficient buffer for the next set of state values */

+  coeff = *pCoeffs++;

+

+  /* Read Index, from where the state buffer should be read, is calculated. */

+  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;

+

+  /* Wraparound of readIndex */

+  if(readIndex < 0)

+  {

+    readIndex += (int32_t) delaySize;

+  }

+

+  /* Loop over the number of taps. */

+  tapCnt = (uint32_t) numTaps - 1u;

+

+  while(tapCnt > 0u)

+  {

+    /* Working pointer for state buffer is updated */

+    py = pState;

+

+    /* blockSize samples are read from the state buffer */

+    arm_circularRead_q7(py, (int32_t) delaySize, &readIndex, 1, pb, pb,

+                        (int32_t) blockSize, 1, blockSize);

+

+    /* Working pointer for the scratch buffer of state values */

+    px = pb;

+

+    /* Working pointer for scratch buffer of output values */

+    pScratchOut = pScr2;

+

+    /* Loop over the blockSize */

+    blkCnt = blockSize;

+

+    while(blkCnt > 0u)

+    {

+      /* Perform Multiply-Accumulate */

+      in = *pScratchOut + ((q31_t) * px++ * coeff);

+      *pScratchOut++ = in;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* Load the coefficient value and           

+     * increment the coefficient buffer for the next set of state values */

+    coeff = *pCoeffs++;

+

+    /* Read Index, from where the state buffer should be read, is calculated. */

+    readIndex =

+      ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;

+

+    /* Wraparound of readIndex */

+    if(readIndex < 0)

+    {

+      readIndex += (int32_t) delaySize;

+    }

+

+    /* Decrement the tap loop counter */

+    tapCnt--;

+  }

+

+  /* All the output values are in pScratchOut buffer.       

+     Convert them into 1.15 format, saturate and store in the destination buffer. */

+  /* Loop over the blockSize. */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    *pOut++ = (q7_t) __SSAT(*pScr2++ >> 7, 8);

+

+    /* Decrement the blockSize loop counter */

+    blkCnt--;

+  }

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of FIR_Sparse group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c
new file mode 100644
index 000000000..074605553
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c
@@ -0,0 +1,440 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_iir_lattice_f32.c    

+*    

+* Description:	Floating-point IIR Lattice 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @defgroup IIR_Lattice Infinite Impulse Response (IIR) Lattice Filters    

+ *    

+ * This set of functions implements lattice filters    

+ * for Q15, Q31 and floating-point data types.  Lattice filters are used in a     

+ * variety of adaptive filter applications.  The filter structure has feedforward and    

+ * feedback components and the net impulse response is infinite length.    

+ * The functions operate on blocks    

+ * of input and output data and each call to the function processes    

+ * <code>blockSize</code> samples through the filter.  <code>pSrc</code> and    

+ * <code>pDst</code> point to input and output arrays containing <code>blockSize</code> values.    

+    

+ * \par Algorithm:    

+ * \image html IIRLattice.gif "Infinite Impulse Response Lattice filter"    

+ * <pre>    

+ *    fN(n)   =  x(n)    

+ *    fm-1(n) = fm(n) - km * gm-1(n-1)   for m = N, N-1, ...1    

+ *    gm(n)   = km * fm-1(n) + gm-1(n-1) for m = N, N-1, ...1    

+ *    y(n)    = vN * gN(n) + vN-1 * gN-1(n) + ...+ v0 * g0(n)    

+ * </pre>    

+ * \par    

+ * <code>pkCoeffs</code> points to array of reflection coefficients of size <code>numStages</code>.     

+ * Reflection coefficients are stored in time-reversed order.    

+ * \par    

+ * <pre>    

+ *    {kN, kN-1, ....k1}    

+ * </pre>    

+ * <code>pvCoeffs</code> points to the array of ladder coefficients of size <code>(numStages+1)</code>.     

+ * Ladder coefficients are stored in time-reversed order.    

+ * \par    

+ * <pre>    

+ *    {vN, vN-1, ...v0}    

+ * </pre>    

+ * <code>pState</code> points to a state array of size <code>numStages + blockSize</code>.    

+ * The state variables shown in the figure above (the g values) are stored in the <code>pState</code> array.    

+ * The state variables are updated after each block of data is processed; the coefficients are untouched.    

+ * \par Instance Structure    

+ * The coefficients and state variables for a filter are stored together in an instance data structure.    

+ * A separate instance structure must be defined for each filter.    

+ * Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.    

+ * There are separate instance structure declarations for each of the 3 supported data types.    

+  *    

+ * \par Initialization Functions    

+ * There is also an associated initialization function for each data type.    

+ * The initialization function performs the following operations:    

+ * - Sets the values of the internal structure fields.    

+ * - Zeros out the values in the state buffer.    

+ *    

+ * \par    

+ * Use of the initialization function is optional.    

+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    

+ * To place an instance structure into a const data section, the instance structure must be manually initialized.    

+ * Set the values in the state buffer to zeros and then manually initialize the instance structure as follows:    

+ * <pre>    

+ *arm_iir_lattice_instance_f32 S = {numStages, pState, pkCoeffs, pvCoeffs};    

+ *arm_iir_lattice_instance_q31 S = {numStages, pState, pkCoeffs, pvCoeffs};    

+ *arm_iir_lattice_instance_q15 S = {numStages, pState, pkCoeffs, pvCoeffs};    

+ * </pre>    

+ * \par    

+ * where <code>numStages</code> is the number of stages in the filter; <code>pState</code> points to the state buffer array;    

+ * <code>pkCoeffs</code> points to array of the reflection coefficients; <code>pvCoeffs</code> points to the array of ladder coefficients.    

+ * \par Fixed-Point Behavior    

+ * Care must be taken when using the fixed-point versions of the IIR lattice filter functions.    

+ * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.    

+ * Refer to the function specific documentation below for usage guidelines.    

+ */

+

+/**    

+ * @addtogroup IIR_Lattice    

+ * @{    

+ */

+

+/**    

+ * @brief Processing function for the floating-point IIR lattice filter.    

+ * @param[in] *S points to an instance of the floating-point IIR lattice 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.    

+ * @return none.    

+ */

+

+#ifndef ARM_MATH_CM0

+

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

+

+void arm_iir_lattice_f32(

+  const arm_iir_lattice_instance_f32 * S,

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize)

+{

+  float32_t fnext1, gcurr1, gnext;               /* Temporary variables for lattice stages */

+  float32_t acc;                                 /* Accumlator */

+  uint32_t blkCnt, tapCnt;                       /* temporary variables for counts */

+  float32_t *px1, *px2, *pk, *pv;                /* temporary pointers for state and coef */

+  uint32_t numStages = S->numStages;             /* number of stages */

+  float32_t *pState;                             /* State pointer */

+  float32_t *pStateCurnt;                        /* State current pointer */

+  float32_t k1, k2;

+  float32_t v1, v2, v3, v4;

+  float32_t gcurr2;

+  float32_t fnext2;

+

+  /* initialise loop count */

+  blkCnt = blockSize;

+

+  /* initialise state pointer */

+  pState = &S->pState[0];

+

+  /* Sample processing */

+  while(blkCnt > 0u)

+  {

+    /* Read Sample from input buffer */

+    /* fN(n) = x(n) */

+    fnext2 = *pSrc++;

+

+    /* Initialize Ladder coeff pointer */

+    pv = &S->pvCoeffs[0];

+    /* Initialize Reflection coeff pointer */

+    pk = &S->pkCoeffs[0];

+

+    /* Initialize state read pointer */

+    px1 = pState;

+    /* Initialize state write pointer */

+    px2 = pState;

+

+    /* Set accumulator to zero */

+    acc = 0.0;

+

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

+    tapCnt = (numStages) >> 2;

+

+    while(tapCnt > 0u)

+    {

+      /* Read gN-1(n-1) from state buffer */

+      gcurr1 = *px1;

+

+      /* read reflection coefficient kN */

+      k1 = *pk;

+

+      /* fN-1(n) = fN(n) - kN * gN-1(n-1) */

+      fnext1 = fnext2 - (k1 * gcurr1);

+

+      /* read ladder coefficient vN */

+      v1 = *pv;

+

+      /* read next reflection coefficient kN-1 */

+      k2 = *(pk + 1u);

+

+      /* Read gN-2(n-1) from state buffer */

+      gcurr2 = *(px1 + 1u);

+

+      /* read next ladder coefficient vN-1 */

+      v2 = *(pv + 1u);

+

+      /* fN-2(n) = fN-1(n) - kN-1 * gN-2(n-1) */

+      fnext2 = fnext1 - (k2 * gcurr2);

+

+      /* gN(n)   = kN * fN-1(n) + gN-1(n-1) */

+      gnext = gcurr1 + (k1 * fnext1);

+

+      /* read reflection coefficient kN-2 */

+      k1 = *(pk + 2u);

+

+      /* write gN(n) into state for next sample processing */

+      *px2++ = gnext;

+

+      /* Read gN-3(n-1) from state buffer */

+      gcurr1 = *(px1 + 2u);

+

+      /* y(n) += gN(n) * vN  */

+      acc += (gnext * v1);

+

+      /* fN-3(n) = fN-2(n) - kN-2 * gN-3(n-1) */

+      fnext1 = fnext2 - (k1 * gcurr1);

+

+      /* gN-1(n)   = kN-1 * fN-2(n) + gN-2(n-1) */

+      gnext = gcurr2 + (k2 * fnext2);

+

+      /* Read gN-4(n-1) from state buffer */

+      gcurr2 = *(px1 + 3u);

+

+      /* y(n) += gN-1(n) * vN-1  */

+      acc += (gnext * v2);

+

+      /* read reflection coefficient kN-3 */

+      k2 = *(pk + 3u);

+

+      /* write gN-1(n) into state for next sample processing */

+      *px2++ = gnext;

+

+      /* fN-4(n) = fN-3(n) - kN-3 * gN-4(n-1) */

+      fnext2 = fnext1 - (k2 * gcurr2);

+

+      /* gN-2(n) = kN-2 * fN-3(n) + gN-3(n-1) */

+      gnext = gcurr1 + (k1 * fnext1);

+

+      /* read ladder coefficient vN-2 */

+      v3 = *(pv + 2u);

+

+      /* y(n) += gN-2(n) * vN-2  */

+      acc += (gnext * v3);

+

+      /* write gN-2(n) into state for next sample processing */

+      *px2++ = gnext;

+

+      /* update pointer */

+      pk += 4u;

+

+      /* gN-3(n) = kN-3 * fN-4(n) + gN-4(n-1) */

+      gnext = (fnext2 * k2) + gcurr2;

+

+      /* read next ladder coefficient vN-3 */

+      v4 = *(pv + 3u);

+

+      /* y(n) += gN-4(n) * vN-4  */

+      acc += (gnext * v4);

+

+      /* write gN-3(n) into state for next sample processing */

+      *px2++ = gnext;

+

+      /* update pointers */

+      px1 += 4u;

+      pv += 4u;

+

+      tapCnt--;

+

+    }

+

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

+    tapCnt = (numStages) % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      gcurr1 = *px1++;

+      /* Process sample for last taps */

+      fnext1 = fnext2 - ((*pk) * gcurr1);

+      gnext = (fnext1 * (*pk++)) + gcurr1;

+      /* Output samples for last taps */

+      acc += (gnext * (*pv++));

+      *px2++ = gnext;

+      fnext2 = fnext1;

+

+      tapCnt--;

+

+    }

+

+    /* y(n) += g0(n) * v0 */

+    acc += (fnext2 * (*pv));

+

+    *px2++ = fnext2;

+

+    /* write out into pDst */

+    *pDst++ = acc;

+

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

+    pState = pState + 1u;

+

+    blkCnt--;

+

+  }

+

+  /* Processing is complete. Now copy last S->numStages samples to start of the buffer        

+     for the preperation of next frame process */

+

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

+  pStateCurnt = &S->pState[0];

+  pState = &S->pState[blockSize];

+

+  tapCnt = numStages >> 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 = (numStages) % 0x4u;

+

+  /* Copy the remaining q31_t data */

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+}

+

+#else

+

+void arm_iir_lattice_f32(

+  const arm_iir_lattice_instance_f32 * S,

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize)

+{

+  float32_t fcurr, fnext = 0, gcurr, gnext;      /* Temporary variables for lattice stages */

+  float32_t acc;                                 /* Accumlator */

+  uint32_t blkCnt, tapCnt;                       /* temporary variables for counts */

+  float32_t *px1, *px2, *pk, *pv;                /* temporary pointers for state and coef */

+  uint32_t numStages = S->numStages;             /* number of stages */

+  float32_t *pState;                             /* State pointer */

+  float32_t *pStateCurnt;                        /* State current pointer */

+

+

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

+

+  blkCnt = blockSize;

+

+  pState = &S->pState[0];

+

+  /* Sample processing */

+  while(blkCnt > 0u)

+  {

+    /* Read Sample from input buffer */

+    /* fN(n) = x(n) */

+    fcurr = *pSrc++;

+

+    /* Initialize state read pointer */

+    px1 = pState;

+    /* Initialize state write pointer */

+    px2 = pState;

+    /* Set accumulator to zero */

+    acc = 0.0f;

+    /* Initialize Ladder coeff pointer */

+    pv = &S->pvCoeffs[0];

+    /* Initialize Reflection coeff pointer */

+    pk = &S->pkCoeffs[0];

+

+

+    /* Process sample for numStages */

+    tapCnt = numStages;

+

+    while(tapCnt > 0u)

+    {

+      gcurr = *px1++;

+      /* Process sample for last taps */

+      fnext = fcurr - ((*pk) * gcurr);

+      gnext = (fnext * (*pk++)) + gcurr;

+

+      /* Output samples for last taps */

+      acc += (gnext * (*pv++));

+      *px2++ = gnext;

+      fcurr = fnext;

+

+      /* Decrementing loop counter */

+      tapCnt--;

+

+    }

+

+    /* y(n) += g0(n) * v0 */

+    acc += (fnext * (*pv));

+

+    *px2++ = fnext;

+

+    /* write out into pDst */

+    *pDst++ = acc;

+

+    /* Advance the state pointer by 1 to process the next group of samples */

+    pState = pState + 1u;

+    blkCnt--;

+

+  }

+

+  /* Processing is complete. Now copy last S->numStages samples to start of the buffer           

+     for the preperation of next frame process */

+

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

+  pStateCurnt = &S->pState[0];

+  pState = &S->pState[blockSize];

+

+  tapCnt = numStages;

+

+  /* Copy the data */

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+

+}

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+

+/**    

+ * @} end of IIR_Lattice group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c
new file mode 100644
index 000000000..89c00c24d
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c
@@ -0,0 +1,86 @@
+/*-----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_iir_lattice_init_f32.c    

+*    

+* Description:  Floating-point IIR lattice filter initialization 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------*/

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup IIR_Lattice    

+ * @{    

+ */

+

+/**    

+ * @brief Initialization function for the floating-point IIR lattice filter.    

+ * @param[in] *S points to an instance of the floating-point IIR lattice structure.    

+ * @param[in] numStages number of stages in the filter.    

+ * @param[in] *pkCoeffs points to the reflection coefficient buffer.  The array is of length numStages.    

+ * @param[in] *pvCoeffs points to the ladder coefficient buffer.  The array is of length numStages+1.    

+ * @param[in] *pState points to the state buffer.  The array is of length numStages+blockSize.    

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

+ * @return none.    

+ */

+

+void arm_iir_lattice_init_f32(

+  arm_iir_lattice_instance_f32 * S,

+  uint16_t numStages,

+  float32_t * pkCoeffs,

+  float32_t * pvCoeffs,

+  float32_t * pState,

+  uint32_t blockSize)

+{

+  /* Assign filter taps */

+  S->numStages = numStages;

+

+  /* Assign reflection coefficient pointer */

+  S->pkCoeffs = pkCoeffs;

+

+  /* Assign ladder coefficient pointer */

+  S->pvCoeffs = pvCoeffs;

+

+  /* Clear state buffer and size is always blockSize + numStages */

+  memset(pState, 0, (numStages + blockSize) * sizeof(float32_t));

+

+  /* Assign state pointer */

+  S->pState = pState;

+

+

+}

+

+  /**    

+   * @} end of IIR_Lattice group    

+   */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c
new file mode 100644
index 000000000..7dac99fca
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c
@@ -0,0 +1,86 @@
+/*-----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_iir_lattice_init_q15.c    

+*    

+* Description:  Q15 IIR lattice filter initialization 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------*/

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup IIR_Lattice    

+ * @{    

+ */

+

+  /**    

+   * @brief Initialization function for the Q15 IIR lattice filter.    

+   * @param[in] *S points to an instance of the Q15 IIR lattice structure.    

+   * @param[in] numStages  number of stages in the filter.    

+   * @param[in] *pkCoeffs points to reflection coefficient buffer.  The array is of length numStages.    

+   * @param[in] *pvCoeffs points to ladder coefficient buffer.  The array is of length numStages+1.    

+   * @param[in] *pState points to state buffer.  The array is of length numStages+blockSize.    

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

+   * @return none.    

+   */

+

+void arm_iir_lattice_init_q15(

+  arm_iir_lattice_instance_q15 * S,

+  uint16_t numStages,

+  q15_t * pkCoeffs,

+  q15_t * pvCoeffs,

+  q15_t * pState,

+  uint32_t blockSize)

+{

+  /* Assign filter taps */

+  S->numStages = numStages;

+

+  /* Assign reflection coefficient pointer */

+  S->pkCoeffs = pkCoeffs;

+

+  /* Assign ladder coefficient pointer */

+  S->pvCoeffs = pvCoeffs;

+

+  /* Clear state buffer and size is always blockSize + numStages */

+  memset(pState, 0, (numStages + blockSize) * sizeof(q15_t));

+

+  /* Assign state pointer */

+  S->pState = pState;

+

+

+}

+

+/**    

+ * @} end of IIR_Lattice group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c
new file mode 100644
index 000000000..73b18a597
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c
@@ -0,0 +1,86 @@
+/*-----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_iir_lattice_init_q31.c    

+*    

+* Description:  Initialization function for the Q31 IIR lattice filter.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------*/

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup IIR_Lattice    

+ * @{    

+ */

+

+  /**    

+   * @brief Initialization function for the Q31 IIR lattice filter.    

+   * @param[in] *S points to an instance of the Q31 IIR lattice structure.    

+   * @param[in] numStages number of stages in the filter.    

+   * @param[in] *pkCoeffs points to the reflection coefficient buffer.  The array is of length numStages.    

+   * @param[in] *pvCoeffs points to the ladder coefficient buffer.  The array is of length numStages+1.    

+   * @param[in] *pState points to the state buffer.  The array is of length numStages+blockSize.    

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

+   * @return none.    

+   */

+

+void arm_iir_lattice_init_q31(

+  arm_iir_lattice_instance_q31 * S,

+  uint16_t numStages,

+  q31_t * pkCoeffs,

+  q31_t * pvCoeffs,

+  q31_t * pState,

+  uint32_t blockSize)

+{

+  /* Assign filter taps */

+  S->numStages = numStages;

+

+  /* Assign reflection coefficient pointer */

+  S->pkCoeffs = pkCoeffs;

+

+  /* Assign ladder coefficient pointer */

+  S->pvCoeffs = pvCoeffs;

+

+  /* Clear state buffer and size is always blockSize + numStages */

+  memset(pState, 0, (numStages + blockSize) * sizeof(q31_t));

+

+  /* Assign state pointer */

+  S->pState = pState;

+

+

+}

+

+/**    

+ * @} end of IIR_Lattice group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c
new file mode 100644
index 000000000..5f0f891d1
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c
@@ -0,0 +1,457 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_iir_lattice_q15.c    

+*    

+* Description:	Q15 IIR lattice 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup IIR_Lattice    

+ * @{    

+ */

+

+/**    

+ * @brief Processing function for the Q15 IIR lattice filter.    

+ * @param[in] *S points to an instance of the Q15 IIR lattice 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.    

+ * @return none.    

+ *    

+ * @details    

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

+ * \par    

+ * The function is implemented using a 64-bit internal accumulator.    

+ * Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result.    

+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.    

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

+ * After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits.    

+ * Lastly, the accumulator is saturated to yield a result in 1.15 format.    

+ */

+

+void arm_iir_lattice_q15(

+  const arm_iir_lattice_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  q31_t fcurr, fnext, gcurr = 0, gnext;          /* Temporary variables for lattice stages */

+  q15_t gnext1, gnext2;                          /* Temporary variables for lattice stages */

+  uint32_t stgCnt;                               /* Temporary variables for counts */

+  q63_t acc;                                     /* Accumlator */

+  uint32_t blkCnt, tapCnt;                       /* Temporary variables for counts */

+  q15_t *px1, *px2, *pk, *pv;                    /* temporary pointers for state and coef */

+  uint32_t numStages = S->numStages;             /* number of stages */

+  q15_t *pState;                                 /* State pointer */

+  q15_t *pStateCurnt;                            /* State current pointer */

+  q15_t out;                                     /* Temporary variable for output */

+  q15_t v1, v2;

+  q31_t v;                                       /* Temporary variable for ladder coefficient */

+

+

+  blkCnt = blockSize;

+

+  pState = &S->pState[0];

+

+  /* Sample processing */

+  while(blkCnt > 0u)

+  {

+    /* Read Sample from input buffer */

+    /* fN(n) = x(n) */

+    fcurr = *pSrc++;

+

+    /* Initialize state read pointer */

+    px1 = pState;

+    /* Initialize state write pointer */

+    px2 = pState;

+    /* Set accumulator to zero */

+    acc = 0;

+    /* Initialize Ladder coeff pointer */

+    pv = &S->pvCoeffs[0];

+    /* Initialize Reflection coeff pointer */

+    pk = &S->pkCoeffs[0];

+

+

+    /* Process sample for first tap */

+    gcurr = *px1++;

+    /* fN-1(n) = fN(n) - kN * gN-1(n-1) */

+    fnext = fcurr - (((q31_t) gcurr * (*pk)) >> 15);

+    fnext = __SSAT(fnext, 16);

+    /* gN(n) = kN * fN-1(n) + gN-1(n-1) */

+    gnext = (((q31_t) fnext * (*pk++)) >> 15) + gcurr;

+    gnext = __SSAT(gnext, 16);

+    /* write gN(n) into state for next sample processing */

+    *px2++ = (q15_t) gnext;

+    /* y(n) += gN(n) * vN  */

+    acc += (q31_t) ((gnext * (*pv++)));

+

+

+    /* Update f values for next coefficient processing */

+    fcurr = fnext;

+

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

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

+

+    while(tapCnt > 0u)

+    {

+

+      /* Process sample for 2nd, 6th ...taps */

+      /* Read gN-2(n-1) from state buffer */

+      gcurr = *px1++;

+      /* Process sample for 2nd, 6th .. taps */

+      /* fN-2(n) = fN-1(n) - kN-1 * gN-2(n-1) */

+      fnext = fcurr - (((q31_t) gcurr * (*pk)) >> 15);

+      fnext = __SSAT(fnext, 16);

+      /* gN-1(n) = kN-1 * fN-2(n) + gN-2(n-1) */

+      gnext = (((q31_t) fnext * (*pk++)) >> 15) + gcurr;

+      gnext1 = (q15_t) __SSAT(gnext, 16);

+      /* write gN-1(n) into state */

+      *px2++ = (q15_t) gnext1;

+

+

+      /* Process sample for 3nd, 7th ...taps */

+      /* Read gN-3(n-1) from state */

+      gcurr = *px1++;

+      /* Process sample for 3rd, 7th .. taps */

+      /* fN-3(n) = fN-2(n) - kN-2 * gN-3(n-1) */

+      fcurr = fnext - (((q31_t) gcurr * (*pk)) >> 15);

+      fcurr = __SSAT(fcurr, 16);

+      /* gN-2(n) = kN-2 * fN-3(n) + gN-3(n-1) */

+      gnext = (((q31_t) fcurr * (*pk++)) >> 15) + gcurr;

+      gnext2 = (q15_t) __SSAT(gnext, 16);

+      /* write gN-2(n) into state */

+      *px2++ = (q15_t) gnext2;

+

+      /* Read vN-1 and vN-2 at a time */

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+      v = *__SIMD32(pv)++;

+

+#else

+

+	  v1 = *pv++;

+	  v2 = *pv++;

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+	  v = __PKHBT(v1, v2, 16);

+

+#else

+

+	  v = __PKHBT(v2, v1, 16);

+

+#endif	/* 	#ifndef ARM_MATH_BIG_ENDIAN		*/

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE */

+

+

+      /* Pack gN-1(n) and gN-2(n) */

+

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+      gnext = __PKHBT(gnext1, gnext2, 16);

+

+#else

+

+      gnext = __PKHBT(gnext2, gnext1, 16);

+

+#endif /*   #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+      /* y(n) += gN-1(n) * vN-1  */

+      /* process for gN-5(n) * vN-5, gN-9(n) * vN-9 ... */

+      /* y(n) += gN-2(n) * vN-2  */

+      /* process for gN-6(n) * vN-6, gN-10(n) * vN-10 ... */

+      acc = __SMLALD(gnext, v, acc);

+

+

+      /* Process sample for 4th, 8th ...taps */

+      /* Read gN-4(n-1) from state */

+      gcurr = *px1++;

+      /* Process sample for 4th, 8th .. taps */

+      /* fN-4(n) = fN-3(n) - kN-3 * gN-4(n-1) */

+      fnext = fcurr - (((q31_t) gcurr * (*pk)) >> 15);

+      fnext = __SSAT(fnext, 16);

+      /* gN-3(n) = kN-3 * fN-1(n) + gN-1(n-1) */

+      gnext = (((q31_t) fnext * (*pk++)) >> 15) + gcurr;

+      gnext1 = (q15_t) __SSAT(gnext, 16);

+      /* write  gN-3(n) for the next sample process */

+      *px2++ = (q15_t) gnext1;

+

+

+      /* Process sample for 5th, 9th ...taps */

+      /* Read gN-5(n-1) from state */

+      gcurr = *px1++;

+      /* Process sample for 5th, 9th .. taps */

+      /* fN-5(n) = fN-4(n) - kN-4 * gN-5(n-1) */

+      fcurr = fnext - (((q31_t) gcurr * (*pk)) >> 15);

+      fcurr = __SSAT(fcurr, 16);

+      /* gN-4(n) = kN-4 * fN-5(n) + gN-5(n-1) */

+      gnext = (((q31_t) fcurr * (*pk++)) >> 15) + gcurr;

+      gnext2 = (q15_t) __SSAT(gnext, 16);

+      /* write      gN-4(n) for the next sample process */

+      *px2++ = (q15_t) gnext2;

+

+      /* Read vN-3 and vN-4 at a time */

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+      v = *__SIMD32(pv)++;

+

+#else

+

+	  v1 = *pv++;

+	  v2 = *pv++;

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+	  v = __PKHBT(v1, v2, 16);

+

+#else

+

+	  v = __PKHBT(v2, v1, 16);

+

+#endif	/* #ifndef ARM_MATH_BIG_ENDIAN	 */

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE */

+

+

+      /* Pack gN-3(n) and gN-4(n) */

+#ifndef  ARM_MATH_BIG_ENDIAN

+

+      gnext = __PKHBT(gnext1, gnext2, 16);

+

+#else

+

+      gnext = __PKHBT(gnext2, gnext1, 16);

+

+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */

+

+      /* y(n) += gN-4(n) * vN-4  */

+      /* process for gN-8(n) * vN-8, gN-12(n) * vN-12 ... */

+      /* y(n) += gN-3(n) * vN-3  */

+      /* process for gN-7(n) * vN-7, gN-11(n) * vN-11 ... */

+      acc = __SMLALD(gnext, v, acc);

+

+      tapCnt--;

+

+    }

+

+    fnext = fcurr;

+

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

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

+

+    while(tapCnt > 0u)

+    {

+      gcurr = *px1++;

+      /* Process sample for last taps */

+      fnext = fcurr - (((q31_t) gcurr * (*pk)) >> 15);

+      fnext = __SSAT(fnext, 16);

+      gnext = (((q31_t) fnext * (*pk++)) >> 15) + gcurr;

+      gnext = __SSAT(gnext, 16);

+      /* Output samples for last taps */

+      acc += (q31_t) (((q31_t) gnext * (*pv++)));

+      *px2++ = (q15_t) gnext;

+      fcurr = fnext;

+

+      tapCnt--;

+    }

+

+    /* y(n) += g0(n) * v0 */

+    acc += (q31_t) (((q31_t) fnext * (*pv++)));

+

+    out = (q15_t) __SSAT(acc >> 15, 16);

+    *px2++ = (q15_t) fnext;

+

+    /* write out into pDst */

+    *pDst++ = out;

+

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

+    pState = pState + 1u;

+    blkCnt--;

+

+  }

+

+  /* Processing is complete. Now copy last S->numStages samples to start of the buffer    

+     for the preperation of next frame process */

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

+  pStateCurnt = &S->pState[0];

+  pState = &S->pState[blockSize];

+

+  stgCnt = (numStages >> 2u);

+

+  /* copy data */

+  while(stgCnt > 0u)

+  {

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;

+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;

+

+#else

+

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+

+#endif /*	#ifndef UNALIGNED_SUPPORT_DISABLE */

+

+    /* Decrement the loop counter */

+    stgCnt--;

+

+  }

+

+  /* Calculation of count for remaining q15_t data */

+  stgCnt = (numStages) % 0x4u;

+

+  /* copy data */

+  while(stgCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    stgCnt--;

+  }

+

+#else

+

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

+

+  q31_t fcurr, fnext = 0, gcurr = 0, gnext;      /* Temporary variables for lattice stages */

+  uint32_t stgCnt;                               /* Temporary variables for counts */

+  q63_t acc;                                     /* Accumlator */

+  uint32_t blkCnt, tapCnt;                       /* Temporary variables for counts */

+  q15_t *px1, *px2, *pk, *pv;                    /* temporary pointers for state and coef */

+  uint32_t numStages = S->numStages;             /* number of stages */

+  q15_t *pState;                                 /* State pointer */

+  q15_t *pStateCurnt;                            /* State current pointer */

+  q15_t out;                                     /* Temporary variable for output */

+

+

+  blkCnt = blockSize;

+

+  pState = &S->pState[0];

+

+  /* Sample processing */

+  while(blkCnt > 0u)

+  {

+    /* Read Sample from input buffer */

+    /* fN(n) = x(n) */

+    fcurr = *pSrc++;

+

+    /* Initialize state read pointer */

+    px1 = pState;

+    /* Initialize state write pointer */

+    px2 = pState;

+    /* Set accumulator to zero */

+    acc = 0;

+    /* Initialize Ladder coeff pointer */

+    pv = &S->pvCoeffs[0];

+    /* Initialize Reflection coeff pointer */

+    pk = &S->pkCoeffs[0];

+

+    tapCnt = numStages;

+

+    while(tapCnt > 0u)

+    {

+      gcurr = *px1++;

+      /* Process sample */

+      /* fN-1(n) = fN(n) - kN * gN-1(n-1) */

+      fnext = fcurr - ((gcurr * (*pk)) >> 15);

+      fnext = __SSAT(fnext, 16);

+      /* gN(n) = kN * fN-1(n) + gN-1(n-1) */

+      gnext = ((fnext * (*pk++)) >> 15) + gcurr;

+      gnext = __SSAT(gnext, 16);

+      /* Output samples */

+      /* y(n) += gN(n) * vN */

+      acc += (q31_t) ((gnext * (*pv++)));

+      /* write gN(n) into state for next sample processing */

+      *px2++ = (q15_t) gnext;

+      /* Update f values for next coefficient processing */

+      fcurr = fnext;

+

+      tapCnt--;

+    }

+

+    /* y(n) += g0(n) * v0 */

+    acc += (q31_t) ((fnext * (*pv++)));

+

+    out = (q15_t) __SSAT(acc >> 15, 16);

+    *px2++ = (q15_t) fnext;

+

+    /* write out into pDst */

+    *pDst++ = out;

+

+    /* Advance the state pointer by 1 to process the next group of samples */

+    pState = pState + 1u;

+    blkCnt--;

+

+  }

+

+  /* Processing is complete. Now copy last S->numStages samples to start of the buffer           

+     for the preperation of next frame process */

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

+  pStateCurnt = &S->pState[0];

+  pState = &S->pState[blockSize];

+

+  stgCnt = numStages;

+

+  /* copy data */

+  while(stgCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    stgCnt--;

+  }

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+}

+

+

+

+

+/**    

+ * @} end of IIR_Lattice group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c
new file mode 100644
index 000000000..adfd4dfb5
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c
@@ -0,0 +1,345 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_iir_lattice_q31.c    

+*    

+* Description:	Q31 IIR lattice 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup IIR_Lattice    

+ * @{    

+ */

+

+/**    

+ * @brief Processing function for the Q31 IIR lattice filter.    

+ * @param[in] *S points to an instance of the Q31 IIR lattice 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.    

+ * @return none.    

+ *    

+ * @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.    

+ * Thus, if the accumulator result overflows it wraps around rather than clip.    

+ * In order to avoid overflows completely the input signal must be scaled down by 2*log2(numStages) bits.    

+ * After all multiply-accumulates are performed, the 2.62 accumulator is saturated to 1.32 format and then truncated to 1.31 format.    

+ */

+

+void arm_iir_lattice_q31(

+  const arm_iir_lattice_instance_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize)

+{

+  q31_t fcurr, fnext = 0, gcurr = 0, gnext;      /* Temporary variables for lattice stages */

+  q63_t acc;                                     /* Accumlator */

+  uint32_t blkCnt, tapCnt;                       /* Temporary variables for counts */

+  q31_t *px1, *px2, *pk, *pv;                    /* Temporary pointers for state and coef */

+  uint32_t numStages = S->numStages;             /* number of stages */

+  q31_t *pState;                                 /* State pointer */

+  q31_t *pStateCurnt;                            /* State current pointer */

+

+  blkCnt = blockSize;

+

+  pState = &S->pState[0];

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  /* Sample processing */

+  while(blkCnt > 0u)

+  {

+    /* Read Sample from input buffer */

+    /* fN(n) = x(n) */

+    fcurr = *pSrc++;

+

+    /* Initialize state read pointer */

+    px1 = pState;

+    /* Initialize state write pointer */

+    px2 = pState;

+    /* Set accumulator to zero */

+    acc = 0;

+    /* Initialize Ladder coeff pointer */

+    pv = &S->pvCoeffs[0];

+    /* Initialize Reflection coeff pointer */

+    pk = &S->pkCoeffs[0];

+

+

+    /* Process sample for first tap */

+    gcurr = *px1++;

+    /* fN-1(n) = fN(n) - kN * gN-1(n-1) */

+    fnext = __QSUB(fcurr, (q31_t) (((q63_t) gcurr * (*pk)) >> 31));

+    /* gN(n) = kN * fN-1(n) + gN-1(n-1) */

+    gnext = __QADD(gcurr, (q31_t) (((q63_t) fnext * (*pk++)) >> 31));

+    /* write gN-1(n-1) into state for next sample processing */

+    *px2++ = gnext;

+    /* y(n) += gN(n) * vN  */

+    acc += ((q63_t) gnext * *pv++);

+

+    /* Update f values for next coefficient processing */

+    fcurr = fnext;

+

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

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

+

+    while(tapCnt > 0u)

+    {

+

+      /* Process sample for 2nd, 6th .. taps */

+      /* Read gN-2(n-1) from state buffer */

+      gcurr = *px1++;

+      /* fN-2(n) = fN-1(n) - kN-1 * gN-2(n-1) */

+      fnext = __QSUB(fcurr, (q31_t) (((q63_t) gcurr * (*pk)) >> 31));

+      /* gN-1(n) = kN-1 * fN-2(n) + gN-2(n-1) */

+      gnext = __QADD(gcurr, (q31_t) (((q63_t) fnext * (*pk++)) >> 31));

+      /* y(n) += gN-1(n) * vN-1  */

+      /* process for gN-5(n) * vN-5, gN-9(n) * vN-9 ... */

+      acc += ((q63_t) gnext * *pv++);

+      /* write gN-1(n) into state for next sample processing */

+      *px2++ = gnext;

+

+      /* Process sample for 3nd, 7th ...taps */

+      /* Read gN-3(n-1) from state buffer */

+      gcurr = *px1++;

+      /* Process sample for 3rd, 7th .. taps */

+      /* fN-3(n) = fN-2(n) - kN-2 * gN-3(n-1) */

+      fcurr = __QSUB(fnext, (q31_t) (((q63_t) gcurr * (*pk)) >> 31));

+      /* gN-2(n) = kN-2 * fN-3(n) + gN-3(n-1) */

+      gnext = __QADD(gcurr, (q31_t) (((q63_t) fcurr * (*pk++)) >> 31));

+      /* y(n) += gN-2(n) * vN-2  */

+      /* process for gN-6(n) * vN-6, gN-10(n) * vN-10 ... */

+      acc += ((q63_t) gnext * *pv++);

+      /* write gN-2(n) into state for next sample processing */

+      *px2++ = gnext;

+

+

+      /* Process sample for 4th, 8th ...taps */

+      /* Read gN-4(n-1) from state buffer */

+      gcurr = *px1++;

+      /* Process sample for 4th, 8th .. taps */

+      /* fN-4(n) = fN-3(n) - kN-3 * gN-4(n-1) */

+      fnext = __QSUB(fcurr, (q31_t) (((q63_t) gcurr * (*pk)) >> 31));

+      /* gN-3(n) = kN-3 * fN-4(n) + gN-4(n-1) */

+      gnext = __QADD(gcurr, (q31_t) (((q63_t) fnext * (*pk++)) >> 31));

+      /* y(n) += gN-3(n) * vN-3  */

+      /* process for gN-7(n) * vN-7, gN-11(n) * vN-11 ... */

+      acc += ((q63_t) gnext * *pv++);

+      /* write gN-3(n) into state for next sample processing */

+      *px2++ = gnext;

+

+

+      /* Process sample for 5th, 9th ...taps */

+      /* Read gN-5(n-1) from state buffer */

+      gcurr = *px1++;

+      /* Process sample for 5th, 9th .. taps */

+      /* fN-5(n) = fN-4(n) - kN-4 * gN-1(n-1) */

+      fcurr = __QSUB(fnext, (q31_t) (((q63_t) gcurr * (*pk)) >> 31));

+      /* gN-4(n) = kN-4 * fN-5(n) + gN-5(n-1) */

+      gnext = __QADD(gcurr, (q31_t) (((q63_t) fcurr * (*pk++)) >> 31));

+      /* y(n) += gN-4(n) * vN-4  */

+      /* process for gN-8(n) * vN-8, gN-12(n) * vN-12 ... */

+      acc += ((q63_t) gnext * *pv++);

+      /* write gN-4(n) into state for next sample processing */

+      *px2++ = gnext;

+

+      tapCnt--;

+

+    }

+

+    fnext = fcurr;

+

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

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

+

+    while(tapCnt > 0u)

+    {

+      gcurr = *px1++;

+      /* Process sample for last taps */

+      fnext = __QSUB(fcurr, (q31_t) (((q63_t) gcurr * (*pk)) >> 31));

+      gnext = __QADD(gcurr, (q31_t) (((q63_t) fnext * (*pk++)) >> 31));

+      /* Output samples for last taps */

+      acc += ((q63_t) gnext * *pv++);

+      *px2++ = gnext;

+      fcurr = fnext;

+

+      tapCnt--;

+

+    }

+

+    /* y(n) += g0(n) * v0 */

+    acc += (q63_t) fnext *(

+  *pv++);

+

+    *px2++ = fnext;

+

+    /* write out into pDst */

+    *pDst++ = (q31_t) (acc >> 31u);

+

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

+    pState = pState + 1u;

+    blkCnt--;

+

+  }

+

+  /* Processing is complete. Now copy last S->numStages samples to start of the buffer    

+     for the preperation of next frame process */

+

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

+  pStateCurnt = &S->pState[0];

+  pState = &S->pState[blockSize];

+

+  tapCnt = numStages >> 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 = (numStages) % 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 */

+  /* Sample processing */

+  while(blkCnt > 0u)

+  {

+    /* Read Sample from input buffer */

+    /* fN(n) = x(n) */

+    fcurr = *pSrc++;

+

+    /* Initialize state read pointer */

+    px1 = pState;

+    /* Initialize state write pointer */

+    px2 = pState;

+    /* Set accumulator to zero */

+    acc = 0;

+    /* Initialize Ladder coeff pointer */

+    pv = &S->pvCoeffs[0];

+    /* Initialize Reflection coeff pointer */

+    pk = &S->pkCoeffs[0];

+

+    tapCnt = numStages;

+

+    while(tapCnt > 0u)

+    {

+      gcurr = *px1++;

+      /* Process sample */

+      /* fN-1(n) = fN(n) - kN * gN-1(n-1) */

+      fnext =

+        clip_q63_to_q31(((q63_t) fcurr -

+                         ((q31_t) (((q63_t) gcurr * (*pk)) >> 31))));

+      /* gN(n) = kN * fN-1(n) + gN-1(n-1) */

+      gnext =

+        clip_q63_to_q31(((q63_t) gcurr +

+                         ((q31_t) (((q63_t) fnext * (*pk++)) >> 31))));

+      /* Output samples */

+      /* y(n) += gN(n) * vN  */

+      acc += ((q63_t) gnext * *pv++);

+      /* write gN-1(n-1) into state for next sample processing */

+      *px2++ = gnext;

+      /* Update f values for next coefficient processing */

+      fcurr = fnext;

+

+      tapCnt--;

+    }

+

+    /* y(n) += g0(n) * v0 */

+    acc += (q63_t) fnext *(

+  *pv++);

+

+    *px2++ = fnext;

+

+    /* write out into pDst */

+    *pDst++ = (q31_t) (acc >> 31u);

+

+    /* Advance the state pointer by 1 to process the next group of samples */

+    pState = pState + 1u;

+    blkCnt--;

+

+  }

+

+  /* Processing is complete. Now copy last S->numStages samples to start of the buffer           

+     for the preperation of next frame process */

+

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

+  pStateCurnt = &S->pState[0];

+  pState = &S->pState[blockSize];

+

+  tapCnt = numStages;

+

+  /* Copy the remaining q31_t data */

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+}

+

+

+

+

+/**    

+ * @} end of IIR_Lattice group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c
new file mode 100644
index 000000000..90fa8ae1e
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c
@@ -0,0 +1,434 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_lms_f32.c    

+*    

+* Description:	Processing function for the floating-point LMS filter.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @defgroup LMS Least Mean Square (LMS) Filters    

+ *    

+ * LMS filters are a class of adaptive filters that are able to "learn" an unknown transfer functions.    

+ * LMS filters use a gradient descent method in which the filter coefficients are updated based on the instantaneous error signal.    

+ * Adaptive filters are often used in communication systems, equalizers, and noise removal.    

+ * The CMSIS DSP Library contains LMS filter functions that operate on Q15, Q31, and floating-point data types.    

+ * The library also contains normalized LMS filters in which the filter coefficient adaptation is indepedent of the level of the input signal.    

+ *    

+ * An LMS filter consists of two components as shown below.    

+ * The first component is a standard transversal or FIR filter.    

+ * The second component is a coefficient update mechanism.    

+ * The LMS filter has two input signals.    

+ * The "input" feeds the FIR filter while the "reference input" corresponds to the desired output of the FIR filter.    

+ * That is, the FIR filter coefficients are updated so that the output of the FIR filter matches the reference input.    

+ * The filter coefficient update mechanism is based on the difference between the FIR filter output and the reference input.    

+ * This "error signal" tends towards zero as the filter adapts.    

+ * The LMS processing functions accept the input and reference input signals and generate the filter output and error signal.    

+ * \image html LMS.gif "Internal structure of the Least Mean Square filter"    

+ *    

+ * The functions operate on blocks of data and each call to the function processes    

+ * <code>blockSize</code> samples through the filter.    

+ * <code>pSrc</code> points to input signal, <code>pRef</code> points to reference signal,    

+ * <code>pOut</code> points to output signal and <code>pErr</code> points to error signal.    

+ * All arrays contain <code>blockSize</code> values.    

+ *    

+ * The functions operate on a block-by-block basis.    

+ * Internally, the filter coefficients <code>b[n]</code> are updated on a sample-by-sample basis.    

+ * The convergence of the LMS filter is slower compared to the normalized LMS algorithm.    

+ *    

+ * \par Algorithm:    

+ * The output signal <code>y[n]</code> is computed by a standard FIR filter:    

+ * <pre>    

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

+ * </pre>    

+ *    

+ * \par    

+ * The error signal equals the difference between the reference signal <code>d[n]</code> and the filter output:    

+ * <pre>    

+ *     e[n] = d[n] - y[n].    

+ * </pre>    

+ *    

+ * \par    

+ * After each sample of the error signal is computed, the filter coefficients <code>b[k]</code> are updated on a sample-by-sample basis:    

+ * <pre>    

+ *     b[k] = b[k] + e[n] * mu * x[n-k],  for k=0, 1, ..., numTaps-1    

+ * </pre>    

+ * where <code>mu</code> is the step size and controls the rate of coefficient convergence.    

+ *\par    

+ * In the APIs, <code>pCoeffs</code> points to a coefficient array of size <code>numTaps</code>.    

+ * Coefficients are stored in time reversed order.    

+ * \par    

+ * <pre>    

+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    

+ * </pre>    

+ * \par    

+ * <code>pState</code> points to a state array of size <code>numTaps + blockSize - 1</code>.    

+ * Samples in the state buffer are stored in the order:    

+ * \par    

+ * <pre>    

+ *    {x[n-numTaps+1], x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2]....x[0], x[1], ..., x[blockSize-1]}    

+ * </pre>    

+ * \par    

+ * Note that the length of the state buffer exceeds the length of the coefficient array by <code>blockSize-1</code> samples.    

+ * The increased state buffer length allows circular addressing, which is traditionally used in FIR filters,    

+ * to be avoided and yields a significant speed improvement.    

+ * The state variables are updated after each block of data is processed.    

+ * \par Instance Structure    

+ * The coefficients and state variables for a filter are stored together in an instance data structure.    

+ * A separate instance structure must be defined for each filter and    

+ * coefficient and state arrays cannot be shared among instances.    

+ * There are separate instance structure declarations for each of the 3 supported data types.    

+ *    

+ * \par Initialization Functions    

+ * There is also an associated initialization function for each data type.    

+ * The initialization function performs the following operations:    

+ * - Sets the values of the internal structure fields.    

+ * - Zeros out the values in the state buffer.    

+ * \par    

+ * Use of the initialization function is optional.    

+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    

+ * To place an instance structure into a const data section, the instance structure must be manually initialized.    

+ * Set the values in the state buffer to zeros before static initialization.    

+ * The code below statically initializes each of the 3 different data type filter instance structures    

+ * <pre>    

+ *    arm_lms_instance_f32 S = {numTaps, pState, pCoeffs, mu};    

+ *    arm_lms_instance_q31 S = {numTaps, pState, pCoeffs, mu, postShift};    

+ *    arm_lms_instance_q15 S = {numTaps, pState, pCoeffs, mu, postShift};    

+ * </pre>    

+ * where <code>numTaps</code> is the number of filter coefficients in the filter; <code>pState</code> is the address of the state buffer;    

+ * <code>pCoeffs</code> is the address of the coefficient buffer; <code>mu</code> is the step size parameter; and <code>postShift</code> is the shift applied to coefficients.    

+ *    

+ * \par Fixed-Point Behavior:    

+ * Care must be taken when using the Q15 and Q31 versions of the LMS filter.    

+ * The following issues must be considered:    

+ * - Scaling of coefficients    

+ * - Overflow and saturation    

+ *    

+ * \par Scaling of Coefficients:    

+ * Filter coefficients are represented as fractional values and    

+ * coefficients are restricted to lie in the range <code>[-1 +1)</code>.    

+ * The fixed-point functions have an additional scaling parameter <code>postShift</code>.    

+ * At the output of the filter's accumulator is a shift register which shifts the result by <code>postShift</code> bits.    

+ * This essentially scales the filter coefficients by <code>2^postShift</code> and    

+ * allows the filter coefficients to exceed the range <code>[+1 -1)</code>.    

+ * The value of <code>postShift</code> is set by the user based on the expected gain through the system being modeled.    

+ *    

+ * \par Overflow and Saturation:    

+ * Overflow and saturation behavior of the fixed-point Q15 and Q31 versions are    

+ * described separately as part of the function specific documentation below.    

+ */

+

+/**    

+ * @addtogroup LMS    

+ * @{    

+ */

+

+/**           

+ * @details           

+ * This function operates on floating-point data types.       

+ *    

+ * @brief Processing function for floating-point LMS filter.    

+ * @param[in]  *S points to an instance of the floating-point LMS filter structure.    

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

+ * @param[in]  *pRef points to the block of reference data.    

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

+ * @param[out] *pErr points to the block of error data.    

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

+ * @return     none.    

+ */

+

+void arm_lms_f32(

+  const arm_lms_instance_f32 * S,

+  float32_t * pSrc,

+  float32_t * pRef,

+  float32_t * pOut,

+  float32_t * pErr,

+  uint32_t blockSize)

+{

+  float32_t *pState = S->pState;                 /* State pointer */

+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */

+  float32_t *pStateCurnt;                        /* Points to the current sample of the state */

+  float32_t *px, *pb;                            /* Temporary pointers for state and coefficient buffers */

+  float32_t mu = S->mu;                          /* Adaptive factor */

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

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

+  float32_t sum, e, d;                           /* accumulator, error, reference data sample */

+  float32_t w = 0.0f;                            /* weight factor */

+

+  e = 0.0f;

+  d = 0.0f;

+

+  /* 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)]);

+

+  blkCnt = blockSize;

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  while(blkCnt > 0u)

+  {

+    /* Copy the new input sample into the state buffer */

+    *pStateCurnt++ = *pSrc++;

+

+    /* Initialize pState pointer */

+    px = pState;

+

+    /* Initialize coeff pointer */

+    pb = (pCoeffs);

+

+    /* Set the accumulator to zero */

+    sum = 0.0f;

+

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

+    tapCnt = numTaps >> 2;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      sum += (*px++) * (*pb++);

+      sum += (*px++) * (*pb++);

+      sum += (*px++) * (*pb++);

+      sum += (*px++) * (*pb++);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      sum += (*px++) * (*pb++);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* The result in the accumulator, store in the destination buffer. */

+    *pOut++ = sum;

+

+    /* Compute and store error */

+    d = (float32_t) (*pRef++);

+    e = d - sum;

+    *pErr++ = e;

+

+    /* Calculation of Weighting factor for the updating filter coefficients */

+    w = e * mu;

+

+    /* Initialize pState pointer */

+    px = pState;

+

+    /* Initialize coeff pointer */

+    pb = (pCoeffs);

+

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

+    tapCnt = numTaps >> 2;

+

+    /* Update filter coefficients */

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      *pb = *pb + (w * (*px++));

+      pb++;

+

+      *pb = *pb + (w * (*px++));

+      pb++;

+

+      *pb = *pb + (w * (*px++));

+      pb++;

+

+      *pb = *pb + (w * (*px++));

+      pb++;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      *pb = *pb + (w * (*px++));

+      pb++;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Advance state pointer by 1 for 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 pState buffer */

+  pStateCurnt = S->pState;

+

+  /* Loop unrolling for (numTaps - 1u) samples copy */

+  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 */

+

+  while(blkCnt > 0u)

+  {

+    /* Copy the new input sample into the state buffer */

+    *pStateCurnt++ = *pSrc++;

+

+    /* Initialize pState pointer */

+    px = pState;

+

+    /* Initialize pCoeffs pointer */

+    pb = pCoeffs;

+

+    /* Set the accumulator to zero */

+    sum = 0.0f;

+

+    /* Loop over numTaps number of values */

+    tapCnt = numTaps;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      sum += (*px++) * (*pb++);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* The result is stored in the destination buffer. */

+    *pOut++ = sum;

+

+    /* Compute and store error */

+    d = (float32_t) (*pRef++);

+    e = d - sum;

+    *pErr++ = e;

+

+    /* Weighting factor for the LMS version */

+    w = e * mu;

+

+    /* Initialize pState pointer */

+    px = pState;

+

+    /* Initialize pCoeffs pointer */

+    pb = pCoeffs;

+

+    /* Loop over numTaps number of values */

+    tapCnt = numTaps;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      *pb = *pb + (w * (*px++));

+      pb++;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    pState = pState + 1;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+

+  /* Processing is complete. Now copy the last numTaps - 1 samples to the        

+   * start of the state buffer. This prepares the state buffer for the        

+   * next function call. */

+

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

+  pStateCurnt = S->pState;

+

+  /*  Copy (numTaps - 1u) samples  */

+  tapCnt = (numTaps - 1u);

+

+  /* Copy the data */

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+   * @} end of LMS group    

+   */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c
new file mode 100644
index 000000000..a2f51240a
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c
@@ -0,0 +1,90 @@
+/*-----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_lms_init_f32.c    

+*    

+* Description:  Floating-point LMS filter initialization 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------*/

+

+#include "arm_math.h"

+

+/**    

+ * @addtogroup LMS    

+ * @{    

+ */

+

+  /**    

+   * @brief Initialization function for floating-point LMS filter.    

+   * @param[in] *S points to an instance of the floating-point LMS filter structure.    

+   * @param[in] numTaps  number of filter coefficients.    

+   * @param[in] *pCoeffs points to the coefficient buffer.    

+   * @param[in] *pState points to state buffer.    

+   * @param[in] mu step size that controls filter coefficient updates.    

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

+   * @return none.    

+   */

+

+/**    

+ * \par Description:    

+ * <code>pCoeffs</code> points to the array of filter coefficients stored in time reversed order:    

+ * <pre>    

+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    

+ * </pre>    

+ * The initial filter coefficients serve as a starting point for the adaptive filter.    

+ * <code>pState</code> points to an array of length <code>numTaps+blockSize-1</code> samples, where <code>blockSize</code> is the number of input samples processed by each call to <code>arm_lms_f32()</code>.    

+ */

+

+void arm_lms_init_f32(

+  arm_lms_instance_f32 * S,

+  uint16_t numTaps,

+  float32_t * pCoeffs,

+  float32_t * pState,

+  float32_t mu,

+  uint32_t blockSize)

+{

+  /* Assign filter taps */

+  S->numTaps = numTaps;

+

+  /* Assign coefficient pointer */

+  S->pCoeffs = pCoeffs;

+

+  /* Clear state buffer and size is always blockSize + numTaps */

+  memset(pState, 0, (numTaps + (blockSize - 1)) * sizeof(float32_t));

+

+  /* Assign state pointer */

+  S->pState = pState;

+

+  /* Assign Step size value */

+  S->mu = mu;

+}

+

+/**    

+ * @} end of LMS group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c
new file mode 100644
index 000000000..8f42949a6
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c
@@ -0,0 +1,100 @@
+/*-----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_lms_init_q15.c    

+*    

+* Description:  Q15 LMS filter initialization 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------*/

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup LMS    

+ * @{    

+ */

+

+/**    

+* @brief Initialization function for the Q15 LMS filter.    

+* @param[in] *S points to an instance of the Q15 LMS filter structure.    

+* @param[in] numTaps  number of filter coefficients.    

+* @param[in] *pCoeffs points to the coefficient buffer.    

+* @param[in] *pState points to the state buffer.    

+* @param[in] mu step size that controls filter coefficient updates.    

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

+* @param[in] postShift bit shift applied to coefficients.    

+* @return    none.    

+*    

+* \par Description:    

+* <code>pCoeffs</code> points to the array of filter coefficients stored in time reversed order:    

+* <pre>    

+*    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    

+* </pre>    

+* The initial filter coefficients serve as a starting point for the adaptive filter.    

+* <code>pState</code> points to the array of state variables and size of array is    

+* <code>numTaps+blockSize-1</code> samples, where <code>blockSize</code> is the number of    

+* input samples processed by each call to <code>arm_lms_q15()</code>.    

+*/

+

+void arm_lms_init_q15(

+  arm_lms_instance_q15 * S,

+  uint16_t numTaps,

+  q15_t * pCoeffs,

+  q15_t * pState,

+  q15_t mu,

+  uint32_t blockSize,

+  uint32_t postShift)

+{

+  /* Assign filter taps */

+  S->numTaps = numTaps;

+

+  /* Assign coefficient pointer */

+  S->pCoeffs = pCoeffs;

+

+  /* Clear state buffer and size is always blockSize + numTaps - 1 */

+  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q15_t));

+

+  /* Assign state pointer */

+  S->pState = pState;

+

+  /* Assign Step size value */

+  S->mu = mu;

+

+  /* Assign postShift value to be applied */

+  S->postShift = postShift;

+

+}

+

+/**    

+ * @} end of LMS group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c
new file mode 100644
index 000000000..58edb659b
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c
@@ -0,0 +1,100 @@
+/*-----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_lms_init_q31.c    

+*    

+* Description:  Q31 LMS filter initialization 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------*/

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup LMS    

+ * @{    

+ */

+

+  /**    

+   * @brief Initialization function for Q31 LMS filter.    

+   * @param[in] *S points to an instance of the Q31 LMS filter structure.    

+   * @param[in] numTaps  number of filter coefficients.    

+   * @param[in] *pCoeffs points to coefficient buffer.    

+   * @param[in] *pState points to state buffer.    

+   * @param[in] mu step size that controls filter coefficient updates.    

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

+   * @param[in] postShift bit shift applied to coefficients.    

+   * @return none.    

+ *    

+ * \par Description:    

+ * <code>pCoeffs</code> points to the array of filter coefficients stored in time reversed order:    

+ * <pre>    

+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    

+ * </pre>    

+ * The initial filter coefficients serve as a starting point for the adaptive filter.    

+ * <code>pState</code> points to an array of length <code>numTaps+blockSize-1</code> samples,    

+ * where <code>blockSize</code> is the number of input samples processed by each call to    

+ * <code>arm_lms_q31()</code>.    

+ */

+

+void arm_lms_init_q31(

+  arm_lms_instance_q31 * S,

+  uint16_t numTaps,

+  q31_t * pCoeffs,

+  q31_t * pState,

+  q31_t mu,

+  uint32_t blockSize,

+  uint32_t postShift)

+{

+  /* Assign filter taps */

+  S->numTaps = numTaps;

+

+  /* Assign coefficient pointer */

+  S->pCoeffs = pCoeffs;

+

+  /* Clear state buffer and size is always blockSize + numTaps - 1 */

+  memset(pState, 0, ((uint32_t) numTaps + (blockSize - 1u)) * sizeof(q31_t));

+

+  /* Assign state pointer */

+  S->pState = pState;

+

+  /* Assign Step size value */

+  S->mu = mu;

+

+  /* Assign postShift value to be applied */

+  S->postShift = postShift;

+

+}

+

+/**    

+ * @} end of LMS group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c
new file mode 100644
index 000000000..b2ac45206
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c
@@ -0,0 +1,456 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_lms_norm_f32.c    

+*    

+* Description:	Processing function for the floating-point Normalised LMS.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @defgroup LMS_NORM Normalized LMS Filters    

+ *    

+ * This set of functions implements a commonly used adaptive filter.    

+ * It is related to the Least Mean Square (LMS) adaptive filter and includes an additional normalization    

+ * factor which increases the adaptation rate of the filter.    

+ * The CMSIS DSP Library contains normalized LMS filter functions that operate on Q15, Q31, and floating-point data types.    

+ *    

+ * A normalized least mean square (NLMS) filter consists of two components as shown below.    

+ * The first component is a standard transversal or FIR filter.    

+ * The second component is a coefficient update mechanism.    

+ * The NLMS filter has two input signals.    

+ * The "input" feeds the FIR filter while the "reference input" corresponds to the desired output of the FIR filter.    

+ * That is, the FIR filter coefficients are updated so that the output of the FIR filter matches the reference input.    

+ * The filter coefficient update mechanism is based on the difference between the FIR filter output and the reference input.    

+ * This "error signal" tends towards zero as the filter adapts.    

+ * The NLMS processing functions accept the input and reference input signals and generate the filter output and error signal.    

+ * \image html LMS.gif "Internal structure of the NLMS adaptive filter"    

+ *    

+ * The functions operate on blocks of data and each call to the function processes    

+ * <code>blockSize</code> samples through the filter.    

+ * <code>pSrc</code> points to input signal, <code>pRef</code> points to reference signal,    

+ * <code>pOut</code> points to output signal and <code>pErr</code> points to error signal.    

+ * All arrays contain <code>blockSize</code> values.    

+ *    

+ * The functions operate on a block-by-block basis.    

+ * Internally, the filter coefficients <code>b[n]</code> are updated on a sample-by-sample basis.    

+ * The convergence of the LMS filter is slower compared to the normalized LMS algorithm.    

+ *    

+ * \par Algorithm:    

+ * The output signal <code>y[n]</code> is computed by a standard FIR filter:    

+ * <pre>    

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

+ * </pre>    

+ *    

+ * \par    

+ * The error signal equals the difference between the reference signal <code>d[n]</code> and the filter output:    

+ * <pre>    

+ *     e[n] = d[n] - y[n].    

+ * </pre>    

+ *    

+ * \par    

+ * After each sample of the error signal is computed the instanteous energy of the filter state variables is calculated:    

+ * <pre>    

+ *    E = x[n]^2 + x[n-1]^2 + ... + x[n-numTaps+1]^2.    

+ * </pre>    

+ * The filter coefficients <code>b[k]</code> are then updated on a sample-by-sample basis:    

+ * <pre>    

+ *     b[k] = b[k] + e[n] * (mu/E) * x[n-k],  for k=0, 1, ..., numTaps-1    

+ * </pre>    

+ * where <code>mu</code> is the step size and controls the rate of coefficient convergence.    

+ *\par    

+ * In the APIs, <code>pCoeffs</code> points to a coefficient array of size <code>numTaps</code>.    

+ * Coefficients are stored in time reversed order.    

+ * \par    

+ * <pre>    

+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    

+ * </pre>    

+ * \par    

+ * <code>pState</code> points to a state array of size <code>numTaps + blockSize - 1</code>.    

+ * Samples in the state buffer are stored in the order:    

+ * \par    

+ * <pre>    

+ *    {x[n-numTaps+1], x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2]....x[0], x[1], ..., x[blockSize-1]}    

+ * </pre>    

+ * \par    

+ * Note that the length of the state buffer exceeds the length of the coefficient array by <code>blockSize-1</code> samples.    

+ * The increased state buffer length allows circular addressing, which is traditionally used in FIR filters,    

+ * to be avoided and yields a significant speed improvement.    

+ * The state variables are updated after each block of data is processed.    

+ * \par Instance Structure    

+ * The coefficients and state variables for a filter are stored together in an instance data structure.    

+ * A separate instance structure must be defined for each filter and    

+ * coefficient and state arrays cannot be shared among instances.    

+ * There are separate instance structure declarations for each of the 3 supported data types.    

+ *    

+ * \par Initialization Functions    

+ * There is also an associated initialization function for each data type.    

+ * The initialization function performs the following operations:    

+ * - Sets the values of the internal structure fields.    

+ * - Zeros out the values in the state buffer.    

+ * \par    

+ * Instance structure cannot be placed into a const data section and it is recommended to use the initialization function.    

+ * \par Fixed-Point Behavior:    

+ * Care must be taken when using the Q15 and Q31 versions of the normalised LMS filter.    

+ * The following issues must be considered:    

+ * - Scaling of coefficients    

+ * - Overflow and saturation    

+ *    

+ * \par Scaling of Coefficients:    

+ * Filter coefficients are represented as fractional values and    

+ * coefficients are restricted to lie in the range <code>[-1 +1)</code>.    

+ * The fixed-point functions have an additional scaling parameter <code>postShift</code>.    

+ * At the output of the filter's accumulator is a shift register which shifts the result by <code>postShift</code> bits.    

+ * This essentially scales the filter coefficients by <code>2^postShift</code> and    

+ * allows the filter coefficients to exceed the range <code>[+1 -1)</code>.    

+ * The value of <code>postShift</code> is set by the user based on the expected gain through the system being modeled.    

+ *    

+ * \par Overflow and Saturation:    

+ * Overflow and saturation behavior of the fixed-point Q15 and Q31 versions are    

+ * described separately as part of the function specific documentation below.    

+ */

+

+

+/**    

+ * @addtogroup LMS_NORM    

+ * @{    

+ */

+

+

+  /**    

+   * @brief Processing function for floating-point normalized LMS filter.    

+   * @param[in] *S points to an instance of the floating-point normalized LMS filter structure.    

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

+   * @param[in] *pRef points to the block of reference data.    

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

+   * @param[out] *pErr points to the block of error data.    

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

+   * @return none.    

+   */

+

+void arm_lms_norm_f32(

+  arm_lms_norm_instance_f32 * S,

+  float32_t * pSrc,

+  float32_t * pRef,

+  float32_t * pOut,

+  float32_t * pErr,

+  uint32_t blockSize)

+{

+  float32_t *pState = S->pState;                 /* State pointer */

+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */

+  float32_t *pStateCurnt;                        /* Points to the current sample of the state */

+  float32_t *px, *pb;                            /* Temporary pointers for state and coefficient buffers */

+  float32_t mu = S->mu;                          /* Adaptive factor */

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

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

+  float32_t energy;                              /* Energy of the input */

+  float32_t sum, e, d;                           /* accumulator, error, reference data sample */

+  float32_t w, x0, in;                           /* weight factor, temporary variable to hold input sample and state */

+

+  /* Initializations of error,  difference, Coefficient update */

+  e = 0.0f;

+  d = 0.0f;

+  w = 0.0f;

+

+  energy = S->energy;

+  x0 = S->x0;

+

+  /* S->pState points to buffer 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)]);

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  while(blkCnt > 0u)

+  {

+    /* Copy the new input sample into the state buffer */

+    *pStateCurnt++ = *pSrc;

+

+    /* Initialize pState pointer */

+    px = pState;

+

+    /* Initialize coeff pointer */

+    pb = (pCoeffs);

+

+    /* Read the sample from input buffer */

+    in = *pSrc++;

+

+    /* Update the energy calculation */

+    energy -= x0 * x0;

+    energy += in * in;

+

+    /* Set the accumulator to zero */

+    sum = 0.0f;

+

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

+    tapCnt = numTaps >> 2;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      sum += (*px++) * (*pb++);

+      sum += (*px++) * (*pb++);

+      sum += (*px++) * (*pb++);

+      sum += (*px++) * (*pb++);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      sum += (*px++) * (*pb++);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* The result in the accumulator, store in the destination buffer. */

+    *pOut++ = sum;

+

+    /* Compute and store error */

+    d = (float32_t) (*pRef++);

+    e = d - sum;

+    *pErr++ = e;

+

+    /* Calculation of Weighting factor for updating filter coefficients */

+    /* epsilon value 0.000000119209289f */

+    w = (e * mu) / (energy + 0.000000119209289f);

+

+    /* Initialize pState pointer */

+    px = pState;

+

+    /* Initialize coeff pointer */

+    pb = (pCoeffs);

+

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

+    tapCnt = numTaps >> 2;

+

+    /* Update filter coefficients */

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      *pb += w * (*px++);

+      pb++;

+

+      *pb += w * (*px++);

+      pb++;

+

+      *pb += w * (*px++);

+      pb++;

+

+      *pb += w * (*px++);

+      pb++;

+

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      *pb += w * (*px++);

+      pb++;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    x0 = *pState;

+

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

+    pState = pState + 1;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  S->energy = energy;

+  S->x0 = x0;

+

+  /* 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 pState buffer */

+  pStateCurnt = S->pState;

+

+  /* Loop unrolling for (numTaps - 1u)/4 samples copy */

+  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 */

+

+  while(blkCnt > 0u)

+  {

+    /* Copy the new input sample into the state buffer */

+    *pStateCurnt++ = *pSrc;

+

+    /* Initialize pState pointer */

+    px = pState;

+

+    /* Initialize pCoeffs pointer */

+    pb = pCoeffs;

+

+    /* Read the sample from input buffer */

+    in = *pSrc++;

+

+    /* Update the energy calculation */

+    energy -= x0 * x0;

+    energy += in * in;

+

+    /* Set the accumulator to zero */

+    sum = 0.0f;

+

+    /* Loop over numTaps number of values */

+    tapCnt = numTaps;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      sum += (*px++) * (*pb++);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* The result in the accumulator is stored in the destination buffer. */

+    *pOut++ = sum;

+

+    /* Compute and store error */

+    d = (float32_t) (*pRef++);

+    e = d - sum;

+    *pErr++ = e;

+

+    /* Calculation of Weighting factor for updating filter coefficients */

+    /* epsilon value 0.000000119209289f */

+    w = (e * mu) / (energy + 0.000000119209289f);

+

+    /* Initialize pState pointer */

+    px = pState;

+

+    /* Initialize pCcoeffs pointer */

+    pb = pCoeffs;

+

+    /* Loop over numTaps number of values */

+    tapCnt = numTaps;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      *pb += w * (*px++);

+      pb++;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    x0 = *pState;

+

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

+    pState = pState + 1;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  S->energy = energy;

+  S->x0 = x0;

+

+  /* 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 pState buffer */

+  pStateCurnt = S->pState;

+

+  /* Copy (numTaps - 1u) samples  */

+  tapCnt = (numTaps - 1u);

+

+  /* Copy the remaining q31_t data */

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+   * @} end of LMS_NORM group    

+   */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c
new file mode 100644
index 000000000..3d31cfb25
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c
@@ -0,0 +1,100 @@
+/*-----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_lms_norm_init_f32.c    

+*    

+* Description:  Floating-point NLMS filter initialization 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------*/

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup LMS_NORM    

+ * @{    

+ */

+

+  /**    

+   * @brief Initialization function for floating-point normalized LMS filter.    

+   * @param[in] *S points to an instance of the floating-point LMS filter structure.    

+   * @param[in] numTaps  number of filter coefficients.    

+   * @param[in] *pCoeffs points to coefficient buffer.    

+   * @param[in] *pState points to state buffer.    

+   * @param[in] mu step size that controls filter coefficient updates.    

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

+   * @return none.    

+   *    

+ * \par Description:    

+ * <code>pCoeffs</code> points to the array of filter coefficients stored in time reversed order:    

+ * <pre>    

+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    

+ * </pre>    

+ * The initial filter coefficients serve as a starting point for the adaptive filter.    

+ * <code>pState</code> points to an array of length <code>numTaps+blockSize-1</code> samples,    

+ * where <code>blockSize</code> is the number of input samples processed by each call to <code>arm_lms_norm_f32()</code>.    

+ */

+

+void arm_lms_norm_init_f32(

+  arm_lms_norm_instance_f32 * S,

+  uint16_t numTaps,

+  float32_t * pCoeffs,

+  float32_t * pState,

+  float32_t mu,

+  uint32_t blockSize)

+{

+  /* Assign filter taps */

+  S->numTaps = numTaps;

+

+  /* Assign coefficient pointer */

+  S->pCoeffs = pCoeffs;

+

+  /* Clear state buffer and size is always blockSize + numTaps - 1 */

+  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(float32_t));

+

+  /* Assign state pointer */

+  S->pState = pState;

+

+  /* Assign Step size value */

+  S->mu = mu;

+

+  /* Initialise Energy to zero */

+  S->energy = 0.0f;

+

+  /* Initialise x0 to zero */

+  S->x0 = 0.0f;

+

+}

+

+/**    

+ * @} end of LMS_NORM group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c
new file mode 100644
index 000000000..a1cf1b001
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c
@@ -0,0 +1,107 @@
+/*-----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_lms_norm_init_q15.c    

+*    

+* Description:  Q15 NLMS initialization 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------*/

+

+#include "arm_math.h"

+#include "arm_common_tables.h"

+

+/**    

+ * @addtogroup LMS_NORM    

+ * @{    

+ */

+

+  /**    

+   * @brief Initialization function for Q15 normalized LMS filter.    

+   * @param[in] *S points to an instance of the Q15 normalized LMS filter structure.    

+   * @param[in] numTaps  number of filter coefficients.    

+   * @param[in] *pCoeffs points to coefficient buffer.    

+   * @param[in] *pState points to state buffer.    

+   * @param[in] mu step size that controls filter coefficient updates.    

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

+   * @param[in] postShift bit shift applied to coefficients.    

+   * @return none.    

+ *    

+ * <b>Description:</b>    

+ * \par    

+ * <code>pCoeffs</code> points to the array of filter coefficients stored in time reversed order:    

+ * <pre>    

+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    

+ * </pre>    

+ * The initial filter coefficients serve as a starting point for the adaptive filter.    

+ * <code>pState</code> points to the array of state variables and size of array is    

+ * <code>numTaps+blockSize-1</code> samples, where <code>blockSize</code> is the number of input samples processed    

+ * by each call to <code>arm_lms_norm_q15()</code>.    

+ */

+

+void arm_lms_norm_init_q15(

+  arm_lms_norm_instance_q15 * S,

+  uint16_t numTaps,

+  q15_t * pCoeffs,

+  q15_t * pState,

+  q15_t mu,

+  uint32_t blockSize,

+  uint8_t postShift)

+{

+  /* Assign filter taps */

+  S->numTaps = numTaps;

+

+  /* Assign coefficient pointer */

+  S->pCoeffs = pCoeffs;

+

+  /* Clear state buffer and size is always blockSize + numTaps - 1 */

+  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q15_t));

+

+  /* Assign post Shift value applied to coefficients */

+  S->postShift = postShift;

+

+  /* Assign state pointer */

+  S->pState = pState;

+

+  /* Assign Step size value */

+  S->mu = mu;

+

+  /* Initialize reciprocal pointer table */

+  S->recipTable = (q15_t *) armRecipTableQ15;

+

+  /* Initialise Energy to zero */

+  S->energy = 0;

+

+  /* Initialise x0 to zero */

+  S->x0 = 0;

+

+}

+

+/**    

+ * @} end of LMS_NORM group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c
new file mode 100644
index 000000000..a2fae7b38
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c
@@ -0,0 +1,106 @@
+/*-----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_lms_norm_init_q31.c    

+*    

+* Description:  Q31 NLMS initialization 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------*/

+

+#include "arm_math.h"

+#include "arm_common_tables.h"

+

+/**    

+ * @addtogroup LMS_NORM    

+ * @{    

+ */

+

+  /**    

+   * @brief Initialization function for Q31 normalized LMS filter.    

+   * @param[in] *S points to an instance of the Q31 normalized LMS filter structure.    

+   * @param[in] numTaps  number of filter coefficients.    

+   * @param[in] *pCoeffs points to coefficient buffer.    

+   * @param[in] *pState points to state buffer.    

+   * @param[in] mu step size that controls filter coefficient updates.    

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

+   * @param[in] postShift bit shift applied to coefficients.    

+   * @return none.    

+ *    

+ * <b>Description:</b>    

+ * \par    

+ * <code>pCoeffs</code> points to the array of filter coefficients stored in time reversed order:    

+ * <pre>    

+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    

+ * </pre>    

+ * The initial filter coefficients serve as a starting point for the adaptive filter.    

+ * <code>pState</code> points to an array of length <code>numTaps+blockSize-1</code> samples,    

+ * where <code>blockSize</code> is the number of input samples processed by each call to <code>arm_lms_norm_q31()</code>.    

+ */

+

+void arm_lms_norm_init_q31(

+  arm_lms_norm_instance_q31 * S,

+  uint16_t numTaps,

+  q31_t * pCoeffs,

+  q31_t * pState,

+  q31_t mu,

+  uint32_t blockSize,

+  uint8_t postShift)

+{

+  /* Assign filter taps */

+  S->numTaps = numTaps;

+

+  /* Assign coefficient pointer */

+  S->pCoeffs = pCoeffs;

+

+  /* Clear state buffer and size is always blockSize + numTaps - 1  */

+  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q31_t));

+

+  /* Assign post Shift value applied to coefficients */

+  S->postShift = postShift;

+

+  /* Assign state pointer */

+  S->pState = pState;

+

+  /* Assign Step size value */

+  S->mu = mu;

+

+  /* Initialize reciprocal pointer table */

+  S->recipTable = (q31_t *) armRecipTableQ31;

+

+  /* Initialise Energy to zero */

+  S->energy = 0;

+

+  /* Initialise x0 to zero */

+  S->x0 = 0;

+

+}

+

+/**    

+ * @} end of LMS_NORM group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c
new file mode 100644
index 000000000..a1229a203
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c
@@ -0,0 +1,435 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_lms_norm_q15.c    

+*    

+* Description:	Q15 NLMS filter.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup LMS_NORM    

+ * @{    

+ */

+

+/**    

+* @brief Processing function for Q15 normalized LMS filter.    

+* @param[in] *S points to an instance of the Q15 normalized LMS filter structure.    

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

+* @param[in] *pRef points to the block of reference data.    

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

+* @param[out] *pErr points to the block of error data.    

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

+* @return none.    

+*    

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

+* \par     

+* The function is implemented using a 64-bit internal accumulator.     

+* Both coefficients and state variables are represented in 1.15 format and    

+* multiplications yield a 2.30 result. The 2.30 intermediate results are    

+* accumulated in a 64-bit accumulator in 34.30 format.     

+* There is no risk of internal overflow with this approach and the full    

+* precision of intermediate multiplications is preserved. After all additions    

+* have been performed, the accumulator is truncated to 34.15 format by    

+* discarding low 15 bits. Lastly, the accumulator is saturated to yield a    

+* result in 1.15 format.    

+*    

+* \par   

+* 	In this filter, filter coefficients are updated for each sample and the updation of filter cofficients are saturted.    

+*    

+ */

+

+void arm_lms_norm_q15(

+  arm_lms_norm_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pRef,

+  q15_t * pOut,

+  q15_t * pErr,

+  uint32_t blockSize)

+{

+  q15_t *pState = S->pState;                     /* State pointer */

+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */

+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */

+  q15_t *px, *pb;                                /* Temporary pointers for state and coefficient buffers */

+  q15_t mu = S->mu;                              /* Adaptive factor */

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

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

+  q31_t energy;                                  /* Energy of the input */

+  q63_t acc;                                     /* Accumulator */

+  q15_t e = 0, d = 0;                            /* error, reference data sample */

+  q15_t w = 0, in;                               /* weight factor and state */

+  q15_t x0;                                      /* temporary variable to hold input sample */

+  //uint32_t shift = (uint32_t) S->postShift + 1u; /* Shift to be applied to the output */ 

+  q15_t errorXmu, oneByEnergy;                   /* Temporary variables to store error and mu product and reciprocal of energy */

+  q15_t postShift;                               /* Post shift to be applied to weight after reciprocal calculation */

+  q31_t coef;                                    /* Teporary variable for coefficient */

+  q31_t acc_l, acc_h;

+  int32_t lShift = (15 - (int32_t) S->postShift);       /*  Post shift  */

+  int32_t uShift = (32 - lShift);

+

+  energy = S->energy;

+  x0 = S->x0;

+

+  /* S->pState points to buffer 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)]);

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  while(blkCnt > 0u)

+  {

+    /* Copy the new input sample into the state buffer */

+    *pStateCurnt++ = *pSrc;

+

+    /* Initialize pState pointer */

+    px = pState;

+

+    /* Initialize coeff pointer */

+    pb = (pCoeffs);

+

+    /* Read the sample from input buffer */

+    in = *pSrc++;

+

+    /* Update the energy calculation */

+    energy -= (((q31_t) x0 * (x0)) >> 15);

+    energy += (((q31_t) in * (in)) >> 15);

+

+    /* Set the accumulator to zero */

+    acc = 0;

+

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

+    tapCnt = numTaps >> 2;

+

+    while(tapCnt > 0u)

+    {

+

+      /* Perform the multiply-accumulate */

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+      acc = __SMLALD(*__SIMD32(px)++, (*__SIMD32(pb)++), acc);

+      acc = __SMLALD(*__SIMD32(px)++, (*__SIMD32(pb)++), acc);

+

+#else

+

+      acc += (((q31_t) * px++ * (*pb++)));

+      acc += (((q31_t) * px++ * (*pb++)));

+      acc += (((q31_t) * px++ * (*pb++)));

+      acc += (((q31_t) * px++ * (*pb++)));

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      acc += (((q31_t) * px++ * (*pb++)));

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Calc lower part of acc */

+    acc_l = acc & 0xffffffff;

+

+    /* Calc upper part of acc */

+    acc_h = (acc >> 32) & 0xffffffff;

+

+    /* Apply shift for lower part of acc and upper part of acc */

+    acc = (uint32_t) acc_l >> lShift | acc_h << uShift;

+

+    /* Converting the result to 1.15 format and saturate the output */

+    acc = __SSAT(acc, 16u);

+

+    /* Store the result from accumulator into the destination buffer. */

+    *pOut++ = (q15_t) acc;

+

+    /* Compute and store error */

+    d = *pRef++;

+    e = d - (q15_t) acc;

+    *pErr++ = e;

+

+    /* Calculation of 1/energy */

+    postShift = arm_recip_q15((q15_t) energy + DELTA_Q15,

+                              &oneByEnergy, S->recipTable);

+

+    /* Calculation of e * mu value */

+    errorXmu = (q15_t) (((q31_t) e * mu) >> 15);

+

+    /* Calculation of (e * mu) * (1/energy) value */

+    acc = (((q31_t) errorXmu * oneByEnergy) >> (15 - postShift));

+

+    /* Weighting factor for the normalized version */

+    w = (q15_t) __SSAT((q31_t) acc, 16);

+

+    /* Initialize pState pointer */

+    px = pState;

+

+    /* Initialize coeff pointer */

+    pb = (pCoeffs);

+

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

+    tapCnt = numTaps >> 2;

+

+    /* Update filter coefficients */

+    while(tapCnt > 0u)

+    {

+      coef = *pb + (((q31_t) w * (*px++)) >> 15);

+      *pb++ = (q15_t) __SSAT((coef), 16);

+      coef = *pb + (((q31_t) w * (*px++)) >> 15);

+      *pb++ = (q15_t) __SSAT((coef), 16);

+      coef = *pb + (((q31_t) w * (*px++)) >> 15);

+      *pb++ = (q15_t) __SSAT((coef), 16);

+      coef = *pb + (((q31_t) w * (*px++)) >> 15);

+      *pb++ = (q15_t) __SSAT((coef), 16);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      coef = *pb + (((q31_t) w * (*px++)) >> 15);

+      *pb++ = (q15_t) __SSAT((coef), 16);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Read the sample from state buffer */

+    x0 = *pState;

+

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

+    pState = pState + 1u;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Save energy and x0 values for the next frame */

+  S->energy = (q15_t) energy;

+  S->x0 = x0;

+

+  /* 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 pState buffer */

+  pStateCurnt = S->pState;

+

+  /* Calculation of count for copying integer writes */

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

+

+  while(tapCnt > 0u)

+  {

+

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;

+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;

+

+#else

+

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+

+#endif

+

+    tapCnt--;

+

+  }

+

+  /* Calculation of count for remaining q15_t data */

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

+

+  /* copy data */

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+

+#else

+

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

+

+  while(blkCnt > 0u)

+  {

+    /* Copy the new input sample into the state buffer */

+    *pStateCurnt++ = *pSrc;

+

+    /* Initialize pState pointer */

+    px = pState;

+

+    /* Initialize pCoeffs pointer */

+    pb = pCoeffs;

+

+    /* Read the sample from input buffer */

+    in = *pSrc++;

+

+    /* Update the energy calculation */

+    energy -= (((q31_t) x0 * (x0)) >> 15);

+    energy += (((q31_t) in * (in)) >> 15);

+

+    /* Set the accumulator to zero */

+    acc = 0;

+

+    /* Loop over numTaps number of values */

+    tapCnt = numTaps;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      acc += (((q31_t) * px++ * (*pb++)));

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Calc lower part of acc */

+    acc_l = acc & 0xffffffff;

+

+    /* Calc upper part of acc */

+    acc_h = (acc >> 32) & 0xffffffff;

+

+    /* Apply shift for lower part of acc and upper part of acc */

+    acc = (uint32_t) acc_l >> lShift | acc_h << uShift;

+

+    /* Converting the result to 1.15 format and saturate the output */

+    acc = __SSAT(acc, 16u);

+

+    /* Converting the result to 1.15 format */

+    //acc = __SSAT((acc >> (16u - shift)), 16u); 

+

+    /* Store the result from accumulator into the destination buffer. */

+    *pOut++ = (q15_t) acc;

+

+    /* Compute and store error */

+    d = *pRef++;

+    e = d - (q15_t) acc;

+    *pErr++ = e;

+

+    /* Calculation of 1/energy */

+    postShift = arm_recip_q15((q15_t) energy + DELTA_Q15,

+                              &oneByEnergy, S->recipTable);

+

+    /* Calculation of e * mu value */

+    errorXmu = (q15_t) (((q31_t) e * mu) >> 15);

+

+    /* Calculation of (e * mu) * (1/energy) value */

+    acc = (((q31_t) errorXmu * oneByEnergy) >> (15 - postShift));

+

+    /* Weighting factor for the normalized version */

+    w = (q15_t) __SSAT((q31_t) acc, 16);

+

+    /* Initialize pState pointer */

+    px = pState;

+

+    /* Initialize coeff pointer */

+    pb = (pCoeffs);

+

+    /* Loop over numTaps number of values */

+    tapCnt = numTaps;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      coef = *pb + (((q31_t) w * (*px++)) >> 15);

+      *pb++ = (q15_t) __SSAT((coef), 16);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Read the sample from state buffer */

+    x0 = *pState;

+

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

+    pState = pState + 1u;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Save energy and x0 values for the next frame */

+  S->energy = (q15_t) energy;

+  S->x0 = x0;

+

+  /* 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 pState buffer */

+  pStateCurnt = S->pState;

+

+  /* copy (numTaps - 1u) data */

+  tapCnt = (numTaps - 1u);

+

+  /* copy data */

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+}

+

+

+/**    

+   * @} end of LMS_NORM group    

+   */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c
new file mode 100644
index 000000000..791a8637c
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c
@@ -0,0 +1,426 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_lms_norm_q31.c    

+*    

+* Description:	Processing function for the Q31 NLMS filter.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup LMS_NORM    

+ * @{    

+ */

+

+/**    

+* @brief Processing function for Q31 normalized LMS filter.    

+* @param[in] *S points to an instance of the Q31 normalized LMS filter structure.    

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

+* @param[in] *pRef points to the block of reference data.    

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

+* @param[out] *pErr points to the block of error data.    

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

+* @return none.    

+*    

+* <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.     

+* Thus, if the accumulator result overflows it wraps around rather than clip.     

+* In order to avoid overflows completely the input signal must be scaled down by    

+* log2(numTaps) bits. The reference signal should not be scaled down.     

+* After all multiply-accumulates are performed, the 2.62 accumulator is shifted    

+* and saturated to 1.31 format to yield the final result.     

+* The output signal and error signal are in 1.31 format.     

+*    

+* \par    

+* 	In this filter, filter coefficients are updated for each sample and the    

+* updation of filter cofficients are saturted.    

+*     

+*/

+

+void arm_lms_norm_q31(

+  arm_lms_norm_instance_q31 * S,

+  q31_t * pSrc,

+  q31_t * pRef,

+  q31_t * pOut,

+  q31_t * pErr,

+  uint32_t blockSize)

+{

+  q31_t *pState = S->pState;                     /* State pointer */

+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */

+  q31_t *pStateCurnt;                            /* Points to the current sample of the state */

+  q31_t *px, *pb;                                /* Temporary pointers for state and coefficient buffers */

+  q31_t mu = S->mu;                              /* Adaptive factor */

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

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

+  q63_t energy;                                  /* Energy of the input */

+  q63_t acc;                                     /* Accumulator */

+  q31_t e = 0, d = 0;                            /* error, reference data sample */

+  q31_t w = 0, in;                               /* weight factor and state */

+  q31_t x0;                                      /* temporary variable to hold input sample */

+//  uint32_t shift = 32u - ((uint32_t) S->postShift + 1u);        /* Shift to be applied to the output */      

+  q31_t errorXmu, oneByEnergy;                   /* Temporary variables to store error and mu product and reciprocal of energy */

+  q31_t postShift;                               /* Post shift to be applied to weight after reciprocal calculation */

+  q31_t coef;                                    /* Temporary variable for coef */

+  q31_t acc_l, acc_h;                            /*  temporary input */

+  uint32_t uShift = ((uint32_t) S->postShift + 1u);

+  uint32_t lShift = 32u - uShift;                /*  Shift to be applied to the output */

+

+  energy = S->energy;

+  x0 = S->x0;

+

+  /* S->pState points to buffer 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)]);

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  while(blkCnt > 0u)

+  {

+

+    /* Copy the new input sample into the state buffer */

+    *pStateCurnt++ = *pSrc;

+

+    /* Initialize pState pointer */

+    px = pState;

+

+    /* Initialize coeff pointer */

+    pb = (pCoeffs);

+

+    /* Read the sample from input buffer */

+    in = *pSrc++;

+

+    /* Update the energy calculation */

+    energy = (q31_t) ((((q63_t) energy << 32) -

+                       (((q63_t) x0 * x0) << 1)) >> 32);

+    energy = (q31_t) (((((q63_t) in * in) << 1) + (energy << 32)) >> 32);

+

+    /* Set the accumulator to zero */

+    acc = 0;

+

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

+    tapCnt = numTaps >> 2;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      acc += ((q63_t) (*px++)) * (*pb++);

+      acc += ((q63_t) (*px++)) * (*pb++);

+      acc += ((q63_t) (*px++)) * (*pb++);

+      acc += ((q63_t) (*px++)) * (*pb++);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      acc += ((q63_t) (*px++)) * (*pb++);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Converting the result to 1.31 format */

+    /* Calc lower part of acc */

+    acc_l = acc & 0xffffffff;

+

+    /* Calc upper part of acc */

+    acc_h = (acc >> 32) & 0xffffffff;

+

+    acc = (uint32_t) acc_l >> lShift | acc_h << uShift;

+

+    /* Store the result from accumulator into the destination buffer. */

+    *pOut++ = (q31_t) acc;

+

+    /* Compute and store error */

+    d = *pRef++;

+    e = d - (q31_t) acc;

+    *pErr++ = e;

+

+    /* Calculates the reciprocal of energy */

+    postShift = arm_recip_q31(energy + DELTA_Q31,

+                              &oneByEnergy, &S->recipTable[0]);

+

+    /* Calculation of product of (e * mu) */

+    errorXmu = (q31_t) (((q63_t) e * mu) >> 31);

+

+    /* Weighting factor for the normalized version */

+    w = clip_q63_to_q31(((q63_t) errorXmu * oneByEnergy) >> (31 - postShift));

+

+    /* Initialize pState pointer */

+    px = pState;

+

+    /* Initialize coeff pointer */

+    pb = (pCoeffs);

+

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

+    tapCnt = numTaps >> 2;

+

+    /* Update filter coefficients */

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+

+      /* coef is in 2.30 format */

+      coef = (q31_t) (((q63_t) w * (*px++)) >> (32));

+      /* get coef in 1.31 format by left shifting */

+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));

+      /* update coefficient buffer to next coefficient */

+      pb++;

+

+      coef = (q31_t) (((q63_t) w * (*px++)) >> (32));

+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));

+      pb++;

+

+      coef = (q31_t) (((q63_t) w * (*px++)) >> (32));

+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));

+      pb++;

+

+      coef = (q31_t) (((q63_t) w * (*px++)) >> (32));

+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));

+      pb++;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      coef = (q31_t) (((q63_t) w * (*px++)) >> (32));

+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));

+      pb++;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Read the sample from state buffer */

+    x0 = *pState;

+

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

+    pState = pState + 1;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Save energy and x0 values for the next frame */

+  S->energy = (q31_t) energy;

+  S->x0 = x0;

+

+  /* 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 pState buffer */

+  pStateCurnt = S->pState;

+

+  /* Loop unrolling for (numTaps - 1u) samples copy */

+  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 */

+

+  while(blkCnt > 0u)

+  {

+

+    /* Copy the new input sample into the state buffer */

+    *pStateCurnt++ = *pSrc;

+

+    /* Initialize pState pointer */

+    px = pState;

+

+    /* Initialize pCoeffs pointer */

+    pb = pCoeffs;

+

+    /* Read the sample from input buffer */

+    in = *pSrc++;

+

+    /* Update the energy calculation */

+    energy =

+      (q31_t) ((((q63_t) energy << 32) - (((q63_t) x0 * x0) << 1)) >> 32);

+    energy = (q31_t) (((((q63_t) in * in) << 1) + (energy << 32)) >> 32);

+

+    /* Set the accumulator to zero */

+    acc = 0;

+

+    /* Loop over numTaps number of values */

+    tapCnt = numTaps;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      acc += ((q63_t) (*px++)) * (*pb++);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Converting the result to 1.31 format */

+    /* Converting the result to 1.31 format */

+    /* Calc lower part of acc */

+    acc_l = acc & 0xffffffff;

+

+    /* Calc upper part of acc */

+    acc_h = (acc >> 32) & 0xffffffff;

+

+    acc = (uint32_t) acc_l >> lShift | acc_h << uShift;

+

+

+    //acc = (q31_t) (acc >> shift); 

+

+    /* Store the result from accumulator into the destination buffer. */

+    *pOut++ = (q31_t) acc;

+

+    /* Compute and store error */

+    d = *pRef++;

+    e = d - (q31_t) acc;

+    *pErr++ = e;

+

+    /* Calculates the reciprocal of energy */

+    postShift =

+      arm_recip_q31(energy + DELTA_Q31, &oneByEnergy, &S->recipTable[0]);

+

+    /* Calculation of product of (e * mu) */

+    errorXmu = (q31_t) (((q63_t) e * mu) >> 31);

+

+    /* Weighting factor for the normalized version */

+    w = clip_q63_to_q31(((q63_t) errorXmu * oneByEnergy) >> (31 - postShift));

+

+    /* Initialize pState pointer */

+    px = pState;

+

+    /* Initialize coeff pointer */

+    pb = (pCoeffs);

+

+    /* Loop over numTaps number of values */

+    tapCnt = numTaps;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      /* coef is in 2.30 format */

+      coef = (q31_t) (((q63_t) w * (*px++)) >> (32));

+      /* get coef in 1.31 format by left shifting */

+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));

+      /* update coefficient buffer to next coefficient */

+      pb++;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Read the sample from state buffer */

+    x0 = *pState;

+

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

+    pState = pState + 1;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Save energy and x0 values for the next frame */

+  S->energy = (q31_t) energy;

+  S->x0 = x0;

+

+  /* Processing is complete. Now copy the last numTaps - 1 samples to the     

+     start of the state buffer. This prepares the state buffer for the        

+     next function call. */

+

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

+  pStateCurnt = S->pState;

+

+  /* Loop for (numTaps - 1u) samples copy */

+  tapCnt = (numTaps - 1u);

+

+  /* Copy the remaining q31_t data */

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of LMS_NORM group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c
new file mode 100644
index 000000000..91237c12d
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c
@@ -0,0 +1,374 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_lms_q15.c    

+*    

+* Description:	Processing function for the Q15 LMS filter.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup LMS    

+ * @{    

+ */

+

+ /**    

+ * @brief Processing function for Q15 LMS filter.    

+ * @param[in] *S points to an instance of the Q15 LMS filter structure.    

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

+ * @param[in] *pRef points to the block of reference data.    

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

+ * @param[out] *pErr points to the block of error data.    

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

+ * @return none.    

+ *    

+ * \par Scaling and Overflow Behavior:    

+ * The function is implemented using a 64-bit internal accumulator.    

+ * Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result.    

+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.    

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

+ * After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits.    

+ * Lastly, the accumulator is saturated to yield a result in 1.15 format.    

+ *   

+ * \par   

+ * 	In this filter, filter coefficients are updated for each sample and the updation of filter cofficients are saturted.   

+ *    

+ */

+

+void arm_lms_q15(

+  const arm_lms_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pRef,

+  q15_t * pOut,

+  q15_t * pErr,

+  uint32_t blockSize)

+{

+  q15_t *pState = S->pState;                     /* State pointer */

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

+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */

+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */

+  q15_t mu = S->mu;                              /* Adaptive factor */

+  q15_t *px;                                     /* Temporary pointer for state */

+  q15_t *pb;                                     /* Temporary pointer for coefficient buffer */

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

+  q63_t acc;                                     /* Accumulator */

+  q15_t e = 0;                                   /* error of data sample */

+  q15_t alpha;                                   /* Intermediate constant for taps update */

+  q31_t acc_l, acc_h;

+  int32_t lShift = (15 - (int32_t) S->postShift);       /*  Post shift  */

+  int32_t uShift = (32 - lShift);

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  q31_t coef;                                    /* Teporary variable for coefficient */

+

+  /* S->pState points to buffer 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)]);

+

+  /* Initializing blkCnt with blockSize */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* Copy the new input sample into the state buffer */

+    *pStateCurnt++ = *pSrc++;

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* Initialize coefficient pointer */

+    pb = pCoeffs;

+

+    /* Set the accumulator to zero */

+    acc = 0;

+

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

+    tapCnt = numTaps >> 2u;

+

+    while(tapCnt > 0u)

+    {

+      /* acc +=  b[N] * x[n-N] + b[N-1] * x[n-N-1] */

+      /* Perform the multiply-accumulate */

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+      acc = __SMLALD(*__SIMD32(px)++, (*__SIMD32(pb)++), acc);

+      acc = __SMLALD(*__SIMD32(px)++, (*__SIMD32(pb)++), acc);

+

+#else

+

+      acc += (q63_t) (((q31_t) (*px++) * (*pb++)));

+      acc += (q63_t) (((q31_t) (*px++) * (*pb++)));

+      acc += (q63_t) (((q31_t) (*px++) * (*pb++)));

+      acc += (q63_t) (((q31_t) (*px++) * (*pb++)));

+

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      acc += (q63_t) (((q31_t) (*px++) * (*pb++)));

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Calc lower part of acc */

+    acc_l = acc & 0xffffffff;

+

+    /* Calc upper part of acc */

+    acc_h = (acc >> 32) & 0xffffffff;

+

+    /* Apply shift for lower part of acc and upper part of acc */

+    acc = (uint32_t) acc_l >> lShift | acc_h << uShift;

+

+    /* Converting the result to 1.15 format and saturate the output */

+    acc = __SSAT(acc, 16);

+

+    /* Store the result from accumulator into the destination buffer. */

+    *pOut++ = (q15_t) acc;

+

+    /* Compute and store error */

+    e = *pRef++ - (q15_t) acc;

+

+    *pErr++ = (q15_t) e;

+

+    /* Compute alpha i.e. intermediate constant for taps update */

+    alpha = (q15_t) (((q31_t) e * (mu)) >> 15);

+

+    /* Initialize state pointer */

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

+    px = pState++;

+

+    /* Initialize coefficient pointer */

+    pb = pCoeffs;

+

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

+    tapCnt = numTaps >> 2u;

+

+    /* Update filter coefficients */

+    while(tapCnt > 0u)

+    {

+      coef = (q31_t) * pb + (((q31_t) alpha * (*px++)) >> 15);

+      *pb++ = (q15_t) __SSAT((coef), 16);

+      coef = (q31_t) * pb + (((q31_t) alpha * (*px++)) >> 15);

+      *pb++ = (q15_t) __SSAT((coef), 16);

+      coef = (q31_t) * pb + (((q31_t) alpha * (*px++)) >> 15);

+      *pb++ = (q15_t) __SSAT((coef), 16);

+      coef = (q31_t) * pb + (((q31_t) alpha * (*px++)) >> 15);

+      *pb++ = (q15_t) __SSAT((coef), 16);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      coef = (q31_t) * pb + (((q31_t) alpha * (*px++)) >> 15);

+      *pb++ = (q15_t) __SSAT((coef), 16);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* 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 pState buffer */

+  pStateCurnt = S->pState;

+

+  /* Calculation of count for copying integer writes */

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

+

+  while(tapCnt > 0u)

+  {

+

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;

+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;

+#else

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+#endif

+

+    tapCnt--;

+

+  }

+

+  /* Calculation of count for remaining q15_t data */

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

+

+  /* copy data */

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+

+#else

+

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

+

+  /* S->pState points to buffer 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)]);

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* Copy the new input sample into the state buffer */

+    *pStateCurnt++ = *pSrc++;

+

+    /* Initialize pState pointer */

+    px = pState;

+

+    /* Initialize pCoeffs pointer */

+    pb = pCoeffs;

+

+    /* Set the accumulator to zero */

+    acc = 0;

+

+    /* Loop over numTaps number of values */

+    tapCnt = numTaps;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      acc += (q63_t) ((q31_t) (*px++) * (*pb++));

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Calc lower part of acc */

+    acc_l = acc & 0xffffffff;

+

+    /* Calc upper part of acc */

+    acc_h = (acc >> 32) & 0xffffffff;

+

+    /* Apply shift for lower part of acc and upper part of acc */

+    acc = (uint32_t) acc_l >> lShift | acc_h << uShift;

+

+    /* Converting the result to 1.15 format and saturate the output */

+    acc = __SSAT(acc, 16);

+

+    /* Store the result from accumulator into the destination buffer. */

+    *pOut++ = (q15_t) acc;

+

+    /* Compute and store error */

+    e = *pRef++ - (q15_t) acc;

+

+    *pErr++ = (q15_t) e;

+

+    /* Compute alpha i.e. intermediate constant for taps update */

+    alpha = (q15_t) (((q31_t) e * (mu)) >> 15);

+

+    /* Initialize pState pointer */

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

+    px = pState++;

+

+    /* Initialize pCoeffs pointer */

+    pb = pCoeffs;

+

+    /* Loop over numTaps number of values */

+    tapCnt = numTaps;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      *pb++ += (q15_t) (((q31_t) alpha * (*px++)) >> 15);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Decrement the loop counter */

+    blkCnt--;

+

+  }

+

+  /* Processing is complete. Now copy the last numTaps - 1 samples to the        

+     start of the state buffer. This prepares the state buffer for the   

+     next function call. */

+

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

+  pStateCurnt = S->pState;

+

+  /*  Copy (numTaps - 1u) samples  */

+  tapCnt = (numTaps - 1u);

+

+  /* Copy the data */

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+   * @} end of LMS group    

+   */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c
new file mode 100644
index 000000000..c43d55d1d
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c
@@ -0,0 +1,364 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_lms_q31.c    

+*    

+* Description:	Processing function for the Q31 LMS filter.    

+*    

+* 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+/**    

+ * @ingroup groupFilters    

+ */

+

+/**    

+ * @addtogroup LMS    

+ * @{    

+ */

+

+ /**    

+ * @brief Processing function for Q31 LMS filter.    

+ * @param[in]  *S points to an instance of the Q15 LMS filter structure.    

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

+ * @param[in]  *pRef points to the block of reference data.    

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

+ * @param[out] *pErr points to the block of error data.    

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

+ * @return     none.    

+ *    

+ * \par Scaling and Overflow Behavior:     

+ * 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.     

+ * Thus, if the accumulator result overflows it wraps around rather than clips.     

+ * In order to avoid overflows completely the input signal must be scaled down by    

+ * log2(numTaps) bits.     

+ * The reference signal should not be scaled down.     

+ * After all multiply-accumulates are performed, the 2.62 accumulator is shifted    

+ * and saturated to 1.31 format to yield the final result.     

+ * The output signal and error signal are in 1.31 format.     

+ *    

+ * \par    

+ * 	In this filter, filter coefficients are updated for each sample and the updation of filter cofficients are saturted.    

+ */

+

+void arm_lms_q31(

+  const arm_lms_instance_q31 * S,

+  q31_t * pSrc,

+  q31_t * pRef,

+  q31_t * pOut,

+  q31_t * pErr,

+  uint32_t blockSize)

+{

+  q31_t *pState = S->pState;                     /* State pointer */

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

+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */

+  q31_t *pStateCurnt;                            /* Points to the current sample of the state */

+  q31_t mu = S->mu;                              /* Adaptive factor */

+  q31_t *px;                                     /* Temporary pointer for state */

+  q31_t *pb;                                     /* Temporary pointer for coefficient buffer */

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

+  q63_t acc;                                     /* Accumulator */

+  q31_t e = 0;                                   /* error of data sample */

+  q31_t alpha;                                   /* Intermediate constant for taps update */

+  q31_t coef;                                    /* Temporary variable for coef */

+  q31_t acc_l, acc_h;                            /*  temporary input */

+  uint32_t uShift = ((uint32_t) S->postShift + 1u);

+  uint32_t lShift = 32u - uShift;                /*  Shift to be applied to the output */

+

+  /* S->pState points to buffer 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)]);

+

+  /* Initializing blkCnt with blockSize */

+  blkCnt = blockSize;

+

+

+#ifndef ARM_MATH_CM0

+

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

+

+  while(blkCnt > 0u)

+  {

+    /* Copy the new input sample into the state buffer */

+    *pStateCurnt++ = *pSrc++;

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* Initialize coefficient pointer */

+    pb = pCoeffs;

+

+    /* Set the accumulator to zero */

+    acc = 0;

+

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

+    tapCnt = numTaps >> 2;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      /* acc +=  b[N] * x[n-N] */

+      acc += ((q63_t) (*px++)) * (*pb++);

+

+      /* acc +=  b[N-1] * x[n-N-1] */

+      acc += ((q63_t) (*px++)) * (*pb++);

+

+      /* acc +=  b[N-2] * x[n-N-2] */

+      acc += ((q63_t) (*px++)) * (*pb++);

+

+      /* acc +=  b[N-3] * x[n-N-3] */

+      acc += ((q63_t) (*px++)) * (*pb++);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      acc += ((q63_t) (*px++)) * (*pb++);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Converting the result to 1.31 format */

+    /* Calc lower part of acc */

+    acc_l = acc & 0xffffffff;

+

+    /* Calc upper part of acc */

+    acc_h = (acc >> 32) & 0xffffffff;

+

+    acc = (uint32_t) acc_l >> lShift | acc_h << uShift;

+

+    /* Store the result from accumulator into the destination buffer. */

+    *pOut++ = (q31_t) acc;

+

+    /* Compute and store error */

+    e = *pRef++ - (q31_t) acc;

+

+    *pErr++ = (q31_t) e;

+

+    /* Compute alpha i.e. intermediate constant for taps update */

+    alpha = (q31_t) (((q63_t) e * mu) >> 31);

+

+    /* Initialize state pointer */

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

+    px = pState++;

+

+    /* Initialize coefficient pointer */

+    pb = pCoeffs;

+

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

+    tapCnt = numTaps >> 2;

+

+    /* Update filter coefficients */

+    while(tapCnt > 0u)

+    {

+      /* coef is in 2.30 format */

+      coef = (q31_t) (((q63_t) alpha * (*px++)) >> (32));

+      /* get coef in 1.31 format by left shifting */

+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));

+      /* update coefficient buffer to next coefficient */

+      pb++;

+

+      coef = (q31_t) (((q63_t) alpha * (*px++)) >> (32));

+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));

+      pb++;

+

+      coef = (q31_t) (((q63_t) alpha * (*px++)) >> (32));

+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));

+      pb++;

+

+      coef = (q31_t) (((q63_t) alpha * (*px++)) >> (32));

+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));

+      pb++;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

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

+    tapCnt = numTaps % 0x4u;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      coef = (q31_t) (((q63_t) alpha * (*px++)) >> (32));

+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));

+      pb++;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* 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 pState buffer */

+  pStateCurnt = S->pState;

+

+  /* Loop unrolling for (numTaps - 1u) samples copy */

+  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 */

+

+  while(blkCnt > 0u)

+  {

+    /* Copy the new input sample into the state buffer */

+    *pStateCurnt++ = *pSrc++;

+

+    /* Initialize pState pointer */

+    px = pState;

+

+    /* Initialize pCoeffs pointer */

+    pb = pCoeffs;

+

+    /* Set the accumulator to zero */

+    acc = 0;

+

+    /* Loop over numTaps number of values */

+    tapCnt = numTaps;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      acc += ((q63_t) (*px++)) * (*pb++);

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Converting the result to 1.31 format */

+    /* Store the result from accumulator into the destination buffer. */

+    /* Calc lower part of acc */

+    acc_l = acc & 0xffffffff;

+

+    /* Calc upper part of acc */

+    acc_h = (acc >> 32) & 0xffffffff;

+

+    acc = (uint32_t) acc_l >> lShift | acc_h << uShift;

+

+    *pOut++ = (q31_t) acc;

+

+    /* Compute and store error */

+    e = *pRef++ - (q31_t) acc;

+

+    *pErr++ = (q31_t) e;

+

+    /* Weighting factor for the LMS version */

+    alpha = (q31_t) (((q63_t) e * mu) >> 31);

+

+    /* Initialize pState pointer */

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

+    px = pState++;

+

+    /* Initialize pCoeffs pointer */

+    pb = pCoeffs;

+

+    /* Loop over numTaps number of values */

+    tapCnt = numTaps;

+

+    while(tapCnt > 0u)

+    {

+      /* Perform the multiply-accumulate */

+      coef = (q31_t) (((q63_t) alpha * (*px++)) >> (32));

+      *pb += (coef << 1u);

+      pb++;

+

+      /* Decrement the loop counter */

+      tapCnt--;

+    }

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Processing is complete. Now copy the last numTaps - 1 samples to the     

+     start of the state buffer. This prepares the state buffer for the   

+     next function call. */

+

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

+  pStateCurnt = S->pState;

+

+  /*  Copy (numTaps - 1u) samples  */

+  tapCnt = (numTaps - 1u);

+

+  /* Copy the data */

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+   * @} end of LMS group    

+   */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c
new file mode 100644
index 000000000..09099ccb8
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c
@@ -0,0 +1,206 @@
+/* ----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_mat_add_f32.c    

+*    

+* Description:	Floating-point matrix addition    

+*    

+* 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        

+ */

+

+/**        

+ * @defgroup MatrixAdd Matrix Addition        

+ *        

+ * Adds two matrices.        

+ * \image html MatrixAddition.gif "Addition of two 3 x 3 matrices"        

+ *        

+ * The functions check to make sure that        

+ * <code>pSrcA</code>, <code>pSrcB</code>, and <code>pDst</code> have the same        

+ * number of rows and columns.        

+ */

+

+/**        

+ * @addtogroup MatrixAdd        

+ * @{        

+ */

+

+

+/**        

+ * @brief Floating-point matrix addition.        

+ * @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.        

+ */

+

+arm_status arm_mat_add_f32(

+  const arm_matrix_instance_f32 * pSrcA,

+  const arm_matrix_instance_f32 * pSrcB,

+  arm_matrix_instance_f32 * pDst)

+{

+  float32_t *pIn1 = pSrcA->pData;                /* input data matrix pointer A  */

+  float32_t *pIn2 = pSrcB->pData;                /* input data matrix pointer B  */

+  float32_t *pOut = pDst->pData;                 /* output data matrix pointer   */

+

+#ifndef ARM_MATH_CM0

+

+  float32_t inA1, inA2, inB1, inB2, out1, out2;  /* temporary variables */

+

+#endif //      #ifndef ARM_MATH_CM0

+

+  uint32_t numSamples;                           /* total number of elements in the matrix  */

+  uint32_t blkCnt;                               /* loop counters */

+  arm_status status;                             /* status of matrix addition */

+

+#ifdef ARM_MATH_MATRIX_CHECK

+  /* Check for matrix mismatch condition */

+  if((pSrcA->numRows != pSrcB->numRows) ||

+     (pSrcA->numCols != pSrcB->numCols) ||

+     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))

+  {

+    /* Set status as ARM_MATH_SIZE_MISMATCH */

+    status = ARM_MATH_SIZE_MISMATCH;

+  }

+  else

+#endif

+  {

+

+    /* Total number of samples in the input matrix */

+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;

+

+#ifndef ARM_MATH_CM0

+

+    /* Loop unrolling */

+    blkCnt = numSamples >> 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(m,n) = A(m,n) + B(m,n) */

+      /* Add and then store the results in the destination buffer. */

+      /* Read values from source A */

+      inA1 = pIn1[0];

+

+      /* Read values from source B */

+      inB1 = pIn2[0];

+

+      /* Read values from source A */

+      inA2 = pIn1[1];

+

+      /* out = sourceA + sourceB */

+      out1 = inA1 + inB1;

+

+      /* Read values from source B */

+      inB2 = pIn2[1];

+

+      /* Read values from source A */

+      inA1 = pIn1[2];

+

+      /* out = sourceA + sourceB */

+      out2 = inA2 + inB2;

+

+      /* Read values from source B */

+      inB1 = pIn2[2];

+

+      /* Store result in destination */

+      pOut[0] = out1;

+      pOut[1] = out2;

+

+      /* Read values from source A */

+      inA2 = pIn1[3];

+

+      /* Read values from source B */

+      inB2 = pIn2[3];

+

+      /* out = sourceA + sourceB */

+      out1 = inA1 + inB1;

+

+      /* out = sourceA + sourceB */

+      out2 = inA2 + inB2;

+

+      /* Store result in destination */

+      pOut[2] = out1;

+

+      /* Store result in destination */

+      pOut[3] = out2;

+

+

+      /* update pointers to process next sampels */

+      pIn1 += 4u;

+      pIn2 += 4u;

+      pOut += 4u;

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    

+     ** No loop unrolling is used. */

+    blkCnt = numSamples % 0x4u;

+

+#else

+

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

+

+    /* Initialize blkCnt with number of samples */

+    blkCnt = numSamples;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+    while(blkCnt > 0u)

+    {

+      /* C(m,n) = A(m,n) + B(m,n) */

+      /* Add and then store the results in the destination buffer. */

+      *pOut++ = (*pIn1++) + (*pIn2++);

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+

+  }

+

+  /* Return to application */

+  return (status);

+}

+

+/**        

+ * @} end of MatrixAdd group        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c
new file mode 100644
index 000000000..4bfc87862
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c
@@ -0,0 +1,161 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_mat_add_q15.c    

+*    

+* Description:	Q15 matrix addition    

+*    

+* 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 MatrixAdd    

+ * @{    

+ */

+

+/**    

+ * @brief Q15 matrix addition.    

+ * @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.    

+ *    

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

+ * \par    

+ * The function uses saturating arithmetic.    

+ * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.    

+ */

+

+arm_status arm_mat_add_q15(

+  const arm_matrix_instance_q15 * pSrcA,

+  const arm_matrix_instance_q15 * pSrcB,

+  arm_matrix_instance_q15 * pDst)

+{

+  q15_t *pInA = pSrcA->pData;                    /* input data matrix pointer A  */

+  q15_t *pInB = pSrcB->pData;                    /* input data matrix pointer B */

+  q15_t *pOut = pDst->pData;                     /* output data matrix pointer */

+  uint16_t numSamples;                           /* total number of elements in the matrix  */

+  uint32_t blkCnt;                               /* loop counters  */

+  arm_status status;                             /* status of matrix addition  */

+

+#ifdef ARM_MATH_MATRIX_CHECK

+

+

+  /* Check for matrix mismatch condition */

+  if((pSrcA->numRows != pSrcB->numRows) ||

+     (pSrcA->numCols != pSrcB->numCols) ||

+     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))

+  {

+    /* Set status as ARM_MATH_SIZE_MISMATCH */

+    status = ARM_MATH_SIZE_MISMATCH;

+  }

+  else

+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */

+

+  {

+    /* Total number of samples in the input matrix */

+    numSamples = (uint16_t) (pSrcA->numRows * pSrcA->numCols);

+

+#ifndef ARM_MATH_CM0

+

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

+

+    /* Loop unrolling */

+    blkCnt = (uint32_t) numSamples >> 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(m,n) = A(m,n) + B(m,n) */

+      /* Add, Saturate and then store the results in the destination buffer. */

+      *__SIMD32(pOut)++ = __QADD16(*__SIMD32(pInA)++, *__SIMD32(pInB)++);

+      *__SIMD32(pOut)++ = __QADD16(*__SIMD32(pInA)++, *__SIMD32(pInB)++);

+

+      /* 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 = (uint32_t) numSamples % 0x4u;

+

+    /* q15 pointers of input and output are initialized */

+

+    while(blkCnt > 0u)

+    {

+      /* C(m,n) = A(m,n) + B(m,n) */

+      /* Add, Saturate and then store the results in the destination buffer. */

+      *pOut++ = (q15_t) __QADD16(*pInA++, *pInB++);

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+#else

+

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

+

+    /* Initialize blkCnt with number of samples */

+    blkCnt = (uint32_t) numSamples;

+

+

+    /* q15 pointers of input and output are initialized */

+    while(blkCnt > 0u)

+    {

+      /* C(m,n) = A(m,n) + B(m,n) */

+      /* Add, Saturate and then store the results in the destination buffer. */

+      *pOut++ = (q15_t) __SSAT(((q31_t) * pInA++ + *pInB++), 16);

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+    /* set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+  }

+

+  /* Return to application */

+  return (status);

+}

+

+/**    

+ * @} end of MatrixAdd group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c
new file mode 100644
index 000000000..1f7be21c5
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c
@@ -0,0 +1,205 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_mat_add_q31.c    

+*    

+* Description:	Q31 matrix addition    

+*    

+* 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 MatrixAdd      

+ * @{      

+ */

+

+/**      

+ * @brief Q31 matrix addition.      

+ * @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.      

+ *      

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

+ * \par      

+ * The function uses saturating arithmetic.      

+ * Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] will be saturated.      

+ */

+

+arm_status arm_mat_add_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 *pOut = pDst->pData;                     /* output data matrix pointer */

+  q31_t inA1, inB1;                              /* temporary variables */

+

+#ifndef ARM_MATH_CM0

+

+  q31_t inA2, inB2;                              /* temporary variables */

+  q31_t out1, out2;                              /* temporary variables */

+

+#endif //      #ifndef ARM_MATH_CM0

+

+  uint32_t numSamples;                           /* total number of elements in the matrix  */

+  uint32_t blkCnt;                               /* loop counters */

+  arm_status status;                             /* status of matrix addition */

+

+#ifdef ARM_MATH_MATRIX_CHECK

+  /* Check for matrix mismatch condition */

+  if((pSrcA->numRows != pSrcB->numRows) ||

+     (pSrcA->numCols != pSrcB->numCols) ||

+     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))

+  {

+    /* Set status as ARM_MATH_SIZE_MISMATCH */

+    status = ARM_MATH_SIZE_MISMATCH;

+  }

+  else

+#endif

+  {

+    /* Total number of samples in the input matrix */

+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;

+

+#ifndef ARM_MATH_CM0

+

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

+

+    /* Loop Unrolling */

+    blkCnt = numSamples >> 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(m,n) = A(m,n) + B(m,n) */

+      /* Add, saturate and then store the results in the destination buffer. */

+      /* Read values from source A */

+      inA1 = pIn1[0];

+

+      /* Read values from source B */

+      inB1 = pIn2[0];

+

+      /* Read values from source A */

+      inA2 = pIn1[1];

+

+      /* Add and saturate */

+      out1 = __QADD(inA1, inB1);

+

+      /* Read values from source B */

+      inB2 = pIn2[1];

+

+      /* Read values from source A */

+      inA1 = pIn1[2];

+

+      /* Add and saturate */

+      out2 = __QADD(inA2, inB2);

+

+      /* Read values from source B */

+      inB1 = pIn2[2];

+

+      /* Store result in destination */

+      pOut[0] = out1;

+      pOut[1] = out2;

+

+      /* Read values from source A */

+      inA2 = pIn1[3];

+

+      /* Read values from source B */

+      inB2 = pIn2[3];

+

+      /* Add and saturate */

+      out1 = __QADD(inA1, inB1);

+      out2 = __QADD(inA2, inB2);

+

+      /* Store result in destination */

+      pOut[2] = out1;

+      pOut[3] = out2;

+

+      /* update pointers to process next sampels */

+      pIn1 += 4u;

+      pIn2 += 4u;

+      pOut += 4u;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.      

+     ** No loop unrolling is used. */

+    blkCnt = numSamples % 0x4u;

+

+#else

+

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

+

+    /* Initialize blkCnt with number of samples */

+    blkCnt = numSamples;

+

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+    while(blkCnt > 0u)

+    {

+      /* C(m,n) = A(m,n) + B(m,n) */

+      /* Add, saturate and then store the results in the destination buffer. */

+      inA1 = *pIn1++;

+      inB1 = *pIn2++;

+

+      inA1 = __QADD(inA1, inB1);

+

+      /* Decrement the loop counter */

+      blkCnt--;

+

+      *pOut++ = inA1;

+

+    }

+

+    /* set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+  }

+

+  /* Return to application */

+  return (status);

+}

+

+/**      

+ * @} end of MatrixAdd group      

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c
new file mode 100644
index 000000000..9ffc96ee3
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c
@@ -0,0 +1,86 @@
+/* ----------------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_mat_init_f32.c    

+*    

+* Description:	Floating-point matrix initialization.    

+*    

+* 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    

+ */

+

+/**    

+ * @defgroup MatrixInit Matrix Initialization    

+ *    

+ * Initializes the underlying matrix data structure.    

+ * The functions set the <code>numRows</code>,    

+ * <code>numCols</code>, and <code>pData</code> fields    

+ * of the matrix data structure.    

+ */

+

+/**    

+ * @addtogroup MatrixInit    

+ * @{    

+ */

+

+/**    

+   * @brief  Floating-point matrix initialization.    

+   * @param[in,out] *S             points to an instance of the floating-point matrix structure.    

+   * @param[in]     nRows          number of rows in the matrix.    

+   * @param[in]     nColumns       number of columns in the matrix.    

+   * @param[in]     *pData	   points to the matrix data array.    

+   * @return        none    

+   */

+

+void arm_mat_init_f32(

+  arm_matrix_instance_f32 * S,

+  uint16_t nRows,

+  uint16_t nColumns,

+  float32_t * pData)

+{

+  /* Assign Number of Rows */

+  S->numRows = nRows;

+

+  /* Assign Number of Columns */

+  S->numCols = nColumns;

+

+  /* Assign Data pointer */

+  S->pData = pData;

+}

+

+/**    

+ * @} end of MatrixInit group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c
new file mode 100644
index 000000000..2bada7fed
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c
@@ -0,0 +1,78 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_mat_init_q15.c    

+*    

+* Description:	Q15 matrix initialization.    

+*    

+* 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 MatrixInit    

+ * @{    

+ */

+

+  /**    

+   * @brief  Q15 matrix initialization.    

+   * @param[in,out] *S             points to an instance of the floating-point matrix structure.    

+   * @param[in]     nRows          number of rows in the matrix.    

+   * @param[in]     nColumns       number of columns in the matrix.    

+   * @param[in]     *pData	   points to the matrix data array.    

+   * @return        none    

+   */

+

+void arm_mat_init_q15(

+  arm_matrix_instance_q15 * S,

+  uint16_t nRows,

+  uint16_t nColumns,

+  q15_t * pData)

+{

+  /* Assign Number of Rows */

+  S->numRows = nRows;

+

+  /* Assign Number of Columns */

+  S->numCols = nColumns;

+

+  /* Assign Data pointer */

+  S->pData = pData;

+}

+

+/**    

+ * @} end of MatrixInit group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c
new file mode 100644
index 000000000..8828c2d2e
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c
@@ -0,0 +1,82 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_mat_init_q31.c    

+*    

+* Description:	Q31 matrix initialization.    

+* 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    

+ */

+

+/**    

+ * @defgroup MatrixInit Matrix Initialization    

+ *    

+ */

+

+/**    

+ * @addtogroup MatrixInit    

+ * @{    

+ */

+

+  /**    

+   * @brief  Q31 matrix initialization.    

+   * @param[in,out] *S             points to an instance of the floating-point matrix structure.    

+   * @param[in]     nRows          number of rows in the matrix.    

+   * @param[in]     nColumns       number of columns in the matrix.    

+   * @param[in]     *pData	   points to the matrix data array.    

+   * @return        none    

+   */

+

+void arm_mat_init_q31(

+  arm_matrix_instance_q31 * S,

+  uint16_t nRows,

+  uint16_t nColumns,

+  q31_t * pData)

+{

+  /* Assign Number of Rows */

+  S->numRows = nRows;

+

+  /* Assign Number of Columns */

+  S->numCols = nColumns;

+

+  /* Assign Data pointer */

+  S->pData = pData;

+}

+

+/**    

+ * @} end of MatrixInit group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c
new file mode 100644
index 000000000..f346916e0
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c
@@ -0,0 +1,668 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_mat_inverse_f32.c    

+*    

+* Description:	Floating-point matrix inverse.    

+*    

+* 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 groupMatrix    

+ */

+

+/**    

+ * @defgroup MatrixInv Matrix Inverse    

+ *    

+ * Computes the inverse of a matrix.    

+ *    

+ * The inverse is defined only if the input matrix is square and non-singular (the determinant    

+ * is non-zero). The function checks that the input and output matrices are square and of the    

+ * same size.    

+ *    

+ * Matrix inversion is numerically sensitive and the CMSIS DSP library only supports matrix    

+ * inversion of floating-point matrices.    

+ *    

+ * \par Algorithm    

+ * The Gauss-Jordan method is used to find the inverse.    

+ * The algorithm performs a sequence of elementary row-operations till it    

+ * reduces the input matrix to an identity matrix. Applying the same sequence    

+ * of elementary row-operations to an identity matrix yields the inverse matrix.    

+ * If the input matrix is singular, then the algorithm terminates and returns error status    

+ * <code>ARM_MATH_SINGULAR</code>.    

+ * \image html MatrixInverse.gif "Matrix Inverse of a 3 x 3 matrix using Gauss-Jordan Method"    

+ */

+

+/**    

+ * @addtogroup MatrixInv    

+ * @{    

+ */

+

+/**    

+ * @brief Floating-point matrix inverse.    

+ * @param[in]       *pSrc points to input matrix structure    

+ * @param[out]      *pDst points to output matrix structure    

+ * @return     		The function returns    

+ * <code>ARM_MATH_SIZE_MISMATCH</code> if the input matrix is not square or if the size    

+ * of the output matrix does not match the size of the input matrix.    

+ * If the input matrix is found to be singular (non-invertible), then the function returns    

+ * <code>ARM_MATH_SINGULAR</code>.  Otherwise, the function returns <code>ARM_MATH_SUCCESS</code>.    

+ */

+

+arm_status arm_mat_inverse_f32(

+  const arm_matrix_instance_f32 * pSrc,

+  arm_matrix_instance_f32 * pDst)

+{

+  float32_t *pIn = pSrc->pData;                  /* input data matrix pointer */

+  float32_t *pOut = pDst->pData;                 /* output data matrix pointer */

+  float32_t *pInT1, *pInT2;                      /* Temporary input data matrix pointer */

+  float32_t *pInT3, *pInT4;                      /* Temporary output data matrix pointer */

+  float32_t *pPivotRowIn, *pPRT_in, *pPivotRowDst, *pPRT_pDst;  /* Temporary input and output data matrix pointer */

+  uint32_t numRows = pSrc->numRows;              /* Number of rows in the matrix  */

+  uint32_t numCols = pSrc->numCols;              /* Number of Cols in the matrix  */

+

+#ifndef ARM_MATH_CM0

+

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

+

+  float32_t Xchg, in = 0.0f, in1;                /* Temporary input values  */

+  uint32_t i, rowCnt, flag = 0u, j, loopCnt, k, l;      /* loop counters */

+  arm_status status;                             /* status of matrix inverse */

+

+#ifdef ARM_MATH_MATRIX_CHECK

+

+

+  /* Check for matrix mismatch condition */

+  if((pSrc->numRows != pSrc->numCols) || (pDst->numRows != pDst->numCols)

+     || (pSrc->numRows != pDst->numRows))

+  {

+    /* Set status as ARM_MATH_SIZE_MISMATCH */

+    status = ARM_MATH_SIZE_MISMATCH;

+  }

+  else

+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */

+

+  {

+

+    /*--------------------------------------------------------------------------------------------------------------    

+	 * Matrix Inverse can be solved using elementary row operations.    

+	 *    

+	 *	Gauss-Jordan Method:    

+	 *    

+	 *	   1. First combine the identity matrix and the input matrix separated by a bar to form an    

+	 *        augmented matrix as follows:    

+	 *				        _ 	      	       _         _	       _    

+	 *					   |  a11  a12 | 1   0  |       |  X11 X12  |    

+	 *					   |           |        |   =   |           |    

+	 *					   |_ a21  a22 | 0   1 _|       |_ X21 X21 _|    

+	 *    

+	 *		2. In our implementation, pDst Matrix is used as identity matrix.    

+	 *    

+	 *		3. Begin with the first row. Let i = 1.    

+	 *    

+	 *	    4. Check to see if the pivot for row i is zero.    

+	 *		   The pivot is the element of the main diagonal that is on the current row.    

+	 *		   For instance, if working with row i, then the pivot element is aii.    

+	 *		   If the pivot is zero, exchange that row with a row below it that does not    

+	 *		   contain a zero in column i. If this is not possible, then an inverse    

+	 *		   to that matrix does not exist.    

+	 *    

+	 *	    5. Divide every element of row i by the pivot.    

+	 *    

+	 *	    6. For every row below and  row i, replace that row with the sum of that row and    

+	 *		   a multiple of row i so that each new element in column i below row i is zero.    

+	 *    

+	 *	    7. Move to the next row and column and repeat steps 2 through 5 until you have zeros    

+	 *		   for every element below and above the main diagonal.    

+	 *    

+	 *		8. Now an identical matrix is formed to the left of the bar(input matrix, pSrc).    

+	 *		   Therefore, the matrix to the right of the bar is our solution(pDst matrix, pDst).    

+	 *----------------------------------------------------------------------------------------------------------------*/

+

+    /* Working pointer for destination matrix */

+    pInT2 = pOut;

+

+    /* Loop over the number of rows */

+    rowCnt = numRows;

+

+    /* Making the destination matrix as identity matrix */

+    while(rowCnt > 0u)

+    {

+      /* Writing all zeroes in lower triangle of the destination matrix */

+      j = numRows - rowCnt;

+      while(j > 0u)

+      {

+        *pInT2++ = 0.0f;

+        j--;

+      }

+

+      /* Writing all ones in the diagonal of the destination matrix */

+      *pInT2++ = 1.0f;

+

+      /* Writing all zeroes in upper triangle of the destination matrix */

+      j = rowCnt - 1u;

+      while(j > 0u)

+      {

+        *pInT2++ = 0.0f;

+        j--;

+      }

+

+      /* Decrement the loop counter */

+      rowCnt--;

+    }

+

+    /* Loop over the number of columns of the input matrix.    

+       All the elements in each column are processed by the row operations */

+    loopCnt = numCols;

+

+    /* Index modifier to navigate through the columns */

+    l = 0u;

+

+    while(loopCnt > 0u)

+    {

+      /* Check if the pivot element is zero..    

+       * If it is zero then interchange the row with non zero row below.    

+       * If there is no non zero element to replace in the rows below,    

+       * then the matrix is Singular. */

+

+      /* Working pointer for the input matrix that points    

+       * to the pivot element of the particular row  */

+      pInT1 = pIn + (l * numCols);

+

+      /* Working pointer for the destination matrix that points    

+       * to the pivot element of the particular row  */

+      pInT3 = pOut + (l * numCols);

+

+      /* Temporary variable to hold the pivot value */

+      in = *pInT1;

+

+      /* Destination pointer modifier */

+      k = 1u;

+

+      /* Check if the pivot element is zero */

+      if(*pInT1 == 0.0f)

+      {

+        /* Loop over the number rows present below */

+        i = numRows - (l + 1u);

+

+        while(i > 0u)

+        {

+          /* Update the input and destination pointers */

+          pInT2 = pInT1 + (numCols * l);

+          pInT4 = pInT3 + (numCols * k);

+

+          /* Check if there is a non zero pivot element to    

+           * replace in the rows below */

+          if(*pInT2 != 0.0f)

+          {

+            /* Loop over number of columns    

+             * to the right of the pilot element */

+            j = numCols - l;

+

+            while(j > 0u)

+            {

+              /* Exchange the row elements of the input matrix */

+              Xchg = *pInT2;

+              *pInT2++ = *pInT1;

+              *pInT1++ = Xchg;

+

+              /* Decrement the loop counter */

+              j--;

+            }

+

+            /* Loop over number of columns of the destination matrix */

+            j = numCols;

+

+            while(j > 0u)

+            {

+              /* Exchange the row elements of the destination matrix */

+              Xchg = *pInT4;

+              *pInT4++ = *pInT3;

+              *pInT3++ = Xchg;

+

+              /* Decrement the loop counter */

+              j--;

+            }

+

+            /* Flag to indicate whether exchange is done or not */

+            flag = 1u;

+

+            /* Break after exchange is done */

+            break;

+          }

+

+          /* Update the destination pointer modifier */

+          k++;

+

+          /* Decrement the loop counter */

+          i--;

+        }

+      }

+

+      /* Update the status if the matrix is singular */

+      if((flag != 1u) && (in == 0.0f))

+      {

+        status = ARM_MATH_SINGULAR;

+

+        break;

+      }

+

+      /* Points to the pivot row of input and destination matrices */

+      pPivotRowIn = pIn + (l * numCols);

+      pPivotRowDst = pOut + (l * numCols);

+

+      /* Temporary pointers to the pivot row pointers */

+      pInT1 = pPivotRowIn;

+      pInT2 = pPivotRowDst;

+

+      /* Pivot element of the row */

+      in = *(pIn + (l * numCols));

+

+      /* Loop over number of columns    

+       * to the right of the pilot element */

+      j = (numCols - l);

+

+      while(j > 0u)

+      {

+        /* Divide each element of the row of the input matrix    

+         * by the pivot element */

+        in1 = *pInT1;

+        *pInT1++ = in1 / in;

+

+        /* Decrement the loop counter */

+        j--;

+      }

+

+      /* Loop over number of columns of the destination matrix */

+      j = numCols;

+

+      while(j > 0u)

+      {

+        /* Divide each element of the row of the destination matrix    

+         * by the pivot element */

+        in1 = *pInT2;

+        *pInT2++ = in1 / in;

+

+        /* Decrement the loop counter */

+        j--;

+      }

+

+      /* Replace the rows with the sum of that row and a multiple of row i    

+       * so that each new element in column i above row i is zero.*/

+

+      /* Temporary pointers for input and destination matrices */

+      pInT1 = pIn;

+      pInT2 = pOut;

+

+      /* index used to check for pivot element */

+      i = 0u;

+

+      /* Loop over number of rows */

+      /*  to be replaced by the sum of that row and a multiple of row i */

+      k = numRows;

+

+      while(k > 0u)

+      {

+        /* Check for the pivot element */

+        if(i == l)

+        {

+          /* If the processing element is the pivot element,    

+             only the columns to the right are to be processed */

+          pInT1 += numCols - l;

+

+          pInT2 += numCols;

+        }

+        else

+        {

+          /* Element of the reference row */

+          in = *pInT1;

+

+          /* Working pointers for input and destination pivot rows */

+          pPRT_in = pPivotRowIn;

+          pPRT_pDst = pPivotRowDst;

+

+          /* Loop over the number of columns to the right of the pivot element,    

+             to replace the elements in the input matrix */

+          j = (numCols - l);

+

+          while(j > 0u)

+          {

+            /* Replace the element by the sum of that row    

+               and a multiple of the reference row  */

+            in1 = *pInT1;

+            *pInT1++ = in1 - (in * *pPRT_in++);

+

+            /* Decrement the loop counter */

+            j--;

+          }

+

+          /* Loop over the number of columns to    

+             replace the elements in the destination matrix */

+          j = numCols;

+

+          while(j > 0u)

+          {

+            /* Replace the element by the sum of that row    

+               and a multiple of the reference row  */

+            in1 = *pInT2;

+            *pInT2++ = in1 - (in * *pPRT_pDst++);

+

+            /* Decrement the loop counter */

+            j--;

+          }

+

+        }

+

+        /* Increment the temporary input pointer */

+        pInT1 = pInT1 + l;

+

+        /* Decrement the loop counter */

+        k--;

+

+        /* Increment the pivot index */

+        i++;

+      }

+

+      /* Increment the input pointer */

+      pIn++;

+

+      /* Decrement the loop counter */

+      loopCnt--;

+

+      /* Increment the index modifier */

+      l++;

+    }

+

+

+#else

+

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

+

+  float32_t Xchg, in = 0.0f;                     /* Temporary input values  */

+  uint32_t i, rowCnt, flag = 0u, j, loopCnt, k, l;      /* loop counters */

+  arm_status status;                             /* status of matrix inverse */

+

+#ifdef ARM_MATH_MATRIX_CHECK

+

+  /* Check for matrix mismatch condition */

+  if((pSrc->numRows != pSrc->numCols) || (pDst->numRows != pDst->numCols)

+     || (pSrc->numRows != pDst->numRows))

+  {

+    /* Set status as ARM_MATH_SIZE_MISMATCH */

+    status = ARM_MATH_SIZE_MISMATCH;

+  }

+  else

+#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */

+  {

+

+    /*--------------------------------------------------------------------------------------------------------------       

+	 * Matrix Inverse can be solved using elementary row operations.        

+	 *        

+	 *	Gauss-Jordan Method:       

+	 *	 	       

+	 *	   1. First combine the identity matrix and the input matrix separated by a bar to form an        

+	 *        augmented matrix as follows:        

+	 *				        _  _	      _	    _	   _   _         _	       _       

+	 *					   |  |  a11  a12  | | | 1   0  |   |       |  X11 X12  |         

+	 *					   |  |            | | |        |   |   =   |           |        

+	 *					   |_ |_ a21  a22 _| | |_0   1 _|  _|       |_ X21 X21 _|       

+	 *					          

+	 *		2. In our implementation, pDst Matrix is used as identity matrix.    

+	 *       

+	 *		3. Begin with the first row. Let i = 1.       

+	 *       

+	 *	    4. Check to see if the pivot for row i is zero.       

+	 *		   The pivot is the element of the main diagonal that is on the current row.       

+	 *		   For instance, if working with row i, then the pivot element is aii.       

+	 *		   If the pivot is zero, exchange that row with a row below it that does not        

+	 *		   contain a zero in column i. If this is not possible, then an inverse        

+	 *		   to that matrix does not exist.       

+	 *	       

+	 *	    5. Divide every element of row i by the pivot.       

+	 *	       

+	 *	    6. For every row below and  row i, replace that row with the sum of that row and        

+	 *		   a multiple of row i so that each new element in column i below row i is zero.       

+	 *	       

+	 *	    7. Move to the next row and column and repeat steps 2 through 5 until you have zeros       

+	 *		   for every element below and above the main diagonal.        

+	 *		   		          

+	 *		8. Now an identical matrix is formed to the left of the bar(input matrix, src).       

+	 *		   Therefore, the matrix to the right of the bar is our solution(dst matrix, dst).         

+	 *----------------------------------------------------------------------------------------------------------------*/

+

+    /* Working pointer for destination matrix */

+    pInT2 = pOut;

+

+    /* Loop over the number of rows */

+    rowCnt = numRows;

+

+    /* Making the destination matrix as identity matrix */

+    while(rowCnt > 0u)

+    {

+      /* Writing all zeroes in lower triangle of the destination matrix */

+      j = numRows - rowCnt;

+      while(j > 0u)

+      {

+        *pInT2++ = 0.0f;

+        j--;

+      }

+

+      /* Writing all ones in the diagonal of the destination matrix */

+      *pInT2++ = 1.0f;

+

+      /* Writing all zeroes in upper triangle of the destination matrix */

+      j = rowCnt - 1u;

+      while(j > 0u)

+      {

+        *pInT2++ = 0.0f;

+        j--;

+      }

+

+      /* Decrement the loop counter */

+      rowCnt--;

+    }

+

+    /* Loop over the number of columns of the input matrix.     

+       All the elements in each column are processed by the row operations */

+    loopCnt = numCols;

+

+    /* Index modifier to navigate through the columns */

+    l = 0u;

+    //for(loopCnt = 0u; loopCnt < numCols; loopCnt++)   

+    while(loopCnt > 0u)

+    {

+      /* Check if the pivot element is zero..    

+       * If it is zero then interchange the row with non zero row below.   

+       * If there is no non zero element to replace in the rows below,   

+       * then the matrix is Singular. */

+

+      /* Working pointer for the input matrix that points     

+       * to the pivot element of the particular row  */

+      pInT1 = pIn + (l * numCols);

+

+      /* Working pointer for the destination matrix that points     

+       * to the pivot element of the particular row  */

+      pInT3 = pOut + (l * numCols);

+

+      /* Temporary variable to hold the pivot value */

+      in = *pInT1;

+

+      /* Destination pointer modifier */

+      k = 1u;

+

+      /* Check if the pivot element is zero */

+      if(*pInT1 == 0.0f)

+      {

+        /* Loop over the number rows present below */

+        for (i = (l + 1u); i < numRows; i++)

+        {

+          /* Update the input and destination pointers */

+          pInT2 = pInT1 + (numCols * l);

+          pInT4 = pInT3 + (numCols * k);

+

+          /* Check if there is a non zero pivot element to     

+           * replace in the rows below */

+          if(*pInT2 != 0.0f)

+          {

+            /* Loop over number of columns     

+             * to the right of the pilot element */

+            for (j = 0u; j < (numCols - l); j++)

+            {

+              /* Exchange the row elements of the input matrix */

+              Xchg = *pInT2;

+              *pInT2++ = *pInT1;

+              *pInT1++ = Xchg;

+            }

+

+            for (j = 0u; j < numCols; j++)

+            {

+              Xchg = *pInT4;

+              *pInT4++ = *pInT3;

+              *pInT3++ = Xchg;

+            }

+

+            /* Flag to indicate whether exchange is done or not */

+            flag = 1u;

+

+            /* Break after exchange is done */

+            break;

+          }

+

+          /* Update the destination pointer modifier */

+          k++;

+        }

+      }

+

+      /* Update the status if the matrix is singular */

+      if((flag != 1u) && (in == 0.0f))

+      {

+        status = ARM_MATH_SINGULAR;

+

+        break;

+      }

+

+      /* Points to the pivot row of input and destination matrices */

+      pPivotRowIn = pIn + (l * numCols);

+      pPivotRowDst = pOut + (l * numCols);

+

+      /* Temporary pointers to the pivot row pointers */

+      pInT1 = pPivotRowIn;

+      pInT2 = pPivotRowDst;

+

+      /* Pivot element of the row */

+      in = *(pIn + (l * numCols));

+

+      /* Loop over number of columns     

+       * to the right of the pilot element */

+      for (j = 0u; j < (numCols - l); j++)

+      {

+        /* Divide each element of the row of the input matrix     

+         * by the pivot element */

+        *pInT1++ = *pInT1 / in;

+      }

+      for (j = 0u; j < numCols; j++)

+      {

+        /* Divide each element of the row of the destination matrix     

+         * by the pivot element */

+        *pInT2++ = *pInT2 / in;

+      }

+

+      /* Replace the rows with the sum of that row and a multiple of row i     

+       * so that each new element in column i above row i is zero.*/

+

+      /* Temporary pointers for input and destination matrices */

+      pInT1 = pIn;

+      pInT2 = pOut;

+

+      for (i = 0u; i < numRows; i++)

+      {

+        /* Check for the pivot element */

+        if(i == l)

+        {

+          /* If the processing element is the pivot element,     

+             only the columns to the right are to be processed */

+          pInT1 += numCols - l;

+          pInT2 += numCols;

+        }

+        else

+        {

+          /* Element of the reference row */

+          in = *pInT1;

+

+          /* Working pointers for input and destination pivot rows */

+          pPRT_in = pPivotRowIn;

+          pPRT_pDst = pPivotRowDst;

+

+          /* Loop over the number of columns to the right of the pivot element,     

+             to replace the elements in the input matrix */

+          for (j = 0u; j < (numCols - l); j++)

+          {

+            /* Replace the element by the sum of that row     

+               and a multiple of the reference row  */

+            *pInT1++ = *pInT1 - (in * *pPRT_in++);

+          }

+          /* Loop over the number of columns to     

+             replace the elements in the destination matrix */

+          for (j = 0u; j < numCols; j++)

+          {

+            /* Replace the element by the sum of that row     

+               and a multiple of the reference row  */

+            *pInT2++ = *pInT2 - (in * *pPRT_pDst++);

+          }

+

+        }

+        /* Increment the temporary input pointer */

+        pInT1 = pInT1 + l;

+      }

+      /* Increment the input pointer */

+      pIn++;

+

+      /* Decrement the loop counter */

+      loopCnt--;

+      /* Increment the index modifier */

+      l++;

+    }

+

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+    /* Set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+

+    if((flag != 1u) && (in == 0.0f))

+    {

+      status = ARM_MATH_SINGULAR;

+    }

+  }

+  /* Return to application */

+  return (status);

+}

+

+/**    

+ * @} end of MatrixInv group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c
new file mode 100644
index 000000000..a2f513628
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c
@@ -0,0 +1,284 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_mat_mult_f32.c    

+*    

+* Description:  Floating-point 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    

+ */

+

+/**    

+ * @defgroup MatrixMult Matrix Multiplication    

+ *    

+ * Multiplies two matrices.    

+ *    

+ * \image html MatrixMultiplication.gif "Multiplication of two 3 x 3 matrices"    

+    

+ * Matrix multiplication is only defined if the number of columns of the    

+ * first matrix equals the number of rows of the second matrix.    

+ * Multiplying an <code>M x N</code> matrix with an <code>N x P</code> matrix results    

+ * in an <code>M x P</code> matrix.    

+ * When matrix size checking is enabled, the functions check: (1) that the inner dimensions of    

+ * <code>pSrcA</code> and <code>pSrcB</code> are equal; and (2) that the size of the output    

+ * matrix equals the outer dimensions of <code>pSrcA</code> and <code>pSrcB</code>.    

+ */

+

+

+/**    

+ * @addtogroup MatrixMult    

+ * @{    

+ */

+

+/**    

+ * @brief Floating-point 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.    

+ */

+

+arm_status arm_mat_mult_f32(

+  const arm_matrix_instance_f32 * pSrcA,

+  const arm_matrix_instance_f32 * pSrcB,

+  arm_matrix_instance_f32 * pDst)

+{

+  float32_t *pIn1 = pSrcA->pData;                /* input data matrix pointer A */

+  float32_t *pIn2 = pSrcB->pData;                /* input data matrix pointer B */

+  float32_t *pInA = pSrcA->pData;                /* input data matrix pointer A  */

+  float32_t *pOut = pDst->pData;                 /* output data matrix pointer */

+  float32_t *px;                                 /* Temporary output data matrix pointer */

+  float32_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 */

+

+  float32_t in1, in2, in3, in4;

+  uint16_t col, i = 0u, j, 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;

+

+      j = 0u;

+

+      /* column loop */

+      do

+      {

+        /* Set the variable sum, that acts as accumulator, to zero */

+        sum = 0.0f;

+

+        /* Initiate the pointer pIn1 to point to the starting address of the column being processed */

+        pIn1 = pInA;

+

+        /* Apply loop unrolling and compute 4 MACs simultaneously. */

+        colCnt = numColsA >> 2u;

+

+        /* 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) */

+          in3 = *pIn2;

+          pIn2 += numColsB;

+          in1 = pIn1[0];

+          in2 = pIn1[1];

+          sum += in1 * in3;

+          in4 = *pIn2;

+          pIn2 += numColsB;

+          sum += in2 * in4;

+

+          in3 = *pIn2;

+          pIn2 += numColsB;

+          in1 = pIn1[2];

+          in2 = pIn1[3];

+          sum += in1 * in3;

+          in4 = *pIn2;

+          pIn2 += numColsB;

+          sum += in2 * in4;

+          pIn1 += 4u;

+

+          /* Decrement the loop count */

+          colCnt--;

+        }

+

+        /* If the columns of pSrcA is not a multiple of 4, compute any remaining MACs 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) */

+          sum += *pIn1++ * (*pIn2);

+          pIn2 += numColsB;

+

+          /* Decrement the loop counter */

+          colCnt--;

+        }

+

+        /* Store the result in the destination buffer */

+        *px++ = sum;

+

+        /* 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 */

+

+  float32_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 pInA with each column in pInB */

+    /* 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 = 0.0f;

+

+        /* Initialize the pointer pIn1 to point to the starting address of the row being processed */

+        pIn1 = pInA;

+

+        /* Matrix A columns number of MAC operations are to be performed */

+        colCnt = numColsA;

+

+        while(colCnt > 0u)

+        {

+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */

+          sum += *pIn1++ * (*pIn2);

+          pIn2 += numColsB;

+

+          /* Decrement the loop counter */

+          colCnt--;

+        }

+

+        /* Store the result in the destination buffer */

+        *px++ = sum;

+

+        /* 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 /* #ifndef ARM_MATH_CM0 */

+

+      /* 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    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c
new file mode 100644
index 000000000..a88e3cdd1
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c
@@ -0,0 +1,361 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_mat_mult_fast_q15.c    

+*    

+* Description:	 Q15 matrix multiplication (fast variant)    

+*    

+* Target Processor: Cortex-M4/Cortex-M3

+*  

+* 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 groupMatrix    

+ */

+

+/**    

+ * @addtogroup MatrixMult    

+ * @{    

+ */

+

+

+/**    

+ * @brief Q15 matrix multiplication (fast variant) for Cortex-M3 and Cortex-M4    

+ * @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    

+ * @param[in]		*pState points to the array for storing intermediate results    

+ * @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 difference between the function arm_mat_mult_q15() and this fast variant is that    

+ * the fast variant use a 32-bit rather than a 64-bit accumulator.    

+ * The result of each 1.15 x 1.15 multiplication is truncated to        

+ * 2.30 format. These intermediate results are accumulated in a 32-bit register in 2.30        

+ * format. Finally, the accumulator is saturated and converted to a 1.15 result.        

+ *        

+ * \par        

+ * The fast version has the same overflow behavior as the standard version but provides        

+ * less precision since it discards the low 16 bits of each multiplication result.        

+ * In order to avoid overflows completely the input signals must be scaled down.        

+ * Scale down one of the input matrices by log2(numColsA) bits to        

+ * avoid overflows, as a total of numColsA additions are computed internally for each        

+ * output element.        

+ *        

+ * \par    

+ * See <code>arm_mat_mult_q15()</code> for a slower implementation of this function    

+ * which uses 64-bit accumulation to provide higher precision.    

+ */

+

+arm_status arm_mat_mult_fast_q15(

+  const arm_matrix_instance_q15 * pSrcA,

+  const arm_matrix_instance_q15 * pSrcB,

+  arm_matrix_instance_q15 * pDst,

+  q15_t * pState)

+{

+  q31_t sum;                                     /* accumulator */

+  q15_t *pSrcBT = pState;                        /* input data matrix pointer for transpose */

+  q15_t *pInA = pSrcA->pData;                    /* input data matrix pointer A of Q15 type */

+  q15_t *pInB = pSrcB->pData;                    /* input data matrix pointer B of Q15 type */

+  q15_t *px;                                     /* Temporary output data matrix pointer */

+  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 */

+  uint16_t numRowsB = pSrcB->numRows;            /* number of rows of input matrix A    */

+  uint16_t col, i = 0u, row = numRowsB, colCnt;  /* loop counters */

+  arm_status status;                             /* status of matrix multiplication */

+

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+  q31_t in;                                      /* Temporary variable to hold the input value */

+  q31_t inA1, inA2, inB1, inB2;

+

+#else

+

+  q15_t in;                                      /* Temporary variable to hold the input value */

+  q15_t inA1, inA2, inB1, inB2;

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+#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

+  {

+    /* Matrix transpose */

+    do

+    {

+      /* Apply loop unrolling and exchange the columns with row elements */

+      col = numColsB >> 2;

+

+      /* The pointer px is set to starting address of the column being processed */

+      px = pSrcBT + i;

+

+      /* 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(col > 0u)

+      {

+#ifndef UNALIGNED_SUPPORT_DISABLE

+        /* Read two elements from the row */

+        in = *__SIMD32(pInB)++;

+

+        /* Unpack and store one element in the destination */

+#ifndef ARM_MATH_BIG_ENDIAN

+

+        *px = (q15_t) in;

+

+#else

+

+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);

+

+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */

+

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += numRowsB;

+

+        /* Unpack and store the second element in the destination */

+#ifndef ARM_MATH_BIG_ENDIAN

+

+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);

+

+#else

+

+        *px = (q15_t) in;

+

+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */

+

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += numRowsB;

+

+        /* Read two elements from the row */

+        in = *__SIMD32(pInB)++;

+

+        /* Unpack and store one element in the destination */

+#ifndef ARM_MATH_BIG_ENDIAN

+

+        *px = (q15_t) in;

+

+#else

+

+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);

+

+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */

+

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += numRowsB;

+

+        /* Unpack and store the second element in the destination */

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);

+

+#else

+

+        *px = (q15_t) in;

+

+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */

+

+#else

+

+        /* Read one element from the row */

+        in = *pInB++;

+

+        /* Store one element in the destination */

+        *px = in;

+ 

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += numRowsB;

+

+        /* Read one element from the row */

+        in = *pInB++;

+

+        /* Store one element in the destination */

+        *px = in;

+ 

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += numRowsB;

+

+        /* Read one element from the row */

+        in = *pInB++;

+

+        /* Store one element in the destination */

+        *px = in;

+ 

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += numRowsB;

+

+        /* Read one element from the row */

+        in = *pInB++;

+

+        /* Store one element in the destination */

+        *px = in;

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+        

+		/* Update the pointer px to point to the next row of the transposed matrix */

+        px += numRowsB;

+

+        /* Decrement the column loop counter */

+        col--;

+      }

+

+      /* If the columns of pSrcB is not a multiple of 4, compute any remaining output samples here.        

+       ** No loop unrolling is used. */

+      col = numColsB % 0x4u;

+

+      while(col > 0u)

+      {

+        /* Read and store the input element in the destination */

+        *px = *pInB++;

+

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += numRowsB;

+

+        /* Decrement the column loop counter */

+        col--;

+      }

+

+      i++;

+

+      /* Decrement the row loop counter */

+      row--;

+

+    } while(row > 0u);

+

+    /* Reset the variables for the usage in the following multiplication process */

+    row = numRowsA;

+    i = 0u;

+    px = pDst->pData;

+

+    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */

+    /* row loop */

+    do

+    {

+      /* 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 transposed pSrcB data */

+      pInB = pSrcBT;

+

+      /* column loop */

+      do

+      {

+        /* Set the variable sum, that acts as accumulator, to zero */

+        sum = 0;

+

+        /* Apply loop unrolling and compute 2 MACs simultaneously. */

+        colCnt = numColsA >> 2;

+

+        /* Initiate the pointer pIn1 to point to the starting address of the column being processed */

+        pInA = pSrcA->pData + i;

+

+        /* 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) */

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+          inA1 = *__SIMD32(pInA)++;

+          inB1 = *__SIMD32(pInB)++;

+          inA2 = *__SIMD32(pInA)++;

+          inB2 = *__SIMD32(pInB)++;

+

+          sum = __SMLAD(inA1, inB1, sum);

+          sum = __SMLAD(inA2, inB2, sum);

+

+#else

+

+          inA1 = *pInA++;

+          inB1 = *pInB++;

+          inA2 = *pInA++;

+          sum += inA1 * inB1;

+          inB2 = *pInB++;

+

+          inA1 = *pInA++;

+          inB1 = *pInB++;

+          sum += inA2 * inB2;

+          inA2 = *pInA++;

+          inB2 = *pInB++;

+

+          sum += inA1 * inB1;

+          sum += inA2 * inB2;

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+          /* Decrement the loop counter */

+          colCnt--;

+        }

+

+        /* process odd column samples */

+        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) */

+          sum += (q31_t) (*pInA++) * (*pInB++);

+

+          colCnt--;

+        }

+

+        /* Saturate and store the result in the destination buffer */

+        *px = (q15_t) (sum >> 15);

+        px++;

+

+        /* Decrement the column loop counter */

+        col--;

+

+      } while(col > 0u);

+

+      i = i + 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        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c
new file mode 100644
index 000000000..7fdbb1cb8
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c
@@ -0,0 +1,218 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_mat_mult_fast_q31.c    

+*    

+* Description:	 Q31 matrix multiplication (fast variant).    

+*    

+* Target Processor: Cortex-M4/Cortex-M3

+*  

+* 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 groupMatrix    

+ */

+

+/**    

+ * @addtogroup MatrixMult    

+ * @{    

+ */

+

+/**    

+ * @brief Q31 matrix multiplication (fast variant) for Cortex-M3 and Cortex-M4    

+ * @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 difference between the function arm_mat_mult_q31() and this fast variant is that    

+ * the fast variant use a 32-bit rather than a 64-bit accumulator.    

+ * The result of each 1.31 x 1.31 multiplication is truncated to    

+ * 2.30 format. These intermediate results are accumulated in a 32-bit register in 2.30    

+ * format. Finally, the accumulator is saturated and converted to a 1.31 result.    

+ *    

+ * \par    

+ * The fast version has the same overflow behavior as the standard version but provides    

+ * less precision since it discards the low 32 bits of each multiplication result.    

+ * In order to avoid overflows completely the input signals must be scaled down.    

+ * Scale down one of the input matrices by log2(numColsA) bits to    

+ * avoid overflows, as a total of numColsA additions are computed internally for each    

+ * output element.    

+ *    

+ * \par    

+ * See <code>arm_mat_mult_q31()</code> for a slower implementation of this function    

+ * which uses 64-bit accumulation to provide higher precision.    

+ */

+

+arm_status arm_mat_mult_fast_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 *pSrcB = pSrcB->pData;                    /* input data matrix pointer B */    

+  q31_t *pOut = pDst->pData;                     /* output data matrix pointer */

+  q31_t *px;                                     /* Temporary output data matrix pointer */

+  q31_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 */

+  uint16_t col, i = 0u, j, row = numRowsA, colCnt;      /* loop counters */

+  arm_status status;                             /* status of matrix multiplication */

+  q31_t inA1, inA2, inA3, inA4, inB1, inB2, inB3, inB4;

+

+#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 */

+          inB1 = *pIn2;

+          pIn2 += numColsB;

+

+          inA1 = pIn1[0];

+          inA2 = pIn1[1];

+

+          inB2 = *pIn2;

+          pIn2 += numColsB;

+

+          inB3 = *pIn2;

+          pIn2 += numColsB;

+

+          sum = (q31_t) ((((q63_t) sum << 32) + ((q63_t) inA1 * inB1)) >> 32);

+          sum = (q31_t) ((((q63_t) sum << 32) + ((q63_t) inA2 * inB2)) >> 32);

+

+          inA3 = pIn1[2];

+          inA4 = pIn1[3];

+

+          inB4 = *pIn2;

+          pIn2 += numColsB;

+

+          sum = (q31_t) ((((q63_t) sum << 32) + ((q63_t) inA3 * inB3)) >> 32);

+          sum = (q31_t) ((((q63_t) sum << 32) + ((q63_t) inA4 * inB4)) >> 32);

+

+          pIn1 += 4u;

+

+          /* 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 = (q31_t) ((((q63_t) sum << 32) +

+                          ((q63_t) * pIn1++ * (*pIn2))) >> 32);

+          pIn2 += numColsB;

+

+          /* Decrement the loop counter */

+          colCnt--;

+        }

+

+        /* Convert the result from 2.30 to 1.31 format and store in destination buffer */

+        *px++ = sum << 1;

+

+        /* 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);

+

+      /* 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    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c
new file mode 100644
index 000000000..b48d204ed
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c
@@ -0,0 +1,467 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_mat_mult_q15.c    

+*    

+* Description:	 Q15 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 Q15 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    

+ * @param[in]		*pState points to the array for storing intermediate results   

+ * @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 a 64-bit internal accumulator. The inputs to the    

+ * multiplications are in 1.15 format and multiplications yield a 2.30 result.    

+ * The 2.30 intermediate    

+ * results are accumulated in a 64-bit accumulator in 34.30 format. This approach    

+ * provides 33 guard bits and there is no risk of overflow. The 34.30 result is then    

+ * truncated to 34.15 format by discarding the low 15 bits and then saturated to    

+ * 1.15 format.    

+ *    

+ * \par    

+ * Refer to <code>arm_mat_mult_fast_q15()</code> for a faster but less precise version of this function for Cortex-M3 and Cortex-M4.    

+ *    

+ */

+

+arm_status arm_mat_mult_q15(

+  const arm_matrix_instance_q15 * pSrcA,

+  const arm_matrix_instance_q15 * pSrcB,

+  arm_matrix_instance_q15 * pDst,

+  q15_t * pState)

+{

+  q63_t sum;                                     /* accumulator */

+

+#ifndef ARM_MATH_CM0

+

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

+

+  q15_t *pSrcBT = pState;                        /* input data matrix pointer for transpose */

+  q15_t *pInA = pSrcA->pData;                    /* input data matrix pointer A of Q15 type */

+  q15_t *pInB = pSrcB->pData;                    /* input data matrix pointer B of Q15 type */

+  q15_t *px;                                     /* Temporary output data matrix pointer */

+  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 */

+  uint16_t numRowsB = pSrcB->numRows;            /* number of rows of input matrix A    */

+  uint16_t col, i = 0u, row = numRowsB, colCnt;  /* loop counters */

+  arm_status status;                             /* status of matrix multiplication */

+

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+  q31_t in;                                      /* Temporary variable to hold the input value */

+  q31_t pSourceA1, pSourceB1, pSourceA2, pSourceB2;

+

+#else

+

+  q15_t in;                                      /* Temporary variable to hold the input value */

+  q15_t inA1, inB1, inA2, inB2;

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+#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    */

+  {

+    /* Matrix transpose */

+    do

+    {

+      /* Apply loop unrolling and exchange the columns with row elements */

+      col = numColsB >> 2;

+

+      /* The pointer px is set to starting address of the column being processed */

+      px = pSrcBT + i;

+

+      /* 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(col > 0u)

+      {

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+        /* Read two elements from the row */

+        in = *__SIMD32(pInB)++;

+

+        /* Unpack and store one element in the destination */

+#ifndef ARM_MATH_BIG_ENDIAN

+

+        *px = (q15_t) in;

+

+#else

+

+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);

+

+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */

+

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += numRowsB;

+

+        /* Unpack and store the second element in the destination */

+#ifndef ARM_MATH_BIG_ENDIAN

+

+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);

+

+#else

+

+        *px = (q15_t) in;

+

+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */

+

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += numRowsB;

+

+        /* Read two elements from the row */

+        in = *__SIMD32(pInB)++;

+

+        /* Unpack and store one element in the destination */

+#ifndef ARM_MATH_BIG_ENDIAN

+

+        *px = (q15_t) in;

+

+#else

+

+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);

+

+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */

+

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += numRowsB;

+

+        /* Unpack and store the second element in the destination */

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);

+

+#else

+

+        *px = (q15_t) in;

+

+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */

+

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += numRowsB;

+

+#else

+

+        /* Read one element from the row */

+        in = *pInB++;

+

+        /* Store one element in the destination */

+        *px = in;

+ 

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += numRowsB;

+

+        /* Read one element from the row */

+        in = *pInB++;

+

+        /* Store one element in the destination */

+        *px = in;

+ 

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += numRowsB;

+

+        /* Read one element from the row */

+        in = *pInB++;

+

+        /* Store one element in the destination */

+        *px = in;

+ 

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += numRowsB;

+

+        /* Read one element from the row */

+        in = *pInB++;

+

+        /* Store one element in the destination */

+        *px = in;

+ 

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += numRowsB;

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+       /* Decrement the column loop counter */

+        col--;

+      }

+

+      /* If the columns of pSrcB is not a multiple of 4, compute any remaining output samples here.        

+       ** No loop unrolling is used. */

+      col = numColsB % 0x4u;

+

+      while(col > 0u)

+      {

+        /* Read and store the input element in the destination */

+        *px = *pInB++;

+

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += numRowsB;

+

+        /* Decrement the column loop counter */

+        col--;

+      }

+

+      i++;

+

+      /* Decrement the row loop counter */

+      row--;

+

+    } while(row > 0u);

+

+    /* Reset the variables for the usage in the following multiplication process */

+    row = numRowsA;

+    i = 0u;

+    px = pDst->pData;

+

+    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */

+    /* row loop */

+    do

+    {

+      /* 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 transposed pSrcB data */

+      pInB = pSrcBT;

+

+      /* column loop */

+      do

+      {

+        /* Set the variable sum, that acts as accumulator, to zero */

+        sum = 0;

+

+        /* Apply loop unrolling and compute 2 MACs simultaneously. */

+        colCnt = numColsA >> 2;

+

+        /* Initiate the pointer pIn1 to point to the starting address of the column being processed */

+        pInA = pSrcA->pData + i;

+

+

+        /* 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) */

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+          /* read real and imag values from pSrcA and pSrcB buffer */

+          pSourceA1 = *__SIMD32(pInA)++;

+          pSourceB1 = *__SIMD32(pInB)++;

+

+          pSourceA2 = *__SIMD32(pInA)++;

+          pSourceB2 = *__SIMD32(pInB)++;

+

+          /* Multiply and Accumlates */

+          sum = __SMLALD(pSourceA1, pSourceB1, sum);

+          sum = __SMLALD(pSourceA2, pSourceB2, sum);

+

+#else

+          /* read real and imag values from pSrcA and pSrcB buffer */

+          inA1 = *pInA++;

+          inB1 = *pInB++;

+          inA2 = *pInA++;

+          /* Multiply and Accumlates */

+          sum += inA1 * inB1;

+          inB2 = *pInB++;

+

+          inA1 = *pInA++;

+          inB1 = *pInB++;

+          /* Multiply and Accumlates */

+          sum += inA2 * inB2;

+          inA2 = *pInA++;

+          inB2 = *pInB++;

+

+          /* Multiply and Accumlates */

+          sum += inA1 * inB1;

+          sum += inA2 * inB2;

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+          /* Decrement the loop counter */

+          colCnt--;

+        }

+

+        /* process remaining column samples */

+        colCnt = numColsA & 3u;

+

+        while(colCnt > 0u)

+        {

+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */

+          sum += *pInA++ * *pInB++;

+

+          /* Decrement the loop counter */

+          colCnt--;

+        }

+

+        /* Saturate and store the result in the destination buffer */

+        *px = (q15_t) (__SSAT((sum >> 15), 16));

+        px++;

+

+        /* Decrement the column loop counter */

+        col--;

+

+      } while(col > 0u);

+

+      i = i + numColsA;

+

+      /* Decrement the row loop counter */

+      row--;

+

+    } while(row > 0u);

+

+#else

+

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

+

+  q15_t *pIn1 = pSrcA->pData;                    /* input data matrix pointer A */

+  q15_t *pIn2 = pSrcB->pData;                    /* input data matrix pointer B */

+  q15_t *pInA = pSrcA->pData;                    /* input data matrix pointer A of Q15 type */

+  q15_t *pInB = pSrcB->pData;                    /* input data matrix pointer B of Q15 type */

+  q15_t *pOut = pDst->pData;                     /* output data matrix pointer */

+  q15_t *px;                                     /* Temporary output data matrix pointer */

+  uint16_t numColsB = pSrcB->numCols;            /* number of columns of input matrix B */

+  uint16_t numColsA = pSrcA->numCols;            /* number of columns of input matrix A */

+  uint16_t numRowsA = pSrcA->numRows;            /* number of rows of input matrix A    */

+  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 pSrcA */

+        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 += (q31_t) * pIn1++ * *pIn2;

+          pIn2 += numColsB;

+

+          /* Decrement the loop counter */

+          colCnt--;

+        }

+

+        /* Convert the result from 34.30 to 1.15 format and store the saturated value in destination buffer */

+        /* Saturate and store the result in the destination buffer */

+        *px++ = (q15_t) __SSAT((sum >> 15), 16);

+

+        /* 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);

+

+      /* Update the pointer pSrcA 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);

+

+#endif /* #ifndef ARM_MATH_CM0 */

+    /* set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+  }

+

+  /* Return to application */

+  return (status);

+}

+

+/**        

+ * @} end of MatrixMult group        

+ */

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    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c
new file mode 100644
index 000000000..e64cfd1d1
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c
@@ -0,0 +1,179 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_mat_scale_f32.c    

+*    

+* Description:	Multiplies a floating-point matrix by a scalar.    

+*    

+* 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        

+ */

+

+/**        

+ * @defgroup MatrixScale Matrix Scale        

+ *        

+ * Multiplies a matrix by a scalar.  This is accomplished by multiplying each element in the        

+ * matrix by the scalar.  For example:        

+ * \image html MatrixScale.gif "Matrix Scaling of a 3 x 3 matrix"        

+ *        

+ * The function checks to make sure that the input and output matrices are of the same size.        

+ *        

+ * In the fixed-point Q15 and Q31 functions, <code>scale</code> is represented by        

+ * a fractional multiplication <code>scaleFract</code> and an arithmetic shift <code>shift</code>.        

+ * The shift allows the gain of the scaling operation to exceed 1.0.        

+ * The overall scale factor applied to the fixed-point data is        

+ * <pre>        

+ *     scale = scaleFract * 2^shift.        

+ * </pre>        

+ */

+

+/**        

+ * @addtogroup MatrixScale        

+ * @{        

+ */

+

+/**        

+ * @brief Floating-point matrix scaling.        

+ * @param[in]       *pSrc points to input matrix structure        

+ * @param[in]       scale scale factor to be applied         

+ * @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.        

+ *        

+ */

+

+arm_status arm_mat_scale_f32(

+  const arm_matrix_instance_f32 * pSrc,

+  float32_t scale,

+  arm_matrix_instance_f32 * pDst)

+{

+  float32_t *pIn = pSrc->pData;                  /* input data matrix pointer */

+  float32_t *pOut = pDst->pData;                 /* output data matrix pointer */

+  uint32_t numSamples;                           /* total number of elements in the matrix */

+  uint32_t blkCnt;                               /* loop counters */

+  arm_status status;                             /* status of matrix scaling     */

+

+#ifndef ARM_MATH_CM0

+

+  float32_t in1, in2, in3, in4;                  /* temporary variables */

+  float32_t out1, out2, out3, out4;              /* temporary variables */

+

+#endif //      #ifndef ARM_MATH_CM0

+

+#ifdef ARM_MATH_MATRIX_CHECK

+  /* Check for matrix mismatch condition */

+  if((pSrc->numRows != pDst->numRows) || (pSrc->numCols != pDst->numCols))

+  {

+    /* Set status as ARM_MATH_SIZE_MISMATCH */

+    status = ARM_MATH_SIZE_MISMATCH;

+  }

+  else

+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */

+  {

+    /* Total number of samples in the input matrix */

+    numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;

+

+#ifndef ARM_MATH_CM0

+

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

+

+    /* Loop Unrolling */

+    blkCnt = numSamples >> 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)

+    {

+      /* C(m,n) = A(m,n) * scale */

+      /* Scaling and results are stored in the destination buffer. */

+      in1 = pIn[0];

+      in2 = pIn[1];

+      in3 = pIn[2];

+      in4 = pIn[3];

+

+      out1 = in1 * scale;

+      out2 = in2 * scale;

+      out3 = in3 * scale;

+      out4 = in4 * scale;

+

+

+      pOut[0] = out1;

+      pOut[1] = out2;

+      pOut[2] = out3;

+      pOut[3] = out4;

+

+      /* update pointers to process next sampels */

+      pIn += 4u;

+      pOut += 4u;

+

+      /* Decrement the numSamples loop counter */

+      blkCnt--;

+    }

+

+    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    

+     ** No loop unrolling is used. */

+    blkCnt = numSamples % 0x4u;

+

+#else

+

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

+

+    /* Initialize blkCnt with number of samples */

+    blkCnt = numSamples;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+    while(blkCnt > 0u)

+    {

+      /* C(m,n) = A(m,n) * scale */

+      /* The results are stored in the destination buffer. */

+      *pOut++ = (*pIn++) * scale;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* Set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+  }

+

+  /* Return to application */

+  return (status);

+}

+

+/**        

+ * @} end of MatrixScale group        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c
new file mode 100644
index 000000000..58011254c
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c
@@ -0,0 +1,181 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_mat_scale_q15.c    

+*    

+* Description:	Multiplies a Q15 matrix by a scalar.    

+*    

+* 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 MatrixScale    

+ * @{    

+ */

+

+/**    

+ * @brief Q15 matrix scaling.    

+ * @param[in]       *pSrc points to input matrix    

+ * @param[in]       scaleFract fractional portion of the scale factor    

+ * @param[in]       shift number of bits to shift the result by    

+ * @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 input data <code>*pSrc</code> and <code>scaleFract</code> are in 1.15 format.    

+ * These are multiplied to yield a 2.30 intermediate result and this is shifted with saturation to 1.15 format.    

+ */

+

+arm_status arm_mat_scale_q15(

+  const arm_matrix_instance_q15 * pSrc,

+  q15_t scaleFract,

+  int32_t shift,

+  arm_matrix_instance_q15 * pDst)

+{

+  q15_t *pIn = pSrc->pData;                      /* input data matrix pointer */

+  q15_t *pOut = pDst->pData;                     /* output data matrix pointer */

+  uint32_t numSamples;                           /* total number of elements in the matrix */

+  int32_t totShift = 15 - shift;                 /* total shift to apply after scaling */

+  uint32_t blkCnt;                               /* loop counters */

+  arm_status status;                             /* status of matrix scaling     */

+

+#ifndef ARM_MATH_CM0

+

+  q15_t in1, in2, in3, in4;

+  q31_t out1, out2, out3, out4;

+  q31_t inA1, inA2;

+

+#endif //     #ifndef ARM_MATH_CM0

+

+#ifdef ARM_MATH_MATRIX_CHECK

+  /* Check for matrix mismatch */

+  if((pSrc->numRows != pDst->numRows) || (pSrc->numCols != pDst->numCols))

+  {

+    /* Set status as ARM_MATH_SIZE_MISMATCH */

+    status = ARM_MATH_SIZE_MISMATCH;

+  }

+  else

+#endif //    #ifdef ARM_MATH_MATRIX_CHECK

+  {

+    /* Total number of samples in the input matrix */

+    numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;

+

+#ifndef ARM_MATH_CM0

+

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

+    /* Loop Unrolling */

+    blkCnt = numSamples >> 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)

+    {

+      /* C(m,n) = A(m,n) * k */

+      /* Scale, saturate and then store the results in the destination buffer. */

+      /* Reading 2 inputs from memory */

+      inA1 = _SIMD32_OFFSET(pIn);

+      inA2 = _SIMD32_OFFSET(pIn + 2);

+

+      /* C = A * scale */

+      /* Scale the inputs and then store the 2 results in the destination buffer        

+       * in single cycle by packing the outputs */

+      out1 = (q31_t) ((q15_t) (inA1 >> 16) * scaleFract);

+      out2 = (q31_t) ((q15_t) inA1 * scaleFract);

+      out3 = (q31_t) ((q15_t) (inA2 >> 16) * scaleFract);

+      out4 = (q31_t) ((q15_t) inA2 * scaleFract);

+

+      out1 = out1 >> totShift;

+      inA1 = _SIMD32_OFFSET(pIn + 4);

+      out2 = out2 >> totShift;

+      inA2 = _SIMD32_OFFSET(pIn + 6);

+      out3 = out3 >> totShift;

+      out4 = out4 >> totShift;

+

+      in1 = (q15_t) (__SSAT(out1, 16));

+      in2 = (q15_t) (__SSAT(out2, 16));

+      in3 = (q15_t) (__SSAT(out3, 16));

+      in4 = (q15_t) (__SSAT(out4, 16));

+

+      _SIMD32_OFFSET(pOut) = __PKHBT(in2, in1, 16);

+      _SIMD32_OFFSET(pOut + 2) = __PKHBT(in4, in3, 16);

+

+      /* update pointers to process next sampels */

+      pIn += 4u;

+      pOut += 4u;

+

+

+      /* Decrement the numSamples loop counter */

+      blkCnt--;

+    }

+

+    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.        

+     ** No loop unrolling is used. */

+    blkCnt = numSamples % 0x4u;

+

+#else

+

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

+

+    /* Initialize blkCnt with number of samples */

+    blkCnt = numSamples;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+    while(blkCnt > 0u)

+    {

+      /* C(m,n) = A(m,n) * k */

+      /* Scale, saturate and then store the results in the destination buffer. */

+      *pOut++ =

+        (q15_t) (__SSAT(((q31_t) (*pIn++) * scaleFract) >> totShift, 16));

+

+      /* Decrement the numSamples loop counter */

+      blkCnt--;

+    }

+    /* Set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+  }

+

+  /* Return to application */

+  return (status);

+}

+

+/**        

+ * @} end of MatrixScale group        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c
new file mode 100644
index 000000000..e5e124125
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c
@@ -0,0 +1,201 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_mat_scale_q31.c    

+*    

+* Description:	Multiplies a Q31 matrix by a scalar.    

+*    

+* 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 MatrixScale        

+ * @{        

+ */

+

+/**        

+ * @brief Q31 matrix scaling.        

+ * @param[in]       *pSrc points to input matrix        

+ * @param[in]       scaleFract fractional portion of the scale factor        

+ * @param[in]       shift number of bits to shift the result by        

+ * @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 input data <code>*pSrc</code> and <code>scaleFract</code> are in 1.31 format.        

+ * These are multiplied to yield a 2.62 intermediate result and this is shifted with saturation to 1.31 format.        

+ */

+

+arm_status arm_mat_scale_q31(

+  const arm_matrix_instance_q31 * pSrc,

+  q31_t scaleFract,

+  int32_t shift,

+  arm_matrix_instance_q31 * pDst)

+{

+  q31_t *pIn = pSrc->pData;                      /* input data matrix pointer */

+  q31_t *pOut = pDst->pData;                     /* output data matrix pointer */

+  uint32_t numSamples;                           /* total number of elements in the matrix */

+  int32_t totShift = shift + 1;                  /* shift to apply after scaling */

+  uint32_t blkCnt;                               /* loop counters  */

+  arm_status status;                             /* status of matrix scaling      */

+  q31_t in1, in2, out1;                          /* temporary variabels */

+

+#ifndef ARM_MATH_CM0

+

+  q31_t in3, in4, out2, out3, out4;              /* temporary variables */

+

+#endif //      #ifndef ARM_MAT_CM0

+

+#ifdef ARM_MATH_MATRIX_CHECK

+  /* Check for matrix mismatch  */

+  if((pSrc->numRows != pDst->numRows) || (pSrc->numCols != pDst->numCols))

+  {

+    /* Set status as ARM_MATH_SIZE_MISMATCH */

+    status = ARM_MATH_SIZE_MISMATCH;

+  }

+  else

+#endif //    #ifdef ARM_MATH_MATRIX_CHECK

+  {

+    /* Total number of samples in the input matrix */

+    numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;

+

+#ifndef ARM_MATH_CM0

+

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

+

+    /* Loop Unrolling */

+    blkCnt = numSamples >> 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(m,n) = A(m,n) * k */

+      /* Read values from input */

+      in1 = *pIn;

+      in2 = *(pIn + 1);

+      in3 = *(pIn + 2);

+      in4 = *(pIn + 3);

+

+      /* multiply input with scaler value */

+      in1 = ((q63_t) in1 * scaleFract) >> 32;

+      in2 = ((q63_t) in2 * scaleFract) >> 32;

+      in3 = ((q63_t) in3 * scaleFract) >> 32;

+      in4 = ((q63_t) in4 * scaleFract) >> 32;

+

+      /* apply shifting */

+      out1 = in1 << totShift;

+      out2 = in2 << totShift;

+

+      /* saturate the results. */

+      if(in1 != (out1 >> totShift))

+        out1 = 0x7FFFFFFF ^ (in1 >> 31);

+

+      if(in2 != (out2 >> totShift))

+        out2 = 0x7FFFFFFF ^ (in2 >> 31);

+

+      out3 = in3 << totShift;

+      out4 = in4 << totShift;

+

+      *pOut = out1;

+      *(pOut + 1) = out2;

+

+      if(in3 != (out3 >> totShift))

+        out3 = 0x7FFFFFFF ^ (in3 >> 31);

+

+      if(in4 != (out4 >> totShift))

+        out4 = 0x7FFFFFFF ^ (in4 >> 31);

+

+

+      *(pOut + 2) = out3;

+      *(pOut + 3) = out4;

+

+      /* update pointers to process next sampels */

+      pIn += 4u;

+      pOut += 4u;

+

+

+      /* Decrement the numSamples loop counter */

+      blkCnt--;

+    }

+

+    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    

+     ** No loop unrolling is used. */

+    blkCnt = numSamples % 0x4u;

+

+#else

+

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

+

+    /* Initialize blkCnt with number of samples */

+    blkCnt = numSamples;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+    while(blkCnt > 0u)

+    {

+      /* C(m,n) = A(m,n) * k */

+      /* Scale, saturate and then store the results in the destination buffer. */

+      in1 = *pIn++;

+

+      in2 = ((q63_t) in1 * scaleFract) >> 32;

+

+      out1 = in2 << totShift;

+

+      if(in2 != (out1 >> totShift))

+        out1 = 0x7FFFFFFF ^ (in2 >> 31);

+

+      *pOut++ = out1;

+

+      /* Decrement the numSamples loop counter */

+      blkCnt--;

+    }

+

+    /* Set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+  }

+

+  /* Return to application */

+  return (status);

+}

+

+/**        

+ * @} end of MatrixScale group        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c
new file mode 100644
index 000000000..3544d8e82
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c
@@ -0,0 +1,207 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_mat_sub_f32.c    

+*    

+* Description:	Floating-point matrix subtraction.    

+*    

+* 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        

+ */

+

+/**        

+ * @defgroup MatrixSub Matrix Subtraction        

+ *        

+ * Subtract two matrices.        

+ * \image html MatrixSubtraction.gif "Subraction of two 3 x 3 matrices"        

+ *        

+ * The functions check to make sure that        

+ * <code>pSrcA</code>, <code>pSrcB</code>, and <code>pDst</code> have the same        

+ * number of rows and columns.        

+ */

+

+/**        

+ * @addtogroup MatrixSub        

+ * @{        

+ */

+

+/**        

+ * @brief Floating-point matrix subtraction        

+ * @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.        

+ */

+

+arm_status arm_mat_sub_f32(

+  const arm_matrix_instance_f32 * pSrcA,

+  const arm_matrix_instance_f32 * pSrcB,

+  arm_matrix_instance_f32 * pDst)

+{

+  float32_t *pIn1 = pSrcA->pData;                /* input data matrix pointer A */

+  float32_t *pIn2 = pSrcB->pData;                /* input data matrix pointer B */

+  float32_t *pOut = pDst->pData;                 /* output data matrix pointer  */

+

+#ifndef ARM_MATH_CM0

+

+  float32_t inA1, inA2, inB1, inB2, out1, out2;  /* temporary variables */

+

+#endif //      #ifndef ARM_MATH_CM0

+

+  uint32_t numSamples;                           /* total number of elements in the matrix  */

+  uint32_t blkCnt;                               /* loop counters */

+  arm_status status;                             /* status of matrix subtraction */

+

+#ifdef ARM_MATH_MATRIX_CHECK

+  /* Check for matrix mismatch condition */

+  if((pSrcA->numRows != pSrcB->numRows) ||

+     (pSrcA->numCols != pSrcB->numCols) ||

+     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))

+  {

+    /* Set status as ARM_MATH_SIZE_MISMATCH */

+    status = ARM_MATH_SIZE_MISMATCH;

+  }

+  else

+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */

+  {

+    /* Total number of samples in the input matrix */

+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;

+

+#ifndef ARM_MATH_CM0

+

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

+

+    /* Loop Unrolling */

+    blkCnt = numSamples >> 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(m,n) = A(m,n) - B(m,n) */

+      /* Subtract and then store the results in the destination buffer. */

+      /* Read values from source A */

+      inA1 = pIn1[0];

+

+      /* Read values from source B */

+      inB1 = pIn2[0];

+

+      /* Read values from source A */

+      inA2 = pIn1[1];

+

+      /* out = sourceA - sourceB */

+      out1 = inA1 - inB1;

+

+      /* Read values from source B */

+      inB2 = pIn2[1];

+

+      /* Read values from source A */

+      inA1 = pIn1[2];

+

+      /* out = sourceA - sourceB */

+      out2 = inA2 - inB2;

+

+      /* Read values from source B */

+      inB1 = pIn2[2];

+

+      /* Store result in destination */

+      pOut[0] = out1;

+      pOut[1] = out2;

+

+      /* Read values from source A */

+      inA2 = pIn1[3];

+

+      /* Read values from source B */

+      inB2 = pIn2[3];

+

+      /* out = sourceA - sourceB */

+      out1 = inA1 - inB1;

+

+

+      /* out = sourceA - sourceB */

+      out2 = inA2 - inB2;

+

+      /* Store result in destination */

+      pOut[2] = out1;

+

+      /* Store result in destination */

+      pOut[3] = out2;

+

+

+      /* update pointers to process next sampels */

+      pIn1 += 4u;

+      pIn2 += 4u;

+      pOut += 4u;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    

+     ** No loop unrolling is used. */

+    blkCnt = numSamples % 0x4u;

+

+#else

+

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

+

+    /* Initialize blkCnt with number of samples */

+    blkCnt = numSamples;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+    while(blkCnt > 0u)

+    {

+      /* C(m,n) = A(m,n) - B(m,n) */

+      /* Subtract and then store the results in the destination buffer. */

+      *pOut++ = (*pIn1++) - (*pIn2++);

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* Set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+  }

+

+  /* Return to application */

+  return (status);

+}

+

+/**        

+ * @} end of MatrixSub group        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c
new file mode 100644
index 000000000..1857fd837
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c
@@ -0,0 +1,158 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_mat_sub_q15.c    

+*    

+* Description:	Q15 Matrix subtraction    

+*    

+* 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 MatrixSub    

+ * @{    

+ */

+

+/**    

+ * @brief Q15 matrix subtraction.    

+ * @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.    

+ *    

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

+ * \par    

+ * The function uses saturating arithmetic.    

+ * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.    

+ */

+

+arm_status arm_mat_sub_q15(

+  const arm_matrix_instance_q15 * pSrcA,

+  const arm_matrix_instance_q15 * pSrcB,

+  arm_matrix_instance_q15 * pDst)

+{

+  q15_t *pInA = pSrcA->pData;                    /* input data matrix pointer A */

+  q15_t *pInB = pSrcB->pData;                    /* input data matrix pointer B */

+  q15_t *pOut = pDst->pData;                     /* output data matrix pointer */

+  uint32_t numSamples;                           /* total number of elements in the matrix */

+  uint32_t blkCnt;                               /* loop counters  */

+  arm_status status;                             /* status of matrix subtraction  */

+

+

+#ifdef ARM_MATH_MATRIX_CHECK

+

+

+  /* Check for matrix mismatch condition */

+  if((pSrcA->numRows != pSrcB->numRows) ||

+     (pSrcA->numCols != pSrcB->numCols) ||

+     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))

+  {

+    /* Set status as ARM_MATH_SIZE_MISMATCH */

+    status = ARM_MATH_SIZE_MISMATCH;

+  }

+  else

+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */

+

+  {

+    /* Total number of samples in the input matrix */

+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;

+

+#ifndef ARM_MATH_CM0

+

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

+

+    /* Apply loop unrolling */

+    blkCnt = numSamples >> 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(m,n) = A(m,n) - B(m,n) */

+      /* Subtract, Saturate and then store the results in the destination buffer. */

+      *__SIMD32(pOut)++ = __QSUB16(*__SIMD32(pInA)++, *__SIMD32(pInB)++);

+      *__SIMD32(pOut)++ = __QSUB16(*__SIMD32(pInA)++, *__SIMD32(pInB)++);

+

+      /* 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 = numSamples % 0x4u;

+

+    while(blkCnt > 0u)

+    {

+      /* C(m,n) = A(m,n) - B(m,n) */

+      /* Subtract and then store the results in the destination buffer. */

+      *pOut++ = (q15_t) __QSUB16(*pInA++, *pInB++);

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+#else

+

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

+

+    /* Initialize blkCnt with number of samples */

+    blkCnt = numSamples;

+

+    while(blkCnt > 0u)

+    {

+      /* C(m,n) = A(m,n) - B(m,n) */

+      /* Subtract and then store the results in the destination buffer. */

+      *pOut++ = (q15_t) __SSAT(((q31_t) * pInA++ - *pInB++), 16);

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+    /* Set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+  }

+

+  /* Return to application */

+  return (status);

+}

+

+/**    

+ * @} end of MatrixSub group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c
new file mode 100644
index 000000000..279fd7f7c
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c
@@ -0,0 +1,206 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_mat_sub_q31.c    

+*    

+* Description:	Q31 matrix subtraction    

+*    

+* 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 MatrixSub        

+ * @{        

+ */

+

+/**        

+ * @brief Q31 matrix subtraction.        

+ * @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.        

+ *        

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

+ * \par        

+ * The function uses saturating arithmetic.        

+ * Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] will be saturated.        

+ */

+

+

+arm_status arm_mat_sub_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 *pOut = pDst->pData;                     /* output data matrix pointer */

+  q31_t inA1, inB1;                              /* temporary variables */

+

+#ifndef ARM_MATH_CM0

+

+  q31_t inA2, inB2;                              /* temporary variables */

+  q31_t out1, out2;                              /* temporary variables */

+

+#endif //      #ifndef ARM_MATH_CM0

+

+  uint32_t numSamples;                           /* total number of elements in the matrix  */

+  uint32_t blkCnt;                               /* loop counters */

+  arm_status status;                             /* status of matrix subtraction */

+

+

+#ifdef ARM_MATH_MATRIX_CHECK

+  /* Check for matrix mismatch condition  */

+  if((pSrcA->numRows != pSrcB->numRows) ||

+     (pSrcA->numCols != pSrcB->numCols) ||

+     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))

+  {

+    /* Set status as ARM_MATH_SIZE_MISMATCH */

+    status = ARM_MATH_SIZE_MISMATCH;

+  }

+  else

+#endif

+  {

+    /* Total number of samples in the input matrix */

+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;

+

+#ifndef ARM_MATH_CM0

+

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

+

+    /* Loop Unrolling */

+    blkCnt = numSamples >> 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(m,n) = A(m,n) - B(m,n) */

+      /* Subtract, saturate and then store the results in the destination buffer. */

+      /* Read values from source A */

+      inA1 = pIn1[0];

+

+      /* Read values from source B */

+      inB1 = pIn2[0];

+

+      /* Read values from source A */

+      inA2 = pIn1[1];

+

+      /* Subtract and saturate */

+      out1 = __QSUB(inA1, inB1);

+

+      /* Read values from source B */

+      inB2 = pIn2[1];

+

+      /* Read values from source A */

+      inA1 = pIn1[2];

+

+      /* Subtract and saturate */

+      out2 = __QSUB(inA2, inB2);

+

+      /* Read values from source B */

+      inB1 = pIn2[2];

+

+      /* Store result in destination */

+      pOut[0] = out1;

+      pOut[1] = out2;

+

+      /* Read values from source A */

+      inA2 = pIn1[3];

+

+      /* Read values from source B */

+      inB2 = pIn2[3];

+

+      /* Subtract and saturate */

+      out1 = __QSUB(inA1, inB1);

+

+      /* Subtract and saturate */

+      out2 = __QSUB(inA2, inB2);

+

+      /* Store result in destination */

+      pOut[2] = out1;

+      pOut[3] = out2;

+

+      /* update pointers to process next samples */

+      pIn1 += 4u;

+      pIn2 += 4u;

+      pOut += 4u;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.        

+     ** No loop unrolling is used. */

+    blkCnt = numSamples % 0x4u;

+

+#else

+

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

+

+    /* Initialize blkCnt with number of samples */

+    blkCnt = numSamples;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+    while(blkCnt > 0u)

+    {

+      /* C(m,n) = A(m,n) - B(m,n) */

+      /* Subtract, saturate and then store the results in the destination buffer. */

+      inA1 = *pIn1++;

+      inB1 = *pIn2++;

+

+      inA1 = __QSUB(inA1, inB1);

+

+      *pOut++ = inA1;

+

+      /* Decrement the loop counter */

+      blkCnt--;

+    }

+

+    /* Set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+  }

+

+  /* Return to application */

+  return (status);

+}

+

+/**        

+ * @} end of MatrixSub group        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c
new file mode 100644
index 000000000..235028f5a
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c
@@ -0,0 +1,216 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_mat_trans_f32.c    

+*    

+* Description:	Floating-point matrix transpose.    

+*    

+* 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    

+* -------------------------------------------------------------------- */

+

+/**    

+ * @defgroup MatrixTrans Matrix Transpose    

+ *    

+ * Tranposes a matrix.    

+ * Transposing an <code>M x N</code> matrix flips it around the center diagonal and results in an <code>N x M</code> matrix.    

+ * \image html MatrixTranspose.gif "Transpose of a 3 x 3 matrix"    

+ */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupMatrix    

+ */

+

+/**    

+ * @addtogroup MatrixTrans    

+ * @{    

+ */

+

+/**    

+  * @brief Floating-point matrix transpose.    

+  * @param[in]  *pSrc points to the input matrix    

+  * @param[out] *pDst points to the output matrix    

+  * @return 	The function returns either  <code>ARM_MATH_SIZE_MISMATCH</code>    

+  * or <code>ARM_MATH_SUCCESS</code> based on the outcome of size checking.    

+  */

+

+

+arm_status arm_mat_trans_f32(

+  const arm_matrix_instance_f32 * pSrc,

+  arm_matrix_instance_f32 * pDst)

+{

+  float32_t *pIn = pSrc->pData;                  /* input data matrix pointer */

+  float32_t *pOut = pDst->pData;                 /* output data matrix pointer */

+  float32_t *px;                                 /* Temporary output data matrix pointer */

+  uint16_t nRows = pSrc->numRows;                /* number of rows */

+  uint16_t nColumns = pSrc->numCols;             /* number of columns */

+

+#ifndef ARM_MATH_CM0

+

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

+

+  uint16_t blkCnt, i = 0u, row = nRows;          /* loop counters */

+  arm_status status;                             /* status of matrix transpose  */

+

+

+#ifdef ARM_MATH_MATRIX_CHECK

+

+

+  /* Check for matrix mismatch condition */

+  if((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))

+  {

+    /* Set status as ARM_MATH_SIZE_MISMATCH */

+    status = ARM_MATH_SIZE_MISMATCH;

+  }

+  else

+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */

+

+  {

+    /* Matrix transpose by exchanging the rows with columns */

+    /* row loop     */

+    do

+    {

+      /* Loop Unrolling */

+      blkCnt = nColumns >> 2;

+

+      /* The pointer px is set to starting address of the column being processed */

+      px = pOut + i;

+

+      /* 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)        /* column loop */

+      {

+        /* Read and store the input element in the destination */

+        *px = *pIn++;

+

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += nRows;

+

+        /* Read and store the input element in the destination */

+        *px = *pIn++;

+

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += nRows;

+

+        /* Read and store the input element in the destination */

+        *px = *pIn++;

+

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += nRows;

+

+        /* Read and store the input element in the destination */

+        *px = *pIn++;

+

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += nRows;

+

+        /* Decrement the column loop counter */

+        blkCnt--;

+      }

+

+      /* Perform matrix transpose for last 3 samples here. */

+      blkCnt = nColumns % 0x4u;

+

+      while(blkCnt > 0u)

+      {

+        /* Read and store the input element in the destination */

+        *px = *pIn++;

+

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += nRows;

+

+        /* Decrement the column loop counter */

+        blkCnt--;

+      }

+

+#else

+

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

+

+  uint16_t col, i = 0u, row = nRows;             /* loop counters */

+  arm_status status;                             /* status of matrix transpose  */

+

+

+#ifdef ARM_MATH_MATRIX_CHECK

+

+  /* Check for matrix mismatch condition */

+  if((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))

+  {

+    /* Set status as ARM_MATH_SIZE_MISMATCH */

+    status = ARM_MATH_SIZE_MISMATCH;

+  }

+  else

+#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */

+

+  {

+    /* Matrix transpose by exchanging the rows with columns */

+    /* row loop     */

+    do

+    {

+      /* The pointer px is set to starting address of the column being processed */

+      px = pOut + i;

+

+      /* Initialize column loop counter */

+      col = nColumns;

+

+      while(col > 0u)

+      {

+        /* Read and store the input element in the destination */

+        *px = *pIn++;

+

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += nRows;

+

+        /* Decrement the column loop counter */

+        col--;

+      }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+      i++;

+

+      /* Decrement the row loop counter */

+      row--;

+

+    } while(row > 0u);          /* row loop end  */

+

+    /* Set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+  }

+

+  /* Return to application */

+  return (status);

+}

+

+/**    

+ * @} end of MatrixTrans group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c
new file mode 100644
index 000000000..be9c78e00
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c
@@ -0,0 +1,282 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_mat_trans_q15.c    

+*    

+* Description:	Q15 matrix transpose.    

+*    

+* 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 MatrixTrans    

+ * @{    

+ */

+

+/*    

+ * @brief Q15 matrix transpose.    

+ * @param[in]  *pSrc points to the input matrix    

+ * @param[out] *pDst points to the output matrix    

+ * @return 	The function returns either  <code>ARM_MATH_SIZE_MISMATCH</code>    

+ * or <code>ARM_MATH_SUCCESS</code> based on the outcome of size checking.    

+ */

+

+arm_status arm_mat_trans_q15(

+  const arm_matrix_instance_q15 * pSrc,

+  arm_matrix_instance_q15 * pDst)

+{

+  q15_t *pSrcA = pSrc->pData;                    /* input data matrix pointer */

+  q15_t *pOut = pDst->pData;                     /* output data matrix pointer */

+  uint16_t nRows = pSrc->numRows;                /* number of nRows */

+  uint16_t nColumns = pSrc->numCols;             /* number of nColumns */

+  uint16_t col, row = nRows, i = 0u;             /* row and column loop counters */

+  arm_status status;                             /* status of matrix transpose */

+

+#ifndef ARM_MATH_CM0

+

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

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+  q31_t in;                                      /* variable to hold temporary output  */

+

+#else

+

+  q15_t in;

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+#ifdef ARM_MATH_MATRIX_CHECK

+

+

+  /* Check for matrix mismatch condition */

+  if((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))

+  {

+    /* Set status as ARM_MATH_SIZE_MISMATCH */

+    status = ARM_MATH_SIZE_MISMATCH;

+  }

+  else

+#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */

+

+  {

+    /* Matrix transpose by exchanging the rows with columns */

+    /* row loop     */

+    do

+    {

+

+      /* Apply loop unrolling and exchange the columns with row elements */

+      col = nColumns >> 2u;

+

+      /* The pointer pOut is set to starting address of the column being processed */

+      pOut = pDst->pData + i;

+

+      /* 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(col > 0u)

+      {

+#ifndef UNALIGNED_SUPPORT_DISABLE

+

+        /* Read two elements from the row */

+        in = *__SIMD32(pSrcA)++;

+

+        /* Unpack and store one element in the destination */

+#ifndef ARM_MATH_BIG_ENDIAN

+

+        *pOut = (q15_t) in;

+

+#else

+

+        *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);

+

+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */

+

+        /* Update the pointer pOut to point to the next row of the transposed matrix */

+        pOut += nRows;

+

+        /* Unpack and store the second element in the destination */

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+        *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);

+

+#else

+

+        *pOut = (q15_t) in;

+

+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */

+

+        /* Update the pointer pOut to point to the next row of the transposed matrix */

+        pOut += nRows;

+

+        /* Read two elements from the row */

+#ifndef ARM_MATH_BIG_ENDIAN

+

+        in = *__SIMD32(pSrcA)++;

+

+#else

+

+        in = *__SIMD32(pSrcA)++;

+

+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */

+

+        /* Unpack and store one element in the destination */

+#ifndef ARM_MATH_BIG_ENDIAN

+

+        *pOut = (q15_t) in;

+

+#else

+

+        *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);

+

+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */

+

+        /* Update the pointer pOut to point to the next row of the transposed matrix */

+        pOut += nRows;

+

+        /* Unpack and store the second element in the destination */

+#ifndef ARM_MATH_BIG_ENDIAN

+

+        *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);

+

+#else

+

+        *pOut = (q15_t) in;

+

+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */

+

+#else	 

+        /* Read one element from the row */

+        in = *pSrcA++;

+

+        /* Store one element in the destination */

+        *pOut = in;

+ 

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        pOut += nRows;

+

+        /* Read one element from the row */

+        in = *pSrcA++;

+

+        /* Store one element in the destination */

+        *pOut = in;

+ 

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        pOut += nRows;

+

+        /* Read one element from the row */

+        in = *pSrcA++;

+

+        /* Store one element in the destination */

+        *pOut = in;

+ 

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        pOut += nRows;

+

+        /* Read one element from the row */

+        in = *pSrcA++;

+

+        /* Store one element in the destination */

+        *pOut = in;

+

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+        /* Update the pointer pOut to point to the next row of the transposed matrix */

+        pOut += nRows;

+

+        /* Decrement the column loop counter */

+        col--;

+      }

+

+      /* Perform matrix transpose for last 3 samples here. */

+      col = nColumns % 0x4u;

+

+#else

+

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

+

+#ifdef ARM_MATH_MATRIX_CHECK

+

+  /* Check for matrix mismatch condition */

+  if((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))

+  {

+    /* Set status as ARM_MATH_SIZE_MISMATCH */

+    status = ARM_MATH_SIZE_MISMATCH;

+  }

+  else

+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */

+

+  {

+    /* Matrix transpose by exchanging the rows with columns */

+    /* row loop     */

+    do

+    {

+      /* The pointer pOut is set to starting address of the column being processed */

+      pOut = pDst->pData + i;

+

+      /* Initialize column loop counter */

+      col = nColumns;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+      while(col > 0u)

+      {

+        /* Read and store the input element in the destination */

+        *pOut = *pSrcA++;

+

+        /* Update the pointer pOut to point to the next row of the transposed matrix */

+        pOut += nRows;

+

+        /* Decrement the column loop counter */

+        col--;

+      }

+

+      i++;

+

+      /* 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 MatrixTrans group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c
new file mode 100644
index 000000000..253a923d1
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c
@@ -0,0 +1,208 @@
+/* ----------------------------------------------------------------------    

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

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_mat_trans_q31.c    

+*    

+* Description:	Q31 matrix transpose.    

+*    

+* 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 MatrixTrans    

+ * @{    

+ */

+

+/*    

+  * @brief Q31 matrix transpose.    

+  * @param[in]  *pSrc points to the input matrix    

+  * @param[out] *pDst points to the output matrix    

+  * @return 	The function returns either  <code>ARM_MATH_SIZE_MISMATCH</code>    

+  * or <code>ARM_MATH_SUCCESS</code> based on the outcome of size checking.    

+ */

+

+arm_status arm_mat_trans_q31(

+  const arm_matrix_instance_q31 * pSrc,

+  arm_matrix_instance_q31 * pDst)

+{

+  q31_t *pIn = pSrc->pData;                      /* input data matrix pointer  */

+  q31_t *pOut = pDst->pData;                     /* output data matrix pointer  */

+  q31_t *px;                                     /* Temporary output data matrix pointer */

+  uint16_t nRows = pSrc->numRows;                /* number of nRows */

+  uint16_t nColumns = pSrc->numCols;             /* number of nColumns  */

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+

+  uint16_t blkCnt, i = 0u, row = nRows;          /* loop counters */

+  arm_status status;                             /* status of matrix transpose */

+

+

+#ifdef ARM_MATH_MATRIX_CHECK

+

+

+  /* Check for matrix mismatch condition */

+  if((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))

+  {

+    /* Set status as ARM_MATH_SIZE_MISMATCH */

+    status = ARM_MATH_SIZE_MISMATCH;

+  }

+  else

+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */

+

+  {

+    /* Matrix transpose by exchanging the rows with columns */

+    /* row loop     */

+    do

+    {

+      /* Apply loop unrolling and exchange the columns with row elements */

+      blkCnt = nColumns >> 2u;

+

+      /* The pointer px is set to starting address of the column being processed */

+      px = pOut + i;

+

+      /* 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)

+      {

+        /* Read and store the input element in the destination */

+        *px = *pIn++;

+

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += nRows;

+

+        /* Read and store the input element in the destination */

+        *px = *pIn++;

+

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += nRows;

+

+        /* Read and store the input element in the destination */

+        *px = *pIn++;

+

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += nRows;

+

+        /* Read and store the input element in the destination */

+        *px = *pIn++;

+

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += nRows;

+

+        /* Decrement the column loop counter */

+        blkCnt--;

+      }

+

+      /* Perform matrix transpose for last 3 samples here. */

+      blkCnt = nColumns % 0x4u;

+

+      while(blkCnt > 0u)

+      {

+        /* Read and store the input element in the destination */

+        *px = *pIn++;

+

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += nRows;

+

+        /* Decrement the column loop counter */

+        blkCnt--;

+      }

+

+#else

+

+  /* Run the below code for Cortex-M0 */

+

+  uint16_t col, i = 0u, row = nRows;             /* loop counters */

+  arm_status status;                             /* status of matrix transpose */

+

+

+#ifdef ARM_MATH_MATRIX_CHECK

+

+  /* Check for matrix mismatch condition */

+  if((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))

+  {

+    /* Set status as ARM_MATH_SIZE_MISMATCH */

+    status = ARM_MATH_SIZE_MISMATCH;

+  }

+  else

+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */

+

+  {

+    /* Matrix transpose by exchanging the rows with columns */

+    /* row loop     */

+    do

+    {

+      /* The pointer px is set to starting address of the column being processed */

+      px = pOut + i;

+

+      /* Initialize column loop counter */

+      col = nColumns;

+

+      while(col > 0u)

+      {

+        /* Read and store the input element in the destination */

+        *px = *pIn++;

+

+        /* Update the pointer px to point to the next row of the transposed matrix */

+        px += nRows;

+

+        /* Decrement the column loop counter */

+        col--;

+      }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+      i++;

+

+      /* Decrement the row loop counter */

+      row--;

+

+    }

+    while(row > 0u);            /* row loop end */

+

+    /* set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+  }

+

+  /* Return to application */

+  return (status);

+}

+

+/**    

+ * @} end of MatrixTrans group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c
new file mode 100644
index 000000000..afd964885
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c
@@ -0,0 +1,178 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_max_f32.c    

+*    

+* Description:	Maximum value of a floating-point 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 groupStats    

+ */

+

+/**    

+ * @defgroup Max Maximum    

+ *    

+ * Computes the maximum value of an array of data.     

+ * The function returns both the maximum value and its position within the array.     

+ * There are separate functions for floating-point, Q31, Q15, and Q7 data types.    

+ */

+

+/**    

+ * @addtogroup Max    

+ * @{    

+ */

+

+

+/**    

+ * @brief Maximum value of a floating-point vector.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       blockSize length of the input vector    

+ * @param[out]      *pResult maximum value returned here    

+ * @param[out]      *pIndex index of maximum value returned here    

+ * @return none.    

+ */

+

+void arm_max_f32(

+  float32_t * pSrc,

+  uint32_t blockSize,

+  float32_t * pResult,

+  uint32_t * pIndex)

+{

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+  float32_t maxVal1, maxVal2, out;               /* Temporary variables to store the output value. */

+  uint32_t blkCnt, outIndex, count;              /* loop counter */

+

+  /* Initialise the count value. */

+  count = 0u;

+  /* Initialise the index value to zero. */

+  outIndex = 0u;

+  /* Load first input value that act as reference value for comparision */

+  out = *pSrc++;

+

+  /* Loop unrolling */

+  blkCnt = (blockSize - 1u) >> 2u;

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+  while(blkCnt > 0u)

+  {

+    /* Initialize maxVal to the next consecutive values one by one */

+    maxVal1 = *pSrc++;

+

+    maxVal2 = *pSrc++;

+

+    /* compare for the maximum value */

+    if(out < maxVal1)

+    {

+      /* Update the maximum value and its index */

+      out = maxVal1;

+      outIndex = count + 1u;

+    }

+

+    maxVal1 = *pSrc++;

+

+    /* compare for the maximum value */

+    if(out < maxVal2)

+    {

+      /* Update the maximum value and its index */

+      out = maxVal2;

+      outIndex = count + 2u;

+    }

+

+    maxVal2 = *pSrc++;

+

+    /* compare for the maximum value */

+    if(out < maxVal1)

+    {

+      /* Update the maximum value and its index */

+      out = maxVal1;

+      outIndex = count + 3u;

+    }

+

+    /* compare for the maximum value */

+    if(out < maxVal2)

+    {

+      /* Update the maximum value and its index */

+      out = maxVal2;

+      outIndex = count + 4u;

+    }

+

+    count += 4u;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* if (blockSize - 1u) is not multiple of 4 */

+  blkCnt = (blockSize - 1u) % 4u;

+

+#else

+

+  /* Run the below code for Cortex-M0 */

+  float32_t maxVal1, out;                        /* Temporary variables to store the output value. */

+  uint32_t blkCnt, outIndex;                     /* loop counter */

+

+  /* Initialise the index value to zero. */

+  outIndex = 0u;

+  /* Load first input value that act as reference value for comparision */

+  out = *pSrc++;

+

+  blkCnt = (blockSize - 1u);

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* Initialize maxVal to the next consecutive values one by one */

+    maxVal1 = *pSrc++;

+

+    /* compare for the maximum value */

+    if(out < maxVal1)

+    {

+      /* Update the maximum value and it's index */

+      out = maxVal1;

+      outIndex = blockSize - blkCnt;

+    }

+

+

+    /* Decrement the loop counter */

+    blkCnt--;

+

+  }

+

+  /* Store the maximum value and it's index into destination pointers */

+  *pResult = out;

+  *pIndex = outIndex;

+}

+

+/**    

+ * @} end of Max group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c
new file mode 100644
index 000000000..939b5236f
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c
@@ -0,0 +1,168 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_max_q15.c    

+*    

+* Description:	Maximum value of a Q15 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 groupStats    

+ */

+

+/**    

+ * @addtogroup Max    

+ * @{    

+ */

+

+

+/**    

+ * @brief Maximum value of a Q15 vector.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       blockSize length of the input vector    

+ * @param[out]      *pResult maximum value returned here    

+ * @param[out]      *pIndex index of maximum value returned here    

+ * @return none.    

+ */

+

+void arm_max_q15(

+  q15_t * pSrc,

+  uint32_t blockSize,

+  q15_t * pResult,

+  uint32_t * pIndex)

+{

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+  q15_t maxVal1, maxVal2, out;                   /* Temporary variables to store the output value. */

+  uint32_t blkCnt, outIndex, count;              /* loop counter */

+

+  /* Initialise the count value. */

+  count = 0u;

+  /* Initialise the index value to zero. */

+  outIndex = 0u;

+  /* Load first input value that act as reference value for comparision */

+  out = *pSrc++;

+

+  /* Loop unrolling */

+  blkCnt = (blockSize - 1u) >> 2u;

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+  while(blkCnt > 0u)

+  {

+    /* Initialize maxVal to the next consecutive values one by one */

+    maxVal1 = *pSrc++;

+

+    maxVal2 = *pSrc++;

+

+    /* compare for the maximum value */

+    if(out < maxVal1)

+    {

+      /* Update the maximum value and its index */

+      out = maxVal1;

+      outIndex = count + 1u;

+    }

+

+    maxVal1 = *pSrc++;

+

+    /* compare for the maximum value */

+    if(out < maxVal2)

+    {

+      /* Update the maximum value and its index */

+      out = maxVal2;

+      outIndex = count + 2u;

+    }

+

+    maxVal2 = *pSrc++;

+

+    /* compare for the maximum value */

+    if(out < maxVal1)

+    {

+      /* Update the maximum value and its index */

+      out = maxVal1;

+      outIndex = count + 3u;

+    }

+

+    /* compare for the maximum value */

+    if(out < maxVal2)

+    {

+      /* Update the maximum value and its index */

+      out = maxVal2;

+      outIndex = count + 4u;

+    }

+

+    count += 4u;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* if (blockSize - 1u) is not multiple of 4 */

+  blkCnt = (blockSize - 1u) % 4u;

+

+#else

+

+  /* Run the below code for Cortex-M0 */

+  q15_t maxVal1, out;                            /* Temporary variables to store the output value. */

+  uint32_t blkCnt, outIndex;                     /* loop counter */

+

+  blkCnt = (blockSize - 1u);

+

+  /* Initialise the index value to zero. */

+  outIndex = 0u;

+  /* Load first input value that act as reference value for comparision */

+  out = *pSrc++;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* Initialize maxVal to the next consecutive values one by one */

+    maxVal1 = *pSrc++;

+

+    /* compare for the maximum value */

+    if(out < maxVal1)

+    {

+      /* Update the maximum value and it's index */

+      out = maxVal1;

+      outIndex = blockSize - blkCnt;

+    }

+    /* Decrement the loop counter */

+    blkCnt--;

+

+  }

+

+  /* Store the maximum value and its index into destination pointers */

+  *pResult = out;

+  *pIndex = outIndex;

+}

+

+/**    

+ * @} end of Max group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c
new file mode 100644
index 000000000..18e757297
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c
@@ -0,0 +1,169 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_max_q31.c    

+*    

+* Description:	Maximum value of a 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 groupStats    

+ */

+

+/**    

+ * @addtogroup Max    

+ * @{    

+ */

+

+

+/**    

+ * @brief Maximum value of a Q31 vector.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       blockSize length of the input vector    

+ * @param[out]      *pResult maximum value returned here    

+ * @param[out]      *pIndex index of maximum value returned here    

+ * @return none.    

+ */

+

+void arm_max_q31(

+  q31_t * pSrc,

+  uint32_t blockSize,

+  q31_t * pResult,

+  uint32_t * pIndex)

+{

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+  q31_t maxVal1, maxVal2, out;                   /* Temporary variables to store the output value. */

+  uint32_t blkCnt, outIndex, count;              /* loop counter */

+

+  /* Initialise the count value. */

+  count = 0u;

+  /* Initialise the index value to zero. */

+  outIndex = 0u;

+  /* Load first input value that act as reference value for comparision */

+  out = *pSrc++;

+

+  /* Loop unrolling */

+  blkCnt = (blockSize - 1u) >> 2u;

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+  while(blkCnt > 0u)

+  {

+    /* Initialize maxVal to the next consecutive values one by one */

+    maxVal1 = *pSrc++;

+

+    maxVal2 = *pSrc++;

+

+    /* compare for the maximum value */

+    if(out < maxVal1)

+    {

+      /* Update the maximum value and its index */

+      out = maxVal1;

+      outIndex = count + 1u;

+    }

+

+    maxVal1 = *pSrc++;

+

+    /* compare for the maximum value */

+    if(out < maxVal2)

+    {

+      /* Update the maximum value and its index */

+      out = maxVal2;

+      outIndex = count + 2u;

+    }

+

+    maxVal2 = *pSrc++;

+

+    /* compare for the maximum value */

+    if(out < maxVal1)

+    {

+      /* Update the maximum value and its index */

+      out = maxVal1;

+      outIndex = count + 3u;

+    }

+

+    /* compare for the maximum value */

+    if(out < maxVal2)

+    {

+      /* Update the maximum value and its index */

+      out = maxVal2;

+      outIndex = count + 4u;

+    }

+

+    count += 4u;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* if (blockSize - 1u) is not multiple of 4 */

+  blkCnt = (blockSize - 1u) % 4u;

+

+#else

+

+  /* Run the below code for Cortex-M0 */

+  q31_t maxVal1, out;                            /* Temporary variables to store the output value. */

+  uint32_t blkCnt, outIndex;                     /* loop counter */

+

+  /* Initialise the index value to zero. */

+  outIndex = 0u;

+  /* Load first input value that act as reference value for comparision */

+  out = *pSrc++;

+

+  blkCnt = (blockSize - 1u);

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* Initialize maxVal to the next consecutive values one by one */

+    maxVal1 = *pSrc++;

+

+    /* compare for the maximum value */

+    if(out < maxVal1)

+    {

+      /* Update the maximum value and it's index */

+      out = maxVal1;

+      outIndex = blockSize - blkCnt;

+    }

+

+    /* Decrement the loop counter */

+    blkCnt--;

+

+  }

+

+  /* Store the maximum value and its index into destination pointers */

+  *pResult = out;

+  *pIndex = outIndex;

+}

+

+/**    

+ * @} end of Max group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c
new file mode 100644
index 000000000..110a8fe5f
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c
@@ -0,0 +1,169 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_max_q7.c    

+*    

+* Description:	Maximum value of a Q7 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 groupStats    

+ */

+

+/**    

+ * @addtogroup Max    

+ * @{    

+ */

+

+

+/**    

+ * @brief Maximum value of a Q7 vector.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       blockSize length of the input vector    

+ * @param[out]      *pResult maximum value returned here    

+ * @param[out]      *pIndex index of maximum value returned here    

+  * @return none.    

+ */

+

+void arm_max_q7(

+  q7_t * pSrc,

+  uint32_t blockSize,

+  q7_t * pResult,

+  uint32_t * pIndex)

+{

+#ifndef ARM_MATH_CM0

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+

+  q7_t maxVal1, maxVal2, out;                    /* Temporary variables to store the output value. */

+  uint32_t blkCnt, outIndex, count;              /* loop counter */

+

+  /* Initialise the count value. */

+  count = 0u;

+  /* Initialise the index value to zero. */

+  outIndex = 0u;

+  /* Load first input value that act as reference value for comparision */

+  out = *pSrc++;

+

+  /* Loop unrolling */

+  blkCnt = (blockSize - 1u) >> 2u;

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+  while(blkCnt > 0u)

+  {

+    /* Initialize maxVal to the next consecutive values one by one */

+    maxVal1 = *pSrc++;

+

+    maxVal2 = *pSrc++;

+

+    /* compare for the maximum value */

+    if(out < maxVal1)

+    {

+      /* Update the maximum value and its index */

+      out = maxVal1;

+      outIndex = count + 1u;

+    }

+

+    maxVal1 = *pSrc++;

+

+    /* compare for the maximum value */

+    if(out < maxVal2)

+    {

+      /* Update the maximum value and its index */

+      out = maxVal2;

+      outIndex = count + 2u;

+    }

+

+    maxVal2 = *pSrc++;

+

+    /* compare for the maximum value */

+    if(out < maxVal1)

+    {

+      /* Update the maximum value and its index */

+      out = maxVal1;

+      outIndex = count + 3u;

+    }

+

+    /* compare for the maximum value */

+    if(out < maxVal2)

+    {

+      /* Update the maximum value and its index */

+      out = maxVal2;

+      outIndex = count + 4u;

+    }

+

+    count += 4u;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* if (blockSize - 1u) is not multiple of 4 */

+  blkCnt = (blockSize - 1u) % 4u;

+

+#else

+

+  /* Run the below code for Cortex-M0 */

+  q7_t maxVal1, out;                             /* Temporary variables to store the output value. */

+  uint32_t blkCnt, outIndex;                     /* loop counter */

+

+  /* Initialise the index value to zero. */

+  outIndex = 0u;

+  /* Load first input value that act as reference value for comparision */

+  out = *pSrc++;

+

+  blkCnt = (blockSize - 1u);

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* Initialize maxVal to the next consecutive values one by one */

+    maxVal1 = *pSrc++;

+

+    /* compare for the maximum value */

+    if(out < maxVal1)

+    {

+      /* Update the maximum value and it's index */

+      out = maxVal1;

+      outIndex = blockSize - blkCnt;

+    }

+    /* Decrement the loop counter */

+    blkCnt--;

+

+  }

+

+  /* Store the maximum value and its index into destination pointers */

+  *pResult = out;

+  *pIndex = outIndex;

+

+}

+

+/**    

+ * @} end of Max group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c
new file mode 100644
index 000000000..7823d746c
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c
@@ -0,0 +1,131 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_mean_f32.c    

+*    

+* Description:	Mean value of a floating-point 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 groupStats    

+ */

+

+/**    

+ * @defgroup mean Mean    

+ *    

+ * Calculates the mean of the input vector. Mean is defined as the average of the elements in the vector.    

+ * The underlying algorithm is used:    

+ *    

+ * <pre>    

+ * 	Result = (pSrc[0] + pSrc[1] + pSrc[2] + ... + pSrc[blockSize-1]) / blockSize;    

+ * </pre>    

+ *    

+ * There are separate functions for floating-point, Q31, Q15, and Q7 data types.    

+ */

+

+/**    

+ * @addtogroup mean    

+ * @{    

+ */

+

+

+/**    

+ * @brief Mean value of a floating-point vector.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       blockSize length of the input vector    

+ * @param[out]      *pResult mean value returned here    

+ * @return none.    

+ */

+

+

+void arm_mean_f32(

+  float32_t * pSrc,

+  uint32_t blockSize,

+  float32_t * pResult)

+{

+  float32_t sum = 0.0f;                          /* Temporary result storage */

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+  float32_t in1, in2, in3, in4;

+

+  /*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[0] + A[1] + A[2] + ... + A[blockSize-1]) */

+    in1 = *pSrc++;

+    in2 = *pSrc++;

+    in3 = *pSrc++;

+    in4 = *pSrc++;

+

+    sum += in1;

+    sum += in2;

+    sum += in3;

+    sum += in4;

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */

+    sum += *pSrc++;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) / blockSize  */

+  /* Store the result to the destination */

+  *pResult = sum / (float32_t) blockSize;

+}

+

+/**    

+ * @} end of mean group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c
new file mode 100644
index 000000000..49ec1e62e
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c
@@ -0,0 +1,125 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_mean_q15.c    

+*    

+* Description:	Mean value of a Q15 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 groupStats    

+ */

+

+/**    

+ * @addtogroup mean    

+ * @{    

+ */

+

+/**    

+ * @brief Mean value of a Q15 vector.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       blockSize length of the input vector    

+ * @param[out]      *pResult mean value returned here    

+ * @return none.    

+ *    

+ * @details    

+ * <b>Scaling and Overflow Behavior:</b>    

+ * \par    

+ * The function is implemented using a 32-bit internal accumulator.    

+ * The input is represented in 1.15 format and is accumulated in a 32-bit     

+ * accumulator in 17.15 format.     

+ * There is no risk of internal overflow with this approach, and the     

+ * full precision of intermediate result is preserved.     

+ * Finally, the accumulator is saturated and truncated to yield a result of 1.15 format.    

+ *    

+ */

+

+

+void arm_mean_q15(

+  q15_t * pSrc,

+  uint32_t blockSize,

+  q15_t * pResult)

+{

+  q31_t sum = 0;                                 /* Temporary result storage */

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+  q31_t in;

+

+  /*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[0] + A[1] + A[2] + ... + A[blockSize-1]) */

+    in = *__SIMD32(pSrc)++;

+    sum += ((in << 16) >> 16);

+    sum += (in >> 16);

+    in = *__SIMD32(pSrc)++;

+    sum += ((in << 16) >> 16);

+    sum += (in >> 16);

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */

+    sum += *pSrc++;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) / blockSize  */

+  /* Store the result to the destination */

+  *pResult = (q15_t) (sum / blockSize);

+}

+

+/**    

+ * @} end of mean group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c
new file mode 100644
index 000000000..88a5de299
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c
@@ -0,0 +1,128 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_mean_q31.c    

+*    

+* Description:	Mean value of a 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 groupStats    

+ */

+

+/**    

+ * @addtogroup mean    

+ * @{    

+ */

+

+/**    

+ * @brief Mean value of a Q31 vector.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       blockSize length of the input vector    

+ * @param[out]      *pResult mean value returned here    

+ * @return none.    

+ *    

+ * @details    

+ * <b>Scaling and Overflow Behavior:</b>    

+ *\par    

+ * The function is implemented using a 64-bit internal accumulator.    

+ * The input is represented in 1.31 format and is accumulated in a 64-bit    

+ * accumulator in 33.31 format.    

+ * There is no risk of internal overflow with this approach, and the     

+ * full precision of intermediate result is preserved.     

+ * Finally, the accumulator is truncated to yield a result of 1.31 format.    

+ *    

+ */

+

+

+void arm_mean_q31(

+  q31_t * pSrc,

+  uint32_t blockSize,

+  q31_t * pResult)

+{

+  q63_t sum = 0;                                 /* Temporary result storage */

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+  q31_t in1, in2, in3, in4;

+

+  /*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[0] + A[1] + A[2] + ... + A[blockSize-1]) */

+    in1 = *pSrc++;

+    in2 = *pSrc++;

+    in3 = *pSrc++;

+    in4 = *pSrc++;

+

+    sum += in1;

+    sum += in2;

+    sum += in3;

+    sum += in4;

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */

+    sum += *pSrc++;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) / blockSize  */

+  /* Store the result to the destination */

+  *pResult = (q31_t) (sum / (int32_t) blockSize);

+}

+

+/**    

+ * @} end of mean group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c
new file mode 100644
index 000000000..a34c011bc
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c
@@ -0,0 +1,125 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_mean_q7.c    

+*    

+* Description:	Mean value of a Q7 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 groupStats    

+ */

+

+/**    

+ * @addtogroup mean    

+ * @{    

+ */

+

+/**    

+ * @brief Mean value of a Q7 vector.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       blockSize length of the input vector    

+ * @param[out]      *pResult mean value returned here    

+ * @return none.    

+ *    

+ * @details    

+ * <b>Scaling and Overflow Behavior:</b>    

+ * \par    

+ * The function is implemented using a 32-bit internal accumulator.     

+ * The input is represented in 1.7 format and is accumulated in a 32-bit    

+ * accumulator in 25.7 format.    

+ * There is no risk of internal overflow with this approach, and the     

+ * full precision of intermediate result is preserved.     

+ * Finally, the accumulator is truncated to yield a result of 1.7 format.    

+ *    

+ */

+

+

+void arm_mean_q7(

+  q7_t * pSrc,

+  uint32_t blockSize,

+  q7_t * pResult)

+{

+  q31_t sum = 0;                                 /* Temporary result storage */

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+  q31_t in;

+

+  /*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[0] + A[1] + A[2] + ... + A[blockSize-1]) */

+    in = *__SIMD32(pSrc)++;

+

+    sum += ((in << 24) >> 24);

+    sum += ((in << 16) >> 24);

+    sum += ((in << 8) >> 24);

+    sum += (in >> 24);

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */

+    sum += *pSrc++;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) / blockSize  */

+  /* Store the result to the destination */

+  *pResult = (q7_t) (sum / (int32_t) blockSize);

+}

+

+/**    

+ * @} end of mean group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c
new file mode 100644
index 000000000..dc2fdf624
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c
@@ -0,0 +1,175 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_min_f32.c    

+*    

+* Description:	Minimum value of a floating-point 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 groupStats    

+ */

+

+/**    

+ * @defgroup Min Minimum    

+ *    

+ * Computes the minimum value of an array of data.     

+ * The function returns both the minimum value and its position within the array.     

+ * There are separate functions for floating-point, Q31, Q15, and Q7 data types.    

+ */

+

+/**    

+ * @addtogroup Min    

+ * @{    

+ */

+

+

+/**    

+ * @brief Minimum value of a floating-point vector.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       blockSize length of the input vector    

+ * @param[out]      *pResult minimum value returned here    

+ * @param[out]      *pIndex index of minimum value returned here    

+  * @return none.    

+ *    

+ */

+

+void arm_min_f32(

+  float32_t * pSrc,

+  uint32_t blockSize,

+  float32_t * pResult,

+  uint32_t * pIndex)

+{

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+

+  float32_t minVal1, minVal2, out;               /* Temporary variables to store the output value. */

+  uint32_t blkCnt, outIndex, count;              /* loop counter */

+

+  /* Initialise the count value. */

+  count = 0u;

+  /* Initialise the index value to zero. */

+  outIndex = 0u;

+  /* Load first input value that act as reference value for comparision */

+  out = *pSrc++;

+

+  /* Loop unrolling */

+  blkCnt = (blockSize - 1u) >> 2u;

+

+  while(blkCnt > 0)

+  {

+    /* Initialize minVal to the next consecutive values one by one */

+    minVal1 = *pSrc++;

+    minVal2 = *pSrc++;

+

+    /* compare for the minimum value */

+    if(out > minVal1)

+    {

+      /* Update the minimum value and its index */

+      out = minVal1;

+      outIndex = count + 1u;

+    }

+

+    minVal1 = *pSrc++;

+

+    /* compare for the minimum value */

+    if(out > minVal2)

+    {

+      /* Update the minimum value and its index */

+      out = minVal2;

+      outIndex = count + 2u;

+    }

+

+    minVal2 = *pSrc++;

+

+    /* compare for the minimum value */

+    if(out > minVal1)

+    {

+      /* Update the minimum value and its index */

+      out = minVal1;

+      outIndex = count + 3u;

+    }

+

+    /* compare for the minimum value */

+    if(out > minVal2)

+    {

+      /* Update the minimum value and its index */

+      out = minVal2;

+      outIndex = count + 4u;

+    }

+

+    count += 4u;

+

+    blkCnt--;

+  }

+

+  /* if (blockSize - 1u ) is not multiple of 4 */

+  blkCnt = (blockSize - 1u) % 4u;

+

+#else

+

+  /* Run the below code for Cortex-M0 */

+  float32_t minVal1, out;                        /* Temporary variables to store the output value. */

+  uint32_t blkCnt, outIndex;                     /* loop counter */

+

+  /* Initialise the index value to zero. */

+  outIndex = 0u;

+  /* Load first input value that act as reference value for comparision */

+  out = *pSrc++;

+

+  blkCnt = (blockSize - 1u);

+

+#endif //      #ifndef ARM_MATH_CM0

+

+  while(blkCnt > 0)

+  {

+    /* Initialize minVal to the next consecutive values one by one */

+    minVal1 = *pSrc++;

+

+    /* compare for the minimum value */

+    if(out > minVal1)

+    {

+      /* Update the minimum value and it's index */

+      out = minVal1;

+      outIndex = blockSize - blkCnt;

+    }

+

+    blkCnt--;

+

+  }

+

+  /* Store the minimum value and it's index into destination pointers */

+  *pResult = out;

+  *pIndex = outIndex;

+}

+

+/**    

+ * @} end of Min group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c
new file mode 100644
index 000000000..35b67bb1e
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c
@@ -0,0 +1,169 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_min_q15.c    

+*    

+* Description:	Minimum value of a Q15 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 groupStats    

+ */

+

+

+/**    

+ * @addtogroup Min    

+ * @{    

+ */

+

+

+/**    

+ * @brief Minimum value of a Q15 vector.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       blockSize length of the input vector    

+ * @param[out]      *pResult minimum value returned here    

+ * @param[out]      *pIndex index of minimum value returned here    

+ * @return none.    

+ *    

+ */

+

+void arm_min_q15(

+  q15_t * pSrc,

+  uint32_t blockSize,

+  q15_t * pResult,

+  uint32_t * pIndex)

+{

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+  q15_t minVal1, minVal2, out;                   /* Temporary variables to store the output value. */

+  uint32_t blkCnt, outIndex, count;              /* loop counter */

+

+  /* Initialise the count value. */

+  count = 0u;

+  /* Initialise the index value to zero. */

+  outIndex = 0u;

+  /* Load first input value that act as reference value for comparision */

+  out = *pSrc++;

+

+  /* Loop unrolling */

+  blkCnt = (blockSize - 1u) >> 2u;

+

+  while(blkCnt > 0)

+  {

+    /* Initialize minVal to the next consecutive values one by one */

+    minVal1 = *pSrc++;

+    minVal2 = *pSrc++;

+

+    /* compare for the minimum value */

+    if(out > minVal1)

+    {

+      /* Update the minimum value and its index */

+      out = minVal1;

+      outIndex = count + 1u;

+    }

+

+    minVal1 = *pSrc++;

+

+    /* compare for the minimum value */

+    if(out > minVal2)

+    {

+      /* Update the minimum value and its index */

+      out = minVal2;

+      outIndex = count + 2u;

+    }

+

+    minVal2 = *pSrc++;

+

+    /* compare for the minimum value */

+    if(out > minVal1)

+    {

+      /* Update the minimum value and its index */

+      out = minVal1;

+      outIndex = count + 3u;

+    }

+

+    /* compare for the minimum value */

+    if(out > minVal2)

+    {

+      /* Update the minimum value and its index */

+      out = minVal2;

+      outIndex = count + 4u;

+    }

+

+    count += 4u;

+

+    blkCnt--;

+  }

+

+  /* if (blockSize - 1u ) is not multiple of 4 */

+  blkCnt = (blockSize - 1u) % 4u;

+

+#else

+

+  /* Run the below code for Cortex-M0 */

+  q15_t minVal1, out;                            /* Temporary variables to store the output value. */

+  uint32_t blkCnt, outIndex;                     /* loop counter */

+

+  blkCnt = (blockSize - 1u);

+

+  /* Initialise the index value to zero. */

+  outIndex = 0u;

+  /* Load first input value that act as reference value for comparision */

+  out = *pSrc++;

+

+#endif //      #ifndef ARM_MATH_CM0

+

+  while(blkCnt > 0)

+  {

+    /* Initialize minVal to the next consecutive values one by one */

+    minVal1 = *pSrc++;

+

+    /* compare for the minimum value */

+    if(out > minVal1)

+    {

+      /* Update the minimum value and it's index */

+      out = minVal1;

+      outIndex = blockSize - blkCnt;

+    }

+

+    blkCnt--;

+

+  }

+

+

+

+  /* Store the minimum value and its index into destination pointers */

+  *pResult = out;

+  *pIndex = outIndex;

+}

+

+/**    

+ * @} end of Min group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c
new file mode 100644
index 000000000..4a9befc75
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c
@@ -0,0 +1,168 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_min_q31.c    

+*    

+* Description:	Minimum value of a 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 groupStats    

+ */

+

+

+/**    

+ * @addtogroup Min    

+ * @{    

+ */

+

+

+/**    

+ * @brief Minimum value of a Q31 vector.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       blockSize length of the input vector    

+ * @param[out]      *pResult minimum value returned here    

+ * @param[out]      *pIndex index of minimum value returned here    

+ * @return none.    

+ *    

+ */

+

+void arm_min_q31(

+  q31_t * pSrc,

+  uint32_t blockSize,

+  q31_t * pResult,

+  uint32_t * pIndex)

+{

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+  q31_t minVal1, minVal2, out;                   /* Temporary variables to store the output value. */

+  uint32_t blkCnt, outIndex, count;              /* loop counter */

+

+  /* Initialise the count value. */

+  count = 0u;

+  /* Initialise the index value to zero. */

+  outIndex = 0u;

+  /* Load first input value that act as reference value for comparision */

+  out = *pSrc++;

+

+

+  /* Loop unrolling */

+  blkCnt = (blockSize - 1u) >> 2u;

+

+  while(blkCnt > 0)

+  {

+    /* Initialize minVal to the next consecutive values one by one */

+    minVal1 = *pSrc++;

+    minVal2 = *pSrc++;

+

+    /* compare for the minimum value */

+    if(out > minVal1)

+    {

+      /* Update the minimum value and its index */

+      out = minVal1;

+      outIndex = count + 1u;

+    }

+

+    minVal1 = *pSrc++;

+

+    /* compare for the minimum value */

+    if(out > minVal2)

+    {

+      /* Update the minimum value and its index */

+      out = minVal2;

+      outIndex = count + 2u;

+    }

+

+    minVal2 = *pSrc++;

+

+    /* compare for the minimum value */

+    if(out > minVal1)

+    {

+      /* Update the minimum value and its index */

+      out = minVal1;

+      outIndex = count + 3u;

+    }

+

+    /* compare for the minimum value */

+    if(out > minVal2)

+    {

+      /* Update the minimum value and its index */

+      out = minVal2;

+      outIndex = count + 4u;

+    }

+

+    count += 4u;

+

+    blkCnt--;

+  }

+

+  /* if (blockSize - 1u ) is not multiple of 4 */

+  blkCnt = (blockSize - 1u) % 4u;

+

+#else

+

+  /* Run the below code for Cortex-M0 */

+  q31_t minVal1, out;                            /* Temporary variables to store the output value. */

+  uint32_t blkCnt, outIndex;                     /* loop counter */

+

+  blkCnt = (blockSize - 1u);

+

+  /* Initialise the index value to zero. */

+  outIndex = 0u;

+  /* Load first input value that act as reference value for comparision */

+  out = *pSrc++;

+

+#endif //      #ifndef ARM_MATH_CM0

+

+  while(blkCnt > 0)

+  {

+    /* Initialize minVal to the next consecutive values one by one */

+    minVal1 = *pSrc++;

+

+    /* compare for the minimum value */

+    if(out > minVal1)

+    {

+      /* Update the minimum value and it's index */

+      out = minVal1;

+      outIndex = blockSize - blkCnt;

+    }

+

+    blkCnt--;

+

+  }

+

+  /* Store the minimum value and its index into destination pointers */

+  *pResult = out;

+  *pIndex = outIndex;

+}

+

+/**    

+ * @} end of Min group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c
new file mode 100644
index 000000000..aaf8ad9ff
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c
@@ -0,0 +1,170 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_min_q7.c    

+*    

+* Description:	Minimum value of a Q7 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 groupStats    

+ */

+

+/**    

+ * @addtogroup Min    

+ * @{    

+ */

+

+

+/**    

+ * @brief Minimum value of a Q7 vector.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       blockSize length of the input vector    

+ * @param[out]      *pResult minimum value returned here    

+ * @param[out]      *pIndex index of minimum value returned here    

+ * @return none.    

+ *    

+ */

+

+void arm_min_q7(

+  q7_t * pSrc,

+  uint32_t blockSize,

+  q7_t * pResult,

+  uint32_t * pIndex)

+{

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+

+  q7_t minVal1, minVal2, out;                    /* Temporary variables to store the output value. */

+  uint32_t blkCnt, outIndex, count;              /* loop counter */

+

+  /* Initialise the count value. */

+  count = 0u;

+  /* Initialise the index value to zero. */

+  outIndex = 0u;

+  /* Load first input value that act as reference value for comparision */

+  out = *pSrc++;

+

+  /* Loop unrolling */

+  blkCnt = (blockSize - 1u) >> 2u;

+

+  while(blkCnt > 0)

+  {

+    /* Initialize minVal to the next consecutive values one by one */

+    minVal1 = *pSrc++;

+    minVal2 = *pSrc++;

+

+    /* compare for the minimum value */

+    if(out > minVal1)

+    {

+      /* Update the minimum value and its index */

+      out = minVal1;

+      outIndex = count + 1u;

+    }

+

+    minVal1 = *pSrc++;

+

+    /* compare for the minimum value */

+    if(out > minVal2)

+    {

+      /* Update the minimum value and its index */

+      out = minVal2;

+      outIndex = count + 2u;

+    }

+

+    minVal2 = *pSrc++;

+

+    /* compare for the minimum value */

+    if(out > minVal1)

+    {

+      /* Update the minimum value and its index */

+      out = minVal1;

+      outIndex = count + 3u;

+    }

+

+    /* compare for the minimum value */

+    if(out > minVal2)

+    {

+      /* Update the minimum value and its index */

+      out = minVal2;

+      outIndex = count + 4u;

+    }

+

+    count += 4u;

+

+    blkCnt--;

+  }

+

+  /* if (blockSize - 1u ) is not multiple of 4 */

+  blkCnt = (blockSize - 1u) % 4u;

+

+#else

+

+  /* Run the below code for Cortex-M0 */

+

+  q7_t minVal1, out;                             /* Temporary variables to store the output value. */

+  uint32_t blkCnt, outIndex;                     /* loop counter */

+

+  /* Initialise the index value to zero. */

+  outIndex = 0u;

+  /* Load first input value that act as reference value for comparision */

+  out = *pSrc++;

+

+  blkCnt = (blockSize - 1u);

+

+#endif //      #ifndef ARM_MATH_CM0

+

+  while(blkCnt > 0)

+  {

+    /* Initialize minVal to the next consecutive values one by one */

+    minVal1 = *pSrc++;

+

+    /* compare for the minimum value */

+    if(out > minVal1)

+    {

+      /* Update the minimum value and it's index */

+      out = minVal1;

+      outIndex = blockSize - blkCnt;

+    }

+

+    blkCnt--;

+

+  }

+

+  /* Store the minimum value and its index into destination pointers */

+  *pResult = out;

+  *pIndex = outIndex;

+

+

+}

+

+/**    

+ * @} end of Min group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c
new file mode 100644
index 000000000..5ee0060d8
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c
@@ -0,0 +1,138 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_power_f32.c    

+*    

+* Description:	Sum of the squares of the elements of a floating-point 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.    

+*    

+* Version 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupStats    

+ */

+

+/**    

+ * @defgroup power Power    

+ *    

+ * Calculates the sum of the squares of the elements in the input vector.    

+ * The underlying algorithm is used:    

+ *    

+ * <pre>    

+ * 	Result = pSrc[0] * pSrc[0] + pSrc[1] * pSrc[1] + pSrc[2] * pSrc[2] + ... + pSrc[blockSize-1] * pSrc[blockSize-1];    

+ * </pre>    

+ *   

+ * There are separate functions for floating point, Q31, Q15, and Q7 data types.     

+ */

+

+/**    

+ * @addtogroup power    

+ * @{    

+ */

+

+

+/**    

+ * @brief Sum of the squares of the elements of a floating-point vector.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       blockSize length of the input vector    

+ * @param[out]      *pResult sum of the squares value returned here    

+ * @return none.    

+ *    

+ */

+

+

+void arm_power_f32(

+  float32_t * pSrc,

+  uint32_t blockSize,

+  float32_t * pResult)

+{

+  float32_t sum = 0.0f;                          /* accumulator */

+  float32_t in;                                  /* Temporary variable to store input value */

+  uint32_t blkCnt;                               /* loop counter */

+

+#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)

+  {

+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */

+    /* Compute Power and then store the result in a temporary variable, sum. */

+    in = *pSrc++;

+    sum += in * in;

+    in = *pSrc++;

+    sum += in * in;

+    in = *pSrc++;

+    sum += in * in;

+    in = *pSrc++;

+    sum += in * in;

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+

+  while(blkCnt > 0u)

+  {

+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */

+    /* compute power and then store the result in a temporary variable, sum. */

+    in = *pSrc++;

+    sum += in * in;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Store the result to the destination */

+  *pResult = sum;

+}

+

+/**    

+ * @} end of power group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c
new file mode 100644
index 000000000..aed06a17a
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c
@@ -0,0 +1,144 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_power_q15.c    

+*    

+* Description:	Sum of the squares of the elements of a Q15 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 groupStats    

+ */

+

+/**    

+ * @addtogroup power    

+ * @{    

+ */

+

+/**    

+ * @brief Sum of the squares of the elements of a Q15 vector.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       blockSize length of the input vector    

+ * @param[out]      *pResult sum of the squares value returned here    

+ * @return none.    

+ *    

+ * @details    

+ * <b>Scaling and Overflow Behavior:</b>    

+ *    

+ * \par    

+ * The function is implemented using a 64-bit internal accumulator.     

+ * The input is represented in 1.15 format.   

+ * Intermediate multiplication yields a 2.30 format, and this    

+ * result is added without saturation to a 64-bit accumulator in 34.30 format.    

+ * With 33 guard bits in the accumulator, there is no risk of overflow, and the    

+ * full precision of the intermediate multiplication is preserved.    

+ * Finally, the return result is in 34.30 format.     

+ *    

+ */

+

+void arm_power_q15(

+  q15_t * pSrc,

+  uint32_t blockSize,

+  q63_t * pResult)

+{

+  q63_t sum = 0;                                 /* Temporary result storage */

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+

+  q31_t in32;                                    /* Temporary variable to store input value */

+  q15_t in16;                                    /* Temporary variable to store input value */

+  uint32_t blkCnt;                               /* loop counter */

+

+

+  /* 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[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */

+    /* Compute Power and then store the result in a temporary variable, sum. */

+    in32 = *__SIMD32(pSrc)++;

+    sum = __SMLALD(in32, in32, sum);

+    in32 = *__SIMD32(pSrc)++;

+    sum = __SMLALD(in32, in32, sum);

+

+    /* 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)

+  {

+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */

+    /* Compute Power and then store the result in a temporary variable, sum. */

+    in16 = *pSrc++;

+    sum = __SMLALD(in16, in16, sum);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#else

+

+  /* Run the below code for Cortex-M0 */

+

+  q15_t in;                                      /* Temporary variable to store input value */

+  uint32_t blkCnt;                               /* loop counter */

+

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */

+    /* Compute Power and then store the result in a temporary variable, sum. */

+    in = *pSrc++;

+    sum += ((q31_t) in * in);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  /* Store the results in 34.30 format  */

+  *pResult = sum;

+}

+

+/**    

+ * @} end of power group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c
new file mode 100644
index 000000000..43f03f757
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c
@@ -0,0 +1,135 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_power_q31.c    

+*    

+* Description:	Sum of the squares of the elements of a 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 groupStats    

+ */

+

+/**    

+ * @addtogroup power    

+ * @{    

+ */

+

+/**    

+ * @brief Sum of the squares of the elements of a Q31 vector.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       blockSize length of the input vector    

+ * @param[out]      *pResult sum of the squares value returned here    

+ * @return none.    

+ *    

+ * @details    

+ * <b>Scaling and Overflow Behavior:</b>    

+ *    

+ * \par    

+ * The function is implemented using a 64-bit internal accumulator.    

+ * The input is represented in 1.31 format.    

+ * Intermediate multiplication yields a 2.62 format, and this    

+ * result is truncated to 2.48 format by discarding the lower 14 bits.    

+ * The 2.48 result is then added without saturation to a 64-bit accumulator in 16.48 format.    

+ * With 15 guard bits in the accumulator, there is no risk of overflow, and the    

+ * full precision of the intermediate multiplication is preserved.    

+ * Finally, the return result is in 16.48 format.     

+ *    

+ */

+

+void arm_power_q31(

+  q31_t * pSrc,

+  uint32_t blockSize,

+  q63_t * pResult)

+{

+  q63_t sum = 0;                                 /* Temporary result storage */

+  q31_t in;

+  uint32_t blkCnt;                               /* loop counter */

+

+

+#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)

+  {

+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */

+    /* Compute Power then shift intermediate results by 14 bits to maintain 16.48 format and then store the result in a temporary variable sum, providing 15 guard bits. */

+    in = *pSrc++;

+    sum += ((q63_t) in * in) >> 14u;

+

+    in = *pSrc++;

+    sum += ((q63_t) in * in) >> 14u;

+

+    in = *pSrc++;

+    sum += ((q63_t) in * in) >> 14u;

+

+    in = *pSrc++;

+    sum += ((q63_t) in * in) >> 14u;

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */

+    /* Compute Power and then store the result in a temporary variable, sum. */

+    in = *pSrc++;

+    sum += ((q63_t) in * in) >> 14u;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Store the results in 16.48 format  */

+  *pResult = sum;

+}

+

+/**    

+ * @} end of power group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c
new file mode 100644
index 000000000..5cb99b4c2
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c
@@ -0,0 +1,133 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_power_q7.c    

+*    

+* Description:	Sum of the squares of the elements of a Q7 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 groupStats    

+ */

+

+/**    

+ * @addtogroup power    

+ * @{    

+ */

+

+/**    

+ * @brief Sum of the squares of the elements of a Q7 vector.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       blockSize length of the input vector    

+ * @param[out]      *pResult sum of the squares value returned here    

+ * @return none.    

+ *    

+ * @details    

+ * <b>Scaling and Overflow Behavior:</b>    

+ *    

+ * \par    

+ * The function is implemented using a 32-bit internal accumulator.     

+ * The input is represented in 1.7 format.   

+ * Intermediate multiplication yields a 2.14 format, and this    

+ * result is added without saturation to an accumulator in 18.14 format.    

+ * With 17 guard bits in the accumulator, there is no risk of overflow, and the    

+ * full precision of the intermediate multiplication is preserved.    

+ * Finally, the return result is in 18.14 format.     

+ *    

+ */

+

+void arm_power_q7(

+  q7_t * pSrc,

+  uint32_t blockSize,

+  q31_t * pResult)

+{

+  q31_t sum = 0;                                 /* Temporary result storage */

+  q7_t in;                                       /* Temporary variable to store input */

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+

+  q31_t input1;                                  /* Temporary variable to store packed input */

+  q31_t in1, in2;                                /* Temporary variables to store input */

+

+  /*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)

+  {

+    /* Reading two inputs of pSrc vector and packing */

+    input1 = *__SIMD32(pSrc)++;

+

+    in1 = __SXTB16(__ROR(input1, 8));

+    in2 = __SXTB16(input1);

+

+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */

+    /* calculate power and accumulate to accumulator */

+    sum = __SMLAD(in1, in1, sum);

+    sum = __SMLAD(in2, in2, sum);

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */

+    /* Compute Power and then store the result in a temporary variable, sum. */

+    in = *pSrc++;

+    sum += ((q15_t) in * in);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Store the result in 18.14 format  */

+  *pResult = sum;

+}

+

+/**    

+ * @} end of power group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c
new file mode 100644
index 000000000..573896ed4
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c
@@ -0,0 +1,133 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_rms_f32.c    

+*    

+* Description:	Root mean square value of an array of F32 type    

+*    

+* 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 groupStats    

+ */

+

+/**    

+ * @defgroup RMS Root mean square (RMS)    

+ *    

+ *     

+ * Calculates the Root Mean Sqaure of the elements in the input vector.    

+ * The underlying algorithm is used:    

+ *    

+ * <pre>    

+ * 	Result = sqrt(((pSrc[0] * pSrc[0] + pSrc[1] * pSrc[1] + ... + pSrc[blockSize-1] * pSrc[blockSize-1]) / blockSize));    

+ * </pre>    

+ *   

+ * There are separate functions for floating point, Q31, and Q15 data types.     

+ */

+

+/**    

+ * @addtogroup RMS    

+ * @{    

+ */

+

+

+/**    

+ * @brief Root Mean Square of the elements of a floating-point vector.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       blockSize length of the input vector    

+ * @param[out]      *pResult rms value returned here    

+ * @return none.    

+ *    

+ */

+

+void arm_rms_f32(

+  float32_t * pSrc,

+  uint32_t blockSize,

+  float32_t * pResult)

+{

+  float32_t sum = 0.0f;                          /* Accumulator */

+  float32_t in;                                  /* Tempoprary variable to store input value */

+  uint32_t blkCnt;                               /* loop counter */

+

+#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)

+  {

+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */

+    /* Compute sum of the squares and then store the result in a temporary variable, sum  */

+    in = *pSrc++;

+    sum += in * in;

+    in = *pSrc++;

+    sum += in * in;

+    in = *pSrc++;

+    sum += in * in;

+    in = *pSrc++;

+    sum += in * in;

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */

+    /* Compute sum of the squares and then store the results in a temporary variable, sum  */

+    in = *pSrc++;

+    sum += in * in;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Compute Rms and store the result in the destination */

+  arm_sqrt_f32(sum / (float32_t) blockSize, pResult);

+}

+

+/**    

+ * @} end of RMS group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c
new file mode 100644
index 000000000..491c652e7
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c
@@ -0,0 +1,153 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_rms_q15.c    

+*    

+* Description:	Root Mean Square of the elements of a Q15 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"

+

+/**    

+ * @addtogroup RMS    

+ * @{    

+ */

+

+/**    

+ * @brief Root Mean Square of the elements of a Q15 vector.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       blockSize length of the input vector    

+ * @param[out]      *pResult rms value returned here    

+ * @return none.    

+ *    

+ * @details    

+ * <b>Scaling and Overflow Behavior:</b>    

+ *    

+ * \par    

+ * The function is implemented using a 64-bit internal accumulator.    

+ * The input is represented in 1.15 format.    

+ * Intermediate multiplication yields a 2.30 format, and this    

+ * result is added without saturation to a 64-bit accumulator in 34.30 format.    

+ * With 33 guard bits in the accumulator, there is no risk of overflow, and the    

+ * full precision of the intermediate multiplication is preserved.    

+ * Finally, the 34.30 result is truncated to 34.15 format by discarding the lower     

+ * 15 bits, and then saturated to yield a result in 1.15 format.    

+ *    

+ */

+

+void arm_rms_q15(

+  q15_t * pSrc,

+  uint32_t blockSize,

+  q15_t * pResult)

+{

+  q63_t sum = 0;                                 /* accumulator */

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+

+  q31_t in;                                      /* temporary variable to store the input value */

+  q15_t in1;                                     /* temporary variable to store the input value */

+  uint32_t blkCnt;                               /* loop counter */

+

+  /* 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[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */

+    /* Compute sum of the squares and then store the results in a temporary variable, sum */

+    in = *__SIMD32(pSrc)++;

+    sum = __SMLALD(in, in, sum);

+    in = *__SIMD32(pSrc)++;

+    sum = __SMLALD(in, in, sum);

+

+    /* 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)

+  {

+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */

+    /* Compute sum of the squares and then store the results in a temporary variable, sum */

+    in1 = *pSrc++;

+    sum = __SMLALD(in1, in1, sum);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Truncating and saturating the accumulator to 1.15 format */

+  sum = __SSAT((q31_t) (sum >> 15), 16);

+

+  in1 = (q15_t) (sum / blockSize);

+

+  /* Store the result in the destination */

+  arm_sqrt_q15(in1, pResult);

+

+#else

+

+  /* Run the below code for Cortex-M0 */

+

+  q15_t in;                                      /* temporary variable to store the input value */

+  uint32_t blkCnt;                               /* loop counter */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */

+    /* Compute sum of the squares and then store the results in a temporary variable, sum */

+    in = *pSrc++;

+    sum += ((q31_t) in * in);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Truncating and saturating the accumulator to 1.15 format */

+  sum = __SSAT((q31_t) (sum >> 15), 16);

+

+  in = (q15_t) (sum / blockSize);

+

+  /* Store the result in the destination */

+  arm_sqrt_q15(in, pResult);

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of RMS group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c
new file mode 100644
index 000000000..54038eb12
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c
@@ -0,0 +1,146 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_rms_q31.c    

+*    

+* Description:	Root Mean Square of the elements of a 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"

+

+/**        

+ * @addtogroup RMS        

+ * @{        

+ */

+

+

+/**        

+ * @brief Root Mean Square of the elements of a Q31 vector.        

+ * @param[in]       *pSrc points to the input vector        

+ * @param[in]       blockSize length of the input vector        

+ * @param[out]      *pResult rms value returned here        

+ * @return none.        

+ *        

+ * @details        

+ * <b>Scaling and Overflow Behavior:</b>        

+ *        

+ *\par        

+ * The function is implemented using an internal 64-bit accumulator.        

+ * The input is represented in 1.31 format, and intermediate multiplication        

+ * yields a 2.62 format.        

+ * The accumulator maintains full precision of the intermediate multiplication results,         

+ * but provides only a single guard bit.        

+ * There is no saturation on intermediate additions.        

+ * If the accumulator overflows, it wraps around and distorts the result.         

+ * In order to avoid overflows completely, the input signal must be scaled down by         

+ * log2(blockSize) bits, as a total of blockSize additions are performed internally.         

+ * Finally, the 2.62 accumulator is right shifted by 31 bits to yield a 1.31 format value.        

+ *        

+ */

+

+void arm_rms_q31(

+  q31_t * pSrc,

+  uint32_t blockSize,

+  q31_t * pResult)

+{

+  q63_t sum = 0;                                 /* accumulator */

+  q31_t in;                                      /* Temporary variable to store the input */

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+

+  q31_t in1, in2, in3, in4;                      /* Temporary input variables */

+

+  /*loop Unrolling */

+  blkCnt = blockSize >> 2u;

+

+  /* First part of the processing with loop unrolling.  Compute 8 outputs at a time.        

+   ** a second loop below computes the remaining 1 to 7 samples. */

+  while(blkCnt > 0u)

+  {

+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */

+    /* Compute sum of the squares and then store the result in a temporary variable, sum */

+    /* read two samples from source buffer */

+    in1 = pSrc[0];

+    in2 = pSrc[1];

+

+    /* calculate power and accumulate to accumulator */

+    sum += (q63_t) in1 *in1;

+    sum += (q63_t) in2 *in2;

+

+    /* read two samples from source buffer */

+    in3 = pSrc[2];

+    in4 = pSrc[3];

+

+    /* calculate power and accumulate to accumulator */

+    sum += (q63_t) in3 *in3;

+    sum += (q63_t) in4 *in4;

+

+

+    /* update source buffer to process next samples */

+    pSrc += 4u;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* If the blockSize is not a multiple of 8, compute any remaining output samples here.        

+   ** No loop unrolling is used. */

+  blkCnt = blockSize % 0x4u;

+

+#else

+

+  /* Run the below code for Cortex-M0 */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */

+    /* Compute sum of the squares and then store the results in a temporary variable, sum */

+    in = *pSrc++;

+    sum += (q63_t) in *in;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Convert data in 2.62 to 1.31 by 31 right shifts and saturate */

+

+  sum = __SSAT(sum >> 31, 31);

+

+

+  /* Compute Rms and store the result in the destination vector */

+  arm_sqrt_q31((q31_t) ((q31_t) sum / (int32_t) blockSize), pResult);

+}

+

+/**        

+ * @} end of RMS group        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c
new file mode 100644
index 000000000..6442d5c29
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c
@@ -0,0 +1,188 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_std_f32.c    

+*    

+* Description:	Standard deviation of the elements of a floating-point 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 groupStats    

+ */

+

+/**    

+ * @defgroup STD Standard deviation    

+ *    

+ * Calculates the standard deviation of the elements in the input vector.     

+ * The underlying algorithm is used:    

+ *   

+ * <pre>    

+ * 	Result = sqrt((sumOfSquares - sum<sup>2</sup> / blockSize) / (blockSize - 1))   

+ *   

+ *	   where, sumOfSquares = pSrc[0] * pSrc[0] + pSrc[1] * pSrc[1] + ... + pSrc[blockSize-1] * pSrc[blockSize-1]   

+ *   

+ *	                   sum = pSrc[0] + pSrc[1] + pSrc[2] + ... + pSrc[blockSize-1]   

+ * </pre>   

+ *    

+ * There are separate functions for floating point, Q31, and Q15 data types.    

+ */

+

+/**    

+ * @addtogroup STD    

+ * @{    

+ */

+

+

+/**    

+ * @brief Standard deviation of the elements of a floating-point vector.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       blockSize length of the input vector    

+ * @param[out]      *pResult standard deviation value returned here    

+ * @return none.    

+ *    

+ */

+

+

+void arm_std_f32(

+  float32_t * pSrc,

+  uint32_t blockSize,

+  float32_t * pResult)

+{

+  float32_t sum = 0.0f;                          /* Temporary result storage */

+  float32_t sumOfSquares = 0.0f;                 /* Sum of squares */

+  float32_t in;                                  /* input value */

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+

+  float32_t meanOfSquares, mean, squareOfMean;

+

+  /*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[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */

+    /* Compute Sum of squares of the input samples    

+     * and then store the result in a temporary variable, sum. */

+    in = *pSrc++;

+    sum += in;

+    sumOfSquares += in * in;

+    in = *pSrc++;

+    sum += in;

+    sumOfSquares += in * in;

+    in = *pSrc++;

+    sum += in;

+    sumOfSquares += in * in;

+    in = *pSrc++;

+    sum += in;

+    sumOfSquares += in * in;

+

+    /* 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)

+  {

+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */

+    /* Compute Sum of squares of the input samples    

+     * and then store the result in a temporary variable, sum. */

+    in = *pSrc++;

+    sum += in;

+    sumOfSquares += in * in;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Compute Mean of squares of the input samples    

+   * and then store the result in a temporary variable, meanOfSquares. */

+  meanOfSquares = sumOfSquares / ((float32_t) blockSize - 1.0f);

+

+  /* Compute mean of all input values */

+  mean = sum / (float32_t) blockSize;

+

+  /* Compute square of mean */

+  squareOfMean = (mean * mean) * (((float32_t) blockSize) /

+                                  ((float32_t) blockSize - 1.0f));

+

+  /* Compute standard deviation and then store the result to the destination */

+  arm_sqrt_f32((meanOfSquares - squareOfMean), pResult);

+

+#else

+

+  /* Run the below code for Cortex-M0 */

+

+  float32_t squareOfSum;                         /* Square of Sum */

+  float32_t var;                                 /* Temporary varaince storage */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */

+    /* Compute Sum of squares of the input samples     

+     * and then store the result in a temporary variable, sumOfSquares. */

+    in = *pSrc++;

+    sumOfSquares += in * in;

+

+    /* C = (A[0] + A[1] + ... + A[blockSize-1]) */

+    /* Compute Sum of the input samples     

+     * and then store the result in a temporary variable, sum. */

+    sum += in;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Compute the square of sum */

+  squareOfSum = ((sum * sum) / (float32_t) blockSize);

+

+  /* Compute the variance */

+  var = ((sumOfSquares - squareOfSum) / (float32_t) (blockSize - 1.0f));

+

+  /* Compute standard deviation and then store the result to the destination */

+  arm_sqrt_f32(var, pResult);

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of STD group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c
new file mode 100644
index 000000000..2d1a49a50
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c
@@ -0,0 +1,197 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_std_q15.c    

+*    

+* Description:	Standard deviation of an array of Q15 type.    

+*    

+* 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 groupStats    

+ */

+

+/**    

+ * @addtogroup STD    

+ * @{    

+ */

+

+/**    

+ * @brief Standard deviation of the elements of a Q15 vector.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       blockSize length of the input vector    

+ * @param[out]      *pResult standard deviation value returned here    

+ * @return none.    

+ *    

+ * @details    

+ * <b>Scaling and Overflow Behavior:</b>    

+ *    

+ * \par    

+ * The function is implemented using a 64-bit internal accumulator.    

+ * The input is represented in 1.15 format.   

+ * Intermediate multiplication yields a 2.30 format, and this    

+ * result is added without saturation to a 64-bit accumulator in 34.30 format.    

+ * With 33 guard bits in the accumulator, there is no risk of overflow, and the    

+ * full precision of the intermediate multiplication is preserved.    

+ * Finally, the 34.30 result is truncated to 34.15 format by discarding the lower     

+ * 15 bits, and then saturated to yield a result in 1.15 format.    

+ */

+

+void arm_std_q15(

+  q15_t * pSrc,

+  uint32_t blockSize,

+  q15_t * pResult)

+{

+  q31_t sum = 0;                                 /* Accumulator */

+  q31_t meanOfSquares, squareOfMean;             /* square of mean and mean of square */

+  q15_t mean;                                    /* mean */

+  uint32_t blkCnt;                               /* loop counter */

+  q15_t t;                                       /* Temporary variable */

+  q63_t sumOfSquares = 0;                        /* Accumulator */

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+

+  q31_t in;                                      /* input value */

+  q15_t in1;                                     /* input value */

+

+  /*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[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */

+    /* Compute Sum of squares of the input samples    

+     * and then store the result in a temporary variable, sum. */

+    in = *__SIMD32(pSrc)++;

+    sum += ((in << 16) >> 16);

+    sum += (in >> 16);

+    sumOfSquares = __SMLALD(in, in, sumOfSquares);

+    in = *__SIMD32(pSrc)++;

+    sum += ((in << 16) >> 16);

+    sum += (in >> 16);

+    sumOfSquares = __SMLALD(in, in, sumOfSquares);

+

+    /* 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)

+  {

+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */

+    /* Compute Sum of squares of the input samples    

+     * and then store the result in a temporary variable, sum. */

+    in1 = *pSrc++;

+    sumOfSquares = __SMLALD(in1, in1, sumOfSquares);

+    sum += in1;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Compute Mean of squares of the input samples    

+   * and then store the result in a temporary variable, meanOfSquares. */

+  t = (q15_t) ((1.0 / (blockSize - 1)) * 16384LL);

+  sumOfSquares = __SSAT((sumOfSquares >> 15u), 16u);

+

+  meanOfSquares = (q31_t) ((sumOfSquares * t) >> 14u);

+

+  /* Compute mean of all input values */

+  t = (q15_t) ((1.0 / (blockSize * (blockSize - 1))) * 32768LL);

+  mean = (q15_t) __SSAT(sum, 16u);

+

+  /* Compute square of mean */

+  squareOfMean = ((q31_t) mean * mean) >> 15;

+  squareOfMean = (q31_t) (((q63_t) squareOfMean * t) >> 15);

+

+  /* mean of the squares minus the square of the mean. */

+  in1 = (q15_t) (meanOfSquares - squareOfMean);

+

+  /* Compute standard deviation and store the result to the destination */

+  arm_sqrt_q15(in1, pResult);

+

+#else

+

+  /* Run the below code for Cortex-M0 */

+  q15_t in;                                      /* input value */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */

+    /* Compute Sum of squares of the input samples     

+     * and then store the result in a temporary variable, sumOfSquares. */

+    in = *pSrc++;

+    sumOfSquares += (in * in);

+

+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */

+    /* Compute sum of all input values and then store the result in a temporary variable, sum. */

+    sum += in;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Compute Mean of squares of the input samples     

+   * and then store the result in a temporary variable, meanOfSquares. */

+  t = (q15_t) ((1.0 / (blockSize - 1)) * 16384LL);

+  sumOfSquares = __SSAT((sumOfSquares >> 15u), 16u);

+  meanOfSquares = (q31_t) ((sumOfSquares * t) >> 14u);

+

+  /* Compute mean of all input values */

+  mean = (q15_t) __SSAT(sum, 16u);

+

+  /* Compute square of mean of the input samples   

+   * and then store the result in a temporary variable, squareOfMean.*/

+  t = (q15_t) ((1.0 / (blockSize * (blockSize - 1))) * 32768LL);

+  squareOfMean = ((q31_t) mean * mean) >> 15;

+  squareOfMean = (q31_t) (((q63_t) squareOfMean * t) >> 15);

+

+  /* mean of the squares minus the square of the mean. */

+  in = (q15_t) (meanOfSquares - squareOfMean);

+

+  /* Compute standard deviation and store the result to the destination */

+  arm_sqrt_q15(in, pResult);

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+

+}

+

+/**    

+ * @} end of STD group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c
new file mode 100644
index 000000000..45bec01a1
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c
@@ -0,0 +1,184 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_std_q31.c    

+*    

+* Description:	Standard deviation of an array of Q31 type.    

+*    

+* 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 groupStats    

+ */

+

+/**    

+ * @addtogroup STD    

+ * @{    

+ */

+

+

+/**    

+ * @brief Standard deviation of the elements of a Q31 vector.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       blockSize length of the input vector    

+ * @param[out]      *pResult standard deviation value returned here    

+ * @return none.    

+ * @details    

+ * <b>Scaling and Overflow Behavior:</b>    

+ *    

+ *\par    

+ * The function is implemented using an internal 64-bit accumulator.    

+ * The input is represented in 1.31 format, and intermediate multiplication    

+ * yields a 2.62 format.    

+ * The accumulator maintains full precision of the intermediate multiplication results,     

+ * but provides only a single guard bit.    

+ * There is no saturation on intermediate additions.    

+ * If the accumulator overflows it wraps around and distorts the result.    

+ * In order to avoid overflows completely the input signal must be scaled down by     

+ * log2(blockSize) bits, as a total of blockSize additions are performed internally.     

+ * Finally, the 2.62 accumulator is right shifted by 31 bits to yield a 1.31 format value.    

+ *    

+ */

+

+

+void arm_std_q31(

+  q31_t * pSrc,

+  uint32_t blockSize,

+  q31_t * pResult)

+{

+  q63_t sum = 0;                                 /* Accumulator */

+  q31_t meanOfSquares, squareOfMean;             /* square of mean and mean of square */

+  q31_t mean;                                    /* mean */

+  q31_t in;                                      /* input value */

+  q31_t t;                                       /* Temporary variable */

+  uint32_t blkCnt;                               /* loop counter */

+  q63_t sumOfSquares = 0;                        /* Accumulator */

+

+#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)

+  {

+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */

+    /* Compute Sum of squares of the input samples    

+     * and then store the result in a temporary variable, sum. */

+    in = *pSrc++;

+    sum += in;

+    sumOfSquares += ((q63_t) (in) * (in));

+    in = *pSrc++;

+    sum += in;

+    sumOfSquares += ((q63_t) (in) * (in));

+    in = *pSrc++;

+    sum += in;

+    sumOfSquares += ((q63_t) (in) * (in));

+    in = *pSrc++;

+    sum += in;

+    sumOfSquares += ((q63_t) (in) * (in));

+

+    /* 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)

+  {

+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */

+    /* Compute Sum of squares of the input samples    

+     * and then store the result in a temporary variable, sum. */

+    in = *pSrc++;

+    sum += in;

+    sumOfSquares += ((q63_t) (in) * (in));

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  t = (q31_t) ((1.0f / (float32_t) (blockSize - 1u)) * 1073741824.0f);

+

+  /* Compute Mean of squares of the input samples    

+   * and then store the result in a temporary variable, meanOfSquares. */

+  sumOfSquares = (sumOfSquares >> 31);

+  meanOfSquares = (q31_t) ((sumOfSquares * t) >> 30);

+

+#else

+

+  /* Run the below code for Cortex-M0 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */

+    /* Compute Sum of squares of the input samples     

+     * and then store the result in a temporary variable, sumOfSquares. */

+    in = *pSrc++;

+    sumOfSquares += ((q63_t) (in) * (in));

+

+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */

+    /* Compute sum of all input values and then store the result in a temporary variable, sum. */

+    sum += in;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Compute Mean of squares of the input samples     

+   * and then store the result in a temporary variable, meanOfSquares. */

+  t = (q31_t) ((1.0f / (float32_t) (blockSize - 1u)) * 1073741824.0f);

+  sumOfSquares = (sumOfSquares >> 31);

+  meanOfSquares = (q31_t) ((sumOfSquares * t) >> 30);

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  /* Compute mean of all input values */

+  t = (q31_t) ((1.0f / (blockSize * (blockSize - 1u))) * 2147483648.0f);

+  mean = (q31_t) (sum);

+

+  /* Compute square of mean */

+  squareOfMean = (q31_t) (((q63_t) mean * mean) >> 31);

+  squareOfMean = (q31_t) (((q63_t) squareOfMean * t) >> 31);

+

+

+  /* Compute standard deviation and then store the result to the destination */

+  arm_sqrt_q31(meanOfSquares - squareOfMean, pResult);

+

+}

+

+/**    

+ * @} end of STD group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c
new file mode 100644
index 000000000..2adcfb443
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c
@@ -0,0 +1,184 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_var_f32.c    

+*    

+* Description:	Variance of the elements of a floating-point 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 groupStats    

+ */

+

+/**    

+ * @defgroup variance  Variance    

+ *    

+ * Calculates the variance of the elements in the input vector.    

+ * The underlying algorithm is used:    

+ *    

+ * <pre>    

+ * 	Result = (sumOfSquares - sum<sup>2</sup> / blockSize) / (blockSize - 1)   

+ *   

+ *	   where, sumOfSquares = pSrc[0] * pSrc[0] + pSrc[1] * pSrc[1] + ... + pSrc[blockSize-1] * pSrc[blockSize-1]   

+ *   

+ *	                   sum = pSrc[0] + pSrc[1] + pSrc[2] + ... + pSrc[blockSize-1]   

+ * </pre>   

+ *    

+ * There are separate functions for floating point, Q31, and Q15 data types.    

+ */

+

+/**    

+ * @addtogroup variance    

+ * @{    

+ */

+

+

+/**    

+ * @brief Variance of the elements of a floating-point vector.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       blockSize length of the input vector    

+ * @param[out]      *pResult variance value returned here    

+ * @return none.    

+ *    

+ */

+

+

+void arm_var_f32(

+  float32_t * pSrc,

+  uint32_t blockSize,

+  float32_t * pResult)

+{

+

+  float32_t sum = 0.0f;                          /* Temporary result storage */

+  float32_t sumOfSquares = 0.0f;                 /* Sum of squares */

+  float32_t in;                                  /* input value */

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+

+  float32_t meanOfSquares, mean, squareOfMean;   /* 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[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */

+    /* Compute Sum of squares of the input samples    

+     * and then store the result in a temporary variable, sum. */

+    in = *pSrc++;

+    sum += in;

+    sumOfSquares += in * in;

+    in = *pSrc++;

+    sum += in;

+    sumOfSquares += in * in;

+    in = *pSrc++;

+    sum += in;

+    sumOfSquares += in * in;

+    in = *pSrc++;

+    sum += in;

+    sumOfSquares += in * in;

+

+    /* 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)

+  {

+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */

+    /* Compute Sum of squares of the input samples    

+     * and then store the result in a temporary variable, sum. */

+    in = *pSrc++;

+    sum += in;

+    sumOfSquares += in * in;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Compute Mean of squares of the input samples    

+   * and then store the result in a temporary variable, meanOfSquares. */

+  meanOfSquares = sumOfSquares / ((float32_t) blockSize - 1.0f);

+

+  /* Compute mean of all input values */

+  mean = sum / (float32_t) blockSize;

+

+  /* Compute square of mean */

+  squareOfMean = (mean * mean) * (((float32_t) blockSize) /

+                                  ((float32_t) blockSize - 1.0f));

+

+  /* Compute variance and then store the result to the destination */

+  *pResult = meanOfSquares - squareOfMean;

+

+#else

+

+  /* Run the below code for Cortex-M0 */

+  float32_t squareOfSum;                         /* Square of Sum */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */

+    /* Compute Sum of squares of the input samples     

+     * and then store the result in a temporary variable, sumOfSquares. */

+    in = *pSrc++;

+    sumOfSquares += in * in;

+

+    /* C = (A[0] + A[1] + ... + A[blockSize-1]) */

+    /* Compute Sum of the input samples     

+     * and then store the result in a temporary variable, sum. */

+    sum += in;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Compute the square of sum */

+  squareOfSum = ((sum * sum) / (float32_t) blockSize);

+

+  /* Compute the variance */

+  *pResult = ((sumOfSquares - squareOfSum) / (float32_t) (blockSize - 1.0f));

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of variance group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c
new file mode 100644
index 000000000..08dbc6587
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c
@@ -0,0 +1,180 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_var_q15.c    

+*    

+* Description:	Variance of an array of Q15 type.    

+*    

+* 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 groupStats    

+ */

+

+/**    

+ * @addtogroup variance    

+ * @{    

+ */

+

+/**    

+ * @brief Variance of the elements of a Q15 vector.    

+ * @param[in]       *pSrc points to the input vector    

+ * @param[in]       blockSize length of the input vector    

+ * @param[out]      *pResult variance value returned here    

+ * @return none.    

+ *    

+ * @details    

+ * <b>Scaling and Overflow Behavior:</b>    

+ *    

+ * \par    

+ * The function is implemented using a 64-bit internal accumulator.    

+ * The input is represented in 1.15 format.   

+ * Intermediate multiplication yields a 2.30 format, and this    

+ * result is added without saturation to a 64-bit accumulator in 34.30 format.    

+ * With 33 guard bits in the accumulator, there is no risk of overflow, and the    

+ * full precision of the intermediate multiplication is preserved.    

+ * Finally, the 34.30 result is truncated to 34.15 format by discarding the lower     

+ * 15 bits, and then saturated to yield a result in 1.15 format.    

+ *    

+ */

+

+

+void arm_var_q15(

+  q15_t * pSrc,

+  uint32_t blockSize,

+  q31_t * pResult)

+{

+  q31_t sum = 0;                                 /* Accumulator */

+  q31_t meanOfSquares, squareOfMean;             /* Mean of square and square of mean */

+  q15_t mean;                                    /* mean */

+  uint32_t blkCnt;                               /* loop counter */

+  q15_t t;                                       /* Temporary variable */

+  q63_t sumOfSquares = 0;                        /* Accumulator */

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+

+  q31_t in;                                      /* Input variable */

+  q15_t in1;                                     /* Temporary variable */

+

+  /*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[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */

+    /* Compute Sum of squares of the input samples    

+     * and then store the result in a temporary variable, sum. */

+    in = *__SIMD32(pSrc)++;

+    sum += ((in << 16) >> 16);

+    sum += (in >> 16);

+    sumOfSquares = __SMLALD(in, in, sumOfSquares);

+    in = *__SIMD32(pSrc)++;

+    sum += ((in << 16) >> 16);

+    sum += (in >> 16);

+    sumOfSquares = __SMLALD(in, in, sumOfSquares);

+

+    /* 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)

+  {

+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */

+    /* Compute Sum of squares of the input samples    

+     * and then store the result in a temporary variable, sum. */

+    in1 = *pSrc++;

+    sum += in1;

+    sumOfSquares = __SMLALD(in1, in1, sumOfSquares);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Compute Mean of squares of the input samples    

+   * and then store the result in a temporary variable, meanOfSquares. */

+  t = (q15_t) ((1.0f / (float32_t) (blockSize - 1u)) * 16384);

+  sumOfSquares = __SSAT((sumOfSquares >> 15u), 16u);

+

+  meanOfSquares = (q31_t) ((sumOfSquares * t) >> 14u);

+

+#else

+

+  /* Run the below code for Cortex-M0 */

+

+  q15_t in;                                      /* Temporary variable */

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+  while(blkCnt > 0u)

+  {

+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */

+    /* Compute Sum of squares of the input samples     

+     * and then store the result in a temporary variable, sumOfSquares. */

+    in = *pSrc++;

+    sumOfSquares += (in * in);

+

+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */

+    /* Compute sum of all input values and then store the result in a temporary variable, sum. */

+    sum += in;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Compute Mean of squares of the input samples     

+   * and then store the result in a temporary variable, meanOfSquares. */

+  t = (q15_t) ((1.0f / (float32_t) (blockSize - 1u)) * 16384);

+  sumOfSquares = __SSAT((sumOfSquares >> 15u), 16u);

+  meanOfSquares = (q31_t) ((sumOfSquares * t) >> 14u);

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  /* Compute mean of all input values */

+  t = (q15_t) ((1.0f / (float32_t) (blockSize * (blockSize - 1u))) * 32768);

+  mean = __SSAT(sum, 16u);

+

+  /* Compute square of mean */

+  squareOfMean = ((q31_t) mean * mean) >> 15;

+  squareOfMean = (q31_t) (((q63_t) squareOfMean * t) >> 15);

+

+  /* Compute variance and then store the result to the destination */

+  *pResult = (meanOfSquares - squareOfMean);

+

+}

+

+/**    

+ * @} end of variance group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c
new file mode 100644
index 000000000..13d6c15cb
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c
@@ -0,0 +1,170 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_var_q31.c    

+*    

+* Description:	Variance of an array of Q31 type.    

+*    

+* 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 groupStats        

+ */

+

+/**        

+ * @addtogroup variance        

+ * @{        

+ */

+

+/**        

+ * @brief Variance of the elements of a Q31 vector.        

+ * @param[in]       *pSrc points to the input vector        

+ * @param[in]       blockSize length of the input vector        

+ * @param[out]      *pResult variance value returned here        

+ * @return none.        

+ *        

+ * @details        

+ * <b>Scaling and Overflow Behavior:</b>        

+ *        

+ *\par        

+ * The function is implemented using an internal 64-bit accumulator.        

+ * The input is represented in 1.31 format, and intermediate multiplication        

+ * yields a 2.62 format.        

+ * The accumulator maintains full precision of the intermediate multiplication results,         

+ * but provides only a single guard bit.        

+ * There is no saturation on intermediate additions.        

+ * If the accumulator overflows it wraps around and distorts the result.        

+ * In order to avoid overflows completely the input signal must be scaled down by         

+ * log2(blockSize) bits, as a total of blockSize additions are performed internally.         

+ * Finally, the 2.62 accumulator is right shifted by 31 bits to yield a 1.31 format value.        

+ *        

+ */

+

+

+void arm_var_q31(

+  q31_t * pSrc,

+  uint32_t blockSize,

+  q63_t * pResult)

+{

+  q63_t sum = 0, sumSquare = 0;                  /* Accumulator */

+  q31_t meanOfSquares, squareOfMean;             /* square of mean and mean of square */

+  q31_t mean;                                    /* mean */

+  q31_t in;                                      /* input value */

+  q31_t t;                                       /* Temporary variable */

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+  q63_t sumSquare1 = 0;                          /* Accumulator */

+  q31_t in1, in2, in3, in4;                      /* Temporary input 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[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */

+    /* Compute Sum of squares of the input samples        

+     * and then store the result in a temporary variable, sum. */

+    /* read input samples from source buffer */

+    in1 = pSrc[0];

+    in2 = pSrc[1];

+

+    /* calculate sum of inputs */

+    sum += in1;

+    /* calculate sum of squares */

+    sumSquare += ((q63_t) (in1) * (in1));

+    in3 = pSrc[2];

+    sum += in2;

+    sumSquare1 += ((q63_t) (in2) * (in2));

+    in4 = pSrc[3];

+    sum += in3;

+    sumSquare += ((q63_t) (in3) * (in3));

+    sum += in4;

+    sumSquare1 += ((q63_t) (in4) * (in4));

+

+    /* update input pointer to process next samples */

+    pSrc += 4u;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* add two accumulators */

+  sumSquare = sumSquare + sumSquare1;

+

+  /* 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 */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */

+    /* Compute Sum of squares of the input samples        

+     * and then store the result in a temporary variable, sum. */

+    in = *pSrc++;

+    sumSquare += ((q63_t) (in) * (in));

+    sum += in;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  t = (q31_t) ((1.0f / (float32_t) (blockSize - 1u)) * 1073741824.0f);

+

+  /* Compute Mean of squares of the input samples        

+   * and then store the result in a temporary variable, meanOfSquares. */

+  sumSquare = (sumSquare >> 31);

+  meanOfSquares = (q31_t) ((sumSquare * t) >> 30);

+

+  /* Compute mean of all input values */

+  t = (q31_t) ((1.0f / (blockSize * (blockSize - 1u))) * 2147483648.0f);

+  mean = (q31_t) (sum);

+

+  /* Compute square of mean */

+  squareOfMean = (q31_t) (((q63_t) mean * mean) >> 31);

+  squareOfMean = (q31_t) (((q63_t) squareOfMean * t) >> 31);

+

+  /* Compute variance and then store the result to the destination */

+  *pResult = (q63_t) meanOfSquares - squareOfMean;

+

+}

+

+/**        

+ * @} end of variance group        

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c
new file mode 100644
index 000000000..619c1577a
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c
@@ -0,0 +1,130 @@
+/* ----------------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_copy_f32.c    

+*    

+* Description:	Copies the elements of a floating-point 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.    

+*    

+* Version 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupSupport    

+ */

+

+/**    

+ * @defgroup copy Vector Copy    

+ *    

+ * Copies sample by sample from source vector to destination vector.    

+ *    

+ * <pre>    

+ * 	pDst[n] = pSrc[n];   0 <= n < blockSize.    

+ * </pre>    

+ *   

+ * There are separate functions for floating point, Q31, Q15, and Q7 data types.     

+ */

+

+/**    

+ * @addtogroup copy    

+ * @{    

+ */

+

+/**    

+ * @brief Copies the elements of a floating-point vector.     

+ * @param[in]       *pSrc points to input vector    

+ * @param[out]      *pDst points to output vector    

+ * @param[in]       blockSize length of the input vector   

+ * @return none.    

+ *    

+ */

+

+

+void arm_copy_f32(

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+  float32_t in1, in2, in3, in4;

+

+  /*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 */

+    /* Copy and then store the results in the destination buffer */

+    in1 = *pSrc++;

+    in2 = *pSrc++;

+    in3 = *pSrc++;

+    in4 = *pSrc++;

+

+    *pDst++ = in1;

+    *pDst++ = in2;

+    *pDst++ = in3;

+    *pDst++ = in4;

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = A */

+    /* Copy and then store the results in the destination buffer */

+    *pDst++ = *pSrc++;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**    

+ * @} end of BasicCopy group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q15.c
new file mode 100644
index 000000000..00be9dc0b
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q15.c
@@ -0,0 +1,109 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_copy_q15.c    

+*    

+* Description:	Copies the elements of a Q15 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.    

+*    

+* Version 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupSupport    

+ */

+

+/**    

+ * @addtogroup copy    

+ * @{    

+ */

+/**    

+ * @brief Copies the elements of a Q15 vector.     

+ * @param[in]       *pSrc points to input vector    

+ * @param[out]      *pDst points to output vector    

+ * @param[in]       blockSize length of the input vector   

+ * @return none.    

+ *    

+ */

+

+void arm_copy_q15(

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+

+#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)

+  {

+    /* C = A */

+    /* Read two inputs */

+    *__SIMD32(pDst)++ = *__SIMD32(pSrc)++;

+    *__SIMD32(pDst)++ = *__SIMD32(pSrc)++;

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = A */

+    /* Copy and then store the value in the destination buffer */

+    *pDst++ = *pSrc++;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**    

+ * @} end of BasicCopy group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q31.c
new file mode 100644
index 000000000..7ab0849f6
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q31.c
@@ -0,0 +1,118 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_copy_q31.c    

+*    

+* Description:	Copies the elements of a 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.    

+*    

+* Version 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupSupport    

+ */

+

+/**    

+ * @addtogroup copy    

+ * @{    

+ */

+

+/**    

+ * @brief Copies the elements of a Q31 vector.     

+ * @param[in]       *pSrc points to input vector    

+ * @param[out]      *pDst points to output vector    

+ * @param[in]       blockSize length of the input vector   

+ * @return none.    

+ *    

+ */

+

+void arm_copy_q31(

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+  q31_t in1, in2, in3, in4;

+

+  /*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 */

+    /* Copy and then store the values in the destination buffer */

+    in1 = *pSrc++;

+    in2 = *pSrc++;

+    in3 = *pSrc++;

+    in4 = *pSrc++;

+

+    *pDst++ = in1;

+    *pDst++ = in2;

+    *pDst++ = in3;

+    *pDst++ = in4;

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = A */

+    /* Copy and then store the value in the destination buffer */

+    *pDst++ = *pSrc++;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**    

+ * @} end of BasicCopy group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q7.c
new file mode 100644
index 000000000..425885753
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q7.c
@@ -0,0 +1,110 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_copy_q7.c    

+*    

+* Description:	Copies the elements of a Q7 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.    

+*    

+* Version 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupSupport    

+ */

+

+/**    

+ * @addtogroup copy    

+ * @{    

+ */

+

+/**    

+ * @brief Copies the elements of a Q7 vector.    

+ * @param[in]       *pSrc points to input vector    

+ * @param[out]      *pDst points to output vector    

+ * @param[in]       blockSize length of the input vector   

+ * @return none.    

+ *    

+ */

+

+void arm_copy_q7(

+  q7_t * pSrc,

+  q7_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+

+#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)

+  {

+    /* C = A */

+    /* Copy and then store the results in the destination buffer */

+    /* 4 samples are copied and stored at a time using SIMD */

+    *__SIMD32(pDst)++ = *__SIMD32(pSrc)++;

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+

+  while(blkCnt > 0u)

+  {

+    /* C = A */

+    /* Copy and then store the results in the destination buffer */

+    *pDst++ = *pSrc++;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**    

+ * @} end of BasicCopy group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_f32.c
new file mode 100644
index 000000000..439e60db0
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_f32.c
@@ -0,0 +1,129 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_fill_f32.c    

+*    

+* Description:	Fills a constant value into a floating-point 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.    

+*    

+* Version 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* ---------------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupSupport    

+ */

+

+/**    

+ * @defgroup Fill Vector Fill    

+ *    

+ * Fills the destination vector with a constant value.    

+ *    

+ * <pre>    

+ * 	pDst[n] = value;   0 <= n < blockSize.    

+ * </pre>    

+ *   

+ * There are separate functions for floating point, Q31, Q15, and Q7 data types.     

+ */

+

+/**    

+ * @addtogroup Fill    

+ * @{    

+ */

+

+/**    

+ * @brief Fills a constant value into a floating-point vector.     

+ * @param[in]       value input value to be filled   

+ * @param[out]      *pDst points to output vector    

+ * @param[in]       blockSize length of the output vector   

+ * @return none.    

+ *    

+ */

+

+

+void arm_fill_f32(

+  float32_t value,

+  float32_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+  float32_t in1 = value;

+  float32_t in2 = value;

+  float32_t in3 = value;

+  float32_t in4 = value;

+

+  /*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 = value */

+    /* Fill the value in the destination buffer */

+    *pDst++ = in1;

+    *pDst++ = in2;

+    *pDst++ = in3;

+    *pDst++ = in4;

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+

+  while(blkCnt > 0u)

+  {

+    /* C = value */

+    /* Fill the value in the destination buffer */

+    *pDst++ = value;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**    

+ * @} end of Fill group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q15.c
new file mode 100644
index 000000000..8f60d3b4e
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q15.c
@@ -0,0 +1,115 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_fill_q15.c    

+*    

+* Description:	Fills a constant value into a Q15 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.    

+*    

+* Version 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupSupport    

+ */

+

+/**    

+ * @addtogroup Fill    

+ * @{    

+ */

+

+/**    

+ * @brief Fills a constant value into a Q15 vector.    

+ * @param[in]       value input value to be filled   

+ * @param[out]      *pDst points to output vector    

+ * @param[in]       blockSize length of the output vector   

+ * @return none.    

+ *    

+ */

+

+void arm_fill_q15(

+  q15_t value,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+

+  q31_t packedValue;                             /* value packed to 32 bits */

+

+

+  /*loop Unrolling */

+  blkCnt = blockSize >> 2u;

+

+  /* Packing two 16 bit values to 32 bit value in order to use SIMD */

+  packedValue = __PKHBT(value, value, 16u);

+

+  /* 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 = value */

+    /* Fill the value in the destination buffer */

+    *__SIMD32(pDst)++ = packedValue;

+    *__SIMD32(pDst)++ = packedValue;

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = value */

+    /* Fill the value in the destination buffer */

+    *pDst++ = value;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**    

+ * @} end of Fill group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q31.c
new file mode 100644
index 000000000..35565c3cf
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q31.c
@@ -0,0 +1,116 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_fill_q31.c    

+*    

+* Description:	Fills a constant value into a 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.    

+*    

+* Version 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupSupport    

+ */

+

+/**    

+ * @addtogroup Fill    

+ * @{    

+ */

+

+/**    

+ * @brief Fills a constant value into a Q31 vector.    

+ * @param[in]       value input value to be filled   

+ * @param[out]      *pDst points to output vector    

+ * @param[in]       blockSize length of the output vector   

+ * @return none.    

+ *    

+ */

+

+void arm_fill_q31(

+  q31_t value,

+  q31_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+  q31_t in1 = value;

+  q31_t in2 = value;

+  q31_t in3 = value;

+  q31_t in4 = value;

+

+  /*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 = value */

+    /* Fill the value in the destination buffer */

+    *pDst++ = in1;

+    *pDst++ = in2;

+    *pDst++ = in3;

+    *pDst++ = in4;

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = value */

+    /* Fill the value in the destination buffer */

+    *pDst++ = value;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**    

+ * @} end of Fill group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q7.c
new file mode 100644
index 000000000..481d4c8f7
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q7.c
@@ -0,0 +1,113 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_fill_q7.c    

+*    

+* Description:	Fills a constant value into a Q7 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.    

+*    

+* Version 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupSupport    

+ */

+

+/**    

+ * @addtogroup Fill    

+ * @{    

+ */

+

+/**    

+ * @brief Fills a constant value into a Q7 vector.    

+ * @param[in]       value input value to be filled   

+ * @param[out]      *pDst points to output vector    

+ * @param[in]       blockSize length of the output vector   

+ * @return none.    

+ *    

+ */

+

+void arm_fill_q7(

+  q7_t value,

+  q7_t * pDst,

+  uint32_t blockSize)

+{

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+

+  q31_t packedValue;                             /* value packed to 32 bits */

+

+  /*loop Unrolling */

+  blkCnt = blockSize >> 2u;

+

+  /* Packing four 8 bit values to 32 bit value in order to use SIMD */

+  packedValue = __PACKq7(value, value, value, value);

+

+  /* 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 = value */

+    /* Fill the value in the destination buffer */

+    *__SIMD32(pDst)++ = packedValue;

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = value */

+    /* Fill the value in the destination buffer */

+    *pDst++ = value;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**    

+ * @} end of Fill group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q15.c
new file mode 100644
index 000000000..1537b93ab
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q15.c
@@ -0,0 +1,196 @@
+/* ----------------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_float_to_q15.c    

+*    

+* Description:	Converts the elements of the floating-point vector to Q15 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    

+ */

+

+/**    

+ * @addtogroup float_to_x    

+ * @{    

+ */

+

+/**    

+ * @brief Converts the elements of the floating-point vector to Q15 vector.    

+ * @param[in]       *pSrc points to the floating-point input vector    

+ * @param[out]      *pDst points to the Q15 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] = (q15_t)(pSrc[n] * 32768);   0 <= n < blockSize.    

+ * </pre>    

+ * \par Scaling and Overflow Behavior:    

+ * \par    

+ * The function uses saturating arithmetic.    

+ * Results outside of the allowable Q15 range [0x8000 0x7FFF] 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_q15(

+  float32_t * pSrc,

+  q15_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 q15 and then store the results in the destination buffer */

+    in = *pIn++;

+    in = (in * 32768.0f);

+    in += in > 0 ? 0.5 : -0.5;

+    *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16));

+

+    in = *pIn++;

+    in = (in * 32768.0f);

+    in += in > 0 ? 0.5 : -0.5;

+    *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16));

+

+    in = *pIn++;

+    in = (in * 32768.0f);

+    in += in > 0 ? 0.5 : -0.5;

+    *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16));

+

+    in = *pIn++;

+    in = (in * 32768.0f);

+    in += in > 0 ? 0.5 : -0.5;

+    *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16));

+

+#else

+

+    /* C = A * 32768 */

+    /* convert from float to q15 and then store the results in the destination buffer */

+    *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16);

+    *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16);

+    *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16);

+    *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16);

+

+#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 * 32768 */

+    /* convert from float to q15 and then store the results in the destination buffer */

+    in = *pIn++;

+    in = (in * 32768.0f);

+    in += in > 0 ? 0.5 : -0.5;

+    *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16));

+

+#else

+

+    /* C = A * 32768 */

+    /* convert from float to q15 and then store the results in the destination buffer */

+    *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16);

+

+#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 * 32768 */

+    /* convert from float to q15 and then store the results in the destination buffer */

+    in = *pIn++;

+    in = (in * 32768.0f);

+    in += in > 0 ? 0.5f : -0.5f;

+    *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16));

+

+#else

+

+    /* C = A * 32768 */

+    /* convert from float to q15 and then store the results in the destination buffer */

+    *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16);

+

+#endif /*      #ifdef ARM_MATH_ROUNDING        */

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of float_to_x group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c
new file mode 100644
index 000000000..3ab52b9ff
--- /dev/null
+++ b/apps/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    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q7.c
new file mode 100644
index 000000000..dea14c6a1
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q7.c
@@ -0,0 +1,195 @@
+/* ----------------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_float_to_q7.c    

+*    

+* Description:	Converts the elements of the floating-point vector to Q7 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    

+ */

+

+/**    

+ * @addtogroup float_to_x    

+ * @{    

+ */

+

+/**    

+ * @brief Converts the elements of the floating-point vector to Q7 vector.    

+ * @param[in]       *pSrc points to the floating-point input vector    

+ * @param[out]      *pDst points to the Q7 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] = (q7_t)(pSrc[n] * 128);   0 <= n < blockSize.    

+ * </pre>    

+ * \par Scaling and Overflow Behavior:    

+ * \par    

+ * The function uses saturating arithmetic.    

+ * Results outside of the allowable Q7 range [0x80 0x7F] 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_q7(

+  float32_t * pSrc,

+  q7_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 * 128 */

+    /* convert from float to q7 and then store the results in the destination buffer */

+    in = *pIn++;

+    in = (in * 128);

+    in += in > 0 ? 0.5 : -0.5;

+    *pDst++ = (q7_t) (__SSAT((q15_t) (in), 8));

+

+    in = *pIn++;

+    in = (in * 128);

+    in += in > 0 ? 0.5 : -0.5;

+    *pDst++ = (q7_t) (__SSAT((q15_t) (in), 8));

+

+    in = *pIn++;

+    in = (in * 128);

+    in += in > 0 ? 0.5 : -0.5;

+    *pDst++ = (q7_t) (__SSAT((q15_t) (in), 8));

+

+    in = *pIn++;

+    in = (in * 128);

+    in += in > 0 ? 0.5 : -0.5;

+    *pDst++ = (q7_t) (__SSAT((q15_t) (in), 8));

+

+#else

+

+    /* C = A * 128 */

+    /* convert from float to q7 and then store the results in the destination buffer */

+    *pDst++ = __SSAT((q31_t) (*pIn++ * 128.0f), 8);

+    *pDst++ = __SSAT((q31_t) (*pIn++ * 128.0f), 8);

+    *pDst++ = __SSAT((q31_t) (*pIn++ * 128.0f), 8);

+    *pDst++ = __SSAT((q31_t) (*pIn++ * 128.0f), 8);

+

+#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 * 128 */

+    /* convert from float to q7 and then store the results in the destination buffer */

+    in = *pIn++;

+    in = (in * 128);

+    in += in > 0 ? 0.5 : -0.5;

+    *pDst++ = (q7_t) (__SSAT((q15_t) (in), 8));

+

+#else

+

+    /* C = A * 128 */

+    /* convert from float to q7 and then store the results in the destination buffer */

+    *pDst++ = __SSAT((q31_t) (*pIn++ * 128.0f), 8);

+

+#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 * 128 */

+    /* convert from float to q7 and then store the results in the destination buffer */

+    in = *pIn++;

+    in = (in * 128.0f);

+    in += in > 0 ? 0.5f : -0.5f;

+    *pDst++ = (q7_t) (__SSAT((q31_t) (in), 8));

+

+#else

+

+    /* C = A * 128 */

+    /* convert from float to q7 and then store the results in the destination buffer */

+    *pDst++ = (q7_t) __SSAT((q31_t) (*pIn++ * 128.0f), 8);

+

+#endif /*      #ifdef ARM_MATH_ROUNDING        */

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of float_to_x group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_float.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_float.c
new file mode 100644
index 000000000..ce51e9a39
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_float.c
@@ -0,0 +1,126 @@
+/* ----------------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_q15_to_float.c    

+*    

+* Description:	Converts the elements of the Q15 vector to floating-point 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 q15_to_x  Convert 16-bit Integer value    

+ */

+

+/**    

+ * @addtogroup q15_to_x    

+ * @{    

+ */

+

+

+

+

+/**    

+ * @brief  Converts the elements of the Q15 vector to floating-point vector.     

+ * @param[in]       *pSrc points to the Q15 input vector    

+ * @param[out]      *pDst points to the floating-point output vector   

+ * @param[in]       blockSize length of the input vector    

+ * @return none.    

+ *    

+ * \par Description:    

+ *    

+ * The equation used for the conversion process is:    

+ *   

+ * <pre>    

+ * 	pDst[n] = (float32_t) pSrc[n] / 32768;   0 <= n < blockSize.    

+ * </pre>    

+ *   

+ */

+

+

+void arm_q15_to_float(

+  q15_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize)

+{

+  q15_t *pIn = pSrc;                             /* Src pointer */

+  uint32_t blkCnt;                               /* loop counter */

+

+

+#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)

+  {

+    /* C = (float32_t) A / 32768 */

+    /* convert from q15 to float and then store the results in the destination buffer */

+    *pDst++ = ((float32_t) * pIn++ / 32768.0f);

+    *pDst++ = ((float32_t) * pIn++ / 32768.0f);

+    *pDst++ = ((float32_t) * pIn++ / 32768.0f);

+    *pDst++ = ((float32_t) * pIn++ / 32768.0f);

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = (float32_t) A / 32768 */

+    /* convert from q15 to float and then store the results in the destination buffer */

+    *pDst++ = ((float32_t) * pIn++ / 32768.0f);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**    

+ * @} end of q15_to_x group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q31.c
new file mode 100644
index 000000000..a0f66c29e
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q31.c
@@ -0,0 +1,148 @@
+/* ----------------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_q15_to_q31.c    

+*    

+* Description:	Converts the elements of the Q15 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    

+ */

+

+/**    

+ * @addtogroup q15_to_x    

+ * @{    

+ */

+

+/**    

+ * @brief Converts the elements of the Q15 vector to Q31 vector.     

+ * @param[in]       *pSrc points to the Q15 input vector    

+ * @param[out]      *pDst points to the Q31 output vector   

+ * @param[in]       blockSize length of the input vector    

+ * @return none.    

+ *    

+ * \par Description:    

+ *    

+ * The equation used for the conversion process is:   

+ *   

+ * <pre>    

+ * 	pDst[n] = (q31_t) pSrc[n] << 16;   0 <= n < blockSize.    

+ * </pre>    

+ *   

+ */

+

+

+void arm_q15_to_q31(

+  q15_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize)

+{

+  q15_t *pIn = pSrc;                             /* Src pointer */

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+  q31_t in1, in2;

+  q31_t out1, out2, out3, out4;

+

+  /*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 = (q31_t)A << 16 */

+    /* convert from q15 to q31 and then store the results in the destination buffer */

+    in1 = *__SIMD32(pIn)++;

+    in2 = *__SIMD32(pIn)++;

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    /* extract lower 16 bits to 32 bit result */

+    out1 = in1 << 16u;

+    /* extract upper 16 bits to 32 bit result */

+    out2 = in1 & 0xFFFF0000;

+    /* extract lower 16 bits to 32 bit result */

+    out3 = in2 << 16u;

+    /* extract upper 16 bits to 32 bit result */

+    out4 = in2 & 0xFFFF0000;

+

+#else

+

+    /* extract upper 16 bits to 32 bit result */

+    out1 = in1 & 0xFFFF0000;

+    /* extract lower 16 bits to 32 bit result */

+    out2 = in1 << 16u;

+    /* extract upper 16 bits to 32 bit result */

+    out3 = in2 & 0xFFFF0000;

+    /* extract lower 16 bits to 32 bit result */

+    out4 = in2 << 16u;

+

+#endif //      #ifndef ARM_MATH_BIG_ENDIAN

+

+    *pDst++ = out1;

+    *pDst++ = out2;

+    *pDst++ = out3;

+    *pDst++ = out4;

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = (q31_t)A << 16 */

+    /* convert from q15 to q31 and then store the results in the destination buffer */

+    *pDst++ = (q31_t) * pIn++ << 16;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+}

+

+/**    

+ * @} end of q15_to_x group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q7.c
new file mode 100644
index 000000000..87fe63d9e
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q7.c
@@ -0,0 +1,146 @@
+/* ----------------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_q15_to_q7.c    

+*    

+* Description:	Converts the elements of the Q15 vector to Q7 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    

+ */

+

+/**    

+ * @addtogroup q15_to_x    

+ * @{    

+ */

+

+

+/**    

+ * @brief Converts the elements of the Q15 vector to Q7 vector.     

+ * @param[in]       *pSrc points to the Q15 input vector    

+ * @param[out]      *pDst points to the Q7 output vector   

+ * @param[in]       blockSize length of the input vector    

+ * @return none.    

+ *    

+ * \par Description:    

+ *    

+ * The equation used for the conversion process is:    

+ *   

+ * <pre>    

+ * 	pDst[n] = (q7_t) pSrc[n] >> 8;   0 <= n < blockSize.    

+ * </pre>   

+ *   

+ */

+

+

+void arm_q15_to_q7(

+  q15_t * pSrc,

+  q7_t * pDst,

+  uint32_t blockSize)

+{

+  q15_t *pIn = pSrc;                             /* Src pointer */

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+  q31_t in1, in2;

+  q31_t out1, out2;

+

+  /*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 = (q7_t) A >> 8 */

+    /* convert from q15 to q7 and then store the results in the destination buffer */

+    in1 = *__SIMD32(pIn)++;

+    in2 = *__SIMD32(pIn)++;

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    out1 = __PKHTB(in2, in1, 16);

+    out2 = __PKHBT(in2, in1, 16);

+

+#else

+

+    out1 = __PKHTB(in1, in2, 16);

+    out2 = __PKHBT(in1, in2, 16);

+

+#endif //      #ifndef ARM_MATH_BIG_ENDIAN

+

+    /* rotate packed value by 24 */

+    out2 = ((uint32_t) out2 << 8) | ((uint32_t) out2 >> 24);

+

+    /* anding with 0xff00ff00 to get two 8 bit values */

+    out1 = out1 & 0xFF00FF00;

+    /* anding with 0x00ff00ff to get two 8 bit values */

+    out2 = out2 & 0x00FF00FF;

+

+    /* oring two values(contains two 8 bit values) to get four packed 8 bit values */

+    out1 = out1 | out2;

+

+    /* store 4 samples at a time to destiantion buffer */

+    *__SIMD32(pDst)++ = out1;

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = (q7_t) A >> 8 */

+    /* convert from q15 to q7 and then store the results in the destination buffer */

+    *pDst++ = (q7_t) (*pIn++ >> 8);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+}

+

+/**    

+ * @} end of q15_to_x group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_float.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_float.c
new file mode 100644
index 000000000..94deec9a1
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_float.c
@@ -0,0 +1,123 @@
+/* ----------------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_q31_to_float.c    

+*    

+* Description:	Converts the elements of the Q31 vector to floating-point 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 q31_to_x  Convert 32-bit Integer value    

+ */

+

+/**    

+ * @addtogroup q31_to_x    

+ * @{    

+ */

+

+/**    

+ * @brief Converts the elements of the Q31 vector to floating-point vector.    

+ * @param[in]       *pSrc points to the Q31 input vector    

+ * @param[out]      *pDst points to the floating-point output vector   

+ * @param[in]       blockSize length of the input vector    

+ * @return none.    

+ *    

+ * \par Description:    

+ *    

+ * The equation used for the conversion process is:    

+ *   

+ * <pre>    

+ * 	pDst[n] = (float32_t) pSrc[n] / 2147483648;   0 <= n < blockSize.    

+ * </pre>    

+ *   

+ */

+

+

+void arm_q31_to_float(

+  q31_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize)

+{

+  q31_t *pIn = pSrc;                             /* Src pointer */

+  uint32_t blkCnt;                               /* loop counter */

+

+

+#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)

+  {

+    /* C = (float32_t) A / 2147483648 */

+    /* convert from q31 to float and then store the results in the destination buffer */

+    *pDst++ = ((float32_t) * pIn++ / 2147483648.0f);

+    *pDst++ = ((float32_t) * pIn++ / 2147483648.0f);

+    *pDst++ = ((float32_t) * pIn++ / 2147483648.0f);

+    *pDst++ = ((float32_t) * pIn++ / 2147483648.0f);

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = (float32_t) A / 2147483648 */

+    /* convert from q31 to float and then store the results in the destination buffer */

+    *pDst++ = ((float32_t) * pIn++ / 2147483648.0f);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**    

+ * @} end of q31_to_x group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q15.c
new file mode 100644
index 000000000..ba79f85a1
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q15.c
@@ -0,0 +1,137 @@
+/* ----------------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_q31_to_q15.c    

+*    

+* Description:	Converts the elements of the Q31 vector to Q15 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    

+ */

+

+/**    

+ * @addtogroup q31_to_x    

+ * @{    

+ */

+

+/**    

+ * @brief Converts the elements of the Q31 vector to Q15 vector.    

+ * @param[in]       *pSrc points to the Q31 input vector    

+ * @param[out]      *pDst points to the Q15 output vector   

+ * @param[in]       blockSize length of the input vector    

+ * @return none.    

+ *     

+ * \par Description:    

+ *    

+ * The equation used for the conversion process is:    

+ *   

+ * <pre>    

+ * 	pDst[n] = (q15_t) pSrc[n] >> 16;   0 <= n < blockSize.    

+ * </pre>    

+ *   

+ */

+

+

+void arm_q31_to_q15(

+  q31_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+  q31_t *pIn = pSrc;                             /* Src pointer */

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+  q31_t in1, in2, in3, in4;

+  q31_t out1, out2;

+

+  /*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 = (q15_t) A >> 16 */

+    /* convert from q31 to q15 and then store the results in the destination buffer */

+    in1 = *pIn++;

+    in2 = *pIn++;

+    in3 = *pIn++;

+    in4 = *pIn++;

+

+    /* pack two higher 16-bit values from two 32-bit values */

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    out1 = __PKHTB(in2, in1, 16);

+    out2 = __PKHTB(in4, in3, 16);

+

+#else

+

+    out1 = __PKHTB(in1, in2, 16);

+    out2 = __PKHTB(in3, in4, 16);

+

+#endif //      #ifdef ARM_MATH_BIG_ENDIAN

+

+    *__SIMD32(pDst)++ = out1;

+    *__SIMD32(pDst)++ = out2;

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = (q15_t) A >> 16 */

+    /* convert from q31 to q15 and then store the results in the destination buffer */

+    *pDst++ = (q15_t) (*pIn++ >> 16);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+}

+

+/**    

+ * @} end of q31_to_x group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q7.c
new file mode 100644
index 000000000..afc8fdbed
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q7.c
@@ -0,0 +1,128 @@
+/* ----------------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_q31_to_q7.c    

+*    

+* Description:	Converts the elements of the Q31 vector to Q7 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    

+ */

+

+/**    

+ * @addtogroup q31_to_x    

+ * @{    

+ */

+

+/**    

+ * @brief Converts the elements of the Q31 vector to Q7 vector.    

+ * @param[in]       *pSrc points to the Q31 input vector    

+ * @param[out]      *pDst points to the Q7 output vector   

+ * @param[in]       blockSize length of the input vector    

+ * @return none.    

+ *    

+ * \par Description:    

+ *    

+ * The equation used for the conversion process is:    

+ *   

+ * <pre>    

+ * 	pDst[n] = (q7_t) pSrc[n] >> 24;   0 <= n < blockSize.     

+ * </pre>    

+ *   

+ */

+

+

+void arm_q31_to_q7(

+  q31_t * pSrc,

+  q7_t * pDst,

+  uint32_t blockSize)

+{

+  q31_t *pIn = pSrc;                             /* Src pointer */

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+  q31_t in1, in2, in3, in4;

+  q7_t out1, out2, out3, out4;

+

+  /*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 = (q7_t) A >> 24 */

+    /* convert from q31 to q7 and then store the results in the destination buffer */

+    in1 = *pIn++;

+    in2 = *pIn++;

+    in3 = *pIn++;

+    in4 = *pIn++;

+

+    out1 = (q7_t) (in1 >> 24);

+    out2 = (q7_t) (in2 >> 24);

+    out3 = (q7_t) (in3 >> 24);

+    out4 = (q7_t) (in4 >> 24);

+

+    *__SIMD32(pDst)++ = __PACKq7(out1, out2, out3, out4);

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = (q7_t) A >> 24 */

+    /* convert from q31 to q7 and then store the results in the destination buffer */

+    *pDst++ = (q7_t) (*pIn++ >> 24);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+}

+

+/**    

+ * @} end of q31_to_x group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_float.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_float.c
new file mode 100644
index 000000000..be4ac5fe3
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_float.c
@@ -0,0 +1,123 @@
+/* ----------------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_q7_to_float.c    

+*    

+* Description:	Converts the elements of the Q7 vector to floating-point 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 q7_to_x  Convert 8-bit Integer value    

+ */

+

+/**    

+ * @addtogroup q7_to_x    

+ * @{    

+ */

+

+/**    

+ * @brief Converts the elements of the Q7 vector to floating-point vector.    

+ * @param[in]       *pSrc points to the Q7 input vector    

+ * @param[out]      *pDst points to the floating-point output vector   

+ * @param[in]       blockSize length of the input vector    

+ * @return none.    

+ *		     

+ * \par Description:    

+ *    

+ * The equation used for the conversion process is:    

+ *   

+ * <pre>    

+ * 	pDst[n] = (float32_t) pSrc[n] / 128;   0 <= n < blockSize.    

+ * </pre>    

+ *   

+ */

+

+

+void arm_q7_to_float(

+  q7_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize)

+{

+  q7_t *pIn = pSrc;                              /* Src pointer */

+  uint32_t blkCnt;                               /* loop counter */

+

+

+#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)

+  {

+    /* C = (float32_t) A / 128 */

+    /* convert from q7 to float and then store the results in the destination buffer */

+    *pDst++ = ((float32_t) * pIn++ / 128.0f);

+    *pDst++ = ((float32_t) * pIn++ / 128.0f);

+    *pDst++ = ((float32_t) * pIn++ / 128.0f);

+    *pDst++ = ((float32_t) * pIn++ / 128.0f);

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = (float32_t) A / 128 */

+    /* convert from q7 to float and then store the results in the destination buffer */

+    *pDst++ = ((float32_t) * pIn++ / 128.0f);

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+}

+

+/**    

+ * @} end of q7_to_x group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q15.c
new file mode 100644
index 000000000..019ca4815
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q15.c
@@ -0,0 +1,149 @@
+/* ----------------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_q7_to_q15.c    

+*    

+* Description:	Converts the elements of the Q7 vector to Q15 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    

+ */

+

+/**    

+ * @addtogroup q7_to_x    

+ * @{    

+ */

+

+

+

+

+/**    

+ * @brief Converts the elements of the Q7 vector to Q15 vector.    

+ * @param[in]       *pSrc points to the Q7 input vector    

+ * @param[out]      *pDst points to the Q15 output vector   

+ * @param[in]       blockSize length of the input vector    

+ * @return none.    

+ *    

+ * \par Description:    

+ *    

+ * The equation used for the conversion process is:    

+ *   

+ * <pre>    

+ * 	pDst[n] = (q15_t) pSrc[n] << 8;   0 <= n < blockSize.    

+ * </pre>    

+ *   

+ */

+

+

+void arm_q7_to_q15(

+  q7_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize)

+{

+  q7_t *pIn = pSrc;                              /* Src pointer */

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+  q31_t in;

+  q31_t in1, in2;

+  q31_t out1, out2;

+

+  /* 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)

+  {

+    /* C = (q15_t) A << 8 */

+    /* convert from q7 to q15 and then store the results in the destination buffer */

+    in = *__SIMD32(pIn)++;

+

+    /* rotatate in by 8 and extend two q7_t values to q15_t values */

+    in1 = __SXTB16(__ROR(in, 8));

+

+    /* extend remainig two q7_t values to q15_t values */

+    in2 = __SXTB16(in);

+

+    in1 = in1 << 8u;

+    in2 = in2 << 8u;

+

+    in1 = in1 & 0xFF00FF00;

+    in2 = in2 & 0xFF00FF00;

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    out2 = __PKHTB(in1, in2, 16);

+    out1 = __PKHBT(in2, in1, 16);

+

+#else

+

+    out1 = __PKHTB(in1, in2, 16);

+    out2 = __PKHBT(in2, in1, 16);

+

+#endif

+

+    *__SIMD32(pDst)++ = out1;

+    *__SIMD32(pDst)++ = out2;

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = (q15_t) A << 8 */

+    /* convert from q7 to q15 and then store the results in the destination buffer */

+    *pDst++ = (q15_t) * pIn++ << 8;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+}

+

+/**    

+ * @} end of q7_to_x group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q31.c
new file mode 100644
index 000000000..bbbcc6f4a
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q31.c
@@ -0,0 +1,134 @@
+/* ----------------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:		arm_q7_to_q31.c    

+*    

+* Description:	Converts the elements of the Q7 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    

+ */

+

+/**    

+ * @addtogroup q7_to_x    

+ * @{    

+ */

+

+/**    

+ * @brief Converts the elements of the Q7 vector to Q31 vector.    

+ * @param[in]       *pSrc points to the Q7 input vector    

+ * @param[out]      *pDst points to the Q31 output vector   

+ * @param[in]       blockSize length of the input vector    

+ * @return none.    

+ *    

+ * \par Description:    

+ *    

+ * The equation used for the conversion process is:    

+ *   

+ * <pre>    

+ * 	pDst[n] = (q31_t) pSrc[n] << 24;   0 <= n < blockSize.   

+ * </pre>     

+ *   

+ */

+

+

+void arm_q7_to_q31(

+  q7_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize)

+{

+  q7_t *pIn = pSrc;                              /* Src pointer */

+  uint32_t blkCnt;                               /* loop counter */

+

+#ifndef ARM_MATH_CM0

+

+  q31_t in;

+

+  /* 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)

+  {

+    /* C = (q31_t) A << 24 */

+    /* convert from q7 to q31 and then store the results in the destination buffer */

+    in = *__SIMD32(pIn)++;

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    *pDst++ = (__ROR(in, 8)) & 0xFF000000;

+    *pDst++ = (__ROR(in, 16)) & 0xFF000000;

+    *pDst++ = (__ROR(in, 24)) & 0xFF000000;

+    *pDst++ = (in & 0xFF000000);

+

+#else

+

+    *pDst++ = (in & 0xFF000000);

+    *pDst++ = (__ROR(in, 24)) & 0xFF000000;

+    *pDst++ = (__ROR(in, 16)) & 0xFF000000;

+    *pDst++ = (__ROR(in, 8)) & 0xFF000000;

+

+#endif //              #ifndef ARM_MATH_BIG_ENDIAN

+

+    /* 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 */

+

+  /* Loop over blockSize number of values */

+  blkCnt = blockSize;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+  while(blkCnt > 0u)

+  {

+    /* C = (q31_t) A << 24 */

+    /* convert from q7 to q31 and then store the results in the destination buffer */

+    *pDst++ = (q31_t) * pIn++ << 24;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+}

+

+/**    

+ * @} end of q7_to_x group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_bitreversal.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_bitreversal.c
new file mode 100644
index 000000000..3da790ebb
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_bitreversal.c
@@ -0,0 +1,222 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_bitreversal.c    

+*    

+* Description:	This file has common tables like Bitreverse, reciprocal etc which are used across different functions    

+*    

+* 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  

+*    Initial Version  

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+#include "arm_common_tables.h"

+

+/*    

+ * @brief  In-place bit reversal function.   

+ * @param[in, out] *pSrc        points to the in-place buffer of floating-point data type.   

+ * @param[in]      fftSize      length of the FFT.   

+ * @param[in]      bitRevFactor bit reversal modifier that supports different size FFTs with the same bit reversal table.   

+ * @param[in]      *pBitRevTab  points to the bit reversal table.   

+ * @return none.   

+ */

+

+void arm_bitreversal_f32(

+  float32_t * pSrc,

+  uint16_t fftSize,

+  uint16_t bitRevFactor,

+  uint16_t * pBitRevTab)

+{

+  uint16_t fftLenBy2, fftLenBy2p1;

+  uint16_t i, j;

+  float32_t in;

+

+  /*  Initializations */

+  j = 0u;

+  fftLenBy2 = fftSize >> 1u;

+  fftLenBy2p1 = (fftSize >> 1u) + 1u;

+

+  /* Bit Reversal Implementation */

+  for (i = 0u; i <= (fftLenBy2 - 2u); i += 2u)

+  {

+    if(i < j)

+    {

+      /*  pSrc[i] <-> pSrc[j]; */

+      in = pSrc[2u * i];

+      pSrc[2u * i] = pSrc[2u * j];

+      pSrc[2u * j] = in;

+

+      /*  pSrc[i+1u] <-> pSrc[j+1u] */

+      in = pSrc[(2u * i) + 1u];

+      pSrc[(2u * i) + 1u] = pSrc[(2u * j) + 1u];

+      pSrc[(2u * j) + 1u] = in;

+

+      /*  pSrc[i+fftLenBy2p1] <-> pSrc[j+fftLenBy2p1] */

+      in = pSrc[2u * (i + fftLenBy2p1)];

+      pSrc[2u * (i + fftLenBy2p1)] = pSrc[2u * (j + fftLenBy2p1)];

+      pSrc[2u * (j + fftLenBy2p1)] = in;

+

+      /*  pSrc[i+fftLenBy2p1+1u] <-> pSrc[j+fftLenBy2p1+1u] */

+      in = pSrc[(2u * (i + fftLenBy2p1)) + 1u];

+      pSrc[(2u * (i + fftLenBy2p1)) + 1u] =

+        pSrc[(2u * (j + fftLenBy2p1)) + 1u];

+      pSrc[(2u * (j + fftLenBy2p1)) + 1u] = in;

+

+    }

+

+    /*  pSrc[i+1u] <-> pSrc[j+1u] */

+    in = pSrc[2u * (i + 1u)];

+    pSrc[2u * (i + 1u)] = pSrc[2u * (j + fftLenBy2)];

+    pSrc[2u * (j + fftLenBy2)] = in;

+

+    /*  pSrc[i+2u] <-> pSrc[j+2u] */

+    in = pSrc[(2u * (i + 1u)) + 1u];

+    pSrc[(2u * (i + 1u)) + 1u] = pSrc[(2u * (j + fftLenBy2)) + 1u];

+    pSrc[(2u * (j + fftLenBy2)) + 1u] = in;

+

+    /*  Reading the index for the bit reversal */

+    j = *pBitRevTab;

+

+    /*  Updating the bit reversal index depending on the fft length  */

+    pBitRevTab += bitRevFactor;

+  }

+}

+

+

+

+/*    

+ * @brief  In-place bit reversal function.   

+ * @param[in, out] *pSrc        points to the in-place buffer of Q31 data type.   

+ * @param[in]      fftLen       length of the FFT.   

+ * @param[in]      bitRevFactor bit reversal modifier that supports different size FFTs with the same bit reversal table   

+ * @param[in]      *pBitRevTab  points to bit reversal table.   

+ * @return none.   

+ */

+

+void arm_bitreversal_q31(

+  q31_t * pSrc,

+  uint32_t fftLen,

+  uint16_t bitRevFactor,

+  uint16_t * pBitRevTable)

+{

+  uint32_t fftLenBy2, fftLenBy2p1, i, j;

+  q31_t in;

+

+  /*  Initializations      */

+  j = 0u;

+  fftLenBy2 = fftLen / 2u;

+  fftLenBy2p1 = (fftLen / 2u) + 1u;

+

+  /* Bit Reversal Implementation */

+  for (i = 0u; i <= (fftLenBy2 - 2u); i += 2u)

+  {

+    if(i < j)

+    {

+      /*  pSrc[i] <-> pSrc[j]; */

+      in = pSrc[2u * i];

+      pSrc[2u * i] = pSrc[2u * j];

+      pSrc[2u * j] = in;

+

+      /*  pSrc[i+1u] <-> pSrc[j+1u] */

+      in = pSrc[(2u * i) + 1u];

+      pSrc[(2u * i) + 1u] = pSrc[(2u * j) + 1u];

+      pSrc[(2u * j) + 1u] = in;

+

+      /*  pSrc[i+fftLenBy2p1] <-> pSrc[j+fftLenBy2p1] */

+      in = pSrc[2u * (i + fftLenBy2p1)];

+      pSrc[2u * (i + fftLenBy2p1)] = pSrc[2u * (j + fftLenBy2p1)];

+      pSrc[2u * (j + fftLenBy2p1)] = in;

+

+      /*  pSrc[i+fftLenBy2p1+1u] <-> pSrc[j+fftLenBy2p1+1u] */

+      in = pSrc[(2u * (i + fftLenBy2p1)) + 1u];

+      pSrc[(2u * (i + fftLenBy2p1)) + 1u] =

+        pSrc[(2u * (j + fftLenBy2p1)) + 1u];

+      pSrc[(2u * (j + fftLenBy2p1)) + 1u] = in;

+

+    }

+

+    /*  pSrc[i+1u] <-> pSrc[j+1u] */

+    in = pSrc[2u * (i + 1u)];

+    pSrc[2u * (i + 1u)] = pSrc[2u * (j + fftLenBy2)];

+    pSrc[2u * (j + fftLenBy2)] = in;

+

+    /*  pSrc[i+2u] <-> pSrc[j+2u] */

+    in = pSrc[(2u * (i + 1u)) + 1u];

+    pSrc[(2u * (i + 1u)) + 1u] = pSrc[(2u * (j + fftLenBy2)) + 1u];

+    pSrc[(2u * (j + fftLenBy2)) + 1u] = in;

+

+    /*  Reading the index for the bit reversal */

+    j = *pBitRevTable;

+

+    /*  Updating the bit reversal index depending on the fft length */

+    pBitRevTable += bitRevFactor;

+  }

+}

+

+

+

+/*    

+   * @brief  In-place bit reversal function.   

+   * @param[in, out] *pSrc        points to the in-place buffer of Q15 data type.   

+   * @param[in]      fftLen       length of the FFT.   

+   * @param[in]      bitRevFactor bit reversal modifier that supports different size FFTs with the same bit reversal table   

+   * @param[in]      *pBitRevTab  points to bit reversal table.   

+   * @return none.   

+ */

+

+void arm_bitreversal_q15(

+  q15_t * pSrc16,

+  uint32_t fftLen,

+  uint16_t bitRevFactor,

+  uint16_t * pBitRevTab)

+{

+  q31_t *pSrc = (q31_t *) pSrc16;

+  q31_t in;

+  uint32_t fftLenBy2, fftLenBy2p1;

+  uint32_t i, j;

+

+  /*  Initializations */

+  j = 0u;

+  fftLenBy2 = fftLen / 2u;

+  fftLenBy2p1 = (fftLen / 2u) + 1u;

+

+  /* Bit Reversal Implementation */

+  for (i = 0u; i <= (fftLenBy2 - 2u); i += 2u)

+  {

+    if(i < j)

+    {

+      /*  pSrc[i] <-> pSrc[j]; */

+      /*  pSrc[i+1u] <-> pSrc[j+1u] */

+      in = pSrc[i];

+      pSrc[i] = pSrc[j];

+      pSrc[j] = in;

+

+      /*  pSrc[i + fftLenBy2p1] <-> pSrc[j + fftLenBy2p1];  */

+      /*  pSrc[i + fftLenBy2p1+1u] <-> pSrc[j + fftLenBy2p1+1u] */

+      in = pSrc[i + fftLenBy2p1];

+      pSrc[i + fftLenBy2p1] = pSrc[j + fftLenBy2p1];

+      pSrc[j + fftLenBy2p1] = in;

+    }

+

+    /*  pSrc[i+1u] <-> pSrc[j+fftLenBy2];         */

+    /*  pSrc[i+2] <-> pSrc[j+fftLenBy2+1u]  */

+    in = pSrc[i + 1u];

+    pSrc[i + 1u] = pSrc[j + fftLenBy2];

+    pSrc[j + fftLenBy2] = in;

+

+    /*  Reading the index for the bit reversal */

+    j = *pBitRevTab;

+

+    /*  Updating the bit reversal index depending on the fft length  */

+    pBitRevTab += bitRevFactor;

+  }

+}

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_f32.c
new file mode 100644
index 000000000..274b69928
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_f32.c
@@ -0,0 +1,511 @@
+/* ----------------------------------------------------------------------   

+* Copyright (C) 2010 ARM Limited. All rights reserved.   

+*   

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*   

+* Project: 	    CMSIS DSP Library   

+* Title:	    arm_cfft_radix2_f32.c   

+*   

+* Description:	Radix-2 Decimation in Frequency CFFT & CIFFT Floating point 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 1.0.3 2010/11/29  

+*    Initial version   

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**   

+ * @ingroup groupTransforms   

+ */

+

+/**   

+ * @defgroup Radix2_CFFT_CIFFT Radix-2 Complex FFT Functions   

+ *   

+ * \par   

+ * Complex Fast Fourier Transform(CFFT) and Complex Inverse Fast Fourier Transform(CIFFT) is an efficient algorithm to compute Discrete Fourier Transform(DFT) and Inverse Discrete Fourier Transform(IDFT).   

+ * Computational complexity of CFFT reduces drastically when compared to DFT.   

+ * \par   

+ * This set of functions implements CFFT/CIFFT   

+ * for Q15, Q31, and floating-point data types.  The functions operates on in-place buffer which uses same buffer for input and output.   

+ * Complex input is stored in input buffer in an interleaved fashion.   

+ *   

+ * \par   

+ * The functions operate on blocks of input and output data and each call to the function processes   

+ * <code>2*fftLen</code> samples through the transform.  <code>pSrc</code>  points to In-place arrays containing <code>2*fftLen</code> values.   

+ * \par  

+ * The <code>pSrc</code> points to the array of in-place buffer of size <code>2*fftLen</code> and inputs and outputs are stored in an interleaved fashion as shown below.   

+ * <pre> {real[0], imag[0], real[1], imag[1],..} </pre>   

+ *   

+ * \par Lengths supported by the transform:  

+ * \par   

+ * Internally, the function utilize a radix-2 decimation in frequency(DIF) algorithm   

+ * and the size of the FFT supported are of the lengths [16, 32, 64, 128, 256, 512, 1024, 2048, 4096].  

+ *    

+ *   

+ * \par Algorithm:   

+ *   

+ * <b>Complex Fast Fourier Transform:</b>   

+ * \par    

+ * Input real and imaginary data:   

+ * <pre>   

+ * x(n) = xa + j * ya   

+ * x(n+N/2 ) = xb + j * yb   

+ * </pre>   

+ * where N is length of FFT   

+ * \par   

+ * Output real and imaginary data:   

+ * <pre>   

+ * X(2r) = xa'+ j * ya'   

+ * X(2r+1) = xb'+ j * yb'   

+ * </pre>   

+ * \par   

+ * Twiddle factors for radix-2 FFT:   

+ * <pre>   

+ * Wn = cosVal + j * (- sinVal)   

+ * </pre>   

+ *   

+ * \par   

+ * \image html CFFT_Radix2.gif "Radix-2 Decimation-in Frequency Complex Fast Fourier Transform"   

+ *   

+ * \par   

+ * Output from Radix-2 CFFT Results in Digit reversal order. Interchange middle two branches of every butterfly results in Bit reversed output.   

+ * \par   

+ * <b> Butterfly CFFT equations:</b>   

+ * <pre>   

+ * xa' = xa + xb  

+ * ya' = ya + yb  

+ * xb' = (xa-xb)* cosVal + (ya-yb) * sinVal   

+ * yb' = (ya-yb)* cosVal - (xa-xb) * sinVal   

+ * </pre>   

+ *   

+ *   

+ * <b>Complex Inverse Fast Fourier Transform:</b>   

+ * \par   

+ * CIFFT uses same twiddle factor table as CFFT with modifications in the design equation as shown below.   

+ *   

+ * \par   

+ * <b> Modified Butterfly CIFFT equations:</b>   

+ * <pre>   

+ * xa' = xa + xb  

+ * ya' = ya + yb  

+ * xb' = (xa-xb)* cosVal - (ya-yb) * sinVal   

+ * yb' = (ya-yb)* cosVal + (xa-xb) * sinVal   

+ * </pre>   

+ *   

+ * \par Instance Structure   

+ * A separate instance structure must be defined for each Instance but the twiddle factors and bit reversal tables can be reused.   

+ * There are separate instance structure declarations for each of the 3 supported data types.   

+ *   

+ * \par Initialization Functions   

+ * There is also an associated initialization function for each data type.   

+ * The initialization function performs the following operations:   

+ * - Sets the values of the internal structure fields.   

+ * - Initializes twiddle factor table and bit reversal table pointers   

+ * \par   

+ * Use of the initialization function is optional.   

+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.   

+ * To place an instance structure into a const data section, the instance structure must be manually initialized.   

+ * Manually initialize the instance structure as follows:   

+ * <pre>   

+ *arm_cfft_radix2_instance_f32 S = {fftLen, ifftFlag, bitReverseFlag, pTwiddle, pBitRevTable, twidCoefModifier, bitRevFactor, onebyfftLen};   

+ *arm_cfft_radix2_instance_q31 S = {fftLen, ifftFlag, bitReverseFlag, pTwiddle, pBitRevTable, twidCoefModifier, bitRevFactor};   

+ *arm_cfft_radix2_instance_q15 S = {fftLen, ifftFlag, bitReverseFlag, pTwiddle, pBitRevTable, twidCoefModifier, bitRevFactor};   

+ * </pre>   

+ * \par   

+ * where <code>fftLen</code> length of CFFT/CIFFT; <code>ifftFlag</code> Flag for selection of CFFT or CIFFT(Set ifftFlag to calculate CIFFT otherwise calculates CFFT);   

+ * <code>bitReverseFlag</code> Flag for selection of output order(Set bitReverseFlag to output in normal order otherwise output in bit reversed order);    

+ * <code>pTwiddle</code>points to array of twiddle coefficients; <code>pBitRevTable</code> points to the array of bit reversal table.   

+ * <code>twidCoefModifier</code> modifier for twiddle factor table which supports all FFT lengths with same table;    

+ * <code>pBitRevTable</code> modifier for bit reversal table which supports all FFT lengths with same table.   

+ * <code>onebyfftLen</code> value of 1/fftLen to calculate CIFFT;   

+ *  

+ * \par Fixed-Point Behavior   

+ * Care must be taken when using the fixed-point versions of the CFFT/CIFFT function.   

+ * Refer to the function specific documentation below for usage guidelines.   

+ */

+

+

+/**   

+ * @addtogroup Radix2_CFFT_CIFFT   

+ * @{   

+ */

+

+/**   

+ * @details   

+ * @brief Processing function for the floating-point Radix-2 CFFT/CIFFT.  

+ * @param[in]      *S    points to an instance of the floating-point Radix-2 CFFT/CIFFT structure.  

+ * @param[in, out] *pSrc points to the complex data buffer of size <code>2*fftLen</code>. Processing occurs in-place.  

+ * @return none.  

+ */

+

+void arm_cfft_radix2_f32(

+  const arm_cfft_radix2_instance_f32 * S,

+  float32_t * pSrc)

+{

+

+  if(S->ifftFlag == 1u)

+  {

+    /*  Complex IFFT radix-2  */

+    arm_radix2_butterfly_inverse_f32(pSrc, S->fftLen, S->pTwiddle,

+                                     S->twidCoefModifier, S->onebyfftLen);

+  }

+  else

+  {

+    /*  Complex FFT radix-2  */

+    arm_radix2_butterfly_f32(pSrc, S->fftLen, S->pTwiddle,

+                             S->twidCoefModifier);

+  }

+

+  if(S->bitReverseFlag == 1u)

+  {

+    /*  Bit Reversal */

+    arm_bitreversal_f32(pSrc, S->fftLen, S->bitRevFactor, S->pBitRevTable);

+  }

+

+}

+

+

+/**    

+ * @} end of Radix2_CFFT_CIFFT group    

+ */

+

+

+

+/* ----------------------------------------------------------------------    

+** Internal helper function used by the FFTs    

+** ------------------------------------------------------------------- */

+

+/*    

+ * @brief  Core function for the floating-point CFFT butterfly process.   

+ * @param[in, out] *pSrc            points to the in-place buffer of floating-point data type.   

+ * @param[in]      fftLen           length of the FFT.   

+ * @param[in]      *pCoef           points to the twiddle coefficient buffer.   

+ * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   

+ * @return none.   

+ */

+

+void arm_radix2_butterfly_f32(

+  float32_t * pSrc,

+  uint32_t fftLen,

+  float32_t * pCoef,

+  uint16_t twidCoefModifier)

+{

+

+  int i, j, k, l;

+  int n1, n2, ia;

+  float32_t xt, yt, cosVal, sinVal;

+

+#ifndef ARM_MATH_CM0

+

+  /*  Initializations for the first stage */

+  n2 = fftLen;

+

+  n1 = n2;

+  n2 = n2 >> 1;

+  ia = 0;

+

+  // loop for groups 

+  for (i = 0; i < n2; i++)

+  {

+    cosVal = pCoef[ia * 2];

+    sinVal = pCoef[(ia * 2) + 1];

+

+    /*  Twiddle coefficients index modifier */

+    ia = ia + twidCoefModifier;

+

+    /*  index calculation for the input as, */

+    /*  pSrc[i + 0], pSrc[i + fftLen/1] */

+    l = i + n2;

+

+    /*  Butterfly implementation */

+    xt = pSrc[2 * i] - pSrc[2 * l];

+    pSrc[2 * i] = pSrc[2 * i] + pSrc[2 * l];

+

+    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];

+    pSrc[2 * i + 1] = pSrc[2 * l + 1] + pSrc[2 * i + 1];

+

+    pSrc[2u * l] = xt * cosVal + yt * sinVal;

+

+    pSrc[2u * l + 1u] = yt * cosVal - xt * sinVal;

+

+  }                             // groups loop end 

+

+  twidCoefModifier = twidCoefModifier << 1u;

+

+  // loop for stage 

+  for (k = fftLen / 2; k > 2; k = k >> 1)

+  {

+    n1 = n2;

+    n2 = n2 >> 1;

+    ia = 0;

+

+    // loop for groups 

+    for (j = 0; j < n2; j++)

+    {

+      cosVal = pCoef[ia * 2];

+      sinVal = pCoef[(ia * 2) + 1];

+      ia = ia + twidCoefModifier;

+

+      // loop for butterfly 

+      for (i = j; i < fftLen; i += n1)

+      {

+        l = i + n2;

+        xt = pSrc[2 * i] - pSrc[2 * l];

+        pSrc[2 * i] = pSrc[2 * i] + pSrc[2 * l];

+

+        yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];

+        pSrc[2 * i + 1] = pSrc[2 * l + 1] + pSrc[2 * i + 1];

+

+        pSrc[2u * l] = xt * cosVal + yt * sinVal;

+

+        pSrc[2u * l + 1u] = yt * cosVal - xt * sinVal;

+

+      }                         // butterfly loop end 

+

+    }                           // groups loop end 

+

+    twidCoefModifier = twidCoefModifier << 1u;

+  }                             // stages loop end 

+

+  n1 = n2;

+  n2 = n2 >> 1;

+  ia = 0;

+

+  cosVal = pCoef[ia * 2];

+  sinVal = pCoef[(ia * 2) + 1];

+  ia = ia + twidCoefModifier;

+

+  // loop for butterfly 

+  for (i = 0; i < fftLen; i += n1)

+  {

+    l = i + n2;

+    xt = pSrc[2 * i] - pSrc[2 * l];

+    pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]);

+

+    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];

+    pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]);

+

+    pSrc[2u * l] = xt;

+

+    pSrc[2u * l + 1u] = yt;

+

+  }                             // groups loop end 

+

+#else

+

+  //N = fftLen; 

+  n2 = fftLen;

+

+  // loop for stage 

+  for (k = fftLen; k > 1; k = k >> 1)

+  {

+    n1 = n2;

+    n2 = n2 >> 1;

+    ia = 0;

+

+    // loop for groups 

+    for (j = 0; j < n2; j++)

+    {

+      cosVal = pCoef[ia * 2];

+      sinVal = pCoef[(ia * 2) + 1];

+      ia = ia + twidCoefModifier;

+

+      // loop for butterfly 

+      for (i = j; i < fftLen; i += n1)

+      {

+        l = i + n2;

+        xt = pSrc[2 * i] - pSrc[2 * l];

+        pSrc[2 * i] = pSrc[2 * i] + pSrc[2 * l];

+

+        yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];

+        pSrc[2 * i + 1] = pSrc[2 * l + 1] + pSrc[2 * i + 1];

+

+        pSrc[2 * l] = (cosVal * xt + sinVal * yt);      // >> 15; 

+        pSrc[2 * l + 1] = (cosVal * yt - sinVal * xt);  // >> 15; 

+

+      }

+    }

+    twidCoefModifier = twidCoefModifier << 1u;

+  }

+

+#endif //    #ifndef ARM_MATH_CM0

+

+}

+

+

+void arm_radix2_butterfly_inverse_f32(

+  float32_t * pSrc,

+  uint32_t fftLen,

+  float32_t * pCoef,

+  uint16_t twidCoefModifier,

+  float32_t onebyfftLen)

+{

+

+  int i, j, k, l;

+  int n1, n2, ia;

+  float32_t xt, yt, cosVal, sinVal;

+

+#ifndef ARM_MATH_CM0

+

+  //N = fftLen; 

+  n2 = fftLen;

+

+  n1 = n2;

+  n2 = n2 >> 1;

+  ia = 0;

+

+  // loop for groups 

+  for (i = 0; i < n2; i++)

+  {

+    cosVal = pCoef[ia * 2];

+    sinVal = pCoef[(ia * 2) + 1];

+    ia = ia + twidCoefModifier;

+

+    l = i + n2;

+    xt = pSrc[2 * i] - pSrc[2 * l];

+    pSrc[2 * i] = pSrc[2 * i] + pSrc[2 * l];

+

+    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];

+    pSrc[2 * i + 1] = pSrc[2 * l + 1] + pSrc[2 * i + 1];

+

+    pSrc[2u * l] = xt * cosVal - yt * sinVal;

+

+    pSrc[2u * l + 1u] = yt * cosVal + xt * sinVal;

+

+  }                             // groups loop end 

+

+  twidCoefModifier = twidCoefModifier << 1u;

+

+  // loop for stage 

+  for (k = fftLen / 2; k > 2; k = k >> 1)

+  {

+    n1 = n2;

+    n2 = n2 >> 1;

+    ia = 0;

+

+    // loop for groups 

+    for (j = 0; j < n2; j++)

+    {

+      cosVal = pCoef[ia * 2];

+      sinVal = pCoef[(ia * 2) + 1];

+      ia = ia + twidCoefModifier;

+

+      // loop for butterfly 

+      for (i = j; i < fftLen; i += n1)

+      {

+        l = i + n2;

+        xt = pSrc[2 * i] - pSrc[2 * l];

+        pSrc[2 * i] = pSrc[2 * i] + pSrc[2 * l];

+

+        yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];

+        pSrc[2 * i + 1] = pSrc[2 * l + 1] + pSrc[2 * i + 1];

+

+        pSrc[2u * l] = xt * cosVal - yt * sinVal;

+

+        pSrc[2u * l + 1u] = yt * cosVal + xt * sinVal;

+

+      }                         // butterfly loop end 

+

+    }                           // groups loop end 

+

+    twidCoefModifier = twidCoefModifier << 1u;

+  }                             // stages loop end 

+

+  n1 = n2;

+  n2 = n2 >> 1;

+  ia = 0;

+

+  cosVal = pCoef[ia * 2];

+  sinVal = pCoef[(ia * 2) + 1];

+  ia = ia + twidCoefModifier;

+

+  // loop for butterfly 

+  for (i = 0; i < fftLen; i += n1)

+  {

+    l = i + n2;

+    xt = pSrc[2 * i] - pSrc[2 * l];

+    pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]) * onebyfftLen;

+

+    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];

+    pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]) * onebyfftLen;

+

+    pSrc[2u * l] = xt * onebyfftLen;

+

+    pSrc[2u * l + 1u] = yt * onebyfftLen;

+

+  }                             // butterfly loop end 

+

+#else

+

+  //N = fftLen; 

+  n2 = fftLen;

+

+  // loop for stage 

+  for (k = fftLen; k > 2; k = k >> 1)

+  {

+    n1 = n2;

+    n2 = n2 >> 1;

+    ia = 0;

+

+    // loop for groups 

+    for (j = 0; j < n2; j++)

+    {

+      cosVal = pCoef[ia * 2];

+      sinVal = pCoef[(ia * 2) + 1];

+      ia = ia + twidCoefModifier;

+

+      // loop for butterfly 

+      for (i = j; i < fftLen; i += n1)

+      {

+        l = i + n2;

+        xt = pSrc[2 * i] - pSrc[2 * l];

+        pSrc[2 * i] = pSrc[2 * i] + pSrc[2 * l];

+

+        yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];

+        pSrc[2 * i + 1] = pSrc[2 * l + 1] + pSrc[2 * i + 1];

+

+        pSrc[2u * l] = xt * cosVal - yt * sinVal;

+

+        pSrc[2u * l + 1u] = yt * cosVal + xt * sinVal;

+

+      }                         // butterfly loop end 

+

+    }                           // groups loop end 

+

+    twidCoefModifier = twidCoefModifier << 1u;

+  }                             // stages loop end 

+

+  n1 = n2;

+  n2 = n2 >> 1;

+  ia = 0;

+

+  cosVal = pCoef[ia * 2];

+  sinVal = pCoef[(ia * 2) + 1];

+  ia = ia + twidCoefModifier;

+

+  // loop for butterfly 

+  for (i = 0; i < fftLen; i += n1)

+  {

+    l = i + n2;

+    xt = pSrc[2 * i] - pSrc[2 * l];

+    pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]) * onebyfftLen;

+

+    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];

+    pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]) * onebyfftLen;

+

+    pSrc[2u * l] = xt * onebyfftLen;

+

+    pSrc[2u * l + 1u] = yt * onebyfftLen;

+

+  }                             // butterfly loop end 

+

+#endif //      #ifndef ARM_MATH_CM0

+

+}

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_f32.c
new file mode 100644
index 000000000..a41ed25d2
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_f32.c
@@ -0,0 +1,198 @@
+/* ----------------------------------------------------------------------   

+* Copyright (C) 2010 ARM Limited. All rights reserved.   

+*   

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*   

+* Project: 	    CMSIS DSP Library   

+* Title:	    arm_cfft_radix4_init_f32.c   

+*   

+* Description:	Radix-4 Decimation in Frequency Floating-point CFFT & CIFFT Initialization 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 1.0.3 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"

+#include "arm_common_tables.h"

+

+/**   

+ * @ingroup groupTransforms   

+ */

+

+/**   

+ * @addtogroup Radix2_CFFT_CIFFT   

+ * @{   

+ */

+

+/**   

+* @brief  Initialization function for the floating-point CFFT/CIFFT.  

+* @param[in,out] *S             points to an instance of the floating-point CFFT/CIFFT structure.  

+* @param[in]     fftLen         length of the FFT.  

+* @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.  

+* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.  

+* @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if <code>fftLen</code> is not a supported value.  

+*   

+* \par Description:  

+* \par   

+* The parameter <code>ifftFlag</code> controls whether a forward or inverse transform is computed.   

+* Set(=1) ifftFlag for calculation of CIFFT otherwise  CFFT is calculated  

+* \par   

+* The parameter <code>bitReverseFlag</code> controls whether output is in normal order or bit reversed order.   

+* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.   

+* \par   

+* The parameter <code>fftLen</code>	Specifies length of CFFT/CIFFT process. Supported FFT Lengths are 16, 64, 256, 1024.   

+* \par   

+* This Function also initializes Twiddle factor table pointer and Bit reversal table pointer.   

+*/

+arm_status arm_cfft_radix2_init_f32(

+  arm_cfft_radix2_instance_f32 * S,

+  uint16_t fftLen,

+  uint8_t ifftFlag,

+  uint8_t bitReverseFlag)

+{

+  /*  Initialise the default arm status */

+  arm_status status = ARM_MATH_SUCCESS;

+

+  /*  Initialise the FFT length */

+  S->fftLen = fftLen;

+

+  /*  Initialise the Twiddle coefficient pointer */

+  S->pTwiddle = (float32_t *) twiddleCoef;

+

+  /*  Initialise the Flag for selection of CFFT or CIFFT */

+  S->ifftFlag = ifftFlag;

+

+  /*  Initialise the Flag for calculation Bit reversal or not */

+  S->bitReverseFlag = bitReverseFlag;

+

+  /*  Initializations of structure parameters depending on the FFT length */

+  switch (S->fftLen)

+  {

+

+  case 4096u:

+    /*  Initializations of structure parameters for 4096 point FFT */

+

+    /*  Initialise the twiddle coef modifier value */

+    S->twidCoefModifier = 1u;

+    /*  Initialise the bit reversal table modifier */

+    S->bitRevFactor = 1u;

+    /*  Initialise the bit reversal table pointer */

+    S->pBitRevTable = (uint16_t *) armBitRevTable;

+    /*  Initialise the 1/fftLen Value */

+    S->onebyfftLen = 0.000244140625;

+    break;

+

+  case 2048u:

+    /*  Initializations of structure parameters for 2048 point FFT */

+

+    /*  Initialise the twiddle coef modifier value */

+    S->twidCoefModifier = 2u;

+    /*  Initialise the bit reversal table modifier */

+    S->bitRevFactor = 2u;

+    /*  Initialise the bit reversal table pointer */

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[1];

+    /*  Initialise the 1/fftLen Value */

+    S->onebyfftLen = 0.00048828125;

+    break;

+

+  case 1024u:

+    /*  Initializations of structure parameters for 1024 point FFT */

+

+    /*  Initialise the twiddle coef modifier value */

+    S->twidCoefModifier = 4u;

+    /*  Initialise the bit reversal table modifier */

+    S->bitRevFactor = 4u;

+    /*  Initialise the bit reversal table pointer */

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[3];

+    /*  Initialise the 1/fftLen Value */

+    S->onebyfftLen = 0.0009765625f;

+    break;

+

+  case 512u:

+    /*  Initializations of structure parameters for 512 point FFT */

+

+    /*  Initialise the twiddle coef modifier value */

+    S->twidCoefModifier = 8u;

+    /*  Initialise the bit reversal table modifier */

+    S->bitRevFactor = 8u;

+    /*  Initialise the bit reversal table pointer */

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[7];

+    /*  Initialise the 1/fftLen Value */

+    S->onebyfftLen = 0.001953125;

+    break;

+

+  case 256u:

+    /*  Initializations of structure parameters for 256 point FFT */

+    S->twidCoefModifier = 16u;

+    S->bitRevFactor = 16u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[15];

+    S->onebyfftLen = 0.00390625f;

+    break;

+

+  case 128u:

+    /*  Initializations of structure parameters for 128 point FFT */

+    S->twidCoefModifier = 32u;

+    S->bitRevFactor = 32u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[31];

+    S->onebyfftLen = 0.0078125;

+    break;

+

+  case 64u:

+    /*  Initializations of structure parameters for 64 point FFT */

+    S->twidCoefModifier = 64u;

+    S->bitRevFactor = 64u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[63];

+    S->onebyfftLen = 0.015625f;

+    break;

+

+  case 32u:

+    /*  Initializations of structure parameters for 64 point FFT */

+    S->twidCoefModifier = 128u;

+    S->bitRevFactor = 128u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[127];

+    S->onebyfftLen = 0.03125;

+    break;

+

+  case 16u:

+    /*  Initializations of structure parameters for 16 point FFT */

+    S->twidCoefModifier = 256u;

+    S->bitRevFactor = 256u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[255];

+    S->onebyfftLen = 0.0625f;

+    break;

+

+

+  default:

+    /*  Reporting argument error if fftSize is not valid value */

+    status = ARM_MATH_ARGUMENT_ERROR;

+    break;

+  }

+

+  return (status);

+}

+

+/**   

+ * @} end of Radix2_CFFT_CIFFT group   

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q15.c
new file mode 100644
index 000000000..86aa149b2
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q15.c
@@ -0,0 +1,186 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_cfft_radix2_init_q15.c    

+*    

+* Description:	Radix-2 Decimation in Frequency Q15 FFT & IFFT initialization 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"

+#include "arm_common_tables.h"

+

+/**    

+ * @ingroup groupTransforms    

+ */

+

+

+/**    

+ * @addtogroup Radix2_CFFT_CIFFT    

+ * @{    

+ */

+

+/**   

+* @brief Initialization function for the Q15 CFFT/CIFFT.   

+* @param[in,out] *S             points to an instance of the Q15 CFFT/CIFFT structure.   

+* @param[in]     fftLen         length of the FFT.   

+* @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.  

+* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.  

+* @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if <code>fftLen</code> is not a supported value.  

+*   

+* \par Description:  

+* \par   

+* The parameter <code>ifftFlag</code> controls whether a forward or inverse transform is computed.   

+* Set(=1) ifftFlag for calculation of CIFFT otherwise  CFFT is calculated  

+* \par   

+* The parameter <code>bitReverseFlag</code> controls whether output is in normal order or bit reversed order.   

+* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.   

+* \par   

+* The parameter <code>fftLen</code>	Specifies length of CFFT/CIFFT process. Supported FFT Lengths are 16, 64, 256, 1024.   

+* \par   

+* This Function also initializes Twiddle factor table pointer and Bit reversal table pointer.   

+*/

+

+arm_status arm_cfft_radix2_init_q15(

+  arm_cfft_radix2_instance_q15 * S,

+  uint16_t fftLen,

+  uint8_t ifftFlag,

+  uint8_t bitReverseFlag)

+{

+  /*  Initialise the default arm status */

+  arm_status status = ARM_MATH_SUCCESS;

+

+  /*  Initialise the FFT length */

+  S->fftLen = fftLen;

+

+  /*  Initialise the Twiddle coefficient pointer */

+  S->pTwiddle = (q15_t *) twiddleCoefQ15;

+  /*  Initialise the Flag for selection of CFFT or CIFFT */

+  S->ifftFlag = ifftFlag;

+  /*  Initialise the Flag for calculation Bit reversal or not */

+  S->bitReverseFlag = bitReverseFlag;

+

+  /*  Initializations of structure parameters depending on the FFT length */

+  switch (S->fftLen)

+  {

+  case 4096u:

+    /*  Initializations of structure parameters for 4096 point FFT */

+

+    /*  Initialise the twiddle coef modifier value */

+    S->twidCoefModifier = 1u;

+    /*  Initialise the bit reversal table modifier */

+    S->bitRevFactor = 1u;

+    /*  Initialise the bit reversal table pointer */

+    S->pBitRevTable = (uint16_t *) armBitRevTable;

+

+    break;

+

+  case 2048u:

+    /*  Initializations of structure parameters for 2048 point FFT */

+

+    /*  Initialise the twiddle coef modifier value */

+    S->twidCoefModifier = 2u;

+    /*  Initialise the bit reversal table modifier */

+    S->bitRevFactor = 2u;

+    /*  Initialise the bit reversal table pointer */

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[1];

+

+    break;

+

+  case 1024u:

+    /*  Initializations of structure parameters for 1024 point FFT */

+    S->twidCoefModifier = 4u;

+    S->bitRevFactor = 4u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[3];

+

+    break;

+

+  case 512u:

+    /*  Initializations of structure parameters for 512 point FFT */

+    S->twidCoefModifier = 8u;

+    S->bitRevFactor = 8u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[7];

+

+    break;

+

+  case 256u:

+    /*  Initializations of structure parameters for 256 point FFT */

+    S->twidCoefModifier = 16u;

+    S->bitRevFactor = 16u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[15];

+

+    break;

+

+  case 128u:

+    /*  Initializations of structure parameters for 128 point FFT */

+    S->twidCoefModifier = 32u;

+    S->bitRevFactor = 32u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[31];

+

+    break;

+

+  case 64u:

+    /*  Initializations of structure parameters for 64 point FFT */

+    S->twidCoefModifier = 64u;

+    S->bitRevFactor = 64u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[63];

+

+    break;

+

+  case 32u:

+    /*  Initializations of structure parameters for 32 point FFT */

+    S->twidCoefModifier = 128u;

+    S->bitRevFactor = 128u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[127];

+

+    break;

+

+  case 16u:

+    /*  Initializations of structure parameters for 16 point FFT */

+    S->twidCoefModifier = 256u;

+    S->bitRevFactor = 256u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[255];

+

+    break;

+

+  default:

+    /*  Reporting argument error if fftSize is not valid value */

+    status = ARM_MATH_ARGUMENT_ERROR;

+    break;

+  }

+

+  return (status);

+}

+

+/**    

+ * @} end of Radix2_CFFT_CIFFT group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q31.c
new file mode 100644
index 000000000..29aa9a74b
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q31.c
@@ -0,0 +1,164 @@
+/* ----------------------------------------------------------------------   

+* Copyright (C) 2010 ARM Limited. All rights reserved.   

+*   

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*   

+* Project: 	    CMSIS DSP Library   

+* Title:	    arm_cfft_radix2_init_q31.c   

+*   

+* Description:	Radix-2 Decimation in Frequency Fixed-point CFFT & CIFFT Initialization 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.  

+*   

+* -------------------------------------------------------------------- */

+

+

+#include "arm_math.h"

+#include "arm_common_tables.h"

+

+/**   

+ * @ingroup groupTransforms   

+ */

+

+/**   

+ * @addtogroup Radix2_CFFT_CIFFT   

+ * @{   

+ */

+

+

+/**    

+*    

+* @brief  Initialization function for the Q31 CFFT/CIFFT.   

+* @param[in,out] *S             points to an instance of the Q31 CFFT/CIFFT structure.   

+* @param[in]     fftLen         length of the FFT.  

+* @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.  

+* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.  

+* @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if <code>fftLen</code> is not a supported value.  

+*   

+* \par Description:  

+* \par   

+* The parameter <code>ifftFlag</code> controls whether a forward or inverse transform is computed.   

+* Set(=1) ifftFlag for calculation of CIFFT otherwise  CFFT is calculated  

+* \par   

+* The parameter <code>bitReverseFlag</code> controls whether output is in normal order or bit reversed order.   

+* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.   

+* \par   

+* The parameter <code>fftLen</code>	Specifies length of CFFT/CIFFT process. Supported FFT Lengths are 16, 64, 256, 1024.   

+* \par   

+* This Function also initializes Twiddle factor table pointer and Bit reversal table pointer.   

+*/

+

+arm_status arm_cfft_radix2_init_q31(

+  arm_cfft_radix2_instance_q31 * S,

+  uint16_t fftLen,

+  uint8_t ifftFlag,

+  uint8_t bitReverseFlag)

+{

+  /*  Initialise the default arm status */

+  arm_status status = ARM_MATH_SUCCESS;

+

+  /*  Initialise the FFT length */

+  S->fftLen = fftLen;

+

+  /*  Initialise the Twiddle coefficient pointer */

+  S->pTwiddle = (q31_t *) twiddleCoefQ31;

+  /*  Initialise the Flag for selection of CFFT or CIFFT */

+  S->ifftFlag = ifftFlag;

+  /*  Initialise the Flag for calculation Bit reversal or not */

+  S->bitReverseFlag = bitReverseFlag;

+

+  /*  Initializations of Instance structure depending on the FFT length */

+  switch (S->fftLen)

+  {

+    /*  Initializations of structure parameters for 4096 point FFT */

+  case 4096u:

+    /*  Initialise the twiddle coef modifier value */

+    S->twidCoefModifier = 1u;

+    /*  Initialise the bit reversal table modifier */

+    S->bitRevFactor = 1u;

+    /*  Initialise the bit reversal table pointer */

+    S->pBitRevTable = (uint16_t *) armBitRevTable;

+    break;

+

+    /*  Initializations of structure parameters for 2048 point FFT */

+  case 2048u:

+    /*  Initialise the twiddle coef modifier value */

+    S->twidCoefModifier = 2u;

+    /*  Initialise the bit reversal table modifier */

+    S->bitRevFactor = 2u;

+    /*  Initialise the bit reversal table pointer */

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[1];

+    break;

+

+    /*  Initializations of structure parameters for 1024 point FFT */

+  case 1024u:

+    /*  Initialise the twiddle coef modifier value */

+    S->twidCoefModifier = 4u;

+    /*  Initialise the bit reversal table modifier */

+    S->bitRevFactor = 4u;

+    /*  Initialise the bit reversal table pointer */

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[3];

+    break;

+

+    /*  Initializations of structure parameters for 512 point FFT */

+  case 512u:

+    /*  Initialise the twiddle coef modifier value */

+    S->twidCoefModifier = 8u;

+    /*  Initialise the bit reversal table modifier */

+    S->bitRevFactor = 8u;

+    /*  Initialise the bit reversal table pointer */

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[7];

+    break;

+

+  case 256u:

+    /*  Initializations of structure parameters for 256 point FFT */

+    S->twidCoefModifier = 16u;

+    S->bitRevFactor = 16u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[15];

+    break;

+

+  case 128u:

+    /*  Initializations of structure parameters for 128 point FFT */

+    S->twidCoefModifier = 32u;

+    S->bitRevFactor = 32u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[31];

+    break;

+

+  case 64u:

+    /*  Initializations of structure parameters for 64 point FFT */

+    S->twidCoefModifier = 64u;

+    S->bitRevFactor = 64u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[63];

+    break;

+

+  case 32u:

+    /*  Initializations of structure parameters for 32 point FFT */

+    S->twidCoefModifier = 128u;

+    S->bitRevFactor = 128u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[127];

+    break;

+

+  case 16u:

+    /*  Initializations of structure parameters for 16 point FFT */

+    S->twidCoefModifier = 256u;

+    S->bitRevFactor = 256u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[255];

+    break;

+

+

+  default:

+    /*  Reporting argument error if fftSize is not valid value */

+    status = ARM_MATH_ARGUMENT_ERROR;

+    break;

+  }

+

+  return (status);

+}

+

+/**   

+ * @} end of Radix2_CFFT_CIFFT group   

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q15.c
new file mode 100644
index 000000000..00c7420cf
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q15.c
@@ -0,0 +1,712 @@
+/* ----------------------------------------------------------------------   

+* Copyright (C) 2010 ARM Limited. All rights reserved.   

+*   

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*   

+* Project: 	    CMSIS DSP Library   

+* Title:	    arm_cfft_radix2_q15.c   

+*   

+* Description:	Radix-2 Decimation in Frequency CFFT & CIFFT Fixed point 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 0.0.3  2010/03/10    

+*    Initial version   

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**   

+ * @ingroup groupTransforms   

+ */

+

+/**   

+ * @defgroup Radix2_CFFT_CIFFT Radix-2 Complex FFT Functions   

+ *   

+ * \par   

+ * Complex Fast Fourier Transform(CFFT) and Complex Inverse Fast Fourier Transform(CIFFT) is an efficient algorithm to compute Discrete Fourier Transform(DFT) and Inverse Discrete Fourier Transform(IDFT).   

+ * Computational complexity of CFFT reduces drastically when compared to DFT.    

+ */

+

+

+/**   

+ * @addtogroup Radix2_CFFT_CIFFT   

+ * @{   

+ */

+

+/**   

+ * @details   

+ * @brief Processing function for the fixed-point CFFT/CIFFT.  

+ * @param[in]      *S    points to an instance of the fixed-point CFFT/CIFFT structure.  

+ * @param[in, out] *pSrc points to the complex data buffer of size <code>2*fftLen</code>. Processing occurs in-place.  

+ * @return none.  

+ */

+

+void arm_cfft_radix2_q15(

+  const arm_cfft_radix2_instance_q15 * S,

+  q15_t * pSrc)

+{

+

+  if(S->ifftFlag == 1u)

+  {

+    arm_radix2_butterfly_inverse_q15(pSrc, S->fftLen,

+                                     S->pTwiddle, S->twidCoefModifier);

+  }

+  else

+  {

+    arm_radix2_butterfly_q15(pSrc, S->fftLen,

+                             S->pTwiddle, S->twidCoefModifier);

+  }

+

+  arm_bitreversal_q15(pSrc, S->fftLen, S->bitRevFactor, S->pBitRevTable);

+}

+

+/**   

+ * @} end of Radix2_CFFT_CIFFT group   

+ */

+

+void arm_radix2_butterfly_q15(

+  q15_t * pSrc,

+  uint32_t fftLen,

+  q15_t * pCoef,

+  uint16_t twidCoefModifier)

+{

+#ifndef ARM_MATH_CM0

+

+  int i, j, k, l;

+  int n1, n2, ia;

+  q15_t in;

+  q31_t T, S, R;

+  q31_t coeff, out1, out2;

+

+  //N = fftLen; 

+  n2 = fftLen;

+

+  n1 = n2;

+  n2 = n2 >> 1;

+  ia = 0;

+

+  // loop for groups 

+  for (i = 0; i < n2; i++)

+  {

+    coeff = _SIMD32_OFFSET(pCoef + (ia * 2u));

+

+    ia = ia + twidCoefModifier;

+

+    l = i + n2;

+

+    T = _SIMD32_OFFSET(pSrc + (2 * i));

+    in = ((int16_t) (T & 0xFFFF)) >> 2;

+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);

+

+    S = _SIMD32_OFFSET(pSrc + (2 * l));

+    in = ((int16_t) (S & 0xFFFF)) >> 2;

+    S = ((S >> 2) & 0xFFFF0000) | (in & 0xFFFF);

+

+    R = __QSUB16(T, S);

+

+    _SIMD32_OFFSET(pSrc + (2 * i)) = __SHADD16(T, S);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    out1 = __SMUAD(coeff, R) >> 16;

+    out2 = __SMUSDX(coeff, R);

+

+#else

+

+    out1 = __SMUSDX(R, coeff) >> 16u;

+    out2 = __SMUAD(coeff, R);

+

+#endif //     #ifndef ARM_MATH_BIG_ENDIAN

+

+    _SIMD32_OFFSET(pSrc + (2u * l)) =

+      (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);

+

+    coeff = _SIMD32_OFFSET(pCoef + (ia * 2u));

+

+    ia = ia + twidCoefModifier;

+

+    // loop for butterfly 

+    i++;

+    l++;

+

+    T = _SIMD32_OFFSET(pSrc + (2 * i));

+    in = ((int16_t) (T & 0xFFFF)) >> 2;

+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);

+

+    S = _SIMD32_OFFSET(pSrc + (2 * l));

+    in = ((int16_t) (S & 0xFFFF)) >> 2;

+    S = ((S >> 2) & 0xFFFF0000) | (in & 0xFFFF);

+

+    R = __QSUB16(T, S);

+

+    _SIMD32_OFFSET(pSrc + (2 * i)) = __SHADD16(T, S);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    out1 = __SMUAD(coeff, R) >> 16;

+    out2 = __SMUSDX(coeff, R);

+

+#else

+

+    out1 = __SMUSDX(R, coeff) >> 16u;

+    out2 = __SMUAD(coeff, R);

+

+#endif //     #ifndef ARM_MATH_BIG_ENDIAN

+

+    _SIMD32_OFFSET(pSrc + (2u * l)) =

+      (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);

+

+  }                             // groups loop end 

+

+  twidCoefModifier = twidCoefModifier << 1u;

+

+  // loop for stage 

+  for (k = fftLen / 2; k > 2; k = k >> 1)

+  {

+    n1 = n2;

+    n2 = n2 >> 1;

+    ia = 0;

+

+    // loop for groups 

+    for (j = 0; j < n2; j++)

+    {

+      coeff = _SIMD32_OFFSET(pCoef + (ia * 2u));

+

+      ia = ia + twidCoefModifier;

+

+      // loop for butterfly 

+      for (i = j; i < fftLen; i += n1)

+      {

+        l = i + n2;

+

+        T = _SIMD32_OFFSET(pSrc + (2 * i));

+

+        S = _SIMD32_OFFSET(pSrc + (2 * l));

+

+        R = __QSUB16(T, S);

+

+        _SIMD32_OFFSET(pSrc + (2 * i)) = __SHADD16(T, S);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+        out1 = __SMUAD(coeff, R) >> 16;

+        out2 = __SMUSDX(coeff, R);

+

+#else

+

+        out1 = __SMUSDX(R, coeff) >> 16u;

+        out2 = __SMUAD(coeff, R);

+

+#endif //     #ifndef ARM_MATH_BIG_ENDIAN

+

+        _SIMD32_OFFSET(pSrc + (2u * l)) =

+          (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);

+

+        i += n1;

+

+        l = i + n2;

+

+        T = _SIMD32_OFFSET(pSrc + (2 * i));

+

+        S = _SIMD32_OFFSET(pSrc + (2 * l));

+

+        R = __QSUB16(T, S);

+

+        _SIMD32_OFFSET(pSrc + (2 * i)) = __SHADD16(T, S);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+        out1 = __SMUAD(coeff, R) >> 16;

+        out2 = __SMUSDX(coeff, R);

+

+#else

+

+        out1 = __SMUSDX(R, coeff) >> 16u;

+        out2 = __SMUAD(coeff, R);

+

+#endif //     #ifndef ARM_MATH_BIG_ENDIAN

+

+        _SIMD32_OFFSET(pSrc + (2u * l)) =

+          (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);

+

+      }                         // butterfly loop end 

+

+    }                           // groups loop end 

+

+    twidCoefModifier = twidCoefModifier << 1u;

+  }                             // stages loop end 

+

+  n1 = n2;

+  n2 = n2 >> 1;

+  ia = 0;

+

+  coeff = _SIMD32_OFFSET(pCoef + (ia * 2u));

+

+  ia = ia + twidCoefModifier;

+

+  // loop for butterfly 

+  for (i = 0; i < fftLen; i += n1)

+  {

+    l = i + n2;

+

+    T = _SIMD32_OFFSET(pSrc + (2 * i));

+

+    S = _SIMD32_OFFSET(pSrc + (2 * l));

+

+    R = __QSUB16(T, S);

+

+    _SIMD32_OFFSET(pSrc + (2 * i)) = __QADD16(T, S);

+

+    _SIMD32_OFFSET(pSrc + (2u * l)) = R;

+

+    i += n1;

+    l = i + n2;

+

+    T = _SIMD32_OFFSET(pSrc + (2 * i));

+

+    S = _SIMD32_OFFSET(pSrc + (2 * l));

+

+    R = __QSUB16(T, S);

+

+    _SIMD32_OFFSET(pSrc + (2 * i)) = __QADD16(T, S);

+

+    _SIMD32_OFFSET(pSrc + (2u * l)) = R;

+

+  }                             // groups loop end 

+

+

+#else

+

+  int i, j, k, l;

+  int n1, n2, ia;

+  q15_t xt, yt, cosVal, sinVal;

+

+

+  //N = fftLen; 

+  n2 = fftLen;

+

+  n1 = n2;

+  n2 = n2 >> 1;

+  ia = 0;

+

+  // loop for groups 

+  for (j = 0; j < n2; j++)

+  {

+    cosVal = pCoef[ia * 2];

+    sinVal = pCoef[(ia * 2) + 1];

+    ia = ia + twidCoefModifier;

+

+    // loop for butterfly 

+    for (i = j; i < fftLen; i += n1)

+    {

+      l = i + n2;

+      xt = (pSrc[2 * i] >> 2u) - (pSrc[2 * l] >> 2u);

+      pSrc[2 * i] = ((pSrc[2 * i] >> 2u) + (pSrc[2 * l] >> 2u)) >> 1u;

+

+      yt = (pSrc[2 * i + 1] >> 2u) - (pSrc[2 * l + 1] >> 2u);

+      pSrc[2 * i + 1] =

+        ((pSrc[2 * l + 1] >> 2u) + (pSrc[2 * i + 1] >> 2u)) >> 1u;

+

+      pSrc[2u * l] = (((int16_t) (((q31_t) xt * cosVal) >> 16)) +

+                      ((int16_t) (((q31_t) yt * sinVal) >> 16)));

+

+      pSrc[2u * l + 1u] = (((int16_t) (((q31_t) yt * cosVal) >> 16)) -

+                           ((int16_t) (((q31_t) xt * sinVal) >> 16)));

+

+    }                           // butterfly loop end 

+

+  }                             // groups loop end 

+

+  twidCoefModifier = twidCoefModifier << 1u;

+

+  // loop for stage 

+  for (k = fftLen / 2; k > 2; k = k >> 1)

+  {

+    n1 = n2;

+    n2 = n2 >> 1;

+    ia = 0;

+

+    // loop for groups 

+    for (j = 0; j < n2; j++)

+    {

+      cosVal = pCoef[ia * 2];

+      sinVal = pCoef[(ia * 2) + 1];

+      ia = ia + twidCoefModifier;

+

+      // loop for butterfly 

+      for (i = j; i < fftLen; i += n1)

+      {

+        l = i + n2;

+        xt = pSrc[2 * i] - pSrc[2 * l];

+        pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]) >> 1u;

+

+        yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];

+        pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]) >> 1u;

+

+        pSrc[2u * l] = (((int16_t) (((q31_t) xt * cosVal) >> 16)) +

+                        ((int16_t) (((q31_t) yt * sinVal) >> 16)));

+

+        pSrc[2u * l + 1u] = (((int16_t) (((q31_t) yt * cosVal) >> 16)) -

+                             ((int16_t) (((q31_t) xt * sinVal) >> 16)));

+

+      }                         // butterfly loop end 

+

+    }                           // groups loop end 

+

+    twidCoefModifier = twidCoefModifier << 1u;

+  }                             // stages loop end 

+

+  n1 = n2;

+  n2 = n2 >> 1;

+  ia = 0;

+

+  // loop for groups 

+  for (j = 0; j < n2; j++)

+  {

+    cosVal = pCoef[ia * 2];

+    sinVal = pCoef[(ia * 2) + 1];

+

+    ia = ia + twidCoefModifier;

+

+    // loop for butterfly 

+    for (i = j; i < fftLen; i += n1)

+    {

+      l = i + n2;

+      xt = pSrc[2 * i] - pSrc[2 * l];

+      pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]);

+

+      yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];

+      pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]);

+

+      pSrc[2u * l] = xt;

+

+      pSrc[2u * l + 1u] = yt;

+

+    }                           // butterfly loop end 

+

+  }                             // groups loop end 

+

+  twidCoefModifier = twidCoefModifier << 1u;

+

+#endif //             #ifndef ARM_MATH_CM0

+

+}

+

+

+void arm_radix2_butterfly_inverse_q15(

+  q15_t * pSrc,

+  uint32_t fftLen,

+  q15_t * pCoef,

+  uint16_t twidCoefModifier)

+{

+#ifndef ARM_MATH_CM0

+

+  int i, j, k, l;

+  int n1, n2, ia;

+  q15_t in;

+  q31_t T, S, R;

+  q31_t coeff, out1, out2;

+

+  //N = fftLen; 

+  n2 = fftLen;

+

+  n1 = n2;

+  n2 = n2 >> 1;

+  ia = 0;

+

+  // loop for groups 

+  for (i = 0; i < n2; i++)

+  {

+    coeff = _SIMD32_OFFSET(pCoef + (ia * 2u));

+

+    ia = ia + twidCoefModifier;

+

+    l = i + n2;

+

+    T = _SIMD32_OFFSET(pSrc + (2 * i));

+    in = ((int16_t) (T & 0xFFFF)) >> 2;

+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);

+

+    S = _SIMD32_OFFSET(pSrc + (2 * l));

+    in = ((int16_t) (S & 0xFFFF)) >> 2;

+    S = ((S >> 2) & 0xFFFF0000) | (in & 0xFFFF);

+

+    R = __QSUB16(T, S);

+

+    _SIMD32_OFFSET(pSrc + (2 * i)) = __SHADD16(T, S);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    out1 = __SMUSD(coeff, R) >> 16;

+    out2 = __SMUADX(coeff, R);

+#else

+

+    out1 = __SMUADX(R, coeff) >> 16u;

+    out2 = __SMUSD(__QSUB(0, coeff), R);

+

+#endif //     #ifndef ARM_MATH_BIG_ENDIAN

+

+    _SIMD32_OFFSET(pSrc + (2u * l)) =

+      (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);

+

+    coeff = _SIMD32_OFFSET(pCoef + (ia * 2u));

+

+    ia = ia + twidCoefModifier;

+

+    // loop for butterfly 

+    i++;

+    l++;

+

+    T = _SIMD32_OFFSET(pSrc + (2 * i));

+    in = ((int16_t) (T & 0xFFFF)) >> 2;

+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);

+

+    S = _SIMD32_OFFSET(pSrc + (2 * l));

+    in = ((int16_t) (S & 0xFFFF)) >> 2;

+    S = ((S >> 2) & 0xFFFF0000) | (in & 0xFFFF);

+

+    R = __QSUB16(T, S);

+

+    _SIMD32_OFFSET(pSrc + (2 * i)) = __SHADD16(T, S);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    out1 = __SMUSD(coeff, R) >> 16;

+    out2 = __SMUADX(coeff, R);

+#else

+

+    out1 = __SMUADX(R, coeff) >> 16u;

+    out2 = __SMUSD(__QSUB(0, coeff), R);

+

+#endif //     #ifndef ARM_MATH_BIG_ENDIAN

+

+    _SIMD32_OFFSET(pSrc + (2u * l)) =

+      (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);

+

+  }                             // groups loop end 

+

+  twidCoefModifier = twidCoefModifier << 1u;

+

+  // loop for stage 

+  for (k = fftLen / 2; k > 2; k = k >> 1)

+  {

+    n1 = n2;

+    n2 = n2 >> 1;

+    ia = 0;

+

+    // loop for groups 

+    for (j = 0; j < n2; j++)

+    {

+      coeff = _SIMD32_OFFSET(pCoef + (ia * 2u));

+

+      ia = ia + twidCoefModifier;

+

+      // loop for butterfly 

+      for (i = j; i < fftLen; i += n1)

+      {

+        l = i + n2;

+

+        T = _SIMD32_OFFSET(pSrc + (2 * i));

+

+        S = _SIMD32_OFFSET(pSrc + (2 * l));

+

+        R = __QSUB16(T, S);

+

+        _SIMD32_OFFSET(pSrc + (2 * i)) = __SHADD16(T, S);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+        out1 = __SMUSD(coeff, R) >> 16;

+        out2 = __SMUADX(coeff, R);

+

+#else

+

+        out1 = __SMUADX(R, coeff) >> 16u;

+        out2 = __SMUSD(__QSUB(0, coeff), R);

+

+#endif //     #ifndef ARM_MATH_BIG_ENDIAN

+

+        _SIMD32_OFFSET(pSrc + (2u * l)) =

+          (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);

+

+        i += n1;

+

+        l = i + n2;

+

+        T = _SIMD32_OFFSET(pSrc + (2 * i));

+

+        S = _SIMD32_OFFSET(pSrc + (2 * l));

+

+        R = __QSUB16(T, S);

+

+        _SIMD32_OFFSET(pSrc + (2 * i)) = __SHADD16(T, S);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+        out1 = __SMUSD(coeff, R) >> 16;

+        out2 = __SMUADX(coeff, R);

+#else

+

+        out1 = __SMUADX(R, coeff) >> 16u;

+        out2 = __SMUSD(__QSUB(0, coeff), R);

+

+#endif //     #ifndef ARM_MATH_BIG_ENDIAN

+

+        _SIMD32_OFFSET(pSrc + (2u * l)) =

+          (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);

+

+      }                         // butterfly loop end 

+

+    }                           // groups loop end 

+

+    twidCoefModifier = twidCoefModifier << 1u;

+  }                             // stages loop end 

+

+  n1 = n2;

+  n2 = n2 >> 1;

+  ia = 0;

+

+  // loop for groups 

+  for (j = 0; j < n2; j++)

+  {

+    coeff = _SIMD32_OFFSET(pCoef + (ia * 2u));

+

+    ia = ia + twidCoefModifier;

+

+    // loop for butterfly 

+    for (i = j; i < fftLen; i += n1)

+    {

+      l = i + n2;

+

+      T = _SIMD32_OFFSET(pSrc + (2 * i));

+

+      S = _SIMD32_OFFSET(pSrc + (2 * l));

+

+      R = __QSUB16(T, S);

+

+      _SIMD32_OFFSET(pSrc + (2 * i)) = __QADD16(T, S);

+

+      _SIMD32_OFFSET(pSrc + (2u * l)) = R;

+

+    }                           // butterfly loop end 

+

+  }                             // groups loop end 

+

+  twidCoefModifier = twidCoefModifier << 1u;

+

+#else

+

+

+  int i, j, k, l;

+  int n1, n2, ia;

+  q15_t xt, yt, cosVal, sinVal;

+

+  //N = fftLen; 

+  n2 = fftLen;

+

+  n1 = n2;

+  n2 = n2 >> 1;

+  ia = 0;

+

+  // loop for groups 

+  for (j = 0; j < n2; j++)

+  {

+    cosVal = pCoef[ia * 2];

+    sinVal = pCoef[(ia * 2) + 1];

+    ia = ia + twidCoefModifier;

+

+    // loop for butterfly 

+    for (i = j; i < fftLen; i += n1)

+    {

+      l = i + n2;

+      xt = (pSrc[2 * i] >> 2u) - (pSrc[2 * l] >> 2u);

+      pSrc[2 * i] = ((pSrc[2 * i] >> 2u) + (pSrc[2 * l] >> 2u)) >> 1u;

+

+      yt = (pSrc[2 * i + 1] >> 2u) - (pSrc[2 * l + 1] >> 2u);

+      pSrc[2 * i + 1] =

+        ((pSrc[2 * l + 1] >> 2u) + (pSrc[2 * i + 1] >> 2u)) >> 1u;

+

+      pSrc[2u * l] = (((int16_t) (((q31_t) xt * cosVal) >> 16)) -

+                      ((int16_t) (((q31_t) yt * sinVal) >> 16)));

+

+      pSrc[2u * l + 1u] = (((int16_t) (((q31_t) yt * cosVal) >> 16)) +

+                           ((int16_t) (((q31_t) xt * sinVal) >> 16)));

+

+    }                           // butterfly loop end 

+

+  }                             // groups loop end 

+

+  twidCoefModifier = twidCoefModifier << 1u;

+

+  // loop for stage 

+  for (k = fftLen / 2; k > 2; k = k >> 1)

+  {

+    n1 = n2;

+    n2 = n2 >> 1;

+    ia = 0;

+

+    // loop for groups 

+    for (j = 0; j < n2; j++)

+    {

+      cosVal = pCoef[ia * 2];

+      sinVal = pCoef[(ia * 2) + 1];

+      ia = ia + twidCoefModifier;

+

+      // loop for butterfly 

+      for (i = j; i < fftLen; i += n1)

+      {

+        l = i + n2;

+        xt = pSrc[2 * i] - pSrc[2 * l];

+        pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]) >> 1u;

+

+        yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];

+        pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]) >> 1u;

+

+        pSrc[2u * l] = (((int16_t) (((q31_t) xt * cosVal) >> 16)) -

+                        ((int16_t) (((q31_t) yt * sinVal) >> 16)));

+

+        pSrc[2u * l + 1u] = (((int16_t) (((q31_t) yt * cosVal) >> 16)) +

+                             ((int16_t) (((q31_t) xt * sinVal) >> 16)));

+

+      }                         // butterfly loop end 

+

+    }                           // groups loop end 

+

+    twidCoefModifier = twidCoefModifier << 1u;

+  }                             // stages loop end 

+

+  n1 = n2;

+  n2 = n2 >> 1;

+  ia = 0;

+

+  cosVal = pCoef[ia * 2];

+  sinVal = pCoef[(ia * 2) + 1];

+

+  ia = ia + twidCoefModifier;

+

+  // loop for butterfly 

+  for (i = 0; i < fftLen; i += n1)

+  {

+    l = i + n2;

+    xt = pSrc[2 * i] - pSrc[2 * l];

+    pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]);

+

+    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];

+    pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]);

+

+    pSrc[2u * l] = xt;

+

+    pSrc[2u * l + 1u] = yt;

+

+  }                             // groups loop end 

+

+

+#endif //             #ifndef ARM_MATH_CM0

+

+}

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q31.c
new file mode 100644
index 000000000..dd4b9e6b2
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q31.c
@@ -0,0 +1,310 @@
+/* ----------------------------------------------------------------------   

+* Copyright (C) 2010 ARM Limited. All rights reserved.   

+*   

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*   

+* Project: 	    CMSIS DSP Library   

+* Title:	    arm_cfft_radix2_q31.c   

+*   

+* Description:	Radix-2 Decimation in Frequency CFFT & CIFFT Fixed point 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 0.0.3  2010/03/10    

+*    Initial version   

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**   

+ * @ingroup groupTransforms   

+ */

+

+/**   

+ * @defgroup Radix2_CFFT_CIFFT Radix-2 Complex FFT Functions   

+ *   

+ * \par   

+ * Complex Fast Fourier Transform(CFFT) and Complex Inverse Fast Fourier Transform(CIFFT) is an efficient algorithm to compute Discrete Fourier Transform(DFT) and Inverse Discrete Fourier Transform(IDFT).   

+ * Computational complexity of CFFT reduces drastically when compared to DFT.    

+ */

+

+

+/**   

+ * @addtogroup Radix2_CFFT_CIFFT   

+ * @{   

+ */

+

+/**   

+ * @details   

+ * @brief Processing function for the fixed-point CFFT/CIFFT.  

+ * @param[in]      *S    points to an instance of the fixed-point CFFT/CIFFT structure.  

+ * @param[in, out] *pSrc points to the complex data buffer of size <code>2*fftLen</code>. Processing occurs in-place.  

+ * @return none.  

+ */

+

+void arm_cfft_radix2_q31(

+  const arm_cfft_radix2_instance_q31 * S,

+  q31_t * pSrc)

+{

+

+  if(S->ifftFlag == 1u)

+  {

+    arm_radix2_butterfly_inverse_q31(pSrc, S->fftLen,

+                                     S->pTwiddle, S->twidCoefModifier);

+  }

+  else

+  {

+    arm_radix2_butterfly_q31(pSrc, S->fftLen,

+                             S->pTwiddle, S->twidCoefModifier);

+  }

+

+  arm_bitreversal_q31(pSrc, S->fftLen, S->bitRevFactor, S->pBitRevTable);

+}

+

+/**   

+ * @} end of Radix2_CFFT_CIFFT group   

+ */

+

+void arm_radix2_butterfly_q31(

+  q31_t * pSrc,

+  uint32_t fftLen,

+  q31_t * pCoef,

+  uint16_t twidCoefModifier)

+{

+

+  int i, j, k, l;

+  int n1, n2, ia;

+  q31_t xt, yt, cosVal, sinVal;

+

+  //N = fftLen; 

+  n2 = fftLen;

+

+  n1 = n2;

+  n2 = n2 >> 1;

+  ia = 0;

+

+  // loop for groups 

+  for (i = 0; i < n2; i++)

+  {

+    cosVal = pCoef[ia * 2];

+    sinVal = pCoef[(ia * 2) + 1];

+    ia = ia + twidCoefModifier;

+

+    l = i + n2;

+    xt = (pSrc[2 * i] >> 2u) - (pSrc[2 * l] >> 2u);

+    pSrc[2 * i] = ((pSrc[2 * i] >> 2u) + (pSrc[2 * l] >> 2u)) >> 1u;

+

+    yt = (pSrc[2 * i + 1] >> 2u) - (pSrc[2 * l + 1] >> 2u);

+    pSrc[2 * i + 1] =

+      ((pSrc[2 * l + 1] >> 2u) + (pSrc[2 * i + 1] >> 2u)) >> 1u;

+

+    pSrc[2u * l] = (((int32_t) (((q63_t) xt * cosVal) >> 32)) +

+                    ((int32_t) (((q63_t) yt * sinVal) >> 32)));

+

+    pSrc[2u * l + 1u] = (((int32_t) (((q63_t) yt * cosVal) >> 32)) -

+                         ((int32_t) (((q63_t) xt * sinVal) >> 32)));

+

+  }                             // groups loop end 

+

+  twidCoefModifier = twidCoefModifier << 1u;

+

+  // loop for stage 

+  for (k = fftLen / 2; k > 2; k = k >> 1)

+  {

+    n1 = n2;

+    n2 = n2 >> 1;

+    ia = 0;

+

+    // loop for groups 

+    for (j = 0; j < n2; j++)

+    {

+      cosVal = pCoef[ia * 2];

+      sinVal = pCoef[(ia * 2) + 1];

+      ia = ia + twidCoefModifier;

+

+      // loop for butterfly 

+      for (i = j; i < fftLen; i += n1)

+      {

+        l = i + n2;

+        xt = pSrc[2 * i] - pSrc[2 * l];

+        pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]) >> 1u;

+

+        yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];

+        pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]) >> 1u;

+

+        pSrc[2u * l] = (((int32_t) (((q63_t) xt * cosVal) >> 32)) +

+                        ((int32_t) (((q63_t) yt * sinVal) >> 32)));

+

+        pSrc[2u * l + 1u] = (((int32_t) (((q63_t) yt * cosVal) >> 32)) -

+                             ((int32_t) (((q63_t) xt * sinVal) >> 32)));

+

+      }                         // butterfly loop end 

+

+    }                           // groups loop end 

+

+    twidCoefModifier = twidCoefModifier << 1u;

+  }                             // stages loop end 

+

+  n1 = n2;

+  n2 = n2 >> 1;

+  ia = 0;

+

+  cosVal = pCoef[ia * 2];

+  sinVal = pCoef[(ia * 2) + 1];

+  ia = ia + twidCoefModifier;

+

+  // loop for butterfly 

+  for (i = 0; i < fftLen; i += n1)

+  {

+    l = i + n2;

+    xt = pSrc[2 * i] - pSrc[2 * l];

+    pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]);

+

+    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];

+    pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]);

+

+    pSrc[2u * l] = xt;

+

+    pSrc[2u * l + 1u] = yt;

+

+    i += n1;

+    l = i + n2;

+

+    xt = pSrc[2 * i] - pSrc[2 * l];

+    pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]);

+

+    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];

+    pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]);

+

+    pSrc[2u * l] = xt;

+

+    pSrc[2u * l + 1u] = yt;

+

+  }                             // butterfly loop end 

+

+}

+

+

+void arm_radix2_butterfly_inverse_q31(

+  q31_t * pSrc,

+  uint32_t fftLen,

+  q31_t * pCoef,

+  uint16_t twidCoefModifier)

+{

+

+  int i, j, k, l;

+  int n1, n2, ia;

+  q31_t xt, yt, cosVal, sinVal;

+

+  //N = fftLen; 

+  n2 = fftLen;

+

+  n1 = n2;

+  n2 = n2 >> 1;

+  ia = 0;

+

+  // loop for groups 

+  for (i = 0; i < n2; i++)

+  {

+    cosVal = pCoef[ia * 2];

+    sinVal = pCoef[(ia * 2) + 1];

+    ia = ia + twidCoefModifier;

+

+    l = i + n2;

+    xt = (pSrc[2 * i] >> 2u) - (pSrc[2 * l] >> 2u);

+    pSrc[2 * i] = ((pSrc[2 * i] >> 2u) + (pSrc[2 * l] >> 2u)) >> 1u;

+

+    yt = (pSrc[2 * i + 1] >> 2u) - (pSrc[2 * l + 1] >> 2u);

+    pSrc[2 * i + 1] =

+      ((pSrc[2 * l + 1] >> 2u) + (pSrc[2 * i + 1] >> 2u)) >> 1u;

+

+    pSrc[2u * l] = (((int32_t) (((q63_t) xt * cosVal) >> 32)) -

+                    ((int32_t) (((q63_t) yt * sinVal) >> 32)));

+

+    pSrc[2u * l + 1u] = (((int32_t) (((q63_t) yt * cosVal) >> 32)) +

+                         ((int32_t) (((q63_t) xt * sinVal) >> 32)));

+

+  }                             // groups loop end 

+

+  twidCoefModifier = twidCoefModifier << 1u;

+

+  // loop for stage 

+  for (k = fftLen / 2; k > 2; k = k >> 1)

+  {

+    n1 = n2;

+    n2 = n2 >> 1;

+    ia = 0;

+

+    // loop for groups 

+    for (j = 0; j < n2; j++)

+    {

+      cosVal = pCoef[ia * 2];

+      sinVal = pCoef[(ia * 2) + 1];

+      ia = ia + twidCoefModifier;

+

+      // loop for butterfly 

+      for (i = j; i < fftLen; i += n1)

+      {

+        l = i + n2;

+        xt = pSrc[2 * i] - pSrc[2 * l];

+        pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]) >> 1u;

+

+        yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];

+        pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]) >> 1u;

+

+        pSrc[2u * l] = (((int32_t) (((q63_t) xt * cosVal) >> 32)) -

+                        ((int32_t) (((q63_t) yt * sinVal) >> 32)));

+

+        pSrc[2u * l + 1u] = (((int32_t) (((q63_t) yt * cosVal) >> 32)) +

+                             ((int32_t) (((q63_t) xt * sinVal) >> 32)));

+

+      }                         // butterfly loop end 

+

+    }                           // groups loop end 

+

+    twidCoefModifier = twidCoefModifier << 1u;

+  }                             // stages loop end 

+

+  n1 = n2;

+  n2 = n2 >> 1;

+  ia = 0;

+

+  cosVal = pCoef[ia * 2];

+  sinVal = pCoef[(ia * 2) + 1];

+  ia = ia + twidCoefModifier;

+

+  // loop for butterfly 

+  for (i = 0; i < fftLen; i += n1)

+  {

+    l = i + n2;

+    xt = pSrc[2 * i] - pSrc[2 * l];

+    pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]);

+

+    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];

+    pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]);

+

+    pSrc[2u * l] = xt;

+

+    pSrc[2u * l + 1u] = yt;

+

+    i += n1;

+    l = i + n2;

+

+    xt = pSrc[2 * i] - pSrc[2 * l];

+    pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]);

+

+    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];

+    pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]);

+

+    pSrc[2u * l] = xt;

+

+    pSrc[2u * l + 1u] = yt;

+

+  }                             // butterfly loop end 

+

+}

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_f32.c
new file mode 100644
index 000000000..d51e9830b
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_f32.c
@@ -0,0 +1,1236 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_cfft_radix4_f32.c    

+*    

+* Description:	Radix-4 Decimation in Frequency CFFT & CIFFT Floating point 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 groupTransforms    

+ */

+

+/**    

+ * @defgroup Radix4_CFFT_CIFFT Radix-4 Complex FFT Functions    

+ *    

+ * \par    

+ * Complex Fast Fourier Transform(CFFT) and Complex Inverse Fast Fourier Transform(CIFFT) is an efficient algorithm to compute Discrete Fourier Transform(DFT) and Inverse Discrete Fourier Transform(IDFT).    

+ * Computational complexity of CFFT reduces drastically when compared to DFT.    

+ * \par    

+ * This set of functions implements CFFT/CIFFT    

+ * for Q15, Q31, and floating-point data types.  The functions operates on in-place buffer which uses same buffer for input and output.    

+ * Complex input is stored in input buffer in an interleaved fashion.    

+ *    

+ * \par    

+ * The functions operate on blocks of input and output data and each call to the function processes    

+ * <code>2*fftLen</code> samples through the transform.  <code>pSrc</code>  points to In-place arrays containing <code>2*fftLen</code> values.    

+ * \par   

+ * The <code>pSrc</code> points to the array of in-place buffer of size <code>2*fftLen</code> and inputs and outputs are stored in an interleaved fashion as shown below.    

+ * <pre> {real[0], imag[0], real[1], imag[1],..} </pre>    

+ *    

+ * \par Lengths supported by the transform:   

+ * \par    

+ * Internally, the function utilize a radix-4 decimation in frequency(DIF) algorithm    

+ * and the size of the FFT supported are of the lengths [16, 64, 256, 1024].   

+ *     

+ *    

+ * \par Algorithm:    

+ *    

+ * <b>Complex Fast Fourier Transform:</b>    

+ * \par     

+ * Input real and imaginary data:    

+ * <pre>    

+ * x(n) = xa + j * ya    

+ * x(n+N/4 ) = xb + j * yb    

+ * x(n+N/2 ) = xc + j * yc    

+ * x(n+3N 4) = xd + j * yd    

+ * </pre>    

+ * where N is length of FFT    

+ * \par    

+ * Output real and imaginary data:    

+ * <pre>    

+ * X(4r) = xa'+ j * ya'    

+ * X(4r+1) = xb'+ j * yb'    

+ * X(4r+2) = xc'+ j * yc'    

+ * X(4r+3) = xd'+ j * yd'    

+ * </pre>    

+ * \par    

+ * Twiddle factors for radix-4 FFT:    

+ * <pre>    

+ * Wn = co1 + j * (- si1)    

+ * W2n = co2 + j * (- si2)    

+ * W3n = co3 + j * (- si3)    

+ * </pre>    

+ *    

+ * \par    

+ * \image html CFFT.gif "Radix-4 Decimation-in Frequency Complex Fast Fourier Transform"    

+ *    

+ * \par    

+ * Output from Radix-4 CFFT Results in Digit reversal order. Interchange middle two branches of every butterfly results in Bit reversed output.    

+ * \par    

+ * <b> Butterfly CFFT equations:</b>    

+ * <pre>    

+ * xa' = xa + xb + xc + xd    

+ * ya' = ya + yb + yc + yd    

+ * xc' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1)    

+ * yc' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1)    

+ * xb' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2)    

+ * yb' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2)    

+ * xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3)    

+ * yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3)    

+ * </pre>    

+ *    

+ *    

+ * <b>Complex Inverse Fast Fourier Transform:</b>    

+ * \par    

+ * CIFFT uses same twiddle factor table as CFFT with modifications in the design equation as shown below.    

+ *    

+ * \par    

+ * <b> Modified Butterfly CIFFT equations:</b>    

+ * <pre>    

+ * xa' = xa + xb + xc + xd    

+ * ya' = ya + yb + yc + yd    

+ * xc' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1)    

+ * yc' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1)    

+ * xb' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2)    

+ * yb' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2)    

+ * xd' = (xa+yb-xc-yd)* co3 - (ya-xb-yc+xd)* (si3)    

+ * yd' = (ya-xb-yc+xd)* co3 + (xa+yb-xc-yd)* (si3)    

+ * </pre>    

+ *    

+ * \par Instance Structure    

+ * A separate instance structure must be defined for each Instance but the twiddle factors and bit reversal tables can be reused.    

+ * There are separate instance structure declarations for each of the 3 supported data types.    

+ *    

+ * \par Initialization Functions    

+ * There is also an associated initialization function for each data type.    

+ * The initialization function performs the following operations:    

+ * - Sets the values of the internal structure fields.    

+ * - Initializes twiddle factor table and bit reversal table pointers    

+ * \par    

+ * Use of the initialization function is optional.    

+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    

+ * To place an instance structure into a const data section, the instance structure must be manually initialized.    

+ * Manually initialize the instance structure as follows:    

+ * <pre>    

+ *arm_cfft_radix4_instance_f32 S = {fftLen, ifftFlag, bitReverseFlag, pTwiddle, pBitRevTable, twidCoefModifier, bitRevFactor, onebyfftLen};    

+ *arm_cfft_radix4_instance_q31 S = {fftLen, ifftFlag, bitReverseFlag, pTwiddle, pBitRevTable, twidCoefModifier, bitRevFactor};    

+ *arm_cfft_radix4_instance_q15 S = {fftLen, ifftFlag, bitReverseFlag, pTwiddle, pBitRevTable, twidCoefModifier, bitRevFactor};    

+ * </pre>    

+ * \par    

+ * where <code>fftLen</code> length of CFFT/CIFFT; <code>ifftFlag</code> Flag for selection of CFFT or CIFFT(Set ifftFlag to calculate CIFFT otherwise calculates CFFT);    

+ * <code>bitReverseFlag</code> Flag for selection of output order(Set bitReverseFlag to output in normal order otherwise output in bit reversed order);     

+ * <code>pTwiddle</code>points to array of twiddle coefficients; <code>pBitRevTable</code> points to the array of bit reversal table.    

+ * <code>twidCoefModifier</code> modifier for twiddle factor table which supports all FFT lengths with same table;     

+ * <code>pBitRevTable</code> modifier for bit reversal table which supports all FFT lengths with same table.    

+ * <code>onebyfftLen</code> value of 1/fftLen to calculate CIFFT;    

+ *   

+ * \par Fixed-Point Behavior    

+ * Care must be taken when using the fixed-point versions of the CFFT/CIFFT function.    

+ * Refer to the function specific documentation below for usage guidelines.    

+ */

+

+

+/**    

+ * @addtogroup Radix4_CFFT_CIFFT    

+ * @{    

+ */

+

+/**    

+ * @details    

+ * @brief Processing function for the floating-point Radix-4 CFFT/CIFFT.   

+ * @param[in]      *S    points to an instance of the floating-point Radix-4 CFFT/CIFFT structure.   

+ * @param[in, out] *pSrc points to the complex data buffer of size <code>2*fftLen</code>. Processing occurs in-place.   

+ * @return none.   

+ */

+

+void arm_cfft_radix4_f32(

+  const arm_cfft_radix4_instance_f32 * S,

+  float32_t * pSrc)

+{

+

+  if(S->ifftFlag == 1u)

+  {

+    /*  Complex IFFT radix-4  */

+    arm_radix4_butterfly_inverse_f32(pSrc, S->fftLen, S->pTwiddle,

+                                     S->twidCoefModifier, S->onebyfftLen);

+  }

+  else

+  {

+    /*  Complex FFT radix-4  */

+    arm_radix4_butterfly_f32(pSrc, S->fftLen, S->pTwiddle,

+                             S->twidCoefModifier);

+  }

+

+  if(S->bitReverseFlag == 1u)

+  {

+    /*  Bit Reversal */

+    arm_bitreversal_f32(pSrc, S->fftLen, S->bitRevFactor, S->pBitRevTable);

+  }

+

+}

+

+

+/**    

+ * @} end of Radix4_CFFT_CIFFT group    

+ */

+

+

+/* ----------------------------------------------------------------------    

+** Internal helper function used by the FFTs    

+** ------------------------------------------------------------------- */

+

+/*    

+ * @brief  Core function for the floating-point CFFT butterfly process.   

+ * @param[in, out] *pSrc            points to the in-place buffer of floating-point data type.   

+ * @param[in]      fftLen           length of the FFT.   

+ * @param[in]      *pCoef           points to the twiddle coefficient buffer.   

+ * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   

+ * @return none.   

+ */

+

+void arm_radix4_butterfly_f32(

+  float32_t * pSrc,

+  uint16_t fftLen,

+  float32_t * pCoef,

+  uint16_t twidCoefModifier)

+{

+

+  float32_t co1, co2, co3, si1, si2, si3;

+  uint32_t ia1, ia2, ia3;

+  uint32_t i0, i1, i2, i3;

+  uint32_t n1, n2, j, k;

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+

+  float32_t xaIn, yaIn, xbIn, ybIn, xcIn, ycIn, xdIn, ydIn;

+  float32_t Xaplusc, Xbplusd, Yaplusc, Ybplusd, Xaminusc, Xbminusd, Yaminusc,

+    Ybminusd;

+  float32_t Xb12C_out, Yb12C_out, Xc12C_out, Yc12C_out, Xd12C_out, Yd12C_out;

+  float32_t Xb12_out, Yb12_out, Xc12_out, Yc12_out, Xd12_out, Yd12_out;

+  float32_t *ptr1;

+

+  /*  Initializations for the first stage */

+  n2 = fftLen;

+  n1 = n2;

+

+  /* n2 = fftLen/4 */

+  n2 >>= 2u;

+  i0 = 0u;

+  ia1 = 0u;

+

+  j = n2;

+

+  /*  Calculation of first stage */

+  do

+  {

+    /*  index calculation for the input as, */

+    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */

+    i1 = i0 + n2;

+    i2 = i1 + n2;

+    i3 = i2 + n2;

+

+    xaIn = pSrc[(2u * i0)];

+    yaIn = pSrc[(2u * i0) + 1u];

+

+    xcIn = pSrc[(2u * i2)];

+    ycIn = pSrc[(2u * i2) + 1u];

+

+    xbIn = pSrc[(2u * i1)];

+    ybIn = pSrc[(2u * i1) + 1u];

+

+    xdIn = pSrc[(2u * i3)];

+    ydIn = pSrc[(2u * i3) + 1u];

+

+    /* xa + xc */

+    Xaplusc = xaIn + xcIn;

+    /* xb + xd */

+    Xbplusd = xbIn + xdIn;

+    /* ya + yc */

+    Yaplusc = yaIn + ycIn;

+    /* yb + yd */

+    Ybplusd = ybIn + ydIn;

+

+    /*  index calculation for the coefficients */

+    ia2 = ia1 + ia1;

+    co2 = pCoef[ia2 * 2u];

+    si2 = pCoef[(ia2 * 2u) + 1u];

+

+    /* xa - xc */

+    Xaminusc = xaIn - xcIn;

+    /* xb - xd */

+    Xbminusd = xbIn - xdIn;

+    /* ya - yc */

+    Yaminusc = yaIn - ycIn;

+    /* yb + yd */

+    Ybminusd = ybIn - ydIn;

+

+    /* xa' = xa + xb + xc + xd */

+    pSrc[(2u * i0)] = Xaplusc + Xbplusd;

+    /* ya' = ya + yb + yc + yd */

+    pSrc[(2u * i0) + 1u] = Yaplusc + Ybplusd;

+

+    /* (xa - xc) + (yb - yd) */

+    Xb12C_out = (Xaminusc + Ybminusd);

+    /* (ya - yc) + (xb - xd) */

+    Yb12C_out = (Yaminusc - Xbminusd);

+    /* (xa + xc) - (xb + xd) */

+    Xc12C_out = (Xaplusc - Xbplusd);

+    /* (ya + yc) - (yb + yd) */

+    Yc12C_out = (Yaplusc - Ybplusd);

+    /* (xa - xc) - (yb - yd) */

+    Xd12C_out = (Xaminusc - Ybminusd);

+    /* (ya - yc) + (xb - xd) */

+    Yd12C_out = (Xbminusd + Yaminusc);

+

+    co1 = pCoef[ia1 * 2u];

+    si1 = pCoef[(ia1 * 2u) + 1u];

+

+    /*  index calculation for the coefficients */

+    ia3 = ia2 + ia1;

+    co3 = pCoef[ia3 * 2u];

+    si3 = pCoef[(ia3 * 2u) + 1u];

+

+    Xb12_out = Xb12C_out * co1;

+    Yb12_out = Yb12C_out * co1;

+    Xc12_out = Xc12C_out * co2;

+    Yc12_out = Yc12C_out * co2;

+    Xd12_out = Xd12C_out * co3;

+    Yd12_out = Yd12C_out * co3;

+

+    /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */

+    Xb12_out += Yb12C_out * si1;

+    /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */

+    Yb12_out -= Xb12C_out * si1;

+    /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */

+    Xc12_out += Yc12C_out * si2;

+    /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */

+    Yc12_out -= Xc12C_out * si2;

+    /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */

+    Xd12_out += Yd12C_out * si3;

+    /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */

+    Yd12_out -= Xd12C_out * si3;

+

+

+    /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */

+    pSrc[2u * i1] = Xc12_out;

+

+    /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */

+    pSrc[(2u * i1) + 1u] = Yc12_out;

+

+    /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */

+    pSrc[2u * i2] = Xb12_out;

+

+    /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */

+    pSrc[(2u * i2) + 1u] = Yb12_out;

+

+    /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */

+    pSrc[2u * i3] = Xd12_out;

+

+    /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */

+    pSrc[(2u * i3) + 1u] = Yd12_out;

+

+    /*  Twiddle coefficients index modifier */

+    ia1 = ia1 + twidCoefModifier;

+

+    /*  Updating input index */

+    i0 = i0 + 1u;

+

+  }

+  while(--j);

+

+  twidCoefModifier <<= 2u;

+

+  /*  Calculation of second stage to excluding last stage */

+  for (k = fftLen / 4; k > 4u; k >>= 2u)

+  {

+    /*  Initializations for the first stage */

+    n1 = n2;

+    n2 >>= 2u;

+    ia1 = 0u;

+

+    /*  Calculation of first stage */

+    for (j = 0u; j <= (n2 - 1u); j++)

+    {

+      /*  index calculation for the coefficients */

+      ia2 = ia1 + ia1;

+      ia3 = ia2 + ia1;

+      co1 = pCoef[ia1 * 2u];

+      si1 = pCoef[(ia1 * 2u) + 1u];

+      co2 = pCoef[ia2 * 2u];

+      si2 = pCoef[(ia2 * 2u) + 1u];

+      co3 = pCoef[ia3 * 2u];

+      si3 = pCoef[(ia3 * 2u) + 1u];

+

+      /*  Twiddle coefficients index modifier */

+      ia1 = ia1 + twidCoefModifier;

+

+      for (i0 = j; i0 < fftLen; i0 += n1)

+      {

+        /*  index calculation for the input as, */

+        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */

+        i1 = i0 + n2;

+        i2 = i1 + n2;

+        i3 = i2 + n2;

+

+        xaIn = pSrc[(2u * i0)];

+        yaIn = pSrc[(2u * i0) + 1u];

+

+        xbIn = pSrc[(2u * i1)];

+        ybIn = pSrc[(2u * i1) + 1u];

+

+        xcIn = pSrc[(2u * i2)];

+        ycIn = pSrc[(2u * i2) + 1u];

+

+        xdIn = pSrc[(2u * i3)];

+        ydIn = pSrc[(2u * i3) + 1u];

+

+        /* xa - xc */

+        Xaminusc = xaIn - xcIn;

+        /* (xb - xd) */

+        Xbminusd = xbIn - xdIn;

+        /* ya - yc */

+        Yaminusc = yaIn - ycIn;

+        /* (yb - yd) */

+        Ybminusd = ybIn - ydIn;

+

+        /* xa + xc */

+        Xaplusc = xaIn + xcIn;

+        /* xb + xd */

+        Xbplusd = xbIn + xdIn;

+        /* ya + yc */

+        Yaplusc = yaIn + ycIn;

+        /* yb + yd */

+        Ybplusd = ybIn + ydIn;

+

+        /* (xa - xc) + (yb - yd) */

+        Xb12C_out = (Xaminusc + Ybminusd);

+        /* (ya - yc) -  (xb - xd) */

+        Yb12C_out = (Yaminusc - Xbminusd);

+        /* xa + xc -(xb + xd) */

+        Xc12C_out = (Xaplusc - Xbplusd);

+        /* (ya + yc) - (yb + yd) */

+        Yc12C_out = (Yaplusc - Ybplusd);

+        /* (xa - xc) - (yb - yd) */

+        Xd12C_out = (Xaminusc - Ybminusd);

+        /* (ya - yc) +  (xb - xd) */

+        Yd12C_out = (Xbminusd + Yaminusc);

+

+        pSrc[(2u * i0)] = Xaplusc + Xbplusd;

+        pSrc[(2u * i0) + 1u] = Yaplusc + Ybplusd;

+

+        Xb12_out = Xb12C_out * co1;

+        Yb12_out = Yb12C_out * co1;

+        Xc12_out = Xc12C_out * co2;

+        Yc12_out = Yc12C_out * co2;

+        Xd12_out = Xd12C_out * co3;

+        Yd12_out = Yd12C_out * co3;

+

+        /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */

+        Xb12_out += Yb12C_out * si1;

+        /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */

+        Yb12_out -= Xb12C_out * si1;

+        /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */

+        Xc12_out += Yc12C_out * si2;

+        /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */

+        Yc12_out -= Xc12C_out * si2;

+        /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */

+        Xd12_out += Yd12C_out * si3;

+        /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */

+        Yd12_out -= Xd12C_out * si3;

+

+        /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */

+        pSrc[2u * i1] = Xc12_out;

+

+        /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */

+        pSrc[(2u * i1) + 1u] = Yc12_out;

+

+        /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */

+        pSrc[2u * i2] = Xb12_out;

+

+        /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */

+        pSrc[(2u * i2) + 1u] = Yb12_out;

+

+        /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */

+        pSrc[2u * i3] = Xd12_out;

+

+        /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */

+        pSrc[(2u * i3) + 1u] = Yd12_out;

+

+      }

+    }

+    twidCoefModifier <<= 2u;

+  }

+

+  j = fftLen >> 2;

+  ptr1 = &pSrc[0];

+

+  /*  Calculations of last stage */

+  do

+  {

+

+    xaIn = ptr1[0];

+    xcIn = ptr1[4];

+    yaIn = ptr1[1];

+    ycIn = ptr1[5];

+

+    /* xa + xc */

+    Xaplusc = xaIn + xcIn;

+

+    xbIn = ptr1[2];

+

+    /* xa - xc */

+    Xaminusc = xaIn - xcIn;

+

+    xdIn = ptr1[6];

+

+    /* ya + yc */

+    Yaplusc = yaIn + ycIn;

+

+    ybIn = ptr1[3];

+

+    /* ya - yc */

+    Yaminusc = yaIn - ycIn;

+

+    ydIn = ptr1[7];

+

+    /* xb + xd */

+    Xbplusd = xbIn + xdIn;

+

+    /* yb + yd */

+    Ybplusd = ybIn + ydIn;

+

+    /* xa' = xa + xb + xc + xd */

+    ptr1[0] = (Xaplusc + Xbplusd);

+

+    /* (xb-xd) */

+    Xbminusd = xbIn - xdIn;

+

+    /* ya' = ya + yb + yc + yd */

+    ptr1[1] = (Yaplusc + Ybplusd);

+

+    /* (yb-yd) */

+    Ybminusd = ybIn - ydIn;

+

+    /* xc' = (xa-xb+xc-xd) */

+    ptr1[2] = (Xaplusc - Xbplusd);

+    /* yc' = (ya-yb+yc-yd) */

+    ptr1[3] = (Yaplusc - Ybplusd);

+    /* xb' = (xa+yb-xc-yd) */

+    ptr1[4] = (Xaminusc + Ybminusd);

+    /* yb' = (ya-xb-yc+xd) */

+    ptr1[5] = (Yaminusc - Xbminusd);

+    /* xd' = (xa-yb-xc+yd)) */

+    ptr1[6] = (Xaminusc - Ybminusd);

+    /* yd' = (ya+xb-yc-xd) */

+    ptr1[7] = (Xbminusd + Yaminusc);

+

+    /* increment pointer by 8 */

+    ptr1 = ptr1 + 8u;

+

+  } while(--j);

+

+#else

+

+  float32_t t1, t2, r1, r2, s1, s2;

+

+  /* Run the below code for Cortex-M0 */

+

+  /*  Initializations for the fft calculation */

+  n2 = fftLen;

+  n1 = n2;

+  for (k = fftLen; k > 1u; k >>= 2u)

+  {

+    /*  Initializations for the fft calculation */

+    n1 = n2;

+    n2 >>= 2u;

+    ia1 = 0u;

+

+    /*  FFT Calculation */

+    for (j = 0u; j <= (n2 - 1u); j++)

+    {

+      /*  index calculation for the coefficients */

+      ia2 = ia1 + ia1;

+      ia3 = ia2 + ia1;

+      co1 = pCoef[ia1 * 2u];

+      si1 = pCoef[(ia1 * 2u) + 1u];

+      co2 = pCoef[ia2 * 2u];

+      si2 = pCoef[(ia2 * 2u) + 1u];

+      co3 = pCoef[ia3 * 2u];

+      si3 = pCoef[(ia3 * 2u) + 1u];

+

+      /*  Twiddle coefficients index modifier */

+      ia1 = ia1 + twidCoefModifier;

+

+      for (i0 = j; i0 < fftLen; i0 += n1)

+      {

+        /*  index calculation for the input as, */

+        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */

+        i1 = i0 + n2;

+        i2 = i1 + n2;

+        i3 = i2 + n2;

+

+        /* xa + xc */

+        r1 = pSrc[(2u * i0)] + pSrc[(2u * i2)];

+

+        /* xa - xc */

+        r2 = pSrc[(2u * i0)] - pSrc[(2u * i2)];

+

+        /* ya + yc */

+        s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];

+

+        /* ya - yc */

+        s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];

+

+        /* xb + xd */

+        t1 = pSrc[2u * i1] + pSrc[2u * i3];

+

+        /* xa' = xa + xb + xc + xd */

+        pSrc[2u * i0] = r1 + t1;

+

+        /* xa + xc -(xb + xd) */

+        r1 = r1 - t1;

+

+        /* yb + yd */

+        t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];

+

+        /* ya' = ya + yb + yc + yd */

+        pSrc[(2u * i0) + 1u] = s1 + t2;

+

+        /* (ya + yc) - (yb + yd) */

+        s1 = s1 - t2;

+

+        /* (yb - yd) */

+        t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];

+

+        /* (xb - xd) */

+        t2 = pSrc[2u * i1] - pSrc[2u * i3];

+

+        /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */

+        pSrc[2u * i1] = (r1 * co2) + (s1 * si2);

+

+        /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */

+        pSrc[(2u * i1) + 1u] = (s1 * co2) - (r1 * si2);

+

+        /* (xa - xc) + (yb - yd) */

+        r1 = r2 + t1;

+

+        /* (xa - xc) - (yb - yd) */

+        r2 = r2 - t1;

+

+        /* (ya - yc) -  (xb - xd) */

+        s1 = s2 - t2;

+

+        /* (ya - yc) +  (xb - xd) */

+        s2 = s2 + t2;

+

+        /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */

+        pSrc[2u * i2] = (r1 * co1) + (s1 * si1);

+

+        /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */

+        pSrc[(2u * i2) + 1u] = (s1 * co1) - (r1 * si1);

+

+        /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */

+        pSrc[2u * i3] = (r2 * co3) + (s2 * si3);

+

+        /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */

+        pSrc[(2u * i3) + 1u] = (s2 * co3) - (r2 * si3);

+      }

+    }

+    twidCoefModifier <<= 2u;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/*    

+ * @brief  Core function for the floating-point CIFFT butterfly process.   

+ * @param[in, out] *pSrc            points to the in-place buffer of floating-point data type.   

+ * @param[in]      fftLen           length of the FFT.   

+ * @param[in]      *pCoef           points to twiddle coefficient buffer.   

+ * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   

+ * @param[in]      onebyfftLen      value of 1/fftLen.   

+ * @return none.   

+ */

+

+void arm_radix4_butterfly_inverse_f32(

+  float32_t * pSrc,

+  uint16_t fftLen,

+  float32_t * pCoef,

+  uint16_t twidCoefModifier,

+  float32_t onebyfftLen)

+{

+  float32_t co1, co2, co3, si1, si2, si3;

+  uint32_t ia1, ia2, ia3;

+  uint32_t i0, i1, i2, i3;

+  uint32_t n1, n2, j, k;

+

+#ifndef ARM_MATH_CM0

+

+  float32_t xaIn, yaIn, xbIn, ybIn, xcIn, ycIn, xdIn, ydIn;

+  float32_t Xaplusc, Xbplusd, Yaplusc, Ybplusd, Xaminusc, Xbminusd, Yaminusc,

+    Ybminusd;

+  float32_t Xb12C_out, Yb12C_out, Xc12C_out, Yc12C_out, Xd12C_out, Yd12C_out;

+  float32_t Xb12_out, Yb12_out, Xc12_out, Yc12_out, Xd12_out, Yd12_out;

+  float32_t *ptr1;

+

+

+  /*  Initializations for the first stage */

+  n2 = fftLen;

+  n1 = n2;

+

+  /* n2 = fftLen/4 */

+  n2 >>= 2u;

+  i0 = 0u;

+  ia1 = 0u;

+

+  j = n2;

+

+  /*  Calculation of first stage */

+  do

+  {

+    /*  index calculation for the input as, */

+    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */

+    i1 = i0 + n2;

+    i2 = i1 + n2;

+    i3 = i2 + n2;

+

+    /*  Butterfly implementation */

+    xaIn = pSrc[(2u * i0)];

+    yaIn = pSrc[(2u * i0) + 1u];

+

+    xcIn = pSrc[(2u * i2)];

+    ycIn = pSrc[(2u * i2) + 1u];

+

+    xbIn = pSrc[(2u * i1)];

+    ybIn = pSrc[(2u * i1) + 1u];

+

+    xdIn = pSrc[(2u * i3)];

+    ydIn = pSrc[(2u * i3) + 1u];

+

+    /* xa + xc */

+    Xaplusc = xaIn + xcIn;

+    /* xb + xd */

+    Xbplusd = xbIn + xdIn;

+    /* ya + yc */

+    Yaplusc = yaIn + ycIn;

+    /* yb + yd */

+    Ybplusd = ybIn + ydIn;

+

+    /*  index calculation for the coefficients */

+    ia2 = ia1 + ia1;

+    co2 = pCoef[ia2 * 2u];

+    si2 = pCoef[(ia2 * 2u) + 1u];

+

+    /* xa - xc */

+    Xaminusc = xaIn - xcIn;

+    /* xb - xd */

+    Xbminusd = xbIn - xdIn;

+    /* ya - yc */

+    Yaminusc = yaIn - ycIn;

+    /* yb - yd */

+    Ybminusd = ybIn - ydIn;

+

+    /* xa' = xa + xb + xc + xd */

+    pSrc[(2u * i0)] = Xaplusc + Xbplusd;

+

+    /* ya' = ya + yb + yc + yd */

+    pSrc[(2u * i0) + 1u] = Yaplusc + Ybplusd;

+

+    /* (xa - xc) - (yb - yd) */

+    Xb12C_out = (Xaminusc - Ybminusd);

+    /* (ya - yc) + (xb - xd) */

+    Yb12C_out = (Yaminusc + Xbminusd);

+    /* (xa + xc) - (xb + xd) */

+    Xc12C_out = (Xaplusc - Xbplusd);

+    /* (ya + yc) - (yb + yd) */

+    Yc12C_out = (Yaplusc - Ybplusd);

+    /* (xa - xc) + (yb - yd) */

+    Xd12C_out = (Xaminusc + Ybminusd);

+    /* (ya - yc) - (xb - xd) */

+    Yd12C_out = (Yaminusc - Xbminusd);

+

+    co1 = pCoef[ia1 * 2u];

+    si1 = pCoef[(ia1 * 2u) + 1u];

+

+    /*  index calculation for the coefficients */

+    ia3 = ia2 + ia1;

+    co3 = pCoef[ia3 * 2u];

+    si3 = pCoef[(ia3 * 2u) + 1u];

+

+    Xb12_out = Xb12C_out * co1;

+    Yb12_out = Yb12C_out * co1;

+    Xc12_out = Xc12C_out * co2;

+    Yc12_out = Yc12C_out * co2;

+    Xd12_out = Xd12C_out * co3;

+    Yd12_out = Yd12C_out * co3;

+

+    /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */

+    Xb12_out -= Yb12C_out * si1;

+    /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */

+    Yb12_out += Xb12C_out * si1;

+    /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */

+    Xc12_out -= Yc12C_out * si2;

+    /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */

+    Yc12_out += Xc12C_out * si2;

+    /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */

+    Xd12_out -= Yd12C_out * si3;

+    /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */

+    Yd12_out += Xd12C_out * si3;

+

+    /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */

+    pSrc[2u * i1] = Xc12_out;

+

+    /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */

+    pSrc[(2u * i1) + 1u] = Yc12_out;

+

+    /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */

+    pSrc[2u * i2] = Xb12_out;

+

+    /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */

+    pSrc[(2u * i2) + 1u] = Yb12_out;

+

+    /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */

+    pSrc[2u * i3] = Xd12_out;

+

+    /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */

+    pSrc[(2u * i3) + 1u] = Yd12_out;

+

+    /*  Twiddle coefficients index modifier */

+    ia1 = ia1 + twidCoefModifier;

+

+    /*  Updating input index */

+    i0 = i0 + 1u;

+

+  } while(--j);

+

+  twidCoefModifier <<= 2u;

+

+  /*  Calculation of second stage to excluding last stage */

+  for (k = fftLen / 4; k > 4u; k >>= 2u)

+  {

+    /*  Initializations for the first stage */

+    n1 = n2;

+    n2 >>= 2u;

+    ia1 = 0u;

+

+    /*  Calculation of first stage */

+    for (j = 0u; j <= (n2 - 1u); j++)

+    {

+      /*  index calculation for the coefficients */

+      ia2 = ia1 + ia1;

+      ia3 = ia2 + ia1;

+      co1 = pCoef[ia1 * 2u];

+      si1 = pCoef[(ia1 * 2u) + 1u];

+      co2 = pCoef[ia2 * 2u];

+      si2 = pCoef[(ia2 * 2u) + 1u];

+      co3 = pCoef[ia3 * 2u];

+      si3 = pCoef[(ia3 * 2u) + 1u];

+

+      /*  Twiddle coefficients index modifier */

+      ia1 = ia1 + twidCoefModifier;

+

+      for (i0 = j; i0 < fftLen; i0 += n1)

+      {

+        /*  index calculation for the input as, */

+        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */

+        i1 = i0 + n2;

+        i2 = i1 + n2;

+        i3 = i2 + n2;

+

+        xaIn = pSrc[(2u * i0)];

+        yaIn = pSrc[(2u * i0) + 1u];

+

+        xbIn = pSrc[(2u * i1)];

+        ybIn = pSrc[(2u * i1) + 1u];

+

+        xcIn = pSrc[(2u * i2)];

+        ycIn = pSrc[(2u * i2) + 1u];

+

+        xdIn = pSrc[(2u * i3)];

+        ydIn = pSrc[(2u * i3) + 1u];

+

+        /* xa - xc */

+        Xaminusc = xaIn - xcIn;

+        /* (xb - xd) */

+        Xbminusd = xbIn - xdIn;

+        /* ya - yc */

+        Yaminusc = yaIn - ycIn;

+        /* (yb - yd) */

+        Ybminusd = ybIn - ydIn;

+

+        /* xa + xc */

+        Xaplusc = xaIn + xcIn;

+        /* xb + xd */

+        Xbplusd = xbIn + xdIn;

+        /* ya + yc */

+        Yaplusc = yaIn + ycIn;

+        /* yb + yd */

+        Ybplusd = ybIn + ydIn;

+

+        /* (xa - xc) - (yb - yd) */

+        Xb12C_out = (Xaminusc - Ybminusd);

+        /* (ya - yc) +  (xb - xd) */

+        Yb12C_out = (Yaminusc + Xbminusd);

+        /* xa + xc -(xb + xd) */

+        Xc12C_out = (Xaplusc - Xbplusd);

+        /* (ya + yc) - (yb + yd) */

+        Yc12C_out = (Yaplusc - Ybplusd);

+        /* (xa - xc) + (yb - yd) */

+        Xd12C_out = (Xaminusc + Ybminusd);

+        /* (ya - yc) -  (xb - xd) */

+        Yd12C_out = (Yaminusc - Xbminusd);

+

+        pSrc[(2u * i0)] = Xaplusc + Xbplusd;

+        pSrc[(2u * i0) + 1u] = Yaplusc + Ybplusd;

+

+        Xb12_out = Xb12C_out * co1;

+        Yb12_out = Yb12C_out * co1;

+        Xc12_out = Xc12C_out * co2;

+        Yc12_out = Yc12C_out * co2;

+        Xd12_out = Xd12C_out * co3;

+        Yd12_out = Yd12C_out * co3;

+

+        /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */

+        Xb12_out -= Yb12C_out * si1;

+        /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */

+        Yb12_out += Xb12C_out * si1;

+        /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */

+        Xc12_out -= Yc12C_out * si2;

+        /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */

+        Yc12_out += Xc12C_out * si2;

+        /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */

+        Xd12_out -= Yd12C_out * si3;

+        /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */

+        Yd12_out += Xd12C_out * si3;

+

+        /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */

+        pSrc[2u * i1] = Xc12_out;

+

+        /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */

+        pSrc[(2u * i1) + 1u] = Yc12_out;

+

+        /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */

+        pSrc[2u * i2] = Xb12_out;

+

+        /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */

+        pSrc[(2u * i2) + 1u] = Yb12_out;

+

+        /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */

+        pSrc[2u * i3] = Xd12_out;

+

+        /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */

+        pSrc[(2u * i3) + 1u] = Yd12_out;

+

+      }

+    }

+    twidCoefModifier <<= 2u;

+  }

+  /*  Initializations of last stage */

+

+  j = fftLen >> 2;

+  ptr1 = &pSrc[0];

+

+  /*  Calculations of last stage */

+  do

+  {

+

+    xaIn = ptr1[0];

+    xcIn = ptr1[4];

+    yaIn = ptr1[1];

+    ycIn = ptr1[5];

+

+    /*  Butterfly implementation */

+    /* xa + xc */

+    Xaplusc = xaIn + xcIn;

+

+    xbIn = ptr1[2];

+

+    /* xa - xc */

+    Xaminusc = xaIn - xcIn;

+

+    xdIn = ptr1[6];

+

+    /* ya + yc */

+    Yaplusc = yaIn + ycIn;

+

+    ybIn = ptr1[3];

+

+    /* ya - yc */

+    Yaminusc = yaIn - ycIn;

+

+    ydIn = ptr1[7];

+

+    /* xc + xd */

+    Xbplusd = xbIn + xdIn;

+

+    /* yb + yd */

+    Ybplusd = ybIn + ydIn;

+

+    /* xa' = xa + xb + xc + xd */

+    ptr1[0] = (Xaplusc + Xbplusd) * onebyfftLen;

+

+    /* (xb-xd) */

+    Xbminusd = xbIn - xdIn;

+

+    /* ya' = ya + yb + yc + yd */

+    ptr1[1] = (Yaplusc + Ybplusd) * onebyfftLen;

+

+    /* (yb-yd) */

+    Ybminusd = ybIn - ydIn;

+

+    /* xc' = (xa-xb+xc-xd) * onebyfftLen */

+    ptr1[2] = (Xaplusc - Xbplusd) * onebyfftLen;

+

+    /* yc' = (ya-yb+yc-yd) * onebyfftLen  */

+    ptr1[3] = (Yaplusc - Ybplusd) * onebyfftLen;

+

+    /* xb' = (xa-yb-xc+yd) * onebyfftLen */

+    ptr1[4] = (Xaminusc - Ybminusd) * onebyfftLen;

+

+    /* yb' = (ya+xb-yc-xd) * onebyfftLen */

+    ptr1[5] = (Yaminusc + Xbminusd) * onebyfftLen;

+

+    /* xd' = (xa-yb-xc+yd) * onebyfftLen */

+    ptr1[6] = (Xaminusc + Ybminusd) * onebyfftLen;

+

+    /* yd' = (ya-xb-yc+xd) * onebyfftLen */

+    ptr1[7] = (Yaminusc - Xbminusd) * onebyfftLen;

+

+    /* increment source pointer by 8 for next calculations */

+    ptr1 = ptr1 + 8u;

+

+  } while(--j);

+

+#else

+

+  float32_t t1, t2, r1, r2, s1, s2;

+

+  /* Run the below code for Cortex-M0 */

+

+  /*  Initializations for the first stage */

+  n2 = fftLen;

+  n1 = n2;

+

+  /*  Calculation of first stage */

+  for (k = fftLen; k > 4u; k >>= 2u)

+  {

+    /*  Initializations for the first stage */

+    n1 = n2;

+    n2 >>= 2u;

+    ia1 = 0u;

+

+    /*  Calculation of first stage */

+    for (j = 0u; j <= (n2 - 1u); j++)

+    {

+      /*  index calculation for the coefficients */

+      ia2 = ia1 + ia1;

+      ia3 = ia2 + ia1;

+      co1 = pCoef[ia1 * 2u];

+      si1 = pCoef[(ia1 * 2u) + 1u];

+      co2 = pCoef[ia2 * 2u];

+      si2 = pCoef[(ia2 * 2u) + 1u];

+      co3 = pCoef[ia3 * 2u];

+      si3 = pCoef[(ia3 * 2u) + 1u];

+

+      /*  Twiddle coefficients index modifier */

+      ia1 = ia1 + twidCoefModifier;

+

+      for (i0 = j; i0 < fftLen; i0 += n1)

+      {

+        /*  index calculation for the input as, */

+        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */

+        i1 = i0 + n2;

+        i2 = i1 + n2;

+        i3 = i2 + n2;

+

+        /* xa + xc */

+        r1 = pSrc[(2u * i0)] + pSrc[(2u * i2)];

+

+        /* xa - xc */

+        r2 = pSrc[(2u * i0)] - pSrc[(2u * i2)];

+

+        /* ya + yc */

+        s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];

+

+        /* ya - yc */

+        s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];

+

+        /* xb + xd */

+        t1 = pSrc[2u * i1] + pSrc[2u * i3];

+

+        /* xa' = xa + xb + xc + xd */

+        pSrc[2u * i0] = r1 + t1;

+

+        /* xa + xc -(xb + xd) */

+        r1 = r1 - t1;

+

+        /* yb + yd */

+        t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];

+

+        /* ya' = ya + yb + yc + yd */

+        pSrc[(2u * i0) + 1u] = s1 + t2;

+

+        /* (ya + yc) - (yb + yd) */

+        s1 = s1 - t2;

+

+        /* (yb - yd) */

+        t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];

+

+        /* (xb - xd) */

+        t2 = pSrc[2u * i1] - pSrc[2u * i3];

+

+        /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */

+        pSrc[2u * i1] = (r1 * co2) - (s1 * si2);

+

+        /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */

+        pSrc[(2u * i1) + 1u] = (s1 * co2) + (r1 * si2);

+

+        /* (xa - xc) - (yb - yd) */

+        r1 = r2 - t1;

+

+        /* (xa - xc) + (yb - yd) */

+        r2 = r2 + t1;

+

+        /* (ya - yc) +  (xb - xd) */

+        s1 = s2 + t2;

+

+        /* (ya - yc) -  (xb - xd) */

+        s2 = s2 - t2;

+

+        /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */

+        pSrc[2u * i2] = (r1 * co1) - (s1 * si1);

+

+        /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */

+        pSrc[(2u * i2) + 1u] = (s1 * co1) + (r1 * si1);

+

+        /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */

+        pSrc[2u * i3] = (r2 * co3) - (s2 * si3);

+

+        /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */

+        pSrc[(2u * i3) + 1u] = (s2 * co3) + (r2 * si3);

+      }

+    }

+    twidCoefModifier <<= 2u;

+  }

+  /*  Initializations of last stage */

+  n1 = n2;

+  n2 >>= 2u;

+

+  /*  Calculations of last stage */

+  for (i0 = 0u; i0 <= (fftLen - n1); i0 += n1)

+  {

+    /*  index calculation for the input as, */

+    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */

+    i1 = i0 + n2;

+    i2 = i1 + n2;

+    i3 = i2 + n2;

+

+    /*  Butterfly implementation */

+    /* xa + xc */

+    r1 = pSrc[2u * i0] + pSrc[2u * i2];

+

+    /* xa - xc */

+    r2 = pSrc[2u * i0] - pSrc[2u * i2];

+

+    /* ya + yc */

+    s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];

+

+    /* ya - yc */

+    s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];

+

+    /* xc + xd */

+    t1 = pSrc[2u * i1] + pSrc[2u * i3];

+

+    /* xa' = xa + xb + xc + xd */

+    pSrc[2u * i0] = (r1 + t1) * onebyfftLen;

+

+    /* (xa + xb) - (xc + xd) */

+    r1 = r1 - t1;

+

+    /* yb + yd */

+    t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];

+

+    /* ya' = ya + yb + yc + yd */

+    pSrc[(2u * i0) + 1u] = (s1 + t2) * onebyfftLen;

+

+    /* (ya + yc) - (yb + yd) */

+    s1 = s1 - t2;

+

+    /* (yb-yd) */

+    t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];

+

+    /* (xb-xd) */

+    t2 = pSrc[2u * i1] - pSrc[2u * i3];

+

+    /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */

+    pSrc[2u * i1] = r1 * onebyfftLen;

+

+    /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */

+    pSrc[(2u * i1) + 1u] = s1 * onebyfftLen;

+

+

+    /* (xa - xc) - (yb-yd) */

+    r1 = r2 - t1;

+

+    /* (xa - xc) + (yb-yd) */

+    r2 = r2 + t1;

+

+    /* (ya - yc) + (xb-xd) */

+    s1 = s2 + t2;

+

+    /* (ya - yc) - (xb-xd) */

+    s2 = s2 - t2;

+

+    /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */

+    pSrc[2u * i2] = r1 * onebyfftLen;

+

+    /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */

+    pSrc[(2u * i2) + 1u] = s1 * onebyfftLen;

+

+    /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */

+    pSrc[2u * i3] = r2 * onebyfftLen;

+

+    /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */

+    pSrc[(2u * i3) + 1u] = s2 * onebyfftLen;

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_f32.c
new file mode 100644
index 000000000..f354e1dde
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_f32.c
@@ -0,0 +1,161 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_cfft_radix4_init_f32.c    

+*    

+* Description:	Radix-4 Decimation in Frequency Floating-point CFFT & CIFFT Initialization 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"

+#include "arm_common_tables.h"

+

+/**    

+ * @ingroup groupTransforms    

+ */

+

+/**    

+ * @addtogroup Radix4_CFFT_CIFFT    

+ * @{    

+ */

+

+/**    

+* @brief  Initialization function for the floating-point CFFT/CIFFT.   

+* @param[in,out] *S             points to an instance of the floating-point CFFT/CIFFT structure.   

+* @param[in]     fftLen         length of the FFT.   

+* @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.   

+* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.   

+* @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if <code>fftLen</code> is not a supported value.   

+*    

+* \par Description:   

+* \par    

+* The parameter <code>ifftFlag</code> controls whether a forward or inverse transform is computed.    

+* Set(=1) ifftFlag for calculation of CIFFT otherwise  CFFT is calculated   

+* \par    

+* The parameter <code>bitReverseFlag</code> controls whether output is in normal order or bit reversed order.    

+* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.    

+* \par    

+* The parameter <code>fftLen</code>	Specifies length of CFFT/CIFFT process. Supported FFT Lengths are 16, 64, 256, 1024.    

+* \par    

+* This Function also initializes Twiddle factor table pointer and Bit reversal table pointer.    

+*/

+

+arm_status arm_cfft_radix4_init_f32(

+  arm_cfft_radix4_instance_f32 * S,

+  uint16_t fftLen,

+  uint8_t ifftFlag,

+  uint8_t bitReverseFlag)

+{

+  /*  Initialise the default arm status */

+  arm_status status = ARM_MATH_SUCCESS;

+

+  /*  Initialise the FFT length */

+  S->fftLen = fftLen;

+

+  /*  Initialise the Twiddle coefficient pointer */

+  S->pTwiddle = (float32_t *) twiddleCoef;

+

+  /*  Initialise the Flag for selection of CFFT or CIFFT */

+  S->ifftFlag = ifftFlag;

+

+  /*  Initialise the Flag for calculation Bit reversal or not */

+  S->bitReverseFlag = bitReverseFlag;

+

+  /*  Initializations of structure parameters depending on the FFT length */

+  switch (S->fftLen)

+  {

+

+  case 4096u:

+    /*  Initializations of structure parameters for 4096 point FFT */

+

+    /*  Initialise the twiddle coef modifier value */

+    S->twidCoefModifier = 1u;

+    /*  Initialise the bit reversal table modifier */

+    S->bitRevFactor = 1u;

+    /*  Initialise the bit reversal table pointer */

+    S->pBitRevTable = (uint16_t *) armBitRevTable;

+    /*  Initialise the 1/fftLen Value */

+    S->onebyfftLen = 0.000244140625;

+    break;

+

+  case 1024u:

+    /*  Initializations of structure parameters for 1024 point FFT */

+

+    /*  Initialise the twiddle coef modifier value */

+    S->twidCoefModifier = 4u;

+    /*  Initialise the bit reversal table modifier */

+    S->bitRevFactor = 4u;

+    /*  Initialise the bit reversal table pointer */

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[3];

+    /*  Initialise the 1/fftLen Value */

+    S->onebyfftLen = 0.0009765625f;

+    break;

+

+

+  case 256u:

+    /*  Initializations of structure parameters for 256 point FFT */

+    S->twidCoefModifier = 16u;

+    S->bitRevFactor = 16u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[15];

+    S->onebyfftLen = 0.00390625f;

+    break;

+

+  case 64u:

+    /*  Initializations of structure parameters for 64 point FFT */

+    S->twidCoefModifier = 64u;

+    S->bitRevFactor = 64u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[63];

+    S->onebyfftLen = 0.015625f;

+    break;

+

+  case 16u:

+    /*  Initializations of structure parameters for 16 point FFT */

+    S->twidCoefModifier = 256u;

+    S->bitRevFactor = 256u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[255];

+    S->onebyfftLen = 0.0625f;

+    break;

+

+

+  default:

+    /*  Reporting argument error if fftSize is not valid value */

+    status = ARM_MATH_ARGUMENT_ERROR;

+    break;

+  }

+

+  return (status);

+}

+

+/**    

+ * @} end of Radix4_CFFT_CIFFT group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q15.c
new file mode 100644
index 000000000..5ace3483d
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q15.c
@@ -0,0 +1,149 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_cfft_radix4_init_q15.c    

+*    

+* Description:	Radix-4 Decimation in Frequency Q15 FFT & IFFT initialization 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"

+#include "arm_common_tables.h"

+

+/**    

+ * @ingroup groupTransforms    

+ */

+

+

+/**    

+ * @addtogroup Radix4_CFFT_CIFFT    

+ * @{    

+ */

+

+

+/**    

+* @brief Initialization function for the Q15 CFFT/CIFFT.   

+* @param[in,out] *S             points to an instance of the Q15 CFFT/CIFFT structure.   

+* @param[in]     fftLen         length of the FFT.   

+* @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.   

+* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.   

+* @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if <code>fftLen</code> is not a supported value.   

+*    

+* \par Description:   

+* \par    

+* The parameter <code>ifftFlag</code> controls whether a forward or inverse transform is computed.    

+* Set(=1) ifftFlag for calculation of CIFFT otherwise  CFFT is calculated   

+* \par    

+* The parameter <code>bitReverseFlag</code> controls whether output is in normal order or bit reversed order.    

+* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.    

+* \par    

+* The parameter <code>fftLen</code>	Specifies length of CFFT/CIFFT process. Supported FFT Lengths are 16, 64, 256, 1024.    

+* \par    

+* This Function also initializes Twiddle factor table pointer and Bit reversal table pointer.    

+*/

+

+arm_status arm_cfft_radix4_init_q15(

+  arm_cfft_radix4_instance_q15 * S,

+  uint16_t fftLen,

+  uint8_t ifftFlag,

+  uint8_t bitReverseFlag)

+{

+  /*  Initialise the default arm status */

+  arm_status status = ARM_MATH_SUCCESS;

+  /*  Initialise the FFT length */

+  S->fftLen = fftLen;

+  /*  Initialise the Twiddle coefficient pointer */

+  S->pTwiddle = (q15_t *) twiddleCoefQ15;

+  /*  Initialise the Flag for selection of CFFT or CIFFT */

+  S->ifftFlag = ifftFlag;

+  /*  Initialise the Flag for calculation Bit reversal or not */

+  S->bitReverseFlag = bitReverseFlag;

+

+  /*  Initializations of structure parameters depending on the FFT length */

+  switch (S->fftLen)

+  {

+  case 4096u:

+    /*  Initializations of structure parameters for 4096 point FFT */

+

+    /*  Initialise the twiddle coef modifier value */

+    S->twidCoefModifier = 1u;

+    /*  Initialise the bit reversal table modifier */

+    S->bitRevFactor = 1u;

+    /*  Initialise the bit reversal table pointer */

+    S->pBitRevTable = (uint16_t *) armBitRevTable;

+

+    break;

+

+  case 1024u:

+    /*  Initializations of structure parameters for 1024 point FFT */

+    S->twidCoefModifier = 4u;

+    S->bitRevFactor = 4u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[3];

+

+    break;

+

+  case 256u:

+    /*  Initializations of structure parameters for 256 point FFT */

+    S->twidCoefModifier = 16u;

+    S->bitRevFactor = 16u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[15];

+

+    break;

+

+  case 64u:

+    /*  Initializations of structure parameters for 64 point FFT */

+    S->twidCoefModifier = 64u;

+    S->bitRevFactor = 64u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[63];

+

+    break;

+

+  case 16u:

+    /*  Initializations of structure parameters for 16 point FFT */

+    S->twidCoefModifier = 256u;

+    S->bitRevFactor = 256u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[255];

+

+    break;

+

+  default:

+    /*  Reporting argument error if fftSize is not valid value */

+    status = ARM_MATH_ARGUMENT_ERROR;

+    break;

+  }

+

+  return (status);

+}

+

+/**    

+ * @} end of Radix4_CFFT_CIFFT group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q31.c
new file mode 100644
index 000000000..6614994f7
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q31.c
@@ -0,0 +1,145 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_cfft_radix4_init_q31.c    

+*    

+* Description:	Radix-4 Decimation in Frequency Q31 FFT & IFFT initialization 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"

+#include "arm_common_tables.h"

+

+/**    

+ * @ingroup groupTransforms    

+ */

+

+/**    

+ * @addtogroup Radix4_CFFT_CIFFT    

+ * @{    

+ */

+

+/**    

+*    

+* @brief  Initialization function for the Q31 CFFT/CIFFT.   

+* @param[in,out] *S             points to an instance of the Q31 CFFT/CIFFT structure.   

+* @param[in]     fftLen         length of the FFT.   

+* @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.   

+* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.   

+* @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if <code>fftLen</code> is not a supported value.   

+*    

+* \par Description:   

+* \par    

+* The parameter <code>ifftFlag</code> controls whether a forward or inverse transform is computed.    

+* Set(=1) ifftFlag for calculation of CIFFT otherwise  CFFT is calculated   

+* \par    

+* The parameter <code>bitReverseFlag</code> controls whether output is in normal order or bit reversed order.    

+* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.    

+* \par    

+* The parameter <code>fftLen</code>	Specifies length of CFFT/CIFFT process. Supported FFT Lengths are 16, 64, 256, 1024.    

+* \par    

+* This Function also initializes Twiddle factor table pointer and Bit reversal table pointer.    

+*/

+

+arm_status arm_cfft_radix4_init_q31(

+  arm_cfft_radix4_instance_q31 * S,

+  uint16_t fftLen,

+  uint8_t ifftFlag,

+  uint8_t bitReverseFlag)

+{

+  /*  Initialise the default arm status */

+  arm_status status = ARM_MATH_SUCCESS;

+  /*  Initialise the FFT length */

+  S->fftLen = fftLen;

+  /*  Initialise the Twiddle coefficient pointer */

+  S->pTwiddle = (q31_t *) twiddleCoefQ31;

+  /*  Initialise the Flag for selection of CFFT or CIFFT */

+  S->ifftFlag = ifftFlag;

+  /*  Initialise the Flag for calculation Bit reversal or not */

+  S->bitReverseFlag = bitReverseFlag;

+

+  /*  Initializations of Instance structure depending on the FFT length */

+  switch (S->fftLen)

+  {

+    /*  Initializations of structure parameters for 4096 point FFT */

+  case 4096u:

+    /*  Initialise the twiddle coef modifier value */

+    S->twidCoefModifier = 1u;

+    /*  Initialise the bit reversal table modifier */

+    S->bitRevFactor = 1u;

+    /*  Initialise the bit reversal table pointer */

+    S->pBitRevTable = (uint16_t *) armBitRevTable;

+    break;

+

+    /*  Initializations of structure parameters for 1024 point FFT */

+  case 1024u:

+    /*  Initialise the twiddle coef modifier value */

+    S->twidCoefModifier = 4u;

+    /*  Initialise the bit reversal table modifier */

+    S->bitRevFactor = 4u;

+    /*  Initialise the bit reversal table pointer */

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[3];

+    break;

+

+  case 256u:

+    /*  Initializations of structure parameters for 256 point FFT */

+    S->twidCoefModifier = 16u;

+    S->bitRevFactor = 16u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[15];

+    break;

+

+  case 64u:

+    /*  Initializations of structure parameters for 64 point FFT */

+    S->twidCoefModifier = 64u;

+    S->bitRevFactor = 64u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[63];

+    break;

+

+  case 16u:

+    /*  Initializations of structure parameters for 16 point FFT */

+    S->twidCoefModifier = 256u;

+    S->bitRevFactor = 256u;

+    S->pBitRevTable = (uint16_t *) & armBitRevTable[255];

+    break;

+

+  default:

+    /*  Reporting argument error if fftSize is not valid value */

+    status = ARM_MATH_ARGUMENT_ERROR;

+    break;

+  }

+

+  return (status);

+}

+

+/**    

+ * @} end of Radix4_CFFT_CIFFT group    

+ */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q15.c
new file mode 100644
index 000000000..01d476e6c
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q15.c
@@ -0,0 +1,1896 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_cfft_radix4_q15.c    

+*    

+* Description:	This file has function definition of Radix-4 FFT & IFFT function and    

+*				In-place bit reversal using bit reversal table    

+*    

+* 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 groupTransforms    

+ */

+

+/**    

+ * @addtogroup Radix4_CFFT_CIFFT    

+ * @{    

+ */

+

+

+/**    

+ * @details    

+ * @brief Processing function for the Q15 CFFT/CIFFT.   

+ * @param[in]      *S    points to an instance of the Q15 CFFT/CIFFT structure.   

+ * @param[in, out] *pSrc points to the complex data buffer. Processing occurs in-place.   

+ * @return none.   

+ *     

+ * \par Input and output formats:    

+ * \par    

+ * Internally input is downscaled by 2 for every stage to avoid saturations inside CFFT/CIFFT process.   

+ * Hence the output format is different for different FFT sizes.    

+ * The input and output formats for different FFT sizes and number of bits to upscale are mentioned in the tables below for CFFT and CIFFT:   

+ * \par   

+ * \image html CFFTQ15.gif "Input and Output Formats for Q15 CFFT"    

+ * \image html CIFFTQ15.gif "Input and Output Formats for Q15 CIFFT"    

+ */

+

+void arm_cfft_radix4_q15(

+  const arm_cfft_radix4_instance_q15 * S,

+  q15_t * pSrc)

+{

+  if(S->ifftFlag == 1u)

+  {

+    /*  Complex IFFT radix-4  */

+    arm_radix4_butterfly_inverse_q15(pSrc, S->fftLen, S->pTwiddle,

+                                     S->twidCoefModifier);

+  }

+  else

+  {

+    /*  Complex FFT radix-4  */

+    arm_radix4_butterfly_q15(pSrc, S->fftLen, S->pTwiddle,

+                             S->twidCoefModifier);

+  }

+

+  if(S->bitReverseFlag == 1u)

+  {

+    /*  Bit Reversal */

+    arm_bitreversal_q15(pSrc, S->fftLen, S->bitRevFactor, S->pBitRevTable);

+  }

+

+}

+

+/**    

+ * @} end of Radix4_CFFT_CIFFT group    

+ */

+

+/*    

+* Radix-4 FFT algorithm used is :    

+*    

+* Input real and imaginary data:    

+* x(n) = xa + j * ya    

+* x(n+N/4 ) = xb + j * yb    

+* x(n+N/2 ) = xc + j * yc    

+* x(n+3N 4) = xd + j * yd    

+*    

+*    

+* Output real and imaginary data:    

+* x(4r) = xa'+ j * ya'    

+* x(4r+1) = xb'+ j * yb'    

+* x(4r+2) = xc'+ j * yc'    

+* x(4r+3) = xd'+ j * yd'    

+*    

+*    

+* Twiddle factors for radix-4 FFT:    

+* Wn = co1 + j * (- si1)    

+* W2n = co2 + j * (- si2)    

+* W3n = co3 + j * (- si3)    

+    

+* The real and imaginary output values for the radix-4 butterfly are    

+* xa' = xa + xb + xc + xd    

+* ya' = ya + yb + yc + yd    

+* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1)    

+* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1)    

+* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2)    

+* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2)    

+* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3)    

+* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3)    

+*    

+*/

+

+/**    

+ * @brief  Core function for the Q15 CFFT butterfly process.   

+ * @param[in, out] *pSrc16          points to the in-place buffer of Q15 data type.   

+ * @param[in]      fftLen           length of the FFT.   

+ * @param[in]      *pCoef16         points to twiddle coefficient buffer.   

+ * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   

+ * @return none.   

+ */

+

+void arm_radix4_butterfly_q15(

+  q15_t * pSrc16,

+  uint32_t fftLen,

+  q15_t * pCoef16,

+  uint32_t twidCoefModifier)

+{

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+

+  q31_t R, S, T, U;

+  q31_t C1, C2, C3, out1, out2;

+  uint32_t n1, n2, ic, i0, i1, i2, i3, j, k;

+  q15_t in;

+

+  q15_t *ptr1;

+

+

+

+  q31_t xaya, xbyb, xcyc, xdyd;

+

+  /* Total process is divided into three stages */

+

+  /* process first stage, middle stages, & last stage */

+

+  /*  Initializations for the first stage */

+  n2 = fftLen;

+  n1 = n2;

+

+  /* n2 = fftLen/4 */

+  n2 >>= 2u;

+

+  /* Index for twiddle coefficient */

+  ic = 0u;

+

+  /* Index for input read and output write */

+  i0 = 0u;

+  j = n2;

+

+  /* Input is in 1.15(q15) format */

+

+  /*  start of first stage process */

+  do

+  {

+    /*  Butterfly implementation */

+

+    /*  index calculation for the input as, */

+    /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */

+    i1 = i0 + n2;

+    i2 = i1 + n2;

+    i3 = i2 + n2;

+

+    /*  Reading i0, i0+fftLen/2 inputs */

+    /* Read ya (real), xa(imag) input */

+    T = _SIMD32_OFFSET(pSrc16 + (2u * i0));

+    in = ((int16_t) (T & 0xFFFF)) >> 2;

+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);

+

+    /* Read yc (real), xc(imag) input */

+    S = _SIMD32_OFFSET(pSrc16 + (2u * i2));

+    in = ((int16_t) (S & 0xFFFF)) >> 2;

+    S = ((S >> 2) & 0xFFFF0000) | (in & 0xFFFF);

+

+    /* R = packed((ya + yc), (xa + xc) ) */

+    R = __QADD16(T, S);

+

+    /* S = packed((ya - yc), (xa - xc) ) */

+    S = __QSUB16(T, S);

+

+    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */

+    /* Read yb (real), xb(imag) input */

+    T = _SIMD32_OFFSET(pSrc16 + (2u * i1));

+    in = ((int16_t) (T & 0xFFFF)) >> 2;

+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);

+

+    /* Read yd (real), xd(imag) input */

+    U = _SIMD32_OFFSET(pSrc16 + (2u * i3));

+    in = ((int16_t) (U & 0xFFFF)) >> 2;

+    U = ((U >> 2) & 0xFFFF0000) | (in & 0xFFFF);

+

+    /* T = packed((yb + yd), (xb + xd) ) */

+    T = __QADD16(T, U);

+

+    /*  writing the butterfly processed i0 sample */

+    /* xa' = xa + xb + xc + xd */

+    /* ya' = ya + yb + yc + yd */

+    _SIMD32_OFFSET(pSrc16 + (2u * i0)) = __SHADD16(R, T);

+

+    /* R = packed((ya + yc) - (yb + yd), (xa + xc)- (xb + xd)) */

+    R = __QSUB16(R, T);

+

+    /* co2 & si2 are read from SIMD Coefficient pointer */

+    C2 = _SIMD32_OFFSET(pCoef16 + (4u * ic));

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */

+    out1 = __SMUAD(C2, R) >> 16u;

+    /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */

+    out2 = __SMUSDX(C2, R);

+

+#else

+

+    /* xc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */

+    out1 = __SMUSDX(R, C2) >> 16u;

+    /* yc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */

+    out2 = __SMUAD(C2, R);

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */

+

+    /*  Reading i0+fftLen/4 */

+    /* T = packed(yb, xb) */

+    T = _SIMD32_OFFSET(pSrc16 + (2u * i1));

+    in = ((int16_t) (T & 0xFFFF)) >> 2;

+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);

+

+    /* writing the butterfly processed i0 + fftLen/4 sample */

+    /* writing output(xc', yc') in little endian format */

+    _SIMD32_OFFSET(pSrc16 + (2u * i1)) =

+      (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);

+

+    /*  Butterfly calculations */

+    /* U = packed(yd, xd) */

+    U = _SIMD32_OFFSET(pSrc16 + (2u * i3));

+    in = ((int16_t) (U & 0xFFFF)) >> 2;

+    U = ((U >> 2) & 0xFFFF0000) | (in & 0xFFFF);

+

+    /* T = packed(yb-yd, xb-xd) */

+    T = __QSUB16(T, U);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */

+    R = __QASX(S, T);

+    /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */

+    S = __QSAX(S, T);

+

+#else

+

+    /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */

+    R = __QSAX(S, T);

+    /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */

+    S = __QASX(S, T);

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */

+

+    /* co1 & si1 are read from SIMD Coefficient pointer */

+    C1 = _SIMD32_OFFSET(pCoef16 + (2u * ic));

+    /*  Butterfly process for the i0+fftLen/2 sample */

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */

+    out1 = __SMUAD(C1, S) >> 16u;

+    /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */

+    out2 = __SMUSDX(C1, S);

+

+#else

+

+    /* xb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */

+    out1 = __SMUSDX(S, C1) >> 16u;

+    /* yb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */

+    out2 = __SMUAD(C1, S);

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */

+

+    /* writing output(xb', yb') in little endian format */

+    _SIMD32_OFFSET(pSrc16 + (2u * i2)) =

+      ((out2) & 0xFFFF0000) | ((out1) & 0x0000FFFF);

+

+

+    /* co3 & si3 are read from SIMD Coefficient pointer */

+    C3 = _SIMD32_OFFSET(pCoef16 + (6u * ic));

+    /*  Butterfly process for the i0+3fftLen/4 sample */

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    /* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */

+    out1 = __SMUAD(C3, R) >> 16u;

+    /* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */

+    out2 = __SMUSDX(C3, R);

+

+#else

+

+    /* xd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */

+    out1 = __SMUSDX(R, C3) >> 16u;

+    /* yd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */

+    out2 = __SMUAD(C3, R);

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */

+

+    /* writing output(xd', yd') in little endian format */

+    _SIMD32_OFFSET(pSrc16 + (2u * i3)) =

+      ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);

+

+    /*  Twiddle coefficients index modifier */

+    ic = ic + twidCoefModifier;

+

+    /*  Updating input index */

+    i0 = i0 + 1u;

+

+  } while(--j);

+  /* data is in 4.11(q11) format */

+

+  /* end of first stage process */

+

+

+  /* start of middle stage process */

+

+  /*  Twiddle coefficients index modifier */

+  twidCoefModifier <<= 2u;

+

+  /*  Calculation of Middle stage */

+  for (k = fftLen / 4u; k > 4u; k >>= 2u)

+  {

+    /*  Initializations for the middle stage */

+    n1 = n2;

+    n2 >>= 2u;

+    ic = 0u;

+

+    for (j = 0u; j <= (n2 - 1u); j++)

+    {

+      /*  index calculation for the coefficients */

+      C1 = _SIMD32_OFFSET(pCoef16 + (2u * ic));

+      C2 = _SIMD32_OFFSET(pCoef16 + (4u * ic));

+      C3 = _SIMD32_OFFSET(pCoef16 + (6u * ic));

+

+      /*  Twiddle coefficients index modifier */

+      ic = ic + twidCoefModifier;

+

+      /*  Butterfly implementation */

+      for (i0 = j; i0 < fftLen; i0 += n1)

+      {

+        /*  index calculation for the input as, */

+        /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */

+        i1 = i0 + n2;

+        i2 = i1 + n2;

+        i3 = i2 + n2;

+

+        /*  Reading i0, i0+fftLen/2 inputs */

+        /* Read ya (real), xa(imag) input */

+        T = _SIMD32_OFFSET(pSrc16 + (2u * i0));

+

+        /* Read yc (real), xc(imag) input */

+        S = _SIMD32_OFFSET(pSrc16 + (2u * i2));

+

+        /* R = packed( (ya + yc), (xa + xc)) */

+        R = __QADD16(T, S);

+

+        /* S = packed((ya - yc), (xa - xc)) */

+        S = __QSUB16(T, S);

+

+        /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */

+        /* Read yb (real), xb(imag) input */

+        T = _SIMD32_OFFSET(pSrc16 + (2u * i1));

+

+        /* Read yd (real), xd(imag) input */

+        U = _SIMD32_OFFSET(pSrc16 + (2u * i3));

+

+        /* T = packed( (yb + yd), (xb + xd)) */

+        T = __QADD16(T, U);

+

+        /*  writing the butterfly processed i0 sample */

+

+        /* xa' = xa + xb + xc + xd */

+        /* ya' = ya + yb + yc + yd */

+        out1 = __SHADD16(R, T);

+        in = ((int16_t) (out1 & 0xFFFF)) >> 1;

+        out1 = ((out1 >> 1) & 0xFFFF0000) | (in & 0xFFFF);

+        _SIMD32_OFFSET(pSrc16 + (2u * i0)) = out1;

+

+        /* R = packed( (ya + yc) - (yb + yd), (xa + xc) - (xb + xd)) */

+        R = __SHSUB16(R, T);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+        /* (ya-yb+yc-yd)* (si2) + (xa-xb+xc-xd)* co2 */

+        out1 = __SMUAD(C2, R) >> 16u;

+

+        /* (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */

+        out2 = __SMUSDX(C2, R);

+

+#else

+

+        /* (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */

+        out1 = __SMUSDX(R, C2) >> 16u;

+

+        /* (ya-yb+yc-yd)* (si2) + (xa-xb+xc-xd)* co2 */

+        out2 = __SMUAD(C2, R);

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */

+

+        /*  Reading i0+3fftLen/4 */

+        /* Read yb (real), xb(imag) input */

+        T = _SIMD32_OFFSET(pSrc16 + (2u * i1));

+

+        /*  writing the butterfly processed i0 + fftLen/4 sample */

+        /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */

+        /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */

+        _SIMD32_OFFSET(pSrc16 + (2u * i1)) =

+          ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);

+

+        /*  Butterfly calculations */

+

+        /* Read yd (real), xd(imag) input */

+        U = _SIMD32_OFFSET(pSrc16 + (2u * i3));

+

+        /* T = packed(yb-yd, xb-xd) */

+        T = __QSUB16(T, U);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+        /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */

+        R = __SHASX(S, T);

+

+        /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */

+        S = __SHSAX(S, T);

+

+

+        /*  Butterfly process for the i0+fftLen/2 sample */

+        out1 = __SMUAD(C1, S) >> 16u;

+        out2 = __SMUSDX(C1, S);

+

+#else

+

+        /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */

+        R = __SHSAX(S, T);

+

+        /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */

+        S = __SHASX(S, T);

+

+

+        /*  Butterfly process for the i0+fftLen/2 sample */

+        out1 = __SMUSDX(S, C1) >> 16u;

+        out2 = __SMUAD(C1, S);

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */

+

+        /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */

+        /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */

+        _SIMD32_OFFSET(pSrc16 + (2u * i2)) =

+          ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);

+

+        /*  Butterfly process for the i0+3fftLen/4 sample */

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+        out1 = __SMUAD(C3, R) >> 16u;

+        out2 = __SMUSDX(C3, R);

+

+#else

+

+        out1 = __SMUSDX(R, C3) >> 16u;

+        out2 = __SMUAD(C3, R);

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */

+

+        /* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */

+        /* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */

+        _SIMD32_OFFSET(pSrc16 + (2u * i3)) =

+          ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);

+      }

+    }

+    /*  Twiddle coefficients index modifier */

+    twidCoefModifier <<= 2u;

+  }

+  /* end of middle stage process */

+

+

+  /* data is in 10.6(q6) format for the 1024 point */

+  /* data is in 8.8(q8) format for the 256 point */

+  /* data is in 6.10(q10) format for the 64 point */

+  /* data is in 4.12(q12) format for the 16 point */

+

+  /*  Initializations for the last stage */

+  j = fftLen >> 2;

+

+  ptr1 = &pSrc16[0];

+

+  /* start of last stage process */

+

+  /*  Butterfly implementation */

+  do

+  {

+    /* Read xa (real), ya(imag) input */

+    xaya = *__SIMD32(ptr1)++;

+

+    /* Read xb (real), yb(imag) input */

+    xbyb = *__SIMD32(ptr1)++;

+

+    /* Read xc (real), yc(imag) input */

+    xcyc = *__SIMD32(ptr1)++;

+

+    /* Read xd (real), yd(imag) input */

+    xdyd = *__SIMD32(ptr1)++;

+

+    /* R = packed((ya + yc), (xa + xc)) */

+    R = __QADD16(xaya, xcyc);

+

+    /* T = packed((yb + yd), (xb + xd)) */

+    T = __QADD16(xbyb, xdyd);

+

+    /* pointer updation for writing */

+    ptr1 = ptr1 - 8u;

+

+

+    /* xa' = xa + xb + xc + xd */

+    /* ya' = ya + yb + yc + yd */

+    *__SIMD32(ptr1)++ = __SHADD16(R, T);

+

+    /* T = packed((yb + yd), (xb + xd)) */

+    T = __QADD16(xbyb, xdyd);

+

+    /* xc' = (xa-xb+xc-xd) */

+    /* yc' = (ya-yb+yc-yd) */

+    *__SIMD32(ptr1)++ = __SHSUB16(R, T);

+

+    /* S = packed((ya - yc), (xa - xc)) */

+    S = __QSUB16(xaya, xcyc);

+

+    /* Read yd (real), xd(imag) input */

+    /* T = packed( (yb - yd), (xb - xd))  */

+    U = __QSUB16(xbyb, xdyd);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    /* xb' = (xa+yb-xc-yd) */

+    /* yb' = (ya-xb-yc+xd) */

+    *__SIMD32(ptr1)++ = __SHSAX(S, U);

+

+

+    /* xd' = (xa-yb-xc+yd) */

+    /* yd' = (ya+xb-yc-xd) */

+    *__SIMD32(ptr1)++ = __SHASX(S, U);

+

+#else

+

+    /* xb' = (xa+yb-xc-yd) */

+    /* yb' = (ya-xb-yc+xd) */

+    *__SIMD32(ptr1)++ = __SHASX(S, U);

+

+

+    /* xd' = (xa-yb-xc+yd) */

+    /* yd' = (ya+xb-yc-xd) */

+    *__SIMD32(ptr1)++ = __SHSAX(S, U);

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */

+

+  } while(--j);

+

+  /* end of last stage process */

+

+  /* output is in 11.5(q5) format for the 1024 point */

+  /* output is in 9.7(q7) format for the 256 point   */

+  /* output is in 7.9(q9) format for the 64 point  */

+  /* output is in 5.11(q11) format for the 16 point  */

+

+

+#else

+

+  /* Run the below code for Cortex-M0 */

+

+  q15_t R0, R1, S0, S1, T0, T1, U0, U1;

+  q15_t Co1, Si1, Co2, Si2, Co3, Si3, out1, out2;

+  uint32_t n1, n2, ic, i0, i1, i2, i3, j, k;

+

+  /* Total process is divided into three stages */

+

+  /* process first stage, middle stages, & last stage */

+

+  /*  Initializations for the first stage */

+  n2 = fftLen;

+  n1 = n2;

+

+  /* n2 = fftLen/4 */

+  n2 >>= 2u;

+

+  /* Index for twiddle coefficient */

+  ic = 0u;

+

+  /* Index for input read and output write */

+  i0 = 0u;

+  j = n2;

+

+  /* Input is in 1.15(q15) format */

+

+  /*  start of first stage process */

+  do

+  {

+    /*  Butterfly implementation */

+

+    /*  index calculation for the input as, */

+    /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */

+    i1 = i0 + n2;

+    i2 = i1 + n2;

+    i3 = i2 + n2;

+

+    /*  Reading i0, i0+fftLen/2 inputs */

+

+    /* input is down scale by 4 to avoid overflow */

+    /* Read ya (real), xa(imag) input */

+    T0 = pSrc16[i0 * 2u] >> 2u;

+    T1 = pSrc16[(i0 * 2u) + 1u] >> 2u;

+

+    /* input is down scale by 4 to avoid overflow */

+    /* Read yc (real), xc(imag) input */

+    S0 = pSrc16[i2 * 2u] >> 2u;

+    S1 = pSrc16[(i2 * 2u) + 1u] >> 2u;

+

+    /* R0 = (ya + yc) */

+    R0 = __SSAT(T0 + S0, 16u);

+    /* R1 = (xa + xc) */

+    R1 = __SSAT(T1 + S1, 16u);

+

+    /* S0 = (ya - yc) */

+    S0 = __SSAT(T0 - S0, 16);

+    /* S1 = (xa - xc) */

+    S1 = __SSAT(T1 - S1, 16);

+

+    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */

+    /* input is down scale by 4 to avoid overflow */

+    /* Read yb (real), xb(imag) input */

+    T0 = pSrc16[i1 * 2u] >> 2u;

+    T1 = pSrc16[(i1 * 2u) + 1u] >> 2u;

+

+    /* input is down scale by 4 to avoid overflow */

+    /* Read yd (real), xd(imag) input */

+    U0 = pSrc16[i3 * 2u] >> 2u;

+    U1 = pSrc16[(i3 * 2u) + 1] >> 2u;

+

+    /* T0 = (yb + yd) */

+    T0 = __SSAT(T0 + U0, 16u);

+    /* T1 = (xb + xd) */

+    T1 = __SSAT(T1 + U1, 16u);

+

+    /*  writing the butterfly processed i0 sample */

+    /* ya' = ya + yb + yc + yd */

+    /* xa' = xa + xb + xc + xd */

+    pSrc16[i0 * 2u] = (R0 >> 1u) + (T0 >> 1u);

+    pSrc16[(i0 * 2u) + 1u] = (R1 >> 1u) + (T1 >> 1u);

+

+    /* R0 = (ya + yc) - (yb + yd) */

+    /* R1 = (xa + xc) - (xb + xd) */

+    R0 = __SSAT(R0 - T0, 16u);

+    R1 = __SSAT(R1 - T1, 16u);

+

+    /* co2 & si2 are read from Coefficient pointer */

+    Co2 = pCoef16[2u * ic * 2u];

+    Si2 = pCoef16[(2u * ic * 2u) + 1];

+

+    /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */

+    out1 = (short) ((Co2 * R0 + Si2 * R1) >> 16u);

+    /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */

+    out2 = (short) ((-Si2 * R0 + Co2 * R1) >> 16u);

+

+    /*  Reading i0+fftLen/4 */

+    /* input is down scale by 4 to avoid overflow */

+    /* T0 = yb, T1 =  xb */

+    T0 = pSrc16[i1 * 2u] >> 2;

+    T1 = pSrc16[(i1 * 2u) + 1] >> 2;

+

+    /* writing the butterfly processed i0 + fftLen/4 sample */

+    /* writing output(xc', yc') in little endian format */

+    pSrc16[i1 * 2u] = out1;

+    pSrc16[(i1 * 2u) + 1] = out2;

+

+    /*  Butterfly calculations */

+    /* input is down scale by 4 to avoid overflow */

+    /* U0 = yd, U1 = xd */

+    U0 = pSrc16[i3 * 2u] >> 2;

+    U1 = pSrc16[(i3 * 2u) + 1] >> 2;

+    /* T0 = yb-yd */

+    T0 = __SSAT(T0 - U0, 16);

+    /* T1 = xb-xd */

+    T1 = __SSAT(T1 - U1, 16);

+

+    /* R1 = (ya-yc) + (xb- xd),  R0 = (xa-xc) - (yb-yd)) */

+    R0 = (short) __SSAT((q31_t) (S0 - T1), 16);

+    R1 = (short) __SSAT((q31_t) (S1 + T0), 16);

+

+    /* S1 = (ya-yc) - (xb- xd), S0 = (xa-xc) + (yb-yd)) */

+    S0 = (short) __SSAT(((q31_t) S0 + T1), 16u);

+    S1 = (short) __SSAT(((q31_t) S1 - T0), 16u);

+

+    /* co1 & si1 are read from Coefficient pointer */

+    Co1 = pCoef16[ic * 2u];

+    Si1 = pCoef16[(ic * 2u) + 1];

+    /*  Butterfly process for the i0+fftLen/2 sample */

+    /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */

+    out1 = (short) ((Si1 * S1 + Co1 * S0) >> 16);

+    /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */

+    out2 = (short) ((-Si1 * S0 + Co1 * S1) >> 16);

+

+    /* writing output(xb', yb') in little endian format */

+    pSrc16[i2 * 2u] = out1;

+    pSrc16[(i2 * 2u) + 1] = out2;

+

+    /* Co3 & si3 are read from Coefficient pointer */

+    Co3 = pCoef16[3u * (ic * 2u)];

+    Si3 = pCoef16[(3u * (ic * 2u)) + 1];

+    /*  Butterfly process for the i0+3fftLen/4 sample */

+    /* xd' = (xa-yb-xc+yd)* Co3 + (ya+xb-yc-xd)* (si3) */

+    out1 = (short) ((Si3 * R1 + Co3 * R0) >> 16u);

+    /* yd' = (ya+xb-yc-xd)* Co3 - (xa-yb-xc+yd)* (si3) */

+    out2 = (short) ((-Si3 * R0 + Co3 * R1) >> 16u);

+    /* writing output(xd', yd') in little endian format */

+    pSrc16[i3 * 2u] = out1;

+    pSrc16[(i3 * 2u) + 1] = out2;

+

+    /*  Twiddle coefficients index modifier */

+    ic = ic + twidCoefModifier;

+

+    /*  Updating input index */

+    i0 = i0 + 1u;

+

+  } while(--j);

+  /* data is in 4.11(q11) format */

+

+  /* end of first stage process */

+

+

+  /* start of middle stage process */

+

+  /*  Twiddle coefficients index modifier */

+  twidCoefModifier <<= 2u;

+

+  /*  Calculation of Middle stage */

+  for (k = fftLen / 4u; k > 4u; k >>= 2u)

+  {

+    /*  Initializations for the middle stage */

+    n1 = n2;

+    n2 >>= 2u;

+    ic = 0u;

+

+    for (j = 0u; j <= (n2 - 1u); j++)

+    {

+      /*  index calculation for the coefficients */

+      Co1 = pCoef16[ic * 2u];

+      Si1 = pCoef16[(ic * 2u) + 1u];

+      Co2 = pCoef16[2u * (ic * 2u)];

+      Si2 = pCoef16[(2u * (ic * 2u)) + 1u];

+      Co3 = pCoef16[3u * (ic * 2u)];

+      Si3 = pCoef16[(3u * (ic * 2u)) + 1u];

+

+      /*  Twiddle coefficients index modifier */

+      ic = ic + twidCoefModifier;

+

+      /*  Butterfly implementation */

+      for (i0 = j; i0 < fftLen; i0 += n1)

+      {

+        /*  index calculation for the input as, */

+        /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */

+        i1 = i0 + n2;

+        i2 = i1 + n2;

+        i3 = i2 + n2;

+

+        /*  Reading i0, i0+fftLen/2 inputs */

+        /* Read ya (real), xa(imag) input */

+        T0 = pSrc16[i0 * 2u];

+        T1 = pSrc16[(i0 * 2u) + 1u];

+

+        /* Read yc (real), xc(imag) input */

+        S0 = pSrc16[i2 * 2u];

+        S1 = pSrc16[(i2 * 2u) + 1u];

+

+        /* R0 = (ya + yc), R1 = (xa + xc) */

+        R0 = __SSAT(T0 + S0, 16);

+        R1 = __SSAT(T1 + S1, 16);

+

+        /* S0 = (ya - yc), S1 =(xa - xc) */

+        S0 = __SSAT(T0 - S0, 16);

+        S1 = __SSAT(T1 - S1, 16);

+

+        /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */

+        /* Read yb (real), xb(imag) input */

+        T0 = pSrc16[i1 * 2u];

+        T1 = pSrc16[(i1 * 2u) + 1u];

+

+        /* Read yd (real), xd(imag) input */

+        U0 = pSrc16[i3 * 2u];

+        U1 = pSrc16[(i3 * 2u) + 1u];

+

+

+        /* T0 = (yb + yd), T1 = (xb + xd) */

+        T0 = __SSAT(T0 + U0, 16);

+        T1 = __SSAT(T1 + U1, 16);

+

+        /*  writing the butterfly processed i0 sample */

+

+        /* xa' = xa + xb + xc + xd */

+        /* ya' = ya + yb + yc + yd */

+        out1 = ((R0 >> 1u) + (T0 >> 1u)) >> 1u;

+        out2 = ((R1 >> 1u) + (T1 >> 1u)) >> 1u;

+

+        pSrc16[i0 * 2u] = out1;

+        pSrc16[(2u * i0) + 1u] = out2;

+

+        /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc) - (xb + xd) */

+        R0 = (R0 >> 1u) - (T0 >> 1u);

+        R1 = (R1 >> 1u) - (T1 >> 1u);

+

+        /* (ya-yb+yc-yd)* (si2) + (xa-xb+xc-xd)* co2 */

+        out1 = (short) ((Co2 * R0 + Si2 * R1) >> 16u);

+

+        /* (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */

+        out2 = (short) ((-Si2 * R0 + Co2 * R1) >> 16u);

+

+        /*  Reading i0+3fftLen/4 */

+        /* Read yb (real), xb(imag) input */

+        T0 = pSrc16[i1 * 2u];

+        T1 = pSrc16[(i1 * 2u) + 1u];

+

+        /*  writing the butterfly processed i0 + fftLen/4 sample */

+        /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */

+        /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */

+        pSrc16[i1 * 2u] = out1;

+        pSrc16[(i1 * 2u) + 1u] = out2;

+

+        /*  Butterfly calculations */

+

+        /* Read yd (real), xd(imag) input */

+        U0 = pSrc16[i3 * 2u];

+        U1 = pSrc16[(i3 * 2u) + 1u];

+

+        /* T0 = yb-yd, T1 = xb-xd */

+        T0 = __SSAT(T0 - U0, 16);

+        T1 = __SSAT(T1 - U1, 16);

+

+        /* R0 = (ya-yc) + (xb- xd), R1 = (xa-xc) - (yb-yd)) */

+        R0 = (S0 >> 1u) - (T1 >> 1u);

+        R1 = (S1 >> 1u) + (T0 >> 1u);

+

+        /* S0 = (ya-yc) - (xb- xd), S1 = (xa-xc) + (yb-yd)) */

+        S0 = (S0 >> 1u) + (T1 >> 1u);

+        S1 = (S1 >> 1u) - (T0 >> 1u);

+

+        /*  Butterfly process for the i0+fftLen/2 sample */

+        out1 = (short) ((Co1 * S0 + Si1 * S1) >> 16u);

+

+        out2 = (short) ((-Si1 * S0 + Co1 * S1) >> 16u);

+

+        /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */

+        /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */

+        pSrc16[i2 * 2u] = out1;

+        pSrc16[(i2 * 2u) + 1u] = out2;

+

+        /*  Butterfly process for the i0+3fftLen/4 sample */

+        out1 = (short) ((Si3 * R1 + Co3 * R0) >> 16u);

+

+        out2 = (short) ((-Si3 * R0 + Co3 * R1) >> 16u);

+        /* xd' = (xa-yb-xc+yd)* Co3 + (ya+xb-yc-xd)* (si3) */

+        /* yd' = (ya+xb-yc-xd)* Co3 - (xa-yb-xc+yd)* (si3) */

+        pSrc16[i3 * 2u] = out1;

+        pSrc16[(i3 * 2u) + 1u] = out2;

+      }

+    }

+    /*  Twiddle coefficients index modifier */

+    twidCoefModifier <<= 2u;

+  }

+  /* end of middle stage process */

+

+

+  /* data is in 10.6(q6) format for the 1024 point */

+  /* data is in 8.8(q8) format for the 256 point */

+  /* data is in 6.10(q10) format for the 64 point */

+  /* data is in 4.12(q12) format for the 16 point */

+

+  /*  Initializations for the last stage */

+  n1 = n2;

+  n2 >>= 2u;

+

+  /* start of last stage process */

+

+  /*  Butterfly implementation */

+  for (i0 = 0u; i0 <= (fftLen - n1); i0 += n1)

+  {

+    /*  index calculation for the input as, */

+    /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */

+    i1 = i0 + n2;

+    i2 = i1 + n2;

+    i3 = i2 + n2;

+

+    /*  Reading i0, i0+fftLen/2 inputs */

+    /* Read ya (real), xa(imag) input */

+    T0 = pSrc16[i0 * 2u];

+    T1 = pSrc16[(i0 * 2u) + 1u];

+

+    /* Read yc (real), xc(imag) input */

+    S0 = pSrc16[i2 * 2u];

+    S1 = pSrc16[(i2 * 2u) + 1u];

+

+    /* R0 = (ya + yc), R1 = (xa + xc) */

+    R0 = __SSAT(T0 + S0, 16u);

+    R1 = __SSAT(T1 + S1, 16u);

+

+    /* S0 = (ya - yc), S1 = (xa - xc) */

+    S0 = __SSAT(T0 - S0, 16u);

+    S1 = __SSAT(T1 - S1, 16u);

+

+    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */

+    /* Read yb (real), xb(imag) input */

+    T0 = pSrc16[i1 * 2u];

+    T1 = pSrc16[(i1 * 2u) + 1u];

+    /* Read yd (real), xd(imag) input */

+    U0 = pSrc16[i3 * 2u];

+    U1 = pSrc16[(i3 * 2u) + 1u];

+

+    /* T0 = (yb + yd), T1 = (xb + xd)) */

+    T0 = __SSAT(T0 + U0, 16u);

+    T1 = __SSAT(T1 + U1, 16u);

+

+    /*  writing the butterfly processed i0 sample */

+    /* xa' = xa + xb + xc + xd */

+    /* ya' = ya + yb + yc + yd */

+    pSrc16[i0 * 2u] = (R0 >> 1u) + (T0 >> 1u);

+    pSrc16[(i0 * 2u) + 1u] = (R1 >> 1u) + (T1 >> 1u);

+

+    /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc) - (xb + xd) */

+    R0 = (R0 >> 1u) - (T0 >> 1u);

+    R1 = (R1 >> 1u) - (T1 >> 1u);

+    /* Read yb (real), xb(imag) input */

+    T0 = pSrc16[i1 * 2u];

+    T1 = pSrc16[(i1 * 2u) + 1u];

+

+    /*  writing the butterfly processed i0 + fftLen/4 sample */

+    /* xc' = (xa-xb+xc-xd) */

+    /* yc' = (ya-yb+yc-yd) */

+    pSrc16[i1 * 2u] = R0;

+    pSrc16[(i1 * 2u) + 1u] = R1;

+

+    /* Read yd (real), xd(imag) input */

+    U0 = pSrc16[i3 * 2u];

+    U1 = pSrc16[(i3 * 2u) + 1u];

+    /* T0 = (yb - yd), T1 = (xb - xd)  */

+    T0 = __SSAT(T0 - U0, 16u);

+    T1 = __SSAT(T1 - U1, 16u);

+

+    /*  writing the butterfly processed i0 + fftLen/2 sample */

+    /* xb' = (xa+yb-xc-yd) */

+    /* yb' = (ya-xb-yc+xd) */

+    pSrc16[i2 * 2u] = (S0 >> 1u) + (T1 >> 1u);

+    pSrc16[(i2 * 2u) + 1u] = (S1 >> 1u) - (T0 >> 1u);

+

+    /*  writing the butterfly processed i0 + 3fftLen/4 sample */

+    /* xd' = (xa-yb-xc+yd) */

+    /* yd' = (ya+xb-yc-xd) */

+    pSrc16[i3 * 2u] = (S0 >> 1u) - (T1 >> 1u);

+    pSrc16[(i3 * 2u) + 1u] = (S1 >> 1u) + (T0 >> 1u);

+

+  }

+

+  /* end of last stage process */

+

+  /* output is in 11.5(q5) format for the 1024 point */

+  /* output is in 9.7(q7) format for the 256 point   */

+  /* output is in 7.9(q9) format for the 64 point  */

+  /* output is in 5.11(q11) format for the 16 point  */

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+

+/**    

+ * @brief  Core function for the Q15 CIFFT butterfly process.   

+ * @param[in, out] *pSrc16          points to the in-place buffer of Q15 data type.   

+ * @param[in]      fftLen           length of the FFT.   

+ * @param[in]      *pCoef16         points to twiddle coefficient buffer.   

+ * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   

+ * @return none.   

+ */

+

+/*    

+* Radix-4 IFFT algorithm used is :    

+*    

+* CIFFT uses same twiddle coefficients as CFFT function    

+*  x[k] = x[n] + (j)k * x[n + fftLen/4] + (-1)k * x[n+fftLen/2] + (-j)k * x[n+3*fftLen/4]    

+*    

+*    

+* IFFT is implemented with following changes in equations from FFT    

+*    

+* Input real and imaginary data:    

+* x(n) = xa + j * ya    

+* x(n+N/4 ) = xb + j * yb    

+* x(n+N/2 ) = xc + j * yc    

+* x(n+3N 4) = xd + j * yd    

+*    

+*    

+* Output real and imaginary data:    

+* x(4r) = xa'+ j * ya'    

+* x(4r+1) = xb'+ j * yb'    

+* x(4r+2) = xc'+ j * yc'    

+* x(4r+3) = xd'+ j * yd'    

+*    

+*    

+* Twiddle factors for radix-4 IFFT:    

+* Wn = co1 + j * (si1)    

+* W2n = co2 + j * (si2)    

+* W3n = co3 + j * (si3)    

+    

+* The real and imaginary output values for the radix-4 butterfly are    

+* xa' = xa + xb + xc + xd    

+* ya' = ya + yb + yc + yd    

+* xb' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1)    

+* yb' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1)    

+* xc' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2)    

+* yc' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2)    

+* xd' = (xa+yb-xc-yd)* co3 - (ya-xb-yc+xd)* (si3)    

+* yd' = (ya-xb-yc+xd)* co3 + (xa+yb-xc-yd)* (si3)    

+*    

+*/

+

+void arm_radix4_butterfly_inverse_q15(

+  q15_t * pSrc16,

+  uint32_t fftLen,

+  q15_t * pCoef16,

+  uint32_t twidCoefModifier)

+{

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+

+  q31_t R, S, T, U;

+  q31_t C1, C2, C3, out1, out2;

+  uint32_t n1, n2, ic, i0, i1, i2, i3, j, k;

+  q15_t in;

+

+  q15_t *ptr1;

+

+

+

+  q31_t xaya, xbyb, xcyc, xdyd;

+

+  /* Total process is divided into three stages */

+

+  /* process first stage, middle stages, & last stage */

+

+  /*  Initializations for the first stage */

+  n2 = fftLen;

+  n1 = n2;

+

+  /* n2 = fftLen/4 */

+  n2 >>= 2u;

+

+  /* Index for twiddle coefficient */

+  ic = 0u;

+

+  /* Index for input read and output write */

+  i0 = 0u;

+  j = n2;

+

+  /* Input is in 1.15(q15) format */

+

+  /*  start of first stage process */

+  do

+  {

+    /*  Butterfly implementation */

+

+    /*  index calculation for the input as, */

+    /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */

+    i1 = i0 + n2;

+    i2 = i1 + n2;

+    i3 = i2 + n2;

+

+    /*  Reading i0, i0+fftLen/2 inputs */

+    /* Read ya (real), xa(imag) input */

+    T = _SIMD32_OFFSET(pSrc16 + (2u * i0));

+    in = ((int16_t) (T & 0xFFFF)) >> 2;

+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);

+

+    /* Read yc (real), xc(imag) input */

+    S = _SIMD32_OFFSET(pSrc16 + (2u * i2));

+    in = ((int16_t) (S & 0xFFFF)) >> 2;

+    S = ((S >> 2) & 0xFFFF0000) | (in & 0xFFFF);

+

+    /* R = packed((ya + yc), (xa + xc) ) */

+    R = __QADD16(T, S);

+

+    /* S = packed((ya - yc), (xa - xc) ) */

+    S = __QSUB16(T, S);

+

+    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */

+    /* Read yb (real), xb(imag) input */

+    T = _SIMD32_OFFSET(pSrc16 + (2u * i1));

+    in = ((int16_t) (T & 0xFFFF)) >> 2;

+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);

+

+    /* Read yd (real), xd(imag) input */

+    U = _SIMD32_OFFSET(pSrc16 + (2u * i3));

+    in = ((int16_t) (U & 0xFFFF)) >> 2;

+    U = ((U >> 2) & 0xFFFF0000) | (in & 0xFFFF);

+

+    /* T = packed((yb + yd), (xb + xd) ) */

+    T = __QADD16(T, U);

+

+    /*  writing the butterfly processed i0 sample */

+    /* xa' = xa + xb + xc + xd */

+    /* ya' = ya + yb + yc + yd */

+    _SIMD32_OFFSET(pSrc16 + (2u * i0)) = __SHADD16(R, T);

+

+    /* R = packed((ya + yc) - (yb + yd), (xa + xc)- (xb + xd)) */

+    R = __QSUB16(R, T);

+

+    /* co2 & si2 are read from SIMD Coefficient pointer */

+    C2 = _SIMD32_OFFSET(pCoef16 + (4u * ic));

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */

+    out1 = __SMUSD(C2, R) >> 16u;

+    /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */

+    out2 = __SMUADX(C2, R);

+

+#else

+

+    /* xc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */

+    out1 = __SMUADX(C2, R) >> 16u;

+    /* yc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */

+    out2 = __SMUSD(__QSUB16(0, C2), R);

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */

+

+    /*  Reading i0+fftLen/4 */

+    /* T = packed(yb, xb) */

+    T = _SIMD32_OFFSET(pSrc16 + (2u * i1));

+    in = ((int16_t) (T & 0xFFFF)) >> 2;

+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);

+

+    /* writing the butterfly processed i0 + fftLen/4 sample */

+    /* writing output(xc', yc') in little endian format */

+    _SIMD32_OFFSET(pSrc16 + (2u * i1)) =

+      (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);

+

+    /*  Butterfly calculations */

+    /* U = packed(yd, xd) */

+    U = _SIMD32_OFFSET(pSrc16 + (2u * i3));

+    in = ((int16_t) (U & 0xFFFF)) >> 2;

+    U = ((U >> 2) & 0xFFFF0000) | (in & 0xFFFF);

+

+    /* T = packed(yb-yd, xb-xd) */

+    T = __QSUB16(T, U);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */

+    R = __QSAX(S, T);

+    /* S = packed((ya-yc) + (xb- xd),  (xa-xc) - (yb-yd)) */

+    S = __QASX(S, T);

+

+#else

+

+    /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */

+    R = __QASX(S, T);

+    /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */

+    S = __QSAX(S, T);

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */

+

+    /* co1 & si1 are read from SIMD Coefficient pointer */

+    C1 = _SIMD32_OFFSET(pCoef16 + (2u * ic));

+    /*  Butterfly process for the i0+fftLen/2 sample */

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */

+    out1 = __SMUSD(C1, S) >> 16u;

+    /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */

+    out2 = __SMUADX(C1, S);

+

+#else

+

+    /* xb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */

+    out1 = __SMUADX(C1, S) >> 16u;

+    /* yb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */

+    out2 = __SMUSD(__QSUB16(0, C1), S);

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */

+

+    /* writing output(xb', yb') in little endian format */

+    _SIMD32_OFFSET(pSrc16 + (2u * i2)) =

+      ((out2) & 0xFFFF0000) | ((out1) & 0x0000FFFF);

+

+

+    /* co3 & si3 are read from SIMD Coefficient pointer */

+    C3 = _SIMD32_OFFSET(pCoef16 + (6u * ic));

+    /*  Butterfly process for the i0+3fftLen/4 sample */

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    /* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */

+    out1 = __SMUSD(C3, R) >> 16u;

+    /* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */

+    out2 = __SMUADX(C3, R);

+

+#else

+

+    /* xd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */

+    out1 = __SMUADX(C3, R) >> 16u;

+    /* yd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */

+    out2 = __SMUSD(__QSUB16(0, C3), R);

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */

+

+    /* writing output(xd', yd') in little endian format */

+    _SIMD32_OFFSET(pSrc16 + (2u * i3)) =

+      ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);

+

+    /*  Twiddle coefficients index modifier */

+    ic = ic + twidCoefModifier;

+

+    /*  Updating input index */

+    i0 = i0 + 1u;

+

+  } while(--j);

+  /* data is in 4.11(q11) format */

+

+  /* end of first stage process */

+

+

+  /* start of middle stage process */

+

+  /*  Twiddle coefficients index modifier */

+  twidCoefModifier <<= 2u;

+

+  /*  Calculation of Middle stage */

+  for (k = fftLen / 4u; k > 4u; k >>= 2u)

+  {

+    /*  Initializations for the middle stage */

+    n1 = n2;

+    n2 >>= 2u;

+    ic = 0u;

+

+    for (j = 0u; j <= (n2 - 1u); j++)

+    {

+      /*  index calculation for the coefficients */

+      C1 = _SIMD32_OFFSET(pCoef16 + (2u * ic));

+      C2 = _SIMD32_OFFSET(pCoef16 + (4u * ic));

+      C3 = _SIMD32_OFFSET(pCoef16 + (6u * ic));

+

+      /*  Twiddle coefficients index modifier */

+      ic = ic + twidCoefModifier;

+

+      /*  Butterfly implementation */

+      for (i0 = j; i0 < fftLen; i0 += n1)

+      {

+        /*  index calculation for the input as, */

+        /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */

+        i1 = i0 + n2;

+        i2 = i1 + n2;

+        i3 = i2 + n2;

+

+        /*  Reading i0, i0+fftLen/2 inputs */

+        /* Read ya (real), xa(imag) input */

+        T = _SIMD32_OFFSET(pSrc16 + (2u * i0));

+

+        /* Read yc (real), xc(imag) input */

+        S = _SIMD32_OFFSET(pSrc16 + (2u * i2));

+

+        /* R = packed( (ya + yc), (xa + xc)) */

+        R = __QADD16(T, S);

+

+        /* S = packed((ya - yc), (xa - xc)) */

+        S = __QSUB16(T, S);

+

+        /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */

+        /* Read yb (real), xb(imag) input */

+        T = _SIMD32_OFFSET(pSrc16 + (2u * i1));

+

+        /* Read yd (real), xd(imag) input */

+        U = _SIMD32_OFFSET(pSrc16 + (2u * i3));

+

+        /* T = packed( (yb + yd), (xb + xd)) */

+        T = __QADD16(T, U);

+

+        /*  writing the butterfly processed i0 sample */

+

+        /* xa' = xa + xb + xc + xd */

+        /* ya' = ya + yb + yc + yd */

+        out1 = __SHADD16(R, T);

+        in = ((int16_t) (out1 & 0xFFFF)) >> 1;

+        out1 = ((out1 >> 1) & 0xFFFF0000) | (in & 0xFFFF);

+        _SIMD32_OFFSET(pSrc16 + (2u * i0)) = out1;

+

+        /* R = packed( (ya + yc) - (yb + yd), (xa + xc) - (xb + xd)) */

+        R = __SHSUB16(R, T);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+        /* (ya-yb+yc-yd)* (si2) + (xa-xb+xc-xd)* co2 */

+        out1 = __SMUSD(C2, R) >> 16u;

+

+        /* (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */

+        out2 = __SMUADX(C2, R);

+

+#else

+

+        /* (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */

+        out1 = __SMUADX(R, C2) >> 16u;

+

+        /* (ya-yb+yc-yd)* (si2) + (xa-xb+xc-xd)* co2 */

+        out2 = __SMUSD(__QSUB16(0, C2), R);

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */

+

+        /*  Reading i0+3fftLen/4 */

+        /* Read yb (real), xb(imag) input */

+        T = _SIMD32_OFFSET(pSrc16 + (2u * i1));

+

+        /*  writing the butterfly processed i0 + fftLen/4 sample */

+        /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */

+        /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */

+        _SIMD32_OFFSET(pSrc16 + (2u * i1)) =

+          ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);

+

+        /*  Butterfly calculations */

+

+        /* Read yd (real), xd(imag) input */

+        U = _SIMD32_OFFSET(pSrc16 + (2u * i3));

+

+        /* T = packed(yb-yd, xb-xd) */

+        T = __QSUB16(T, U);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+        /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */

+        R = __SHSAX(S, T);

+

+        /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */

+        S = __SHASX(S, T);

+

+

+        /*  Butterfly process for the i0+fftLen/2 sample */

+        out1 = __SMUSD(C1, S) >> 16u;

+        out2 = __SMUADX(C1, S);

+

+#else

+

+        /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */

+        R = __SHASX(S, T);

+

+        /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */

+        S = __SHSAX(S, T);

+

+

+        /*  Butterfly process for the i0+fftLen/2 sample */

+        out1 = __SMUADX(S, C1) >> 16u;

+        out2 = __SMUSD(__QSUB16(0, C1), S);

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */

+

+        /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */

+        /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */

+        _SIMD32_OFFSET(pSrc16 + (2u * i2)) =

+          ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);

+

+        /*  Butterfly process for the i0+3fftLen/4 sample */

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+        out1 = __SMUSD(C3, R) >> 16u;

+        out2 = __SMUADX(C3, R);

+

+#else

+

+        out1 = __SMUADX(C3, R) >> 16u;

+        out2 = __SMUSD(__QSUB16(0, C3), R);

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */

+

+        /* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */

+        /* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */

+        _SIMD32_OFFSET(pSrc16 + (2u * i3)) =

+          ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);

+      }

+    }

+    /*  Twiddle coefficients index modifier */

+    twidCoefModifier <<= 2u;

+  }

+  /* end of middle stage process */

+

+  /* data is in 10.6(q6) format for the 1024 point */

+  /* data is in 8.8(q8) format for the 256 point */

+  /* data is in 6.10(q10) format for the 64 point */

+  /* data is in 4.12(q12) format for the 16 point */

+

+  /*  Initializations for the last stage */

+  j = fftLen >> 2;

+

+  ptr1 = &pSrc16[0];

+

+  /* start of last stage process */

+

+  /*  Butterfly implementation */

+  do

+  {

+    /* Read xa (real), ya(imag) input */

+    xaya = *__SIMD32(ptr1)++;

+

+    /* Read xb (real), yb(imag) input */

+    xbyb = *__SIMD32(ptr1)++;

+

+    /* Read xc (real), yc(imag) input */

+    xcyc = *__SIMD32(ptr1)++;

+

+    /* Read xd (real), yd(imag) input */

+    xdyd = *__SIMD32(ptr1)++;

+

+    /* R = packed((ya + yc), (xa + xc)) */

+    R = __QADD16(xaya, xcyc);

+

+    /* T = packed((yb + yd), (xb + xd)) */

+    T = __QADD16(xbyb, xdyd);

+

+    /* pointer updation for writing */

+    ptr1 = ptr1 - 8u;

+

+

+    /* xa' = xa + xb + xc + xd */

+    /* ya' = ya + yb + yc + yd */

+    *__SIMD32(ptr1)++ = __SHADD16(R, T);

+

+    /* T = packed((yb + yd), (xb + xd)) */

+    T = __QADD16(xbyb, xdyd);

+

+    /* xc' = (xa-xb+xc-xd) */

+    /* yc' = (ya-yb+yc-yd) */

+    *__SIMD32(ptr1)++ = __SHSUB16(R, T);

+

+    /* S = packed((ya - yc), (xa - xc)) */

+    S = __QSUB16(xaya, xcyc);

+

+    /* Read yd (real), xd(imag) input */

+    /* T = packed( (yb - yd), (xb - xd))  */

+    U = __QSUB16(xbyb, xdyd);

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    /* xb' = (xa+yb-xc-yd) */

+    /* yb' = (ya-xb-yc+xd) */

+    *__SIMD32(ptr1)++ = __SHASX(S, U);

+

+

+    /* xd' = (xa-yb-xc+yd) */

+    /* yd' = (ya+xb-yc-xd) */

+    *__SIMD32(ptr1)++ = __SHSAX(S, U);

+

+#else

+

+    /* xb' = (xa+yb-xc-yd) */

+    /* yb' = (ya-xb-yc+xd) */

+    *__SIMD32(ptr1)++ = __SHSAX(S, U);

+

+

+    /* xd' = (xa-yb-xc+yd) */

+    /* yd' = (ya+xb-yc-xd) */

+    *__SIMD32(ptr1)++ = __SHASX(S, U);

+

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */

+

+  } while(--j);

+

+  /* end of last stage  process */

+

+  /* output is in 11.5(q5) format for the 1024 point */

+  /* output is in 9.7(q7) format for the 256 point   */

+  /* output is in 7.9(q9) format for the 64 point  */

+  /* output is in 5.11(q11) format for the 16 point  */

+

+

+#else

+

+  /* Run the below code for Cortex-M0 */

+

+  q15_t R0, R1, S0, S1, T0, T1, U0, U1;

+  q15_t Co1, Si1, Co2, Si2, Co3, Si3, out1, out2;

+  uint32_t n1, n2, ic, i0, i1, i2, i3, j, k;

+

+  /* Total process is divided into three stages */

+

+  /* process first stage, middle stages, & last stage */

+

+  /*  Initializations for the first stage */

+  n2 = fftLen;

+  n1 = n2;

+

+  /* n2 = fftLen/4 */

+  n2 >>= 2u;

+

+  /* Index for twiddle coefficient */

+  ic = 0u;

+

+  /* Index for input read and output write */

+  i0 = 0u;

+

+  j = n2;

+

+  /* Input is in 1.15(q15) format */

+

+  /*  Start of first stage process */

+  do

+  {

+    /*  Butterfly implementation */

+

+    /*  index calculation for the input as, */

+    /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */

+    i1 = i0 + n2;

+    i2 = i1 + n2;

+    i3 = i2 + n2;

+

+    /*  Reading i0, i0+fftLen/2 inputs */

+    /* input is down scale by 4 to avoid overflow */

+    /* Read ya (real), xa(imag) input */

+    T0 = pSrc16[i0 * 2u] >> 2u;

+    T1 = pSrc16[(i0 * 2u) + 1u] >> 2u;

+    /* input is down scale by 4 to avoid overflow */

+    /* Read yc (real), xc(imag) input */

+    S0 = pSrc16[i2 * 2u] >> 2u;

+    S1 = pSrc16[(i2 * 2u) + 1u] >> 2u;

+

+    /* R0 = (ya + yc), R1 = (xa + xc) */

+    R0 = __SSAT(T0 + S0, 16u);

+    R1 = __SSAT(T1 + S1, 16u);

+    /* S0 = (ya - yc), S1 = (xa - xc) */

+    S0 = __SSAT(T0 - S0, 16u);

+    S1 = __SSAT(T1 - S1, 16u);

+

+    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */

+    /* input is down scale by 4 to avoid overflow */

+    /* Read yb (real), xb(imag) input */

+    T0 = pSrc16[i1 * 2u] >> 2u;

+    T1 = pSrc16[(i1 * 2u) + 1u] >> 2u;

+    /* Read yd (real), xd(imag) input */

+    /* input is down scale by 4 to avoid overflow */

+    U0 = pSrc16[i3 * 2u] >> 2u;

+    U1 = pSrc16[(i3 * 2u) + 1u] >> 2u;

+

+    /* T0 = (yb + yd), T1 = (xb + xd) */

+    T0 = __SSAT(T0 + U0, 16u);

+    T1 = __SSAT(T1 + U1, 16u);

+

+    /*  writing the butterfly processed i0 sample */

+    /* xa' = xa + xb + xc + xd */

+    /* ya' = ya + yb + yc + yd */

+    pSrc16[i0 * 2u] = (R0 >> 1u) + (T0 >> 1u);

+    pSrc16[(i0 * 2u) + 1u] = (R1 >> 1u) + (T1 >> 1u);

+

+    /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc)- (xb + xd) */

+    R0 = __SSAT(R0 - T0, 16u);

+    R1 = __SSAT(R1 - T1, 16u);

+    /* co2 & si2 are read from Coefficient pointer */

+    Co2 = pCoef16[2u * ic * 2u];

+    Si2 = pCoef16[(2u * ic * 2u) + 1u];

+    /* xc' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2) */

+    out1 = (short) ((Co2 * R0 - Si2 * R1) >> 16u);

+    /* yc' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2) */

+    out2 = (short) ((Si2 * R0 + Co2 * R1) >> 16u);

+

+    /*  Reading i0+fftLen/4 */

+    /* input is down scale by 4 to avoid overflow */

+    /* T0 = yb, T1 = xb */

+    T0 = pSrc16[i1 * 2u] >> 2u;

+    T1 = pSrc16[(i1 * 2u) + 1u] >> 2u;

+

+    /* writing the butterfly processed i0 + fftLen/4 sample */

+    /* writing output(xc', yc') in little endian format */

+    pSrc16[i1 * 2u] = out1;

+    pSrc16[(i1 * 2u) + 1u] = out2;

+

+    /*  Butterfly calculations */

+    /* input is down scale by 4 to avoid overflow */

+    /* U0 = yd, U1 = xd) */

+    U0 = pSrc16[i3 * 2u] >> 2u;

+    U1 = pSrc16[(i3 * 2u) + 1u] >> 2u;

+

+    /* T0 = yb-yd, T1 = xb-xd) */

+    T0 = __SSAT(T0 - U0, 16u);

+    T1 = __SSAT(T1 - U1, 16u);

+    /* R0 = (ya-yc) - (xb- xd) , R1 = (xa-xc) + (yb-yd) */

+    R0 = (short) __SSAT((q31_t) (S0 + T1), 16);

+    R1 = (short) __SSAT((q31_t) (S1 - T0), 16);

+    /* S = (ya-yc) + (xb- xd), S1 = (xa-xc) - (yb-yd) */

+    S0 = (short) __SSAT((q31_t) (S0 - T1), 16);

+    S1 = (short) __SSAT((q31_t) (S1 + T0), 16);

+

+    /* co1 & si1 are read from Coefficient pointer */

+    Co1 = pCoef16[ic * 2u];

+    Si1 = pCoef16[(ic * 2u) + 1u];

+    /*  Butterfly process for the i0+fftLen/2 sample */

+    /* xb' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1) */

+    out1 = (short) ((Co1 * S0 - Si1 * S1) >> 16u);

+    /* yb' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1) */

+    out2 = (short) ((Si1 * S0 + Co1 * S1) >> 16u);

+    /* writing output(xb', yb') in little endian format */

+    pSrc16[i2 * 2u] = out1;

+    pSrc16[(i2 * 2u) + 1u] = out2;

+

+    /* Co3 & si3 are read from Coefficient pointer */

+    Co3 = pCoef16[3u * ic * 2u];

+    Si3 = pCoef16[(3u * ic * 2u) + 1u];

+    /*  Butterfly process for the i0+3fftLen/4 sample */

+    /* xd' = (xa+yb-xc-yd)* Co3 - (ya-xb-yc+xd)* (si3) */

+    out1 = (short) ((Co3 * R0 - Si3 * R1) >> 16u);

+    /* yd' = (ya-xb-yc+xd)* Co3 + (xa+yb-xc-yd)* (si3) */

+    out2 = (short) ((Si3 * R0 + Co3 * R1) >> 16u);

+    /* writing output(xd', yd') in little endian format */

+    pSrc16[i3 * 2u] = out1;

+    pSrc16[(i3 * 2u) + 1u] = out2;

+

+    /*  Twiddle coefficients index modifier */

+    ic = ic + twidCoefModifier;

+

+    /*  Updating input index */

+    i0 = i0 + 1u;

+

+  } while(--j);

+

+  /*  End of first stage process */

+

+  /* data is in 4.11(q11) format */

+

+

+  /*  Start of Middle stage process */

+

+  /*  Twiddle coefficients index modifier */

+  twidCoefModifier <<= 2u;

+

+  /*  Calculation of Middle stage */

+  for (k = fftLen / 4u; k > 4u; k >>= 2u)

+  {

+    /*  Initializations for the middle stage */

+    n1 = n2;

+    n2 >>= 2u;

+    ic = 0u;

+

+    for (j = 0u; j <= (n2 - 1u); j++)

+    {

+      /*  index calculation for the coefficients */

+      Co1 = pCoef16[ic * 2u];

+      Si1 = pCoef16[(ic * 2u) + 1u];

+      Co2 = pCoef16[2u * ic * 2u];

+      Si2 = pCoef16[2u * ic * 2u + 1u];

+      Co3 = pCoef16[3u * ic * 2u];

+      Si3 = pCoef16[(3u * ic * 2u) + 1u];

+

+      /*  Twiddle coefficients index modifier */

+      ic = ic + twidCoefModifier;

+

+      /*  Butterfly implementation */

+      for (i0 = j; i0 < fftLen; i0 += n1)

+      {

+        /*  index calculation for the input as, */

+        /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */

+        i1 = i0 + n2;

+        i2 = i1 + n2;

+        i3 = i2 + n2;

+

+        /*  Reading i0, i0+fftLen/2 inputs */

+        /* Read ya (real), xa(imag) input */

+        T0 = pSrc16[i0 * 2u];

+        T1 = pSrc16[(i0 * 2u) + 1u];

+

+        /* Read yc (real), xc(imag) input */

+        S0 = pSrc16[i2 * 2u];

+        S1 = pSrc16[(i2 * 2u) + 1u];

+

+

+        /* R0 = (ya + yc), R1 = (xa + xc) */

+        R0 = __SSAT(T0 + S0, 16u);

+        R1 = __SSAT(T1 + S1, 16u);

+        /* S0 = (ya - yc), S1 = (xa - xc) */

+        S0 = __SSAT(T0 - S0, 16u);

+        S1 = __SSAT(T1 - S1, 16u);

+

+        /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */

+        /* Read yb (real), xb(imag) input */

+        T0 = pSrc16[i1 * 2u];

+        T1 = pSrc16[(i1 * 2u) + 1u];

+

+        /* Read yd (real), xd(imag) input */

+        U0 = pSrc16[i3 * 2u];

+        U1 = pSrc16[(i3 * 2u) + 1u];

+

+        /* T0 = (yb + yd), T1 = (xb + xd) */

+        T0 = __SSAT(T0 + U0, 16u);

+        T1 = __SSAT(T1 + U1, 16u);

+

+        /*  writing the butterfly processed i0 sample */

+        /* xa' = xa + xb + xc + xd */

+        /* ya' = ya + yb + yc + yd */

+        pSrc16[i0 * 2u] = ((R0 >> 1u) + (T0 >> 1u)) >> 1u;

+        pSrc16[(i0 * 2u) + 1u] = ((R1 >> 1u) + (T1 >> 1u)) >> 1u;

+

+        /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc) - (xb + xd) */

+        R0 = (R0 >> 1u) - (T0 >> 1u);

+        R1 = (R1 >> 1u) - (T1 >> 1u);

+

+        /* (ya-yb+yc-yd)* (si2) - (xa-xb+xc-xd)* co2 */

+        out1 = (short) ((Co2 * R0 - Si2 * R1) >> 16);

+        /* (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2) */

+        out2 = (short) ((Si2 * R0 + Co2 * R1) >> 16);

+

+        /*  Reading i0+3fftLen/4 */

+        /* Read yb (real), xb(imag) input */

+        T0 = pSrc16[i1 * 2u];

+        T1 = pSrc16[(i1 * 2u) + 1u];

+

+        /*  writing the butterfly processed i0 + fftLen/4 sample */

+        /* xc' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2) */

+        /* yc' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2) */

+        pSrc16[i1 * 2u] = out1;

+        pSrc16[(i1 * 2u) + 1u] = out2;

+

+        /*  Butterfly calculations */

+        /* Read yd (real), xd(imag) input */

+        U0 = pSrc16[i3 * 2u];

+        U1 = pSrc16[(i3 * 2u) + 1u];

+

+        /* T0 = yb-yd, T1 = xb-xd) */

+        T0 = __SSAT(T0 - U0, 16u);

+        T1 = __SSAT(T1 - U1, 16u);

+

+        /* R0 = (ya-yc) - (xb- xd) , R1 = (xa-xc) + (yb-yd) */

+        R0 = (S0 >> 1u) + (T1 >> 1u);

+        R1 = (S1 >> 1u) - (T0 >> 1u);

+

+        /* S1 = (ya-yc) + (xb- xd), S1 = (xa-xc) - (yb-yd) */

+        S0 = (S0 >> 1u) - (T1 >> 1u);

+        S1 = (S1 >> 1u) + (T0 >> 1u);

+

+        /*  Butterfly process for the i0+fftLen/2 sample */

+        out1 = (short) ((Co1 * S0 - Si1 * S1) >> 16u);

+        out2 = (short) ((Si1 * S0 + Co1 * S1) >> 16u);

+        /* xb' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1) */

+        /* yb' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1) */

+        pSrc16[i2 * 2u] = out1;

+        pSrc16[(i2 * 2u) + 1u] = out2;

+

+        /*  Butterfly process for the i0+3fftLen/4 sample */

+        out1 = (short) ((Co3 * R0 - Si3 * R1) >> 16u);

+

+        out2 = (short) ((Si3 * R0 + Co3 * R1) >> 16u);

+        /* xd' = (xa+yb-xc-yd)* Co3 - (ya-xb-yc+xd)* (si3) */

+        /* yd' = (ya-xb-yc+xd)* Co3 + (xa+yb-xc-yd)* (si3) */

+        pSrc16[i3 * 2u] = out1;

+        pSrc16[(i3 * 2u) + 1u] = out2;

+

+

+      }

+    }

+    /*  Twiddle coefficients index modifier */

+    twidCoefModifier <<= 2u;

+  }

+  /*  End of Middle stages process */

+

+

+  /* data is in 10.6(q6) format for the 1024 point */

+  /* data is in 8.8(q8) format for the 256 point   */

+  /* data is in 6.10(q10) format for the 64 point  */

+  /* data is in 4.12(q12) format for the 16 point  */

+

+  /* start of last stage process */

+

+

+  /*  Initializations for the last stage */

+  n1 = n2;

+  n2 >>= 2u;

+

+  /*  Butterfly implementation */

+  for (i0 = 0u; i0 <= (fftLen - n1); i0 += n1)

+  {

+    /*  index calculation for the input as, */

+    /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */

+    i1 = i0 + n2;

+    i2 = i1 + n2;

+    i3 = i2 + n2;

+

+    /*  Reading i0, i0+fftLen/2 inputs */

+    /* Read ya (real), xa(imag) input */

+    T0 = pSrc16[i0 * 2u];

+    T1 = pSrc16[(i0 * 2u) + 1u];

+    /* Read yc (real), xc(imag) input */

+    S0 = pSrc16[i2 * 2u];

+    S1 = pSrc16[(i2 * 2u) + 1u];

+

+    /* R0 = (ya + yc), R1 = (xa + xc) */

+    R0 = __SSAT(T0 + S0, 16u);

+    R1 = __SSAT(T1 + S1, 16u);

+    /* S0 = (ya - yc), S1 = (xa - xc) */

+    S0 = __SSAT(T0 - S0, 16u);

+    S1 = __SSAT(T1 - S1, 16u);

+

+    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */

+    /* Read yb (real), xb(imag) input */

+    T0 = pSrc16[i1 * 2u];

+    T1 = pSrc16[(i1 * 2u) + 1u];

+    /* Read yd (real), xd(imag) input */

+    U0 = pSrc16[i3 * 2u];

+    U1 = pSrc16[(i3 * 2u) + 1u];

+

+    /* T0 = (yb + yd), T1 = (xb + xd) */

+    T0 = __SSAT(T0 + U0, 16u);

+    T1 = __SSAT(T1 + U1, 16u);

+

+    /*  writing the butterfly processed i0 sample */

+    /* xa' = xa + xb + xc + xd */

+    /* ya' = ya + yb + yc + yd */

+    pSrc16[i0 * 2u] = (R0 >> 1u) + (T0 >> 1u);

+    pSrc16[(i0 * 2u) + 1u] = (R1 >> 1u) + (T1 >> 1u);

+

+    /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc) - (xb + xd) */

+    R0 = (R0 >> 1u) - (T0 >> 1u);

+    R1 = (R1 >> 1u) - (T1 >> 1u);

+

+    /* Read yb (real), xb(imag) input */

+    T0 = pSrc16[i1 * 2u];

+    T1 = pSrc16[(i1 * 2u) + 1u];

+

+    /*  writing the butterfly processed i0 + fftLen/4 sample */

+    /* xc' = (xa-xb+xc-xd) */

+    /* yc' = (ya-yb+yc-yd) */

+    pSrc16[i1 * 2u] = R0;

+    pSrc16[(i1 * 2u) + 1u] = R1;

+

+    /* Read yd (real), xd(imag) input */

+    U0 = pSrc16[i3 * 2u];

+    U1 = pSrc16[(i3 * 2u) + 1u];

+    /* T0 = (yb - yd), T1 = (xb - xd) */

+    T0 = __SSAT(T0 - U0, 16u);

+    T1 = __SSAT(T1 - U1, 16u);

+

+    /*  writing the butterfly processed i0 + fftLen/2 sample */

+    /* xb' = (xa-yb-xc+yd) */

+    /* yb' = (ya+xb-yc-xd) */

+    pSrc16[i2 * 2u] = (S0 >> 1u) - (T1 >> 1u);

+    pSrc16[(i2 * 2u) + 1u] = (S1 >> 1u) + (T0 >> 1u);

+

+

+    /*  writing the butterfly processed i0 + 3fftLen/4 sample */

+    /* xd' = (xa+yb-xc-yd) */

+    /* yd' = (ya-xb-yc+xd) */

+    pSrc16[i3 * 2u] = (S0 >> 1u) + (T1 >> 1u);

+    pSrc16[(i3 * 2u) + 1u] = (S1 >> 1u) - (T0 >> 1u);

+  }

+  /* end of last stage  process */

+

+  /* output is in 11.5(q5) format for the 1024 point */

+  /* output is in 9.7(q7) format for the 256 point   */

+  /* output is in 7.9(q9) format for the 64 point  */

+  /* output is in 5.11(q11) format for the 16 point  */

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q31.c
new file mode 100644
index 000000000..3a5c523df
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q31.c
@@ -0,0 +1,891 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_cfft_radix4_q31.c    

+*    

+* Description:	This file has function definition of Radix-4 FFT & IFFT function and    

+*				In-place bit reversal using bit reversal table    

+*    

+* 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 groupTransforms    

+ */

+

+/**    

+ * @addtogroup Radix4_CFFT_CIFFT    

+ * @{    

+ */

+

+/**    

+ * @details    

+ * @brief Processing function for the Q31 CFFT/CIFFT.    

+ * @param[in]      *S    points to an instance of the Q31 CFFT/CIFFT structure.   

+ * @param[in, out] *pSrc points to the complex data buffer of size <code>2*fftLen</code>. Processing occurs in-place.   

+ * @return none.    

+ *     

+ * \par Input and output formats:    

+ * \par    

+ * Internally input is downscaled by 2 for every stage to avoid saturations inside CFFT/CIFFT process.   

+ * Hence the output format is different for different FFT sizes.    

+ * The input and output formats for different FFT sizes and number of bits to upscale are mentioned in the tables below for CFFT and CIFFT:   

+ * \par   

+ * \image html CFFTQ31.gif "Input and Output Formats for Q31 CFFT"    

+ * \image html CIFFTQ31.gif "Input and Output Formats for Q31 CIFFT"    

+ *    

+ */

+

+void arm_cfft_radix4_q31(

+  const arm_cfft_radix4_instance_q31 * S,

+  q31_t * pSrc)

+{

+  if(S->ifftFlag == 1u)

+  {

+    /* Complex IFFT radix-4 */

+    arm_radix4_butterfly_inverse_q31(pSrc, S->fftLen, S->pTwiddle,

+                                     S->twidCoefModifier);

+  }

+  else

+  {

+    /* Complex FFT radix-4 */

+    arm_radix4_butterfly_q31(pSrc, S->fftLen, S->pTwiddle,

+                             S->twidCoefModifier);

+  }

+

+

+  if(S->bitReverseFlag == 1u)

+  {

+    /*  Bit Reversal */

+    arm_bitreversal_q31(pSrc, S->fftLen, S->bitRevFactor, S->pBitRevTable);

+  }

+

+}

+

+/**    

+ * @} end of Radix4_CFFT_CIFFT group    

+ */

+

+/*    

+* Radix-4 FFT algorithm used is :    

+*    

+* Input real and imaginary data:    

+* x(n) = xa + j * ya    

+* x(n+N/4 ) = xb + j * yb    

+* x(n+N/2 ) = xc + j * yc    

+* x(n+3N 4) = xd + j * yd    

+*    

+*    

+* Output real and imaginary data:    

+* x(4r) = xa'+ j * ya'    

+* x(4r+1) = xb'+ j * yb'    

+* x(4r+2) = xc'+ j * yc'    

+* x(4r+3) = xd'+ j * yd'    

+*    

+*    

+* Twiddle factors for radix-4 FFT:    

+* Wn = co1 + j * (- si1)    

+* W2n = co2 + j * (- si2)    

+* W3n = co3 + j * (- si3)    

+*    

+*  Butterfly implementation:    

+* xa' = xa + xb + xc + xd    

+* ya' = ya + yb + yc + yd    

+* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1)    

+* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1)    

+* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2)    

+* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2)    

+* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3)    

+* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3)    

+*    

+*/

+

+/**    

+ * @brief  Core function for the Q31 CFFT butterfly process.   

+ * @param[in, out] *pSrc            points to the in-place buffer of Q31 data type.   

+ * @param[in]      fftLen           length of the FFT.   

+ * @param[in]      *pCoef           points to twiddle coefficient buffer.   

+ * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   

+ * @return none.   

+ */

+

+void arm_radix4_butterfly_q31(

+  q31_t * pSrc,

+  uint32_t fftLen,

+  q31_t * pCoef,

+  uint32_t twidCoefModifier)

+{

+  uint32_t n1, n2, ia1, ia2, ia3, i0, i1, i2, i3, j, k;

+  q31_t t1, t2, r1, r2, s1, s2, co1, co2, co3, si1, si2, si3;

+

+  q31_t xa, xb, xc, xd;

+  q31_t ya, yb, yc, yd;

+  q31_t xa_out, xb_out, xc_out, xd_out;

+  q31_t ya_out, yb_out, yc_out, yd_out;

+

+  q31_t *ptr1;

+  q63_t xaya, xbyb, xcyc, xdyd;

+  /* Total process is divided into three stages */

+

+  /* process first stage, middle stages, & last stage */

+

+

+  /* start of first stage process */

+

+  /*  Initializations for the first stage */

+  n2 = fftLen;

+  n1 = n2;

+  /* n2 = fftLen/4 */

+  n2 >>= 2u;

+  i0 = 0u;

+  ia1 = 0u;

+

+  j = n2;

+

+  /*  Calculation of first stage */

+  do

+  {

+    /*  index calculation for the input as, */

+    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2u], pSrc[i0 + 3fftLen/4] */

+    i1 = i0 + n2;

+    i2 = i1 + n2;

+    i3 = i2 + n2;

+

+    /* input is in 1.31(q31) format and provide 4 guard bits for the input */

+

+    /*  Butterfly implementation */

+    /* xa + xc */

+    r1 = (pSrc[(2u * i0)] >> 4u) + (pSrc[(2u * i2)] >> 4u);

+    /* xa - xc */

+    r2 = (pSrc[2u * i0] >> 4u) - (pSrc[2u * i2] >> 4u);

+

+    /* xb + xd */

+    t1 = (pSrc[2u * i1] >> 4u) + (pSrc[2u * i3] >> 4u);

+

+    /* ya + yc */

+    s1 = (pSrc[(2u * i0) + 1u] >> 4u) + (pSrc[(2u * i2) + 1u] >> 4u);

+    /* ya - yc */

+    s2 = (pSrc[(2u * i0) + 1u] >> 4u) - (pSrc[(2u * i2) + 1u] >> 4u);

+

+    /* xa' = xa + xb + xc + xd */

+    pSrc[2u * i0] = (r1 + t1);

+    /* (xa + xc) - (xb + xd) */

+    r1 = r1 - t1;

+    /* yb + yd */

+    t2 = (pSrc[(2u * i1) + 1u] >> 4u) + (pSrc[(2u * i3) + 1u] >> 4u);

+

+    /* ya' = ya + yb + yc + yd */

+    pSrc[(2u * i0) + 1u] = (s1 + t2);

+

+    /* (ya + yc) - (yb + yd) */

+    s1 = s1 - t2;

+

+    /* yb - yd */

+    t1 = (pSrc[(2u * i1) + 1u] >> 4u) - (pSrc[(2u * i3) + 1u] >> 4u);

+    /* xb - xd */

+    t2 = (pSrc[2u * i1] >> 4u) - (pSrc[2u * i3] >> 4u);

+

+    /*  index calculation for the coefficients */

+    ia2 = 2u * ia1;

+    co2 = pCoef[ia2 * 2u];

+    si2 = pCoef[(ia2 * 2u) + 1u];

+

+    /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */

+    pSrc[2u * i1] = (((int32_t) (((q63_t) r1 * co2) >> 32)) +

+                     ((int32_t) (((q63_t) s1 * si2) >> 32))) << 1u;

+

+    /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */

+    pSrc[(2u * i1) + 1u] = (((int32_t) (((q63_t) s1 * co2) >> 32)) -

+                            ((int32_t) (((q63_t) r1 * si2) >> 32))) << 1u;

+

+    /* (xa - xc) + (yb - yd) */

+    r1 = r2 + t1;

+    /* (xa - xc) - (yb - yd) */

+    r2 = r2 - t1;

+

+    /* (ya - yc) - (xb - xd) */

+    s1 = s2 - t2;

+    /* (ya - yc) + (xb - xd) */

+    s2 = s2 + t2;

+

+    co1 = pCoef[ia1 * 2u];

+    si1 = pCoef[(ia1 * 2u) + 1u];

+

+    /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */

+    pSrc[2u * i2] = (((int32_t) (((q63_t) r1 * co1) >> 32)) +

+                     ((int32_t) (((q63_t) s1 * si1) >> 32))) << 1u;

+

+    /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */

+    pSrc[(2u * i2) + 1u] = (((int32_t) (((q63_t) s1 * co1) >> 32)) -

+                            ((int32_t) (((q63_t) r1 * si1) >> 32))) << 1u;

+

+    /*  index calculation for the coefficients */

+    ia3 = 3u * ia1;

+    co3 = pCoef[ia3 * 2u];

+    si3 = pCoef[(ia3 * 2u) + 1u];

+

+    /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */

+    pSrc[2u * i3] = (((int32_t) (((q63_t) r2 * co3) >> 32)) +

+                     ((int32_t) (((q63_t) s2 * si3) >> 32))) << 1u;

+

+    /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */

+    pSrc[(2u * i3) + 1u] = (((int32_t) (((q63_t) s2 * co3) >> 32)) -

+                            ((int32_t) (((q63_t) r2 * si3) >> 32))) << 1u;

+

+    /*  Twiddle coefficients index modifier */

+    ia1 = ia1 + twidCoefModifier;

+

+    /*  Updating input index */

+    i0 = i0 + 1u;

+

+  } while(--j);

+

+  /* end of first stage process */

+

+  /* data is in 5.27(q27) format */

+

+

+  /* start of Middle stages process */

+

+

+  /* each stage in middle stages provides two down scaling of the input */

+

+  twidCoefModifier <<= 2u;

+

+

+  for (k = fftLen / 4u; k > 4u; k >>= 2u)

+  {

+    /*  Initializations for the first stage */

+    n1 = n2;

+    n2 >>= 2u;

+    ia1 = 0u;

+

+    /*  Calculation of first stage */

+    for (j = 0u; j <= (n2 - 1u); j++)

+    {

+      /*  index calculation for the coefficients */

+      ia2 = ia1 + ia1;

+      ia3 = ia2 + ia1;

+      co1 = pCoef[ia1 * 2u];

+      si1 = pCoef[(ia1 * 2u) + 1u];

+      co2 = pCoef[ia2 * 2u];

+      si2 = pCoef[(ia2 * 2u) + 1u];

+      co3 = pCoef[ia3 * 2u];

+      si3 = pCoef[(ia3 * 2u) + 1u];

+      /*  Twiddle coefficients index modifier */

+      ia1 = ia1 + twidCoefModifier;

+

+      for (i0 = j; i0 < fftLen; i0 += n1)

+      {

+        /*  index calculation for the input as, */

+        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2u], pSrc[i0 + 3fftLen/4] */

+        i1 = i0 + n2;

+        i2 = i1 + n2;

+        i3 = i2 + n2;

+

+        /*  Butterfly implementation */

+        /* xa + xc */

+        r1 = pSrc[2u * i0] + pSrc[2u * i2];

+        /* xa - xc */

+        r2 = pSrc[2u * i0] - pSrc[2u * i2];

+

+        /* ya + yc */

+        s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];

+        /* ya - yc */

+        s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];

+

+        /* xb + xd */

+        t1 = pSrc[2u * i1] + pSrc[2u * i3];

+

+        /* xa' = xa + xb + xc + xd */

+        pSrc[2u * i0] = (r1 + t1) >> 2u;

+        /* xa + xc -(xb + xd) */

+        r1 = r1 - t1;

+

+        /* yb + yd */

+        t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];

+        /* ya' = ya + yb + yc + yd */

+        pSrc[(2u * i0) + 1u] = (s1 + t2) >> 2u;

+

+        /* (ya + yc) - (yb + yd) */

+        s1 = s1 - t2;

+

+        /* (yb - yd) */

+        t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];

+        /* (xb - xd) */

+        t2 = pSrc[2u * i1] - pSrc[2u * i3];

+

+        /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */

+        pSrc[2u * i1] = (((int32_t) (((q63_t) r1 * co2) >> 32)) +

+                         ((int32_t) (((q63_t) s1 * si2) >> 32))) >> 1u;

+

+        /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */

+        pSrc[(2u * i1) + 1u] = (((int32_t) (((q63_t) s1 * co2) >> 32)) -

+                                ((int32_t) (((q63_t) r1 * si2) >> 32))) >> 1u;

+

+        /* (xa - xc) + (yb - yd) */

+        r1 = r2 + t1;

+        /* (xa - xc) - (yb - yd) */

+        r2 = r2 - t1;

+

+        /* (ya - yc) -  (xb - xd) */

+        s1 = s2 - t2;

+        /* (ya - yc) +  (xb - xd) */

+        s2 = s2 + t2;

+

+        /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */

+        pSrc[2u * i2] = (((int32_t) (((q63_t) r1 * co1) >> 32)) +

+                         ((int32_t) (((q63_t) s1 * si1) >> 32))) >> 1u;

+

+        /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */

+        pSrc[(2u * i2) + 1u] = (((int32_t) (((q63_t) s1 * co1) >> 32)) -

+                                ((int32_t) (((q63_t) r1 * si1) >> 32))) >> 1u;

+

+        /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */

+        pSrc[2u * i3] = (((int32_t) (((q63_t) r2 * co3) >> 32)) +

+                         ((int32_t) (((q63_t) s2 * si3) >> 32))) >> 1u;

+

+        /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */

+        pSrc[(2u * i3) + 1u] = (((int32_t) (((q63_t) s2 * co3) >> 32)) -

+                                ((int32_t) (((q63_t) r2 * si3) >> 32))) >> 1u;

+      }

+    }

+    twidCoefModifier <<= 2u;

+  }

+

+  /* End of Middle stages process */

+

+  /* data is in 11.21(q21) format for the 1024 point as there are 3 middle stages */

+  /* data is in 9.23(q23) format for the 256 point as there are 2 middle stages */

+  /* data is in 7.25(q25) format for the 64 point as there are 1 middle stage */

+  /* data is in 5.27(q27) format for the 16 point as there are no middle stages */

+

+

+  /* start of Last stage process */

+  /*  Initializations for the last stage */

+  j = fftLen >> 2;

+  ptr1 = &pSrc[0];

+

+  /*  Calculations of last stage */

+  do

+  {

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    /* Read xa (real), ya(imag) input */

+    xaya = *__SIMD64(ptr1)++;

+    xa = (q31_t) xaya;

+    ya = (q31_t) (xaya >> 32);

+

+    /* Read xb (real), yb(imag) input */

+    xbyb = *__SIMD64(ptr1)++;

+    xb = (q31_t) xbyb;

+    yb = (q31_t) (xbyb >> 32);

+

+    /* Read xc (real), yc(imag) input */

+    xcyc = *__SIMD64(ptr1)++;

+    xc = (q31_t) xcyc;

+    yc = (q31_t) (xcyc >> 32);

+

+    /* Read xc (real), yc(imag) input */

+    xdyd = *__SIMD64(ptr1)++;

+    xd = (q31_t) xdyd;

+    yd = (q31_t) (xdyd >> 32);

+

+#else

+

+    /* Read xa (real), ya(imag) input */

+    xaya = *__SIMD64(ptr1)++;

+    ya = (q31_t) xaya;

+    xa = (q31_t) (xaya >> 32);

+

+    /* Read xb (real), yb(imag) input */

+    xbyb = *__SIMD64(ptr1)++;

+    yb = (q31_t) xbyb;

+    xb = (q31_t) (xbyb >> 32);

+

+    /* Read xc (real), yc(imag) input */

+    xcyc = *__SIMD64(ptr1)++;

+    yc = (q31_t) xcyc;

+    xc = (q31_t) (xcyc >> 32);

+

+    /* Read xc (real), yc(imag) input */

+    xdyd = *__SIMD64(ptr1)++;

+    yd = (q31_t) xdyd;

+    xd = (q31_t) (xdyd >> 32);

+

+

+#endif

+

+    /* xa' = xa + xb + xc + xd */

+    xa_out = xa + xb + xc + xd;

+

+    /* ya' = ya + yb + yc + yd */

+    ya_out = ya + yb + yc + yd;

+

+    /* pointer updation for writing */

+    ptr1 = ptr1 - 8u;

+

+    /* writing xa' and ya' */

+    *ptr1++ = xa_out;

+    *ptr1++ = ya_out;

+

+    xc_out = (xa - xb + xc - xd);

+    yc_out = (ya - yb + yc - yd);

+

+    /* writing xc' and yc' */

+    *ptr1++ = xc_out;

+    *ptr1++ = yc_out;

+

+    xb_out = (xa + yb - xc - yd);

+    yb_out = (ya - xb - yc + xd);

+

+    /* writing xb' and yb' */

+    *ptr1++ = xb_out;

+    *ptr1++ = yb_out;

+

+    xd_out = (xa - yb - xc + yd);

+    yd_out = (ya + xb - yc - xd);

+

+    /* writing xd' and yd' */

+    *ptr1++ = xd_out;

+    *ptr1++ = yd_out;

+

+

+  } while(--j);

+

+  /* output is in 11.21(q21) format for the 1024 point */

+  /* output is in 9.23(q23) format for the 256 point */

+  /* output is in 7.25(q25) format for the 64 point */

+  /* output is in 5.27(q27) format for the 16 point */

+

+  /* End of last stage process */

+

+}

+

+

+/**    

+ * @brief  Core function for the Q31 CIFFT butterfly process.   

+ * @param[in, out] *pSrc            points to the in-place buffer of Q31 data type.   

+ * @param[in]      fftLen           length of the FFT.   

+ * @param[in]      *pCoef           points to twiddle coefficient buffer.   

+ * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   

+ * @return none.   

+ */

+

+

+/*    

+* Radix-4 IFFT algorithm used is :    

+*    

+* CIFFT uses same twiddle coefficients as CFFT Function    

+*  x[k] = x[n] + (j)k * x[n + fftLen/4] + (-1)k * x[n+fftLen/2] + (-j)k * x[n+3*fftLen/4]    

+*    

+*    

+* IFFT is implemented with following changes in equations from FFT    

+*    

+* Input real and imaginary data:    

+* x(n) = xa + j * ya    

+* x(n+N/4 ) = xb + j * yb    

+* x(n+N/2 ) = xc + j * yc    

+* x(n+3N 4) = xd + j * yd    

+*    

+*    

+* Output real and imaginary data:    

+* x(4r) = xa'+ j * ya'    

+* x(4r+1) = xb'+ j * yb'    

+* x(4r+2) = xc'+ j * yc'    

+* x(4r+3) = xd'+ j * yd'    

+*    

+*    

+* Twiddle factors for radix-4 IFFT:    

+* Wn = co1 + j * (si1)    

+* W2n = co2 + j * (si2)    

+* W3n = co3 + j * (si3)    

+    

+* The real and imaginary output values for the radix-4 butterfly are    

+* xa' = xa + xb + xc + xd    

+* ya' = ya + yb + yc + yd    

+* xb' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1)    

+* yb' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1)    

+* xc' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2)    

+* yc' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2)    

+* xd' = (xa+yb-xc-yd)* co3 - (ya-xb-yc+xd)* (si3)    

+* yd' = (ya-xb-yc+xd)* co3 + (xa+yb-xc-yd)* (si3)    

+*    

+*/

+

+void arm_radix4_butterfly_inverse_q31(

+  q31_t * pSrc,

+  uint32_t fftLen,

+  q31_t * pCoef,

+  uint32_t twidCoefModifier)

+{

+  uint32_t n1, n2, ia1, ia2, ia3, i0, i1, i2, i3, j, k;

+  q31_t t1, t2, r1, r2, s1, s2, co1, co2, co3, si1, si2, si3;

+  q31_t xa, xb, xc, xd;

+  q31_t ya, yb, yc, yd;

+  q31_t xa_out, xb_out, xc_out, xd_out;

+  q31_t ya_out, yb_out, yc_out, yd_out;

+

+  q31_t *ptr1;

+  q63_t xaya, xbyb, xcyc, xdyd;

+

+  /* input is be 1.31(q31) format for all FFT sizes */

+  /* Total process is divided into three stages */

+  /* process first stage, middle stages, & last stage */

+

+  /* Start of first stage process */

+

+  /* Initializations for the first stage */

+  n2 = fftLen;

+  n1 = n2;

+  /* n2 = fftLen/4 */

+  n2 >>= 2u;

+  i0 = 0u;

+  ia1 = 0u;

+

+  j = n2;

+

+  do

+  {

+

+    /* input is in 1.31(q31) format and provide 4 guard bits for the input */

+

+    /*  index calculation for the input as, */

+    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2u], pSrc[i0 + 3fftLen/4] */

+    i1 = i0 + n2;

+    i2 = i1 + n2;

+    i3 = i2 + n2;

+

+    /*  Butterfly implementation */

+    /* xa + xc */

+    r1 = (pSrc[2u * i0] >> 4u) + (pSrc[2u * i2] >> 4u);

+    /* xa - xc */

+    r2 = (pSrc[2u * i0] >> 4u) - (pSrc[2u * i2] >> 4u);

+

+    /* xb + xd */

+    t1 = (pSrc[2u * i1] >> 4u) + (pSrc[2u * i3] >> 4u);

+

+    /* ya + yc */

+    s1 = (pSrc[(2u * i0) + 1u] >> 4u) + (pSrc[(2u * i2) + 1u] >> 4u);

+    /* ya - yc */

+    s2 = (pSrc[(2u * i0) + 1u] >> 4u) - (pSrc[(2u * i2) + 1u] >> 4u);

+

+    /* xa' = xa + xb + xc + xd */

+    pSrc[2u * i0] = (r1 + t1);

+    /* (xa + xc) - (xb + xd) */

+    r1 = r1 - t1;

+    /* yb + yd */

+    t2 = (pSrc[(2u * i1) + 1u] >> 4u) + (pSrc[(2u * i3) + 1u] >> 4u);

+    /* ya' = ya + yb + yc + yd */

+    pSrc[(2u * i0) + 1u] = (s1 + t2);

+

+    /* (ya + yc) - (yb + yd) */

+    s1 = s1 - t2;

+

+    /* yb - yd */

+    t1 = (pSrc[(2u * i1) + 1u] >> 4u) - (pSrc[(2u * i3) + 1u] >> 4u);

+    /* xb - xd */

+    t2 = (pSrc[2u * i1] >> 4u) - (pSrc[2u * i3] >> 4u);

+

+    /*  index calculation for the coefficients */

+    ia2 = 2u * ia1;

+    co2 = pCoef[ia2 * 2u];

+    si2 = pCoef[(ia2 * 2u) + 1u];

+

+    /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */

+    pSrc[2u * i1] = (((int32_t) (((q63_t) r1 * co2) >> 32)) -

+                     ((int32_t) (((q63_t) s1 * si2) >> 32))) << 1u;

+

+    /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */

+    pSrc[2u * i1 + 1u] = (((int32_t) (((q63_t) s1 * co2) >> 32)) +

+                          ((int32_t) (((q63_t) r1 * si2) >> 32))) << 1u;

+

+    /* (xa - xc) - (yb - yd) */

+    r1 = r2 - t1;

+    /* (xa - xc) + (yb - yd) */

+    r2 = r2 + t1;

+

+    /* (ya - yc) + (xb - xd) */

+    s1 = s2 + t2;

+    /* (ya - yc) - (xb - xd) */

+    s2 = s2 - t2;

+

+    co1 = pCoef[ia1 * 2u];

+    si1 = pCoef[(ia1 * 2u) + 1u];

+

+    /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */

+    pSrc[2u * i2] = (((int32_t) (((q63_t) r1 * co1) >> 32)) -

+                     ((int32_t) (((q63_t) s1 * si1) >> 32))) << 1u;

+

+    /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */

+    pSrc[(2u * i2) + 1u] = (((int32_t) (((q63_t) s1 * co1) >> 32)) +

+                            ((int32_t) (((q63_t) r1 * si1) >> 32))) << 1u;

+

+    /*  index calculation for the coefficients */

+    ia3 = 3u * ia1;

+    co3 = pCoef[ia3 * 2u];

+    si3 = pCoef[(ia3 * 2u) + 1u];

+

+    /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */

+    pSrc[2u * i3] = (((int32_t) (((q63_t) r2 * co3) >> 32)) -

+                     ((int32_t) (((q63_t) s2 * si3) >> 32))) << 1u;

+

+    /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */

+    pSrc[(2u * i3) + 1u] = (((int32_t) (((q63_t) s2 * co3) >> 32)) +

+                            ((int32_t) (((q63_t) r2 * si3) >> 32))) << 1u;

+

+    /*  Twiddle coefficients index modifier */

+    ia1 = ia1 + twidCoefModifier;

+

+    /*  Updating input index */

+    i0 = i0 + 1u;

+

+  } while(--j);

+

+  /* data is in 5.27(q27) format */

+  /* each stage provides two down scaling of the input */

+

+

+  /* Start of Middle stages process */

+

+  twidCoefModifier <<= 2u;

+

+  /*  Calculation of second stage to excluding last stage */

+  for (k = fftLen / 4u; k > 4u; k >>= 2u)

+  {

+    /*  Initializations for the first stage */

+    n1 = n2;

+    n2 >>= 2u;

+    ia1 = 0u;

+

+    for (j = 0; j <= (n2 - 1u); j++)

+    {

+      /*  index calculation for the coefficients */

+      ia2 = ia1 + ia1;

+      ia3 = ia2 + ia1;

+      co1 = pCoef[ia1 * 2u];

+      si1 = pCoef[(ia1 * 2u) + 1u];

+      co2 = pCoef[ia2 * 2u];

+      si2 = pCoef[(ia2 * 2u) + 1u];

+      co3 = pCoef[ia3 * 2u];

+      si3 = pCoef[(ia3 * 2u) + 1u];

+      /*  Twiddle coefficients index modifier */

+      ia1 = ia1 + twidCoefModifier;

+

+      for (i0 = j; i0 < fftLen; i0 += n1)

+      {

+        /*  index calculation for the input as, */

+        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2u], pSrc[i0 + 3fftLen/4] */

+        i1 = i0 + n2;

+        i2 = i1 + n2;

+        i3 = i2 + n2;

+

+        /*  Butterfly implementation */

+        /* xa + xc */

+        r1 = pSrc[2u * i0] + pSrc[2u * i2];

+        /* xa - xc */

+        r2 = pSrc[2u * i0] - pSrc[2u * i2];

+

+        /* ya + yc */

+        s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];

+        /* ya - yc */

+        s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];

+

+        /* xb + xd */

+        t1 = pSrc[2u * i1] + pSrc[2u * i3];

+

+        /* xa' = xa + xb + xc + xd */

+        pSrc[2u * i0] = (r1 + t1) >> 2u;

+        /* xa + xc -(xb + xd) */

+        r1 = r1 - t1;

+        /* yb + yd */

+        t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];

+        /* ya' = ya + yb + yc + yd */

+        pSrc[(2u * i0) + 1u] = (s1 + t2) >> 2u;

+

+        /* (ya + yc) - (yb + yd) */

+        s1 = s1 - t2;

+

+        /* (yb - yd) */

+        t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];

+        /* (xb - xd) */

+        t2 = pSrc[2u * i1] - pSrc[2u * i3];

+

+        /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */

+        pSrc[2u * i1] = (((int32_t) (((q63_t) r1 * co2) >> 32u)) -

+                         ((int32_t) (((q63_t) s1 * si2) >> 32u))) >> 1u;

+

+        /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */

+        pSrc[(2u * i1) + 1u] =

+          (((int32_t) (((q63_t) s1 * co2) >> 32u)) +

+           ((int32_t) (((q63_t) r1 * si2) >> 32u))) >> 1u;

+

+        /* (xa - xc) - (yb - yd) */

+        r1 = r2 - t1;

+        /* (xa - xc) + (yb - yd) */

+        r2 = r2 + t1;

+

+        /* (ya - yc) +  (xb - xd) */

+        s1 = s2 + t2;

+        /* (ya - yc) -  (xb - xd) */

+        s2 = s2 - t2;

+

+        /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */

+        pSrc[2u * i2] = (((int32_t) (((q63_t) r1 * co1) >> 32)) -

+                         ((int32_t) (((q63_t) s1 * si1) >> 32))) >> 1u;

+

+        /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */

+        pSrc[(2u * i2) + 1u] = (((int32_t) (((q63_t) s1 * co1) >> 32)) +

+                                ((int32_t) (((q63_t) r1 * si1) >> 32))) >> 1u;

+

+        /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */

+        pSrc[(2u * i3)] = (((int32_t) (((q63_t) r2 * co3) >> 32)) -

+                           ((int32_t) (((q63_t) s2 * si3) >> 32))) >> 1u;

+

+        /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */

+        pSrc[(2u * i3) + 1u] = (((int32_t) (((q63_t) s2 * co3) >> 32)) +

+                                ((int32_t) (((q63_t) r2 * si3) >> 32))) >> 1u;

+      }

+    }

+    twidCoefModifier <<= 2u;

+  }

+

+  /* End of Middle stages process */

+

+  /* data is in 11.21(q21) format for the 1024 point as there are 3 middle stages */

+  /* data is in 9.23(q23) format for the 256 point as there are 2 middle stages */

+  /* data is in 7.25(q25) format for the 64 point as there are 1 middle stage */

+  /* data is in 5.27(q27) format for the 16 point as there are no middle stages */

+

+

+  /* Start of last stage process */

+

+

+  /*  Initializations for the last stage */

+  j = fftLen >> 2;

+  ptr1 = &pSrc[0];

+

+  /*  Calculations of last stage */

+  do

+  {

+#ifndef ARM_MATH_BIG_ENDIAN

+    /* Read xa (real), ya(imag) input */

+    xaya = *__SIMD64(ptr1)++;

+    xa = (q31_t) xaya;

+    ya = (q31_t) (xaya >> 32);

+

+    /* Read xb (real), yb(imag) input */

+    xbyb = *__SIMD64(ptr1)++;

+    xb = (q31_t) xbyb;

+    yb = (q31_t) (xbyb >> 32);

+

+    /* Read xc (real), yc(imag) input */

+    xcyc = *__SIMD64(ptr1)++;

+    xc = (q31_t) xcyc;

+    yc = (q31_t) (xcyc >> 32);

+

+    /* Read xc (real), yc(imag) input */

+    xdyd = *__SIMD64(ptr1)++;

+    xd = (q31_t) xdyd;

+    yd = (q31_t) (xdyd >> 32);

+

+#else

+

+    /* Read xa (real), ya(imag) input */

+    xaya = *__SIMD64(ptr1)++;

+    ya = (q31_t) xaya;

+    xa = (q31_t) (xaya >> 32);

+

+    /* Read xb (real), yb(imag) input */

+    xbyb = *__SIMD64(ptr1)++;

+    yb = (q31_t) xbyb;

+    xb = (q31_t) (xbyb >> 32);

+

+    /* Read xc (real), yc(imag) input */

+    xcyc = *__SIMD64(ptr1)++;

+    yc = (q31_t) xcyc;

+    xc = (q31_t) (xcyc >> 32);

+

+    /* Read xc (real), yc(imag) input */

+    xdyd = *__SIMD64(ptr1)++;

+    yd = (q31_t) xdyd;

+    xd = (q31_t) (xdyd >> 32);

+

+

+#endif

+

+    /* xa' = xa + xb + xc + xd */

+    xa_out = xa + xb + xc + xd;

+

+    /* ya' = ya + yb + yc + yd */

+    ya_out = ya + yb + yc + yd;

+

+    /* pointer updation for writing */

+    ptr1 = ptr1 - 8u;

+

+    /* writing xa' and ya' */

+    *ptr1++ = xa_out;

+    *ptr1++ = ya_out;

+

+    xc_out = (xa - xb + xc - xd);

+    yc_out = (ya - yb + yc - yd);

+

+    /* writing xc' and yc' */

+    *ptr1++ = xc_out;

+    *ptr1++ = yc_out;

+

+    xb_out = (xa - yb - xc + yd);

+    yb_out = (ya + xb - yc - xd);

+

+    /* writing xb' and yb' */

+    *ptr1++ = xb_out;

+    *ptr1++ = yb_out;

+

+    xd_out = (xa + yb - xc - yd);

+    yd_out = (ya - xb - yc + xd);

+

+    /* writing xd' and yd' */

+    *ptr1++ = xd_out;

+    *ptr1++ = yd_out;

+

+

+  } while(--j);

+

+  /* output is in 11.21(q21) format for the 1024 point */

+  /* output is in 9.23(q23) format for the 256 point */

+  /* output is in 7.25(q25) format for the 64 point */

+  /* output is in 5.27(q27) format for the 16 point */

+

+  /* End of last stage process */

+}

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_f32.c
new file mode 100644
index 000000000..fb79e3172
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_f32.c
@@ -0,0 +1,453 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_dct4_f32.c    

+*    

+* Description:	Processing function of DCT4 & IDCT4 F32.    

+*    

+* 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 groupTransforms    

+ */

+

+/**    

+ * @defgroup DCT4_IDCT4 DCT Type IV Functions    

+ * Representation of signals by minimum number of values is important for storage and transmission.    

+ * The possibility of large discontinuity between the beginning and end of a period of a signal    

+ * in DFT can be avoided by extending the signal so that it is even-symmetric.    

+ * Discrete Cosine Transform (DCT) is constructed such that its energy is heavily concentrated in the lower part of the    

+ * spectrum and is very widely used in signal and image coding applications.    

+ * The family of DCTs (DCT type- 1,2,3,4) is the outcome of different combinations of homogeneous boundary conditions.    

+ * DCT has an excellent energy-packing capability, hence has many applications and in data compression in particular.    

+ *    

+ * DCT is essentially the Discrete Fourier Transform(DFT) of an even-extended real signal.    

+ * Reordering of the input data makes the computation of DCT just a problem of    

+ * computing the DFT of a real signal with a few additional operations.    

+ * This approach provides regular, simple, and very efficient DCT algorithms for practical hardware and software implementations.    

+ *     

+ * DCT type-II can be implemented using Fast fourier transform (FFT) internally, as the transform is applied on real values, Real FFT can be used.    

+ * DCT4 is implemented using DCT2 as their implementations are similar except with some added pre-processing and post-processing.    

+ * DCT2 implementation can be described in the following steps:    

+ * - Re-ordering input    

+ * - Calculating Real FFT    

+ * - Multiplication of weights and Real FFT output and getting real part from the product.    

+ *    

+ * This process is explained by the block diagram below:    

+ * \image html DCT4.gif "Discrete Cosine Transform - type-IV"    

+ *    

+ * \par Algorithm:    

+ * The N-point type-IV DCT is defined as a real, linear transformation by the formula:    

+ * \image html DCT4Equation.gif    

+ * where <code>k = 0,1,2,.....N-1</code>    

+ *\par    

+ * Its inverse is defined as follows:    

+ * \image html IDCT4Equation.gif    

+ * where <code>n = 0,1,2,.....N-1</code>    

+ *\par    

+ * The DCT4 matrices become involutory (i.e. they are self-inverse) by multiplying with an overall scale factor of sqrt(2/N).    

+ * The symmetry of the transform matrix indicates that the fast algorithms for the forward    

+ * and inverse transform computation are identical.    

+ * Note that the implementation of Inverse DCT4 and DCT4 is same, hence same process function can be used for both.    

+ *    

+ * \par Lengths supported by the transform:    

+ *  As DCT4 internally uses Real FFT, it supports all the lengths supported by arm_rfft_f32().    

+ * The library provides separate functions for Q15, Q31, and floating-point data types.    

+ * \par Instance Structure    

+ * The instances for Real FFT and FFT, cosine values table and twiddle factor table are stored in an instance data structure.    

+ * A separate instance structure must be defined for each transform.    

+ * There are separate instance structure declarations for each of the 3 supported data types.    

+ *    

+ * \par Initialization Functions    

+ * There is also an associated initialization function for each data type.    

+ * The initialization function performs the following operations:    

+ * - Sets the values of the internal structure fields.    

+ * - Initializes Real FFT as its process function is used internally in DCT4, by calling arm_rfft_init_f32().    

+ * \par    

+ * Use of the initialization function is optional.    

+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    

+ * To place an instance structure into a const data section, the instance structure must be manually initialized.    

+ * Manually initialize the instance structure as follows:    

+ * <pre>    

+ *arm_dct4_instance_f32 S = {N, Nby2, normalize, pTwiddle, pCosFactor, pRfft, pCfft};    

+ *arm_dct4_instance_q31 S = {N, Nby2, normalize, pTwiddle, pCosFactor, pRfft, pCfft};   

+ *arm_dct4_instance_q15 S = {N, Nby2, normalize, pTwiddle, pCosFactor, pRfft, pCfft};   

+ * </pre>   

+ * where \c N is the length of the DCT4; \c Nby2 is half of the length of the DCT4;   

+ * \c normalize is normalizing factor used and is equal to <code>sqrt(2/N)</code>;    

+ * \c pTwiddle points to the twiddle factor table;   

+ * \c pCosFactor points to the cosFactor table;   

+ * \c pRfft points to the real FFT instance;   

+ * \c pCfft points to the complex FFT instance;   

+ * The CFFT and RFFT structures also needs to be initialized, refer to arm_cfft_radix4_f32()   

+ * and arm_rfft_f32() respectively for details regarding static initialization.   

+ *   

+ * \par Fixed-Point Behavior    

+ * Care must be taken when using the fixed-point versions of the DCT4 transform functions.    

+ * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.    

+ * Refer to the function specific documentation below for usage guidelines.    

+ */

+

+ /**    

+ * @addtogroup DCT4_IDCT4    

+ * @{    

+ */

+

+/**    

+ * @brief Processing function for the floating-point DCT4/IDCT4.   

+ * @param[in]       *S             points to an instance of the floating-point DCT4/IDCT4 structure.   

+ * @param[in]       *pState        points to state buffer.   

+ * @param[in,out]   *pInlineBuffer points to the in-place input and output buffer.   

+ * @return none.   

+ */

+

+void arm_dct4_f32(

+  const arm_dct4_instance_f32 * S,

+  float32_t * pState,

+  float32_t * pInlineBuffer)

+{

+  uint32_t i;                                    /* Loop counter */

+  float32_t *weights = S->pTwiddle;              /* Pointer to the Weights table */

+  float32_t *cosFact = S->pCosFactor;            /* Pointer to the cos factors table */

+  float32_t *pS1, *pS2, *pbuff;                  /* Temporary pointers for input buffer and pState buffer */

+  float32_t in;                                  /* Temporary variable */

+

+

+  /* DCT4 computation involves DCT2 (which is calculated using RFFT)    

+   * along with some pre-processing and post-processing.    

+   * Computational procedure is explained as follows:    

+   * (a) Pre-processing involves multiplying input with cos factor,    

+   *     r(n) = 2 * u(n) * cos(pi*(2*n+1)/(4*n))    

+   *              where,    

+   *                 r(n) -- output of preprocessing    

+   *                 u(n) -- input to preprocessing(actual Source buffer)    

+   * (b) Calculation of DCT2 using FFT is divided into three steps:    

+   *                  Step1: Re-ordering of even and odd elements of input.    

+   *                  Step2: Calculating FFT of the re-ordered input.    

+   *                  Step3: Taking the real part of the product of FFT output and weights.    

+   * (c) Post-processing - DCT4 can be obtained from DCT2 output using the following equation:    

+   *                   Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    

+   *                        where,    

+   *                           Y4 -- DCT4 output,   Y2 -- DCT2 output    

+   * (d) Multiplying the output with the normalizing factor sqrt(2/N).    

+   */

+

+        /*-------- Pre-processing ------------*/

+  /* Multiplying input with cos factor i.e. r(n) = 2 * x(n) * cos(pi*(2*n+1)/(4*n)) */

+  arm_scale_f32(pInlineBuffer, 2.0f, pInlineBuffer, S->N);

+  arm_mult_f32(pInlineBuffer, cosFact, pInlineBuffer, S->N);

+

+  /* ----------------------------------------------------------------    

+   * Step1: Re-ordering of even and odd elements as,    

+   *             pState[i] =  pInlineBuffer[2*i] and    

+   *             pState[N-i-1] = pInlineBuffer[2*i+1] where i = 0 to N/2    

+   ---------------------------------------------------------------------*/

+

+  /* pS1 initialized to pState */

+  pS1 = pState;

+

+  /* pS2 initialized to pState+N-1, so that it points to the end of the state buffer */

+  pS2 = pState + (S->N - 1u);

+

+  /* pbuff initialized to input buffer */

+  pbuff = pInlineBuffer;

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+

+  /* Initializing the loop counter to N/2 >> 2 for loop unrolling by 4 */

+  i = (uint32_t) S->Nby2 >> 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. */

+  do

+  {

+    /* Re-ordering of even and odd elements */

+    /* pState[i] =  pInlineBuffer[2*i] */

+    *pS1++ = *pbuff++;

+    /* pState[N-i-1] = pInlineBuffer[2*i+1] */

+    *pS2-- = *pbuff++;

+

+    *pS1++ = *pbuff++;

+    *pS2-- = *pbuff++;

+

+    *pS1++ = *pbuff++;

+    *pS2-- = *pbuff++;

+

+    *pS1++ = *pbuff++;

+    *pS2-- = *pbuff++;

+

+    /* Decrement the loop counter */

+    i--;

+  } while(i > 0u);

+

+  /* pbuff initialized to input buffer */

+  pbuff = pInlineBuffer;

+

+  /* pS1 initialized to pState */

+  pS1 = pState;

+

+  /* Initializing the loop counter to N/4 instead of N for loop unrolling */

+  i = (uint32_t) S->N >> 2u;

+

+  /* Processing with loop unrolling 4 times as N is always multiple of 4.    

+   * Compute 4 outputs at a time */

+  do

+  {

+    /* Writing the re-ordered output back to inplace input buffer */

+    *pbuff++ = *pS1++;

+    *pbuff++ = *pS1++;

+    *pbuff++ = *pS1++;

+    *pbuff++ = *pS1++;

+

+    /* Decrement the loop counter */

+    i--;

+  } while(i > 0u);

+

+

+  /* ---------------------------------------------------------    

+   *     Step2: Calculate RFFT for N-point input    

+   * ---------------------------------------------------------- */

+  /* pInlineBuffer is real input of length N , pState is the complex output of length 2N */

+  arm_rfft_f32(S->pRfft, pInlineBuffer, pState);

+

+        /*----------------------------------------------------------------------    

+	 *  Step3: Multiply the FFT output with the weights.    

+	 *----------------------------------------------------------------------*/

+  arm_cmplx_mult_cmplx_f32(pState, weights, pState, S->N);

+

+  /* ----------- Post-processing ---------- */

+  /* DCT-IV can be obtained from DCT-II by the equation,    

+   *       Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    

+   *       Hence, Y4(0) = Y2(0)/2  */

+  /* Getting only real part from the output and Converting to DCT-IV */

+

+  /* Initializing the loop counter to N >> 2 for loop unrolling by 4 */

+  i = ((uint32_t) S->N - 1u) >> 2u;

+

+  /* pbuff initialized to input buffer. */

+  pbuff = pInlineBuffer;

+

+  /* pS1 initialized to pState */

+  pS1 = pState;

+

+  /* Calculating Y4(0) from Y2(0) using Y4(0) = Y2(0)/2 */

+  in = *pS1++ * (float32_t) 0.5;

+  /* input buffer acts as inplace, so output values are stored in the input itself. */

+  *pbuff++ = in;

+

+  /* pState pointer is incremented twice as the real values are located alternatively in the array */

+  pS1++;

+

+  /* 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. */

+  do

+  {

+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */

+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */

+    in = *pS1++ - in;

+    *pbuff++ = in;

+    /* points to the next real value */

+    pS1++;

+

+    in = *pS1++ - in;

+    *pbuff++ = in;

+    pS1++;

+

+    in = *pS1++ - in;

+    *pbuff++ = in;

+    pS1++;

+

+    in = *pS1++ - in;

+    *pbuff++ = in;

+    pS1++;

+

+    /* Decrement the loop counter */

+    i--;

+  } while(i > 0u);

+

+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    

+   ** No loop unrolling is used. */

+  i = ((uint32_t) S->N - 1u) % 0x4u;

+

+  while(i > 0u)

+  {

+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */

+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */

+    in = *pS1++ - in;

+    *pbuff++ = in;

+    /* points to the next real value */

+    pS1++;

+

+    /* Decrement the loop counter */

+    i--;

+  }

+

+

+        /*------------ Normalizing the output by multiplying with the normalizing factor ----------*/

+

+  /* Initializing the loop counter to N/4 instead of N for loop unrolling */

+  i = (uint32_t) S->N >> 2u;

+

+  /* pbuff initialized to the pInlineBuffer(now contains the output values) */

+  pbuff = pInlineBuffer;

+

+  /* Processing with loop unrolling 4 times as N is always multiple of 4.  Compute 4 outputs at a time */

+  do

+  {

+    /* Multiplying pInlineBuffer with the normalizing factor sqrt(2/N) */

+    in = *pbuff;

+    *pbuff++ = in * S->normalize;

+

+    in = *pbuff;

+    *pbuff++ = in * S->normalize;

+

+    in = *pbuff;

+    *pbuff++ = in * S->normalize;

+

+    in = *pbuff;

+    *pbuff++ = in * S->normalize;

+

+    /* Decrement the loop counter */

+    i--;

+  } while(i > 0u);

+

+

+#else

+

+  /* Run the below code for Cortex-M0 */

+

+  /* Initializing the loop counter to N/2 */

+  i = (uint32_t) S->Nby2;

+

+  do

+  {

+    /* Re-ordering of even and odd elements */

+    /* pState[i] =  pInlineBuffer[2*i] */

+    *pS1++ = *pbuff++;

+    /* pState[N-i-1] = pInlineBuffer[2*i+1] */

+    *pS2-- = *pbuff++;

+

+    /* Decrement the loop counter */

+    i--;

+  } while(i > 0u);

+

+  /* pbuff initialized to input buffer */

+  pbuff = pInlineBuffer;

+

+  /* pS1 initialized to pState */

+  pS1 = pState;

+

+  /* Initializing the loop counter */

+  i = (uint32_t) S->N;

+

+  do

+  {

+    /* Writing the re-ordered output back to inplace input buffer */

+    *pbuff++ = *pS1++;

+

+    /* Decrement the loop counter */

+    i--;

+  } while(i > 0u);

+

+

+  /* ---------------------------------------------------------    

+   *     Step2: Calculate RFFT for N-point input    

+   * ---------------------------------------------------------- */

+  /* pInlineBuffer is real input of length N , pState is the complex output of length 2N */

+  arm_rfft_f32(S->pRfft, pInlineBuffer, pState);

+

+        /*----------------------------------------------------------------------    

+	 *  Step3: Multiply the FFT output with the weights.    

+	 *----------------------------------------------------------------------*/

+  arm_cmplx_mult_cmplx_f32(pState, weights, pState, S->N);

+

+  /* ----------- Post-processing ---------- */

+  /* DCT-IV can be obtained from DCT-II by the equation,    

+   *       Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    

+   *       Hence, Y4(0) = Y2(0)/2  */

+  /* Getting only real part from the output and Converting to DCT-IV */

+

+  /* pbuff initialized to input buffer. */

+  pbuff = pInlineBuffer;

+

+  /* pS1 initialized to pState */

+  pS1 = pState;

+

+  /* Calculating Y4(0) from Y2(0) using Y4(0) = Y2(0)/2 */

+  in = *pS1++ * (float32_t) 0.5;

+  /* input buffer acts as inplace, so output values are stored in the input itself. */

+  *pbuff++ = in;

+

+  /* pState pointer is incremented twice as the real values are located alternatively in the array */

+  pS1++;

+

+  /* Initializing the loop counter */

+  i = ((uint32_t) S->N - 1u);

+

+  do

+  {

+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */

+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */

+    in = *pS1++ - in;

+    *pbuff++ = in;

+    /* points to the next real value */

+    pS1++;

+

+

+    /* Decrement the loop counter */

+    i--;

+  } while(i > 0u);

+

+

+        /*------------ Normalizing the output by multiplying with the normalizing factor ----------*/

+

+  /* Initializing the loop counter */

+  i = (uint32_t) S->N;

+

+  /* pbuff initialized to the pInlineBuffer(now contains the output values) */

+  pbuff = pInlineBuffer;

+

+  do

+  {

+    /* Multiplying pInlineBuffer with the normalizing factor sqrt(2/N) */

+    in = *pbuff;

+    *pbuff++ = in * S->normalize;

+

+    /* Decrement the loop counter */

+    i--;

+  } while(i > 0u);

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+   * @} end of DCT4_IDCT4 group    

+   */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_f32.c
new file mode 100644
index 000000000..b5f91ea32
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_f32.c
@@ -0,0 +1,16511 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_dct4_init_f32.c    

+*    

+* Description:	Initialization function of DCT-4 & IDCT4 F32    

+*    

+* 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 groupTransforms    

+ */

+

+/**    

+ * @addtogroup DCT4_IDCT4    

+ * @{    

+ */

+

+/*    

+* @brief  Weights Table    

+*/

+

+/**    

+* \par    

+* Weights tables are generated using the formula : <pre>weights[n] = e^(-j*n*pi/(2*N))</pre>    

+* \par    

+* C command to generate the table    

+* <pre>    

+* for(i = 0; i< N; i++)    

+* {    

+*    weights[2*i]= cos(i*c);    

+*    weights[(2*i)+1]= -sin(i * c);    

+* } </pre>    

+* \par    

+* Where <code>N</code> is the Number of weights to be calculated and <code>c</code> is <code>pi/(2*N)</code>    

+* \par    

+* In the tables below the real and imaginary values are placed alternatively, hence the    

+* array length is <code>2*N</code>.    

+*/

+

+static const float32_t Weights_128[256] = {

+  1.000000000000000000f, 0.000000000000000000f, 0.999924701839144500f,

+  -0.012271538285719925f,

+  0.999698818696204250f, -0.024541228522912288f, 0.999322384588349540f,

+  -0.036807222941358832f,

+  0.998795456205172410f, -0.049067674327418015f, 0.998118112900149180f,

+  -0.061320736302208578f,

+  0.997290456678690210f, -0.073564563599667426f, 0.996312612182778000f,

+  -0.085797312344439894f,

+  0.995184726672196930f, -0.098017140329560604f, 0.993906970002356060f,

+  -0.110222207293883060f,

+  0.992479534598709970f, -0.122410675199216200f, 0.990902635427780010f,

+  -0.134580708507126170f,

+  0.989176509964781010f, -0.146730474455361750f, 0.987301418157858430f,

+  -0.158858143333861450f,

+  0.985277642388941220f, -0.170961888760301220f, 0.983105487431216290f,

+  -0.183039887955140950f,

+  0.980785280403230430f, -0.195090322016128250f, 0.978317370719627650f,

+  -0.207111376192218560f,

+  0.975702130038528570f, -0.219101240156869800f, 0.972939952205560180f,

+  -0.231058108280671110f,

+  0.970031253194543970f, -0.242980179903263870f, 0.966976471044852070f,

+  -0.254865659604514570f,

+  0.963776065795439840f, -0.266712757474898370f, 0.960430519415565790f,

+  -0.278519689385053060f,

+  0.956940335732208820f, -0.290284677254462330f, 0.953306040354193860f,

+  -0.302005949319228080f,

+  0.949528180593036670f, -0.313681740398891520f, 0.945607325380521280f,

+  -0.325310292162262930f,

+  0.941544065183020810f, -0.336889853392220050f, 0.937339011912574960f,

+  -0.348418680249434560f,

+  0.932992798834738960f, -0.359895036534988110f, 0.928506080473215590f,

+  -0.371317193951837540f,

+  0.923879532511286740f, -0.382683432365089780f, 0.919113851690057770f,

+  -0.393992040061048100f,

+  0.914209755703530690f, -0.405241314004989860f, 0.909167983090522380f,

+  -0.416429560097637150f,

+  0.903989293123443340f, -0.427555093430282080f, 0.898674465693953820f,

+  -0.438616238538527660f,

+  0.893224301195515320f, -0.449611329654606540f, 0.887639620402853930f,

+  -0.460538710958240010f,

+  0.881921264348355050f, -0.471396736825997640f, 0.876070094195406600f,

+  -0.482183772079122720f,

+  0.870086991108711460f, -0.492898192229784040f, 0.863972856121586810f,

+  -0.503538383725717580f,

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+  -0.996312612182778000f,

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+  -0.999322384588349540f,

+  0.024541228522912264f, -0.999698818696204250f, 0.012271538285719944f,

+  -0.999924701839144500f

+};

+

+static const float32_t Weights_512[1024] = {

+  1.000000000000000000f, 0.000000000000000000f, 0.999995293809576190f,

+  -0.003067956762965976f,

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+  -0.021474080275469508f,

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+  -0.027608145778965740f,

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+  -0.033741171851377580f,

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+  -0.039872927587739811f,

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+  -0.046003182130914623f,

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+  -0.052131704680283324f,

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+  0.079682437971430126f, -0.996820299291165670f, 0.076623861392031617f,

+  -0.997060070339482960f,

+  0.073564563599667454f, -0.997290456678690210f, 0.070504573389614009f,

+  -0.997511456140303450f,

+  0.067443919563664106f, -0.997723066644191640f, 0.064382630929857410f,

+  -0.997925286198596000f,

+  0.061320736302208648f, -0.998118112900149180f, 0.058258264500435732f,

+  -0.998301544933892890f,

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+  -0.998640218180265270f,

+  0.049067674327418126f, -0.998795456205172410f, 0.046003182130914644f,

+  -0.998941293186856870f,

+  0.042938256934940959f, -0.999077727752645360f, 0.039872927587739845f,

+  -0.999204758618363890f,

+  0.036807222941358991f, -0.999322384588349540f, 0.033741171851377642f,

+  -0.999430604555461730f,

+  0.030674803176636581f, -0.999529417501093140f, 0.027608145778965820f,

+  -0.999618822495178640f,

+  0.024541228522912264f, -0.999698818696204250f, 0.021474080275469605f,

+  -0.999769405351215280f,

+  0.018406729905804820f, -0.999830581795823400f, 0.015339206284988220f,

+  -0.999882347454212560f,

+  0.012271538285719944f, -0.999924701839144500f, 0.009203754782059960f,

+  -0.999957644551963900f,

+  0.006135884649154515f, -0.999981175282601110f, 0.003067956762966138f,

+  -0.999995293809576190f

+};

+

+static const float32_t Weights_2048[4096] = {

+  1.000000000000000000f, 0.000000000000000000f, 0.999999705862882230f,

+  -0.000766990318742704f,

+  0.999998823451701880f, -0.001533980186284766f, 0.999997352766978210f,

+  -0.002300969151425805f,

+  0.999995293809576190f, -0.003067956762965976f, 0.999992646580707190f,

+  -0.003834942569706228f,

+  0.999989411081928400f, -0.004601926120448571f, 0.999985587315143200f,

+  -0.005368906963996343f,

+  0.999981175282601110f, -0.006135884649154475f, 0.999976174986897610f,

+  -0.006902858724729756f,

+  0.999970586430974140f, -0.007669828739531097f, 0.999964409618118280f,

+  -0.008436794242369799f,

+  0.999957644551963900f, -0.009203754782059819f, 0.999950291236490480f,

+  -0.009970709907418031f,

+  0.999942349676023910f, -0.010737659167264491f, 0.999933819875236000f,

+  -0.011504602110422714f,

+  0.999924701839144500f, -0.012271538285719925f, 0.999914995573113470f,

+  -0.013038467241987334f,

+  0.999904701082852900f, -0.013805388528060391f, 0.999893818374418490f,

+  -0.014572301692779064f,

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+

+static const float32_t Weights_8192[16384] = {

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+    -0.999986598406848000,

+  0.004985416908821652, -0.999987572731904080, 0.004793671602759852,

+    -0.999988510290275690,

+  0.004601926120448672, -0.999989411081928400, 0.004410180468937601,

+    -0.999990275106828920,

+  0.004218434655277024, -0.999991102364945590, 0.004026688686516664,

+    -0.999991892856248010,

+  0.003834942569706248, -0.999992646580707190, 0.003643196311896179,

+    -0.999993363538295150,

+  0.003451449920135975, -0.999994043728985820, 0.003259703401476044,

+    -0.999994687152754080,

+  0.003067956762966138, -0.999995293809576190, 0.002876210011656010,

+    -0.999995863699429940,

+  0.002684463154596083, -0.999996396822294350, 0.002492716198835898,

+    -0.999996893178149880,

+  0.002300969151425887, -0.999997352766978210, 0.002109222019415816,

+    -0.999997775588762350,

+  0.001917474809855460, -0.999998161643486980, 0.001725727529795258,

+    -0.999998510931137790,

+  0.001533980186284766, -0.999998823451701880, 0.001342232786374430,

+    -0.999999099205167830,

+  0.001150485337113809, -0.999999338191525530, 0.000958737845553352,

+    -0.999999540410766110,

+  0.000766990318742846, -0.999999705862882230, 0.000575242763732077,

+    -0.999999834547867670,

+  0.000383495187571497, -0.999999926465717890, 0.000191747597310674,

+    -0.999999981616429330,

+

+};

+

+/**    

+* \par    

+* cosFactor tables are generated using the formula : <pre>cos_factors[n] = 2 * cos((2n+1)*pi/(4*N))</pre>    

+* \par    

+* C command to generate the table    

+* \par    

+* <pre> for(i = 0; i< N; i++)    

+* {    

+*    cos_factors[i]= 2 * cos((2*i+1)*c/2);    

+* } </pre>    

+* \par    

+* where <code>N</code> is the number of factors to generate and <code>c</code> is <code>pi/(2*N)</code>    

+*/

+static const float32_t cos_factors_128[128] = {

+  0.999981175282601110f, 0.999830581795823400f, 0.999529417501093140f,

+  0.999077727752645360f,

+  0.998475580573294770f, 0.997723066644191640f, 0.996820299291165670f,

+  0.995767414467659820f,

+  0.994564570734255420f, 0.993211949234794500f, 0.991709753669099530f,

+  0.990058210262297120f,

+  0.988257567730749460f, 0.986308097244598670f, 0.984210092386929030f,

+  0.981963869109555240f,

+  0.979569765685440520f, 0.977028142657754390f, 0.974339382785575860f,

+  0.971503890986251780f,

+  0.968522094274417380f, 0.965394441697689400f, 0.962121404269041580f,

+  0.958703474895871600f,

+  0.955141168305770780f, 0.951435020969008340f, 0.947585591017741090f,

+  0.943593458161960390f,

+  0.939459223602189920f, 0.935183509938947610f, 0.930766961078983710f,

+  0.926210242138311380f,

+  0.921514039342042010f, 0.916679059921042700f, 0.911706032005429880f,

+  0.906595704514915330f,

+  0.901348847046022030f, 0.895966249756185220f, 0.890448723244757880f,

+  0.884797098430937790f,

+  0.879012226428633530f, 0.873094978418290090f, 0.867046245515692650f,

+  0.860866938637767310f,

+  0.854557988365400530f, 0.848120344803297230f, 0.841554977436898440f,

+  0.834862874986380010f,

+  0.828045045257755800f, 0.821102514991104650f, 0.814036329705948410f,

+  0.806847553543799330f,

+  0.799537269107905010f, 0.792106577300212390f, 0.784556597155575240f,

+  0.776888465673232440f,

+  0.769103337645579700f, 0.761202385484261780f, 0.753186799043612520f,

+  0.745057785441466060f,

+  0.736816568877369900f, 0.728464390448225200f, 0.720002507961381650f,

+  0.711432195745216430f,

+  0.702754744457225300f, 0.693971460889654000f, 0.685083667772700360f,

+  0.676092703575316030f,

+  0.666999922303637470f, 0.657806693297078640f, 0.648514401022112550f,

+  0.639124444863775730f,

+  0.629638238914927100f, 0.620057211763289210f, 0.610382806276309480f,

+  0.600616479383868970f,

+  0.590759701858874280f, 0.580813958095764530f, 0.570780745886967370f,

+  0.560661576197336030f,

+  0.550457972936604810f, 0.540171472729892970f, 0.529803624686294830f,

+  0.519355990165589530f,

+  0.508830142543106990f, 0.498227666972781870f, 0.487550160148436050f,

+  0.476799230063322250f,

+  0.465976495767966130f, 0.455083587126343840f, 0.444122144570429260f,

+  0.433093818853152010f,

+  0.422000270799799790f, 0.410843171057903910f, 0.399624199845646790f,

+  0.388345046698826300f,

+  0.377007410216418310f, 0.365612997804773960f, 0.354163525420490510f,

+  0.342660717311994380f,

+  0.331106305759876430f, 0.319502030816015750f, 0.307849640041534980f,

+  0.296150888243623960f,

+  0.284407537211271820f, 0.272621355449948980f, 0.260794117915275570f,

+  0.248927605745720260f,

+  0.237023605994367340f, 0.225083911359792780f, 0.213110319916091360f,

+  0.201104634842091960f,

+  0.189068664149806280f, 0.177004220412148860f, 0.164913120489970090f,

+  0.152797185258443410f,

+  0.140658239332849240f, 0.128498110793793220f, 0.116318630911904880f,

+  0.104121633872054730f,

+  0.091908956497132696f, 0.079682437971430126f, 0.067443919563664106f,

+  0.055195244349690031f,

+  0.042938256934940959f, 0.030674803176636581f, 0.018406729905804820f,

+  0.006135884649154515f

+};

+

+static const float32_t cos_factors_512[512] = {

+  0.999998823451701880f, 0.999989411081928400f, 0.999970586430974140f,

+  0.999942349676023910f,

+  0.999904701082852900f, 0.999857641005823860f, 0.999801169887884260f,

+  0.999735288260561680f,

+  0.999659996743959220f, 0.999575296046749220f, 0.999481186966166950f,

+  0.999377670388002850f,

+  0.999264747286594420f, 0.999142418724816910f, 0.999010685854073380f,

+  0.998869549914283560f,

+  0.998719012233872940f, 0.998559074229759310f, 0.998389737407340160f,

+  0.998211003360478190f,

+  0.998022873771486240f, 0.997825350411111640f, 0.997618435138519550f,

+  0.997402129901275300f,

+  0.997176436735326190f, 0.996941357764982160f, 0.996696895202896060f,

+  0.996443051350042630f,

+  0.996179828595696980f, 0.995907229417411720f, 0.995625256380994310f,

+  0.995333912140482280f,

+  0.995033199438118630f, 0.994723121104325700f, 0.994403680057679100f,

+  0.994074879304879370f,

+  0.993736721940724600f, 0.993389211148080650f, 0.993032350197851410f,

+  0.992666142448948020f,

+  0.992290591348257370f, 0.991905700430609330f, 0.991511473318743900f,

+  0.991107913723276890f,

+  0.990695025442664630f, 0.990272812363169110f, 0.989841278458820530f,

+  0.989400427791380380f,

+  0.988950264510302990f, 0.988490792852696590f, 0.988022017143283530f,

+  0.987543941794359230f,

+  0.987056571305750970f, 0.986559910264775410f, 0.986053963346195440f,

+  0.985538735312176060f,

+  0.985014231012239840f, 0.984480455383220930f, 0.983937413449218920f,

+  0.983385110321551180f,

+  0.982823551198705240f, 0.982252741366289370f, 0.981672686196983110f,

+  0.981083391150486710f,

+  0.980484861773469380f, 0.979877103699517640f, 0.979260122649082020f,

+  0.978633924429423210f,

+  0.977998514934557140f, 0.977353900145199960f, 0.976700086128711840f,

+  0.976037079039039020f,

+  0.975364885116656980f, 0.974683510688510670f, 0.973992962167955830f,

+  0.973293246054698250f,

+  0.972584368934732210f, 0.971866337480279400f, 0.971139158449725090f,

+  0.970402838687555500f,

+  0.969657385124292450f, 0.968902804776428870f, 0.968139104746362440f,

+  0.967366292222328510f,

+  0.966584374478333120f, 0.965793358874083680f, 0.964993252854920320f,

+  0.964184063951745830f,

+  0.963365799780954050f, 0.962538468044359160f, 0.961702076529122540f,

+  0.960856633107679660f,

+  0.960002145737665960f, 0.959138622461841890f, 0.958266071408017670f,

+  0.957384500788975860f,

+  0.956493918902395100f, 0.955594334130771110f, 0.954685754941338340f,

+  0.953768189885990330f,

+  0.952841647601198720f, 0.951906136807932350f, 0.950961666311575080f,

+  0.950008245001843000f,

+  0.949045881852700560f, 0.948074585922276230f, 0.947094366352777220f,

+  0.946105232370403450f,

+  0.945107193285260610f, 0.944100258491272660f, 0.943084437466093490f,

+  0.942059739771017310f,

+  0.941026175050889260f, 0.939983753034014050f, 0.938932483532064600f,

+  0.937872376439989890f,

+  0.936803441735921560f, 0.935725689481080370f, 0.934639129819680780f,

+  0.933543772978836170f,

+  0.932439629268462360f, 0.931326709081180430f, 0.930205022892219070f,

+  0.929074581259315860f,

+  0.927935394822617890f, 0.926787474304581750f, 0.925630830509872720f,

+  0.924465474325262600f,

+  0.923291416719527640f, 0.922108668743345180f, 0.920917241529189520f,

+  0.919717146291227360f,

+  0.918508394325212250f, 0.917290997008377910f, 0.916064965799331720f,

+  0.914830312237946200f,

+  0.913587047945250810f, 0.912335184623322750f, 0.911074734055176360f,

+  0.909805708104652220f,

+  0.908528118716306120f, 0.907241977915295820f, 0.905947297807268460f,

+  0.904644090578246240f,

+  0.903332368494511820f, 0.902012143902493180f, 0.900683429228646970f,

+  0.899346236979341570f,

+  0.898000579740739880f, 0.896646470178680150f, 0.895283921038557580f,

+  0.893912945145203250f,

+  0.892533555402764580f, 0.891145764794583180f, 0.889749586383072780f,

+  0.888345033309596350f,

+  0.886932118794342190f, 0.885510856136199950f, 0.884081258712634990f,

+  0.882643339979562790f,

+  0.881197113471222090f, 0.879742592800047410f, 0.878279791656541580f,

+  0.876808723809145650f,

+  0.875329403104110890f, 0.873841843465366860f, 0.872346058894391540f,

+  0.870842063470078980f,

+  0.869329871348606840f, 0.867809496763303320f, 0.866280954024512990f,

+  0.864744257519462380f,

+  0.863199421712124160f, 0.861646461143081300f, 0.860085390429390140f,

+  0.858516224264442740f,

+  0.856938977417828760f, 0.855353664735196030f, 0.853760301138111410f,

+  0.852158901623919830f,

+  0.850549481265603480f, 0.848932055211639610f, 0.847306638685858320f,

+  0.845673246987299070f,

+  0.844031895490066410f, 0.842382599643185850f, 0.840725374970458070f,

+  0.839060237070312740f,

+  0.837387201615661940f, 0.835706284353752600f, 0.834017501106018130f,

+  0.832320867767929680f,

+  0.830616400308846310f, 0.828904114771864870f, 0.827184027273669130f,

+  0.825456154004377550f,

+  0.823720511227391430f, 0.821977115279241550f, 0.820225982569434690f,

+  0.818467129580298660f,

+  0.816700572866827850f, 0.814926329056526620f, 0.813144414849253590f,

+  0.811354847017063730f,

+  0.809557642404051260f, 0.807752817926190360f, 0.805940390571176280f,

+  0.804120377398265810f,

+  0.802292795538115720f, 0.800457662192622820f, 0.798614994634760820f,

+  0.796764810208418830f,

+  0.794907126328237010f, 0.793041960479443640f, 0.791169330217690200f,

+  0.789289253168885650f,

+  0.787401747029031430f, 0.785506829564053930f, 0.783604518609638200f,

+  0.781694832071059390f,

+  0.779777787923014550f, 0.777853404209453150f, 0.775921699043407690f,

+  0.773982690606822900f,

+  0.772036397150384520f, 0.770082836993347900f, 0.768122028523365420f,

+  0.766153990196312920f,

+  0.764178740536116670f, 0.762196298134578900f, 0.760206681651202420f,

+  0.758209909813015280f,

+  0.756206001414394540f, 0.754194975316889170f, 0.752176850449042810f,

+  0.750151645806215070f,

+  0.748119380450403600f, 0.746080073510063780f, 0.744033744179929290f,

+  0.741980411720831070f,

+  0.739920095459516200f, 0.737852814788465980f, 0.735778589165713590f,

+  0.733697438114660370f,

+  0.731609381223892630f, 0.729514438146997010f, 0.727412628602375770f,

+  0.725303972373060770f,

+  0.723188489306527460f, 0.721066199314508110f, 0.718937122372804490f,

+  0.716801278521099540f,

+  0.714658687862769090f, 0.712509370564692320f, 0.710353346857062420f,

+  0.708190637033195400f,

+  0.706021261449339740f, 0.703845240524484940f, 0.701662594740168570f,

+  0.699473344640283770f,

+  0.697277510830886630f, 0.695075113980000880f, 0.692866174817424740f,

+  0.690650714134534720f,

+  0.688428752784090550f, 0.686200311680038700f, 0.683965411797315510f,

+  0.681724074171649820f,

+  0.679476319899365080f, 0.677222170137180450f, 0.674961646102012040f,

+  0.672694769070772970f,

+  0.670421560380173090f, 0.668142041426518560f, 0.665856233665509720f,

+  0.663564158612039880f,

+  0.661265837839992270f, 0.658961292982037320f, 0.656650545729429050f,

+  0.654333617831800550f,

+  0.652010531096959500f, 0.649681307390683190f, 0.647345968636512060f,

+  0.645004536815544040f,

+  0.642657033966226860f, 0.640303482184151670f, 0.637943903621844170f,

+  0.635578320488556230f,

+  0.633206755050057190f, 0.630829229628424470f, 0.628445766601832710f,

+  0.626056388404343520f,

+  0.623661117525694640f, 0.621259976511087660f, 0.618852987960976320f,

+  0.616440174530853650f,

+  0.614021558931038490f, 0.611597163926462020f, 0.609167012336453210f,

+  0.606731127034524480f,

+  0.604289530948156070f, 0.601842247058580030f, 0.599389298400564540f,

+  0.596930708062196500f,

+  0.594466499184664540f, 0.591996694962040990f, 0.589521318641063940f,

+  0.587040393520918080f,

+  0.584553942953015330f, 0.582061990340775550f, 0.579564559139405740f,

+  0.577061672855679550f,

+  0.574553355047715760f, 0.572039629324757050f, 0.569520519346947250f,

+  0.566996048825108680f,

+  0.564466241520519500f, 0.561931121244689470f, 0.559390711859136140f,

+  0.556845037275160100f,

+  0.554294121453620110f, 0.551737988404707450f, 0.549176662187719770f,

+  0.546610166910834860f,

+  0.544038526730883930f, 0.541461765853123560f, 0.538879908531008420f,

+  0.536292979065963180f,

+  0.533701001807152960f, 0.531104001151255000f, 0.528502001542228480f,

+  0.525895027471084740f,

+  0.523283103475656430f, 0.520666254140367270f, 0.518044504095999340f,

+  0.515417878019463150f,

+  0.512786400633563070f, 0.510150096706766700f, 0.507508991052970870f,

+  0.504863108531267480f,

+  0.502212474045710900f, 0.499557112545081890f, 0.496897049022654640f,

+  0.494232308515959730f,

+  0.491562916106550060f, 0.488888896919763230f, 0.486210276124486530f,

+  0.483527078932918740f,

+  0.480839330600333900f, 0.478147056424843120f, 0.475450281747155870f,

+  0.472749031950342900f,

+  0.470043332459595620f, 0.467333208741988530f, 0.464618686306237820f,

+  0.461899790702462840f,

+  0.459176547521944150f, 0.456448982396883860f, 0.453717121000163930f,

+  0.450980989045103810f,

+  0.448240612285220000f, 0.445496016513981740f, 0.442747227564570130f,

+  0.439994271309633260f,

+  0.437237173661044200f, 0.434475960569655710f, 0.431710658025057370f,

+  0.428941292055329550f,

+  0.426167888726799620f, 0.423390474143796100f, 0.420609074448402510f,

+  0.417823715820212380f,

+  0.415034424476081630f, 0.412241226669883000f, 0.409444148692257590f,

+  0.406643216870369140f,

+  0.403838457567654130f, 0.401029897183575790f, 0.398217562153373620f,

+  0.395401478947816300f,

+  0.392581674072951530f, 0.389758174069856410f, 0.386931005514388690f,

+  0.384100195016935040f,

+  0.381265769222162490f, 0.378427754808765620f, 0.375586178489217330f,

+  0.372741067009515810f,

+  0.369892447148934270f, 0.367040345719767240f, 0.364184789567079840f,

+  0.361325805568454340f,

+  0.358463420633736540f, 0.355597661704783960f, 0.352728555755210730f,

+  0.349856129790135030f,

+  0.346980410845923680f, 0.344101425989938980f, 0.341219202320282410f,

+  0.338333766965541290f,

+  0.335445147084531660f, 0.332553369866044220f, 0.329658462528587550f,

+  0.326760452320131790f,

+  0.323859366517852960f, 0.320955232427875210f, 0.318048077385015060f,

+  0.315137928752522440f,

+  0.312224813921825050f, 0.309308760312268780f, 0.306389795370861080f,

+  0.303467946572011370f,

+  0.300543241417273400f, 0.297615707435086310f, 0.294685372180514330f,

+  0.291752263234989370f,

+  0.288816408206049480f, 0.285877834727080730f, 0.282936570457055390f,

+  0.279992643080273380f,

+  0.277046080306099950f, 0.274096909868706330f, 0.271145159526808070f,

+  0.268190857063403180f,

+  0.265234030285511900f, 0.262274707023913590f, 0.259312915132886350f,

+  0.256348682489942910f,

+  0.253382036995570270f, 0.250413006572965280f, 0.247441619167773440f,

+  0.244467902747824210f,

+  0.241491885302869300f, 0.238513594844318500f, 0.235533059404975460f,

+  0.232550307038775330f,

+  0.229565365820518870f, 0.226578263845610110f, 0.223589029229790020f,

+  0.220597690108873650f,

+  0.217604274638483670f, 0.214608810993786920f, 0.211611327369227610f,

+  0.208611851978263460f,

+  0.205610413053099320f, 0.202607038844421110f, 0.199601757621131050f,

+  0.196594597670080220f,

+  0.193585587295803750f, 0.190574754820252800f, 0.187562128582529740f,

+  0.184547736938619640f,

+  0.181531608261125130f, 0.178513770938997590f, 0.175494253377271400f,

+  0.172473083996796030f,

+  0.169450291233967930f, 0.166425903540464220f, 0.163399949382973230f,

+  0.160372457242928400f,

+  0.157343455616238280f, 0.154312973013020240f, 0.151281037957330250f,

+  0.148247678986896200f,

+  0.145212924652847520f, 0.142176803519448000f, 0.139139344163826280f,

+  0.136100575175706200f,

+  0.133060525157139180f, 0.130019222722233350f, 0.126976696496885980f,

+  0.123932975118512200f,

+  0.120888087235777220f, 0.117842061508325020f, 0.114794926606510250f,

+  0.111746711211126660f,

+  0.108697444013138670f, 0.105647153713410700f, 0.102595869022436280f,

+  0.099543618660069444f,

+  0.096490431355252607f, 0.093436335845747912f, 0.090381360877865011f,

+  0.087325535206192226f,

+  0.084268887593324127f, 0.081211446809592386f, 0.078153241632794315f,

+  0.075094300847921291f,

+  0.072034653246889416f, 0.068974327628266732f, 0.065913352797003930f,

+  0.062851757564161420f,

+  0.059789570746640007f, 0.056726821166907783f, 0.053663537652730679f,

+  0.050599749036899337f,

+  0.047535484156959261f, 0.044470771854938744f, 0.041405640977076712f,

+  0.038340120373552791f,

+  0.035274238898213947f, 0.032208025408304704f, 0.029141508764193740f,

+  0.026074717829104040f,

+  0.023007681468839410f, 0.019940428551514598f, 0.016872987947281773f,

+  0.013805388528060349f,

+  0.010737659167264572f, 0.007669828739531077f, 0.004601926120448672f,

+  0.001533980186284766f

+};

+

+static const float32_t cos_factors_2048[2048] = {

+  0.999999926465717890f, 0.999999338191525530f, 0.999998161643486980f,

+  0.999996396822294350f,

+  0.999994043728985820f, 0.999991102364945590f, 0.999987572731904080f,

+  0.999983454831937730f,

+  0.999978748667468830f, 0.999973454241265940f, 0.999967571556443780f,

+  0.999961100616462820f,

+  0.999954041425129780f, 0.999946393986597460f, 0.999938158305364590f,

+  0.999929334386276070f,

+  0.999919922234522750f, 0.999909921855641540f, 0.999899333255515390f,

+  0.999888156440373320f,

+  0.999876391416790410f, 0.999864038191687680f, 0.999851096772332190f,

+  0.999837567166337090f,

+  0.999823449381661570f, 0.999808743426610520f, 0.999793449309835270f,

+  0.999777567040332940f,

+  0.999761096627446610f, 0.999744038080865430f, 0.999726391410624470f,

+  0.999708156627104880f,

+  0.999689333741033640f, 0.999669922763483760f, 0.999649923705874240f,

+  0.999629336579970110f,

+  0.999608161397882110f, 0.999586398172067070f, 0.999564046915327740f,

+  0.999541107640812940f,

+  0.999517580362016990f, 0.999493465092780590f, 0.999468761847290050f,

+  0.999443470640077770f,

+  0.999417591486021720f, 0.999391124400346050f, 0.999364069398620550f,

+  0.999336426496761240f,

+  0.999308195711029470f, 0.999279377058032710f, 0.999249970554724420f,

+  0.999219976218403530f,

+  0.999189394066714920f, 0.999158224117649430f, 0.999126466389543390f,

+  0.999094120901079070f,

+  0.999061187671284600f, 0.999027666719533690f, 0.998993558065545680f,

+  0.998958861729386080f,

+  0.998923577731465780f, 0.998887706092541290f, 0.998851246833715180f,

+  0.998814199976435390f,

+  0.998776565542495610f, 0.998738343554035230f, 0.998699534033539280f,

+  0.998660137003838490f,

+  0.998620152488108870f, 0.998579580509872500f, 0.998538421092996730f,

+  0.998496674261694640f,

+  0.998454340040524800f, 0.998411418454391300f, 0.998367909528543820f,

+  0.998323813288577560f,

+  0.998279129760433200f, 0.998233858970396850f, 0.998188000945100300f,

+  0.998141555711520520f,

+  0.998094523296980010f, 0.998046903729146840f, 0.997998697036034390f,

+  0.997949903246001190f,

+  0.997900522387751620f, 0.997850554490335110f, 0.997799999583146470f,

+  0.997748857695925690f,

+  0.997697128858758500f, 0.997644813102075420f, 0.997591910456652630f,

+  0.997538420953611340f,

+  0.997484344624417930f, 0.997429681500884180f, 0.997374431615167150f,

+  0.997318594999768600f,

+  0.997262171687536170f, 0.997205161711661850f, 0.997147565105683480f,

+  0.997089381903483400f,

+  0.997030612139289450f, 0.996971255847674320f, 0.996911313063555740f,

+  0.996850783822196610f,

+  0.996789668159204560f, 0.996727966110532490f, 0.996665677712478160f,

+  0.996602803001684130f,

+  0.996539342015137940f, 0.996475294790172160f, 0.996410661364464100f,

+  0.996345441776035900f,

+  0.996279636063254650f, 0.996213244264832040f, 0.996146266419824620f,

+  0.996078702567633980f,

+  0.996010552748005870f, 0.995941817001031350f, 0.995872495367145730f,

+  0.995802587887129160f,

+  0.995732094602106430f, 0.995661015553546910f, 0.995589350783264600f,

+  0.995517100333418110f,

+  0.995444264246510340f, 0.995370842565388990f, 0.995296835333246090f,

+  0.995222242593618360f,

+  0.995147064390386470f, 0.995071300767776170f, 0.994994951770357020f,

+  0.994918017443043200f,

+  0.994840497831093180f, 0.994762392980109930f, 0.994683702936040250f,

+  0.994604427745175660f,

+  0.994524567454151740f, 0.994444122109948040f, 0.994363091759888570f,

+  0.994281476451641550f,

+  0.994199276233218910f, 0.994116491152977070f, 0.994033121259616400f,

+  0.993949166602181130f,

+  0.993864627230059750f, 0.993779503192984580f, 0.993693794541031790f,

+  0.993607501324621610f,

+  0.993520623594518090f, 0.993433161401829360f, 0.993345114798006910f,

+  0.993256483834846440f,

+  0.993167268564487230f, 0.993077469039412300f, 0.992987085312448390f,

+  0.992896117436765980f,

+  0.992804565465879140f, 0.992712429453645460f, 0.992619709454266140f,

+  0.992526405522286100f,

+  0.992432517712593660f, 0.992338046080420420f, 0.992242990681341700f,

+  0.992147351571276090f,

+  0.992051128806485720f, 0.991954322443575950f, 0.991856932539495470f,

+  0.991758959151536110f,

+  0.991660402337333210f, 0.991561262154865290f, 0.991461538662453790f,

+  0.991361231918763460f,

+  0.991260341982802440f, 0.991158868913921350f, 0.991056812771814340f,

+  0.990954173616518500f,

+  0.990850951508413620f, 0.990747146508222710f, 0.990642758677011570f,

+  0.990537788076188750f,

+  0.990432234767505970f, 0.990326098813057330f, 0.990219380275280000f,

+  0.990112079216953770f,

+  0.990004195701200910f, 0.989895729791486660f, 0.989786681551618640f,

+  0.989677051045747210f,

+  0.989566838338365120f, 0.989456043494307710f, 0.989344666578752640f,

+  0.989232707657220050f,

+  0.989120166795572690f, 0.989007044060015270f, 0.988893339517095130f,

+  0.988779053233701520f,

+  0.988664185277066230f, 0.988548735714763200f, 0.988432704614708340f,

+  0.988316092045159690f,

+  0.988198898074717610f, 0.988081122772324070f, 0.987962766207263420f,

+  0.987843828449161740f,

+  0.987724309567986960f, 0.987604209634049160f, 0.987483528717999710f,

+  0.987362266890832400f,

+  0.987240424223882250f, 0.987118000788826280f, 0.986994996657682980f,

+  0.986871411902812470f,

+  0.986747246596916590f, 0.986622500813038480f, 0.986497174624562880f,

+  0.986371268105216030f,

+  0.986244781329065460f, 0.986117714370520090f, 0.985990067304330140f,

+  0.985861840205586980f,

+  0.985733033149723490f, 0.985603646212513400f, 0.985473679470071810f,

+  0.985343132998854790f,

+  0.985212006875659350f, 0.985080301177623800f, 0.984948015982227030f,

+  0.984815151367289140f,

+  0.984681707410970940f, 0.984547684191773960f, 0.984413081788540700f,

+  0.984277900280454370f,

+  0.984142139747038570f, 0.984005800268157870f, 0.983868881924017220f,

+  0.983731384795162090f,

+  0.983593308962478650f, 0.983454654507193270f, 0.983315421510872810f,

+  0.983175610055424420f,

+  0.983035220223095640f, 0.982894252096474070f, 0.982752705758487830f,

+  0.982610581292404750f,

+  0.982467878781833170f, 0.982324598310721280f, 0.982180739963357090f,

+  0.982036303824369020f,

+  0.981891289978725100f, 0.981745698511732990f, 0.981599529509040720f,

+  0.981452783056635520f,

+  0.981305459240844670f, 0.981157558148334830f, 0.981009079866112630f,

+  0.980860024481523870f,

+  0.980710392082253970f, 0.980560182756327840f, 0.980409396592109910f,

+  0.980258033678303550f,

+  0.980106094103951770f, 0.979953577958436740f, 0.979800485331479790f,

+  0.979646816313141210f,

+  0.979492570993820810f, 0.979337749464256780f, 0.979182351815526930f,

+  0.979026378139047580f,

+  0.978869828526574120f, 0.978712703070200420f, 0.978555001862359550f,

+  0.978396724995823090f,

+  0.978237872563701090f, 0.978078444659442380f, 0.977918441376834370f,

+  0.977757862810002760f,

+  0.977596709053411890f, 0.977434980201864260f, 0.977272676350500860f,

+  0.977109797594800880f,

+  0.976946344030581670f, 0.976782315753998650f, 0.976617712861545640f,

+  0.976452535450054060f,

+  0.976286783616693630f, 0.976120457458971910f, 0.975953557074734300f,

+  0.975786082562163930f,

+  0.975618034019781750f, 0.975449411546446380f, 0.975280215241354220f,

+  0.975110445204038890f,

+  0.974940101534371830f, 0.974769184332561770f, 0.974597693699155050f,

+  0.974425629735034990f,

+  0.974252992541422500f, 0.974079782219875680f, 0.973905998872289570f,

+  0.973731642600896400f,

+  0.973556713508265560f, 0.973381211697303290f, 0.973205137271252800f,

+  0.973028490333694210f,

+  0.972851270988544180f, 0.972673479340056430f, 0.972495115492821190f,

+  0.972316179551765300f,

+  0.972136671622152230f, 0.971956591809581720f, 0.971775940219990140f,

+  0.971594716959650160f,

+  0.971412922135170940f, 0.971230555853497380f, 0.971047618221911100f,

+  0.970864109348029470f,

+  0.970680029339806130f, 0.970495378305530560f, 0.970310156353828110f,

+  0.970124363593660280f,

+  0.969938000134323960f, 0.969751066085452140f, 0.969563561557013180f,

+  0.969375486659311280f,

+  0.969186841502985950f, 0.968997626199012420f, 0.968807840858700970f,

+  0.968617485593697540f,

+  0.968426560515983190f, 0.968235065737874320f, 0.968043001372022260f,

+  0.967850367531413620f,

+  0.967657164329369880f, 0.967463391879547550f, 0.967269050295937790f,

+  0.967074139692867040f,

+  0.966878660184995910f, 0.966682611887320080f, 0.966485994915169840f,

+  0.966288809384209690f,

+  0.966091055410438830f, 0.965892733110190860f, 0.965693842600133690f,

+  0.965494383997269500f,

+  0.965294357418934660f, 0.965093762982799590f, 0.964892600806868890f,

+  0.964690871009481030f,

+  0.964488573709308410f, 0.964285709025357480f, 0.964082277076968140f,

+  0.963878277983814200f,

+  0.963673711865903230f, 0.963468578843575950f, 0.963262879037507070f,

+  0.963056612568704340f,

+  0.962849779558509030f, 0.962642380128595710f, 0.962434414400972100f,

+  0.962225882497979020f,

+  0.962016784542290560f, 0.961807120656913540f, 0.961596890965187860f,

+  0.961386095590786250f,

+  0.961174734657714080f, 0.960962808290309780f, 0.960750316613243950f,

+  0.960537259751520050f,

+  0.960323637830473920f, 0.960109450975773940f, 0.959894699313420530f,

+  0.959679382969746750f,

+  0.959463502071417510f, 0.959247056745430090f, 0.959030047119113660f,

+  0.958812473320129310f,

+  0.958594335476470220f, 0.958375633716461170f, 0.958156368168758820f,

+  0.957936538962351420f,

+  0.957716146226558870f, 0.957495190091032570f, 0.957273670685755200f,

+  0.957051588141040970f,

+  0.956828942587535370f, 0.956605734156215080f, 0.956381962978387730f,

+  0.956157629185692140f,

+  0.955932732910098280f, 0.955707274283906560f, 0.955481253439748770f,

+  0.955254670510586990f,

+  0.955027525629714160f, 0.954799818930753720f, 0.954571550547659630f,

+  0.954342720614716480f,

+  0.954113329266538800f, 0.953883376638071770f, 0.953652862864590500f,

+  0.953421788081700310f,

+  0.953190152425336670f, 0.952957956031764700f, 0.952725199037579570f,

+  0.952491881579706320f,

+  0.952258003795399600f, 0.952023565822243570f, 0.951788567798152130f,

+  0.951553009861368590f,

+  0.951316892150465550f, 0.951080214804345010f, 0.950842977962238160f,

+  0.950605181763705340f,

+  0.950366826348635780f, 0.950127911857248100f, 0.949888438430089300f,

+  0.949648406208035480f,

+  0.949407815332291570f, 0.949166665944390700f, 0.948924958186195160f,

+  0.948682692199895090f,

+  0.948439868128009620f, 0.948196486113385580f, 0.947952546299198670f,

+  0.947708048828952100f,

+  0.947462993846477700f, 0.947217381495934820f, 0.946971211921810880f,

+  0.946724485268921170f,

+  0.946477201682408680f, 0.946229361307743820f, 0.945980964290724760f,

+  0.945732010777477150f,

+  0.945482500914453740f, 0.945232434848435000f, 0.944981812726528150f,

+  0.944730634696167800f,

+  0.944478900905115550f, 0.944226611501459810f, 0.943973766633615980f,

+  0.943720366450326200f,

+  0.943466411100659320f, 0.943211900734010620f, 0.942956835500102120f,

+  0.942701215548981900f,

+  0.942445041031024890f, 0.942188312096931770f, 0.941931028897729620f,

+  0.941673191584771360f,

+  0.941414800309736340f, 0.941155855224629190f, 0.940896356481780830f,

+  0.940636304233847590f,

+  0.940375698633811540f, 0.940114539834980280f, 0.939852827990986680f,

+  0.939590563255789270f,

+  0.939327745783671400f, 0.939064375729241950f, 0.938800453247434770f,

+  0.938535978493508560f,

+  0.938270951623047190f, 0.938005372791958840f, 0.937739242156476970f,

+  0.937472559873159250f,

+  0.937205326098887960f, 0.936937540990869900f, 0.936669204706636170f,

+  0.936400317404042060f,

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+  0.301640338832678880f, 0.300908984827921890f, 0.300177453806162120f,

+  0.299445746197739950f,

+  0.298713862433100390f, 0.297981802942791920f, 0.297249568157465890f,

+  0.296517158507877410f,

+  0.295784574424884370f, 0.295051816339446720f, 0.294318884682627570f,

+  0.293585779885591310f,

+  0.292852502379604810f, 0.292119052596036540f, 0.291385430966355720f,

+  0.290651637922133220f,

+  0.289917673895040860f, 0.289183539316850310f, 0.288449234619434170f,

+  0.287714760234765280f,

+  0.286980116594915570f, 0.286245304132057120f, 0.285510323278461380f,

+  0.284775174466498300f,

+  0.284039858128637360f, 0.283304374697445790f, 0.282568724605589740f,

+  0.281832908285833460f,

+  0.281096926171038320f, 0.280360778694163810f, 0.279624466288266700f,

+  0.278887989386500280f,

+  0.278151348422115090f, 0.277414543828458200f, 0.276677576038972420f,

+  0.275940445487197320f,

+  0.275203152606767370f, 0.274465697831413220f, 0.273728081594960650f,

+  0.272990304331329980f,

+  0.272252366474536660f, 0.271514268458690810f, 0.270776010717996010f,

+  0.270037593686750510f,

+  0.269299017799346230f, 0.268560283490267890f, 0.267821391194094320f,

+  0.267082341345496350f,

+  0.266343134379238180f, 0.265603770730176440f, 0.264864250833259320f,

+  0.264124575123527490f,

+  0.263384744036113390f, 0.262644758006240100f, 0.261904617469222560f,

+  0.261164322860466590f,

+  0.260423874615468010f, 0.259683273169813930f, 0.258942518959180580f,

+  0.258201612419334870f,

+  0.257460553986133210f, 0.256719344095520720f, 0.255977983183532380f,

+  0.255236471686291820f,

+  0.254494810040010790f, 0.253752998680989940f, 0.253011038045617980f,

+  0.252268928570370810f,

+  0.251526670691812780f, 0.250784264846594550f, 0.250041711471454650f,

+  0.249299011003218300f,

+  0.248556163878796620f, 0.247813170535187620f, 0.247070031409475370f,

+  0.246326746938829060f,

+  0.245583317560504000f, 0.244839743711840750f, 0.244096025830264210f,

+  0.243352164353284880f,

+  0.242608159718496890f, 0.241864012363579210f, 0.241119722726294730f,

+  0.240375291244489500f,

+  0.239630718356093560f, 0.238886004499120170f, 0.238141150111664870f,

+  0.237396155631906550f,

+  0.236651021498106460f, 0.235905748148607370f, 0.235160336021834860f,

+  0.234414785556295250f,

+  0.233669097190576820f, 0.232923271363349120f, 0.232177308513361770f,

+  0.231431209079445730f,

+  0.230684973500512310f, 0.229938602215552260f, 0.229192095663636740f,

+  0.228445454283916550f,

+  0.227698678515621170f, 0.226951768798059980f, 0.226204725570620270f,

+  0.225457549272768540f,

+  0.224710240344049570f, 0.223962799224085520f, 0.223215226352576960f,

+  0.222467522169301990f,

+  0.221719687114115240f, 0.220971721626949060f, 0.220223626147812460f,

+  0.219475401116790340f,

+  0.218727046974044600f, 0.217978564159812290f, 0.217229953114406790f,

+  0.216481214278216900f,

+  0.215732348091705940f, 0.214983354995412820f, 0.214234235429951100f,

+  0.213484989836008080f,

+  0.212735618654345870f, 0.211986122325800410f, 0.211236501291280710f,

+  0.210486755991769890f,

+  0.209736886868323370f, 0.208986894362070070f, 0.208236778914211470f,

+  0.207486540966020700f,

+  0.206736180958843660f, 0.205985699334098050f, 0.205235096533272380f,

+  0.204484372997927180f,

+  0.203733529169694010f, 0.202982565490274460f, 0.202231482401441620f,

+  0.201480280345037820f,

+  0.200728959762976140f, 0.199977521097239290f, 0.199225964789878890f,

+  0.198474291283016360f,

+  0.197722501018842030f, 0.196970594439614370f, 0.196218571987660850f,

+  0.195466434105377090f,

+  0.194714181235225990f, 0.193961813819739010f, 0.193209332301514080f,

+  0.192456737123216840f,

+  0.191704028727579940f, 0.190951207557401860f, 0.190198274055548120f,

+  0.189445228664950340f,

+  0.188692071828605260f, 0.187938803989575850f, 0.187185425590990440f,

+  0.186431937076041640f,

+  0.185678338887987790f, 0.184924631470150870f, 0.184170815265917720f,

+  0.183416890718739230f,

+  0.182662858272129360f, 0.181908718369666160f, 0.181154471454990920f,

+  0.180400117971807270f,

+  0.179645658363882100f, 0.178891093075044830f, 0.178136422549186320f,

+  0.177381647230260200f,

+  0.176626767562280960f, 0.175871783989325040f, 0.175116696955530060f,

+  0.174361506905093830f,

+  0.173606214282275410f, 0.172850819531394200f, 0.172095323096829040f,

+  0.171339725423019260f,

+  0.170584026954463700f, 0.169828228135719880f, 0.169072329411405180f,

+  0.168316331226194910f,

+  0.167560234024823590f, 0.166804038252083870f, 0.166047744352825850f,

+  0.165291352771957970f,

+  0.164534863954446110f, 0.163778278345312690f, 0.163021596389637810f,

+  0.162264818532558110f,

+  0.161507945219266150f, 0.160750976895011390f, 0.159993914005098350f,

+  0.159236756994887850f,

+  0.158479506309796100f, 0.157722162395293690f, 0.156964725696906750f,

+  0.156207196660216040f,

+  0.155449575730855880f, 0.154691863354515400f, 0.153934059976937460f,

+  0.153176166043917870f,

+  0.152418182001306500f, 0.151660108295005400f, 0.150901945370970040f,

+  0.150143693675208330f,

+  0.149385353653779810f, 0.148626925752796540f, 0.147868410418422360f,

+  0.147109808096871850f,

+  0.146351119234411440f, 0.145592344277358450f, 0.144833483672080240f,

+  0.144074537864995330f,

+  0.143315507302571590f, 0.142556392431327340f, 0.141797193697830530f,

+  0.141037911548697770f,

+  0.140278546430595420f, 0.139519098790238600f, 0.138759569074390380f,

+  0.137999957729862760f,

+  0.137240265203515700f, 0.136480491942256310f, 0.135720638393040080f,

+  0.134960705002868830f,

+  0.134200692218792020f, 0.133440600487905820f, 0.132680430257352130f,

+  0.131920181974319760f,

+  0.131159856086043410f, 0.130399453039802740f, 0.129638973282923540f,

+  0.128878417262776660f,

+  0.128117785426777150f, 0.127357078222385570f, 0.126596296097105960f,

+  0.125835439498487020f,

+  0.125074508874121300f, 0.124313504671644300f, 0.123552427338735370f,

+  0.122791277323116900f,

+  0.122030055072553410f, 0.121268761034852550f, 0.120507395657864240f,

+  0.119745959389479630f,

+  0.118984452677632520f, 0.118222875970297250f, 0.117461229715489990f,

+  0.116699514361267840f,

+  0.115937730355727850f, 0.115175878147008180f, 0.114413958183287050f,

+  0.113651970912781920f,

+  0.112889916783750470f, 0.112127796244489750f, 0.111365609743335190f,

+  0.110603357728661910f,

+  0.109841040648882680f, 0.109078658952449240f, 0.108316213087851300f,

+  0.107553703503615710f,

+  0.106791130648307380f, 0.106028494970528530f, 0.105265796918917650f,

+  0.104503036942150550f,

+  0.103740215488939480f, 0.102977333008032250f, 0.102214389948213370f,

+  0.101451386758302160f,

+  0.100688323887153970f, 0.099925201783659226f, 0.099162020896742573f,

+  0.098398781675363881f,

+  0.097635484568517339f, 0.096872130025230527f, 0.096108718494565468f,

+  0.095345250425617742f,

+  0.094581726267515473f, 0.093818146469420494f, 0.093054511480527333f,

+  0.092290821750062355f,

+  0.091527077727284981f, 0.090763279861485704f, 0.089999428601987341f,

+  0.089235524398144139f,

+  0.088471567699340822f, 0.087707558954993645f, 0.086943498614549489f,

+  0.086179387127484922f,

+  0.085415224943307277f, 0.084651012511553700f, 0.083886750281790226f,

+  0.083122438703613077f,

+  0.082358078226646619f, 0.081593669300544638f, 0.080829212374989468f,

+  0.080064707899690932f,

+  0.079300156324387569f, 0.078535558098845590f, 0.077770913672857989f,

+  0.077006223496245585f,

+  0.076241488018856149f, 0.075476707690563416f, 0.074711882961268378f,

+  0.073947014280897269f,

+  0.073182102099402888f, 0.072417146866763538f, 0.071652149032982254f,

+  0.070887109048087787f,

+  0.070122027362133646f, 0.069356904425197236f, 0.068591740687380900f,

+  0.067826536598810966f,

+  0.067061292609636836f, 0.066296009170032283f, 0.065530686730193397f,

+  0.064765325740339871f,

+  0.063999926650714078f, 0.063234489911580136f, 0.062469015973224969f,

+  0.061703505285957416f,

+  0.060937958300107238f, 0.060172375466026218f, 0.059406757234087247f,

+  0.058641104054683348f,

+  0.057875416378229017f, 0.057109694655158132f, 0.056343939335925283f,

+  0.055578150871004817f,

+  0.054812329710889909f, 0.054046476306093640f, 0.053280591107148056f,

+  0.052514674564603257f,

+  0.051748727129028414f, 0.050982749251010900f, 0.050216741381155325f,

+  0.049450703970084824f,

+  0.048684637468439020f, 0.047918542326875327f, 0.047152418996068000f,

+  0.046386267926707213f,

+  0.045620089569500123f, 0.044853884375169933f, 0.044087652794454979f,

+  0.043321395278109784f,

+  0.042555112276904117f, 0.041788804241622082f, 0.041022471623063397f,

+  0.040256114872041358f,

+  0.039489734439384118f, 0.038723330775933762f, 0.037956904332545366f,

+  0.037190455560088091f,

+  0.036423984909444228f, 0.035657492831508264f, 0.034890979777187955f,

+  0.034124446197403423f,

+  0.033357892543086159f, 0.032591319265180385f, 0.031824726814640963f,

+  0.031058115642434700f,

+  0.030291486199539423f, 0.029524838936943035f, 0.028758174305644590f,

+  0.027991492756653365f,

+  0.027224794740987910f, 0.026458080709677145f, 0.025691351113759395f,

+  0.024924606404281485f,

+  0.024157847032300020f, 0.023391073448879338f, 0.022624286105092803f,

+  0.021857485452021874f,

+  0.021090671940755180f, 0.020323846022389572f, 0.019557008148029204f,

+  0.018790158768784596f,

+  0.018023298335773701f, 0.017256427300120978f, 0.016489546112956454f,

+  0.015722655225417017f,

+  0.014955755088644378f, 0.014188846153786343f, 0.013421928871995907f,

+  0.012655003694430301f,

+  0.011888071072252072f, 0.011121131456628141f, 0.010354185298728884f,

+  0.009587233049729183f,

+  0.008820275160807512f, 0.008053312083144991f, 0.007286344267926684f,

+  0.006519372166339549f,

+  0.005752396229573737f, 0.004985416908821652f, 0.004218434655277024f,

+  0.003451449920135975f,

+  0.002684463154596083f, 0.001917474809855460f, 0.001150485337113809f,

+  0.000383495187571497f

+};

+

+static const float32_t cos_factors_8192[8192] = {

+  1.999999990808214700, 1.999999917273932200, 1.999999770205369800,

+    1.999999549602533100,

+  1.999999255465430200, 1.999998887794072000, 1.999998446588471700,

+    1.999997931848645600,

+  1.999997343574612800, 1.999996681766395000, 1.999995946424016200,

+    1.999995137547503600,

+  1.999994255136887000, 1.999993299192198700, 1.999992269713474200,

+    1.999991166700750800,

+  1.999989990154069600, 1.999988740073473500, 1.999987416459008600,

+    1.999986019310723500,

+  1.999984548628669600, 1.999983004412901000, 1.999981386663474400,

+    1.999979695380449400,

+  1.999977930563888100, 1.999976092213855400, 1.999974180330418700,

+    1.999972194913648900,

+  1.999970135963618400, 1.999968003480403000, 1.999965797464081200,

+    1.999963517914734100,

+  1.999961164832445800, 1.999958738217302300, 1.999956238069392900,

+    1.999953664388809800,

+  1.999951017175647600, 1.999948296430003500, 1.999945502151977600,

+    1.999942634341672600,

+  1.999939692999193900, 1.999936678124649700, 1.999933589718150700,

+    1.999930427779810900,

+  1.999927192309745900, 1.999923883308075200, 1.999920500774920300,

+    1.999917044710405500,

+  1.999913515114657900, 1.999909911987807200, 1.999906235329986100,

+    1.999902485141329400,

+  1.999898661421975400, 1.999894764172064600, 1.999890793391740000,

+    1.999886749081147800,

+  1.999882631240436700, 1.999878439869758200, 1.999874174969266300,

+    1.999869836539117700,

+  1.999865424579472000, 1.999860939090491600, 1.999856380072341000,

+    1.999851747525188200,

+  1.999847041449203300, 1.999842261844559700, 1.999837408711432600,

+    1.999832482050000900,

+  1.999827481860445300, 1.999822408142949900, 1.999817260897701400,

+    1.999812040124888700,

+  1.999806745824704000, 1.999801377997341800, 1.999795936642999600,

+    1.999790421761877400,

+  1.999784833354177900, 1.999779171420106700, 1.999773435959872000,

+    1.999767626973684400,

+  1.999761744461757700, 1.999755788424308200, 1.999749758861554900,

+    1.999743655773719400,

+  1.999737479161026100, 1.999731229023702200, 1.999724905361977200,

+    1.999718508176084000,

+  1.999712037466257600, 1.999705493232735800, 1.999698875475759600,

+    1.999692184195571900,

+  1.999685419392419000, 1.999678581066549400, 1.999671669218214600,

+    1.999664683847668800,

+  1.999657624955168700, 1.999650492540973900, 1.999643286605346800,

+    1.999636007148552400,

+  1.999628654170857900, 1.999621227672533800, 1.999613727653853500,

+    1.999606154115092500,

+  1.999598507056529000, 1.999590786478444600, 1.999582992381123000,

+    1.999575124764850800,

+  1.999567183629917100, 1.999559168976613900, 1.999551080805236100,

+    1.999542919116081000,

+  1.999534683909448600, 1.999526375185641800, 1.999517992944965800,

+    1.999509537187729200,

+  1.999501007914242600, 1.999492405124819700, 1.999483728819776900,

+    1.999474978999432800,

+  1.999466155664109600, 1.999457258814131500, 1.999448288449825500,

+    1.999439244571521700,

+  1.999430127179552500, 1.999420936274252800, 1.999411671855960900,

+    1.999402333925017300,

+  1.999392922481765500, 1.999383437526551300, 1.999373879059723500,

+    1.999364247081633500,

+  1.999354541592635500, 1.999344762593086500, 1.999334910083345700,

+    1.999324984063775700,

+  1.999314984534741100, 1.999304911496609700, 1.999294764949752100,

+    1.999284544894541100,

+  1.999274251331352400, 1.999263884260564600, 1.999253443682558900,

+    1.999242929597719200,

+  1.999232342006432000, 1.999221680909086400, 1.999210946306074500,

+    1.999200138197791100,

+  1.999189256584633600, 1.999178301467001900, 1.999167272845298900,

+    1.999156170719930100,

+  1.999144995091303600, 1.999133745959830600, 1.999122423325924200,

+    1.999111027190001000,

+  1.999099557552479900, 1.999088014413782800, 1.999076397774334000,

+    1.999064707634560700,

+  1.999052943994892300, 1.999041106855761900, 1.999029196217604100,

+    1.999017212080857400,

+  1.999005154445962200, 1.998993023313361700, 1.998980818683502100,

+    1.998968540556831800,

+  1.998956188933802800, 1.998943763814868800, 1.998931265200486900,

+    1.998918693091116200,

+  1.998906047487219600, 1.998893328389261400, 1.998880535797709700,

+    1.998867669713034500,

+  1.998854730135709400, 1.998841717066209400, 1.998828630505013400,

+    1.998815470452602400,

+  1.998802236909460500, 1.998788929876074100, 1.998775549352932400,

+    1.998762095340527400,

+  1.998748567839354000, 1.998734966849909000, 1.998721292372693100,

+    1.998707544408208700,

+  1.998693722956961500, 1.998679828019459300, 1.998665859596213500,

+    1.998651817687737300,

+  1.998637702294547000, 1.998623513417161700, 1.998609251056103100,

+    1.998594915211895600,

+  1.998580505885066100, 1.998566023076144600, 1.998551466785663400,

+    1.998536837014157900,

+  1.998522133762165900, 1.998507357030227900, 1.998492506818887200,

+    1.998477583128690100,

+  1.998462585960185000, 1.998447515313923400, 1.998432371190459500,

+    1.998417153590349900,

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+  0.120918946402367330, 0.120536150530686250, 0.120153350227235940,

+    0.119770545506089950,

+  0.119387736381323830, 0.119004922867011920, 0.118622104977228730,

+    0.118239282726050290,

+  0.117856456127550970, 0.117473625195807100, 0.117090789944893860,

+    0.116707950388886520,

+  0.116325106541861910, 0.115942258417895240, 0.115559406031063570,

+    0.115176549395442460,

+  0.114793688525109290, 0.114410823434140360, 0.114027954136612060,

+    0.113645080646602280,

+  0.113262202978187320, 0.112879321145445350, 0.112496435162453430,

+    0.112113545043288730,

+  0.111730650802029900, 0.111347752452754000, 0.110964850009539970,

+    0.110581943486465610,

+  0.110199032897608850, 0.109816118257049110, 0.109433199578864170,

+    0.109050276877133770,

+  0.108667350165936400, 0.108284419459350770, 0.107901484771457020,

+    0.107518546116333660,

+  0.107135603508061170, 0.106752656960718350, 0.106369706488385940,

+    0.105986752105143480,

+  0.105603793825070680, 0.105220831662248700, 0.104837865630757090,

+    0.104454895744677270,

+  0.104071922018089540, 0.103688944465074300, 0.103305963099713400,

+    0.102922977936087120,

+  0.102539988988277600, 0.102156996270365800, 0.101773999796432830,

+    0.101390999580561250,

+  0.101007995636832020, 0.100624987979327970, 0.100241976622130760,

+    0.099858961579322170,

+  0.099475942864985456, 0.099092920493202258, 0.098709894478056073,

+    0.098326864833628791,

+  0.097943831574004214, 0.097560794713264939, 0.097177754265493674,

+    0.096794710244774623,

+  0.096411662665190329, 0.096028611540825232, 0.095645556885762609,

+    0.095262498714085819,

+  0.094879437039879722, 0.094496371877227495, 0.094113303240214247,

+    0.093730231142923864,

+  0.093347155599440373, 0.092964076623849271, 0.092580994230234359,

+    0.092197908432681386,

+  0.091814819245274432, 0.091431726682099479, 0.091048630757241303,

+    0.090665531484784803,

+  0.090282428878816323, 0.089899322953420582, 0.089516213722684160,

+    0.089133101200692441,

+  0.088749985401530951, 0.088366866339286629, 0.087983744028044805,

+    0.087600618481892656,

+  0.087217489714916191, 0.086834357741201490, 0.086451222574836131,

+    0.086068084229906014,

+  0.085684942720498897, 0.085301798060701386, 0.084918650264600160,

+    0.084535499346283349,

+  0.084152345319837438, 0.083769188199350780, 0.083386027998910095,

+    0.083002864732603973,

+  0.082619698414519799, 0.082236529058745025, 0.081853356679368619,

+    0.081470181290477811,

+  0.081087002906161790, 0.080703821540508452, 0.080320637207605849,

+    0.079937449921543474,

+  0.079554259696409127, 0.079171066546292510, 0.078787870485282088,

+    0.078404671527466441,

+  0.078021469686935602, 0.077638264977777913, 0.077255057414083589,

+    0.076871847009941652,

+  0.076488633779441206, 0.076105417736672773, 0.075722198895725248,

+    0.075338977270689375,

+  0.074955752875654230, 0.074572525724710764, 0.074189295831948693,

+    0.073806063211457842,

+  0.073422827877329483, 0.073039589843653177, 0.072656349124520389,

+    0.072273105734021334,

+  0.071889859686246352, 0.071506610995287156, 0.071123359675233852,

+    0.070740105740178361,

+  0.070356849204211397, 0.069973590081423773, 0.069590328385907715,

+    0.069207064131753759,

+  0.068823797333054326, 0.068440528003900616, 0.068057256158383886,

+    0.067673981810596848,

+  0.067290704974630494, 0.066907425664577733, 0.066524143894529736,

+    0.066140859678579578,

+  0.065757573030819083, 0.065374283965340146, 0.064990992496236119,

+    0.064607698637598646,

+  0.064224402403521202, 0.063841103808096086, 0.063457802865415636,

+    0.063074499589573618,

+  0.062691193994662109, 0.062307886094775049, 0.061924575904005130,

+    0.061541263436445129,

+  0.061157948706189229, 0.060774631727329942, 0.060391312513961619,

+    0.060007991080177375,

+  0.059624667440070382, 0.059241341607735261, 0.058858013597264912,

+    0.058474683422754095,

+  0.058091351098295878, 0.057708016637985186, 0.057324680055915692,

+    0.056941341366181127,

+  0.056558000582876661, 0.056174657720095743, 0.055791312791933681,

+    0.055407965812484541,

+  0.055024616795842439, 0.054641265756102911, 0.054257912707359794,

+    0.053874557663708772,

+  0.053491200639244271, 0.053107841648060788, 0.052724480704254229,

+    0.052341117821918783,

+  0.051957753015150501, 0.051574386298044173, 0.051191017684694640,

+    0.050807647189198162,

+  0.050424274825649297, 0.050040900608144430, 0.049657524550778251,

+    0.049274146667647289,

+  0.048890766972846805, 0.048507385480472134, 0.048124002204620014,

+    0.047740617159385448,

+  0.047357230358865306, 0.046973841817155179, 0.046590451548350717,

+    0.046207059566548990,

+  0.045823665885845313, 0.045440270520336883, 0.045056873484119603,

+    0.044673474791289434,

+  0.044290074455943754, 0.043906672492178188, 0.043523268914090238,

+    0.043139863735776100,

+  0.042756456971332048, 0.042373048634855741, 0.041989638740443119,

+    0.041606227302191955,

+  0.041222814334198304, 0.040839399850560058, 0.040455983865373815,

+    0.040072566392736257,

+  0.039689147446745419, 0.039305727041497644, 0.038922305191091085,

+    0.038538881909622631,

+  0.038155457211189216, 0.037772031109889144, 0.037388603619819022,

+    0.037005174755077273,

+  0.036621744529761024, 0.036238312957967478, 0.035854880053795196,

+    0.035471445831341021,

+  0.035088010304703626, 0.034704573487980395, 0.034321135395268765,

+    0.033937696040667535,

+  0.033554255438273790, 0.033170813602186440, 0.032787370546502645,

+    0.032403926285321405,

+  0.032020480832740429, 0.031637034202857461, 0.031253586409771626,

+    0.030870137467580314,

+  0.030486687390382738, 0.030103236192276818, 0.029719783887360508,

+    0.029336330489733147,

+  0.028952876013492331, 0.028569420472737472, 0.028185963881566689,

+    0.027802506254078142,

+  0.027419047604371360, 0.027035587946544135, 0.026652127294696067,

+    0.026268665662925468,

+  0.025885203065330677, 0.025501739516011413, 0.025118275029065638,

+    0.024734809618593138,

+  0.024351343298691951, 0.023967876083461924, 0.023584407987001611,

+    0.023200939023409587,

+  0.022817469206785804, 0.022433998551228459, 0.022050527070837558,

+    0.021667054779711814,

+  0.021283581691949955, 0.020900107821652084, 0.020516633182916549,

+    0.020133157789843505,

+  0.019749681656531803, 0.019366204797080316, 0.018982727225589285,

+    0.018599248956157190,

+  0.018215770002884327, 0.017832290379869671, 0.017448810101212228,

+    0.017065329181012358,

+  0.016681847633368677, 0.016298365472381587, 0.015914882712149747,

+    0.015531399366773606,

+  0.015147915450352307, 0.014764430976985016, 0.014380945960772247,

+    0.013997460415812761,

+  0.013613974356207112, 0.013230487796054543, 0.012847000749454314,

+    0.012463513230507034,

+  0.012080025253311559, 0.011696536831968529, 0.011313047980577277,

+    0.010929558713237145,

+  0.010546069044048827, 0.010162578987111254, 0.009779088556525145,

+    0.009395597766389905,

+  0.009012106630804949, 0.008628615163871038, 0.008245123379687167,

+    0.007861631292354124,

+  0.007478138915970929, 0.007094646264638386, 0.006711153352455981,

+    0.006327660193523208,

+  0.005944166801940901, 0.005560673191808128, 0.005177179377225743,

+    0.004793685372293270,

+  0.004410191191110246, 0.004026696847777542, 0.003643202356394263,

+    0.003259707731061291,

+  0.002876212985878184, 0.002492718134944503, 0.002109223192361147,

+    0.001725728172227238,

+  0.001342233088643682, 0.000958737955710053, 0.000575242787525925,

+    0.000191747598192208,

+

+};

+

+/**    

+ * @brief  Initialization function for the floating-point DCT4/IDCT4.   

+ * @param[in,out] *S         points to an instance of floating-point DCT4/IDCT4 structure.   

+ * @param[in]     *S_RFFT    points to an instance of floating-point RFFT/RIFFT structure.   

+ * @param[in]     *S_CFFT    points to an instance of floating-point CFFT/CIFFT structure.   

+ * @param[in]     N			 length of the DCT4.   

+ * @param[in]     Nby2       half of the length of the DCT4.   

+ * @param[in]     normalize  normalizing factor.   

+ * @return        arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if <code>fftLenReal</code> is not a supported transform length.   

+ * \par Normalizing factor:    

+ * The normalizing factor is <code>sqrt(2/N)</code>, which depends on the size of transform <code>N</code>.    

+ * Floating-point normalizing factors are mentioned in the table below for different DCT sizes:    

+ * \image html dct4NormalizingF32Table.gif    

+ */

+

+arm_status arm_dct4_init_f32(

+  arm_dct4_instance_f32 * S,

+  arm_rfft_instance_f32 * S_RFFT,

+  arm_cfft_radix4_instance_f32 * S_CFFT,

+  uint16_t N,

+  uint16_t Nby2,

+  float32_t normalize)

+{

+  /*  Initialize the default arm status */

+  arm_status status = ARM_MATH_SUCCESS;

+

+  /* Initializing the pointer array with the weight table base addresses of different lengths */

+  float32_t *twiddlePtr[4] =

+    { (float32_t *) Weights_128, (float32_t *) Weights_512,

+    (float32_t *) Weights_2048, (float32_t *) Weights_8192

+  };

+

+  /* Initializing the pointer array with the cos factor table base addresses of different lengths */

+  float32_t *pCosFactor[4] =

+    { (float32_t *) cos_factors_128, (float32_t *) cos_factors_512,

+    (float32_t *) cos_factors_2048, (float32_t *) cos_factors_8192

+  };

+

+  /* Initialize the DCT4 length */

+  S->N = N;

+

+  /* Initialize the half of DCT4 length */

+  S->Nby2 = Nby2;

+

+  /* Initialize the DCT4 Normalizing factor */

+  S->normalize = normalize;

+

+  /* Initialize Real FFT Instance */

+  S->pRfft = S_RFFT;

+

+  /* Initialize Complex FFT Instance */

+  S->pCfft = S_CFFT;

+

+  switch (N)

+  {

+    /* Initialize the table modifier values */

+  case 8192u:

+    S->pTwiddle = twiddlePtr[3];

+    S->pCosFactor = pCosFactor[3];

+    break;

+  case 2048u:

+    S->pTwiddle = twiddlePtr[2];

+    S->pCosFactor = pCosFactor[2];

+    break;

+  case 512u:

+    S->pTwiddle = twiddlePtr[1];

+    S->pCosFactor = pCosFactor[1];

+    break;

+  case 128u:

+    S->pTwiddle = twiddlePtr[0];

+    S->pCosFactor = pCosFactor[0];

+    break;

+  default:

+    status = ARM_MATH_ARGUMENT_ERROR;

+  }

+

+  /* Initialize the RFFT/RIFFT */

+  arm_rfft_init_f32(S->pRfft, S->pCfft, S->N, 0u, 1u);

+

+  /* return the status of DCT4 Init function */

+  return (status);

+}

+

+/**    

+   * @} end of DCT4_IDCT4 group    

+   */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q15.c
new file mode 100644
index 000000000..c6452fe98
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q15.c
@@ -0,0 +1,4276 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_dct4_init_q15.c    

+*    

+* Description:	Initialization function of DCT-4 & IDCT4 Q15    

+*    

+* 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 groupTransforms    

+ */

+

+/**    

+ * @addtogroup DCT4_IDCT4    

+ * @{    

+ */

+

+/*    

+* @brief  Weights Table    

+*/

+

+/**    

+* \par    

+* Weights tables are generated using the formula : <pre>weights[n] = e^(-j*n*pi/(2*N))</pre>    

+* \par    

+* C command to generate the table    

+* <pre>    

+* for(i = 0; i< N; i++)    

+* {    

+*   weights[2*i]= cos(i*c);    

+*   weights[(2*i)+1]= -sin(i * c);    

+* } </pre>    

+* \par    

+* where <code>N</code> is the Number of weights to be calculated and <code>c</code> is <code>pi/(2*N)</code>    

+* \par    

+* Converted the output to q15 format by multiplying with 2^31 and saturated if required.    

+* \par    

+* In the tables below the real and imaginary values are placed alternatively, hence the    

+* array length is <code>2*N</code>.    

+*/

+

+static const q15_t ALIGN4 WeightsQ15_128[256] = {

+  0x7fff, 0x0, 0x7ffd, 0xfe6e, 0x7ff6, 0xfcdc, 0x7fe9, 0xfb4a,

+  0x7fd8, 0xf9b9, 0x7fc2, 0xf827, 0x7fa7, 0xf696, 0x7f87, 0xf505,

+  0x7f62, 0xf375, 0x7f38, 0xf1e5, 0x7f09, 0xf055, 0x7ed5, 0xeec7,

+  0x7e9d, 0xed38, 0x7e5f, 0xebab, 0x7e1d, 0xea1e, 0x7dd6, 0xe893,

+  0x7d8a, 0xe708, 0x7d39, 0xe57e, 0x7ce3, 0xe3f5, 0x7c89, 0xe26d,

+  0x7c29, 0xe0e7, 0x7bc5, 0xdf61, 0x7b5d, 0xdddd, 0x7aef, 0xdc5a,

+  0x7a7d, 0xdad8, 0x7a05, 0xd958, 0x798a, 0xd7da, 0x7909, 0xd65d,

+  0x7884, 0xd4e1, 0x77fa, 0xd368, 0x776c, 0xd1ef, 0x76d9, 0xd079,

+  0x7641, 0xcf05, 0x75a5, 0xcd92, 0x7504, 0xcc22, 0x745f, 0xcab3,

+  0x73b5, 0xc946, 0x7307, 0xc7dc, 0x7255, 0xc674, 0x719e, 0xc50e,

+  0x70e2, 0xc3aa, 0x7023, 0xc248, 0x6f5f, 0xc0e9, 0x6e96, 0xbf8d,

+  0x6dca, 0xbe32, 0x6cf9, 0xbcdb, 0x6c24, 0xbb86, 0x6b4a, 0xba33,

+  0x6a6d, 0xb8e4, 0x698c, 0xb797, 0x68a6, 0xb64c, 0x67bd, 0xb505,

+  0x66cf, 0xb3c1, 0x65dd, 0xb27f, 0x64e8, 0xb141, 0x63ef, 0xb005,

+  0x62f2, 0xaecd, 0x61f1, 0xad97, 0x60ec, 0xac65, 0x5fe3, 0xab36,

+  0x5ed7, 0xaa0b, 0x5dc7, 0xa8e3, 0x5cb4, 0xa7be, 0x5b9d, 0xa69c,

+  0x5a82, 0xa57e, 0x5964, 0xa463, 0x5842, 0xa34c, 0x571d, 0xa239,

+  0x55f5, 0xa129, 0x54ca, 0xa01d, 0x539b, 0x9f14, 0x5269, 0x9e0f,

+  0x5133, 0x9d0e, 0x4ffb, 0x9c11, 0x4ebf, 0x9b18, 0x4d81, 0x9a23,

+  0x4c3f, 0x9931, 0x4afb, 0x9843, 0x49b4, 0x975a, 0x4869, 0x9674,

+  0x471c, 0x9593, 0x45cd, 0x94b6, 0x447a, 0x93dc, 0x4325, 0x9307,

+  0x41ce, 0x9236, 0x4073, 0x916a, 0x3f17, 0x90a1, 0x3db8, 0x8fdd,

+  0x3c56, 0x8f1e, 0x3af2, 0x8e62, 0x398c, 0x8dab, 0x3824, 0x8cf9,

+  0x36ba, 0x8c4b, 0x354d, 0x8ba1, 0x33de, 0x8afc, 0x326e, 0x8a5b,

+  0x30fb, 0x89bf, 0x2f87, 0x8927, 0x2e11, 0x8894, 0x2c98, 0x8806,

+  0x2b1f, 0x877c, 0x29a3, 0x86f7, 0x2826, 0x8676, 0x26a8, 0x85fb,

+  0x2528, 0x8583, 0x23a6, 0x8511, 0x2223, 0x84a3, 0x209f, 0x843b,

+  0x1f19, 0x83d7, 0x1d93, 0x8377, 0x1c0b, 0x831d, 0x1a82, 0x82c7,

+  0x18f8, 0x8276, 0x176d, 0x822a, 0x15e2, 0x81e3, 0x1455, 0x81a1,

+  0x12c8, 0x8163, 0x1139, 0x812b, 0xfab, 0x80f7, 0xe1b, 0x80c8,

+  0xc8b, 0x809e, 0xafb, 0x8079, 0x96a, 0x8059, 0x7d9, 0x803e,

+  0x647, 0x8028, 0x4b6, 0x8017, 0x324, 0x800a, 0x192, 0x8003,

+};

+

+static const q15_t ALIGN4 WeightsQ15_512[1024] = {

+  0x7fff, 0x0, 0x7fff, 0xff9c, 0x7fff, 0xff37, 0x7ffe, 0xfed3,

+  0x7ffd, 0xfe6e, 0x7ffc, 0xfe0a, 0x7ffa, 0xfda5, 0x7ff8, 0xfd41,

+  0x7ff6, 0xfcdc, 0x7ff3, 0xfc78, 0x7ff0, 0xfc13, 0x7fed, 0xfbaf,

+  0x7fe9, 0xfb4a, 0x7fe5, 0xfae6, 0x7fe1, 0xfa81, 0x7fdd, 0xfa1d,

+  0x7fd8, 0xf9b9, 0x7fd3, 0xf954, 0x7fce, 0xf8f0, 0x7fc8, 0xf88b,

+  0x7fc2, 0xf827, 0x7fbc, 0xf7c3, 0x7fb5, 0xf75e, 0x7fae, 0xf6fa,

+  0x7fa7, 0xf696, 0x7f9f, 0xf632, 0x7f97, 0xf5cd, 0x7f8f, 0xf569,

+  0x7f87, 0xf505, 0x7f7e, 0xf4a1, 0x7f75, 0xf43d, 0x7f6b, 0xf3d9,

+  0x7f62, 0xf375, 0x7f58, 0xf311, 0x7f4d, 0xf2ad, 0x7f43, 0xf249,

+  0x7f38, 0xf1e5, 0x7f2d, 0xf181, 0x7f21, 0xf11d, 0x7f15, 0xf0b9,

+  0x7f09, 0xf055, 0x7efd, 0xeff2, 0x7ef0, 0xef8e, 0x7ee3, 0xef2a,

+  0x7ed5, 0xeec7, 0x7ec8, 0xee63, 0x7eba, 0xedff, 0x7eab, 0xed9c,

+  0x7e9d, 0xed38, 0x7e8e, 0xecd5, 0x7e7f, 0xec72, 0x7e6f, 0xec0e,

+  0x7e5f, 0xebab, 0x7e4f, 0xeb48, 0x7e3f, 0xeae5, 0x7e2e, 0xea81,

+  0x7e1d, 0xea1e, 0x7e0c, 0xe9bb, 0x7dfa, 0xe958, 0x7de8, 0xe8f6,

+  0x7dd6, 0xe893, 0x7dc3, 0xe830, 0x7db0, 0xe7cd, 0x7d9d, 0xe76a,

+  0x7d8a, 0xe708, 0x7d76, 0xe6a5, 0x7d62, 0xe643, 0x7d4e, 0xe5e0,

+  0x7d39, 0xe57e, 0x7d24, 0xe51c, 0x7d0f, 0xe4b9, 0x7cf9, 0xe457,

+  0x7ce3, 0xe3f5, 0x7ccd, 0xe393, 0x7cb7, 0xe331, 0x7ca0, 0xe2cf,

+  0x7c89, 0xe26d, 0x7c71, 0xe20b, 0x7c5a, 0xe1aa, 0x7c42, 0xe148,

+  0x7c29, 0xe0e7, 0x7c11, 0xe085, 0x7bf8, 0xe024, 0x7bdf, 0xdfc2,

+  0x7bc5, 0xdf61, 0x7bac, 0xdf00, 0x7b92, 0xde9f, 0x7b77, 0xde3e,

+  0x7b5d, 0xdddd, 0x7b42, 0xdd7c, 0x7b26, 0xdd1b, 0x7b0b, 0xdcbb,

+  0x7aef, 0xdc5a, 0x7ad3, 0xdbf9, 0x7ab6, 0xdb99, 0x7a9a, 0xdb39,

+  0x7a7d, 0xdad8, 0x7a5f, 0xda78, 0x7a42, 0xda18, 0x7a24, 0xd9b8,

+  0x7a05, 0xd958, 0x79e7, 0xd8f9, 0x79c8, 0xd899, 0x79a9, 0xd839,

+  0x798a, 0xd7da, 0x796a, 0xd77a, 0x794a, 0xd71b, 0x792a, 0xd6bc,

+  0x7909, 0xd65d, 0x78e8, 0xd5fe, 0x78c7, 0xd59f, 0x78a6, 0xd540,

+  0x7884, 0xd4e1, 0x7862, 0xd483, 0x7840, 0xd424, 0x781d, 0xd3c6,

+  0x77fa, 0xd368, 0x77d7, 0xd309, 0x77b4, 0xd2ab, 0x7790, 0xd24d,

+  0x776c, 0xd1ef, 0x7747, 0xd192, 0x7723, 0xd134, 0x76fe, 0xd0d7,

+  0x76d9, 0xd079, 0x76b3, 0xd01c, 0x768e, 0xcfbf, 0x7668, 0xcf62,

+  0x7641, 0xcf05, 0x761b, 0xcea8, 0x75f4, 0xce4b, 0x75cc, 0xcdef,

+  0x75a5, 0xcd92, 0x757d, 0xcd36, 0x7555, 0xccda, 0x752d, 0xcc7e,

+  0x7504, 0xcc22, 0x74db, 0xcbc6, 0x74b2, 0xcb6a, 0x7489, 0xcb0e,

+  0x745f, 0xcab3, 0x7435, 0xca58, 0x740b, 0xc9fc, 0x73e0, 0xc9a1,

+  0x73b5, 0xc946, 0x738a, 0xc8ec, 0x735f, 0xc891, 0x7333, 0xc836,

+  0x7307, 0xc7dc, 0x72db, 0xc782, 0x72af, 0xc728, 0x7282, 0xc6ce,

+  0x7255, 0xc674, 0x7227, 0xc61a, 0x71fa, 0xc5c0, 0x71cc, 0xc567,

+  0x719e, 0xc50e, 0x716f, 0xc4b4, 0x7141, 0xc45b, 0x7112, 0xc403,

+  0x70e2, 0xc3aa, 0x70b3, 0xc351, 0x7083, 0xc2f9, 0x7053, 0xc2a0,

+  0x7023, 0xc248, 0x6ff2, 0xc1f0, 0x6fc1, 0xc198, 0x6f90, 0xc141,

+  0x6f5f, 0xc0e9, 0x6f2d, 0xc092, 0x6efb, 0xc03b, 0x6ec9, 0xbfe3,

+  0x6e96, 0xbf8d, 0x6e63, 0xbf36, 0x6e30, 0xbedf, 0x6dfd, 0xbe89,

+  0x6dca, 0xbe32, 0x6d96, 0xbddc, 0x6d62, 0xbd86, 0x6d2d, 0xbd30,

+  0x6cf9, 0xbcdb, 0x6cc4, 0xbc85, 0x6c8f, 0xbc30, 0x6c59, 0xbbdb,

+  0x6c24, 0xbb86, 0x6bee, 0xbb31, 0x6bb8, 0xbadc, 0x6b81, 0xba88,

+  0x6b4a, 0xba33, 0x6b13, 0xb9df, 0x6adc, 0xb98b, 0x6aa5, 0xb937,

+  0x6a6d, 0xb8e4, 0x6a35, 0xb890, 0x69fd, 0xb83d, 0x69c4, 0xb7ea,

+  0x698c, 0xb797, 0x6953, 0xb744, 0x6919, 0xb6f1, 0x68e0, 0xb69f,

+  0x68a6, 0xb64c, 0x686c, 0xb5fa, 0x6832, 0xb5a8, 0x67f7, 0xb557,

+  0x67bd, 0xb505, 0x6782, 0xb4b4, 0x6746, 0xb462, 0x670b, 0xb411,

+  0x66cf, 0xb3c1, 0x6693, 0xb370, 0x6657, 0xb31f, 0x661a, 0xb2cf,

+  0x65dd, 0xb27f, 0x65a0, 0xb22f, 0x6563, 0xb1df, 0x6526, 0xb190,

+  0x64e8, 0xb141, 0x64aa, 0xb0f1, 0x646c, 0xb0a2, 0x642d, 0xb054,

+  0x63ef, 0xb005, 0x63b0, 0xafb7, 0x6371, 0xaf69, 0x6331, 0xaf1b,

+  0x62f2, 0xaecd, 0x62b2, 0xae7f, 0x6271, 0xae32, 0x6231, 0xade4,

+  0x61f1, 0xad97, 0x61b0, 0xad4b, 0x616f, 0xacfe, 0x612d, 0xacb2,

+  0x60ec, 0xac65, 0x60aa, 0xac19, 0x6068, 0xabcd, 0x6026, 0xab82,

+  0x5fe3, 0xab36, 0x5fa0, 0xaaeb, 0x5f5e, 0xaaa0, 0x5f1a, 0xaa55,

+  0x5ed7, 0xaa0b, 0x5e93, 0xa9c0, 0x5e50, 0xa976, 0x5e0b, 0xa92c,

+  0x5dc7, 0xa8e3, 0x5d83, 0xa899, 0x5d3e, 0xa850, 0x5cf9, 0xa807,

+  0x5cb4, 0xa7be, 0x5c6e, 0xa775, 0x5c29, 0xa72c, 0x5be3, 0xa6e4,

+  0x5b9d, 0xa69c, 0x5b56, 0xa654, 0x5b10, 0xa60d, 0x5ac9, 0xa5c5,

+  0x5a82, 0xa57e, 0x5a3b, 0xa537, 0x59f3, 0xa4f0, 0x59ac, 0xa4aa,

+  0x5964, 0xa463, 0x591c, 0xa41d, 0x58d4, 0xa3d7, 0x588b, 0xa392,

+  0x5842, 0xa34c, 0x57f9, 0xa307, 0x57b0, 0xa2c2, 0x5767, 0xa27d,

+  0x571d, 0xa239, 0x56d4, 0xa1f5, 0x568a, 0xa1b0, 0x5640, 0xa16d,

+  0x55f5, 0xa129, 0x55ab, 0xa0e6, 0x5560, 0xa0a2, 0x5515, 0xa060,

+  0x54ca, 0xa01d, 0x547e, 0x9fda, 0x5433, 0x9f98, 0x53e7, 0x9f56,

+  0x539b, 0x9f14, 0x534e, 0x9ed3, 0x5302, 0x9e91, 0x52b5, 0x9e50,

+  0x5269, 0x9e0f, 0x521c, 0x9dcf, 0x51ce, 0x9d8f, 0x5181, 0x9d4e,

+  0x5133, 0x9d0e, 0x50e5, 0x9ccf, 0x5097, 0x9c8f, 0x5049, 0x9c50,

+  0x4ffb, 0x9c11, 0x4fac, 0x9bd3, 0x4f5e, 0x9b94, 0x4f0f, 0x9b56,

+  0x4ebf, 0x9b18, 0x4e70, 0x9ada, 0x4e21, 0x9a9d, 0x4dd1, 0x9a60,

+  0x4d81, 0x9a23, 0x4d31, 0x99e6, 0x4ce1, 0x99a9, 0x4c90, 0x996d,

+  0x4c3f, 0x9931, 0x4bef, 0x98f5, 0x4b9e, 0x98ba, 0x4b4c, 0x987e,

+  0x4afb, 0x9843, 0x4aa9, 0x9809, 0x4a58, 0x97ce, 0x4a06, 0x9794,

+  0x49b4, 0x975a, 0x4961, 0x9720, 0x490f, 0x96e7, 0x48bc, 0x96ad,

+  0x4869, 0x9674, 0x4816, 0x963c, 0x47c3, 0x9603, 0x4770, 0x95cb,

+  0x471c, 0x9593, 0x46c9, 0x955b, 0x4675, 0x9524, 0x4621, 0x94ed,

+  0x45cd, 0x94b6, 0x4578, 0x947f, 0x4524, 0x9448, 0x44cf, 0x9412,

+  0x447a, 0x93dc, 0x4425, 0x93a7, 0x43d0, 0x9371, 0x437b, 0x933c,

+  0x4325, 0x9307, 0x42d0, 0x92d3, 0x427a, 0x929e, 0x4224, 0x926a,

+  0x41ce, 0x9236, 0x4177, 0x9203, 0x4121, 0x91d0, 0x40ca, 0x919d,

+  0x4073, 0x916a, 0x401d, 0x9137, 0x3fc5, 0x9105, 0x3f6e, 0x90d3,

+  0x3f17, 0x90a1, 0x3ebf, 0x9070, 0x3e68, 0x903f, 0x3e10, 0x900e,

+  0x3db8, 0x8fdd, 0x3d60, 0x8fad, 0x3d07, 0x8f7d, 0x3caf, 0x8f4d,

+  0x3c56, 0x8f1e, 0x3bfd, 0x8eee, 0x3ba5, 0x8ebf, 0x3b4c, 0x8e91,

+  0x3af2, 0x8e62, 0x3a99, 0x8e34, 0x3a40, 0x8e06, 0x39e6, 0x8dd9,

+  0x398c, 0x8dab, 0x3932, 0x8d7e, 0x38d8, 0x8d51, 0x387e, 0x8d25,

+  0x3824, 0x8cf9, 0x37ca, 0x8ccd, 0x376f, 0x8ca1, 0x3714, 0x8c76,

+  0x36ba, 0x8c4b, 0x365f, 0x8c20, 0x3604, 0x8bf5, 0x35a8, 0x8bcb,

+  0x354d, 0x8ba1, 0x34f2, 0x8b77, 0x3496, 0x8b4e, 0x343a, 0x8b25,

+  0x33de, 0x8afc, 0x3382, 0x8ad3, 0x3326, 0x8aab, 0x32ca, 0x8a83,

+  0x326e, 0x8a5b, 0x3211, 0x8a34, 0x31b5, 0x8a0c, 0x3158, 0x89e5,

+  0x30fb, 0x89bf, 0x309e, 0x8998, 0x3041, 0x8972, 0x2fe4, 0x894d,

+  0x2f87, 0x8927, 0x2f29, 0x8902, 0x2ecc, 0x88dd, 0x2e6e, 0x88b9,

+  0x2e11, 0x8894, 0x2db3, 0x8870, 0x2d55, 0x884c, 0x2cf7, 0x8829,

+  0x2c98, 0x8806, 0x2c3a, 0x87e3, 0x2bdc, 0x87c0, 0x2b7d, 0x879e,

+  0x2b1f, 0x877c, 0x2ac0, 0x875a, 0x2a61, 0x8739, 0x2a02, 0x8718,

+  0x29a3, 0x86f7, 0x2944, 0x86d6, 0x28e5, 0x86b6, 0x2886, 0x8696,

+  0x2826, 0x8676, 0x27c7, 0x8657, 0x2767, 0x8638, 0x2707, 0x8619,

+  0x26a8, 0x85fb, 0x2648, 0x85dc, 0x25e8, 0x85be, 0x2588, 0x85a1,

+  0x2528, 0x8583, 0x24c7, 0x8566, 0x2467, 0x854a, 0x2407, 0x852d,

+  0x23a6, 0x8511, 0x2345, 0x84f5, 0x22e5, 0x84da, 0x2284, 0x84be,

+  0x2223, 0x84a3, 0x21c2, 0x8489, 0x2161, 0x846e, 0x2100, 0x8454,

+  0x209f, 0x843b, 0x203e, 0x8421, 0x1fdc, 0x8408, 0x1f7b, 0x83ef,

+  0x1f19, 0x83d7, 0x1eb8, 0x83be, 0x1e56, 0x83a6, 0x1df5, 0x838f,

+  0x1d93, 0x8377, 0x1d31, 0x8360, 0x1ccf, 0x8349, 0x1c6d, 0x8333,

+  0x1c0b, 0x831d, 0x1ba9, 0x8307, 0x1b47, 0x82f1, 0x1ae4, 0x82dc,

+  0x1a82, 0x82c7, 0x1a20, 0x82b2, 0x19bd, 0x829e, 0x195b, 0x828a,

+  0x18f8, 0x8276, 0x1896, 0x8263, 0x1833, 0x8250, 0x17d0, 0x823d,

+  0x176d, 0x822a, 0x170a, 0x8218, 0x16a8, 0x8206, 0x1645, 0x81f4,

+  0x15e2, 0x81e3, 0x157f, 0x81d2, 0x151b, 0x81c1, 0x14b8, 0x81b1,

+  0x1455, 0x81a1, 0x13f2, 0x8191, 0x138e, 0x8181, 0x132b, 0x8172,

+  0x12c8, 0x8163, 0x1264, 0x8155, 0x1201, 0x8146, 0x119d, 0x8138,

+  0x1139, 0x812b, 0x10d6, 0x811d, 0x1072, 0x8110, 0x100e, 0x8103,

+  0xfab, 0x80f7, 0xf47, 0x80eb, 0xee3, 0x80df, 0xe7f, 0x80d3,

+  0xe1b, 0x80c8, 0xdb7, 0x80bd, 0xd53, 0x80b3, 0xcef, 0x80a8,

+  0xc8b, 0x809e, 0xc27, 0x8095, 0xbc3, 0x808b, 0xb5f, 0x8082,

+  0xafb, 0x8079, 0xa97, 0x8071, 0xa33, 0x8069, 0x9ce, 0x8061,

+  0x96a, 0x8059, 0x906, 0x8052, 0x8a2, 0x804b, 0x83d, 0x8044,

+  0x7d9, 0x803e, 0x775, 0x8038, 0x710, 0x8032, 0x6ac, 0x802d,

+  0x647, 0x8028, 0x5e3, 0x8023, 0x57f, 0x801f, 0x51a, 0x801b,

+  0x4b6, 0x8017, 0x451, 0x8013, 0x3ed, 0x8010, 0x388, 0x800d,

+  0x324, 0x800a, 0x2bf, 0x8008, 0x25b, 0x8006, 0x1f6, 0x8004,

+  0x192, 0x8003, 0x12d, 0x8002, 0xc9, 0x8001, 0x64, 0x8001,

+};

+

+static const q15_t ALIGN4 WeightsQ15_2048[4096] = {

+  0x7fff, 0x0, 0x7fff, 0xffe7, 0x7fff, 0xffce, 0x7fff, 0xffb5,

+  0x7fff, 0xff9c, 0x7fff, 0xff83, 0x7fff, 0xff6a, 0x7fff, 0xff51,

+  0x7fff, 0xff37, 0x7fff, 0xff1e, 0x7fff, 0xff05, 0x7ffe, 0xfeec,

+  0x7ffe, 0xfed3, 0x7ffe, 0xfeba, 0x7ffe, 0xfea1, 0x7ffd, 0xfe88,

+  0x7ffd, 0xfe6e, 0x7ffd, 0xfe55, 0x7ffc, 0xfe3c, 0x7ffc, 0xfe23,

+  0x7ffc, 0xfe0a, 0x7ffb, 0xfdf1, 0x7ffb, 0xfdd8, 0x7ffa, 0xfdbe,

+  0x7ffa, 0xfda5, 0x7ff9, 0xfd8c, 0x7ff9, 0xfd73, 0x7ff8, 0xfd5a,

+  0x7ff8, 0xfd41, 0x7ff7, 0xfd28, 0x7ff7, 0xfd0f, 0x7ff6, 0xfcf5,

+  0x7ff6, 0xfcdc, 0x7ff5, 0xfcc3, 0x7ff4, 0xfcaa, 0x7ff4, 0xfc91,

+  0x7ff3, 0xfc78, 0x7ff2, 0xfc5f, 0x7ff2, 0xfc46, 0x7ff1, 0xfc2c,

+  0x7ff0, 0xfc13, 0x7fef, 0xfbfa, 0x7fee, 0xfbe1, 0x7fee, 0xfbc8,

+  0x7fed, 0xfbaf, 0x7fec, 0xfb96, 0x7feb, 0xfb7d, 0x7fea, 0xfb64,

+  0x7fe9, 0xfb4a, 0x7fe8, 0xfb31, 0x7fe7, 0xfb18, 0x7fe6, 0xfaff,

+  0x7fe5, 0xfae6, 0x7fe4, 0xfacd, 0x7fe3, 0xfab4, 0x7fe2, 0xfa9b,

+  0x7fe1, 0xfa81, 0x7fe0, 0xfa68, 0x7fdf, 0xfa4f, 0x7fde, 0xfa36,

+  0x7fdd, 0xfa1d, 0x7fdc, 0xfa04, 0x7fda, 0xf9eb, 0x7fd9, 0xf9d2,

+  0x7fd8, 0xf9b9, 0x7fd7, 0xf9a0, 0x7fd6, 0xf986, 0x7fd4, 0xf96d,

+  0x7fd3, 0xf954, 0x7fd2, 0xf93b, 0x7fd0, 0xf922, 0x7fcf, 0xf909,

+  0x7fce, 0xf8f0, 0x7fcc, 0xf8d7, 0x7fcb, 0xf8be, 0x7fc9, 0xf8a5,

+  0x7fc8, 0xf88b, 0x7fc6, 0xf872, 0x7fc5, 0xf859, 0x7fc3, 0xf840,

+  0x7fc2, 0xf827, 0x7fc0, 0xf80e, 0x7fbf, 0xf7f5, 0x7fbd, 0xf7dc,

+  0x7fbc, 0xf7c3, 0x7fba, 0xf7aa, 0x7fb8, 0xf791, 0x7fb7, 0xf778,

+  0x7fb5, 0xf75e, 0x7fb3, 0xf745, 0x7fb1, 0xf72c, 0x7fb0, 0xf713,

+  0x7fae, 0xf6fa, 0x7fac, 0xf6e1, 0x7faa, 0xf6c8, 0x7fa9, 0xf6af,

+  0x7fa7, 0xf696, 0x7fa5, 0xf67d, 0x7fa3, 0xf664, 0x7fa1, 0xf64b,

+  0x7f9f, 0xf632, 0x7f9d, 0xf619, 0x7f9b, 0xf600, 0x7f99, 0xf5e7,

+  0x7f97, 0xf5cd, 0x7f95, 0xf5b4, 0x7f93, 0xf59b, 0x7f91, 0xf582,

+  0x7f8f, 0xf569, 0x7f8d, 0xf550, 0x7f8b, 0xf537, 0x7f89, 0xf51e,

+  0x7f87, 0xf505, 0x7f85, 0xf4ec, 0x7f82, 0xf4d3, 0x7f80, 0xf4ba,

+  0x7f7e, 0xf4a1, 0x7f7c, 0xf488, 0x7f79, 0xf46f, 0x7f77, 0xf456,

+  0x7f75, 0xf43d, 0x7f72, 0xf424, 0x7f70, 0xf40b, 0x7f6e, 0xf3f2,

+  0x7f6b, 0xf3d9, 0x7f69, 0xf3c0, 0x7f67, 0xf3a7, 0x7f64, 0xf38e,

+  0x7f62, 0xf375, 0x7f5f, 0xf35c, 0x7f5d, 0xf343, 0x7f5a, 0xf32a,

+  0x7f58, 0xf311, 0x7f55, 0xf2f8, 0x7f53, 0xf2df, 0x7f50, 0xf2c6,

+  0x7f4d, 0xf2ad, 0x7f4b, 0xf294, 0x7f48, 0xf27b, 0x7f45, 0xf262,

+  0x7f43, 0xf249, 0x7f40, 0xf230, 0x7f3d, 0xf217, 0x7f3b, 0xf1fe,

+  0x7f38, 0xf1e5, 0x7f35, 0xf1cc, 0x7f32, 0xf1b3, 0x7f2f, 0xf19a,

+  0x7f2d, 0xf181, 0x7f2a, 0xf168, 0x7f27, 0xf14f, 0x7f24, 0xf136,

+  0x7f21, 0xf11d, 0x7f1e, 0xf104, 0x7f1b, 0xf0eb, 0x7f18, 0xf0d2,

+  0x7f15, 0xf0b9, 0x7f12, 0xf0a0, 0x7f0f, 0xf087, 0x7f0c, 0xf06e,

+  0x7f09, 0xf055, 0x7f06, 0xf03c, 0x7f03, 0xf023, 0x7f00, 0xf00b,

+  0x7efd, 0xeff2, 0x7ef9, 0xefd9, 0x7ef6, 0xefc0, 0x7ef3, 0xefa7,

+  0x7ef0, 0xef8e, 0x7eed, 0xef75, 0x7ee9, 0xef5c, 0x7ee6, 0xef43,

+  0x7ee3, 0xef2a, 0x7edf, 0xef11, 0x7edc, 0xeef8, 0x7ed9, 0xeedf,

+  0x7ed5, 0xeec7, 0x7ed2, 0xeeae, 0x7ecf, 0xee95, 0x7ecb, 0xee7c,

+  0x7ec8, 0xee63, 0x7ec4, 0xee4a, 0x7ec1, 0xee31, 0x7ebd, 0xee18,

+  0x7eba, 0xedff, 0x7eb6, 0xede7, 0x7eb3, 0xedce, 0x7eaf, 0xedb5,

+  0x7eab, 0xed9c, 0x7ea8, 0xed83, 0x7ea4, 0xed6a, 0x7ea1, 0xed51,

+  0x7e9d, 0xed38, 0x7e99, 0xed20, 0x7e95, 0xed07, 0x7e92, 0xecee,

+  0x7e8e, 0xecd5, 0x7e8a, 0xecbc, 0x7e86, 0xeca3, 0x7e83, 0xec8a,

+  0x7e7f, 0xec72, 0x7e7b, 0xec59, 0x7e77, 0xec40, 0x7e73, 0xec27,

+  0x7e6f, 0xec0e, 0x7e6b, 0xebf5, 0x7e67, 0xebdd, 0x7e63, 0xebc4,

+  0x7e5f, 0xebab, 0x7e5b, 0xeb92, 0x7e57, 0xeb79, 0x7e53, 0xeb61,

+  0x7e4f, 0xeb48, 0x7e4b, 0xeb2f, 0x7e47, 0xeb16, 0x7e43, 0xeafd,

+  0x7e3f, 0xeae5, 0x7e3b, 0xeacc, 0x7e37, 0xeab3, 0x7e32, 0xea9a,

+  0x7e2e, 0xea81, 0x7e2a, 0xea69, 0x7e26, 0xea50, 0x7e21, 0xea37,

+  0x7e1d, 0xea1e, 0x7e19, 0xea06, 0x7e14, 0xe9ed, 0x7e10, 0xe9d4,

+  0x7e0c, 0xe9bb, 0x7e07, 0xe9a3, 0x7e03, 0xe98a, 0x7dff, 0xe971,

+  0x7dfa, 0xe958, 0x7df6, 0xe940, 0x7df1, 0xe927, 0x7ded, 0xe90e,

+  0x7de8, 0xe8f6, 0x7de4, 0xe8dd, 0x7ddf, 0xe8c4, 0x7dda, 0xe8ab,

+  0x7dd6, 0xe893, 0x7dd1, 0xe87a, 0x7dcd, 0xe861, 0x7dc8, 0xe849,

+  0x7dc3, 0xe830, 0x7dbf, 0xe817, 0x7dba, 0xe7fe, 0x7db5, 0xe7e6,

+  0x7db0, 0xe7cd, 0x7dac, 0xe7b4, 0x7da7, 0xe79c, 0x7da2, 0xe783,

+  0x7d9d, 0xe76a, 0x7d98, 0xe752, 0x7d94, 0xe739, 0x7d8f, 0xe720,

+  0x7d8a, 0xe708, 0x7d85, 0xe6ef, 0x7d80, 0xe6d6, 0x7d7b, 0xe6be,

+  0x7d76, 0xe6a5, 0x7d71, 0xe68d, 0x7d6c, 0xe674, 0x7d67, 0xe65b,

+  0x7d62, 0xe643, 0x7d5d, 0xe62a, 0x7d58, 0xe611, 0x7d53, 0xe5f9,

+  0x7d4e, 0xe5e0, 0x7d49, 0xe5c8, 0x7d43, 0xe5af, 0x7d3e, 0xe596,

+  0x7d39, 0xe57e, 0x7d34, 0xe565, 0x7d2f, 0xe54d, 0x7d29, 0xe534,

+  0x7d24, 0xe51c, 0x7d1f, 0xe503, 0x7d19, 0xe4ea, 0x7d14, 0xe4d2,

+  0x7d0f, 0xe4b9, 0x7d09, 0xe4a1, 0x7d04, 0xe488, 0x7cff, 0xe470,

+  0x7cf9, 0xe457, 0x7cf4, 0xe43f, 0x7cee, 0xe426, 0x7ce9, 0xe40e,

+  0x7ce3, 0xe3f5, 0x7cde, 0xe3dc, 0x7cd8, 0xe3c4, 0x7cd3, 0xe3ab,

+  0x7ccd, 0xe393, 0x7cc8, 0xe37a, 0x7cc2, 0xe362, 0x7cbc, 0xe349,

+  0x7cb7, 0xe331, 0x7cb1, 0xe318, 0x7cab, 0xe300, 0x7ca6, 0xe2e8,

+  0x7ca0, 0xe2cf, 0x7c9a, 0xe2b7, 0x7c94, 0xe29e, 0x7c8f, 0xe286,

+  0x7c89, 0xe26d, 0x7c83, 0xe255, 0x7c7d, 0xe23c, 0x7c77, 0xe224,

+  0x7c71, 0xe20b, 0x7c6c, 0xe1f3, 0x7c66, 0xe1db, 0x7c60, 0xe1c2,

+  0x7c5a, 0xe1aa, 0x7c54, 0xe191, 0x7c4e, 0xe179, 0x7c48, 0xe160,

+  0x7c42, 0xe148, 0x7c3c, 0xe130, 0x7c36, 0xe117, 0x7c30, 0xe0ff,

+  0x7c29, 0xe0e7, 0x7c23, 0xe0ce, 0x7c1d, 0xe0b6, 0x7c17, 0xe09d,

+  0x7c11, 0xe085, 0x7c0b, 0xe06d, 0x7c05, 0xe054, 0x7bfe, 0xe03c,

+  0x7bf8, 0xe024, 0x7bf2, 0xe00b, 0x7beb, 0xdff3, 0x7be5, 0xdfdb,

+  0x7bdf, 0xdfc2, 0x7bd9, 0xdfaa, 0x7bd2, 0xdf92, 0x7bcc, 0xdf79,

+  0x7bc5, 0xdf61, 0x7bbf, 0xdf49, 0x7bb9, 0xdf30, 0x7bb2, 0xdf18,

+  0x7bac, 0xdf00, 0x7ba5, 0xdee8, 0x7b9f, 0xdecf, 0x7b98, 0xdeb7,

+  0x7b92, 0xde9f, 0x7b8b, 0xde87, 0x7b84, 0xde6e, 0x7b7e, 0xde56,

+  0x7b77, 0xde3e, 0x7b71, 0xde26, 0x7b6a, 0xde0d, 0x7b63, 0xddf5,

+  0x7b5d, 0xdddd, 0x7b56, 0xddc5, 0x7b4f, 0xddac, 0x7b48, 0xdd94,

+  0x7b42, 0xdd7c, 0x7b3b, 0xdd64, 0x7b34, 0xdd4c, 0x7b2d, 0xdd33,

+  0x7b26, 0xdd1b, 0x7b1f, 0xdd03, 0x7b19, 0xdceb, 0x7b12, 0xdcd3,

+  0x7b0b, 0xdcbb, 0x7b04, 0xdca2, 0x7afd, 0xdc8a, 0x7af6, 0xdc72,

+  0x7aef, 0xdc5a, 0x7ae8, 0xdc42, 0x7ae1, 0xdc2a, 0x7ada, 0xdc12,

+  0x7ad3, 0xdbf9, 0x7acc, 0xdbe1, 0x7ac5, 0xdbc9, 0x7abd, 0xdbb1,

+  0x7ab6, 0xdb99, 0x7aaf, 0xdb81, 0x7aa8, 0xdb69, 0x7aa1, 0xdb51,

+  0x7a9a, 0xdb39, 0x7a92, 0xdb21, 0x7a8b, 0xdb09, 0x7a84, 0xdaf1,

+  0x7a7d, 0xdad8, 0x7a75, 0xdac0, 0x7a6e, 0xdaa8, 0x7a67, 0xda90,

+  0x7a5f, 0xda78, 0x7a58, 0xda60, 0x7a50, 0xda48, 0x7a49, 0xda30,

+  0x7a42, 0xda18, 0x7a3a, 0xda00, 0x7a33, 0xd9e8, 0x7a2b, 0xd9d0,

+  0x7a24, 0xd9b8, 0x7a1c, 0xd9a0, 0x7a15, 0xd988, 0x7a0d, 0xd970,

+  0x7a05, 0xd958, 0x79fe, 0xd940, 0x79f6, 0xd928, 0x79ef, 0xd911,

+  0x79e7, 0xd8f9, 0x79df, 0xd8e1, 0x79d8, 0xd8c9, 0x79d0, 0xd8b1,

+  0x79c8, 0xd899, 0x79c0, 0xd881, 0x79b9, 0xd869, 0x79b1, 0xd851,

+  0x79a9, 0xd839, 0x79a1, 0xd821, 0x7999, 0xd80a, 0x7992, 0xd7f2,

+  0x798a, 0xd7da, 0x7982, 0xd7c2, 0x797a, 0xd7aa, 0x7972, 0xd792,

+  0x796a, 0xd77a, 0x7962, 0xd763, 0x795a, 0xd74b, 0x7952, 0xd733,

+  0x794a, 0xd71b, 0x7942, 0xd703, 0x793a, 0xd6eb, 0x7932, 0xd6d4,

+  0x792a, 0xd6bc, 0x7922, 0xd6a4, 0x7919, 0xd68c, 0x7911, 0xd675,

+  0x7909, 0xd65d, 0x7901, 0xd645, 0x78f9, 0xd62d, 0x78f1, 0xd615,

+  0x78e8, 0xd5fe, 0x78e0, 0xd5e6, 0x78d8, 0xd5ce, 0x78cf, 0xd5b7,

+  0x78c7, 0xd59f, 0x78bf, 0xd587, 0x78b6, 0xd56f, 0x78ae, 0xd558,

+  0x78a6, 0xd540, 0x789d, 0xd528, 0x7895, 0xd511, 0x788c, 0xd4f9,

+  0x7884, 0xd4e1, 0x787c, 0xd4ca, 0x7873, 0xd4b2, 0x786b, 0xd49a,

+  0x7862, 0xd483, 0x7859, 0xd46b, 0x7851, 0xd453, 0x7848, 0xd43c,

+  0x7840, 0xd424, 0x7837, 0xd40d, 0x782e, 0xd3f5, 0x7826, 0xd3dd,

+  0x781d, 0xd3c6, 0x7814, 0xd3ae, 0x780c, 0xd397, 0x7803, 0xd37f,

+  0x77fa, 0xd368, 0x77f1, 0xd350, 0x77e9, 0xd338, 0x77e0, 0xd321,

+  0x77d7, 0xd309, 0x77ce, 0xd2f2, 0x77c5, 0xd2da, 0x77bc, 0xd2c3,

+  0x77b4, 0xd2ab, 0x77ab, 0xd294, 0x77a2, 0xd27c, 0x7799, 0xd265,

+  0x7790, 0xd24d, 0x7787, 0xd236, 0x777e, 0xd21e, 0x7775, 0xd207,

+  0x776c, 0xd1ef, 0x7763, 0xd1d8, 0x775a, 0xd1c1, 0x7751, 0xd1a9,

+  0x7747, 0xd192, 0x773e, 0xd17a, 0x7735, 0xd163, 0x772c, 0xd14b,

+  0x7723, 0xd134, 0x771a, 0xd11d, 0x7710, 0xd105, 0x7707, 0xd0ee,

+  0x76fe, 0xd0d7, 0x76f5, 0xd0bf, 0x76eb, 0xd0a8, 0x76e2, 0xd091,

+  0x76d9, 0xd079, 0x76cf, 0xd062, 0x76c6, 0xd04b, 0x76bd, 0xd033,

+  0x76b3, 0xd01c, 0x76aa, 0xd005, 0x76a0, 0xcfed, 0x7697, 0xcfd6,

+  0x768e, 0xcfbf, 0x7684, 0xcfa7, 0x767b, 0xcf90, 0x7671, 0xcf79,

+  0x7668, 0xcf62, 0x765e, 0xcf4a, 0x7654, 0xcf33, 0x764b, 0xcf1c,

+  0x7641, 0xcf05, 0x7638, 0xceee, 0x762e, 0xced6, 0x7624, 0xcebf,

+  0x761b, 0xcea8, 0x7611, 0xce91, 0x7607, 0xce7a, 0x75fd, 0xce62,

+  0x75f4, 0xce4b, 0x75ea, 0xce34, 0x75e0, 0xce1d, 0x75d6, 0xce06,

+  0x75cc, 0xcdef, 0x75c3, 0xcdd8, 0x75b9, 0xcdc0, 0x75af, 0xcda9,

+  0x75a5, 0xcd92, 0x759b, 0xcd7b, 0x7591, 0xcd64, 0x7587, 0xcd4d,

+  0x757d, 0xcd36, 0x7573, 0xcd1f, 0x7569, 0xcd08, 0x755f, 0xccf1,

+  0x7555, 0xccda, 0x754b, 0xccc3, 0x7541, 0xccac, 0x7537, 0xcc95,

+  0x752d, 0xcc7e, 0x7523, 0xcc67, 0x7519, 0xcc50, 0x750f, 0xcc39,

+  0x7504, 0xcc22, 0x74fa, 0xcc0b, 0x74f0, 0xcbf4, 0x74e6, 0xcbdd,

+  0x74db, 0xcbc6, 0x74d1, 0xcbaf, 0x74c7, 0xcb98, 0x74bd, 0xcb81,

+  0x74b2, 0xcb6a, 0x74a8, 0xcb53, 0x749e, 0xcb3c, 0x7493, 0xcb25,

+  0x7489, 0xcb0e, 0x747e, 0xcaf8, 0x7474, 0xcae1, 0x746a, 0xcaca,

+  0x745f, 0xcab3, 0x7455, 0xca9c, 0x744a, 0xca85, 0x7440, 0xca6e,

+  0x7435, 0xca58, 0x742b, 0xca41, 0x7420, 0xca2a, 0x7415, 0xca13,

+  0x740b, 0xc9fc, 0x7400, 0xc9e6, 0x73f6, 0xc9cf, 0x73eb, 0xc9b8,

+  0x73e0, 0xc9a1, 0x73d6, 0xc98b, 0x73cb, 0xc974, 0x73c0, 0xc95d,

+  0x73b5, 0xc946, 0x73ab, 0xc930, 0x73a0, 0xc919, 0x7395, 0xc902,

+  0x738a, 0xc8ec, 0x737f, 0xc8d5, 0x7375, 0xc8be, 0x736a, 0xc8a8,

+  0x735f, 0xc891, 0x7354, 0xc87a, 0x7349, 0xc864, 0x733e, 0xc84d,

+  0x7333, 0xc836, 0x7328, 0xc820, 0x731d, 0xc809, 0x7312, 0xc7f3,

+  0x7307, 0xc7dc, 0x72fc, 0xc7c5, 0x72f1, 0xc7af, 0x72e6, 0xc798,

+  0x72db, 0xc782, 0x72d0, 0xc76b, 0x72c5, 0xc755, 0x72ba, 0xc73e,

+  0x72af, 0xc728, 0x72a3, 0xc711, 0x7298, 0xc6fa, 0x728d, 0xc6e4,

+  0x7282, 0xc6ce, 0x7276, 0xc6b7, 0x726b, 0xc6a1, 0x7260, 0xc68a,

+  0x7255, 0xc674, 0x7249, 0xc65d, 0x723e, 0xc647, 0x7233, 0xc630,

+  0x7227, 0xc61a, 0x721c, 0xc603, 0x7211, 0xc5ed, 0x7205, 0xc5d7,

+  0x71fa, 0xc5c0, 0x71ee, 0xc5aa, 0x71e3, 0xc594, 0x71d7, 0xc57d,

+  0x71cc, 0xc567, 0x71c0, 0xc551, 0x71b5, 0xc53a, 0x71a9, 0xc524,

+  0x719e, 0xc50e, 0x7192, 0xc4f7, 0x7186, 0xc4e1, 0x717b, 0xc4cb,

+  0x716f, 0xc4b4, 0x7164, 0xc49e, 0x7158, 0xc488, 0x714c, 0xc472,

+  0x7141, 0xc45b, 0x7135, 0xc445, 0x7129, 0xc42f, 0x711d, 0xc419,

+  0x7112, 0xc403, 0x7106, 0xc3ec, 0x70fa, 0xc3d6, 0x70ee, 0xc3c0,

+  0x70e2, 0xc3aa, 0x70d6, 0xc394, 0x70cb, 0xc37d, 0x70bf, 0xc367,

+  0x70b3, 0xc351, 0x70a7, 0xc33b, 0x709b, 0xc325, 0x708f, 0xc30f,

+  0x7083, 0xc2f9, 0x7077, 0xc2e3, 0x706b, 0xc2cd, 0x705f, 0xc2b7,

+  0x7053, 0xc2a0, 0x7047, 0xc28a, 0x703b, 0xc274, 0x702f, 0xc25e,

+  0x7023, 0xc248, 0x7016, 0xc232, 0x700a, 0xc21c, 0x6ffe, 0xc206,

+  0x6ff2, 0xc1f0, 0x6fe6, 0xc1da, 0x6fda, 0xc1c4, 0x6fcd, 0xc1ae,

+  0x6fc1, 0xc198, 0x6fb5, 0xc183, 0x6fa9, 0xc16d, 0x6f9c, 0xc157,

+  0x6f90, 0xc141, 0x6f84, 0xc12b, 0x6f77, 0xc115, 0x6f6b, 0xc0ff,

+  0x6f5f, 0xc0e9, 0x6f52, 0xc0d3, 0x6f46, 0xc0bd, 0x6f39, 0xc0a8,

+  0x6f2d, 0xc092, 0x6f20, 0xc07c, 0x6f14, 0xc066, 0x6f07, 0xc050,

+  0x6efb, 0xc03b, 0x6eee, 0xc025, 0x6ee2, 0xc00f, 0x6ed5, 0xbff9,

+  0x6ec9, 0xbfe3, 0x6ebc, 0xbfce, 0x6eaf, 0xbfb8, 0x6ea3, 0xbfa2,

+  0x6e96, 0xbf8d, 0x6e89, 0xbf77, 0x6e7d, 0xbf61, 0x6e70, 0xbf4b,

+  0x6e63, 0xbf36, 0x6e57, 0xbf20, 0x6e4a, 0xbf0a, 0x6e3d, 0xbef5,

+  0x6e30, 0xbedf, 0x6e24, 0xbeca, 0x6e17, 0xbeb4, 0x6e0a, 0xbe9e,

+  0x6dfd, 0xbe89, 0x6df0, 0xbe73, 0x6de3, 0xbe5e, 0x6dd6, 0xbe48,

+  0x6dca, 0xbe32, 0x6dbd, 0xbe1d, 0x6db0, 0xbe07, 0x6da3, 0xbdf2,

+  0x6d96, 0xbddc, 0x6d89, 0xbdc7, 0x6d7c, 0xbdb1, 0x6d6f, 0xbd9c,

+  0x6d62, 0xbd86, 0x6d55, 0xbd71, 0x6d48, 0xbd5b, 0x6d3a, 0xbd46,

+  0x6d2d, 0xbd30, 0x6d20, 0xbd1b, 0x6d13, 0xbd06, 0x6d06, 0xbcf0,

+  0x6cf9, 0xbcdb, 0x6cec, 0xbcc5, 0x6cde, 0xbcb0, 0x6cd1, 0xbc9b,

+  0x6cc4, 0xbc85, 0x6cb7, 0xbc70, 0x6ca9, 0xbc5b, 0x6c9c, 0xbc45,

+  0x6c8f, 0xbc30, 0x6c81, 0xbc1b, 0x6c74, 0xbc05, 0x6c67, 0xbbf0,

+  0x6c59, 0xbbdb, 0x6c4c, 0xbbc5, 0x6c3f, 0xbbb0, 0x6c31, 0xbb9b,

+  0x6c24, 0xbb86, 0x6c16, 0xbb70, 0x6c09, 0xbb5b, 0x6bfb, 0xbb46,

+  0x6bee, 0xbb31, 0x6be0, 0xbb1c, 0x6bd3, 0xbb06, 0x6bc5, 0xbaf1,

+  0x6bb8, 0xbadc, 0x6baa, 0xbac7, 0x6b9c, 0xbab2, 0x6b8f, 0xba9d,

+  0x6b81, 0xba88, 0x6b73, 0xba73, 0x6b66, 0xba5d, 0x6b58, 0xba48,

+  0x6b4a, 0xba33, 0x6b3d, 0xba1e, 0x6b2f, 0xba09, 0x6b21, 0xb9f4,

+  0x6b13, 0xb9df, 0x6b06, 0xb9ca, 0x6af8, 0xb9b5, 0x6aea, 0xb9a0,

+  0x6adc, 0xb98b, 0x6ace, 0xb976, 0x6ac1, 0xb961, 0x6ab3, 0xb94c,

+  0x6aa5, 0xb937, 0x6a97, 0xb922, 0x6a89, 0xb90d, 0x6a7b, 0xb8f8,

+  0x6a6d, 0xb8e4, 0x6a5f, 0xb8cf, 0x6a51, 0xb8ba, 0x6a43, 0xb8a5,

+  0x6a35, 0xb890, 0x6a27, 0xb87b, 0x6a19, 0xb866, 0x6a0b, 0xb852,

+  0x69fd, 0xb83d, 0x69ef, 0xb828, 0x69e1, 0xb813, 0x69d3, 0xb7fe,

+  0x69c4, 0xb7ea, 0x69b6, 0xb7d5, 0x69a8, 0xb7c0, 0x699a, 0xb7ab,

+  0x698c, 0xb797, 0x697d, 0xb782, 0x696f, 0xb76d, 0x6961, 0xb758,

+  0x6953, 0xb744, 0x6944, 0xb72f, 0x6936, 0xb71a, 0x6928, 0xb706,

+  0x6919, 0xb6f1, 0x690b, 0xb6dd, 0x68fd, 0xb6c8, 0x68ee, 0xb6b3,

+  0x68e0, 0xb69f, 0x68d1, 0xb68a, 0x68c3, 0xb676, 0x68b5, 0xb661,

+  0x68a6, 0xb64c, 0x6898, 0xb638, 0x6889, 0xb623, 0x687b, 0xb60f,

+  0x686c, 0xb5fa, 0x685e, 0xb5e6, 0x684f, 0xb5d1, 0x6840, 0xb5bd,

+  0x6832, 0xb5a8, 0x6823, 0xb594, 0x6815, 0xb57f, 0x6806, 0xb56b,

+  0x67f7, 0xb557, 0x67e9, 0xb542, 0x67da, 0xb52e, 0x67cb, 0xb519,

+  0x67bd, 0xb505, 0x67ae, 0xb4f1, 0x679f, 0xb4dc, 0x6790, 0xb4c8,

+  0x6782, 0xb4b4, 0x6773, 0xb49f, 0x6764, 0xb48b, 0x6755, 0xb477,

+  0x6746, 0xb462, 0x6737, 0xb44e, 0x6729, 0xb43a, 0x671a, 0xb426,

+  0x670b, 0xb411, 0x66fc, 0xb3fd, 0x66ed, 0xb3e9, 0x66de, 0xb3d5,

+  0x66cf, 0xb3c1, 0x66c0, 0xb3ac, 0x66b1, 0xb398, 0x66a2, 0xb384,

+  0x6693, 0xb370, 0x6684, 0xb35c, 0x6675, 0xb348, 0x6666, 0xb334,

+  0x6657, 0xb31f, 0x6648, 0xb30b, 0x6639, 0xb2f7, 0x6629, 0xb2e3,

+  0x661a, 0xb2cf, 0x660b, 0xb2bb, 0x65fc, 0xb2a7, 0x65ed, 0xb293,

+  0x65dd, 0xb27f, 0x65ce, 0xb26b, 0x65bf, 0xb257, 0x65b0, 0xb243,

+  0x65a0, 0xb22f, 0x6591, 0xb21b, 0x6582, 0xb207, 0x6573, 0xb1f3,

+  0x6563, 0xb1df, 0x6554, 0xb1cc, 0x6545, 0xb1b8, 0x6535, 0xb1a4,

+  0x6526, 0xb190, 0x6516, 0xb17c, 0x6507, 0xb168, 0x64f7, 0xb154,

+  0x64e8, 0xb141, 0x64d9, 0xb12d, 0x64c9, 0xb119, 0x64ba, 0xb105,

+  0x64aa, 0xb0f1, 0x649b, 0xb0de, 0x648b, 0xb0ca, 0x647b, 0xb0b6,

+  0x646c, 0xb0a2, 0x645c, 0xb08f, 0x644d, 0xb07b, 0x643d, 0xb067,

+  0x642d, 0xb054, 0x641e, 0xb040, 0x640e, 0xb02c, 0x63fe, 0xb019,

+  0x63ef, 0xb005, 0x63df, 0xaff1, 0x63cf, 0xafde, 0x63c0, 0xafca,

+  0x63b0, 0xafb7, 0x63a0, 0xafa3, 0x6390, 0xaf90, 0x6380, 0xaf7c,

+  0x6371, 0xaf69, 0x6361, 0xaf55, 0x6351, 0xaf41, 0x6341, 0xaf2e,

+  0x6331, 0xaf1b, 0x6321, 0xaf07, 0x6311, 0xaef4, 0x6301, 0xaee0,

+  0x62f2, 0xaecd, 0x62e2, 0xaeb9, 0x62d2, 0xaea6, 0x62c2, 0xae92,

+  0x62b2, 0xae7f, 0x62a2, 0xae6c, 0x6292, 0xae58, 0x6282, 0xae45,

+  0x6271, 0xae32, 0x6261, 0xae1e, 0x6251, 0xae0b, 0x6241, 0xadf8,

+  0x6231, 0xade4, 0x6221, 0xadd1, 0x6211, 0xadbe, 0x6201, 0xadab,

+  0x61f1, 0xad97, 0x61e0, 0xad84, 0x61d0, 0xad71, 0x61c0, 0xad5e,

+  0x61b0, 0xad4b, 0x619f, 0xad37, 0x618f, 0xad24, 0x617f, 0xad11,

+  0x616f, 0xacfe, 0x615e, 0xaceb, 0x614e, 0xacd8, 0x613e, 0xacc5,

+  0x612d, 0xacb2, 0x611d, 0xac9e, 0x610d, 0xac8b, 0x60fc, 0xac78,

+  0x60ec, 0xac65, 0x60db, 0xac52, 0x60cb, 0xac3f, 0x60ba, 0xac2c,

+  0x60aa, 0xac19, 0x6099, 0xac06, 0x6089, 0xabf3, 0x6078, 0xabe0,

+  0x6068, 0xabcd, 0x6057, 0xabbb, 0x6047, 0xaba8, 0x6036, 0xab95,

+  0x6026, 0xab82, 0x6015, 0xab6f, 0x6004, 0xab5c, 0x5ff4, 0xab49,

+  0x5fe3, 0xab36, 0x5fd3, 0xab24, 0x5fc2, 0xab11, 0x5fb1, 0xaafe,

+  0x5fa0, 0xaaeb, 0x5f90, 0xaad8, 0x5f7f, 0xaac6, 0x5f6e, 0xaab3,

+  0x5f5e, 0xaaa0, 0x5f4d, 0xaa8e, 0x5f3c, 0xaa7b, 0x5f2b, 0xaa68,

+  0x5f1a, 0xaa55, 0x5f0a, 0xaa43, 0x5ef9, 0xaa30, 0x5ee8, 0xaa1d,

+  0x5ed7, 0xaa0b, 0x5ec6, 0xa9f8, 0x5eb5, 0xa9e6, 0x5ea4, 0xa9d3,

+  0x5e93, 0xa9c0, 0x5e82, 0xa9ae, 0x5e71, 0xa99b, 0x5e60, 0xa989,

+  0x5e50, 0xa976, 0x5e3f, 0xa964, 0x5e2d, 0xa951, 0x5e1c, 0xa93f,

+  0x5e0b, 0xa92c, 0x5dfa, 0xa91a, 0x5de9, 0xa907, 0x5dd8, 0xa8f5,

+  0x5dc7, 0xa8e3, 0x5db6, 0xa8d0, 0x5da5, 0xa8be, 0x5d94, 0xa8ab,

+  0x5d83, 0xa899, 0x5d71, 0xa887, 0x5d60, 0xa874, 0x5d4f, 0xa862,

+  0x5d3e, 0xa850, 0x5d2d, 0xa83d, 0x5d1b, 0xa82b, 0x5d0a, 0xa819,

+  0x5cf9, 0xa807, 0x5ce8, 0xa7f4, 0x5cd6, 0xa7e2, 0x5cc5, 0xa7d0,

+  0x5cb4, 0xa7be, 0x5ca2, 0xa7ab, 0x5c91, 0xa799, 0x5c80, 0xa787,

+  0x5c6e, 0xa775, 0x5c5d, 0xa763, 0x5c4b, 0xa751, 0x5c3a, 0xa73f,

+  0x5c29, 0xa72c, 0x5c17, 0xa71a, 0x5c06, 0xa708, 0x5bf4, 0xa6f6,

+  0x5be3, 0xa6e4, 0x5bd1, 0xa6d2, 0x5bc0, 0xa6c0, 0x5bae, 0xa6ae,

+  0x5b9d, 0xa69c, 0x5b8b, 0xa68a, 0x5b79, 0xa678, 0x5b68, 0xa666,

+  0x5b56, 0xa654, 0x5b45, 0xa642, 0x5b33, 0xa630, 0x5b21, 0xa61f,

+  0x5b10, 0xa60d, 0x5afe, 0xa5fb, 0x5aec, 0xa5e9, 0x5adb, 0xa5d7,

+  0x5ac9, 0xa5c5, 0x5ab7, 0xa5b3, 0x5aa5, 0xa5a2, 0x5a94, 0xa590,

+  0x5a82, 0xa57e, 0x5a70, 0xa56c, 0x5a5e, 0xa55b, 0x5a4d, 0xa549,

+  0x5a3b, 0xa537, 0x5a29, 0xa525, 0x5a17, 0xa514, 0x5a05, 0xa502,

+  0x59f3, 0xa4f0, 0x59e1, 0xa4df, 0x59d0, 0xa4cd, 0x59be, 0xa4bb,

+  0x59ac, 0xa4aa, 0x599a, 0xa498, 0x5988, 0xa487, 0x5976, 0xa475,

+  0x5964, 0xa463, 0x5952, 0xa452, 0x5940, 0xa440, 0x592e, 0xa42f,

+  0x591c, 0xa41d, 0x590a, 0xa40c, 0x58f8, 0xa3fa, 0x58e6, 0xa3e9,

+  0x58d4, 0xa3d7, 0x58c1, 0xa3c6, 0x58af, 0xa3b5, 0x589d, 0xa3a3,

+  0x588b, 0xa392, 0x5879, 0xa380, 0x5867, 0xa36f, 0x5855, 0xa35e,

+  0x5842, 0xa34c, 0x5830, 0xa33b, 0x581e, 0xa32a, 0x580c, 0xa318,

+  0x57f9, 0xa307, 0x57e7, 0xa2f6, 0x57d5, 0xa2e5, 0x57c3, 0xa2d3,

+  0x57b0, 0xa2c2, 0x579e, 0xa2b1, 0x578c, 0xa2a0, 0x5779, 0xa28f,

+  0x5767, 0xa27d, 0x5755, 0xa26c, 0x5742, 0xa25b, 0x5730, 0xa24a,

+  0x571d, 0xa239, 0x570b, 0xa228, 0x56f9, 0xa217, 0x56e6, 0xa206,

+  0x56d4, 0xa1f5, 0x56c1, 0xa1e4, 0x56af, 0xa1d3, 0x569c, 0xa1c1,

+  0x568a, 0xa1b0, 0x5677, 0xa1a0, 0x5665, 0xa18f, 0x5652, 0xa17e,

+  0x5640, 0xa16d, 0x562d, 0xa15c, 0x561a, 0xa14b, 0x5608, 0xa13a,

+  0x55f5, 0xa129, 0x55e3, 0xa118, 0x55d0, 0xa107, 0x55bd, 0xa0f6,

+  0x55ab, 0xa0e6, 0x5598, 0xa0d5, 0x5585, 0xa0c4, 0x5572, 0xa0b3,

+  0x5560, 0xa0a2, 0x554d, 0xa092, 0x553a, 0xa081, 0x5528, 0xa070,

+  0x5515, 0xa060, 0x5502, 0xa04f, 0x54ef, 0xa03e, 0x54dc, 0xa02d,

+  0x54ca, 0xa01d, 0x54b7, 0xa00c, 0x54a4, 0x9ffc, 0x5491, 0x9feb,

+  0x547e, 0x9fda, 0x546b, 0x9fca, 0x5458, 0x9fb9, 0x5445, 0x9fa9,

+  0x5433, 0x9f98, 0x5420, 0x9f88, 0x540d, 0x9f77, 0x53fa, 0x9f67,

+  0x53e7, 0x9f56, 0x53d4, 0x9f46, 0x53c1, 0x9f35, 0x53ae, 0x9f25,

+  0x539b, 0x9f14, 0x5388, 0x9f04, 0x5375, 0x9ef3, 0x5362, 0x9ee3,

+  0x534e, 0x9ed3, 0x533b, 0x9ec2, 0x5328, 0x9eb2, 0x5315, 0x9ea2,

+  0x5302, 0x9e91, 0x52ef, 0x9e81, 0x52dc, 0x9e71, 0x52c9, 0x9e61,

+  0x52b5, 0x9e50, 0x52a2, 0x9e40, 0x528f, 0x9e30, 0x527c, 0x9e20,

+  0x5269, 0x9e0f, 0x5255, 0x9dff, 0x5242, 0x9def, 0x522f, 0x9ddf,

+  0x521c, 0x9dcf, 0x5208, 0x9dbf, 0x51f5, 0x9daf, 0x51e2, 0x9d9f,

+  0x51ce, 0x9d8f, 0x51bb, 0x9d7e, 0x51a8, 0x9d6e, 0x5194, 0x9d5e,

+  0x5181, 0x9d4e, 0x516e, 0x9d3e, 0x515a, 0x9d2e, 0x5147, 0x9d1e,

+  0x5133, 0x9d0e, 0x5120, 0x9cff, 0x510c, 0x9cef, 0x50f9, 0x9cdf,

+  0x50e5, 0x9ccf, 0x50d2, 0x9cbf, 0x50bf, 0x9caf, 0x50ab, 0x9c9f,

+  0x5097, 0x9c8f, 0x5084, 0x9c80, 0x5070, 0x9c70, 0x505d, 0x9c60,

+  0x5049, 0x9c50, 0x5036, 0x9c40, 0x5022, 0x9c31, 0x500f, 0x9c21,

+  0x4ffb, 0x9c11, 0x4fe7, 0x9c02, 0x4fd4, 0x9bf2, 0x4fc0, 0x9be2,

+  0x4fac, 0x9bd3, 0x4f99, 0x9bc3, 0x4f85, 0x9bb3, 0x4f71, 0x9ba4,

+  0x4f5e, 0x9b94, 0x4f4a, 0x9b85, 0x4f36, 0x9b75, 0x4f22, 0x9b65,

+  0x4f0f, 0x9b56, 0x4efb, 0x9b46, 0x4ee7, 0x9b37, 0x4ed3, 0x9b27,

+  0x4ebf, 0x9b18, 0x4eac, 0x9b09, 0x4e98, 0x9af9, 0x4e84, 0x9aea,

+  0x4e70, 0x9ada, 0x4e5c, 0x9acb, 0x4e48, 0x9abb, 0x4e34, 0x9aac,

+  0x4e21, 0x9a9d, 0x4e0d, 0x9a8d, 0x4df9, 0x9a7e, 0x4de5, 0x9a6f,

+  0x4dd1, 0x9a60, 0x4dbd, 0x9a50, 0x4da9, 0x9a41, 0x4d95, 0x9a32,

+  0x4d81, 0x9a23, 0x4d6d, 0x9a13, 0x4d59, 0x9a04, 0x4d45, 0x99f5,

+  0x4d31, 0x99e6, 0x4d1d, 0x99d7, 0x4d09, 0x99c7, 0x4cf5, 0x99b8,

+  0x4ce1, 0x99a9, 0x4ccc, 0x999a, 0x4cb8, 0x998b, 0x4ca4, 0x997c,

+  0x4c90, 0x996d, 0x4c7c, 0x995e, 0x4c68, 0x994f, 0x4c54, 0x9940,

+  0x4c3f, 0x9931, 0x4c2b, 0x9922, 0x4c17, 0x9913, 0x4c03, 0x9904,

+  0x4bef, 0x98f5, 0x4bda, 0x98e6, 0x4bc6, 0x98d7, 0x4bb2, 0x98c9,

+  0x4b9e, 0x98ba, 0x4b89, 0x98ab, 0x4b75, 0x989c, 0x4b61, 0x988d,

+  0x4b4c, 0x987e, 0x4b38, 0x9870, 0x4b24, 0x9861, 0x4b0f, 0x9852,

+  0x4afb, 0x9843, 0x4ae7, 0x9835, 0x4ad2, 0x9826, 0x4abe, 0x9817,

+  0x4aa9, 0x9809, 0x4a95, 0x97fa, 0x4a81, 0x97eb, 0x4a6c, 0x97dd,

+  0x4a58, 0x97ce, 0x4a43, 0x97c0, 0x4a2f, 0x97b1, 0x4a1a, 0x97a2,

+  0x4a06, 0x9794, 0x49f1, 0x9785, 0x49dd, 0x9777, 0x49c8, 0x9768,

+  0x49b4, 0x975a, 0x499f, 0x974b, 0x498a, 0x973d, 0x4976, 0x972f,

+  0x4961, 0x9720, 0x494d, 0x9712, 0x4938, 0x9703, 0x4923, 0x96f5,

+  0x490f, 0x96e7, 0x48fa, 0x96d8, 0x48e6, 0x96ca, 0x48d1, 0x96bc,

+  0x48bc, 0x96ad, 0x48a8, 0x969f, 0x4893, 0x9691, 0x487e, 0x9683,

+  0x4869, 0x9674, 0x4855, 0x9666, 0x4840, 0x9658, 0x482b, 0x964a,

+  0x4816, 0x963c, 0x4802, 0x962d, 0x47ed, 0x961f, 0x47d8, 0x9611,

+  0x47c3, 0x9603, 0x47ae, 0x95f5, 0x479a, 0x95e7, 0x4785, 0x95d9,

+  0x4770, 0x95cb, 0x475b, 0x95bd, 0x4746, 0x95af, 0x4731, 0x95a1,

+  0x471c, 0x9593, 0x4708, 0x9585, 0x46f3, 0x9577, 0x46de, 0x9569,

+  0x46c9, 0x955b, 0x46b4, 0x954d, 0x469f, 0x953f, 0x468a, 0x9532,

+  0x4675, 0x9524, 0x4660, 0x9516, 0x464b, 0x9508, 0x4636, 0x94fa,

+  0x4621, 0x94ed, 0x460c, 0x94df, 0x45f7, 0x94d1, 0x45e2, 0x94c3,

+  0x45cd, 0x94b6, 0x45b8, 0x94a8, 0x45a3, 0x949a, 0x458d, 0x948d,

+  0x4578, 0x947f, 0x4563, 0x9471, 0x454e, 0x9464, 0x4539, 0x9456,

+  0x4524, 0x9448, 0x450f, 0x943b, 0x44fa, 0x942d, 0x44e4, 0x9420,

+  0x44cf, 0x9412, 0x44ba, 0x9405, 0x44a5, 0x93f7, 0x4490, 0x93ea,

+  0x447a, 0x93dc, 0x4465, 0x93cf, 0x4450, 0x93c1, 0x443b, 0x93b4,

+  0x4425, 0x93a7, 0x4410, 0x9399, 0x43fb, 0x938c, 0x43e5, 0x937f,

+  0x43d0, 0x9371, 0x43bb, 0x9364, 0x43a5, 0x9357, 0x4390, 0x9349,

+  0x437b, 0x933c, 0x4365, 0x932f, 0x4350, 0x9322, 0x433b, 0x9314,

+  0x4325, 0x9307, 0x4310, 0x92fa, 0x42fa, 0x92ed, 0x42e5, 0x92e0,

+  0x42d0, 0x92d3, 0x42ba, 0x92c6, 0x42a5, 0x92b8, 0x428f, 0x92ab,

+  0x427a, 0x929e, 0x4264, 0x9291, 0x424f, 0x9284, 0x4239, 0x9277,

+  0x4224, 0x926a, 0x420e, 0x925d, 0x41f9, 0x9250, 0x41e3, 0x9243,

+  0x41ce, 0x9236, 0x41b8, 0x922a, 0x41a2, 0x921d, 0x418d, 0x9210,

+  0x4177, 0x9203, 0x4162, 0x91f6, 0x414c, 0x91e9, 0x4136, 0x91dc,

+  0x4121, 0x91d0, 0x410b, 0x91c3, 0x40f6, 0x91b6, 0x40e0, 0x91a9,

+  0x40ca, 0x919d, 0x40b5, 0x9190, 0x409f, 0x9183, 0x4089, 0x9177,

+  0x4073, 0x916a, 0x405e, 0x915d, 0x4048, 0x9151, 0x4032, 0x9144,

+  0x401d, 0x9137, 0x4007, 0x912b, 0x3ff1, 0x911e, 0x3fdb, 0x9112,

+  0x3fc5, 0x9105, 0x3fb0, 0x90f9, 0x3f9a, 0x90ec, 0x3f84, 0x90e0,

+  0x3f6e, 0x90d3, 0x3f58, 0x90c7, 0x3f43, 0x90ba, 0x3f2d, 0x90ae,

+  0x3f17, 0x90a1, 0x3f01, 0x9095, 0x3eeb, 0x9089, 0x3ed5, 0x907c,

+  0x3ebf, 0x9070, 0x3ea9, 0x9064, 0x3e93, 0x9057, 0x3e7d, 0x904b,

+  0x3e68, 0x903f, 0x3e52, 0x9033, 0x3e3c, 0x9026, 0x3e26, 0x901a,

+  0x3e10, 0x900e, 0x3dfa, 0x9002, 0x3de4, 0x8ff6, 0x3dce, 0x8fea,

+  0x3db8, 0x8fdd, 0x3da2, 0x8fd1, 0x3d8c, 0x8fc5, 0x3d76, 0x8fb9,

+  0x3d60, 0x8fad, 0x3d49, 0x8fa1, 0x3d33, 0x8f95, 0x3d1d, 0x8f89,

+  0x3d07, 0x8f7d, 0x3cf1, 0x8f71, 0x3cdb, 0x8f65, 0x3cc5, 0x8f59,

+  0x3caf, 0x8f4d, 0x3c99, 0x8f41, 0x3c83, 0x8f35, 0x3c6c, 0x8f2a,

+  0x3c56, 0x8f1e, 0x3c40, 0x8f12, 0x3c2a, 0x8f06, 0x3c14, 0x8efa,

+  0x3bfd, 0x8eee, 0x3be7, 0x8ee3, 0x3bd1, 0x8ed7, 0x3bbb, 0x8ecb,

+  0x3ba5, 0x8ebf, 0x3b8e, 0x8eb4, 0x3b78, 0x8ea8, 0x3b62, 0x8e9c,

+  0x3b4c, 0x8e91, 0x3b35, 0x8e85, 0x3b1f, 0x8e7a, 0x3b09, 0x8e6e,

+  0x3af2, 0x8e62, 0x3adc, 0x8e57, 0x3ac6, 0x8e4b, 0x3aaf, 0x8e40,

+  0x3a99, 0x8e34, 0x3a83, 0x8e29, 0x3a6c, 0x8e1d, 0x3a56, 0x8e12,

+  0x3a40, 0x8e06, 0x3a29, 0x8dfb, 0x3a13, 0x8def, 0x39fd, 0x8de4,

+  0x39e6, 0x8dd9, 0x39d0, 0x8dcd, 0x39b9, 0x8dc2, 0x39a3, 0x8db7,

+  0x398c, 0x8dab, 0x3976, 0x8da0, 0x395f, 0x8d95, 0x3949, 0x8d8a,

+  0x3932, 0x8d7e, 0x391c, 0x8d73, 0x3906, 0x8d68, 0x38ef, 0x8d5d,

+  0x38d8, 0x8d51, 0x38c2, 0x8d46, 0x38ab, 0x8d3b, 0x3895, 0x8d30,

+  0x387e, 0x8d25, 0x3868, 0x8d1a, 0x3851, 0x8d0f, 0x383b, 0x8d04,

+  0x3824, 0x8cf9, 0x380d, 0x8cee, 0x37f7, 0x8ce3, 0x37e0, 0x8cd8,

+  0x37ca, 0x8ccd, 0x37b3, 0x8cc2, 0x379c, 0x8cb7, 0x3786, 0x8cac,

+  0x376f, 0x8ca1, 0x3758, 0x8c96, 0x3742, 0x8c8b, 0x372b, 0x8c81,

+  0x3714, 0x8c76, 0x36fe, 0x8c6b, 0x36e7, 0x8c60, 0x36d0, 0x8c55,

+  0x36ba, 0x8c4b, 0x36a3, 0x8c40, 0x368c, 0x8c35, 0x3675, 0x8c2a,

+  0x365f, 0x8c20, 0x3648, 0x8c15, 0x3631, 0x8c0a, 0x361a, 0x8c00,

+  0x3604, 0x8bf5, 0x35ed, 0x8beb, 0x35d6, 0x8be0, 0x35bf, 0x8bd5,

+  0x35a8, 0x8bcb, 0x3592, 0x8bc0, 0x357b, 0x8bb6, 0x3564, 0x8bab,

+  0x354d, 0x8ba1, 0x3536, 0x8b96, 0x351f, 0x8b8c, 0x3508, 0x8b82,

+  0x34f2, 0x8b77, 0x34db, 0x8b6d, 0x34c4, 0x8b62, 0x34ad, 0x8b58,

+  0x3496, 0x8b4e, 0x347f, 0x8b43, 0x3468, 0x8b39, 0x3451, 0x8b2f,

+  0x343a, 0x8b25, 0x3423, 0x8b1a, 0x340c, 0x8b10, 0x33f5, 0x8b06,

+  0x33de, 0x8afc, 0x33c7, 0x8af1, 0x33b0, 0x8ae7, 0x3399, 0x8add,

+  0x3382, 0x8ad3, 0x336b, 0x8ac9, 0x3354, 0x8abf, 0x333d, 0x8ab5,

+  0x3326, 0x8aab, 0x330f, 0x8aa1, 0x32f8, 0x8a97, 0x32e1, 0x8a8d,

+  0x32ca, 0x8a83, 0x32b3, 0x8a79, 0x329c, 0x8a6f, 0x3285, 0x8a65,

+  0x326e, 0x8a5b, 0x3257, 0x8a51, 0x3240, 0x8a47, 0x3228, 0x8a3d,

+  0x3211, 0x8a34, 0x31fa, 0x8a2a, 0x31e3, 0x8a20, 0x31cc, 0x8a16,

+  0x31b5, 0x8a0c, 0x319e, 0x8a03, 0x3186, 0x89f9, 0x316f, 0x89ef,

+  0x3158, 0x89e5, 0x3141, 0x89dc, 0x312a, 0x89d2, 0x3112, 0x89c8,

+  0x30fb, 0x89bf, 0x30e4, 0x89b5, 0x30cd, 0x89ac, 0x30b6, 0x89a2,

+  0x309e, 0x8998, 0x3087, 0x898f, 0x3070, 0x8985, 0x3059, 0x897c,

+  0x3041, 0x8972, 0x302a, 0x8969, 0x3013, 0x8960, 0x2ffb, 0x8956,

+  0x2fe4, 0x894d, 0x2fcd, 0x8943, 0x2fb5, 0x893a, 0x2f9e, 0x8931,

+  0x2f87, 0x8927, 0x2f6f, 0x891e, 0x2f58, 0x8915, 0x2f41, 0x890b,

+  0x2f29, 0x8902, 0x2f12, 0x88f9, 0x2efb, 0x88f0, 0x2ee3, 0x88e6,

+  0x2ecc, 0x88dd, 0x2eb5, 0x88d4, 0x2e9d, 0x88cb, 0x2e86, 0x88c2,

+  0x2e6e, 0x88b9, 0x2e57, 0x88af, 0x2e3f, 0x88a6, 0x2e28, 0x889d,

+  0x2e11, 0x8894, 0x2df9, 0x888b, 0x2de2, 0x8882, 0x2dca, 0x8879,

+  0x2db3, 0x8870, 0x2d9b, 0x8867, 0x2d84, 0x885e, 0x2d6c, 0x8855,

+  0x2d55, 0x884c, 0x2d3d, 0x8844, 0x2d26, 0x883b, 0x2d0e, 0x8832,

+  0x2cf7, 0x8829, 0x2cdf, 0x8820, 0x2cc8, 0x8817, 0x2cb0, 0x880f,

+  0x2c98, 0x8806, 0x2c81, 0x87fd, 0x2c69, 0x87f4, 0x2c52, 0x87ec,

+  0x2c3a, 0x87e3, 0x2c23, 0x87da, 0x2c0b, 0x87d2, 0x2bf3, 0x87c9,

+  0x2bdc, 0x87c0, 0x2bc4, 0x87b8, 0x2bad, 0x87af, 0x2b95, 0x87a7,

+  0x2b7d, 0x879e, 0x2b66, 0x8795, 0x2b4e, 0x878d, 0x2b36, 0x8784,

+  0x2b1f, 0x877c, 0x2b07, 0x8774, 0x2aef, 0x876b, 0x2ad8, 0x8763,

+  0x2ac0, 0x875a, 0x2aa8, 0x8752, 0x2a91, 0x874a, 0x2a79, 0x8741,

+  0x2a61, 0x8739, 0x2a49, 0x8731, 0x2a32, 0x8728, 0x2a1a, 0x8720,

+  0x2a02, 0x8718, 0x29eb, 0x870f, 0x29d3, 0x8707, 0x29bb, 0x86ff,

+  0x29a3, 0x86f7, 0x298b, 0x86ef, 0x2974, 0x86e7, 0x295c, 0x86de,

+  0x2944, 0x86d6, 0x292c, 0x86ce, 0x2915, 0x86c6, 0x28fd, 0x86be,

+  0x28e5, 0x86b6, 0x28cd, 0x86ae, 0x28b5, 0x86a6, 0x289d, 0x869e,

+  0x2886, 0x8696, 0x286e, 0x868e, 0x2856, 0x8686, 0x283e, 0x867e,

+  0x2826, 0x8676, 0x280e, 0x866e, 0x27f6, 0x8667, 0x27df, 0x865f,

+  0x27c7, 0x8657, 0x27af, 0x864f, 0x2797, 0x8647, 0x277f, 0x8640,

+  0x2767, 0x8638, 0x274f, 0x8630, 0x2737, 0x8628, 0x271f, 0x8621,

+  0x2707, 0x8619, 0x26ef, 0x8611, 0x26d8, 0x860a, 0x26c0, 0x8602,

+  0x26a8, 0x85fb, 0x2690, 0x85f3, 0x2678, 0x85eb, 0x2660, 0x85e4,

+  0x2648, 0x85dc, 0x2630, 0x85d5, 0x2618, 0x85cd, 0x2600, 0x85c6,

+  0x25e8, 0x85be, 0x25d0, 0x85b7, 0x25b8, 0x85b0, 0x25a0, 0x85a8,

+  0x2588, 0x85a1, 0x2570, 0x8599, 0x2558, 0x8592, 0x2540, 0x858b,

+  0x2528, 0x8583, 0x250f, 0x857c, 0x24f7, 0x8575, 0x24df, 0x856e,

+  0x24c7, 0x8566, 0x24af, 0x855f, 0x2497, 0x8558, 0x247f, 0x8551,

+  0x2467, 0x854a, 0x244f, 0x8543, 0x2437, 0x853b, 0x241f, 0x8534,

+  0x2407, 0x852d, 0x23ee, 0x8526, 0x23d6, 0x851f, 0x23be, 0x8518,

+  0x23a6, 0x8511, 0x238e, 0x850a, 0x2376, 0x8503, 0x235e, 0x84fc,

+  0x2345, 0x84f5, 0x232d, 0x84ee, 0x2315, 0x84e7, 0x22fd, 0x84e1,

+  0x22e5, 0x84da, 0x22cd, 0x84d3, 0x22b4, 0x84cc, 0x229c, 0x84c5,

+  0x2284, 0x84be, 0x226c, 0x84b8, 0x2254, 0x84b1, 0x223b, 0x84aa,

+  0x2223, 0x84a3, 0x220b, 0x849d, 0x21f3, 0x8496, 0x21da, 0x848f,

+  0x21c2, 0x8489, 0x21aa, 0x8482, 0x2192, 0x847c, 0x2179, 0x8475,

+  0x2161, 0x846e, 0x2149, 0x8468, 0x2131, 0x8461, 0x2118, 0x845b,

+  0x2100, 0x8454, 0x20e8, 0x844e, 0x20d0, 0x8447, 0x20b7, 0x8441,

+  0x209f, 0x843b, 0x2087, 0x8434, 0x206e, 0x842e, 0x2056, 0x8427,

+  0x203e, 0x8421, 0x2025, 0x841b, 0x200d, 0x8415, 0x1ff5, 0x840e,

+  0x1fdc, 0x8408, 0x1fc4, 0x8402, 0x1fac, 0x83fb, 0x1f93, 0x83f5,

+  0x1f7b, 0x83ef, 0x1f63, 0x83e9, 0x1f4a, 0x83e3, 0x1f32, 0x83dd,

+  0x1f19, 0x83d7, 0x1f01, 0x83d0, 0x1ee9, 0x83ca, 0x1ed0, 0x83c4,

+  0x1eb8, 0x83be, 0x1ea0, 0x83b8, 0x1e87, 0x83b2, 0x1e6f, 0x83ac,

+  0x1e56, 0x83a6, 0x1e3e, 0x83a0, 0x1e25, 0x839a, 0x1e0d, 0x8394,

+  0x1df5, 0x838f, 0x1ddc, 0x8389, 0x1dc4, 0x8383, 0x1dab, 0x837d,

+  0x1d93, 0x8377, 0x1d7a, 0x8371, 0x1d62, 0x836c, 0x1d49, 0x8366,

+  0x1d31, 0x8360, 0x1d18, 0x835a, 0x1d00, 0x8355, 0x1ce8, 0x834f,

+  0x1ccf, 0x8349, 0x1cb7, 0x8344, 0x1c9e, 0x833e, 0x1c86, 0x8338,

+  0x1c6d, 0x8333, 0x1c55, 0x832d, 0x1c3c, 0x8328, 0x1c24, 0x8322,

+  0x1c0b, 0x831d, 0x1bf2, 0x8317, 0x1bda, 0x8312, 0x1bc1, 0x830c,

+  0x1ba9, 0x8307, 0x1b90, 0x8301, 0x1b78, 0x82fc, 0x1b5f, 0x82f7,

+  0x1b47, 0x82f1, 0x1b2e, 0x82ec, 0x1b16, 0x82e7, 0x1afd, 0x82e1,

+  0x1ae4, 0x82dc, 0x1acc, 0x82d7, 0x1ab3, 0x82d1, 0x1a9b, 0x82cc,

+  0x1a82, 0x82c7, 0x1a6a, 0x82c2, 0x1a51, 0x82bd, 0x1a38, 0x82b7,

+  0x1a20, 0x82b2, 0x1a07, 0x82ad, 0x19ef, 0x82a8, 0x19d6, 0x82a3,

+  0x19bd, 0x829e, 0x19a5, 0x8299, 0x198c, 0x8294, 0x1973, 0x828f,

+  0x195b, 0x828a, 0x1942, 0x8285, 0x192a, 0x8280, 0x1911, 0x827b,

+  0x18f8, 0x8276, 0x18e0, 0x8271, 0x18c7, 0x826c, 0x18ae, 0x8268,

+  0x1896, 0x8263, 0x187d, 0x825e, 0x1864, 0x8259, 0x184c, 0x8254,

+  0x1833, 0x8250, 0x181a, 0x824b, 0x1802, 0x8246, 0x17e9, 0x8241,

+  0x17d0, 0x823d, 0x17b7, 0x8238, 0x179f, 0x8233, 0x1786, 0x822f,

+  0x176d, 0x822a, 0x1755, 0x8226, 0x173c, 0x8221, 0x1723, 0x821c,

+  0x170a, 0x8218, 0x16f2, 0x8213, 0x16d9, 0x820f, 0x16c0, 0x820a,

+  0x16a8, 0x8206, 0x168f, 0x8201, 0x1676, 0x81fd, 0x165d, 0x81f9,

+  0x1645, 0x81f4, 0x162c, 0x81f0, 0x1613, 0x81ec, 0x15fa, 0x81e7,

+  0x15e2, 0x81e3, 0x15c9, 0x81df, 0x15b0, 0x81da, 0x1597, 0x81d6,

+  0x157f, 0x81d2, 0x1566, 0x81ce, 0x154d, 0x81c9, 0x1534, 0x81c5,

+  0x151b, 0x81c1, 0x1503, 0x81bd, 0x14ea, 0x81b9, 0x14d1, 0x81b5,

+  0x14b8, 0x81b1, 0x149f, 0x81ad, 0x1487, 0x81a9, 0x146e, 0x81a5,

+  0x1455, 0x81a1, 0x143c, 0x819d, 0x1423, 0x8199, 0x140b, 0x8195,

+  0x13f2, 0x8191, 0x13d9, 0x818d, 0x13c0, 0x8189, 0x13a7, 0x8185,

+  0x138e, 0x8181, 0x1376, 0x817d, 0x135d, 0x817a, 0x1344, 0x8176,

+  0x132b, 0x8172, 0x1312, 0x816e, 0x12f9, 0x816b, 0x12e0, 0x8167,

+  0x12c8, 0x8163, 0x12af, 0x815f, 0x1296, 0x815c, 0x127d, 0x8158,

+  0x1264, 0x8155, 0x124b, 0x8151, 0x1232, 0x814d, 0x1219, 0x814a,

+  0x1201, 0x8146, 0x11e8, 0x8143, 0x11cf, 0x813f, 0x11b6, 0x813c,

+  0x119d, 0x8138, 0x1184, 0x8135, 0x116b, 0x8131, 0x1152, 0x812e,

+  0x1139, 0x812b, 0x1121, 0x8127, 0x1108, 0x8124, 0x10ef, 0x8121,

+  0x10d6, 0x811d, 0x10bd, 0x811a, 0x10a4, 0x8117, 0x108b, 0x8113,

+  0x1072, 0x8110, 0x1059, 0x810d, 0x1040, 0x810a, 0x1027, 0x8107,

+  0x100e, 0x8103, 0xff5, 0x8100, 0xfdd, 0x80fd, 0xfc4, 0x80fa,

+  0xfab, 0x80f7, 0xf92, 0x80f4, 0xf79, 0x80f1, 0xf60, 0x80ee,

+  0xf47, 0x80eb, 0xf2e, 0x80e8, 0xf15, 0x80e5, 0xefc, 0x80e2,

+  0xee3, 0x80df, 0xeca, 0x80dc, 0xeb1, 0x80d9, 0xe98, 0x80d6,

+  0xe7f, 0x80d3, 0xe66, 0x80d1, 0xe4d, 0x80ce, 0xe34, 0x80cb,

+  0xe1b, 0x80c8, 0xe02, 0x80c5, 0xde9, 0x80c3, 0xdd0, 0x80c0,

+  0xdb7, 0x80bd, 0xd9e, 0x80bb, 0xd85, 0x80b8, 0xd6c, 0x80b5,

+  0xd53, 0x80b3, 0xd3a, 0x80b0, 0xd21, 0x80ad, 0xd08, 0x80ab,

+  0xcef, 0x80a8, 0xcd6, 0x80a6, 0xcbd, 0x80a3, 0xca4, 0x80a1,

+  0xc8b, 0x809e, 0xc72, 0x809c, 0xc59, 0x8099, 0xc40, 0x8097,

+  0xc27, 0x8095, 0xc0e, 0x8092, 0xbf5, 0x8090, 0xbdc, 0x808e,

+  0xbc3, 0x808b, 0xbaa, 0x8089, 0xb91, 0x8087, 0xb78, 0x8084,

+  0xb5f, 0x8082, 0xb46, 0x8080, 0xb2d, 0x807e, 0xb14, 0x807b,

+  0xafb, 0x8079, 0xae2, 0x8077, 0xac9, 0x8075, 0xab0, 0x8073,

+  0xa97, 0x8071, 0xa7e, 0x806f, 0xa65, 0x806d, 0xa4c, 0x806b,

+  0xa33, 0x8069, 0xa19, 0x8067, 0xa00, 0x8065, 0x9e7, 0x8063,

+  0x9ce, 0x8061, 0x9b5, 0x805f, 0x99c, 0x805d, 0x983, 0x805b,

+  0x96a, 0x8059, 0x951, 0x8057, 0x938, 0x8056, 0x91f, 0x8054,

+  0x906, 0x8052, 0x8ed, 0x8050, 0x8d4, 0x804f, 0x8bb, 0x804d,

+  0x8a2, 0x804b, 0x888, 0x8049, 0x86f, 0x8048, 0x856, 0x8046,

+  0x83d, 0x8044, 0x824, 0x8043, 0x80b, 0x8041, 0x7f2, 0x8040,

+  0x7d9, 0x803e, 0x7c0, 0x803d, 0x7a7, 0x803b, 0x78e, 0x803a,

+  0x775, 0x8038, 0x75b, 0x8037, 0x742, 0x8035, 0x729, 0x8034,

+  0x710, 0x8032, 0x6f7, 0x8031, 0x6de, 0x8030, 0x6c5, 0x802e,

+  0x6ac, 0x802d, 0x693, 0x802c, 0x67a, 0x802a, 0x660, 0x8029,

+  0x647, 0x8028, 0x62e, 0x8027, 0x615, 0x8026, 0x5fc, 0x8024,

+  0x5e3, 0x8023, 0x5ca, 0x8022, 0x5b1, 0x8021, 0x598, 0x8020,

+  0x57f, 0x801f, 0x565, 0x801e, 0x54c, 0x801d, 0x533, 0x801c,

+  0x51a, 0x801b, 0x501, 0x801a, 0x4e8, 0x8019, 0x4cf, 0x8018,

+  0x4b6, 0x8017, 0x49c, 0x8016, 0x483, 0x8015, 0x46a, 0x8014,

+  0x451, 0x8013, 0x438, 0x8012, 0x41f, 0x8012, 0x406, 0x8011,

+  0x3ed, 0x8010, 0x3d4, 0x800f, 0x3ba, 0x800e, 0x3a1, 0x800e,

+  0x388, 0x800d, 0x36f, 0x800c, 0x356, 0x800c, 0x33d, 0x800b,

+  0x324, 0x800a, 0x30b, 0x800a, 0x2f1, 0x8009, 0x2d8, 0x8009,

+  0x2bf, 0x8008, 0x2a6, 0x8008, 0x28d, 0x8007, 0x274, 0x8007,

+  0x25b, 0x8006, 0x242, 0x8006, 0x228, 0x8005, 0x20f, 0x8005,

+  0x1f6, 0x8004, 0x1dd, 0x8004, 0x1c4, 0x8004, 0x1ab, 0x8003,

+  0x192, 0x8003, 0x178, 0x8003, 0x15f, 0x8002, 0x146, 0x8002,

+  0x12d, 0x8002, 0x114, 0x8002, 0xfb, 0x8001, 0xe2, 0x8001,

+  0xc9, 0x8001, 0xaf, 0x8001, 0x96, 0x8001, 0x7d, 0x8001,

+  0x64, 0x8001, 0x4b, 0x8001, 0x32, 0x8001, 0x19, 0x8001,

+};

+

+static const q15_t ALIGN4 WeightsQ15_8192[16384] = {

+  0x7fff, 0x0, 0x7fff, 0xfffa, 0x7fff, 0xfff4, 0x7fff, 0xffee,

+  0x7fff, 0xffe7, 0x7fff, 0xffe1, 0x7fff, 0xffdb, 0x7fff, 0xffd5,

+  0x7fff, 0xffce, 0x7fff, 0xffc8, 0x7fff, 0xffc2, 0x7fff, 0xffbb,

+  0x7fff, 0xffb5, 0x7fff, 0xffaf, 0x7fff, 0xffa9, 0x7fff, 0xffa2,

+  0x7fff, 0xff9c, 0x7fff, 0xff96, 0x7fff, 0xff8f, 0x7fff, 0xff89,

+  0x7fff, 0xff83, 0x7fff, 0xff7d, 0x7fff, 0xff76, 0x7fff, 0xff70,

+  0x7fff, 0xff6a, 0x7fff, 0xff63, 0x7fff, 0xff5d, 0x7fff, 0xff57,

+  0x7fff, 0xff51, 0x7fff, 0xff4a, 0x7fff, 0xff44, 0x7fff, 0xff3e,

+  0x7fff, 0xff37, 0x7fff, 0xff31, 0x7fff, 0xff2b, 0x7fff, 0xff25,

+  0x7fff, 0xff1e, 0x7fff, 0xff18, 0x7fff, 0xff12, 0x7fff, 0xff0b,

+  0x7fff, 0xff05, 0x7ffe, 0xfeff, 0x7ffe, 0xfef9, 0x7ffe, 0xfef2,

+  0x7ffe, 0xfeec, 0x7ffe, 0xfee6, 0x7ffe, 0xfedf, 0x7ffe, 0xfed9,

+  0x7ffe, 0xfed3, 0x7ffe, 0xfecd, 0x7ffe, 0xfec6, 0x7ffe, 0xfec0,

+  0x7ffe, 0xfeba, 0x7ffe, 0xfeb3, 0x7ffe, 0xfead, 0x7ffe, 0xfea7,

+  0x7ffe, 0xfea1, 0x7ffe, 0xfe9a, 0x7ffd, 0xfe94, 0x7ffd, 0xfe8e,

+  0x7ffd, 0xfe88, 0x7ffd, 0xfe81, 0x7ffd, 0xfe7b, 0x7ffd, 0xfe75,

+  0x7ffd, 0xfe6e, 0x7ffd, 0xfe68, 0x7ffd, 0xfe62, 0x7ffd, 0xfe5c,

+  0x7ffd, 0xfe55, 0x7ffd, 0xfe4f, 0x7ffd, 0xfe49, 0x7ffc, 0xfe42,

+  0x7ffc, 0xfe3c, 0x7ffc, 0xfe36, 0x7ffc, 0xfe30, 0x7ffc, 0xfe29,

+  0x7ffc, 0xfe23, 0x7ffc, 0xfe1d, 0x7ffc, 0xfe16, 0x7ffc, 0xfe10,

+  0x7ffc, 0xfe0a, 0x7ffc, 0xfe04, 0x7ffb, 0xfdfd, 0x7ffb, 0xfdf7,

+  0x7ffb, 0xfdf1, 0x7ffb, 0xfdea, 0x7ffb, 0xfde4, 0x7ffb, 0xfdde,

+  0x7ffb, 0xfdd8, 0x7ffb, 0xfdd1, 0x7ffb, 0xfdcb, 0x7ffb, 0xfdc5,

+  0x7ffa, 0xfdbe, 0x7ffa, 0xfdb8, 0x7ffa, 0xfdb2, 0x7ffa, 0xfdac,

+  0x7ffa, 0xfda5, 0x7ffa, 0xfd9f, 0x7ffa, 0xfd99, 0x7ffa, 0xfd93,

+  0x7ff9, 0xfd8c, 0x7ff9, 0xfd86, 0x7ff9, 0xfd80, 0x7ff9, 0xfd79,

+  0x7ff9, 0xfd73, 0x7ff9, 0xfd6d, 0x7ff9, 0xfd67, 0x7ff9, 0xfd60,

+  0x7ff8, 0xfd5a, 0x7ff8, 0xfd54, 0x7ff8, 0xfd4d, 0x7ff8, 0xfd47,

+  0x7ff8, 0xfd41, 0x7ff8, 0xfd3b, 0x7ff8, 0xfd34, 0x7ff8, 0xfd2e,

+  0x7ff7, 0xfd28, 0x7ff7, 0xfd21, 0x7ff7, 0xfd1b, 0x7ff7, 0xfd15,

+  0x7ff7, 0xfd0f, 0x7ff7, 0xfd08, 0x7ff7, 0xfd02, 0x7ff6, 0xfcfc,

+  0x7ff6, 0xfcf5, 0x7ff6, 0xfcef, 0x7ff6, 0xfce9, 0x7ff6, 0xfce3,

+  0x7ff6, 0xfcdc, 0x7ff5, 0xfcd6, 0x7ff5, 0xfcd0, 0x7ff5, 0xfcc9,

+  0x7ff5, 0xfcc3, 0x7ff5, 0xfcbd, 0x7ff5, 0xfcb7, 0x7ff5, 0xfcb0,

+  0x7ff4, 0xfcaa, 0x7ff4, 0xfca4, 0x7ff4, 0xfc9e, 0x7ff4, 0xfc97,

+  0x7ff4, 0xfc91, 0x7ff4, 0xfc8b, 0x7ff3, 0xfc84, 0x7ff3, 0xfc7e,

+  0x7ff3, 0xfc78, 0x7ff3, 0xfc72, 0x7ff3, 0xfc6b, 0x7ff2, 0xfc65,

+  0x7ff2, 0xfc5f, 0x7ff2, 0xfc58, 0x7ff2, 0xfc52, 0x7ff2, 0xfc4c,

+  0x7ff2, 0xfc46, 0x7ff1, 0xfc3f, 0x7ff1, 0xfc39, 0x7ff1, 0xfc33,

+  0x7ff1, 0xfc2c, 0x7ff1, 0xfc26, 0x7ff0, 0xfc20, 0x7ff0, 0xfc1a,

+  0x7ff0, 0xfc13, 0x7ff0, 0xfc0d, 0x7ff0, 0xfc07, 0x7fef, 0xfc01,

+  0x7fef, 0xfbfa, 0x7fef, 0xfbf4, 0x7fef, 0xfbee, 0x7fef, 0xfbe7,

+  0x7fee, 0xfbe1, 0x7fee, 0xfbdb, 0x7fee, 0xfbd5, 0x7fee, 0xfbce,

+  0x7fee, 0xfbc8, 0x7fed, 0xfbc2, 0x7fed, 0xfbbb, 0x7fed, 0xfbb5,

+  0x7fed, 0xfbaf, 0x7fed, 0xfba9, 0x7fec, 0xfba2, 0x7fec, 0xfb9c,

+  0x7fec, 0xfb96, 0x7fec, 0xfb8f, 0x7fec, 0xfb89, 0x7feb, 0xfb83,

+  0x7feb, 0xfb7d, 0x7feb, 0xfb76, 0x7feb, 0xfb70, 0x7fea, 0xfb6a,

+  0x7fea, 0xfb64, 0x7fea, 0xfb5d, 0x7fea, 0xfb57, 0x7fea, 0xfb51,

+  0x7fe9, 0xfb4a, 0x7fe9, 0xfb44, 0x7fe9, 0xfb3e, 0x7fe9, 0xfb38,

+  0x7fe8, 0xfb31, 0x7fe8, 0xfb2b, 0x7fe8, 0xfb25, 0x7fe8, 0xfb1e,

+  0x7fe7, 0xfb18, 0x7fe7, 0xfb12, 0x7fe7, 0xfb0c, 0x7fe7, 0xfb05,

+  0x7fe6, 0xfaff, 0x7fe6, 0xfaf9, 0x7fe6, 0xfaf3, 0x7fe6, 0xfaec,

+  0x7fe5, 0xfae6, 0x7fe5, 0xfae0, 0x7fe5, 0xfad9, 0x7fe5, 0xfad3,

+  0x7fe4, 0xfacd, 0x7fe4, 0xfac7, 0x7fe4, 0xfac0, 0x7fe4, 0xfaba,

+  0x7fe3, 0xfab4, 0x7fe3, 0xfaad, 0x7fe3, 0xfaa7, 0x7fe3, 0xfaa1,

+  0x7fe2, 0xfa9b, 0x7fe2, 0xfa94, 0x7fe2, 0xfa8e, 0x7fe2, 0xfa88,

+  0x7fe1, 0xfa81, 0x7fe1, 0xfa7b, 0x7fe1, 0xfa75, 0x7fe0, 0xfa6f,

+  0x7fe0, 0xfa68, 0x7fe0, 0xfa62, 0x7fe0, 0xfa5c, 0x7fdf, 0xfa56,

+  0x7fdf, 0xfa4f, 0x7fdf, 0xfa49, 0x7fdf, 0xfa43, 0x7fde, 0xfa3c,

+  0x7fde, 0xfa36, 0x7fde, 0xfa30, 0x7fdd, 0xfa2a, 0x7fdd, 0xfa23,

+  0x7fdd, 0xfa1d, 0x7fdd, 0xfa17, 0x7fdc, 0xfa11, 0x7fdc, 0xfa0a,

+  0x7fdc, 0xfa04, 0x7fdb, 0xf9fe, 0x7fdb, 0xf9f7, 0x7fdb, 0xf9f1,

+  0x7fda, 0xf9eb, 0x7fda, 0xf9e5, 0x7fda, 0xf9de, 0x7fda, 0xf9d8,

+  0x7fd9, 0xf9d2, 0x7fd9, 0xf9cb, 0x7fd9, 0xf9c5, 0x7fd8, 0xf9bf,

+  0x7fd8, 0xf9b9, 0x7fd8, 0xf9b2, 0x7fd7, 0xf9ac, 0x7fd7, 0xf9a6,

+  0x7fd7, 0xf9a0, 0x7fd6, 0xf999, 0x7fd6, 0xf993, 0x7fd6, 0xf98d,

+  0x7fd6, 0xf986, 0x7fd5, 0xf980, 0x7fd5, 0xf97a, 0x7fd5, 0xf974,

+  0x7fd4, 0xf96d, 0x7fd4, 0xf967, 0x7fd4, 0xf961, 0x7fd3, 0xf95b,

+  0x7fd3, 0xf954, 0x7fd3, 0xf94e, 0x7fd2, 0xf948, 0x7fd2, 0xf941,

+  0x7fd2, 0xf93b, 0x7fd1, 0xf935, 0x7fd1, 0xf92f, 0x7fd1, 0xf928,

+  0x7fd0, 0xf922, 0x7fd0, 0xf91c, 0x7fd0, 0xf916, 0x7fcf, 0xf90f,

+  0x7fcf, 0xf909, 0x7fcf, 0xf903, 0x7fce, 0xf8fc, 0x7fce, 0xf8f6,

+  0x7fce, 0xf8f0, 0x7fcd, 0xf8ea, 0x7fcd, 0xf8e3, 0x7fcd, 0xf8dd,

+  0x7fcc, 0xf8d7, 0x7fcc, 0xf8d0, 0x7fcb, 0xf8ca, 0x7fcb, 0xf8c4,

+  0x7fcb, 0xf8be, 0x7fca, 0xf8b7, 0x7fca, 0xf8b1, 0x7fca, 0xf8ab,

+  0x7fc9, 0xf8a5, 0x7fc9, 0xf89e, 0x7fc9, 0xf898, 0x7fc8, 0xf892,

+  0x7fc8, 0xf88b, 0x7fc7, 0xf885, 0x7fc7, 0xf87f, 0x7fc7, 0xf879,

+  0x7fc6, 0xf872, 0x7fc6, 0xf86c, 0x7fc6, 0xf866, 0x7fc5, 0xf860,

+  0x7fc5, 0xf859, 0x7fc5, 0xf853, 0x7fc4, 0xf84d, 0x7fc4, 0xf846,

+  0x7fc3, 0xf840, 0x7fc3, 0xf83a, 0x7fc3, 0xf834, 0x7fc2, 0xf82d,

+  0x7fc2, 0xf827, 0x7fc1, 0xf821, 0x7fc1, 0xf81b, 0x7fc1, 0xf814,

+  0x7fc0, 0xf80e, 0x7fc0, 0xf808, 0x7fc0, 0xf802, 0x7fbf, 0xf7fb,

+  0x7fbf, 0xf7f5, 0x7fbe, 0xf7ef, 0x7fbe, 0xf7e8, 0x7fbe, 0xf7e2,

+  0x7fbd, 0xf7dc, 0x7fbd, 0xf7d6, 0x7fbc, 0xf7cf, 0x7fbc, 0xf7c9,

+  0x7fbc, 0xf7c3, 0x7fbb, 0xf7bd, 0x7fbb, 0xf7b6, 0x7fba, 0xf7b0,

+  0x7fba, 0xf7aa, 0x7fb9, 0xf7a3, 0x7fb9, 0xf79d, 0x7fb9, 0xf797,

+  0x7fb8, 0xf791, 0x7fb8, 0xf78a, 0x7fb7, 0xf784, 0x7fb7, 0xf77e,

+  0x7fb7, 0xf778, 0x7fb6, 0xf771, 0x7fb6, 0xf76b, 0x7fb5, 0xf765,

+  0x7fb5, 0xf75e, 0x7fb4, 0xf758, 0x7fb4, 0xf752, 0x7fb4, 0xf74c,

+  0x7fb3, 0xf745, 0x7fb3, 0xf73f, 0x7fb2, 0xf739, 0x7fb2, 0xf733,

+  0x7fb1, 0xf72c, 0x7fb1, 0xf726, 0x7fb1, 0xf720, 0x7fb0, 0xf71a,

+  0x7fb0, 0xf713, 0x7faf, 0xf70d, 0x7faf, 0xf707, 0x7fae, 0xf700,

+  0x7fae, 0xf6fa, 0x7fae, 0xf6f4, 0x7fad, 0xf6ee, 0x7fad, 0xf6e7,

+  0x7fac, 0xf6e1, 0x7fac, 0xf6db, 0x7fab, 0xf6d5, 0x7fab, 0xf6ce,

+  0x7faa, 0xf6c8, 0x7faa, 0xf6c2, 0x7fa9, 0xf6bc, 0x7fa9, 0xf6b5,

+  0x7fa9, 0xf6af, 0x7fa8, 0xf6a9, 0x7fa8, 0xf6a2, 0x7fa7, 0xf69c,

+  0x7fa7, 0xf696, 0x7fa6, 0xf690, 0x7fa6, 0xf689, 0x7fa5, 0xf683,

+  0x7fa5, 0xf67d, 0x7fa4, 0xf677, 0x7fa4, 0xf670, 0x7fa3, 0xf66a,

+  0x7fa3, 0xf664, 0x7fa3, 0xf65e, 0x7fa2, 0xf657, 0x7fa2, 0xf651,

+  0x7fa1, 0xf64b, 0x7fa1, 0xf644, 0x7fa0, 0xf63e, 0x7fa0, 0xf638,

+  0x7f9f, 0xf632, 0x7f9f, 0xf62b, 0x7f9e, 0xf625, 0x7f9e, 0xf61f,

+  0x7f9d, 0xf619, 0x7f9d, 0xf612, 0x7f9c, 0xf60c, 0x7f9c, 0xf606,

+  0x7f9b, 0xf600, 0x7f9b, 0xf5f9, 0x7f9a, 0xf5f3, 0x7f9a, 0xf5ed,

+  0x7f99, 0xf5e7, 0x7f99, 0xf5e0, 0x7f98, 0xf5da, 0x7f98, 0xf5d4,

+  0x7f97, 0xf5cd, 0x7f97, 0xf5c7, 0x7f96, 0xf5c1, 0x7f96, 0xf5bb,

+  0x7f95, 0xf5b4, 0x7f95, 0xf5ae, 0x7f94, 0xf5a8, 0x7f94, 0xf5a2,

+  0x7f93, 0xf59b, 0x7f93, 0xf595, 0x7f92, 0xf58f, 0x7f92, 0xf589,

+  0x7f91, 0xf582, 0x7f91, 0xf57c, 0x7f90, 0xf576, 0x7f90, 0xf570,

+  0x7f8f, 0xf569, 0x7f8f, 0xf563, 0x7f8e, 0xf55d, 0x7f8e, 0xf556,

+  0x7f8d, 0xf550, 0x7f8d, 0xf54a, 0x7f8c, 0xf544, 0x7f8b, 0xf53d,

+  0x7f8b, 0xf537, 0x7f8a, 0xf531, 0x7f8a, 0xf52b, 0x7f89, 0xf524,

+  0x7f89, 0xf51e, 0x7f88, 0xf518, 0x7f88, 0xf512, 0x7f87, 0xf50b,

+  0x7f87, 0xf505, 0x7f86, 0xf4ff, 0x7f86, 0xf4f9, 0x7f85, 0xf4f2,

+  0x7f85, 0xf4ec, 0x7f84, 0xf4e6, 0x7f83, 0xf4e0, 0x7f83, 0xf4d9,

+  0x7f82, 0xf4d3, 0x7f82, 0xf4cd, 0x7f81, 0xf4c6, 0x7f81, 0xf4c0,

+  0x7f80, 0xf4ba, 0x7f80, 0xf4b4, 0x7f7f, 0xf4ad, 0x7f7e, 0xf4a7,

+  0x7f7e, 0xf4a1, 0x7f7d, 0xf49b, 0x7f7d, 0xf494, 0x7f7c, 0xf48e,

+  0x7f7c, 0xf488, 0x7f7b, 0xf482, 0x7f7b, 0xf47b, 0x7f7a, 0xf475,

+  0x7f79, 0xf46f, 0x7f79, 0xf469, 0x7f78, 0xf462, 0x7f78, 0xf45c,

+  0x7f77, 0xf456, 0x7f77, 0xf450, 0x7f76, 0xf449, 0x7f75, 0xf443,

+  0x7f75, 0xf43d, 0x7f74, 0xf437, 0x7f74, 0xf430, 0x7f73, 0xf42a,

+  0x7f72, 0xf424, 0x7f72, 0xf41e, 0x7f71, 0xf417, 0x7f71, 0xf411,

+  0x7f70, 0xf40b, 0x7f70, 0xf405, 0x7f6f, 0xf3fe, 0x7f6e, 0xf3f8,

+  0x7f6e, 0xf3f2, 0x7f6d, 0xf3ec, 0x7f6d, 0xf3e5, 0x7f6c, 0xf3df,

+  0x7f6b, 0xf3d9, 0x7f6b, 0xf3d2, 0x7f6a, 0xf3cc, 0x7f6a, 0xf3c6,

+  0x7f69, 0xf3c0, 0x7f68, 0xf3b9, 0x7f68, 0xf3b3, 0x7f67, 0xf3ad,

+  0x7f67, 0xf3a7, 0x7f66, 0xf3a0, 0x7f65, 0xf39a, 0x7f65, 0xf394,

+  0x7f64, 0xf38e, 0x7f64, 0xf387, 0x7f63, 0xf381, 0x7f62, 0xf37b,

+  0x7f62, 0xf375, 0x7f61, 0xf36e, 0x7f60, 0xf368, 0x7f60, 0xf362,

+  0x7f5f, 0xf35c, 0x7f5f, 0xf355, 0x7f5e, 0xf34f, 0x7f5d, 0xf349,

+  0x7f5d, 0xf343, 0x7f5c, 0xf33c, 0x7f5b, 0xf336, 0x7f5b, 0xf330,

+  0x7f5a, 0xf32a, 0x7f5a, 0xf323, 0x7f59, 0xf31d, 0x7f58, 0xf317,

+  0x7f58, 0xf311, 0x7f57, 0xf30a, 0x7f56, 0xf304, 0x7f56, 0xf2fe,

+  0x7f55, 0xf2f8, 0x7f55, 0xf2f1, 0x7f54, 0xf2eb, 0x7f53, 0xf2e5,

+  0x7f53, 0xf2df, 0x7f52, 0xf2d8, 0x7f51, 0xf2d2, 0x7f51, 0xf2cc,

+  0x7f50, 0xf2c6, 0x7f4f, 0xf2bf, 0x7f4f, 0xf2b9, 0x7f4e, 0xf2b3,

+  0x7f4d, 0xf2ad, 0x7f4d, 0xf2a6, 0x7f4c, 0xf2a0, 0x7f4b, 0xf29a,

+  0x7f4b, 0xf294, 0x7f4a, 0xf28d, 0x7f49, 0xf287, 0x7f49, 0xf281,

+  0x7f48, 0xf27b, 0x7f47, 0xf274, 0x7f47, 0xf26e, 0x7f46, 0xf268,

+  0x7f45, 0xf262, 0x7f45, 0xf25b, 0x7f44, 0xf255, 0x7f43, 0xf24f,

+  0x7f43, 0xf249, 0x7f42, 0xf242, 0x7f41, 0xf23c, 0x7f41, 0xf236,

+  0x7f40, 0xf230, 0x7f3f, 0xf229, 0x7f3f, 0xf223, 0x7f3e, 0xf21d,

+  0x7f3d, 0xf217, 0x7f3d, 0xf210, 0x7f3c, 0xf20a, 0x7f3b, 0xf204,

+  0x7f3b, 0xf1fe, 0x7f3a, 0xf1f7, 0x7f39, 0xf1f1, 0x7f39, 0xf1eb,

+  0x7f38, 0xf1e5, 0x7f37, 0xf1de, 0x7f36, 0xf1d8, 0x7f36, 0xf1d2,

+  0x7f35, 0xf1cc, 0x7f34, 0xf1c6, 0x7f34, 0xf1bf, 0x7f33, 0xf1b9,

+  0x7f32, 0xf1b3, 0x7f32, 0xf1ad, 0x7f31, 0xf1a6, 0x7f30, 0xf1a0,

+  0x7f2f, 0xf19a, 0x7f2f, 0xf194, 0x7f2e, 0xf18d, 0x7f2d, 0xf187,

+  0x7f2d, 0xf181, 0x7f2c, 0xf17b, 0x7f2b, 0xf174, 0x7f2a, 0xf16e,

+  0x7f2a, 0xf168, 0x7f29, 0xf162, 0x7f28, 0xf15b, 0x7f28, 0xf155,

+  0x7f27, 0xf14f, 0x7f26, 0xf149, 0x7f25, 0xf142, 0x7f25, 0xf13c,

+  0x7f24, 0xf136, 0x7f23, 0xf130, 0x7f23, 0xf129, 0x7f22, 0xf123,

+  0x7f21, 0xf11d, 0x7f20, 0xf117, 0x7f20, 0xf110, 0x7f1f, 0xf10a,

+  0x7f1e, 0xf104, 0x7f1d, 0xf0fe, 0x7f1d, 0xf0f8, 0x7f1c, 0xf0f1,

+  0x7f1b, 0xf0eb, 0x7f1a, 0xf0e5, 0x7f1a, 0xf0df, 0x7f19, 0xf0d8,

+  0x7f18, 0xf0d2, 0x7f17, 0xf0cc, 0x7f17, 0xf0c6, 0x7f16, 0xf0bf,

+  0x7f15, 0xf0b9, 0x7f14, 0xf0b3, 0x7f14, 0xf0ad, 0x7f13, 0xf0a6,

+  0x7f12, 0xf0a0, 0x7f11, 0xf09a, 0x7f11, 0xf094, 0x7f10, 0xf08d,

+  0x7f0f, 0xf087, 0x7f0e, 0xf081, 0x7f0e, 0xf07b, 0x7f0d, 0xf075,

+  0x7f0c, 0xf06e, 0x7f0b, 0xf068, 0x7f0b, 0xf062, 0x7f0a, 0xf05c,

+  0x7f09, 0xf055, 0x7f08, 0xf04f, 0x7f08, 0xf049, 0x7f07, 0xf043,

+  0x7f06, 0xf03c, 0x7f05, 0xf036, 0x7f04, 0xf030, 0x7f04, 0xf02a,

+  0x7f03, 0xf023, 0x7f02, 0xf01d, 0x7f01, 0xf017, 0x7f01, 0xf011,

+  0x7f00, 0xf00b, 0x7eff, 0xf004, 0x7efe, 0xeffe, 0x7efd, 0xeff8,

+  0x7efd, 0xeff2, 0x7efc, 0xefeb, 0x7efb, 0xefe5, 0x7efa, 0xefdf,

+  0x7ef9, 0xefd9, 0x7ef9, 0xefd2, 0x7ef8, 0xefcc, 0x7ef7, 0xefc6,

+  0x7ef6, 0xefc0, 0x7ef5, 0xefb9, 0x7ef5, 0xefb3, 0x7ef4, 0xefad,

+  0x7ef3, 0xefa7, 0x7ef2, 0xefa1, 0x7ef1, 0xef9a, 0x7ef1, 0xef94,

+  0x7ef0, 0xef8e, 0x7eef, 0xef88, 0x7eee, 0xef81, 0x7eed, 0xef7b,

+  0x7eed, 0xef75, 0x7eec, 0xef6f, 0x7eeb, 0xef68, 0x7eea, 0xef62,

+  0x7ee9, 0xef5c, 0x7ee9, 0xef56, 0x7ee8, 0xef50, 0x7ee7, 0xef49,

+  0x7ee6, 0xef43, 0x7ee5, 0xef3d, 0x7ee4, 0xef37, 0x7ee4, 0xef30,

+  0x7ee3, 0xef2a, 0x7ee2, 0xef24, 0x7ee1, 0xef1e, 0x7ee0, 0xef18,

+  0x7edf, 0xef11, 0x7edf, 0xef0b, 0x7ede, 0xef05, 0x7edd, 0xeeff,

+  0x7edc, 0xeef8, 0x7edb, 0xeef2, 0x7eda, 0xeeec, 0x7eda, 0xeee6,

+  0x7ed9, 0xeedf, 0x7ed8, 0xeed9, 0x7ed7, 0xeed3, 0x7ed6, 0xeecd,

+  0x7ed5, 0xeec7, 0x7ed5, 0xeec0, 0x7ed4, 0xeeba, 0x7ed3, 0xeeb4,

+  0x7ed2, 0xeeae, 0x7ed1, 0xeea7, 0x7ed0, 0xeea1, 0x7ecf, 0xee9b,

+  0x7ecf, 0xee95, 0x7ece, 0xee8f, 0x7ecd, 0xee88, 0x7ecc, 0xee82,

+  0x7ecb, 0xee7c, 0x7eca, 0xee76, 0x7ec9, 0xee6f, 0x7ec9, 0xee69,

+  0x7ec8, 0xee63, 0x7ec7, 0xee5d, 0x7ec6, 0xee57, 0x7ec5, 0xee50,

+  0x7ec4, 0xee4a, 0x7ec3, 0xee44, 0x7ec3, 0xee3e, 0x7ec2, 0xee37,

+  0x7ec1, 0xee31, 0x7ec0, 0xee2b, 0x7ebf, 0xee25, 0x7ebe, 0xee1f,

+  0x7ebd, 0xee18, 0x7ebc, 0xee12, 0x7ebb, 0xee0c, 0x7ebb, 0xee06,

+  0x7eba, 0xedff, 0x7eb9, 0xedf9, 0x7eb8, 0xedf3, 0x7eb7, 0xeded,

+  0x7eb6, 0xede7, 0x7eb5, 0xede0, 0x7eb4, 0xedda, 0x7eb4, 0xedd4,

+  0x7eb3, 0xedce, 0x7eb2, 0xedc7, 0x7eb1, 0xedc1, 0x7eb0, 0xedbb,

+  0x7eaf, 0xedb5, 0x7eae, 0xedaf, 0x7ead, 0xeda8, 0x7eac, 0xeda2,

+  0x7eab, 0xed9c, 0x7eab, 0xed96, 0x7eaa, 0xed8f, 0x7ea9, 0xed89,

+  0x7ea8, 0xed83, 0x7ea7, 0xed7d, 0x7ea6, 0xed77, 0x7ea5, 0xed70,

+  0x7ea4, 0xed6a, 0x7ea3, 0xed64, 0x7ea2, 0xed5e, 0x7ea1, 0xed58,

+  0x7ea1, 0xed51, 0x7ea0, 0xed4b, 0x7e9f, 0xed45, 0x7e9e, 0xed3f,

+  0x7e9d, 0xed38, 0x7e9c, 0xed32, 0x7e9b, 0xed2c, 0x7e9a, 0xed26,

+  0x7e99, 0xed20, 0x7e98, 0xed19, 0x7e97, 0xed13, 0x7e96, 0xed0d,

+  0x7e95, 0xed07, 0x7e94, 0xed01, 0x7e94, 0xecfa, 0x7e93, 0xecf4,

+  0x7e92, 0xecee, 0x7e91, 0xece8, 0x7e90, 0xece1, 0x7e8f, 0xecdb,

+  0x7e8e, 0xecd5, 0x7e8d, 0xeccf, 0x7e8c, 0xecc9, 0x7e8b, 0xecc2,

+  0x7e8a, 0xecbc, 0x7e89, 0xecb6, 0x7e88, 0xecb0, 0x7e87, 0xecaa,

+  0x7e86, 0xeca3, 0x7e85, 0xec9d, 0x7e84, 0xec97, 0x7e84, 0xec91,

+  0x7e83, 0xec8a, 0x7e82, 0xec84, 0x7e81, 0xec7e, 0x7e80, 0xec78,

+  0x7e7f, 0xec72, 0x7e7e, 0xec6b, 0x7e7d, 0xec65, 0x7e7c, 0xec5f,

+  0x7e7b, 0xec59, 0x7e7a, 0xec53, 0x7e79, 0xec4c, 0x7e78, 0xec46,

+  0x7e77, 0xec40, 0x7e76, 0xec3a, 0x7e75, 0xec34, 0x7e74, 0xec2d,

+  0x7e73, 0xec27, 0x7e72, 0xec21, 0x7e71, 0xec1b, 0x7e70, 0xec15,

+  0x7e6f, 0xec0e, 0x7e6e, 0xec08, 0x7e6d, 0xec02, 0x7e6c, 0xebfc,

+  0x7e6b, 0xebf5, 0x7e6a, 0xebef, 0x7e69, 0xebe9, 0x7e68, 0xebe3,

+  0x7e67, 0xebdd, 0x7e66, 0xebd6, 0x7e65, 0xebd0, 0x7e64, 0xebca,

+  0x7e63, 0xebc4, 0x7e62, 0xebbe, 0x7e61, 0xebb7, 0x7e60, 0xebb1,

+  0x7e5f, 0xebab, 0x7e5e, 0xeba5, 0x7e5d, 0xeb9f, 0x7e5c, 0xeb98,

+  0x7e5b, 0xeb92, 0x7e5a, 0xeb8c, 0x7e59, 0xeb86, 0x7e58, 0xeb80,

+  0x7e57, 0xeb79, 0x7e56, 0xeb73, 0x7e55, 0xeb6d, 0x7e54, 0xeb67,

+  0x7e53, 0xeb61, 0x7e52, 0xeb5a, 0x7e51, 0xeb54, 0x7e50, 0xeb4e,

+  0x7e4f, 0xeb48, 0x7e4e, 0xeb42, 0x7e4d, 0xeb3b, 0x7e4c, 0xeb35,

+  0x7e4b, 0xeb2f, 0x7e4a, 0xeb29, 0x7e49, 0xeb23, 0x7e48, 0xeb1c,

+  0x7e47, 0xeb16, 0x7e46, 0xeb10, 0x7e45, 0xeb0a, 0x7e44, 0xeb04,

+  0x7e43, 0xeafd, 0x7e42, 0xeaf7, 0x7e41, 0xeaf1, 0x7e40, 0xeaeb,

+  0x7e3f, 0xeae5, 0x7e3e, 0xeade, 0x7e3d, 0xead8, 0x7e3c, 0xead2,

+  0x7e3b, 0xeacc, 0x7e3a, 0xeac6, 0x7e39, 0xeabf, 0x7e38, 0xeab9,

+  0x7e37, 0xeab3, 0x7e35, 0xeaad, 0x7e34, 0xeaa7, 0x7e33, 0xeaa0,

+  0x7e32, 0xea9a, 0x7e31, 0xea94, 0x7e30, 0xea8e, 0x7e2f, 0xea88,

+  0x7e2e, 0xea81, 0x7e2d, 0xea7b, 0x7e2c, 0xea75, 0x7e2b, 0xea6f,

+  0x7e2a, 0xea69, 0x7e29, 0xea63, 0x7e28, 0xea5c, 0x7e27, 0xea56,

+  0x7e26, 0xea50, 0x7e25, 0xea4a, 0x7e24, 0xea44, 0x7e22, 0xea3d,

+  0x7e21, 0xea37, 0x7e20, 0xea31, 0x7e1f, 0xea2b, 0x7e1e, 0xea25,

+  0x7e1d, 0xea1e, 0x7e1c, 0xea18, 0x7e1b, 0xea12, 0x7e1a, 0xea0c,

+  0x7e19, 0xea06, 0x7e18, 0xe9ff, 0x7e17, 0xe9f9, 0x7e16, 0xe9f3,

+  0x7e14, 0xe9ed, 0x7e13, 0xe9e7, 0x7e12, 0xe9e1, 0x7e11, 0xe9da,

+  0x7e10, 0xe9d4, 0x7e0f, 0xe9ce, 0x7e0e, 0xe9c8, 0x7e0d, 0xe9c2,

+  0x7e0c, 0xe9bb, 0x7e0b, 0xe9b5, 0x7e0a, 0xe9af, 0x7e08, 0xe9a9,

+  0x7e07, 0xe9a3, 0x7e06, 0xe99c, 0x7e05, 0xe996, 0x7e04, 0xe990,

+  0x7e03, 0xe98a, 0x7e02, 0xe984, 0x7e01, 0xe97e, 0x7e00, 0xe977,

+  0x7dff, 0xe971, 0x7dfd, 0xe96b, 0x7dfc, 0xe965, 0x7dfb, 0xe95f,

+  0x7dfa, 0xe958, 0x7df9, 0xe952, 0x7df8, 0xe94c, 0x7df7, 0xe946,

+  0x7df6, 0xe940, 0x7df5, 0xe93a, 0x7df3, 0xe933, 0x7df2, 0xe92d,

+  0x7df1, 0xe927, 0x7df0, 0xe921, 0x7def, 0xe91b, 0x7dee, 0xe914,

+  0x7ded, 0xe90e, 0x7dec, 0xe908, 0x7dea, 0xe902, 0x7de9, 0xe8fc,

+  0x7de8, 0xe8f6, 0x7de7, 0xe8ef, 0x7de6, 0xe8e9, 0x7de5, 0xe8e3,

+  0x7de4, 0xe8dd, 0x7de2, 0xe8d7, 0x7de1, 0xe8d0, 0x7de0, 0xe8ca,

+  0x7ddf, 0xe8c4, 0x7dde, 0xe8be, 0x7ddd, 0xe8b8, 0x7ddc, 0xe8b2,

+  0x7dda, 0xe8ab, 0x7dd9, 0xe8a5, 0x7dd8, 0xe89f, 0x7dd7, 0xe899,

+  0x7dd6, 0xe893, 0x7dd5, 0xe88c, 0x7dd4, 0xe886, 0x7dd2, 0xe880,

+  0x7dd1, 0xe87a, 0x7dd0, 0xe874, 0x7dcf, 0xe86e, 0x7dce, 0xe867,

+  0x7dcd, 0xe861, 0x7dcc, 0xe85b, 0x7dca, 0xe855, 0x7dc9, 0xe84f,

+  0x7dc8, 0xe849, 0x7dc7, 0xe842, 0x7dc6, 0xe83c, 0x7dc5, 0xe836,

+  0x7dc3, 0xe830, 0x7dc2, 0xe82a, 0x7dc1, 0xe823, 0x7dc0, 0xe81d,

+  0x7dbf, 0xe817, 0x7dbd, 0xe811, 0x7dbc, 0xe80b, 0x7dbb, 0xe805,

+  0x7dba, 0xe7fe, 0x7db9, 0xe7f8, 0x7db8, 0xe7f2, 0x7db6, 0xe7ec,

+  0x7db5, 0xe7e6, 0x7db4, 0xe7e0, 0x7db3, 0xe7d9, 0x7db2, 0xe7d3,

+  0x7db0, 0xe7cd, 0x7daf, 0xe7c7, 0x7dae, 0xe7c1, 0x7dad, 0xe7bb,

+  0x7dac, 0xe7b4, 0x7dab, 0xe7ae, 0x7da9, 0xe7a8, 0x7da8, 0xe7a2,

+  0x7da7, 0xe79c, 0x7da6, 0xe796, 0x7da5, 0xe78f, 0x7da3, 0xe789,

+  0x7da2, 0xe783, 0x7da1, 0xe77d, 0x7da0, 0xe777, 0x7d9f, 0xe771,

+  0x7d9d, 0xe76a, 0x7d9c, 0xe764, 0x7d9b, 0xe75e, 0x7d9a, 0xe758,

+  0x7d98, 0xe752, 0x7d97, 0xe74c, 0x7d96, 0xe745, 0x7d95, 0xe73f,

+  0x7d94, 0xe739, 0x7d92, 0xe733, 0x7d91, 0xe72d, 0x7d90, 0xe727,

+  0x7d8f, 0xe720, 0x7d8e, 0xe71a, 0x7d8c, 0xe714, 0x7d8b, 0xe70e,

+  0x7d8a, 0xe708, 0x7d89, 0xe702, 0x7d87, 0xe6fb, 0x7d86, 0xe6f5,

+  0x7d85, 0xe6ef, 0x7d84, 0xe6e9, 0x7d82, 0xe6e3, 0x7d81, 0xe6dd,

+  0x7d80, 0xe6d6, 0x7d7f, 0xe6d0, 0x7d7e, 0xe6ca, 0x7d7c, 0xe6c4,

+  0x7d7b, 0xe6be, 0x7d7a, 0xe6b8, 0x7d79, 0xe6b2, 0x7d77, 0xe6ab,

+  0x7d76, 0xe6a5, 0x7d75, 0xe69f, 0x7d74, 0xe699, 0x7d72, 0xe693,

+  0x7d71, 0xe68d, 0x7d70, 0xe686, 0x7d6f, 0xe680, 0x7d6d, 0xe67a,

+  0x7d6c, 0xe674, 0x7d6b, 0xe66e, 0x7d6a, 0xe668, 0x7d68, 0xe661,

+  0x7d67, 0xe65b, 0x7d66, 0xe655, 0x7d65, 0xe64f, 0x7d63, 0xe649,

+  0x7d62, 0xe643, 0x7d61, 0xe63d, 0x7d60, 0xe636, 0x7d5e, 0xe630,

+  0x7d5d, 0xe62a, 0x7d5c, 0xe624, 0x7d5a, 0xe61e, 0x7d59, 0xe618,

+  0x7d58, 0xe611, 0x7d57, 0xe60b, 0x7d55, 0xe605, 0x7d54, 0xe5ff,

+  0x7d53, 0xe5f9, 0x7d52, 0xe5f3, 0x7d50, 0xe5ed, 0x7d4f, 0xe5e6,

+  0x7d4e, 0xe5e0, 0x7d4c, 0xe5da, 0x7d4b, 0xe5d4, 0x7d4a, 0xe5ce,

+  0x7d49, 0xe5c8, 0x7d47, 0xe5c2, 0x7d46, 0xe5bb, 0x7d45, 0xe5b5,

+  0x7d43, 0xe5af, 0x7d42, 0xe5a9, 0x7d41, 0xe5a3, 0x7d3f, 0xe59d,

+  0x7d3e, 0xe596, 0x7d3d, 0xe590, 0x7d3c, 0xe58a, 0x7d3a, 0xe584,

+  0x7d39, 0xe57e, 0x7d38, 0xe578, 0x7d36, 0xe572, 0x7d35, 0xe56b,

+  0x7d34, 0xe565, 0x7d32, 0xe55f, 0x7d31, 0xe559, 0x7d30, 0xe553,

+  0x7d2f, 0xe54d, 0x7d2d, 0xe547, 0x7d2c, 0xe540, 0x7d2b, 0xe53a,

+  0x7d29, 0xe534, 0x7d28, 0xe52e, 0x7d27, 0xe528, 0x7d25, 0xe522,

+  0x7d24, 0xe51c, 0x7d23, 0xe515, 0x7d21, 0xe50f, 0x7d20, 0xe509,

+  0x7d1f, 0xe503, 0x7d1d, 0xe4fd, 0x7d1c, 0xe4f7, 0x7d1b, 0xe4f1,

+  0x7d19, 0xe4ea, 0x7d18, 0xe4e4, 0x7d17, 0xe4de, 0x7d15, 0xe4d8,

+  0x7d14, 0xe4d2, 0x7d13, 0xe4cc, 0x7d11, 0xe4c6, 0x7d10, 0xe4bf,

+  0x7d0f, 0xe4b9, 0x7d0d, 0xe4b3, 0x7d0c, 0xe4ad, 0x7d0b, 0xe4a7,

+  0x7d09, 0xe4a1, 0x7d08, 0xe49b, 0x7d07, 0xe494, 0x7d05, 0xe48e,

+  0x7d04, 0xe488, 0x7d03, 0xe482, 0x7d01, 0xe47c, 0x7d00, 0xe476,

+  0x7cff, 0xe470, 0x7cfd, 0xe46a, 0x7cfc, 0xe463, 0x7cfb, 0xe45d,

+  0x7cf9, 0xe457, 0x7cf8, 0xe451, 0x7cf6, 0xe44b, 0x7cf5, 0xe445,

+  0x7cf4, 0xe43f, 0x7cf2, 0xe438, 0x7cf1, 0xe432, 0x7cf0, 0xe42c,

+  0x7cee, 0xe426, 0x7ced, 0xe420, 0x7cec, 0xe41a, 0x7cea, 0xe414,

+  0x7ce9, 0xe40e, 0x7ce7, 0xe407, 0x7ce6, 0xe401, 0x7ce5, 0xe3fb,

+  0x7ce3, 0xe3f5, 0x7ce2, 0xe3ef, 0x7ce1, 0xe3e9, 0x7cdf, 0xe3e3,

+  0x7cde, 0xe3dc, 0x7cdc, 0xe3d6, 0x7cdb, 0xe3d0, 0x7cda, 0xe3ca,

+  0x7cd8, 0xe3c4, 0x7cd7, 0xe3be, 0x7cd5, 0xe3b8, 0x7cd4, 0xe3b2,

+  0x7cd3, 0xe3ab, 0x7cd1, 0xe3a5, 0x7cd0, 0xe39f, 0x7ccf, 0xe399,

+  0x7ccd, 0xe393, 0x7ccc, 0xe38d, 0x7cca, 0xe387, 0x7cc9, 0xe381,

+  0x7cc8, 0xe37a, 0x7cc6, 0xe374, 0x7cc5, 0xe36e, 0x7cc3, 0xe368,

+  0x7cc2, 0xe362, 0x7cc1, 0xe35c, 0x7cbf, 0xe356, 0x7cbe, 0xe350,

+  0x7cbc, 0xe349, 0x7cbb, 0xe343, 0x7cb9, 0xe33d, 0x7cb8, 0xe337,

+  0x7cb7, 0xe331, 0x7cb5, 0xe32b, 0x7cb4, 0xe325, 0x7cb2, 0xe31f,

+  0x7cb1, 0xe318, 0x7cb0, 0xe312, 0x7cae, 0xe30c, 0x7cad, 0xe306,

+  0x7cab, 0xe300, 0x7caa, 0xe2fa, 0x7ca8, 0xe2f4, 0x7ca7, 0xe2ee,

+  0x7ca6, 0xe2e8, 0x7ca4, 0xe2e1, 0x7ca3, 0xe2db, 0x7ca1, 0xe2d5,

+  0x7ca0, 0xe2cf, 0x7c9e, 0xe2c9, 0x7c9d, 0xe2c3, 0x7c9c, 0xe2bd,

+  0x7c9a, 0xe2b7, 0x7c99, 0xe2b0, 0x7c97, 0xe2aa, 0x7c96, 0xe2a4,

+  0x7c94, 0xe29e, 0x7c93, 0xe298, 0x7c91, 0xe292, 0x7c90, 0xe28c,

+  0x7c8f, 0xe286, 0x7c8d, 0xe280, 0x7c8c, 0xe279, 0x7c8a, 0xe273,

+  0x7c89, 0xe26d, 0x7c87, 0xe267, 0x7c86, 0xe261, 0x7c84, 0xe25b,

+  0x7c83, 0xe255, 0x7c82, 0xe24f, 0x7c80, 0xe249, 0x7c7f, 0xe242,

+  0x7c7d, 0xe23c, 0x7c7c, 0xe236, 0x7c7a, 0xe230, 0x7c79, 0xe22a,

+  0x7c77, 0xe224, 0x7c76, 0xe21e, 0x7c74, 0xe218, 0x7c73, 0xe212,

+  0x7c71, 0xe20b, 0x7c70, 0xe205, 0x7c6e, 0xe1ff, 0x7c6d, 0xe1f9,

+  0x7c6c, 0xe1f3, 0x7c6a, 0xe1ed, 0x7c69, 0xe1e7, 0x7c67, 0xe1e1,

+  0x7c66, 0xe1db, 0x7c64, 0xe1d4, 0x7c63, 0xe1ce, 0x7c61, 0xe1c8,

+  0x7c60, 0xe1c2, 0x7c5e, 0xe1bc, 0x7c5d, 0xe1b6, 0x7c5b, 0xe1b0,

+  0x7c5a, 0xe1aa, 0x7c58, 0xe1a4, 0x7c57, 0xe19e, 0x7c55, 0xe197,

+  0x7c54, 0xe191, 0x7c52, 0xe18b, 0x7c51, 0xe185, 0x7c4f, 0xe17f,

+  0x7c4e, 0xe179, 0x7c4c, 0xe173, 0x7c4b, 0xe16d, 0x7c49, 0xe167,

+  0x7c48, 0xe160, 0x7c46, 0xe15a, 0x7c45, 0xe154, 0x7c43, 0xe14e,

+  0x7c42, 0xe148, 0x7c40, 0xe142, 0x7c3f, 0xe13c, 0x7c3d, 0xe136,

+  0x7c3c, 0xe130, 0x7c3a, 0xe12a, 0x7c39, 0xe123, 0x7c37, 0xe11d,

+  0x7c36, 0xe117, 0x7c34, 0xe111, 0x7c33, 0xe10b, 0x7c31, 0xe105,

+  0x7c30, 0xe0ff, 0x7c2e, 0xe0f9, 0x7c2d, 0xe0f3, 0x7c2b, 0xe0ed,

+  0x7c29, 0xe0e7, 0x7c28, 0xe0e0, 0x7c26, 0xe0da, 0x7c25, 0xe0d4,

+  0x7c23, 0xe0ce, 0x7c22, 0xe0c8, 0x7c20, 0xe0c2, 0x7c1f, 0xe0bc,

+  0x7c1d, 0xe0b6, 0x7c1c, 0xe0b0, 0x7c1a, 0xe0aa, 0x7c19, 0xe0a3,

+  0x7c17, 0xe09d, 0x7c16, 0xe097, 0x7c14, 0xe091, 0x7c12, 0xe08b,

+  0x7c11, 0xe085, 0x7c0f, 0xe07f, 0x7c0e, 0xe079, 0x7c0c, 0xe073,

+  0x7c0b, 0xe06d, 0x7c09, 0xe067, 0x7c08, 0xe061, 0x7c06, 0xe05a,

+  0x7c05, 0xe054, 0x7c03, 0xe04e, 0x7c01, 0xe048, 0x7c00, 0xe042,

+  0x7bfe, 0xe03c, 0x7bfd, 0xe036, 0x7bfb, 0xe030, 0x7bfa, 0xe02a,

+  0x7bf8, 0xe024, 0x7bf6, 0xe01e, 0x7bf5, 0xe017, 0x7bf3, 0xe011,

+  0x7bf2, 0xe00b, 0x7bf0, 0xe005, 0x7bef, 0xdfff, 0x7bed, 0xdff9,

+  0x7beb, 0xdff3, 0x7bea, 0xdfed, 0x7be8, 0xdfe7, 0x7be7, 0xdfe1,

+  0x7be5, 0xdfdb, 0x7be4, 0xdfd5, 0x7be2, 0xdfce, 0x7be0, 0xdfc8,

+  0x7bdf, 0xdfc2, 0x7bdd, 0xdfbc, 0x7bdc, 0xdfb6, 0x7bda, 0xdfb0,

+  0x7bd9, 0xdfaa, 0x7bd7, 0xdfa4, 0x7bd5, 0xdf9e, 0x7bd4, 0xdf98,

+  0x7bd2, 0xdf92, 0x7bd1, 0xdf8c, 0x7bcf, 0xdf86, 0x7bcd, 0xdf7f,

+  0x7bcc, 0xdf79, 0x7bca, 0xdf73, 0x7bc9, 0xdf6d, 0x7bc7, 0xdf67,

+  0x7bc5, 0xdf61, 0x7bc4, 0xdf5b, 0x7bc2, 0xdf55, 0x7bc1, 0xdf4f,

+  0x7bbf, 0xdf49, 0x7bbd, 0xdf43, 0x7bbc, 0xdf3d, 0x7bba, 0xdf37,

+  0x7bb9, 0xdf30, 0x7bb7, 0xdf2a, 0x7bb5, 0xdf24, 0x7bb4, 0xdf1e,

+  0x7bb2, 0xdf18, 0x7bb0, 0xdf12, 0x7baf, 0xdf0c, 0x7bad, 0xdf06,

+  0x7bac, 0xdf00, 0x7baa, 0xdefa, 0x7ba8, 0xdef4, 0x7ba7, 0xdeee,

+  0x7ba5, 0xdee8, 0x7ba3, 0xdee2, 0x7ba2, 0xdedb, 0x7ba0, 0xded5,

+  0x7b9f, 0xdecf, 0x7b9d, 0xdec9, 0x7b9b, 0xdec3, 0x7b9a, 0xdebd,

+  0x7b98, 0xdeb7, 0x7b96, 0xdeb1, 0x7b95, 0xdeab, 0x7b93, 0xdea5,

+  0x7b92, 0xde9f, 0x7b90, 0xde99, 0x7b8e, 0xde93, 0x7b8d, 0xde8d,

+  0x7b8b, 0xde87, 0x7b89, 0xde80, 0x7b88, 0xde7a, 0x7b86, 0xde74,

+  0x7b84, 0xde6e, 0x7b83, 0xde68, 0x7b81, 0xde62, 0x7b7f, 0xde5c,

+  0x7b7e, 0xde56, 0x7b7c, 0xde50, 0x7b7a, 0xde4a, 0x7b79, 0xde44,

+  0x7b77, 0xde3e, 0x7b76, 0xde38, 0x7b74, 0xde32, 0x7b72, 0xde2c,

+  0x7b71, 0xde26, 0x7b6f, 0xde1f, 0x7b6d, 0xde19, 0x7b6c, 0xde13,

+  0x7b6a, 0xde0d, 0x7b68, 0xde07, 0x7b67, 0xde01, 0x7b65, 0xddfb,

+  0x7b63, 0xddf5, 0x7b62, 0xddef, 0x7b60, 0xdde9, 0x7b5e, 0xdde3,

+  0x7b5d, 0xdddd, 0x7b5b, 0xddd7, 0x7b59, 0xddd1, 0x7b57, 0xddcb,

+  0x7b56, 0xddc5, 0x7b54, 0xddbf, 0x7b52, 0xddb9, 0x7b51, 0xddb2,

+  0x7b4f, 0xddac, 0x7b4d, 0xdda6, 0x7b4c, 0xdda0, 0x7b4a, 0xdd9a,

+  0x7b48, 0xdd94, 0x7b47, 0xdd8e, 0x7b45, 0xdd88, 0x7b43, 0xdd82,

+  0x7b42, 0xdd7c, 0x7b40, 0xdd76, 0x7b3e, 0xdd70, 0x7b3c, 0xdd6a,

+  0x7b3b, 0xdd64, 0x7b39, 0xdd5e, 0x7b37, 0xdd58, 0x7b36, 0xdd52,

+  0x7b34, 0xdd4c, 0x7b32, 0xdd46, 0x7b31, 0xdd40, 0x7b2f, 0xdd39,

+  0x7b2d, 0xdd33, 0x7b2b, 0xdd2d, 0x7b2a, 0xdd27, 0x7b28, 0xdd21,

+  0x7b26, 0xdd1b, 0x7b25, 0xdd15, 0x7b23, 0xdd0f, 0x7b21, 0xdd09,

+  0x7b1f, 0xdd03, 0x7b1e, 0xdcfd, 0x7b1c, 0xdcf7, 0x7b1a, 0xdcf1,

+  0x7b19, 0xdceb, 0x7b17, 0xdce5, 0x7b15, 0xdcdf, 0x7b13, 0xdcd9,

+  0x7b12, 0xdcd3, 0x7b10, 0xdccd, 0x7b0e, 0xdcc7, 0x7b0c, 0xdcc1,

+  0x7b0b, 0xdcbb, 0x7b09, 0xdcb5, 0x7b07, 0xdcae, 0x7b06, 0xdca8,

+  0x7b04, 0xdca2, 0x7b02, 0xdc9c, 0x7b00, 0xdc96, 0x7aff, 0xdc90,

+  0x7afd, 0xdc8a, 0x7afb, 0xdc84, 0x7af9, 0xdc7e, 0x7af8, 0xdc78,

+  0x7af6, 0xdc72, 0x7af4, 0xdc6c, 0x7af2, 0xdc66, 0x7af1, 0xdc60,

+  0x7aef, 0xdc5a, 0x7aed, 0xdc54, 0x7aeb, 0xdc4e, 0x7aea, 0xdc48,

+  0x7ae8, 0xdc42, 0x7ae6, 0xdc3c, 0x7ae4, 0xdc36, 0x7ae3, 0xdc30,

+  0x7ae1, 0xdc2a, 0x7adf, 0xdc24, 0x7add, 0xdc1e, 0x7adc, 0xdc18,

+  0x7ada, 0xdc12, 0x7ad8, 0xdc0c, 0x7ad6, 0xdc06, 0x7ad5, 0xdbff,

+  0x7ad3, 0xdbf9, 0x7ad1, 0xdbf3, 0x7acf, 0xdbed, 0x7acd, 0xdbe7,

+  0x7acc, 0xdbe1, 0x7aca, 0xdbdb, 0x7ac8, 0xdbd5, 0x7ac6, 0xdbcf,

+  0x7ac5, 0xdbc9, 0x7ac3, 0xdbc3, 0x7ac1, 0xdbbd, 0x7abf, 0xdbb7,

+  0x7abd, 0xdbb1, 0x7abc, 0xdbab, 0x7aba, 0xdba5, 0x7ab8, 0xdb9f,

+  0x7ab6, 0xdb99, 0x7ab5, 0xdb93, 0x7ab3, 0xdb8d, 0x7ab1, 0xdb87,

+  0x7aaf, 0xdb81, 0x7aad, 0xdb7b, 0x7aac, 0xdb75, 0x7aaa, 0xdb6f,

+  0x7aa8, 0xdb69, 0x7aa6, 0xdb63, 0x7aa4, 0xdb5d, 0x7aa3, 0xdb57,

+  0x7aa1, 0xdb51, 0x7a9f, 0xdb4b, 0x7a9d, 0xdb45, 0x7a9b, 0xdb3f,

+  0x7a9a, 0xdb39, 0x7a98, 0xdb33, 0x7a96, 0xdb2d, 0x7a94, 0xdb27,

+  0x7a92, 0xdb21, 0x7a91, 0xdb1b, 0x7a8f, 0xdb15, 0x7a8d, 0xdb0f,

+  0x7a8b, 0xdb09, 0x7a89, 0xdb03, 0x7a87, 0xdafd, 0x7a86, 0xdaf7,

+  0x7a84, 0xdaf1, 0x7a82, 0xdaea, 0x7a80, 0xdae4, 0x7a7e, 0xdade,

+  0x7a7d, 0xdad8, 0x7a7b, 0xdad2, 0x7a79, 0xdacc, 0x7a77, 0xdac6,

+  0x7a75, 0xdac0, 0x7a73, 0xdaba, 0x7a72, 0xdab4, 0x7a70, 0xdaae,

+  0x7a6e, 0xdaa8, 0x7a6c, 0xdaa2, 0x7a6a, 0xda9c, 0x7a68, 0xda96,

+  0x7a67, 0xda90, 0x7a65, 0xda8a, 0x7a63, 0xda84, 0x7a61, 0xda7e,

+  0x7a5f, 0xda78, 0x7a5d, 0xda72, 0x7a5c, 0xda6c, 0x7a5a, 0xda66,

+  0x7a58, 0xda60, 0x7a56, 0xda5a, 0x7a54, 0xda54, 0x7a52, 0xda4e,

+  0x7a50, 0xda48, 0x7a4f, 0xda42, 0x7a4d, 0xda3c, 0x7a4b, 0xda36,

+  0x7a49, 0xda30, 0x7a47, 0xda2a, 0x7a45, 0xda24, 0x7a43, 0xda1e,

+  0x7a42, 0xda18, 0x7a40, 0xda12, 0x7a3e, 0xda0c, 0x7a3c, 0xda06,

+  0x7a3a, 0xda00, 0x7a38, 0xd9fa, 0x7a36, 0xd9f4, 0x7a35, 0xd9ee,

+  0x7a33, 0xd9e8, 0x7a31, 0xd9e2, 0x7a2f, 0xd9dc, 0x7a2d, 0xd9d6,

+  0x7a2b, 0xd9d0, 0x7a29, 0xd9ca, 0x7a27, 0xd9c4, 0x7a26, 0xd9be,

+  0x7a24, 0xd9b8, 0x7a22, 0xd9b2, 0x7a20, 0xd9ac, 0x7a1e, 0xd9a6,

+  0x7a1c, 0xd9a0, 0x7a1a, 0xd99a, 0x7a18, 0xd994, 0x7a16, 0xd98e,

+  0x7a15, 0xd988, 0x7a13, 0xd982, 0x7a11, 0xd97c, 0x7a0f, 0xd976,

+  0x7a0d, 0xd970, 0x7a0b, 0xd96a, 0x7a09, 0xd964, 0x7a07, 0xd95e,

+  0x7a05, 0xd958, 0x7a04, 0xd952, 0x7a02, 0xd94c, 0x7a00, 0xd946,

+  0x79fe, 0xd940, 0x79fc, 0xd93a, 0x79fa, 0xd934, 0x79f8, 0xd92e,

+  0x79f6, 0xd928, 0x79f4, 0xd922, 0x79f2, 0xd91c, 0x79f0, 0xd917,

+  0x79ef, 0xd911, 0x79ed, 0xd90b, 0x79eb, 0xd905, 0x79e9, 0xd8ff,

+  0x79e7, 0xd8f9, 0x79e5, 0xd8f3, 0x79e3, 0xd8ed, 0x79e1, 0xd8e7,

+  0x79df, 0xd8e1, 0x79dd, 0xd8db, 0x79db, 0xd8d5, 0x79d9, 0xd8cf,

+  0x79d8, 0xd8c9, 0x79d6, 0xd8c3, 0x79d4, 0xd8bd, 0x79d2, 0xd8b7,

+  0x79d0, 0xd8b1, 0x79ce, 0xd8ab, 0x79cc, 0xd8a5, 0x79ca, 0xd89f,

+  0x79c8, 0xd899, 0x79c6, 0xd893, 0x79c4, 0xd88d, 0x79c2, 0xd887,

+  0x79c0, 0xd881, 0x79be, 0xd87b, 0x79bc, 0xd875, 0x79bb, 0xd86f,

+  0x79b9, 0xd869, 0x79b7, 0xd863, 0x79b5, 0xd85d, 0x79b3, 0xd857,

+  0x79b1, 0xd851, 0x79af, 0xd84b, 0x79ad, 0xd845, 0x79ab, 0xd83f,

+  0x79a9, 0xd839, 0x79a7, 0xd833, 0x79a5, 0xd82d, 0x79a3, 0xd827,

+  0x79a1, 0xd821, 0x799f, 0xd81b, 0x799d, 0xd815, 0x799b, 0xd80f,

+  0x7999, 0xd80a, 0x7997, 0xd804, 0x7995, 0xd7fe, 0x7993, 0xd7f8,

+  0x7992, 0xd7f2, 0x7990, 0xd7ec, 0x798e, 0xd7e6, 0x798c, 0xd7e0,

+  0x798a, 0xd7da, 0x7988, 0xd7d4, 0x7986, 0xd7ce, 0x7984, 0xd7c8,

+  0x7982, 0xd7c2, 0x7980, 0xd7bc, 0x797e, 0xd7b6, 0x797c, 0xd7b0,

+  0x797a, 0xd7aa, 0x7978, 0xd7a4, 0x7976, 0xd79e, 0x7974, 0xd798,

+  0x7972, 0xd792, 0x7970, 0xd78c, 0x796e, 0xd786, 0x796c, 0xd780,

+  0x796a, 0xd77a, 0x7968, 0xd774, 0x7966, 0xd76e, 0x7964, 0xd768,

+  0x7962, 0xd763, 0x7960, 0xd75d, 0x795e, 0xd757, 0x795c, 0xd751,

+  0x795a, 0xd74b, 0x7958, 0xd745, 0x7956, 0xd73f, 0x7954, 0xd739,

+  0x7952, 0xd733, 0x7950, 0xd72d, 0x794e, 0xd727, 0x794c, 0xd721,

+  0x794a, 0xd71b, 0x7948, 0xd715, 0x7946, 0xd70f, 0x7944, 0xd709,

+  0x7942, 0xd703, 0x7940, 0xd6fd, 0x793e, 0xd6f7, 0x793c, 0xd6f1,

+  0x793a, 0xd6eb, 0x7938, 0xd6e5, 0x7936, 0xd6e0, 0x7934, 0xd6da,

+  0x7932, 0xd6d4, 0x7930, 0xd6ce, 0x792e, 0xd6c8, 0x792c, 0xd6c2,

+  0x792a, 0xd6bc, 0x7928, 0xd6b6, 0x7926, 0xd6b0, 0x7924, 0xd6aa,

+  0x7922, 0xd6a4, 0x7920, 0xd69e, 0x791e, 0xd698, 0x791c, 0xd692,

+  0x7919, 0xd68c, 0x7917, 0xd686, 0x7915, 0xd680, 0x7913, 0xd67a,

+  0x7911, 0xd675, 0x790f, 0xd66f, 0x790d, 0xd669, 0x790b, 0xd663,

+  0x7909, 0xd65d, 0x7907, 0xd657, 0x7905, 0xd651, 0x7903, 0xd64b,

+  0x7901, 0xd645, 0x78ff, 0xd63f, 0x78fd, 0xd639, 0x78fb, 0xd633,

+  0x78f9, 0xd62d, 0x78f7, 0xd627, 0x78f5, 0xd621, 0x78f3, 0xd61b,

+  0x78f1, 0xd615, 0x78ee, 0xd610, 0x78ec, 0xd60a, 0x78ea, 0xd604,

+  0x78e8, 0xd5fe, 0x78e6, 0xd5f8, 0x78e4, 0xd5f2, 0x78e2, 0xd5ec,

+  0x78e0, 0xd5e6, 0x78de, 0xd5e0, 0x78dc, 0xd5da, 0x78da, 0xd5d4,

+  0x78d8, 0xd5ce, 0x78d6, 0xd5c8, 0x78d4, 0xd5c2, 0x78d2, 0xd5bc,

+  0x78cf, 0xd5b7, 0x78cd, 0xd5b1, 0x78cb, 0xd5ab, 0x78c9, 0xd5a5,

+  0x78c7, 0xd59f, 0x78c5, 0xd599, 0x78c3, 0xd593, 0x78c1, 0xd58d,

+  0x78bf, 0xd587, 0x78bd, 0xd581, 0x78bb, 0xd57b, 0x78b9, 0xd575,

+  0x78b6, 0xd56f, 0x78b4, 0xd569, 0x78b2, 0xd564, 0x78b0, 0xd55e,

+  0x78ae, 0xd558, 0x78ac, 0xd552, 0x78aa, 0xd54c, 0x78a8, 0xd546,

+  0x78a6, 0xd540, 0x78a4, 0xd53a, 0x78a2, 0xd534, 0x789f, 0xd52e,

+  0x789d, 0xd528, 0x789b, 0xd522, 0x7899, 0xd51c, 0x7897, 0xd517,

+  0x7895, 0xd511, 0x7893, 0xd50b, 0x7891, 0xd505, 0x788f, 0xd4ff,

+  0x788c, 0xd4f9, 0x788a, 0xd4f3, 0x7888, 0xd4ed, 0x7886, 0xd4e7,

+  0x7884, 0xd4e1, 0x7882, 0xd4db, 0x7880, 0xd4d5, 0x787e, 0xd4d0,

+  0x787c, 0xd4ca, 0x7879, 0xd4c4, 0x7877, 0xd4be, 0x7875, 0xd4b8,

+  0x7873, 0xd4b2, 0x7871, 0xd4ac, 0x786f, 0xd4a6, 0x786d, 0xd4a0,

+  0x786b, 0xd49a, 0x7868, 0xd494, 0x7866, 0xd48f, 0x7864, 0xd489,

+  0x7862, 0xd483, 0x7860, 0xd47d, 0x785e, 0xd477, 0x785c, 0xd471,

+  0x7859, 0xd46b, 0x7857, 0xd465, 0x7855, 0xd45f, 0x7853, 0xd459,

+  0x7851, 0xd453, 0x784f, 0xd44e, 0x784d, 0xd448, 0x784a, 0xd442,

+  0x7848, 0xd43c, 0x7846, 0xd436, 0x7844, 0xd430, 0x7842, 0xd42a,

+  0x7840, 0xd424, 0x783e, 0xd41e, 0x783b, 0xd418, 0x7839, 0xd412,

+  0x7837, 0xd40d, 0x7835, 0xd407, 0x7833, 0xd401, 0x7831, 0xd3fb,

+  0x782e, 0xd3f5, 0x782c, 0xd3ef, 0x782a, 0xd3e9, 0x7828, 0xd3e3,

+  0x7826, 0xd3dd, 0x7824, 0xd3d7, 0x7821, 0xd3d2, 0x781f, 0xd3cc,

+  0x781d, 0xd3c6, 0x781b, 0xd3c0, 0x7819, 0xd3ba, 0x7817, 0xd3b4,

+  0x7814, 0xd3ae, 0x7812, 0xd3a8, 0x7810, 0xd3a2, 0x780e, 0xd39d,

+  0x780c, 0xd397, 0x780a, 0xd391, 0x7807, 0xd38b, 0x7805, 0xd385,

+  0x7803, 0xd37f, 0x7801, 0xd379, 0x77ff, 0xd373, 0x77fc, 0xd36d,

+  0x77fa, 0xd368, 0x77f8, 0xd362, 0x77f6, 0xd35c, 0x77f4, 0xd356,

+  0x77f1, 0xd350, 0x77ef, 0xd34a, 0x77ed, 0xd344, 0x77eb, 0xd33e,

+  0x77e9, 0xd338, 0x77e6, 0xd333, 0x77e4, 0xd32d, 0x77e2, 0xd327,

+  0x77e0, 0xd321, 0x77de, 0xd31b, 0x77db, 0xd315, 0x77d9, 0xd30f,

+  0x77d7, 0xd309, 0x77d5, 0xd303, 0x77d3, 0xd2fe, 0x77d0, 0xd2f8,

+  0x77ce, 0xd2f2, 0x77cc, 0xd2ec, 0x77ca, 0xd2e6, 0x77c8, 0xd2e0,

+  0x77c5, 0xd2da, 0x77c3, 0xd2d4, 0x77c1, 0xd2cf, 0x77bf, 0xd2c9,

+  0x77bc, 0xd2c3, 0x77ba, 0xd2bd, 0x77b8, 0xd2b7, 0x77b6, 0xd2b1,

+  0x77b4, 0xd2ab, 0x77b1, 0xd2a5, 0x77af, 0xd2a0, 0x77ad, 0xd29a,

+  0x77ab, 0xd294, 0x77a8, 0xd28e, 0x77a6, 0xd288, 0x77a4, 0xd282,

+  0x77a2, 0xd27c, 0x77a0, 0xd276, 0x779d, 0xd271, 0x779b, 0xd26b,

+  0x7799, 0xd265, 0x7797, 0xd25f, 0x7794, 0xd259, 0x7792, 0xd253,

+  0x7790, 0xd24d, 0x778e, 0xd247, 0x778b, 0xd242, 0x7789, 0xd23c,

+  0x7787, 0xd236, 0x7785, 0xd230, 0x7782, 0xd22a, 0x7780, 0xd224,

+  0x777e, 0xd21e, 0x777c, 0xd219, 0x7779, 0xd213, 0x7777, 0xd20d,

+  0x7775, 0xd207, 0x7773, 0xd201, 0x7770, 0xd1fb, 0x776e, 0xd1f5,

+  0x776c, 0xd1ef, 0x776a, 0xd1ea, 0x7767, 0xd1e4, 0x7765, 0xd1de,

+  0x7763, 0xd1d8, 0x7760, 0xd1d2, 0x775e, 0xd1cc, 0x775c, 0xd1c6,

+  0x775a, 0xd1c1, 0x7757, 0xd1bb, 0x7755, 0xd1b5, 0x7753, 0xd1af,

+  0x7751, 0xd1a9, 0x774e, 0xd1a3, 0x774c, 0xd19d, 0x774a, 0xd198,

+  0x7747, 0xd192, 0x7745, 0xd18c, 0x7743, 0xd186, 0x7741, 0xd180,

+  0x773e, 0xd17a, 0x773c, 0xd174, 0x773a, 0xd16f, 0x7738, 0xd169,

+  0x7735, 0xd163, 0x7733, 0xd15d, 0x7731, 0xd157, 0x772e, 0xd151,

+  0x772c, 0xd14b, 0x772a, 0xd146, 0x7727, 0xd140, 0x7725, 0xd13a,

+  0x7723, 0xd134, 0x7721, 0xd12e, 0x771e, 0xd128, 0x771c, 0xd123,

+  0x771a, 0xd11d, 0x7717, 0xd117, 0x7715, 0xd111, 0x7713, 0xd10b,

+  0x7710, 0xd105, 0x770e, 0xd0ff, 0x770c, 0xd0fa, 0x770a, 0xd0f4,

+  0x7707, 0xd0ee, 0x7705, 0xd0e8, 0x7703, 0xd0e2, 0x7700, 0xd0dc,

+  0x76fe, 0xd0d7, 0x76fc, 0xd0d1, 0x76f9, 0xd0cb, 0x76f7, 0xd0c5,

+  0x76f5, 0xd0bf, 0x76f2, 0xd0b9, 0x76f0, 0xd0b4, 0x76ee, 0xd0ae,

+  0x76eb, 0xd0a8, 0x76e9, 0xd0a2, 0x76e7, 0xd09c, 0x76e4, 0xd096,

+  0x76e2, 0xd091, 0x76e0, 0xd08b, 0x76dd, 0xd085, 0x76db, 0xd07f,

+  0x76d9, 0xd079, 0x76d6, 0xd073, 0x76d4, 0xd06e, 0x76d2, 0xd068,

+  0x76cf, 0xd062, 0x76cd, 0xd05c, 0x76cb, 0xd056, 0x76c8, 0xd050,

+  0x76c6, 0xd04b, 0x76c4, 0xd045, 0x76c1, 0xd03f, 0x76bf, 0xd039,

+  0x76bd, 0xd033, 0x76ba, 0xd02d, 0x76b8, 0xd028, 0x76b6, 0xd022,

+  0x76b3, 0xd01c, 0x76b1, 0xd016, 0x76af, 0xd010, 0x76ac, 0xd00a,

+  0x76aa, 0xd005, 0x76a8, 0xcfff, 0x76a5, 0xcff9, 0x76a3, 0xcff3,

+  0x76a0, 0xcfed, 0x769e, 0xcfe7, 0x769c, 0xcfe2, 0x7699, 0xcfdc,

+  0x7697, 0xcfd6, 0x7695, 0xcfd0, 0x7692, 0xcfca, 0x7690, 0xcfc5,

+  0x768e, 0xcfbf, 0x768b, 0xcfb9, 0x7689, 0xcfb3, 0x7686, 0xcfad,

+  0x7684, 0xcfa7, 0x7682, 0xcfa2, 0x767f, 0xcf9c, 0x767d, 0xcf96,

+  0x767b, 0xcf90, 0x7678, 0xcf8a, 0x7676, 0xcf85, 0x7673, 0xcf7f,

+  0x7671, 0xcf79, 0x766f, 0xcf73, 0x766c, 0xcf6d, 0x766a, 0xcf67,

+  0x7668, 0xcf62, 0x7665, 0xcf5c, 0x7663, 0xcf56, 0x7660, 0xcf50,

+  0x765e, 0xcf4a, 0x765c, 0xcf45, 0x7659, 0xcf3f, 0x7657, 0xcf39,

+  0x7654, 0xcf33, 0x7652, 0xcf2d, 0x7650, 0xcf28, 0x764d, 0xcf22,

+  0x764b, 0xcf1c, 0x7648, 0xcf16, 0x7646, 0xcf10, 0x7644, 0xcf0b,

+  0x7641, 0xcf05, 0x763f, 0xceff, 0x763c, 0xcef9, 0x763a, 0xcef3,

+  0x7638, 0xceee, 0x7635, 0xcee8, 0x7633, 0xcee2, 0x7630, 0xcedc,

+  0x762e, 0xced6, 0x762b, 0xced1, 0x7629, 0xcecb, 0x7627, 0xcec5,

+  0x7624, 0xcebf, 0x7622, 0xceb9, 0x761f, 0xceb4, 0x761d, 0xceae,

+  0x761b, 0xcea8, 0x7618, 0xcea2, 0x7616, 0xce9c, 0x7613, 0xce97,

+  0x7611, 0xce91, 0x760e, 0xce8b, 0x760c, 0xce85, 0x760a, 0xce7f,

+  0x7607, 0xce7a, 0x7605, 0xce74, 0x7602, 0xce6e, 0x7600, 0xce68,

+  0x75fd, 0xce62, 0x75fb, 0xce5d, 0x75f9, 0xce57, 0x75f6, 0xce51,

+  0x75f4, 0xce4b, 0x75f1, 0xce45, 0x75ef, 0xce40, 0x75ec, 0xce3a,

+  0x75ea, 0xce34, 0x75e7, 0xce2e, 0x75e5, 0xce28, 0x75e3, 0xce23,

+  0x75e0, 0xce1d, 0x75de, 0xce17, 0x75db, 0xce11, 0x75d9, 0xce0c,

+  0x75d6, 0xce06, 0x75d4, 0xce00, 0x75d1, 0xcdfa, 0x75cf, 0xcdf4,

+  0x75cc, 0xcdef, 0x75ca, 0xcde9, 0x75c8, 0xcde3, 0x75c5, 0xcddd,

+  0x75c3, 0xcdd8, 0x75c0, 0xcdd2, 0x75be, 0xcdcc, 0x75bb, 0xcdc6,

+  0x75b9, 0xcdc0, 0x75b6, 0xcdbb, 0x75b4, 0xcdb5, 0x75b1, 0xcdaf,

+  0x75af, 0xcda9, 0x75ac, 0xcda3, 0x75aa, 0xcd9e, 0x75a7, 0xcd98,

+  0x75a5, 0xcd92, 0x75a3, 0xcd8c, 0x75a0, 0xcd87, 0x759e, 0xcd81,

+  0x759b, 0xcd7b, 0x7599, 0xcd75, 0x7596, 0xcd70, 0x7594, 0xcd6a,

+  0x7591, 0xcd64, 0x758f, 0xcd5e, 0x758c, 0xcd58, 0x758a, 0xcd53,

+  0x7587, 0xcd4d, 0x7585, 0xcd47, 0x7582, 0xcd41, 0x7580, 0xcd3c,

+  0x757d, 0xcd36, 0x757b, 0xcd30, 0x7578, 0xcd2a, 0x7576, 0xcd25,

+  0x7573, 0xcd1f, 0x7571, 0xcd19, 0x756e, 0xcd13, 0x756c, 0xcd0d,

+  0x7569, 0xcd08, 0x7567, 0xcd02, 0x7564, 0xccfc, 0x7562, 0xccf6,

+  0x755f, 0xccf1, 0x755d, 0xcceb, 0x755a, 0xcce5, 0x7558, 0xccdf,

+  0x7555, 0xccda, 0x7553, 0xccd4, 0x7550, 0xccce, 0x754e, 0xccc8,

+  0x754b, 0xccc3, 0x7549, 0xccbd, 0x7546, 0xccb7, 0x7544, 0xccb1,

+  0x7541, 0xccac, 0x753f, 0xcca6, 0x753c, 0xcca0, 0x753a, 0xcc9a,

+  0x7537, 0xcc95, 0x7535, 0xcc8f, 0x7532, 0xcc89, 0x752f, 0xcc83,

+  0x752d, 0xcc7e, 0x752a, 0xcc78, 0x7528, 0xcc72, 0x7525, 0xcc6c,

+  0x7523, 0xcc67, 0x7520, 0xcc61, 0x751e, 0xcc5b, 0x751b, 0xcc55,

+  0x7519, 0xcc50, 0x7516, 0xcc4a, 0x7514, 0xcc44, 0x7511, 0xcc3e,

+  0x750f, 0xcc39, 0x750c, 0xcc33, 0x7509, 0xcc2d, 0x7507, 0xcc27,

+  0x7504, 0xcc22, 0x7502, 0xcc1c, 0x74ff, 0xcc16, 0x74fd, 0xcc10,

+  0x74fa, 0xcc0b, 0x74f8, 0xcc05, 0x74f5, 0xcbff, 0x74f2, 0xcbf9,

+  0x74f0, 0xcbf4, 0x74ed, 0xcbee, 0x74eb, 0xcbe8, 0x74e8, 0xcbe2,

+  0x74e6, 0xcbdd, 0x74e3, 0xcbd7, 0x74e1, 0xcbd1, 0x74de, 0xcbcb,

+  0x74db, 0xcbc6, 0x74d9, 0xcbc0, 0x74d6, 0xcbba, 0x74d4, 0xcbb5,

+  0x74d1, 0xcbaf, 0x74cf, 0xcba9, 0x74cc, 0xcba3, 0x74c9, 0xcb9e,

+  0x74c7, 0xcb98, 0x74c4, 0xcb92, 0x74c2, 0xcb8c, 0x74bf, 0xcb87,

+  0x74bd, 0xcb81, 0x74ba, 0xcb7b, 0x74b7, 0xcb75, 0x74b5, 0xcb70,

+  0x74b2, 0xcb6a, 0x74b0, 0xcb64, 0x74ad, 0xcb5f, 0x74ab, 0xcb59,

+  0x74a8, 0xcb53, 0x74a5, 0xcb4d, 0x74a3, 0xcb48, 0x74a0, 0xcb42,

+  0x749e, 0xcb3c, 0x749b, 0xcb36, 0x7498, 0xcb31, 0x7496, 0xcb2b,

+  0x7493, 0xcb25, 0x7491, 0xcb20, 0x748e, 0xcb1a, 0x748b, 0xcb14,

+  0x7489, 0xcb0e, 0x7486, 0xcb09, 0x7484, 0xcb03, 0x7481, 0xcafd,

+  0x747e, 0xcaf8, 0x747c, 0xcaf2, 0x7479, 0xcaec, 0x7477, 0xcae6,

+  0x7474, 0xcae1, 0x7471, 0xcadb, 0x746f, 0xcad5, 0x746c, 0xcad0,

+  0x746a, 0xcaca, 0x7467, 0xcac4, 0x7464, 0xcabe, 0x7462, 0xcab9,

+  0x745f, 0xcab3, 0x745c, 0xcaad, 0x745a, 0xcaa8, 0x7457, 0xcaa2,

+  0x7455, 0xca9c, 0x7452, 0xca96, 0x744f, 0xca91, 0x744d, 0xca8b,

+  0x744a, 0xca85, 0x7448, 0xca80, 0x7445, 0xca7a, 0x7442, 0xca74,

+  0x7440, 0xca6e, 0x743d, 0xca69, 0x743a, 0xca63, 0x7438, 0xca5d,

+  0x7435, 0xca58, 0x7432, 0xca52, 0x7430, 0xca4c, 0x742d, 0xca46,

+  0x742b, 0xca41, 0x7428, 0xca3b, 0x7425, 0xca35, 0x7423, 0xca30,

+  0x7420, 0xca2a, 0x741d, 0xca24, 0x741b, 0xca1f, 0x7418, 0xca19,

+  0x7415, 0xca13, 0x7413, 0xca0d, 0x7410, 0xca08, 0x740d, 0xca02,

+  0x740b, 0xc9fc, 0x7408, 0xc9f7, 0x7406, 0xc9f1, 0x7403, 0xc9eb,

+  0x7400, 0xc9e6, 0x73fe, 0xc9e0, 0x73fb, 0xc9da, 0x73f8, 0xc9d5,

+  0x73f6, 0xc9cf, 0x73f3, 0xc9c9, 0x73f0, 0xc9c3, 0x73ee, 0xc9be,

+  0x73eb, 0xc9b8, 0x73e8, 0xc9b2, 0x73e6, 0xc9ad, 0x73e3, 0xc9a7,

+  0x73e0, 0xc9a1, 0x73de, 0xc99c, 0x73db, 0xc996, 0x73d8, 0xc990,

+  0x73d6, 0xc98b, 0x73d3, 0xc985, 0x73d0, 0xc97f, 0x73ce, 0xc97a,

+  0x73cb, 0xc974, 0x73c8, 0xc96e, 0x73c6, 0xc968, 0x73c3, 0xc963,

+  0x73c0, 0xc95d, 0x73bd, 0xc957, 0x73bb, 0xc952, 0x73b8, 0xc94c,

+  0x73b5, 0xc946, 0x73b3, 0xc941, 0x73b0, 0xc93b, 0x73ad, 0xc935,

+  0x73ab, 0xc930, 0x73a8, 0xc92a, 0x73a5, 0xc924, 0x73a3, 0xc91f,

+  0x73a0, 0xc919, 0x739d, 0xc913, 0x739b, 0xc90e, 0x7398, 0xc908,

+  0x7395, 0xc902, 0x7392, 0xc8fd, 0x7390, 0xc8f7, 0x738d, 0xc8f1,

+  0x738a, 0xc8ec, 0x7388, 0xc8e6, 0x7385, 0xc8e0, 0x7382, 0xc8db,

+  0x737f, 0xc8d5, 0x737d, 0xc8cf, 0x737a, 0xc8ca, 0x7377, 0xc8c4,

+  0x7375, 0xc8be, 0x7372, 0xc8b9, 0x736f, 0xc8b3, 0x736c, 0xc8ad,

+  0x736a, 0xc8a8, 0x7367, 0xc8a2, 0x7364, 0xc89c, 0x7362, 0xc897,

+  0x735f, 0xc891, 0x735c, 0xc88b, 0x7359, 0xc886, 0x7357, 0xc880,

+  0x7354, 0xc87a, 0x7351, 0xc875, 0x734f, 0xc86f, 0x734c, 0xc869,

+  0x7349, 0xc864, 0x7346, 0xc85e, 0x7344, 0xc858, 0x7341, 0xc853,

+  0x733e, 0xc84d, 0x733b, 0xc847, 0x7339, 0xc842, 0x7336, 0xc83c,

+  0x7333, 0xc836, 0x7330, 0xc831, 0x732e, 0xc82b, 0x732b, 0xc825,

+  0x7328, 0xc820, 0x7326, 0xc81a, 0x7323, 0xc814, 0x7320, 0xc80f,

+  0x731d, 0xc809, 0x731b, 0xc803, 0x7318, 0xc7fe, 0x7315, 0xc7f8,

+  0x7312, 0xc7f3, 0x7310, 0xc7ed, 0x730d, 0xc7e7, 0x730a, 0xc7e2,

+  0x7307, 0xc7dc, 0x7305, 0xc7d6, 0x7302, 0xc7d1, 0x72ff, 0xc7cb,

+  0x72fc, 0xc7c5, 0x72f9, 0xc7c0, 0x72f7, 0xc7ba, 0x72f4, 0xc7b4,

+  0x72f1, 0xc7af, 0x72ee, 0xc7a9, 0x72ec, 0xc7a3, 0x72e9, 0xc79e,

+  0x72e6, 0xc798, 0x72e3, 0xc793, 0x72e1, 0xc78d, 0x72de, 0xc787,

+  0x72db, 0xc782, 0x72d8, 0xc77c, 0x72d5, 0xc776, 0x72d3, 0xc771,

+  0x72d0, 0xc76b, 0x72cd, 0xc765, 0x72ca, 0xc760, 0x72c8, 0xc75a,

+  0x72c5, 0xc755, 0x72c2, 0xc74f, 0x72bf, 0xc749, 0x72bc, 0xc744,

+  0x72ba, 0xc73e, 0x72b7, 0xc738, 0x72b4, 0xc733, 0x72b1, 0xc72d,

+  0x72af, 0xc728, 0x72ac, 0xc722, 0x72a9, 0xc71c, 0x72a6, 0xc717,

+  0x72a3, 0xc711, 0x72a1, 0xc70b, 0x729e, 0xc706, 0x729b, 0xc700,

+  0x7298, 0xc6fa, 0x7295, 0xc6f5, 0x7293, 0xc6ef, 0x7290, 0xc6ea,

+  0x728d, 0xc6e4, 0x728a, 0xc6de, 0x7287, 0xc6d9, 0x7285, 0xc6d3,

+  0x7282, 0xc6ce, 0x727f, 0xc6c8, 0x727c, 0xc6c2, 0x7279, 0xc6bd,

+  0x7276, 0xc6b7, 0x7274, 0xc6b1, 0x7271, 0xc6ac, 0x726e, 0xc6a6,

+  0x726b, 0xc6a1, 0x7268, 0xc69b, 0x7266, 0xc695, 0x7263, 0xc690,

+  0x7260, 0xc68a, 0x725d, 0xc684, 0x725a, 0xc67f, 0x7257, 0xc679,

+  0x7255, 0xc674, 0x7252, 0xc66e, 0x724f, 0xc668, 0x724c, 0xc663,

+  0x7249, 0xc65d, 0x7247, 0xc658, 0x7244, 0xc652, 0x7241, 0xc64c,

+  0x723e, 0xc647, 0x723b, 0xc641, 0x7238, 0xc63c, 0x7236, 0xc636,

+  0x7233, 0xc630, 0x7230, 0xc62b, 0x722d, 0xc625, 0x722a, 0xc620,

+  0x7227, 0xc61a, 0x7224, 0xc614, 0x7222, 0xc60f, 0x721f, 0xc609,

+  0x721c, 0xc603, 0x7219, 0xc5fe, 0x7216, 0xc5f8, 0x7213, 0xc5f3,

+  0x7211, 0xc5ed, 0x720e, 0xc5e7, 0x720b, 0xc5e2, 0x7208, 0xc5dc,

+  0x7205, 0xc5d7, 0x7202, 0xc5d1, 0x71ff, 0xc5cc, 0x71fd, 0xc5c6,

+  0x71fa, 0xc5c0, 0x71f7, 0xc5bb, 0x71f4, 0xc5b5, 0x71f1, 0xc5b0,

+  0x71ee, 0xc5aa, 0x71eb, 0xc5a4, 0x71e9, 0xc59f, 0x71e6, 0xc599,

+  0x71e3, 0xc594, 0x71e0, 0xc58e, 0x71dd, 0xc588, 0x71da, 0xc583,

+  0x71d7, 0xc57d, 0x71d4, 0xc578, 0x71d2, 0xc572, 0x71cf, 0xc56c,

+  0x71cc, 0xc567, 0x71c9, 0xc561, 0x71c6, 0xc55c, 0x71c3, 0xc556,

+  0x71c0, 0xc551, 0x71bd, 0xc54b, 0x71bb, 0xc545, 0x71b8, 0xc540,

+  0x71b5, 0xc53a, 0x71b2, 0xc535, 0x71af, 0xc52f, 0x71ac, 0xc529,

+  0x71a9, 0xc524, 0x71a6, 0xc51e, 0x71a3, 0xc519, 0x71a1, 0xc513,

+  0x719e, 0xc50e, 0x719b, 0xc508, 0x7198, 0xc502, 0x7195, 0xc4fd,

+  0x7192, 0xc4f7, 0x718f, 0xc4f2, 0x718c, 0xc4ec, 0x7189, 0xc4e7,

+  0x7186, 0xc4e1, 0x7184, 0xc4db, 0x7181, 0xc4d6, 0x717e, 0xc4d0,

+  0x717b, 0xc4cb, 0x7178, 0xc4c5, 0x7175, 0xc4c0, 0x7172, 0xc4ba,

+  0x716f, 0xc4b4, 0x716c, 0xc4af, 0x7169, 0xc4a9, 0x7167, 0xc4a4,

+  0x7164, 0xc49e, 0x7161, 0xc499, 0x715e, 0xc493, 0x715b, 0xc48d,

+  0x7158, 0xc488, 0x7155, 0xc482, 0x7152, 0xc47d, 0x714f, 0xc477,

+  0x714c, 0xc472, 0x7149, 0xc46c, 0x7146, 0xc467, 0x7143, 0xc461,

+  0x7141, 0xc45b, 0x713e, 0xc456, 0x713b, 0xc450, 0x7138, 0xc44b,

+  0x7135, 0xc445, 0x7132, 0xc440, 0x712f, 0xc43a, 0x712c, 0xc434,

+  0x7129, 0xc42f, 0x7126, 0xc429, 0x7123, 0xc424, 0x7120, 0xc41e,

+  0x711d, 0xc419, 0x711a, 0xc413, 0x7117, 0xc40e, 0x7114, 0xc408,

+  0x7112, 0xc403, 0x710f, 0xc3fd, 0x710c, 0xc3f7, 0x7109, 0xc3f2,

+  0x7106, 0xc3ec, 0x7103, 0xc3e7, 0x7100, 0xc3e1, 0x70fd, 0xc3dc,

+  0x70fa, 0xc3d6, 0x70f7, 0xc3d1, 0x70f4, 0xc3cb, 0x70f1, 0xc3c5,

+  0x70ee, 0xc3c0, 0x70eb, 0xc3ba, 0x70e8, 0xc3b5, 0x70e5, 0xc3af,

+  0x70e2, 0xc3aa, 0x70df, 0xc3a4, 0x70dc, 0xc39f, 0x70d9, 0xc399,

+  0x70d6, 0xc394, 0x70d3, 0xc38e, 0x70d1, 0xc389, 0x70ce, 0xc383,

+  0x70cb, 0xc37d, 0x70c8, 0xc378, 0x70c5, 0xc372, 0x70c2, 0xc36d,

+  0x70bf, 0xc367, 0x70bc, 0xc362, 0x70b9, 0xc35c, 0x70b6, 0xc357,

+  0x70b3, 0xc351, 0x70b0, 0xc34c, 0x70ad, 0xc346, 0x70aa, 0xc341,

+  0x70a7, 0xc33b, 0x70a4, 0xc336, 0x70a1, 0xc330, 0x709e, 0xc32a,

+  0x709b, 0xc325, 0x7098, 0xc31f, 0x7095, 0xc31a, 0x7092, 0xc314,

+  0x708f, 0xc30f, 0x708c, 0xc309, 0x7089, 0xc304, 0x7086, 0xc2fe,

+  0x7083, 0xc2f9, 0x7080, 0xc2f3, 0x707d, 0xc2ee, 0x707a, 0xc2e8,

+  0x7077, 0xc2e3, 0x7074, 0xc2dd, 0x7071, 0xc2d8, 0x706e, 0xc2d2,

+  0x706b, 0xc2cd, 0x7068, 0xc2c7, 0x7065, 0xc2c2, 0x7062, 0xc2bc,

+  0x705f, 0xc2b7, 0x705c, 0xc2b1, 0x7059, 0xc2ab, 0x7056, 0xc2a6,

+  0x7053, 0xc2a0, 0x7050, 0xc29b, 0x704d, 0xc295, 0x704a, 0xc290,

+  0x7047, 0xc28a, 0x7044, 0xc285, 0x7041, 0xc27f, 0x703e, 0xc27a,

+  0x703b, 0xc274, 0x7038, 0xc26f, 0x7035, 0xc269, 0x7032, 0xc264,

+  0x702f, 0xc25e, 0x702c, 0xc259, 0x7029, 0xc253, 0x7026, 0xc24e,

+  0x7023, 0xc248, 0x7020, 0xc243, 0x701d, 0xc23d, 0x7019, 0xc238,

+  0x7016, 0xc232, 0x7013, 0xc22d, 0x7010, 0xc227, 0x700d, 0xc222,

+  0x700a, 0xc21c, 0x7007, 0xc217, 0x7004, 0xc211, 0x7001, 0xc20c,

+  0x6ffe, 0xc206, 0x6ffb, 0xc201, 0x6ff8, 0xc1fb, 0x6ff5, 0xc1f6,

+  0x6ff2, 0xc1f0, 0x6fef, 0xc1eb, 0x6fec, 0xc1e5, 0x6fe9, 0xc1e0,

+  0x6fe6, 0xc1da, 0x6fe3, 0xc1d5, 0x6fe0, 0xc1cf, 0x6fdd, 0xc1ca,

+  0x6fda, 0xc1c4, 0x6fd6, 0xc1bf, 0x6fd3, 0xc1b9, 0x6fd0, 0xc1b4,

+  0x6fcd, 0xc1ae, 0x6fca, 0xc1a9, 0x6fc7, 0xc1a3, 0x6fc4, 0xc19e,

+  0x6fc1, 0xc198, 0x6fbe, 0xc193, 0x6fbb, 0xc18d, 0x6fb8, 0xc188,

+  0x6fb5, 0xc183, 0x6fb2, 0xc17d, 0x6faf, 0xc178, 0x6fac, 0xc172,

+  0x6fa9, 0xc16d, 0x6fa5, 0xc167, 0x6fa2, 0xc162, 0x6f9f, 0xc15c,

+  0x6f9c, 0xc157, 0x6f99, 0xc151, 0x6f96, 0xc14c, 0x6f93, 0xc146,

+  0x6f90, 0xc141, 0x6f8d, 0xc13b, 0x6f8a, 0xc136, 0x6f87, 0xc130,

+  0x6f84, 0xc12b, 0x6f81, 0xc125, 0x6f7d, 0xc120, 0x6f7a, 0xc11a,

+  0x6f77, 0xc115, 0x6f74, 0xc10f, 0x6f71, 0xc10a, 0x6f6e, 0xc105,

+  0x6f6b, 0xc0ff, 0x6f68, 0xc0fa, 0x6f65, 0xc0f4, 0x6f62, 0xc0ef,

+  0x6f5f, 0xc0e9, 0x6f5b, 0xc0e4, 0x6f58, 0xc0de, 0x6f55, 0xc0d9,

+  0x6f52, 0xc0d3, 0x6f4f, 0xc0ce, 0x6f4c, 0xc0c8, 0x6f49, 0xc0c3,

+  0x6f46, 0xc0bd, 0x6f43, 0xc0b8, 0x6f3f, 0xc0b3, 0x6f3c, 0xc0ad,

+  0x6f39, 0xc0a8, 0x6f36, 0xc0a2, 0x6f33, 0xc09d, 0x6f30, 0xc097,

+  0x6f2d, 0xc092, 0x6f2a, 0xc08c, 0x6f27, 0xc087, 0x6f23, 0xc081,

+  0x6f20, 0xc07c, 0x6f1d, 0xc077, 0x6f1a, 0xc071, 0x6f17, 0xc06c,

+  0x6f14, 0xc066, 0x6f11, 0xc061, 0x6f0e, 0xc05b, 0x6f0b, 0xc056,

+  0x6f07, 0xc050, 0x6f04, 0xc04b, 0x6f01, 0xc045, 0x6efe, 0xc040,

+  0x6efb, 0xc03b, 0x6ef8, 0xc035, 0x6ef5, 0xc030, 0x6ef1, 0xc02a,

+  0x6eee, 0xc025, 0x6eeb, 0xc01f, 0x6ee8, 0xc01a, 0x6ee5, 0xc014,

+  0x6ee2, 0xc00f, 0x6edf, 0xc00a, 0x6edc, 0xc004, 0x6ed8, 0xbfff,

+  0x6ed5, 0xbff9, 0x6ed2, 0xbff4, 0x6ecf, 0xbfee, 0x6ecc, 0xbfe9,

+  0x6ec9, 0xbfe3, 0x6ec6, 0xbfde, 0x6ec2, 0xbfd9, 0x6ebf, 0xbfd3,

+  0x6ebc, 0xbfce, 0x6eb9, 0xbfc8, 0x6eb6, 0xbfc3, 0x6eb3, 0xbfbd,

+  0x6eaf, 0xbfb8, 0x6eac, 0xbfb3, 0x6ea9, 0xbfad, 0x6ea6, 0xbfa8,

+  0x6ea3, 0xbfa2, 0x6ea0, 0xbf9d, 0x6e9c, 0xbf97, 0x6e99, 0xbf92,

+  0x6e96, 0xbf8d, 0x6e93, 0xbf87, 0x6e90, 0xbf82, 0x6e8d, 0xbf7c,

+  0x6e89, 0xbf77, 0x6e86, 0xbf71, 0x6e83, 0xbf6c, 0x6e80, 0xbf67,

+  0x6e7d, 0xbf61, 0x6e7a, 0xbf5c, 0x6e76, 0xbf56, 0x6e73, 0xbf51,

+  0x6e70, 0xbf4b, 0x6e6d, 0xbf46, 0x6e6a, 0xbf41, 0x6e67, 0xbf3b,

+  0x6e63, 0xbf36, 0x6e60, 0xbf30, 0x6e5d, 0xbf2b, 0x6e5a, 0xbf26,

+  0x6e57, 0xbf20, 0x6e53, 0xbf1b, 0x6e50, 0xbf15, 0x6e4d, 0xbf10,

+  0x6e4a, 0xbf0a, 0x6e47, 0xbf05, 0x6e44, 0xbf00, 0x6e40, 0xbefa,

+  0x6e3d, 0xbef5, 0x6e3a, 0xbeef, 0x6e37, 0xbeea, 0x6e34, 0xbee5,

+  0x6e30, 0xbedf, 0x6e2d, 0xbeda, 0x6e2a, 0xbed4, 0x6e27, 0xbecf,

+  0x6e24, 0xbeca, 0x6e20, 0xbec4, 0x6e1d, 0xbebf, 0x6e1a, 0xbeb9,

+  0x6e17, 0xbeb4, 0x6e14, 0xbeae, 0x6e10, 0xbea9, 0x6e0d, 0xbea4,

+  0x6e0a, 0xbe9e, 0x6e07, 0xbe99, 0x6e04, 0xbe93, 0x6e00, 0xbe8e,

+  0x6dfd, 0xbe89, 0x6dfa, 0xbe83, 0x6df7, 0xbe7e, 0x6df3, 0xbe78,

+  0x6df0, 0xbe73, 0x6ded, 0xbe6e, 0x6dea, 0xbe68, 0x6de7, 0xbe63,

+  0x6de3, 0xbe5e, 0x6de0, 0xbe58, 0x6ddd, 0xbe53, 0x6dda, 0xbe4d,

+  0x6dd6, 0xbe48, 0x6dd3, 0xbe43, 0x6dd0, 0xbe3d, 0x6dcd, 0xbe38,

+  0x6dca, 0xbe32, 0x6dc6, 0xbe2d, 0x6dc3, 0xbe28, 0x6dc0, 0xbe22,

+  0x6dbd, 0xbe1d, 0x6db9, 0xbe17, 0x6db6, 0xbe12, 0x6db3, 0xbe0d,

+  0x6db0, 0xbe07, 0x6dac, 0xbe02, 0x6da9, 0xbdfd, 0x6da6, 0xbdf7,

+  0x6da3, 0xbdf2, 0x6d9f, 0xbdec, 0x6d9c, 0xbde7, 0x6d99, 0xbde2,

+  0x6d96, 0xbddc, 0x6d92, 0xbdd7, 0x6d8f, 0xbdd1, 0x6d8c, 0xbdcc,

+  0x6d89, 0xbdc7, 0x6d85, 0xbdc1, 0x6d82, 0xbdbc, 0x6d7f, 0xbdb7,

+  0x6d7c, 0xbdb1, 0x6d78, 0xbdac, 0x6d75, 0xbda6, 0x6d72, 0xbda1,

+  0x6d6f, 0xbd9c, 0x6d6b, 0xbd96, 0x6d68, 0xbd91, 0x6d65, 0xbd8c,

+  0x6d62, 0xbd86, 0x6d5e, 0xbd81, 0x6d5b, 0xbd7c, 0x6d58, 0xbd76,

+  0x6d55, 0xbd71, 0x6d51, 0xbd6b, 0x6d4e, 0xbd66, 0x6d4b, 0xbd61,

+  0x6d48, 0xbd5b, 0x6d44, 0xbd56, 0x6d41, 0xbd51, 0x6d3e, 0xbd4b,

+  0x6d3a, 0xbd46, 0x6d37, 0xbd40, 0x6d34, 0xbd3b, 0x6d31, 0xbd36,

+  0x6d2d, 0xbd30, 0x6d2a, 0xbd2b, 0x6d27, 0xbd26, 0x6d23, 0xbd20,

+  0x6d20, 0xbd1b, 0x6d1d, 0xbd16, 0x6d1a, 0xbd10, 0x6d16, 0xbd0b,

+  0x6d13, 0xbd06, 0x6d10, 0xbd00, 0x6d0c, 0xbcfb, 0x6d09, 0xbcf5,

+  0x6d06, 0xbcf0, 0x6d03, 0xbceb, 0x6cff, 0xbce5, 0x6cfc, 0xbce0,

+  0x6cf9, 0xbcdb, 0x6cf5, 0xbcd5, 0x6cf2, 0xbcd0, 0x6cef, 0xbccb,

+  0x6cec, 0xbcc5, 0x6ce8, 0xbcc0, 0x6ce5, 0xbcbb, 0x6ce2, 0xbcb5,

+  0x6cde, 0xbcb0, 0x6cdb, 0xbcab, 0x6cd8, 0xbca5, 0x6cd4, 0xbca0,

+  0x6cd1, 0xbc9b, 0x6cce, 0xbc95, 0x6cca, 0xbc90, 0x6cc7, 0xbc8b,

+  0x6cc4, 0xbc85, 0x6cc1, 0xbc80, 0x6cbd, 0xbc7b, 0x6cba, 0xbc75,

+  0x6cb7, 0xbc70, 0x6cb3, 0xbc6b, 0x6cb0, 0xbc65, 0x6cad, 0xbc60,

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+  0x685e, 0xb5e6, 0x685a, 0xb5e1, 0x6856, 0xb5dc, 0x6853, 0xb5d6,

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+  0x6840, 0xb5bd, 0x683d, 0xb5b8, 0x6839, 0xb5b3, 0x6835, 0xb5ae,

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+  0x67da, 0xb52e, 0x67d6, 0xb529, 0x67d3, 0xb524, 0x67cf, 0xb51f,

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+  0x67bd, 0xb505, 0x67b9, 0xb500, 0x67b5, 0xb4fb, 0x67b2, 0xb4f6,

+  0x67ae, 0xb4f1, 0x67aa, 0xb4ec, 0x67a6, 0xb4e7, 0x67a3, 0xb4e1,

+  0x679f, 0xb4dc, 0x679b, 0xb4d7, 0x6798, 0xb4d2, 0x6794, 0xb4cd,

+  0x6790, 0xb4c8, 0x678d, 0xb4c3, 0x6789, 0xb4be, 0x6785, 0xb4b9,

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+  0x6746, 0xb462, 0x6743, 0xb45d, 0x673f, 0xb458, 0x673b, 0xb453,

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+  0x6729, 0xb43a, 0x6725, 0xb435, 0x6721, 0xb430, 0x671d, 0xb42b,

+  0x671a, 0xb426, 0x6716, 0xb421, 0x6712, 0xb41c, 0x670e, 0xb417,

+  0x670b, 0xb411, 0x6707, 0xb40c, 0x6703, 0xb407, 0x6700, 0xb402,

+  0x66fc, 0xb3fd, 0x66f8, 0xb3f8, 0x66f4, 0xb3f3, 0x66f1, 0xb3ee,

+  0x66ed, 0xb3e9, 0x66e9, 0xb3e4, 0x66e5, 0xb3df, 0x66e2, 0xb3da,

+  0x66de, 0xb3d5, 0x66da, 0xb3d0, 0x66d6, 0xb3cb, 0x66d3, 0xb3c6,

+  0x66cf, 0xb3c1, 0x66cb, 0xb3bc, 0x66c8, 0xb3b7, 0x66c4, 0xb3b1,

+  0x66c0, 0xb3ac, 0x66bc, 0xb3a7, 0x66b9, 0xb3a2, 0x66b5, 0xb39d,

+  0x66b1, 0xb398, 0x66ad, 0xb393, 0x66aa, 0xb38e, 0x66a6, 0xb389,

+  0x66a2, 0xb384, 0x669e, 0xb37f, 0x669b, 0xb37a, 0x6697, 0xb375,

+  0x6693, 0xb370, 0x668f, 0xb36b, 0x668b, 0xb366, 0x6688, 0xb361,

+  0x6684, 0xb35c, 0x6680, 0xb357, 0x667c, 0xb352, 0x6679, 0xb34d,

+  0x6675, 0xb348, 0x6671, 0xb343, 0x666d, 0xb33e, 0x666a, 0xb339,

+  0x6666, 0xb334, 0x6662, 0xb32f, 0x665e, 0xb32a, 0x665b, 0xb325,

+  0x6657, 0xb31f, 0x6653, 0xb31a, 0x664f, 0xb315, 0x664b, 0xb310,

+  0x6648, 0xb30b, 0x6644, 0xb306, 0x6640, 0xb301, 0x663c, 0xb2fc,

+  0x6639, 0xb2f7, 0x6635, 0xb2f2, 0x6631, 0xb2ed, 0x662d, 0xb2e8,

+  0x6629, 0xb2e3, 0x6626, 0xb2de, 0x6622, 0xb2d9, 0x661e, 0xb2d4,

+  0x661a, 0xb2cf, 0x6616, 0xb2ca, 0x6613, 0xb2c5, 0x660f, 0xb2c0,

+  0x660b, 0xb2bb, 0x6607, 0xb2b6, 0x6603, 0xb2b1, 0x6600, 0xb2ac,

+  0x65fc, 0xb2a7, 0x65f8, 0xb2a2, 0x65f4, 0xb29d, 0x65f0, 0xb298,

+  0x65ed, 0xb293, 0x65e9, 0xb28e, 0x65e5, 0xb289, 0x65e1, 0xb284,

+  0x65dd, 0xb27f, 0x65da, 0xb27a, 0x65d6, 0xb275, 0x65d2, 0xb270,

+  0x65ce, 0xb26b, 0x65ca, 0xb266, 0x65c7, 0xb261, 0x65c3, 0xb25c,

+  0x65bf, 0xb257, 0x65bb, 0xb252, 0x65b7, 0xb24d, 0x65b4, 0xb248,

+  0x65b0, 0xb243, 0x65ac, 0xb23e, 0x65a8, 0xb239, 0x65a4, 0xb234,

+  0x65a0, 0xb22f, 0x659d, 0xb22a, 0x6599, 0xb225, 0x6595, 0xb220,

+  0x6591, 0xb21b, 0x658d, 0xb216, 0x658a, 0xb211, 0x6586, 0xb20c,

+  0x6582, 0xb207, 0x657e, 0xb202, 0x657a, 0xb1fd, 0x6576, 0xb1f8,

+  0x6573, 0xb1f3, 0x656f, 0xb1ee, 0x656b, 0xb1e9, 0x6567, 0xb1e4,

+  0x6563, 0xb1df, 0x655f, 0xb1da, 0x655c, 0xb1d6, 0x6558, 0xb1d1,

+  0x6554, 0xb1cc, 0x6550, 0xb1c7, 0x654c, 0xb1c2, 0x6548, 0xb1bd,

+  0x6545, 0xb1b8, 0x6541, 0xb1b3, 0x653d, 0xb1ae, 0x6539, 0xb1a9,

+  0x6535, 0xb1a4, 0x6531, 0xb19f, 0x652d, 0xb19a, 0x652a, 0xb195,

+  0x6526, 0xb190, 0x6522, 0xb18b, 0x651e, 0xb186, 0x651a, 0xb181,

+  0x6516, 0xb17c, 0x6513, 0xb177, 0x650f, 0xb172, 0x650b, 0xb16d,

+  0x6507, 0xb168, 0x6503, 0xb163, 0x64ff, 0xb15e, 0x64fb, 0xb159,

+  0x64f7, 0xb154, 0x64f4, 0xb14f, 0x64f0, 0xb14a, 0x64ec, 0xb146,

+  0x64e8, 0xb141, 0x64e4, 0xb13c, 0x64e0, 0xb137, 0x64dc, 0xb132,

+  0x64d9, 0xb12d, 0x64d5, 0xb128, 0x64d1, 0xb123, 0x64cd, 0xb11e,

+  0x64c9, 0xb119, 0x64c5, 0xb114, 0x64c1, 0xb10f, 0x64bd, 0xb10a,

+  0x64ba, 0xb105, 0x64b6, 0xb100, 0x64b2, 0xb0fb, 0x64ae, 0xb0f6,

+  0x64aa, 0xb0f1, 0x64a6, 0xb0ec, 0x64a2, 0xb0e8, 0x649e, 0xb0e3,

+  0x649b, 0xb0de, 0x6497, 0xb0d9, 0x6493, 0xb0d4, 0x648f, 0xb0cf,

+  0x648b, 0xb0ca, 0x6487, 0xb0c5, 0x6483, 0xb0c0, 0x647f, 0xb0bb,

+  0x647b, 0xb0b6, 0x6478, 0xb0b1, 0x6474, 0xb0ac, 0x6470, 0xb0a7,

+  0x646c, 0xb0a2, 0x6468, 0xb09e, 0x6464, 0xb099, 0x6460, 0xb094,

+  0x645c, 0xb08f, 0x6458, 0xb08a, 0x6454, 0xb085, 0x6451, 0xb080,

+  0x644d, 0xb07b, 0x6449, 0xb076, 0x6445, 0xb071, 0x6441, 0xb06c,

+  0x643d, 0xb067, 0x6439, 0xb062, 0x6435, 0xb05e, 0x6431, 0xb059,

+  0x642d, 0xb054, 0x6429, 0xb04f, 0x6426, 0xb04a, 0x6422, 0xb045,

+  0x641e, 0xb040, 0x641a, 0xb03b, 0x6416, 0xb036, 0x6412, 0xb031,

+  0x640e, 0xb02c, 0x640a, 0xb027, 0x6406, 0xb023, 0x6402, 0xb01e,

+  0x63fe, 0xb019, 0x63fa, 0xb014, 0x63f7, 0xb00f, 0x63f3, 0xb00a,

+  0x63ef, 0xb005, 0x63eb, 0xb000, 0x63e7, 0xaffb, 0x63e3, 0xaff6,

+  0x63df, 0xaff1, 0x63db, 0xafed, 0x63d7, 0xafe8, 0x63d3, 0xafe3,

+  0x63cf, 0xafde, 0x63cb, 0xafd9, 0x63c7, 0xafd4, 0x63c3, 0xafcf,

+  0x63c0, 0xafca, 0x63bc, 0xafc5, 0x63b8, 0xafc1, 0x63b4, 0xafbc,

+  0x63b0, 0xafb7, 0x63ac, 0xafb2, 0x63a8, 0xafad, 0x63a4, 0xafa8,

+  0x63a0, 0xafa3, 0x639c, 0xaf9e, 0x6398, 0xaf99, 0x6394, 0xaf94,

+  0x6390, 0xaf90, 0x638c, 0xaf8b, 0x6388, 0xaf86, 0x6384, 0xaf81,

+  0x6380, 0xaf7c, 0x637c, 0xaf77, 0x6378, 0xaf72, 0x6375, 0xaf6d,

+  0x6371, 0xaf69, 0x636d, 0xaf64, 0x6369, 0xaf5f, 0x6365, 0xaf5a,

+  0x6361, 0xaf55, 0x635d, 0xaf50, 0x6359, 0xaf4b, 0x6355, 0xaf46,

+  0x6351, 0xaf41, 0x634d, 0xaf3d, 0x6349, 0xaf38, 0x6345, 0xaf33,

+  0x6341, 0xaf2e, 0x633d, 0xaf29, 0x6339, 0xaf24, 0x6335, 0xaf1f,

+  0x6331, 0xaf1b, 0x632d, 0xaf16, 0x6329, 0xaf11, 0x6325, 0xaf0c,

+  0x6321, 0xaf07, 0x631d, 0xaf02, 0x6319, 0xaefd, 0x6315, 0xaef8,

+  0x6311, 0xaef4, 0x630d, 0xaeef, 0x6309, 0xaeea, 0x6305, 0xaee5,

+  0x6301, 0xaee0, 0x62fd, 0xaedb, 0x62f9, 0xaed6, 0x62f5, 0xaed2,

+  0x62f2, 0xaecd, 0x62ee, 0xaec8, 0x62ea, 0xaec3, 0x62e6, 0xaebe,

+  0x62e2, 0xaeb9, 0x62de, 0xaeb4, 0x62da, 0xaeb0, 0x62d6, 0xaeab,

+  0x62d2, 0xaea6, 0x62ce, 0xaea1, 0x62ca, 0xae9c, 0x62c6, 0xae97,

+  0x62c2, 0xae92, 0x62be, 0xae8e, 0x62ba, 0xae89, 0x62b6, 0xae84,

+  0x62b2, 0xae7f, 0x62ae, 0xae7a, 0x62aa, 0xae75, 0x62a6, 0xae71,

+  0x62a2, 0xae6c, 0x629e, 0xae67, 0x629a, 0xae62, 0x6296, 0xae5d,

+  0x6292, 0xae58, 0x628e, 0xae54, 0x628a, 0xae4f, 0x6286, 0xae4a,

+  0x6282, 0xae45, 0x627e, 0xae40, 0x627a, 0xae3b, 0x6275, 0xae37,

+  0x6271, 0xae32, 0x626d, 0xae2d, 0x6269, 0xae28, 0x6265, 0xae23,

+  0x6261, 0xae1e, 0x625d, 0xae1a, 0x6259, 0xae15, 0x6255, 0xae10,

+  0x6251, 0xae0b, 0x624d, 0xae06, 0x6249, 0xae01, 0x6245, 0xadfd,

+  0x6241, 0xadf8, 0x623d, 0xadf3, 0x6239, 0xadee, 0x6235, 0xade9,

+  0x6231, 0xade4, 0x622d, 0xade0, 0x6229, 0xaddb, 0x6225, 0xadd6,

+  0x6221, 0xadd1, 0x621d, 0xadcc, 0x6219, 0xadc8, 0x6215, 0xadc3,

+  0x6211, 0xadbe, 0x620d, 0xadb9, 0x6209, 0xadb4, 0x6205, 0xadaf,

+  0x6201, 0xadab, 0x61fd, 0xada6, 0x61f9, 0xada1, 0x61f5, 0xad9c,

+  0x61f1, 0xad97, 0x61ec, 0xad93, 0x61e8, 0xad8e, 0x61e4, 0xad89,

+  0x61e0, 0xad84, 0x61dc, 0xad7f, 0x61d8, 0xad7b, 0x61d4, 0xad76,

+  0x61d0, 0xad71, 0x61cc, 0xad6c, 0x61c8, 0xad67, 0x61c4, 0xad63,

+  0x61c0, 0xad5e, 0x61bc, 0xad59, 0x61b8, 0xad54, 0x61b4, 0xad4f,

+  0x61b0, 0xad4b, 0x61ac, 0xad46, 0x61a8, 0xad41, 0x61a3, 0xad3c,

+  0x619f, 0xad37, 0x619b, 0xad33, 0x6197, 0xad2e, 0x6193, 0xad29,

+  0x618f, 0xad24, 0x618b, 0xad1f, 0x6187, 0xad1b, 0x6183, 0xad16,

+  0x617f, 0xad11, 0x617b, 0xad0c, 0x6177, 0xad08, 0x6173, 0xad03,

+  0x616f, 0xacfe, 0x616b, 0xacf9, 0x6166, 0xacf4, 0x6162, 0xacf0,

+  0x615e, 0xaceb, 0x615a, 0xace6, 0x6156, 0xace1, 0x6152, 0xacdd,

+  0x614e, 0xacd8, 0x614a, 0xacd3, 0x6146, 0xacce, 0x6142, 0xacc9,

+  0x613e, 0xacc5, 0x613a, 0xacc0, 0x6135, 0xacbb, 0x6131, 0xacb6,

+  0x612d, 0xacb2, 0x6129, 0xacad, 0x6125, 0xaca8, 0x6121, 0xaca3,

+  0x611d, 0xac9e, 0x6119, 0xac9a, 0x6115, 0xac95, 0x6111, 0xac90,

+  0x610d, 0xac8b, 0x6108, 0xac87, 0x6104, 0xac82, 0x6100, 0xac7d,

+  0x60fc, 0xac78, 0x60f8, 0xac74, 0x60f4, 0xac6f, 0x60f0, 0xac6a,

+  0x60ec, 0xac65, 0x60e8, 0xac61, 0x60e4, 0xac5c, 0x60df, 0xac57,

+  0x60db, 0xac52, 0x60d7, 0xac4e, 0x60d3, 0xac49, 0x60cf, 0xac44,

+  0x60cb, 0xac3f, 0x60c7, 0xac3b, 0x60c3, 0xac36, 0x60bf, 0xac31,

+  0x60ba, 0xac2c, 0x60b6, 0xac28, 0x60b2, 0xac23, 0x60ae, 0xac1e,

+  0x60aa, 0xac19, 0x60a6, 0xac15, 0x60a2, 0xac10, 0x609e, 0xac0b,

+  0x6099, 0xac06, 0x6095, 0xac02, 0x6091, 0xabfd, 0x608d, 0xabf8,

+  0x6089, 0xabf3, 0x6085, 0xabef, 0x6081, 0xabea, 0x607d, 0xabe5,

+  0x6078, 0xabe0, 0x6074, 0xabdc, 0x6070, 0xabd7, 0x606c, 0xabd2,

+  0x6068, 0xabcd, 0x6064, 0xabc9, 0x6060, 0xabc4, 0x605c, 0xabbf,

+  0x6057, 0xabbb, 0x6053, 0xabb6, 0x604f, 0xabb1, 0x604b, 0xabac,

+  0x6047, 0xaba8, 0x6043, 0xaba3, 0x603f, 0xab9e, 0x603a, 0xab99,

+  0x6036, 0xab95, 0x6032, 0xab90, 0x602e, 0xab8b, 0x602a, 0xab87,

+  0x6026, 0xab82, 0x6022, 0xab7d, 0x601d, 0xab78, 0x6019, 0xab74,

+  0x6015, 0xab6f, 0x6011, 0xab6a, 0x600d, 0xab66, 0x6009, 0xab61,

+  0x6004, 0xab5c, 0x6000, 0xab57, 0x5ffc, 0xab53, 0x5ff8, 0xab4e,

+  0x5ff4, 0xab49, 0x5ff0, 0xab45, 0x5fec, 0xab40, 0x5fe7, 0xab3b,

+  0x5fe3, 0xab36, 0x5fdf, 0xab32, 0x5fdb, 0xab2d, 0x5fd7, 0xab28,

+  0x5fd3, 0xab24, 0x5fce, 0xab1f, 0x5fca, 0xab1a, 0x5fc6, 0xab16,

+  0x5fc2, 0xab11, 0x5fbe, 0xab0c, 0x5fba, 0xab07, 0x5fb5, 0xab03,

+  0x5fb1, 0xaafe, 0x5fad, 0xaaf9, 0x5fa9, 0xaaf5, 0x5fa5, 0xaaf0,

+  0x5fa0, 0xaaeb, 0x5f9c, 0xaae7, 0x5f98, 0xaae2, 0x5f94, 0xaadd,

+  0x5f90, 0xaad8, 0x5f8c, 0xaad4, 0x5f87, 0xaacf, 0x5f83, 0xaaca,

+  0x5f7f, 0xaac6, 0x5f7b, 0xaac1, 0x5f77, 0xaabc, 0x5f72, 0xaab8,

+  0x5f6e, 0xaab3, 0x5f6a, 0xaaae, 0x5f66, 0xaaaa, 0x5f62, 0xaaa5,

+  0x5f5e, 0xaaa0, 0x5f59, 0xaa9c, 0x5f55, 0xaa97, 0x5f51, 0xaa92,

+  0x5f4d, 0xaa8e, 0x5f49, 0xaa89, 0x5f44, 0xaa84, 0x5f40, 0xaa7f,

+  0x5f3c, 0xaa7b, 0x5f38, 0xaa76, 0x5f34, 0xaa71, 0x5f2f, 0xaa6d,

+  0x5f2b, 0xaa68, 0x5f27, 0xaa63, 0x5f23, 0xaa5f, 0x5f1f, 0xaa5a,

+  0x5f1a, 0xaa55, 0x5f16, 0xaa51, 0x5f12, 0xaa4c, 0x5f0e, 0xaa47,

+  0x5f0a, 0xaa43, 0x5f05, 0xaa3e, 0x5f01, 0xaa39, 0x5efd, 0xaa35,

+  0x5ef9, 0xaa30, 0x5ef5, 0xaa2b, 0x5ef0, 0xaa27, 0x5eec, 0xaa22,

+  0x5ee8, 0xaa1d, 0x5ee4, 0xaa19, 0x5edf, 0xaa14, 0x5edb, 0xaa10,

+  0x5ed7, 0xaa0b, 0x5ed3, 0xaa06, 0x5ecf, 0xaa02, 0x5eca, 0xa9fd,

+  0x5ec6, 0xa9f8, 0x5ec2, 0xa9f4, 0x5ebe, 0xa9ef, 0x5eb9, 0xa9ea,

+  0x5eb5, 0xa9e6, 0x5eb1, 0xa9e1, 0x5ead, 0xa9dc, 0x5ea9, 0xa9d8,

+  0x5ea4, 0xa9d3, 0x5ea0, 0xa9ce, 0x5e9c, 0xa9ca, 0x5e98, 0xa9c5,

+  0x5e93, 0xa9c0, 0x5e8f, 0xa9bc, 0x5e8b, 0xa9b7, 0x5e87, 0xa9b3,

+  0x5e82, 0xa9ae, 0x5e7e, 0xa9a9, 0x5e7a, 0xa9a5, 0x5e76, 0xa9a0,

+  0x5e71, 0xa99b, 0x5e6d, 0xa997, 0x5e69, 0xa992, 0x5e65, 0xa98d,

+  0x5e60, 0xa989, 0x5e5c, 0xa984, 0x5e58, 0xa980, 0x5e54, 0xa97b,

+  0x5e50, 0xa976, 0x5e4b, 0xa972, 0x5e47, 0xa96d, 0x5e43, 0xa968,

+  0x5e3f, 0xa964, 0x5e3a, 0xa95f, 0x5e36, 0xa95b, 0x5e32, 0xa956,

+  0x5e2d, 0xa951, 0x5e29, 0xa94d, 0x5e25, 0xa948, 0x5e21, 0xa943,

+  0x5e1c, 0xa93f, 0x5e18, 0xa93a, 0x5e14, 0xa936, 0x5e10, 0xa931,

+  0x5e0b, 0xa92c, 0x5e07, 0xa928, 0x5e03, 0xa923, 0x5dff, 0xa91e,

+  0x5dfa, 0xa91a, 0x5df6, 0xa915, 0x5df2, 0xa911, 0x5dee, 0xa90c,

+  0x5de9, 0xa907, 0x5de5, 0xa903, 0x5de1, 0xa8fe, 0x5ddc, 0xa8fa,

+  0x5dd8, 0xa8f5, 0x5dd4, 0xa8f0, 0x5dd0, 0xa8ec, 0x5dcb, 0xa8e7,

+  0x5dc7, 0xa8e3, 0x5dc3, 0xa8de, 0x5dbf, 0xa8d9, 0x5dba, 0xa8d5,

+  0x5db6, 0xa8d0, 0x5db2, 0xa8cc, 0x5dad, 0xa8c7, 0x5da9, 0xa8c2,

+  0x5da5, 0xa8be, 0x5da1, 0xa8b9, 0x5d9c, 0xa8b5, 0x5d98, 0xa8b0,

+  0x5d94, 0xa8ab, 0x5d8f, 0xa8a7, 0x5d8b, 0xa8a2, 0x5d87, 0xa89e,

+  0x5d83, 0xa899, 0x5d7e, 0xa894, 0x5d7a, 0xa890, 0x5d76, 0xa88b,

+  0x5d71, 0xa887, 0x5d6d, 0xa882, 0x5d69, 0xa87d, 0x5d65, 0xa879,

+  0x5d60, 0xa874, 0x5d5c, 0xa870, 0x5d58, 0xa86b, 0x5d53, 0xa867,

+  0x5d4f, 0xa862, 0x5d4b, 0xa85d, 0x5d46, 0xa859, 0x5d42, 0xa854,

+  0x5d3e, 0xa850, 0x5d3a, 0xa84b, 0x5d35, 0xa847, 0x5d31, 0xa842,

+  0x5d2d, 0xa83d, 0x5d28, 0xa839, 0x5d24, 0xa834, 0x5d20, 0xa830,

+  0x5d1b, 0xa82b, 0x5d17, 0xa827, 0x5d13, 0xa822, 0x5d0e, 0xa81d,

+  0x5d0a, 0xa819, 0x5d06, 0xa814, 0x5d01, 0xa810, 0x5cfd, 0xa80b,

+  0x5cf9, 0xa807, 0x5cf5, 0xa802, 0x5cf0, 0xa7fd, 0x5cec, 0xa7f9,

+  0x5ce8, 0xa7f4, 0x5ce3, 0xa7f0, 0x5cdf, 0xa7eb, 0x5cdb, 0xa7e7,

+  0x5cd6, 0xa7e2, 0x5cd2, 0xa7de, 0x5cce, 0xa7d9, 0x5cc9, 0xa7d4,

+  0x5cc5, 0xa7d0, 0x5cc1, 0xa7cb, 0x5cbc, 0xa7c7, 0x5cb8, 0xa7c2,

+  0x5cb4, 0xa7be, 0x5caf, 0xa7b9, 0x5cab, 0xa7b5, 0x5ca7, 0xa7b0,

+  0x5ca2, 0xa7ab, 0x5c9e, 0xa7a7, 0x5c9a, 0xa7a2, 0x5c95, 0xa79e,

+  0x5c91, 0xa799, 0x5c8d, 0xa795, 0x5c88, 0xa790, 0x5c84, 0xa78c,

+  0x5c80, 0xa787, 0x5c7b, 0xa783, 0x5c77, 0xa77e, 0x5c73, 0xa779,

+  0x5c6e, 0xa775, 0x5c6a, 0xa770, 0x5c66, 0xa76c, 0x5c61, 0xa767,

+  0x5c5d, 0xa763, 0x5c58, 0xa75e, 0x5c54, 0xa75a, 0x5c50, 0xa755,

+  0x5c4b, 0xa751, 0x5c47, 0xa74c, 0x5c43, 0xa748, 0x5c3e, 0xa743,

+  0x5c3a, 0xa73f, 0x5c36, 0xa73a, 0x5c31, 0xa735, 0x5c2d, 0xa731,

+  0x5c29, 0xa72c, 0x5c24, 0xa728, 0x5c20, 0xa723, 0x5c1b, 0xa71f,

+  0x5c17, 0xa71a, 0x5c13, 0xa716, 0x5c0e, 0xa711, 0x5c0a, 0xa70d,

+  0x5c06, 0xa708, 0x5c01, 0xa704, 0x5bfd, 0xa6ff, 0x5bf9, 0xa6fb,

+  0x5bf4, 0xa6f6, 0x5bf0, 0xa6f2, 0x5beb, 0xa6ed, 0x5be7, 0xa6e9,

+  0x5be3, 0xa6e4, 0x5bde, 0xa6e0, 0x5bda, 0xa6db, 0x5bd6, 0xa6d7,

+  0x5bd1, 0xa6d2, 0x5bcd, 0xa6ce, 0x5bc8, 0xa6c9, 0x5bc4, 0xa6c5,

+  0x5bc0, 0xa6c0, 0x5bbb, 0xa6bc, 0x5bb7, 0xa6b7, 0x5bb2, 0xa6b3,

+  0x5bae, 0xa6ae, 0x5baa, 0xa6aa, 0x5ba5, 0xa6a5, 0x5ba1, 0xa6a1,

+  0x5b9d, 0xa69c, 0x5b98, 0xa698, 0x5b94, 0xa693, 0x5b8f, 0xa68f,

+  0x5b8b, 0xa68a, 0x5b87, 0xa686, 0x5b82, 0xa681, 0x5b7e, 0xa67d,

+  0x5b79, 0xa678, 0x5b75, 0xa674, 0x5b71, 0xa66f, 0x5b6c, 0xa66b,

+  0x5b68, 0xa666, 0x5b63, 0xa662, 0x5b5f, 0xa65d, 0x5b5b, 0xa659,

+  0x5b56, 0xa654, 0x5b52, 0xa650, 0x5b4d, 0xa64b, 0x5b49, 0xa647,

+  0x5b45, 0xa642, 0x5b40, 0xa63e, 0x5b3c, 0xa639, 0x5b37, 0xa635,

+  0x5b33, 0xa630, 0x5b2f, 0xa62c, 0x5b2a, 0xa627, 0x5b26, 0xa623,

+  0x5b21, 0xa61f, 0x5b1d, 0xa61a, 0x5b19, 0xa616, 0x5b14, 0xa611,

+  0x5b10, 0xa60d, 0x5b0b, 0xa608, 0x5b07, 0xa604, 0x5b02, 0xa5ff,

+  0x5afe, 0xa5fb, 0x5afa, 0xa5f6, 0x5af5, 0xa5f2, 0x5af1, 0xa5ed,

+  0x5aec, 0xa5e9, 0x5ae8, 0xa5e4, 0x5ae4, 0xa5e0, 0x5adf, 0xa5dc,

+  0x5adb, 0xa5d7, 0x5ad6, 0xa5d3, 0x5ad2, 0xa5ce, 0x5acd, 0xa5ca,

+  0x5ac9, 0xa5c5, 0x5ac5, 0xa5c1, 0x5ac0, 0xa5bc, 0x5abc, 0xa5b8,

+  0x5ab7, 0xa5b3, 0x5ab3, 0xa5af, 0x5aae, 0xa5aa, 0x5aaa, 0xa5a6,

+  0x5aa5, 0xa5a2, 0x5aa1, 0xa59d, 0x5a9d, 0xa599, 0x5a98, 0xa594,

+  0x5a94, 0xa590, 0x5a8f, 0xa58b, 0x5a8b, 0xa587, 0x5a86, 0xa582,

+  0x5a82, 0xa57e, 0x5a7e, 0xa57a, 0x5a79, 0xa575, 0x5a75, 0xa571,

+  0x5a70, 0xa56c, 0x5a6c, 0xa568, 0x5a67, 0xa563, 0x5a63, 0xa55f,

+  0x5a5e, 0xa55b, 0x5a5a, 0xa556, 0x5a56, 0xa552, 0x5a51, 0xa54d,

+  0x5a4d, 0xa549, 0x5a48, 0xa544, 0x5a44, 0xa540, 0x5a3f, 0xa53b,

+  0x5a3b, 0xa537, 0x5a36, 0xa533, 0x5a32, 0xa52e, 0x5a2d, 0xa52a,

+  0x5a29, 0xa525, 0x5a24, 0xa521, 0x5a20, 0xa51c, 0x5a1c, 0xa518,

+  0x5a17, 0xa514, 0x5a13, 0xa50f, 0x5a0e, 0xa50b, 0x5a0a, 0xa506,

+  0x5a05, 0xa502, 0x5a01, 0xa4fe, 0x59fc, 0xa4f9, 0x59f8, 0xa4f5,

+  0x59f3, 0xa4f0, 0x59ef, 0xa4ec, 0x59ea, 0xa4e7, 0x59e6, 0xa4e3,

+  0x59e1, 0xa4df, 0x59dd, 0xa4da, 0x59d9, 0xa4d6, 0x59d4, 0xa4d1,

+  0x59d0, 0xa4cd, 0x59cb, 0xa4c9, 0x59c7, 0xa4c4, 0x59c2, 0xa4c0,

+  0x59be, 0xa4bb, 0x59b9, 0xa4b7, 0x59b5, 0xa4b3, 0x59b0, 0xa4ae,

+  0x59ac, 0xa4aa, 0x59a7, 0xa4a5, 0x59a3, 0xa4a1, 0x599e, 0xa49d,

+  0x599a, 0xa498, 0x5995, 0xa494, 0x5991, 0xa48f, 0x598c, 0xa48b,

+  0x5988, 0xa487, 0x5983, 0xa482, 0x597f, 0xa47e, 0x597a, 0xa479,

+  0x5976, 0xa475, 0x5971, 0xa471, 0x596d, 0xa46c, 0x5968, 0xa468,

+  0x5964, 0xa463, 0x595f, 0xa45f, 0x595b, 0xa45b, 0x5956, 0xa456,

+  0x5952, 0xa452, 0x594d, 0xa44e, 0x5949, 0xa449, 0x5944, 0xa445,

+  0x5940, 0xa440, 0x593b, 0xa43c, 0x5937, 0xa438, 0x5932, 0xa433,

+  0x592e, 0xa42f, 0x5929, 0xa42a, 0x5925, 0xa426, 0x5920, 0xa422,

+  0x591c, 0xa41d, 0x5917, 0xa419, 0x5913, 0xa415, 0x590e, 0xa410,

+  0x590a, 0xa40c, 0x5905, 0xa407, 0x5901, 0xa403, 0x58fc, 0xa3ff,

+  0x58f8, 0xa3fa, 0x58f3, 0xa3f6, 0x58ef, 0xa3f2, 0x58ea, 0xa3ed,

+  0x58e6, 0xa3e9, 0x58e1, 0xa3e5, 0x58dd, 0xa3e0, 0x58d8, 0xa3dc,

+  0x58d4, 0xa3d7, 0x58cf, 0xa3d3, 0x58cb, 0xa3cf, 0x58c6, 0xa3ca,

+  0x58c1, 0xa3c6, 0x58bd, 0xa3c2, 0x58b8, 0xa3bd, 0x58b4, 0xa3b9,

+  0x58af, 0xa3b5, 0x58ab, 0xa3b0, 0x58a6, 0xa3ac, 0x58a2, 0xa3a8,

+  0x589d, 0xa3a3, 0x5899, 0xa39f, 0x5894, 0xa39a, 0x5890, 0xa396,

+  0x588b, 0xa392, 0x5887, 0xa38d, 0x5882, 0xa389, 0x587d, 0xa385,

+  0x5879, 0xa380, 0x5874, 0xa37c, 0x5870, 0xa378, 0x586b, 0xa373,

+  0x5867, 0xa36f, 0x5862, 0xa36b, 0x585e, 0xa366, 0x5859, 0xa362,

+  0x5855, 0xa35e, 0x5850, 0xa359, 0x584b, 0xa355, 0x5847, 0xa351,

+  0x5842, 0xa34c, 0x583e, 0xa348, 0x5839, 0xa344, 0x5835, 0xa33f,

+  0x5830, 0xa33b, 0x582c, 0xa337, 0x5827, 0xa332, 0x5822, 0xa32e,

+  0x581e, 0xa32a, 0x5819, 0xa325, 0x5815, 0xa321, 0x5810, 0xa31d,

+  0x580c, 0xa318, 0x5807, 0xa314, 0x5803, 0xa310, 0x57fe, 0xa30b,

+  0x57f9, 0xa307, 0x57f5, 0xa303, 0x57f0, 0xa2ff, 0x57ec, 0xa2fa,

+  0x57e7, 0xa2f6, 0x57e3, 0xa2f2, 0x57de, 0xa2ed, 0x57d9, 0xa2e9,

+  0x57d5, 0xa2e5, 0x57d0, 0xa2e0, 0x57cc, 0xa2dc, 0x57c7, 0xa2d8,

+  0x57c3, 0xa2d3, 0x57be, 0xa2cf, 0x57b9, 0xa2cb, 0x57b5, 0xa2c6,

+  0x57b0, 0xa2c2, 0x57ac, 0xa2be, 0x57a7, 0xa2ba, 0x57a3, 0xa2b5,

+  0x579e, 0xa2b1, 0x5799, 0xa2ad, 0x5795, 0xa2a8, 0x5790, 0xa2a4,

+  0x578c, 0xa2a0, 0x5787, 0xa29b, 0x5783, 0xa297, 0x577e, 0xa293,

+  0x5779, 0xa28f, 0x5775, 0xa28a, 0x5770, 0xa286, 0x576c, 0xa282,

+  0x5767, 0xa27d, 0x5762, 0xa279, 0x575e, 0xa275, 0x5759, 0xa271,

+  0x5755, 0xa26c, 0x5750, 0xa268, 0x574b, 0xa264, 0x5747, 0xa25f,

+  0x5742, 0xa25b, 0x573e, 0xa257, 0x5739, 0xa253, 0x5734, 0xa24e,

+  0x5730, 0xa24a, 0x572b, 0xa246, 0x5727, 0xa241, 0x5722, 0xa23d,

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+  0x5022, 0x9c31, 0x501d, 0x9c2d, 0x5018, 0x9c29, 0x5013, 0x9c25,

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+  0x4fc0, 0x9be2, 0x4fbb, 0x9bde, 0x4fb6, 0x9bda, 0x4fb1, 0x9bd7,

+  0x4fac, 0x9bd3, 0x4fa7, 0x9bcf, 0x4fa2, 0x9bcb, 0x4f9e, 0x9bc7,

+  0x4f99, 0x9bc3, 0x4f94, 0x9bbf, 0x4f8f, 0x9bbb, 0x4f8a, 0x9bb7,

+  0x4f85, 0x9bb3, 0x4f80, 0x9baf, 0x4f7b, 0x9bac, 0x4f76, 0x9ba8,

+  0x4f71, 0x9ba4, 0x4f6c, 0x9ba0, 0x4f67, 0x9b9c, 0x4f62, 0x9b98,

+  0x4f5e, 0x9b94, 0x4f59, 0x9b90, 0x4f54, 0x9b8c, 0x4f4f, 0x9b88,

+  0x4f4a, 0x9b85, 0x4f45, 0x9b81, 0x4f40, 0x9b7d, 0x4f3b, 0x9b79,

+  0x4f36, 0x9b75, 0x4f31, 0x9b71, 0x4f2c, 0x9b6d, 0x4f27, 0x9b69,

+  0x4f22, 0x9b65, 0x4f1d, 0x9b62, 0x4f18, 0x9b5e, 0x4f14, 0x9b5a,

+  0x4f0f, 0x9b56, 0x4f0a, 0x9b52, 0x4f05, 0x9b4e, 0x4f00, 0x9b4a,

+  0x4efb, 0x9b46, 0x4ef6, 0x9b43, 0x4ef1, 0x9b3f, 0x4eec, 0x9b3b,

+  0x4ee7, 0x9b37, 0x4ee2, 0x9b33, 0x4edd, 0x9b2f, 0x4ed8, 0x9b2b,

+  0x4ed3, 0x9b27, 0x4ece, 0x9b24, 0x4ec9, 0x9b20, 0x4ec4, 0x9b1c,

+  0x4ebf, 0x9b18, 0x4eba, 0x9b14, 0x4eb6, 0x9b10, 0x4eb1, 0x9b0c,

+  0x4eac, 0x9b09, 0x4ea7, 0x9b05, 0x4ea2, 0x9b01, 0x4e9d, 0x9afd,

+  0x4e98, 0x9af9, 0x4e93, 0x9af5, 0x4e8e, 0x9af1, 0x4e89, 0x9aed,

+  0x4e84, 0x9aea, 0x4e7f, 0x9ae6, 0x4e7a, 0x9ae2, 0x4e75, 0x9ade,

+  0x4e70, 0x9ada, 0x4e6b, 0x9ad6, 0x4e66, 0x9ad3, 0x4e61, 0x9acf,

+  0x4e5c, 0x9acb, 0x4e57, 0x9ac7, 0x4e52, 0x9ac3, 0x4e4d, 0x9abf,

+  0x4e48, 0x9abb, 0x4e43, 0x9ab8, 0x4e3e, 0x9ab4, 0x4e39, 0x9ab0,

+  0x4e34, 0x9aac, 0x4e2f, 0x9aa8, 0x4e2a, 0x9aa4, 0x4e26, 0x9aa1,

+  0x4e21, 0x9a9d, 0x4e1c, 0x9a99, 0x4e17, 0x9a95, 0x4e12, 0x9a91,

+  0x4e0d, 0x9a8d, 0x4e08, 0x9a8a, 0x4e03, 0x9a86, 0x4dfe, 0x9a82,

+  0x4df9, 0x9a7e, 0x4df4, 0x9a7a, 0x4def, 0x9a76, 0x4dea, 0x9a73,

+  0x4de5, 0x9a6f, 0x4de0, 0x9a6b, 0x4ddb, 0x9a67, 0x4dd6, 0x9a63,

+  0x4dd1, 0x9a60, 0x4dcc, 0x9a5c, 0x4dc7, 0x9a58, 0x4dc2, 0x9a54,

+  0x4dbd, 0x9a50, 0x4db8, 0x9a4c, 0x4db3, 0x9a49, 0x4dae, 0x9a45,

+  0x4da9, 0x9a41, 0x4da4, 0x9a3d, 0x4d9f, 0x9a39, 0x4d9a, 0x9a36,

+  0x4d95, 0x9a32, 0x4d90, 0x9a2e, 0x4d8b, 0x9a2a, 0x4d86, 0x9a26,

+  0x4d81, 0x9a23, 0x4d7c, 0x9a1f, 0x4d77, 0x9a1b, 0x4d72, 0x9a17,

+  0x4d6d, 0x9a13, 0x4d68, 0x9a10, 0x4d63, 0x9a0c, 0x4d5e, 0x9a08,

+  0x4d59, 0x9a04, 0x4d54, 0x9a00, 0x4d4f, 0x99fd, 0x4d4a, 0x99f9,

+  0x4d45, 0x99f5, 0x4d40, 0x99f1, 0x4d3b, 0x99ed, 0x4d36, 0x99ea,

+  0x4d31, 0x99e6, 0x4d2c, 0x99e2, 0x4d27, 0x99de, 0x4d22, 0x99da,

+  0x4d1d, 0x99d7, 0x4d18, 0x99d3, 0x4d13, 0x99cf, 0x4d0e, 0x99cb,

+  0x4d09, 0x99c7, 0x4d04, 0x99c4, 0x4cff, 0x99c0, 0x4cfa, 0x99bc,

+  0x4cf5, 0x99b8, 0x4cf0, 0x99b5, 0x4ceb, 0x99b1, 0x4ce6, 0x99ad,

+  0x4ce1, 0x99a9, 0x4cdb, 0x99a5, 0x4cd6, 0x99a2, 0x4cd1, 0x999e,

+  0x4ccc, 0x999a, 0x4cc7, 0x9996, 0x4cc2, 0x9993, 0x4cbd, 0x998f,

+  0x4cb8, 0x998b, 0x4cb3, 0x9987, 0x4cae, 0x9984, 0x4ca9, 0x9980,

+  0x4ca4, 0x997c, 0x4c9f, 0x9978, 0x4c9a, 0x9975, 0x4c95, 0x9971,

+  0x4c90, 0x996d, 0x4c8b, 0x9969, 0x4c86, 0x9965, 0x4c81, 0x9962,

+  0x4c7c, 0x995e, 0x4c77, 0x995a, 0x4c72, 0x9956, 0x4c6d, 0x9953,

+  0x4c68, 0x994f, 0x4c63, 0x994b, 0x4c5e, 0x9947, 0x4c59, 0x9944,

+  0x4c54, 0x9940, 0x4c4f, 0x993c, 0x4c49, 0x9938, 0x4c44, 0x9935,

+  0x4c3f, 0x9931, 0x4c3a, 0x992d, 0x4c35, 0x992a, 0x4c30, 0x9926,

+  0x4c2b, 0x9922, 0x4c26, 0x991e, 0x4c21, 0x991b, 0x4c1c, 0x9917,

+  0x4c17, 0x9913, 0x4c12, 0x990f, 0x4c0d, 0x990c, 0x4c08, 0x9908,

+  0x4c03, 0x9904, 0x4bfe, 0x9900, 0x4bf9, 0x98fd, 0x4bf4, 0x98f9,

+  0x4bef, 0x98f5, 0x4be9, 0x98f2, 0x4be4, 0x98ee, 0x4bdf, 0x98ea,

+  0x4bda, 0x98e6, 0x4bd5, 0x98e3, 0x4bd0, 0x98df, 0x4bcb, 0x98db,

+  0x4bc6, 0x98d7, 0x4bc1, 0x98d4, 0x4bbc, 0x98d0, 0x4bb7, 0x98cc,

+  0x4bb2, 0x98c9, 0x4bad, 0x98c5, 0x4ba8, 0x98c1, 0x4ba3, 0x98bd,

+  0x4b9e, 0x98ba, 0x4b98, 0x98b6, 0x4b93, 0x98b2, 0x4b8e, 0x98af,

+  0x4b89, 0x98ab, 0x4b84, 0x98a7, 0x4b7f, 0x98a3, 0x4b7a, 0x98a0,

+  0x4b75, 0x989c, 0x4b70, 0x9898, 0x4b6b, 0x9895, 0x4b66, 0x9891,

+  0x4b61, 0x988d, 0x4b5c, 0x988a, 0x4b56, 0x9886, 0x4b51, 0x9882,

+  0x4b4c, 0x987e, 0x4b47, 0x987b, 0x4b42, 0x9877, 0x4b3d, 0x9873,

+  0x4b38, 0x9870, 0x4b33, 0x986c, 0x4b2e, 0x9868, 0x4b29, 0x9865,

+  0x4b24, 0x9861, 0x4b1f, 0x985d, 0x4b19, 0x985a, 0x4b14, 0x9856,

+  0x4b0f, 0x9852, 0x4b0a, 0x984e, 0x4b05, 0x984b, 0x4b00, 0x9847,

+  0x4afb, 0x9843, 0x4af6, 0x9840, 0x4af1, 0x983c, 0x4aec, 0x9838,

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+  0x3976, 0x8da0, 0x3970, 0x8d9d, 0x396b, 0x8d9a, 0x3965, 0x8d98,

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+  0x380d, 0x8cee, 0x3808, 0x8ceb, 0x3802, 0x8ce8, 0x37fd, 0x8ce5,

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+  0x36fe, 0x8c6b, 0x36f8, 0x8c68, 0x36f2, 0x8c65, 0x36ed, 0x8c63,

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+  0x3675, 0x8c2a, 0x3670, 0x8c28, 0x366a, 0x8c25, 0x3664, 0x8c22,

+  0x365f, 0x8c20, 0x3659, 0x8c1d, 0x3653, 0x8c1a, 0x364e, 0x8c18,

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+  0x3631, 0x8c0a, 0x362b, 0x8c08, 0x3626, 0x8c05, 0x3620, 0x8c02,

+  0x361a, 0x8c00, 0x3615, 0x8bfd, 0x360f, 0x8bfa, 0x3609, 0x8bf8,

+  0x3604, 0x8bf5, 0x35fe, 0x8bf3, 0x35f8, 0x8bf0, 0x35f3, 0x8bed,

+  0x35ed, 0x8beb, 0x35e7, 0x8be8, 0x35e1, 0x8be5, 0x35dc, 0x8be3,

+  0x35d6, 0x8be0, 0x35d0, 0x8bdd, 0x35cb, 0x8bdb, 0x35c5, 0x8bd8,

+  0x35bf, 0x8bd5, 0x35ba, 0x8bd3, 0x35b4, 0x8bd0, 0x35ae, 0x8bce,

+  0x35a8, 0x8bcb, 0x35a3, 0x8bc8, 0x359d, 0x8bc6, 0x3597, 0x8bc3,

+  0x3592, 0x8bc0, 0x358c, 0x8bbe, 0x3586, 0x8bbb, 0x3580, 0x8bb8,

+  0x357b, 0x8bb6, 0x3575, 0x8bb3, 0x356f, 0x8bb1, 0x356a, 0x8bae,

+  0x3564, 0x8bab, 0x355e, 0x8ba9, 0x3558, 0x8ba6, 0x3553, 0x8ba4,

+  0x354d, 0x8ba1, 0x3547, 0x8b9e, 0x3542, 0x8b9c, 0x353c, 0x8b99,

+  0x3536, 0x8b96, 0x3530, 0x8b94, 0x352b, 0x8b91, 0x3525, 0x8b8f,

+  0x351f, 0x8b8c, 0x351a, 0x8b89, 0x3514, 0x8b87, 0x350e, 0x8b84,

+  0x3508, 0x8b82, 0x3503, 0x8b7f, 0x34fd, 0x8b7c, 0x34f7, 0x8b7a,

+  0x34f2, 0x8b77, 0x34ec, 0x8b75, 0x34e6, 0x8b72, 0x34e0, 0x8b6f,

+  0x34db, 0x8b6d, 0x34d5, 0x8b6a, 0x34cf, 0x8b68, 0x34ca, 0x8b65,

+  0x34c4, 0x8b62, 0x34be, 0x8b60, 0x34b8, 0x8b5d, 0x34b3, 0x8b5b,

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+  0x3496, 0x8b4e, 0x3490, 0x8b4b, 0x348b, 0x8b49, 0x3485, 0x8b46,

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+  0x3451, 0x8b2f, 0x344b, 0x8b2c, 0x3446, 0x8b2a, 0x3440, 0x8b27,

+  0x343a, 0x8b25, 0x3435, 0x8b22, 0x342f, 0x8b1f, 0x3429, 0x8b1d,

+  0x3423, 0x8b1a, 0x341e, 0x8b18, 0x3418, 0x8b15, 0x3412, 0x8b13,

+  0x340c, 0x8b10, 0x3407, 0x8b0e, 0x3401, 0x8b0b, 0x33fb, 0x8b08,

+  0x33f5, 0x8b06, 0x33f0, 0x8b03, 0x33ea, 0x8b01, 0x33e4, 0x8afe,

+  0x33de, 0x8afc, 0x33d9, 0x8af9, 0x33d3, 0x8af7, 0x33cd, 0x8af4,

+  0x33c7, 0x8af1, 0x33c2, 0x8aef, 0x33bc, 0x8aec, 0x33b6, 0x8aea,

+  0x33b0, 0x8ae7, 0x33ab, 0x8ae5, 0x33a5, 0x8ae2, 0x339f, 0x8ae0,

+  0x3399, 0x8add, 0x3394, 0x8adb, 0x338e, 0x8ad8, 0x3388, 0x8ad6,

+  0x3382, 0x8ad3, 0x337d, 0x8ad1, 0x3377, 0x8ace, 0x3371, 0x8acb,

+  0x336b, 0x8ac9, 0x3366, 0x8ac6, 0x3360, 0x8ac4, 0x335a, 0x8ac1,

+  0x3354, 0x8abf, 0x334f, 0x8abc, 0x3349, 0x8aba, 0x3343, 0x8ab7,

+  0x333d, 0x8ab5, 0x3338, 0x8ab2, 0x3332, 0x8ab0, 0x332c, 0x8aad,

+  0x3326, 0x8aab, 0x3321, 0x8aa8, 0x331b, 0x8aa6, 0x3315, 0x8aa3,

+  0x330f, 0x8aa1, 0x330a, 0x8a9e, 0x3304, 0x8a9c, 0x32fe, 0x8a99,

+  0x32f8, 0x8a97, 0x32f3, 0x8a94, 0x32ed, 0x8a92, 0x32e7, 0x8a8f,

+  0x32e1, 0x8a8d, 0x32db, 0x8a8a, 0x32d6, 0x8a88, 0x32d0, 0x8a85,

+  0x32ca, 0x8a83, 0x32c4, 0x8a80, 0x32bf, 0x8a7e, 0x32b9, 0x8a7b,

+  0x32b3, 0x8a79, 0x32ad, 0x8a76, 0x32a8, 0x8a74, 0x32a2, 0x8a71,

+  0x329c, 0x8a6f, 0x3296, 0x8a6c, 0x3290, 0x8a6a, 0x328b, 0x8a67,

+  0x3285, 0x8a65, 0x327f, 0x8a62, 0x3279, 0x8a60, 0x3274, 0x8a5d,

+  0x326e, 0x8a5b, 0x3268, 0x8a59, 0x3262, 0x8a56, 0x325d, 0x8a54,

+  0x3257, 0x8a51, 0x3251, 0x8a4f, 0x324b, 0x8a4c, 0x3245, 0x8a4a,

+  0x3240, 0x8a47, 0x323a, 0x8a45, 0x3234, 0x8a42, 0x322e, 0x8a40,

+  0x3228, 0x8a3d, 0x3223, 0x8a3b, 0x321d, 0x8a38, 0x3217, 0x8a36,

+  0x3211, 0x8a34, 0x320c, 0x8a31, 0x3206, 0x8a2f, 0x3200, 0x8a2c,

+  0x31fa, 0x8a2a, 0x31f4, 0x8a27, 0x31ef, 0x8a25, 0x31e9, 0x8a22,

+  0x31e3, 0x8a20, 0x31dd, 0x8a1d, 0x31d8, 0x8a1b, 0x31d2, 0x8a19,

+  0x31cc, 0x8a16, 0x31c6, 0x8a14, 0x31c0, 0x8a11, 0x31bb, 0x8a0f,

+  0x31b5, 0x8a0c, 0x31af, 0x8a0a, 0x31a9, 0x8a07, 0x31a3, 0x8a05,

+  0x319e, 0x8a03, 0x3198, 0x8a00, 0x3192, 0x89fe, 0x318c, 0x89fb,

+  0x3186, 0x89f9, 0x3181, 0x89f6, 0x317b, 0x89f4, 0x3175, 0x89f2,

+  0x316f, 0x89ef, 0x3169, 0x89ed, 0x3164, 0x89ea, 0x315e, 0x89e8,

+  0x3158, 0x89e5, 0x3152, 0x89e3, 0x314c, 0x89e1, 0x3147, 0x89de,

+  0x3141, 0x89dc, 0x313b, 0x89d9, 0x3135, 0x89d7, 0x312f, 0x89d5,

+  0x312a, 0x89d2, 0x3124, 0x89d0, 0x311e, 0x89cd, 0x3118, 0x89cb,

+  0x3112, 0x89c8, 0x310d, 0x89c6, 0x3107, 0x89c4, 0x3101, 0x89c1,

+  0x30fb, 0x89bf, 0x30f5, 0x89bc, 0x30f0, 0x89ba, 0x30ea, 0x89b8,

+  0x30e4, 0x89b5, 0x30de, 0x89b3, 0x30d8, 0x89b0, 0x30d3, 0x89ae,

+  0x30cd, 0x89ac, 0x30c7, 0x89a9, 0x30c1, 0x89a7, 0x30bb, 0x89a4,

+  0x30b6, 0x89a2, 0x30b0, 0x89a0, 0x30aa, 0x899d, 0x30a4, 0x899b,

+  0x309e, 0x8998, 0x3099, 0x8996, 0x3093, 0x8994, 0x308d, 0x8991,

+  0x3087, 0x898f, 0x3081, 0x898d, 0x307b, 0x898a, 0x3076, 0x8988,

+  0x3070, 0x8985, 0x306a, 0x8983, 0x3064, 0x8981, 0x305e, 0x897e,

+  0x3059, 0x897c, 0x3053, 0x897a, 0x304d, 0x8977, 0x3047, 0x8975,

+  0x3041, 0x8972, 0x303b, 0x8970, 0x3036, 0x896e, 0x3030, 0x896b,

+  0x302a, 0x8969, 0x3024, 0x8967, 0x301e, 0x8964, 0x3019, 0x8962,

+  0x3013, 0x8960, 0x300d, 0x895d, 0x3007, 0x895b, 0x3001, 0x8958,

+  0x2ffb, 0x8956, 0x2ff6, 0x8954, 0x2ff0, 0x8951, 0x2fea, 0x894f,

+  0x2fe4, 0x894d, 0x2fde, 0x894a, 0x2fd8, 0x8948, 0x2fd3, 0x8946,

+  0x2fcd, 0x8943, 0x2fc7, 0x8941, 0x2fc1, 0x893f, 0x2fbb, 0x893c,

+  0x2fb5, 0x893a, 0x2fb0, 0x8938, 0x2faa, 0x8935, 0x2fa4, 0x8933,

+  0x2f9e, 0x8931, 0x2f98, 0x892e, 0x2f92, 0x892c, 0x2f8d, 0x892a,

+  0x2f87, 0x8927, 0x2f81, 0x8925, 0x2f7b, 0x8923, 0x2f75, 0x8920,

+  0x2f6f, 0x891e, 0x2f6a, 0x891c, 0x2f64, 0x8919, 0x2f5e, 0x8917,

+  0x2f58, 0x8915, 0x2f52, 0x8912, 0x2f4c, 0x8910, 0x2f47, 0x890e,

+  0x2f41, 0x890b, 0x2f3b, 0x8909, 0x2f35, 0x8907, 0x2f2f, 0x8904,

+  0x2f29, 0x8902, 0x2f24, 0x8900, 0x2f1e, 0x88fd, 0x2f18, 0x88fb,

+  0x2f12, 0x88f9, 0x2f0c, 0x88f6, 0x2f06, 0x88f4, 0x2f01, 0x88f2,

+  0x2efb, 0x88f0, 0x2ef5, 0x88ed, 0x2eef, 0x88eb, 0x2ee9, 0x88e9,

+  0x2ee3, 0x88e6, 0x2edd, 0x88e4, 0x2ed8, 0x88e2, 0x2ed2, 0x88df,

+  0x2ecc, 0x88dd, 0x2ec6, 0x88db, 0x2ec0, 0x88d9, 0x2eba, 0x88d6,

+  0x2eb5, 0x88d4, 0x2eaf, 0x88d2, 0x2ea9, 0x88cf, 0x2ea3, 0x88cd,

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+  0x2e86, 0x88c2, 0x2e80, 0x88bf, 0x2e7a, 0x88bd, 0x2e74, 0x88bb,

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+  0x232d, 0x84ee, 0x2327, 0x84ed, 0x2321, 0x84eb, 0x231b, 0x84e9,

+  0x2315, 0x84e7, 0x230f, 0x84e6, 0x2309, 0x84e4, 0x2303, 0x84e2,

+  0x22fd, 0x84e1, 0x22f7, 0x84df, 0x22f1, 0x84dd, 0x22eb, 0x84db,

+  0x22e5, 0x84da, 0x22df, 0x84d8, 0x22d9, 0x84d6, 0x22d3, 0x84d5,

+  0x22cd, 0x84d3, 0x22c7, 0x84d1, 0x22c0, 0x84cf, 0x22ba, 0x84ce,

+  0x22b4, 0x84cc, 0x22ae, 0x84ca, 0x22a8, 0x84c9, 0x22a2, 0x84c7,

+  0x229c, 0x84c5, 0x2296, 0x84c4, 0x2290, 0x84c2, 0x228a, 0x84c0,

+  0x2284, 0x84be, 0x227e, 0x84bd, 0x2278, 0x84bb, 0x2272, 0x84b9,

+  0x226c, 0x84b8, 0x2266, 0x84b6, 0x2260, 0x84b4, 0x225a, 0x84b3,

+  0x2254, 0x84b1, 0x224e, 0x84af, 0x2247, 0x84ae, 0x2241, 0x84ac,

+  0x223b, 0x84aa, 0x2235, 0x84a9, 0x222f, 0x84a7, 0x2229, 0x84a5,

+  0x2223, 0x84a3, 0x221d, 0x84a2, 0x2217, 0x84a0, 0x2211, 0x849e,

+  0x220b, 0x849d, 0x2205, 0x849b, 0x21ff, 0x8499, 0x21f9, 0x8498,

+  0x21f3, 0x8496, 0x21ed, 0x8494, 0x21e7, 0x8493, 0x21e1, 0x8491,

+  0x21da, 0x848f, 0x21d4, 0x848e, 0x21ce, 0x848c, 0x21c8, 0x848a,

+  0x21c2, 0x8489, 0x21bc, 0x8487, 0x21b6, 0x8486, 0x21b0, 0x8484,

+  0x21aa, 0x8482, 0x21a4, 0x8481, 0x219e, 0x847f, 0x2198, 0x847d,

+  0x2192, 0x847c, 0x218c, 0x847a, 0x2186, 0x8478, 0x2180, 0x8477,

+  0x2179, 0x8475, 0x2173, 0x8473, 0x216d, 0x8472, 0x2167, 0x8470,

+  0x2161, 0x846e, 0x215b, 0x846d, 0x2155, 0x846b, 0x214f, 0x846a,

+  0x2149, 0x8468, 0x2143, 0x8466, 0x213d, 0x8465, 0x2137, 0x8463,

+  0x2131, 0x8461, 0x212b, 0x8460, 0x2125, 0x845e, 0x211e, 0x845d,

+  0x2118, 0x845b, 0x2112, 0x8459, 0x210c, 0x8458, 0x2106, 0x8456,

+  0x2100, 0x8454, 0x20fa, 0x8453, 0x20f4, 0x8451, 0x20ee, 0x8450,

+  0x20e8, 0x844e, 0x20e2, 0x844c, 0x20dc, 0x844b, 0x20d6, 0x8449,

+  0x20d0, 0x8447, 0x20c9, 0x8446, 0x20c3, 0x8444, 0x20bd, 0x8443,

+  0x20b7, 0x8441, 0x20b1, 0x843f, 0x20ab, 0x843e, 0x20a5, 0x843c,

+  0x209f, 0x843b, 0x2099, 0x8439, 0x2093, 0x8437, 0x208d, 0x8436,

+  0x2087, 0x8434, 0x2081, 0x8433, 0x207a, 0x8431, 0x2074, 0x842f,

+  0x206e, 0x842e, 0x2068, 0x842c, 0x2062, 0x842b, 0x205c, 0x8429,

+  0x2056, 0x8427, 0x2050, 0x8426, 0x204a, 0x8424, 0x2044, 0x8423,

+  0x203e, 0x8421, 0x2038, 0x8420, 0x2032, 0x841e, 0x202b, 0x841c,

+  0x2025, 0x841b, 0x201f, 0x8419, 0x2019, 0x8418, 0x2013, 0x8416,

+  0x200d, 0x8415, 0x2007, 0x8413, 0x2001, 0x8411, 0x1ffb, 0x8410,

+  0x1ff5, 0x840e, 0x1fef, 0x840d, 0x1fe9, 0x840b, 0x1fe2, 0x840a,

+  0x1fdc, 0x8408, 0x1fd6, 0x8406, 0x1fd0, 0x8405, 0x1fca, 0x8403,

+  0x1fc4, 0x8402, 0x1fbe, 0x8400, 0x1fb8, 0x83ff, 0x1fb2, 0x83fd,

+  0x1fac, 0x83fb, 0x1fa6, 0x83fa, 0x1f9f, 0x83f8, 0x1f99, 0x83f7,

+  0x1f93, 0x83f5, 0x1f8d, 0x83f4, 0x1f87, 0x83f2, 0x1f81, 0x83f1,

+  0x1f7b, 0x83ef, 0x1f75, 0x83ee, 0x1f6f, 0x83ec, 0x1f69, 0x83ea,

+  0x1f63, 0x83e9, 0x1f5d, 0x83e7, 0x1f56, 0x83e6, 0x1f50, 0x83e4,

+  0x1f4a, 0x83e3, 0x1f44, 0x83e1, 0x1f3e, 0x83e0, 0x1f38, 0x83de,

+  0x1f32, 0x83dd, 0x1f2c, 0x83db, 0x1f26, 0x83da, 0x1f20, 0x83d8,

+  0x1f19, 0x83d7, 0x1f13, 0x83d5, 0x1f0d, 0x83d3, 0x1f07, 0x83d2,

+  0x1f01, 0x83d0, 0x1efb, 0x83cf, 0x1ef5, 0x83cd, 0x1eef, 0x83cc,

+  0x1ee9, 0x83ca, 0x1ee3, 0x83c9, 0x1edd, 0x83c7, 0x1ed6, 0x83c6,

+  0x1ed0, 0x83c4, 0x1eca, 0x83c3, 0x1ec4, 0x83c1, 0x1ebe, 0x83c0,

+  0x1eb8, 0x83be, 0x1eb2, 0x83bd, 0x1eac, 0x83bb, 0x1ea6, 0x83ba,

+  0x1ea0, 0x83b8, 0x1e99, 0x83b7, 0x1e93, 0x83b5, 0x1e8d, 0x83b4,

+  0x1e87, 0x83b2, 0x1e81, 0x83b1, 0x1e7b, 0x83af, 0x1e75, 0x83ae,

+  0x1e6f, 0x83ac, 0x1e69, 0x83ab, 0x1e62, 0x83a9, 0x1e5c, 0x83a8,

+  0x1e56, 0x83a6, 0x1e50, 0x83a5, 0x1e4a, 0x83a3, 0x1e44, 0x83a2,

+  0x1e3e, 0x83a0, 0x1e38, 0x839f, 0x1e32, 0x839d, 0x1e2c, 0x839c,

+  0x1e25, 0x839a, 0x1e1f, 0x8399, 0x1e19, 0x8397, 0x1e13, 0x8396,

+  0x1e0d, 0x8394, 0x1e07, 0x8393, 0x1e01, 0x8392, 0x1dfb, 0x8390,

+  0x1df5, 0x838f, 0x1dee, 0x838d, 0x1de8, 0x838c, 0x1de2, 0x838a,

+  0x1ddc, 0x8389, 0x1dd6, 0x8387, 0x1dd0, 0x8386, 0x1dca, 0x8384,

+  0x1dc4, 0x8383, 0x1dbe, 0x8381, 0x1db7, 0x8380, 0x1db1, 0x837e,

+  0x1dab, 0x837d, 0x1da5, 0x837c, 0x1d9f, 0x837a, 0x1d99, 0x8379,

+  0x1d93, 0x8377, 0x1d8d, 0x8376, 0x1d87, 0x8374, 0x1d80, 0x8373,

+  0x1d7a, 0x8371, 0x1d74, 0x8370, 0x1d6e, 0x836f, 0x1d68, 0x836d,

+  0x1d62, 0x836c, 0x1d5c, 0x836a, 0x1d56, 0x8369, 0x1d50, 0x8367,

+  0x1d49, 0x8366, 0x1d43, 0x8364, 0x1d3d, 0x8363, 0x1d37, 0x8362,

+  0x1d31, 0x8360, 0x1d2b, 0x835f, 0x1d25, 0x835d, 0x1d1f, 0x835c,

+  0x1d18, 0x835a, 0x1d12, 0x8359, 0x1d0c, 0x8358, 0x1d06, 0x8356,

+  0x1d00, 0x8355, 0x1cfa, 0x8353, 0x1cf4, 0x8352, 0x1cee, 0x8350,

+  0x1ce8, 0x834f, 0x1ce1, 0x834e, 0x1cdb, 0x834c, 0x1cd5, 0x834b,

+  0x1ccf, 0x8349, 0x1cc9, 0x8348, 0x1cc3, 0x8347, 0x1cbd, 0x8345,

+  0x1cb7, 0x8344, 0x1cb0, 0x8342, 0x1caa, 0x8341, 0x1ca4, 0x833f,

+  0x1c9e, 0x833e, 0x1c98, 0x833d, 0x1c92, 0x833b, 0x1c8c, 0x833a,

+  0x1c86, 0x8338, 0x1c7f, 0x8337, 0x1c79, 0x8336, 0x1c73, 0x8334,

+  0x1c6d, 0x8333, 0x1c67, 0x8331, 0x1c61, 0x8330, 0x1c5b, 0x832f,

+  0x1c55, 0x832d, 0x1c4e, 0x832c, 0x1c48, 0x832b, 0x1c42, 0x8329,

+  0x1c3c, 0x8328, 0x1c36, 0x8326, 0x1c30, 0x8325, 0x1c2a, 0x8324,

+  0x1c24, 0x8322, 0x1c1d, 0x8321, 0x1c17, 0x831f, 0x1c11, 0x831e,

+  0x1c0b, 0x831d, 0x1c05, 0x831b, 0x1bff, 0x831a, 0x1bf9, 0x8319,

+  0x1bf2, 0x8317, 0x1bec, 0x8316, 0x1be6, 0x8314, 0x1be0, 0x8313,

+  0x1bda, 0x8312, 0x1bd4, 0x8310, 0x1bce, 0x830f, 0x1bc8, 0x830e,

+  0x1bc1, 0x830c, 0x1bbb, 0x830b, 0x1bb5, 0x830a, 0x1baf, 0x8308,

+  0x1ba9, 0x8307, 0x1ba3, 0x8305, 0x1b9d, 0x8304, 0x1b96, 0x8303,

+  0x1b90, 0x8301, 0x1b8a, 0x8300, 0x1b84, 0x82ff, 0x1b7e, 0x82fd,

+  0x1b78, 0x82fc, 0x1b72, 0x82fb, 0x1b6c, 0x82f9, 0x1b65, 0x82f8,

+  0x1b5f, 0x82f7, 0x1b59, 0x82f5, 0x1b53, 0x82f4, 0x1b4d, 0x82f3,

+  0x1b47, 0x82f1, 0x1b41, 0x82f0, 0x1b3a, 0x82ef, 0x1b34, 0x82ed,

+  0x1b2e, 0x82ec, 0x1b28, 0x82eb, 0x1b22, 0x82e9, 0x1b1c, 0x82e8,

+  0x1b16, 0x82e7, 0x1b0f, 0x82e5, 0x1b09, 0x82e4, 0x1b03, 0x82e3,

+  0x1afd, 0x82e1, 0x1af7, 0x82e0, 0x1af1, 0x82df, 0x1aeb, 0x82dd,

+  0x1ae4, 0x82dc, 0x1ade, 0x82db, 0x1ad8, 0x82d9, 0x1ad2, 0x82d8,

+  0x1acc, 0x82d7, 0x1ac6, 0x82d5, 0x1ac0, 0x82d4, 0x1ab9, 0x82d3,

+  0x1ab3, 0x82d1, 0x1aad, 0x82d0, 0x1aa7, 0x82cf, 0x1aa1, 0x82ce,

+  0x1a9b, 0x82cc, 0x1a95, 0x82cb, 0x1a8e, 0x82ca, 0x1a88, 0x82c8,

+  0x1a82, 0x82c7, 0x1a7c, 0x82c6, 0x1a76, 0x82c4, 0x1a70, 0x82c3,

+  0x1a6a, 0x82c2, 0x1a63, 0x82c1, 0x1a5d, 0x82bf, 0x1a57, 0x82be,

+  0x1a51, 0x82bd, 0x1a4b, 0x82bb, 0x1a45, 0x82ba, 0x1a3e, 0x82b9,

+  0x1a38, 0x82b7, 0x1a32, 0x82b6, 0x1a2c, 0x82b5, 0x1a26, 0x82b4,

+  0x1a20, 0x82b2, 0x1a1a, 0x82b1, 0x1a13, 0x82b0, 0x1a0d, 0x82ae,

+  0x1a07, 0x82ad, 0x1a01, 0x82ac, 0x19fb, 0x82ab, 0x19f5, 0x82a9,

+  0x19ef, 0x82a8, 0x19e8, 0x82a7, 0x19e2, 0x82a6, 0x19dc, 0x82a4,

+  0x19d6, 0x82a3, 0x19d0, 0x82a2, 0x19ca, 0x82a0, 0x19c3, 0x829f,

+  0x19bd, 0x829e, 0x19b7, 0x829d, 0x19b1, 0x829b, 0x19ab, 0x829a,

+  0x19a5, 0x8299, 0x199f, 0x8298, 0x1998, 0x8296, 0x1992, 0x8295,

+  0x198c, 0x8294, 0x1986, 0x8293, 0x1980, 0x8291, 0x197a, 0x8290,

+  0x1973, 0x828f, 0x196d, 0x828e, 0x1967, 0x828c, 0x1961, 0x828b,

+  0x195b, 0x828a, 0x1955, 0x8289, 0x194e, 0x8287, 0x1948, 0x8286,

+  0x1942, 0x8285, 0x193c, 0x8284, 0x1936, 0x8282, 0x1930, 0x8281,

+  0x192a, 0x8280, 0x1923, 0x827f, 0x191d, 0x827e, 0x1917, 0x827c,

+  0x1911, 0x827b, 0x190b, 0x827a, 0x1905, 0x8279, 0x18fe, 0x8277,

+  0x18f8, 0x8276, 0x18f2, 0x8275, 0x18ec, 0x8274, 0x18e6, 0x8272,

+  0x18e0, 0x8271, 0x18d9, 0x8270, 0x18d3, 0x826f, 0x18cd, 0x826e,

+  0x18c7, 0x826c, 0x18c1, 0x826b, 0x18bb, 0x826a, 0x18b4, 0x8269,

+  0x18ae, 0x8268, 0x18a8, 0x8266, 0x18a2, 0x8265, 0x189c, 0x8264,

+  0x1896, 0x8263, 0x188f, 0x8261, 0x1889, 0x8260, 0x1883, 0x825f,

+  0x187d, 0x825e, 0x1877, 0x825d, 0x1871, 0x825b, 0x186a, 0x825a,

+  0x1864, 0x8259, 0x185e, 0x8258, 0x1858, 0x8257, 0x1852, 0x8255,

+  0x184c, 0x8254, 0x1845, 0x8253, 0x183f, 0x8252, 0x1839, 0x8251,

+  0x1833, 0x8250, 0x182d, 0x824e, 0x1827, 0x824d, 0x1820, 0x824c,

+  0x181a, 0x824b, 0x1814, 0x824a, 0x180e, 0x8248, 0x1808, 0x8247,

+  0x1802, 0x8246, 0x17fb, 0x8245, 0x17f5, 0x8244, 0x17ef, 0x8243,

+  0x17e9, 0x8241, 0x17e3, 0x8240, 0x17dd, 0x823f, 0x17d6, 0x823e,

+  0x17d0, 0x823d, 0x17ca, 0x823b, 0x17c4, 0x823a, 0x17be, 0x8239,

+  0x17b7, 0x8238, 0x17b1, 0x8237, 0x17ab, 0x8236, 0x17a5, 0x8234,

+  0x179f, 0x8233, 0x1799, 0x8232, 0x1792, 0x8231, 0x178c, 0x8230,

+  0x1786, 0x822f, 0x1780, 0x822e, 0x177a, 0x822c, 0x1774, 0x822b,

+  0x176d, 0x822a, 0x1767, 0x8229, 0x1761, 0x8228, 0x175b, 0x8227,

+  0x1755, 0x8226, 0x174e, 0x8224, 0x1748, 0x8223, 0x1742, 0x8222,

+  0x173c, 0x8221, 0x1736, 0x8220, 0x1730, 0x821f, 0x1729, 0x821e,

+  0x1723, 0x821c, 0x171d, 0x821b, 0x1717, 0x821a, 0x1711, 0x8219,

+  0x170a, 0x8218, 0x1704, 0x8217, 0x16fe, 0x8216, 0x16f8, 0x8214,

+  0x16f2, 0x8213, 0x16ec, 0x8212, 0x16e5, 0x8211, 0x16df, 0x8210,

+  0x16d9, 0x820f, 0x16d3, 0x820e, 0x16cd, 0x820d, 0x16c6, 0x820b,

+  0x16c0, 0x820a, 0x16ba, 0x8209, 0x16b4, 0x8208, 0x16ae, 0x8207,

+  0x16a8, 0x8206, 0x16a1, 0x8205, 0x169b, 0x8204, 0x1695, 0x8203,

+  0x168f, 0x8201, 0x1689, 0x8200, 0x1682, 0x81ff, 0x167c, 0x81fe,

+  0x1676, 0x81fd, 0x1670, 0x81fc, 0x166a, 0x81fb, 0x1664, 0x81fa,

+  0x165d, 0x81f9, 0x1657, 0x81f8, 0x1651, 0x81f6, 0x164b, 0x81f5,

+  0x1645, 0x81f4, 0x163e, 0x81f3, 0x1638, 0x81f2, 0x1632, 0x81f1,

+  0x162c, 0x81f0, 0x1626, 0x81ef, 0x161f, 0x81ee, 0x1619, 0x81ed,

+  0x1613, 0x81ec, 0x160d, 0x81ea, 0x1607, 0x81e9, 0x1601, 0x81e8,

+  0x15fa, 0x81e7, 0x15f4, 0x81e6, 0x15ee, 0x81e5, 0x15e8, 0x81e4,

+  0x15e2, 0x81e3, 0x15db, 0x81e2, 0x15d5, 0x81e1, 0x15cf, 0x81e0,

+  0x15c9, 0x81df, 0x15c3, 0x81de, 0x15bc, 0x81dc, 0x15b6, 0x81db,

+  0x15b0, 0x81da, 0x15aa, 0x81d9, 0x15a4, 0x81d8, 0x159d, 0x81d7,

+  0x1597, 0x81d6, 0x1591, 0x81d5, 0x158b, 0x81d4, 0x1585, 0x81d3,

+  0x157f, 0x81d2, 0x1578, 0x81d1, 0x1572, 0x81d0, 0x156c, 0x81cf,

+  0x1566, 0x81ce, 0x1560, 0x81cd, 0x1559, 0x81cc, 0x1553, 0x81cb,

+  0x154d, 0x81c9, 0x1547, 0x81c8, 0x1541, 0x81c7, 0x153a, 0x81c6,

+  0x1534, 0x81c5, 0x152e, 0x81c4, 0x1528, 0x81c3, 0x1522, 0x81c2,

+  0x151b, 0x81c1, 0x1515, 0x81c0, 0x150f, 0x81bf, 0x1509, 0x81be,

+  0x1503, 0x81bd, 0x14fc, 0x81bc, 0x14f6, 0x81bb, 0x14f0, 0x81ba,

+  0x14ea, 0x81b9, 0x14e4, 0x81b8, 0x14dd, 0x81b7, 0x14d7, 0x81b6,

+  0x14d1, 0x81b5, 0x14cb, 0x81b4, 0x14c5, 0x81b3, 0x14be, 0x81b2,

+  0x14b8, 0x81b1, 0x14b2, 0x81b0, 0x14ac, 0x81af, 0x14a6, 0x81ae,

+  0x149f, 0x81ad, 0x1499, 0x81ac, 0x1493, 0x81ab, 0x148d, 0x81aa,

+  0x1487, 0x81a9, 0x1480, 0x81a8, 0x147a, 0x81a7, 0x1474, 0x81a6,

+  0x146e, 0x81a5, 0x1468, 0x81a4, 0x1461, 0x81a3, 0x145b, 0x81a2,

+  0x1455, 0x81a1, 0x144f, 0x81a0, 0x1449, 0x819f, 0x1442, 0x819e,

+  0x143c, 0x819d, 0x1436, 0x819c, 0x1430, 0x819b, 0x142a, 0x819a,

+  0x1423, 0x8199, 0x141d, 0x8198, 0x1417, 0x8197, 0x1411, 0x8196,

+  0x140b, 0x8195, 0x1404, 0x8194, 0x13fe, 0x8193, 0x13f8, 0x8192,

+  0x13f2, 0x8191, 0x13eb, 0x8190, 0x13e5, 0x818f, 0x13df, 0x818e,

+  0x13d9, 0x818d, 0x13d3, 0x818c, 0x13cc, 0x818b, 0x13c6, 0x818a,

+  0x13c0, 0x8189, 0x13ba, 0x8188, 0x13b4, 0x8187, 0x13ad, 0x8186,

+  0x13a7, 0x8185, 0x13a1, 0x8184, 0x139b, 0x8183, 0x1395, 0x8182,

+  0x138e, 0x8181, 0x1388, 0x8180, 0x1382, 0x817f, 0x137c, 0x817e,

+  0x1376, 0x817d, 0x136f, 0x817c, 0x1369, 0x817c, 0x1363, 0x817b,

+  0x135d, 0x817a, 0x1356, 0x8179, 0x1350, 0x8178, 0x134a, 0x8177,

+  0x1344, 0x8176, 0x133e, 0x8175, 0x1337, 0x8174, 0x1331, 0x8173,

+  0x132b, 0x8172, 0x1325, 0x8171, 0x131f, 0x8170, 0x1318, 0x816f,

+  0x1312, 0x816e, 0x130c, 0x816d, 0x1306, 0x816c, 0x12ff, 0x816c,

+  0x12f9, 0x816b, 0x12f3, 0x816a, 0x12ed, 0x8169, 0x12e7, 0x8168,

+  0x12e0, 0x8167, 0x12da, 0x8166, 0x12d4, 0x8165, 0x12ce, 0x8164,

+  0x12c8, 0x8163, 0x12c1, 0x8162, 0x12bb, 0x8161, 0x12b5, 0x8160,

+  0x12af, 0x815f, 0x12a8, 0x815f, 0x12a2, 0x815e, 0x129c, 0x815d,

+  0x1296, 0x815c, 0x1290, 0x815b, 0x1289, 0x815a, 0x1283, 0x8159,

+  0x127d, 0x8158, 0x1277, 0x8157, 0x1271, 0x8156, 0x126a, 0x8155,

+  0x1264, 0x8155, 0x125e, 0x8154, 0x1258, 0x8153, 0x1251, 0x8152,

+  0x124b, 0x8151, 0x1245, 0x8150, 0x123f, 0x814f, 0x1239, 0x814e,

+  0x1232, 0x814d, 0x122c, 0x814c, 0x1226, 0x814c, 0x1220, 0x814b,

+  0x1219, 0x814a, 0x1213, 0x8149, 0x120d, 0x8148, 0x1207, 0x8147,

+  0x1201, 0x8146, 0x11fa, 0x8145, 0x11f4, 0x8145, 0x11ee, 0x8144,

+  0x11e8, 0x8143, 0x11e1, 0x8142, 0x11db, 0x8141, 0x11d5, 0x8140,

+  0x11cf, 0x813f, 0x11c9, 0x813e, 0x11c2, 0x813d, 0x11bc, 0x813d,

+  0x11b6, 0x813c, 0x11b0, 0x813b, 0x11a9, 0x813a, 0x11a3, 0x8139,

+  0x119d, 0x8138, 0x1197, 0x8137, 0x1191, 0x8137, 0x118a, 0x8136,

+  0x1184, 0x8135, 0x117e, 0x8134, 0x1178, 0x8133, 0x1171, 0x8132,

+  0x116b, 0x8131, 0x1165, 0x8131, 0x115f, 0x8130, 0x1159, 0x812f,

+  0x1152, 0x812e, 0x114c, 0x812d, 0x1146, 0x812c, 0x1140, 0x812b,

+  0x1139, 0x812b, 0x1133, 0x812a, 0x112d, 0x8129, 0x1127, 0x8128,

+  0x1121, 0x8127, 0x111a, 0x8126, 0x1114, 0x8126, 0x110e, 0x8125,

+  0x1108, 0x8124, 0x1101, 0x8123, 0x10fb, 0x8122, 0x10f5, 0x8121,

+  0x10ef, 0x8121, 0x10e8, 0x8120, 0x10e2, 0x811f, 0x10dc, 0x811e,

+  0x10d6, 0x811d, 0x10d0, 0x811c, 0x10c9, 0x811c, 0x10c3, 0x811b,

+  0x10bd, 0x811a, 0x10b7, 0x8119, 0x10b0, 0x8118, 0x10aa, 0x8117,

+  0x10a4, 0x8117, 0x109e, 0x8116, 0x1098, 0x8115, 0x1091, 0x8114,

+  0x108b, 0x8113, 0x1085, 0x8113, 0x107f, 0x8112, 0x1078, 0x8111,

+  0x1072, 0x8110, 0x106c, 0x810f, 0x1066, 0x810f, 0x105f, 0x810e,

+  0x1059, 0x810d, 0x1053, 0x810c, 0x104d, 0x810b, 0x1047, 0x810b,

+  0x1040, 0x810a, 0x103a, 0x8109, 0x1034, 0x8108, 0x102e, 0x8107,

+  0x1027, 0x8107, 0x1021, 0x8106, 0x101b, 0x8105, 0x1015, 0x8104,

+  0x100e, 0x8103, 0x1008, 0x8103, 0x1002, 0x8102, 0xffc, 0x8101,

+  0xff5, 0x8100, 0xfef, 0x80ff, 0xfe9, 0x80ff, 0xfe3, 0x80fe,

+  0xfdd, 0x80fd, 0xfd6, 0x80fc, 0xfd0, 0x80fc, 0xfca, 0x80fb,

+  0xfc4, 0x80fa, 0xfbd, 0x80f9, 0xfb7, 0x80f8, 0xfb1, 0x80f8,

+  0xfab, 0x80f7, 0xfa4, 0x80f6, 0xf9e, 0x80f5, 0xf98, 0x80f5,

+  0xf92, 0x80f4, 0xf8b, 0x80f3, 0xf85, 0x80f2, 0xf7f, 0x80f2,

+  0xf79, 0x80f1, 0xf73, 0x80f0, 0xf6c, 0x80ef, 0xf66, 0x80ef,

+  0xf60, 0x80ee, 0xf5a, 0x80ed, 0xf53, 0x80ec, 0xf4d, 0x80ec,

+  0xf47, 0x80eb, 0xf41, 0x80ea, 0xf3a, 0x80e9, 0xf34, 0x80e9,

+  0xf2e, 0x80e8, 0xf28, 0x80e7, 0xf21, 0x80e6, 0xf1b, 0x80e6,

+  0xf15, 0x80e5, 0xf0f, 0x80e4, 0xf08, 0x80e3, 0xf02, 0x80e3,

+  0xefc, 0x80e2, 0xef6, 0x80e1, 0xef0, 0x80e0, 0xee9, 0x80e0,

+  0xee3, 0x80df, 0xedd, 0x80de, 0xed7, 0x80dd, 0xed0, 0x80dd,

+  0xeca, 0x80dc, 0xec4, 0x80db, 0xebe, 0x80db, 0xeb7, 0x80da,

+  0xeb1, 0x80d9, 0xeab, 0x80d8, 0xea5, 0x80d8, 0xe9e, 0x80d7,

+  0xe98, 0x80d6, 0xe92, 0x80d6, 0xe8c, 0x80d5, 0xe85, 0x80d4,

+  0xe7f, 0x80d3, 0xe79, 0x80d3, 0xe73, 0x80d2, 0xe6c, 0x80d1,

+  0xe66, 0x80d1, 0xe60, 0x80d0, 0xe5a, 0x80cf, 0xe53, 0x80ce,

+  0xe4d, 0x80ce, 0xe47, 0x80cd, 0xe41, 0x80cc, 0xe3a, 0x80cc,

+  0xe34, 0x80cb, 0xe2e, 0x80ca, 0xe28, 0x80ca, 0xe22, 0x80c9,

+  0xe1b, 0x80c8, 0xe15, 0x80c7, 0xe0f, 0x80c7, 0xe09, 0x80c6,

+  0xe02, 0x80c5, 0xdfc, 0x80c5, 0xdf6, 0x80c4, 0xdf0, 0x80c3,

+  0xde9, 0x80c3, 0xde3, 0x80c2, 0xddd, 0x80c1, 0xdd7, 0x80c1,

+  0xdd0, 0x80c0, 0xdca, 0x80bf, 0xdc4, 0x80bf, 0xdbe, 0x80be,

+  0xdb7, 0x80bd, 0xdb1, 0x80bd, 0xdab, 0x80bc, 0xda5, 0x80bb,

+  0xd9e, 0x80bb, 0xd98, 0x80ba, 0xd92, 0x80b9, 0xd8c, 0x80b9,

+  0xd85, 0x80b8, 0xd7f, 0x80b7, 0xd79, 0x80b7, 0xd73, 0x80b6,

+  0xd6c, 0x80b5, 0xd66, 0x80b5, 0xd60, 0x80b4, 0xd5a, 0x80b3,

+  0xd53, 0x80b3, 0xd4d, 0x80b2, 0xd47, 0x80b1, 0xd41, 0x80b1,

+  0xd3a, 0x80b0, 0xd34, 0x80af, 0xd2e, 0x80af, 0xd28, 0x80ae,

+  0xd21, 0x80ad, 0xd1b, 0x80ad, 0xd15, 0x80ac, 0xd0f, 0x80ab,

+  0xd08, 0x80ab, 0xd02, 0x80aa, 0xcfc, 0x80aa, 0xcf6, 0x80a9,

+  0xcef, 0x80a8, 0xce9, 0x80a8, 0xce3, 0x80a7, 0xcdd, 0x80a6,

+  0xcd6, 0x80a6, 0xcd0, 0x80a5, 0xcca, 0x80a5, 0xcc4, 0x80a4,

+  0xcbd, 0x80a3, 0xcb7, 0x80a3, 0xcb1, 0x80a2, 0xcab, 0x80a1,

+  0xca4, 0x80a1, 0xc9e, 0x80a0, 0xc98, 0x80a0, 0xc92, 0x809f,

+  0xc8b, 0x809e, 0xc85, 0x809e, 0xc7f, 0x809d, 0xc79, 0x809c,

+  0xc72, 0x809c, 0xc6c, 0x809b, 0xc66, 0x809b, 0xc60, 0x809a,

+  0xc59, 0x8099, 0xc53, 0x8099, 0xc4d, 0x8098, 0xc47, 0x8098,

+  0xc40, 0x8097, 0xc3a, 0x8096, 0xc34, 0x8096, 0xc2e, 0x8095,

+  0xc27, 0x8095, 0xc21, 0x8094, 0xc1b, 0x8093, 0xc14, 0x8093,

+  0xc0e, 0x8092, 0xc08, 0x8092, 0xc02, 0x8091, 0xbfb, 0x8090,

+  0xbf5, 0x8090, 0xbef, 0x808f, 0xbe9, 0x808f, 0xbe2, 0x808e,

+  0xbdc, 0x808e, 0xbd6, 0x808d, 0xbd0, 0x808c, 0xbc9, 0x808c,

+  0xbc3, 0x808b, 0xbbd, 0x808b, 0xbb7, 0x808a, 0xbb0, 0x8089,

+  0xbaa, 0x8089, 0xba4, 0x8088, 0xb9e, 0x8088, 0xb97, 0x8087,

+  0xb91, 0x8087, 0xb8b, 0x8086, 0xb85, 0x8085, 0xb7e, 0x8085,

+  0xb78, 0x8084, 0xb72, 0x8084, 0xb6c, 0x8083, 0xb65, 0x8083,

+  0xb5f, 0x8082, 0xb59, 0x8082, 0xb53, 0x8081, 0xb4c, 0x8080,

+  0xb46, 0x8080, 0xb40, 0x807f, 0xb3a, 0x807f, 0xb33, 0x807e,

+  0xb2d, 0x807e, 0xb27, 0x807d, 0xb20, 0x807d, 0xb1a, 0x807c,

+  0xb14, 0x807b, 0xb0e, 0x807b, 0xb07, 0x807a, 0xb01, 0x807a,

+  0xafb, 0x8079, 0xaf5, 0x8079, 0xaee, 0x8078, 0xae8, 0x8078,

+  0xae2, 0x8077, 0xadc, 0x8077, 0xad5, 0x8076, 0xacf, 0x8076,

+  0xac9, 0x8075, 0xac3, 0x8075, 0xabc, 0x8074, 0xab6, 0x8073,

+  0xab0, 0x8073, 0xaaa, 0x8072, 0xaa3, 0x8072, 0xa9d, 0x8071,

+  0xa97, 0x8071, 0xa90, 0x8070, 0xa8a, 0x8070, 0xa84, 0x806f,

+  0xa7e, 0x806f, 0xa77, 0x806e, 0xa71, 0x806e, 0xa6b, 0x806d,

+  0xa65, 0x806d, 0xa5e, 0x806c, 0xa58, 0x806c, 0xa52, 0x806b,

+  0xa4c, 0x806b, 0xa45, 0x806a, 0xa3f, 0x806a, 0xa39, 0x8069,

+  0xa33, 0x8069, 0xa2c, 0x8068, 0xa26, 0x8068, 0xa20, 0x8067,

+  0xa19, 0x8067, 0xa13, 0x8066, 0xa0d, 0x8066, 0xa07, 0x8065,

+  0xa00, 0x8065, 0x9fa, 0x8064, 0x9f4, 0x8064, 0x9ee, 0x8063,

+  0x9e7, 0x8063, 0x9e1, 0x8062, 0x9db, 0x8062, 0x9d5, 0x8061,

+  0x9ce, 0x8061, 0x9c8, 0x8060, 0x9c2, 0x8060, 0x9bc, 0x805f,

+  0x9b5, 0x805f, 0x9af, 0x805e, 0x9a9, 0x805e, 0x9a2, 0x805d,

+  0x99c, 0x805d, 0x996, 0x805d, 0x990, 0x805c, 0x989, 0x805c,

+  0x983, 0x805b, 0x97d, 0x805b, 0x977, 0x805a, 0x970, 0x805a,

+  0x96a, 0x8059, 0x964, 0x8059, 0x95e, 0x8058, 0x957, 0x8058,

+  0x951, 0x8057, 0x94b, 0x8057, 0x944, 0x8057, 0x93e, 0x8056,

+  0x938, 0x8056, 0x932, 0x8055, 0x92b, 0x8055, 0x925, 0x8054,

+  0x91f, 0x8054, 0x919, 0x8053, 0x912, 0x8053, 0x90c, 0x8052,

+  0x906, 0x8052, 0x900, 0x8052, 0x8f9, 0x8051, 0x8f3, 0x8051,

+  0x8ed, 0x8050, 0x8e6, 0x8050, 0x8e0, 0x804f, 0x8da, 0x804f,

+  0x8d4, 0x804f, 0x8cd, 0x804e, 0x8c7, 0x804e, 0x8c1, 0x804d,

+  0x8bb, 0x804d, 0x8b4, 0x804c, 0x8ae, 0x804c, 0x8a8, 0x804c,

+  0x8a2, 0x804b, 0x89b, 0x804b, 0x895, 0x804a, 0x88f, 0x804a,

+  0x888, 0x8049, 0x882, 0x8049, 0x87c, 0x8049, 0x876, 0x8048,

+  0x86f, 0x8048, 0x869, 0x8047, 0x863, 0x8047, 0x85d, 0x8047,

+  0x856, 0x8046, 0x850, 0x8046, 0x84a, 0x8045, 0x843, 0x8045,

+  0x83d, 0x8044, 0x837, 0x8044, 0x831, 0x8044, 0x82a, 0x8043,

+  0x824, 0x8043, 0x81e, 0x8042, 0x818, 0x8042, 0x811, 0x8042,

+  0x80b, 0x8041, 0x805, 0x8041, 0x7fe, 0x8040, 0x7f8, 0x8040,

+  0x7f2, 0x8040, 0x7ec, 0x803f, 0x7e5, 0x803f, 0x7df, 0x803f,

+  0x7d9, 0x803e, 0x7d3, 0x803e, 0x7cc, 0x803d, 0x7c6, 0x803d,

+  0x7c0, 0x803d, 0x7ba, 0x803c, 0x7b3, 0x803c, 0x7ad, 0x803b,

+  0x7a7, 0x803b, 0x7a0, 0x803b, 0x79a, 0x803a, 0x794, 0x803a,

+  0x78e, 0x803a, 0x787, 0x8039, 0x781, 0x8039, 0x77b, 0x8039,

+  0x775, 0x8038, 0x76e, 0x8038, 0x768, 0x8037, 0x762, 0x8037,

+  0x75b, 0x8037, 0x755, 0x8036, 0x74f, 0x8036, 0x749, 0x8036,

+  0x742, 0x8035, 0x73c, 0x8035, 0x736, 0x8035, 0x730, 0x8034,

+  0x729, 0x8034, 0x723, 0x8033, 0x71d, 0x8033, 0x716, 0x8033,

+  0x710, 0x8032, 0x70a, 0x8032, 0x704, 0x8032, 0x6fd, 0x8031,

+  0x6f7, 0x8031, 0x6f1, 0x8031, 0x6ea, 0x8030, 0x6e4, 0x8030,

+  0x6de, 0x8030, 0x6d8, 0x802f, 0x6d1, 0x802f, 0x6cb, 0x802f,

+  0x6c5, 0x802e, 0x6bf, 0x802e, 0x6b8, 0x802e, 0x6b2, 0x802d,

+  0x6ac, 0x802d, 0x6a5, 0x802d, 0x69f, 0x802c, 0x699, 0x802c,

+  0x693, 0x802c, 0x68c, 0x802b, 0x686, 0x802b, 0x680, 0x802b,

+  0x67a, 0x802a, 0x673, 0x802a, 0x66d, 0x802a, 0x667, 0x802a,

+  0x660, 0x8029, 0x65a, 0x8029, 0x654, 0x8029, 0x64e, 0x8028,

+  0x647, 0x8028, 0x641, 0x8028, 0x63b, 0x8027, 0x635, 0x8027,

+  0x62e, 0x8027, 0x628, 0x8026, 0x622, 0x8026, 0x61b, 0x8026,

+  0x615, 0x8026, 0x60f, 0x8025, 0x609, 0x8025, 0x602, 0x8025,

+  0x5fc, 0x8024, 0x5f6, 0x8024, 0x5ef, 0x8024, 0x5e9, 0x8023,

+  0x5e3, 0x8023, 0x5dd, 0x8023, 0x5d6, 0x8023, 0x5d0, 0x8022,

+  0x5ca, 0x8022, 0x5c4, 0x8022, 0x5bd, 0x8021, 0x5b7, 0x8021,

+  0x5b1, 0x8021, 0x5aa, 0x8021, 0x5a4, 0x8020, 0x59e, 0x8020,

+  0x598, 0x8020, 0x591, 0x8020, 0x58b, 0x801f, 0x585, 0x801f,

+  0x57f, 0x801f, 0x578, 0x801e, 0x572, 0x801e, 0x56c, 0x801e,

+  0x565, 0x801e, 0x55f, 0x801d, 0x559, 0x801d, 0x553, 0x801d,

+  0x54c, 0x801d, 0x546, 0x801c, 0x540, 0x801c, 0x539, 0x801c,

+  0x533, 0x801c, 0x52d, 0x801b, 0x527, 0x801b, 0x520, 0x801b,

+  0x51a, 0x801b, 0x514, 0x801a, 0x50d, 0x801a, 0x507, 0x801a,

+  0x501, 0x801a, 0x4fb, 0x8019, 0x4f4, 0x8019, 0x4ee, 0x8019,

+  0x4e8, 0x8019, 0x4e2, 0x8018, 0x4db, 0x8018, 0x4d5, 0x8018,

+  0x4cf, 0x8018, 0x4c8, 0x8017, 0x4c2, 0x8017, 0x4bc, 0x8017,

+  0x4b6, 0x8017, 0x4af, 0x8016, 0x4a9, 0x8016, 0x4a3, 0x8016,

+  0x49c, 0x8016, 0x496, 0x8016, 0x490, 0x8015, 0x48a, 0x8015,

+  0x483, 0x8015, 0x47d, 0x8015, 0x477, 0x8014, 0x471, 0x8014,

+  0x46a, 0x8014, 0x464, 0x8014, 0x45e, 0x8014, 0x457, 0x8013,

+  0x451, 0x8013, 0x44b, 0x8013, 0x445, 0x8013, 0x43e, 0x8013,

+  0x438, 0x8012, 0x432, 0x8012, 0x42b, 0x8012, 0x425, 0x8012,

+  0x41f, 0x8012, 0x419, 0x8011, 0x412, 0x8011, 0x40c, 0x8011,

+  0x406, 0x8011, 0x3ff, 0x8011, 0x3f9, 0x8010, 0x3f3, 0x8010,

+  0x3ed, 0x8010, 0x3e6, 0x8010, 0x3e0, 0x8010, 0x3da, 0x800f,

+  0x3d4, 0x800f, 0x3cd, 0x800f, 0x3c7, 0x800f, 0x3c1, 0x800f,

+  0x3ba, 0x800e, 0x3b4, 0x800e, 0x3ae, 0x800e, 0x3a8, 0x800e,

+  0x3a1, 0x800e, 0x39b, 0x800e, 0x395, 0x800d, 0x38e, 0x800d,

+  0x388, 0x800d, 0x382, 0x800d, 0x37c, 0x800d, 0x375, 0x800c,

+  0x36f, 0x800c, 0x369, 0x800c, 0x362, 0x800c, 0x35c, 0x800c,

+  0x356, 0x800c, 0x350, 0x800b, 0x349, 0x800b, 0x343, 0x800b,

+  0x33d, 0x800b, 0x337, 0x800b, 0x330, 0x800b, 0x32a, 0x800b,

+  0x324, 0x800a, 0x31d, 0x800a, 0x317, 0x800a, 0x311, 0x800a,

+  0x30b, 0x800a, 0x304, 0x800a, 0x2fe, 0x8009, 0x2f8, 0x8009,

+  0x2f1, 0x8009, 0x2eb, 0x8009, 0x2e5, 0x8009, 0x2df, 0x8009,

+  0x2d8, 0x8009, 0x2d2, 0x8008, 0x2cc, 0x8008, 0x2c5, 0x8008,

+  0x2bf, 0x8008, 0x2b9, 0x8008, 0x2b3, 0x8008, 0x2ac, 0x8008,

+  0x2a6, 0x8008, 0x2a0, 0x8007, 0x299, 0x8007, 0x293, 0x8007,

+  0x28d, 0x8007, 0x287, 0x8007, 0x280, 0x8007, 0x27a, 0x8007,

+  0x274, 0x8007, 0x26d, 0x8006, 0x267, 0x8006, 0x261, 0x8006,

+  0x25b, 0x8006, 0x254, 0x8006, 0x24e, 0x8006, 0x248, 0x8006,

+  0x242, 0x8006, 0x23b, 0x8005, 0x235, 0x8005, 0x22f, 0x8005,

+  0x228, 0x8005, 0x222, 0x8005, 0x21c, 0x8005, 0x216, 0x8005,

+  0x20f, 0x8005, 0x209, 0x8005, 0x203, 0x8005, 0x1fc, 0x8004,

+  0x1f6, 0x8004, 0x1f0, 0x8004, 0x1ea, 0x8004, 0x1e3, 0x8004,

+  0x1dd, 0x8004, 0x1d7, 0x8004, 0x1d0, 0x8004, 0x1ca, 0x8004,

+  0x1c4, 0x8004, 0x1be, 0x8004, 0x1b7, 0x8003, 0x1b1, 0x8003,

+  0x1ab, 0x8003, 0x1a4, 0x8003, 0x19e, 0x8003, 0x198, 0x8003,

+  0x192, 0x8003, 0x18b, 0x8003, 0x185, 0x8003, 0x17f, 0x8003,

+  0x178, 0x8003, 0x172, 0x8003, 0x16c, 0x8003, 0x166, 0x8002,

+  0x15f, 0x8002, 0x159, 0x8002, 0x153, 0x8002, 0x14d, 0x8002,

+  0x146, 0x8002, 0x140, 0x8002, 0x13a, 0x8002, 0x133, 0x8002,

+  0x12d, 0x8002, 0x127, 0x8002, 0x121, 0x8002, 0x11a, 0x8002,

+  0x114, 0x8002, 0x10e, 0x8002, 0x107, 0x8002, 0x101, 0x8002,

+  0xfb, 0x8001, 0xf5, 0x8001, 0xee, 0x8001, 0xe8, 0x8001,

+  0xe2, 0x8001, 0xdb, 0x8001, 0xd5, 0x8001, 0xcf, 0x8001,

+  0xc9, 0x8001, 0xc2, 0x8001, 0xbc, 0x8001, 0xb6, 0x8001,

+  0xaf, 0x8001, 0xa9, 0x8001, 0xa3, 0x8001, 0x9d, 0x8001,

+  0x96, 0x8001, 0x90, 0x8001, 0x8a, 0x8001, 0x83, 0x8001,

+  0x7d, 0x8001, 0x77, 0x8001, 0x71, 0x8001, 0x6a, 0x8001,

+  0x64, 0x8001, 0x5e, 0x8001, 0x57, 0x8001, 0x51, 0x8001,

+  0x4b, 0x8001, 0x45, 0x8001, 0x3e, 0x8001, 0x38, 0x8001,

+  0x32, 0x8001, 0x2b, 0x8001, 0x25, 0x8001, 0x1f, 0x8001,

+  0x19, 0x8001, 0x12, 0x8001, 0xc, 0x8001, 0x6, 0x8001,

+};

+

+

+/**    

+* \par    

+* cosFactor tables are generated using the formula : <pre> cos_factors[n] = 2 * cos((2n+1)*pi/(4*N)) </pre>    

+* \par    

+* C command to generate the table    

+* <pre>    

+* for(i = 0; i< N; i++)    

+* {    

+*   cos_factors[i]= 2 * cos((2*i+1)*c/2);    

+* } </pre>    

+* \par    

+* where <code>N</code> is the number of factors to generate and <code>c</code> is <code>pi/(2*N)</code>    

+* \par    

+* Then converted to q15 format by multiplying with 2^31 and saturated if required.    

+    

+*/

+

+static const q15_t ALIGN4 cos_factorsQ15_128[128] = {

+  0x7fff, 0x7ffa, 0x7ff0, 0x7fe1, 0x7fce, 0x7fb5, 0x7f97, 0x7f75,

+  0x7f4d, 0x7f21, 0x7ef0, 0x7eba, 0x7e7f, 0x7e3f, 0x7dfa, 0x7db0,

+  0x7d62, 0x7d0f, 0x7cb7, 0x7c5a, 0x7bf8, 0x7b92, 0x7b26, 0x7ab6,

+  0x7a42, 0x79c8, 0x794a, 0x78c7, 0x7840, 0x77b4, 0x7723, 0x768e,

+  0x75f4, 0x7555, 0x74b2, 0x740b, 0x735f, 0x72af, 0x71fa, 0x7141,

+  0x7083, 0x6fc1, 0x6efb, 0x6e30, 0x6d62, 0x6c8f, 0x6bb8, 0x6adc,

+  0x69fd, 0x6919, 0x6832, 0x6746, 0x6657, 0x6563, 0x646c, 0x6371,

+  0x6271, 0x616f, 0x6068, 0x5f5e, 0x5e50, 0x5d3e, 0x5c29, 0x5b10,

+  0x59f3, 0x58d4, 0x57b0, 0x568a, 0x5560, 0x5433, 0x5302, 0x51ce,

+  0x5097, 0x4f5e, 0x4e21, 0x4ce1, 0x4b9e, 0x4a58, 0x490f, 0x47c3,

+  0x4675, 0x4524, 0x43d0, 0x427a, 0x4121, 0x3fc5, 0x3e68, 0x3d07,

+  0x3ba5, 0x3a40, 0x38d8, 0x376f, 0x3604, 0x3496, 0x3326, 0x31b5,

+  0x3041, 0x2ecc, 0x2d55, 0x2bdc, 0x2a61, 0x28e5, 0x2767, 0x25e8,

+  0x2467, 0x22e5, 0x2161, 0x1fdc, 0x1e56, 0x1ccf, 0x1b47, 0x19bd,

+  0x1833, 0x16a8, 0x151b, 0x138e, 0x1201, 0x1072, 0xee3, 0xd53,

+  0xbc3, 0xa33, 0x8a2, 0x710, 0x57f, 0x3ed, 0x25b, 0xc9

+};

+

+static const q15_t ALIGN4 cos_factorsQ15_512[512] = {

+  0x7fff, 0x7fff, 0x7fff, 0x7ffe, 0x7ffc, 0x7ffb, 0x7ff9, 0x7ff7,

+  0x7ff4, 0x7ff2, 0x7fee, 0x7feb, 0x7fe7, 0x7fe3, 0x7fdf, 0x7fda,

+  0x7fd6, 0x7fd0, 0x7fcb, 0x7fc5, 0x7fbf, 0x7fb8, 0x7fb1, 0x7faa,

+  0x7fa3, 0x7f9b, 0x7f93, 0x7f8b, 0x7f82, 0x7f79, 0x7f70, 0x7f67,

+  0x7f5d, 0x7f53, 0x7f48, 0x7f3d, 0x7f32, 0x7f27, 0x7f1b, 0x7f0f,

+  0x7f03, 0x7ef6, 0x7ee9, 0x7edc, 0x7ecf, 0x7ec1, 0x7eb3, 0x7ea4,

+  0x7e95, 0x7e86, 0x7e77, 0x7e67, 0x7e57, 0x7e47, 0x7e37, 0x7e26,

+  0x7e14, 0x7e03, 0x7df1, 0x7ddf, 0x7dcd, 0x7dba, 0x7da7, 0x7d94,

+  0x7d80, 0x7d6c, 0x7d58, 0x7d43, 0x7d2f, 0x7d19, 0x7d04, 0x7cee,

+  0x7cd8, 0x7cc2, 0x7cab, 0x7c94, 0x7c7d, 0x7c66, 0x7c4e, 0x7c36,

+  0x7c1d, 0x7c05, 0x7beb, 0x7bd2, 0x7bb9, 0x7b9f, 0x7b84, 0x7b6a,

+  0x7b4f, 0x7b34, 0x7b19, 0x7afd, 0x7ae1, 0x7ac5, 0x7aa8, 0x7a8b,

+  0x7a6e, 0x7a50, 0x7a33, 0x7a15, 0x79f6, 0x79d8, 0x79b9, 0x7999,

+  0x797a, 0x795a, 0x793a, 0x7919, 0x78f9, 0x78d8, 0x78b6, 0x7895,

+  0x7873, 0x7851, 0x782e, 0x780c, 0x77e9, 0x77c5, 0x77a2, 0x777e,

+  0x775a, 0x7735, 0x7710, 0x76eb, 0x76c6, 0x76a0, 0x767b, 0x7654,

+  0x762e, 0x7607, 0x75e0, 0x75b9, 0x7591, 0x7569, 0x7541, 0x7519,

+  0x74f0, 0x74c7, 0x749e, 0x7474, 0x744a, 0x7420, 0x73f6, 0x73cb,

+  0x73a0, 0x7375, 0x7349, 0x731d, 0x72f1, 0x72c5, 0x7298, 0x726b,

+  0x723e, 0x7211, 0x71e3, 0x71b5, 0x7186, 0x7158, 0x7129, 0x70fa,

+  0x70cb, 0x709b, 0x706b, 0x703b, 0x700a, 0x6fda, 0x6fa9, 0x6f77,

+  0x6f46, 0x6f14, 0x6ee2, 0x6eaf, 0x6e7d, 0x6e4a, 0x6e17, 0x6de3,

+  0x6db0, 0x6d7c, 0x6d48, 0x6d13, 0x6cde, 0x6ca9, 0x6c74, 0x6c3f,

+  0x6c09, 0x6bd3, 0x6b9c, 0x6b66, 0x6b2f, 0x6af8, 0x6ac1, 0x6a89,

+  0x6a51, 0x6a19, 0x69e1, 0x69a8, 0x696f, 0x6936, 0x68fd, 0x68c3,

+  0x6889, 0x684f, 0x6815, 0x67da, 0x679f, 0x6764, 0x6729, 0x66ed,

+  0x66b1, 0x6675, 0x6639, 0x65fc, 0x65bf, 0x6582, 0x6545, 0x6507,

+  0x64c9, 0x648b, 0x644d, 0x640e, 0x63cf, 0x6390, 0x6351, 0x6311,

+  0x62d2, 0x6292, 0x6251, 0x6211, 0x61d0, 0x618f, 0x614e, 0x610d,

+  0x60cb, 0x6089, 0x6047, 0x6004, 0x5fc2, 0x5f7f, 0x5f3c, 0x5ef9,

+  0x5eb5, 0x5e71, 0x5e2d, 0x5de9, 0x5da5, 0x5d60, 0x5d1b, 0x5cd6,

+  0x5c91, 0x5c4b, 0x5c06, 0x5bc0, 0x5b79, 0x5b33, 0x5aec, 0x5aa5,

+  0x5a5e, 0x5a17, 0x59d0, 0x5988, 0x5940, 0x58f8, 0x58af, 0x5867,

+  0x581e, 0x57d5, 0x578c, 0x5742, 0x56f9, 0x56af, 0x5665, 0x561a,

+  0x55d0, 0x5585, 0x553a, 0x54ef, 0x54a4, 0x5458, 0x540d, 0x53c1,

+  0x5375, 0x5328, 0x52dc, 0x528f, 0x5242, 0x51f5, 0x51a8, 0x515a,

+  0x510c, 0x50bf, 0x5070, 0x5022, 0x4fd4, 0x4f85, 0x4f36, 0x4ee7,

+  0x4e98, 0x4e48, 0x4df9, 0x4da9, 0x4d59, 0x4d09, 0x4cb8, 0x4c68,

+  0x4c17, 0x4bc6, 0x4b75, 0x4b24, 0x4ad2, 0x4a81, 0x4a2f, 0x49dd,

+  0x498a, 0x4938, 0x48e6, 0x4893, 0x4840, 0x47ed, 0x479a, 0x4746,

+  0x46f3, 0x469f, 0x464b, 0x45f7, 0x45a3, 0x454e, 0x44fa, 0x44a5,

+  0x4450, 0x43fb, 0x43a5, 0x4350, 0x42fa, 0x42a5, 0x424f, 0x41f9,

+  0x41a2, 0x414c, 0x40f6, 0x409f, 0x4048, 0x3ff1, 0x3f9a, 0x3f43,

+  0x3eeb, 0x3e93, 0x3e3c, 0x3de4, 0x3d8c, 0x3d33, 0x3cdb, 0x3c83,

+  0x3c2a, 0x3bd1, 0x3b78, 0x3b1f, 0x3ac6, 0x3a6c, 0x3a13, 0x39b9,

+  0x395f, 0x3906, 0x38ab, 0x3851, 0x37f7, 0x379c, 0x3742, 0x36e7,

+  0x368c, 0x3631, 0x35d6, 0x357b, 0x351f, 0x34c4, 0x3468, 0x340c,

+  0x33b0, 0x3354, 0x32f8, 0x329c, 0x3240, 0x31e3, 0x3186, 0x312a,

+  0x30cd, 0x3070, 0x3013, 0x2fb5, 0x2f58, 0x2efb, 0x2e9d, 0x2e3f,

+  0x2de2, 0x2d84, 0x2d26, 0x2cc8, 0x2c69, 0x2c0b, 0x2bad, 0x2b4e,

+  0x2aef, 0x2a91, 0x2a32, 0x29d3, 0x2974, 0x2915, 0x28b5, 0x2856,

+  0x27f6, 0x2797, 0x2737, 0x26d8, 0x2678, 0x2618, 0x25b8, 0x2558,

+  0x24f7, 0x2497, 0x2437, 0x23d6, 0x2376, 0x2315, 0x22b4, 0x2254,

+  0x21f3, 0x2192, 0x2131, 0x20d0, 0x206e, 0x200d, 0x1fac, 0x1f4a,

+  0x1ee9, 0x1e87, 0x1e25, 0x1dc4, 0x1d62, 0x1d00, 0x1c9e, 0x1c3c,

+  0x1bda, 0x1b78, 0x1b16, 0x1ab3, 0x1a51, 0x19ef, 0x198c, 0x192a,

+  0x18c7, 0x1864, 0x1802, 0x179f, 0x173c, 0x16d9, 0x1676, 0x1613,

+  0x15b0, 0x154d, 0x14ea, 0x1487, 0x1423, 0x13c0, 0x135d, 0x12f9,

+  0x1296, 0x1232, 0x11cf, 0x116b, 0x1108, 0x10a4, 0x1040, 0xfdd,

+  0xf79, 0xf15, 0xeb1, 0xe4d, 0xde9, 0xd85, 0xd21, 0xcbd,

+  0xc59, 0xbf5, 0xb91, 0xb2d, 0xac9, 0xa65, 0xa00, 0x99c,

+  0x938, 0x8d4, 0x86f, 0x80b, 0x7a7, 0x742, 0x6de, 0x67a,

+  0x615, 0x5b1, 0x54c, 0x4e8, 0x483, 0x41f, 0x3ba, 0x356,

+  0x2f1, 0x28d, 0x228, 0x1c4, 0x15f, 0xfb, 0x96, 0x32,

+};

+

+static const q15_t ALIGN4 cos_factorsQ15_2048[2048] = {

+  0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff,

+  0x7fff, 0x7fff, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffd, 0x7ffd,

+  0x7ffd, 0x7ffd, 0x7ffc, 0x7ffc, 0x7ffb, 0x7ffb, 0x7ffb, 0x7ffa,

+  0x7ffa, 0x7ff9, 0x7ff9, 0x7ff8, 0x7ff8, 0x7ff7, 0x7ff7, 0x7ff6,

+  0x7ff5, 0x7ff5, 0x7ff4, 0x7ff3, 0x7ff3, 0x7ff2, 0x7ff1, 0x7ff0,

+  0x7ff0, 0x7fef, 0x7fee, 0x7fed, 0x7fec, 0x7fec, 0x7feb, 0x7fea,

+  0x7fe9, 0x7fe8, 0x7fe7, 0x7fe6, 0x7fe5, 0x7fe4, 0x7fe3, 0x7fe2,

+  0x7fe1, 0x7fe0, 0x7fdf, 0x7fdd, 0x7fdc, 0x7fdb, 0x7fda, 0x7fd9,

+  0x7fd7, 0x7fd6, 0x7fd5, 0x7fd4, 0x7fd2, 0x7fd1, 0x7fd0, 0x7fce,

+  0x7fcd, 0x7fcb, 0x7fca, 0x7fc9, 0x7fc7, 0x7fc6, 0x7fc4, 0x7fc3,

+  0x7fc1, 0x7fc0, 0x7fbe, 0x7fbc, 0x7fbb, 0x7fb9, 0x7fb7, 0x7fb6,

+  0x7fb4, 0x7fb2, 0x7fb1, 0x7faf, 0x7fad, 0x7fab, 0x7fa9, 0x7fa8,

+  0x7fa6, 0x7fa4, 0x7fa2, 0x7fa0, 0x7f9e, 0x7f9c, 0x7f9a, 0x7f98,

+  0x7f96, 0x7f94, 0x7f92, 0x7f90, 0x7f8e, 0x7f8c, 0x7f8a, 0x7f88,

+  0x7f86, 0x7f83, 0x7f81, 0x7f7f, 0x7f7d, 0x7f7b, 0x7f78, 0x7f76,

+  0x7f74, 0x7f71, 0x7f6f, 0x7f6d, 0x7f6a, 0x7f68, 0x7f65, 0x7f63,

+  0x7f60, 0x7f5e, 0x7f5b, 0x7f59, 0x7f56, 0x7f54, 0x7f51, 0x7f4f,

+  0x7f4c, 0x7f49, 0x7f47, 0x7f44, 0x7f41, 0x7f3f, 0x7f3c, 0x7f39,

+  0x7f36, 0x7f34, 0x7f31, 0x7f2e, 0x7f2b, 0x7f28, 0x7f25, 0x7f23,

+  0x7f20, 0x7f1d, 0x7f1a, 0x7f17, 0x7f14, 0x7f11, 0x7f0e, 0x7f0b,

+  0x7f08, 0x7f04, 0x7f01, 0x7efe, 0x7efb, 0x7ef8, 0x7ef5, 0x7ef1,

+  0x7eee, 0x7eeb, 0x7ee8, 0x7ee4, 0x7ee1, 0x7ede, 0x7eda, 0x7ed7,

+  0x7ed4, 0x7ed0, 0x7ecd, 0x7ec9, 0x7ec6, 0x7ec3, 0x7ebf, 0x7ebb,

+  0x7eb8, 0x7eb4, 0x7eb1, 0x7ead, 0x7eaa, 0x7ea6, 0x7ea2, 0x7e9f,

+  0x7e9b, 0x7e97, 0x7e94, 0x7e90, 0x7e8c, 0x7e88, 0x7e84, 0x7e81,

+  0x7e7d, 0x7e79, 0x7e75, 0x7e71, 0x7e6d, 0x7e69, 0x7e65, 0x7e61,

+  0x7e5d, 0x7e59, 0x7e55, 0x7e51, 0x7e4d, 0x7e49, 0x7e45, 0x7e41,

+  0x7e3d, 0x7e39, 0x7e34, 0x7e30, 0x7e2c, 0x7e28, 0x7e24, 0x7e1f,

+  0x7e1b, 0x7e17, 0x7e12, 0x7e0e, 0x7e0a, 0x7e05, 0x7e01, 0x7dfc,

+  0x7df8, 0x7df3, 0x7def, 0x7dea, 0x7de6, 0x7de1, 0x7ddd, 0x7dd8,

+  0x7dd4, 0x7dcf, 0x7dca, 0x7dc6, 0x7dc1, 0x7dbc, 0x7db8, 0x7db3,

+  0x7dae, 0x7da9, 0x7da5, 0x7da0, 0x7d9b, 0x7d96, 0x7d91, 0x7d8c,

+  0x7d87, 0x7d82, 0x7d7e, 0x7d79, 0x7d74, 0x7d6f, 0x7d6a, 0x7d65,

+  0x7d60, 0x7d5a, 0x7d55, 0x7d50, 0x7d4b, 0x7d46, 0x7d41, 0x7d3c,

+  0x7d36, 0x7d31, 0x7d2c, 0x7d27, 0x7d21, 0x7d1c, 0x7d17, 0x7d11,

+  0x7d0c, 0x7d07, 0x7d01, 0x7cfc, 0x7cf6, 0x7cf1, 0x7cec, 0x7ce6,

+  0x7ce1, 0x7cdb, 0x7cd5, 0x7cd0, 0x7cca, 0x7cc5, 0x7cbf, 0x7cb9,

+  0x7cb4, 0x7cae, 0x7ca8, 0x7ca3, 0x7c9d, 0x7c97, 0x7c91, 0x7c8c,

+  0x7c86, 0x7c80, 0x7c7a, 0x7c74, 0x7c6e, 0x7c69, 0x7c63, 0x7c5d,

+  0x7c57, 0x7c51, 0x7c4b, 0x7c45, 0x7c3f, 0x7c39, 0x7c33, 0x7c2d,

+  0x7c26, 0x7c20, 0x7c1a, 0x7c14, 0x7c0e, 0x7c08, 0x7c01, 0x7bfb,

+  0x7bf5, 0x7bef, 0x7be8, 0x7be2, 0x7bdc, 0x7bd5, 0x7bcf, 0x7bc9,

+  0x7bc2, 0x7bbc, 0x7bb5, 0x7baf, 0x7ba8, 0x7ba2, 0x7b9b, 0x7b95,

+  0x7b8e, 0x7b88, 0x7b81, 0x7b7a, 0x7b74, 0x7b6d, 0x7b67, 0x7b60,

+  0x7b59, 0x7b52, 0x7b4c, 0x7b45, 0x7b3e, 0x7b37, 0x7b31, 0x7b2a,

+  0x7b23, 0x7b1c, 0x7b15, 0x7b0e, 0x7b07, 0x7b00, 0x7af9, 0x7af2,

+  0x7aeb, 0x7ae4, 0x7add, 0x7ad6, 0x7acf, 0x7ac8, 0x7ac1, 0x7aba,

+  0x7ab3, 0x7aac, 0x7aa4, 0x7a9d, 0x7a96, 0x7a8f, 0x7a87, 0x7a80,

+  0x7a79, 0x7a72, 0x7a6a, 0x7a63, 0x7a5c, 0x7a54, 0x7a4d, 0x7a45,

+  0x7a3e, 0x7a36, 0x7a2f, 0x7a27, 0x7a20, 0x7a18, 0x7a11, 0x7a09,

+  0x7a02, 0x79fa, 0x79f2, 0x79eb, 0x79e3, 0x79db, 0x79d4, 0x79cc,

+  0x79c4, 0x79bc, 0x79b5, 0x79ad, 0x79a5, 0x799d, 0x7995, 0x798e,

+  0x7986, 0x797e, 0x7976, 0x796e, 0x7966, 0x795e, 0x7956, 0x794e,

+  0x7946, 0x793e, 0x7936, 0x792e, 0x7926, 0x791e, 0x7915, 0x790d,

+  0x7905, 0x78fd, 0x78f5, 0x78ec, 0x78e4, 0x78dc, 0x78d4, 0x78cb,

+  0x78c3, 0x78bb, 0x78b2, 0x78aa, 0x78a2, 0x7899, 0x7891, 0x7888,

+  0x7880, 0x7877, 0x786f, 0x7866, 0x785e, 0x7855, 0x784d, 0x7844,

+  0x783b, 0x7833, 0x782a, 0x7821, 0x7819, 0x7810, 0x7807, 0x77ff,

+  0x77f6, 0x77ed, 0x77e4, 0x77db, 0x77d3, 0x77ca, 0x77c1, 0x77b8,

+  0x77af, 0x77a6, 0x779d, 0x7794, 0x778b, 0x7782, 0x7779, 0x7770,

+  0x7767, 0x775e, 0x7755, 0x774c, 0x7743, 0x773a, 0x7731, 0x7727,

+  0x771e, 0x7715, 0x770c, 0x7703, 0x76f9, 0x76f0, 0x76e7, 0x76dd,

+  0x76d4, 0x76cb, 0x76c1, 0x76b8, 0x76af, 0x76a5, 0x769c, 0x7692,

+  0x7689, 0x767f, 0x7676, 0x766c, 0x7663, 0x7659, 0x7650, 0x7646,

+  0x763c, 0x7633, 0x7629, 0x761f, 0x7616, 0x760c, 0x7602, 0x75f9,

+  0x75ef, 0x75e5, 0x75db, 0x75d1, 0x75c8, 0x75be, 0x75b4, 0x75aa,

+  0x75a0, 0x7596, 0x758c, 0x7582, 0x7578, 0x756e, 0x7564, 0x755a,

+  0x7550, 0x7546, 0x753c, 0x7532, 0x7528, 0x751e, 0x7514, 0x7509,

+  0x74ff, 0x74f5, 0x74eb, 0x74e1, 0x74d6, 0x74cc, 0x74c2, 0x74b7,

+  0x74ad, 0x74a3, 0x7498, 0x748e, 0x7484, 0x7479, 0x746f, 0x7464,

+  0x745a, 0x744f, 0x7445, 0x743a, 0x7430, 0x7425, 0x741b, 0x7410,

+  0x7406, 0x73fb, 0x73f0, 0x73e6, 0x73db, 0x73d0, 0x73c6, 0x73bb,

+  0x73b0, 0x73a5, 0x739b, 0x7390, 0x7385, 0x737a, 0x736f, 0x7364,

+  0x7359, 0x734f, 0x7344, 0x7339, 0x732e, 0x7323, 0x7318, 0x730d,

+  0x7302, 0x72f7, 0x72ec, 0x72e1, 0x72d5, 0x72ca, 0x72bf, 0x72b4,

+  0x72a9, 0x729e, 0x7293, 0x7287, 0x727c, 0x7271, 0x7266, 0x725a,

+  0x724f, 0x7244, 0x7238, 0x722d, 0x7222, 0x7216, 0x720b, 0x71ff,

+  0x71f4, 0x71e9, 0x71dd, 0x71d2, 0x71c6, 0x71bb, 0x71af, 0x71a3,

+  0x7198, 0x718c, 0x7181, 0x7175, 0x7169, 0x715e, 0x7152, 0x7146,

+  0x713b, 0x712f, 0x7123, 0x7117, 0x710c, 0x7100, 0x70f4, 0x70e8,

+  0x70dc, 0x70d1, 0x70c5, 0x70b9, 0x70ad, 0x70a1, 0x7095, 0x7089,

+  0x707d, 0x7071, 0x7065, 0x7059, 0x704d, 0x7041, 0x7035, 0x7029,

+  0x701d, 0x7010, 0x7004, 0x6ff8, 0x6fec, 0x6fe0, 0x6fd3, 0x6fc7,

+  0x6fbb, 0x6faf, 0x6fa2, 0x6f96, 0x6f8a, 0x6f7d, 0x6f71, 0x6f65,

+  0x6f58, 0x6f4c, 0x6f3f, 0x6f33, 0x6f27, 0x6f1a, 0x6f0e, 0x6f01,

+  0x6ef5, 0x6ee8, 0x6edc, 0x6ecf, 0x6ec2, 0x6eb6, 0x6ea9, 0x6e9c,

+  0x6e90, 0x6e83, 0x6e76, 0x6e6a, 0x6e5d, 0x6e50, 0x6e44, 0x6e37,

+  0x6e2a, 0x6e1d, 0x6e10, 0x6e04, 0x6df7, 0x6dea, 0x6ddd, 0x6dd0,

+  0x6dc3, 0x6db6, 0x6da9, 0x6d9c, 0x6d8f, 0x6d82, 0x6d75, 0x6d68,

+  0x6d5b, 0x6d4e, 0x6d41, 0x6d34, 0x6d27, 0x6d1a, 0x6d0c, 0x6cff,

+  0x6cf2, 0x6ce5, 0x6cd8, 0x6cca, 0x6cbd, 0x6cb0, 0x6ca3, 0x6c95,

+  0x6c88, 0x6c7b, 0x6c6d, 0x6c60, 0x6c53, 0x6c45, 0x6c38, 0x6c2a,

+  0x6c1d, 0x6c0f, 0x6c02, 0x6bf5, 0x6be7, 0x6bd9, 0x6bcc, 0x6bbe,

+  0x6bb1, 0x6ba3, 0x6b96, 0x6b88, 0x6b7a, 0x6b6d, 0x6b5f, 0x6b51,

+  0x6b44, 0x6b36, 0x6b28, 0x6b1a, 0x6b0d, 0x6aff, 0x6af1, 0x6ae3,

+  0x6ad5, 0x6ac8, 0x6aba, 0x6aac, 0x6a9e, 0x6a90, 0x6a82, 0x6a74,

+  0x6a66, 0x6a58, 0x6a4a, 0x6a3c, 0x6a2e, 0x6a20, 0x6a12, 0x6a04,

+  0x69f6, 0x69e8, 0x69da, 0x69cb, 0x69bd, 0x69af, 0x69a1, 0x6993,

+  0x6985, 0x6976, 0x6968, 0x695a, 0x694b, 0x693d, 0x692f, 0x6921,

+  0x6912, 0x6904, 0x68f5, 0x68e7, 0x68d9, 0x68ca, 0x68bc, 0x68ad,

+  0x689f, 0x6890, 0x6882, 0x6873, 0x6865, 0x6856, 0x6848, 0x6839,

+  0x682b, 0x681c, 0x680d, 0x67ff, 0x67f0, 0x67e1, 0x67d3, 0x67c4,

+  0x67b5, 0x67a6, 0x6798, 0x6789, 0x677a, 0x676b, 0x675d, 0x674e,

+  0x673f, 0x6730, 0x6721, 0x6712, 0x6703, 0x66f4, 0x66e5, 0x66d6,

+  0x66c8, 0x66b9, 0x66aa, 0x669b, 0x668b, 0x667c, 0x666d, 0x665e,

+  0x664f, 0x6640, 0x6631, 0x6622, 0x6613, 0x6603, 0x65f4, 0x65e5,

+  0x65d6, 0x65c7, 0x65b7, 0x65a8, 0x6599, 0x658a, 0x657a, 0x656b,

+  0x655c, 0x654c, 0x653d, 0x652d, 0x651e, 0x650f, 0x64ff, 0x64f0,

+  0x64e0, 0x64d1, 0x64c1, 0x64b2, 0x64a2, 0x6493, 0x6483, 0x6474,

+  0x6464, 0x6454, 0x6445, 0x6435, 0x6426, 0x6416, 0x6406, 0x63f7,

+  0x63e7, 0x63d7, 0x63c7, 0x63b8, 0x63a8, 0x6398, 0x6388, 0x6378,

+  0x6369, 0x6359, 0x6349, 0x6339, 0x6329, 0x6319, 0x6309, 0x62f9,

+  0x62ea, 0x62da, 0x62ca, 0x62ba, 0x62aa, 0x629a, 0x628a, 0x627a,

+  0x6269, 0x6259, 0x6249, 0x6239, 0x6229, 0x6219, 0x6209, 0x61f9,

+  0x61e8, 0x61d8, 0x61c8, 0x61b8, 0x61a8, 0x6197, 0x6187, 0x6177,

+  0x6166, 0x6156, 0x6146, 0x6135, 0x6125, 0x6115, 0x6104, 0x60f4,

+  0x60e4, 0x60d3, 0x60c3, 0x60b2, 0x60a2, 0x6091, 0x6081, 0x6070,

+  0x6060, 0x604f, 0x603f, 0x602e, 0x601d, 0x600d, 0x5ffc, 0x5fec,

+  0x5fdb, 0x5fca, 0x5fba, 0x5fa9, 0x5f98, 0x5f87, 0x5f77, 0x5f66,

+  0x5f55, 0x5f44, 0x5f34, 0x5f23, 0x5f12, 0x5f01, 0x5ef0, 0x5edf,

+  0x5ecf, 0x5ebe, 0x5ead, 0x5e9c, 0x5e8b, 0x5e7a, 0x5e69, 0x5e58,

+  0x5e47, 0x5e36, 0x5e25, 0x5e14, 0x5e03, 0x5df2, 0x5de1, 0x5dd0,

+  0x5dbf, 0x5dad, 0x5d9c, 0x5d8b, 0x5d7a, 0x5d69, 0x5d58, 0x5d46,

+  0x5d35, 0x5d24, 0x5d13, 0x5d01, 0x5cf0, 0x5cdf, 0x5cce, 0x5cbc,

+  0x5cab, 0x5c9a, 0x5c88, 0x5c77, 0x5c66, 0x5c54, 0x5c43, 0x5c31,

+  0x5c20, 0x5c0e, 0x5bfd, 0x5beb, 0x5bda, 0x5bc8, 0x5bb7, 0x5ba5,

+  0x5b94, 0x5b82, 0x5b71, 0x5b5f, 0x5b4d, 0x5b3c, 0x5b2a, 0x5b19,

+  0x5b07, 0x5af5, 0x5ae4, 0x5ad2, 0x5ac0, 0x5aae, 0x5a9d, 0x5a8b,

+  0x5a79, 0x5a67, 0x5a56, 0x5a44, 0x5a32, 0x5a20, 0x5a0e, 0x59fc,

+  0x59ea, 0x59d9, 0x59c7, 0x59b5, 0x59a3, 0x5991, 0x597f, 0x596d,

+  0x595b, 0x5949, 0x5937, 0x5925, 0x5913, 0x5901, 0x58ef, 0x58dd,

+  0x58cb, 0x58b8, 0x58a6, 0x5894, 0x5882, 0x5870, 0x585e, 0x584b,

+  0x5839, 0x5827, 0x5815, 0x5803, 0x57f0, 0x57de, 0x57cc, 0x57b9,

+  0x57a7, 0x5795, 0x5783, 0x5770, 0x575e, 0x574b, 0x5739, 0x5727,

+  0x5714, 0x5702, 0x56ef, 0x56dd, 0x56ca, 0x56b8, 0x56a5, 0x5693,

+  0x5680, 0x566e, 0x565b, 0x5649, 0x5636, 0x5624, 0x5611, 0x55fe,

+  0x55ec, 0x55d9, 0x55c7, 0x55b4, 0x55a1, 0x558f, 0x557c, 0x5569,

+  0x5556, 0x5544, 0x5531, 0x551e, 0x550b, 0x54f9, 0x54e6, 0x54d3,

+  0x54c0, 0x54ad, 0x549a, 0x5488, 0x5475, 0x5462, 0x544f, 0x543c,

+  0x5429, 0x5416, 0x5403, 0x53f0, 0x53dd, 0x53ca, 0x53b7, 0x53a4,

+  0x5391, 0x537e, 0x536b, 0x5358, 0x5345, 0x5332, 0x531f, 0x530c,

+  0x52f8, 0x52e5, 0x52d2, 0x52bf, 0x52ac, 0x5299, 0x5285, 0x5272,

+  0x525f, 0x524c, 0x5238, 0x5225, 0x5212, 0x51ff, 0x51eb, 0x51d8,

+  0x51c5, 0x51b1, 0x519e, 0x518b, 0x5177, 0x5164, 0x5150, 0x513d,

+  0x512a, 0x5116, 0x5103, 0x50ef, 0x50dc, 0x50c8, 0x50b5, 0x50a1,

+  0x508e, 0x507a, 0x5067, 0x5053, 0x503f, 0x502c, 0x5018, 0x5005,

+  0x4ff1, 0x4fdd, 0x4fca, 0x4fb6, 0x4fa2, 0x4f8f, 0x4f7b, 0x4f67,

+  0x4f54, 0x4f40, 0x4f2c, 0x4f18, 0x4f05, 0x4ef1, 0x4edd, 0x4ec9,

+  0x4eb6, 0x4ea2, 0x4e8e, 0x4e7a, 0x4e66, 0x4e52, 0x4e3e, 0x4e2a,

+  0x4e17, 0x4e03, 0x4def, 0x4ddb, 0x4dc7, 0x4db3, 0x4d9f, 0x4d8b,

+  0x4d77, 0x4d63, 0x4d4f, 0x4d3b, 0x4d27, 0x4d13, 0x4cff, 0x4ceb,

+  0x4cd6, 0x4cc2, 0x4cae, 0x4c9a, 0x4c86, 0x4c72, 0x4c5e, 0x4c49,

+  0x4c35, 0x4c21, 0x4c0d, 0x4bf9, 0x4be4, 0x4bd0, 0x4bbc, 0x4ba8,

+  0x4b93, 0x4b7f, 0x4b6b, 0x4b56, 0x4b42, 0x4b2e, 0x4b19, 0x4b05,

+  0x4af1, 0x4adc, 0x4ac8, 0x4ab4, 0x4a9f, 0x4a8b, 0x4a76, 0x4a62,

+  0x4a4d, 0x4a39, 0x4a24, 0x4a10, 0x49fb, 0x49e7, 0x49d2, 0x49be,

+  0x49a9, 0x4995, 0x4980, 0x496c, 0x4957, 0x4942, 0x492e, 0x4919,

+  0x4905, 0x48f0, 0x48db, 0x48c7, 0x48b2, 0x489d, 0x4888, 0x4874,

+  0x485f, 0x484a, 0x4836, 0x4821, 0x480c, 0x47f7, 0x47e2, 0x47ce,

+  0x47b9, 0x47a4, 0x478f, 0x477a, 0x4765, 0x4751, 0x473c, 0x4727,

+  0x4712, 0x46fd, 0x46e8, 0x46d3, 0x46be, 0x46a9, 0x4694, 0x467f,

+  0x466a, 0x4655, 0x4640, 0x462b, 0x4616, 0x4601, 0x45ec, 0x45d7,

+  0x45c2, 0x45ad, 0x4598, 0x4583, 0x456e, 0x4559, 0x4544, 0x452e,

+  0x4519, 0x4504, 0x44ef, 0x44da, 0x44c5, 0x44af, 0x449a, 0x4485,

+  0x4470, 0x445a, 0x4445, 0x4430, 0x441b, 0x4405, 0x43f0, 0x43db,

+  0x43c5, 0x43b0, 0x439b, 0x4385, 0x4370, 0x435b, 0x4345, 0x4330,

+  0x431b, 0x4305, 0x42f0, 0x42da, 0x42c5, 0x42af, 0x429a, 0x4284,

+  0x426f, 0x425a, 0x4244, 0x422f, 0x4219, 0x4203, 0x41ee, 0x41d8,

+  0x41c3, 0x41ad, 0x4198, 0x4182, 0x416d, 0x4157, 0x4141, 0x412c,

+  0x4116, 0x4100, 0x40eb, 0x40d5, 0x40bf, 0x40aa, 0x4094, 0x407e,

+  0x4069, 0x4053, 0x403d, 0x4027, 0x4012, 0x3ffc, 0x3fe6, 0x3fd0,

+  0x3fbb, 0x3fa5, 0x3f8f, 0x3f79, 0x3f63, 0x3f4d, 0x3f38, 0x3f22,

+  0x3f0c, 0x3ef6, 0x3ee0, 0x3eca, 0x3eb4, 0x3e9e, 0x3e88, 0x3e73,

+  0x3e5d, 0x3e47, 0x3e31, 0x3e1b, 0x3e05, 0x3def, 0x3dd9, 0x3dc3,

+  0x3dad, 0x3d97, 0x3d81, 0x3d6b, 0x3d55, 0x3d3e, 0x3d28, 0x3d12,

+  0x3cfc, 0x3ce6, 0x3cd0, 0x3cba, 0x3ca4, 0x3c8e, 0x3c77, 0x3c61,

+  0x3c4b, 0x3c35, 0x3c1f, 0x3c09, 0x3bf2, 0x3bdc, 0x3bc6, 0x3bb0,

+  0x3b99, 0x3b83, 0x3b6d, 0x3b57, 0x3b40, 0x3b2a, 0x3b14, 0x3afe,

+  0x3ae7, 0x3ad1, 0x3abb, 0x3aa4, 0x3a8e, 0x3a78, 0x3a61, 0x3a4b,

+  0x3a34, 0x3a1e, 0x3a08, 0x39f1, 0x39db, 0x39c4, 0x39ae, 0x3998,

+  0x3981, 0x396b, 0x3954, 0x393e, 0x3927, 0x3911, 0x38fa, 0x38e4,

+  0x38cd, 0x38b7, 0x38a0, 0x388a, 0x3873, 0x385d, 0x3846, 0x382f,

+  0x3819, 0x3802, 0x37ec, 0x37d5, 0x37be, 0x37a8, 0x3791, 0x377a,

+  0x3764, 0x374d, 0x3736, 0x3720, 0x3709, 0x36f2, 0x36dc, 0x36c5,

+  0x36ae, 0x3698, 0x3681, 0x366a, 0x3653, 0x363d, 0x3626, 0x360f,

+  0x35f8, 0x35e1, 0x35cb, 0x35b4, 0x359d, 0x3586, 0x356f, 0x3558,

+  0x3542, 0x352b, 0x3514, 0x34fd, 0x34e6, 0x34cf, 0x34b8, 0x34a1,

+  0x348b, 0x3474, 0x345d, 0x3446, 0x342f, 0x3418, 0x3401, 0x33ea,

+  0x33d3, 0x33bc, 0x33a5, 0x338e, 0x3377, 0x3360, 0x3349, 0x3332,

+  0x331b, 0x3304, 0x32ed, 0x32d6, 0x32bf, 0x32a8, 0x3290, 0x3279,

+  0x3262, 0x324b, 0x3234, 0x321d, 0x3206, 0x31ef, 0x31d8, 0x31c0,

+  0x31a9, 0x3192, 0x317b, 0x3164, 0x314c, 0x3135, 0x311e, 0x3107,

+  0x30f0, 0x30d8, 0x30c1, 0x30aa, 0x3093, 0x307b, 0x3064, 0x304d,

+  0x3036, 0x301e, 0x3007, 0x2ff0, 0x2fd8, 0x2fc1, 0x2faa, 0x2f92,

+  0x2f7b, 0x2f64, 0x2f4c, 0x2f35, 0x2f1e, 0x2f06, 0x2eef, 0x2ed8,

+  0x2ec0, 0x2ea9, 0x2e91, 0x2e7a, 0x2e63, 0x2e4b, 0x2e34, 0x2e1c,

+  0x2e05, 0x2ded, 0x2dd6, 0x2dbe, 0x2da7, 0x2d8f, 0x2d78, 0x2d60,

+  0x2d49, 0x2d31, 0x2d1a, 0x2d02, 0x2ceb, 0x2cd3, 0x2cbc, 0x2ca4,

+  0x2c8d, 0x2c75, 0x2c5e, 0x2c46, 0x2c2e, 0x2c17, 0x2bff, 0x2be8,

+  0x2bd0, 0x2bb8, 0x2ba1, 0x2b89, 0x2b71, 0x2b5a, 0x2b42, 0x2b2b,

+  0x2b13, 0x2afb, 0x2ae4, 0x2acc, 0x2ab4, 0x2a9c, 0x2a85, 0x2a6d,

+  0x2a55, 0x2a3e, 0x2a26, 0x2a0e, 0x29f6, 0x29df, 0x29c7, 0x29af,

+  0x2997, 0x2980, 0x2968, 0x2950, 0x2938, 0x2920, 0x2909, 0x28f1,

+  0x28d9, 0x28c1, 0x28a9, 0x2892, 0x287a, 0x2862, 0x284a, 0x2832,

+  0x281a, 0x2802, 0x27eb, 0x27d3, 0x27bb, 0x27a3, 0x278b, 0x2773,

+  0x275b, 0x2743, 0x272b, 0x2713, 0x26fb, 0x26e4, 0x26cc, 0x26b4,

+  0x269c, 0x2684, 0x266c, 0x2654, 0x263c, 0x2624, 0x260c, 0x25f4,

+  0x25dc, 0x25c4, 0x25ac, 0x2594, 0x257c, 0x2564, 0x254c, 0x2534,

+  0x251c, 0x2503, 0x24eb, 0x24d3, 0x24bb, 0x24a3, 0x248b, 0x2473,

+  0x245b, 0x2443, 0x242b, 0x2413, 0x23fa, 0x23e2, 0x23ca, 0x23b2,

+  0x239a, 0x2382, 0x236a, 0x2352, 0x2339, 0x2321, 0x2309, 0x22f1,

+  0x22d9, 0x22c0, 0x22a8, 0x2290, 0x2278, 0x2260, 0x2247, 0x222f,

+  0x2217, 0x21ff, 0x21e7, 0x21ce, 0x21b6, 0x219e, 0x2186, 0x216d,

+  0x2155, 0x213d, 0x2125, 0x210c, 0x20f4, 0x20dc, 0x20c3, 0x20ab,

+  0x2093, 0x207a, 0x2062, 0x204a, 0x2032, 0x2019, 0x2001, 0x1fe9,

+  0x1fd0, 0x1fb8, 0x1f9f, 0x1f87, 0x1f6f, 0x1f56, 0x1f3e, 0x1f26,

+  0x1f0d, 0x1ef5, 0x1edd, 0x1ec4, 0x1eac, 0x1e93, 0x1e7b, 0x1e62,

+  0x1e4a, 0x1e32, 0x1e19, 0x1e01, 0x1de8, 0x1dd0, 0x1db7, 0x1d9f,

+  0x1d87, 0x1d6e, 0x1d56, 0x1d3d, 0x1d25, 0x1d0c, 0x1cf4, 0x1cdb,

+  0x1cc3, 0x1caa, 0x1c92, 0x1c79, 0x1c61, 0x1c48, 0x1c30, 0x1c17,

+  0x1bff, 0x1be6, 0x1bce, 0x1bb5, 0x1b9d, 0x1b84, 0x1b6c, 0x1b53,

+  0x1b3a, 0x1b22, 0x1b09, 0x1af1, 0x1ad8, 0x1ac0, 0x1aa7, 0x1a8e,

+  0x1a76, 0x1a5d, 0x1a45, 0x1a2c, 0x1a13, 0x19fb, 0x19e2, 0x19ca,

+  0x19b1, 0x1998, 0x1980, 0x1967, 0x194e, 0x1936, 0x191d, 0x1905,

+  0x18ec, 0x18d3, 0x18bb, 0x18a2, 0x1889, 0x1871, 0x1858, 0x183f,

+  0x1827, 0x180e, 0x17f5, 0x17dd, 0x17c4, 0x17ab, 0x1792, 0x177a,

+  0x1761, 0x1748, 0x1730, 0x1717, 0x16fe, 0x16e5, 0x16cd, 0x16b4,

+  0x169b, 0x1682, 0x166a, 0x1651, 0x1638, 0x161f, 0x1607, 0x15ee,

+  0x15d5, 0x15bc, 0x15a4, 0x158b, 0x1572, 0x1559, 0x1541, 0x1528,

+  0x150f, 0x14f6, 0x14dd, 0x14c5, 0x14ac, 0x1493, 0x147a, 0x1461,

+  0x1449, 0x1430, 0x1417, 0x13fe, 0x13e5, 0x13cc, 0x13b4, 0x139b,

+  0x1382, 0x1369, 0x1350, 0x1337, 0x131f, 0x1306, 0x12ed, 0x12d4,

+  0x12bb, 0x12a2, 0x1289, 0x1271, 0x1258, 0x123f, 0x1226, 0x120d,

+  0x11f4, 0x11db, 0x11c2, 0x11a9, 0x1191, 0x1178, 0x115f, 0x1146,

+  0x112d, 0x1114, 0x10fb, 0x10e2, 0x10c9, 0x10b0, 0x1098, 0x107f,

+  0x1066, 0x104d, 0x1034, 0x101b, 0x1002, 0xfe9, 0xfd0, 0xfb7,

+  0xf9e, 0xf85, 0xf6c, 0xf53, 0xf3a, 0xf21, 0xf08, 0xef0,

+  0xed7, 0xebe, 0xea5, 0xe8c, 0xe73, 0xe5a, 0xe41, 0xe28,

+  0xe0f, 0xdf6, 0xddd, 0xdc4, 0xdab, 0xd92, 0xd79, 0xd60,

+  0xd47, 0xd2e, 0xd15, 0xcfc, 0xce3, 0xcca, 0xcb1, 0xc98,

+  0xc7f, 0xc66, 0xc4d, 0xc34, 0xc1b, 0xc02, 0xbe9, 0xbd0,

+  0xbb7, 0xb9e, 0xb85, 0xb6c, 0xb53, 0xb3a, 0xb20, 0xb07,

+  0xaee, 0xad5, 0xabc, 0xaa3, 0xa8a, 0xa71, 0xa58, 0xa3f,

+  0xa26, 0xa0d, 0x9f4, 0x9db, 0x9c2, 0x9a9, 0x990, 0x977,

+  0x95e, 0x944, 0x92b, 0x912, 0x8f9, 0x8e0, 0x8c7, 0x8ae,

+  0x895, 0x87c, 0x863, 0x84a, 0x831, 0x818, 0x7fe, 0x7e5,

+  0x7cc, 0x7b3, 0x79a, 0x781, 0x768, 0x74f, 0x736, 0x71d,

+  0x704, 0x6ea, 0x6d1, 0x6b8, 0x69f, 0x686, 0x66d, 0x654,

+  0x63b, 0x622, 0x609, 0x5ef, 0x5d6, 0x5bd, 0x5a4, 0x58b,

+  0x572, 0x559, 0x540, 0x527, 0x50d, 0x4f4, 0x4db, 0x4c2,

+  0x4a9, 0x490, 0x477, 0x45e, 0x445, 0x42b, 0x412, 0x3f9,

+  0x3e0, 0x3c7, 0x3ae, 0x395, 0x37c, 0x362, 0x349, 0x330,

+  0x317, 0x2fe, 0x2e5, 0x2cc, 0x2b3, 0x299, 0x280, 0x267,

+  0x24e, 0x235, 0x21c, 0x203, 0x1ea, 0x1d0, 0x1b7, 0x19e,

+  0x185, 0x16c, 0x153, 0x13a, 0x121, 0x107, 0xee, 0xd5,

+  0xbc, 0xa3, 0x8a, 0x71, 0x57, 0x3e, 0x25, 0xc,

+

+};

+

+static const q15_t ALIGN4 cos_factorsQ15_8192[8192] = {

+  0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff,

+  0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff,

+  0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff,

+  0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff,

+  0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff,

+  0x7fff, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe,

+  0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe,

+  0x7ffe, 0x7ffe, 0x7ffd, 0x7ffd, 0x7ffd, 0x7ffd, 0x7ffd, 0x7ffd,

+  0x7ffd, 0x7ffd, 0x7ffd, 0x7ffd, 0x7ffd, 0x7ffd, 0x7ffd, 0x7ffc,

+  0x7ffc, 0x7ffc, 0x7ffc, 0x7ffc, 0x7ffc, 0x7ffc, 0x7ffc, 0x7ffc,

+  0x7ffc, 0x7ffb, 0x7ffb, 0x7ffb, 0x7ffb, 0x7ffb, 0x7ffb, 0x7ffb,

+  0x7ffb, 0x7ffb, 0x7ffb, 0x7ffa, 0x7ffa, 0x7ffa, 0x7ffa, 0x7ffa,

+  0x7ffa, 0x7ffa, 0x7ffa, 0x7ffa, 0x7ff9, 0x7ff9, 0x7ff9, 0x7ff9,

+  0x7ff9, 0x7ff9, 0x7ff9, 0x7ff9, 0x7ff8, 0x7ff8, 0x7ff8, 0x7ff8,

+  0x7ff8, 0x7ff8, 0x7ff8, 0x7ff7, 0x7ff7, 0x7ff7, 0x7ff7, 0x7ff7,

+  0x7ff7, 0x7ff7, 0x7ff6, 0x7ff6, 0x7ff6, 0x7ff6, 0x7ff6, 0x7ff6,

+  0x7ff6, 0x7ff5, 0x7ff5, 0x7ff5, 0x7ff5, 0x7ff5, 0x7ff5, 0x7ff4,

+  0x7ff4, 0x7ff4, 0x7ff4, 0x7ff4, 0x7ff4, 0x7ff3, 0x7ff3, 0x7ff3,

+  0x7ff3, 0x7ff3, 0x7ff3, 0x7ff2, 0x7ff2, 0x7ff2, 0x7ff2, 0x7ff2,

+  0x7ff1, 0x7ff1, 0x7ff1, 0x7ff1, 0x7ff1, 0x7ff1, 0x7ff0, 0x7ff0,

+  0x7ff0, 0x7ff0, 0x7ff0, 0x7fef, 0x7fef, 0x7fef, 0x7fef, 0x7fef,

+  0x7fee, 0x7fee, 0x7fee, 0x7fee, 0x7fee, 0x7fed, 0x7fed, 0x7fed,

+  0x7fed, 0x7fed, 0x7fec, 0x7fec, 0x7fec, 0x7fec, 0x7feb, 0x7feb,

+  0x7feb, 0x7feb, 0x7feb, 0x7fea, 0x7fea, 0x7fea, 0x7fea, 0x7fe9,

+  0x7fe9, 0x7fe9, 0x7fe9, 0x7fe8, 0x7fe8, 0x7fe8, 0x7fe8, 0x7fe8,

+  0x7fe7, 0x7fe7, 0x7fe7, 0x7fe7, 0x7fe6, 0x7fe6, 0x7fe6, 0x7fe6,

+  0x7fe5, 0x7fe5, 0x7fe5, 0x7fe5, 0x7fe4, 0x7fe4, 0x7fe4, 0x7fe4,

+  0x7fe3, 0x7fe3, 0x7fe3, 0x7fe2, 0x7fe2, 0x7fe2, 0x7fe2, 0x7fe1,

+  0x7fe1, 0x7fe1, 0x7fe1, 0x7fe0, 0x7fe0, 0x7fe0, 0x7fdf, 0x7fdf,

+  0x7fdf, 0x7fdf, 0x7fde, 0x7fde, 0x7fde, 0x7fde, 0x7fdd, 0x7fdd,

+  0x7fdd, 0x7fdc, 0x7fdc, 0x7fdc, 0x7fdb, 0x7fdb, 0x7fdb, 0x7fdb,

+  0x7fda, 0x7fda, 0x7fda, 0x7fd9, 0x7fd9, 0x7fd9, 0x7fd8, 0x7fd8,

+  0x7fd8, 0x7fd8, 0x7fd7, 0x7fd7, 0x7fd7, 0x7fd6, 0x7fd6, 0x7fd6,

+  0x7fd5, 0x7fd5, 0x7fd5, 0x7fd4, 0x7fd4, 0x7fd4, 0x7fd3, 0x7fd3,

+  0x7fd3, 0x7fd2, 0x7fd2, 0x7fd2, 0x7fd1, 0x7fd1, 0x7fd1, 0x7fd0,

+  0x7fd0, 0x7fd0, 0x7fcf, 0x7fcf, 0x7fcf, 0x7fce, 0x7fce, 0x7fce,

+  0x7fcd, 0x7fcd, 0x7fcd, 0x7fcc, 0x7fcc, 0x7fcc, 0x7fcb, 0x7fcb,

+  0x7fcb, 0x7fca, 0x7fca, 0x7fc9, 0x7fc9, 0x7fc9, 0x7fc8, 0x7fc8,

+  0x7fc8, 0x7fc7, 0x7fc7, 0x7fc7, 0x7fc6, 0x7fc6, 0x7fc5, 0x7fc5,

+  0x7fc5, 0x7fc4, 0x7fc4, 0x7fc4, 0x7fc3, 0x7fc3, 0x7fc2, 0x7fc2,

+  0x7fc2, 0x7fc1, 0x7fc1, 0x7fc0, 0x7fc0, 0x7fc0, 0x7fbf, 0x7fbf,

+  0x7fbf, 0x7fbe, 0x7fbe, 0x7fbd, 0x7fbd, 0x7fbd, 0x7fbc, 0x7fbc,

+  0x7fbb, 0x7fbb, 0x7fbb, 0x7fba, 0x7fba, 0x7fb9, 0x7fb9, 0x7fb8,

+  0x7fb8, 0x7fb8, 0x7fb7, 0x7fb7, 0x7fb6, 0x7fb6, 0x7fb6, 0x7fb5,

+  0x7fb5, 0x7fb4, 0x7fb4, 0x7fb3, 0x7fb3, 0x7fb3, 0x7fb2, 0x7fb2,

+  0x7fb1, 0x7fb1, 0x7fb0, 0x7fb0, 0x7faf, 0x7faf, 0x7faf, 0x7fae,

+  0x7fae, 0x7fad, 0x7fad, 0x7fac, 0x7fac, 0x7fac, 0x7fab, 0x7fab,

+  0x7faa, 0x7faa, 0x7fa9, 0x7fa9, 0x7fa8, 0x7fa8, 0x7fa7, 0x7fa7,

+  0x7fa6, 0x7fa6, 0x7fa6, 0x7fa5, 0x7fa5, 0x7fa4, 0x7fa4, 0x7fa3,

+  0x7fa3, 0x7fa2, 0x7fa2, 0x7fa1, 0x7fa1, 0x7fa0, 0x7fa0, 0x7f9f,

+  0x7f9f, 0x7f9e, 0x7f9e, 0x7f9d, 0x7f9d, 0x7f9c, 0x7f9c, 0x7f9c,

+  0x7f9b, 0x7f9b, 0x7f9a, 0x7f9a, 0x7f99, 0x7f99, 0x7f98, 0x7f98,

+  0x7f97, 0x7f97, 0x7f96, 0x7f96, 0x7f95, 0x7f95, 0x7f94, 0x7f94,

+  0x7f93, 0x7f92, 0x7f92, 0x7f91, 0x7f91, 0x7f90, 0x7f90, 0x7f8f,

+  0x7f8f, 0x7f8e, 0x7f8e, 0x7f8d, 0x7f8d, 0x7f8c, 0x7f8c, 0x7f8b,

+  0x7f8b, 0x7f8a, 0x7f8a, 0x7f89, 0x7f89, 0x7f88, 0x7f87, 0x7f87,

+  0x7f86, 0x7f86, 0x7f85, 0x7f85, 0x7f84, 0x7f84, 0x7f83, 0x7f83,

+  0x7f82, 0x7f81, 0x7f81, 0x7f80, 0x7f80, 0x7f7f, 0x7f7f, 0x7f7e,

+  0x7f7e, 0x7f7d, 0x7f7c, 0x7f7c, 0x7f7b, 0x7f7b, 0x7f7a, 0x7f7a,

+  0x7f79, 0x7f79, 0x7f78, 0x7f77, 0x7f77, 0x7f76, 0x7f76, 0x7f75,

+  0x7f75, 0x7f74, 0x7f73, 0x7f73, 0x7f72, 0x7f72, 0x7f71, 0x7f70,

+  0x7f70, 0x7f6f, 0x7f6f, 0x7f6e, 0x7f6d, 0x7f6d, 0x7f6c, 0x7f6c,

+  0x7f6b, 0x7f6b, 0x7f6a, 0x7f69, 0x7f69, 0x7f68, 0x7f68, 0x7f67,

+  0x7f66, 0x7f66, 0x7f65, 0x7f64, 0x7f64, 0x7f63, 0x7f63, 0x7f62,

+  0x7f61, 0x7f61, 0x7f60, 0x7f60, 0x7f5f, 0x7f5e, 0x7f5e, 0x7f5d,

+  0x7f5c, 0x7f5c, 0x7f5b, 0x7f5b, 0x7f5a, 0x7f59, 0x7f59, 0x7f58,

+  0x7f57, 0x7f57, 0x7f56, 0x7f55, 0x7f55, 0x7f54, 0x7f54, 0x7f53,

+  0x7f52, 0x7f52, 0x7f51, 0x7f50, 0x7f50, 0x7f4f, 0x7f4e, 0x7f4e,

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+  0x7f48, 0x7f47, 0x7f46, 0x7f46, 0x7f45, 0x7f44, 0x7f44, 0x7f43,

+  0x7f42, 0x7f42, 0x7f41, 0x7f40, 0x7f40, 0x7f3f, 0x7f3e, 0x7f3e,

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+  0x7f37, 0x7f37, 0x7f36, 0x7f35, 0x7f35, 0x7f34, 0x7f33, 0x7f33,

+  0x7f32, 0x7f31, 0x7f31, 0x7f30, 0x7f2f, 0x7f2e, 0x7f2e, 0x7f2d,

+  0x7f2c, 0x7f2c, 0x7f2b, 0x7f2a, 0x7f29, 0x7f29, 0x7f28, 0x7f27,

+  0x7f27, 0x7f26, 0x7f25, 0x7f24, 0x7f24, 0x7f23, 0x7f22, 0x7f21,

+  0x7f21, 0x7f20, 0x7f1f, 0x7f1f, 0x7f1e, 0x7f1d, 0x7f1c, 0x7f1c,

+  0x7f1b, 0x7f1a, 0x7f19, 0x7f19, 0x7f18, 0x7f17, 0x7f16, 0x7f16,

+  0x7f15, 0x7f14, 0x7f13, 0x7f13, 0x7f12, 0x7f11, 0x7f10, 0x7f10,

+  0x7f0f, 0x7f0e, 0x7f0d, 0x7f0d, 0x7f0c, 0x7f0b, 0x7f0a, 0x7f09,

+  0x7f09, 0x7f08, 0x7f07, 0x7f06, 0x7f06, 0x7f05, 0x7f04, 0x7f03,

+  0x7f02, 0x7f02, 0x7f01, 0x7f00, 0x7eff, 0x7eff, 0x7efe, 0x7efd,

+  0x7efc, 0x7efb, 0x7efb, 0x7efa, 0x7ef9, 0x7ef8, 0x7ef7, 0x7ef7,

+  0x7ef6, 0x7ef5, 0x7ef4, 0x7ef3, 0x7ef3, 0x7ef2, 0x7ef1, 0x7ef0,

+  0x7eef, 0x7eef, 0x7eee, 0x7eed, 0x7eec, 0x7eeb, 0x7eeb, 0x7eea,

+  0x7ee9, 0x7ee8, 0x7ee7, 0x7ee6, 0x7ee6, 0x7ee5, 0x7ee4, 0x7ee3,

+  0x7ee2, 0x7ee2, 0x7ee1, 0x7ee0, 0x7edf, 0x7ede, 0x7edd, 0x7edd,

+  0x7edc, 0x7edb, 0x7eda, 0x7ed9, 0x7ed8, 0x7ed8, 0x7ed7, 0x7ed6,

+  0x7ed5, 0x7ed4, 0x7ed3, 0x7ed2, 0x7ed2, 0x7ed1, 0x7ed0, 0x7ecf,

+  0x7ece, 0x7ecd, 0x7ecc, 0x7ecc, 0x7ecb, 0x7eca, 0x7ec9, 0x7ec8,

+  0x7ec7, 0x7ec6, 0x7ec6, 0x7ec5, 0x7ec4, 0x7ec3, 0x7ec2, 0x7ec1,

+  0x7ec0, 0x7ebf, 0x7ebf, 0x7ebe, 0x7ebd, 0x7ebc, 0x7ebb, 0x7eba,

+  0x7eb9, 0x7eb8, 0x7eb8, 0x7eb7, 0x7eb6, 0x7eb5, 0x7eb4, 0x7eb3,

+  0x7eb2, 0x7eb1, 0x7eb0, 0x7eaf, 0x7eaf, 0x7eae, 0x7ead, 0x7eac,

+  0x7eab, 0x7eaa, 0x7ea9, 0x7ea8, 0x7ea7, 0x7ea6, 0x7ea6, 0x7ea5,

+  0x7ea4, 0x7ea3, 0x7ea2, 0x7ea1, 0x7ea0, 0x7e9f, 0x7e9e, 0x7e9d,

+  0x7e9c, 0x7e9b, 0x7e9b, 0x7e9a, 0x7e99, 0x7e98, 0x7e97, 0x7e96,

+  0x7e95, 0x7e94, 0x7e93, 0x7e92, 0x7e91, 0x7e90, 0x7e8f, 0x7e8e,

+  0x7e8d, 0x7e8d, 0x7e8c, 0x7e8b, 0x7e8a, 0x7e89, 0x7e88, 0x7e87,

+  0x7e86, 0x7e85, 0x7e84, 0x7e83, 0x7e82, 0x7e81, 0x7e80, 0x7e7f,

+  0x7e7e, 0x7e7d, 0x7e7c, 0x7e7b, 0x7e7a, 0x7e79, 0x7e78, 0x7e77,

+  0x7e77, 0x7e76, 0x7e75, 0x7e74, 0x7e73, 0x7e72, 0x7e71, 0x7e70,

+  0x7e6f, 0x7e6e, 0x7e6d, 0x7e6c, 0x7e6b, 0x7e6a, 0x7e69, 0x7e68,

+  0x7e67, 0x7e66, 0x7e65, 0x7e64, 0x7e63, 0x7e62, 0x7e61, 0x7e60,

+  0x7e5f, 0x7e5e, 0x7e5d, 0x7e5c, 0x7e5b, 0x7e5a, 0x7e59, 0x7e58,

+  0x7e57, 0x7e56, 0x7e55, 0x7e54, 0x7e53, 0x7e52, 0x7e51, 0x7e50,

+  0x7e4f, 0x7e4e, 0x7e4d, 0x7e4c, 0x7e4b, 0x7e4a, 0x7e49, 0x7e48,

+  0x7e47, 0x7e46, 0x7e45, 0x7e43, 0x7e42, 0x7e41, 0x7e40, 0x7e3f,

+  0x7e3e, 0x7e3d, 0x7e3c, 0x7e3b, 0x7e3a, 0x7e39, 0x7e38, 0x7e37,

+  0x7e36, 0x7e35, 0x7e34, 0x7e33, 0x7e32, 0x7e31, 0x7e30, 0x7e2f,

+  0x7e2e, 0x7e2d, 0x7e2b, 0x7e2a, 0x7e29, 0x7e28, 0x7e27, 0x7e26,

+  0x7e25, 0x7e24, 0x7e23, 0x7e22, 0x7e21, 0x7e20, 0x7e1f, 0x7e1e,

+  0x7e1d, 0x7e1b, 0x7e1a, 0x7e19, 0x7e18, 0x7e17, 0x7e16, 0x7e15,

+  0x7e14, 0x7e13, 0x7e12, 0x7e11, 0x7e10, 0x7e0e, 0x7e0d, 0x7e0c,

+  0x7e0b, 0x7e0a, 0x7e09, 0x7e08, 0x7e07, 0x7e06, 0x7e05, 0x7e04,

+  0x7e02, 0x7e01, 0x7e00, 0x7dff, 0x7dfe, 0x7dfd, 0x7dfc, 0x7dfb,

+  0x7dfa, 0x7df8, 0x7df7, 0x7df6, 0x7df5, 0x7df4, 0x7df3, 0x7df2,

+  0x7df1, 0x7def, 0x7dee, 0x7ded, 0x7dec, 0x7deb, 0x7dea, 0x7de9,

+  0x7de8, 0x7de6, 0x7de5, 0x7de4, 0x7de3, 0x7de2, 0x7de1, 0x7de0,

+  0x7dde, 0x7ddd, 0x7ddc, 0x7ddb, 0x7dda, 0x7dd9, 0x7dd8, 0x7dd6,

+  0x7dd5, 0x7dd4, 0x7dd3, 0x7dd2, 0x7dd1, 0x7dd0, 0x7dce, 0x7dcd,

+  0x7dcc, 0x7dcb, 0x7dca, 0x7dc9, 0x7dc7, 0x7dc6, 0x7dc5, 0x7dc4,

+  0x7dc3, 0x7dc2, 0x7dc0, 0x7dbf, 0x7dbe, 0x7dbd, 0x7dbc, 0x7dbb,

+  0x7db9, 0x7db8, 0x7db7, 0x7db6, 0x7db5, 0x7db3, 0x7db2, 0x7db1,

+  0x7db0, 0x7daf, 0x7dae, 0x7dac, 0x7dab, 0x7daa, 0x7da9, 0x7da8,

+  0x7da6, 0x7da5, 0x7da4, 0x7da3, 0x7da2, 0x7da0, 0x7d9f, 0x7d9e,

+  0x7d9d, 0x7d9c, 0x7d9a, 0x7d99, 0x7d98, 0x7d97, 0x7d95, 0x7d94,

+  0x7d93, 0x7d92, 0x7d91, 0x7d8f, 0x7d8e, 0x7d8d, 0x7d8c, 0x7d8a,

+  0x7d89, 0x7d88, 0x7d87, 0x7d86, 0x7d84, 0x7d83, 0x7d82, 0x7d81,

+  0x7d7f, 0x7d7e, 0x7d7d, 0x7d7c, 0x7d7a, 0x7d79, 0x7d78, 0x7d77,

+  0x7d75, 0x7d74, 0x7d73, 0x7d72, 0x7d70, 0x7d6f, 0x7d6e, 0x7d6d,

+  0x7d6b, 0x7d6a, 0x7d69, 0x7d68, 0x7d66, 0x7d65, 0x7d64, 0x7d63,

+  0x7d61, 0x7d60, 0x7d5f, 0x7d5e, 0x7d5c, 0x7d5b, 0x7d5a, 0x7d59,

+  0x7d57, 0x7d56, 0x7d55, 0x7d53, 0x7d52, 0x7d51, 0x7d50, 0x7d4e,

+  0x7d4d, 0x7d4c, 0x7d4a, 0x7d49, 0x7d48, 0x7d47, 0x7d45, 0x7d44,

+  0x7d43, 0x7d41, 0x7d40, 0x7d3f, 0x7d3e, 0x7d3c, 0x7d3b, 0x7d3a,

+  0x7d38, 0x7d37, 0x7d36, 0x7d34, 0x7d33, 0x7d32, 0x7d31, 0x7d2f,

+  0x7d2e, 0x7d2d, 0x7d2b, 0x7d2a, 0x7d29, 0x7d27, 0x7d26, 0x7d25,

+  0x7d23, 0x7d22, 0x7d21, 0x7d1f, 0x7d1e, 0x7d1d, 0x7d1b, 0x7d1a,

+  0x7d19, 0x7d17, 0x7d16, 0x7d15, 0x7d13, 0x7d12, 0x7d11, 0x7d0f,

+  0x7d0e, 0x7d0d, 0x7d0b, 0x7d0a, 0x7d09, 0x7d07, 0x7d06, 0x7d05,

+  0x7d03, 0x7d02, 0x7d01, 0x7cff, 0x7cfe, 0x7cfd, 0x7cfb, 0x7cfa,

+  0x7cf9, 0x7cf7, 0x7cf6, 0x7cf4, 0x7cf3, 0x7cf2, 0x7cf0, 0x7cef,

+  0x7cee, 0x7cec, 0x7ceb, 0x7ce9, 0x7ce8, 0x7ce7, 0x7ce5, 0x7ce4,

+  0x7ce3, 0x7ce1, 0x7ce0, 0x7cde, 0x7cdd, 0x7cdc, 0x7cda, 0x7cd9,

+  0x7cd8, 0x7cd6, 0x7cd5, 0x7cd3, 0x7cd2, 0x7cd1, 0x7ccf, 0x7cce,

+  0x7ccc, 0x7ccb, 0x7cca, 0x7cc8, 0x7cc7, 0x7cc5, 0x7cc4, 0x7cc3,

+  0x7cc1, 0x7cc0, 0x7cbe, 0x7cbd, 0x7cbc, 0x7cba, 0x7cb9, 0x7cb7,

+  0x7cb6, 0x7cb5, 0x7cb3, 0x7cb2, 0x7cb0, 0x7caf, 0x7cad, 0x7cac,

+  0x7cab, 0x7ca9, 0x7ca8, 0x7ca6, 0x7ca5, 0x7ca3, 0x7ca2, 0x7ca1,

+  0x7c9f, 0x7c9e, 0x7c9c, 0x7c9b, 0x7c99, 0x7c98, 0x7c97, 0x7c95,

+  0x7c94, 0x7c92, 0x7c91, 0x7c8f, 0x7c8e, 0x7c8c, 0x7c8b, 0x7c8a,

+  0x7c88, 0x7c87, 0x7c85, 0x7c84, 0x7c82, 0x7c81, 0x7c7f, 0x7c7e,

+  0x7c7c, 0x7c7b, 0x7c79, 0x7c78, 0x7c77, 0x7c75, 0x7c74, 0x7c72,

+  0x7c71, 0x7c6f, 0x7c6e, 0x7c6c, 0x7c6b, 0x7c69, 0x7c68, 0x7c66,

+  0x7c65, 0x7c63, 0x7c62, 0x7c60, 0x7c5f, 0x7c5d, 0x7c5c, 0x7c5a,

+  0x7c59, 0x7c58, 0x7c56, 0x7c55, 0x7c53, 0x7c52, 0x7c50, 0x7c4f,

+  0x7c4d, 0x7c4c, 0x7c4a, 0x7c49, 0x7c47, 0x7c46, 0x7c44, 0x7c43,

+  0x7c41, 0x7c3f, 0x7c3e, 0x7c3c, 0x7c3b, 0x7c39, 0x7c38, 0x7c36,

+  0x7c35, 0x7c33, 0x7c32, 0x7c30, 0x7c2f, 0x7c2d, 0x7c2c, 0x7c2a,

+  0x7c29, 0x7c27, 0x7c26, 0x7c24, 0x7c23, 0x7c21, 0x7c20, 0x7c1e,

+  0x7c1c, 0x7c1b, 0x7c19, 0x7c18, 0x7c16, 0x7c15, 0x7c13, 0x7c12,

+  0x7c10, 0x7c0f, 0x7c0d, 0x7c0b, 0x7c0a, 0x7c08, 0x7c07, 0x7c05,

+  0x7c04, 0x7c02, 0x7c01, 0x7bff, 0x7bfd, 0x7bfc, 0x7bfa, 0x7bf9,

+  0x7bf7, 0x7bf6, 0x7bf4, 0x7bf3, 0x7bf1, 0x7bef, 0x7bee, 0x7bec,

+  0x7beb, 0x7be9, 0x7be8, 0x7be6, 0x7be4, 0x7be3, 0x7be1, 0x7be0,

+  0x7bde, 0x7bdc, 0x7bdb, 0x7bd9, 0x7bd8, 0x7bd6, 0x7bd5, 0x7bd3,

+  0x7bd1, 0x7bd0, 0x7bce, 0x7bcd, 0x7bcb, 0x7bc9, 0x7bc8, 0x7bc6,

+  0x7bc5, 0x7bc3, 0x7bc1, 0x7bc0, 0x7bbe, 0x7bbd, 0x7bbb, 0x7bb9,

+  0x7bb8, 0x7bb6, 0x7bb5, 0x7bb3, 0x7bb1, 0x7bb0, 0x7bae, 0x7bac,

+  0x7bab, 0x7ba9, 0x7ba8, 0x7ba6, 0x7ba4, 0x7ba3, 0x7ba1, 0x7b9f,

+  0x7b9e, 0x7b9c, 0x7b9b, 0x7b99, 0x7b97, 0x7b96, 0x7b94, 0x7b92,

+  0x7b91, 0x7b8f, 0x7b8d, 0x7b8c, 0x7b8a, 0x7b89, 0x7b87, 0x7b85,

+  0x7b84, 0x7b82, 0x7b80, 0x7b7f, 0x7b7d, 0x7b7b, 0x7b7a, 0x7b78,

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+  0x41cb, 0x41c6, 0x41c0, 0x41bb, 0x41b5, 0x41b0, 0x41ab, 0x41a5,

+  0x41a0, 0x419a, 0x4195, 0x4190, 0x418a, 0x4185, 0x417f, 0x417a,

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+  0x4071, 0x406b, 0x4066, 0x4060, 0x405b, 0x4056, 0x4050, 0x404b,

+  0x4045, 0x4040, 0x403a, 0x4035, 0x4030, 0x402a, 0x4025, 0x401f,

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+  0x3fee, 0x3fe9, 0x3fe3, 0x3fde, 0x3fd8, 0x3fd3, 0x3fce, 0x3fc8,

+  0x3fc3, 0x3fbd, 0x3fb8, 0x3fb2, 0x3fad, 0x3fa7, 0x3fa2, 0x3f9d,

+  0x3f97, 0x3f92, 0x3f8c, 0x3f87, 0x3f81, 0x3f7c, 0x3f76, 0x3f71,

+  0x3f6b, 0x3f66, 0x3f61, 0x3f5b, 0x3f56, 0x3f50, 0x3f4b, 0x3f45,

+  0x3f40, 0x3f3a, 0x3f35, 0x3f2f, 0x3f2a, 0x3f24, 0x3f1f, 0x3f1a,

+  0x3f14, 0x3f0f, 0x3f09, 0x3f04, 0x3efe, 0x3ef9, 0x3ef3, 0x3eee,

+  0x3ee8, 0x3ee3, 0x3edd, 0x3ed8, 0x3ed2, 0x3ecd, 0x3ec7, 0x3ec2,

+  0x3ebd, 0x3eb7, 0x3eb2, 0x3eac, 0x3ea7, 0x3ea1, 0x3e9c, 0x3e96,

+  0x3e91, 0x3e8b, 0x3e86, 0x3e80, 0x3e7b, 0x3e75, 0x3e70, 0x3e6a,

+  0x3e65, 0x3e5f, 0x3e5a, 0x3e54, 0x3e4f, 0x3e49, 0x3e44, 0x3e3e,

+  0x3e39, 0x3e33, 0x3e2e, 0x3e28, 0x3e23, 0x3e1d, 0x3e18, 0x3e12,

+  0x3e0d, 0x3e07, 0x3e02, 0x3dfc, 0x3df7, 0x3df1, 0x3dec, 0x3de6,

+  0x3de1, 0x3ddb, 0x3dd6, 0x3dd0, 0x3dcb, 0x3dc5, 0x3dc0, 0x3dba,

+  0x3db5, 0x3daf, 0x3daa, 0x3da4, 0x3d9f, 0x3d99, 0x3d94, 0x3d8e,

+  0x3d89, 0x3d83, 0x3d7e, 0x3d78, 0x3d73, 0x3d6d, 0x3d68, 0x3d62,

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+  0x3d31, 0x3d2b, 0x3d26, 0x3d20, 0x3d1b, 0x3d15, 0x3d10, 0x3d0a,

+  0x3d04, 0x3cff, 0x3cf9, 0x3cf4, 0x3cee, 0x3ce9, 0x3ce3, 0x3cde,

+  0x3cd8, 0x3cd3, 0x3ccd, 0x3cc8, 0x3cc2, 0x3cbd, 0x3cb7, 0x3cb2,

+  0x3cac, 0x3ca7, 0x3ca1, 0x3c9b, 0x3c96, 0x3c90, 0x3c8b, 0x3c85,

+  0x3c80, 0x3c7a, 0x3c75, 0x3c6f, 0x3c6a, 0x3c64, 0x3c5f, 0x3c59,

+  0x3c53, 0x3c4e, 0x3c48, 0x3c43, 0x3c3d, 0x3c38, 0x3c32, 0x3c2d,

+  0x3c27, 0x3c22, 0x3c1c, 0x3c16, 0x3c11, 0x3c0b, 0x3c06, 0x3c00,

+  0x3bfb, 0x3bf5, 0x3bf0, 0x3bea, 0x3be5, 0x3bdf, 0x3bd9, 0x3bd4,

+  0x3bce, 0x3bc9, 0x3bc3, 0x3bbe, 0x3bb8, 0x3bb3, 0x3bad, 0x3ba7,

+  0x3ba2, 0x3b9c, 0x3b97, 0x3b91, 0x3b8c, 0x3b86, 0x3b80, 0x3b7b,

+  0x3b75, 0x3b70, 0x3b6a, 0x3b65, 0x3b5f, 0x3b5a, 0x3b54, 0x3b4e,

+  0x3b49, 0x3b43, 0x3b3e, 0x3b38, 0x3b33, 0x3b2d, 0x3b27, 0x3b22,

+  0x3b1c, 0x3b17, 0x3b11, 0x3b0c, 0x3b06, 0x3b00, 0x3afb, 0x3af5,

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+  0x3ac3, 0x3abd, 0x3ab8, 0x3ab2, 0x3aad, 0x3aa7, 0x3aa2, 0x3a9c,

+  0x3a96, 0x3a91, 0x3a8b, 0x3a86, 0x3a80, 0x3a7a, 0x3a75, 0x3a6f,

+  0x3a6a, 0x3a64, 0x3a5e, 0x3a59, 0x3a53, 0x3a4e, 0x3a48, 0x3a42,

+  0x3a3d, 0x3a37, 0x3a32, 0x3a2c, 0x3a26, 0x3a21, 0x3a1b, 0x3a16,

+  0x3a10, 0x3a0b, 0x3a05, 0x39ff, 0x39fa, 0x39f4, 0x39ee, 0x39e9,

+  0x39e3, 0x39de, 0x39d8, 0x39d2, 0x39cd, 0x39c7, 0x39c2, 0x39bc,

+  0x39b6, 0x39b1, 0x39ab, 0x39a6, 0x39a0, 0x399a, 0x3995, 0x398f,

+  0x398a, 0x3984, 0x397e, 0x3979, 0x3973, 0x396d, 0x3968, 0x3962,

+  0x395d, 0x3957, 0x3951, 0x394c, 0x3946, 0x3941, 0x393b, 0x3935,

+  0x3930, 0x392a, 0x3924, 0x391f, 0x3919, 0x3914, 0x390e, 0x3908,

+  0x3903, 0x38fd, 0x38f7, 0x38f2, 0x38ec, 0x38e7, 0x38e1, 0x38db,

+  0x38d6, 0x38d0, 0x38ca, 0x38c5, 0x38bf, 0x38ba, 0x38b4, 0x38ae,

+  0x38a9, 0x38a3, 0x389d, 0x3898, 0x3892, 0x388c, 0x3887, 0x3881,

+  0x387c, 0x3876, 0x3870, 0x386b, 0x3865, 0x385f, 0x385a, 0x3854,

+  0x384e, 0x3849, 0x3843, 0x383d, 0x3838, 0x3832, 0x382d, 0x3827,

+  0x3821, 0x381c, 0x3816, 0x3810, 0x380b, 0x3805, 0x37ff, 0x37fa,

+  0x37f4, 0x37ee, 0x37e9, 0x37e3, 0x37dd, 0x37d8, 0x37d2, 0x37cc,

+  0x37c7, 0x37c1, 0x37bc, 0x37b6, 0x37b0, 0x37ab, 0x37a5, 0x379f,

+  0x379a, 0x3794, 0x378e, 0x3789, 0x3783, 0x377d, 0x3778, 0x3772,

+  0x376c, 0x3767, 0x3761, 0x375b, 0x3756, 0x3750, 0x374a, 0x3745,

+  0x373f, 0x3739, 0x3734, 0x372e, 0x3728, 0x3723, 0x371d, 0x3717,

+  0x3712, 0x370c, 0x3706, 0x3701, 0x36fb, 0x36f5, 0x36f0, 0x36ea,

+  0x36e4, 0x36df, 0x36d9, 0x36d3, 0x36ce, 0x36c8, 0x36c2, 0x36bc,

+  0x36b7, 0x36b1, 0x36ab, 0x36a6, 0x36a0, 0x369a, 0x3695, 0x368f,

+  0x3689, 0x3684, 0x367e, 0x3678, 0x3673, 0x366d, 0x3667, 0x3662,

+  0x365c, 0x3656, 0x3650, 0x364b, 0x3645, 0x363f, 0x363a, 0x3634,

+  0x362e, 0x3629, 0x3623, 0x361d, 0x3618, 0x3612, 0x360c, 0x3606,

+  0x3601, 0x35fb, 0x35f5, 0x35f0, 0x35ea, 0x35e4, 0x35df, 0x35d9,

+  0x35d3, 0x35cd, 0x35c8, 0x35c2, 0x35bc, 0x35b7, 0x35b1, 0x35ab,

+  0x35a6, 0x35a0, 0x359a, 0x3594, 0x358f, 0x3589, 0x3583, 0x357e,

+  0x3578, 0x3572, 0x356c, 0x3567, 0x3561, 0x355b, 0x3556, 0x3550,

+  0x354a, 0x3544, 0x353f, 0x3539, 0x3533, 0x352e, 0x3528, 0x3522,

+  0x351c, 0x3517, 0x3511, 0x350b, 0x3506, 0x3500, 0x34fa, 0x34f4,

+  0x34ef, 0x34e9, 0x34e3, 0x34de, 0x34d8, 0x34d2, 0x34cc, 0x34c7,

+  0x34c1, 0x34bb, 0x34b6, 0x34b0, 0x34aa, 0x34a4, 0x349f, 0x3499,

+  0x3493, 0x348d, 0x3488, 0x3482, 0x347c, 0x3476, 0x3471, 0x346b,

+  0x3465, 0x3460, 0x345a, 0x3454, 0x344e, 0x3449, 0x3443, 0x343d,

+  0x3437, 0x3432, 0x342c, 0x3426, 0x3420, 0x341b, 0x3415, 0x340f,

+  0x340a, 0x3404, 0x33fe, 0x33f8, 0x33f3, 0x33ed, 0x33e7, 0x33e1,

+  0x33dc, 0x33d6, 0x33d0, 0x33ca, 0x33c5, 0x33bf, 0x33b9, 0x33b3,

+  0x33ae, 0x33a8, 0x33a2, 0x339c, 0x3397, 0x3391, 0x338b, 0x3385,

+  0x3380, 0x337a, 0x3374, 0x336e, 0x3369, 0x3363, 0x335d, 0x3357,

+  0x3352, 0x334c, 0x3346, 0x3340, 0x333b, 0x3335, 0x332f, 0x3329,

+  0x3324, 0x331e, 0x3318, 0x3312, 0x330c, 0x3307, 0x3301, 0x32fb,

+  0x32f5, 0x32f0, 0x32ea, 0x32e4, 0x32de, 0x32d9, 0x32d3, 0x32cd,

+  0x32c7, 0x32c2, 0x32bc, 0x32b6, 0x32b0, 0x32aa, 0x32a5, 0x329f,

+  0x3299, 0x3293, 0x328e, 0x3288, 0x3282, 0x327c, 0x3276, 0x3271,

+  0x326b, 0x3265, 0x325f, 0x325a, 0x3254, 0x324e, 0x3248, 0x3243,

+  0x323d, 0x3237, 0x3231, 0x322b, 0x3226, 0x3220, 0x321a, 0x3214,

+  0x320e, 0x3209, 0x3203, 0x31fd, 0x31f7, 0x31f2, 0x31ec, 0x31e6,

+  0x31e0, 0x31da, 0x31d5, 0x31cf, 0x31c9, 0x31c3, 0x31bd, 0x31b8,

+  0x31b2, 0x31ac, 0x31a6, 0x31a1, 0x319b, 0x3195, 0x318f, 0x3189,

+  0x3184, 0x317e, 0x3178, 0x3172, 0x316c, 0x3167, 0x3161, 0x315b,

+  0x3155, 0x314f, 0x314a, 0x3144, 0x313e, 0x3138, 0x3132, 0x312d,

+  0x3127, 0x3121, 0x311b, 0x3115, 0x3110, 0x310a, 0x3104, 0x30fe,

+  0x30f8, 0x30f3, 0x30ed, 0x30e7, 0x30e1, 0x30db, 0x30d6, 0x30d0,

+  0x30ca, 0x30c4, 0x30be, 0x30b8, 0x30b3, 0x30ad, 0x30a7, 0x30a1,

+  0x309b, 0x3096, 0x3090, 0x308a, 0x3084, 0x307e, 0x3079, 0x3073,

+  0x306d, 0x3067, 0x3061, 0x305b, 0x3056, 0x3050, 0x304a, 0x3044,

+  0x303e, 0x3039, 0x3033, 0x302d, 0x3027, 0x3021, 0x301b, 0x3016,

+  0x3010, 0x300a, 0x3004, 0x2ffe, 0x2ff8, 0x2ff3, 0x2fed, 0x2fe7,

+  0x2fe1, 0x2fdb, 0x2fd6, 0x2fd0, 0x2fca, 0x2fc4, 0x2fbe, 0x2fb8,

+  0x2fb3, 0x2fad, 0x2fa7, 0x2fa1, 0x2f9b, 0x2f95, 0x2f90, 0x2f8a,

+  0x2f84, 0x2f7e, 0x2f78, 0x2f72, 0x2f6d, 0x2f67, 0x2f61, 0x2f5b,

+  0x2f55, 0x2f4f, 0x2f4a, 0x2f44, 0x2f3e, 0x2f38, 0x2f32, 0x2f2c,

+  0x2f27, 0x2f21, 0x2f1b, 0x2f15, 0x2f0f, 0x2f09, 0x2f03, 0x2efe,

+  0x2ef8, 0x2ef2, 0x2eec, 0x2ee6, 0x2ee0, 0x2edb, 0x2ed5, 0x2ecf,

+  0x2ec9, 0x2ec3, 0x2ebd, 0x2eb7, 0x2eb2, 0x2eac, 0x2ea6, 0x2ea0,

+  0x2e9a, 0x2e94, 0x2e8e, 0x2e89, 0x2e83, 0x2e7d, 0x2e77, 0x2e71,

+  0x2e6b, 0x2e65, 0x2e60, 0x2e5a, 0x2e54, 0x2e4e, 0x2e48, 0x2e42,

+  0x2e3c, 0x2e37, 0x2e31, 0x2e2b, 0x2e25, 0x2e1f, 0x2e19, 0x2e13,

+  0x2e0e, 0x2e08, 0x2e02, 0x2dfc, 0x2df6, 0x2df0, 0x2dea, 0x2de5,

+  0x2ddf, 0x2dd9, 0x2dd3, 0x2dcd, 0x2dc7, 0x2dc1, 0x2dbb, 0x2db6,

+  0x2db0, 0x2daa, 0x2da4, 0x2d9e, 0x2d98, 0x2d92, 0x2d8d, 0x2d87,

+  0x2d81, 0x2d7b, 0x2d75, 0x2d6f, 0x2d69, 0x2d63, 0x2d5e, 0x2d58,

+  0x2d52, 0x2d4c, 0x2d46, 0x2d40, 0x2d3a, 0x2d34, 0x2d2f, 0x2d29,

+  0x2d23, 0x2d1d, 0x2d17, 0x2d11, 0x2d0b, 0x2d05, 0x2cff, 0x2cfa,

+  0x2cf4, 0x2cee, 0x2ce8, 0x2ce2, 0x2cdc, 0x2cd6, 0x2cd0, 0x2ccb,

+  0x2cc5, 0x2cbf, 0x2cb9, 0x2cb3, 0x2cad, 0x2ca7, 0x2ca1, 0x2c9b,

+  0x2c96, 0x2c90, 0x2c8a, 0x2c84, 0x2c7e, 0x2c78, 0x2c72, 0x2c6c,

+  0x2c66, 0x2c61, 0x2c5b, 0x2c55, 0x2c4f, 0x2c49, 0x2c43, 0x2c3d,

+  0x2c37, 0x2c31, 0x2c2b, 0x2c26, 0x2c20, 0x2c1a, 0x2c14, 0x2c0e,

+  0x2c08, 0x2c02, 0x2bfc, 0x2bf6, 0x2bf0, 0x2beb, 0x2be5, 0x2bdf,

+  0x2bd9, 0x2bd3, 0x2bcd, 0x2bc7, 0x2bc1, 0x2bbb, 0x2bb5, 0x2bb0,

+  0x2baa, 0x2ba4, 0x2b9e, 0x2b98, 0x2b92, 0x2b8c, 0x2b86, 0x2b80,

+  0x2b7a, 0x2b74, 0x2b6f, 0x2b69, 0x2b63, 0x2b5d, 0x2b57, 0x2b51,

+  0x2b4b, 0x2b45, 0x2b3f, 0x2b39, 0x2b33, 0x2b2d, 0x2b28, 0x2b22,

+  0x2b1c, 0x2b16, 0x2b10, 0x2b0a, 0x2b04, 0x2afe, 0x2af8, 0x2af2,

+  0x2aec, 0x2ae6, 0x2ae1, 0x2adb, 0x2ad5, 0x2acf, 0x2ac9, 0x2ac3,

+  0x2abd, 0x2ab7, 0x2ab1, 0x2aab, 0x2aa5, 0x2a9f, 0x2a99, 0x2a94,

+  0x2a8e, 0x2a88, 0x2a82, 0x2a7c, 0x2a76, 0x2a70, 0x2a6a, 0x2a64,

+  0x2a5e, 0x2a58, 0x2a52, 0x2a4c, 0x2a47, 0x2a41, 0x2a3b, 0x2a35,

+  0x2a2f, 0x2a29, 0x2a23, 0x2a1d, 0x2a17, 0x2a11, 0x2a0b, 0x2a05,

+  0x29ff, 0x29f9, 0x29f3, 0x29ee, 0x29e8, 0x29e2, 0x29dc, 0x29d6,

+  0x29d0, 0x29ca, 0x29c4, 0x29be, 0x29b8, 0x29b2, 0x29ac, 0x29a6,

+  0x29a0, 0x299a, 0x2994, 0x298e, 0x2989, 0x2983, 0x297d, 0x2977,

+  0x2971, 0x296b, 0x2965, 0x295f, 0x2959, 0x2953, 0x294d, 0x2947,

+  0x2941, 0x293b, 0x2935, 0x292f, 0x2929, 0x2923, 0x291d, 0x2918,

+  0x2912, 0x290c, 0x2906, 0x2900, 0x28fa, 0x28f4, 0x28ee, 0x28e8,

+  0x28e2, 0x28dc, 0x28d6, 0x28d0, 0x28ca, 0x28c4, 0x28be, 0x28b8,

+  0x28b2, 0x28ac, 0x28a6, 0x28a0, 0x289a, 0x2895, 0x288f, 0x2889,

+  0x2883, 0x287d, 0x2877, 0x2871, 0x286b, 0x2865, 0x285f, 0x2859,

+  0x2853, 0x284d, 0x2847, 0x2841, 0x283b, 0x2835, 0x282f, 0x2829,

+  0x2823, 0x281d, 0x2817, 0x2811, 0x280b, 0x2805, 0x27ff, 0x27f9,

+  0x27f3, 0x27ee, 0x27e8, 0x27e2, 0x27dc, 0x27d6, 0x27d0, 0x27ca,

+  0x27c4, 0x27be, 0x27b8, 0x27b2, 0x27ac, 0x27a6, 0x27a0, 0x279a,

+  0x2794, 0x278e, 0x2788, 0x2782, 0x277c, 0x2776, 0x2770, 0x276a,

+  0x2764, 0x275e, 0x2758, 0x2752, 0x274c, 0x2746, 0x2740, 0x273a,

+  0x2734, 0x272e, 0x2728, 0x2722, 0x271c, 0x2716, 0x2710, 0x270a,

+  0x2704, 0x26fe, 0x26f8, 0x26f2, 0x26ec, 0x26e7, 0x26e1, 0x26db,

+  0x26d5, 0x26cf, 0x26c9, 0x26c3, 0x26bd, 0x26b7, 0x26b1, 0x26ab,

+  0x26a5, 0x269f, 0x2699, 0x2693, 0x268d, 0x2687, 0x2681, 0x267b,

+  0x2675, 0x266f, 0x2669, 0x2663, 0x265d, 0x2657, 0x2651, 0x264b,

+  0x2645, 0x263f, 0x2639, 0x2633, 0x262d, 0x2627, 0x2621, 0x261b,

+  0x2615, 0x260f, 0x2609, 0x2603, 0x25fd, 0x25f7, 0x25f1, 0x25eb,

+  0x25e5, 0x25df, 0x25d9, 0x25d3, 0x25cd, 0x25c7, 0x25c1, 0x25bb,

+  0x25b5, 0x25af, 0x25a9, 0x25a3, 0x259d, 0x2597, 0x2591, 0x258b,

+  0x2585, 0x257f, 0x2579, 0x2573, 0x256d, 0x2567, 0x2561, 0x255b,

+  0x2555, 0x254f, 0x2549, 0x2543, 0x253d, 0x2537, 0x2531, 0x252b,

+  0x2525, 0x251f, 0x2519, 0x2513, 0x250c, 0x2506, 0x2500, 0x24fa,

+  0x24f4, 0x24ee, 0x24e8, 0x24e2, 0x24dc, 0x24d6, 0x24d0, 0x24ca,

+  0x24c4, 0x24be, 0x24b8, 0x24b2, 0x24ac, 0x24a6, 0x24a0, 0x249a,

+  0x2494, 0x248e, 0x2488, 0x2482, 0x247c, 0x2476, 0x2470, 0x246a,

+  0x2464, 0x245e, 0x2458, 0x2452, 0x244c, 0x2446, 0x2440, 0x243a,

+  0x2434, 0x242e, 0x2428, 0x2422, 0x241c, 0x2416, 0x2410, 0x240a,

+  0x2404, 0x23fd, 0x23f7, 0x23f1, 0x23eb, 0x23e5, 0x23df, 0x23d9,

+  0x23d3, 0x23cd, 0x23c7, 0x23c1, 0x23bb, 0x23b5, 0x23af, 0x23a9,

+  0x23a3, 0x239d, 0x2397, 0x2391, 0x238b, 0x2385, 0x237f, 0x2379,

+  0x2373, 0x236d, 0x2367, 0x2361, 0x235b, 0x2355, 0x234e, 0x2348,

+  0x2342, 0x233c, 0x2336, 0x2330, 0x232a, 0x2324, 0x231e, 0x2318,

+  0x2312, 0x230c, 0x2306, 0x2300, 0x22fa, 0x22f4, 0x22ee, 0x22e8,

+  0x22e2, 0x22dc, 0x22d6, 0x22d0, 0x22ca, 0x22c4, 0x22bd, 0x22b7,

+  0x22b1, 0x22ab, 0x22a5, 0x229f, 0x2299, 0x2293, 0x228d, 0x2287,

+  0x2281, 0x227b, 0x2275, 0x226f, 0x2269, 0x2263, 0x225d, 0x2257,

+  0x2251, 0x224a, 0x2244, 0x223e, 0x2238, 0x2232, 0x222c, 0x2226,

+  0x2220, 0x221a, 0x2214, 0x220e, 0x2208, 0x2202, 0x21fc, 0x21f6,

+  0x21f0, 0x21ea, 0x21e4, 0x21dd, 0x21d7, 0x21d1, 0x21cb, 0x21c5,

+  0x21bf, 0x21b9, 0x21b3, 0x21ad, 0x21a7, 0x21a1, 0x219b, 0x2195,

+  0x218f, 0x2189, 0x2183, 0x217c, 0x2176, 0x2170, 0x216a, 0x2164,

+  0x215e, 0x2158, 0x2152, 0x214c, 0x2146, 0x2140, 0x213a, 0x2134,

+  0x212e, 0x2128, 0x2121, 0x211b, 0x2115, 0x210f, 0x2109, 0x2103,

+  0x20fd, 0x20f7, 0x20f1, 0x20eb, 0x20e5, 0x20df, 0x20d9, 0x20d3,

+  0x20cc, 0x20c6, 0x20c0, 0x20ba, 0x20b4, 0x20ae, 0x20a8, 0x20a2,

+  0x209c, 0x2096, 0x2090, 0x208a, 0x2084, 0x207e, 0x2077, 0x2071,

+  0x206b, 0x2065, 0x205f, 0x2059, 0x2053, 0x204d, 0x2047, 0x2041,

+  0x203b, 0x2035, 0x202e, 0x2028, 0x2022, 0x201c, 0x2016, 0x2010,

+  0x200a, 0x2004, 0x1ffe, 0x1ff8, 0x1ff2, 0x1fec, 0x1fe5, 0x1fdf,

+  0x1fd9, 0x1fd3, 0x1fcd, 0x1fc7, 0x1fc1, 0x1fbb, 0x1fb5, 0x1faf,

+  0x1fa9, 0x1fa3, 0x1f9c, 0x1f96, 0x1f90, 0x1f8a, 0x1f84, 0x1f7e,

+  0x1f78, 0x1f72, 0x1f6c, 0x1f66, 0x1f60, 0x1f59, 0x1f53, 0x1f4d,

+  0x1f47, 0x1f41, 0x1f3b, 0x1f35, 0x1f2f, 0x1f29, 0x1f23, 0x1f1d,

+  0x1f16, 0x1f10, 0x1f0a, 0x1f04, 0x1efe, 0x1ef8, 0x1ef2, 0x1eec,

+  0x1ee6, 0x1ee0, 0x1ed9, 0x1ed3, 0x1ecd, 0x1ec7, 0x1ec1, 0x1ebb,

+  0x1eb5, 0x1eaf, 0x1ea9, 0x1ea3, 0x1e9c, 0x1e96, 0x1e90, 0x1e8a,

+  0x1e84, 0x1e7e, 0x1e78, 0x1e72, 0x1e6c, 0x1e66, 0x1e5f, 0x1e59,

+  0x1e53, 0x1e4d, 0x1e47, 0x1e41, 0x1e3b, 0x1e35, 0x1e2f, 0x1e29,

+  0x1e22, 0x1e1c, 0x1e16, 0x1e10, 0x1e0a, 0x1e04, 0x1dfe, 0x1df8,

+  0x1df2, 0x1deb, 0x1de5, 0x1ddf, 0x1dd9, 0x1dd3, 0x1dcd, 0x1dc7,

+  0x1dc1, 0x1dbb, 0x1db4, 0x1dae, 0x1da8, 0x1da2, 0x1d9c, 0x1d96,

+  0x1d90, 0x1d8a, 0x1d84, 0x1d7d, 0x1d77, 0x1d71, 0x1d6b, 0x1d65,

+  0x1d5f, 0x1d59, 0x1d53, 0x1d4c, 0x1d46, 0x1d40, 0x1d3a, 0x1d34,

+  0x1d2e, 0x1d28, 0x1d22, 0x1d1c, 0x1d15, 0x1d0f, 0x1d09, 0x1d03,

+  0x1cfd, 0x1cf7, 0x1cf1, 0x1ceb, 0x1ce4, 0x1cde, 0x1cd8, 0x1cd2,

+  0x1ccc, 0x1cc6, 0x1cc0, 0x1cba, 0x1cb3, 0x1cad, 0x1ca7, 0x1ca1,

+  0x1c9b, 0x1c95, 0x1c8f, 0x1c89, 0x1c83, 0x1c7c, 0x1c76, 0x1c70,

+  0x1c6a, 0x1c64, 0x1c5e, 0x1c58, 0x1c51, 0x1c4b, 0x1c45, 0x1c3f,

+  0x1c39, 0x1c33, 0x1c2d, 0x1c27, 0x1c20, 0x1c1a, 0x1c14, 0x1c0e,

+  0x1c08, 0x1c02, 0x1bfc, 0x1bf6, 0x1bef, 0x1be9, 0x1be3, 0x1bdd,

+  0x1bd7, 0x1bd1, 0x1bcb, 0x1bc4, 0x1bbe, 0x1bb8, 0x1bb2, 0x1bac,

+  0x1ba6, 0x1ba0, 0x1b9a, 0x1b93, 0x1b8d, 0x1b87, 0x1b81, 0x1b7b,

+  0x1b75, 0x1b6f, 0x1b68, 0x1b62, 0x1b5c, 0x1b56, 0x1b50, 0x1b4a,

+  0x1b44, 0x1b3d, 0x1b37, 0x1b31, 0x1b2b, 0x1b25, 0x1b1f, 0x1b19,

+  0x1b13, 0x1b0c, 0x1b06, 0x1b00, 0x1afa, 0x1af4, 0x1aee, 0x1ae8,

+  0x1ae1, 0x1adb, 0x1ad5, 0x1acf, 0x1ac9, 0x1ac3, 0x1abd, 0x1ab6,

+  0x1ab0, 0x1aaa, 0x1aa4, 0x1a9e, 0x1a98, 0x1a91, 0x1a8b, 0x1a85,

+  0x1a7f, 0x1a79, 0x1a73, 0x1a6d, 0x1a66, 0x1a60, 0x1a5a, 0x1a54,

+  0x1a4e, 0x1a48, 0x1a42, 0x1a3b, 0x1a35, 0x1a2f, 0x1a29, 0x1a23,

+  0x1a1d, 0x1a17, 0x1a10, 0x1a0a, 0x1a04, 0x19fe, 0x19f8, 0x19f2,

+  0x19eb, 0x19e5, 0x19df, 0x19d9, 0x19d3, 0x19cd, 0x19c7, 0x19c0,

+  0x19ba, 0x19b4, 0x19ae, 0x19a8, 0x19a2, 0x199b, 0x1995, 0x198f,

+  0x1989, 0x1983, 0x197d, 0x1977, 0x1970, 0x196a, 0x1964, 0x195e,

+  0x1958, 0x1952, 0x194b, 0x1945, 0x193f, 0x1939, 0x1933, 0x192d,

+  0x1926, 0x1920, 0x191a, 0x1914, 0x190e, 0x1908, 0x1901, 0x18fb,

+  0x18f5, 0x18ef, 0x18e9, 0x18e3, 0x18dc, 0x18d6, 0x18d0, 0x18ca,

+  0x18c4, 0x18be, 0x18b8, 0x18b1, 0x18ab, 0x18a5, 0x189f, 0x1899,

+  0x1893, 0x188c, 0x1886, 0x1880, 0x187a, 0x1874, 0x186e, 0x1867,

+  0x1861, 0x185b, 0x1855, 0x184f, 0x1848, 0x1842, 0x183c, 0x1836,

+  0x1830, 0x182a, 0x1823, 0x181d, 0x1817, 0x1811, 0x180b, 0x1805,

+  0x17fe, 0x17f8, 0x17f2, 0x17ec, 0x17e6, 0x17e0, 0x17d9, 0x17d3,

+  0x17cd, 0x17c7, 0x17c1, 0x17bb, 0x17b4, 0x17ae, 0x17a8, 0x17a2,

+  0x179c, 0x1795, 0x178f, 0x1789, 0x1783, 0x177d, 0x1777, 0x1770,

+  0x176a, 0x1764, 0x175e, 0x1758, 0x1752, 0x174b, 0x1745, 0x173f,

+  0x1739, 0x1733, 0x172c, 0x1726, 0x1720, 0x171a, 0x1714, 0x170e,

+  0x1707, 0x1701, 0x16fb, 0x16f5, 0x16ef, 0x16e8, 0x16e2, 0x16dc,

+  0x16d6, 0x16d0, 0x16ca, 0x16c3, 0x16bd, 0x16b7, 0x16b1, 0x16ab,

+  0x16a4, 0x169e, 0x1698, 0x1692, 0x168c, 0x1686, 0x167f, 0x1679,

+  0x1673, 0x166d, 0x1667, 0x1660, 0x165a, 0x1654, 0x164e, 0x1648,

+  0x1642, 0x163b, 0x1635, 0x162f, 0x1629, 0x1623, 0x161c, 0x1616,

+  0x1610, 0x160a, 0x1604, 0x15fd, 0x15f7, 0x15f1, 0x15eb, 0x15e5,

+  0x15de, 0x15d8, 0x15d2, 0x15cc, 0x15c6, 0x15c0, 0x15b9, 0x15b3,

+  0x15ad, 0x15a7, 0x15a1, 0x159a, 0x1594, 0x158e, 0x1588, 0x1582,

+  0x157b, 0x1575, 0x156f, 0x1569, 0x1563, 0x155c, 0x1556, 0x1550,

+  0x154a, 0x1544, 0x153d, 0x1537, 0x1531, 0x152b, 0x1525, 0x151e,

+  0x1518, 0x1512, 0x150c, 0x1506, 0x14ff, 0x14f9, 0x14f3, 0x14ed,

+  0x14e7, 0x14e0, 0x14da, 0x14d4, 0x14ce, 0x14c8, 0x14c1, 0x14bb,

+  0x14b5, 0x14af, 0x14a9, 0x14a2, 0x149c, 0x1496, 0x1490, 0x148a,

+  0x1483, 0x147d, 0x1477, 0x1471, 0x146b, 0x1464, 0x145e, 0x1458,

+  0x1452, 0x144c, 0x1445, 0x143f, 0x1439, 0x1433, 0x142d, 0x1426,

+  0x1420, 0x141a, 0x1414, 0x140e, 0x1407, 0x1401, 0x13fb, 0x13f5,

+  0x13ef, 0x13e8, 0x13e2, 0x13dc, 0x13d6, 0x13d0, 0x13c9, 0x13c3,

+  0x13bd, 0x13b7, 0x13b1, 0x13aa, 0x13a4, 0x139e, 0x1398, 0x1391,

+  0x138b, 0x1385, 0x137f, 0x1379, 0x1372, 0x136c, 0x1366, 0x1360,

+  0x135a, 0x1353, 0x134d, 0x1347, 0x1341, 0x133b, 0x1334, 0x132e,

+  0x1328, 0x1322, 0x131b, 0x1315, 0x130f, 0x1309, 0x1303, 0x12fc,

+  0x12f6, 0x12f0, 0x12ea, 0x12e4, 0x12dd, 0x12d7, 0x12d1, 0x12cb,

+  0x12c4, 0x12be, 0x12b8, 0x12b2, 0x12ac, 0x12a5, 0x129f, 0x1299,

+  0x1293, 0x128d, 0x1286, 0x1280, 0x127a, 0x1274, 0x126d, 0x1267,

+  0x1261, 0x125b, 0x1255, 0x124e, 0x1248, 0x1242, 0x123c, 0x1235,

+  0x122f, 0x1229, 0x1223, 0x121d, 0x1216, 0x1210, 0x120a, 0x1204,

+  0x11fd, 0x11f7, 0x11f1, 0x11eb, 0x11e5, 0x11de, 0x11d8, 0x11d2,

+  0x11cc, 0x11c5, 0x11bf, 0x11b9, 0x11b3, 0x11ad, 0x11a6, 0x11a0,

+  0x119a, 0x1194, 0x118d, 0x1187, 0x1181, 0x117b, 0x1175, 0x116e,

+  0x1168, 0x1162, 0x115c, 0x1155, 0x114f, 0x1149, 0x1143, 0x113d,

+  0x1136, 0x1130, 0x112a, 0x1124, 0x111d, 0x1117, 0x1111, 0x110b,

+  0x1105, 0x10fe, 0x10f8, 0x10f2, 0x10ec, 0x10e5, 0x10df, 0x10d9,

+  0x10d3, 0x10cc, 0x10c6, 0x10c0, 0x10ba, 0x10b4, 0x10ad, 0x10a7,

+  0x10a1, 0x109b, 0x1094, 0x108e, 0x1088, 0x1082, 0x107b, 0x1075,

+  0x106f, 0x1069, 0x1063, 0x105c, 0x1056, 0x1050, 0x104a, 0x1043,

+  0x103d, 0x1037, 0x1031, 0x102a, 0x1024, 0x101e, 0x1018, 0x1012,

+  0x100b, 0x1005, 0xfff, 0xff9, 0xff2, 0xfec, 0xfe6, 0xfe0,

+  0xfd9, 0xfd3, 0xfcd, 0xfc7, 0xfc0, 0xfba, 0xfb4, 0xfae,

+  0xfa8, 0xfa1, 0xf9b, 0xf95, 0xf8f, 0xf88, 0xf82, 0xf7c,

+  0xf76, 0xf6f, 0xf69, 0xf63, 0xf5d, 0xf56, 0xf50, 0xf4a,

+  0xf44, 0xf3e, 0xf37, 0xf31, 0xf2b, 0xf25, 0xf1e, 0xf18,

+  0xf12, 0xf0c, 0xf05, 0xeff, 0xef9, 0xef3, 0xeec, 0xee6,

+  0xee0, 0xeda, 0xed3, 0xecd, 0xec7, 0xec1, 0xeba, 0xeb4,

+  0xeae, 0xea8, 0xea1, 0xe9b, 0xe95, 0xe8f, 0xe89, 0xe82,

+  0xe7c, 0xe76, 0xe70, 0xe69, 0xe63, 0xe5d, 0xe57, 0xe50,

+  0xe4a, 0xe44, 0xe3e, 0xe37, 0xe31, 0xe2b, 0xe25, 0xe1e,

+  0xe18, 0xe12, 0xe0c, 0xe05, 0xdff, 0xdf9, 0xdf3, 0xdec,

+  0xde6, 0xde0, 0xdda, 0xdd3, 0xdcd, 0xdc7, 0xdc1, 0xdba,

+  0xdb4, 0xdae, 0xda8, 0xda1, 0xd9b, 0xd95, 0xd8f, 0xd88,

+  0xd82, 0xd7c, 0xd76, 0xd6f, 0xd69, 0xd63, 0xd5d, 0xd56,

+  0xd50, 0xd4a, 0xd44, 0xd3d, 0xd37, 0xd31, 0xd2b, 0xd24,

+  0xd1e, 0xd18, 0xd12, 0xd0b, 0xd05, 0xcff, 0xcf9, 0xcf2,

+  0xcec, 0xce6, 0xce0, 0xcd9, 0xcd3, 0xccd, 0xcc7, 0xcc0,

+  0xcba, 0xcb4, 0xcae, 0xca7, 0xca1, 0xc9b, 0xc95, 0xc8e,

+  0xc88, 0xc82, 0xc7c, 0xc75, 0xc6f, 0xc69, 0xc63, 0xc5c,

+  0xc56, 0xc50, 0xc4a, 0xc43, 0xc3d, 0xc37, 0xc31, 0xc2a,

+  0xc24, 0xc1e, 0xc18, 0xc11, 0xc0b, 0xc05, 0xbff, 0xbf8,

+  0xbf2, 0xbec, 0xbe6, 0xbdf, 0xbd9, 0xbd3, 0xbcd, 0xbc6,

+  0xbc0, 0xbba, 0xbb4, 0xbad, 0xba7, 0xba1, 0xb9b, 0xb94,

+  0xb8e, 0xb88, 0xb81, 0xb7b, 0xb75, 0xb6f, 0xb68, 0xb62,

+  0xb5c, 0xb56, 0xb4f, 0xb49, 0xb43, 0xb3d, 0xb36, 0xb30,

+  0xb2a, 0xb24, 0xb1d, 0xb17, 0xb11, 0xb0b, 0xb04, 0xafe,

+  0xaf8, 0xaf2, 0xaeb, 0xae5, 0xadf, 0xad8, 0xad2, 0xacc,

+  0xac6, 0xabf, 0xab9, 0xab3, 0xaad, 0xaa6, 0xaa0, 0xa9a,

+  0xa94, 0xa8d, 0xa87, 0xa81, 0xa7b, 0xa74, 0xa6e, 0xa68,

+  0xa62, 0xa5b, 0xa55, 0xa4f, 0xa48, 0xa42, 0xa3c, 0xa36,

+  0xa2f, 0xa29, 0xa23, 0xa1d, 0xa16, 0xa10, 0xa0a, 0xa04,

+  0x9fd, 0x9f7, 0x9f1, 0x9eb, 0x9e4, 0x9de, 0x9d8, 0x9d1,

+  0x9cb, 0x9c5, 0x9bf, 0x9b8, 0x9b2, 0x9ac, 0x9a6, 0x99f,

+  0x999, 0x993, 0x98d, 0x986, 0x980, 0x97a, 0x973, 0x96d,

+  0x967, 0x961, 0x95a, 0x954, 0x94e, 0x948, 0x941, 0x93b,

+  0x935, 0x92f, 0x928, 0x922, 0x91c, 0x915, 0x90f, 0x909,

+  0x903, 0x8fc, 0x8f6, 0x8f0, 0x8ea, 0x8e3, 0x8dd, 0x8d7,

+  0x8d1, 0x8ca, 0x8c4, 0x8be, 0x8b7, 0x8b1, 0x8ab, 0x8a5,

+  0x89e, 0x898, 0x892, 0x88c, 0x885, 0x87f, 0x879, 0x872,

+  0x86c, 0x866, 0x860, 0x859, 0x853, 0x84d, 0x847, 0x840,

+  0x83a, 0x834, 0x82e, 0x827, 0x821, 0x81b, 0x814, 0x80e,

+  0x808, 0x802, 0x7fb, 0x7f5, 0x7ef, 0x7e9, 0x7e2, 0x7dc,

+  0x7d6, 0x7cf, 0x7c9, 0x7c3, 0x7bd, 0x7b6, 0x7b0, 0x7aa,

+  0x7a4, 0x79d, 0x797, 0x791, 0x78a, 0x784, 0x77e, 0x778,

+  0x771, 0x76b, 0x765, 0x75f, 0x758, 0x752, 0x74c, 0x745,

+  0x73f, 0x739, 0x733, 0x72c, 0x726, 0x720, 0x71a, 0x713,

+  0x70d, 0x707, 0x700, 0x6fa, 0x6f4, 0x6ee, 0x6e7, 0x6e1,

+  0x6db, 0x6d5, 0x6ce, 0x6c8, 0x6c2, 0x6bb, 0x6b5, 0x6af,

+  0x6a9, 0x6a2, 0x69c, 0x696, 0x690, 0x689, 0x683, 0x67d,

+  0x676, 0x670, 0x66a, 0x664, 0x65d, 0x657, 0x651, 0x64a,

+  0x644, 0x63e, 0x638, 0x631, 0x62b, 0x625, 0x61f, 0x618,

+  0x612, 0x60c, 0x605, 0x5ff, 0x5f9, 0x5f3, 0x5ec, 0x5e6,

+  0x5e0, 0x5da, 0x5d3, 0x5cd, 0x5c7, 0x5c0, 0x5ba, 0x5b4,

+  0x5ae, 0x5a7, 0x5a1, 0x59b, 0x594, 0x58e, 0x588, 0x582,

+  0x57b, 0x575, 0x56f, 0x569, 0x562, 0x55c, 0x556, 0x54f,

+  0x549, 0x543, 0x53d, 0x536, 0x530, 0x52a, 0x523, 0x51d,

+  0x517, 0x511, 0x50a, 0x504, 0x4fe, 0x4f8, 0x4f1, 0x4eb,

+  0x4e5, 0x4de, 0x4d8, 0x4d2, 0x4cc, 0x4c5, 0x4bf, 0x4b9,

+  0x4b2, 0x4ac, 0x4a6, 0x4a0, 0x499, 0x493, 0x48d, 0x487,

+  0x480, 0x47a, 0x474, 0x46d, 0x467, 0x461, 0x45b, 0x454,

+  0x44e, 0x448, 0x441, 0x43b, 0x435, 0x42f, 0x428, 0x422,

+  0x41c, 0x415, 0x40f, 0x409, 0x403, 0x3fc, 0x3f6, 0x3f0,

+  0x3ea, 0x3e3, 0x3dd, 0x3d7, 0x3d0, 0x3ca, 0x3c4, 0x3be,

+  0x3b7, 0x3b1, 0x3ab, 0x3a4, 0x39e, 0x398, 0x392, 0x38b,

+  0x385, 0x37f, 0x378, 0x372, 0x36c, 0x366, 0x35f, 0x359,

+  0x353, 0x34c, 0x346, 0x340, 0x33a, 0x333, 0x32d, 0x327,

+  0x321, 0x31a, 0x314, 0x30e, 0x307, 0x301, 0x2fb, 0x2f5,

+  0x2ee, 0x2e8, 0x2e2, 0x2db, 0x2d5, 0x2cf, 0x2c9, 0x2c2,

+  0x2bc, 0x2b6, 0x2af, 0x2a9, 0x2a3, 0x29d, 0x296, 0x290,

+  0x28a, 0x283, 0x27d, 0x277, 0x271, 0x26a, 0x264, 0x25e,

+  0x258, 0x251, 0x24b, 0x245, 0x23e, 0x238, 0x232, 0x22c,

+  0x225, 0x21f, 0x219, 0x212, 0x20c, 0x206, 0x200, 0x1f9,

+  0x1f3, 0x1ed, 0x1e6, 0x1e0, 0x1da, 0x1d4, 0x1cd, 0x1c7,

+  0x1c1, 0x1ba, 0x1b4, 0x1ae, 0x1a8, 0x1a1, 0x19b, 0x195,

+  0x18e, 0x188, 0x182, 0x17c, 0x175, 0x16f, 0x169, 0x162,

+  0x15c, 0x156, 0x150, 0x149, 0x143, 0x13d, 0x137, 0x130,

+  0x12a, 0x124, 0x11d, 0x117, 0x111, 0x10b, 0x104, 0xfe,

+  0xf8, 0xf1, 0xeb, 0xe5, 0xdf, 0xd8, 0xd2, 0xcc,

+  0xc5, 0xbf, 0xb9, 0xb3, 0xac, 0xa6, 0xa0, 0x99,

+  0x93, 0x8d, 0x87, 0x80, 0x7a, 0x74, 0x6d, 0x67,

+  0x61, 0x5b, 0x54, 0x4e, 0x48, 0x41, 0x3b, 0x35,

+  0x2f, 0x28, 0x22, 0x1c, 0x15, 0xf, 0x9, 0x3,

+};

+

+/**    

+ * @brief  Initialization function for the Q15 DCT4/IDCT4.   

+ * @param[in,out] *S         points to an instance of Q15 DCT4/IDCT4 structure.   

+ * @param[in]     *S_RFFT    points to an instance of Q15 RFFT/RIFFT structure.   

+ * @param[in]     *S_CFFT    points to an instance of Q15 CFFT/CIFFT structure.   

+ * @param[in]     N          length of the DCT4.   

+ * @param[in]     Nby2       half of the length of the DCT4.   

+ * @param[in]     normalize  normalizing factor.   

+ * @return  	  arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if <code>N</code> is not a supported transform length.   

+ * \par Normalizing factor:    

+ * The normalizing factor is <code>sqrt(2/N)</code>, which depends on the size of transform <code>N</code>.    

+ * Normalizing factors in 1.15 format are mentioned in the table below for different DCT sizes:    

+ * \image html dct4NormalizingQ15Table.gif    

+ */

+

+arm_status arm_dct4_init_q15(

+  arm_dct4_instance_q15 * S,

+  arm_rfft_instance_q15 * S_RFFT,

+  arm_cfft_radix4_instance_q15 * S_CFFT,

+  uint16_t N,

+  uint16_t Nby2,

+  q15_t normalize)

+{

+  /*  Initialise the default arm status */

+  arm_status status = ARM_MATH_SUCCESS;

+

+  /* Initializing the pointer array with the weight table base addresses of different lengths */

+  q15_t *twiddlePtr[4] = { (q15_t *) WeightsQ15_128, (q15_t *) WeightsQ15_512,

+    (q15_t *) WeightsQ15_2048, (q15_t *) WeightsQ15_8192

+  };

+

+  /* Initializing the pointer array with the cos factor table base addresses of different lengths */

+  q15_t *pCosFactor[4] =

+    { (q15_t *) cos_factorsQ15_128, (q15_t *) cos_factorsQ15_512,

+    (q15_t *) cos_factorsQ15_2048, (q15_t *) cos_factorsQ15_8192

+  };

+

+  /* Initialize the DCT4 length */

+  S->N = N;

+

+  /* Initialize the half of DCT4 length */

+  S->Nby2 = Nby2;

+

+  /* Initialize the DCT4 Normalizing factor */

+  S->normalize = normalize;

+

+  /* Initialize Real FFT Instance */

+  S->pRfft = S_RFFT;

+

+  /* Initialize Complex FFT Instance */

+  S->pCfft = S_CFFT;

+

+  switch (N)

+  {

+    /* Initialize the table modifier values */

+  case 8192u:

+    S->pTwiddle = twiddlePtr[3];

+    S->pCosFactor = pCosFactor[3];

+    break;

+  case 2048u:

+    S->pTwiddle = twiddlePtr[2];

+    S->pCosFactor = pCosFactor[2];

+    break;

+  case 512u:

+    S->pTwiddle = twiddlePtr[1];

+    S->pCosFactor = pCosFactor[1];

+    break;

+  case 128u:

+    S->pTwiddle = twiddlePtr[0];

+    S->pCosFactor = pCosFactor[0];

+    break;

+  default:

+    status = ARM_MATH_ARGUMENT_ERROR;

+  }

+

+  /* Initialize the RFFT/RIFFT */

+  arm_rfft_init_q15(S->pRfft, S->pCfft, S->N, 0u, 1u);

+

+  /* return the status of DCT4 Init function */

+  return (status);

+}

+

+/**    

+   * @} end of DCT4_IDCT4 group    

+   */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q31.c
new file mode 100644
index 000000000..211cdadf3
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q31.c
@@ -0,0 +1,8356 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_dct4_init_q31.c    

+*    

+* Description:	Initialization function of DCT-4 & IDCT4 Q31    

+*    

+* 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 groupTransforms    

+ */

+

+/**    

+ * @addtogroup DCT4_IDCT4    

+ * @{    

+ */

+

+/*    

+* @brief  Weights Table    

+*/

+

+/**    

+* \par    

+* Weights tables are generated using the formula : <pre>weights[n] = e^(-j*n*pi/(2*N))</pre>    

+* \par    

+* C command to generate the table    

+* <pre>    

+* for(i = 0; i< N; i++)    

+* {    

+*   weights[2*i]= cos(i*c);    

+*   weights[(2*i)+1]= -sin(i * c);    

+* } </pre>    

+* \par    

+* where <code>N</code> is the Number of weights to be calculated and <code>c</code> is <code>pi/(2*N)</code>    

+* \par    

+* Convert the output to q31 format by multiplying with 2^31 and saturated if required.    

+* \par    

+* In the tables below the real and imaginary values are placed alternatively, hence the    

+* array length is <code>2*N</code>.    

+*/

+

+static const q31_t WeightsQ31_128[256] = {

+  0x7fffffff, 0x0, 0x7ffd885a, 0xfe6de2e0, 0x7ff62182, 0xfcdbd541, 0x7fe9cbc0,

+  0xfb49e6a3,

+  0x7fd8878e, 0xf9b82684, 0x7fc25596, 0xf826a462, 0x7fa736b4, 0xf6956fb7,

+  0x7f872bf3, 0xf50497fb,

+  0x7f62368f, 0xf3742ca2, 0x7f3857f6, 0xf1e43d1c, 0x7f0991c4, 0xf054d8d5,

+  0x7ed5e5c6, 0xeec60f31,

+  0x7e9d55fc, 0xed37ef91, 0x7e5fe493, 0xebaa894f, 0x7e1d93ea, 0xea1debbb,

+  0x7dd6668f, 0xe8922622,

+  0x7d8a5f40, 0xe70747c4, 0x7d3980ec, 0xe57d5fda, 0x7ce3ceb2, 0xe3f47d96,

+  0x7c894bde, 0xe26cb01b,

+  0x7c29fbee, 0xe0e60685, 0x7bc5e290, 0xdf608fe4, 0x7b5d039e, 0xdddc5b3b,

+  0x7aef6323, 0xdc597781,

+  0x7a7d055b, 0xdad7f3a2, 0x7a05eead, 0xd957de7a, 0x798a23b1, 0xd7d946d8,

+  0x7909a92d, 0xd65c3b7b,

+  0x78848414, 0xd4e0cb15, 0x77fab989, 0xd3670446, 0x776c4edb, 0xd1eef59e,

+  0x76d94989, 0xd078ad9e,

+  0x7641af3d, 0xcf043ab3, 0x75a585cf, 0xcd91ab39, 0x7504d345, 0xcc210d79,

+  0x745f9dd1, 0xcab26fa9,

+  0x73b5ebd1, 0xc945dfec, 0x7307c3d0, 0xc7db6c50, 0x72552c85, 0xc67322ce,

+  0x719e2cd2, 0xc50d1149,

+  0x70e2cbc6, 0xc3a94590, 0x7023109a, 0xc247cd5a, 0x6f5f02b2, 0xc0e8b648,

+  0x6e96a99d, 0xbf8c0de3,

+  0x6dca0d14, 0xbe31e19b, 0x6cf934fc, 0xbcda3ecb, 0x6c242960, 0xbb8532b0,

+  0x6b4af279, 0xba32ca71,

+  0x6a6d98a4, 0xb8e31319, 0x698c246c, 0xb796199b, 0x68a69e81, 0xb64beacd,

+  0x67bd0fbd, 0xb5049368,

+  0x66cf8120, 0xb3c0200c, 0x65ddfbd3, 0xb27e9d3c, 0x64e88926, 0xb140175b,

+  0x63ef3290, 0xb0049ab3,

+  0x62f201ac, 0xaecc336c, 0x61f1003f, 0xad96ed92, 0x60ec3830, 0xac64d510,

+  0x5fe3b38d, 0xab35f5b5,

+  0x5ed77c8a, 0xaa0a5b2e, 0x5dc79d7c, 0xa8e21106, 0x5cb420e0, 0xa7bd22ac,

+  0x5b9d1154, 0xa69b9b68,

+  0x5a82799a, 0xa57d8666, 0x59646498, 0xa462eeac, 0x5842dd54, 0xa34bdf20,

+  0x571deefa, 0xa2386284,

+  0x55f5a4d2, 0xa1288376, 0x54ca0a4b, 0xa01c4c73, 0x539b2af0, 0x9f13c7d0,

+  0x5269126e, 0x9e0effc1,

+  0x5133cc94, 0x9d0dfe54, 0x4ffb654d, 0x9c10cd70, 0x4ebfe8a5, 0x9b1776da,

+  0x4d8162c4, 0x9a22042d,

+  0x4c3fdff4, 0x99307ee0, 0x4afb6c98, 0x9842f043, 0x49b41533, 0x9759617f,

+  0x4869e665, 0x9673db94,

+  0x471cece7, 0x9592675c, 0x45cd358f, 0x94b50d87, 0x447acd50, 0x93dbd6a0,

+  0x4325c135, 0x9306cb04,

+  0x41ce1e65, 0x9235f2ec, 0x4073f21d, 0x91695663, 0x3f1749b8, 0x90a0fd4e,

+  0x3db832a6, 0x8fdcef66,

+  0x3c56ba70, 0x8f1d343a, 0x3af2eeb7, 0x8e61d32e, 0x398cdd32, 0x8daad37b,

+  0x382493b0, 0x8cf83c30,

+  0x36ba2014, 0x8c4a142f, 0x354d9057, 0x8ba0622f, 0x33def287, 0x8afb2cbb,

+  0x326e54c7, 0x8a5a7a31,

+  0x30fbc54d, 0x89be50c3, 0x2f875262, 0x8926b677, 0x2e110a62, 0x8893b125,

+  0x2c98fbba, 0x88054677,

+  0x2b1f34eb, 0x877b7bec, 0x29a3c485, 0x86f656d3, 0x2826b928, 0x8675dc4f,

+  0x26a82186, 0x85fa1153,

+  0x25280c5e, 0x8582faa5, 0x23a6887f, 0x85109cdd, 0x2223a4c5, 0x84a2fc62,

+  0x209f701c, 0x843a1d70,

+  0x1f19f97b, 0x83d60412, 0x1d934fe5, 0x8376b422, 0x1c0b826a, 0x831c314e,

+  0x1a82a026, 0x82c67f14,

+  0x18f8b83c, 0x8275a0c0, 0x176dd9de, 0x82299971, 0x15e21445, 0x81e26c16,

+  0x145576b1, 0x81a01b6d,

+  0x12c8106f, 0x8162aa04, 0x1139f0cf, 0x812a1a3a, 0xfab272b, 0x80f66e3c,

+  0xe1bc2e4, 0x80c7a80a,

+  0xc8bd35e, 0x809dc971, 0xafb6805, 0x8078d40d, 0x96a9049, 0x8058c94c,

+  0x7d95b9e, 0x803daa6a,

+  0x647d97c, 0x80277872, 0x4b6195d, 0x80163440, 0x3242abf, 0x8009de7e,

+  0x1921d20, 0x800277a6,

+};

+

+static const q31_t WeightsQ31_512[1024] = {

+  0x7fffffff, 0x0, 0x7fffd886, 0xff9b781d, 0x7fff6216, 0xff36f078, 0x7ffe9cb2,

+  0xfed2694f,

+  0x7ffd885a, 0xfe6de2e0, 0x7ffc250f, 0xfe095d69, 0x7ffa72d1, 0xfda4d929,

+  0x7ff871a2, 0xfd40565c,

+  0x7ff62182, 0xfcdbd541, 0x7ff38274, 0xfc775616, 0x7ff09478, 0xfc12d91a,

+  0x7fed5791, 0xfbae5e89,

+  0x7fe9cbc0, 0xfb49e6a3, 0x7fe5f108, 0xfae571a4, 0x7fe1c76b, 0xfa80ffcb,

+  0x7fdd4eec, 0xfa1c9157,

+  0x7fd8878e, 0xf9b82684, 0x7fd37153, 0xf953bf91, 0x7fce0c3e, 0xf8ef5cbb,

+  0x7fc85854, 0xf88afe42,

+  0x7fc25596, 0xf826a462, 0x7fbc040a, 0xf7c24f59, 0x7fb563b3, 0xf75dff66,

+  0x7fae7495, 0xf6f9b4c6,

+  0x7fa736b4, 0xf6956fb7, 0x7f9faa15, 0xf6313077, 0x7f97cebd, 0xf5ccf743,

+  0x7f8fa4b0, 0xf568c45b,

+  0x7f872bf3, 0xf50497fb, 0x7f7e648c, 0xf4a07261, 0x7f754e80, 0xf43c53cb,

+  0x7f6be9d4, 0xf3d83c77,

+  0x7f62368f, 0xf3742ca2, 0x7f5834b7, 0xf310248a, 0x7f4de451, 0xf2ac246e,

+  0x7f434563, 0xf2482c8a,

+  0x7f3857f6, 0xf1e43d1c, 0x7f2d1c0e, 0xf1805662, 0x7f2191b4, 0xf11c789a,

+  0x7f15b8ee, 0xf0b8a401,

+  0x7f0991c4, 0xf054d8d5, 0x7efd1c3c, 0xeff11753, 0x7ef05860, 0xef8d5fb8,

+  0x7ee34636, 0xef29b243,

+  0x7ed5e5c6, 0xeec60f31, 0x7ec8371a, 0xee6276bf, 0x7eba3a39, 0xedfee92b,

+  0x7eabef2c, 0xed9b66b2,

+  0x7e9d55fc, 0xed37ef91, 0x7e8e6eb2, 0xecd48407, 0x7e7f3957, 0xec71244f,

+  0x7e6fb5f4, 0xec0dd0a8,

+  0x7e5fe493, 0xebaa894f, 0x7e4fc53e, 0xeb474e81, 0x7e3f57ff, 0xeae4207a,

+  0x7e2e9cdf, 0xea80ff7a,

+  0x7e1d93ea, 0xea1debbb, 0x7e0c3d29, 0xe9bae57d, 0x7dfa98a8, 0xe957ecfb,

+  0x7de8a670, 0xe8f50273,

+  0x7dd6668f, 0xe8922622, 0x7dc3d90d, 0xe82f5844, 0x7db0fdf8, 0xe7cc9917,

+  0x7d9dd55a, 0xe769e8d8,

+  0x7d8a5f40, 0xe70747c4, 0x7d769bb5, 0xe6a4b616, 0x7d628ac6, 0xe642340d,

+  0x7d4e2c7f, 0xe5dfc1e5,

+  0x7d3980ec, 0xe57d5fda, 0x7d24881b, 0xe51b0e2a, 0x7d0f4218, 0xe4b8cd11,

+  0x7cf9aef0, 0xe4569ccb,

+  0x7ce3ceb2, 0xe3f47d96, 0x7ccda169, 0xe3926fad, 0x7cb72724, 0xe330734d,

+  0x7ca05ff1, 0xe2ce88b3,

+  0x7c894bde, 0xe26cb01b, 0x7c71eaf9, 0xe20ae9c1, 0x7c5a3d50, 0xe1a935e2,

+  0x7c4242f2, 0xe14794ba,

+  0x7c29fbee, 0xe0e60685, 0x7c116853, 0xe0848b7f, 0x7bf88830, 0xe02323e5,

+  0x7bdf5b94, 0xdfc1cff3,

+  0x7bc5e290, 0xdf608fe4, 0x7bac1d31, 0xdeff63f4, 0x7b920b89, 0xde9e4c60,

+  0x7b77ada8, 0xde3d4964,

+  0x7b5d039e, 0xdddc5b3b, 0x7b420d7a, 0xdd7b8220, 0x7b26cb4f, 0xdd1abe51,

+  0x7b0b3d2c, 0xdcba1008,

+  0x7aef6323, 0xdc597781, 0x7ad33d45, 0xdbf8f4f8, 0x7ab6cba4, 0xdb9888a8,

+  0x7a9a0e50, 0xdb3832cd,

+  0x7a7d055b, 0xdad7f3a2, 0x7a5fb0d8, 0xda77cb63, 0x7a4210d8, 0xda17ba4a,

+  0x7a24256f, 0xd9b7c094,

+  0x7a05eead, 0xd957de7a, 0x79e76ca7, 0xd8f81439, 0x79c89f6e, 0xd898620c,

+  0x79a98715, 0xd838c82d,

+  0x798a23b1, 0xd7d946d8, 0x796a7554, 0xd779de47, 0x794a7c12, 0xd71a8eb5,

+  0x792a37fe, 0xd6bb585e,

+  0x7909a92d, 0xd65c3b7b, 0x78e8cfb2, 0xd5fd3848, 0x78c7aba2, 0xd59e4eff,

+  0x78a63d11, 0xd53f7fda,

+  0x78848414, 0xd4e0cb15, 0x786280bf, 0xd48230e9, 0x78403329, 0xd423b191,

+  0x781d9b65, 0xd3c54d47,

+  0x77fab989, 0xd3670446, 0x77d78daa, 0xd308d6c7, 0x77b417df, 0xd2aac504,

+  0x7790583e, 0xd24ccf39,

+  0x776c4edb, 0xd1eef59e, 0x7747fbce, 0xd191386e, 0x77235f2d, 0xd13397e2,

+  0x76fe790e, 0xd0d61434,

+  0x76d94989, 0xd078ad9e, 0x76b3d0b4, 0xd01b6459, 0x768e0ea6, 0xcfbe389f,

+  0x76680376, 0xcf612aaa,

+  0x7641af3d, 0xcf043ab3, 0x761b1211, 0xcea768f2, 0x75f42c0b, 0xce4ab5a2,

+  0x75ccfd42, 0xcdee20fc,

+  0x75a585cf, 0xcd91ab39, 0x757dc5ca, 0xcd355491, 0x7555bd4c, 0xccd91d3d,

+  0x752d6c6c, 0xcc7d0578,

+  0x7504d345, 0xcc210d79, 0x74dbf1ef, 0xcbc53579, 0x74b2c884, 0xcb697db0,

+  0x7489571c, 0xcb0de658,

+  0x745f9dd1, 0xcab26fa9, 0x74359cbd, 0xca5719db, 0x740b53fb, 0xc9fbe527,

+  0x73e0c3a3, 0xc9a0d1c5,

+  0x73b5ebd1, 0xc945dfec, 0x738acc9e, 0xc8eb0fd6, 0x735f6626, 0xc89061ba,

+  0x7333b883, 0xc835d5d0,

+  0x7307c3d0, 0xc7db6c50, 0x72db8828, 0xc7812572, 0x72af05a7, 0xc727016d,

+  0x72823c67, 0xc6cd0079,

+  0x72552c85, 0xc67322ce, 0x7227d61c, 0xc61968a2, 0x71fa3949, 0xc5bfd22e,

+  0x71cc5626, 0xc5665fa9,

+  0x719e2cd2, 0xc50d1149, 0x716fbd68, 0xc4b3e746, 0x71410805, 0xc45ae1d7,

+  0x71120cc5, 0xc4020133,

+  0x70e2cbc6, 0xc3a94590, 0x70b34525, 0xc350af26, 0x708378ff, 0xc2f83e2a,

+  0x70536771, 0xc29ff2d4,

+  0x7023109a, 0xc247cd5a, 0x6ff27497, 0xc1efcdf3, 0x6fc19385, 0xc197f4d4,

+  0x6f906d84, 0xc1404233,

+  0x6f5f02b2, 0xc0e8b648, 0x6f2d532c, 0xc0915148, 0x6efb5f12, 0xc03a1368,

+  0x6ec92683, 0xbfe2fcdf,

+  0x6e96a99d, 0xbf8c0de3, 0x6e63e87f, 0xbf3546a8, 0x6e30e34a, 0xbedea765,

+  0x6dfd9a1c, 0xbe88304f,

+  0x6dca0d14, 0xbe31e19b, 0x6d963c54, 0xbddbbb7f, 0x6d6227fa, 0xbd85be30,

+  0x6d2dd027, 0xbd2fe9e2,

+  0x6cf934fc, 0xbcda3ecb, 0x6cc45698, 0xbc84bd1f, 0x6c8f351c, 0xbc2f6513,

+  0x6c59d0a9, 0xbbda36dd,

+  0x6c242960, 0xbb8532b0, 0x6bee3f62, 0xbb3058c0, 0x6bb812d1, 0xbadba943,

+  0x6b81a3cd, 0xba87246d,

+  0x6b4af279, 0xba32ca71, 0x6b13fef5, 0xb9de9b83, 0x6adcc964, 0xb98a97d8,

+  0x6aa551e9, 0xb936bfa4,

+  0x6a6d98a4, 0xb8e31319, 0x6a359db9, 0xb88f926d, 0x69fd614a, 0xb83c3dd1,

+  0x69c4e37a, 0xb7e9157a,

+  0x698c246c, 0xb796199b, 0x69532442, 0xb7434a67, 0x6919e320, 0xb6f0a812,

+  0x68e06129, 0xb69e32cd,

+  0x68a69e81, 0xb64beacd, 0x686c9b4b, 0xb5f9d043, 0x683257ab, 0xb5a7e362,

+  0x67f7d3c5, 0xb556245e,

+  0x67bd0fbd, 0xb5049368, 0x67820bb7, 0xb4b330b3, 0x6746c7d8, 0xb461fc70,

+  0x670b4444, 0xb410f6d3,

+  0x66cf8120, 0xb3c0200c, 0x66937e91, 0xb36f784f, 0x66573cbb, 0xb31effcc,

+  0x661abbc5, 0xb2ceb6b5,

+  0x65ddfbd3, 0xb27e9d3c, 0x65a0fd0b, 0xb22eb392, 0x6563bf92, 0xb1def9e9,

+  0x6526438f, 0xb18f7071,

+  0x64e88926, 0xb140175b, 0x64aa907f, 0xb0f0eeda, 0x646c59bf, 0xb0a1f71d,

+  0x642de50d, 0xb0533055,

+  0x63ef3290, 0xb0049ab3, 0x63b0426d, 0xafb63667, 0x637114cc, 0xaf6803a2,

+  0x6331a9d4, 0xaf1a0293,

+  0x62f201ac, 0xaecc336c, 0x62b21c7b, 0xae7e965b, 0x6271fa69, 0xae312b92,

+  0x62319b9d, 0xade3f33e,

+  0x61f1003f, 0xad96ed92, 0x61b02876, 0xad4a1aba, 0x616f146c, 0xacfd7ae8,

+  0x612dc447, 0xacb10e4b,

+  0x60ec3830, 0xac64d510, 0x60aa7050, 0xac18cf69, 0x60686ccf, 0xabccfd83,

+  0x60262dd6, 0xab815f8d,

+  0x5fe3b38d, 0xab35f5b5, 0x5fa0fe1f, 0xaaeac02c, 0x5f5e0db3, 0xaa9fbf1e,

+  0x5f1ae274, 0xaa54f2ba,

+  0x5ed77c8a, 0xaa0a5b2e, 0x5e93dc1f, 0xa9bff8a8, 0x5e50015d, 0xa975cb57,

+  0x5e0bec6e, 0xa92bd367,

+  0x5dc79d7c, 0xa8e21106, 0x5d8314b1, 0xa8988463, 0x5d3e5237, 0xa84f2daa,

+  0x5cf95638, 0xa8060d08,

+  0x5cb420e0, 0xa7bd22ac, 0x5c6eb258, 0xa7746ec0, 0x5c290acc, 0xa72bf174,

+  0x5be32a67, 0xa6e3aaf2,

+  0x5b9d1154, 0xa69b9b68, 0x5b56bfbd, 0xa653c303, 0x5b1035cf, 0xa60c21ee,

+  0x5ac973b5, 0xa5c4b855,

+  0x5a82799a, 0xa57d8666, 0x5a3b47ab, 0xa5368c4b, 0x59f3de12, 0xa4efca31,

+  0x59ac3cfd, 0xa4a94043,

+  0x59646498, 0xa462eeac, 0x591c550e, 0xa41cd599, 0x58d40e8c, 0xa3d6f534,

+  0x588b9140, 0xa3914da8,

+  0x5842dd54, 0xa34bdf20, 0x57f9f2f8, 0xa306a9c8, 0x57b0d256, 0xa2c1adc9,

+  0x57677b9d, 0xa27ceb4f,

+  0x571deefa, 0xa2386284, 0x56d42c99, 0xa1f41392, 0x568a34a9, 0xa1affea3,

+  0x56400758, 0xa16c23e1,

+  0x55f5a4d2, 0xa1288376, 0x55ab0d46, 0xa0e51d8c, 0x556040e2, 0xa0a1f24d,

+  0x55153fd4, 0xa05f01e1,

+  0x54ca0a4b, 0xa01c4c73, 0x547ea073, 0x9fd9d22a, 0x5433027d, 0x9f979331,

+  0x53e73097, 0x9f558fb0,

+  0x539b2af0, 0x9f13c7d0, 0x534ef1b5, 0x9ed23bb9, 0x53028518, 0x9e90eb94,

+  0x52b5e546, 0x9e4fd78a,

+  0x5269126e, 0x9e0effc1, 0x521c0cc2, 0x9dce6463, 0x51ced46e, 0x9d8e0597,

+  0x518169a5, 0x9d4de385,

+  0x5133cc94, 0x9d0dfe54, 0x50e5fd6d, 0x9cce562c, 0x5097fc5e, 0x9c8eeb34,

+  0x5049c999, 0x9c4fbd93,

+  0x4ffb654d, 0x9c10cd70, 0x4faccfab, 0x9bd21af3, 0x4f5e08e3, 0x9b93a641,

+  0x4f0f1126, 0x9b556f81,

+  0x4ebfe8a5, 0x9b1776da, 0x4e708f8f, 0x9ad9bc71, 0x4e210617, 0x9a9c406e,

+  0x4dd14c6e, 0x9a5f02f5,

+  0x4d8162c4, 0x9a22042d, 0x4d31494b, 0x99e5443b, 0x4ce10034, 0x99a8c345,

+  0x4c9087b1, 0x996c816f,

+  0x4c3fdff4, 0x99307ee0, 0x4bef092d, 0x98f4bbbc, 0x4b9e0390, 0x98b93828,

+  0x4b4ccf4d, 0x987df449,

+  0x4afb6c98, 0x9842f043, 0x4aa9dba2, 0x98082c3b, 0x4a581c9e, 0x97cda855,

+  0x4a062fbd, 0x979364b5,

+  0x49b41533, 0x9759617f, 0x4961cd33, 0x971f9ed7, 0x490f57ee, 0x96e61ce0,

+  0x48bcb599, 0x96acdbbe,

+  0x4869e665, 0x9673db94, 0x4816ea86, 0x963b1c86, 0x47c3c22f, 0x96029eb6,

+  0x47706d93, 0x95ca6247,

+  0x471cece7, 0x9592675c, 0x46c9405c, 0x955aae17, 0x46756828, 0x9523369c,

+  0x4621647d, 0x94ec010b,

+  0x45cd358f, 0x94b50d87, 0x4578db93, 0x947e5c33, 0x452456bd, 0x9447ed2f,

+  0x44cfa740, 0x9411c09e,

+  0x447acd50, 0x93dbd6a0, 0x4425c923, 0x93a62f57, 0x43d09aed, 0x9370cae4,

+  0x437b42e1, 0x933ba968,

+  0x4325c135, 0x9306cb04, 0x42d0161e, 0x92d22fd9, 0x427a41d0, 0x929dd806,

+  0x42244481, 0x9269c3ac,

+  0x41ce1e65, 0x9235f2ec, 0x4177cfb1, 0x920265e4, 0x4121589b, 0x91cf1cb6,

+  0x40cab958, 0x919c1781,

+  0x4073f21d, 0x91695663, 0x401d0321, 0x9136d97d, 0x3fc5ec98, 0x9104a0ee,

+  0x3f6eaeb8, 0x90d2acd4,

+  0x3f1749b8, 0x90a0fd4e, 0x3ebfbdcd, 0x906f927c, 0x3e680b2c, 0x903e6c7b,

+  0x3e10320d, 0x900d8b69,

+  0x3db832a6, 0x8fdcef66, 0x3d600d2c, 0x8fac988f, 0x3d07c1d6, 0x8f7c8701,

+  0x3caf50da, 0x8f4cbadb,

+  0x3c56ba70, 0x8f1d343a, 0x3bfdfecd, 0x8eedf33b, 0x3ba51e29, 0x8ebef7fb,

+  0x3b4c18ba, 0x8e904298,

+  0x3af2eeb7, 0x8e61d32e, 0x3a99a057, 0x8e33a9da, 0x3a402dd2, 0x8e05c6b7,

+  0x39e6975e, 0x8dd829e4,

+  0x398cdd32, 0x8daad37b, 0x3932ff87, 0x8d7dc399, 0x38d8fe93, 0x8d50fa59,

+  0x387eda8e, 0x8d2477d8,

+  0x382493b0, 0x8cf83c30, 0x37ca2a30, 0x8ccc477d, 0x376f9e46, 0x8ca099da,

+  0x3714f02a, 0x8c753362,

+  0x36ba2014, 0x8c4a142f, 0x365f2e3b, 0x8c1f3c5d, 0x36041ad9, 0x8bf4ac05,

+  0x35a8e625, 0x8bca6343,

+  0x354d9057, 0x8ba0622f, 0x34f219a8, 0x8b76a8e4, 0x34968250, 0x8b4d377c,

+  0x343aca87, 0x8b240e11,

+  0x33def287, 0x8afb2cbb, 0x3382fa88, 0x8ad29394, 0x3326e2c3, 0x8aaa42b4,

+  0x32caab6f, 0x8a823a36,

+  0x326e54c7, 0x8a5a7a31, 0x3211df04, 0x8a3302be, 0x31b54a5e, 0x8a0bd3f5,

+  0x3158970e, 0x89e4edef,

+  0x30fbc54d, 0x89be50c3, 0x309ed556, 0x8997fc8a, 0x3041c761, 0x8971f15a,

+  0x2fe49ba7, 0x894c2f4c,

+  0x2f875262, 0x8926b677, 0x2f29ebcc, 0x890186f2, 0x2ecc681e, 0x88dca0d3,

+  0x2e6ec792, 0x88b80432,

+  0x2e110a62, 0x8893b125, 0x2db330c7, 0x886fa7c2, 0x2d553afc, 0x884be821,

+  0x2cf72939, 0x88287256,

+  0x2c98fbba, 0x88054677, 0x2c3ab2b9, 0x87e2649b, 0x2bdc4e6f, 0x87bfccd7,

+  0x2b7dcf17, 0x879d7f41,

+  0x2b1f34eb, 0x877b7bec, 0x2ac08026, 0x8759c2ef, 0x2a61b101, 0x8738545e,

+  0x2a02c7b8, 0x8717304e,

+  0x29a3c485, 0x86f656d3, 0x2944a7a2, 0x86d5c802, 0x28e5714b, 0x86b583ee,

+  0x288621b9, 0x86958aac,

+  0x2826b928, 0x8675dc4f, 0x27c737d3, 0x865678eb, 0x27679df4, 0x86376092,

+  0x2707ebc7, 0x86189359,

+  0x26a82186, 0x85fa1153, 0x26483f6c, 0x85dbda91, 0x25e845b6, 0x85bdef28,

+  0x2588349d, 0x85a04f28,

+  0x25280c5e, 0x8582faa5, 0x24c7cd33, 0x8565f1b0, 0x24677758, 0x8549345c,

+  0x24070b08, 0x852cc2bb,

+  0x23a6887f, 0x85109cdd, 0x2345eff8, 0x84f4c2d4, 0x22e541af, 0x84d934b1,

+  0x22847de0, 0x84bdf286,

+  0x2223a4c5, 0x84a2fc62, 0x21c2b69c, 0x84885258, 0x2161b3a0, 0x846df477,

+  0x21009c0c, 0x8453e2cf,

+  0x209f701c, 0x843a1d70, 0x203e300d, 0x8420a46c, 0x1fdcdc1b, 0x840777d0,

+  0x1f7b7481, 0x83ee97ad,

+  0x1f19f97b, 0x83d60412, 0x1eb86b46, 0x83bdbd0e, 0x1e56ca1e, 0x83a5c2b0,

+  0x1df5163f, 0x838e1507,

+  0x1d934fe5, 0x8376b422, 0x1d31774d, 0x835fa00f, 0x1ccf8cb3, 0x8348d8dc,

+  0x1c6d9053, 0x83325e97,

+  0x1c0b826a, 0x831c314e, 0x1ba96335, 0x83065110, 0x1b4732ef, 0x82f0bde8,

+  0x1ae4f1d6, 0x82db77e5,

+  0x1a82a026, 0x82c67f14, 0x1a203e1b, 0x82b1d381, 0x19bdcbf3, 0x829d753a,

+  0x195b49ea, 0x8289644b,

+  0x18f8b83c, 0x8275a0c0, 0x18961728, 0x82622aa6, 0x183366e9, 0x824f0208,

+  0x17d0a7bc, 0x823c26f3,

+  0x176dd9de, 0x82299971, 0x170afd8d, 0x82175990, 0x16a81305, 0x82056758,

+  0x16451a83, 0x81f3c2d7,

+  0x15e21445, 0x81e26c16, 0x157f0086, 0x81d16321, 0x151bdf86, 0x81c0a801,

+  0x14b8b17f, 0x81b03ac2,

+  0x145576b1, 0x81a01b6d, 0x13f22f58, 0x81904a0c, 0x138edbb1, 0x8180c6a9,

+  0x132b7bf9, 0x8171914e,

+  0x12c8106f, 0x8162aa04, 0x1264994e, 0x815410d4, 0x120116d5, 0x8145c5c7,

+  0x119d8941, 0x8137c8e6,

+  0x1139f0cf, 0x812a1a3a, 0x10d64dbd, 0x811cb9ca, 0x1072a048, 0x810fa7a0,

+  0x100ee8ad, 0x8102e3c4,

+  0xfab272b, 0x80f66e3c, 0xf475bff, 0x80ea4712, 0xee38766, 0x80de6e4c,

+  0xe7fa99e, 0x80d2e3f2,

+  0xe1bc2e4, 0x80c7a80a, 0xdb7d376, 0x80bcba9d, 0xd53db92, 0x80b21baf,

+  0xcefdb76, 0x80a7cb49,

+  0xc8bd35e, 0x809dc971, 0xc27c389, 0x8094162c, 0xbc3ac35, 0x808ab180,

+  0xb5f8d9f, 0x80819b74,

+  0xafb6805, 0x8078d40d, 0xa973ba5, 0x80705b50, 0xa3308bd, 0x80683143,

+  0x9cecf89, 0x806055eb,

+  0x96a9049, 0x8058c94c, 0x9064b3a, 0x80518b6b, 0x8a2009a, 0x804a9c4d,

+  0x83db0a7, 0x8043fbf6,

+  0x7d95b9e, 0x803daa6a, 0x77501be, 0x8037a7ac, 0x710a345, 0x8031f3c2,

+  0x6ac406f, 0x802c8ead,

+  0x647d97c, 0x80277872, 0x5e36ea9, 0x8022b114, 0x57f0035, 0x801e3895,

+  0x51a8e5c, 0x801a0ef8,

+  0x4b6195d, 0x80163440, 0x451a177, 0x8012a86f, 0x3ed26e6, 0x800f6b88,

+  0x388a9ea, 0x800c7d8c,

+  0x3242abf, 0x8009de7e, 0x2bfa9a4, 0x80078e5e, 0x25b26d7, 0x80058d2f,

+  0x1f6a297, 0x8003daf1,

+  0x1921d20, 0x800277a6, 0x12d96b1, 0x8001634e, 0xc90f88, 0x80009dea,

+  0x6487e3, 0x8000277a,

+};

+

+static const q31_t WeightsQ31_2048[4096] = {

+  0x7fffffff, 0x0, 0x7ffffd88, 0xffe6de05, 0x7ffff621, 0xffcdbc0b, 0x7fffe9cb,

+  0xffb49a12,

+  0x7fffd886, 0xff9b781d, 0x7fffc251, 0xff82562c, 0x7fffa72c, 0xff69343f,

+  0x7fff8719, 0xff501258,

+  0x7fff6216, 0xff36f078, 0x7fff3824, 0xff1dcea0, 0x7fff0943, 0xff04acd0,

+  0x7ffed572, 0xfeeb8b0a,

+  0x7ffe9cb2, 0xfed2694f, 0x7ffe5f03, 0xfeb947a0, 0x7ffe1c65, 0xfea025fd,

+  0x7ffdd4d7, 0xfe870467,

+  0x7ffd885a, 0xfe6de2e0, 0x7ffd36ee, 0xfe54c169, 0x7ffce093, 0xfe3ba002,

+  0x7ffc8549, 0xfe227eac,

+  0x7ffc250f, 0xfe095d69, 0x7ffbbfe6, 0xfdf03c3a, 0x7ffb55ce, 0xfdd71b1e,

+  0x7ffae6c7, 0xfdbdfa18,

+  0x7ffa72d1, 0xfda4d929, 0x7ff9f9ec, 0xfd8bb850, 0x7ff97c18, 0xfd729790,

+  0x7ff8f954, 0xfd5976e9,

+  0x7ff871a2, 0xfd40565c, 0x7ff7e500, 0xfd2735ea, 0x7ff75370, 0xfd0e1594,

+  0x7ff6bcf0, 0xfcf4f55c,

+  0x7ff62182, 0xfcdbd541, 0x7ff58125, 0xfcc2b545, 0x7ff4dbd9, 0xfca9956a,

+  0x7ff4319d, 0xfc9075af,

+  0x7ff38274, 0xfc775616, 0x7ff2ce5b, 0xfc5e36a0, 0x7ff21553, 0xfc45174e,

+  0x7ff1575d, 0xfc2bf821,

+  0x7ff09478, 0xfc12d91a, 0x7fefcca4, 0xfbf9ba39, 0x7feeffe1, 0xfbe09b80,

+  0x7fee2e30, 0xfbc77cf0,

+  0x7fed5791, 0xfbae5e89, 0x7fec7c02, 0xfb95404d, 0x7feb9b85, 0xfb7c223d,

+  0x7feab61a, 0xfb630459,

+  0x7fe9cbc0, 0xfb49e6a3, 0x7fe8dc78, 0xfb30c91b, 0x7fe7e841, 0xfb17abc2,

+  0x7fe6ef1c, 0xfafe8e9b,

+  0x7fe5f108, 0xfae571a4, 0x7fe4ee06, 0xfacc54e0, 0x7fe3e616, 0xfab3384f,

+  0x7fe2d938, 0xfa9a1bf3,

+  0x7fe1c76b, 0xfa80ffcb, 0x7fe0b0b1, 0xfa67e3da, 0x7fdf9508, 0xfa4ec821,

+  0x7fde7471, 0xfa35ac9f,

+  0x7fdd4eec, 0xfa1c9157, 0x7fdc247a, 0xfa037648, 0x7fdaf519, 0xf9ea5b75,

+  0x7fd9c0ca, 0xf9d140de,

+  0x7fd8878e, 0xf9b82684, 0x7fd74964, 0xf99f0c68, 0x7fd6064c, 0xf985f28a,

+  0x7fd4be46, 0xf96cd8ed,

+  0x7fd37153, 0xf953bf91, 0x7fd21f72, 0xf93aa676, 0x7fd0c8a3, 0xf9218d9e,

+  0x7fcf6ce8, 0xf908750a,

+  0x7fce0c3e, 0xf8ef5cbb, 0x7fcca6a7, 0xf8d644b2, 0x7fcb3c23, 0xf8bd2cef,

+  0x7fc9ccb2, 0xf8a41574,

+  0x7fc85854, 0xf88afe42, 0x7fc6df08, 0xf871e759, 0x7fc560cf, 0xf858d0bb,

+  0x7fc3dda9, 0xf83fba68,

+  0x7fc25596, 0xf826a462, 0x7fc0c896, 0xf80d8ea9, 0x7fbf36aa, 0xf7f4793e,

+  0x7fbd9fd0, 0xf7db6423,

+  0x7fbc040a, 0xf7c24f59, 0x7fba6357, 0xf7a93ae0, 0x7fb8bdb8, 0xf79026b9,

+  0x7fb7132b, 0xf77712e5,

+  0x7fb563b3, 0xf75dff66, 0x7fb3af4e, 0xf744ec3b, 0x7fb1f5fc, 0xf72bd967,

+  0x7fb037bf, 0xf712c6ea,

+  0x7fae7495, 0xf6f9b4c6, 0x7facac7f, 0xf6e0a2fa, 0x7faadf7c, 0xf6c79188,

+  0x7fa90d8e, 0xf6ae8071,

+  0x7fa736b4, 0xf6956fb7, 0x7fa55aee, 0xf67c5f59, 0x7fa37a3c, 0xf6634f59,

+  0x7fa1949e, 0xf64a3fb8,

+  0x7f9faa15, 0xf6313077, 0x7f9dbaa0, 0xf6182196, 0x7f9bc640, 0xf5ff1318,

+  0x7f99ccf4, 0xf5e604fc,

+  0x7f97cebd, 0xf5ccf743, 0x7f95cb9a, 0xf5b3e9f0, 0x7f93c38c, 0xf59add02,

+  0x7f91b694, 0xf581d07b,

+  0x7f8fa4b0, 0xf568c45b, 0x7f8d8de1, 0xf54fb8a4, 0x7f8b7227, 0xf536ad56,

+  0x7f895182, 0xf51da273,

+  0x7f872bf3, 0xf50497fb, 0x7f850179, 0xf4eb8def, 0x7f82d214, 0xf4d28451,

+  0x7f809dc5, 0xf4b97b21,

+  0x7f7e648c, 0xf4a07261, 0x7f7c2668, 0xf4876a10, 0x7f79e35a, 0xf46e6231,

+  0x7f779b62, 0xf4555ac5,

+  0x7f754e80, 0xf43c53cb, 0x7f72fcb4, 0xf4234d45, 0x7f70a5fe, 0xf40a4735,

+  0x7f6e4a5e, 0xf3f1419a,

+  0x7f6be9d4, 0xf3d83c77, 0x7f698461, 0xf3bf37cb, 0x7f671a05, 0xf3a63398,

+  0x7f64aabf, 0xf38d2fe0,

+  0x7f62368f, 0xf3742ca2, 0x7f5fbd77, 0xf35b29e0, 0x7f5d3f75, 0xf342279b,

+  0x7f5abc8a, 0xf32925d3,

+  0x7f5834b7, 0xf310248a, 0x7f55a7fa, 0xf2f723c1, 0x7f531655, 0xf2de2379,

+  0x7f507fc7, 0xf2c523b2,

+  0x7f4de451, 0xf2ac246e, 0x7f4b43f2, 0xf29325ad, 0x7f489eaa, 0xf27a2771,

+  0x7f45f47b, 0xf26129ba,

+  0x7f434563, 0xf2482c8a, 0x7f409164, 0xf22f2fe1, 0x7f3dd87c, 0xf21633c0,

+  0x7f3b1aad, 0xf1fd3829,

+  0x7f3857f6, 0xf1e43d1c, 0x7f359057, 0xf1cb429a, 0x7f32c3d1, 0xf1b248a5,

+  0x7f2ff263, 0xf1994f3d,

+  0x7f2d1c0e, 0xf1805662, 0x7f2a40d2, 0xf1675e17, 0x7f2760af, 0xf14e665c,

+  0x7f247ba5, 0xf1356f32,

+  0x7f2191b4, 0xf11c789a, 0x7f1ea2dc, 0xf1038295, 0x7f1baf1e, 0xf0ea8d24,

+  0x7f18b679, 0xf0d19848,

+  0x7f15b8ee, 0xf0b8a401, 0x7f12b67c, 0xf09fb051, 0x7f0faf25, 0xf086bd39,

+  0x7f0ca2e7, 0xf06dcaba,

+  0x7f0991c4, 0xf054d8d5, 0x7f067bba, 0xf03be78a, 0x7f0360cb, 0xf022f6da,

+  0x7f0040f6, 0xf00a06c8,

+  0x7efd1c3c, 0xeff11753, 0x7ef9f29d, 0xefd8287c, 0x7ef6c418, 0xefbf3a45,

+  0x7ef390ae, 0xefa64cae,

+  0x7ef05860, 0xef8d5fb8, 0x7eed1b2c, 0xef747365, 0x7ee9d914, 0xef5b87b5,

+  0x7ee69217, 0xef429caa,

+  0x7ee34636, 0xef29b243, 0x7edff570, 0xef10c883, 0x7edc9fc6, 0xeef7df6a,

+  0x7ed94538, 0xeedef6f9,

+  0x7ed5e5c6, 0xeec60f31, 0x7ed28171, 0xeead2813, 0x7ecf1837, 0xee9441a0,

+  0x7ecbaa1a, 0xee7b5bd9,

+  0x7ec8371a, 0xee6276bf, 0x7ec4bf36, 0xee499253, 0x7ec14270, 0xee30ae96,

+  0x7ebdc0c6, 0xee17cb88,

+  0x7eba3a39, 0xedfee92b, 0x7eb6aeca, 0xede60780, 0x7eb31e78, 0xedcd2687,

+  0x7eaf8943, 0xedb44642,

+  0x7eabef2c, 0xed9b66b2, 0x7ea85033, 0xed8287d7, 0x7ea4ac58, 0xed69a9b3,

+  0x7ea1039b, 0xed50cc46,

+  0x7e9d55fc, 0xed37ef91, 0x7e99a37c, 0xed1f1396, 0x7e95ec1a, 0xed063856,

+  0x7e922fd6, 0xeced5dd0,

+  0x7e8e6eb2, 0xecd48407, 0x7e8aa8ac, 0xecbbaafb, 0x7e86ddc6, 0xeca2d2ad,

+  0x7e830dff, 0xec89fb1e,

+  0x7e7f3957, 0xec71244f, 0x7e7b5fce, 0xec584e41, 0x7e778166, 0xec3f78f6,

+  0x7e739e1d, 0xec26a46d,

+  0x7e6fb5f4, 0xec0dd0a8, 0x7e6bc8eb, 0xebf4fda8, 0x7e67d703, 0xebdc2b6e,

+  0x7e63e03b, 0xebc359fb,

+  0x7e5fe493, 0xebaa894f, 0x7e5be40c, 0xeb91b96c, 0x7e57dea7, 0xeb78ea52,

+  0x7e53d462, 0xeb601c04,

+  0x7e4fc53e, 0xeb474e81, 0x7e4bb13c, 0xeb2e81ca, 0x7e47985b, 0xeb15b5e1,

+  0x7e437a9c, 0xeafceac6,

+  0x7e3f57ff, 0xeae4207a, 0x7e3b3083, 0xeacb56ff, 0x7e37042a, 0xeab28e56,

+  0x7e32d2f4, 0xea99c67e,

+  0x7e2e9cdf, 0xea80ff7a, 0x7e2a61ed, 0xea683949, 0x7e26221f, 0xea4f73ee,

+  0x7e21dd73, 0xea36af69,

+  0x7e1d93ea, 0xea1debbb, 0x7e194584, 0xea0528e5, 0x7e14f242, 0xe9ec66e8,

+  0x7e109a24, 0xe9d3a5c5,

+  0x7e0c3d29, 0xe9bae57d, 0x7e07db52, 0xe9a22610, 0x7e0374a0, 0xe9896781,

+  0x7dff0911, 0xe970a9ce,

+  0x7dfa98a8, 0xe957ecfb, 0x7df62362, 0xe93f3107, 0x7df1a942, 0xe92675f4,

+  0x7ded2a47, 0xe90dbbc2,

+  0x7de8a670, 0xe8f50273, 0x7de41dc0, 0xe8dc4a07, 0x7ddf9034, 0xe8c39280,

+  0x7ddafdce, 0xe8aadbde,

+  0x7dd6668f, 0xe8922622, 0x7dd1ca75, 0xe879714d, 0x7dcd2981, 0xe860bd61,

+  0x7dc883b4, 0xe8480a5d,

+  0x7dc3d90d, 0xe82f5844, 0x7dbf298d, 0xe816a716, 0x7dba7534, 0xe7fdf6d4,

+  0x7db5bc02, 0xe7e5477f,

+  0x7db0fdf8, 0xe7cc9917, 0x7dac3b15, 0xe7b3eb9f, 0x7da77359, 0xe79b3f16,

+  0x7da2a6c6, 0xe782937e,

+  0x7d9dd55a, 0xe769e8d8, 0x7d98ff17, 0xe7513f25, 0x7d9423fc, 0xe7389665,

+  0x7d8f4409, 0xe71fee99,

+  0x7d8a5f40, 0xe70747c4, 0x7d85759f, 0xe6eea1e4, 0x7d808728, 0xe6d5fcfc,

+  0x7d7b93da, 0xe6bd590d,

+  0x7d769bb5, 0xe6a4b616, 0x7d719eba, 0xe68c141a, 0x7d6c9ce9, 0xe6737319,

+  0x7d679642, 0xe65ad315,

+  0x7d628ac6, 0xe642340d, 0x7d5d7a74, 0xe6299604, 0x7d58654d, 0xe610f8f9,

+  0x7d534b50, 0xe5f85cef,

+  0x7d4e2c7f, 0xe5dfc1e5, 0x7d4908d9, 0xe5c727dd, 0x7d43e05e, 0xe5ae8ed8,

+  0x7d3eb30f, 0xe595f6d7,

+  0x7d3980ec, 0xe57d5fda, 0x7d3449f5, 0xe564c9e3, 0x7d2f0e2b, 0xe54c34f3,

+  0x7d29cd8c, 0xe533a10a,

+  0x7d24881b, 0xe51b0e2a, 0x7d1f3dd6, 0xe5027c53, 0x7d19eebf, 0xe4e9eb87,

+  0x7d149ad5, 0xe4d15bc6,

+  0x7d0f4218, 0xe4b8cd11, 0x7d09e489, 0xe4a03f69, 0x7d048228, 0xe487b2d0,

+  0x7cff1af5, 0xe46f2745,

+  0x7cf9aef0, 0xe4569ccb, 0x7cf43e1a, 0xe43e1362, 0x7ceec873, 0xe4258b0a,

+  0x7ce94dfb, 0xe40d03c6,

+  0x7ce3ceb2, 0xe3f47d96, 0x7cde4a98, 0xe3dbf87a, 0x7cd8c1ae, 0xe3c37474,

+  0x7cd333f3, 0xe3aaf184,

+  0x7ccda169, 0xe3926fad, 0x7cc80a0f, 0xe379eeed, 0x7cc26de5, 0xe3616f48,

+  0x7cbcccec, 0xe348f0bd,

+  0x7cb72724, 0xe330734d, 0x7cb17c8d, 0xe317f6fa, 0x7cabcd28, 0xe2ff7bc3,

+  0x7ca618f3, 0xe2e701ac,

+  0x7ca05ff1, 0xe2ce88b3, 0x7c9aa221, 0xe2b610da, 0x7c94df83, 0xe29d9a23,

+  0x7c8f1817, 0xe285248d,

+  0x7c894bde, 0xe26cb01b, 0x7c837ad8, 0xe2543ccc, 0x7c7da505, 0xe23bcaa2,

+  0x7c77ca65, 0xe223599e,

+  0x7c71eaf9, 0xe20ae9c1, 0x7c6c06c0, 0xe1f27b0b, 0x7c661dbc, 0xe1da0d7e,

+  0x7c602fec, 0xe1c1a11b,

+  0x7c5a3d50, 0xe1a935e2, 0x7c5445e9, 0xe190cbd4, 0x7c4e49b7, 0xe17862f3,

+  0x7c4848ba, 0xe15ffb3f,

+  0x7c4242f2, 0xe14794ba, 0x7c3c3860, 0xe12f2f63, 0x7c362904, 0xe116cb3d,

+  0x7c3014de, 0xe0fe6848,

+  0x7c29fbee, 0xe0e60685, 0x7c23de35, 0xe0cda5f5, 0x7c1dbbb3, 0xe0b54698,

+  0x7c179467, 0xe09ce871,

+  0x7c116853, 0xe0848b7f, 0x7c0b3777, 0xe06c2fc4, 0x7c0501d2, 0xe053d541,

+  0x7bfec765, 0xe03b7bf6,

+  0x7bf88830, 0xe02323e5, 0x7bf24434, 0xe00acd0e, 0x7bebfb70, 0xdff27773,

+  0x7be5ade6, 0xdfda2314,

+  0x7bdf5b94, 0xdfc1cff3, 0x7bd9047c, 0xdfa97e0f, 0x7bd2a89e, 0xdf912d6b,

+  0x7bcc47fa, 0xdf78de07,

+  0x7bc5e290, 0xdf608fe4, 0x7bbf7860, 0xdf484302, 0x7bb9096b, 0xdf2ff764,

+  0x7bb295b0, 0xdf17ad0a,

+  0x7bac1d31, 0xdeff63f4, 0x7ba59fee, 0xdee71c24, 0x7b9f1de6, 0xdeced59b,

+  0x7b989719, 0xdeb69059,

+  0x7b920b89, 0xde9e4c60, 0x7b8b7b36, 0xde8609b1, 0x7b84e61f, 0xde6dc84b,

+  0x7b7e4c45, 0xde558831,

+  0x7b77ada8, 0xde3d4964, 0x7b710a49, 0xde250be3, 0x7b6a6227, 0xde0ccfb1,

+  0x7b63b543, 0xddf494ce,

+  0x7b5d039e, 0xdddc5b3b, 0x7b564d36, 0xddc422f8, 0x7b4f920e, 0xddabec08,

+  0x7b48d225, 0xdd93b66a,

+  0x7b420d7a, 0xdd7b8220, 0x7b3b4410, 0xdd634f2b, 0x7b3475e5, 0xdd4b1d8c,

+  0x7b2da2fa, 0xdd32ed43,

+  0x7b26cb4f, 0xdd1abe51, 0x7b1feee5, 0xdd0290b8, 0x7b190dbc, 0xdcea6478,

+  0x7b1227d3, 0xdcd23993,

+  0x7b0b3d2c, 0xdcba1008, 0x7b044dc7, 0xdca1e7da, 0x7afd59a4, 0xdc89c109,

+  0x7af660c2, 0xdc719b96,

+  0x7aef6323, 0xdc597781, 0x7ae860c7, 0xdc4154cd, 0x7ae159ae, 0xdc293379,

+  0x7ada4dd8, 0xdc111388,

+  0x7ad33d45, 0xdbf8f4f8, 0x7acc27f7, 0xdbe0d7cd, 0x7ac50dec, 0xdbc8bc06,

+  0x7abdef25, 0xdbb0a1a4,

+  0x7ab6cba4, 0xdb9888a8, 0x7aafa367, 0xdb807114, 0x7aa8766f, 0xdb685ae9,

+  0x7aa144bc, 0xdb504626,

+  0x7a9a0e50, 0xdb3832cd, 0x7a92d329, 0xdb2020e0, 0x7a8b9348, 0xdb08105e,

+  0x7a844eae, 0xdaf00149,

+  0x7a7d055b, 0xdad7f3a2, 0x7a75b74f, 0xdabfe76a, 0x7a6e648a, 0xdaa7dca1,

+  0x7a670d0d, 0xda8fd349,

+  0x7a5fb0d8, 0xda77cb63, 0x7a584feb, 0xda5fc4ef, 0x7a50ea47, 0xda47bfee,

+  0x7a497feb, 0xda2fbc61,

+  0x7a4210d8, 0xda17ba4a, 0x7a3a9d0f, 0xd9ffb9a9, 0x7a332490, 0xd9e7ba7f,

+  0x7a2ba75a, 0xd9cfbccd,

+  0x7a24256f, 0xd9b7c094, 0x7a1c9ece, 0xd99fc5d4, 0x7a151378, 0xd987cc90,

+  0x7a0d836d, 0xd96fd4c7,

+  0x7a05eead, 0xd957de7a, 0x79fe5539, 0xd93fe9ab, 0x79f6b711, 0xd927f65b,

+  0x79ef1436, 0xd910048a,

+  0x79e76ca7, 0xd8f81439, 0x79dfc064, 0xd8e0256a, 0x79d80f6f, 0xd8c8381d,

+  0x79d059c8, 0xd8b04c52,

+  0x79c89f6e, 0xd898620c, 0x79c0e062, 0xd880794b, 0x79b91ca4, 0xd868920f,

+  0x79b15435, 0xd850ac5a,

+  0x79a98715, 0xd838c82d, 0x79a1b545, 0xd820e589, 0x7999dec4, 0xd809046e,

+  0x79920392, 0xd7f124dd,

+  0x798a23b1, 0xd7d946d8, 0x79823f20, 0xd7c16a5f, 0x797a55e0, 0xd7a98f73,

+  0x797267f2, 0xd791b616,

+  0x796a7554, 0xd779de47, 0x79627e08, 0xd7620808, 0x795a820e, 0xd74a335b,

+  0x79528167, 0xd732603f,

+  0x794a7c12, 0xd71a8eb5, 0x79427210, 0xd702bec0, 0x793a6361, 0xd6eaf05f,

+  0x79325006, 0xd6d32393,

+  0x792a37fe, 0xd6bb585e, 0x79221b4b, 0xd6a38ec0, 0x7919f9ec, 0xd68bc6ba,

+  0x7911d3e2, 0xd674004e,

+  0x7909a92d, 0xd65c3b7b, 0x790179cd, 0xd6447844, 0x78f945c3, 0xd62cb6a8,

+  0x78f10d0f, 0xd614f6a9,

+  0x78e8cfb2, 0xd5fd3848, 0x78e08dab, 0xd5e57b85, 0x78d846fb, 0xd5cdc062,

+  0x78cffba3, 0xd5b606e0,

+  0x78c7aba2, 0xd59e4eff, 0x78bf56f9, 0xd58698c0, 0x78b6fda8, 0xd56ee424,

+  0x78ae9fb0, 0xd557312d,

+  0x78a63d11, 0xd53f7fda, 0x789dd5cb, 0xd527d02e, 0x789569df, 0xd5102228,

+  0x788cf94c, 0xd4f875ca,

+  0x78848414, 0xd4e0cb15, 0x787c0a36, 0xd4c92209, 0x78738bb3, 0xd4b17aa8,

+  0x786b088c, 0xd499d4f2,

+  0x786280bf, 0xd48230e9, 0x7859f44f, 0xd46a8e8d, 0x7851633b, 0xd452eddf,

+  0x7848cd83, 0xd43b4ee0,

+  0x78403329, 0xd423b191, 0x7837942b, 0xd40c15f3, 0x782ef08b, 0xd3f47c06,

+  0x78264849, 0xd3dce3cd,

+  0x781d9b65, 0xd3c54d47, 0x7814e9df, 0xd3adb876, 0x780c33b8, 0xd396255a,

+  0x780378f1, 0xd37e93f4,

+  0x77fab989, 0xd3670446, 0x77f1f581, 0xd34f764f, 0x77e92cd9, 0xd337ea12,

+  0x77e05f91, 0xd3205f8f,

+  0x77d78daa, 0xd308d6c7, 0x77ceb725, 0xd2f14fba, 0x77c5dc01, 0xd2d9ca6a,

+  0x77bcfc3f, 0xd2c246d8,

+  0x77b417df, 0xd2aac504, 0x77ab2ee2, 0xd29344f0, 0x77a24148, 0xd27bc69c,

+  0x77994f11, 0xd2644a0a,

+  0x7790583e, 0xd24ccf39, 0x77875cce, 0xd235562b, 0x777e5cc3, 0xd21ddee2,

+  0x7775581d, 0xd206695d,

+  0x776c4edb, 0xd1eef59e, 0x776340ff, 0xd1d783a6, 0x775a2e89, 0xd1c01375,

+  0x77511778, 0xd1a8a50d,

+  0x7747fbce, 0xd191386e, 0x773edb8b, 0xd179cd99, 0x7735b6af, 0xd1626490,

+  0x772c8d3a, 0xd14afd52,

+  0x77235f2d, 0xd13397e2, 0x771a2c88, 0xd11c343f, 0x7710f54c, 0xd104d26b,

+  0x7707b979, 0xd0ed7267,

+  0x76fe790e, 0xd0d61434, 0x76f5340e, 0xd0beb7d2, 0x76ebea77, 0xd0a75d42,

+  0x76e29c4b, 0xd0900486,

+  0x76d94989, 0xd078ad9e, 0x76cff232, 0xd061588b, 0x76c69647, 0xd04a054e,

+  0x76bd35c7, 0xd032b3e7,

+  0x76b3d0b4, 0xd01b6459, 0x76aa670d, 0xd00416a3, 0x76a0f8d2, 0xcfeccac7,

+  0x76978605, 0xcfd580c6,

+  0x768e0ea6, 0xcfbe389f, 0x768492b4, 0xcfa6f255, 0x767b1231, 0xcf8fade9,

+  0x76718d1c, 0xcf786b5a,

+  0x76680376, 0xcf612aaa, 0x765e7540, 0xcf49ebda, 0x7654e279, 0xcf32aeeb,

+  0x764b4b23, 0xcf1b73de,

+  0x7641af3d, 0xcf043ab3, 0x76380ec8, 0xceed036b, 0x762e69c4, 0xced5ce08,

+  0x7624c031, 0xcebe9a8a,

+  0x761b1211, 0xcea768f2, 0x76115f63, 0xce903942, 0x7607a828, 0xce790b79,

+  0x75fdec60, 0xce61df99,

+  0x75f42c0b, 0xce4ab5a2, 0x75ea672a, 0xce338d97, 0x75e09dbd, 0xce1c6777,

+  0x75d6cfc5, 0xce054343,

+  0x75ccfd42, 0xcdee20fc, 0x75c32634, 0xcdd700a4, 0x75b94a9c, 0xcdbfe23a,

+  0x75af6a7b, 0xcda8c5c1,

+  0x75a585cf, 0xcd91ab39, 0x759b9c9b, 0xcd7a92a2, 0x7591aedd, 0xcd637bfe,

+  0x7587bc98, 0xcd4c674d,

+  0x757dc5ca, 0xcd355491, 0x7573ca75, 0xcd1e43ca, 0x7569ca99, 0xcd0734f9,

+  0x755fc635, 0xccf0281f,

+  0x7555bd4c, 0xccd91d3d, 0x754bafdc, 0xccc21455, 0x75419de7, 0xccab0d65,

+  0x7537876c, 0xcc940871,

+  0x752d6c6c, 0xcc7d0578, 0x75234ce8, 0xcc66047b, 0x751928e0, 0xcc4f057c,

+  0x750f0054, 0xcc38087b,

+  0x7504d345, 0xcc210d79, 0x74faa1b3, 0xcc0a1477, 0x74f06b9e, 0xcbf31d75,

+  0x74e63108, 0xcbdc2876,

+  0x74dbf1ef, 0xcbc53579, 0x74d1ae55, 0xcbae447f, 0x74c7663a, 0xcb97558a,

+  0x74bd199f, 0xcb80689a,

+  0x74b2c884, 0xcb697db0, 0x74a872e8, 0xcb5294ce, 0x749e18cd, 0xcb3badf3,

+  0x7493ba34, 0xcb24c921,

+  0x7489571c, 0xcb0de658, 0x747eef85, 0xcaf7059a, 0x74748371, 0xcae026e8,

+  0x746a12df, 0xcac94a42,

+  0x745f9dd1, 0xcab26fa9, 0x74552446, 0xca9b971e, 0x744aa63f, 0xca84c0a3,

+  0x744023bc, 0xca6dec37,

+  0x74359cbd, 0xca5719db, 0x742b1144, 0xca404992, 0x74208150, 0xca297b5a,

+  0x7415ece2, 0xca12af37,

+  0x740b53fb, 0xc9fbe527, 0x7400b69a, 0xc9e51d2d, 0x73f614c0, 0xc9ce5748,

+  0x73eb6e6e, 0xc9b7937a,

+  0x73e0c3a3, 0xc9a0d1c5, 0x73d61461, 0xc98a1227, 0x73cb60a8, 0xc97354a4,

+  0x73c0a878, 0xc95c993a,

+  0x73b5ebd1, 0xc945dfec, 0x73ab2ab4, 0xc92f28ba, 0x73a06522, 0xc91873a5,

+  0x73959b1b, 0xc901c0ae,

+  0x738acc9e, 0xc8eb0fd6, 0x737ff9ae, 0xc8d4611d, 0x73752249, 0xc8bdb485,

+  0x736a4671, 0xc8a70a0e,

+  0x735f6626, 0xc89061ba, 0x73548168, 0xc879bb89, 0x73499838, 0xc863177b,

+  0x733eaa96, 0xc84c7593,

+  0x7333b883, 0xc835d5d0, 0x7328c1ff, 0xc81f3834, 0x731dc70a, 0xc8089cbf,

+  0x7312c7a5, 0xc7f20373,

+  0x7307c3d0, 0xc7db6c50, 0x72fcbb8c, 0xc7c4d757, 0x72f1aed9, 0xc7ae4489,

+  0x72e69db7, 0xc797b3e7,

+  0x72db8828, 0xc7812572, 0x72d06e2b, 0xc76a992a, 0x72c54fc1, 0xc7540f11,

+  0x72ba2cea, 0xc73d8727,

+  0x72af05a7, 0xc727016d, 0x72a3d9f7, 0xc7107de4, 0x7298a9dd, 0xc6f9fc8d,

+  0x728d7557, 0xc6e37d69,

+  0x72823c67, 0xc6cd0079, 0x7276ff0d, 0xc6b685bd, 0x726bbd48, 0xc6a00d37,

+  0x7260771b, 0xc68996e7,

+  0x72552c85, 0xc67322ce, 0x7249dd86, 0xc65cb0ed, 0x723e8a20, 0xc6464144,

+  0x72333251, 0xc62fd3d6,

+  0x7227d61c, 0xc61968a2, 0x721c7580, 0xc602ffaa, 0x7211107e, 0xc5ec98ee,

+  0x7205a716, 0xc5d6346f,

+  0x71fa3949, 0xc5bfd22e, 0x71eec716, 0xc5a9722c, 0x71e35080, 0xc593146a,

+  0x71d7d585, 0xc57cb8e9,

+  0x71cc5626, 0xc5665fa9, 0x71c0d265, 0xc55008ab, 0x71b54a41, 0xc539b3f1,

+  0x71a9bdba, 0xc523617a,

+  0x719e2cd2, 0xc50d1149, 0x71929789, 0xc4f6c35d, 0x7186fdde, 0xc4e077b8,

+  0x717b5fd3, 0xc4ca2e5b,

+  0x716fbd68, 0xc4b3e746, 0x7164169d, 0xc49da27a, 0x71586b74, 0xc4875ff9,

+  0x714cbbeb, 0xc4711fc2,

+  0x71410805, 0xc45ae1d7, 0x71354fc0, 0xc444a639, 0x7129931f, 0xc42e6ce8,

+  0x711dd220, 0xc41835e6,

+  0x71120cc5, 0xc4020133, 0x7106430e, 0xc3ebced0, 0x70fa74fc, 0xc3d59ebe,

+  0x70eea28e, 0xc3bf70fd,

+  0x70e2cbc6, 0xc3a94590, 0x70d6f0a4, 0xc3931c76, 0x70cb1128, 0xc37cf5b0,

+  0x70bf2d53, 0xc366d140,

+  0x70b34525, 0xc350af26, 0x70a7589f, 0xc33a8f62, 0x709b67c0, 0xc32471f7,

+  0x708f728b, 0xc30e56e4,

+  0x708378ff, 0xc2f83e2a, 0x70777b1c, 0xc2e227cb, 0x706b78e3, 0xc2cc13c7,

+  0x705f7255, 0xc2b6021f,

+  0x70536771, 0xc29ff2d4, 0x70475839, 0xc289e5e7, 0x703b44ad, 0xc273db58,

+  0x702f2ccd, 0xc25dd329,

+  0x7023109a, 0xc247cd5a, 0x7016f014, 0xc231c9ec, 0x700acb3c, 0xc21bc8e1,

+  0x6ffea212, 0xc205ca38,

+  0x6ff27497, 0xc1efcdf3, 0x6fe642ca, 0xc1d9d412, 0x6fda0cae, 0xc1c3dc97,

+  0x6fcdd241, 0xc1ade781,

+  0x6fc19385, 0xc197f4d4, 0x6fb5507a, 0xc182048d, 0x6fa90921, 0xc16c16b0,

+  0x6f9cbd79, 0xc1562b3d,

+  0x6f906d84, 0xc1404233, 0x6f841942, 0xc12a5b95, 0x6f77c0b3, 0xc1147764,

+  0x6f6b63d8, 0xc0fe959f,

+  0x6f5f02b2, 0xc0e8b648, 0x6f529d40, 0xc0d2d960, 0x6f463383, 0xc0bcfee7,

+  0x6f39c57d, 0xc0a726df,

+  0x6f2d532c, 0xc0915148, 0x6f20dc92, 0xc07b7e23, 0x6f1461b0, 0xc065ad70,

+  0x6f07e285, 0xc04fdf32,

+  0x6efb5f12, 0xc03a1368, 0x6eeed758, 0xc0244a14, 0x6ee24b57, 0xc00e8336,

+  0x6ed5bb10, 0xbff8bece,

+  0x6ec92683, 0xbfe2fcdf, 0x6ebc8db0, 0xbfcd3d69, 0x6eaff099, 0xbfb7806c,

+  0x6ea34f3d, 0xbfa1c5ea,

+  0x6e96a99d, 0xbf8c0de3, 0x6e89ffb9, 0xbf765858, 0x6e7d5193, 0xbf60a54a,

+  0x6e709f2a, 0xbf4af4ba,

+  0x6e63e87f, 0xbf3546a8, 0x6e572d93, 0xbf1f9b16, 0x6e4a6e66, 0xbf09f205,

+  0x6e3daaf8, 0xbef44b74,

+  0x6e30e34a, 0xbedea765, 0x6e24175c, 0xbec905d9, 0x6e174730, 0xbeb366d1,

+  0x6e0a72c5, 0xbe9dca4e,

+  0x6dfd9a1c, 0xbe88304f, 0x6df0bd35, 0xbe7298d7, 0x6de3dc11, 0xbe5d03e6,

+  0x6dd6f6b1, 0xbe47717c,

+  0x6dca0d14, 0xbe31e19b, 0x6dbd1f3c, 0xbe1c5444, 0x6db02d29, 0xbe06c977,

+  0x6da336dc, 0xbdf14135,

+  0x6d963c54, 0xbddbbb7f, 0x6d893d93, 0xbdc63856, 0x6d7c3a98, 0xbdb0b7bb,

+  0x6d6f3365, 0xbd9b39ad,

+  0x6d6227fa, 0xbd85be30, 0x6d551858, 0xbd704542, 0x6d48047e, 0xbd5acee5,

+  0x6d3aec6e, 0xbd455b1a,

+  0x6d2dd027, 0xbd2fe9e2, 0x6d20afac, 0xbd1a7b3d, 0x6d138afb, 0xbd050f2c,

+  0x6d066215, 0xbcefa5b0,

+  0x6cf934fc, 0xbcda3ecb, 0x6cec03af, 0xbcc4da7b, 0x6cdece2f, 0xbcaf78c4,

+  0x6cd1947c, 0xbc9a19a5,

+  0x6cc45698, 0xbc84bd1f, 0x6cb71482, 0xbc6f6333, 0x6ca9ce3b, 0xbc5a0be2,

+  0x6c9c83c3, 0xbc44b72c,

+  0x6c8f351c, 0xbc2f6513, 0x6c81e245, 0xbc1a1598, 0x6c748b3f, 0xbc04c8ba,

+  0x6c67300b, 0xbbef7e7c,

+  0x6c59d0a9, 0xbbda36dd, 0x6c4c6d1a, 0xbbc4f1df, 0x6c3f055d, 0xbbafaf82,

+  0x6c319975, 0xbb9a6fc7,

+  0x6c242960, 0xbb8532b0, 0x6c16b521, 0xbb6ff83c, 0x6c093cb6, 0xbb5ac06d,

+  0x6bfbc021, 0xbb458b43,

+  0x6bee3f62, 0xbb3058c0, 0x6be0ba7b, 0xbb1b28e4, 0x6bd3316a, 0xbb05fbb0,

+  0x6bc5a431, 0xbaf0d125,

+  0x6bb812d1, 0xbadba943, 0x6baa7d49, 0xbac6840c, 0x6b9ce39b, 0xbab16180,

+  0x6b8f45c7, 0xba9c41a0,

+  0x6b81a3cd, 0xba87246d, 0x6b73fdae, 0xba7209e7, 0x6b66536b, 0xba5cf210,

+  0x6b58a503, 0xba47dce8,

+  0x6b4af279, 0xba32ca71, 0x6b3d3bcb, 0xba1dbaaa, 0x6b2f80fb, 0xba08ad95,

+  0x6b21c208, 0xb9f3a332,

+  0x6b13fef5, 0xb9de9b83, 0x6b0637c1, 0xb9c99688, 0x6af86c6c, 0xb9b49442,

+  0x6aea9cf8, 0xb99f94b2,

+  0x6adcc964, 0xb98a97d8, 0x6acef1b2, 0xb9759db6, 0x6ac115e2, 0xb960a64c,

+  0x6ab335f4, 0xb94bb19b,

+  0x6aa551e9, 0xb936bfa4, 0x6a9769c1, 0xb921d067, 0x6a897d7d, 0xb90ce3e6,

+  0x6a7b8d1e, 0xb8f7fa21,

+  0x6a6d98a4, 0xb8e31319, 0x6a5fa010, 0xb8ce2ecf, 0x6a51a361, 0xb8b94d44,

+  0x6a43a29a, 0xb8a46e78,

+  0x6a359db9, 0xb88f926d, 0x6a2794c1, 0xb87ab922, 0x6a1987b0, 0xb865e299,

+  0x6a0b7689, 0xb8510ed4,

+  0x69fd614a, 0xb83c3dd1, 0x69ef47f6, 0xb8276f93, 0x69e12a8c, 0xb812a41a,

+  0x69d3090e, 0xb7fddb67,

+  0x69c4e37a, 0xb7e9157a, 0x69b6b9d3, 0xb7d45255, 0x69a88c19, 0xb7bf91f8,

+  0x699a5a4c, 0xb7aad465,

+  0x698c246c, 0xb796199b, 0x697dea7b, 0xb781619c, 0x696fac78, 0xb76cac69,

+  0x69616a65, 0xb757fa01,

+  0x69532442, 0xb7434a67, 0x6944da10, 0xb72e9d9b, 0x69368bce, 0xb719f39e,

+  0x6928397e, 0xb7054c6f,

+  0x6919e320, 0xb6f0a812, 0x690b88b5, 0xb6dc0685, 0x68fd2a3d, 0xb6c767ca,

+  0x68eec7b9, 0xb6b2cbe2,

+  0x68e06129, 0xb69e32cd, 0x68d1f68f, 0xb6899c8d, 0x68c387e9, 0xb6750921,

+  0x68b5153a, 0xb660788c,

+  0x68a69e81, 0xb64beacd, 0x689823bf, 0xb6375fe5, 0x6889a4f6, 0xb622d7d6,

+  0x687b2224, 0xb60e529f,

+  0x686c9b4b, 0xb5f9d043, 0x685e106c, 0xb5e550c1, 0x684f8186, 0xb5d0d41a,

+  0x6840ee9b, 0xb5bc5a50,

+  0x683257ab, 0xb5a7e362, 0x6823bcb7, 0xb5936f53, 0x68151dbe, 0xb57efe22,

+  0x68067ac3, 0xb56a8fd0,

+  0x67f7d3c5, 0xb556245e, 0x67e928c5, 0xb541bbcd, 0x67da79c3, 0xb52d561e,

+  0x67cbc6c0, 0xb518f351,

+  0x67bd0fbd, 0xb5049368, 0x67ae54ba, 0xb4f03663, 0x679f95b7, 0xb4dbdc42,

+  0x6790d2b6, 0xb4c78507,

+  0x67820bb7, 0xb4b330b3, 0x677340ba, 0xb49edf45, 0x676471c0, 0xb48a90c0,

+  0x67559eca, 0xb4764523,

+  0x6746c7d8, 0xb461fc70, 0x6737ecea, 0xb44db6a8, 0x67290e02, 0xb43973ca,

+  0x671a2b20, 0xb42533d8,

+  0x670b4444, 0xb410f6d3, 0x66fc596f, 0xb3fcbcbb, 0x66ed6aa1, 0xb3e88592,

+  0x66de77dc, 0xb3d45157,

+  0x66cf8120, 0xb3c0200c, 0x66c0866d, 0xb3abf1b2, 0x66b187c3, 0xb397c649,

+  0x66a28524, 0xb3839dd3,

+  0x66937e91, 0xb36f784f, 0x66847408, 0xb35b55bf, 0x6675658c, 0xb3473623,

+  0x6666531d, 0xb333197c,

+  0x66573cbb, 0xb31effcc, 0x66482267, 0xb30ae912, 0x66390422, 0xb2f6d550,

+  0x6629e1ec, 0xb2e2c486,

+  0x661abbc5, 0xb2ceb6b5, 0x660b91af, 0xb2baabde, 0x65fc63a9, 0xb2a6a402,

+  0x65ed31b5, 0xb2929f21,

+  0x65ddfbd3, 0xb27e9d3c, 0x65cec204, 0xb26a9e54, 0x65bf8447, 0xb256a26a,

+  0x65b0429f, 0xb242a97e,

+  0x65a0fd0b, 0xb22eb392, 0x6591b38c, 0xb21ac0a6, 0x65826622, 0xb206d0ba,

+  0x657314cf, 0xb1f2e3d0,

+  0x6563bf92, 0xb1def9e9, 0x6554666d, 0xb1cb1304, 0x6545095f, 0xb1b72f23,

+  0x6535a86b, 0xb1a34e47,

+  0x6526438f, 0xb18f7071, 0x6516dacd, 0xb17b95a0, 0x65076e25, 0xb167bdd7,

+  0x64f7fd98, 0xb153e915,

+  0x64e88926, 0xb140175b, 0x64d910d1, 0xb12c48ab, 0x64c99498, 0xb1187d05,

+  0x64ba147d, 0xb104b46a,

+  0x64aa907f, 0xb0f0eeda, 0x649b08a0, 0xb0dd2c56, 0x648b7ce0, 0xb0c96ce0,

+  0x647bed3f, 0xb0b5b077,

+  0x646c59bf, 0xb0a1f71d, 0x645cc260, 0xb08e40d2, 0x644d2722, 0xb07a8d97,

+  0x643d8806, 0xb066dd6d,

+  0x642de50d, 0xb0533055, 0x641e3e38, 0xb03f864f, 0x640e9386, 0xb02bdf5c,

+  0x63fee4f8, 0xb0183b7d,

+  0x63ef3290, 0xb0049ab3, 0x63df7c4d, 0xaff0fcfe, 0x63cfc231, 0xafdd625f,

+  0x63c0043b, 0xafc9cad7,

+  0x63b0426d, 0xafb63667, 0x63a07cc7, 0xafa2a50f, 0x6390b34a, 0xaf8f16d1,

+  0x6380e5f6, 0xaf7b8bac,

+  0x637114cc, 0xaf6803a2, 0x63613fcd, 0xaf547eb3, 0x635166f9, 0xaf40fce1,

+  0x63418a50, 0xaf2d7e2b,

+  0x6331a9d4, 0xaf1a0293, 0x6321c585, 0xaf068a1a, 0x6311dd64, 0xaef314c0,

+  0x6301f171, 0xaedfa285,

+  0x62f201ac, 0xaecc336c, 0x62e20e17, 0xaeb8c774, 0x62d216b3, 0xaea55e9e,

+  0x62c21b7e, 0xae91f8eb,

+  0x62b21c7b, 0xae7e965b, 0x62a219aa, 0xae6b36f0, 0x6292130c, 0xae57daab,

+  0x628208a1, 0xae44818b,

+  0x6271fa69, 0xae312b92, 0x6261e866, 0xae1dd8c0, 0x6251d298, 0xae0a8916,

+  0x6241b8ff, 0xadf73c96,

+  0x62319b9d, 0xade3f33e, 0x62217a72, 0xadd0ad12, 0x6211557e, 0xadbd6a10,

+  0x62012cc2, 0xadaa2a3b,

+  0x61f1003f, 0xad96ed92, 0x61e0cff5, 0xad83b416, 0x61d09be5, 0xad707dc8,

+  0x61c06410, 0xad5d4aaa,

+  0x61b02876, 0xad4a1aba, 0x619fe918, 0xad36edfc, 0x618fa5f7, 0xad23c46e,

+  0x617f5f12, 0xad109e12,

+  0x616f146c, 0xacfd7ae8, 0x615ec603, 0xacea5af2, 0x614e73da, 0xacd73e30,

+  0x613e1df0, 0xacc424a3,

+  0x612dc447, 0xacb10e4b, 0x611d66de, 0xac9dfb29, 0x610d05b7, 0xac8aeb3e,

+  0x60fca0d2, 0xac77de8b,

+  0x60ec3830, 0xac64d510, 0x60dbcbd1, 0xac51cecf, 0x60cb5bb7, 0xac3ecbc7,

+  0x60bae7e1, 0xac2bcbfa,

+  0x60aa7050, 0xac18cf69, 0x6099f505, 0xac05d613, 0x60897601, 0xabf2dffb,

+  0x6078f344, 0xabdfed1f,

+  0x60686ccf, 0xabccfd83, 0x6057e2a2, 0xabba1125, 0x604754bf, 0xaba72807,

+  0x6036c325, 0xab944229,

+  0x60262dd6, 0xab815f8d, 0x601594d1, 0xab6e8032, 0x6004f819, 0xab5ba41a,

+  0x5ff457ad, 0xab48cb46,

+  0x5fe3b38d, 0xab35f5b5, 0x5fd30bbc, 0xab23236a, 0x5fc26038, 0xab105464,

+  0x5fb1b104, 0xaafd88a4,

+  0x5fa0fe1f, 0xaaeac02c, 0x5f90478a, 0xaad7fafb, 0x5f7f8d46, 0xaac53912,

+  0x5f6ecf53, 0xaab27a73,

+  0x5f5e0db3, 0xaa9fbf1e, 0x5f4d4865, 0xaa8d0713, 0x5f3c7f6b, 0xaa7a5253,

+  0x5f2bb2c5, 0xaa67a0e0,

+  0x5f1ae274, 0xaa54f2ba, 0x5f0a0e77, 0xaa4247e1, 0x5ef936d1, 0xaa2fa056,

+  0x5ee85b82, 0xaa1cfc1a,

+  0x5ed77c8a, 0xaa0a5b2e, 0x5ec699e9, 0xa9f7bd92, 0x5eb5b3a2, 0xa9e52347,

+  0x5ea4c9b3, 0xa9d28c4e,

+  0x5e93dc1f, 0xa9bff8a8, 0x5e82eae5, 0xa9ad6855, 0x5e71f606, 0xa99adb56,

+  0x5e60fd84, 0xa98851ac,

+  0x5e50015d, 0xa975cb57, 0x5e3f0194, 0xa9634858, 0x5e2dfe29, 0xa950c8b0,

+  0x5e1cf71c, 0xa93e4c5f,

+  0x5e0bec6e, 0xa92bd367, 0x5dfade20, 0xa9195dc7, 0x5de9cc33, 0xa906eb82,

+  0x5dd8b6a7, 0xa8f47c97,

+  0x5dc79d7c, 0xa8e21106, 0x5db680b4, 0xa8cfa8d2, 0x5da5604f, 0xa8bd43fa,

+  0x5d943c4e, 0xa8aae280,

+  0x5d8314b1, 0xa8988463, 0x5d71e979, 0xa88629a5, 0x5d60baa7, 0xa873d246,

+  0x5d4f883b, 0xa8617e48,

+  0x5d3e5237, 0xa84f2daa, 0x5d2d189a, 0xa83ce06e, 0x5d1bdb65, 0xa82a9693,

+  0x5d0a9a9a, 0xa818501c,

+  0x5cf95638, 0xa8060d08, 0x5ce80e41, 0xa7f3cd59, 0x5cd6c2b5, 0xa7e1910f,

+  0x5cc57394, 0xa7cf582a,

+  0x5cb420e0, 0xa7bd22ac, 0x5ca2ca99, 0xa7aaf094, 0x5c9170bf, 0xa798c1e5,

+  0x5c801354, 0xa786969e,

+  0x5c6eb258, 0xa7746ec0, 0x5c5d4dcc, 0xa7624a4d, 0x5c4be5b0, 0xa7502943,

+  0x5c3a7a05, 0xa73e0ba5,

+  0x5c290acc, 0xa72bf174, 0x5c179806, 0xa719daae, 0x5c0621b2, 0xa707c757,

+  0x5bf4a7d2, 0xa6f5b76d,

+  0x5be32a67, 0xa6e3aaf2, 0x5bd1a971, 0xa6d1a1e7, 0x5bc024f0, 0xa6bf9c4b,

+  0x5bae9ce7, 0xa6ad9a21,

+  0x5b9d1154, 0xa69b9b68, 0x5b8b8239, 0xa689a022, 0x5b79ef96, 0xa677a84e,

+  0x5b68596d, 0xa665b3ee,

+  0x5b56bfbd, 0xa653c303, 0x5b452288, 0xa641d58c, 0x5b3381ce, 0xa62feb8b,

+  0x5b21dd90, 0xa61e0501,

+  0x5b1035cf, 0xa60c21ee, 0x5afe8a8b, 0xa5fa4252, 0x5aecdbc5, 0xa5e8662f,

+  0x5adb297d, 0xa5d68d85,

+  0x5ac973b5, 0xa5c4b855, 0x5ab7ba6c, 0xa5b2e6a0, 0x5aa5fda5, 0xa5a11866,

+  0x5a943d5e, 0xa58f4da8,

+  0x5a82799a, 0xa57d8666, 0x5a70b258, 0xa56bc2a2, 0x5a5ee79a, 0xa55a025b,

+  0x5a4d1960, 0xa5484594,

+  0x5a3b47ab, 0xa5368c4b, 0x5a29727b, 0xa524d683, 0x5a1799d1, 0xa513243b,

+  0x5a05bdae, 0xa5017575,

+  0x59f3de12, 0xa4efca31, 0x59e1faff, 0xa4de2270, 0x59d01475, 0xa4cc7e32,

+  0x59be2a74, 0xa4badd78,

+  0x59ac3cfd, 0xa4a94043, 0x599a4c12, 0xa497a693, 0x598857b2, 0xa486106a,

+  0x59765fde, 0xa4747dc7,

+  0x59646498, 0xa462eeac, 0x595265df, 0xa4516319, 0x594063b5, 0xa43fdb10,

+  0x592e5e19, 0xa42e568f,

+  0x591c550e, 0xa41cd599, 0x590a4893, 0xa40b582e, 0x58f838a9, 0xa3f9de4e,

+  0x58e62552, 0xa3e867fa,

+  0x58d40e8c, 0xa3d6f534, 0x58c1f45b, 0xa3c585fb, 0x58afd6bd, 0xa3b41a50,

+  0x589db5b3, 0xa3a2b234,

+  0x588b9140, 0xa3914da8, 0x58796962, 0xa37fecac, 0x58673e1b, 0xa36e8f41,

+  0x58550f6c, 0xa35d3567,

+  0x5842dd54, 0xa34bdf20, 0x5830a7d6, 0xa33a8c6c, 0x581e6ef1, 0xa3293d4b,

+  0x580c32a7, 0xa317f1bf,

+  0x57f9f2f8, 0xa306a9c8, 0x57e7afe4, 0xa2f56566, 0x57d5696d, 0xa2e4249b,

+  0x57c31f92, 0xa2d2e766,

+  0x57b0d256, 0xa2c1adc9, 0x579e81b8, 0xa2b077c5, 0x578c2dba, 0xa29f4559,

+  0x5779d65b, 0xa28e1687,

+  0x57677b9d, 0xa27ceb4f, 0x57551d80, 0xa26bc3b2, 0x5742bc06, 0xa25a9fb1,

+  0x5730572e, 0xa2497f4c,

+  0x571deefa, 0xa2386284, 0x570b8369, 0xa2274959, 0x56f9147e, 0xa21633cd,

+  0x56e6a239, 0xa20521e0,

+  0x56d42c99, 0xa1f41392, 0x56c1b3a1, 0xa1e308e4, 0x56af3750, 0xa1d201d7,

+  0x569cb7a8, 0xa1c0fe6c,

+  0x568a34a9, 0xa1affea3, 0x5677ae54, 0xa19f027c, 0x566524aa, 0xa18e09fa,

+  0x565297ab, 0xa17d151b,

+  0x56400758, 0xa16c23e1, 0x562d73b2, 0xa15b364d, 0x561adcb9, 0xa14a4c5e,

+  0x5608426e, 0xa1396617,

+  0x55f5a4d2, 0xa1288376, 0x55e303e6, 0xa117a47e, 0x55d05faa, 0xa106c92f,

+  0x55bdb81f, 0xa0f5f189,

+  0x55ab0d46, 0xa0e51d8c, 0x55985f20, 0xa0d44d3b, 0x5585adad, 0xa0c38095,

+  0x5572f8ed, 0xa0b2b79b,

+  0x556040e2, 0xa0a1f24d, 0x554d858d, 0xa09130ad, 0x553ac6ee, 0xa08072ba,

+  0x55280505, 0xa06fb876,

+  0x55153fd4, 0xa05f01e1, 0x5502775c, 0xa04e4efc, 0x54efab9c, 0xa03d9fc8,

+  0x54dcdc96, 0xa02cf444,

+  0x54ca0a4b, 0xa01c4c73, 0x54b734ba, 0xa00ba853, 0x54a45be6, 0x9ffb07e7,

+  0x54917fce, 0x9fea6b2f,

+  0x547ea073, 0x9fd9d22a, 0x546bbdd7, 0x9fc93cdb, 0x5458d7f9, 0x9fb8ab41,

+  0x5445eedb, 0x9fa81d5e,

+  0x5433027d, 0x9f979331, 0x542012e1, 0x9f870cbc, 0x540d2005, 0x9f7689ff,

+  0x53fa29ed, 0x9f660afb,

+  0x53e73097, 0x9f558fb0, 0x53d43406, 0x9f45181f, 0x53c13439, 0x9f34a449,

+  0x53ae3131, 0x9f24342f,

+  0x539b2af0, 0x9f13c7d0, 0x53882175, 0x9f035f2e, 0x537514c2, 0x9ef2fa49,

+  0x536204d7, 0x9ee29922,

+  0x534ef1b5, 0x9ed23bb9, 0x533bdb5d, 0x9ec1e210, 0x5328c1d0, 0x9eb18c26,

+  0x5315a50e, 0x9ea139fd,

+  0x53028518, 0x9e90eb94, 0x52ef61ee, 0x9e80a0ee, 0x52dc3b92, 0x9e705a09,

+  0x52c91204, 0x9e6016e8,

+  0x52b5e546, 0x9e4fd78a, 0x52a2b556, 0x9e3f9bf0, 0x528f8238, 0x9e2f641b,

+  0x527c4bea, 0x9e1f300b,

+  0x5269126e, 0x9e0effc1, 0x5255d5c5, 0x9dfed33e, 0x524295f0, 0x9deeaa82,

+  0x522f52ee, 0x9dde858e,

+  0x521c0cc2, 0x9dce6463, 0x5208c36a, 0x9dbe4701, 0x51f576ea, 0x9dae2d68,

+  0x51e22740, 0x9d9e179a,

+  0x51ced46e, 0x9d8e0597, 0x51bb7e75, 0x9d7df75f, 0x51a82555, 0x9d6decf4,

+  0x5194c910, 0x9d5de656,

+  0x518169a5, 0x9d4de385, 0x516e0715, 0x9d3de482, 0x515aa162, 0x9d2de94d,

+  0x5147388c, 0x9d1df1e9,

+  0x5133cc94, 0x9d0dfe54, 0x51205d7b, 0x9cfe0e8f, 0x510ceb40, 0x9cee229c,

+  0x50f975e6, 0x9cde3a7b,

+  0x50e5fd6d, 0x9cce562c, 0x50d281d5, 0x9cbe75b0, 0x50bf031f, 0x9cae9907,

+  0x50ab814d, 0x9c9ec033,

+  0x5097fc5e, 0x9c8eeb34, 0x50847454, 0x9c7f1a0a, 0x5070e92f, 0x9c6f4cb6,

+  0x505d5af1, 0x9c5f8339,

+  0x5049c999, 0x9c4fbd93, 0x50363529, 0x9c3ffbc5, 0x50229da1, 0x9c303dcf,

+  0x500f0302, 0x9c2083b3,

+  0x4ffb654d, 0x9c10cd70, 0x4fe7c483, 0x9c011b08, 0x4fd420a4, 0x9bf16c7a,

+  0x4fc079b1, 0x9be1c1c8,

+  0x4faccfab, 0x9bd21af3, 0x4f992293, 0x9bc277fa, 0x4f857269, 0x9bb2d8de,

+  0x4f71bf2e, 0x9ba33da0,

+  0x4f5e08e3, 0x9b93a641, 0x4f4a4f89, 0x9b8412c1, 0x4f369320, 0x9b748320,

+  0x4f22d3aa, 0x9b64f760,

+  0x4f0f1126, 0x9b556f81, 0x4efb4b96, 0x9b45eb83, 0x4ee782fb, 0x9b366b68,

+  0x4ed3b755, 0x9b26ef2f,

+  0x4ebfe8a5, 0x9b1776da, 0x4eac16eb, 0x9b080268, 0x4e984229, 0x9af891db,

+  0x4e846a60, 0x9ae92533,

+  0x4e708f8f, 0x9ad9bc71, 0x4e5cb1b9, 0x9aca5795, 0x4e48d0dd, 0x9abaf6a1,

+  0x4e34ecfc, 0x9aab9993,

+  0x4e210617, 0x9a9c406e, 0x4e0d1c30, 0x9a8ceb31, 0x4df92f46, 0x9a7d99de,

+  0x4de53f5a, 0x9a6e4c74,

+  0x4dd14c6e, 0x9a5f02f5, 0x4dbd5682, 0x9a4fbd61, 0x4da95d96, 0x9a407bb9,

+  0x4d9561ac, 0x9a313dfc,

+  0x4d8162c4, 0x9a22042d, 0x4d6d60df, 0x9a12ce4b, 0x4d595bfe, 0x9a039c57,

+  0x4d455422, 0x99f46e51,

+  0x4d31494b, 0x99e5443b, 0x4d1d3b7a, 0x99d61e14, 0x4d092ab0, 0x99c6fbde,

+  0x4cf516ee, 0x99b7dd99,

+  0x4ce10034, 0x99a8c345, 0x4ccce684, 0x9999ace3, 0x4cb8c9dd, 0x998a9a74,

+  0x4ca4aa41, 0x997b8bf8,

+  0x4c9087b1, 0x996c816f, 0x4c7c622d, 0x995d7adc, 0x4c6839b7, 0x994e783d,

+  0x4c540e4e, 0x993f7993,

+  0x4c3fdff4, 0x99307ee0, 0x4c2baea9, 0x99218824, 0x4c177a6e, 0x9912955f,

+  0x4c034345, 0x9903a691,

+  0x4bef092d, 0x98f4bbbc, 0x4bdacc28, 0x98e5d4e0, 0x4bc68c36, 0x98d6f1fe,

+  0x4bb24958, 0x98c81316,

+  0x4b9e0390, 0x98b93828, 0x4b89badd, 0x98aa6136, 0x4b756f40, 0x989b8e40,

+  0x4b6120bb, 0x988cbf46,

+  0x4b4ccf4d, 0x987df449, 0x4b387af9, 0x986f2d4a, 0x4b2423be, 0x98606a49,

+  0x4b0fc99d, 0x9851ab46,

+  0x4afb6c98, 0x9842f043, 0x4ae70caf, 0x98343940, 0x4ad2a9e2, 0x9825863d,

+  0x4abe4433, 0x9816d73b,

+  0x4aa9dba2, 0x98082c3b, 0x4a957030, 0x97f9853d, 0x4a8101de, 0x97eae242,

+  0x4a6c90ad, 0x97dc4349,

+  0x4a581c9e, 0x97cda855, 0x4a43a5b0, 0x97bf1165, 0x4a2f2be6, 0x97b07e7a,

+  0x4a1aaf3f, 0x97a1ef94,

+  0x4a062fbd, 0x979364b5, 0x49f1ad61, 0x9784dddc, 0x49dd282a, 0x97765b0a,

+  0x49c8a01b, 0x9767dc41,

+  0x49b41533, 0x9759617f, 0x499f8774, 0x974aeac6, 0x498af6df, 0x973c7817,

+  0x49766373, 0x972e0971,

+  0x4961cd33, 0x971f9ed7, 0x494d341e, 0x97113847, 0x49389836, 0x9702d5c3,

+  0x4923f97b, 0x96f4774b,

+  0x490f57ee, 0x96e61ce0, 0x48fab391, 0x96d7c682, 0x48e60c62, 0x96c97432,

+  0x48d16265, 0x96bb25f0,

+  0x48bcb599, 0x96acdbbe, 0x48a805ff, 0x969e959b, 0x48935397, 0x96905388,

+  0x487e9e64, 0x96821585,

+  0x4869e665, 0x9673db94, 0x48552b9b, 0x9665a5b4, 0x48406e08, 0x965773e7,

+  0x482badab, 0x9649462d,

+  0x4816ea86, 0x963b1c86, 0x48022499, 0x962cf6f2, 0x47ed5be6, 0x961ed574,

+  0x47d8906d, 0x9610b80a,

+  0x47c3c22f, 0x96029eb6, 0x47aef12c, 0x95f48977, 0x479a1d67, 0x95e67850,

+  0x478546de, 0x95d86b3f,

+  0x47706d93, 0x95ca6247, 0x475b9188, 0x95bc5d66, 0x4746b2bc, 0x95ae5c9f,

+  0x4731d131, 0x95a05ff0,

+  0x471cece7, 0x9592675c, 0x470805df, 0x958472e2, 0x46f31c1a, 0x95768283,

+  0x46de2f99, 0x9568963f,

+  0x46c9405c, 0x955aae17, 0x46b44e65, 0x954cca0c, 0x469f59b4, 0x953eea1e,

+  0x468a624a, 0x95310e4e,

+  0x46756828, 0x9523369c, 0x46606b4e, 0x95156308, 0x464b6bbe, 0x95079394,

+  0x46366978, 0x94f9c83f,

+  0x4621647d, 0x94ec010b, 0x460c5cce, 0x94de3df8, 0x45f7526b, 0x94d07f05,

+  0x45e24556, 0x94c2c435,

+  0x45cd358f, 0x94b50d87, 0x45b82318, 0x94a75afd, 0x45a30df0, 0x9499ac95,

+  0x458df619, 0x948c0252,

+  0x4578db93, 0x947e5c33, 0x4563be60, 0x9470ba39, 0x454e9e80, 0x94631c65,

+  0x45397bf4, 0x945582b7,

+  0x452456bd, 0x9447ed2f, 0x450f2edb, 0x943a5bcf, 0x44fa0450, 0x942cce96,

+  0x44e4d71c, 0x941f4585,

+  0x44cfa740, 0x9411c09e, 0x44ba74bd, 0x94043fdf, 0x44a53f93, 0x93f6c34a,

+  0x449007c4, 0x93e94adf,

+  0x447acd50, 0x93dbd6a0, 0x44659039, 0x93ce668b, 0x4450507e, 0x93c0faa3,

+  0x443b0e21, 0x93b392e6,

+  0x4425c923, 0x93a62f57, 0x44108184, 0x9398cff5, 0x43fb3746, 0x938b74c1,

+  0x43e5ea68, 0x937e1dbb,

+  0x43d09aed, 0x9370cae4, 0x43bb48d4, 0x93637c3d, 0x43a5f41e, 0x935631c5,

+  0x43909ccd, 0x9348eb7e,

+  0x437b42e1, 0x933ba968, 0x4365e65b, 0x932e6b84, 0x4350873c, 0x932131d1,

+  0x433b2585, 0x9313fc51,

+  0x4325c135, 0x9306cb04, 0x43105a50, 0x92f99deb, 0x42faf0d4, 0x92ec7505,

+  0x42e584c3, 0x92df5054,

+  0x42d0161e, 0x92d22fd9, 0x42baa4e6, 0x92c51392, 0x42a5311b, 0x92b7fb82,

+  0x428fbabe, 0x92aae7a8,

+  0x427a41d0, 0x929dd806, 0x4264c653, 0x9290cc9b, 0x424f4845, 0x9283c568,

+  0x4239c7aa, 0x9276c26d,

+  0x42244481, 0x9269c3ac, 0x420ebecb, 0x925cc924, 0x41f93689, 0x924fd2d7,

+  0x41e3abbc, 0x9242e0c4,

+  0x41ce1e65, 0x9235f2ec, 0x41b88e84, 0x9229094f, 0x41a2fc1a, 0x921c23ef,

+  0x418d6729, 0x920f42cb,

+  0x4177cfb1, 0x920265e4, 0x416235b2, 0x91f58d3b, 0x414c992f, 0x91e8b8d0,

+  0x4136fa27, 0x91dbe8a4,

+  0x4121589b, 0x91cf1cb6, 0x410bb48c, 0x91c25508, 0x40f60dfb, 0x91b5919a,

+  0x40e064ea, 0x91a8d26d,

+  0x40cab958, 0x919c1781, 0x40b50b46, 0x918f60d6, 0x409f5ab6, 0x9182ae6d,

+  0x4089a7a8, 0x91760047,

+  0x4073f21d, 0x91695663, 0x405e3a16, 0x915cb0c3, 0x40487f94, 0x91500f67,

+  0x4032c297, 0x91437250,

+  0x401d0321, 0x9136d97d, 0x40074132, 0x912a44f0, 0x3ff17cca, 0x911db4a9,

+  0x3fdbb5ec, 0x911128a8,

+  0x3fc5ec98, 0x9104a0ee, 0x3fb020ce, 0x90f81d7b, 0x3f9a5290, 0x90eb9e50,

+  0x3f8481dd, 0x90df236e,

+  0x3f6eaeb8, 0x90d2acd4, 0x3f58d921, 0x90c63a83, 0x3f430119, 0x90b9cc7d,

+  0x3f2d26a0, 0x90ad62c0,

+  0x3f1749b8, 0x90a0fd4e, 0x3f016a61, 0x90949c28, 0x3eeb889c, 0x90883f4d,

+  0x3ed5a46b, 0x907be6be,

+  0x3ebfbdcd, 0x906f927c, 0x3ea9d4c3, 0x90634287, 0x3e93e950, 0x9056f6df,

+  0x3e7dfb73, 0x904aaf86,

+  0x3e680b2c, 0x903e6c7b, 0x3e52187f, 0x90322dbf, 0x3e3c2369, 0x9025f352,

+  0x3e262bee, 0x9019bd36,

+  0x3e10320d, 0x900d8b69, 0x3dfa35c8, 0x90015dee, 0x3de4371f, 0x8ff534c4,

+  0x3dce3614, 0x8fe90fec,

+  0x3db832a6, 0x8fdcef66, 0x3da22cd7, 0x8fd0d333, 0x3d8c24a8, 0x8fc4bb53,

+  0x3d761a19, 0x8fb8a7c7,

+  0x3d600d2c, 0x8fac988f, 0x3d49fde1, 0x8fa08dab, 0x3d33ec39, 0x8f94871d,

+  0x3d1dd835, 0x8f8884e4,

+  0x3d07c1d6, 0x8f7c8701, 0x3cf1a91c, 0x8f708d75, 0x3cdb8e09, 0x8f649840,

+  0x3cc5709e, 0x8f58a761,

+  0x3caf50da, 0x8f4cbadb, 0x3c992ec0, 0x8f40d2ad, 0x3c830a50, 0x8f34eed8,

+  0x3c6ce38a, 0x8f290f5c,

+  0x3c56ba70, 0x8f1d343a, 0x3c408f03, 0x8f115d72, 0x3c2a6142, 0x8f058b04,

+  0x3c143130, 0x8ef9bcf2,

+  0x3bfdfecd, 0x8eedf33b, 0x3be7ca1a, 0x8ee22de0, 0x3bd19318, 0x8ed66ce1,

+  0x3bbb59c7, 0x8ecab040,

+  0x3ba51e29, 0x8ebef7fb, 0x3b8ee03e, 0x8eb34415, 0x3b78a007, 0x8ea7948c,

+  0x3b625d86, 0x8e9be963,

+  0x3b4c18ba, 0x8e904298, 0x3b35d1a5, 0x8e84a02d, 0x3b1f8848, 0x8e790222,

+  0x3b093ca3, 0x8e6d6877,

+  0x3af2eeb7, 0x8e61d32e, 0x3adc9e86, 0x8e564246, 0x3ac64c0f, 0x8e4ab5bf,

+  0x3aaff755, 0x8e3f2d9b,

+  0x3a99a057, 0x8e33a9da, 0x3a834717, 0x8e282a7b, 0x3a6ceb96, 0x8e1caf80,

+  0x3a568dd4, 0x8e1138ea,

+  0x3a402dd2, 0x8e05c6b7, 0x3a29cb91, 0x8dfa58ea, 0x3a136712, 0x8deeef82,

+  0x39fd0056, 0x8de38a80,

+  0x39e6975e, 0x8dd829e4, 0x39d02c2a, 0x8dcccdaf, 0x39b9bebc, 0x8dc175e0,

+  0x39a34f13, 0x8db6227a,

+  0x398cdd32, 0x8daad37b, 0x39766919, 0x8d9f88e5, 0x395ff2c9, 0x8d9442b8,

+  0x39497a43, 0x8d8900f3,

+  0x3932ff87, 0x8d7dc399, 0x391c8297, 0x8d728aa9, 0x39060373, 0x8d675623,

+  0x38ef821c, 0x8d5c2609,

+  0x38d8fe93, 0x8d50fa59, 0x38c278d9, 0x8d45d316, 0x38abf0ef, 0x8d3ab03f,

+  0x389566d6, 0x8d2f91d5,

+  0x387eda8e, 0x8d2477d8, 0x38684c19, 0x8d196249, 0x3851bb77, 0x8d0e5127,

+  0x383b28a9, 0x8d034474,

+  0x382493b0, 0x8cf83c30, 0x380dfc8d, 0x8ced385b, 0x37f76341, 0x8ce238f6,

+  0x37e0c7cc, 0x8cd73e01,

+  0x37ca2a30, 0x8ccc477d, 0x37b38a6d, 0x8cc1556a, 0x379ce885, 0x8cb667c8,

+  0x37864477, 0x8cab7e98,

+  0x376f9e46, 0x8ca099da, 0x3758f5f2, 0x8c95b98f, 0x37424b7b, 0x8c8addb7,

+  0x372b9ee3, 0x8c800652,

+  0x3714f02a, 0x8c753362, 0x36fe3f52, 0x8c6a64e5, 0x36e78c5b, 0x8c5f9ade,

+  0x36d0d746, 0x8c54d54c,

+  0x36ba2014, 0x8c4a142f, 0x36a366c6, 0x8c3f5788, 0x368cab5c, 0x8c349f58,

+  0x3675edd9, 0x8c29eb9f,

+  0x365f2e3b, 0x8c1f3c5d, 0x36486c86, 0x8c149192, 0x3631a8b8, 0x8c09eb40,

+  0x361ae2d3, 0x8bff4966,

+  0x36041ad9, 0x8bf4ac05, 0x35ed50c9, 0x8bea131e, 0x35d684a6, 0x8bdf7eb0,

+  0x35bfb66e, 0x8bd4eebc,

+  0x35a8e625, 0x8bca6343, 0x359213c9, 0x8bbfdc44, 0x357b3f5d, 0x8bb559c1,

+  0x356468e2, 0x8baadbba,

+  0x354d9057, 0x8ba0622f, 0x3536b5be, 0x8b95ed21, 0x351fd918, 0x8b8b7c8f,

+  0x3508fa66, 0x8b81107b,

+  0x34f219a8, 0x8b76a8e4, 0x34db36df, 0x8b6c45cc, 0x34c4520d, 0x8b61e733,

+  0x34ad6b32, 0x8b578d18,

+  0x34968250, 0x8b4d377c, 0x347f9766, 0x8b42e661, 0x3468aa76, 0x8b3899c6,

+  0x3451bb81, 0x8b2e51ab,

+  0x343aca87, 0x8b240e11, 0x3423d78a, 0x8b19cef8, 0x340ce28b, 0x8b0f9462,

+  0x33f5eb89, 0x8b055e4d,

+  0x33def287, 0x8afb2cbb, 0x33c7f785, 0x8af0ffac, 0x33b0fa84, 0x8ae6d720,

+  0x3399fb85, 0x8adcb318,

+  0x3382fa88, 0x8ad29394, 0x336bf78f, 0x8ac87894, 0x3354f29b, 0x8abe6219,

+  0x333debab, 0x8ab45024,

+  0x3326e2c3, 0x8aaa42b4, 0x330fd7e1, 0x8aa039cb, 0x32f8cb07, 0x8a963567,

+  0x32e1bc36, 0x8a8c358b,

+  0x32caab6f, 0x8a823a36, 0x32b398b3, 0x8a784368, 0x329c8402, 0x8a6e5123,

+  0x32856d5e, 0x8a646365,

+  0x326e54c7, 0x8a5a7a31, 0x32573a3f, 0x8a509585, 0x32401dc6, 0x8a46b564,

+  0x3228ff5c, 0x8a3cd9cc,

+  0x3211df04, 0x8a3302be, 0x31fabcbd, 0x8a29303b, 0x31e39889, 0x8a1f6243,

+  0x31cc7269, 0x8a1598d6,

+  0x31b54a5e, 0x8a0bd3f5, 0x319e2067, 0x8a0213a0, 0x3186f487, 0x89f857d8,

+  0x316fc6be, 0x89eea09d,

+  0x3158970e, 0x89e4edef, 0x31416576, 0x89db3fcf, 0x312a31f8, 0x89d1963c,

+  0x3112fc95, 0x89c7f138,

+  0x30fbc54d, 0x89be50c3, 0x30e48c22, 0x89b4b4dd, 0x30cd5115, 0x89ab1d87,

+  0x30b61426, 0x89a18ac0,

+  0x309ed556, 0x8997fc8a, 0x308794a6, 0x898e72e4, 0x30705217, 0x8984edcf,

+  0x30590dab, 0x897b6d4c,

+  0x3041c761, 0x8971f15a, 0x302a7f3a, 0x896879fb, 0x30133539, 0x895f072e,

+  0x2ffbe95d, 0x895598f3,

+  0x2fe49ba7, 0x894c2f4c, 0x2fcd4c19, 0x8942ca39, 0x2fb5fab2, 0x893969b9,

+  0x2f9ea775, 0x89300dce,

+  0x2f875262, 0x8926b677, 0x2f6ffb7a, 0x891d63b5, 0x2f58a2be, 0x89141589,

+  0x2f41482e, 0x890acbf2,

+  0x2f29ebcc, 0x890186f2, 0x2f128d99, 0x88f84687, 0x2efb2d95, 0x88ef0ab4,

+  0x2ee3cbc1, 0x88e5d378,

+  0x2ecc681e, 0x88dca0d3, 0x2eb502ae, 0x88d372c6, 0x2e9d9b70, 0x88ca4951,

+  0x2e863267, 0x88c12475,

+  0x2e6ec792, 0x88b80432, 0x2e575af3, 0x88aee888, 0x2e3fec8b, 0x88a5d177,

+  0x2e287c5a, 0x889cbf01,

+  0x2e110a62, 0x8893b125, 0x2df996a3, 0x888aa7e3, 0x2de2211e, 0x8881a33d,

+  0x2dcaa9d5, 0x8878a332,

+  0x2db330c7, 0x886fa7c2, 0x2d9bb5f6, 0x8866b0ef, 0x2d843964, 0x885dbeb8,

+  0x2d6cbb10, 0x8854d11e,

+  0x2d553afc, 0x884be821, 0x2d3db928, 0x884303c1, 0x2d263596, 0x883a23ff,

+  0x2d0eb046, 0x883148db,

+  0x2cf72939, 0x88287256, 0x2cdfa071, 0x881fa06f, 0x2cc815ee, 0x8816d327,

+  0x2cb089b1, 0x880e0a7f,

+  0x2c98fbba, 0x88054677, 0x2c816c0c, 0x87fc870f, 0x2c69daa6, 0x87f3cc48,

+  0x2c52478a, 0x87eb1621,

+  0x2c3ab2b9, 0x87e2649b, 0x2c231c33, 0x87d9b7b7, 0x2c0b83fa, 0x87d10f75,

+  0x2bf3ea0d, 0x87c86bd5,

+  0x2bdc4e6f, 0x87bfccd7, 0x2bc4b120, 0x87b7327d, 0x2bad1221, 0x87ae9cc5,

+  0x2b957173, 0x87a60bb1,

+  0x2b7dcf17, 0x879d7f41, 0x2b662b0e, 0x8794f774, 0x2b4e8558, 0x878c744d,

+  0x2b36ddf7, 0x8783f5ca,

+  0x2b1f34eb, 0x877b7bec, 0x2b078a36, 0x877306b4, 0x2aefddd8, 0x876a9621,

+  0x2ad82fd2, 0x87622a35,

+  0x2ac08026, 0x8759c2ef, 0x2aa8ced3, 0x87516050, 0x2a911bdc, 0x87490258,

+  0x2a796740, 0x8740a907,

+  0x2a61b101, 0x8738545e, 0x2a49f920, 0x8730045d, 0x2a323f9e, 0x8727b905,

+  0x2a1a847b, 0x871f7255,

+  0x2a02c7b8, 0x8717304e, 0x29eb0957, 0x870ef2f1, 0x29d34958, 0x8706ba3d,

+  0x29bb87bc, 0x86fe8633,

+  0x29a3c485, 0x86f656d3, 0x298bffb2, 0x86ee2c1e, 0x29743946, 0x86e60614,

+  0x295c7140, 0x86dde4b5,

+  0x2944a7a2, 0x86d5c802, 0x292cdc6d, 0x86cdaffa, 0x29150fa1, 0x86c59c9f,

+  0x28fd4140, 0x86bd8df0,

+  0x28e5714b, 0x86b583ee, 0x28cd9fc1, 0x86ad7e99, 0x28b5cca5, 0x86a57df2,

+  0x289df7f8, 0x869d81f8,

+  0x288621b9, 0x86958aac, 0x286e49ea, 0x868d980e, 0x2856708d, 0x8685aa20,

+  0x283e95a1, 0x867dc0e0,

+  0x2826b928, 0x8675dc4f, 0x280edb23, 0x866dfc6e, 0x27f6fb92, 0x8666213c,

+  0x27df1a77, 0x865e4abb,

+  0x27c737d3, 0x865678eb, 0x27af53a6, 0x864eabcb, 0x27976df1, 0x8646e35c,

+  0x277f86b5, 0x863f1f9e,

+  0x27679df4, 0x86376092, 0x274fb3ae, 0x862fa638, 0x2737c7e3, 0x8627f091,

+  0x271fda96, 0x86203f9c,

+  0x2707ebc7, 0x86189359, 0x26effb76, 0x8610ebca, 0x26d809a5, 0x860948ef,

+  0x26c01655, 0x8601aac7,

+  0x26a82186, 0x85fa1153, 0x26902b39, 0x85f27c93, 0x26783370, 0x85eaec88,

+  0x26603a2c, 0x85e36132,

+  0x26483f6c, 0x85dbda91, 0x26304333, 0x85d458a6, 0x26184581, 0x85ccdb70,

+  0x26004657, 0x85c562f1,

+  0x25e845b6, 0x85bdef28, 0x25d0439f, 0x85b68015, 0x25b84012, 0x85af15b9,

+  0x25a03b11, 0x85a7b015,

+  0x2588349d, 0x85a04f28, 0x25702cb7, 0x8598f2f3, 0x2558235f, 0x85919b76,

+  0x25401896, 0x858a48b1,

+  0x25280c5e, 0x8582faa5, 0x250ffeb7, 0x857bb152, 0x24f7efa2, 0x85746cb8,

+  0x24dfdf20, 0x856d2cd7,

+  0x24c7cd33, 0x8565f1b0, 0x24afb9da, 0x855ebb44, 0x2497a517, 0x85578991,

+  0x247f8eec, 0x85505c99,

+  0x24677758, 0x8549345c, 0x244f5e5c, 0x854210db, 0x243743fa, 0x853af214,

+  0x241f2833, 0x8533d809,

+  0x24070b08, 0x852cc2bb, 0x23eeec78, 0x8525b228, 0x23d6cc87, 0x851ea652,

+  0x23beab33, 0x85179f39,

+  0x23a6887f, 0x85109cdd, 0x238e646a, 0x85099f3e, 0x23763ef7, 0x8502a65c,

+  0x235e1826, 0x84fbb239,

+  0x2345eff8, 0x84f4c2d4, 0x232dc66d, 0x84edd82d, 0x23159b88, 0x84e6f244,

+  0x22fd6f48, 0x84e0111b,

+  0x22e541af, 0x84d934b1, 0x22cd12bd, 0x84d25d06, 0x22b4e274, 0x84cb8a1b,

+  0x229cb0d5, 0x84c4bbf0,

+  0x22847de0, 0x84bdf286, 0x226c4996, 0x84b72ddb, 0x225413f8, 0x84b06df2,

+  0x223bdd08, 0x84a9b2ca,

+  0x2223a4c5, 0x84a2fc62, 0x220b6b32, 0x849c4abd, 0x21f3304f, 0x84959dd9,

+  0x21daf41d, 0x848ef5b7,

+  0x21c2b69c, 0x84885258, 0x21aa77cf, 0x8481b3bb, 0x219237b5, 0x847b19e1,

+  0x2179f64f, 0x847484ca,

+  0x2161b3a0, 0x846df477, 0x21496fa7, 0x846768e7, 0x21312a65, 0x8460e21a,

+  0x2118e3dc, 0x845a6012,

+  0x21009c0c, 0x8453e2cf, 0x20e852f6, 0x844d6a50, 0x20d0089c, 0x8446f695,

+  0x20b7bcfe, 0x844087a0,

+  0x209f701c, 0x843a1d70, 0x208721f9, 0x8433b806, 0x206ed295, 0x842d5762,

+  0x205681f1, 0x8426fb84,

+  0x203e300d, 0x8420a46c, 0x2025dcec, 0x841a521a, 0x200d888d, 0x84140490,

+  0x1ff532f2, 0x840dbbcc,

+  0x1fdcdc1b, 0x840777d0, 0x1fc4840a, 0x8401389b, 0x1fac2abf, 0x83fafe2e,

+  0x1f93d03c, 0x83f4c889,

+  0x1f7b7481, 0x83ee97ad, 0x1f63178f, 0x83e86b99, 0x1f4ab968, 0x83e2444d,

+  0x1f325a0b, 0x83dc21cb,

+  0x1f19f97b, 0x83d60412, 0x1f0197b8, 0x83cfeb22, 0x1ee934c3, 0x83c9d6fc,

+  0x1ed0d09d, 0x83c3c7a0,

+  0x1eb86b46, 0x83bdbd0e, 0x1ea004c1, 0x83b7b746, 0x1e879d0d, 0x83b1b649,

+  0x1e6f342c, 0x83abba17,

+  0x1e56ca1e, 0x83a5c2b0, 0x1e3e5ee5, 0x839fd014, 0x1e25f282, 0x8399e244,

+  0x1e0d84f5, 0x8393f940,

+  0x1df5163f, 0x838e1507, 0x1ddca662, 0x8388359b, 0x1dc4355e, 0x83825afb,

+  0x1dabc334, 0x837c8528,

+  0x1d934fe5, 0x8376b422, 0x1d7adb73, 0x8370e7e9, 0x1d6265dd, 0x836b207d,

+  0x1d49ef26, 0x83655ddf,

+  0x1d31774d, 0x835fa00f, 0x1d18fe54, 0x8359e70d, 0x1d00843d, 0x835432d8,

+  0x1ce80906, 0x834e8373,

+  0x1ccf8cb3, 0x8348d8dc, 0x1cb70f43, 0x83433314, 0x1c9e90b8, 0x833d921b,

+  0x1c861113, 0x8337f5f1,

+  0x1c6d9053, 0x83325e97, 0x1c550e7c, 0x832ccc0d, 0x1c3c8b8c, 0x83273e52,

+  0x1c240786, 0x8321b568,

+  0x1c0b826a, 0x831c314e, 0x1bf2fc3a, 0x8316b205, 0x1bda74f6, 0x8311378d,

+  0x1bc1ec9e, 0x830bc1e6,

+  0x1ba96335, 0x83065110, 0x1b90d8bb, 0x8300e50b, 0x1b784d30, 0x82fb7dd8,

+  0x1b5fc097, 0x82f61b77,

+  0x1b4732ef, 0x82f0bde8, 0x1b2ea43a, 0x82eb652b, 0x1b161479, 0x82e61141,

+  0x1afd83ad, 0x82e0c22a,

+  0x1ae4f1d6, 0x82db77e5, 0x1acc5ef6, 0x82d63274, 0x1ab3cb0d, 0x82d0f1d5,

+  0x1a9b361d, 0x82cbb60b,

+  0x1a82a026, 0x82c67f14, 0x1a6a0929, 0x82c14cf1, 0x1a517128, 0x82bc1fa2,

+  0x1a38d823, 0x82b6f727,

+  0x1a203e1b, 0x82b1d381, 0x1a07a311, 0x82acb4b0, 0x19ef0707, 0x82a79ab3,

+  0x19d669fc, 0x82a2858c,

+  0x19bdcbf3, 0x829d753a, 0x19a52ceb, 0x829869be, 0x198c8ce7, 0x82936317,

+  0x1973ebe6, 0x828e6146,

+  0x195b49ea, 0x8289644b, 0x1942a6f3, 0x82846c26, 0x192a0304, 0x827f78d8,

+  0x19115e1c, 0x827a8a61,

+  0x18f8b83c, 0x8275a0c0, 0x18e01167, 0x8270bbf7, 0x18c7699b, 0x826bdc04,

+  0x18aec0db, 0x826700e9,

+  0x18961728, 0x82622aa6, 0x187d6c82, 0x825d593a, 0x1864c0ea, 0x82588ca7,

+  0x184c1461, 0x8253c4eb,

+  0x183366e9, 0x824f0208, 0x181ab881, 0x824a43fe, 0x1802092c, 0x82458acc,

+  0x17e958ea, 0x8240d673,

+  0x17d0a7bc, 0x823c26f3, 0x17b7f5a3, 0x82377c4c, 0x179f429f, 0x8232d67f,

+  0x17868eb3, 0x822e358b,

+  0x176dd9de, 0x82299971, 0x17552422, 0x82250232, 0x173c6d80, 0x82206fcc,

+  0x1723b5f9, 0x821be240,

+  0x170afd8d, 0x82175990, 0x16f2443e, 0x8212d5b9, 0x16d98a0c, 0x820e56be,

+  0x16c0cef9, 0x8209dc9e,

+  0x16a81305, 0x82056758, 0x168f5632, 0x8200f6ef, 0x1676987f, 0x81fc8b60,

+  0x165dd9f0, 0x81f824ae,

+  0x16451a83, 0x81f3c2d7, 0x162c5a3b, 0x81ef65dc, 0x16139918, 0x81eb0dbe,

+  0x15fad71b, 0x81e6ba7c,

+  0x15e21445, 0x81e26c16, 0x15c95097, 0x81de228d, 0x15b08c12, 0x81d9dde1,

+  0x1597c6b7, 0x81d59e13,

+  0x157f0086, 0x81d16321, 0x15663982, 0x81cd2d0c, 0x154d71aa, 0x81c8fbd6,

+  0x1534a901, 0x81c4cf7d,

+  0x151bdf86, 0x81c0a801, 0x1503153a, 0x81bc8564, 0x14ea4a1f, 0x81b867a5,

+  0x14d17e36, 0x81b44ec4,

+  0x14b8b17f, 0x81b03ac2, 0x149fe3fc, 0x81ac2b9e, 0x148715ae, 0x81a82159,

+  0x146e4694, 0x81a41bf4,

+  0x145576b1, 0x81a01b6d, 0x143ca605, 0x819c1fc5, 0x1423d492, 0x819828fd,

+  0x140b0258, 0x81943715,

+  0x13f22f58, 0x81904a0c, 0x13d95b93, 0x818c61e3, 0x13c0870a, 0x81887e9a,

+  0x13a7b1bf, 0x8184a032,

+  0x138edbb1, 0x8180c6a9, 0x137604e2, 0x817cf201, 0x135d2d53, 0x8179223a,

+  0x13445505, 0x81755754,

+  0x132b7bf9, 0x8171914e, 0x1312a230, 0x816dd02a, 0x12f9c7aa, 0x816a13e6,

+  0x12e0ec6a, 0x81665c84,

+  0x12c8106f, 0x8162aa04, 0x12af33ba, 0x815efc65, 0x1296564d, 0x815b53a8,

+  0x127d7829, 0x8157afcd,

+  0x1264994e, 0x815410d4, 0x124bb9be, 0x815076bd, 0x1232d979, 0x814ce188,

+  0x1219f880, 0x81495136,

+  0x120116d5, 0x8145c5c7, 0x11e83478, 0x81423f3a, 0x11cf516a, 0x813ebd90,

+  0x11b66dad, 0x813b40ca,

+  0x119d8941, 0x8137c8e6, 0x1184a427, 0x813455e6, 0x116bbe60, 0x8130e7c9,

+  0x1152d7ed, 0x812d7e8f,

+  0x1139f0cf, 0x812a1a3a, 0x11210907, 0x8126bac8, 0x11082096, 0x8123603a,

+  0x10ef377d, 0x81200a90,

+  0x10d64dbd, 0x811cb9ca, 0x10bd6356, 0x81196de9, 0x10a4784b, 0x811626ec,

+  0x108b8c9b, 0x8112e4d4,

+  0x1072a048, 0x810fa7a0, 0x1059b352, 0x810c6f52, 0x1040c5bb, 0x81093be8,

+  0x1027d784, 0x81060d63,

+  0x100ee8ad, 0x8102e3c4, 0xff5f938, 0x80ffbf0a, 0xfdd0926, 0x80fc9f35,

+  0xfc41876, 0x80f98446,

+  0xfab272b, 0x80f66e3c, 0xf923546, 0x80f35d19, 0xf7942c7, 0x80f050db,

+  0xf604faf, 0x80ed4984,

+  0xf475bff, 0x80ea4712, 0xf2e67b8, 0x80e74987, 0xf1572dc, 0x80e450e2,

+  0xefc7d6b, 0x80e15d24,

+  0xee38766, 0x80de6e4c, 0xeca90ce, 0x80db845b, 0xeb199a4, 0x80d89f51,

+  0xe98a1e9, 0x80d5bf2e,

+  0xe7fa99e, 0x80d2e3f2, 0xe66b0c3, 0x80d00d9d, 0xe4db75b, 0x80cd3c2f,

+  0xe34bd66, 0x80ca6fa9,

+  0xe1bc2e4, 0x80c7a80a, 0xe02c7d7, 0x80c4e553, 0xde9cc40, 0x80c22784,

+  0xdd0d01f, 0x80bf6e9c,

+  0xdb7d376, 0x80bcba9d, 0xd9ed646, 0x80ba0b85, 0xd85d88f, 0x80b76156,

+  0xd6cda53, 0x80b4bc0e,

+  0xd53db92, 0x80b21baf, 0xd3adc4e, 0x80af8039, 0xd21dc87, 0x80ace9ab,

+  0xd08dc3f, 0x80aa5806,

+  0xcefdb76, 0x80a7cb49, 0xcd6da2d, 0x80a54376, 0xcbdd865, 0x80a2c08b,

+  0xca4d620, 0x80a04289,

+  0xc8bd35e, 0x809dc971, 0xc72d020, 0x809b5541, 0xc59cc68, 0x8098e5fb,

+  0xc40c835, 0x80967b9f,

+  0xc27c389, 0x8094162c, 0xc0ebe66, 0x8091b5a2, 0xbf5b8cb, 0x808f5a02,

+  0xbdcb2bb, 0x808d034c,

+  0xbc3ac35, 0x808ab180, 0xbaaa53b, 0x8088649e, 0xb919dcf, 0x80861ca6,

+  0xb7895f0, 0x8083d998,

+  0xb5f8d9f, 0x80819b74, 0xb4684df, 0x807f623b, 0xb2d7baf, 0x807d2dec,

+  0xb147211, 0x807afe87,

+  0xafb6805, 0x8078d40d, 0xae25d8d, 0x8076ae7e, 0xac952aa, 0x80748dd9,

+  0xab0475c, 0x8072721f,

+  0xa973ba5, 0x80705b50, 0xa7e2f85, 0x806e496c, 0xa6522fe, 0x806c3c74,

+  0xa4c1610, 0x806a3466,

+  0xa3308bd, 0x80683143, 0xa19fb04, 0x8066330c, 0xa00ece8, 0x806439c0,

+  0x9e7de6a, 0x80624560,

+  0x9cecf89, 0x806055eb, 0x9b5c048, 0x805e6b62, 0x99cb0a7, 0x805c85c4,

+  0x983a0a7, 0x805aa512,

+  0x96a9049, 0x8058c94c, 0x9517f8f, 0x8056f272, 0x9386e78, 0x80552084,

+  0x91f5d06, 0x80535381,

+  0x9064b3a, 0x80518b6b, 0x8ed3916, 0x804fc841, 0x8d42699, 0x804e0a04,

+  0x8bb13c5, 0x804c50b2,

+  0x8a2009a, 0x804a9c4d, 0x888ed1b, 0x8048ecd5, 0x86fd947, 0x80474248,

+  0x856c520, 0x80459ca9,

+  0x83db0a7, 0x8043fbf6, 0x8249bdd, 0x80426030, 0x80b86c2, 0x8040c956,

+  0x7f27157, 0x803f376a,

+  0x7d95b9e, 0x803daa6a, 0x7c04598, 0x803c2257, 0x7a72f45, 0x803a9f31,

+  0x78e18a7, 0x803920f8,

+  0x77501be, 0x8037a7ac, 0x75bea8c, 0x8036334e, 0x742d311, 0x8034c3dd,

+  0x729bb4e, 0x80335959,

+  0x710a345, 0x8031f3c2, 0x6f78af6, 0x80309318, 0x6de7262, 0x802f375d,

+  0x6c5598a, 0x802de08e,

+  0x6ac406f, 0x802c8ead, 0x6932713, 0x802b41ba, 0x67a0d76, 0x8029f9b4,

+  0x660f398, 0x8028b69c,

+  0x647d97c, 0x80277872, 0x62ebf22, 0x80263f36, 0x615a48b, 0x80250ae7,

+  0x5fc89b8, 0x8023db86,

+  0x5e36ea9, 0x8022b114, 0x5ca5361, 0x80218b8f, 0x5b137df, 0x80206af8,

+  0x5981c26, 0x801f4f4f,

+  0x57f0035, 0x801e3895, 0x565e40d, 0x801d26c8, 0x54cc7b1, 0x801c19ea,

+  0x533ab20, 0x801b11fa,

+  0x51a8e5c, 0x801a0ef8, 0x5017165, 0x801910e4, 0x4e8543e, 0x801817bf,

+  0x4cf36e5, 0x80172388,

+  0x4b6195d, 0x80163440, 0x49cfba7, 0x801549e6, 0x483ddc3, 0x8014647b,

+  0x46abfb3, 0x801383fe,

+  0x451a177, 0x8012a86f, 0x4388310, 0x8011d1d0, 0x41f6480, 0x8011001f,

+  0x40645c7, 0x8010335c,

+  0x3ed26e6, 0x800f6b88, 0x3d407df, 0x800ea8a3, 0x3bae8b2, 0x800deaad,

+  0x3a1c960, 0x800d31a5,

+  0x388a9ea, 0x800c7d8c, 0x36f8a51, 0x800bce63, 0x3566a96, 0x800b2427,

+  0x33d4abb, 0x800a7edb,

+  0x3242abf, 0x8009de7e, 0x30b0aa4, 0x80094310, 0x2f1ea6c, 0x8008ac90,

+  0x2d8ca16, 0x80081b00,

+  0x2bfa9a4, 0x80078e5e, 0x2a68917, 0x800706ac, 0x28d6870, 0x800683e8,

+  0x27447b0, 0x80060614,

+  0x25b26d7, 0x80058d2f, 0x24205e8, 0x80051939, 0x228e4e2, 0x8004aa32,

+  0x20fc3c6, 0x8004401a,

+  0x1f6a297, 0x8003daf1, 0x1dd8154, 0x80037ab7, 0x1c45ffe, 0x80031f6d,

+  0x1ab3e97, 0x8002c912,

+  0x1921d20, 0x800277a6, 0x178fb99, 0x80022b29, 0x15fda03, 0x8001e39b,

+  0x146b860, 0x8001a0fd,

+  0x12d96b1, 0x8001634e, 0x11474f6, 0x80012a8e, 0xfb5330, 0x8000f6bd,

+  0xe23160, 0x8000c7dc,

+  0xc90f88, 0x80009dea, 0xafeda8, 0x800078e7, 0x96cbc1, 0x800058d4, 0x7da9d4,

+  0x80003daf,

+  0x6487e3, 0x8000277a, 0x4b65ee, 0x80001635, 0x3243f5, 0x800009df, 0x1921fb,

+  0x80000278,

+};

+

+static const q31_t WeightsQ31_8192[16384] = {

+  0x7fffffff, 0x0, 0x7fffffd9, 0xfff9b781, 0x7fffff62, 0xfff36f02, 0x7ffffe9d,

+    0xffed2684,

+  0x7ffffd88, 0xffe6de05, 0x7ffffc25, 0xffe09586, 0x7ffffa73, 0xffda4d08,

+    0x7ffff872, 0xffd40489,

+  0x7ffff621, 0xffcdbc0b, 0x7ffff382, 0xffc7738c, 0x7ffff094, 0xffc12b0e,

+    0x7fffed57, 0xffbae290,

+  0x7fffe9cb, 0xffb49a12, 0x7fffe5f0, 0xffae5195, 0x7fffe1c6, 0xffa80917,

+    0x7fffdd4d, 0xffa1c09a,

+  0x7fffd886, 0xff9b781d, 0x7fffd36f, 0xff952fa0, 0x7fffce09, 0xff8ee724,

+    0x7fffc854, 0xff889ea7,

+  0x7fffc251, 0xff82562c, 0x7fffbbfe, 0xff7c0db0, 0x7fffb55c, 0xff75c535,

+    0x7fffae6c, 0xff6f7cba,

+  0x7fffa72c, 0xff69343f, 0x7fff9f9e, 0xff62ebc5, 0x7fff97c1, 0xff5ca34b,

+    0x7fff8f94, 0xff565ad1,

+  0x7fff8719, 0xff501258, 0x7fff7e4f, 0xff49c9df, 0x7fff7536, 0xff438167,

+    0x7fff6bcd, 0xff3d38ef,

+  0x7fff6216, 0xff36f078, 0x7fff5810, 0xff30a801, 0x7fff4dbb, 0xff2a5f8b,

+    0x7fff4317, 0xff241715,

+  0x7fff3824, 0xff1dcea0, 0x7fff2ce2, 0xff17862b, 0x7fff2151, 0xff113db7,

+    0x7fff1572, 0xff0af543,

+  0x7fff0943, 0xff04acd0, 0x7ffefcc5, 0xfefe645e, 0x7ffeeff8, 0xfef81bec,

+    0x7ffee2dd, 0xfef1d37b,

+  0x7ffed572, 0xfeeb8b0a, 0x7ffec7b9, 0xfee5429a, 0x7ffeb9b0, 0xfedefa2b,

+    0x7ffeab59, 0xfed8b1bd,

+  0x7ffe9cb2, 0xfed2694f, 0x7ffe8dbd, 0xfecc20e2, 0x7ffe7e79, 0xfec5d876,

+    0x7ffe6ee5, 0xfebf900a,

+  0x7ffe5f03, 0xfeb947a0, 0x7ffe4ed2, 0xfeb2ff36, 0x7ffe3e52, 0xfeacb6cc,

+    0x7ffe2d83, 0xfea66e64,

+  0x7ffe1c65, 0xfea025fd, 0x7ffe0af8, 0xfe99dd96, 0x7ffdf93c, 0xfe939530,

+    0x7ffde731, 0xfe8d4ccb,

+  0x7ffdd4d7, 0xfe870467, 0x7ffdc22e, 0xfe80bc04, 0x7ffdaf37, 0xfe7a73a2,

+    0x7ffd9bf0, 0xfe742b41,

+  0x7ffd885a, 0xfe6de2e0, 0x7ffd7476, 0xfe679a81, 0x7ffd6042, 0xfe615223,

+    0x7ffd4bc0, 0xfe5b09c5,

+  0x7ffd36ee, 0xfe54c169, 0x7ffd21ce, 0xfe4e790d, 0x7ffd0c5f, 0xfe4830b3,

+    0x7ffcf6a0, 0xfe41e85a,

+  0x7ffce093, 0xfe3ba002, 0x7ffcca37, 0xfe3557ab, 0x7ffcb38c, 0xfe2f0f55,

+    0x7ffc9c92, 0xfe28c700,

+  0x7ffc8549, 0xfe227eac, 0x7ffc6db1, 0xfe1c365a, 0x7ffc55ca, 0xfe15ee09,

+    0x7ffc3d94, 0xfe0fa5b8,

+  0x7ffc250f, 0xfe095d69, 0x7ffc0c3b, 0xfe03151c, 0x7ffbf319, 0xfdfccccf,

+    0x7ffbd9a7, 0xfdf68484,

+  0x7ffbbfe6, 0xfdf03c3a, 0x7ffba5d7, 0xfde9f3f1, 0x7ffb8b78, 0xfde3aba9,

+    0x7ffb70cb, 0xfddd6363,

+  0x7ffb55ce, 0xfdd71b1e, 0x7ffb3a83, 0xfdd0d2db, 0x7ffb1ee9, 0xfdca8a99,

+    0x7ffb0300, 0xfdc44258,

+  0x7ffae6c7, 0xfdbdfa18, 0x7ffaca40, 0xfdb7b1da, 0x7ffaad6a, 0xfdb1699e,

+    0x7ffa9045, 0xfdab2162,

+  0x7ffa72d1, 0xfda4d929, 0x7ffa550e, 0xfd9e90f0, 0x7ffa36fc, 0xfd9848b9,

+    0x7ffa189c, 0xfd920084,

+  0x7ff9f9ec, 0xfd8bb850, 0x7ff9daed, 0xfd85701e, 0x7ff9bba0, 0xfd7f27ed,

+    0x7ff99c03, 0xfd78dfbd,

+  0x7ff97c18, 0xfd729790, 0x7ff95bdd, 0xfd6c4f64, 0x7ff93b54, 0xfd660739,

+    0x7ff91a7b, 0xfd5fbf10,

+  0x7ff8f954, 0xfd5976e9, 0x7ff8d7de, 0xfd532ec3, 0x7ff8b619, 0xfd4ce69f,

+    0x7ff89405, 0xfd469e7c,

+  0x7ff871a2, 0xfd40565c, 0x7ff84ef0, 0xfd3a0e3d, 0x7ff82bef, 0xfd33c61f,

+    0x7ff8089f, 0xfd2d7e04,

+  0x7ff7e500, 0xfd2735ea, 0x7ff7c113, 0xfd20edd2, 0x7ff79cd6, 0xfd1aa5bc,

+    0x7ff7784a, 0xfd145da7,

+  0x7ff75370, 0xfd0e1594, 0x7ff72e46, 0xfd07cd83, 0x7ff708ce, 0xfd018574,

+    0x7ff6e307, 0xfcfb3d67,

+  0x7ff6bcf0, 0xfcf4f55c, 0x7ff6968b, 0xfceead52, 0x7ff66fd7, 0xfce8654b,

+    0x7ff648d4, 0xfce21d45,

+  0x7ff62182, 0xfcdbd541, 0x7ff5f9e1, 0xfcd58d3f, 0x7ff5d1f1, 0xfccf453f,

+    0x7ff5a9b2, 0xfcc8fd41,

+  0x7ff58125, 0xfcc2b545, 0x7ff55848, 0xfcbc6d4c, 0x7ff52f1d, 0xfcb62554,

+    0x7ff505a2, 0xfcafdd5e,

+  0x7ff4dbd9, 0xfca9956a, 0x7ff4b1c0, 0xfca34d78, 0x7ff48759, 0xfc9d0588,

+    0x7ff45ca3, 0xfc96bd9b,

+  0x7ff4319d, 0xfc9075af, 0x7ff40649, 0xfc8a2dc6, 0x7ff3daa6, 0xfc83e5de,

+    0x7ff3aeb4, 0xfc7d9df9,

+  0x7ff38274, 0xfc775616, 0x7ff355e4, 0xfc710e36, 0x7ff32905, 0xfc6ac657,

+    0x7ff2fbd7, 0xfc647e7b,

+  0x7ff2ce5b, 0xfc5e36a0, 0x7ff2a08f, 0xfc57eec9, 0x7ff27275, 0xfc51a6f3,

+    0x7ff2440b, 0xfc4b5f20,

+  0x7ff21553, 0xfc45174e, 0x7ff1e64c, 0xfc3ecf80, 0x7ff1b6f6, 0xfc3887b3,

+    0x7ff18751, 0xfc323fe9,

+  0x7ff1575d, 0xfc2bf821, 0x7ff1271a, 0xfc25b05c, 0x7ff0f688, 0xfc1f6899,

+    0x7ff0c5a7, 0xfc1920d8,

+  0x7ff09478, 0xfc12d91a, 0x7ff062f9, 0xfc0c915e, 0x7ff0312c, 0xfc0649a5,

+    0x7fefff0f, 0xfc0001ee,

+  0x7fefcca4, 0xfbf9ba39, 0x7fef99ea, 0xfbf37287, 0x7fef66e1, 0xfbed2ad8,

+    0x7fef3388, 0xfbe6e32b,

+  0x7feeffe1, 0xfbe09b80, 0x7feecbec, 0xfbda53d8, 0x7fee97a7, 0xfbd40c33,

+    0x7fee6313, 0xfbcdc490,

+  0x7fee2e30, 0xfbc77cf0, 0x7fedf8ff, 0xfbc13552, 0x7fedc37e, 0xfbbaedb7,

+    0x7fed8daf, 0xfbb4a61f,

+  0x7fed5791, 0xfbae5e89, 0x7fed2123, 0xfba816f6, 0x7fecea67, 0xfba1cf66,

+    0x7fecb35c, 0xfb9b87d8,

+  0x7fec7c02, 0xfb95404d, 0x7fec4459, 0xfb8ef8c5, 0x7fec0c62, 0xfb88b13f,

+    0x7febd41b, 0xfb8269bd,

+  0x7feb9b85, 0xfb7c223d, 0x7feb62a1, 0xfb75dac0, 0x7feb296d, 0xfb6f9345,

+    0x7feaefeb, 0xfb694bce,

+  0x7feab61a, 0xfb630459, 0x7fea7bfa, 0xfb5cbce7, 0x7fea418b, 0xfb567578,

+    0x7fea06cd, 0xfb502e0c,

+  0x7fe9cbc0, 0xfb49e6a3, 0x7fe99064, 0xfb439f3c, 0x7fe954ba, 0xfb3d57d9,

+    0x7fe918c0, 0xfb371078,

+  0x7fe8dc78, 0xfb30c91b, 0x7fe89fe0, 0xfb2a81c0, 0x7fe862fa, 0xfb243a69,

+    0x7fe825c5, 0xfb1df314,

+  0x7fe7e841, 0xfb17abc2, 0x7fe7aa6e, 0xfb116474, 0x7fe76c4c, 0xfb0b1d28,

+    0x7fe72ddb, 0xfb04d5e0,

+  0x7fe6ef1c, 0xfafe8e9b, 0x7fe6b00d, 0xfaf84758, 0x7fe670b0, 0xfaf20019,

+    0x7fe63103, 0xfaebb8dd,

+  0x7fe5f108, 0xfae571a4, 0x7fe5b0be, 0xfadf2a6e, 0x7fe57025, 0xfad8e33c,

+    0x7fe52f3d, 0xfad29c0c,

+  0x7fe4ee06, 0xfacc54e0, 0x7fe4ac81, 0xfac60db7, 0x7fe46aac, 0xfabfc691,

+    0x7fe42889, 0xfab97f6e,

+  0x7fe3e616, 0xfab3384f, 0x7fe3a355, 0xfaacf133, 0x7fe36045, 0xfaa6aa1a,

+    0x7fe31ce6, 0xfaa06305,

+  0x7fe2d938, 0xfa9a1bf3, 0x7fe2953b, 0xfa93d4e4, 0x7fe250ef, 0xfa8d8dd8,

+    0x7fe20c55, 0xfa8746d0,

+  0x7fe1c76b, 0xfa80ffcb, 0x7fe18233, 0xfa7ab8ca, 0x7fe13cac, 0xfa7471cc,

+    0x7fe0f6d6, 0xfa6e2ad1,

+  0x7fe0b0b1, 0xfa67e3da, 0x7fe06a3d, 0xfa619ce7, 0x7fe0237a, 0xfa5b55f7,

+    0x7fdfdc69, 0xfa550f0a,

+  0x7fdf9508, 0xfa4ec821, 0x7fdf4d59, 0xfa48813b, 0x7fdf055a, 0xfa423a59,

+    0x7fdebd0d, 0xfa3bf37a,

+  0x7fde7471, 0xfa35ac9f, 0x7fde2b86, 0xfa2f65c8, 0x7fdde24d, 0xfa291ef4,

+    0x7fdd98c4, 0xfa22d823,

+  0x7fdd4eec, 0xfa1c9157, 0x7fdd04c6, 0xfa164a8e, 0x7fdcba51, 0xfa1003c8,

+    0x7fdc6f8d, 0xfa09bd06,

+  0x7fdc247a, 0xfa037648, 0x7fdbd918, 0xf9fd2f8e, 0x7fdb8d67, 0xf9f6e8d7,

+    0x7fdb4167, 0xf9f0a224,

+  0x7fdaf519, 0xf9ea5b75, 0x7fdaa87c, 0xf9e414ca, 0x7fda5b8f, 0xf9ddce22,

+    0x7fda0e54, 0xf9d7877e,

+  0x7fd9c0ca, 0xf9d140de, 0x7fd972f2, 0xf9cafa42, 0x7fd924ca, 0xf9c4b3a9,

+    0x7fd8d653, 0xf9be6d15,

+  0x7fd8878e, 0xf9b82684, 0x7fd8387a, 0xf9b1dff7, 0x7fd7e917, 0xf9ab996e,

+    0x7fd79965, 0xf9a552e9,

+  0x7fd74964, 0xf99f0c68, 0x7fd6f914, 0xf998c5ea, 0x7fd6a875, 0xf9927f71,

+    0x7fd65788, 0xf98c38fc,

+  0x7fd6064c, 0xf985f28a, 0x7fd5b4c1, 0xf97fac1d, 0x7fd562e7, 0xf97965b4,

+    0x7fd510be, 0xf9731f4e,

+  0x7fd4be46, 0xf96cd8ed, 0x7fd46b80, 0xf9669290, 0x7fd4186a, 0xf9604c37,

+    0x7fd3c506, 0xf95a05e2,

+  0x7fd37153, 0xf953bf91, 0x7fd31d51, 0xf94d7944, 0x7fd2c900, 0xf94732fb,

+    0x7fd27460, 0xf940ecb7,

+  0x7fd21f72, 0xf93aa676, 0x7fd1ca35, 0xf934603a, 0x7fd174a8, 0xf92e1a02,

+    0x7fd11ecd, 0xf927d3ce,

+  0x7fd0c8a3, 0xf9218d9e, 0x7fd0722b, 0xf91b4773, 0x7fd01b63, 0xf915014c,

+    0x7fcfc44d, 0xf90ebb29,

+  0x7fcf6ce8, 0xf908750a, 0x7fcf1533, 0xf9022ef0, 0x7fcebd31, 0xf8fbe8da,

+    0x7fce64df, 0xf8f5a2c9,

+  0x7fce0c3e, 0xf8ef5cbb, 0x7fcdb34f, 0xf8e916b2, 0x7fcd5a11, 0xf8e2d0ae,

+    0x7fcd0083, 0xf8dc8aae,

+  0x7fcca6a7, 0xf8d644b2, 0x7fcc4c7d, 0xf8cffebb, 0x7fcbf203, 0xf8c9b8c8,

+    0x7fcb973b, 0xf8c372d9,

+  0x7fcb3c23, 0xf8bd2cef, 0x7fcae0bd, 0xf8b6e70a, 0x7fca8508, 0xf8b0a129,

+    0x7fca2905, 0xf8aa5b4c,

+  0x7fc9ccb2, 0xf8a41574, 0x7fc97011, 0xf89dcfa1, 0x7fc91320, 0xf89789d2,

+    0x7fc8b5e1, 0xf8914407,

+  0x7fc85854, 0xf88afe42, 0x7fc7fa77, 0xf884b880, 0x7fc79c4b, 0xf87e72c4,

+    0x7fc73dd1, 0xf8782d0c,

+  0x7fc6df08, 0xf871e759, 0x7fc67ff0, 0xf86ba1aa, 0x7fc62089, 0xf8655c00,

+    0x7fc5c0d3, 0xf85f165b,

+  0x7fc560cf, 0xf858d0bb, 0x7fc5007c, 0xf8528b1f, 0x7fc49fda, 0xf84c4588,

+    0x7fc43ee9, 0xf845fff5,

+  0x7fc3dda9, 0xf83fba68, 0x7fc37c1b, 0xf83974df, 0x7fc31a3d, 0xf8332f5b,

+    0x7fc2b811, 0xf82ce9dc,

+  0x7fc25596, 0xf826a462, 0x7fc1f2cc, 0xf8205eec, 0x7fc18fb4, 0xf81a197b,

+    0x7fc12c4d, 0xf813d410,

+  0x7fc0c896, 0xf80d8ea9, 0x7fc06491, 0xf8074947, 0x7fc0003e, 0xf80103ea,

+    0x7fbf9b9b, 0xf7fabe92,

+  0x7fbf36aa, 0xf7f4793e, 0x7fbed16a, 0xf7ee33f0, 0x7fbe6bdb, 0xf7e7eea7,

+    0x7fbe05fd, 0xf7e1a963,

+  0x7fbd9fd0, 0xf7db6423, 0x7fbd3955, 0xf7d51ee9, 0x7fbcd28b, 0xf7ced9b4,

+    0x7fbc6b72, 0xf7c89484,

+  0x7fbc040a, 0xf7c24f59, 0x7fbb9c53, 0xf7bc0a33, 0x7fbb344e, 0xf7b5c512,

+    0x7fbacbfa, 0xf7af7ff6,

+  0x7fba6357, 0xf7a93ae0, 0x7fb9fa65, 0xf7a2f5ce, 0x7fb99125, 0xf79cb0c2,

+    0x7fb92796, 0xf7966bbb,

+  0x7fb8bdb8, 0xf79026b9, 0x7fb8538b, 0xf789e1bc, 0x7fb7e90f, 0xf7839cc4,

+    0x7fb77e45, 0xf77d57d2,

+  0x7fb7132b, 0xf77712e5, 0x7fb6a7c3, 0xf770cdfd, 0x7fb63c0d, 0xf76a891b,

+    0x7fb5d007, 0xf764443d,

+  0x7fb563b3, 0xf75dff66, 0x7fb4f710, 0xf757ba93, 0x7fb48a1e, 0xf75175c6,

+    0x7fb41cdd, 0xf74b30fe,

+  0x7fb3af4e, 0xf744ec3b, 0x7fb34170, 0xf73ea77e, 0x7fb2d343, 0xf73862c6,

+    0x7fb264c7, 0xf7321e14,

+  0x7fb1f5fc, 0xf72bd967, 0x7fb186e3, 0xf72594c0, 0x7fb1177b, 0xf71f501e,

+    0x7fb0a7c4, 0xf7190b81,

+  0x7fb037bf, 0xf712c6ea, 0x7fafc76a, 0xf70c8259, 0x7faf56c7, 0xf7063dcd,

+    0x7faee5d5, 0xf6fff946,

+  0x7fae7495, 0xf6f9b4c6, 0x7fae0305, 0xf6f3704a, 0x7fad9127, 0xf6ed2bd4,

+    0x7fad1efa, 0xf6e6e764,

+  0x7facac7f, 0xf6e0a2fa, 0x7fac39b4, 0xf6da5e95, 0x7fabc69b, 0xf6d41a36,

+    0x7fab5333, 0xf6cdd5dc,

+  0x7faadf7c, 0xf6c79188, 0x7faa6b77, 0xf6c14d3a, 0x7fa9f723, 0xf6bb08f1,

+    0x7fa98280, 0xf6b4c4ae,

+  0x7fa90d8e, 0xf6ae8071, 0x7fa8984e, 0xf6a83c3a, 0x7fa822bf, 0xf6a1f808,

+    0x7fa7ace1, 0xf69bb3dd,

+  0x7fa736b4, 0xf6956fb7, 0x7fa6c039, 0xf68f2b96, 0x7fa6496e, 0xf688e77c,

+    0x7fa5d256, 0xf682a367,

+  0x7fa55aee, 0xf67c5f59, 0x7fa4e338, 0xf6761b50, 0x7fa46b32, 0xf66fd74d,

+    0x7fa3f2df, 0xf6699350,

+  0x7fa37a3c, 0xf6634f59, 0x7fa3014b, 0xf65d0b68, 0x7fa2880b, 0xf656c77c,

+    0x7fa20e7c, 0xf6508397,

+  0x7fa1949e, 0xf64a3fb8, 0x7fa11a72, 0xf643fbdf, 0x7fa09ff7, 0xf63db80b,

+    0x7fa0252e, 0xf637743e,

+  0x7f9faa15, 0xf6313077, 0x7f9f2eae, 0xf62aecb5, 0x7f9eb2f8, 0xf624a8fa,

+    0x7f9e36f4, 0xf61e6545,

+  0x7f9dbaa0, 0xf6182196, 0x7f9d3dfe, 0xf611dded, 0x7f9cc10d, 0xf60b9a4b,

+    0x7f9c43ce, 0xf60556ae,

+  0x7f9bc640, 0xf5ff1318, 0x7f9b4863, 0xf5f8cf87, 0x7f9aca37, 0xf5f28bfd,

+    0x7f9a4bbd, 0xf5ec4879,

+  0x7f99ccf4, 0xf5e604fc, 0x7f994ddc, 0xf5dfc184, 0x7f98ce76, 0xf5d97e13,

+    0x7f984ec1, 0xf5d33aa8,

+  0x7f97cebd, 0xf5ccf743, 0x7f974e6a, 0xf5c6b3e5, 0x7f96cdc9, 0xf5c0708d,

+    0x7f964cd9, 0xf5ba2d3b,

+  0x7f95cb9a, 0xf5b3e9f0, 0x7f954a0d, 0xf5ada6ab, 0x7f94c831, 0xf5a7636c,

+    0x7f944606, 0xf5a12034,

+  0x7f93c38c, 0xf59add02, 0x7f9340c4, 0xf59499d6, 0x7f92bdad, 0xf58e56b1,

+    0x7f923a48, 0xf5881393,

+  0x7f91b694, 0xf581d07b, 0x7f913291, 0xf57b8d69, 0x7f90ae3f, 0xf5754a5e,

+    0x7f90299f, 0xf56f0759,

+  0x7f8fa4b0, 0xf568c45b, 0x7f8f1f72, 0xf5628163, 0x7f8e99e6, 0xf55c3e72,

+    0x7f8e140a, 0xf555fb88,

+  0x7f8d8de1, 0xf54fb8a4, 0x7f8d0768, 0xf54975c6, 0x7f8c80a1, 0xf54332ef,

+    0x7f8bf98b, 0xf53cf01f,

+  0x7f8b7227, 0xf536ad56, 0x7f8aea74, 0xf5306a93, 0x7f8a6272, 0xf52a27d7,

+    0x7f89da21, 0xf523e521,

+  0x7f895182, 0xf51da273, 0x7f88c894, 0xf5175fca, 0x7f883f58, 0xf5111d29,

+    0x7f87b5cd, 0xf50ada8f,

+  0x7f872bf3, 0xf50497fb, 0x7f86a1ca, 0xf4fe556e, 0x7f861753, 0xf4f812e7,

+    0x7f858c8d, 0xf4f1d068,

+  0x7f850179, 0xf4eb8def, 0x7f847616, 0xf4e54b7d, 0x7f83ea64, 0xf4df0912,

+    0x7f835e64, 0xf4d8c6ae,

+  0x7f82d214, 0xf4d28451, 0x7f824577, 0xf4cc41fb, 0x7f81b88a, 0xf4c5ffab,

+    0x7f812b4f, 0xf4bfbd63,

+  0x7f809dc5, 0xf4b97b21, 0x7f800fed, 0xf4b338e7, 0x7f7f81c6, 0xf4acf6b3,

+    0x7f7ef350, 0xf4a6b486,

+  0x7f7e648c, 0xf4a07261, 0x7f7dd579, 0xf49a3042, 0x7f7d4617, 0xf493ee2b,

+    0x7f7cb667, 0xf48dac1a,

+  0x7f7c2668, 0xf4876a10, 0x7f7b961b, 0xf481280e, 0x7f7b057e, 0xf47ae613,

+    0x7f7a7494, 0xf474a41f,

+  0x7f79e35a, 0xf46e6231, 0x7f7951d2, 0xf468204b, 0x7f78bffb, 0xf461de6d,

+    0x7f782dd6, 0xf45b9c95,

+  0x7f779b62, 0xf4555ac5, 0x7f77089f, 0xf44f18fb, 0x7f76758e, 0xf448d739,

+    0x7f75e22e, 0xf442957e,

+  0x7f754e80, 0xf43c53cb, 0x7f74ba83, 0xf436121e, 0x7f742637, 0xf42fd079,

+    0x7f73919d, 0xf4298edc,

+  0x7f72fcb4, 0xf4234d45, 0x7f72677c, 0xf41d0bb6, 0x7f71d1f6, 0xf416ca2e,

+    0x7f713c21, 0xf41088ae,

+  0x7f70a5fe, 0xf40a4735, 0x7f700f8c, 0xf40405c3, 0x7f6f78cb, 0xf3fdc459,

+    0x7f6ee1bc, 0xf3f782f6,

+  0x7f6e4a5e, 0xf3f1419a, 0x7f6db2b1, 0xf3eb0046, 0x7f6d1ab6, 0xf3e4bef9,

+    0x7f6c826d, 0xf3de7db4,

+  0x7f6be9d4, 0xf3d83c77, 0x7f6b50ed, 0xf3d1fb40, 0x7f6ab7b8, 0xf3cbba12,

+    0x7f6a1e34, 0xf3c578eb,

+  0x7f698461, 0xf3bf37cb, 0x7f68ea40, 0xf3b8f6b3, 0x7f684fd0, 0xf3b2b5a3,

+    0x7f67b512, 0xf3ac749a,

+  0x7f671a05, 0xf3a63398, 0x7f667ea9, 0xf39ff29f, 0x7f65e2ff, 0xf399b1ad,

+    0x7f654706, 0xf39370c2,

+  0x7f64aabf, 0xf38d2fe0, 0x7f640e29, 0xf386ef05, 0x7f637144, 0xf380ae31,

+    0x7f62d411, 0xf37a6d66,

+  0x7f62368f, 0xf3742ca2, 0x7f6198bf, 0xf36debe6, 0x7f60faa0, 0xf367ab31,

+    0x7f605c33, 0xf3616a85,

+  0x7f5fbd77, 0xf35b29e0, 0x7f5f1e6c, 0xf354e943, 0x7f5e7f13, 0xf34ea8ae,

+    0x7f5ddf6b, 0xf3486820,

+  0x7f5d3f75, 0xf342279b, 0x7f5c9f30, 0xf33be71d, 0x7f5bfe9d, 0xf335a6a7,

+    0x7f5b5dbb, 0xf32f6639,

+  0x7f5abc8a, 0xf32925d3, 0x7f5a1b0b, 0xf322e575, 0x7f59793e, 0xf31ca51f,

+    0x7f58d721, 0xf31664d1,

+  0x7f5834b7, 0xf310248a, 0x7f5791fd, 0xf309e44c, 0x7f56eef5, 0xf303a416,

+    0x7f564b9f, 0xf2fd63e8,

+  0x7f55a7fa, 0xf2f723c1, 0x7f550407, 0xf2f0e3a3, 0x7f545fc5, 0xf2eaa38d,

+    0x7f53bb34, 0xf2e4637f,

+  0x7f531655, 0xf2de2379, 0x7f527127, 0xf2d7e37b, 0x7f51cbab, 0xf2d1a385,

+    0x7f5125e0, 0xf2cb6398,

+  0x7f507fc7, 0xf2c523b2, 0x7f4fd95f, 0xf2bee3d5, 0x7f4f32a9, 0xf2b8a400,

+    0x7f4e8ba4, 0xf2b26433,

+  0x7f4de451, 0xf2ac246e, 0x7f4d3caf, 0xf2a5e4b1, 0x7f4c94be, 0xf29fa4fd,

+    0x7f4bec7f, 0xf2996551,

+  0x7f4b43f2, 0xf29325ad, 0x7f4a9b16, 0xf28ce612, 0x7f49f1eb, 0xf286a67e,

+    0x7f494872, 0xf28066f4,

+  0x7f489eaa, 0xf27a2771, 0x7f47f494, 0xf273e7f7, 0x7f474a30, 0xf26da885,

+    0x7f469f7d, 0xf267691b,

+  0x7f45f47b, 0xf26129ba, 0x7f45492b, 0xf25aea61, 0x7f449d8c, 0xf254ab11,

+    0x7f43f19f, 0xf24e6bc9,

+  0x7f434563, 0xf2482c8a, 0x7f4298d9, 0xf241ed53, 0x7f41ec01, 0xf23bae24,

+    0x7f413ed9, 0xf2356efe,

+  0x7f409164, 0xf22f2fe1, 0x7f3fe3a0, 0xf228f0cc, 0x7f3f358d, 0xf222b1c0,

+    0x7f3e872c, 0xf21c72bc,

+  0x7f3dd87c, 0xf21633c0, 0x7f3d297e, 0xf20ff4ce, 0x7f3c7a31, 0xf209b5e4,

+    0x7f3bca96, 0xf2037702,

+  0x7f3b1aad, 0xf1fd3829, 0x7f3a6a75, 0xf1f6f959, 0x7f39b9ee, 0xf1f0ba91,

+    0x7f390919, 0xf1ea7bd2,

+  0x7f3857f6, 0xf1e43d1c, 0x7f37a684, 0xf1ddfe6f, 0x7f36f4c3, 0xf1d7bfca,

+    0x7f3642b4, 0xf1d1812e,

+  0x7f359057, 0xf1cb429a, 0x7f34ddab, 0xf1c50410, 0x7f342ab1, 0xf1bec58e,

+    0x7f337768, 0xf1b88715,

+  0x7f32c3d1, 0xf1b248a5, 0x7f320feb, 0xf1ac0a3e, 0x7f315bb7, 0xf1a5cbdf,

+    0x7f30a734, 0xf19f8d89,

+  0x7f2ff263, 0xf1994f3d, 0x7f2f3d44, 0xf19310f9, 0x7f2e87d6, 0xf18cd2be,

+    0x7f2dd219, 0xf186948c,

+  0x7f2d1c0e, 0xf1805662, 0x7f2c65b5, 0xf17a1842, 0x7f2baf0d, 0xf173da2b,

+    0x7f2af817, 0xf16d9c1d,

+  0x7f2a40d2, 0xf1675e17, 0x7f29893f, 0xf161201b, 0x7f28d15d, 0xf15ae228,

+    0x7f28192d, 0xf154a43d,

+  0x7f2760af, 0xf14e665c, 0x7f26a7e2, 0xf1482884, 0x7f25eec7, 0xf141eab5,

+    0x7f25355d, 0xf13bacef,

+  0x7f247ba5, 0xf1356f32, 0x7f23c19e, 0xf12f317e, 0x7f230749, 0xf128f3d4,

+    0x7f224ca6, 0xf122b632,

+  0x7f2191b4, 0xf11c789a, 0x7f20d674, 0xf1163b0b, 0x7f201ae5, 0xf10ffd85,

+    0x7f1f5f08, 0xf109c009,

+  0x7f1ea2dc, 0xf1038295, 0x7f1de662, 0xf0fd452b, 0x7f1d299a, 0xf0f707ca,

+    0x7f1c6c83, 0xf0f0ca72,

+  0x7f1baf1e, 0xf0ea8d24, 0x7f1af16a, 0xf0e44fdf, 0x7f1a3368, 0xf0de12a3,

+    0x7f197518, 0xf0d7d571,

+  0x7f18b679, 0xf0d19848, 0x7f17f78c, 0xf0cb5b28, 0x7f173850, 0xf0c51e12,

+    0x7f1678c6, 0xf0bee105,

+  0x7f15b8ee, 0xf0b8a401, 0x7f14f8c7, 0xf0b26707, 0x7f143852, 0xf0ac2a16,

+    0x7f13778e, 0xf0a5ed2f,

+  0x7f12b67c, 0xf09fb051, 0x7f11f51c, 0xf099737d, 0x7f11336d, 0xf09336b2,

+    0x7f107170, 0xf08cf9f1,

+  0x7f0faf25, 0xf086bd39, 0x7f0eec8b, 0xf080808b, 0x7f0e29a3, 0xf07a43e7,

+    0x7f0d666c, 0xf074074c,

+  0x7f0ca2e7, 0xf06dcaba, 0x7f0bdf14, 0xf0678e32, 0x7f0b1af2, 0xf06151b4,

+    0x7f0a5682, 0xf05b1540,

+  0x7f0991c4, 0xf054d8d5, 0x7f08ccb7, 0xf04e9c73, 0x7f08075c, 0xf048601c,

+    0x7f0741b2, 0xf04223ce,

+  0x7f067bba, 0xf03be78a, 0x7f05b574, 0xf035ab4f, 0x7f04eedf, 0xf02f6f1f,

+    0x7f0427fc, 0xf02932f8,

+  0x7f0360cb, 0xf022f6da, 0x7f02994b, 0xf01cbac7, 0x7f01d17d, 0xf0167ebd,

+    0x7f010961, 0xf01042be,

+  0x7f0040f6, 0xf00a06c8, 0x7eff783d, 0xf003cadc, 0x7efeaf36, 0xeffd8ef9,

+    0x7efde5e0, 0xeff75321,

+  0x7efd1c3c, 0xeff11753, 0x7efc524a, 0xefeadb8e, 0x7efb8809, 0xefe49fd3,

+    0x7efabd7a, 0xefde6423,

+  0x7ef9f29d, 0xefd8287c, 0x7ef92771, 0xefd1ecdf, 0x7ef85bf7, 0xefcbb14c,

+    0x7ef7902f, 0xefc575c3,

+  0x7ef6c418, 0xefbf3a45, 0x7ef5f7b3, 0xefb8fed0, 0x7ef52b00, 0xefb2c365,

+    0x7ef45dfe, 0xefac8804,

+  0x7ef390ae, 0xefa64cae, 0x7ef2c310, 0xefa01161, 0x7ef1f524, 0xef99d61f,

+    0x7ef126e9, 0xef939ae6,

+  0x7ef05860, 0xef8d5fb8, 0x7eef8988, 0xef872494, 0x7eeeba62, 0xef80e97a,

+    0x7eedeaee, 0xef7aae6b,

+  0x7eed1b2c, 0xef747365, 0x7eec4b1b, 0xef6e386a, 0x7eeb7abc, 0xef67fd79,

+    0x7eeaaa0f, 0xef61c292,

+  0x7ee9d914, 0xef5b87b5, 0x7ee907ca, 0xef554ce3, 0x7ee83632, 0xef4f121b,

+    0x7ee7644c, 0xef48d75d,

+  0x7ee69217, 0xef429caa, 0x7ee5bf94, 0xef3c6201, 0x7ee4ecc3, 0xef362762,

+    0x7ee419a3, 0xef2feccd,

+  0x7ee34636, 0xef29b243, 0x7ee2727a, 0xef2377c4, 0x7ee19e6f, 0xef1d3d4e,

+    0x7ee0ca17, 0xef1702e4,

+  0x7edff570, 0xef10c883, 0x7edf207b, 0xef0a8e2d, 0x7ede4b38, 0xef0453e2,

+    0x7edd75a6, 0xeefe19a1,

+  0x7edc9fc6, 0xeef7df6a, 0x7edbc998, 0xeef1a53e, 0x7edaf31c, 0xeeeb6b1c,

+    0x7eda1c51, 0xeee53105,

+  0x7ed94538, 0xeedef6f9, 0x7ed86dd1, 0xeed8bcf7, 0x7ed7961c, 0xeed28300,

+    0x7ed6be18, 0xeecc4913,

+  0x7ed5e5c6, 0xeec60f31, 0x7ed50d26, 0xeebfd55a, 0x7ed43438, 0xeeb99b8d,

+    0x7ed35afb, 0xeeb361cb,

+  0x7ed28171, 0xeead2813, 0x7ed1a798, 0xeea6ee66, 0x7ed0cd70, 0xeea0b4c4,

+    0x7ecff2fb, 0xee9a7b2d,

+  0x7ecf1837, 0xee9441a0, 0x7ece3d25, 0xee8e081e, 0x7ecd61c5, 0xee87cea7,

+    0x7ecc8617, 0xee81953b,

+  0x7ecbaa1a, 0xee7b5bd9, 0x7ecacdd0, 0xee752283, 0x7ec9f137, 0xee6ee937,

+    0x7ec9144f, 0xee68aff6,

+  0x7ec8371a, 0xee6276bf, 0x7ec75996, 0xee5c3d94, 0x7ec67bc5, 0xee560473,

+    0x7ec59da5, 0xee4fcb5e,

+  0x7ec4bf36, 0xee499253, 0x7ec3e07a, 0xee435953, 0x7ec3016f, 0xee3d205e,

+    0x7ec22217, 0xee36e775,

+  0x7ec14270, 0xee30ae96, 0x7ec0627a, 0xee2a75c2, 0x7ebf8237, 0xee243cf9,

+    0x7ebea1a6, 0xee1e043b,

+  0x7ebdc0c6, 0xee17cb88, 0x7ebcdf98, 0xee1192e0, 0x7ebbfe1c, 0xee0b5a43,

+    0x7ebb1c52, 0xee0521b2,

+  0x7eba3a39, 0xedfee92b, 0x7eb957d2, 0xedf8b0b0, 0x7eb8751e, 0xedf2783f,

+    0x7eb7921b, 0xedec3fda,

+  0x7eb6aeca, 0xede60780, 0x7eb5cb2a, 0xeddfcf31, 0x7eb4e73d, 0xedd996ed,

+    0x7eb40301, 0xedd35eb5,

+  0x7eb31e78, 0xedcd2687, 0x7eb239a0, 0xedc6ee65, 0x7eb1547a, 0xedc0b64e,

+    0x7eb06f05, 0xedba7e43,

+  0x7eaf8943, 0xedb44642, 0x7eaea333, 0xedae0e4d, 0x7eadbcd4, 0xeda7d664,

+    0x7eacd627, 0xeda19e85,

+  0x7eabef2c, 0xed9b66b2, 0x7eab07e3, 0xed952eea, 0x7eaa204c, 0xed8ef72e,

+    0x7ea93867, 0xed88bf7d,

+  0x7ea85033, 0xed8287d7, 0x7ea767b2, 0xed7c503d, 0x7ea67ee2, 0xed7618ae,

+    0x7ea595c4, 0xed6fe12b,

+  0x7ea4ac58, 0xed69a9b3, 0x7ea3c29e, 0xed637246, 0x7ea2d896, 0xed5d3ae5,

+    0x7ea1ee3f, 0xed570390,

+  0x7ea1039b, 0xed50cc46, 0x7ea018a8, 0xed4a9507, 0x7e9f2d68, 0xed445dd5,

+    0x7e9e41d9, 0xed3e26ad,

+  0x7e9d55fc, 0xed37ef91, 0x7e9c69d1, 0xed31b881, 0x7e9b7d58, 0xed2b817d,

+    0x7e9a9091, 0xed254a84,

+  0x7e99a37c, 0xed1f1396, 0x7e98b618, 0xed18dcb5, 0x7e97c867, 0xed12a5df,

+    0x7e96da67, 0xed0c6f14,

+  0x7e95ec1a, 0xed063856, 0x7e94fd7e, 0xed0001a3, 0x7e940e94, 0xecf9cafb,

+    0x7e931f5c, 0xecf39460,

+  0x7e922fd6, 0xeced5dd0, 0x7e914002, 0xece7274c, 0x7e904fe0, 0xece0f0d4,

+    0x7e8f5f70, 0xecdaba67,

+  0x7e8e6eb2, 0xecd48407, 0x7e8d7da6, 0xecce4db2, 0x7e8c8c4b, 0xecc81769,

+    0x7e8b9aa3, 0xecc1e12c,

+  0x7e8aa8ac, 0xecbbaafb, 0x7e89b668, 0xecb574d5, 0x7e88c3d5, 0xecaf3ebc,

+    0x7e87d0f5, 0xeca908ae,

+  0x7e86ddc6, 0xeca2d2ad, 0x7e85ea49, 0xec9c9cb7, 0x7e84f67e, 0xec9666cd,

+    0x7e840265, 0xec9030f0,

+  0x7e830dff, 0xec89fb1e, 0x7e82194a, 0xec83c558, 0x7e812447, 0xec7d8f9e,

+    0x7e802ef6, 0xec7759f1,

+  0x7e7f3957, 0xec71244f, 0x7e7e436a, 0xec6aeeba, 0x7e7d4d2f, 0xec64b930,

+    0x7e7c56a5, 0xec5e83b3,

+  0x7e7b5fce, 0xec584e41, 0x7e7a68a9, 0xec5218dc, 0x7e797136, 0xec4be383,

+    0x7e787975, 0xec45ae36,

+  0x7e778166, 0xec3f78f6, 0x7e768908, 0xec3943c1, 0x7e75905d, 0xec330e99,

+    0x7e749764, 0xec2cd97d,

+  0x7e739e1d, 0xec26a46d, 0x7e72a488, 0xec206f69, 0x7e71aaa4, 0xec1a3a72,

+    0x7e70b073, 0xec140587,

+  0x7e6fb5f4, 0xec0dd0a8, 0x7e6ebb27, 0xec079bd6, 0x7e6dc00c, 0xec01670f,

+    0x7e6cc4a2, 0xebfb3256,

+  0x7e6bc8eb, 0xebf4fda8, 0x7e6acce6, 0xebeec907, 0x7e69d093, 0xebe89472,

+    0x7e68d3f2, 0xebe25fea,

+  0x7e67d703, 0xebdc2b6e, 0x7e66d9c6, 0xebd5f6fe, 0x7e65dc3b, 0xebcfc29b,

+    0x7e64de62, 0xebc98e45,

+  0x7e63e03b, 0xebc359fb, 0x7e62e1c6, 0xebbd25bd, 0x7e61e303, 0xebb6f18c,

+    0x7e60e3f2, 0xebb0bd67,

+  0x7e5fe493, 0xebaa894f, 0x7e5ee4e6, 0xeba45543, 0x7e5de4ec, 0xeb9e2144,

+    0x7e5ce4a3, 0xeb97ed52,

+  0x7e5be40c, 0xeb91b96c, 0x7e5ae328, 0xeb8b8593, 0x7e59e1f5, 0xeb8551c6,

+    0x7e58e075, 0xeb7f1e06,

+  0x7e57dea7, 0xeb78ea52, 0x7e56dc8a, 0xeb72b6ac, 0x7e55da20, 0xeb6c8312,

+    0x7e54d768, 0xeb664f84,

+  0x7e53d462, 0xeb601c04, 0x7e52d10e, 0xeb59e890, 0x7e51cd6c, 0xeb53b529,

+    0x7e50c97c, 0xeb4d81ce,

+  0x7e4fc53e, 0xeb474e81, 0x7e4ec0b2, 0xeb411b40, 0x7e4dbbd9, 0xeb3ae80c,

+    0x7e4cb6b1, 0xeb34b4e4,

+  0x7e4bb13c, 0xeb2e81ca, 0x7e4aab78, 0xeb284ebc, 0x7e49a567, 0xeb221bbb,

+    0x7e489f08, 0xeb1be8c8,

+  0x7e47985b, 0xeb15b5e1, 0x7e469160, 0xeb0f8307, 0x7e458a17, 0xeb095039,

+    0x7e448281, 0xeb031d79,

+  0x7e437a9c, 0xeafceac6, 0x7e427269, 0xeaf6b81f, 0x7e4169e9, 0xeaf08586,

+    0x7e40611b, 0xeaea52fa,

+  0x7e3f57ff, 0xeae4207a, 0x7e3e4e95, 0xeaddee08, 0x7e3d44dd, 0xead7bba3,

+    0x7e3c3ad7, 0xead1894b,

+  0x7e3b3083, 0xeacb56ff, 0x7e3a25e2, 0xeac524c1, 0x7e391af3, 0xeabef290,

+    0x7e380fb5, 0xeab8c06c,

+  0x7e37042a, 0xeab28e56, 0x7e35f851, 0xeaac5c4c, 0x7e34ec2b, 0xeaa62a4f,

+    0x7e33dfb6, 0xea9ff860,

+  0x7e32d2f4, 0xea99c67e, 0x7e31c5e3, 0xea9394a9, 0x7e30b885, 0xea8d62e1,

+    0x7e2faad9, 0xea873127,

+  0x7e2e9cdf, 0xea80ff7a, 0x7e2d8e97, 0xea7acdda, 0x7e2c8002, 0xea749c47,

+    0x7e2b711f, 0xea6e6ac2,

+  0x7e2a61ed, 0xea683949, 0x7e29526e, 0xea6207df, 0x7e2842a2, 0xea5bd681,

+    0x7e273287, 0xea55a531,

+  0x7e26221f, 0xea4f73ee, 0x7e251168, 0xea4942b9, 0x7e240064, 0xea431191,

+    0x7e22ef12, 0xea3ce077,

+  0x7e21dd73, 0xea36af69, 0x7e20cb85, 0xea307e6a, 0x7e1fb94a, 0xea2a4d78,

+    0x7e1ea6c1, 0xea241c93,

+  0x7e1d93ea, 0xea1debbb, 0x7e1c80c5, 0xea17baf2, 0x7e1b6d53, 0xea118a35,

+    0x7e1a5992, 0xea0b5987,

+  0x7e194584, 0xea0528e5, 0x7e183128, 0xe9fef852, 0x7e171c7f, 0xe9f8c7cc,

+    0x7e160787, 0xe9f29753,

+  0x7e14f242, 0xe9ec66e8, 0x7e13dcaf, 0xe9e6368b, 0x7e12c6ce, 0xe9e0063c,

+    0x7e11b0a0, 0xe9d9d5fa,

+  0x7e109a24, 0xe9d3a5c5, 0x7e0f835a, 0xe9cd759f, 0x7e0e6c42, 0xe9c74586,

+    0x7e0d54dc, 0xe9c1157a,

+  0x7e0c3d29, 0xe9bae57d, 0x7e0b2528, 0xe9b4b58d, 0x7e0a0cd9, 0xe9ae85ab,

+    0x7e08f43d, 0xe9a855d7,

+  0x7e07db52, 0xe9a22610, 0x7e06c21a, 0xe99bf658, 0x7e05a894, 0xe995c6ad,

+    0x7e048ec1, 0xe98f9710,

+  0x7e0374a0, 0xe9896781, 0x7e025a31, 0xe98337ff, 0x7e013f74, 0xe97d088c,

+    0x7e00246a, 0xe976d926,

+  0x7dff0911, 0xe970a9ce, 0x7dfded6c, 0xe96a7a85, 0x7dfcd178, 0xe9644b49,

+    0x7dfbb537, 0xe95e1c1b,

+  0x7dfa98a8, 0xe957ecfb, 0x7df97bcb, 0xe951bde9, 0x7df85ea0, 0xe94b8ee5,

+    0x7df74128, 0xe9455fef,

+  0x7df62362, 0xe93f3107, 0x7df5054f, 0xe939022d, 0x7df3e6ee, 0xe932d361,

+    0x7df2c83f, 0xe92ca4a4,

+  0x7df1a942, 0xe92675f4, 0x7df089f8, 0xe9204752, 0x7def6a60, 0xe91a18bf,

+    0x7dee4a7a, 0xe913ea39,

+  0x7ded2a47, 0xe90dbbc2, 0x7dec09c6, 0xe9078d59, 0x7deae8f7, 0xe9015efe,

+    0x7de9c7da, 0xe8fb30b1,

+  0x7de8a670, 0xe8f50273, 0x7de784b9, 0xe8eed443, 0x7de662b3, 0xe8e8a621,

+    0x7de54060, 0xe8e2780d,

+  0x7de41dc0, 0xe8dc4a07, 0x7de2fad1, 0xe8d61c10, 0x7de1d795, 0xe8cfee27,

+    0x7de0b40b, 0xe8c9c04c,

+  0x7ddf9034, 0xe8c39280, 0x7dde6c0f, 0xe8bd64c2, 0x7ddd479d, 0xe8b73712,

+    0x7ddc22dc, 0xe8b10971,

+  0x7ddafdce, 0xe8aadbde, 0x7dd9d873, 0xe8a4ae59, 0x7dd8b2ca, 0xe89e80e3,

+    0x7dd78cd3, 0xe898537b,

+  0x7dd6668f, 0xe8922622, 0x7dd53ffc, 0xe88bf8d7, 0x7dd4191d, 0xe885cb9a,

+    0x7dd2f1f0, 0xe87f9e6c,

+  0x7dd1ca75, 0xe879714d, 0x7dd0a2ac, 0xe873443c, 0x7dcf7a96, 0xe86d173a,

+    0x7dce5232, 0xe866ea46,

+  0x7dcd2981, 0xe860bd61, 0x7dcc0082, 0xe85a908a, 0x7dcad736, 0xe85463c2,

+    0x7dc9ad9c, 0xe84e3708,

+  0x7dc883b4, 0xe8480a5d, 0x7dc7597f, 0xe841ddc1, 0x7dc62efc, 0xe83bb133,

+    0x7dc5042b, 0xe83584b4,

+  0x7dc3d90d, 0xe82f5844, 0x7dc2ada2, 0xe8292be3, 0x7dc181e8, 0xe822ff90,

+    0x7dc055e2, 0xe81cd34b,

+  0x7dbf298d, 0xe816a716, 0x7dbdfceb, 0xe8107aef, 0x7dbccffc, 0xe80a4ed7,

+    0x7dbba2bf, 0xe80422ce,

+  0x7dba7534, 0xe7fdf6d4, 0x7db9475c, 0xe7f7cae8, 0x7db81936, 0xe7f19f0c,

+    0x7db6eac3, 0xe7eb733e,

+  0x7db5bc02, 0xe7e5477f, 0x7db48cf4, 0xe7df1bcf, 0x7db35d98, 0xe7d8f02d,

+    0x7db22def, 0xe7d2c49b,

+  0x7db0fdf8, 0xe7cc9917, 0x7dafcdb3, 0xe7c66da3, 0x7dae9d21, 0xe7c0423d,

+    0x7dad6c42, 0xe7ba16e7,

+  0x7dac3b15, 0xe7b3eb9f, 0x7dab099a, 0xe7adc066, 0x7da9d7d2, 0xe7a7953d,

+    0x7da8a5bc, 0xe7a16a22,

+  0x7da77359, 0xe79b3f16, 0x7da640a9, 0xe795141a, 0x7da50dab, 0xe78ee92c,

+    0x7da3da5f, 0xe788be4e,

+  0x7da2a6c6, 0xe782937e, 0x7da172df, 0xe77c68be, 0x7da03eab, 0xe7763e0d,

+    0x7d9f0a29, 0xe770136b,

+  0x7d9dd55a, 0xe769e8d8, 0x7d9ca03e, 0xe763be55, 0x7d9b6ad3, 0xe75d93e0,

+    0x7d9a351c, 0xe757697b,

+  0x7d98ff17, 0xe7513f25, 0x7d97c8c4, 0xe74b14de, 0x7d969224, 0xe744eaa6,

+    0x7d955b37, 0xe73ec07e,

+  0x7d9423fc, 0xe7389665, 0x7d92ec73, 0xe7326c5b, 0x7d91b49e, 0xe72c4260,

+    0x7d907c7a, 0xe7261875,

+  0x7d8f4409, 0xe71fee99, 0x7d8e0b4b, 0xe719c4cd, 0x7d8cd240, 0xe7139b10,

+    0x7d8b98e6, 0xe70d7162,

+  0x7d8a5f40, 0xe70747c4, 0x7d89254c, 0xe7011e35, 0x7d87eb0a, 0xe6faf4b5,

+    0x7d86b07c, 0xe6f4cb45,

+  0x7d85759f, 0xe6eea1e4, 0x7d843a76, 0xe6e87893, 0x7d82fefe, 0xe6e24f51,

+    0x7d81c33a, 0xe6dc261f,

+  0x7d808728, 0xe6d5fcfc, 0x7d7f4ac8, 0xe6cfd3e9, 0x7d7e0e1c, 0xe6c9aae5,

+    0x7d7cd121, 0xe6c381f1,

+  0x7d7b93da, 0xe6bd590d, 0x7d7a5645, 0xe6b73038, 0x7d791862, 0xe6b10772,

+    0x7d77da32, 0xe6aadebc,

+  0x7d769bb5, 0xe6a4b616, 0x7d755cea, 0xe69e8d80, 0x7d741dd2, 0xe69864f9,

+    0x7d72de6d, 0xe6923c82,

+  0x7d719eba, 0xe68c141a, 0x7d705eba, 0xe685ebc2, 0x7d6f1e6c, 0xe67fc37a,

+    0x7d6dddd2, 0xe6799b42,

+  0x7d6c9ce9, 0xe6737319, 0x7d6b5bb4, 0xe66d4b01, 0x7d6a1a31, 0xe66722f7,

+    0x7d68d860, 0xe660fafe,

+  0x7d679642, 0xe65ad315, 0x7d6653d7, 0xe654ab3b, 0x7d65111f, 0xe64e8371,

+    0x7d63ce19, 0xe6485bb7,

+  0x7d628ac6, 0xe642340d, 0x7d614725, 0xe63c0c73, 0x7d600338, 0xe635e4e9,

+    0x7d5ebefc, 0xe62fbd6e,

+  0x7d5d7a74, 0xe6299604, 0x7d5c359e, 0xe6236ea9, 0x7d5af07b, 0xe61d475e,

+    0x7d59ab0a, 0xe6172024,

+  0x7d58654d, 0xe610f8f9, 0x7d571f41, 0xe60ad1de, 0x7d55d8e9, 0xe604aad4,

+    0x7d549243, 0xe5fe83d9,

+  0x7d534b50, 0xe5f85cef, 0x7d520410, 0xe5f23614, 0x7d50bc82, 0xe5ec0f4a,

+    0x7d4f74a7, 0xe5e5e88f,

+  0x7d4e2c7f, 0xe5dfc1e5, 0x7d4ce409, 0xe5d99b4b, 0x7d4b9b46, 0xe5d374c1,

+    0x7d4a5236, 0xe5cd4e47,

+  0x7d4908d9, 0xe5c727dd, 0x7d47bf2e, 0xe5c10184, 0x7d467536, 0xe5badb3a,

+    0x7d452af1, 0xe5b4b501,

+  0x7d43e05e, 0xe5ae8ed8, 0x7d42957e, 0xe5a868bf, 0x7d414a51, 0xe5a242b7,

+    0x7d3ffed7, 0xe59c1cbf,

+  0x7d3eb30f, 0xe595f6d7, 0x7d3d66fa, 0xe58fd0ff, 0x7d3c1a98, 0xe589ab38,

+    0x7d3acde9, 0xe5838581,

+  0x7d3980ec, 0xe57d5fda, 0x7d3833a2, 0xe5773a44, 0x7d36e60b, 0xe57114be,

+    0x7d359827, 0xe56aef49,

+  0x7d3449f5, 0xe564c9e3, 0x7d32fb76, 0xe55ea48f, 0x7d31acaa, 0xe5587f4a,

+    0x7d305d91, 0xe5525a17,

+  0x7d2f0e2b, 0xe54c34f3, 0x7d2dbe77, 0xe5460fe0, 0x7d2c6e76, 0xe53feade,

+    0x7d2b1e28, 0xe539c5ec,

+  0x7d29cd8c, 0xe533a10a, 0x7d287ca4, 0xe52d7c39, 0x7d272b6e, 0xe5275779,

+    0x7d25d9eb, 0xe52132c9,

+  0x7d24881b, 0xe51b0e2a, 0x7d2335fe, 0xe514e99b, 0x7d21e393, 0xe50ec51d,

+    0x7d2090db, 0xe508a0b0,

+  0x7d1f3dd6, 0xe5027c53, 0x7d1dea84, 0xe4fc5807, 0x7d1c96e5, 0xe4f633cc,

+    0x7d1b42f9, 0xe4f00fa1,

+  0x7d19eebf, 0xe4e9eb87, 0x7d189a38, 0xe4e3c77d, 0x7d174564, 0xe4dda385,

+    0x7d15f043, 0xe4d77f9d,

+  0x7d149ad5, 0xe4d15bc6, 0x7d134519, 0xe4cb37ff, 0x7d11ef11, 0xe4c5144a,

+    0x7d1098bb, 0xe4bef0a5,

+  0x7d0f4218, 0xe4b8cd11, 0x7d0deb28, 0xe4b2a98e, 0x7d0c93eb, 0xe4ac861b,

+    0x7d0b3c60, 0xe4a662ba,

+  0x7d09e489, 0xe4a03f69, 0x7d088c64, 0xe49a1c29, 0x7d0733f3, 0xe493f8fb,

+    0x7d05db34, 0xe48dd5dd,

+  0x7d048228, 0xe487b2d0, 0x7d0328cf, 0xe4818fd4, 0x7d01cf29, 0xe47b6ce9,

+    0x7d007535, 0xe4754a0e,

+  0x7cff1af5, 0xe46f2745, 0x7cfdc068, 0xe469048d, 0x7cfc658d, 0xe462e1e6,

+    0x7cfb0a65, 0xe45cbf50,

+  0x7cf9aef0, 0xe4569ccb, 0x7cf8532f, 0xe4507a57, 0x7cf6f720, 0xe44a57f4,

+    0x7cf59ac4, 0xe44435a2,

+  0x7cf43e1a, 0xe43e1362, 0x7cf2e124, 0xe437f132, 0x7cf183e1, 0xe431cf14,

+    0x7cf02651, 0xe42bad07,

+  0x7ceec873, 0xe4258b0a, 0x7ced6a49, 0xe41f6920, 0x7cec0bd1, 0xe4194746,

+    0x7ceaad0c, 0xe413257d,

+  0x7ce94dfb, 0xe40d03c6, 0x7ce7ee9c, 0xe406e220, 0x7ce68ef0, 0xe400c08b,

+    0x7ce52ef7, 0xe3fa9f08,

+  0x7ce3ceb2, 0xe3f47d96, 0x7ce26e1f, 0xe3ee5c35, 0x7ce10d3f, 0xe3e83ae5,

+    0x7cdfac12, 0xe3e219a7,

+  0x7cde4a98, 0xe3dbf87a, 0x7cdce8d1, 0xe3d5d75e, 0x7cdb86bd, 0xe3cfb654,

+    0x7cda245c, 0xe3c9955b,

+  0x7cd8c1ae, 0xe3c37474, 0x7cd75eb3, 0xe3bd539e, 0x7cd5fb6a, 0xe3b732d9,

+    0x7cd497d5, 0xe3b11226,

+  0x7cd333f3, 0xe3aaf184, 0x7cd1cfc4, 0xe3a4d0f4, 0x7cd06b48, 0xe39eb075,

+    0x7ccf067f, 0xe3989008,

+  0x7ccda169, 0xe3926fad, 0x7ccc3c06, 0xe38c4f63, 0x7ccad656, 0xe3862f2a,

+    0x7cc97059, 0xe3800f03,

+  0x7cc80a0f, 0xe379eeed, 0x7cc6a378, 0xe373ceea, 0x7cc53c94, 0xe36daef7,

+    0x7cc3d563, 0xe3678f17,

+  0x7cc26de5, 0xe3616f48, 0x7cc1061a, 0xe35b4f8b, 0x7cbf9e03, 0xe3552fdf,

+    0x7cbe359e, 0xe34f1045,

+  0x7cbcccec, 0xe348f0bd, 0x7cbb63ee, 0xe342d146, 0x7cb9faa2, 0xe33cb1e1,

+    0x7cb8910a, 0xe336928e,

+  0x7cb72724, 0xe330734d, 0x7cb5bcf2, 0xe32a541d, 0x7cb45272, 0xe3243500,

+    0x7cb2e7a6, 0xe31e15f4,

+  0x7cb17c8d, 0xe317f6fa, 0x7cb01127, 0xe311d811, 0x7caea574, 0xe30bb93b,

+    0x7cad3974, 0xe3059a76,

+  0x7cabcd28, 0xe2ff7bc3, 0x7caa608e, 0xe2f95d23, 0x7ca8f3a7, 0xe2f33e94,

+    0x7ca78674, 0xe2ed2017,

+  0x7ca618f3, 0xe2e701ac, 0x7ca4ab26, 0xe2e0e352, 0x7ca33d0c, 0xe2dac50b,

+    0x7ca1cea5, 0xe2d4a6d6,

+  0x7ca05ff1, 0xe2ce88b3, 0x7c9ef0f0, 0xe2c86aa2, 0x7c9d81a3, 0xe2c24ca2,

+    0x7c9c1208, 0xe2bc2eb5,

+  0x7c9aa221, 0xe2b610da, 0x7c9931ec, 0xe2aff311, 0x7c97c16b, 0xe2a9d55a,

+    0x7c96509d, 0xe2a3b7b5,

+  0x7c94df83, 0xe29d9a23, 0x7c936e1b, 0xe2977ca2, 0x7c91fc66, 0xe2915f34,

+    0x7c908a65, 0xe28b41d7,

+  0x7c8f1817, 0xe285248d, 0x7c8da57c, 0xe27f0755, 0x7c8c3294, 0xe278ea30,

+    0x7c8abf5f, 0xe272cd1c,

+  0x7c894bde, 0xe26cb01b, 0x7c87d810, 0xe266932c, 0x7c8663f4, 0xe260764f,

+    0x7c84ef8c, 0xe25a5984,

+  0x7c837ad8, 0xe2543ccc, 0x7c8205d6, 0xe24e2026, 0x7c809088, 0xe2480393,

+    0x7c7f1aed, 0xe241e711,

+  0x7c7da505, 0xe23bcaa2, 0x7c7c2ed0, 0xe235ae46, 0x7c7ab84e, 0xe22f91fc,

+    0x7c794180, 0xe22975c4,

+  0x7c77ca65, 0xe223599e, 0x7c7652fd, 0xe21d3d8b, 0x7c74db48, 0xe217218b,

+    0x7c736347, 0xe211059d,

+  0x7c71eaf9, 0xe20ae9c1, 0x7c70725e, 0xe204cdf8, 0x7c6ef976, 0xe1feb241,

+    0x7c6d8041, 0xe1f8969d,

+  0x7c6c06c0, 0xe1f27b0b, 0x7c6a8cf2, 0xe1ec5f8c, 0x7c6912d7, 0xe1e64420,

+    0x7c679870, 0xe1e028c6,

+  0x7c661dbc, 0xe1da0d7e, 0x7c64a2bb, 0xe1d3f24a, 0x7c63276d, 0xe1cdd727,

+    0x7c61abd3, 0xe1c7bc18,

+  0x7c602fec, 0xe1c1a11b, 0x7c5eb3b8, 0xe1bb8631, 0x7c5d3737, 0xe1b56b59,

+    0x7c5bba6a, 0xe1af5094,

+  0x7c5a3d50, 0xe1a935e2, 0x7c58bfe9, 0xe1a31b42, 0x7c574236, 0xe19d00b6,

+    0x7c55c436, 0xe196e63c,

+  0x7c5445e9, 0xe190cbd4, 0x7c52c74f, 0xe18ab180, 0x7c514869, 0xe184973e,

+    0x7c4fc936, 0xe17e7d0f,

+  0x7c4e49b7, 0xe17862f3, 0x7c4cc9ea, 0xe17248ea, 0x7c4b49d2, 0xe16c2ef4,

+    0x7c49c96c, 0xe1661510,

+  0x7c4848ba, 0xe15ffb3f, 0x7c46c7bb, 0xe159e182, 0x7c45466f, 0xe153c7d7,

+    0x7c43c4d7, 0xe14dae3f,

+  0x7c4242f2, 0xe14794ba, 0x7c40c0c1, 0xe1417b48, 0x7c3f3e42, 0xe13b61e9,

+    0x7c3dbb78, 0xe135489d,

+  0x7c3c3860, 0xe12f2f63, 0x7c3ab4fc, 0xe129163d, 0x7c39314b, 0xe122fd2a,

+    0x7c37ad4e, 0xe11ce42a,

+  0x7c362904, 0xe116cb3d, 0x7c34a46d, 0xe110b263, 0x7c331f8a, 0xe10a999c,

+    0x7c319a5a, 0xe10480e9,

+  0x7c3014de, 0xe0fe6848, 0x7c2e8f15, 0xe0f84fbb, 0x7c2d08ff, 0xe0f23740,

+    0x7c2b829d, 0xe0ec1ed9,

+  0x7c29fbee, 0xe0e60685, 0x7c2874f3, 0xe0dfee44, 0x7c26edab, 0xe0d9d616,

+    0x7c256616, 0xe0d3bdfc,

+  0x7c23de35, 0xe0cda5f5, 0x7c225607, 0xe0c78e01, 0x7c20cd8d, 0xe0c17620,

+    0x7c1f44c6, 0xe0bb5e53,

+  0x7c1dbbb3, 0xe0b54698, 0x7c1c3253, 0xe0af2ef2, 0x7c1aa8a6, 0xe0a9175e,

+    0x7c191ead, 0xe0a2ffde,

+  0x7c179467, 0xe09ce871, 0x7c1609d5, 0xe096d117, 0x7c147ef6, 0xe090b9d1,

+    0x7c12f3cb, 0xe08aa29f,

+  0x7c116853, 0xe0848b7f, 0x7c0fdc8f, 0xe07e7473, 0x7c0e507e, 0xe0785d7b,

+    0x7c0cc421, 0xe0724696,

+  0x7c0b3777, 0xe06c2fc4, 0x7c09aa80, 0xe0661906, 0x7c081d3d, 0xe060025c,

+    0x7c068fae, 0xe059ebc5,

+  0x7c0501d2, 0xe053d541, 0x7c0373a9, 0xe04dbed1, 0x7c01e534, 0xe047a875,

+    0x7c005673, 0xe041922c,

+  0x7bfec765, 0xe03b7bf6, 0x7bfd380a, 0xe03565d5, 0x7bfba863, 0xe02f4fc6,

+    0x7bfa1870, 0xe02939cc,

+  0x7bf88830, 0xe02323e5, 0x7bf6f7a4, 0xe01d0e12, 0x7bf566cb, 0xe016f852,

+    0x7bf3d5a6, 0xe010e2a7,

+  0x7bf24434, 0xe00acd0e, 0x7bf0b276, 0xe004b78a, 0x7bef206b, 0xdffea219,

+    0x7bed8e14, 0xdff88cbc,

+  0x7bebfb70, 0xdff27773, 0x7bea6880, 0xdfec623e, 0x7be8d544, 0xdfe64d1c,

+    0x7be741bb, 0xdfe0380e,

+  0x7be5ade6, 0xdfda2314, 0x7be419c4, 0xdfd40e2e, 0x7be28556, 0xdfcdf95c,

+    0x7be0f09b, 0xdfc7e49d,

+  0x7bdf5b94, 0xdfc1cff3, 0x7bddc641, 0xdfbbbb5c, 0x7bdc30a1, 0xdfb5a6d9,

+    0x7bda9ab5, 0xdfaf926a,

+  0x7bd9047c, 0xdfa97e0f, 0x7bd76df7, 0xdfa369c8, 0x7bd5d726, 0xdf9d5595,

+    0x7bd44008, 0xdf974176,

+  0x7bd2a89e, 0xdf912d6b, 0x7bd110e8, 0xdf8b1974, 0x7bcf78e5, 0xdf850591,

+    0x7bcde095, 0xdf7ef1c2,

+  0x7bcc47fa, 0xdf78de07, 0x7bcaaf12, 0xdf72ca60, 0x7bc915dd, 0xdf6cb6cd,

+    0x7bc77c5d, 0xdf66a34e,

+  0x7bc5e290, 0xdf608fe4, 0x7bc44876, 0xdf5a7c8d, 0x7bc2ae10, 0xdf54694b,

+    0x7bc1135e, 0xdf4e561c,

+  0x7bbf7860, 0xdf484302, 0x7bbddd15, 0xdf422ffd, 0x7bbc417e, 0xdf3c1d0b,

+    0x7bbaa59a, 0xdf360a2d,

+  0x7bb9096b, 0xdf2ff764, 0x7bb76cef, 0xdf29e4af, 0x7bb5d026, 0xdf23d20e,

+    0x7bb43311, 0xdf1dbf82,

+  0x7bb295b0, 0xdf17ad0a, 0x7bb0f803, 0xdf119aa6, 0x7baf5a09, 0xdf0b8856,

+    0x7badbbc3, 0xdf05761b,

+  0x7bac1d31, 0xdeff63f4, 0x7baa7e53, 0xdef951e2, 0x7ba8df28, 0xdef33fe3,

+    0x7ba73fb1, 0xdeed2dfa,

+  0x7ba59fee, 0xdee71c24, 0x7ba3ffde, 0xdee10a63, 0x7ba25f82, 0xdedaf8b7,

+    0x7ba0beda, 0xded4e71f,

+  0x7b9f1de6, 0xdeced59b, 0x7b9d7ca5, 0xdec8c42c, 0x7b9bdb18, 0xdec2b2d1,

+    0x7b9a393f, 0xdebca18b,

+  0x7b989719, 0xdeb69059, 0x7b96f4a8, 0xdeb07f3c, 0x7b9551ea, 0xdeaa6e34,

+    0x7b93aee0, 0xdea45d40,

+  0x7b920b89, 0xde9e4c60, 0x7b9067e7, 0xde983b95, 0x7b8ec3f8, 0xde922adf,

+    0x7b8d1fbd, 0xde8c1a3e,

+  0x7b8b7b36, 0xde8609b1, 0x7b89d662, 0xde7ff938, 0x7b883143, 0xde79e8d5,

+    0x7b868bd7, 0xde73d886,

+  0x7b84e61f, 0xde6dc84b, 0x7b83401b, 0xde67b826, 0x7b8199ca, 0xde61a815,

+    0x7b7ff32e, 0xde5b9819,

+  0x7b7e4c45, 0xde558831, 0x7b7ca510, 0xde4f785f, 0x7b7afd8f, 0xde4968a1,

+    0x7b7955c2, 0xde4358f8,

+  0x7b77ada8, 0xde3d4964, 0x7b760542, 0xde3739e4, 0x7b745c91, 0xde312a7a,

+    0x7b72b393, 0xde2b1b24,

+  0x7b710a49, 0xde250be3, 0x7b6f60b2, 0xde1efcb7, 0x7b6db6d0, 0xde18eda0,

+    0x7b6c0ca2, 0xde12de9e,

+  0x7b6a6227, 0xde0ccfb1, 0x7b68b760, 0xde06c0d9, 0x7b670c4d, 0xde00b216,

+    0x7b6560ee, 0xddfaa367,

+  0x7b63b543, 0xddf494ce, 0x7b62094c, 0xddee8649, 0x7b605d09, 0xdde877da,

+    0x7b5eb079, 0xdde26980,

+  0x7b5d039e, 0xdddc5b3b, 0x7b5b5676, 0xddd64d0a, 0x7b59a902, 0xddd03eef,

+    0x7b57fb42, 0xddca30e9,

+  0x7b564d36, 0xddc422f8, 0x7b549ede, 0xddbe151d, 0x7b52f03a, 0xddb80756,

+    0x7b51414a, 0xddb1f9a4,

+  0x7b4f920e, 0xddabec08, 0x7b4de286, 0xdda5de81, 0x7b4c32b1, 0xdd9fd10f,

+    0x7b4a8291, 0xdd99c3b2,

+  0x7b48d225, 0xdd93b66a, 0x7b47216c, 0xdd8da938, 0x7b457068, 0xdd879c1b,

+    0x7b43bf17, 0xdd818f13,

+  0x7b420d7a, 0xdd7b8220, 0x7b405b92, 0xdd757543, 0x7b3ea95d, 0xdd6f687b,

+    0x7b3cf6dc, 0xdd695bc9,

+  0x7b3b4410, 0xdd634f2b, 0x7b3990f7, 0xdd5d42a3, 0x7b37dd92, 0xdd573631,

+    0x7b3629e1, 0xdd5129d4,

+  0x7b3475e5, 0xdd4b1d8c, 0x7b32c19c, 0xdd451159, 0x7b310d07, 0xdd3f053c,

+    0x7b2f5826, 0xdd38f935,

+  0x7b2da2fa, 0xdd32ed43, 0x7b2bed81, 0xdd2ce166, 0x7b2a37bc, 0xdd26d59f,

+    0x7b2881ac, 0xdd20c9ed,

+  0x7b26cb4f, 0xdd1abe51, 0x7b2514a6, 0xdd14b2ca, 0x7b235db2, 0xdd0ea759,

+    0x7b21a671, 0xdd089bfe,

+  0x7b1feee5, 0xdd0290b8, 0x7b1e370d, 0xdcfc8588, 0x7b1c7ee8, 0xdcf67a6d,

+    0x7b1ac678, 0xdcf06f68,

+  0x7b190dbc, 0xdcea6478, 0x7b1754b3, 0xdce4599e, 0x7b159b5f, 0xdcde4eda,

+    0x7b13e1bf, 0xdcd8442b,

+  0x7b1227d3, 0xdcd23993, 0x7b106d9b, 0xdccc2f0f, 0x7b0eb318, 0xdcc624a2,

+    0x7b0cf848, 0xdcc01a4a,

+  0x7b0b3d2c, 0xdcba1008, 0x7b0981c5, 0xdcb405dc, 0x7b07c612, 0xdcadfbc5,

+    0x7b060a12, 0xdca7f1c5,

+  0x7b044dc7, 0xdca1e7da, 0x7b029130, 0xdc9bde05, 0x7b00d44d, 0xdc95d446,

+    0x7aff171e, 0xdc8fca9c,

+  0x7afd59a4, 0xdc89c109, 0x7afb9bdd, 0xdc83b78b, 0x7af9ddcb, 0xdc7dae23,

+    0x7af81f6c, 0xdc77a4d2,

+  0x7af660c2, 0xdc719b96, 0x7af4a1cc, 0xdc6b9270, 0x7af2e28b, 0xdc658960,

+    0x7af122fd, 0xdc5f8066,

+  0x7aef6323, 0xdc597781, 0x7aeda2fe, 0xdc536eb3, 0x7aebe28d, 0xdc4d65fb,

+    0x7aea21d0, 0xdc475d59,

+  0x7ae860c7, 0xdc4154cd, 0x7ae69f73, 0xdc3b4c57, 0x7ae4ddd2, 0xdc3543f7,

+    0x7ae31be6, 0xdc2f3bad,

+  0x7ae159ae, 0xdc293379, 0x7adf972a, 0xdc232b5c, 0x7addd45b, 0xdc1d2354,

+    0x7adc113f, 0xdc171b63,

+  0x7ada4dd8, 0xdc111388, 0x7ad88a25, 0xdc0b0bc2, 0x7ad6c626, 0xdc050414,

+    0x7ad501dc, 0xdbfefc7b,

+  0x7ad33d45, 0xdbf8f4f8, 0x7ad17863, 0xdbf2ed8c, 0x7acfb336, 0xdbece636,

+    0x7acdedbc, 0xdbe6def6,

+  0x7acc27f7, 0xdbe0d7cd, 0x7aca61e6, 0xdbdad0b9, 0x7ac89b89, 0xdbd4c9bc,

+    0x7ac6d4e0, 0xdbcec2d6,

+  0x7ac50dec, 0xdbc8bc06, 0x7ac346ac, 0xdbc2b54c, 0x7ac17f20, 0xdbbcaea8,

+    0x7abfb749, 0xdbb6a81b,

+  0x7abdef25, 0xdbb0a1a4, 0x7abc26b7, 0xdbaa9b43, 0x7aba5dfc, 0xdba494f9,

+    0x7ab894f6, 0xdb9e8ec6,

+  0x7ab6cba4, 0xdb9888a8, 0x7ab50206, 0xdb9282a2, 0x7ab3381d, 0xdb8c7cb1,

+    0x7ab16de7, 0xdb8676d8,

+  0x7aafa367, 0xdb807114, 0x7aadd89a, 0xdb7a6b68, 0x7aac0d82, 0xdb7465d1,

+    0x7aaa421e, 0xdb6e6052,

+  0x7aa8766f, 0xdb685ae9, 0x7aa6aa74, 0xdb625596, 0x7aa4de2d, 0xdb5c505a,

+    0x7aa3119a, 0xdb564b35,

+  0x7aa144bc, 0xdb504626, 0x7a9f7793, 0xdb4a412e, 0x7a9daa1d, 0xdb443c4c,

+    0x7a9bdc5c, 0xdb3e3781,

+  0x7a9a0e50, 0xdb3832cd, 0x7a983ff7, 0xdb322e30, 0x7a967153, 0xdb2c29a9,

+    0x7a94a264, 0xdb262539,

+  0x7a92d329, 0xdb2020e0, 0x7a9103a2, 0xdb1a1c9d, 0x7a8f33d0, 0xdb141871,

+    0x7a8d63b2, 0xdb0e145c,

+  0x7a8b9348, 0xdb08105e, 0x7a89c293, 0xdb020c77, 0x7a87f192, 0xdafc08a6,

+    0x7a862046, 0xdaf604ec,

+  0x7a844eae, 0xdaf00149, 0x7a827ccb, 0xdae9fdbd, 0x7a80aa9c, 0xdae3fa48,

+    0x7a7ed821, 0xdaddf6ea,

+  0x7a7d055b, 0xdad7f3a2, 0x7a7b3249, 0xdad1f072, 0x7a795eec, 0xdacbed58,

+    0x7a778b43, 0xdac5ea56,

+  0x7a75b74f, 0xdabfe76a, 0x7a73e30f, 0xdab9e495, 0x7a720e84, 0xdab3e1d8,

+    0x7a7039ad, 0xdaaddf31,

+  0x7a6e648a, 0xdaa7dca1, 0x7a6c8f1c, 0xdaa1da29, 0x7a6ab963, 0xda9bd7c7,

+    0x7a68e35e, 0xda95d57d,

+  0x7a670d0d, 0xda8fd349, 0x7a653671, 0xda89d12d, 0x7a635f8a, 0xda83cf28,

+    0x7a618857, 0xda7dcd3a,

+  0x7a5fb0d8, 0xda77cb63, 0x7a5dd90e, 0xda71c9a3, 0x7a5c00f9, 0xda6bc7fa,

+    0x7a5a2898, 0xda65c669,

+  0x7a584feb, 0xda5fc4ef, 0x7a5676f3, 0xda59c38c, 0x7a549db0, 0xda53c240,

+    0x7a52c421, 0xda4dc10b,

+  0x7a50ea47, 0xda47bfee, 0x7a4f1021, 0xda41bee8, 0x7a4d35b0, 0xda3bbdf9,

+    0x7a4b5af3, 0xda35bd22,

+  0x7a497feb, 0xda2fbc61, 0x7a47a498, 0xda29bbb9, 0x7a45c8f9, 0xda23bb27,

+    0x7a43ed0e, 0xda1dbaad,

+  0x7a4210d8, 0xda17ba4a, 0x7a403457, 0xda11b9ff, 0x7a3e578b, 0xda0bb9cb,

+    0x7a3c7a73, 0xda05b9ae,

+  0x7a3a9d0f, 0xd9ffb9a9, 0x7a38bf60, 0xd9f9b9bb, 0x7a36e166, 0xd9f3b9e5,

+    0x7a350321, 0xd9edba26,

+  0x7a332490, 0xd9e7ba7f, 0x7a3145b3, 0xd9e1baef, 0x7a2f668c, 0xd9dbbb77,

+    0x7a2d8719, 0xd9d5bc16,

+  0x7a2ba75a, 0xd9cfbccd, 0x7a29c750, 0xd9c9bd9b, 0x7a27e6fb, 0xd9c3be81,

+    0x7a26065b, 0xd9bdbf7e,

+  0x7a24256f, 0xd9b7c094, 0x7a224437, 0xd9b1c1c0, 0x7a2062b5, 0xd9abc305,

+    0x7a1e80e7, 0xd9a5c461,

+  0x7a1c9ece, 0xd99fc5d4, 0x7a1abc69, 0xd999c75f, 0x7a18d9b9, 0xd993c902,

+    0x7a16f6be, 0xd98dcabd,

+  0x7a151378, 0xd987cc90, 0x7a132fe6, 0xd981ce7a, 0x7a114c09, 0xd97bd07c,

+    0x7a0f67e0, 0xd975d295,

+  0x7a0d836d, 0xd96fd4c7, 0x7a0b9eae, 0xd969d710, 0x7a09b9a4, 0xd963d971,

+    0x7a07d44e, 0xd95ddbea,

+  0x7a05eead, 0xd957de7a, 0x7a0408c1, 0xd951e123, 0x7a02228a, 0xd94be3e3,

+    0x7a003c07, 0xd945e6bb,

+  0x79fe5539, 0xd93fe9ab, 0x79fc6e20, 0xd939ecb3, 0x79fa86bc, 0xd933efd3,

+    0x79f89f0c, 0xd92df30b,

+  0x79f6b711, 0xd927f65b, 0x79f4cecb, 0xd921f9c3, 0x79f2e63a, 0xd91bfd43,

+    0x79f0fd5d, 0xd91600da,

+  0x79ef1436, 0xd910048a, 0x79ed2ac3, 0xd90a0852, 0x79eb4105, 0xd9040c32,

+    0x79e956fb, 0xd8fe1029,

+  0x79e76ca7, 0xd8f81439, 0x79e58207, 0xd8f21861, 0x79e3971c, 0xd8ec1ca1,

+    0x79e1abe6, 0xd8e620fa,

+  0x79dfc064, 0xd8e0256a, 0x79ddd498, 0xd8da29f2, 0x79dbe880, 0xd8d42e93,

+    0x79d9fc1d, 0xd8ce334c,

+  0x79d80f6f, 0xd8c8381d, 0x79d62276, 0xd8c23d06, 0x79d43532, 0xd8bc4207,

+    0x79d247a2, 0xd8b64720,

+  0x79d059c8, 0xd8b04c52, 0x79ce6ba2, 0xd8aa519c, 0x79cc7d31, 0xd8a456ff,

+    0x79ca8e75, 0xd89e5c79,

+  0x79c89f6e, 0xd898620c, 0x79c6b01b, 0xd89267b7, 0x79c4c07e, 0xd88c6d7b,

+    0x79c2d095, 0xd8867356,

+  0x79c0e062, 0xd880794b, 0x79beefe3, 0xd87a7f57, 0x79bcff19, 0xd874857c,

+    0x79bb0e04, 0xd86e8bb9,

+  0x79b91ca4, 0xd868920f, 0x79b72af9, 0xd862987d, 0x79b53903, 0xd85c9f04,

+    0x79b346c2, 0xd856a5a3,

+  0x79b15435, 0xd850ac5a, 0x79af615e, 0xd84ab32a, 0x79ad6e3c, 0xd844ba13,

+    0x79ab7ace, 0xd83ec114,

+  0x79a98715, 0xd838c82d, 0x79a79312, 0xd832cf5f, 0x79a59ec3, 0xd82cd6aa,

+    0x79a3aa29, 0xd826de0d,

+  0x79a1b545, 0xd820e589, 0x799fc015, 0xd81aed1d, 0x799dca9a, 0xd814f4ca,

+    0x799bd4d4, 0xd80efc8f,

+  0x7999dec4, 0xd809046e, 0x7997e868, 0xd8030c64, 0x7995f1c1, 0xd7fd1474,

+    0x7993facf, 0xd7f71c9c,

+  0x79920392, 0xd7f124dd, 0x79900c0a, 0xd7eb2d37, 0x798e1438, 0xd7e535a9,

+    0x798c1c1a, 0xd7df3e34,

+  0x798a23b1, 0xd7d946d8, 0x79882afd, 0xd7d34f94, 0x798631ff, 0xd7cd586a,

+    0x798438b5, 0xd7c76158,

+  0x79823f20, 0xd7c16a5f, 0x79804541, 0xd7bb737f, 0x797e4b16, 0xd7b57cb7,

+    0x797c50a1, 0xd7af8609,

+  0x797a55e0, 0xd7a98f73, 0x79785ad5, 0xd7a398f6, 0x79765f7f, 0xd79da293,

+    0x797463de, 0xd797ac48,

+  0x797267f2, 0xd791b616, 0x79706bbb, 0xd78bbffc, 0x796e6f39, 0xd785c9fc,

+    0x796c726c, 0xd77fd415,

+  0x796a7554, 0xd779de47, 0x796877f1, 0xd773e892, 0x79667a44, 0xd76df2f6,

+    0x79647c4c, 0xd767fd72,

+  0x79627e08, 0xd7620808, 0x79607f7a, 0xd75c12b7, 0x795e80a1, 0xd7561d7f,

+    0x795c817d, 0xd7502860,

+  0x795a820e, 0xd74a335b, 0x79588255, 0xd7443e6e, 0x79568250, 0xd73e499a,

+    0x79548201, 0xd73854e0,

+  0x79528167, 0xd732603f, 0x79508082, 0xd72c6bb6, 0x794e7f52, 0xd7267748,

+    0x794c7dd7, 0xd72082f2,

+  0x794a7c12, 0xd71a8eb5, 0x79487a01, 0xd7149a92, 0x794677a6, 0xd70ea688,

+    0x79447500, 0xd708b297,

+  0x79427210, 0xd702bec0, 0x79406ed4, 0xd6fccb01, 0x793e6b4e, 0xd6f6d75d,

+    0x793c677d, 0xd6f0e3d1,

+  0x793a6361, 0xd6eaf05f, 0x79385efa, 0xd6e4fd06, 0x79365a49, 0xd6df09c6,

+    0x7934554d, 0xd6d916a0,

+  0x79325006, 0xd6d32393, 0x79304a74, 0xd6cd30a0, 0x792e4497, 0xd6c73dc6,

+    0x792c3e70, 0xd6c14b05,

+  0x792a37fe, 0xd6bb585e, 0x79283141, 0xd6b565d0, 0x79262a3a, 0xd6af735c,

+    0x792422e8, 0xd6a98101,

+  0x79221b4b, 0xd6a38ec0, 0x79201363, 0xd69d9c98, 0x791e0b31, 0xd697aa8a,

+    0x791c02b4, 0xd691b895,

+  0x7919f9ec, 0xd68bc6ba, 0x7917f0d9, 0xd685d4f9, 0x7915e77c, 0xd67fe351,

+    0x7913ddd4, 0xd679f1c2,

+  0x7911d3e2, 0xd674004e, 0x790fc9a4, 0xd66e0ef2, 0x790dbf1d, 0xd6681db1,

+    0x790bb44a, 0xd6622c89,

+  0x7909a92d, 0xd65c3b7b, 0x79079dc5, 0xd6564a87, 0x79059212, 0xd65059ac,

+    0x79038615, 0xd64a68eb,

+  0x790179cd, 0xd6447844, 0x78ff6d3b, 0xd63e87b6, 0x78fd605d, 0xd6389742,

+    0x78fb5336, 0xd632a6e8,

+  0x78f945c3, 0xd62cb6a8, 0x78f73806, 0xd626c681, 0x78f529fe, 0xd620d675,

+    0x78f31bac, 0xd61ae682,

+  0x78f10d0f, 0xd614f6a9, 0x78eefe28, 0xd60f06ea, 0x78eceef6, 0xd6091745,

+    0x78eadf79, 0xd60327b9,

+  0x78e8cfb2, 0xd5fd3848, 0x78e6bfa0, 0xd5f748f0, 0x78e4af44, 0xd5f159b3,

+    0x78e29e9d, 0xd5eb6a8f,

+  0x78e08dab, 0xd5e57b85, 0x78de7c6f, 0xd5df8c96, 0x78dc6ae8, 0xd5d99dc0,

+    0x78da5917, 0xd5d3af04,

+  0x78d846fb, 0xd5cdc062, 0x78d63495, 0xd5c7d1db, 0x78d421e4, 0xd5c1e36d,

+    0x78d20ee9, 0xd5bbf519,

+  0x78cffba3, 0xd5b606e0, 0x78cde812, 0xd5b018c0, 0x78cbd437, 0xd5aa2abb,

+    0x78c9c012, 0xd5a43cd0,

+  0x78c7aba2, 0xd59e4eff, 0x78c596e7, 0xd5986148, 0x78c381e2, 0xd59273ab,

+    0x78c16c93, 0xd58c8628,

+  0x78bf56f9, 0xd58698c0, 0x78bd4114, 0xd580ab72, 0x78bb2ae5, 0xd57abe3d,

+    0x78b9146c, 0xd574d124,

+  0x78b6fda8, 0xd56ee424, 0x78b4e69a, 0xd568f73f, 0x78b2cf41, 0xd5630a74,

+    0x78b0b79e, 0xd55d1dc3,

+  0x78ae9fb0, 0xd557312d, 0x78ac8778, 0xd55144b0, 0x78aa6ef5, 0xd54b584f,

+    0x78a85628, 0xd5456c07,

+  0x78a63d11, 0xd53f7fda, 0x78a423af, 0xd53993c7, 0x78a20a03, 0xd533a7cf,

+    0x789ff00c, 0xd52dbbf1,

+  0x789dd5cb, 0xd527d02e, 0x789bbb3f, 0xd521e484, 0x7899a06a, 0xd51bf8f6,

+    0x78978549, 0xd5160d82,

+  0x789569df, 0xd5102228, 0x78934e2a, 0xd50a36e9, 0x7891322a, 0xd5044bc4,

+    0x788f15e0, 0xd4fe60ba,

+  0x788cf94c, 0xd4f875ca, 0x788adc6e, 0xd4f28af5, 0x7888bf45, 0xd4eca03a,

+    0x7886a1d1, 0xd4e6b59a,

+  0x78848414, 0xd4e0cb15, 0x7882660c, 0xd4dae0aa, 0x788047ba, 0xd4d4f65a,

+    0x787e291d, 0xd4cf0c24,

+  0x787c0a36, 0xd4c92209, 0x7879eb05, 0xd4c33809, 0x7877cb89, 0xd4bd4e23,

+    0x7875abc3, 0xd4b76458,

+  0x78738bb3, 0xd4b17aa8, 0x78716b59, 0xd4ab9112, 0x786f4ab4, 0xd4a5a798,

+    0x786d29c5, 0xd49fbe37,

+  0x786b088c, 0xd499d4f2, 0x7868e708, 0xd493ebc8, 0x7866c53a, 0xd48e02b8,

+    0x7864a322, 0xd48819c3,

+  0x786280bf, 0xd48230e9, 0x78605e13, 0xd47c4829, 0x785e3b1c, 0xd4765f85,

+    0x785c17db, 0xd47076fb,

+  0x7859f44f, 0xd46a8e8d, 0x7857d079, 0xd464a639, 0x7855ac5a, 0xd45ebe00,

+    0x785387ef, 0xd458d5e2,

+  0x7851633b, 0xd452eddf, 0x784f3e3c, 0xd44d05f6, 0x784d18f4, 0xd4471e29,

+    0x784af361, 0xd4413677,

+  0x7848cd83, 0xd43b4ee0, 0x7846a75c, 0xd4356763, 0x784480ea, 0xd42f8002,

+    0x78425a2f, 0xd42998bc,

+  0x78403329, 0xd423b191, 0x783e0bd9, 0xd41dca81, 0x783be43e, 0xd417e38c,

+    0x7839bc5a, 0xd411fcb2,

+  0x7837942b, 0xd40c15f3, 0x78356bb2, 0xd4062f4f, 0x783342ef, 0xd40048c6,

+    0x783119e2, 0xd3fa6259,

+  0x782ef08b, 0xd3f47c06, 0x782cc6ea, 0xd3ee95cf, 0x782a9cfe, 0xd3e8afb3,

+    0x782872c8, 0xd3e2c9b2,

+  0x78264849, 0xd3dce3cd, 0x78241d7f, 0xd3d6fe03, 0x7821f26b, 0xd3d11853,

+    0x781fc70d, 0xd3cb32c0,

+  0x781d9b65, 0xd3c54d47, 0x781b6f72, 0xd3bf67ea, 0x78194336, 0xd3b982a8,

+    0x781716b0, 0xd3b39d81,

+  0x7814e9df, 0xd3adb876, 0x7812bcc4, 0xd3a7d385, 0x78108f60, 0xd3a1eeb1,

+    0x780e61b1, 0xd39c09f7,

+  0x780c33b8, 0xd396255a, 0x780a0575, 0xd39040d7, 0x7807d6e9, 0xd38a5c70,

+    0x7805a812, 0xd3847824,

+  0x780378f1, 0xd37e93f4, 0x78014986, 0xd378afdf, 0x77ff19d1, 0xd372cbe6,

+    0x77fce9d2, 0xd36ce808,

+  0x77fab989, 0xd3670446, 0x77f888f6, 0xd361209f, 0x77f65819, 0xd35b3d13,

+    0x77f426f2, 0xd35559a4,

+  0x77f1f581, 0xd34f764f, 0x77efc3c5, 0xd3499317, 0x77ed91c0, 0xd343affa,

+    0x77eb5f71, 0xd33dccf8,

+  0x77e92cd9, 0xd337ea12, 0x77e6f9f6, 0xd3320748, 0x77e4c6c9, 0xd32c2499,

+    0x77e29352, 0xd3264206,

+  0x77e05f91, 0xd3205f8f, 0x77de2b86, 0xd31a7d33, 0x77dbf732, 0xd3149af3,

+    0x77d9c293, 0xd30eb8cf,

+  0x77d78daa, 0xd308d6c7, 0x77d55878, 0xd302f4da, 0x77d322fc, 0xd2fd1309,

+    0x77d0ed35, 0xd2f73154,

+  0x77ceb725, 0xd2f14fba, 0x77cc80cb, 0xd2eb6e3c, 0x77ca4a27, 0xd2e58cdb,

+    0x77c81339, 0xd2dfab95,

+  0x77c5dc01, 0xd2d9ca6a, 0x77c3a47f, 0xd2d3e95c, 0x77c16cb4, 0xd2ce0869,

+    0x77bf349f, 0xd2c82793,

+  0x77bcfc3f, 0xd2c246d8, 0x77bac396, 0xd2bc6639, 0x77b88aa3, 0xd2b685b6,

+    0x77b65166, 0xd2b0a54f,

+  0x77b417df, 0xd2aac504, 0x77b1de0f, 0xd2a4e4d5, 0x77afa3f5, 0xd29f04c2,

+    0x77ad6990, 0xd29924cb,

+  0x77ab2ee2, 0xd29344f0, 0x77a8f3ea, 0xd28d6531, 0x77a6b8a9, 0xd287858e,

+    0x77a47d1d, 0xd281a607,

+  0x77a24148, 0xd27bc69c, 0x77a00529, 0xd275e74d, 0x779dc8c0, 0xd270081b,

+    0x779b8c0e, 0xd26a2904,

+  0x77994f11, 0xd2644a0a, 0x779711cb, 0xd25e6b2b, 0x7794d43b, 0xd2588c69,

+    0x77929661, 0xd252adc3,

+  0x7790583e, 0xd24ccf39, 0x778e19d0, 0xd246f0cb, 0x778bdb19, 0xd241127a,

+    0x77899c19, 0xd23b3444,

+  0x77875cce, 0xd235562b, 0x77851d3a, 0xd22f782f, 0x7782dd5c, 0xd2299a4e,

+    0x77809d35, 0xd223bc8a,

+  0x777e5cc3, 0xd21ddee2, 0x777c1c08, 0xd2180156, 0x7779db03, 0xd21223e7,

+    0x777799b5, 0xd20c4694,

+  0x7775581d, 0xd206695d, 0x7773163b, 0xd2008c43, 0x7770d40f, 0xd1faaf45,

+    0x776e919a, 0xd1f4d263,

+  0x776c4edb, 0xd1eef59e, 0x776a0bd3, 0xd1e918f5, 0x7767c880, 0xd1e33c69,

+    0x776584e5, 0xd1dd5ff9,

+  0x776340ff, 0xd1d783a6, 0x7760fcd0, 0xd1d1a76f, 0x775eb857, 0xd1cbcb54,

+    0x775c7395, 0xd1c5ef56,

+  0x775a2e89, 0xd1c01375, 0x7757e933, 0xd1ba37b0, 0x7755a394, 0xd1b45c08,

+    0x77535dab, 0xd1ae807c,

+  0x77511778, 0xd1a8a50d, 0x774ed0fc, 0xd1a2c9ba, 0x774c8a36, 0xd19cee84,

+    0x774a4327, 0xd197136b,

+  0x7747fbce, 0xd191386e, 0x7745b42c, 0xd18b5d8e, 0x77436c40, 0xd18582ca,

+    0x7741240a, 0xd17fa823,

+  0x773edb8b, 0xd179cd99, 0x773c92c2, 0xd173f32c, 0x773a49b0, 0xd16e18db,

+    0x77380054, 0xd1683ea7,

+  0x7735b6af, 0xd1626490, 0x77336cc0, 0xd15c8a95, 0x77312287, 0xd156b0b7,

+    0x772ed805, 0xd150d6f6,

+  0x772c8d3a, 0xd14afd52, 0x772a4225, 0xd14523cb, 0x7727f6c6, 0xd13f4a60,

+    0x7725ab1f, 0xd1397113,

+  0x77235f2d, 0xd13397e2, 0x772112f2, 0xd12dbece, 0x771ec66e, 0xd127e5d7,

+    0x771c79a0, 0xd1220cfc,

+  0x771a2c88, 0xd11c343f, 0x7717df27, 0xd1165b9f, 0x7715917d, 0xd110831b,

+    0x77134389, 0xd10aaab5,

+  0x7710f54c, 0xd104d26b, 0x770ea6c5, 0xd0fefa3f, 0x770c57f5, 0xd0f9222f,

+    0x770a08dc, 0xd0f34a3d,

+  0x7707b979, 0xd0ed7267, 0x770569cc, 0xd0e79aaf, 0x770319d6, 0xd0e1c313,

+    0x7700c997, 0xd0dbeb95,

+  0x76fe790e, 0xd0d61434, 0x76fc283c, 0xd0d03cf0, 0x76f9d721, 0xd0ca65c9,

+    0x76f785bc, 0xd0c48ebf,

+  0x76f5340e, 0xd0beb7d2, 0x76f2e216, 0xd0b8e102, 0x76f08fd5, 0xd0b30a50,

+    0x76ee3d4b, 0xd0ad33ba,

+  0x76ebea77, 0xd0a75d42, 0x76e9975a, 0xd0a186e7, 0x76e743f4, 0xd09bb0aa,

+    0x76e4f044, 0xd095da89,

+  0x76e29c4b, 0xd0900486, 0x76e04808, 0xd08a2ea0, 0x76ddf37c, 0xd08458d7,

+    0x76db9ea7, 0xd07e832c,

+  0x76d94989, 0xd078ad9e, 0x76d6f421, 0xd072d82d, 0x76d49e70, 0xd06d02da,

+    0x76d24876, 0xd0672da3,

+  0x76cff232, 0xd061588b, 0x76cd9ba5, 0xd05b838f, 0x76cb44cf, 0xd055aeb1,

+    0x76c8edb0, 0xd04fd9f1,

+  0x76c69647, 0xd04a054e, 0x76c43e95, 0xd04430c8, 0x76c1e699, 0xd03e5c60,

+    0x76bf8e55, 0xd0388815,

+  0x76bd35c7, 0xd032b3e7, 0x76badcf0, 0xd02cdfd8, 0x76b883d0, 0xd0270be5,

+    0x76b62a66, 0xd0213810,

+  0x76b3d0b4, 0xd01b6459, 0x76b176b8, 0xd01590bf, 0x76af1c72, 0xd00fbd43,

+    0x76acc1e4, 0xd009e9e4,

+  0x76aa670d, 0xd00416a3, 0x76a80bec, 0xcffe4380, 0x76a5b082, 0xcff8707a,

+    0x76a354cf, 0xcff29d92,

+  0x76a0f8d2, 0xcfeccac7, 0x769e9c8d, 0xcfe6f81a, 0x769c3ffe, 0xcfe1258b,

+    0x7699e326, 0xcfdb531a,

+  0x76978605, 0xcfd580c6, 0x7695289b, 0xcfcfae8f, 0x7692cae8, 0xcfc9dc77,

+    0x76906ceb, 0xcfc40a7c,

+  0x768e0ea6, 0xcfbe389f, 0x768bb017, 0xcfb866e0, 0x7689513f, 0xcfb2953f,

+    0x7686f21e, 0xcfacc3bb,

+  0x768492b4, 0xcfa6f255, 0x76823301, 0xcfa1210d, 0x767fd304, 0xcf9b4fe3,

+    0x767d72bf, 0xcf957ed7,

+  0x767b1231, 0xcf8fade9, 0x7678b159, 0xcf89dd18, 0x76765038, 0xcf840c65,

+    0x7673eecf, 0xcf7e3bd1,

+  0x76718d1c, 0xcf786b5a, 0x766f2b20, 0xcf729b01, 0x766cc8db, 0xcf6ccac6,

+    0x766a664d, 0xcf66faa9,

+  0x76680376, 0xcf612aaa, 0x7665a056, 0xcf5b5ac9, 0x76633ced, 0xcf558b06,

+    0x7660d93b, 0xcf4fbb61,

+  0x765e7540, 0xcf49ebda, 0x765c10fc, 0xcf441c71, 0x7659ac6f, 0xcf3e4d26,

+    0x76574798, 0xcf387dfa,

+  0x7654e279, 0xcf32aeeb, 0x76527d11, 0xcf2cdffa, 0x76501760, 0xcf271128,

+    0x764db166, 0xcf214274,

+  0x764b4b23, 0xcf1b73de, 0x7648e497, 0xcf15a566, 0x76467dc2, 0xcf0fd70c,

+    0x764416a4, 0xcf0a08d0,

+  0x7641af3d, 0xcf043ab3, 0x763f478d, 0xcefe6cb3, 0x763cdf94, 0xcef89ed2,

+    0x763a7752, 0xcef2d110,

+  0x76380ec8, 0xceed036b, 0x7635a5f4, 0xcee735e5, 0x76333cd8, 0xcee1687d,

+    0x7630d372, 0xcedb9b33,

+  0x762e69c4, 0xced5ce08, 0x762bffcd, 0xced000fb, 0x7629958c, 0xceca340c,

+    0x76272b03, 0xcec4673c,

+  0x7624c031, 0xcebe9a8a, 0x76225517, 0xceb8cdf7, 0x761fe9b3, 0xceb30181,

+    0x761d7e06, 0xcead352b,

+  0x761b1211, 0xcea768f2, 0x7618a5d3, 0xcea19cd8, 0x7616394c, 0xce9bd0dd,

+    0x7613cc7c, 0xce960500,

+  0x76115f63, 0xce903942, 0x760ef201, 0xce8a6da2, 0x760c8457, 0xce84a220,

+    0x760a1664, 0xce7ed6bd,

+  0x7607a828, 0xce790b79, 0x760539a3, 0xce734053, 0x7602cad5, 0xce6d754c,

+    0x76005bbf, 0xce67aa63,

+  0x75fdec60, 0xce61df99, 0x75fb7cb8, 0xce5c14ed, 0x75f90cc7, 0xce564a60,

+    0x75f69c8d, 0xce507ff2,

+  0x75f42c0b, 0xce4ab5a2, 0x75f1bb40, 0xce44eb71, 0x75ef4a2c, 0xce3f215f,

+    0x75ecd8cf, 0xce39576c,

+  0x75ea672a, 0xce338d97, 0x75e7f53c, 0xce2dc3e1, 0x75e58305, 0xce27fa49,

+    0x75e31086, 0xce2230d0,

+  0x75e09dbd, 0xce1c6777, 0x75de2aac, 0xce169e3b, 0x75dbb753, 0xce10d51f,

+    0x75d943b0, 0xce0b0c21,

+  0x75d6cfc5, 0xce054343, 0x75d45b92, 0xcdff7a83, 0x75d1e715, 0xcdf9b1e2,

+    0x75cf7250, 0xcdf3e95f,

+  0x75ccfd42, 0xcdee20fc, 0x75ca87ec, 0xcde858b8, 0x75c8124d, 0xcde29092,

+    0x75c59c65, 0xcddcc88b,

+  0x75c32634, 0xcdd700a4, 0x75c0afbb, 0xcdd138db, 0x75be38fa, 0xcdcb7131,

+    0x75bbc1ef, 0xcdc5a9a6,

+  0x75b94a9c, 0xcdbfe23a, 0x75b6d301, 0xcdba1aee, 0x75b45b1d, 0xcdb453c0,

+    0x75b1e2f0, 0xcdae8cb1,

+  0x75af6a7b, 0xcda8c5c1, 0x75acf1bd, 0xcda2fef0, 0x75aa78b6, 0xcd9d383f,

+    0x75a7ff67, 0xcd9771ac,

+  0x75a585cf, 0xcd91ab39, 0x75a30bef, 0xcd8be4e4, 0x75a091c6, 0xcd861eaf,

+    0x759e1755, 0xcd805899,

+  0x759b9c9b, 0xcd7a92a2, 0x75992198, 0xcd74ccca, 0x7596a64d, 0xcd6f0711,

+    0x75942ab9, 0xcd694178,

+  0x7591aedd, 0xcd637bfe, 0x758f32b9, 0xcd5db6a3, 0x758cb64c, 0xcd57f167,

+    0x758a3996, 0xcd522c4a,

+  0x7587bc98, 0xcd4c674d, 0x75853f51, 0xcd46a26f, 0x7582c1c2, 0xcd40ddb0,

+    0x758043ea, 0xcd3b1911,

+  0x757dc5ca, 0xcd355491, 0x757b4762, 0xcd2f9030, 0x7578c8b0, 0xcd29cbee,

+    0x757649b7, 0xcd2407cc,

+  0x7573ca75, 0xcd1e43ca, 0x75714aea, 0xcd187fe6, 0x756ecb18, 0xcd12bc22,

+    0x756c4afc, 0xcd0cf87e,

+  0x7569ca99, 0xcd0734f9, 0x756749ec, 0xcd017193, 0x7564c8f8, 0xccfbae4d,

+    0x756247bb, 0xccf5eb26,

+  0x755fc635, 0xccf0281f, 0x755d4467, 0xccea6538, 0x755ac251, 0xcce4a26f,

+    0x75583ff3, 0xccdedfc7,

+  0x7555bd4c, 0xccd91d3d, 0x75533a5c, 0xccd35ad4, 0x7550b725, 0xcccd988a,

+    0x754e33a4, 0xccc7d65f,

+  0x754bafdc, 0xccc21455, 0x75492bcb, 0xccbc5269, 0x7546a772, 0xccb6909e,

+    0x754422d0, 0xccb0cef2,

+  0x75419de7, 0xccab0d65, 0x753f18b4, 0xcca54bf9, 0x753c933a, 0xcc9f8aac,

+    0x753a0d77, 0xcc99c97e,

+  0x7537876c, 0xcc940871, 0x75350118, 0xcc8e4783, 0x75327a7d, 0xcc8886b5,

+    0x752ff399, 0xcc82c607,

+  0x752d6c6c, 0xcc7d0578, 0x752ae4f8, 0xcc774509, 0x75285d3b, 0xcc7184ba,

+    0x7525d536, 0xcc6bc48b,

+  0x75234ce8, 0xcc66047b, 0x7520c453, 0xcc60448c, 0x751e3b75, 0xcc5a84bc,

+    0x751bb24f, 0xcc54c50c,

+  0x751928e0, 0xcc4f057c, 0x75169f2a, 0xcc49460c, 0x7514152b, 0xcc4386bc,

+    0x75118ae4, 0xcc3dc78b,

+  0x750f0054, 0xcc38087b, 0x750c757d, 0xcc32498a, 0x7509ea5d, 0xcc2c8aba,

+    0x75075ef5, 0xcc26cc09,

+  0x7504d345, 0xcc210d79, 0x7502474d, 0xcc1b4f08, 0x74ffbb0d, 0xcc1590b8,

+    0x74fd2e84, 0xcc0fd287,

+  0x74faa1b3, 0xcc0a1477, 0x74f8149a, 0xcc045686, 0x74f58739, 0xcbfe98b6,

+    0x74f2f990, 0xcbf8db05,

+  0x74f06b9e, 0xcbf31d75, 0x74eddd65, 0xcbed6005, 0x74eb4ee3, 0xcbe7a2b5,

+    0x74e8c01a, 0xcbe1e585,

+  0x74e63108, 0xcbdc2876, 0x74e3a1ae, 0xcbd66b86, 0x74e1120c, 0xcbd0aeb7,

+    0x74de8221, 0xcbcaf208,

+  0x74dbf1ef, 0xcbc53579, 0x74d96175, 0xcbbf790a, 0x74d6d0b2, 0xcbb9bcbb,

+    0x74d43fa8, 0xcbb4008d,

+  0x74d1ae55, 0xcbae447f, 0x74cf1cbb, 0xcba88891, 0x74cc8ad8, 0xcba2ccc4,

+    0x74c9f8ad, 0xcb9d1117,

+  0x74c7663a, 0xcb97558a, 0x74c4d380, 0xcb919a1d, 0x74c2407d, 0xcb8bded1,

+    0x74bfad32, 0xcb8623a5,

+  0x74bd199f, 0xcb80689a, 0x74ba85c4, 0xcb7aadaf, 0x74b7f1a1, 0xcb74f2e4,

+    0x74b55d36, 0xcb6f383a,

+  0x74b2c884, 0xcb697db0, 0x74b03389, 0xcb63c347, 0x74ad9e46, 0xcb5e08fe,

+    0x74ab08bb, 0xcb584ed6,

+  0x74a872e8, 0xcb5294ce, 0x74a5dccd, 0xcb4cdae6, 0x74a3466b, 0xcb47211f,

+    0x74a0afc0, 0xcb416779,

+  0x749e18cd, 0xcb3badf3, 0x749b8193, 0xcb35f48d, 0x7498ea11, 0xcb303b49,

+    0x74965246, 0xcb2a8224,

+  0x7493ba34, 0xcb24c921, 0x749121da, 0xcb1f103e, 0x748e8938, 0xcb19577b,

+    0x748bf04d, 0xcb139ed9,

+  0x7489571c, 0xcb0de658, 0x7486bda2, 0xcb082df8, 0x748423e0, 0xcb0275b8,

+    0x748189d7, 0xcafcbd99,

+  0x747eef85, 0xcaf7059a, 0x747c54ec, 0xcaf14dbd, 0x7479ba0b, 0xcaeb9600,

+    0x74771ee2, 0xcae5de64,

+  0x74748371, 0xcae026e8, 0x7471e7b8, 0xcada6f8d, 0x746f4bb8, 0xcad4b853,

+    0x746caf70, 0xcacf013a,

+  0x746a12df, 0xcac94a42, 0x74677608, 0xcac3936b, 0x7464d8e8, 0xcabddcb4,

+    0x74623b80, 0xcab8261e,

+  0x745f9dd1, 0xcab26fa9, 0x745cffda, 0xcaacb955, 0x745a619b, 0xcaa70322,

+    0x7457c314, 0xcaa14d10,

+  0x74552446, 0xca9b971e, 0x74528530, 0xca95e14e, 0x744fe5d2, 0xca902b9f,

+    0x744d462c, 0xca8a7610,

+  0x744aa63f, 0xca84c0a3, 0x7448060a, 0xca7f0b56, 0x7445658d, 0xca79562b,

+    0x7442c4c8, 0xca73a120,

+  0x744023bc, 0xca6dec37, 0x743d8268, 0xca68376e, 0x743ae0cc, 0xca6282c7,

+    0x74383ee9, 0xca5cce40,

+  0x74359cbd, 0xca5719db, 0x7432fa4b, 0xca516597, 0x74305790, 0xca4bb174,

+    0x742db48e, 0xca45fd72,

+  0x742b1144, 0xca404992, 0x74286db3, 0xca3a95d2, 0x7425c9da, 0xca34e234,

+    0x742325b9, 0xca2f2eb6,

+  0x74208150, 0xca297b5a, 0x741ddca0, 0xca23c820, 0x741b37a9, 0xca1e1506,

+    0x74189269, 0xca18620e,

+  0x7415ece2, 0xca12af37, 0x74134714, 0xca0cfc81, 0x7410a0fe, 0xca0749ec,

+    0x740dfaa0, 0xca019779,

+  0x740b53fb, 0xc9fbe527, 0x7408ad0e, 0xc9f632f6, 0x740605d9, 0xc9f080e7,

+    0x74035e5d, 0xc9eacef9,

+  0x7400b69a, 0xc9e51d2d, 0x73fe0e8f, 0xc9df6b81, 0x73fb663c, 0xc9d9b9f7,

+    0x73f8bda2, 0xc9d4088f,

+  0x73f614c0, 0xc9ce5748, 0x73f36b97, 0xc9c8a622, 0x73f0c226, 0xc9c2f51e,

+    0x73ee186e, 0xc9bd443c,

+  0x73eb6e6e, 0xc9b7937a, 0x73e8c426, 0xc9b1e2db, 0x73e61997, 0xc9ac325d,

+    0x73e36ec1, 0xc9a68200,

+  0x73e0c3a3, 0xc9a0d1c5, 0x73de183e, 0xc99b21ab, 0x73db6c91, 0xc99571b3,

+    0x73d8c09d, 0xc98fc1dc,

+  0x73d61461, 0xc98a1227, 0x73d367de, 0xc9846294, 0x73d0bb13, 0xc97eb322,

+    0x73ce0e01, 0xc97903d2,

+  0x73cb60a8, 0xc97354a4, 0x73c8b307, 0xc96da597, 0x73c6051f, 0xc967f6ac,

+    0x73c356ef, 0xc96247e2,

+  0x73c0a878, 0xc95c993a, 0x73bdf9b9, 0xc956eab4, 0x73bb4ab3, 0xc9513c50,

+    0x73b89b66, 0xc94b8e0d,

+  0x73b5ebd1, 0xc945dfec, 0x73b33bf5, 0xc94031ed, 0x73b08bd1, 0xc93a8410,

+    0x73addb67, 0xc934d654,

+  0x73ab2ab4, 0xc92f28ba, 0x73a879bb, 0xc9297b42, 0x73a5c87a, 0xc923cdec,

+    0x73a316f2, 0xc91e20b8,

+  0x73a06522, 0xc91873a5, 0x739db30b, 0xc912c6b5, 0x739b00ad, 0xc90d19e6,

+    0x73984e07, 0xc9076d39,

+  0x73959b1b, 0xc901c0ae, 0x7392e7e6, 0xc8fc1445, 0x7390346b, 0xc8f667fe,

+    0x738d80a8, 0xc8f0bbd9,

+  0x738acc9e, 0xc8eb0fd6, 0x7388184d, 0xc8e563f5, 0x738563b5, 0xc8dfb836,

+    0x7382aed5, 0xc8da0c99,

+  0x737ff9ae, 0xc8d4611d, 0x737d4440, 0xc8ceb5c4, 0x737a8e8a, 0xc8c90a8d,

+    0x7377d88d, 0xc8c35f78,

+  0x73752249, 0xc8bdb485, 0x73726bbe, 0xc8b809b4, 0x736fb4ec, 0xc8b25f06,

+    0x736cfdd2, 0xc8acb479,

+  0x736a4671, 0xc8a70a0e, 0x73678ec9, 0xc8a15fc6, 0x7364d6da, 0xc89bb5a0,

+    0x73621ea4, 0xc8960b9c,

+  0x735f6626, 0xc89061ba, 0x735cad61, 0xc88ab7fa, 0x7359f456, 0xc8850e5d,

+    0x73573b03, 0xc87f64e2,

+  0x73548168, 0xc879bb89, 0x7351c787, 0xc8741252, 0x734f0d5f, 0xc86e693d,

+    0x734c52ef, 0xc868c04b,

+  0x73499838, 0xc863177b, 0x7346dd3a, 0xc85d6ece, 0x734421f6, 0xc857c642,

+    0x7341666a, 0xc8521dd9,

+  0x733eaa96, 0xc84c7593, 0x733bee7c, 0xc846cd6e, 0x7339321b, 0xc841256d,

+    0x73367572, 0xc83b7d8d,

+  0x7333b883, 0xc835d5d0, 0x7330fb4d, 0xc8302e35, 0x732e3dcf, 0xc82a86bd,

+    0x732b800a, 0xc824df67,

+  0x7328c1ff, 0xc81f3834, 0x732603ac, 0xc8199123, 0x73234512, 0xc813ea35,

+    0x73208632, 0xc80e4369,

+  0x731dc70a, 0xc8089cbf, 0x731b079b, 0xc802f638, 0x731847e5, 0xc7fd4fd4,

+    0x731587e8, 0xc7f7a992,

+  0x7312c7a5, 0xc7f20373, 0x7310071a, 0xc7ec5d76, 0x730d4648, 0xc7e6b79c,

+    0x730a8530, 0xc7e111e5,

+  0x7307c3d0, 0xc7db6c50, 0x73050229, 0xc7d5c6de, 0x7302403c, 0xc7d0218e,

+    0x72ff7e07, 0xc7ca7c61,

+  0x72fcbb8c, 0xc7c4d757, 0x72f9f8c9, 0xc7bf3270, 0x72f735c0, 0xc7b98dab,

+    0x72f47270, 0xc7b3e909,

+  0x72f1aed9, 0xc7ae4489, 0x72eeeafb, 0xc7a8a02c, 0x72ec26d6, 0xc7a2fbf3,

+    0x72e9626a, 0xc79d57db,

+  0x72e69db7, 0xc797b3e7, 0x72e3d8be, 0xc7921015, 0x72e1137d, 0xc78c6c67,

+    0x72de4df6, 0xc786c8db,

+  0x72db8828, 0xc7812572, 0x72d8c213, 0xc77b822b, 0x72d5fbb7, 0xc775df08,

+    0x72d33514, 0xc7703c08,

+  0x72d06e2b, 0xc76a992a, 0x72cda6fb, 0xc764f66f, 0x72cadf83, 0xc75f53d7,

+    0x72c817c6, 0xc759b163,

+  0x72c54fc1, 0xc7540f11, 0x72c28775, 0xc74e6ce2, 0x72bfbee3, 0xc748cad6,

+    0x72bcf60a, 0xc74328ed,

+  0x72ba2cea, 0xc73d8727, 0x72b76383, 0xc737e584, 0x72b499d6, 0xc7324404,

+    0x72b1cfe1, 0xc72ca2a7,

+  0x72af05a7, 0xc727016d, 0x72ac3b25, 0xc7216056, 0x72a9705c, 0xc71bbf62,

+    0x72a6a54d, 0xc7161e92,

+  0x72a3d9f7, 0xc7107de4, 0x72a10e5b, 0xc70add5a, 0x729e4277, 0xc7053cf2,

+    0x729b764d, 0xc6ff9cae,

+  0x7298a9dd, 0xc6f9fc8d, 0x7295dd25, 0xc6f45c8f, 0x72931027, 0xc6eebcb5,

+    0x729042e3, 0xc6e91cfd,

+  0x728d7557, 0xc6e37d69, 0x728aa785, 0xc6ddddf8, 0x7287d96c, 0xc6d83eab,

+    0x72850b0d, 0xc6d29f80,

+  0x72823c67, 0xc6cd0079, 0x727f6d7a, 0xc6c76195, 0x727c9e47, 0xc6c1c2d4,

+    0x7279cecd, 0xc6bc2437,

+  0x7276ff0d, 0xc6b685bd, 0x72742f05, 0xc6b0e767, 0x72715eb8, 0xc6ab4933,

+    0x726e8e23, 0xc6a5ab23,

+  0x726bbd48, 0xc6a00d37, 0x7268ec27, 0xc69a6f6e, 0x72661abf, 0xc694d1c8,

+    0x72634910, 0xc68f3446,

+  0x7260771b, 0xc68996e7, 0x725da4df, 0xc683f9ab, 0x725ad25d, 0xc67e5c93,

+    0x7257ff94, 0xc678bf9f,

+  0x72552c85, 0xc67322ce, 0x7252592f, 0xc66d8620, 0x724f8593, 0xc667e996,

+    0x724cb1b0, 0xc6624d30,

+  0x7249dd86, 0xc65cb0ed, 0x72470916, 0xc65714cd, 0x72443460, 0xc65178d1,

+    0x72415f63, 0xc64bdcf9,

+  0x723e8a20, 0xc6464144, 0x723bb496, 0xc640a5b3, 0x7238dec5, 0xc63b0a46,

+    0x723608af, 0xc6356efc,

+  0x72333251, 0xc62fd3d6, 0x72305bae, 0xc62a38d4, 0x722d84c4, 0xc6249df5,

+    0x722aad93, 0xc61f033a,

+  0x7227d61c, 0xc61968a2, 0x7224fe5f, 0xc613ce2f, 0x7222265b, 0xc60e33df,

+    0x721f4e11, 0xc60899b2,

+  0x721c7580, 0xc602ffaa, 0x72199ca9, 0xc5fd65c5, 0x7216c38c, 0xc5f7cc04,

+    0x7213ea28, 0xc5f23267,

+  0x7211107e, 0xc5ec98ee, 0x720e368d, 0xc5e6ff98, 0x720b5c57, 0xc5e16667,

+    0x720881d9, 0xc5dbcd59,

+  0x7205a716, 0xc5d6346f, 0x7202cc0c, 0xc5d09ba9, 0x71fff0bc, 0xc5cb0307,

+    0x71fd1525, 0xc5c56a89,

+  0x71fa3949, 0xc5bfd22e, 0x71f75d25, 0xc5ba39f8, 0x71f480bc, 0xc5b4a1e5,

+    0x71f1a40c, 0xc5af09f7,

+  0x71eec716, 0xc5a9722c, 0x71ebe9da, 0xc5a3da86, 0x71e90c57, 0xc59e4303,

+    0x71e62e8f, 0xc598aba5,

+  0x71e35080, 0xc593146a, 0x71e0722a, 0xc58d7d54, 0x71dd938f, 0xc587e661,

+    0x71dab4ad, 0xc5824f93,

+  0x71d7d585, 0xc57cb8e9, 0x71d4f617, 0xc5772263, 0x71d21662, 0xc5718c00,

+    0x71cf3667, 0xc56bf5c2,

+  0x71cc5626, 0xc5665fa9, 0x71c9759f, 0xc560c9b3, 0x71c694d2, 0xc55b33e2,

+    0x71c3b3bf, 0xc5559e34,

+  0x71c0d265, 0xc55008ab, 0x71bdf0c5, 0xc54a7346, 0x71bb0edf, 0xc544de05,

+    0x71b82cb3, 0xc53f48e9,

+  0x71b54a41, 0xc539b3f1, 0x71b26788, 0xc5341f1d, 0x71af848a, 0xc52e8a6d,

+    0x71aca145, 0xc528f5e1,

+  0x71a9bdba, 0xc523617a, 0x71a6d9e9, 0xc51dcd37, 0x71a3f5d2, 0xc5183919,

+    0x71a11175, 0xc512a51f,

+  0x719e2cd2, 0xc50d1149, 0x719b47e9, 0xc5077d97, 0x719862b9, 0xc501ea0a,

+    0x71957d44, 0xc4fc56a2,

+  0x71929789, 0xc4f6c35d, 0x718fb187, 0xc4f1303d, 0x718ccb3f, 0xc4eb9d42,

+    0x7189e4b2, 0xc4e60a6b,

+  0x7186fdde, 0xc4e077b8, 0x718416c4, 0xc4dae52a, 0x71812f65, 0xc4d552c1,

+    0x717e47bf, 0xc4cfc07c,

+  0x717b5fd3, 0xc4ca2e5b, 0x717877a1, 0xc4c49c5f, 0x71758f29, 0xc4bf0a87,

+    0x7172a66c, 0xc4b978d4,

+  0x716fbd68, 0xc4b3e746, 0x716cd41e, 0xc4ae55dc, 0x7169ea8f, 0xc4a8c497,

+    0x716700b9, 0xc4a33376,

+  0x7164169d, 0xc49da27a, 0x71612c3c, 0xc49811a3, 0x715e4194, 0xc49280f0,

+    0x715b56a7, 0xc48cf062,

+  0x71586b74, 0xc4875ff9, 0x71557ffa, 0xc481cfb4, 0x7152943b, 0xc47c3f94,

+    0x714fa836, 0xc476af98,

+  0x714cbbeb, 0xc4711fc2, 0x7149cf5a, 0xc46b9010, 0x7146e284, 0xc4660083,

+    0x7143f567, 0xc460711b,

+  0x71410805, 0xc45ae1d7, 0x713e1a5c, 0xc45552b8, 0x713b2c6e, 0xc44fc3be,

+    0x71383e3a, 0xc44a34e9,

+  0x71354fc0, 0xc444a639, 0x71326101, 0xc43f17ad, 0x712f71fb, 0xc4398947,

+    0x712c82b0, 0xc433fb05,

+  0x7129931f, 0xc42e6ce8, 0x7126a348, 0xc428def0, 0x7123b32b, 0xc423511d,

+    0x7120c2c8, 0xc41dc36f,

+  0x711dd220, 0xc41835e6, 0x711ae132, 0xc412a882, 0x7117effe, 0xc40d1b42,

+    0x7114fe84, 0xc4078e28,

+  0x71120cc5, 0xc4020133, 0x710f1ac0, 0xc3fc7462, 0x710c2875, 0xc3f6e7b7,

+    0x710935e4, 0xc3f15b31,

+  0x7106430e, 0xc3ebced0, 0x71034ff2, 0xc3e64294, 0x71005c90, 0xc3e0b67d,

+    0x70fd68e9, 0xc3db2a8b,

+  0x70fa74fc, 0xc3d59ebe, 0x70f780c9, 0xc3d01316, 0x70f48c50, 0xc3ca8793,

+    0x70f19792, 0xc3c4fc36,

+  0x70eea28e, 0xc3bf70fd, 0x70ebad45, 0xc3b9e5ea, 0x70e8b7b5, 0xc3b45afc,

+    0x70e5c1e1, 0xc3aed034,

+  0x70e2cbc6, 0xc3a94590, 0x70dfd566, 0xc3a3bb12, 0x70dcdec0, 0xc39e30b8,

+    0x70d9e7d5, 0xc398a685,

+  0x70d6f0a4, 0xc3931c76, 0x70d3f92d, 0xc38d928d, 0x70d10171, 0xc38808c9,

+    0x70ce096f, 0xc3827f2a,

+  0x70cb1128, 0xc37cf5b0, 0x70c8189b, 0xc3776c5c, 0x70c51fc8, 0xc371e32d,

+    0x70c226b0, 0xc36c5a24,

+  0x70bf2d53, 0xc366d140, 0x70bc33b0, 0xc3614881, 0x70b939c7, 0xc35bbfe8,

+    0x70b63f99, 0xc3563774,

+  0x70b34525, 0xc350af26, 0x70b04a6b, 0xc34b26fc, 0x70ad4f6d, 0xc3459ef9,

+    0x70aa5428, 0xc340171b,

+  0x70a7589f, 0xc33a8f62, 0x70a45ccf, 0xc33507cf, 0x70a160ba, 0xc32f8061,

+    0x709e6460, 0xc329f919,

+  0x709b67c0, 0xc32471f7, 0x70986adb, 0xc31eeaf9, 0x70956db1, 0xc3196422,

+    0x70927041, 0xc313dd70,

+  0x708f728b, 0xc30e56e4, 0x708c7490, 0xc308d07d, 0x70897650, 0xc3034a3c,

+    0x708677ca, 0xc2fdc420,

+  0x708378ff, 0xc2f83e2a, 0x708079ee, 0xc2f2b85a, 0x707d7a98, 0xc2ed32af,

+    0x707a7afd, 0xc2e7ad2a,

+  0x70777b1c, 0xc2e227cb, 0x70747af6, 0xc2dca291, 0x70717a8a, 0xc2d71d7e,

+    0x706e79d9, 0xc2d1988f,

+  0x706b78e3, 0xc2cc13c7, 0x706877a7, 0xc2c68f24, 0x70657626, 0xc2c10aa7,

+    0x70627460, 0xc2bb8650,

+  0x705f7255, 0xc2b6021f, 0x705c7004, 0xc2b07e14, 0x70596d6d, 0xc2aafa2e,

+    0x70566a92, 0xc2a5766e,

+  0x70536771, 0xc29ff2d4, 0x7050640b, 0xc29a6f60, 0x704d6060, 0xc294ec12,

+    0x704a5c6f, 0xc28f68e9,

+  0x70475839, 0xc289e5e7, 0x704453be, 0xc284630a, 0x70414efd, 0xc27ee054,

+    0x703e49f8, 0xc2795dc3,

+  0x703b44ad, 0xc273db58, 0x70383f1d, 0xc26e5913, 0x70353947, 0xc268d6f5,

+    0x7032332d, 0xc26354fc,

+  0x702f2ccd, 0xc25dd329, 0x702c2628, 0xc258517c, 0x70291f3e, 0xc252cff5,

+    0x7026180e, 0xc24d4e95,

+  0x7023109a, 0xc247cd5a, 0x702008e0, 0xc2424c46, 0x701d00e1, 0xc23ccb57,

+    0x7019f89d, 0xc2374a8f,

+  0x7016f014, 0xc231c9ec, 0x7013e746, 0xc22c4970, 0x7010de32, 0xc226c91a,

+    0x700dd4da, 0xc22148ea,

+  0x700acb3c, 0xc21bc8e1, 0x7007c159, 0xc21648fd, 0x7004b731, 0xc210c940,

+    0x7001acc4, 0xc20b49a9,

+  0x6ffea212, 0xc205ca38, 0x6ffb971b, 0xc2004aed, 0x6ff88bde, 0xc1facbc9,

+    0x6ff5805d, 0xc1f54cca,

+  0x6ff27497, 0xc1efcdf3, 0x6fef688b, 0xc1ea4f41, 0x6fec5c3b, 0xc1e4d0b6,

+    0x6fe94fa5, 0xc1df5251,

+  0x6fe642ca, 0xc1d9d412, 0x6fe335ab, 0xc1d455f9, 0x6fe02846, 0xc1ced807,

+    0x6fdd1a9c, 0xc1c95a3c,

+  0x6fda0cae, 0xc1c3dc97, 0x6fd6fe7a, 0xc1be5f18, 0x6fd3f001, 0xc1b8e1bf,

+    0x6fd0e144, 0xc1b3648d,

+  0x6fcdd241, 0xc1ade781, 0x6fcac2fa, 0xc1a86a9c, 0x6fc7b36d, 0xc1a2edde,

+    0x6fc4a39c, 0xc19d7145,

+  0x6fc19385, 0xc197f4d4, 0x6fbe832a, 0xc1927888, 0x6fbb728a, 0xc18cfc63,

+    0x6fb861a4, 0xc1878065,

+  0x6fb5507a, 0xc182048d, 0x6fb23f0b, 0xc17c88dc, 0x6faf2d57, 0xc1770d52,

+    0x6fac1b5f, 0xc17191ee,

+  0x6fa90921, 0xc16c16b0, 0x6fa5f69e, 0xc1669b99, 0x6fa2e3d7, 0xc16120a9,

+    0x6f9fd0cb, 0xc15ba5df,

+  0x6f9cbd79, 0xc1562b3d, 0x6f99a9e3, 0xc150b0c0, 0x6f969608, 0xc14b366b,

+    0x6f9381e9, 0xc145bc3c,

+  0x6f906d84, 0xc1404233, 0x6f8d58db, 0xc13ac852, 0x6f8a43ed, 0xc1354e97,

+    0x6f872eba, 0xc12fd503,

+  0x6f841942, 0xc12a5b95, 0x6f810386, 0xc124e24f, 0x6f7ded84, 0xc11f692f,

+    0x6f7ad73e, 0xc119f036,

+  0x6f77c0b3, 0xc1147764, 0x6f74a9e4, 0xc10efeb8, 0x6f7192cf, 0xc1098634,

+    0x6f6e7b76, 0xc1040dd6,

+  0x6f6b63d8, 0xc0fe959f, 0x6f684bf6, 0xc0f91d8f, 0x6f6533ce, 0xc0f3a5a6,

+    0x6f621b62, 0xc0ee2de3,

+  0x6f5f02b2, 0xc0e8b648, 0x6f5be9bc, 0xc0e33ed4, 0x6f58d082, 0xc0ddc786,

+    0x6f55b703, 0xc0d8505f,

+  0x6f529d40, 0xc0d2d960, 0x6f4f8338, 0xc0cd6287, 0x6f4c68eb, 0xc0c7ebd6,

+    0x6f494e5a, 0xc0c2754b,

+  0x6f463383, 0xc0bcfee7, 0x6f431869, 0xc0b788ab, 0x6f3ffd09, 0xc0b21295,

+    0x6f3ce165, 0xc0ac9ca6,

+  0x6f39c57d, 0xc0a726df, 0x6f36a94f, 0xc0a1b13e, 0x6f338cde, 0xc09c3bc5,

+    0x6f307027, 0xc096c673,

+  0x6f2d532c, 0xc0915148, 0x6f2a35ed, 0xc08bdc44, 0x6f271868, 0xc0866767,

+    0x6f23faa0, 0xc080f2b1,

+  0x6f20dc92, 0xc07b7e23, 0x6f1dbe41, 0xc07609bb, 0x6f1a9faa, 0xc070957b,

+    0x6f1780cf, 0xc06b2162,

+  0x6f1461b0, 0xc065ad70, 0x6f11424c, 0xc06039a6, 0x6f0e22a3, 0xc05ac603,

+    0x6f0b02b6, 0xc0555287,

+  0x6f07e285, 0xc04fdf32, 0x6f04c20f, 0xc04a6c05, 0x6f01a155, 0xc044f8fe,

+    0x6efe8056, 0xc03f8620,

+  0x6efb5f12, 0xc03a1368, 0x6ef83d8a, 0xc034a0d8, 0x6ef51bbe, 0xc02f2e6f,

+    0x6ef1f9ad, 0xc029bc2e,

+  0x6eeed758, 0xc0244a14, 0x6eebb4bf, 0xc01ed821, 0x6ee891e1, 0xc0196656,

+    0x6ee56ebe, 0xc013f4b2,

+  0x6ee24b57, 0xc00e8336, 0x6edf27ac, 0xc00911e1, 0x6edc03bc, 0xc003a0b3,

+    0x6ed8df88, 0xbffe2fad,

+  0x6ed5bb10, 0xbff8bece, 0x6ed29653, 0xbff34e17, 0x6ecf7152, 0xbfeddd88,

+    0x6ecc4c0d, 0xbfe86d20,

+  0x6ec92683, 0xbfe2fcdf, 0x6ec600b5, 0xbfdd8cc6, 0x6ec2daa2, 0xbfd81cd5,

+    0x6ebfb44b, 0xbfd2ad0b,

+  0x6ebc8db0, 0xbfcd3d69, 0x6eb966d1, 0xbfc7cdee, 0x6eb63fad, 0xbfc25e9b,

+    0x6eb31845, 0xbfbcef70,

+  0x6eaff099, 0xbfb7806c, 0x6eacc8a8, 0xbfb21190, 0x6ea9a073, 0xbfaca2dc,

+    0x6ea677fa, 0xbfa7344f,

+  0x6ea34f3d, 0xbfa1c5ea, 0x6ea0263b, 0xbf9c57ac, 0x6e9cfcf5, 0xbf96e997,

+    0x6e99d36b, 0xbf917ba9,

+  0x6e96a99d, 0xbf8c0de3, 0x6e937f8a, 0xbf86a044, 0x6e905534, 0xbf8132ce,

+    0x6e8d2a99, 0xbf7bc57f,

+  0x6e89ffb9, 0xbf765858, 0x6e86d496, 0xbf70eb59, 0x6e83a92f, 0xbf6b7e81,

+    0x6e807d83, 0xbf6611d2,

+  0x6e7d5193, 0xbf60a54a, 0x6e7a255f, 0xbf5b38ea, 0x6e76f8e7, 0xbf55ccb2,

+    0x6e73cc2b, 0xbf5060a2,

+  0x6e709f2a, 0xbf4af4ba, 0x6e6d71e6, 0xbf4588fa, 0x6e6a445d, 0xbf401d61,

+    0x6e671690, 0xbf3ab1f1,

+  0x6e63e87f, 0xbf3546a8, 0x6e60ba2a, 0xbf2fdb88, 0x6e5d8b91, 0xbf2a708f,

+    0x6e5a5cb4, 0xbf2505bf,

+  0x6e572d93, 0xbf1f9b16, 0x6e53fe2e, 0xbf1a3096, 0x6e50ce84, 0xbf14c63d,

+    0x6e4d9e97, 0xbf0f5c0d,

+  0x6e4a6e66, 0xbf09f205, 0x6e473df0, 0xbf048824, 0x6e440d37, 0xbeff1e6c,

+    0x6e40dc39, 0xbef9b4dc,

+  0x6e3daaf8, 0xbef44b74, 0x6e3a7972, 0xbeeee234, 0x6e3747a9, 0xbee9791c,

+    0x6e34159b, 0xbee4102d,

+  0x6e30e34a, 0xbedea765, 0x6e2db0b4, 0xbed93ec6, 0x6e2a7ddb, 0xbed3d64f,

+    0x6e274abe, 0xbece6e00,

+  0x6e24175c, 0xbec905d9, 0x6e20e3b7, 0xbec39ddb, 0x6e1dafce, 0xbebe3605,

+    0x6e1a7ba1, 0xbeb8ce57,

+  0x6e174730, 0xbeb366d1, 0x6e14127b, 0xbeadff74, 0x6e10dd82, 0xbea8983f,

+    0x6e0da845, 0xbea33132,

+  0x6e0a72c5, 0xbe9dca4e, 0x6e073d00, 0xbe986391, 0x6e0406f8, 0xbe92fcfe,

+    0x6e00d0ac, 0xbe8d9692,

+  0x6dfd9a1c, 0xbe88304f, 0x6dfa6348, 0xbe82ca35, 0x6df72c30, 0xbe7d6442,

+    0x6df3f4d4, 0xbe77fe78,

+  0x6df0bd35, 0xbe7298d7, 0x6ded8552, 0xbe6d335e, 0x6dea4d2b, 0xbe67ce0d,

+    0x6de714c0, 0xbe6268e5,

+  0x6de3dc11, 0xbe5d03e6, 0x6de0a31f, 0xbe579f0f, 0x6ddd69e9, 0xbe523a60,

+    0x6dda306f, 0xbe4cd5da,

+  0x6dd6f6b1, 0xbe47717c, 0x6dd3bcaf, 0xbe420d47, 0x6dd0826a, 0xbe3ca93b,

+    0x6dcd47e1, 0xbe374557,

+  0x6dca0d14, 0xbe31e19b, 0x6dc6d204, 0xbe2c7e09, 0x6dc396b0, 0xbe271a9f,

+    0x6dc05b18, 0xbe21b75d,

+  0x6dbd1f3c, 0xbe1c5444, 0x6db9e31d, 0xbe16f154, 0x6db6a6ba, 0xbe118e8c,

+    0x6db36a14, 0xbe0c2bed,

+  0x6db02d29, 0xbe06c977, 0x6daceffb, 0xbe01672a, 0x6da9b28a, 0xbdfc0505,

+    0x6da674d5, 0xbdf6a309,

+  0x6da336dc, 0xbdf14135, 0x6d9ff89f, 0xbdebdf8b, 0x6d9cba1f, 0xbde67e09,

+    0x6d997b5b, 0xbde11cb0,

+  0x6d963c54, 0xbddbbb7f, 0x6d92fd09, 0xbdd65a78, 0x6d8fbd7a, 0xbdd0f999,

+    0x6d8c7da8, 0xbdcb98e3,

+  0x6d893d93, 0xbdc63856, 0x6d85fd39, 0xbdc0d7f2, 0x6d82bc9d, 0xbdbb77b7,

+    0x6d7f7bbc, 0xbdb617a4,

+  0x6d7c3a98, 0xbdb0b7bb, 0x6d78f931, 0xbdab57fa, 0x6d75b786, 0xbda5f862,

+    0x6d727597, 0xbda098f3,

+  0x6d6f3365, 0xbd9b39ad, 0x6d6bf0f0, 0xbd95da91, 0x6d68ae37, 0xbd907b9d,

+    0x6d656b3a, 0xbd8b1cd2,

+  0x6d6227fa, 0xbd85be30, 0x6d5ee477, 0xbd805fb7, 0x6d5ba0b0, 0xbd7b0167,

+    0x6d585ca6, 0xbd75a340,

+  0x6d551858, 0xbd704542, 0x6d51d3c6, 0xbd6ae76d, 0x6d4e8ef2, 0xbd6589c1,

+    0x6d4b49da, 0xbd602c3f,

+  0x6d48047e, 0xbd5acee5, 0x6d44bedf, 0xbd5571b5, 0x6d4178fd, 0xbd5014ad,

+    0x6d3e32d7, 0xbd4ab7cf,

+  0x6d3aec6e, 0xbd455b1a, 0x6d37a5c1, 0xbd3ffe8e, 0x6d345ed1, 0xbd3aa22c,

+    0x6d31179e, 0xbd3545f2,

+  0x6d2dd027, 0xbd2fe9e2, 0x6d2a886e, 0xbd2a8dfb, 0x6d274070, 0xbd25323d,

+    0x6d23f830, 0xbd1fd6a8,

+  0x6d20afac, 0xbd1a7b3d, 0x6d1d66e4, 0xbd151ffb, 0x6d1a1dda, 0xbd0fc4e2,

+    0x6d16d48c, 0xbd0a69f2,

+  0x6d138afb, 0xbd050f2c, 0x6d104126, 0xbcffb48f, 0x6d0cf70f, 0xbcfa5a1b,

+    0x6d09acb4, 0xbcf4ffd1,

+  0x6d066215, 0xbcefa5b0, 0x6d031734, 0xbcea4bb9, 0x6cffcc0f, 0xbce4f1eb,

+    0x6cfc80a7, 0xbcdf9846,

+  0x6cf934fc, 0xbcda3ecb, 0x6cf5e90d, 0xbcd4e579, 0x6cf29cdc, 0xbccf8c50,

+    0x6cef5067, 0xbcca3351,

+  0x6cec03af, 0xbcc4da7b, 0x6ce8b6b4, 0xbcbf81cf, 0x6ce56975, 0xbcba294d,

+    0x6ce21bf4, 0xbcb4d0f4,

+  0x6cdece2f, 0xbcaf78c4, 0x6cdb8027, 0xbcaa20be, 0x6cd831dc, 0xbca4c8e1,

+    0x6cd4e34e, 0xbc9f712e,

+  0x6cd1947c, 0xbc9a19a5, 0x6cce4568, 0xbc94c245, 0x6ccaf610, 0xbc8f6b0f,

+    0x6cc7a676, 0xbc8a1402,

+  0x6cc45698, 0xbc84bd1f, 0x6cc10677, 0xbc7f6665, 0x6cbdb613, 0xbc7a0fd6,

+    0x6cba656c, 0xbc74b96f,

+  0x6cb71482, 0xbc6f6333, 0x6cb3c355, 0xbc6a0d20, 0x6cb071e4, 0xbc64b737,

+    0x6cad2031, 0xbc5f6177,

+  0x6ca9ce3b, 0xbc5a0be2, 0x6ca67c01, 0xbc54b676, 0x6ca32985, 0xbc4f6134,

+    0x6c9fd6c6, 0xbc4a0c1b,

+  0x6c9c83c3, 0xbc44b72c, 0x6c99307e, 0xbc3f6267, 0x6c95dcf6, 0xbc3a0dcc,

+    0x6c92892a, 0xbc34b95b,

+  0x6c8f351c, 0xbc2f6513, 0x6c8be0cb, 0xbc2a10f6, 0x6c888c36, 0xbc24bd02,

+    0x6c85375f, 0xbc1f6938,

+  0x6c81e245, 0xbc1a1598, 0x6c7e8ce8, 0xbc14c221, 0x6c7b3748, 0xbc0f6ed5,

+    0x6c77e165, 0xbc0a1bb3,

+  0x6c748b3f, 0xbc04c8ba, 0x6c7134d7, 0xbbff75ec, 0x6c6dde2b, 0xbbfa2347,

+    0x6c6a873d, 0xbbf4d0cc,

+  0x6c67300b, 0xbbef7e7c, 0x6c63d897, 0xbbea2c55, 0x6c6080e0, 0xbbe4da58,

+    0x6c5d28e6, 0xbbdf8885,

+  0x6c59d0a9, 0xbbda36dd, 0x6c56782a, 0xbbd4e55e, 0x6c531f67, 0xbbcf940a,

+    0x6c4fc662, 0xbbca42df,

+  0x6c4c6d1a, 0xbbc4f1df, 0x6c49138f, 0xbbbfa108, 0x6c45b9c1, 0xbbba505c,

+    0x6c425fb1, 0xbbb4ffda,

+  0x6c3f055d, 0xbbafaf82, 0x6c3baac7, 0xbbaa5f54, 0x6c384fef, 0xbba50f50,

+    0x6c34f4d3, 0xbb9fbf77,

+  0x6c319975, 0xbb9a6fc7, 0x6c2e3dd4, 0xbb952042, 0x6c2ae1f0, 0xbb8fd0e7,

+    0x6c2785ca, 0xbb8a81b6,

+  0x6c242960, 0xbb8532b0, 0x6c20ccb4, 0xbb7fe3d3, 0x6c1d6fc6, 0xbb7a9521,

+    0x6c1a1295, 0xbb754699,

+  0x6c16b521, 0xbb6ff83c, 0x6c13576a, 0xbb6aaa09, 0x6c0ff971, 0xbb655c00,

+    0x6c0c9b35, 0xbb600e21,

+  0x6c093cb6, 0xbb5ac06d, 0x6c05ddf5, 0xbb5572e3, 0x6c027ef1, 0xbb502583,

+    0x6bff1faa, 0xbb4ad84e,

+  0x6bfbc021, 0xbb458b43, 0x6bf86055, 0xbb403e63, 0x6bf50047, 0xbb3af1ad,

+    0x6bf19ff6, 0xbb35a521,

+  0x6bee3f62, 0xbb3058c0, 0x6beade8c, 0xbb2b0c8a, 0x6be77d74, 0xbb25c07d,

+    0x6be41c18, 0xbb20749c,

+  0x6be0ba7b, 0xbb1b28e4, 0x6bdd589a, 0xbb15dd57, 0x6bd9f677, 0xbb1091f5,

+    0x6bd69412, 0xbb0b46bd,

+  0x6bd3316a, 0xbb05fbb0, 0x6bcfce80, 0xbb00b0ce, 0x6bcc6b53, 0xbafb6615,

+    0x6bc907e3, 0xbaf61b88,

+  0x6bc5a431, 0xbaf0d125, 0x6bc2403d, 0xbaeb86ed, 0x6bbedc06, 0xbae63cdf,

+    0x6bbb778d, 0xbae0f2fc,

+  0x6bb812d1, 0xbadba943, 0x6bb4add3, 0xbad65fb5, 0x6bb14892, 0xbad11652,

+    0x6bade30f, 0xbacbcd1a,

+  0x6baa7d49, 0xbac6840c, 0x6ba71741, 0xbac13b29, 0x6ba3b0f7, 0xbabbf270,

+    0x6ba04a6a, 0xbab6a9e3,

+  0x6b9ce39b, 0xbab16180, 0x6b997c8a, 0xbaac1948, 0x6b961536, 0xbaa6d13a,

+    0x6b92ada0, 0xbaa18958,

+  0x6b8f45c7, 0xba9c41a0, 0x6b8bddac, 0xba96fa13, 0x6b88754f, 0xba91b2b1,

+    0x6b850caf, 0xba8c6b79,

+  0x6b81a3cd, 0xba87246d, 0x6b7e3aa9, 0xba81dd8b, 0x6b7ad142, 0xba7c96d4,

+    0x6b776799, 0xba775048,

+  0x6b73fdae, 0xba7209e7, 0x6b709381, 0xba6cc3b1, 0x6b6d2911, 0xba677da6,

+    0x6b69be5f, 0xba6237c5,

+  0x6b66536b, 0xba5cf210, 0x6b62e834, 0xba57ac86, 0x6b5f7cbc, 0xba526726,

+    0x6b5c1101, 0xba4d21f2,

+  0x6b58a503, 0xba47dce8, 0x6b5538c4, 0xba42980a, 0x6b51cc42, 0xba3d5356,

+    0x6b4e5f7f, 0xba380ece,

+  0x6b4af279, 0xba32ca71, 0x6b478530, 0xba2d863e, 0x6b4417a6, 0xba284237,

+    0x6b40a9d9, 0xba22fe5b,

+  0x6b3d3bcb, 0xba1dbaaa, 0x6b39cd7a, 0xba187724, 0x6b365ee7, 0xba1333c9,

+    0x6b32f012, 0xba0df099,

+  0x6b2f80fb, 0xba08ad95, 0x6b2c11a1, 0xba036abb, 0x6b28a206, 0xb9fe280d,

+    0x6b253228, 0xb9f8e58a,

+  0x6b21c208, 0xb9f3a332, 0x6b1e51a7, 0xb9ee6106, 0x6b1ae103, 0xb9e91f04,

+    0x6b17701d, 0xb9e3dd2e,

+  0x6b13fef5, 0xb9de9b83, 0x6b108d8b, 0xb9d95a03, 0x6b0d1bdf, 0xb9d418af,

+    0x6b09a9f1, 0xb9ced786,

+  0x6b0637c1, 0xb9c99688, 0x6b02c54f, 0xb9c455b6, 0x6aff529a, 0xb9bf150e,

+    0x6afbdfa4, 0xb9b9d493,

+  0x6af86c6c, 0xb9b49442, 0x6af4f8f2, 0xb9af541d, 0x6af18536, 0xb9aa1423,

+    0x6aee1138, 0xb9a4d455,

+  0x6aea9cf8, 0xb99f94b2, 0x6ae72876, 0xb99a553a, 0x6ae3b3b2, 0xb99515ee,

+    0x6ae03eac, 0xb98fd6cd,

+  0x6adcc964, 0xb98a97d8, 0x6ad953db, 0xb985590e, 0x6ad5de0f, 0xb9801a70,

+    0x6ad26802, 0xb97adbfd,

+  0x6acef1b2, 0xb9759db6, 0x6acb7b21, 0xb9705f9a, 0x6ac8044e, 0xb96b21aa,

+    0x6ac48d39, 0xb965e3e5,

+  0x6ac115e2, 0xb960a64c, 0x6abd9e49, 0xb95b68de, 0x6aba266e, 0xb9562b9c,

+    0x6ab6ae52, 0xb950ee86,

+  0x6ab335f4, 0xb94bb19b, 0x6aafbd54, 0xb94674dc, 0x6aac4472, 0xb9413848,

+    0x6aa8cb4e, 0xb93bfbe0,

+  0x6aa551e9, 0xb936bfa4, 0x6aa1d841, 0xb9318393, 0x6a9e5e58, 0xb92c47ae,

+    0x6a9ae42e, 0xb9270bf5,

+  0x6a9769c1, 0xb921d067, 0x6a93ef13, 0xb91c9505, 0x6a907423, 0xb91759cf,

+    0x6a8cf8f1, 0xb9121ec5,

+  0x6a897d7d, 0xb90ce3e6, 0x6a8601c8, 0xb907a933, 0x6a8285d1, 0xb9026eac,

+    0x6a7f0999, 0xb8fd3451,

+  0x6a7b8d1e, 0xb8f7fa21, 0x6a781062, 0xb8f2c01d, 0x6a749365, 0xb8ed8646,

+    0x6a711625, 0xb8e84c99,

+  0x6a6d98a4, 0xb8e31319, 0x6a6a1ae2, 0xb8ddd9c5, 0x6a669cdd, 0xb8d8a09d,

+    0x6a631e97, 0xb8d367a0,

+  0x6a5fa010, 0xb8ce2ecf, 0x6a5c2147, 0xb8c8f62b, 0x6a58a23c, 0xb8c3bdb2,

+    0x6a5522ef, 0xb8be8565,

+  0x6a51a361, 0xb8b94d44, 0x6a4e2392, 0xb8b4154f, 0x6a4aa381, 0xb8aedd86,

+    0x6a47232e, 0xb8a9a5e9,

+  0x6a43a29a, 0xb8a46e78, 0x6a4021c4, 0xb89f3733, 0x6a3ca0ad, 0xb89a001a,

+    0x6a391f54, 0xb894c92d,

+  0x6a359db9, 0xb88f926d, 0x6a321bdd, 0xb88a5bd8, 0x6a2e99c0, 0xb885256f,

+    0x6a2b1761, 0xb87fef33,

+  0x6a2794c1, 0xb87ab922, 0x6a2411df, 0xb875833e, 0x6a208ebb, 0xb8704d85,

+    0x6a1d0b57, 0xb86b17f9,

+  0x6a1987b0, 0xb865e299, 0x6a1603c8, 0xb860ad66, 0x6a127f9f, 0xb85b785e,

+    0x6a0efb35, 0xb8564383,

+  0x6a0b7689, 0xb8510ed4, 0x6a07f19b, 0xb84bda51, 0x6a046c6c, 0xb846a5fa,

+    0x6a00e6fc, 0xb84171cf,

+  0x69fd614a, 0xb83c3dd1, 0x69f9db57, 0xb83709ff, 0x69f65523, 0xb831d659,

+    0x69f2cead, 0xb82ca2e0,

+  0x69ef47f6, 0xb8276f93, 0x69ebc0fe, 0xb8223c72, 0x69e839c4, 0xb81d097e,

+    0x69e4b249, 0xb817d6b6,

+  0x69e12a8c, 0xb812a41a, 0x69dda28f, 0xb80d71aa, 0x69da1a50, 0xb8083f67,

+    0x69d691cf, 0xb8030d51,

+  0x69d3090e, 0xb7fddb67, 0x69cf800b, 0xb7f8a9a9, 0x69cbf6c7, 0xb7f37818,

+    0x69c86d41, 0xb7ee46b3,

+  0x69c4e37a, 0xb7e9157a, 0x69c15973, 0xb7e3e46e, 0x69bdcf29, 0xb7deb38f,

+    0x69ba449f, 0xb7d982dc,

+  0x69b6b9d3, 0xb7d45255, 0x69b32ec7, 0xb7cf21fb, 0x69afa378, 0xb7c9f1ce,

+    0x69ac17e9, 0xb7c4c1cd,

+  0x69a88c19, 0xb7bf91f8, 0x69a50007, 0xb7ba6251, 0x69a173b5, 0xb7b532d6,

+    0x699de721, 0xb7b00387,

+  0x699a5a4c, 0xb7aad465, 0x6996cd35, 0xb7a5a570, 0x69933fde, 0xb7a076a7,

+    0x698fb246, 0xb79b480b,

+  0x698c246c, 0xb796199b, 0x69889651, 0xb790eb58, 0x698507f6, 0xb78bbd42,

+    0x69817959, 0xb7868f59,

+  0x697dea7b, 0xb781619c, 0x697a5b5c, 0xb77c340c, 0x6976cbfc, 0xb77706a9,

+    0x69733c5b, 0xb771d972,

+  0x696fac78, 0xb76cac69, 0x696c1c55, 0xb7677f8c, 0x69688bf1, 0xb76252db,

+    0x6964fb4c, 0xb75d2658,

+  0x69616a65, 0xb757fa01, 0x695dd93e, 0xb752cdd8, 0x695a47d6, 0xb74da1db,

+    0x6956b62d, 0xb748760b,

+  0x69532442, 0xb7434a67, 0x694f9217, 0xb73e1ef1, 0x694bffab, 0xb738f3a7,

+    0x69486cfe, 0xb733c88b,

+  0x6944da10, 0xb72e9d9b, 0x694146e1, 0xb72972d8, 0x693db371, 0xb7244842,

+    0x693a1fc0, 0xb71f1dd9,

+  0x69368bce, 0xb719f39e, 0x6932f79b, 0xb714c98e, 0x692f6328, 0xb70f9fac,

+    0x692bce73, 0xb70a75f7,

+  0x6928397e, 0xb7054c6f, 0x6924a448, 0xb7002314, 0x69210ed1, 0xb6faf9e6,

+    0x691d7919, 0xb6f5d0e5,

+  0x6919e320, 0xb6f0a812, 0x69164ce7, 0xb6eb7f6b, 0x6912b66c, 0xb6e656f1,

+    0x690f1fb1, 0xb6e12ea4,

+  0x690b88b5, 0xb6dc0685, 0x6907f178, 0xb6d6de92, 0x690459fb, 0xb6d1b6cd,

+    0x6900c23c, 0xb6cc8f35,

+  0x68fd2a3d, 0xb6c767ca, 0x68f991fd, 0xb6c2408c, 0x68f5f97d, 0xb6bd197c,

+    0x68f260bb, 0xb6b7f298,

+  0x68eec7b9, 0xb6b2cbe2, 0x68eb2e76, 0xb6ada559, 0x68e794f3, 0xb6a87efd,

+    0x68e3fb2e, 0xb6a358ce,

+  0x68e06129, 0xb69e32cd, 0x68dcc6e4, 0xb6990cf9, 0x68d92c5d, 0xb693e752,

+    0x68d59196, 0xb68ec1d9,

+  0x68d1f68f, 0xb6899c8d, 0x68ce5b46, 0xb684776e, 0x68cabfbd, 0xb67f527c,

+    0x68c723f3, 0xb67a2db8,

+  0x68c387e9, 0xb6750921, 0x68bfeb9e, 0xb66fe4b8, 0x68bc4f13, 0xb66ac07c,

+    0x68b8b247, 0xb6659c6d,

+  0x68b5153a, 0xb660788c, 0x68b177ed, 0xb65b54d8, 0x68adda5f, 0xb6563151,

+    0x68aa3c90, 0xb6510df8,

+  0x68a69e81, 0xb64beacd, 0x68a30031, 0xb646c7ce, 0x689f61a1, 0xb641a4fe,

+    0x689bc2d1, 0xb63c825b,

+  0x689823bf, 0xb6375fe5, 0x6894846e, 0xb6323d9d, 0x6890e4dc, 0xb62d1b82,

+    0x688d4509, 0xb627f995,

+  0x6889a4f6, 0xb622d7d6, 0x688604a2, 0xb61db644, 0x6882640e, 0xb61894df,

+    0x687ec339, 0xb61373a9,

+  0x687b2224, 0xb60e529f, 0x687780ce, 0xb60931c4, 0x6873df38, 0xb6041116,

+    0x68703d62, 0xb5fef095,

+  0x686c9b4b, 0xb5f9d043, 0x6868f8f4, 0xb5f4b01e, 0x6865565c, 0xb5ef9026,

+    0x6861b384, 0xb5ea705d,

+  0x685e106c, 0xb5e550c1, 0x685a6d13, 0xb5e03153, 0x6856c979, 0xb5db1212,

+    0x685325a0, 0xb5d5f2ff,

+  0x684f8186, 0xb5d0d41a, 0x684bdd2c, 0xb5cbb563, 0x68483891, 0xb5c696da,

+    0x684493b6, 0xb5c1787e,

+  0x6840ee9b, 0xb5bc5a50, 0x683d493f, 0xb5b73c50, 0x6839a3a4, 0xb5b21e7e,

+    0x6835fdc7, 0xb5ad00d9,

+  0x683257ab, 0xb5a7e362, 0x682eb14e, 0xb5a2c61a, 0x682b0ab1, 0xb59da8ff,

+    0x682763d4, 0xb5988c12,

+  0x6823bcb7, 0xb5936f53, 0x68201559, 0xb58e52c2, 0x681c6dbb, 0xb589365e,

+    0x6818c5dd, 0xb5841a29,

+  0x68151dbe, 0xb57efe22, 0x68117560, 0xb579e248, 0x680dccc1, 0xb574c69d,

+    0x680a23e2, 0xb56fab1f,

+  0x68067ac3, 0xb56a8fd0, 0x6802d164, 0xb56574ae, 0x67ff27c4, 0xb56059bb,

+    0x67fb7de5, 0xb55b3ef5,

+  0x67f7d3c5, 0xb556245e, 0x67f42965, 0xb55109f5, 0x67f07ec5, 0xb54befba,

+    0x67ecd3e5, 0xb546d5ac,

+  0x67e928c5, 0xb541bbcd, 0x67e57d64, 0xb53ca21c, 0x67e1d1c4, 0xb5378899,

+    0x67de25e3, 0xb5326f45,

+  0x67da79c3, 0xb52d561e, 0x67d6cd62, 0xb5283d26, 0x67d320c1, 0xb523245b,

+    0x67cf73e1, 0xb51e0bbf,

+  0x67cbc6c0, 0xb518f351, 0x67c8195f, 0xb513db12, 0x67c46bbe, 0xb50ec300,

+    0x67c0bddd, 0xb509ab1d,

+  0x67bd0fbd, 0xb5049368, 0x67b9615c, 0xb4ff7be1, 0x67b5b2bb, 0xb4fa6489,

+    0x67b203da, 0xb4f54d5f,

+  0x67ae54ba, 0xb4f03663, 0x67aaa559, 0xb4eb1f95, 0x67a6f5b8, 0xb4e608f6,

+    0x67a345d8, 0xb4e0f285,

+  0x679f95b7, 0xb4dbdc42, 0x679be557, 0xb4d6c62e, 0x679834b6, 0xb4d1b048,

+    0x679483d6, 0xb4cc9a90,

+  0x6790d2b6, 0xb4c78507, 0x678d2156, 0xb4c26fad, 0x67896fb6, 0xb4bd5a80,

+    0x6785bdd6, 0xb4b84582,

+  0x67820bb7, 0xb4b330b3, 0x677e5957, 0xb4ae1c12, 0x677aa6b8, 0xb4a9079f,

+    0x6776f3d9, 0xb4a3f35b,

+  0x677340ba, 0xb49edf45, 0x676f8d5b, 0xb499cb5e, 0x676bd9bd, 0xb494b7a6,

+    0x676825de, 0xb48fa41c,

+  0x676471c0, 0xb48a90c0, 0x6760bd62, 0xb4857d93, 0x675d08c4, 0xb4806a95,

+    0x675953e7, 0xb47b57c5,

+  0x67559eca, 0xb4764523, 0x6751e96d, 0xb47132b1, 0x674e33d0, 0xb46c206d,

+    0x674a7df4, 0xb4670e57,

+  0x6746c7d8, 0xb461fc70, 0x6743117c, 0xb45ceab8, 0x673f5ae0, 0xb457d92f,

+    0x673ba405, 0xb452c7d4,

+  0x6737ecea, 0xb44db6a8, 0x67343590, 0xb448a5aa, 0x67307df5, 0xb44394db,

+    0x672cc61c, 0xb43e843b,

+  0x67290e02, 0xb43973ca, 0x672555a9, 0xb4346387, 0x67219d10, 0xb42f5373,

+    0x671de438, 0xb42a438e,

+  0x671a2b20, 0xb42533d8, 0x671671c8, 0xb4202451, 0x6712b831, 0xb41b14f8,

+    0x670efe5a, 0xb41605ce,

+  0x670b4444, 0xb410f6d3, 0x670789ee, 0xb40be807, 0x6703cf58, 0xb406d969,

+    0x67001483, 0xb401cafb,

+  0x66fc596f, 0xb3fcbcbb, 0x66f89e1b, 0xb3f7aeaa, 0x66f4e287, 0xb3f2a0c9,

+    0x66f126b4, 0xb3ed9316,

+  0x66ed6aa1, 0xb3e88592, 0x66e9ae4f, 0xb3e3783d, 0x66e5f1be, 0xb3de6b17,

+    0x66e234ed, 0xb3d95e1f,

+  0x66de77dc, 0xb3d45157, 0x66daba8c, 0xb3cf44be, 0x66d6fcfd, 0xb3ca3854,

+    0x66d33f2e, 0xb3c52c19,

+  0x66cf8120, 0xb3c0200c, 0x66cbc2d2, 0xb3bb142f, 0x66c80445, 0xb3b60881,

+    0x66c44579, 0xb3b0fd02,

+  0x66c0866d, 0xb3abf1b2, 0x66bcc721, 0xb3a6e691, 0x66b90797, 0xb3a1dba0,

+    0x66b547cd, 0xb39cd0dd,

+  0x66b187c3, 0xb397c649, 0x66adc77b, 0xb392bbe5, 0x66aa06f3, 0xb38db1b0,

+    0x66a6462b, 0xb388a7aa,

+  0x66a28524, 0xb3839dd3, 0x669ec3de, 0xb37e942b, 0x669b0259, 0xb3798ab2,

+    0x66974095, 0xb3748169,

+  0x66937e91, 0xb36f784f, 0x668fbc4e, 0xb36a6f64, 0x668bf9cb, 0xb36566a8,

+    0x66883709, 0xb3605e1c,

+  0x66847408, 0xb35b55bf, 0x6680b0c8, 0xb3564d91, 0x667ced49, 0xb3514592,

+    0x6679298a, 0xb34c3dc3,

+  0x6675658c, 0xb3473623, 0x6671a14f, 0xb3422eb2, 0x666ddcd3, 0xb33d2771,

+    0x666a1818, 0xb338205f,

+  0x6666531d, 0xb333197c, 0x66628de4, 0xb32e12c9, 0x665ec86b, 0xb3290c45,

+    0x665b02b3, 0xb32405f1,

+  0x66573cbb, 0xb31effcc, 0x66537685, 0xb319f9d6, 0x664fb010, 0xb314f410,

+    0x664be95b, 0xb30fee79,

+  0x66482267, 0xb30ae912, 0x66445b35, 0xb305e3da, 0x664093c3, 0xb300ded2,

+    0x663ccc12, 0xb2fbd9f9,

+  0x66390422, 0xb2f6d550, 0x66353bf3, 0xb2f1d0d6, 0x66317385, 0xb2eccc8c,

+    0x662daad8, 0xb2e7c871,

+  0x6629e1ec, 0xb2e2c486, 0x662618c1, 0xb2ddc0ca, 0x66224f56, 0xb2d8bd3e,

+    0x661e85ad, 0xb2d3b9e2,

+  0x661abbc5, 0xb2ceb6b5, 0x6616f19e, 0xb2c9b3b8, 0x66132738, 0xb2c4b0ea,

+    0x660f5c93, 0xb2bfae4c,

+  0x660b91af, 0xb2baabde, 0x6607c68c, 0xb2b5a99f, 0x6603fb2a, 0xb2b0a790,

+    0x66002f89, 0xb2aba5b1,

+  0x65fc63a9, 0xb2a6a402, 0x65f8978b, 0xb2a1a282, 0x65f4cb2d, 0xb29ca132,

+    0x65f0fe91, 0xb297a011,

+  0x65ed31b5, 0xb2929f21, 0x65e9649b, 0xb28d9e60, 0x65e59742, 0xb2889dcf,

+    0x65e1c9aa, 0xb2839d6d,

+  0x65ddfbd3, 0xb27e9d3c, 0x65da2dbd, 0xb2799d3a, 0x65d65f69, 0xb2749d68,

+    0x65d290d6, 0xb26f9dc6,

+  0x65cec204, 0xb26a9e54, 0x65caf2f3, 0xb2659f12, 0x65c723a3, 0xb2609fff,

+    0x65c35415, 0xb25ba11d,

+  0x65bf8447, 0xb256a26a, 0x65bbb43b, 0xb251a3e7, 0x65b7e3f1, 0xb24ca594,

+    0x65b41367, 0xb247a771,

+  0x65b0429f, 0xb242a97e, 0x65ac7198, 0xb23dabbb, 0x65a8a052, 0xb238ae28,

+    0x65a4cece, 0xb233b0c5,

+  0x65a0fd0b, 0xb22eb392, 0x659d2b09, 0xb229b68f, 0x659958c9, 0xb224b9bc,

+    0x6595864a, 0xb21fbd19,

+  0x6591b38c, 0xb21ac0a6, 0x658de08f, 0xb215c463, 0x658a0d54, 0xb210c850,

+    0x658639db, 0xb20bcc6d,

+  0x65826622, 0xb206d0ba, 0x657e922b, 0xb201d537, 0x657abdf6, 0xb1fcd9e5,

+    0x6576e982, 0xb1f7dec2,

+  0x657314cf, 0xb1f2e3d0, 0x656f3fde, 0xb1ede90e, 0x656b6aae, 0xb1e8ee7c,

+    0x6567953f, 0xb1e3f41a,

+  0x6563bf92, 0xb1def9e9, 0x655fe9a7, 0xb1d9ffe7, 0x655c137d, 0xb1d50616,

+    0x65583d14, 0xb1d00c75,

+  0x6554666d, 0xb1cb1304, 0x65508f87, 0xb1c619c3, 0x654cb863, 0xb1c120b3,

+    0x6548e101, 0xb1bc27d3,

+  0x6545095f, 0xb1b72f23, 0x65413180, 0xb1b236a4, 0x653d5962, 0xb1ad3e55,

+    0x65398105, 0xb1a84636,

+  0x6535a86b, 0xb1a34e47, 0x6531cf91, 0xb19e5689, 0x652df679, 0xb1995efb,

+    0x652a1d23, 0xb194679e,

+  0x6526438f, 0xb18f7071, 0x652269bc, 0xb18a7974, 0x651e8faa, 0xb18582a8,

+    0x651ab55b, 0xb1808c0c,

+  0x6516dacd, 0xb17b95a0, 0x65130000, 0xb1769f65, 0x650f24f5, 0xb171a95b,

+    0x650b49ac, 0xb16cb380,

+  0x65076e25, 0xb167bdd7, 0x6503925f, 0xb162c85d, 0x64ffb65b, 0xb15dd315,

+    0x64fbda18, 0xb158ddfd,

+  0x64f7fd98, 0xb153e915, 0x64f420d9, 0xb14ef45e, 0x64f043dc, 0xb149ffd7,

+    0x64ec66a0, 0xb1450b81,

+  0x64e88926, 0xb140175b, 0x64e4ab6e, 0xb13b2367, 0x64e0cd78, 0xb1362fa2,

+    0x64dcef44, 0xb1313c0e,

+  0x64d910d1, 0xb12c48ab, 0x64d53220, 0xb1275579, 0x64d15331, 0xb1226277,

+    0x64cd7404, 0xb11d6fa6,

+  0x64c99498, 0xb1187d05, 0x64c5b4ef, 0xb1138a95, 0x64c1d507, 0xb10e9856,

+    0x64bdf4e1, 0xb109a648,

+  0x64ba147d, 0xb104b46a, 0x64b633da, 0xb0ffc2bd, 0x64b252fa, 0xb0fad140,

+    0x64ae71dc, 0xb0f5dff5,

+  0x64aa907f, 0xb0f0eeda, 0x64a6aee4, 0xb0ebfdf0, 0x64a2cd0c, 0xb0e70d37,

+    0x649eeaf5, 0xb0e21cae,

+  0x649b08a0, 0xb0dd2c56, 0x6497260d, 0xb0d83c2f, 0x6493433c, 0xb0d34c39,

+    0x648f602d, 0xb0ce5c74,

+  0x648b7ce0, 0xb0c96ce0, 0x64879955, 0xb0c47d7c, 0x6483b58c, 0xb0bf8e4a,

+    0x647fd185, 0xb0ba9f48,

+  0x647bed3f, 0xb0b5b077, 0x647808bc, 0xb0b0c1d7, 0x647423fb, 0xb0abd368,

+    0x64703efc, 0xb0a6e52a,

+  0x646c59bf, 0xb0a1f71d, 0x64687444, 0xb09d0941, 0x64648e8c, 0xb0981b96,

+    0x6460a895, 0xb0932e1b,

+  0x645cc260, 0xb08e40d2, 0x6458dbed, 0xb08953ba, 0x6454f53d, 0xb08466d3,

+    0x64510e4e, 0xb07f7a1c,

+  0x644d2722, 0xb07a8d97, 0x64493fb8, 0xb075a143, 0x64455810, 0xb070b520,

+    0x6441702a, 0xb06bc92e,

+  0x643d8806, 0xb066dd6d, 0x64399fa5, 0xb061f1de, 0x6435b706, 0xb05d067f,

+    0x6431ce28, 0xb0581b51,

+  0x642de50d, 0xb0533055, 0x6429fbb5, 0xb04e458a, 0x6426121e, 0xb0495af0,

+    0x6422284a, 0xb0447087,

+  0x641e3e38, 0xb03f864f, 0x641a53e8, 0xb03a9c49, 0x6416695a, 0xb035b273,

+    0x64127e8f, 0xb030c8cf,

+  0x640e9386, 0xb02bdf5c, 0x640aa83f, 0xb026f61b, 0x6406bcba, 0xb0220d0a,

+    0x6402d0f8, 0xb01d242b,

+  0x63fee4f8, 0xb0183b7d, 0x63faf8bb, 0xb0135301, 0x63f70c3f, 0xb00e6ab5,

+    0x63f31f86, 0xb009829c,

+  0x63ef3290, 0xb0049ab3, 0x63eb455c, 0xafffb2fc, 0x63e757ea, 0xaffacb76,

+    0x63e36a3a, 0xaff5e421,

+  0x63df7c4d, 0xaff0fcfe, 0x63db8e22, 0xafec160c, 0x63d79fba, 0xafe72f4c,

+    0x63d3b114, 0xafe248bd,

+  0x63cfc231, 0xafdd625f, 0x63cbd310, 0xafd87c33, 0x63c7e3b1, 0xafd39638,

+    0x63c3f415, 0xafceb06f,

+  0x63c0043b, 0xafc9cad7, 0x63bc1424, 0xafc4e571, 0x63b823cf, 0xafc0003c,

+    0x63b4333d, 0xafbb1b39,

+  0x63b0426d, 0xafb63667, 0x63ac5160, 0xafb151c7, 0x63a86015, 0xafac6d58,

+    0x63a46e8d, 0xafa7891b,

+  0x63a07cc7, 0xafa2a50f, 0x639c8ac4, 0xaf9dc135, 0x63989884, 0xaf98dd8d,

+    0x6394a606, 0xaf93fa16,

+  0x6390b34a, 0xaf8f16d1, 0x638cc051, 0xaf8a33bd, 0x6388cd1b, 0xaf8550db,

+    0x6384d9a7, 0xaf806e2b,

+  0x6380e5f6, 0xaf7b8bac, 0x637cf208, 0xaf76a95f, 0x6378fddc, 0xaf71c743,

+    0x63750973, 0xaf6ce55a,

+  0x637114cc, 0xaf6803a2, 0x636d1fe9, 0xaf63221c, 0x63692ac7, 0xaf5e40c7,

+    0x63653569, 0xaf595fa4,

+  0x63613fcd, 0xaf547eb3, 0x635d49f4, 0xaf4f9df4, 0x635953dd, 0xaf4abd66,

+    0x63555d8a, 0xaf45dd0b,

+  0x635166f9, 0xaf40fce1, 0x634d702b, 0xaf3c1ce9, 0x6349791f, 0xaf373d22,

+    0x634581d6, 0xaf325d8e,

+  0x63418a50, 0xaf2d7e2b, 0x633d928d, 0xaf289efa, 0x63399a8d, 0xaf23bffb,

+    0x6335a24f, 0xaf1ee12e,

+  0x6331a9d4, 0xaf1a0293, 0x632db11c, 0xaf15242a, 0x6329b827, 0xaf1045f3,

+    0x6325bef5, 0xaf0b67ed,

+  0x6321c585, 0xaf068a1a, 0x631dcbd9, 0xaf01ac78, 0x6319d1ef, 0xaefccf09,

+    0x6315d7c8, 0xaef7f1cb,

+  0x6311dd64, 0xaef314c0, 0x630de2c3, 0xaeee37e6, 0x6309e7e4, 0xaee95b3f,

+    0x6305ecc9, 0xaee47ec9,

+  0x6301f171, 0xaedfa285, 0x62fdf5db, 0xaedac674, 0x62f9fa09, 0xaed5ea95,

+    0x62f5fdf9, 0xaed10ee7,

+  0x62f201ac, 0xaecc336c, 0x62ee0523, 0xaec75823, 0x62ea085c, 0xaec27d0c,

+    0x62e60b58, 0xaebda227,

+  0x62e20e17, 0xaeb8c774, 0x62de109a, 0xaeb3ecf3, 0x62da12df, 0xaeaf12a4,

+    0x62d614e7, 0xaeaa3888,

+  0x62d216b3, 0xaea55e9e, 0x62ce1841, 0xaea084e6, 0x62ca1992, 0xae9bab60,

+    0x62c61aa7, 0xae96d20c,

+  0x62c21b7e, 0xae91f8eb, 0x62be1c19, 0xae8d1ffb, 0x62ba1c77, 0xae88473e,

+    0x62b61c98, 0xae836eb4,

+  0x62b21c7b, 0xae7e965b, 0x62ae1c23, 0xae79be35, 0x62aa1b8d, 0xae74e641,

+    0x62a61aba, 0xae700e80,

+  0x62a219aa, 0xae6b36f0, 0x629e185e, 0xae665f93, 0x629a16d5, 0xae618869,

+    0x6296150f, 0xae5cb171,

+  0x6292130c, 0xae57daab, 0x628e10cc, 0xae530417, 0x628a0e50, 0xae4e2db6,

+    0x62860b97, 0xae495787,

+  0x628208a1, 0xae44818b, 0x627e056e, 0xae3fabc1, 0x627a01fe, 0xae3ad629,

+    0x6275fe52, 0xae3600c4,

+  0x6271fa69, 0xae312b92, 0x626df643, 0xae2c5691, 0x6269f1e1, 0xae2781c4,

+    0x6265ed42, 0xae22ad29,

+  0x6261e866, 0xae1dd8c0, 0x625de34e, 0xae19048a, 0x6259ddf8, 0xae143086,

+    0x6255d866, 0xae0f5cb5,

+  0x6251d298, 0xae0a8916, 0x624dcc8d, 0xae05b5aa, 0x6249c645, 0xae00e271,

+    0x6245bfc0, 0xadfc0f6a,

+  0x6241b8ff, 0xadf73c96, 0x623db202, 0xadf269f4, 0x6239aac7, 0xaded9785,

+    0x6235a351, 0xade8c548,

+  0x62319b9d, 0xade3f33e, 0x622d93ad, 0xaddf2167, 0x62298b81, 0xadda4fc3,

+    0x62258317, 0xadd57e51,

+  0x62217a72, 0xadd0ad12, 0x621d7190, 0xadcbdc05, 0x62196871, 0xadc70b2c,

+    0x62155f16, 0xadc23a85,

+  0x6211557e, 0xadbd6a10, 0x620d4baa, 0xadb899cf, 0x62094199, 0xadb3c9c0,

+    0x6205374c, 0xadaef9e4,

+  0x62012cc2, 0xadaa2a3b, 0x61fd21fc, 0xada55ac4, 0x61f916f9, 0xada08b80,

+    0x61f50bba, 0xad9bbc70,

+  0x61f1003f, 0xad96ed92, 0x61ecf487, 0xad921ee6, 0x61e8e893, 0xad8d506e,

+    0x61e4dc62, 0xad888229,

+  0x61e0cff5, 0xad83b416, 0x61dcc34c, 0xad7ee636, 0x61d8b666, 0xad7a1889,

+    0x61d4a944, 0xad754b0f,

+  0x61d09be5, 0xad707dc8, 0x61cc8e4b, 0xad6bb0b4, 0x61c88074, 0xad66e3d3,

+    0x61c47260, 0xad621725,

+  0x61c06410, 0xad5d4aaa, 0x61bc5584, 0xad587e61, 0x61b846bc, 0xad53b24c,

+    0x61b437b7, 0xad4ee66a,

+  0x61b02876, 0xad4a1aba, 0x61ac18f9, 0xad454f3e, 0x61a80940, 0xad4083f5,

+    0x61a3f94a, 0xad3bb8df,

+  0x619fe918, 0xad36edfc, 0x619bd8aa, 0xad32234b, 0x6197c800, 0xad2d58ce,

+    0x6193b719, 0xad288e85,

+  0x618fa5f7, 0xad23c46e, 0x618b9498, 0xad1efa8a, 0x618782fd, 0xad1a30d9,

+    0x61837126, 0xad15675c,

+  0x617f5f12, 0xad109e12, 0x617b4cc3, 0xad0bd4fb, 0x61773a37, 0xad070c17,

+    0x61732770, 0xad024366,

+  0x616f146c, 0xacfd7ae8, 0x616b012c, 0xacf8b29e, 0x6166edb0, 0xacf3ea87,

+    0x6162d9f8, 0xacef22a3,

+  0x615ec603, 0xacea5af2, 0x615ab1d3, 0xace59375, 0x61569d67, 0xace0cc2b,

+    0x615288be, 0xacdc0514,

+  0x614e73da, 0xacd73e30, 0x614a5eba, 0xacd27780, 0x6146495d, 0xaccdb103,

+    0x614233c5, 0xacc8eab9,

+  0x613e1df0, 0xacc424a3, 0x613a07e0, 0xacbf5ec0, 0x6135f193, 0xacba9910,

+    0x6131db0b, 0xacb5d394,

+  0x612dc447, 0xacb10e4b, 0x6129ad46, 0xacac4935, 0x6125960a, 0xaca78453,

+    0x61217e92, 0xaca2bfa4,

+  0x611d66de, 0xac9dfb29, 0x61194eee, 0xac9936e1, 0x611536c2, 0xac9472cd,

+    0x61111e5b, 0xac8faeec,

+  0x610d05b7, 0xac8aeb3e, 0x6108ecd8, 0xac8627c4, 0x6104d3bc, 0xac81647e,

+    0x6100ba65, 0xac7ca16b,

+  0x60fca0d2, 0xac77de8b, 0x60f88703, 0xac731bdf, 0x60f46cf9, 0xac6e5967,

+    0x60f052b2, 0xac699722,

+  0x60ec3830, 0xac64d510, 0x60e81d72, 0xac601333, 0x60e40278, 0xac5b5189,

+    0x60dfe743, 0xac569012,

+  0x60dbcbd1, 0xac51cecf, 0x60d7b024, 0xac4d0dc0, 0x60d3943b, 0xac484ce4,

+    0x60cf7817, 0xac438c3c,

+  0x60cb5bb7, 0xac3ecbc7, 0x60c73f1b, 0xac3a0b87, 0x60c32243, 0xac354b7a,

+    0x60bf0530, 0xac308ba0,

+  0x60bae7e1, 0xac2bcbfa, 0x60b6ca56, 0xac270c88, 0x60b2ac8f, 0xac224d4a,

+    0x60ae8e8d, 0xac1d8e40,

+  0x60aa7050, 0xac18cf69, 0x60a651d7, 0xac1410c6, 0x60a23322, 0xac0f5256,

+    0x609e1431, 0xac0a941b,

+  0x6099f505, 0xac05d613, 0x6095d59d, 0xac01183f, 0x6091b5fa, 0xabfc5a9f,

+    0x608d961b, 0xabf79d33,

+  0x60897601, 0xabf2dffb, 0x608555ab, 0xabee22f6, 0x60813519, 0xabe96625,

+    0x607d144c, 0xabe4a988,

+  0x6078f344, 0xabdfed1f, 0x6074d200, 0xabdb30ea, 0x6070b080, 0xabd674e9,

+    0x606c8ec5, 0xabd1b91c,

+  0x60686ccf, 0xabccfd83, 0x60644a9d, 0xabc8421d, 0x6060282f, 0xabc386ec,

+    0x605c0587, 0xabbecbee,

+  0x6057e2a2, 0xabba1125, 0x6053bf82, 0xabb5568f, 0x604f9c27, 0xabb09c2e,

+    0x604b7891, 0xababe200,

+  0x604754bf, 0xaba72807, 0x604330b1, 0xaba26e41, 0x603f0c69, 0xab9db4b0,

+    0x603ae7e5, 0xab98fb52,

+  0x6036c325, 0xab944229, 0x60329e2a, 0xab8f8934, 0x602e78f4, 0xab8ad073,

+    0x602a5383, 0xab8617e6,

+  0x60262dd6, 0xab815f8d, 0x602207ee, 0xab7ca768, 0x601de1ca, 0xab77ef77,

+    0x6019bb6b, 0xab7337bb,

+  0x601594d1, 0xab6e8032, 0x60116dfc, 0xab69c8de, 0x600d46ec, 0xab6511be,

+    0x60091fa0, 0xab605ad2,

+  0x6004f819, 0xab5ba41a, 0x6000d057, 0xab56ed97, 0x5ffca859, 0xab523748,

+    0x5ff88021, 0xab4d812d,

+  0x5ff457ad, 0xab48cb46, 0x5ff02efe, 0xab441593, 0x5fec0613, 0xab3f6015,

+    0x5fe7dcee, 0xab3aaacb,

+  0x5fe3b38d, 0xab35f5b5, 0x5fdf89f2, 0xab3140d4, 0x5fdb601b, 0xab2c8c27,

+    0x5fd73609, 0xab27d7ae,

+  0x5fd30bbc, 0xab23236a, 0x5fcee133, 0xab1e6f5a, 0x5fcab670, 0xab19bb7e,

+    0x5fc68b72, 0xab1507d7,

+  0x5fc26038, 0xab105464, 0x5fbe34c4, 0xab0ba125, 0x5fba0914, 0xab06ee1b,

+    0x5fb5dd29, 0xab023b46,

+  0x5fb1b104, 0xaafd88a4, 0x5fad84a3, 0xaaf8d637, 0x5fa95807, 0xaaf423ff,

+    0x5fa52b31, 0xaaef71fb,

+  0x5fa0fe1f, 0xaaeac02c, 0x5f9cd0d2, 0xaae60e91, 0x5f98a34a, 0xaae15d2a,

+    0x5f947588, 0xaadcabf8,

+  0x5f90478a, 0xaad7fafb, 0x5f8c1951, 0xaad34a32, 0x5f87eade, 0xaace999d,

+    0x5f83bc2f, 0xaac9e93e,

+  0x5f7f8d46, 0xaac53912, 0x5f7b5e22, 0xaac0891c, 0x5f772ec2, 0xaabbd959,

+    0x5f72ff28, 0xaab729cc,

+  0x5f6ecf53, 0xaab27a73, 0x5f6a9f44, 0xaaadcb4f, 0x5f666ef9, 0xaaa91c5f,

+    0x5f623e73, 0xaaa46da4,

+  0x5f5e0db3, 0xaa9fbf1e, 0x5f59dcb8, 0xaa9b10cc, 0x5f55ab82, 0xaa9662af,

+    0x5f517a11, 0xaa91b4c7,

+  0x5f4d4865, 0xaa8d0713, 0x5f49167f, 0xaa885994, 0x5f44e45e, 0xaa83ac4a,

+    0x5f40b202, 0xaa7eff34,

+  0x5f3c7f6b, 0xaa7a5253, 0x5f384c9a, 0xaa75a5a8, 0x5f34198e, 0xaa70f930,

+    0x5f2fe647, 0xaa6c4cee,

+  0x5f2bb2c5, 0xaa67a0e0, 0x5f277f09, 0xaa62f507, 0x5f234b12, 0xaa5e4963,

+    0x5f1f16e0, 0xaa599df4,

+  0x5f1ae274, 0xaa54f2ba, 0x5f16adcc, 0xaa5047b4, 0x5f1278eb, 0xaa4b9ce3,

+    0x5f0e43ce, 0xaa46f248,

+  0x5f0a0e77, 0xaa4247e1, 0x5f05d8e6, 0xaa3d9daf, 0x5f01a31a, 0xaa38f3b1,

+    0x5efd6d13, 0xaa3449e9,

+  0x5ef936d1, 0xaa2fa056, 0x5ef50055, 0xaa2af6f7, 0x5ef0c99f, 0xaa264dce,

+    0x5eec92ae, 0xaa21a4d9,

+  0x5ee85b82, 0xaa1cfc1a, 0x5ee4241c, 0xaa18538f, 0x5edfec7b, 0xaa13ab3a,

+    0x5edbb49f, 0xaa0f0319,

+  0x5ed77c8a, 0xaa0a5b2e, 0x5ed34439, 0xaa05b377, 0x5ecf0baf, 0xaa010bf6,

+    0x5ecad2e9, 0xa9fc64a9,

+  0x5ec699e9, 0xa9f7bd92, 0x5ec260af, 0xa9f316b0, 0x5ebe273b, 0xa9ee7002,

+    0x5eb9ed8b, 0xa9e9c98a,

+  0x5eb5b3a2, 0xa9e52347, 0x5eb1797e, 0xa9e07d39, 0x5ead3f1f, 0xa9dbd761,

+    0x5ea90487, 0xa9d731bd,

+  0x5ea4c9b3, 0xa9d28c4e, 0x5ea08ea6, 0xa9cde715, 0x5e9c535e, 0xa9c94211,

+    0x5e9817dc, 0xa9c49d42,

+  0x5e93dc1f, 0xa9bff8a8, 0x5e8fa028, 0xa9bb5444, 0x5e8b63f7, 0xa9b6b014,

+    0x5e87278b, 0xa9b20c1a,

+  0x5e82eae5, 0xa9ad6855, 0x5e7eae05, 0xa9a8c4c5, 0x5e7a70ea, 0xa9a4216b,

+    0x5e763395, 0xa99f7e46,

+  0x5e71f606, 0xa99adb56, 0x5e6db83d, 0xa996389b, 0x5e697a39, 0xa9919616,

+    0x5e653bfc, 0xa98cf3c6,

+  0x5e60fd84, 0xa98851ac, 0x5e5cbed1, 0xa983afc6, 0x5e587fe5, 0xa97f0e16,

+    0x5e5440be, 0xa97a6c9c,

+  0x5e50015d, 0xa975cb57, 0x5e4bc1c2, 0xa9712a47, 0x5e4781ed, 0xa96c896c,

+    0x5e4341de, 0xa967e8c7,

+  0x5e3f0194, 0xa9634858, 0x5e3ac110, 0xa95ea81d, 0x5e368053, 0xa95a0819,

+    0x5e323f5b, 0xa9556849,

+  0x5e2dfe29, 0xa950c8b0, 0x5e29bcbd, 0xa94c294b, 0x5e257b17, 0xa9478a1c,

+    0x5e213936, 0xa942eb23,

+  0x5e1cf71c, 0xa93e4c5f, 0x5e18b4c8, 0xa939add1, 0x5e147239, 0xa9350f78,

+    0x5e102f71, 0xa9307155,

+  0x5e0bec6e, 0xa92bd367, 0x5e07a932, 0xa92735af, 0x5e0365bb, 0xa922982c,

+    0x5dff220b, 0xa91dfadf,

+  0x5dfade20, 0xa9195dc7, 0x5df699fc, 0xa914c0e6, 0x5df2559e, 0xa9102439,

+    0x5dee1105, 0xa90b87c3,

+  0x5de9cc33, 0xa906eb82, 0x5de58727, 0xa9024f76, 0x5de141e1, 0xa8fdb3a1,

+    0x5ddcfc61, 0xa8f91801,

+  0x5dd8b6a7, 0xa8f47c97, 0x5dd470b3, 0xa8efe162, 0x5dd02a85, 0xa8eb4663,

+    0x5dcbe41d, 0xa8e6ab9a,

+  0x5dc79d7c, 0xa8e21106, 0x5dc356a1, 0xa8dd76a9, 0x5dbf0f8c, 0xa8d8dc81,

+    0x5dbac83d, 0xa8d4428f,

+  0x5db680b4, 0xa8cfa8d2, 0x5db238f1, 0xa8cb0f4b, 0x5dadf0f5, 0xa8c675fb,

+    0x5da9a8bf, 0xa8c1dce0,

+  0x5da5604f, 0xa8bd43fa, 0x5da117a5, 0xa8b8ab4b, 0x5d9ccec2, 0xa8b412d1,

+    0x5d9885a5, 0xa8af7a8e,

+  0x5d943c4e, 0xa8aae280, 0x5d8ff2bd, 0xa8a64aa8, 0x5d8ba8f3, 0xa8a1b306,

+    0x5d875eef, 0xa89d1b99,

+  0x5d8314b1, 0xa8988463, 0x5d7eca39, 0xa893ed63, 0x5d7a7f88, 0xa88f5698,

+    0x5d76349d, 0xa88ac004,

+  0x5d71e979, 0xa88629a5, 0x5d6d9e1b, 0xa881937c, 0x5d695283, 0xa87cfd8a,

+    0x5d6506b2, 0xa87867cd,

+  0x5d60baa7, 0xa873d246, 0x5d5c6e62, 0xa86f3cf6, 0x5d5821e4, 0xa86aa7db,

+    0x5d53d52d, 0xa86612f6,

+  0x5d4f883b, 0xa8617e48, 0x5d4b3b10, 0xa85ce9cf, 0x5d46edac, 0xa858558d,

+    0x5d42a00e, 0xa853c180,

+  0x5d3e5237, 0xa84f2daa, 0x5d3a0426, 0xa84a9a0a, 0x5d35b5db, 0xa84606a0,

+    0x5d316757, 0xa841736c,

+  0x5d2d189a, 0xa83ce06e, 0x5d28c9a3, 0xa8384da6, 0x5d247a72, 0xa833bb14,

+    0x5d202b09, 0xa82f28b9,

+  0x5d1bdb65, 0xa82a9693, 0x5d178b89, 0xa82604a4, 0x5d133b72, 0xa82172eb,

+    0x5d0eeb23, 0xa81ce169,

+  0x5d0a9a9a, 0xa818501c, 0x5d0649d7, 0xa813bf06, 0x5d01f8dc, 0xa80f2e26,

+    0x5cfda7a7, 0xa80a9d7c,

+  0x5cf95638, 0xa8060d08, 0x5cf50490, 0xa8017ccb, 0x5cf0b2af, 0xa7fcecc4,

+    0x5cec6095, 0xa7f85cf3,

+  0x5ce80e41, 0xa7f3cd59, 0x5ce3bbb4, 0xa7ef3df5, 0x5cdf68ed, 0xa7eaaec7,

+    0x5cdb15ed, 0xa7e61fd0,

+  0x5cd6c2b5, 0xa7e1910f, 0x5cd26f42, 0xa7dd0284, 0x5cce1b97, 0xa7d8742f,

+    0x5cc9c7b2, 0xa7d3e611,

+  0x5cc57394, 0xa7cf582a, 0x5cc11f3d, 0xa7caca79, 0x5cbccaac, 0xa7c63cfe,

+    0x5cb875e3, 0xa7c1afb9,

+  0x5cb420e0, 0xa7bd22ac, 0x5cafcba4, 0xa7b895d4, 0x5cab762f, 0xa7b40933,

+    0x5ca72080, 0xa7af7cc8,

+  0x5ca2ca99, 0xa7aaf094, 0x5c9e7478, 0xa7a66497, 0x5c9a1e1e, 0xa7a1d8d0,

+    0x5c95c78b, 0xa79d4d3f,

+  0x5c9170bf, 0xa798c1e5, 0x5c8d19ba, 0xa79436c1, 0x5c88c27c, 0xa78fabd4,

+    0x5c846b05, 0xa78b211e,

+  0x5c801354, 0xa786969e, 0x5c7bbb6b, 0xa7820c55, 0x5c776348, 0xa77d8242,

+    0x5c730aed, 0xa778f866,

+  0x5c6eb258, 0xa7746ec0, 0x5c6a598b, 0xa76fe551, 0x5c660084, 0xa76b5c19,

+    0x5c61a745, 0xa766d317,

+  0x5c5d4dcc, 0xa7624a4d, 0x5c58f41a, 0xa75dc1b8, 0x5c549a30, 0xa759395b,

+    0x5c50400d, 0xa754b134,

+  0x5c4be5b0, 0xa7502943, 0x5c478b1b, 0xa74ba18a, 0x5c43304d, 0xa7471a07,

+    0x5c3ed545, 0xa74292bb,

+  0x5c3a7a05, 0xa73e0ba5, 0x5c361e8c, 0xa73984c7, 0x5c31c2db, 0xa734fe1f,

+    0x5c2d66f0, 0xa73077ae,

+  0x5c290acc, 0xa72bf174, 0x5c24ae70, 0xa7276b70, 0x5c2051db, 0xa722e5a3,

+    0x5c1bf50d, 0xa71e600d,

+  0x5c179806, 0xa719daae, 0x5c133ac6, 0xa7155586, 0x5c0edd4e, 0xa710d095,

+    0x5c0a7f9c, 0xa70c4bda,

+  0x5c0621b2, 0xa707c757, 0x5c01c38f, 0xa703430a, 0x5bfd6534, 0xa6febef4,

+    0x5bf906a0, 0xa6fa3b15,

+  0x5bf4a7d2, 0xa6f5b76d, 0x5bf048cd, 0xa6f133fc, 0x5bebe98e, 0xa6ecb0c2,

+    0x5be78a17, 0xa6e82dbe,

+  0x5be32a67, 0xa6e3aaf2, 0x5bdeca7f, 0xa6df285d, 0x5bda6a5d, 0xa6daa5fe,

+    0x5bd60a03, 0xa6d623d7,

+  0x5bd1a971, 0xa6d1a1e7, 0x5bcd48a6, 0xa6cd202d, 0x5bc8e7a2, 0xa6c89eab,

+    0x5bc48666, 0xa6c41d60,

+  0x5bc024f0, 0xa6bf9c4b, 0x5bbbc343, 0xa6bb1b6e, 0x5bb7615d, 0xa6b69ac8,

+    0x5bb2ff3e, 0xa6b21a59,

+  0x5bae9ce7, 0xa6ad9a21, 0x5baa3a57, 0xa6a91a20, 0x5ba5d78e, 0xa6a49a56,

+    0x5ba1748d, 0xa6a01ac4,

+  0x5b9d1154, 0xa69b9b68, 0x5b98ade2, 0xa6971c44, 0x5b944a37, 0xa6929d57,

+    0x5b8fe654, 0xa68e1ea1,

+  0x5b8b8239, 0xa689a022, 0x5b871de5, 0xa68521da, 0x5b82b958, 0xa680a3ca,

+    0x5b7e5493, 0xa67c25f0,

+  0x5b79ef96, 0xa677a84e, 0x5b758a60, 0xa6732ae3, 0x5b7124f2, 0xa66eadb0,

+    0x5b6cbf4c, 0xa66a30b3,

+  0x5b68596d, 0xa665b3ee, 0x5b63f355, 0xa6613760, 0x5b5f8d06, 0xa65cbb0a,

+    0x5b5b267e, 0xa6583eeb,

+  0x5b56bfbd, 0xa653c303, 0x5b5258c4, 0xa64f4752, 0x5b4df193, 0xa64acbd9,

+    0x5b498a2a, 0xa6465097,

+  0x5b452288, 0xa641d58c, 0x5b40baae, 0xa63d5ab9, 0x5b3c529c, 0xa638e01d,

+    0x5b37ea51, 0xa63465b9,

+  0x5b3381ce, 0xa62feb8b, 0x5b2f1913, 0xa62b7196, 0x5b2ab020, 0xa626f7d7,

+    0x5b2646f4, 0xa6227e50,

+  0x5b21dd90, 0xa61e0501, 0x5b1d73f4, 0xa6198be9, 0x5b190a20, 0xa6151308,

+    0x5b14a014, 0xa6109a5f,

+  0x5b1035cf, 0xa60c21ee, 0x5b0bcb52, 0xa607a9b4, 0x5b07609d, 0xa60331b1,

+    0x5b02f5b0, 0xa5feb9e6,

+  0x5afe8a8b, 0xa5fa4252, 0x5afa1f2e, 0xa5f5caf6, 0x5af5b398, 0xa5f153d2,

+    0x5af147ca, 0xa5ecdce5,

+  0x5aecdbc5, 0xa5e8662f, 0x5ae86f87, 0xa5e3efb1, 0x5ae40311, 0xa5df796b,

+    0x5adf9663, 0xa5db035c,

+  0x5adb297d, 0xa5d68d85, 0x5ad6bc5f, 0xa5d217e6, 0x5ad24f09, 0xa5cda27e,

+    0x5acde17b, 0xa5c92d4e,

+  0x5ac973b5, 0xa5c4b855, 0x5ac505b7, 0xa5c04395, 0x5ac09781, 0xa5bbcf0b,

+    0x5abc2912, 0xa5b75aba,

+  0x5ab7ba6c, 0xa5b2e6a0, 0x5ab34b8e, 0xa5ae72be, 0x5aaedc78, 0xa5a9ff14,

+    0x5aaa6d2b, 0xa5a58ba1,

+  0x5aa5fda5, 0xa5a11866, 0x5aa18de7, 0xa59ca563, 0x5a9d1df1, 0xa5983297,

+    0x5a98adc4, 0xa593c004,

+  0x5a943d5e, 0xa58f4da8, 0x5a8fccc1, 0xa58adb84, 0x5a8b5bec, 0xa5866997,

+    0x5a86eadf, 0xa581f7e3,

+  0x5a82799a, 0xa57d8666, 0x5a7e081d, 0xa5791521, 0x5a799669, 0xa574a414,

+    0x5a75247c, 0xa570333f,

+  0x5a70b258, 0xa56bc2a2, 0x5a6c3ffc, 0xa567523c, 0x5a67cd69, 0xa562e20f,

+    0x5a635a9d, 0xa55e7219,

+  0x5a5ee79a, 0xa55a025b, 0x5a5a745f, 0xa55592d5, 0x5a5600ec, 0xa5512388,

+    0x5a518d42, 0xa54cb472,

+  0x5a4d1960, 0xa5484594, 0x5a48a546, 0xa543d6ee, 0x5a4430f5, 0xa53f687f,

+    0x5a3fbc6b, 0xa53afa49,

+  0x5a3b47ab, 0xa5368c4b, 0x5a36d2b2, 0xa5321e85, 0x5a325d82, 0xa52db0f7,

+    0x5a2de81a, 0xa52943a1,

+  0x5a29727b, 0xa524d683, 0x5a24fca4, 0xa520699d, 0x5a208695, 0xa51bfcef,

+    0x5a1c104f, 0xa5179079,

+  0x5a1799d1, 0xa513243b, 0x5a13231b, 0xa50eb836, 0x5a0eac2e, 0xa50a4c68,

+    0x5a0a350a, 0xa505e0d2,

+  0x5a05bdae, 0xa5017575, 0x5a01461a, 0xa4fd0a50, 0x59fcce4f, 0xa4f89f63,

+    0x59f8564c, 0xa4f434ae,

+  0x59f3de12, 0xa4efca31, 0x59ef65a1, 0xa4eb5fec, 0x59eaecf8, 0xa4e6f5e0,

+    0x59e67417, 0xa4e28c0c,

+  0x59e1faff, 0xa4de2270, 0x59dd81b0, 0xa4d9b90c, 0x59d90829, 0xa4d54fe0,

+    0x59d48e6a, 0xa4d0e6ed,

+  0x59d01475, 0xa4cc7e32, 0x59cb9a47, 0xa4c815af, 0x59c71fe3, 0xa4c3ad64,

+    0x59c2a547, 0xa4bf4552,

+  0x59be2a74, 0xa4badd78, 0x59b9af69, 0xa4b675d6, 0x59b53427, 0xa4b20e6d,

+    0x59b0b8ae, 0xa4ada73c,

+  0x59ac3cfd, 0xa4a94043, 0x59a7c115, 0xa4a4d982, 0x59a344f6, 0xa4a072fa,

+    0x599ec8a0, 0xa49c0cab,

+  0x599a4c12, 0xa497a693, 0x5995cf4d, 0xa49340b4, 0x59915250, 0xa48edb0e,

+    0x598cd51d, 0xa48a75a0,

+  0x598857b2, 0xa486106a, 0x5983da10, 0xa481ab6d, 0x597f5c36, 0xa47d46a8,

+    0x597ade26, 0xa478e21b,

+  0x59765fde, 0xa4747dc7, 0x5971e15f, 0xa47019ac, 0x596d62a9, 0xa46bb5c9,

+    0x5968e3bc, 0xa467521e,

+  0x59646498, 0xa462eeac, 0x595fe53c, 0xa45e8b73, 0x595b65aa, 0xa45a2872,

+    0x5956e5e0, 0xa455c5a9,

+  0x595265df, 0xa4516319, 0x594de5a7, 0xa44d00c2, 0x59496538, 0xa4489ea3,

+    0x5944e492, 0xa4443cbd,

+  0x594063b5, 0xa43fdb10, 0x593be2a0, 0xa43b799a, 0x59376155, 0xa437185e,

+    0x5932dfd3, 0xa432b75a,

+  0x592e5e19, 0xa42e568f, 0x5929dc29, 0xa429f5fd, 0x59255a02, 0xa42595a3,

+    0x5920d7a3, 0xa4213581,

+  0x591c550e, 0xa41cd599, 0x5917d242, 0xa41875e9, 0x59134f3e, 0xa4141672,

+    0x590ecc04, 0xa40fb733,

+  0x590a4893, 0xa40b582e, 0x5905c4eb, 0xa406f960, 0x5901410c, 0xa4029acc,

+    0x58fcbcf6, 0xa3fe3c71,

+  0x58f838a9, 0xa3f9de4e, 0x58f3b426, 0xa3f58064, 0x58ef2f6b, 0xa3f122b2,

+    0x58eaaa7a, 0xa3ecc53a,

+  0x58e62552, 0xa3e867fa, 0x58e19ff3, 0xa3e40af3, 0x58dd1a5d, 0xa3dfae25,

+    0x58d89490, 0xa3db5190,

+  0x58d40e8c, 0xa3d6f534, 0x58cf8852, 0xa3d29910, 0x58cb01e1, 0xa3ce3d25,

+    0x58c67b39, 0xa3c9e174,

+  0x58c1f45b, 0xa3c585fb, 0x58bd6d45, 0xa3c12abb, 0x58b8e5f9, 0xa3bccfb3,

+    0x58b45e76, 0xa3b874e5,

+  0x58afd6bd, 0xa3b41a50, 0x58ab4ecc, 0xa3afbff3, 0x58a6c6a5, 0xa3ab65d0,

+    0x58a23e48, 0xa3a70be6,

+  0x589db5b3, 0xa3a2b234, 0x58992ce9, 0xa39e58bb, 0x5894a3e7, 0xa399ff7c,

+    0x58901aaf, 0xa395a675,

+  0x588b9140, 0xa3914da8, 0x5887079a, 0xa38cf513, 0x58827dbe, 0xa3889cb8,

+    0x587df3ab, 0xa3844495,

+  0x58796962, 0xa37fecac, 0x5874dee2, 0xa37b94fb, 0x5870542c, 0xa3773d84,

+    0x586bc93f, 0xa372e646,

+  0x58673e1b, 0xa36e8f41, 0x5862b2c1, 0xa36a3875, 0x585e2730, 0xa365e1e2,

+    0x58599b69, 0xa3618b88,

+  0x58550f6c, 0xa35d3567, 0x58508338, 0xa358df80, 0x584bf6cd, 0xa35489d1,

+    0x58476a2c, 0xa350345c,

+  0x5842dd54, 0xa34bdf20, 0x583e5047, 0xa3478a1d, 0x5839c302, 0xa3433554,

+    0x58353587, 0xa33ee0c3,

+  0x5830a7d6, 0xa33a8c6c, 0x582c19ef, 0xa336384e, 0x58278bd1, 0xa331e469,

+    0x5822fd7c, 0xa32d90be,

+  0x581e6ef1, 0xa3293d4b, 0x5819e030, 0xa324ea13, 0x58155139, 0xa3209713,

+    0x5810c20b, 0xa31c444c,

+  0x580c32a7, 0xa317f1bf, 0x5807a30d, 0xa3139f6b, 0x5803133c, 0xa30f4d51,

+    0x57fe8335, 0xa30afb70,

+  0x57f9f2f8, 0xa306a9c8, 0x57f56284, 0xa3025859, 0x57f0d1da, 0xa2fe0724,

+    0x57ec40fa, 0xa2f9b629,

+  0x57e7afe4, 0xa2f56566, 0x57e31e97, 0xa2f114dd, 0x57de8d15, 0xa2ecc48e,

+    0x57d9fb5c, 0xa2e87477,

+  0x57d5696d, 0xa2e4249b, 0x57d0d747, 0xa2dfd4f7, 0x57cc44ec, 0xa2db858e,

+    0x57c7b25a, 0xa2d7365d,

+  0x57c31f92, 0xa2d2e766, 0x57be8c94, 0xa2ce98a9, 0x57b9f960, 0xa2ca4a25,

+    0x57b565f6, 0xa2c5fbda,

+  0x57b0d256, 0xa2c1adc9, 0x57ac3e80, 0xa2bd5ff2, 0x57a7aa73, 0xa2b91254,

+    0x57a31631, 0xa2b4c4f0,

+  0x579e81b8, 0xa2b077c5, 0x5799ed0a, 0xa2ac2ad3, 0x57955825, 0xa2a7de1c,

+    0x5790c30a, 0xa2a3919e,

+  0x578c2dba, 0xa29f4559, 0x57879833, 0xa29af94e, 0x57830276, 0xa296ad7d,

+    0x577e6c84, 0xa29261e5,

+  0x5779d65b, 0xa28e1687, 0x57753ffc, 0xa289cb63, 0x5770a968, 0xa2858078,

+    0x576c129d, 0xa28135c7,

+  0x57677b9d, 0xa27ceb4f, 0x5762e467, 0xa278a111, 0x575e4cfa, 0xa274570d,

+    0x5759b558, 0xa2700d43,

+  0x57551d80, 0xa26bc3b2, 0x57508572, 0xa2677a5b, 0x574bed2f, 0xa263313e,

+    0x574754b5, 0xa25ee85b,

+  0x5742bc06, 0xa25a9fb1, 0x573e2320, 0xa2565741, 0x57398a05, 0xa2520f0b,

+    0x5734f0b5, 0xa24dc70f,

+  0x5730572e, 0xa2497f4c, 0x572bbd71, 0xa24537c3, 0x5727237f, 0xa240f074,

+    0x57228957, 0xa23ca95f,

+  0x571deefa, 0xa2386284, 0x57195466, 0xa2341be3, 0x5714b99d, 0xa22fd57b,

+    0x57101e9e, 0xa22b8f4d,

+  0x570b8369, 0xa2274959, 0x5706e7ff, 0xa223039f, 0x57024c5f, 0xa21ebe1f,

+    0x56fdb08a, 0xa21a78d9,

+  0x56f9147e, 0xa21633cd, 0x56f4783d, 0xa211eefb, 0x56efdbc7, 0xa20daa62,

+    0x56eb3f1a, 0xa2096604,

+  0x56e6a239, 0xa20521e0, 0x56e20521, 0xa200ddf5, 0x56dd67d4, 0xa1fc9a45,

+    0x56d8ca51, 0xa1f856ce,

+  0x56d42c99, 0xa1f41392, 0x56cf8eab, 0xa1efd08f, 0x56caf088, 0xa1eb8dc7,

+    0x56c6522f, 0xa1e74b38,

+  0x56c1b3a1, 0xa1e308e4, 0x56bd14dd, 0xa1dec6ca, 0x56b875e4, 0xa1da84e9,

+    0x56b3d6b5, 0xa1d64343,

+  0x56af3750, 0xa1d201d7, 0x56aa97b7, 0xa1cdc0a5, 0x56a5f7e7, 0xa1c97fad,

+    0x56a157e3, 0xa1c53ef0,

+  0x569cb7a8, 0xa1c0fe6c, 0x56981739, 0xa1bcbe22, 0x56937694, 0xa1b87e13,

+    0x568ed5b9, 0xa1b43e3e,

+  0x568a34a9, 0xa1affea3, 0x56859364, 0xa1abbf42, 0x5680f1ea, 0xa1a7801b,

+    0x567c503a, 0xa1a3412f,

+  0x5677ae54, 0xa19f027c, 0x56730c3a, 0xa19ac404, 0x566e69ea, 0xa19685c7,

+    0x5669c765, 0xa19247c3,

+  0x566524aa, 0xa18e09fa, 0x566081ba, 0xa189cc6b, 0x565bde95, 0xa1858f16,

+    0x56573b3b, 0xa18151fb,

+  0x565297ab, 0xa17d151b, 0x564df3e6, 0xa178d875, 0x56494fec, 0xa1749c09,

+    0x5644abbc, 0xa1705fd8,

+  0x56400758, 0xa16c23e1, 0x563b62be, 0xa167e824, 0x5636bdef, 0xa163aca2,

+    0x563218eb, 0xa15f715a,

+  0x562d73b2, 0xa15b364d, 0x5628ce43, 0xa156fb79, 0x5624289f, 0xa152c0e1,

+    0x561f82c7, 0xa14e8682,

+  0x561adcb9, 0xa14a4c5e, 0x56163676, 0xa1461275, 0x56118ffe, 0xa141d8c5,

+    0x560ce950, 0xa13d9f51,

+  0x5608426e, 0xa1396617, 0x56039b57, 0xa1352d17, 0x55fef40a, 0xa130f451,

+    0x55fa4c89, 0xa12cbbc7,

+  0x55f5a4d2, 0xa1288376, 0x55f0fce7, 0xa1244b61, 0x55ec54c6, 0xa1201385,

+    0x55e7ac71, 0xa11bdbe4,

+  0x55e303e6, 0xa117a47e, 0x55de5b27, 0xa1136d52, 0x55d9b232, 0xa10f3661,

+    0x55d50909, 0xa10affab,

+  0x55d05faa, 0xa106c92f, 0x55cbb617, 0xa10292ed, 0x55c70c4f, 0xa0fe5ce6,

+    0x55c26251, 0xa0fa271a,

+  0x55bdb81f, 0xa0f5f189, 0x55b90db8, 0xa0f1bc32, 0x55b4631d, 0xa0ed8715,

+    0x55afb84c, 0xa0e95234,

+  0x55ab0d46, 0xa0e51d8c, 0x55a6620c, 0xa0e0e920, 0x55a1b69d, 0xa0dcb4ee,

+    0x559d0af9, 0xa0d880f7,

+  0x55985f20, 0xa0d44d3b, 0x5593b312, 0xa0d019b9, 0x558f06d0, 0xa0cbe672,

+    0x558a5a58, 0xa0c7b366,

+  0x5585adad, 0xa0c38095, 0x558100cc, 0xa0bf4dfe, 0x557c53b6, 0xa0bb1ba2,

+    0x5577a66c, 0xa0b6e981,

+  0x5572f8ed, 0xa0b2b79b, 0x556e4b39, 0xa0ae85ef, 0x55699d51, 0xa0aa547e,

+    0x5564ef34, 0xa0a62348,

+  0x556040e2, 0xa0a1f24d, 0x555b925c, 0xa09dc18d, 0x5556e3a1, 0xa0999107,

+    0x555234b1, 0xa09560bc,

+  0x554d858d, 0xa09130ad, 0x5548d634, 0xa08d00d8, 0x554426a7, 0xa088d13e,

+    0x553f76e4, 0xa084a1de,

+  0x553ac6ee, 0xa08072ba, 0x553616c2, 0xa07c43d1, 0x55316663, 0xa0781522,

+    0x552cb5ce, 0xa073e6af,

+  0x55280505, 0xa06fb876, 0x55235408, 0xa06b8a78, 0x551ea2d6, 0xa0675cb6,

+    0x5519f16f, 0xa0632f2e,

+  0x55153fd4, 0xa05f01e1, 0x55108e05, 0xa05ad4cf, 0x550bdc01, 0xa056a7f9,

+    0x550729c9, 0xa0527b5d,

+  0x5502775c, 0xa04e4efc, 0x54fdc4ba, 0xa04a22d7, 0x54f911e5, 0xa045f6ec,

+    0x54f45edb, 0xa041cb3c,

+  0x54efab9c, 0xa03d9fc8, 0x54eaf829, 0xa039748e, 0x54e64482, 0xa0354990,

+    0x54e190a6, 0xa0311ecd,

+  0x54dcdc96, 0xa02cf444, 0x54d82852, 0xa028c9f7, 0x54d373d9, 0xa0249fe5,

+    0x54cebf2c, 0xa020760e,

+  0x54ca0a4b, 0xa01c4c73, 0x54c55535, 0xa0182312, 0x54c09feb, 0xa013f9ed,

+    0x54bbea6d, 0xa00fd102,

+  0x54b734ba, 0xa00ba853, 0x54b27ed3, 0xa0077fdf, 0x54adc8b8, 0xa00357a7,

+    0x54a91269, 0x9fff2fa9,

+  0x54a45be6, 0x9ffb07e7, 0x549fa52e, 0x9ff6e060, 0x549aee42, 0x9ff2b914,

+    0x54963722, 0x9fee9204,

+  0x54917fce, 0x9fea6b2f, 0x548cc845, 0x9fe64495, 0x54881089, 0x9fe21e36,

+    0x54835898, 0x9fddf812,

+  0x547ea073, 0x9fd9d22a, 0x5479e81a, 0x9fd5ac7d, 0x54752f8d, 0x9fd1870c,

+    0x547076cc, 0x9fcd61d6,

+  0x546bbdd7, 0x9fc93cdb, 0x546704ae, 0x9fc5181b, 0x54624b50, 0x9fc0f397,

+    0x545d91bf, 0x9fbccf4f,

+  0x5458d7f9, 0x9fb8ab41, 0x54541e00, 0x9fb4876f, 0x544f63d2, 0x9fb063d9,

+    0x544aa971, 0x9fac407e,

+  0x5445eedb, 0x9fa81d5e, 0x54413412, 0x9fa3fa79, 0x543c7914, 0x9f9fd7d1,

+    0x5437bde3, 0x9f9bb563,

+  0x5433027d, 0x9f979331, 0x542e46e4, 0x9f93713b, 0x54298b17, 0x9f8f4f80,

+    0x5424cf16, 0x9f8b2e00,

+  0x542012e1, 0x9f870cbc, 0x541b5678, 0x9f82ebb4, 0x541699db, 0x9f7ecae7,

+    0x5411dd0a, 0x9f7aaa55,

+  0x540d2005, 0x9f7689ff, 0x540862cd, 0x9f7269e5, 0x5403a561, 0x9f6e4a06,

+    0x53fee7c1, 0x9f6a2a63,

+  0x53fa29ed, 0x9f660afb, 0x53f56be5, 0x9f61ebcf, 0x53f0adaa, 0x9f5dccde,

+    0x53ebef3a, 0x9f59ae29,

+  0x53e73097, 0x9f558fb0, 0x53e271c0, 0x9f517173, 0x53ddb2b6, 0x9f4d5371,

+    0x53d8f378, 0x9f4935aa,

+  0x53d43406, 0x9f45181f, 0x53cf7460, 0x9f40fad0, 0x53cab486, 0x9f3cddbd,

+    0x53c5f479, 0x9f38c0e5,

+  0x53c13439, 0x9f34a449, 0x53bc73c4, 0x9f3087e9, 0x53b7b31c, 0x9f2c6bc5,

+    0x53b2f240, 0x9f284fdc,

+  0x53ae3131, 0x9f24342f, 0x53a96fee, 0x9f2018bd, 0x53a4ae77, 0x9f1bfd88,

+    0x539feccd, 0x9f17e28e,

+  0x539b2af0, 0x9f13c7d0, 0x539668de, 0x9f0fad4e, 0x5391a699, 0x9f0b9307,

+    0x538ce421, 0x9f0778fd,

+  0x53882175, 0x9f035f2e, 0x53835e95, 0x9eff459b, 0x537e9b82, 0x9efb2c44,

+    0x5379d83c, 0x9ef71328,

+  0x537514c2, 0x9ef2fa49, 0x53705114, 0x9eeee1a5, 0x536b8d33, 0x9eeac93e,

+    0x5366c91f, 0x9ee6b112,

+  0x536204d7, 0x9ee29922, 0x535d405c, 0x9ede816e, 0x53587bad, 0x9eda69f6,

+    0x5353b6cb, 0x9ed652ba,

+  0x534ef1b5, 0x9ed23bb9, 0x534a2c6c, 0x9ece24f5, 0x534566f0, 0x9eca0e6d,

+    0x5340a140, 0x9ec5f820,

+  0x533bdb5d, 0x9ec1e210, 0x53371547, 0x9ebdcc3b, 0x53324efd, 0x9eb9b6a3,

+    0x532d8880, 0x9eb5a146,

+  0x5328c1d0, 0x9eb18c26, 0x5323faec, 0x9ead7742, 0x531f33d5, 0x9ea96299,

+    0x531a6c8b, 0x9ea54e2d,

+  0x5315a50e, 0x9ea139fd, 0x5310dd5d, 0x9e9d2608, 0x530c1579, 0x9e991250,

+    0x53074d62, 0x9e94fed4,

+  0x53028518, 0x9e90eb94, 0x52fdbc9a, 0x9e8cd890, 0x52f8f3e9, 0x9e88c5c9,

+    0x52f42b05, 0x9e84b33d,

+  0x52ef61ee, 0x9e80a0ee, 0x52ea98a4, 0x9e7c8eda, 0x52e5cf27, 0x9e787d03,

+    0x52e10576, 0x9e746b68,

+  0x52dc3b92, 0x9e705a09, 0x52d7717b, 0x9e6c48e7, 0x52d2a732, 0x9e683800,

+    0x52cddcb5, 0x9e642756,

+  0x52c91204, 0x9e6016e8, 0x52c44721, 0x9e5c06b6, 0x52bf7c0b, 0x9e57f6c0,

+    0x52bab0c2, 0x9e53e707,

+  0x52b5e546, 0x9e4fd78a, 0x52b11996, 0x9e4bc849, 0x52ac4db4, 0x9e47b944,

+    0x52a7819f, 0x9e43aa7c,

+  0x52a2b556, 0x9e3f9bf0, 0x529de8db, 0x9e3b8da0, 0x52991c2d, 0x9e377f8c,

+    0x52944f4c, 0x9e3371b5,

+  0x528f8238, 0x9e2f641b, 0x528ab4f1, 0x9e2b56bc, 0x5285e777, 0x9e27499a,

+    0x528119ca, 0x9e233cb4,

+  0x527c4bea, 0x9e1f300b, 0x52777dd7, 0x9e1b239e, 0x5272af92, 0x9e17176d,

+    0x526de11a, 0x9e130b79,

+  0x5269126e, 0x9e0effc1, 0x52644390, 0x9e0af446, 0x525f7480, 0x9e06e907,

+    0x525aa53c, 0x9e02de04,

+  0x5255d5c5, 0x9dfed33e, 0x5251061c, 0x9dfac8b4, 0x524c3640, 0x9df6be67,

+    0x52476631, 0x9df2b456,

+  0x524295f0, 0x9deeaa82, 0x523dc57b, 0x9deaa0ea, 0x5238f4d4, 0x9de6978f,

+    0x523423fb, 0x9de28e70,

+  0x522f52ee, 0x9dde858e, 0x522a81af, 0x9dda7ce9, 0x5225b03d, 0x9dd6747f,

+    0x5220de99, 0x9dd26c53,

+  0x521c0cc2, 0x9dce6463, 0x52173ab8, 0x9dca5caf, 0x5212687b, 0x9dc65539,

+    0x520d960c, 0x9dc24dfe,

+  0x5208c36a, 0x9dbe4701, 0x5203f096, 0x9dba4040, 0x51ff1d8f, 0x9db639bb,

+    0x51fa4a56, 0x9db23373,

+  0x51f576ea, 0x9dae2d68, 0x51f0a34b, 0x9daa279a, 0x51ebcf7a, 0x9da62208,

+    0x51e6fb76, 0x9da21cb2,

+  0x51e22740, 0x9d9e179a, 0x51dd52d7, 0x9d9a12be, 0x51d87e3c, 0x9d960e1f,

+    0x51d3a96f, 0x9d9209bd,

+  0x51ced46e, 0x9d8e0597, 0x51c9ff3c, 0x9d8a01ae, 0x51c529d7, 0x9d85fe02,

+    0x51c0543f, 0x9d81fa92,

+  0x51bb7e75, 0x9d7df75f, 0x51b6a879, 0x9d79f469, 0x51b1d24a, 0x9d75f1b0,

+    0x51acfbe9, 0x9d71ef34,

+  0x51a82555, 0x9d6decf4, 0x51a34e8f, 0x9d69eaf1, 0x519e7797, 0x9d65e92b,

+    0x5199a06d, 0x9d61e7a2,

+  0x5194c910, 0x9d5de656, 0x518ff180, 0x9d59e546, 0x518b19bf, 0x9d55e473,

+    0x518641cb, 0x9d51e3dd,

+  0x518169a5, 0x9d4de385, 0x517c914c, 0x9d49e368, 0x5177b8c2, 0x9d45e389,

+    0x5172e005, 0x9d41e3e7,

+  0x516e0715, 0x9d3de482, 0x51692df4, 0x9d39e559, 0x516454a0, 0x9d35e66e,

+    0x515f7b1a, 0x9d31e7bf,

+  0x515aa162, 0x9d2de94d, 0x5155c778, 0x9d29eb19, 0x5150ed5c, 0x9d25ed21,

+    0x514c130d, 0x9d21ef66,

+  0x5147388c, 0x9d1df1e9, 0x51425dd9, 0x9d19f4a8, 0x513d82f4, 0x9d15f7a4,

+    0x5138a7dd, 0x9d11fadd,

+  0x5133cc94, 0x9d0dfe54, 0x512ef119, 0x9d0a0207, 0x512a156b, 0x9d0605f7,

+    0x5125398c, 0x9d020a25,

+  0x51205d7b, 0x9cfe0e8f, 0x511b8137, 0x9cfa1337, 0x5116a4c1, 0x9cf6181c,

+    0x5111c81a, 0x9cf21d3d,

+  0x510ceb40, 0x9cee229c, 0x51080e35, 0x9cea2838, 0x510330f7, 0x9ce62e11,

+    0x50fe5388, 0x9ce23427,

+  0x50f975e6, 0x9cde3a7b, 0x50f49813, 0x9cda410b, 0x50efba0d, 0x9cd647d9,

+    0x50eadbd6, 0x9cd24ee4,

+  0x50e5fd6d, 0x9cce562c, 0x50e11ed2, 0x9cca5db1, 0x50dc4005, 0x9cc66573,

+    0x50d76106, 0x9cc26d73,

+  0x50d281d5, 0x9cbe75b0, 0x50cda272, 0x9cba7e2a, 0x50c8c2de, 0x9cb686e1,

+    0x50c3e317, 0x9cb28fd5,

+  0x50bf031f, 0x9cae9907, 0x50ba22f5, 0x9caaa276, 0x50b5429a, 0x9ca6ac23,

+    0x50b0620c, 0x9ca2b60c,

+  0x50ab814d, 0x9c9ec033, 0x50a6a05c, 0x9c9aca97, 0x50a1bf39, 0x9c96d539,

+    0x509cdde4, 0x9c92e017,

+  0x5097fc5e, 0x9c8eeb34, 0x50931aa6, 0x9c8af68d, 0x508e38bd, 0x9c870224,

+    0x508956a1, 0x9c830df8,

+  0x50847454, 0x9c7f1a0a, 0x507f91d5, 0x9c7b2659, 0x507aaf25, 0x9c7732e5,

+    0x5075cc43, 0x9c733faf,

+  0x5070e92f, 0x9c6f4cb6, 0x506c05ea, 0x9c6b59fa, 0x50672273, 0x9c67677c,

+    0x50623ecb, 0x9c63753c,

+  0x505d5af1, 0x9c5f8339, 0x505876e5, 0x9c5b9173, 0x505392a8, 0x9c579feb,

+    0x504eae39, 0x9c53aea0,

+  0x5049c999, 0x9c4fbd93, 0x5044e4c7, 0x9c4bccc3, 0x503fffc4, 0x9c47dc31,

+    0x503b1a8f, 0x9c43ebdc,

+  0x50363529, 0x9c3ffbc5, 0x50314f91, 0x9c3c0beb, 0x502c69c8, 0x9c381c4f,

+    0x502783cd, 0x9c342cf0,

+  0x50229da1, 0x9c303dcf, 0x501db743, 0x9c2c4eec, 0x5018d0b4, 0x9c286046,

+    0x5013e9f4, 0x9c2471de,

+  0x500f0302, 0x9c2083b3, 0x500a1bdf, 0x9c1c95c6, 0x5005348a, 0x9c18a816,

+    0x50004d04, 0x9c14baa4,

+  0x4ffb654d, 0x9c10cd70, 0x4ff67d64, 0x9c0ce07a, 0x4ff1954b, 0x9c08f3c1,

+    0x4fecacff, 0x9c050745,

+  0x4fe7c483, 0x9c011b08, 0x4fe2dbd5, 0x9bfd2f08, 0x4fddf2f6, 0x9bf94346,

+    0x4fd909e5, 0x9bf557c1,

+  0x4fd420a4, 0x9bf16c7a, 0x4fcf3731, 0x9bed8171, 0x4fca4d8d, 0x9be996a6,

+    0x4fc563b7, 0x9be5ac18,

+  0x4fc079b1, 0x9be1c1c8, 0x4fbb8f79, 0x9bddd7b6, 0x4fb6a510, 0x9bd9ede2,

+    0x4fb1ba76, 0x9bd6044b,

+  0x4faccfab, 0x9bd21af3, 0x4fa7e4af, 0x9bce31d8, 0x4fa2f981, 0x9bca48fa,

+    0x4f9e0e22, 0x9bc6605b,

+  0x4f992293, 0x9bc277fa, 0x4f9436d2, 0x9bbe8fd6, 0x4f8f4ae0, 0x9bbaa7f0,

+    0x4f8a5ebd, 0x9bb6c048,

+  0x4f857269, 0x9bb2d8de, 0x4f8085e4, 0x9baef1b2, 0x4f7b992d, 0x9bab0ac3,

+    0x4f76ac46, 0x9ba72413,

+  0x4f71bf2e, 0x9ba33da0, 0x4f6cd1e5, 0x9b9f576b, 0x4f67e46a, 0x9b9b7174,

+    0x4f62f6bf, 0x9b978bbc,

+  0x4f5e08e3, 0x9b93a641, 0x4f591ad6, 0x9b8fc104, 0x4f542c98, 0x9b8bdc05,

+    0x4f4f3e29, 0x9b87f744,

+  0x4f4a4f89, 0x9b8412c1, 0x4f4560b8, 0x9b802e7b, 0x4f4071b6, 0x9b7c4a74,

+    0x4f3b8284, 0x9b7866ab,

+  0x4f369320, 0x9b748320, 0x4f31a38c, 0x9b709fd3, 0x4f2cb3c7, 0x9b6cbcc4,

+    0x4f27c3d1, 0x9b68d9f3,

+  0x4f22d3aa, 0x9b64f760, 0x4f1de352, 0x9b61150b, 0x4f18f2c9, 0x9b5d32f4,

+    0x4f140210, 0x9b59511c,

+  0x4f0f1126, 0x9b556f81, 0x4f0a200b, 0x9b518e24, 0x4f052ec0, 0x9b4dad06,

+    0x4f003d43, 0x9b49cc26,

+  0x4efb4b96, 0x9b45eb83, 0x4ef659b8, 0x9b420b1f, 0x4ef167aa, 0x9b3e2af9,

+    0x4eec756b, 0x9b3a4b11,

+  0x4ee782fb, 0x9b366b68, 0x4ee2905a, 0x9b328bfc, 0x4edd9d89, 0x9b2eaccf,

+    0x4ed8aa87, 0x9b2acde0,

+  0x4ed3b755, 0x9b26ef2f, 0x4ecec3f2, 0x9b2310bc, 0x4ec9d05e, 0x9b1f3288,

+    0x4ec4dc99, 0x9b1b5492,

+  0x4ebfe8a5, 0x9b1776da, 0x4ebaf47f, 0x9b139960, 0x4eb60029, 0x9b0fbc24,

+    0x4eb10ba2, 0x9b0bdf27,

+  0x4eac16eb, 0x9b080268, 0x4ea72203, 0x9b0425e8, 0x4ea22ceb, 0x9b0049a5,

+    0x4e9d37a3, 0x9afc6da1,

+  0x4e984229, 0x9af891db, 0x4e934c80, 0x9af4b654, 0x4e8e56a5, 0x9af0db0b,

+    0x4e89609b, 0x9aed0000,

+  0x4e846a60, 0x9ae92533, 0x4e7f73f4, 0x9ae54aa5, 0x4e7a7d58, 0x9ae17056,

+    0x4e75868c, 0x9add9644,

+  0x4e708f8f, 0x9ad9bc71, 0x4e6b9862, 0x9ad5e2dd, 0x4e66a105, 0x9ad20987,

+    0x4e61a977, 0x9ace306f,

+  0x4e5cb1b9, 0x9aca5795, 0x4e57b9ca, 0x9ac67efb, 0x4e52c1ab, 0x9ac2a69e,

+    0x4e4dc95c, 0x9abece80,

+  0x4e48d0dd, 0x9abaf6a1, 0x4e43d82d, 0x9ab71eff, 0x4e3edf4d, 0x9ab3479d,

+    0x4e39e63d, 0x9aaf7079,

+  0x4e34ecfc, 0x9aab9993, 0x4e2ff38b, 0x9aa7c2ec, 0x4e2af9ea, 0x9aa3ec83,

+    0x4e260019, 0x9aa01659,

+  0x4e210617, 0x9a9c406e, 0x4e1c0be6, 0x9a986ac1, 0x4e171184, 0x9a949552,

+    0x4e1216f2, 0x9a90c022,

+  0x4e0d1c30, 0x9a8ceb31, 0x4e08213e, 0x9a89167e, 0x4e03261b, 0x9a85420a,

+    0x4dfe2ac9, 0x9a816dd5,

+  0x4df92f46, 0x9a7d99de, 0x4df43393, 0x9a79c625, 0x4def37b0, 0x9a75f2ac,

+    0x4dea3b9d, 0x9a721f71,

+  0x4de53f5a, 0x9a6e4c74, 0x4de042e7, 0x9a6a79b6, 0x4ddb4644, 0x9a66a737,

+    0x4dd64971, 0x9a62d4f7,

+  0x4dd14c6e, 0x9a5f02f5, 0x4dcc4f3b, 0x9a5b3132, 0x4dc751d8, 0x9a575fae,

+    0x4dc25445, 0x9a538e68,

+  0x4dbd5682, 0x9a4fbd61, 0x4db8588f, 0x9a4bec99, 0x4db35a6c, 0x9a481c0f,

+    0x4dae5c19, 0x9a444bc5,

+  0x4da95d96, 0x9a407bb9, 0x4da45ee3, 0x9a3cabeb, 0x4d9f6001, 0x9a38dc5d,

+    0x4d9a60ee, 0x9a350d0d,

+  0x4d9561ac, 0x9a313dfc, 0x4d90623a, 0x9a2d6f2a, 0x4d8b6298, 0x9a29a097,

+    0x4d8662c6, 0x9a25d243,

+  0x4d8162c4, 0x9a22042d, 0x4d7c6293, 0x9a1e3656, 0x4d776231, 0x9a1a68be,

+    0x4d7261a0, 0x9a169b65,

+  0x4d6d60df, 0x9a12ce4b, 0x4d685fef, 0x9a0f016f, 0x4d635ece, 0x9a0b34d3,

+    0x4d5e5d7e, 0x9a076875,

+  0x4d595bfe, 0x9a039c57, 0x4d545a4f, 0x99ffd077, 0x4d4f5870, 0x99fc04d6,

+    0x4d4a5661, 0x99f83974,

+  0x4d455422, 0x99f46e51, 0x4d4051b4, 0x99f0a36d, 0x4d3b4f16, 0x99ecd8c8,

+    0x4d364c48, 0x99e90e62,

+  0x4d31494b, 0x99e5443b, 0x4d2c461e, 0x99e17a53, 0x4d2742c2, 0x99ddb0aa,

+    0x4d223f36, 0x99d9e73f,

+  0x4d1d3b7a, 0x99d61e14, 0x4d18378f, 0x99d25528, 0x4d133374, 0x99ce8c7b,

+    0x4d0e2f2a, 0x99cac40d,

+  0x4d092ab0, 0x99c6fbde, 0x4d042607, 0x99c333ee, 0x4cff212e, 0x99bf6c3d,

+    0x4cfa1c26, 0x99bba4cb,

+  0x4cf516ee, 0x99b7dd99, 0x4cf01187, 0x99b416a5, 0x4ceb0bf0, 0x99b04ff0,

+    0x4ce6062a, 0x99ac897b,

+  0x4ce10034, 0x99a8c345, 0x4cdbfa0f, 0x99a4fd4d, 0x4cd6f3bb, 0x99a13795,

+    0x4cd1ed37, 0x999d721c,

+  0x4ccce684, 0x9999ace3, 0x4cc7dfa1, 0x9995e7e8, 0x4cc2d88f, 0x9992232d,

+    0x4cbdd14e, 0x998e5eb1,

+  0x4cb8c9dd, 0x998a9a74, 0x4cb3c23d, 0x9986d676, 0x4caeba6e, 0x998312b7,

+    0x4ca9b26f, 0x997f4f38,

+  0x4ca4aa41, 0x997b8bf8, 0x4c9fa1e4, 0x9977c8f7, 0x4c9a9958, 0x99740635,

+    0x4c95909c, 0x997043b2,

+  0x4c9087b1, 0x996c816f, 0x4c8b7e97, 0x9968bf6b, 0x4c86754e, 0x9964fda7,

+    0x4c816bd5, 0x99613c22,

+  0x4c7c622d, 0x995d7adc, 0x4c775856, 0x9959b9d5, 0x4c724e50, 0x9955f90d,

+    0x4c6d441b, 0x99523885,

+  0x4c6839b7, 0x994e783d, 0x4c632f23, 0x994ab833, 0x4c5e2460, 0x9946f869,

+    0x4c59196f, 0x994338df,

+  0x4c540e4e, 0x993f7993, 0x4c4f02fe, 0x993bba87, 0x4c49f77f, 0x9937fbbb,

+    0x4c44ebd1, 0x99343d2e,

+  0x4c3fdff4, 0x99307ee0, 0x4c3ad3e7, 0x992cc0d2, 0x4c35c7ac, 0x99290303,

+    0x4c30bb42, 0x99254574,

+  0x4c2baea9, 0x99218824, 0x4c26a1e1, 0x991dcb13, 0x4c2194e9, 0x991a0e42,

+    0x4c1c87c3, 0x991651b1,

+  0x4c177a6e, 0x9912955f, 0x4c126cea, 0x990ed94c, 0x4c0d5f37, 0x990b1d79,

+    0x4c085156, 0x990761e5,

+  0x4c034345, 0x9903a691, 0x4bfe3505, 0x98ffeb7d, 0x4bf92697, 0x98fc30a8,

+    0x4bf417f9, 0x98f87612,

+  0x4bef092d, 0x98f4bbbc, 0x4be9fa32, 0x98f101a6, 0x4be4eb08, 0x98ed47cf,

+    0x4bdfdbaf, 0x98e98e38,

+  0x4bdacc28, 0x98e5d4e0, 0x4bd5bc72, 0x98e21bc8, 0x4bd0ac8d, 0x98de62f0,

+    0x4bcb9c79, 0x98daaa57,

+  0x4bc68c36, 0x98d6f1fe, 0x4bc17bc5, 0x98d339e4, 0x4bbc6b25, 0x98cf820b,

+    0x4bb75a56, 0x98cbca70,

+  0x4bb24958, 0x98c81316, 0x4bad382c, 0x98c45bfb, 0x4ba826d1, 0x98c0a520,

+    0x4ba31548, 0x98bcee84,

+  0x4b9e0390, 0x98b93828, 0x4b98f1a9, 0x98b5820c, 0x4b93df93, 0x98b1cc30,

+    0x4b8ecd4f, 0x98ae1693,

+  0x4b89badd, 0x98aa6136, 0x4b84a83b, 0x98a6ac19, 0x4b7f956b, 0x98a2f73c,

+    0x4b7a826d, 0x989f429e,

+  0x4b756f40, 0x989b8e40, 0x4b705be4, 0x9897da22, 0x4b6b485a, 0x98942643,

+    0x4b6634a2, 0x989072a5,

+  0x4b6120bb, 0x988cbf46, 0x4b5c0ca5, 0x98890c27, 0x4b56f861, 0x98855948,

+    0x4b51e3ee, 0x9881a6a9,

+  0x4b4ccf4d, 0x987df449, 0x4b47ba7e, 0x987a422a, 0x4b42a580, 0x9876904a,

+    0x4b3d9053, 0x9872deaa,

+  0x4b387af9, 0x986f2d4a, 0x4b336570, 0x986b7c2a, 0x4b2e4fb8, 0x9867cb4a,

+    0x4b2939d2, 0x98641aa9,

+  0x4b2423be, 0x98606a49, 0x4b1f0d7b, 0x985cba28, 0x4b19f70a, 0x98590a48,

+    0x4b14e06b, 0x98555aa7,

+  0x4b0fc99d, 0x9851ab46, 0x4b0ab2a1, 0x984dfc26, 0x4b059b77, 0x984a4d45,

+    0x4b00841f, 0x98469ea4,

+  0x4afb6c98, 0x9842f043, 0x4af654e3, 0x983f4223, 0x4af13d00, 0x983b9442,

+    0x4aec24ee, 0x9837e6a1,

+  0x4ae70caf, 0x98343940, 0x4ae1f441, 0x98308c1f, 0x4adcdba5, 0x982cdf3f,

+    0x4ad7c2da, 0x9829329e,

+  0x4ad2a9e2, 0x9825863d, 0x4acd90bb, 0x9821da1d, 0x4ac87767, 0x981e2e3c,

+    0x4ac35de4, 0x981a829c,

+  0x4abe4433, 0x9816d73b, 0x4ab92a54, 0x98132c1b, 0x4ab41046, 0x980f813b,

+    0x4aaef60b, 0x980bd69b,

+  0x4aa9dba2, 0x98082c3b, 0x4aa4c10b, 0x9804821b, 0x4a9fa645, 0x9800d83c,

+    0x4a9a8b52, 0x97fd2e9c,

+  0x4a957030, 0x97f9853d, 0x4a9054e1, 0x97f5dc1e, 0x4a8b3963, 0x97f2333f,

+    0x4a861db8, 0x97ee8aa0,

+  0x4a8101de, 0x97eae242, 0x4a7be5d7, 0x97e73a23, 0x4a76c9a2, 0x97e39245,

+    0x4a71ad3e, 0x97dfeaa7,

+  0x4a6c90ad, 0x97dc4349, 0x4a6773ee, 0x97d89c2c, 0x4a625701, 0x97d4f54f,

+    0x4a5d39e6, 0x97d14eb2,

+  0x4a581c9e, 0x97cda855, 0x4a52ff27, 0x97ca0239, 0x4a4de182, 0x97c65c5c,

+    0x4a48c3b0, 0x97c2b6c1,

+  0x4a43a5b0, 0x97bf1165, 0x4a3e8782, 0x97bb6c4a, 0x4a396926, 0x97b7c76f,

+    0x4a344a9d, 0x97b422d4,

+  0x4a2f2be6, 0x97b07e7a, 0x4a2a0d01, 0x97acda60, 0x4a24edee, 0x97a93687,

+    0x4a1fcead, 0x97a592ed,

+  0x4a1aaf3f, 0x97a1ef94, 0x4a158fa3, 0x979e4c7c, 0x4a106fda, 0x979aa9a4,

+    0x4a0b4fe2, 0x9797070c,

+  0x4a062fbd, 0x979364b5, 0x4a010f6b, 0x978fc29e, 0x49fbeeea, 0x978c20c8,

+    0x49f6ce3c, 0x97887f32,

+  0x49f1ad61, 0x9784dddc, 0x49ec8c57, 0x97813cc7, 0x49e76b21, 0x977d9bf2,

+    0x49e249bc, 0x9779fb5e,

+  0x49dd282a, 0x97765b0a, 0x49d8066b, 0x9772baf7, 0x49d2e47e, 0x976f1b24,

+    0x49cdc263, 0x976b7b92,

+  0x49c8a01b, 0x9767dc41, 0x49c37da5, 0x97643d2f, 0x49be5b02, 0x97609e5f,

+    0x49b93832, 0x975cffcf,

+  0x49b41533, 0x9759617f, 0x49aef208, 0x9755c370, 0x49a9ceaf, 0x975225a1,

+    0x49a4ab28, 0x974e8813,

+  0x499f8774, 0x974aeac6, 0x499a6393, 0x97474db9, 0x49953f84, 0x9743b0ed,

+    0x49901b48, 0x97401462,

+  0x498af6df, 0x973c7817, 0x4985d248, 0x9738dc0d, 0x4980ad84, 0x97354043,

+    0x497b8892, 0x9731a4ba,

+  0x49766373, 0x972e0971, 0x49713e27, 0x972a6e6a, 0x496c18ae, 0x9726d3a3,

+    0x4966f307, 0x9723391c,

+  0x4961cd33, 0x971f9ed7, 0x495ca732, 0x971c04d2, 0x49578103, 0x97186b0d,

+    0x49525aa7, 0x9714d18a,

+  0x494d341e, 0x97113847, 0x49480d68, 0x970d9f45, 0x4942e684, 0x970a0683,

+    0x493dbf74, 0x97066e03,

+  0x49389836, 0x9702d5c3, 0x493370cb, 0x96ff3dc4, 0x492e4933, 0x96fba605,

+    0x4929216e, 0x96f80e88,

+  0x4923f97b, 0x96f4774b, 0x491ed15c, 0x96f0e04f, 0x4919a90f, 0x96ed4994,

+    0x49148095, 0x96e9b319,

+  0x490f57ee, 0x96e61ce0, 0x490a2f1b, 0x96e286e7, 0x4905061a, 0x96def12f,

+    0x48ffdcec, 0x96db5bb8,

+  0x48fab391, 0x96d7c682, 0x48f58a09, 0x96d4318d, 0x48f06054, 0x96d09cd8,

+    0x48eb3672, 0x96cd0865,

+  0x48e60c62, 0x96c97432, 0x48e0e227, 0x96c5e040, 0x48dbb7be, 0x96c24c8f,

+    0x48d68d28, 0x96beb91f,

+  0x48d16265, 0x96bb25f0, 0x48cc3775, 0x96b79302, 0x48c70c59, 0x96b40055,

+    0x48c1e10f, 0x96b06de9,

+  0x48bcb599, 0x96acdbbe, 0x48b789f5, 0x96a949d3, 0x48b25e25, 0x96a5b82a,

+    0x48ad3228, 0x96a226c2,

+  0x48a805ff, 0x969e959b, 0x48a2d9a8, 0x969b04b4, 0x489dad25, 0x9697740f,

+    0x48988074, 0x9693e3ab,

+  0x48935397, 0x96905388, 0x488e268e, 0x968cc3a5, 0x4888f957, 0x96893404,

+    0x4883cbf4, 0x9685a4a4,

+  0x487e9e64, 0x96821585, 0x487970a7, 0x967e86a7, 0x487442be, 0x967af80a,

+    0x486f14a8, 0x967769af,

+  0x4869e665, 0x9673db94, 0x4864b7f5, 0x96704dba, 0x485f8959, 0x966cc022,

+    0x485a5a90, 0x966932cb,

+  0x48552b9b, 0x9665a5b4, 0x484ffc79, 0x966218df, 0x484acd2a, 0x965e8c4b,

+    0x48459daf, 0x965afff9,

+  0x48406e08, 0x965773e7, 0x483b3e33, 0x9653e817, 0x48360e32, 0x96505c88,

+    0x4830de05, 0x964cd139,

+  0x482badab, 0x9649462d, 0x48267d24, 0x9645bb61, 0x48214c71, 0x964230d7,

+    0x481c1b92, 0x963ea68d,

+  0x4816ea86, 0x963b1c86, 0x4811b94d, 0x963792bf, 0x480c87e8, 0x96340939,

+    0x48075657, 0x96307ff5,

+  0x48022499, 0x962cf6f2, 0x47fcf2af, 0x96296e31, 0x47f7c099, 0x9625e5b0,

+    0x47f28e56, 0x96225d71,

+  0x47ed5be6, 0x961ed574, 0x47e8294a, 0x961b4db7, 0x47e2f682, 0x9617c63c,

+    0x47ddc38e, 0x96143f02,

+  0x47d8906d, 0x9610b80a, 0x47d35d20, 0x960d3153, 0x47ce29a7, 0x9609aadd,

+    0x47c8f601, 0x960624a9,

+  0x47c3c22f, 0x96029eb6, 0x47be8e31, 0x95ff1904, 0x47b95a06, 0x95fb9394,

+    0x47b425af, 0x95f80e65,

+  0x47aef12c, 0x95f48977, 0x47a9bc7d, 0x95f104cb, 0x47a487a2, 0x95ed8061,

+    0x479f529a, 0x95e9fc38,

+  0x479a1d67, 0x95e67850, 0x4794e807, 0x95e2f4a9, 0x478fb27b, 0x95df7145,

+    0x478a7cc2, 0x95dbee21,

+  0x478546de, 0x95d86b3f, 0x478010cd, 0x95d4e89f, 0x477ada91, 0x95d16640,

+    0x4775a428, 0x95cde423,

+  0x47706d93, 0x95ca6247, 0x476b36d3, 0x95c6e0ac, 0x4765ffe6, 0x95c35f53,

+    0x4760c8cd, 0x95bfde3c,

+  0x475b9188, 0x95bc5d66, 0x47565a17, 0x95b8dcd2, 0x4751227a, 0x95b55c7f,

+    0x474beab1, 0x95b1dc6e,

+  0x4746b2bc, 0x95ae5c9f, 0x47417a9b, 0x95aadd11, 0x473c424e, 0x95a75dc4,

+    0x473709d5, 0x95a3deb9,

+  0x4731d131, 0x95a05ff0, 0x472c9860, 0x959ce169, 0x47275f63, 0x95996323,

+    0x4722263b, 0x9595e51e,

+  0x471cece7, 0x9592675c, 0x4717b367, 0x958ee9db, 0x471279ba, 0x958b6c9b,

+    0x470d3fe3, 0x9587ef9e,

+  0x470805df, 0x958472e2, 0x4702cbaf, 0x9580f667, 0x46fd9154, 0x957d7a2f,

+    0x46f856cd, 0x9579fe38,

+  0x46f31c1a, 0x95768283, 0x46ede13b, 0x9573070f, 0x46e8a631, 0x956f8bdd,

+    0x46e36afb, 0x956c10ed,

+  0x46de2f99, 0x9568963f, 0x46d8f40b, 0x95651bd2, 0x46d3b852, 0x9561a1a8,

+    0x46ce7c6d, 0x955e27bf,

+  0x46c9405c, 0x955aae17, 0x46c40420, 0x955734b2, 0x46bec7b8, 0x9553bb8e,

+    0x46b98b24, 0x955042ac,

+  0x46b44e65, 0x954cca0c, 0x46af117a, 0x954951ae, 0x46a9d464, 0x9545d992,

+    0x46a49722, 0x954261b7,

+  0x469f59b4, 0x953eea1e, 0x469a1c1b, 0x953b72c7, 0x4694de56, 0x9537fbb2,

+    0x468fa066, 0x953484df,

+  0x468a624a, 0x95310e4e, 0x46852403, 0x952d97fe, 0x467fe590, 0x952a21f1,

+    0x467aa6f2, 0x9526ac25,

+  0x46756828, 0x9523369c, 0x46702933, 0x951fc154, 0x466aea12, 0x951c4c4e,

+    0x4665aac6, 0x9518d78a,

+  0x46606b4e, 0x95156308, 0x465b2bab, 0x9511eec8, 0x4655ebdd, 0x950e7aca,

+    0x4650abe3, 0x950b070e,

+  0x464b6bbe, 0x95079394, 0x46462b6d, 0x9504205c, 0x4640eaf2, 0x9500ad66,

+    0x463baa4a, 0x94fd3ab1,

+  0x46366978, 0x94f9c83f, 0x4631287a, 0x94f6560f, 0x462be751, 0x94f2e421,

+    0x4626a5fd, 0x94ef7275,

+  0x4621647d, 0x94ec010b, 0x461c22d2, 0x94e88fe3, 0x4616e0fc, 0x94e51efd,

+    0x46119efa, 0x94e1ae59,

+  0x460c5cce, 0x94de3df8, 0x46071a76, 0x94dacdd8, 0x4601d7f3, 0x94d75dfa,

+    0x45fc9545, 0x94d3ee5f,

+  0x45f7526b, 0x94d07f05, 0x45f20f67, 0x94cd0fee, 0x45eccc37, 0x94c9a119,

+    0x45e788dc, 0x94c63286,

+  0x45e24556, 0x94c2c435, 0x45dd01a5, 0x94bf5627, 0x45d7bdc9, 0x94bbe85a,

+    0x45d279c2, 0x94b87ad0,

+  0x45cd358f, 0x94b50d87, 0x45c7f132, 0x94b1a081, 0x45c2acaa, 0x94ae33be,

+    0x45bd67f6, 0x94aac73c,

+  0x45b82318, 0x94a75afd, 0x45b2de0e, 0x94a3eeff, 0x45ad98da, 0x94a08344,

+    0x45a8537a, 0x949d17cc,

+  0x45a30df0, 0x9499ac95, 0x459dc83b, 0x949641a1, 0x4598825a, 0x9492d6ef,

+    0x45933c4f, 0x948f6c7f,

+  0x458df619, 0x948c0252, 0x4588afb8, 0x94889867, 0x4583692c, 0x94852ebe,

+    0x457e2275, 0x9481c557,

+  0x4578db93, 0x947e5c33, 0x45739487, 0x947af351, 0x456e4d4f, 0x94778ab1,

+    0x456905ed, 0x94742254,

+  0x4563be60, 0x9470ba39, 0x455e76a8, 0x946d5260, 0x45592ec6, 0x9469eaca,

+    0x4553e6b8, 0x94668376,

+  0x454e9e80, 0x94631c65, 0x4549561d, 0x945fb596, 0x45440d90, 0x945c4f09,

+    0x453ec4d7, 0x9458e8bf,

+  0x45397bf4, 0x945582b7, 0x453432e6, 0x94521cf1, 0x452ee9ae, 0x944eb76e,

+    0x4529a04b, 0x944b522d,

+  0x452456bd, 0x9447ed2f, 0x451f0d04, 0x94448873, 0x4519c321, 0x944123fa,

+    0x45147913, 0x943dbfc3,

+  0x450f2edb, 0x943a5bcf, 0x4509e478, 0x9436f81d, 0x450499eb, 0x943394ad,

+    0x44ff4f32, 0x94303180,

+  0x44fa0450, 0x942cce96, 0x44f4b943, 0x94296bee, 0x44ef6e0b, 0x94260989,

+    0x44ea22a9, 0x9422a766,

+  0x44e4d71c, 0x941f4585, 0x44df8b64, 0x941be3e8, 0x44da3f83, 0x9418828c,

+    0x44d4f376, 0x94152174,

+  0x44cfa740, 0x9411c09e, 0x44ca5adf, 0x940e600a, 0x44c50e53, 0x940affb9,

+    0x44bfc19d, 0x94079fab,

+  0x44ba74bd, 0x94043fdf, 0x44b527b2, 0x9400e056, 0x44afda7d, 0x93fd810f,

+    0x44aa8d1d, 0x93fa220b,

+  0x44a53f93, 0x93f6c34a, 0x449ff1df, 0x93f364cb, 0x449aa400, 0x93f0068f,

+    0x449555f7, 0x93eca896,

+  0x449007c4, 0x93e94adf, 0x448ab967, 0x93e5ed6b, 0x44856adf, 0x93e2903a,

+    0x44801c2d, 0x93df334c,

+  0x447acd50, 0x93dbd6a0, 0x44757e4a, 0x93d87a36, 0x44702f19, 0x93d51e10,

+    0x446adfbe, 0x93d1c22c,

+  0x44659039, 0x93ce668b, 0x44604089, 0x93cb0b2d, 0x445af0b0, 0x93c7b011,

+    0x4455a0ac, 0x93c45539,

+  0x4450507e, 0x93c0faa3, 0x444b0026, 0x93bda04f, 0x4445afa4, 0x93ba463f,

+    0x44405ef8, 0x93b6ec71,

+  0x443b0e21, 0x93b392e6, 0x4435bd21, 0x93b0399e, 0x44306bf6, 0x93ace099,

+    0x442b1aa2, 0x93a987d6,

+  0x4425c923, 0x93a62f57, 0x4420777b, 0x93a2d71a, 0x441b25a8, 0x939f7f20,

+    0x4415d3ab, 0x939c2769,

+  0x44108184, 0x9398cff5, 0x440b2f34, 0x939578c3, 0x4405dcb9, 0x939221d5,

+    0x44008a14, 0x938ecb29,

+  0x43fb3746, 0x938b74c1, 0x43f5e44d, 0x93881e9b, 0x43f0912b, 0x9384c8b8,

+    0x43eb3ddf, 0x93817318,

+  0x43e5ea68, 0x937e1dbb, 0x43e096c8, 0x937ac8a1, 0x43db42fe, 0x937773ca,

+    0x43d5ef0a, 0x93741f35,

+  0x43d09aed, 0x9370cae4, 0x43cb46a5, 0x936d76d6, 0x43c5f234, 0x936a230a,

+    0x43c09d99, 0x9366cf82,

+  0x43bb48d4, 0x93637c3d, 0x43b5f3e5, 0x9360293a, 0x43b09ecc, 0x935cd67b,

+    0x43ab498a, 0x935983ff,

+  0x43a5f41e, 0x935631c5, 0x43a09e89, 0x9352dfcf, 0x439b48c9, 0x934f8e1c,

+    0x4395f2e0, 0x934c3cab,

+  0x43909ccd, 0x9348eb7e, 0x438b4691, 0x93459a94, 0x4385f02a, 0x934249ed,

+    0x4380999b, 0x933ef989,

+  0x437b42e1, 0x933ba968, 0x4375ebfe, 0x9338598a, 0x437094f1, 0x933509f0,

+    0x436b3dbb, 0x9331ba98,

+  0x4365e65b, 0x932e6b84, 0x43608ed2, 0x932b1cb2, 0x435b371f, 0x9327ce24,

+    0x4355df42, 0x93247fd9,

+  0x4350873c, 0x932131d1, 0x434b2f0c, 0x931de40c, 0x4345d6b3, 0x931a968b,

+    0x43407e31, 0x9317494c,

+  0x433b2585, 0x9313fc51, 0x4335ccaf, 0x9310af99, 0x433073b0, 0x930d6324,

+    0x432b1a87, 0x930a16f3,

+  0x4325c135, 0x9306cb04, 0x432067ba, 0x93037f59, 0x431b0e15, 0x930033f1,

+    0x4315b447, 0x92fce8cc,

+  0x43105a50, 0x92f99deb, 0x430b002f, 0x92f6534c, 0x4305a5e5, 0x92f308f1,

+    0x43004b71, 0x92efbeda,

+  0x42faf0d4, 0x92ec7505, 0x42f5960e, 0x92e92b74, 0x42f03b1e, 0x92e5e226,

+    0x42eae005, 0x92e2991c,

+  0x42e584c3, 0x92df5054, 0x42e02958, 0x92dc07d0, 0x42dacdc3, 0x92d8bf90,

+    0x42d57205, 0x92d57792,

+  0x42d0161e, 0x92d22fd9, 0x42caba0e, 0x92cee862, 0x42c55dd4, 0x92cba12f,

+    0x42c00172, 0x92c85a3f,

+  0x42baa4e6, 0x92c51392, 0x42b54831, 0x92c1cd29, 0x42afeb53, 0x92be8703,

+    0x42aa8e4b, 0x92bb4121,

+  0x42a5311b, 0x92b7fb82, 0x429fd3c1, 0x92b4b626, 0x429a763f, 0x92b1710e,

+    0x42951893, 0x92ae2c3a,

+  0x428fbabe, 0x92aae7a8, 0x428a5cc0, 0x92a7a35a, 0x4284fe99, 0x92a45f50,

+    0x427fa049, 0x92a11b89,

+  0x427a41d0, 0x929dd806, 0x4274e32e, 0x929a94c6, 0x426f8463, 0x929751c9,

+    0x426a256f, 0x92940f10,

+  0x4264c653, 0x9290cc9b, 0x425f670d, 0x928d8a69, 0x425a079e, 0x928a487a,

+    0x4254a806, 0x928706cf,

+  0x424f4845, 0x9283c568, 0x4249e85c, 0x92808444, 0x42448849, 0x927d4363,

+    0x423f280e, 0x927a02c7,

+  0x4239c7aa, 0x9276c26d, 0x4234671d, 0x92738258, 0x422f0667, 0x92704286,

+    0x4229a588, 0x926d02f7,

+  0x42244481, 0x9269c3ac, 0x421ee350, 0x926684a5, 0x421981f7, 0x926345e1,

+    0x42142075, 0x92600761,

+  0x420ebecb, 0x925cc924, 0x42095cf7, 0x92598b2b, 0x4203fafb, 0x92564d76,

+    0x41fe98d6, 0x92531005,

+  0x41f93689, 0x924fd2d7, 0x41f3d413, 0x924c95ec, 0x41ee7174, 0x92495946,

+    0x41e90eac, 0x92461ce3,

+  0x41e3abbc, 0x9242e0c4, 0x41de48a3, 0x923fa4e8, 0x41d8e561, 0x923c6950,

+    0x41d381f7, 0x92392dfc,

+  0x41ce1e65, 0x9235f2ec, 0x41c8baa9, 0x9232b81f, 0x41c356c5, 0x922f7d96,

+    0x41bdf2b9, 0x922c4351,

+  0x41b88e84, 0x9229094f, 0x41b32a26, 0x9225cf91, 0x41adc5a0, 0x92229617,

+    0x41a860f1, 0x921f5ce1,

+  0x41a2fc1a, 0x921c23ef, 0x419d971b, 0x9218eb40, 0x419831f3, 0x9215b2d5,

+    0x4192cca2, 0x92127aae,

+  0x418d6729, 0x920f42cb, 0x41880188, 0x920c0b2c, 0x41829bbe, 0x9208d3d0,

+    0x417d35cb, 0x92059cb8,

+  0x4177cfb1, 0x920265e4, 0x4172696e, 0x91ff2f54, 0x416d0302, 0x91fbf908,

+    0x41679c6f, 0x91f8c300,

+  0x416235b2, 0x91f58d3b, 0x415ccece, 0x91f257bb, 0x415767c1, 0x91ef227e,

+    0x4152008c, 0x91ebed85,

+  0x414c992f, 0x91e8b8d0, 0x414731a9, 0x91e5845f, 0x4141c9fb, 0x91e25032,

+    0x413c6225, 0x91df1c49,

+  0x4136fa27, 0x91dbe8a4, 0x41319200, 0x91d8b542, 0x412c29b1, 0x91d58225,

+    0x4126c13a, 0x91d24f4c,

+  0x4121589b, 0x91cf1cb6, 0x411befd3, 0x91cbea65, 0x411686e4, 0x91c8b857,

+    0x41111dcc, 0x91c5868e,

+  0x410bb48c, 0x91c25508, 0x41064b24, 0x91bf23c7, 0x4100e194, 0x91bbf2c9,

+    0x40fb77dc, 0x91b8c210,

+  0x40f60dfb, 0x91b5919a, 0x40f0a3f3, 0x91b26169, 0x40eb39c3, 0x91af317c,

+    0x40e5cf6a, 0x91ac01d2,

+  0x40e064ea, 0x91a8d26d, 0x40dafa41, 0x91a5a34c, 0x40d58f71, 0x91a2746f,

+    0x40d02478, 0x919f45d6,

+  0x40cab958, 0x919c1781, 0x40c54e0f, 0x9198e970, 0x40bfe29f, 0x9195bba3,

+    0x40ba7706, 0x91928e1a,

+  0x40b50b46, 0x918f60d6, 0x40af9f5e, 0x918c33d5, 0x40aa334e, 0x91890719,

+    0x40a4c716, 0x9185daa1,

+  0x409f5ab6, 0x9182ae6d, 0x4099ee2e, 0x917f827d, 0x4094817f, 0x917c56d1,

+    0x408f14a7, 0x91792b6a,

+  0x4089a7a8, 0x91760047, 0x40843a81, 0x9172d567, 0x407ecd32, 0x916faacc,

+    0x40795fbc, 0x916c8076,

+  0x4073f21d, 0x91695663, 0x406e8457, 0x91662c95, 0x40691669, 0x9163030b,

+    0x4063a854, 0x915fd9c5,

+  0x405e3a16, 0x915cb0c3, 0x4058cbb1, 0x91598806, 0x40535d24, 0x91565f8d,

+    0x404dee70, 0x91533758,

+  0x40487f94, 0x91500f67, 0x40431090, 0x914ce7bb, 0x403da165, 0x9149c053,

+    0x40383212, 0x9146992f,

+  0x4032c297, 0x91437250, 0x402d52f5, 0x91404bb5, 0x4027e32b, 0x913d255e,

+    0x4022733a, 0x9139ff4b,

+  0x401d0321, 0x9136d97d, 0x401792e0, 0x9133b3f3, 0x40122278, 0x91308eae,

+    0x400cb1e9, 0x912d69ad,

+  0x40074132, 0x912a44f0, 0x4001d053, 0x91272078, 0x3ffc5f4d, 0x9123fc44,

+    0x3ff6ee1f, 0x9120d854,

+  0x3ff17cca, 0x911db4a9, 0x3fec0b4e, 0x911a9142, 0x3fe699aa, 0x91176e1f,

+    0x3fe127df, 0x91144b41,

+  0x3fdbb5ec, 0x911128a8, 0x3fd643d2, 0x910e0653, 0x3fd0d191, 0x910ae442,

+    0x3fcb5f28, 0x9107c276,

+  0x3fc5ec98, 0x9104a0ee, 0x3fc079e0, 0x91017faa, 0x3fbb0702, 0x90fe5eab,

+    0x3fb593fb, 0x90fb3df1,

+  0x3fb020ce, 0x90f81d7b, 0x3faaad79, 0x90f4fd4a, 0x3fa539fd, 0x90f1dd5d,

+    0x3f9fc65a, 0x90eebdb4,

+  0x3f9a5290, 0x90eb9e50, 0x3f94de9e, 0x90e87f31, 0x3f8f6a85, 0x90e56056,

+    0x3f89f645, 0x90e241bf,

+  0x3f8481dd, 0x90df236e, 0x3f7f0d4f, 0x90dc0560, 0x3f799899, 0x90d8e798,

+    0x3f7423bc, 0x90d5ca13,

+  0x3f6eaeb8, 0x90d2acd4, 0x3f69398d, 0x90cf8fd9, 0x3f63c43b, 0x90cc7322,

+    0x3f5e4ec2, 0x90c956b1,

+  0x3f58d921, 0x90c63a83, 0x3f53635a, 0x90c31e9b, 0x3f4ded6b, 0x90c002f7,

+    0x3f487755, 0x90bce797,

+  0x3f430119, 0x90b9cc7d, 0x3f3d8ab5, 0x90b6b1a6, 0x3f38142a, 0x90b39715,

+    0x3f329d79, 0x90b07cc8,

+  0x3f2d26a0, 0x90ad62c0, 0x3f27afa1, 0x90aa48fd, 0x3f22387a, 0x90a72f7e,

+    0x3f1cc12c, 0x90a41644,

+  0x3f1749b8, 0x90a0fd4e, 0x3f11d21d, 0x909de49e, 0x3f0c5a5a, 0x909acc32,

+    0x3f06e271, 0x9097b40a,

+  0x3f016a61, 0x90949c28, 0x3efbf22a, 0x9091848a, 0x3ef679cc, 0x908e6d31,

+    0x3ef10148, 0x908b561c,

+  0x3eeb889c, 0x90883f4d, 0x3ee60fca, 0x908528c2, 0x3ee096d1, 0x9082127c,

+    0x3edb1db1, 0x907efc7a,

+  0x3ed5a46b, 0x907be6be, 0x3ed02afd, 0x9078d146, 0x3ecab169, 0x9075bc13,

+    0x3ec537ae, 0x9072a725,

+  0x3ebfbdcd, 0x906f927c, 0x3eba43c4, 0x906c7e17, 0x3eb4c995, 0x906969f8,

+    0x3eaf4f40, 0x9066561d,

+  0x3ea9d4c3, 0x90634287, 0x3ea45a21, 0x90602f35, 0x3e9edf57, 0x905d1c29,

+    0x3e996467, 0x905a0962,

+  0x3e93e950, 0x9056f6df, 0x3e8e6e12, 0x9053e4a1, 0x3e88f2ae, 0x9050d2a9,

+    0x3e837724, 0x904dc0f5,

+  0x3e7dfb73, 0x904aaf86, 0x3e787f9b, 0x90479e5c, 0x3e73039d, 0x90448d76,

+    0x3e6d8778, 0x90417cd6,

+  0x3e680b2c, 0x903e6c7b, 0x3e628ebb, 0x903b5c64, 0x3e5d1222, 0x90384c93,

+    0x3e579564, 0x90353d06,

+  0x3e52187f, 0x90322dbf, 0x3e4c9b73, 0x902f1ebc, 0x3e471e41, 0x902c0fff,

+    0x3e41a0e8, 0x90290186,

+  0x3e3c2369, 0x9025f352, 0x3e36a5c4, 0x9022e564, 0x3e3127f9, 0x901fd7ba,

+    0x3e2baa07, 0x901cca55,

+  0x3e262bee, 0x9019bd36, 0x3e20adaf, 0x9016b05b, 0x3e1b2f4a, 0x9013a3c5,

+    0x3e15b0bf, 0x90109775,

+  0x3e10320d, 0x900d8b69, 0x3e0ab336, 0x900a7fa3, 0x3e053437, 0x90077422,

+    0x3dffb513, 0x900468e5,

+  0x3dfa35c8, 0x90015dee, 0x3df4b657, 0x8ffe533c, 0x3def36c0, 0x8ffb48cf,

+    0x3de9b703, 0x8ff83ea7,

+  0x3de4371f, 0x8ff534c4, 0x3ddeb716, 0x8ff22b26, 0x3dd936e6, 0x8fef21ce,

+    0x3dd3b690, 0x8fec18ba,

+  0x3dce3614, 0x8fe90fec, 0x3dc8b571, 0x8fe60763, 0x3dc334a9, 0x8fe2ff1f,

+    0x3dbdb3ba, 0x8fdff720,

+  0x3db832a6, 0x8fdcef66, 0x3db2b16b, 0x8fd9e7f2, 0x3dad300b, 0x8fd6e0c2,

+    0x3da7ae84, 0x8fd3d9d8,

+  0x3da22cd7, 0x8fd0d333, 0x3d9cab04, 0x8fcdccd3, 0x3d97290b, 0x8fcac6b9,

+    0x3d91a6ed, 0x8fc7c0e3,

+  0x3d8c24a8, 0x8fc4bb53, 0x3d86a23d, 0x8fc1b608, 0x3d811fac, 0x8fbeb103,

+    0x3d7b9cf6, 0x8fbbac42,

+  0x3d761a19, 0x8fb8a7c7, 0x3d709717, 0x8fb5a391, 0x3d6b13ee, 0x8fb29fa0,

+    0x3d6590a0, 0x8faf9bf5,

+  0x3d600d2c, 0x8fac988f, 0x3d5a8992, 0x8fa9956e, 0x3d5505d2, 0x8fa69293,

+    0x3d4f81ec, 0x8fa38ffc,

+  0x3d49fde1, 0x8fa08dab, 0x3d4479b0, 0x8f9d8ba0, 0x3d3ef559, 0x8f9a89da,

+    0x3d3970dc, 0x8f978859,

+  0x3d33ec39, 0x8f94871d, 0x3d2e6771, 0x8f918627, 0x3d28e282, 0x8f8e8576,

+    0x3d235d6f, 0x8f8b850a,

+  0x3d1dd835, 0x8f8884e4, 0x3d1852d6, 0x8f858503, 0x3d12cd51, 0x8f828568,

+    0x3d0d47a6, 0x8f7f8612,

+  0x3d07c1d6, 0x8f7c8701, 0x3d023be0, 0x8f798836, 0x3cfcb5c4, 0x8f7689b0,

+    0x3cf72f83, 0x8f738b70,

+  0x3cf1a91c, 0x8f708d75, 0x3cec2290, 0x8f6d8fbf, 0x3ce69bde, 0x8f6a924f,

+    0x3ce11507, 0x8f679525,

+  0x3cdb8e09, 0x8f649840, 0x3cd606e7, 0x8f619ba0, 0x3cd07f9f, 0x8f5e9f46,

+    0x3ccaf831, 0x8f5ba331,

+  0x3cc5709e, 0x8f58a761, 0x3cbfe8e5, 0x8f55abd8, 0x3cba6107, 0x8f52b093,

+    0x3cb4d904, 0x8f4fb595,

+  0x3caf50da, 0x8f4cbadb, 0x3ca9c88c, 0x8f49c067, 0x3ca44018, 0x8f46c639,

+    0x3c9eb77f, 0x8f43cc50,

+  0x3c992ec0, 0x8f40d2ad, 0x3c93a5dc, 0x8f3dd950, 0x3c8e1cd3, 0x8f3ae038,

+    0x3c8893a4, 0x8f37e765,

+  0x3c830a50, 0x8f34eed8, 0x3c7d80d6, 0x8f31f691, 0x3c77f737, 0x8f2efe8f,

+    0x3c726d73, 0x8f2c06d3,

+  0x3c6ce38a, 0x8f290f5c, 0x3c67597b, 0x8f26182b, 0x3c61cf48, 0x8f232140,

+    0x3c5c44ee, 0x8f202a9a,

+  0x3c56ba70, 0x8f1d343a, 0x3c512fcc, 0x8f1a3e1f, 0x3c4ba504, 0x8f17484b,

+    0x3c461a16, 0x8f1452bb,

+  0x3c408f03, 0x8f115d72, 0x3c3b03ca, 0x8f0e686e, 0x3c35786d, 0x8f0b73b0,

+    0x3c2fecea, 0x8f087f37,

+  0x3c2a6142, 0x8f058b04, 0x3c24d575, 0x8f029717, 0x3c1f4983, 0x8effa370,

+    0x3c19bd6c, 0x8efcb00e,

+  0x3c143130, 0x8ef9bcf2, 0x3c0ea4cf, 0x8ef6ca1c, 0x3c091849, 0x8ef3d78b,

+    0x3c038b9e, 0x8ef0e540,

+  0x3bfdfecd, 0x8eedf33b, 0x3bf871d8, 0x8eeb017c, 0x3bf2e4be, 0x8ee81002,

+    0x3bed577e, 0x8ee51ece,

+  0x3be7ca1a, 0x8ee22de0, 0x3be23c91, 0x8edf3d38, 0x3bdcaee3, 0x8edc4cd5,

+    0x3bd72110, 0x8ed95cb8,

+  0x3bd19318, 0x8ed66ce1, 0x3bcc04fb, 0x8ed37d50, 0x3bc676b9, 0x8ed08e05,

+    0x3bc0e853, 0x8ecd9eff,

+  0x3bbb59c7, 0x8ecab040, 0x3bb5cb17, 0x8ec7c1c6, 0x3bb03c42, 0x8ec4d392,

+    0x3baaad48, 0x8ec1e5a4,

+  0x3ba51e29, 0x8ebef7fb, 0x3b9f8ee5, 0x8ebc0a99, 0x3b99ff7d, 0x8eb91d7c,

+    0x3b946ff0, 0x8eb630a6,

+  0x3b8ee03e, 0x8eb34415, 0x3b895068, 0x8eb057ca, 0x3b83c06c, 0x8ead6bc5,

+    0x3b7e304c, 0x8eaa8006,

+  0x3b78a007, 0x8ea7948c, 0x3b730f9e, 0x8ea4a959, 0x3b6d7f10, 0x8ea1be6c,

+    0x3b67ee5d, 0x8e9ed3c4,

+  0x3b625d86, 0x8e9be963, 0x3b5ccc8a, 0x8e98ff47, 0x3b573b69, 0x8e961571,

+    0x3b51aa24, 0x8e932be2,

+  0x3b4c18ba, 0x8e904298, 0x3b46872c, 0x8e8d5994, 0x3b40f579, 0x8e8a70d7,

+    0x3b3b63a1, 0x8e87885f,

+  0x3b35d1a5, 0x8e84a02d, 0x3b303f84, 0x8e81b841, 0x3b2aad3f, 0x8e7ed09b,

+    0x3b251ad6, 0x8e7be93c,

+  0x3b1f8848, 0x8e790222, 0x3b19f595, 0x8e761b4e, 0x3b1462be, 0x8e7334c1,

+    0x3b0ecfc3, 0x8e704e79,

+  0x3b093ca3, 0x8e6d6877, 0x3b03a95e, 0x8e6a82bc, 0x3afe15f6, 0x8e679d47,

+    0x3af88269, 0x8e64b817,

+  0x3af2eeb7, 0x8e61d32e, 0x3aed5ae1, 0x8e5eee8b, 0x3ae7c6e7, 0x8e5c0a2e,

+    0x3ae232c9, 0x8e592617,

+  0x3adc9e86, 0x8e564246, 0x3ad70a1f, 0x8e535ebb, 0x3ad17593, 0x8e507b76,

+    0x3acbe0e3, 0x8e4d9878,

+  0x3ac64c0f, 0x8e4ab5bf, 0x3ac0b717, 0x8e47d34d, 0x3abb21fb, 0x8e44f121,

+    0x3ab58cba, 0x8e420f3b,

+  0x3aaff755, 0x8e3f2d9b, 0x3aaa61cc, 0x8e3c4c41, 0x3aa4cc1e, 0x8e396b2e,

+    0x3a9f364d, 0x8e368a61,

+  0x3a99a057, 0x8e33a9da, 0x3a940a3e, 0x8e30c999, 0x3a8e7400, 0x8e2de99e,

+    0x3a88dd9d, 0x8e2b09e9,

+  0x3a834717, 0x8e282a7b, 0x3a7db06d, 0x8e254b53, 0x3a78199f, 0x8e226c71,

+    0x3a7282ac, 0x8e1f8dd6,

+  0x3a6ceb96, 0x8e1caf80, 0x3a67545b, 0x8e19d171, 0x3a61bcfd, 0x8e16f3a9,

+    0x3a5c257a, 0x8e141626,

+  0x3a568dd4, 0x8e1138ea, 0x3a50f609, 0x8e0e5bf4, 0x3a4b5e1b, 0x8e0b7f44,

+    0x3a45c608, 0x8e08a2db,

+  0x3a402dd2, 0x8e05c6b7, 0x3a3a9577, 0x8e02eadb, 0x3a34fcf9, 0x8e000f44,

+    0x3a2f6457, 0x8dfd33f4,

+  0x3a29cb91, 0x8dfa58ea, 0x3a2432a7, 0x8df77e27, 0x3a1e9999, 0x8df4a3a9,

+    0x3a190068, 0x8df1c973,

+  0x3a136712, 0x8deeef82, 0x3a0dcd99, 0x8dec15d8, 0x3a0833fc, 0x8de93c74,

+    0x3a029a3b, 0x8de66357,

+  0x39fd0056, 0x8de38a80, 0x39f7664e, 0x8de0b1ef, 0x39f1cc21, 0x8dddd9a5,

+    0x39ec31d1, 0x8ddb01a1,

+  0x39e6975e, 0x8dd829e4, 0x39e0fcc6, 0x8dd5526d, 0x39db620b, 0x8dd27b3c,

+    0x39d5c72c, 0x8dcfa452,

+  0x39d02c2a, 0x8dcccdaf, 0x39ca9104, 0x8dc9f751, 0x39c4f5ba, 0x8dc7213b,

+    0x39bf5a4d, 0x8dc44b6a,

+  0x39b9bebc, 0x8dc175e0, 0x39b42307, 0x8dbea09d, 0x39ae872f, 0x8dbbcba0,

+    0x39a8eb33, 0x8db8f6ea,

+  0x39a34f13, 0x8db6227a, 0x399db2d0, 0x8db34e50, 0x3998166a, 0x8db07a6d,

+    0x399279e0, 0x8dada6d1,

+  0x398cdd32, 0x8daad37b, 0x39874061, 0x8da8006c, 0x3981a36d, 0x8da52da3,

+    0x397c0655, 0x8da25b21,

+  0x39766919, 0x8d9f88e5, 0x3970cbba, 0x8d9cb6f0, 0x396b2e38, 0x8d99e541,

+    0x39659092, 0x8d9713d9,

+  0x395ff2c9, 0x8d9442b8, 0x395a54dd, 0x8d9171dd, 0x3954b6cd, 0x8d8ea148,

+    0x394f1899, 0x8d8bd0fb,

+  0x39497a43, 0x8d8900f3, 0x3943dbc9, 0x8d863133, 0x393e3d2c, 0x8d8361b9,

+    0x39389e6b, 0x8d809286,

+  0x3932ff87, 0x8d7dc399, 0x392d6080, 0x8d7af4f3, 0x3927c155, 0x8d782694,

+    0x39222208, 0x8d75587b,

+  0x391c8297, 0x8d728aa9, 0x3916e303, 0x8d6fbd1d, 0x3911434b, 0x8d6cefd9,

+    0x390ba371, 0x8d6a22db,

+  0x39060373, 0x8d675623, 0x39006352, 0x8d6489b3, 0x38fac30e, 0x8d61bd89,

+    0x38f522a6, 0x8d5ef1a5,

+  0x38ef821c, 0x8d5c2609, 0x38e9e16e, 0x8d595ab3, 0x38e4409e, 0x8d568fa4,

+    0x38de9faa, 0x8d53c4db,

+  0x38d8fe93, 0x8d50fa59, 0x38d35d59, 0x8d4e301f, 0x38cdbbfc, 0x8d4b662a,

+    0x38c81a7c, 0x8d489c7d,

+  0x38c278d9, 0x8d45d316, 0x38bcd713, 0x8d4309f6, 0x38b7352a, 0x8d40411d,

+    0x38b1931e, 0x8d3d788b,

+  0x38abf0ef, 0x8d3ab03f, 0x38a64e9d, 0x8d37e83a, 0x38a0ac29, 0x8d35207d,

+    0x389b0991, 0x8d325905,

+  0x389566d6, 0x8d2f91d5, 0x388fc3f8, 0x8d2ccaec, 0x388a20f8, 0x8d2a0449,

+    0x38847dd5, 0x8d273ded,

+  0x387eda8e, 0x8d2477d8, 0x38793725, 0x8d21b20a, 0x38739399, 0x8d1eec83,

+    0x386defeb, 0x8d1c2742,

+  0x38684c19, 0x8d196249, 0x3862a825, 0x8d169d96, 0x385d040d, 0x8d13d92a,

+    0x38575fd4, 0x8d111505,

+  0x3851bb77, 0x8d0e5127, 0x384c16f7, 0x8d0b8d90, 0x38467255, 0x8d08ca40,

+    0x3840cd90, 0x8d060737,

+  0x383b28a9, 0x8d034474, 0x3835839f, 0x8d0081f9, 0x382fde72, 0x8cfdbfc4,

+    0x382a3922, 0x8cfafdd7,

+  0x382493b0, 0x8cf83c30, 0x381eee1b, 0x8cf57ad0, 0x38194864, 0x8cf2b9b8,

+    0x3813a28a, 0x8ceff8e6,

+  0x380dfc8d, 0x8ced385b, 0x3808566e, 0x8cea7818, 0x3802b02c, 0x8ce7b81b,

+    0x37fd09c8, 0x8ce4f865,

+  0x37f76341, 0x8ce238f6, 0x37f1bc97, 0x8cdf79ce, 0x37ec15cb, 0x8cdcbaee,

+    0x37e66edd, 0x8cd9fc54,

+  0x37e0c7cc, 0x8cd73e01, 0x37db2099, 0x8cd47ff6, 0x37d57943, 0x8cd1c231,

+    0x37cfd1cb, 0x8ccf04b3,

+  0x37ca2a30, 0x8ccc477d, 0x37c48273, 0x8cc98a8e, 0x37beda93, 0x8cc6cde5,

+    0x37b93292, 0x8cc41184,

+  0x37b38a6d, 0x8cc1556a, 0x37ade227, 0x8cbe9996, 0x37a839be, 0x8cbbde0a,

+    0x37a29132, 0x8cb922c6,

+  0x379ce885, 0x8cb667c8, 0x37973fb5, 0x8cb3ad11, 0x379196c3, 0x8cb0f2a1,

+    0x378bedae, 0x8cae3879,

+  0x37864477, 0x8cab7e98, 0x37809b1e, 0x8ca8c4fd, 0x377af1a3, 0x8ca60baa,

+    0x37754806, 0x8ca3529f,

+  0x376f9e46, 0x8ca099da, 0x3769f464, 0x8c9de15c, 0x37644a60, 0x8c9b2926,

+    0x375ea03a, 0x8c987137,

+  0x3758f5f2, 0x8c95b98f, 0x37534b87, 0x8c93022e, 0x374da0fa, 0x8c904b14,

+    0x3747f64c, 0x8c8d9442,

+  0x37424b7b, 0x8c8addb7, 0x373ca088, 0x8c882773, 0x3736f573, 0x8c857176,

+    0x37314a3c, 0x8c82bbc0,

+  0x372b9ee3, 0x8c800652, 0x3725f367, 0x8c7d512b, 0x372047ca, 0x8c7a9c4b,

+    0x371a9c0b, 0x8c77e7b3,

+  0x3714f02a, 0x8c753362, 0x370f4427, 0x8c727f58, 0x37099802, 0x8c6fcb95,

+    0x3703ebbb, 0x8c6d181a,

+  0x36fe3f52, 0x8c6a64e5, 0x36f892c7, 0x8c67b1f9, 0x36f2e61a, 0x8c64ff53,

+    0x36ed394b, 0x8c624cf5,

+  0x36e78c5b, 0x8c5f9ade, 0x36e1df48, 0x8c5ce90e, 0x36dc3214, 0x8c5a3786,

+    0x36d684be, 0x8c578645,

+  0x36d0d746, 0x8c54d54c, 0x36cb29ac, 0x8c522499, 0x36c57bf0, 0x8c4f742f,

+    0x36bfce13, 0x8c4cc40b,

+  0x36ba2014, 0x8c4a142f, 0x36b471f3, 0x8c47649a, 0x36aec3b0, 0x8c44b54d,

+    0x36a9154c, 0x8c420647,

+  0x36a366c6, 0x8c3f5788, 0x369db81e, 0x8c3ca911, 0x36980954, 0x8c39fae1,

+    0x36925a69, 0x8c374cf9,

+  0x368cab5c, 0x8c349f58, 0x3686fc2e, 0x8c31f1ff, 0x36814cde, 0x8c2f44ed,

+    0x367b9d6c, 0x8c2c9822,

+  0x3675edd9, 0x8c29eb9f, 0x36703e24, 0x8c273f63, 0x366a8e4d, 0x8c24936f,

+    0x3664de55, 0x8c21e7c2,

+  0x365f2e3b, 0x8c1f3c5d, 0x36597e00, 0x8c1c913f, 0x3653cda3, 0x8c19e669,

+    0x364e1d25, 0x8c173bda,

+  0x36486c86, 0x8c149192, 0x3642bbc4, 0x8c11e792, 0x363d0ae2, 0x8c0f3dda,

+    0x363759de, 0x8c0c9469,

+  0x3631a8b8, 0x8c09eb40, 0x362bf771, 0x8c07425e, 0x36264609, 0x8c0499c4,

+    0x3620947f, 0x8c01f171,

+  0x361ae2d3, 0x8bff4966, 0x36153107, 0x8bfca1a3, 0x360f7f19, 0x8bf9fa27,

+    0x3609cd0a, 0x8bf752f2,

+  0x36041ad9, 0x8bf4ac05, 0x35fe6887, 0x8bf20560, 0x35f8b614, 0x8bef5f02,

+    0x35f3037f, 0x8becb8ec,

+  0x35ed50c9, 0x8bea131e, 0x35e79df2, 0x8be76d97, 0x35e1eafa, 0x8be4c857,

+    0x35dc37e0, 0x8be22360,

+  0x35d684a6, 0x8bdf7eb0, 0x35d0d14a, 0x8bdcda47, 0x35cb1dcc, 0x8bda3626,

+    0x35c56a2e, 0x8bd7924d,

+  0x35bfb66e, 0x8bd4eebc, 0x35ba028e, 0x8bd24b72, 0x35b44e8c, 0x8bcfa870,

+    0x35ae9a69, 0x8bcd05b5,

+  0x35a8e625, 0x8bca6343, 0x35a331c0, 0x8bc7c117, 0x359d7d39, 0x8bc51f34,

+    0x3597c892, 0x8bc27d98,

+  0x359213c9, 0x8bbfdc44, 0x358c5ee0, 0x8bbd3b38, 0x3586a9d5, 0x8bba9a73,

+    0x3580f4aa, 0x8bb7f9f6,

+  0x357b3f5d, 0x8bb559c1, 0x357589f0, 0x8bb2b9d4, 0x356fd461, 0x8bb01a2e,

+    0x356a1eb2, 0x8bad7ad0,

+  0x356468e2, 0x8baadbba, 0x355eb2f0, 0x8ba83cec, 0x3558fcde, 0x8ba59e65,

+    0x355346ab, 0x8ba30026,

+  0x354d9057, 0x8ba0622f, 0x3547d9e2, 0x8b9dc480, 0x3542234c, 0x8b9b2718,

+    0x353c6c95, 0x8b9889f8,

+  0x3536b5be, 0x8b95ed21, 0x3530fec6, 0x8b935090, 0x352b47ad, 0x8b90b448,

+    0x35259073, 0x8b8e1848,

+  0x351fd918, 0x8b8b7c8f, 0x351a219c, 0x8b88e11e, 0x35146a00, 0x8b8645f5,

+    0x350eb243, 0x8b83ab14,

+  0x3508fa66, 0x8b81107b, 0x35034267, 0x8b7e7629, 0x34fd8a48, 0x8b7bdc20,

+    0x34f7d208, 0x8b79425e,

+  0x34f219a8, 0x8b76a8e4, 0x34ec6127, 0x8b740fb3, 0x34e6a885, 0x8b7176c8,

+    0x34e0efc2, 0x8b6ede26,

+  0x34db36df, 0x8b6c45cc, 0x34d57ddc, 0x8b69adba, 0x34cfc4b7, 0x8b6715ef,

+    0x34ca0b73, 0x8b647e6d,

+  0x34c4520d, 0x8b61e733, 0x34be9887, 0x8b5f5040, 0x34b8dee1, 0x8b5cb995,

+    0x34b3251a, 0x8b5a2333,

+  0x34ad6b32, 0x8b578d18, 0x34a7b12a, 0x8b54f745, 0x34a1f702, 0x8b5261ba,

+    0x349c3cb9, 0x8b4fcc77,

+  0x34968250, 0x8b4d377c, 0x3490c7c6, 0x8b4aa2ca, 0x348b0d1c, 0x8b480e5f,

+    0x34855251, 0x8b457a3c,

+  0x347f9766, 0x8b42e661, 0x3479dc5b, 0x8b4052ce, 0x3474212f, 0x8b3dbf83,

+    0x346e65e3, 0x8b3b2c80,

+  0x3468aa76, 0x8b3899c6, 0x3462eee9, 0x8b360753, 0x345d333c, 0x8b337528,

+    0x3457776f, 0x8b30e345,

+  0x3451bb81, 0x8b2e51ab, 0x344bff73, 0x8b2bc058, 0x34464345, 0x8b292f4e,

+    0x344086f6, 0x8b269e8b,

+  0x343aca87, 0x8b240e11, 0x34350df8, 0x8b217ddf, 0x342f5149, 0x8b1eedf4,

+    0x3429947a, 0x8b1c5e52,

+  0x3423d78a, 0x8b19cef8, 0x341e1a7b, 0x8b173fe6, 0x34185d4b, 0x8b14b11d,

+    0x34129ffb, 0x8b12229b,

+  0x340ce28b, 0x8b0f9462, 0x340724fb, 0x8b0d0670, 0x3401674a, 0x8b0a78c7,

+    0x33fba97a, 0x8b07eb66,

+  0x33f5eb89, 0x8b055e4d, 0x33f02d79, 0x8b02d17c, 0x33ea6f48, 0x8b0044f3,

+    0x33e4b0f8, 0x8afdb8b3,

+  0x33def287, 0x8afb2cbb, 0x33d933f7, 0x8af8a10b, 0x33d37546, 0x8af615a3,

+    0x33cdb676, 0x8af38a83,

+  0x33c7f785, 0x8af0ffac, 0x33c23875, 0x8aee751c, 0x33bc7944, 0x8aebead5,

+    0x33b6b9f4, 0x8ae960d6,

+  0x33b0fa84, 0x8ae6d720, 0x33ab3af4, 0x8ae44db1, 0x33a57b44, 0x8ae1c48b,

+    0x339fbb74, 0x8adf3bad,

+  0x3399fb85, 0x8adcb318, 0x33943b75, 0x8ada2aca, 0x338e7b46, 0x8ad7a2c5,

+    0x3388baf7, 0x8ad51b08,

+  0x3382fa88, 0x8ad29394, 0x337d39f9, 0x8ad00c67, 0x3377794b, 0x8acd8583,

+    0x3371b87d, 0x8acafee8,

+  0x336bf78f, 0x8ac87894, 0x33663682, 0x8ac5f289, 0x33607554, 0x8ac36cc6,

+    0x335ab407, 0x8ac0e74c,

+  0x3354f29b, 0x8abe6219, 0x334f310e, 0x8abbdd30, 0x33496f62, 0x8ab9588e,

+    0x3343ad97, 0x8ab6d435,

+  0x333debab, 0x8ab45024, 0x333829a1, 0x8ab1cc5c, 0x33326776, 0x8aaf48db,

+    0x332ca52c, 0x8aacc5a4,

+  0x3326e2c3, 0x8aaa42b4, 0x33212039, 0x8aa7c00d, 0x331b5d91, 0x8aa53daf,

+    0x33159ac8, 0x8aa2bb99,

+  0x330fd7e1, 0x8aa039cb, 0x330a14da, 0x8a9db845, 0x330451b3, 0x8a9b3708,

+    0x32fe8e6d, 0x8a98b614,

+  0x32f8cb07, 0x8a963567, 0x32f30782, 0x8a93b504, 0x32ed43de, 0x8a9134e8,

+    0x32e7801a, 0x8a8eb516,

+  0x32e1bc36, 0x8a8c358b, 0x32dbf834, 0x8a89b649, 0x32d63412, 0x8a873750,

+    0x32d06fd0, 0x8a84b89e,

+  0x32caab6f, 0x8a823a36, 0x32c4e6ef, 0x8a7fbc16, 0x32bf2250, 0x8a7d3e3e,

+    0x32b95d91, 0x8a7ac0af,

+  0x32b398b3, 0x8a784368, 0x32add3b6, 0x8a75c66a, 0x32a80e99, 0x8a7349b4,

+    0x32a2495d, 0x8a70cd47,

+  0x329c8402, 0x8a6e5123, 0x3296be88, 0x8a6bd547, 0x3290f8ef, 0x8a6959b3,

+    0x328b3336, 0x8a66de68,

+  0x32856d5e, 0x8a646365, 0x327fa767, 0x8a61e8ab, 0x3279e151, 0x8a5f6e3a,

+    0x32741b1c, 0x8a5cf411,

+  0x326e54c7, 0x8a5a7a31, 0x32688e54, 0x8a580099, 0x3262c7c1, 0x8a55874a,

+    0x325d0110, 0x8a530e43,

+  0x32573a3f, 0x8a509585, 0x3251734f, 0x8a4e1d10, 0x324bac40, 0x8a4ba4e3,

+    0x3245e512, 0x8a492cff,

+  0x32401dc6, 0x8a46b564, 0x323a565a, 0x8a443e11, 0x32348ecf, 0x8a41c706,

+    0x322ec725, 0x8a3f5045,

+  0x3228ff5c, 0x8a3cd9cc, 0x32233775, 0x8a3a639b, 0x321d6f6e, 0x8a37edb3,

+    0x3217a748, 0x8a357814,

+  0x3211df04, 0x8a3302be, 0x320c16a1, 0x8a308db0, 0x32064e1e, 0x8a2e18eb,

+    0x3200857d, 0x8a2ba46e,

+  0x31fabcbd, 0x8a29303b, 0x31f4f3df, 0x8a26bc50, 0x31ef2ae1, 0x8a2448ad,

+    0x31e961c5, 0x8a21d554,

+  0x31e39889, 0x8a1f6243, 0x31ddcf30, 0x8a1cef7a, 0x31d805b7, 0x8a1a7cfb,

+    0x31d23c1f, 0x8a180ac4,

+  0x31cc7269, 0x8a1598d6, 0x31c6a894, 0x8a132731, 0x31c0dea1, 0x8a10b5d4,

+    0x31bb148f, 0x8a0e44c0,

+  0x31b54a5e, 0x8a0bd3f5, 0x31af800e, 0x8a096373, 0x31a9b5a0, 0x8a06f339,

+    0x31a3eb13, 0x8a048348,

+  0x319e2067, 0x8a0213a0, 0x3198559d, 0x89ffa441, 0x31928ab4, 0x89fd352b,

+    0x318cbfad, 0x89fac65d,

+  0x3186f487, 0x89f857d8, 0x31812943, 0x89f5e99c, 0x317b5de0, 0x89f37ba9,

+    0x3175925e, 0x89f10dff,

+  0x316fc6be, 0x89eea09d, 0x3169fb00, 0x89ec3384, 0x31642f23, 0x89e9c6b4,

+    0x315e6328, 0x89e75a2d,

+  0x3158970e, 0x89e4edef, 0x3152cad5, 0x89e281fa, 0x314cfe7f, 0x89e0164d,

+    0x31473209, 0x89ddaae9,

+  0x31416576, 0x89db3fcf, 0x313b98c4, 0x89d8d4fd, 0x3135cbf4, 0x89d66a74,

+    0x312fff05, 0x89d40033,

+  0x312a31f8, 0x89d1963c, 0x312464cd, 0x89cf2c8e, 0x311e9783, 0x89ccc328,

+    0x3118ca1b, 0x89ca5a0c,

+  0x3112fc95, 0x89c7f138, 0x310d2ef0, 0x89c588ae, 0x3107612e, 0x89c3206c,

+    0x3101934d, 0x89c0b873,

+  0x30fbc54d, 0x89be50c3, 0x30f5f730, 0x89bbe95c, 0x30f028f4, 0x89b9823e,

+    0x30ea5a9a, 0x89b71b69,

+  0x30e48c22, 0x89b4b4dd, 0x30debd8c, 0x89b24e9a, 0x30d8eed8, 0x89afe8a0,

+    0x30d32006, 0x89ad82ef,

+  0x30cd5115, 0x89ab1d87, 0x30c78206, 0x89a8b868, 0x30c1b2da, 0x89a65391,

+    0x30bbe38f, 0x89a3ef04,

+  0x30b61426, 0x89a18ac0, 0x30b0449f, 0x899f26c5, 0x30aa74fa, 0x899cc313,

+    0x30a4a537, 0x899a5faa,

+  0x309ed556, 0x8997fc8a, 0x30990557, 0x899599b3, 0x3093353a, 0x89933725,

+    0x308d64ff, 0x8990d4e0,

+  0x308794a6, 0x898e72e4, 0x3081c42f, 0x898c1131, 0x307bf39b, 0x8989afc8,

+    0x307622e8, 0x89874ea7,

+  0x30705217, 0x8984edcf, 0x306a8129, 0x89828d41, 0x3064b01d, 0x89802cfc,

+    0x305edef3, 0x897dccff,

+  0x30590dab, 0x897b6d4c, 0x30533c45, 0x89790de2, 0x304d6ac1, 0x8976aec1,

+    0x30479920, 0x89744fe9,

+  0x3041c761, 0x8971f15a, 0x303bf584, 0x896f9315, 0x30362389, 0x896d3518,

+    0x30305171, 0x896ad765,

+  0x302a7f3a, 0x896879fb, 0x3024ace6, 0x89661cda, 0x301eda75, 0x8963c002,

+    0x301907e6, 0x89616373,

+  0x30133539, 0x895f072e, 0x300d626e, 0x895cab31, 0x30078f86, 0x895a4f7e,

+    0x3001bc80, 0x8957f414,

+  0x2ffbe95d, 0x895598f3, 0x2ff6161c, 0x89533e1c, 0x2ff042bd, 0x8950e38e,

+    0x2fea6f41, 0x894e8948,

+  0x2fe49ba7, 0x894c2f4c, 0x2fdec7f0, 0x8949d59a, 0x2fd8f41b, 0x89477c30,

+    0x2fd32028, 0x89452310,

+  0x2fcd4c19, 0x8942ca39, 0x2fc777eb, 0x894071ab, 0x2fc1a3a0, 0x893e1967,

+    0x2fbbcf38, 0x893bc16b,

+  0x2fb5fab2, 0x893969b9, 0x2fb0260f, 0x89371250, 0x2faa514f, 0x8934bb31,

+    0x2fa47c71, 0x8932645b,

+  0x2f9ea775, 0x89300dce, 0x2f98d25d, 0x892db78a, 0x2f92fd26, 0x892b6190,

+    0x2f8d27d3, 0x89290bdf,

+  0x2f875262, 0x8926b677, 0x2f817cd4, 0x89246159, 0x2f7ba729, 0x89220c84,

+    0x2f75d160, 0x891fb7f8,

+  0x2f6ffb7a, 0x891d63b5, 0x2f6a2577, 0x891b0fbc, 0x2f644f56, 0x8918bc0c,

+    0x2f5e7919, 0x891668a6,

+  0x2f58a2be, 0x89141589, 0x2f52cc46, 0x8911c2b5, 0x2f4cf5b0, 0x890f702b,

+    0x2f471efe, 0x890d1dea,

+  0x2f41482e, 0x890acbf2, 0x2f3b7141, 0x89087a44, 0x2f359a37, 0x890628df,

+    0x2f2fc310, 0x8903d7c4,

+  0x2f29ebcc, 0x890186f2, 0x2f24146b, 0x88ff3669, 0x2f1e3ced, 0x88fce62a,

+    0x2f186551, 0x88fa9634,

+  0x2f128d99, 0x88f84687, 0x2f0cb5c3, 0x88f5f724, 0x2f06ddd1, 0x88f3a80b,

+    0x2f0105c1, 0x88f1593b,

+  0x2efb2d95, 0x88ef0ab4, 0x2ef5554b, 0x88ecbc77, 0x2eef7ce5, 0x88ea6e83,

+    0x2ee9a461, 0x88e820d9,

+  0x2ee3cbc1, 0x88e5d378, 0x2eddf304, 0x88e38660, 0x2ed81a29, 0x88e13992,

+    0x2ed24132, 0x88deed0e,

+  0x2ecc681e, 0x88dca0d3, 0x2ec68eed, 0x88da54e1, 0x2ec0b5a0, 0x88d8093a,

+    0x2ebadc35, 0x88d5bddb,

+  0x2eb502ae, 0x88d372c6, 0x2eaf290a, 0x88d127fb, 0x2ea94f49, 0x88cedd79,

+    0x2ea3756b, 0x88cc9340,

+  0x2e9d9b70, 0x88ca4951, 0x2e97c159, 0x88c7ffac, 0x2e91e725, 0x88c5b650,

+    0x2e8c0cd4, 0x88c36d3e,

+  0x2e863267, 0x88c12475, 0x2e8057dd, 0x88bedbf6, 0x2e7a7d36, 0x88bc93c0,

+    0x2e74a272, 0x88ba4bd4,

+  0x2e6ec792, 0x88b80432, 0x2e68ec95, 0x88b5bcd9, 0x2e63117c, 0x88b375ca,

+    0x2e5d3646, 0x88b12f04,

+  0x2e575af3, 0x88aee888, 0x2e517f84, 0x88aca255, 0x2e4ba3f8, 0x88aa5c6c,

+    0x2e45c850, 0x88a816cd,

+  0x2e3fec8b, 0x88a5d177, 0x2e3a10aa, 0x88a38c6b, 0x2e3434ac, 0x88a147a9,

+    0x2e2e5891, 0x889f0330,

+  0x2e287c5a, 0x889cbf01, 0x2e22a007, 0x889a7b1b, 0x2e1cc397, 0x88983780,

+    0x2e16e70b, 0x8895f42d,

+  0x2e110a62, 0x8893b125, 0x2e0b2d9d, 0x88916e66, 0x2e0550bb, 0x888f2bf1,

+    0x2dff73bd, 0x888ce9c5,

+  0x2df996a3, 0x888aa7e3, 0x2df3b96c, 0x8888664b, 0x2deddc19, 0x888624fd,

+    0x2de7feaa, 0x8883e3f8,

+  0x2de2211e, 0x8881a33d, 0x2ddc4376, 0x887f62cb, 0x2dd665b2, 0x887d22a4,

+    0x2dd087d1, 0x887ae2c6,

+  0x2dcaa9d5, 0x8878a332, 0x2dc4cbbc, 0x887663e7, 0x2dbeed86, 0x887424e7,

+    0x2db90f35, 0x8871e630,

+  0x2db330c7, 0x886fa7c2, 0x2dad523d, 0x886d699f, 0x2da77397, 0x886b2bc5,

+    0x2da194d5, 0x8868ee35,

+  0x2d9bb5f6, 0x8866b0ef, 0x2d95d6fc, 0x886473f2, 0x2d8ff7e5, 0x88623740,

+    0x2d8a18b3, 0x885ffad7,

+  0x2d843964, 0x885dbeb8, 0x2d7e59f9, 0x885b82e3, 0x2d787a72, 0x88594757,

+    0x2d729acf, 0x88570c16,

+  0x2d6cbb10, 0x8854d11e, 0x2d66db35, 0x88529670, 0x2d60fb3e, 0x88505c0b,

+    0x2d5b1b2b, 0x884e21f1,

+  0x2d553afc, 0x884be821, 0x2d4f5ab1, 0x8849ae9a, 0x2d497a4a, 0x8847755d,

+    0x2d4399c7, 0x88453c6a,

+  0x2d3db928, 0x884303c1, 0x2d37d86d, 0x8840cb61, 0x2d31f797, 0x883e934c,

+    0x2d2c16a4, 0x883c5b81,

+  0x2d263596, 0x883a23ff, 0x2d20546b, 0x8837ecc7, 0x2d1a7325, 0x8835b5d9,

+    0x2d1491c4, 0x88337f35,

+  0x2d0eb046, 0x883148db, 0x2d08ceac, 0x882f12cb, 0x2d02ecf7, 0x882cdd04,

+    0x2cfd0b26, 0x882aa788,

+  0x2cf72939, 0x88287256, 0x2cf14731, 0x88263d6d, 0x2ceb650d, 0x882408ce,

+    0x2ce582cd, 0x8821d47a,

+  0x2cdfa071, 0x881fa06f, 0x2cd9bdfa, 0x881d6cae, 0x2cd3db67, 0x881b3937,

+    0x2ccdf8b8, 0x8819060a,

+  0x2cc815ee, 0x8816d327, 0x2cc23308, 0x8814a08f, 0x2cbc5006, 0x88126e40,

+    0x2cb66ce9, 0x88103c3b,

+  0x2cb089b1, 0x880e0a7f, 0x2caaa65c, 0x880bd90e, 0x2ca4c2ed, 0x8809a7e7,

+    0x2c9edf61, 0x8807770a,

+  0x2c98fbba, 0x88054677, 0x2c9317f8, 0x8803162e, 0x2c8d341a, 0x8800e62f,

+    0x2c875021, 0x87feb67a,

+  0x2c816c0c, 0x87fc870f, 0x2c7b87dc, 0x87fa57ee, 0x2c75a390, 0x87f82917,

+    0x2c6fbf29, 0x87f5fa8b,

+  0x2c69daa6, 0x87f3cc48, 0x2c63f609, 0x87f19e4f, 0x2c5e114f, 0x87ef70a0,

+    0x2c582c7b, 0x87ed433c,

+  0x2c52478a, 0x87eb1621, 0x2c4c627f, 0x87e8e950, 0x2c467d58, 0x87e6bcca,

+    0x2c409816, 0x87e4908e,

+  0x2c3ab2b9, 0x87e2649b, 0x2c34cd40, 0x87e038f3, 0x2c2ee7ad, 0x87de0d95,

+    0x2c2901fd, 0x87dbe281,

+  0x2c231c33, 0x87d9b7b7, 0x2c1d364e, 0x87d78d38, 0x2c17504d, 0x87d56302,

+    0x2c116a31, 0x87d33916,

+  0x2c0b83fa, 0x87d10f75, 0x2c059da7, 0x87cee61e, 0x2bffb73a, 0x87ccbd11,

+    0x2bf9d0b1, 0x87ca944e,

+  0x2bf3ea0d, 0x87c86bd5, 0x2bee034e, 0x87c643a6, 0x2be81c74, 0x87c41bc2,

+    0x2be2357f, 0x87c1f427,

+  0x2bdc4e6f, 0x87bfccd7, 0x2bd66744, 0x87bda5d1, 0x2bd07ffe, 0x87bb7f16,

+    0x2bca989d, 0x87b958a4,

+  0x2bc4b120, 0x87b7327d, 0x2bbec989, 0x87b50c9f, 0x2bb8e1d7, 0x87b2e70c,

+    0x2bb2fa0a, 0x87b0c1c4,

+  0x2bad1221, 0x87ae9cc5, 0x2ba72a1e, 0x87ac7811, 0x2ba14200, 0x87aa53a6,

+    0x2b9b59c7, 0x87a82f87,

+  0x2b957173, 0x87a60bb1, 0x2b8f8905, 0x87a3e825, 0x2b89a07b, 0x87a1c4e4,

+    0x2b83b7d7, 0x879fa1ed,

+  0x2b7dcf17, 0x879d7f41, 0x2b77e63d, 0x879b5cde, 0x2b71fd48, 0x87993ac6,

+    0x2b6c1438, 0x879718f8,

+  0x2b662b0e, 0x8794f774, 0x2b6041c9, 0x8792d63b, 0x2b5a5868, 0x8790b54c,

+    0x2b546eee, 0x878e94a7,

+  0x2b4e8558, 0x878c744d, 0x2b489ba8, 0x878a543d, 0x2b42b1dd, 0x87883477,

+    0x2b3cc7f7, 0x878614fb,

+  0x2b36ddf7, 0x8783f5ca, 0x2b30f3dc, 0x8781d6e3, 0x2b2b09a6, 0x877fb846,

+    0x2b251f56, 0x877d99f4,

+  0x2b1f34eb, 0x877b7bec, 0x2b194a66, 0x87795e2f, 0x2b135fc6, 0x877740bb,

+    0x2b0d750b, 0x87752392,

+  0x2b078a36, 0x877306b4, 0x2b019f46, 0x8770ea20, 0x2afbb43c, 0x876ecdd6,

+    0x2af5c917, 0x876cb1d6,

+  0x2aefddd8, 0x876a9621, 0x2ae9f27e, 0x87687ab7, 0x2ae4070a, 0x87665f96,

+    0x2ade1b7c, 0x876444c1,

+  0x2ad82fd2, 0x87622a35, 0x2ad2440f, 0x87600ff4, 0x2acc5831, 0x875df5fd,

+    0x2ac66c39, 0x875bdc51,

+  0x2ac08026, 0x8759c2ef, 0x2aba93f9, 0x8757a9d8, 0x2ab4a7b1, 0x8755910b,

+    0x2aaebb50, 0x87537888,

+  0x2aa8ced3, 0x87516050, 0x2aa2e23d, 0x874f4862, 0x2a9cf58c, 0x874d30bf,

+    0x2a9708c1, 0x874b1966,

+  0x2a911bdc, 0x87490258, 0x2a8b2edc, 0x8746eb94, 0x2a8541c3, 0x8744d51b,

+    0x2a7f548e, 0x8742beec,

+  0x2a796740, 0x8740a907, 0x2a7379d8, 0x873e936d, 0x2a6d8c55, 0x873c7e1e,

+    0x2a679eb8, 0x873a6919,

+  0x2a61b101, 0x8738545e, 0x2a5bc330, 0x87363fee, 0x2a55d545, 0x87342bc9,

+    0x2a4fe740, 0x873217ee,

+  0x2a49f920, 0x8730045d, 0x2a440ae7, 0x872df117, 0x2a3e1c93, 0x872bde1c,

+    0x2a382e25, 0x8729cb6b,

+  0x2a323f9e, 0x8727b905, 0x2a2c50fc, 0x8725a6e9, 0x2a266240, 0x87239518,

+    0x2a20736a, 0x87218391,

+  0x2a1a847b, 0x871f7255, 0x2a149571, 0x871d6163, 0x2a0ea64d, 0x871b50bc,

+    0x2a08b710, 0x87194060,

+  0x2a02c7b8, 0x8717304e, 0x29fcd847, 0x87152087, 0x29f6e8bb, 0x8713110a,

+    0x29f0f916, 0x871101d8,

+  0x29eb0957, 0x870ef2f1, 0x29e5197e, 0x870ce454, 0x29df298b, 0x870ad602,

+    0x29d9397f, 0x8708c7fa,

+  0x29d34958, 0x8706ba3d, 0x29cd5918, 0x8704acca, 0x29c768be, 0x87029fa3,

+    0x29c1784a, 0x870092c5,

+  0x29bb87bc, 0x86fe8633, 0x29b59715, 0x86fc79eb, 0x29afa654, 0x86fa6dee,

+    0x29a9b579, 0x86f8623b,

+  0x29a3c485, 0x86f656d3, 0x299dd377, 0x86f44bb6, 0x2997e24f, 0x86f240e3,

+    0x2991f10e, 0x86f0365c,

+  0x298bffb2, 0x86ee2c1e, 0x29860e3e, 0x86ec222c, 0x29801caf, 0x86ea1884,

+    0x297a2b07, 0x86e80f27,

+  0x29743946, 0x86e60614, 0x296e476b, 0x86e3fd4c, 0x29685576, 0x86e1f4cf,

+    0x29626368, 0x86dfec9d,

+  0x295c7140, 0x86dde4b5, 0x29567eff, 0x86dbdd18, 0x29508ca4, 0x86d9d5c6,

+    0x294a9a30, 0x86d7cebf,

+  0x2944a7a2, 0x86d5c802, 0x293eb4fb, 0x86d3c190, 0x2938c23a, 0x86d1bb69,

+    0x2932cf60, 0x86cfb58c,

+  0x292cdc6d, 0x86cdaffa, 0x2926e960, 0x86cbaab3, 0x2920f63a, 0x86c9a5b7,

+    0x291b02fa, 0x86c7a106,

+  0x29150fa1, 0x86c59c9f, 0x290f1c2f, 0x86c39883, 0x290928a3, 0x86c194b2,

+    0x290334ff, 0x86bf912c,

+  0x28fd4140, 0x86bd8df0, 0x28f74d69, 0x86bb8b00, 0x28f15978, 0x86b9885a,

+    0x28eb656e, 0x86b785ff,

+  0x28e5714b, 0x86b583ee, 0x28df7d0e, 0x86b38229, 0x28d988b8, 0x86b180ae,

+    0x28d3944a, 0x86af7f7e,

+  0x28cd9fc1, 0x86ad7e99, 0x28c7ab20, 0x86ab7dff, 0x28c1b666, 0x86a97db0,

+    0x28bbc192, 0x86a77dab,

+  0x28b5cca5, 0x86a57df2, 0x28afd7a0, 0x86a37e83, 0x28a9e281, 0x86a17f5f,

+    0x28a3ed49, 0x869f8086,

+  0x289df7f8, 0x869d81f8, 0x2898028e, 0x869b83b4, 0x28920d0a, 0x869985bc,

+    0x288c176e, 0x8697880f,

+  0x288621b9, 0x86958aac, 0x28802beb, 0x86938d94, 0x287a3604, 0x869190c7,

+    0x28744004, 0x868f9445,

+  0x286e49ea, 0x868d980e, 0x286853b8, 0x868b9c22, 0x28625d6d, 0x8689a081,

+    0x285c670a, 0x8687a52b,

+  0x2856708d, 0x8685aa20, 0x285079f7, 0x8683af5f, 0x284a8349, 0x8681b4ea,

+    0x28448c81, 0x867fbabf,

+  0x283e95a1, 0x867dc0e0, 0x28389ea8, 0x867bc74b, 0x2832a796, 0x8679ce01,

+    0x282cb06c, 0x8677d503,

+  0x2826b928, 0x8675dc4f, 0x2820c1cc, 0x8673e3e6, 0x281aca57, 0x8671ebc8,

+    0x2814d2c9, 0x866ff3f6,

+  0x280edb23, 0x866dfc6e, 0x2808e364, 0x866c0531, 0x2802eb8c, 0x866a0e3f,

+    0x27fcf39c, 0x86681798,

+  0x27f6fb92, 0x8666213c, 0x27f10371, 0x86642b2c, 0x27eb0b36, 0x86623566,

+    0x27e512e3, 0x86603feb,

+  0x27df1a77, 0x865e4abb, 0x27d921f3, 0x865c55d7, 0x27d32956, 0x865a613d,

+    0x27cd30a1, 0x86586cee,

+  0x27c737d3, 0x865678eb, 0x27c13eec, 0x86548532, 0x27bb45ed, 0x865291c4,

+    0x27b54cd6, 0x86509ea2,

+  0x27af53a6, 0x864eabcb, 0x27a95a5d, 0x864cb93e, 0x27a360fc, 0x864ac6fd,

+    0x279d6783, 0x8648d507,

+  0x27976df1, 0x8646e35c, 0x27917447, 0x8644f1fc, 0x278b7a84, 0x864300e7,

+    0x278580a9, 0x8641101d,

+  0x277f86b5, 0x863f1f9e, 0x27798caa, 0x863d2f6b, 0x27739285, 0x863b3f82,

+    0x276d9849, 0x86394fe5,

+  0x27679df4, 0x86376092, 0x2761a387, 0x8635718b, 0x275ba901, 0x863382cf,

+    0x2755ae64, 0x8631945e,

+  0x274fb3ae, 0x862fa638, 0x2749b8e0, 0x862db85e, 0x2743bdf9, 0x862bcace,

+    0x273dc2fa, 0x8629dd8a,

+  0x2737c7e3, 0x8627f091, 0x2731ccb4, 0x862603e3, 0x272bd16d, 0x86241780,

+    0x2725d60e, 0x86222b68,

+  0x271fda96, 0x86203f9c, 0x2719df06, 0x861e541a, 0x2713e35f, 0x861c68e4,

+    0x270de79f, 0x861a7df9,

+  0x2707ebc7, 0x86189359, 0x2701efd7, 0x8616a905, 0x26fbf3ce, 0x8614befb,

+    0x26f5f7ae, 0x8612d53d,

+  0x26effb76, 0x8610ebca, 0x26e9ff26, 0x860f02a3, 0x26e402bd, 0x860d19c6,

+    0x26de063d, 0x860b3135,

+  0x26d809a5, 0x860948ef, 0x26d20cf5, 0x860760f4, 0x26cc102d, 0x86057944,

+    0x26c6134d, 0x860391e0,

+  0x26c01655, 0x8601aac7, 0x26ba1945, 0x85ffc3f9, 0x26b41c1d, 0x85fddd76,

+    0x26ae1edd, 0x85fbf73f,

+  0x26a82186, 0x85fa1153, 0x26a22416, 0x85f82bb2, 0x269c268f, 0x85f6465c,

+    0x269628f0, 0x85f46152,

+  0x26902b39, 0x85f27c93, 0x268a2d6b, 0x85f09820, 0x26842f84, 0x85eeb3f7,

+    0x267e3186, 0x85ecd01a,

+  0x26783370, 0x85eaec88, 0x26723543, 0x85e90942, 0x266c36fe, 0x85e72647,

+    0x266638a1, 0x85e54397,

+  0x26603a2c, 0x85e36132, 0x265a3b9f, 0x85e17f19, 0x26543cfb, 0x85df9d4b,

+    0x264e3e40, 0x85ddbbc9,

+  0x26483f6c, 0x85dbda91, 0x26424082, 0x85d9f9a5, 0x263c417f, 0x85d81905,

+    0x26364265, 0x85d638b0,

+  0x26304333, 0x85d458a6, 0x262a43ea, 0x85d278e7, 0x26244489, 0x85d09974,

+    0x261e4511, 0x85ceba4d,

+  0x26184581, 0x85ccdb70, 0x261245da, 0x85cafcdf, 0x260c461b, 0x85c91e9a,

+    0x26064645, 0x85c740a0,

+  0x26004657, 0x85c562f1, 0x25fa4652, 0x85c3858d, 0x25f44635, 0x85c1a875,

+    0x25ee4601, 0x85bfcba9,

+  0x25e845b6, 0x85bdef28, 0x25e24553, 0x85bc12f2, 0x25dc44d9, 0x85ba3707,

+    0x25d64447, 0x85b85b68,

+  0x25d0439f, 0x85b68015, 0x25ca42de, 0x85b4a50d, 0x25c44207, 0x85b2ca50,

+    0x25be4118, 0x85b0efdf,

+  0x25b84012, 0x85af15b9, 0x25b23ef5, 0x85ad3bdf, 0x25ac3dc0, 0x85ab6250,

+    0x25a63c74, 0x85a9890d,

+  0x25a03b11, 0x85a7b015, 0x259a3997, 0x85a5d768, 0x25943806, 0x85a3ff07,

+    0x258e365d, 0x85a226f2,

+  0x2588349d, 0x85a04f28, 0x258232c6, 0x859e77a9, 0x257c30d8, 0x859ca076,

+    0x25762ed3, 0x859ac98f,

+  0x25702cb7, 0x8598f2f3, 0x256a2a83, 0x85971ca2, 0x25642839, 0x8595469d,

+    0x255e25d7, 0x859370e4,

+  0x2558235f, 0x85919b76, 0x255220cf, 0x858fc653, 0x254c1e28, 0x858df17c,

+    0x25461b6b, 0x858c1cf1,

+  0x25401896, 0x858a48b1, 0x253a15aa, 0x858874bd, 0x253412a8, 0x8586a114,

+    0x252e0f8e, 0x8584cdb7,

+  0x25280c5e, 0x8582faa5, 0x25220916, 0x858127df, 0x251c05b8, 0x857f5564,

+    0x25160243, 0x857d8335,

+  0x250ffeb7, 0x857bb152, 0x2509fb14, 0x8579dfba, 0x2503f75a, 0x85780e6e,

+    0x24fdf389, 0x85763d6d,

+  0x24f7efa2, 0x85746cb8, 0x24f1eba4, 0x85729c4e, 0x24ebe78f, 0x8570cc30,

+    0x24e5e363, 0x856efc5e,

+  0x24dfdf20, 0x856d2cd7, 0x24d9dac7, 0x856b5d9c, 0x24d3d657, 0x85698ead,

+    0x24cdd1d0, 0x8567c009,

+  0x24c7cd33, 0x8565f1b0, 0x24c1c87f, 0x856423a4, 0x24bbc3b4, 0x856255e3,

+    0x24b5bed2, 0x8560886d,

+  0x24afb9da, 0x855ebb44, 0x24a9b4cb, 0x855cee66, 0x24a3afa6, 0x855b21d3,

+    0x249daa6a, 0x8559558c,

+  0x2497a517, 0x85578991, 0x24919fae, 0x8555bde2, 0x248b9a2f, 0x8553f27e,

+    0x24859498, 0x85522766,

+  0x247f8eec, 0x85505c99, 0x24798928, 0x854e9219, 0x2473834f, 0x854cc7e3,

+    0x246d7d5e, 0x854afdfa,

+  0x24677758, 0x8549345c, 0x2461713a, 0x85476b0a, 0x245b6b07, 0x8545a204,

+    0x245564bd, 0x8543d949,

+  0x244f5e5c, 0x854210db, 0x244957e5, 0x854048b7, 0x24435158, 0x853e80e0,

+    0x243d4ab4, 0x853cb954,

+  0x243743fa, 0x853af214, 0x24313d2a, 0x85392b20, 0x242b3644, 0x85376477,

+    0x24252f47, 0x85359e1a,

+  0x241f2833, 0x8533d809, 0x2419210a, 0x85321244, 0x241319ca, 0x85304cca,

+    0x240d1274, 0x852e879d,

+  0x24070b08, 0x852cc2bb, 0x24010385, 0x852afe24, 0x23fafbec, 0x852939da,

+    0x23f4f43e, 0x852775db,

+  0x23eeec78, 0x8525b228, 0x23e8e49d, 0x8523eec1, 0x23e2dcac, 0x85222ba5,

+    0x23dcd4a4, 0x852068d6,

+  0x23d6cc87, 0x851ea652, 0x23d0c453, 0x851ce41a, 0x23cabc09, 0x851b222e,

+    0x23c4b3a9, 0x8519608d,

+  0x23beab33, 0x85179f39, 0x23b8a2a7, 0x8515de30, 0x23b29a05, 0x85141d73,

+    0x23ac914d, 0x85125d02,

+  0x23a6887f, 0x85109cdd, 0x23a07f9a, 0x850edd03, 0x239a76a0, 0x850d1d75,

+    0x23946d90, 0x850b5e34,

+  0x238e646a, 0x85099f3e, 0x23885b2e, 0x8507e094, 0x238251dd, 0x85062235,

+    0x237c4875, 0x85046423,

+  0x23763ef7, 0x8502a65c, 0x23703564, 0x8500e8e2, 0x236a2bba, 0x84ff2bb3,

+    0x236421fb, 0x84fd6ed0,

+  0x235e1826, 0x84fbb239, 0x23580e3b, 0x84f9f5ee, 0x2352043b, 0x84f839ee,

+    0x234bfa24, 0x84f67e3b,

+  0x2345eff8, 0x84f4c2d4, 0x233fe5b6, 0x84f307b8, 0x2339db5e, 0x84f14ce8,

+    0x2333d0f1, 0x84ef9265,

+  0x232dc66d, 0x84edd82d, 0x2327bbd5, 0x84ec1e41, 0x2321b126, 0x84ea64a1,

+    0x231ba662, 0x84e8ab4d,

+  0x23159b88, 0x84e6f244, 0x230f9098, 0x84e53988, 0x23098593, 0x84e38118,

+    0x23037a78, 0x84e1c8f3,

+  0x22fd6f48, 0x84e0111b, 0x22f76402, 0x84de598f, 0x22f158a7, 0x84dca24e,

+    0x22eb4d36, 0x84daeb5a,

+  0x22e541af, 0x84d934b1, 0x22df3613, 0x84d77e54, 0x22d92a61, 0x84d5c844,

+    0x22d31e9a, 0x84d4127f,

+  0x22cd12bd, 0x84d25d06, 0x22c706cb, 0x84d0a7da, 0x22c0fac4, 0x84cef2f9,

+    0x22baeea7, 0x84cd3e64,

+  0x22b4e274, 0x84cb8a1b, 0x22aed62c, 0x84c9d61f, 0x22a8c9cf, 0x84c8226e,

+    0x22a2bd5d, 0x84c66f09,

+  0x229cb0d5, 0x84c4bbf0, 0x2296a437, 0x84c30924, 0x22909785, 0x84c156a3,

+    0x228a8abd, 0x84bfa46e,

+  0x22847de0, 0x84bdf286, 0x227e70ed, 0x84bc40e9, 0x227863e5, 0x84ba8f98,

+    0x227256c8, 0x84b8de94,

+  0x226c4996, 0x84b72ddb, 0x22663c4e, 0x84b57d6f, 0x22602ef1, 0x84b3cd4f,

+    0x225a217f, 0x84b21d7a,

+  0x225413f8, 0x84b06df2, 0x224e065c, 0x84aebeb6, 0x2247f8aa, 0x84ad0fc6,

+    0x2241eae3, 0x84ab6122,

+  0x223bdd08, 0x84a9b2ca, 0x2235cf17, 0x84a804be, 0x222fc111, 0x84a656fe,

+    0x2229b2f6, 0x84a4a98a,

+  0x2223a4c5, 0x84a2fc62, 0x221d9680, 0x84a14f87, 0x22178826, 0x849fa2f7,

+    0x221179b7, 0x849df6b4,

+  0x220b6b32, 0x849c4abd, 0x22055c99, 0x849a9f12, 0x21ff4dea, 0x8498f3b3,

+    0x21f93f27, 0x849748a0,

+  0x21f3304f, 0x84959dd9, 0x21ed2162, 0x8493f35e, 0x21e71260, 0x84924930,

+    0x21e10349, 0x84909f4e,

+  0x21daf41d, 0x848ef5b7, 0x21d4e4dc, 0x848d4c6d, 0x21ced586, 0x848ba36f,

+    0x21c8c61c, 0x8489fabe,

+  0x21c2b69c, 0x84885258, 0x21bca708, 0x8486aa3e, 0x21b6975f, 0x84850271,

+    0x21b087a1, 0x84835af0,

+  0x21aa77cf, 0x8481b3bb, 0x21a467e7, 0x84800cd2, 0x219e57eb, 0x847e6636,

+    0x219847da, 0x847cbfe5,

+  0x219237b5, 0x847b19e1, 0x218c277a, 0x84797429, 0x2186172b, 0x8477cebd,

+    0x218006c8, 0x8476299e,

+  0x2179f64f, 0x847484ca, 0x2173e5c2, 0x8472e043, 0x216dd521, 0x84713c08,

+    0x2167c46b, 0x846f9819,

+  0x2161b3a0, 0x846df477, 0x215ba2c0, 0x846c5120, 0x215591cc, 0x846aae16,

+    0x214f80c4, 0x84690b58,

+  0x21496fa7, 0x846768e7, 0x21435e75, 0x8465c6c1, 0x213d4d2f, 0x846424e8,

+    0x21373bd4, 0x8462835b,

+  0x21312a65, 0x8460e21a, 0x212b18e1, 0x845f4126, 0x21250749, 0x845da07e,

+    0x211ef59d, 0x845c0022,

+  0x2118e3dc, 0x845a6012, 0x2112d206, 0x8458c04f, 0x210cc01d, 0x845720d8,

+    0x2106ae1e, 0x845581ad,

+  0x21009c0c, 0x8453e2cf, 0x20fa89e5, 0x8452443d, 0x20f477aa, 0x8450a5f7,

+    0x20ee655a, 0x844f07fd,

+  0x20e852f6, 0x844d6a50, 0x20e2407e, 0x844bccef, 0x20dc2df2, 0x844a2fda,

+    0x20d61b51, 0x84489311,

+  0x20d0089c, 0x8446f695, 0x20c9f5d3, 0x84455a66, 0x20c3e2f5, 0x8443be82,

+    0x20bdd003, 0x844222eb,

+  0x20b7bcfe, 0x844087a0, 0x20b1a9e4, 0x843eeca2, 0x20ab96b5, 0x843d51f0,

+    0x20a58373, 0x843bb78a,

+  0x209f701c, 0x843a1d70, 0x20995cb2, 0x843883a3, 0x20934933, 0x8436ea23,

+    0x208d35a0, 0x843550ee,

+  0x208721f9, 0x8433b806, 0x20810e3e, 0x84321f6b, 0x207afa6f, 0x8430871b,

+    0x2074e68c, 0x842eef18,

+  0x206ed295, 0x842d5762, 0x2068be8a, 0x842bbff8, 0x2062aa6b, 0x842a28da,

+    0x205c9638, 0x84289209,

+  0x205681f1, 0x8426fb84, 0x20506d96, 0x8425654b, 0x204a5927, 0x8423cf5f,

+    0x204444a4, 0x842239bf,

+  0x203e300d, 0x8420a46c, 0x20381b63, 0x841f0f65, 0x203206a4, 0x841d7aaa,

+    0x202bf1d2, 0x841be63c,

+  0x2025dcec, 0x841a521a, 0x201fc7f2, 0x8418be45, 0x2019b2e4, 0x84172abc,

+    0x20139dc2, 0x84159780,

+  0x200d888d, 0x84140490, 0x20077344, 0x841271ec, 0x20015de7, 0x8410df95,

+    0x1ffb4876, 0x840f4d8a,

+  0x1ff532f2, 0x840dbbcc, 0x1fef1d59, 0x840c2a5a, 0x1fe907ae, 0x840a9935,

+    0x1fe2f1ee, 0x8409085c,

+  0x1fdcdc1b, 0x840777d0, 0x1fd6c634, 0x8405e790, 0x1fd0b03a, 0x8404579d,

+    0x1fca9a2b, 0x8402c7f6,

+  0x1fc4840a, 0x8401389b, 0x1fbe6dd4, 0x83ffa98d, 0x1fb8578b, 0x83fe1acc,

+    0x1fb2412f, 0x83fc8c57,

+  0x1fac2abf, 0x83fafe2e, 0x1fa6143b, 0x83f97052, 0x1f9ffda4, 0x83f7e2c3,

+    0x1f99e6fa, 0x83f65580,

+  0x1f93d03c, 0x83f4c889, 0x1f8db96a, 0x83f33bdf, 0x1f87a285, 0x83f1af82,

+    0x1f818b8d, 0x83f02371,

+  0x1f7b7481, 0x83ee97ad, 0x1f755d61, 0x83ed0c35, 0x1f6f462f, 0x83eb810a,

+    0x1f692ee9, 0x83e9f62b,

+  0x1f63178f, 0x83e86b99, 0x1f5d0022, 0x83e6e153, 0x1f56e8a2, 0x83e5575a,

+    0x1f50d10e, 0x83e3cdad,

+  0x1f4ab968, 0x83e2444d, 0x1f44a1ad, 0x83e0bb3a, 0x1f3e89e0, 0x83df3273,

+    0x1f3871ff, 0x83dda9f9,

+  0x1f325a0b, 0x83dc21cb, 0x1f2c4204, 0x83da99ea, 0x1f2629ea, 0x83d91255,

+    0x1f2011bc, 0x83d78b0d,

+  0x1f19f97b, 0x83d60412, 0x1f13e127, 0x83d47d63, 0x1f0dc8c0, 0x83d2f701,

+    0x1f07b045, 0x83d170eb,

+  0x1f0197b8, 0x83cfeb22, 0x1efb7f17, 0x83ce65a6, 0x1ef56664, 0x83cce076,

+    0x1eef4d9d, 0x83cb5b93,

+  0x1ee934c3, 0x83c9d6fc, 0x1ee31bd6, 0x83c852b2, 0x1edd02d6, 0x83c6ceb5,

+    0x1ed6e9c3, 0x83c54b04,

+  0x1ed0d09d, 0x83c3c7a0, 0x1ecab763, 0x83c24488, 0x1ec49e17, 0x83c0c1be,

+    0x1ebe84b8, 0x83bf3f3f,

+  0x1eb86b46, 0x83bdbd0e, 0x1eb251c1, 0x83bc3b29, 0x1eac3829, 0x83bab991,

+    0x1ea61e7e, 0x83b93845,

+  0x1ea004c1, 0x83b7b746, 0x1e99eaf0, 0x83b63694, 0x1e93d10c, 0x83b4b62e,

+    0x1e8db716, 0x83b33616,

+  0x1e879d0d, 0x83b1b649, 0x1e8182f1, 0x83b036ca, 0x1e7b68c2, 0x83aeb797,

+    0x1e754e80, 0x83ad38b1,

+  0x1e6f342c, 0x83abba17, 0x1e6919c4, 0x83aa3bca, 0x1e62ff4a, 0x83a8bdca,

+    0x1e5ce4be, 0x83a74017,

+  0x1e56ca1e, 0x83a5c2b0, 0x1e50af6c, 0x83a44596, 0x1e4a94a7, 0x83a2c8c9,

+    0x1e4479cf, 0x83a14c48,

+  0x1e3e5ee5, 0x839fd014, 0x1e3843e8, 0x839e542d, 0x1e3228d9, 0x839cd893,

+    0x1e2c0db6, 0x839b5d45,

+  0x1e25f282, 0x8399e244, 0x1e1fd73a, 0x83986790, 0x1e19bbe0, 0x8396ed29,

+    0x1e13a074, 0x8395730e,

+  0x1e0d84f5, 0x8393f940, 0x1e076963, 0x83927fbf, 0x1e014dbf, 0x8391068a,

+    0x1dfb3208, 0x838f8da2,

+  0x1df5163f, 0x838e1507, 0x1deefa63, 0x838c9cb9, 0x1de8de75, 0x838b24b8,

+    0x1de2c275, 0x8389ad03,

+  0x1ddca662, 0x8388359b, 0x1dd68a3c, 0x8386be80, 0x1dd06e04, 0x838547b2,

+    0x1dca51ba, 0x8383d130,

+  0x1dc4355e, 0x83825afb, 0x1dbe18ef, 0x8380e513, 0x1db7fc6d, 0x837f6f78,

+    0x1db1dfda, 0x837dfa2a,

+  0x1dabc334, 0x837c8528, 0x1da5a67c, 0x837b1074, 0x1d9f89b1, 0x83799c0c,

+    0x1d996cd4, 0x837827f0,

+  0x1d934fe5, 0x8376b422, 0x1d8d32e4, 0x837540a1, 0x1d8715d0, 0x8373cd6c,

+    0x1d80f8ab, 0x83725a84,

+  0x1d7adb73, 0x8370e7e9, 0x1d74be29, 0x836f759b, 0x1d6ea0cc, 0x836e039a,

+    0x1d68835e, 0x836c91e5,

+  0x1d6265dd, 0x836b207d, 0x1d5c484b, 0x8369af63, 0x1d562aa6, 0x83683e95,

+    0x1d500cef, 0x8366ce14,

+  0x1d49ef26, 0x83655ddf, 0x1d43d14b, 0x8363edf8, 0x1d3db35e, 0x83627e5d,

+    0x1d37955e, 0x83610f10,

+  0x1d31774d, 0x835fa00f, 0x1d2b592a, 0x835e315b, 0x1d253af5, 0x835cc2f4,

+    0x1d1f1cae, 0x835b54da,

+  0x1d18fe54, 0x8359e70d, 0x1d12dfe9, 0x8358798c, 0x1d0cc16c, 0x83570c59,

+    0x1d06a2dd, 0x83559f72,

+  0x1d00843d, 0x835432d8, 0x1cfa658a, 0x8352c68c, 0x1cf446c5, 0x83515a8c,

+    0x1cee27ef, 0x834feed9,

+  0x1ce80906, 0x834e8373, 0x1ce1ea0c, 0x834d185a, 0x1cdbcb00, 0x834bad8e,

+    0x1cd5abe3, 0x834a430e,

+  0x1ccf8cb3, 0x8348d8dc, 0x1cc96d72, 0x83476ef6, 0x1cc34e1f, 0x8346055e,

+    0x1cbd2eba, 0x83449c12,

+  0x1cb70f43, 0x83433314, 0x1cb0efbb, 0x8341ca62, 0x1caad021, 0x834061fd,

+    0x1ca4b075, 0x833ef9e6,

+  0x1c9e90b8, 0x833d921b, 0x1c9870e9, 0x833c2a9d, 0x1c925109, 0x833ac36c,

+    0x1c8c3116, 0x83395c88,

+  0x1c861113, 0x8337f5f1, 0x1c7ff0fd, 0x83368fa7, 0x1c79d0d6, 0x833529aa,

+    0x1c73b09d, 0x8333c3fa,

+  0x1c6d9053, 0x83325e97, 0x1c676ff8, 0x8330f981, 0x1c614f8b, 0x832f94b8,

+    0x1c5b2f0c, 0x832e303c,

+  0x1c550e7c, 0x832ccc0d, 0x1c4eedda, 0x832b682b, 0x1c48cd27, 0x832a0496,

+    0x1c42ac62, 0x8328a14d,

+  0x1c3c8b8c, 0x83273e52, 0x1c366aa5, 0x8325dba4, 0x1c3049ac, 0x83247943,

+    0x1c2a28a2, 0x8323172f,

+  0x1c240786, 0x8321b568, 0x1c1de659, 0x832053ee, 0x1c17c51b, 0x831ef2c1,

+    0x1c11a3cb, 0x831d91e1,

+  0x1c0b826a, 0x831c314e, 0x1c0560f8, 0x831ad109, 0x1bff3f75, 0x83197110,

+    0x1bf91de0, 0x83181164,

+  0x1bf2fc3a, 0x8316b205, 0x1becda83, 0x831552f4, 0x1be6b8ba, 0x8313f42f,

+    0x1be096e0, 0x831295b7,

+  0x1bda74f6, 0x8311378d, 0x1bd452f9, 0x830fd9af, 0x1bce30ec, 0x830e7c1f,

+    0x1bc80ece, 0x830d1edc,

+  0x1bc1ec9e, 0x830bc1e6, 0x1bbbca5e, 0x830a653c, 0x1bb5a80c, 0x830908e0,

+    0x1baf85a9, 0x8307acd1,

+  0x1ba96335, 0x83065110, 0x1ba340b0, 0x8304f59b, 0x1b9d1e1a, 0x83039a73,

+    0x1b96fb73, 0x83023f98,

+  0x1b90d8bb, 0x8300e50b, 0x1b8ab5f2, 0x82ff8acb, 0x1b849317, 0x82fe30d7,

+    0x1b7e702c, 0x82fcd731,

+  0x1b784d30, 0x82fb7dd8, 0x1b722a23, 0x82fa24cc, 0x1b6c0705, 0x82f8cc0d,

+    0x1b65e3d7, 0x82f7739c,

+  0x1b5fc097, 0x82f61b77, 0x1b599d46, 0x82f4c3a0, 0x1b5379e5, 0x82f36c15,

+    0x1b4d5672, 0x82f214d8,

+  0x1b4732ef, 0x82f0bde8, 0x1b410f5b, 0x82ef6745, 0x1b3aebb6, 0x82ee10ef,

+    0x1b34c801, 0x82ecbae7,

+  0x1b2ea43a, 0x82eb652b, 0x1b288063, 0x82ea0fbd, 0x1b225c7b, 0x82e8ba9c,

+    0x1b1c3883, 0x82e765c8,

+  0x1b161479, 0x82e61141, 0x1b0ff05f, 0x82e4bd07, 0x1b09cc34, 0x82e3691b,

+    0x1b03a7f9, 0x82e2157c,

+  0x1afd83ad, 0x82e0c22a, 0x1af75f50, 0x82df6f25, 0x1af13ae3, 0x82de1c6d,

+    0x1aeb1665, 0x82dcca02,

+  0x1ae4f1d6, 0x82db77e5, 0x1adecd37, 0x82da2615, 0x1ad8a887, 0x82d8d492,

+    0x1ad283c7, 0x82d7835c,

+  0x1acc5ef6, 0x82d63274, 0x1ac63a14, 0x82d4e1d8, 0x1ac01522, 0x82d3918a,

+    0x1ab9f020, 0x82d24189,

+  0x1ab3cb0d, 0x82d0f1d5, 0x1aada5e9, 0x82cfa26f, 0x1aa780b6, 0x82ce5356,

+    0x1aa15b71, 0x82cd048a,

+  0x1a9b361d, 0x82cbb60b, 0x1a9510b7, 0x82ca67d9, 0x1a8eeb42, 0x82c919f5,

+    0x1a88c5bc, 0x82c7cc5e,

+  0x1a82a026, 0x82c67f14, 0x1a7c7a7f, 0x82c53217, 0x1a7654c8, 0x82c3e568,

+    0x1a702f01, 0x82c29906,

+  0x1a6a0929, 0x82c14cf1, 0x1a63e341, 0x82c00129, 0x1a5dbd49, 0x82beb5af,

+    0x1a579741, 0x82bd6a82,

+  0x1a517128, 0x82bc1fa2, 0x1a4b4aff, 0x82bad50f, 0x1a4524c6, 0x82b98aca,

+    0x1a3efe7c, 0x82b840d2,

+  0x1a38d823, 0x82b6f727, 0x1a32b1b9, 0x82b5adca, 0x1a2c8b3f, 0x82b464ba,

+    0x1a2664b5, 0x82b31bf7,

+  0x1a203e1b, 0x82b1d381, 0x1a1a1771, 0x82b08b59, 0x1a13f0b6, 0x82af437e,

+    0x1a0dc9ec, 0x82adfbf0,

+  0x1a07a311, 0x82acb4b0, 0x1a017c27, 0x82ab6dbd, 0x19fb552c, 0x82aa2717,

+    0x19f52e22, 0x82a8e0bf,

+  0x19ef0707, 0x82a79ab3, 0x19e8dfdc, 0x82a654f6, 0x19e2b8a2, 0x82a50f85,

+    0x19dc9157, 0x82a3ca62,

+  0x19d669fc, 0x82a2858c, 0x19d04292, 0x82a14104, 0x19ca1b17, 0x829ffcc8,

+    0x19c3f38d, 0x829eb8db,

+  0x19bdcbf3, 0x829d753a, 0x19b7a449, 0x829c31e7, 0x19b17c8f, 0x829aeee1,

+    0x19ab54c5, 0x8299ac29,

+  0x19a52ceb, 0x829869be, 0x199f0502, 0x829727a0, 0x1998dd09, 0x8295e5cf,

+    0x1992b4ff, 0x8294a44c,

+  0x198c8ce7, 0x82936317, 0x198664be, 0x8292222e, 0x19803c86, 0x8290e194,

+    0x197a143e, 0x828fa146,

+  0x1973ebe6, 0x828e6146, 0x196dc37e, 0x828d2193, 0x19679b07, 0x828be22e,

+    0x19617280, 0x828aa316,

+  0x195b49ea, 0x8289644b, 0x19552144, 0x828825ce, 0x194ef88e, 0x8286e79e,

+    0x1948cfc8, 0x8285a9bb,

+  0x1942a6f3, 0x82846c26, 0x193c7e0f, 0x82832edf, 0x1936551b, 0x8281f1e4,

+    0x19302c17, 0x8280b538,

+  0x192a0304, 0x827f78d8, 0x1923d9e1, 0x827e3cc6, 0x191db0af, 0x827d0102,

+    0x1917876d, 0x827bc58a,

+  0x19115e1c, 0x827a8a61, 0x190b34bb, 0x82794f84, 0x19050b4b, 0x827814f6,

+    0x18fee1cb, 0x8276dab4,

+  0x18f8b83c, 0x8275a0c0, 0x18f28e9e, 0x8274671a, 0x18ec64f0, 0x82732dc0,

+    0x18e63b33, 0x8271f4b5,

+  0x18e01167, 0x8270bbf7, 0x18d9e78b, 0x826f8386, 0x18d3bda0, 0x826e4b62,

+    0x18cd93a5, 0x826d138d,

+  0x18c7699b, 0x826bdc04, 0x18c13f82, 0x826aa4c9, 0x18bb155a, 0x82696ddc,

+    0x18b4eb22, 0x8268373c,

+  0x18aec0db, 0x826700e9, 0x18a89685, 0x8265cae4, 0x18a26c20, 0x8264952d,

+    0x189c41ab, 0x82635fc2,

+  0x18961728, 0x82622aa6, 0x188fec95, 0x8260f5d7, 0x1889c1f3, 0x825fc155,

+    0x18839742, 0x825e8d21,

+  0x187d6c82, 0x825d593a, 0x187741b2, 0x825c25a1, 0x187116d4, 0x825af255,

+    0x186aebe6, 0x8259bf57,

+  0x1864c0ea, 0x82588ca7, 0x185e95de, 0x82575a44, 0x18586ac3, 0x8256282e,

+    0x18523f9a, 0x8254f666,

+  0x184c1461, 0x8253c4eb, 0x1845e919, 0x825293be, 0x183fbdc3, 0x825162df,

+    0x1839925d, 0x8250324d,

+  0x183366e9, 0x824f0208, 0x182d3b65, 0x824dd211, 0x18270fd3, 0x824ca268,

+    0x1820e431, 0x824b730c,

+  0x181ab881, 0x824a43fe, 0x18148cc2, 0x8249153d, 0x180e60f4, 0x8247e6ca,

+    0x18083518, 0x8246b8a4,

+  0x1802092c, 0x82458acc, 0x17fbdd32, 0x82445d41, 0x17f5b129, 0x82433004,

+    0x17ef8511, 0x82420315,

+  0x17e958ea, 0x8240d673, 0x17e32cb5, 0x823faa1e, 0x17dd0070, 0x823e7e18,

+    0x17d6d41d, 0x823d525e,

+  0x17d0a7bc, 0x823c26f3, 0x17ca7b4c, 0x823afbd5, 0x17c44ecd, 0x8239d104,

+    0x17be223f, 0x8238a681,

+  0x17b7f5a3, 0x82377c4c, 0x17b1c8f8, 0x82365264, 0x17ab9c3e, 0x823528ca,

+    0x17a56f76, 0x8233ff7e,

+  0x179f429f, 0x8232d67f, 0x179915ba, 0x8231adce, 0x1792e8c6, 0x8230856a,

+    0x178cbbc4, 0x822f5d54,

+  0x17868eb3, 0x822e358b, 0x17806194, 0x822d0e10, 0x177a3466, 0x822be6e3,

+    0x17740729, 0x822ac004,

+  0x176dd9de, 0x82299971, 0x1767ac85, 0x8228732d, 0x17617f1d, 0x82274d36,

+    0x175b51a7, 0x8226278d,

+  0x17552422, 0x82250232, 0x174ef68f, 0x8223dd24, 0x1748c8ee, 0x8222b863,

+    0x17429b3e, 0x822193f1,

+  0x173c6d80, 0x82206fcc, 0x17363fb4, 0x821f4bf5, 0x173011d9, 0x821e286b,

+    0x1729e3f0, 0x821d052f,

+  0x1723b5f9, 0x821be240, 0x171d87f3, 0x821abfa0, 0x171759df, 0x82199d4d,

+    0x17112bbd, 0x82187b47,

+  0x170afd8d, 0x82175990, 0x1704cf4f, 0x82163826, 0x16fea102, 0x82151709,

+    0x16f872a7, 0x8213f63a,

+  0x16f2443e, 0x8212d5b9, 0x16ec15c7, 0x8211b586, 0x16e5e741, 0x821095a0,

+    0x16dfb8ae, 0x820f7608,

+  0x16d98a0c, 0x820e56be, 0x16d35b5c, 0x820d37c1, 0x16cd2c9f, 0x820c1912,

+    0x16c6fdd3, 0x820afab1,

+  0x16c0cef9, 0x8209dc9e, 0x16baa011, 0x8208bed8, 0x16b4711b, 0x8207a160,

+    0x16ae4217, 0x82068435,

+  0x16a81305, 0x82056758, 0x16a1e3e5, 0x82044ac9, 0x169bb4b7, 0x82032e88,

+    0x1695857b, 0x82021294,

+  0x168f5632, 0x8200f6ef, 0x168926da, 0x81ffdb96, 0x1682f774, 0x81fec08c,

+    0x167cc801, 0x81fda5cf,

+  0x1676987f, 0x81fc8b60, 0x167068f0, 0x81fb713f, 0x166a3953, 0x81fa576c,

+    0x166409a8, 0x81f93de6,

+  0x165dd9f0, 0x81f824ae, 0x1657aa29, 0x81f70bc3, 0x16517a55, 0x81f5f327,

+    0x164b4a73, 0x81f4dad8,

+  0x16451a83, 0x81f3c2d7, 0x163eea86, 0x81f2ab24, 0x1638ba7a, 0x81f193be,

+    0x16328a61, 0x81f07ca6,

+  0x162c5a3b, 0x81ef65dc, 0x16262a06, 0x81ee4f60, 0x161ff9c4, 0x81ed3932,

+    0x1619c975, 0x81ec2351,

+  0x16139918, 0x81eb0dbe, 0x160d68ad, 0x81e9f879, 0x16073834, 0x81e8e381,

+    0x160107ae, 0x81e7ced8,

+  0x15fad71b, 0x81e6ba7c, 0x15f4a679, 0x81e5a66e, 0x15ee75cb, 0x81e492ad,

+    0x15e8450e, 0x81e37f3b,

+  0x15e21445, 0x81e26c16, 0x15dbe36d, 0x81e1593f, 0x15d5b288, 0x81e046b6,

+    0x15cf8196, 0x81df347b,

+  0x15c95097, 0x81de228d, 0x15c31f89, 0x81dd10ee, 0x15bcee6f, 0x81dbff9c,

+    0x15b6bd47, 0x81daee98,

+  0x15b08c12, 0x81d9dde1, 0x15aa5acf, 0x81d8cd79, 0x15a4297f, 0x81d7bd5e,

+    0x159df821, 0x81d6ad92,

+  0x1597c6b7, 0x81d59e13, 0x1591953e, 0x81d48ee1, 0x158b63b9, 0x81d37ffe,

+    0x15853226, 0x81d27169,

+  0x157f0086, 0x81d16321, 0x1578ced9, 0x81d05527, 0x15729d1f, 0x81cf477b,

+    0x156c6b57, 0x81ce3a1d,

+  0x15663982, 0x81cd2d0c, 0x156007a0, 0x81cc204a, 0x1559d5b1, 0x81cb13d5,

+    0x1553a3b4, 0x81ca07af,

+  0x154d71aa, 0x81c8fbd6, 0x15473f94, 0x81c7f04b, 0x15410d70, 0x81c6e50d,

+    0x153adb3f, 0x81c5da1e,

+  0x1534a901, 0x81c4cf7d, 0x152e76b5, 0x81c3c529, 0x1528445d, 0x81c2bb23,

+    0x152211f8, 0x81c1b16b,

+  0x151bdf86, 0x81c0a801, 0x1515ad06, 0x81bf9ee5, 0x150f7a7a, 0x81be9617,

+    0x150947e1, 0x81bd8d97,

+  0x1503153a, 0x81bc8564, 0x14fce287, 0x81bb7d7f, 0x14f6afc7, 0x81ba75e9,

+    0x14f07cf9, 0x81b96ea0,

+  0x14ea4a1f, 0x81b867a5, 0x14e41738, 0x81b760f8, 0x14dde445, 0x81b65a99,

+    0x14d7b144, 0x81b55488,

+  0x14d17e36, 0x81b44ec4, 0x14cb4b1c, 0x81b3494f, 0x14c517f4, 0x81b24427,

+    0x14bee4c0, 0x81b13f4e,

+  0x14b8b17f, 0x81b03ac2, 0x14b27e32, 0x81af3684, 0x14ac4ad7, 0x81ae3294,

+    0x14a61770, 0x81ad2ef2,

+  0x149fe3fc, 0x81ac2b9e, 0x1499b07c, 0x81ab2898, 0x14937cee, 0x81aa25e0,

+    0x148d4954, 0x81a92376,

+  0x148715ae, 0x81a82159, 0x1480e1fa, 0x81a71f8b, 0x147aae3a, 0x81a61e0b,

+    0x14747a6d, 0x81a51cd8,

+  0x146e4694, 0x81a41bf4, 0x146812ae, 0x81a31b5d, 0x1461debc, 0x81a21b14,

+    0x145baabd, 0x81a11b1a,

+  0x145576b1, 0x81a01b6d, 0x144f4299, 0x819f1c0e, 0x14490e74, 0x819e1cfd,

+    0x1442da43, 0x819d1e3a,

+  0x143ca605, 0x819c1fc5, 0x143671bb, 0x819b219e, 0x14303d65, 0x819a23c5,

+    0x142a0902, 0x8199263a,

+  0x1423d492, 0x819828fd, 0x141da016, 0x81972c0e, 0x14176b8e, 0x81962f6d,

+    0x141136f9, 0x8195331a,

+  0x140b0258, 0x81943715, 0x1404cdaa, 0x81933b5e, 0x13fe98f1, 0x81923ff4,

+    0x13f8642a, 0x819144d9,

+  0x13f22f58, 0x81904a0c, 0x13ebfa79, 0x818f4f8d, 0x13e5c58e, 0x818e555c,

+    0x13df9097, 0x818d5b78,

+  0x13d95b93, 0x818c61e3, 0x13d32683, 0x818b689c, 0x13ccf167, 0x818a6fa3,

+    0x13c6bc3f, 0x818976f8,

+  0x13c0870a, 0x81887e9a, 0x13ba51ca, 0x8187868b, 0x13b41c7d, 0x81868eca,

+    0x13ade724, 0x81859757,

+  0x13a7b1bf, 0x8184a032, 0x13a17c4d, 0x8183a95b, 0x139b46d0, 0x8182b2d1,

+    0x13951146, 0x8181bc96,

+  0x138edbb1, 0x8180c6a9, 0x1388a60f, 0x817fd10a, 0x13827062, 0x817edbb9,

+    0x137c3aa8, 0x817de6b6,

+  0x137604e2, 0x817cf201, 0x136fcf10, 0x817bfd9b, 0x13699933, 0x817b0982,

+    0x13636349, 0x817a15b7,

+  0x135d2d53, 0x8179223a, 0x1356f752, 0x81782f0b, 0x1350c144, 0x81773c2b,

+    0x134a8b2b, 0x81764998,

+  0x13445505, 0x81755754, 0x133e1ed4, 0x8174655d, 0x1337e897, 0x817373b5,

+    0x1331b24e, 0x8172825a,

+  0x132b7bf9, 0x8171914e, 0x13254599, 0x8170a090, 0x131f0f2c, 0x816fb020,

+    0x1318d8b4, 0x816ebffe,

+  0x1312a230, 0x816dd02a, 0x130c6ba0, 0x816ce0a4, 0x13063505, 0x816bf16c,

+    0x12fffe5d, 0x816b0282,

+  0x12f9c7aa, 0x816a13e6, 0x12f390ec, 0x81692599, 0x12ed5a21, 0x81683799,

+    0x12e7234b, 0x816749e8,

+  0x12e0ec6a, 0x81665c84, 0x12dab57c, 0x81656f6f, 0x12d47e83, 0x816482a8,

+    0x12ce477f, 0x8163962f,

+  0x12c8106f, 0x8162aa04, 0x12c1d953, 0x8161be27, 0x12bba22b, 0x8160d298,

+    0x12b56af9, 0x815fe758,

+  0x12af33ba, 0x815efc65, 0x12a8fc70, 0x815e11c1, 0x12a2c51b, 0x815d276a,

+    0x129c8dba, 0x815c3d62,

+  0x1296564d, 0x815b53a8, 0x12901ed5, 0x815a6a3c, 0x1289e752, 0x8159811e,

+    0x1283afc3, 0x8158984e,

+  0x127d7829, 0x8157afcd, 0x12774083, 0x8156c799, 0x127108d2, 0x8155dfb4,

+    0x126ad116, 0x8154f81d,

+  0x1264994e, 0x815410d4, 0x125e617b, 0x815329d9, 0x1258299c, 0x8152432c,

+    0x1251f1b3, 0x81515ccd,

+  0x124bb9be, 0x815076bd, 0x124581bd, 0x814f90fb, 0x123f49b2, 0x814eab86,

+    0x1239119b, 0x814dc660,

+  0x1232d979, 0x814ce188, 0x122ca14b, 0x814bfcff, 0x12266913, 0x814b18c3,

+    0x122030cf, 0x814a34d6,

+  0x1219f880, 0x81495136, 0x1213c026, 0x81486de5, 0x120d87c1, 0x81478ae2,

+    0x12074f50, 0x8146a82e,

+  0x120116d5, 0x8145c5c7, 0x11fade4e, 0x8144e3ae, 0x11f4a5bd, 0x814401e4,

+    0x11ee6d20, 0x81432068,

+  0x11e83478, 0x81423f3a, 0x11e1fbc5, 0x81415e5a, 0x11dbc307, 0x81407dc9,

+    0x11d58a3e, 0x813f9d86,

+  0x11cf516a, 0x813ebd90, 0x11c9188b, 0x813ddde9, 0x11c2dfa2, 0x813cfe91,

+    0x11bca6ad, 0x813c1f86,

+  0x11b66dad, 0x813b40ca, 0x11b034a2, 0x813a625b, 0x11a9fb8d, 0x8139843b,

+    0x11a3c26c, 0x8138a66a,

+  0x119d8941, 0x8137c8e6, 0x1197500a, 0x8136ebb1, 0x119116c9, 0x81360ec9,

+    0x118add7d, 0x81353230,

+  0x1184a427, 0x813455e6, 0x117e6ac5, 0x813379e9, 0x11783159, 0x81329e3b,

+    0x1171f7e2, 0x8131c2db,

+  0x116bbe60, 0x8130e7c9, 0x116584d3, 0x81300d05, 0x115f4b3c, 0x812f3290,

+    0x1159119a, 0x812e5868,

+  0x1152d7ed, 0x812d7e8f, 0x114c9e35, 0x812ca505, 0x11466473, 0x812bcbc8,

+    0x11402aa6, 0x812af2da,

+  0x1139f0cf, 0x812a1a3a, 0x1133b6ed, 0x812941e8, 0x112d7d00, 0x812869e4,

+    0x11274309, 0x8127922f,

+  0x11210907, 0x8126bac8, 0x111acefb, 0x8125e3af, 0x111494e4, 0x81250ce4,

+    0x110e5ac2, 0x81243668,

+  0x11082096, 0x8123603a, 0x1101e65f, 0x81228a5a, 0x10fbac1e, 0x8121b4c8,

+    0x10f571d3, 0x8120df85,

+  0x10ef377d, 0x81200a90, 0x10e8fd1c, 0x811f35e9, 0x10e2c2b2, 0x811e6191,

+    0x10dc883c, 0x811d8d86,

+  0x10d64dbd, 0x811cb9ca, 0x10d01333, 0x811be65d, 0x10c9d89e, 0x811b133d,

+    0x10c39dff, 0x811a406c,

+  0x10bd6356, 0x81196de9, 0x10b728a3, 0x81189bb4, 0x10b0ede5, 0x8117c9ce,

+    0x10aab31d, 0x8116f836,

+  0x10a4784b, 0x811626ec, 0x109e3d6e, 0x811555f1, 0x10980287, 0x81148544,

+    0x1091c796, 0x8113b4e5,

+  0x108b8c9b, 0x8112e4d4, 0x10855195, 0x81121512, 0x107f1686, 0x8111459e,

+    0x1078db6c, 0x81107678,

+  0x1072a048, 0x810fa7a0, 0x106c651a, 0x810ed917, 0x106629e1, 0x810e0adc,

+    0x105fee9f, 0x810d3cf0,

+  0x1059b352, 0x810c6f52, 0x105377fc, 0x810ba202, 0x104d3c9b, 0x810ad500,

+    0x10470130, 0x810a084d,

+  0x1040c5bb, 0x81093be8, 0x103a8a3d, 0x81086fd1, 0x10344eb4, 0x8107a409,

+    0x102e1321, 0x8106d88f,

+  0x1027d784, 0x81060d63, 0x10219bdd, 0x81054286, 0x101b602d, 0x810477f7,

+    0x10152472, 0x8103adb6,

+  0x100ee8ad, 0x8102e3c4, 0x1008acdf, 0x81021a20, 0x10027107, 0x810150ca,

+    0xffc3524, 0x810087c3,

+  0xff5f938, 0x80ffbf0a, 0xfefbd42, 0x80fef69f, 0xfe98143, 0x80fe2e83,

+    0xfe34539, 0x80fd66b5,

+  0xfdd0926, 0x80fc9f35, 0xfd6cd08, 0x80fbd804, 0xfd090e1, 0x80fb1121,

+    0xfca54b1, 0x80fa4a8c,

+  0xfc41876, 0x80f98446, 0xfbddc32, 0x80f8be4e, 0xfb79fe4, 0x80f7f8a4,

+    0xfb1638d, 0x80f73349,

+  0xfab272b, 0x80f66e3c, 0xfa4eac0, 0x80f5a97e, 0xf9eae4c, 0x80f4e50e,

+    0xf9871ce, 0x80f420ec,

+  0xf923546, 0x80f35d19, 0xf8bf8b4, 0x80f29994, 0xf85bc19, 0x80f1d65d,

+    0xf7f7f75, 0x80f11375,

+  0xf7942c7, 0x80f050db, 0xf73060f, 0x80ef8e90, 0xf6cc94e, 0x80eecc93,

+    0xf668c83, 0x80ee0ae4,

+  0xf604faf, 0x80ed4984, 0xf5a12d1, 0x80ec8872, 0xf53d5ea, 0x80ebc7ae,

+    0xf4d98f9, 0x80eb0739,

+  0xf475bff, 0x80ea4712, 0xf411efb, 0x80e9873a, 0xf3ae1ee, 0x80e8c7b0,

+    0xf34a4d8, 0x80e80874,

+  0xf2e67b8, 0x80e74987, 0xf282a8f, 0x80e68ae8, 0xf21ed5d, 0x80e5cc98,

+    0xf1bb021, 0x80e50e96,

+  0xf1572dc, 0x80e450e2, 0xf0f358e, 0x80e3937d, 0xf08f836, 0x80e2d666,

+    0xf02bad5, 0x80e2199e,

+  0xefc7d6b, 0x80e15d24, 0xef63ff7, 0x80e0a0f8, 0xef0027b, 0x80dfe51b,

+    0xee9c4f5, 0x80df298c,

+  0xee38766, 0x80de6e4c, 0xedd49ce, 0x80ddb35a, 0xed70c2c, 0x80dcf8b7,

+    0xed0ce82, 0x80dc3e62,

+  0xeca90ce, 0x80db845b, 0xec45311, 0x80dacaa3, 0xebe154b, 0x80da1139,

+    0xeb7d77c, 0x80d9581e,

+  0xeb199a4, 0x80d89f51, 0xeab5bc3, 0x80d7e6d3, 0xea51dd8, 0x80d72ea3,

+    0xe9edfe5, 0x80d676c1,

+  0xe98a1e9, 0x80d5bf2e, 0xe9263e3, 0x80d507e9, 0xe8c25d5, 0x80d450f3,

+    0xe85e7be, 0x80d39a4b,

+  0xe7fa99e, 0x80d2e3f2, 0xe796b74, 0x80d22de7, 0xe732d42, 0x80d1782a,

+    0xe6cef07, 0x80d0c2bc,

+  0xe66b0c3, 0x80d00d9d, 0xe607277, 0x80cf58cc, 0xe5a3421, 0x80cea449,

+    0xe53f5c2, 0x80cdf015,

+  0xe4db75b, 0x80cd3c2f, 0xe4778eb, 0x80cc8898, 0xe413a72, 0x80cbd54f,

+    0xe3afbf0, 0x80cb2255,

+  0xe34bd66, 0x80ca6fa9, 0xe2e7ed2, 0x80c9bd4c, 0xe284036, 0x80c90b3d,

+    0xe220191, 0x80c8597c,

+  0xe1bc2e4, 0x80c7a80a, 0xe15842e, 0x80c6f6e7, 0xe0f456f, 0x80c64612,

+    0xe0906a7, 0x80c5958b,

+  0xe02c7d7, 0x80c4e553, 0xdfc88fe, 0x80c4356a, 0xdf64a1c, 0x80c385cf,

+    0xdf00b32, 0x80c2d682,

+  0xde9cc40, 0x80c22784, 0xde38d44, 0x80c178d4, 0xddd4e40, 0x80c0ca73,

+    0xdd70f34, 0x80c01c60,

+  0xdd0d01f, 0x80bf6e9c, 0xdca9102, 0x80bec127, 0xdc451dc, 0x80be13ff,

+    0xdbe12ad, 0x80bd6727,

+  0xdb7d376, 0x80bcba9d, 0xdb19437, 0x80bc0e61, 0xdab54ef, 0x80bb6274,

+    0xda5159f, 0x80bab6d5,

+  0xd9ed646, 0x80ba0b85, 0xd9896e5, 0x80b96083, 0xd92577b, 0x80b8b5d0,

+    0xd8c1809, 0x80b80b6c,

+  0xd85d88f, 0x80b76156, 0xd7f990c, 0x80b6b78e, 0xd795982, 0x80b60e15,

+    0xd7319ee, 0x80b564ea,

+  0xd6cda53, 0x80b4bc0e, 0xd669aaf, 0x80b41381, 0xd605b03, 0x80b36b42,

+    0xd5a1b4f, 0x80b2c351,

+  0xd53db92, 0x80b21baf, 0xd4d9bcd, 0x80b1745c, 0xd475c00, 0x80b0cd57,

+    0xd411c2b, 0x80b026a1,

+  0xd3adc4e, 0x80af8039, 0xd349c68, 0x80aeda20, 0xd2e5c7b, 0x80ae3455,

+    0xd281c85, 0x80ad8ed9,

+  0xd21dc87, 0x80ace9ab, 0xd1b9c81, 0x80ac44cc, 0xd155c73, 0x80aba03b,

+    0xd0f1c5d, 0x80aafbf9,

+  0xd08dc3f, 0x80aa5806, 0xd029c18, 0x80a9b461, 0xcfc5bea, 0x80a9110b,

+    0xcf61bb4, 0x80a86e03,

+  0xcefdb76, 0x80a7cb49, 0xce99b2f, 0x80a728df, 0xce35ae1, 0x80a686c2,

+    0xcdd1a8b, 0x80a5e4f5,

+  0xcd6da2d, 0x80a54376, 0xcd099c7, 0x80a4a245, 0xcca5959, 0x80a40163,

+    0xcc418e3, 0x80a360d0,

+  0xcbdd865, 0x80a2c08b, 0xcb797e0, 0x80a22095, 0xcb15752, 0x80a180ed,

+    0xcab16bd, 0x80a0e194,

+  0xca4d620, 0x80a04289, 0xc9e957b, 0x809fa3cd, 0xc9854cf, 0x809f0560,

+    0xc92141a, 0x809e6741,

+  0xc8bd35e, 0x809dc971, 0xc85929a, 0x809d2bef, 0xc7f51cf, 0x809c8ebc,

+    0xc7910fb, 0x809bf1d7,

+  0xc72d020, 0x809b5541, 0xc6c8f3e, 0x809ab8fa, 0xc664e53, 0x809a1d01,

+    0xc600d61, 0x80998157,

+  0xc59cc68, 0x8098e5fb, 0xc538b66, 0x80984aee, 0xc4d4a5d, 0x8097b030,

+    0xc47094d, 0x809715c0,

+  0xc40c835, 0x80967b9f, 0xc3a8715, 0x8095e1cc, 0xc3445ee, 0x80954848,

+    0xc2e04c0, 0x8094af13,

+  0xc27c389, 0x8094162c, 0xc21824c, 0x80937d93, 0xc1b4107, 0x8092e54a,

+    0xc14ffba, 0x80924d4f,

+  0xc0ebe66, 0x8091b5a2, 0xc087d0a, 0x80911e44, 0xc023ba7, 0x80908735,

+    0xbfbfa3d, 0x808ff074,

+  0xbf5b8cb, 0x808f5a02, 0xbef7752, 0x808ec3df, 0xbe935d2, 0x808e2e0a,

+    0xbe2f44a, 0x808d9884,

+  0xbdcb2bb, 0x808d034c, 0xbd67124, 0x808c6e63, 0xbd02f87, 0x808bd9c9,

+    0xbc9ede2, 0x808b457d,

+  0xbc3ac35, 0x808ab180, 0xbbd6a82, 0x808a1dd2, 0xbb728c7, 0x80898a72,

+    0xbb0e705, 0x8088f761,

+  0xbaaa53b, 0x8088649e, 0xba4636b, 0x8087d22a, 0xb9e2193, 0x80874005,

+    0xb97dfb5, 0x8086ae2e,

+  0xb919dcf, 0x80861ca6, 0xb8b5be1, 0x80858b6c, 0xb8519ed, 0x8084fa82,

+    0xb7ed7f2, 0x808469e5,

+  0xb7895f0, 0x8083d998, 0xb7253e6, 0x80834999, 0xb6c11d5, 0x8082b9e9,

+    0xb65cfbe, 0x80822a87,

+  0xb5f8d9f, 0x80819b74, 0xb594b7a, 0x80810cb0, 0xb53094d, 0x80807e3a,

+    0xb4cc719, 0x807ff013,

+  0xb4684df, 0x807f623b, 0xb40429d, 0x807ed4b1, 0xb3a0055, 0x807e4776,

+    0xb33be05, 0x807dba89,

+  0xb2d7baf, 0x807d2dec, 0xb273952, 0x807ca19c, 0xb20f6ee, 0x807c159c,

+    0xb1ab483, 0x807b89ea,

+  0xb147211, 0x807afe87, 0xb0e2f98, 0x807a7373, 0xb07ed19, 0x8079e8ad,

+    0xb01aa92, 0x80795e36,

+  0xafb6805, 0x8078d40d, 0xaf52571, 0x80784a33, 0xaeee2d7, 0x8077c0a8,

+    0xae8a036, 0x8077376c,

+  0xae25d8d, 0x8076ae7e, 0xadc1adf, 0x807625df, 0xad5d829, 0x80759d8e,

+    0xacf956d, 0x8075158c,

+  0xac952aa, 0x80748dd9, 0xac30fe1, 0x80740675, 0xabccd11, 0x80737f5f,

+    0xab68a3a, 0x8072f898,

+  0xab0475c, 0x8072721f, 0xaaa0478, 0x8071ebf6, 0xaa3c18e, 0x8071661a,

+    0xa9d7e9d, 0x8070e08e,

+  0xa973ba5, 0x80705b50, 0xa90f8a7, 0x806fd661, 0xa8ab5a2, 0x806f51c1,

+    0xa847297, 0x806ecd6f,

+  0xa7e2f85, 0x806e496c, 0xa77ec6d, 0x806dc5b8, 0xa71a94f, 0x806d4253,

+    0xa6b662a, 0x806cbf3c,

+  0xa6522fe, 0x806c3c74, 0xa5edfcc, 0x806bb9fa, 0xa589c94, 0x806b37cf,

+    0xa525955, 0x806ab5f3,

+  0xa4c1610, 0x806a3466, 0xa45d2c5, 0x8069b327, 0xa3f8f73, 0x80693237,

+    0xa394c1b, 0x8068b196,

+  0xa3308bd, 0x80683143, 0xa2cc558, 0x8067b13f, 0xa2681ed, 0x8067318a,

+    0xa203e7c, 0x8066b224,

+  0xa19fb04, 0x8066330c, 0xa13b787, 0x8065b443, 0xa0d7403, 0x806535c9,

+    0xa073079, 0x8064b79d,

+  0xa00ece8, 0x806439c0, 0x9faa952, 0x8063bc32, 0x9f465b5, 0x80633ef3,

+    0x9ee2213, 0x8062c202,

+  0x9e7de6a, 0x80624560, 0x9e19abb, 0x8061c90c, 0x9db5706, 0x80614d08,

+    0x9d5134b, 0x8060d152,

+  0x9cecf89, 0x806055eb, 0x9c88bc2, 0x805fdad2, 0x9c247f5, 0x805f6009,

+    0x9bc0421, 0x805ee58e,

+  0x9b5c048, 0x805e6b62, 0x9af7c69, 0x805df184, 0x9a93884, 0x805d77f5,

+    0x9a2f498, 0x805cfeb5,

+  0x99cb0a7, 0x805c85c4, 0x9966cb0, 0x805c0d21, 0x99028b3, 0x805b94ce,

+    0x989e4b0, 0x805b1cc8,

+  0x983a0a7, 0x805aa512, 0x97d5c99, 0x805a2daa, 0x9771884, 0x8059b692,

+    0x970d46a, 0x80593fc7,

+  0x96a9049, 0x8058c94c, 0x9644c23, 0x8058531f, 0x95e07f8, 0x8057dd41,

+    0x957c3c6, 0x805767b2,

+  0x9517f8f, 0x8056f272, 0x94b3b52, 0x80567d80, 0x944f70f, 0x805608dd,

+    0x93eb2c6, 0x80559489,

+  0x9386e78, 0x80552084, 0x9322a24, 0x8054accd, 0x92be5ca, 0x80543965,

+    0x925a16b, 0x8053c64c,

+  0x91f5d06, 0x80535381, 0x919189c, 0x8052e106, 0x912d42c, 0x80526ed9,

+    0x90c8fb6, 0x8051fcfb,

+  0x9064b3a, 0x80518b6b, 0x90006ba, 0x80511a2b, 0x8f9c233, 0x8050a939,

+    0x8f37da7, 0x80503896,

+  0x8ed3916, 0x804fc841, 0x8e6f47f, 0x804f583c, 0x8e0afe2, 0x804ee885,

+    0x8da6b40, 0x804e791d,

+  0x8d42699, 0x804e0a04, 0x8cde1ec, 0x804d9b39, 0x8c79d3a, 0x804d2cbd,

+    0x8c15882, 0x804cbe90,

+  0x8bb13c5, 0x804c50b2, 0x8b4cf02, 0x804be323, 0x8ae8a3a, 0x804b75e2,

+    0x8a8456d, 0x804b08f0,

+  0x8a2009a, 0x804a9c4d, 0x89bbbc3, 0x804a2ff9, 0x89576e5, 0x8049c3f3,

+    0x88f3203, 0x8049583d,

+  0x888ed1b, 0x8048ecd5, 0x882a82e, 0x804881bb, 0x87c633c, 0x804816f1,

+    0x8761e44, 0x8047ac75,

+  0x86fd947, 0x80474248, 0x8699445, 0x8046d86a, 0x8634f3e, 0x80466edb,

+    0x85d0a32, 0x8046059b,

+  0x856c520, 0x80459ca9, 0x850800a, 0x80453406, 0x84a3aee, 0x8044cbb2,

+    0x843f5cd, 0x804463ad,

+  0x83db0a7, 0x8043fbf6, 0x8376b7c, 0x8043948e, 0x831264c, 0x80432d75,

+    0x82ae117, 0x8042c6ab,

+  0x8249bdd, 0x80426030, 0x81e569d, 0x8041fa03, 0x8181159, 0x80419425,

+    0x811cc10, 0x80412e96,

+  0x80b86c2, 0x8040c956, 0x805416e, 0x80406465, 0x7fefc16, 0x803fffc2,

+    0x7f8b6b9, 0x803f9b6f,

+  0x7f27157, 0x803f376a, 0x7ec2bf0, 0x803ed3b3, 0x7e5e685, 0x803e704c,

+    0x7dfa114, 0x803e0d34,

+  0x7d95b9e, 0x803daa6a, 0x7d31624, 0x803d47ef, 0x7ccd0a5, 0x803ce5c3,

+    0x7c68b21, 0x803c83e5,

+  0x7c04598, 0x803c2257, 0x7ba000b, 0x803bc117, 0x7b3ba78, 0x803b6026,

+    0x7ad74e1, 0x803aff84,

+  0x7a72f45, 0x803a9f31, 0x7a0e9a5, 0x803a3f2d, 0x79aa400, 0x8039df77,

+    0x7945e56, 0x80398010,

+  0x78e18a7, 0x803920f8, 0x787d2f4, 0x8038c22f, 0x7818d3c, 0x803863b5,

+    0x77b4780, 0x80380589,

+  0x77501be, 0x8037a7ac, 0x76ebbf9, 0x80374a1f, 0x768762e, 0x8036ece0,

+    0x762305f, 0x80368fef,

+  0x75bea8c, 0x8036334e, 0x755a4b4, 0x8035d6fb, 0x74f5ed7, 0x80357af8,

+    0x74918f6, 0x80351f43,

+  0x742d311, 0x8034c3dd, 0x73c8d27, 0x803468c5, 0x7364738, 0x80340dfd,

+    0x7300145, 0x8033b383,

+  0x729bb4e, 0x80335959, 0x7237552, 0x8032ff7d, 0x71d2f52, 0x8032a5ef,

+    0x716e94e, 0x80324cb1,

+  0x710a345, 0x8031f3c2, 0x70a5d37, 0x80319b21, 0x7041726, 0x803142cf,

+    0x6fdd110, 0x8030eacd,

+  0x6f78af6, 0x80309318, 0x6f144d7, 0x80303bb3, 0x6eafeb4, 0x802fe49d,

+    0x6e4b88d, 0x802f8dd5,

+  0x6de7262, 0x802f375d, 0x6d82c32, 0x802ee133, 0x6d1e5fe, 0x802e8b58,

+    0x6cb9fc6, 0x802e35cb,

+  0x6c5598a, 0x802de08e, 0x6bf1349, 0x802d8ba0, 0x6b8cd05, 0x802d3700,

+    0x6b286bc, 0x802ce2af,

+  0x6ac406f, 0x802c8ead, 0x6a5fa1e, 0x802c3afa, 0x69fb3c9, 0x802be796,

+    0x6996d70, 0x802b9480,

+  0x6932713, 0x802b41ba, 0x68ce0b2, 0x802aef42, 0x6869a4c, 0x802a9d19,

+    0x68053e3, 0x802a4b3f,

+  0x67a0d76, 0x8029f9b4, 0x673c704, 0x8029a878, 0x66d808f, 0x8029578b,

+    0x6673a16, 0x802906ec,

+  0x660f398, 0x8028b69c, 0x65aad17, 0x8028669b, 0x6546692, 0x802816e9,

+    0x64e2009, 0x8027c786,

+  0x647d97c, 0x80277872, 0x64192eb, 0x802729ad, 0x63b4c57, 0x8026db36,

+    0x63505be, 0x80268d0e,

+  0x62ebf22, 0x80263f36, 0x6287882, 0x8025f1ac, 0x62231de, 0x8025a471,

+    0x61beb36, 0x80255784,

+  0x615a48b, 0x80250ae7, 0x60f5ddc, 0x8024be99, 0x6091729, 0x80247299,

+    0x602d072, 0x802426e8,

+  0x5fc89b8, 0x8023db86, 0x5f642fa, 0x80239073, 0x5effc38, 0x802345af,

+    0x5e9b572, 0x8022fb3a,

+  0x5e36ea9, 0x8022b114, 0x5dd27dd, 0x8022673c, 0x5d6e10c, 0x80221db3,

+    0x5d09a38, 0x8021d47a,

+  0x5ca5361, 0x80218b8f, 0x5c40c86, 0x802142f3, 0x5bdc5a7, 0x8020faa6,

+    0x5b77ec5, 0x8020b2a7,

+  0x5b137df, 0x80206af8, 0x5aaf0f6, 0x80202397, 0x5a4aa09, 0x801fdc86,

+    0x59e6319, 0x801f95c3,

+  0x5981c26, 0x801f4f4f, 0x591d52f, 0x801f092a, 0x58b8e34, 0x801ec354,

+    0x5854736, 0x801e7dcd,

+  0x57f0035, 0x801e3895, 0x578b930, 0x801df3ab, 0x5727228, 0x801daf11,

+    0x56c2b1c, 0x801d6ac5,

+  0x565e40d, 0x801d26c8, 0x55f9cfb, 0x801ce31a, 0x55955e6, 0x801c9fbb,

+    0x5530ecd, 0x801c5cab,

+  0x54cc7b1, 0x801c19ea, 0x5468092, 0x801bd777, 0x540396f, 0x801b9554,

+    0x539f249, 0x801b537f,

+  0x533ab20, 0x801b11fa, 0x52d63f4, 0x801ad0c3, 0x5271cc4, 0x801a8fdb,

+    0x520d592, 0x801a4f42,

+  0x51a8e5c, 0x801a0ef8, 0x5144723, 0x8019cefd, 0x50dffe7, 0x80198f50,

+    0x507b8a8, 0x80194ff3,

+  0x5017165, 0x801910e4, 0x4fb2a20, 0x8018d225, 0x4f4e2d8, 0x801893b4,

+    0x4ee9b8c, 0x80185592,

+  0x4e8543e, 0x801817bf, 0x4e20cec, 0x8017da3b, 0x4dbc597, 0x80179d06,

+    0x4d57e40, 0x80176020,

+  0x4cf36e5, 0x80172388, 0x4c8ef88, 0x8016e740, 0x4c2a827, 0x8016ab46,

+    0x4bc60c4, 0x80166f9c,

+  0x4b6195d, 0x80163440, 0x4afd1f4, 0x8015f933, 0x4a98a88, 0x8015be75,

+    0x4a34319, 0x80158406,

+  0x49cfba7, 0x801549e6, 0x496b432, 0x80151015, 0x4906cbb, 0x8014d693,

+    0x48a2540, 0x80149d5f,

+  0x483ddc3, 0x8014647b, 0x47d9643, 0x80142be5, 0x4774ec1, 0x8013f39e,

+    0x471073b, 0x8013bba7,

+  0x46abfb3, 0x801383fe, 0x4647828, 0x80134ca4, 0x45e309a, 0x80131599,

+    0x457e90a, 0x8012dedd,

+  0x451a177, 0x8012a86f, 0x44b59e1, 0x80127251, 0x4451249, 0x80123c82,

+    0x43ecaae, 0x80120701,

+  0x4388310, 0x8011d1d0, 0x4323b70, 0x80119ced, 0x42bf3cd, 0x80116859,

+    0x425ac28, 0x80113414,

+  0x41f6480, 0x8011001f, 0x4191cd5, 0x8010cc78, 0x412d528, 0x8010991f,

+    0x40c8d79, 0x80106616,

+  0x40645c7, 0x8010335c, 0x3fffe12, 0x801000f1, 0x3f9b65b, 0x800fced4,

+    0x3f36ea2, 0x800f9d07,

+  0x3ed26e6, 0x800f6b88, 0x3e6df28, 0x800f3a59, 0x3e09767, 0x800f0978,

+    0x3da4fa4, 0x800ed8e6,

+  0x3d407df, 0x800ea8a3, 0x3cdc017, 0x800e78af, 0x3c7784d, 0x800e490a,

+    0x3c13080, 0x800e19b4,

+  0x3bae8b2, 0x800deaad, 0x3b4a0e0, 0x800dbbf5, 0x3ae590d, 0x800d8d8b,

+    0x3a81137, 0x800d5f71,

+  0x3a1c960, 0x800d31a5, 0x39b8185, 0x800d0429, 0x39539a9, 0x800cd6fb,

+    0x38ef1ca, 0x800caa1c,

+  0x388a9ea, 0x800c7d8c, 0x3826207, 0x800c514c, 0x37c1a22, 0x800c255a,

+    0x375d23a, 0x800bf9b7,

+  0x36f8a51, 0x800bce63, 0x3694265, 0x800ba35d, 0x362fa78, 0x800b78a7,

+    0x35cb288, 0x800b4e40,

+  0x3566a96, 0x800b2427, 0x35022a2, 0x800afa5e, 0x349daac, 0x800ad0e3,

+    0x34392b4, 0x800aa7b8,

+  0x33d4abb, 0x800a7edb, 0x33702bf, 0x800a564e, 0x330bac1, 0x800a2e0f,

+    0x32a72c1, 0x800a061f,

+  0x3242abf, 0x8009de7e, 0x31de2bb, 0x8009b72c, 0x3179ab5, 0x80099029,

+    0x31152ae, 0x80096975,

+  0x30b0aa4, 0x80094310, 0x304c299, 0x80091cf9, 0x2fe7a8c, 0x8008f732,

+    0x2f8327d, 0x8008d1ba,

+  0x2f1ea6c, 0x8008ac90, 0x2eba259, 0x800887b6, 0x2e55a44, 0x8008632a,

+    0x2df122e, 0x80083eed,

+  0x2d8ca16, 0x80081b00, 0x2d281fc, 0x8007f761, 0x2cc39e1, 0x8007d411,

+    0x2c5f1c3, 0x8007b110,

+  0x2bfa9a4, 0x80078e5e, 0x2b96184, 0x80076bfb, 0x2b31961, 0x800749e7,

+    0x2acd13d, 0x80072822,

+  0x2a68917, 0x800706ac, 0x2a040f0, 0x8006e585, 0x299f8c7, 0x8006c4ac,

+    0x293b09c, 0x8006a423,

+  0x28d6870, 0x800683e8, 0x2872043, 0x800663fd, 0x280d813, 0x80064460,

+    0x27a8fe2, 0x80062513,

+  0x27447b0, 0x80060614, 0x26dff7c, 0x8005e764, 0x267b747, 0x8005c904,

+    0x2616f10, 0x8005aaf2,

+  0x25b26d7, 0x80058d2f, 0x254de9e, 0x80056fbb, 0x24e9662, 0x80055296,

+    0x2484e26, 0x800535c0,

+  0x24205e8, 0x80051939, 0x23bbda8, 0x8004fd00, 0x2357567, 0x8004e117,

+    0x22f2d25, 0x8004c57d,

+  0x228e4e2, 0x8004aa32, 0x2229c9d, 0x80048f35, 0x21c5457, 0x80047488,

+    0x2160c0f, 0x80045a29,

+  0x20fc3c6, 0x8004401a, 0x2097b7c, 0x80042659, 0x2033331, 0x80040ce7,

+    0x1fceae4, 0x8003f3c5,

+  0x1f6a297, 0x8003daf1, 0x1f05a48, 0x8003c26c, 0x1ea11f7, 0x8003aa36,

+    0x1e3c9a6, 0x8003924f,

+  0x1dd8154, 0x80037ab7, 0x1d73900, 0x8003636e, 0x1d0f0ab, 0x80034c74,

+    0x1caa855, 0x800335c9,

+  0x1c45ffe, 0x80031f6d, 0x1be17a6, 0x80030960, 0x1b7cf4d, 0x8002f3a1,

+    0x1b186f3, 0x8002de32,

+  0x1ab3e97, 0x8002c912, 0x1a4f63b, 0x8002b440, 0x19eaddd, 0x80029fbe,

+    0x198657f, 0x80028b8a,

+  0x1921d20, 0x800277a6, 0x18bd4bf, 0x80026410, 0x1858c5e, 0x800250c9,

+    0x17f43fc, 0x80023dd2,

+  0x178fb99, 0x80022b29, 0x172b335, 0x800218cf, 0x16c6ad0, 0x800206c4,

+    0x166226a, 0x8001f508,

+  0x15fda03, 0x8001e39b, 0x159919c, 0x8001d27d, 0x1534934, 0x8001c1ae,

+    0x14d00ca, 0x8001b12e,

+  0x146b860, 0x8001a0fd, 0x1406ff6, 0x8001911b, 0x13a278a, 0x80018187,

+    0x133df1e, 0x80017243,

+  0x12d96b1, 0x8001634e, 0x1274e43, 0x800154a7, 0x12105d5, 0x80014650,

+    0x11abd66, 0x80013847,

+  0x11474f6, 0x80012a8e, 0x10e2c85, 0x80011d23, 0x107e414, 0x80011008,

+    0x1019ba2, 0x8001033b,

+  0xfb5330, 0x8000f6bd, 0xf50abd, 0x8000ea8e, 0xeec249, 0x8000deaf, 0xe879d5,

+    0x8000d31e,

+  0xe23160, 0x8000c7dc, 0xdbe8eb, 0x8000bce9, 0xd5a075, 0x8000b245, 0xcf57ff,

+    0x8000a7f0,

+  0xc90f88, 0x80009dea, 0xc2c711, 0x80009433, 0xbc7e99, 0x80008aca, 0xb63621,

+    0x800081b1,

+  0xafeda8, 0x800078e7, 0xa9a52f, 0x8000706c, 0xa35cb5, 0x8000683f, 0x9d143b,

+    0x80006062,

+  0x96cbc1, 0x800058d4, 0x908346, 0x80005194, 0x8a3acb, 0x80004aa4, 0x83f250,

+    0x80004402,

+  0x7da9d4, 0x80003daf, 0x776159, 0x800037ac, 0x7118dc, 0x800031f7, 0x6ad060,

+    0x80002c91,

+  0x6487e3, 0x8000277a, 0x5e3f66, 0x800022b3, 0x57f6e9, 0x80001e3a, 0x51ae6b,

+    0x80001a10,

+  0x4b65ee, 0x80001635, 0x451d70, 0x800012a9, 0x3ed4f2, 0x80000f6c, 0x388c74,

+    0x80000c7e,

+  0x3243f5, 0x800009df, 0x2bfb77, 0x8000078e, 0x25b2f8, 0x8000058d, 0x1f6a7a,

+    0x800003db,

+  0x1921fb, 0x80000278, 0x12d97c, 0x80000163, 0xc90fe, 0x8000009e, 0x6487f,

+    0x80000027,

+

+};

+

+/**    

+* \par    

+* cosFactor tables are generated using the formula : <pre>cos_factors[n] = 2 * cos((2n+1)*pi/(4*N))</pre>    

+* \par    

+* C command to generate the table    

+* <pre>    

+* for(i = 0; i< N; i++)    

+* {    

+*   cos_factors[i]= 2 * cos((2*i+1)*c/2);    

+* } </pre>    

+* \par    

+* where <code>N</code> is the number of factors to generate and <code>c</code> is <code>pi/(2*N)</code>    

+* \par    

+* Then converted to q31 format by multiplying with 2^31 and saturated if required.    

+*/

+

+

+static const q31_t cos_factorsQ31_128[128] = {

+  0x7fff6216, 0x7ffa72d1, 0x7ff09478, 0x7fe1c76b, 0x7fce0c3e, 0x7fb563b3,

+  0x7f97cebd, 0x7f754e80,

+  0x7f4de451, 0x7f2191b4, 0x7ef05860, 0x7eba3a39, 0x7e7f3957, 0x7e3f57ff,

+  0x7dfa98a8, 0x7db0fdf8,

+  0x7d628ac6, 0x7d0f4218, 0x7cb72724, 0x7c5a3d50, 0x7bf88830, 0x7b920b89,

+  0x7b26cb4f, 0x7ab6cba4,

+  0x7a4210d8, 0x79c89f6e, 0x794a7c12, 0x78c7aba2, 0x78403329, 0x77b417df,

+  0x77235f2d, 0x768e0ea6,

+  0x75f42c0b, 0x7555bd4c, 0x74b2c884, 0x740b53fb, 0x735f6626, 0x72af05a7,

+  0x71fa3949, 0x71410805,

+  0x708378ff, 0x6fc19385, 0x6efb5f12, 0x6e30e34a, 0x6d6227fa, 0x6c8f351c,

+  0x6bb812d1, 0x6adcc964,

+  0x69fd614a, 0x6919e320, 0x683257ab, 0x6746c7d8, 0x66573cbb, 0x6563bf92,

+  0x646c59bf, 0x637114cc,

+  0x6271fa69, 0x616f146c, 0x60686ccf, 0x5f5e0db3, 0x5e50015d, 0x5d3e5237,

+  0x5c290acc, 0x5b1035cf,

+  0x59f3de12, 0x58d40e8c, 0x57b0d256, 0x568a34a9, 0x556040e2, 0x5433027d,

+  0x53028518, 0x51ced46e,

+  0x5097fc5e, 0x4f5e08e3, 0x4e210617, 0x4ce10034, 0x4b9e0390, 0x4a581c9e,

+  0x490f57ee, 0x47c3c22f,

+  0x46756828, 0x452456bd, 0x43d09aed, 0x427a41d0, 0x4121589b, 0x3fc5ec98,

+  0x3e680b2c, 0x3d07c1d6,

+  0x3ba51e29, 0x3a402dd2, 0x38d8fe93, 0x376f9e46, 0x36041ad9, 0x34968250,

+  0x3326e2c3, 0x31b54a5e,

+  0x3041c761, 0x2ecc681e, 0x2d553afc, 0x2bdc4e6f, 0x2a61b101, 0x28e5714b,

+  0x27679df4, 0x25e845b6,

+  0x24677758, 0x22e541af, 0x2161b3a0, 0x1fdcdc1b, 0x1e56ca1e, 0x1ccf8cb3,

+  0x1b4732ef, 0x19bdcbf3,

+  0x183366e9, 0x16a81305, 0x151bdf86, 0x138edbb1, 0x120116d5, 0x1072a048,

+  0xee38766, 0xd53db92,

+  0xbc3ac35, 0xa3308bd, 0x8a2009a, 0x710a345, 0x57f0035, 0x3ed26e6, 0x25b26d7,

+  0xc90f88,

+};

+

+static const q31_t cos_factorsQ31_512[512] = {

+  0x7ffff621, 0x7fffa72c, 0x7fff0943, 0x7ffe1c65, 0x7ffce093, 0x7ffb55ce,

+  0x7ff97c18, 0x7ff75370,

+  0x7ff4dbd9, 0x7ff21553, 0x7feeffe1, 0x7feb9b85, 0x7fe7e841, 0x7fe3e616,

+  0x7fdf9508, 0x7fdaf519,

+  0x7fd6064c, 0x7fd0c8a3, 0x7fcb3c23, 0x7fc560cf, 0x7fbf36aa, 0x7fb8bdb8,

+  0x7fb1f5fc, 0x7faadf7c,

+  0x7fa37a3c, 0x7f9bc640, 0x7f93c38c, 0x7f8b7227, 0x7f82d214, 0x7f79e35a,

+  0x7f70a5fe, 0x7f671a05,

+  0x7f5d3f75, 0x7f531655, 0x7f489eaa, 0x7f3dd87c, 0x7f32c3d1, 0x7f2760af,

+  0x7f1baf1e, 0x7f0faf25,

+  0x7f0360cb, 0x7ef6c418, 0x7ee9d914, 0x7edc9fc6, 0x7ecf1837, 0x7ec14270,

+  0x7eb31e78, 0x7ea4ac58,

+  0x7e95ec1a, 0x7e86ddc6, 0x7e778166, 0x7e67d703, 0x7e57dea7, 0x7e47985b,

+  0x7e37042a, 0x7e26221f,

+  0x7e14f242, 0x7e0374a0, 0x7df1a942, 0x7ddf9034, 0x7dcd2981, 0x7dba7534,

+  0x7da77359, 0x7d9423fc,

+  0x7d808728, 0x7d6c9ce9, 0x7d58654d, 0x7d43e05e, 0x7d2f0e2b, 0x7d19eebf,

+  0x7d048228, 0x7ceec873,

+  0x7cd8c1ae, 0x7cc26de5, 0x7cabcd28, 0x7c94df83, 0x7c7da505, 0x7c661dbc,

+  0x7c4e49b7, 0x7c362904,

+  0x7c1dbbb3, 0x7c0501d2, 0x7bebfb70, 0x7bd2a89e, 0x7bb9096b, 0x7b9f1de6,

+  0x7b84e61f, 0x7b6a6227,

+  0x7b4f920e, 0x7b3475e5, 0x7b190dbc, 0x7afd59a4, 0x7ae159ae, 0x7ac50dec,

+  0x7aa8766f, 0x7a8b9348,

+  0x7a6e648a, 0x7a50ea47, 0x7a332490, 0x7a151378, 0x79f6b711, 0x79d80f6f,

+  0x79b91ca4, 0x7999dec4,

+  0x797a55e0, 0x795a820e, 0x793a6361, 0x7919f9ec, 0x78f945c3, 0x78d846fb,

+  0x78b6fda8, 0x789569df,

+  0x78738bb3, 0x7851633b, 0x782ef08b, 0x780c33b8, 0x77e92cd9, 0x77c5dc01,

+  0x77a24148, 0x777e5cc3,

+  0x775a2e89, 0x7735b6af, 0x7710f54c, 0x76ebea77, 0x76c69647, 0x76a0f8d2,

+  0x767b1231, 0x7654e279,

+  0x762e69c4, 0x7607a828, 0x75e09dbd, 0x75b94a9c, 0x7591aedd, 0x7569ca99,

+  0x75419de7, 0x751928e0,

+  0x74f06b9e, 0x74c7663a, 0x749e18cd, 0x74748371, 0x744aa63f, 0x74208150,

+  0x73f614c0, 0x73cb60a8,

+  0x73a06522, 0x73752249, 0x73499838, 0x731dc70a, 0x72f1aed9, 0x72c54fc1,

+  0x7298a9dd, 0x726bbd48,

+  0x723e8a20, 0x7211107e, 0x71e35080, 0x71b54a41, 0x7186fdde, 0x71586b74,

+  0x7129931f, 0x70fa74fc,

+  0x70cb1128, 0x709b67c0, 0x706b78e3, 0x703b44ad, 0x700acb3c, 0x6fda0cae,

+  0x6fa90921, 0x6f77c0b3,

+  0x6f463383, 0x6f1461b0, 0x6ee24b57, 0x6eaff099, 0x6e7d5193, 0x6e4a6e66,

+  0x6e174730, 0x6de3dc11,

+  0x6db02d29, 0x6d7c3a98, 0x6d48047e, 0x6d138afb, 0x6cdece2f, 0x6ca9ce3b,

+  0x6c748b3f, 0x6c3f055d,

+  0x6c093cb6, 0x6bd3316a, 0x6b9ce39b, 0x6b66536b, 0x6b2f80fb, 0x6af86c6c,

+  0x6ac115e2, 0x6a897d7d,

+  0x6a51a361, 0x6a1987b0, 0x69e12a8c, 0x69a88c19, 0x696fac78, 0x69368bce,

+  0x68fd2a3d, 0x68c387e9,

+  0x6889a4f6, 0x684f8186, 0x68151dbe, 0x67da79c3, 0x679f95b7, 0x676471c0,

+  0x67290e02, 0x66ed6aa1,

+  0x66b187c3, 0x6675658c, 0x66390422, 0x65fc63a9, 0x65bf8447, 0x65826622,

+  0x6545095f, 0x65076e25,

+  0x64c99498, 0x648b7ce0, 0x644d2722, 0x640e9386, 0x63cfc231, 0x6390b34a,

+  0x635166f9, 0x6311dd64,

+  0x62d216b3, 0x6292130c, 0x6251d298, 0x6211557e, 0x61d09be5, 0x618fa5f7,

+  0x614e73da, 0x610d05b7,

+  0x60cb5bb7, 0x60897601, 0x604754bf, 0x6004f819, 0x5fc26038, 0x5f7f8d46,

+  0x5f3c7f6b, 0x5ef936d1,

+  0x5eb5b3a2, 0x5e71f606, 0x5e2dfe29, 0x5de9cc33, 0x5da5604f, 0x5d60baa7,

+  0x5d1bdb65, 0x5cd6c2b5,

+  0x5c9170bf, 0x5c4be5b0, 0x5c0621b2, 0x5bc024f0, 0x5b79ef96, 0x5b3381ce,

+  0x5aecdbc5, 0x5aa5fda5,

+  0x5a5ee79a, 0x5a1799d1, 0x59d01475, 0x598857b2, 0x594063b5, 0x58f838a9,

+  0x58afd6bd, 0x58673e1b,

+  0x581e6ef1, 0x57d5696d, 0x578c2dba, 0x5742bc06, 0x56f9147e, 0x56af3750,

+  0x566524aa, 0x561adcb9,

+  0x55d05faa, 0x5585adad, 0x553ac6ee, 0x54efab9c, 0x54a45be6, 0x5458d7f9,

+  0x540d2005, 0x53c13439,

+  0x537514c2, 0x5328c1d0, 0x52dc3b92, 0x528f8238, 0x524295f0, 0x51f576ea,

+  0x51a82555, 0x515aa162,

+  0x510ceb40, 0x50bf031f, 0x5070e92f, 0x50229da1, 0x4fd420a4, 0x4f857269,

+  0x4f369320, 0x4ee782fb,

+  0x4e984229, 0x4e48d0dd, 0x4df92f46, 0x4da95d96, 0x4d595bfe, 0x4d092ab0,

+  0x4cb8c9dd, 0x4c6839b7,

+  0x4c177a6e, 0x4bc68c36, 0x4b756f40, 0x4b2423be, 0x4ad2a9e2, 0x4a8101de,

+  0x4a2f2be6, 0x49dd282a,

+  0x498af6df, 0x49389836, 0x48e60c62, 0x48935397, 0x48406e08, 0x47ed5be6,

+  0x479a1d67, 0x4746b2bc,

+  0x46f31c1a, 0x469f59b4, 0x464b6bbe, 0x45f7526b, 0x45a30df0, 0x454e9e80,

+  0x44fa0450, 0x44a53f93,

+  0x4450507e, 0x43fb3746, 0x43a5f41e, 0x4350873c, 0x42faf0d4, 0x42a5311b,

+  0x424f4845, 0x41f93689,

+  0x41a2fc1a, 0x414c992f, 0x40f60dfb, 0x409f5ab6, 0x40487f94, 0x3ff17cca,

+  0x3f9a5290, 0x3f430119,

+  0x3eeb889c, 0x3e93e950, 0x3e3c2369, 0x3de4371f, 0x3d8c24a8, 0x3d33ec39,

+  0x3cdb8e09, 0x3c830a50,

+  0x3c2a6142, 0x3bd19318, 0x3b78a007, 0x3b1f8848, 0x3ac64c0f, 0x3a6ceb96,

+  0x3a136712, 0x39b9bebc,

+  0x395ff2c9, 0x39060373, 0x38abf0ef, 0x3851bb77, 0x37f76341, 0x379ce885,

+  0x37424b7b, 0x36e78c5b,

+  0x368cab5c, 0x3631a8b8, 0x35d684a6, 0x357b3f5d, 0x351fd918, 0x34c4520d,

+  0x3468aa76, 0x340ce28b,

+  0x33b0fa84, 0x3354f29b, 0x32f8cb07, 0x329c8402, 0x32401dc6, 0x31e39889,

+  0x3186f487, 0x312a31f8,

+  0x30cd5115, 0x30705217, 0x30133539, 0x2fb5fab2, 0x2f58a2be, 0x2efb2d95,

+  0x2e9d9b70, 0x2e3fec8b,

+  0x2de2211e, 0x2d843964, 0x2d263596, 0x2cc815ee, 0x2c69daa6, 0x2c0b83fa,

+  0x2bad1221, 0x2b4e8558,

+  0x2aefddd8, 0x2a911bdc, 0x2a323f9e, 0x29d34958, 0x29743946, 0x29150fa1,

+  0x28b5cca5, 0x2856708d,

+  0x27f6fb92, 0x27976df1, 0x2737c7e3, 0x26d809a5, 0x26783370, 0x26184581,

+  0x25b84012, 0x2558235f,

+  0x24f7efa2, 0x2497a517, 0x243743fa, 0x23d6cc87, 0x23763ef7, 0x23159b88,

+  0x22b4e274, 0x225413f8,

+  0x21f3304f, 0x219237b5, 0x21312a65, 0x20d0089c, 0x206ed295, 0x200d888d,

+  0x1fac2abf, 0x1f4ab968,

+  0x1ee934c3, 0x1e879d0d, 0x1e25f282, 0x1dc4355e, 0x1d6265dd, 0x1d00843d,

+  0x1c9e90b8, 0x1c3c8b8c,

+  0x1bda74f6, 0x1b784d30, 0x1b161479, 0x1ab3cb0d, 0x1a517128, 0x19ef0707,

+  0x198c8ce7, 0x192a0304,

+  0x18c7699b, 0x1864c0ea, 0x1802092c, 0x179f429f, 0x173c6d80, 0x16d98a0c,

+  0x1676987f, 0x16139918,

+  0x15b08c12, 0x154d71aa, 0x14ea4a1f, 0x148715ae, 0x1423d492, 0x13c0870a,

+  0x135d2d53, 0x12f9c7aa,

+  0x1296564d, 0x1232d979, 0x11cf516a, 0x116bbe60, 0x11082096, 0x10a4784b,

+  0x1040c5bb, 0xfdd0926,

+  0xf7942c7, 0xf1572dc, 0xeb199a4, 0xe4db75b, 0xde9cc40, 0xd85d88f, 0xd21dc87,

+  0xcbdd865,

+  0xc59cc68, 0xbf5b8cb, 0xb919dcf, 0xb2d7baf, 0xac952aa, 0xa6522fe, 0xa00ece8,

+  0x99cb0a7,

+  0x9386e78, 0x8d42699, 0x86fd947, 0x80b86c2, 0x7a72f45, 0x742d311, 0x6de7262,

+  0x67a0d76,

+  0x615a48b, 0x5b137df, 0x54cc7b1, 0x4e8543e, 0x483ddc3, 0x41f6480, 0x3bae8b2,

+  0x3566a96,

+  0x2f1ea6c, 0x28d6870, 0x228e4e2, 0x1c45ffe, 0x15fda03, 0xfb5330, 0x96cbc1,

+  0x3243f5,

+};

+

+static const q31_t cos_factorsQ31_2048[2048] = {

+  0x7fffff62, 0x7ffffa73, 0x7ffff094, 0x7fffe1c6, 0x7fffce09, 0x7fffb55c,

+  0x7fff97c1, 0x7fff7536,

+  0x7fff4dbb, 0x7fff2151, 0x7ffeeff8, 0x7ffeb9b0, 0x7ffe7e79, 0x7ffe3e52,

+  0x7ffdf93c, 0x7ffdaf37,

+  0x7ffd6042, 0x7ffd0c5f, 0x7ffcb38c, 0x7ffc55ca, 0x7ffbf319, 0x7ffb8b78,

+  0x7ffb1ee9, 0x7ffaad6a,

+  0x7ffa36fc, 0x7ff9bba0, 0x7ff93b54, 0x7ff8b619, 0x7ff82bef, 0x7ff79cd6,

+  0x7ff708ce, 0x7ff66fd7,

+  0x7ff5d1f1, 0x7ff52f1d, 0x7ff48759, 0x7ff3daa6, 0x7ff32905, 0x7ff27275,

+  0x7ff1b6f6, 0x7ff0f688,

+  0x7ff0312c, 0x7fef66e1, 0x7fee97a7, 0x7fedc37e, 0x7fecea67, 0x7fec0c62,

+  0x7feb296d, 0x7fea418b,

+  0x7fe954ba, 0x7fe862fa, 0x7fe76c4c, 0x7fe670b0, 0x7fe57025, 0x7fe46aac,

+  0x7fe36045, 0x7fe250ef,

+  0x7fe13cac, 0x7fe0237a, 0x7fdf055a, 0x7fdde24d, 0x7fdcba51, 0x7fdb8d67,

+  0x7fda5b8f, 0x7fd924ca,

+  0x7fd7e917, 0x7fd6a875, 0x7fd562e7, 0x7fd4186a, 0x7fd2c900, 0x7fd174a8,

+  0x7fd01b63, 0x7fcebd31,

+  0x7fcd5a11, 0x7fcbf203, 0x7fca8508, 0x7fc91320, 0x7fc79c4b, 0x7fc62089,

+  0x7fc49fda, 0x7fc31a3d,

+  0x7fc18fb4, 0x7fc0003e, 0x7fbe6bdb, 0x7fbcd28b, 0x7fbb344e, 0x7fb99125,

+  0x7fb7e90f, 0x7fb63c0d,

+  0x7fb48a1e, 0x7fb2d343, 0x7fb1177b, 0x7faf56c7, 0x7fad9127, 0x7fabc69b,

+  0x7fa9f723, 0x7fa822bf,

+  0x7fa6496e, 0x7fa46b32, 0x7fa2880b, 0x7fa09ff7, 0x7f9eb2f8, 0x7f9cc10d,

+  0x7f9aca37, 0x7f98ce76,

+  0x7f96cdc9, 0x7f94c831, 0x7f92bdad, 0x7f90ae3f, 0x7f8e99e6, 0x7f8c80a1,

+  0x7f8a6272, 0x7f883f58,

+  0x7f861753, 0x7f83ea64, 0x7f81b88a, 0x7f7f81c6, 0x7f7d4617, 0x7f7b057e,

+  0x7f78bffb, 0x7f76758e,

+  0x7f742637, 0x7f71d1f6, 0x7f6f78cb, 0x7f6d1ab6, 0x7f6ab7b8, 0x7f684fd0,

+  0x7f65e2ff, 0x7f637144,

+  0x7f60faa0, 0x7f5e7f13, 0x7f5bfe9d, 0x7f59793e, 0x7f56eef5, 0x7f545fc5,

+  0x7f51cbab, 0x7f4f32a9,

+  0x7f4c94be, 0x7f49f1eb, 0x7f474a30, 0x7f449d8c, 0x7f41ec01, 0x7f3f358d,

+  0x7f3c7a31, 0x7f39b9ee,

+  0x7f36f4c3, 0x7f342ab1, 0x7f315bb7, 0x7f2e87d6, 0x7f2baf0d, 0x7f28d15d,

+  0x7f25eec7, 0x7f230749,

+  0x7f201ae5, 0x7f1d299a, 0x7f1a3368, 0x7f173850, 0x7f143852, 0x7f11336d,

+  0x7f0e29a3, 0x7f0b1af2,

+  0x7f08075c, 0x7f04eedf, 0x7f01d17d, 0x7efeaf36, 0x7efb8809, 0x7ef85bf7,

+  0x7ef52b00, 0x7ef1f524,

+  0x7eeeba62, 0x7eeb7abc, 0x7ee83632, 0x7ee4ecc3, 0x7ee19e6f, 0x7ede4b38,

+  0x7edaf31c, 0x7ed7961c,

+  0x7ed43438, 0x7ed0cd70, 0x7ecd61c5, 0x7ec9f137, 0x7ec67bc5, 0x7ec3016f,

+  0x7ebf8237, 0x7ebbfe1c,

+  0x7eb8751e, 0x7eb4e73d, 0x7eb1547a, 0x7eadbcd4, 0x7eaa204c, 0x7ea67ee2,

+  0x7ea2d896, 0x7e9f2d68,

+  0x7e9b7d58, 0x7e97c867, 0x7e940e94, 0x7e904fe0, 0x7e8c8c4b, 0x7e88c3d5,

+  0x7e84f67e, 0x7e812447,

+  0x7e7d4d2f, 0x7e797136, 0x7e75905d, 0x7e71aaa4, 0x7e6dc00c, 0x7e69d093,

+  0x7e65dc3b, 0x7e61e303,

+  0x7e5de4ec, 0x7e59e1f5, 0x7e55da20, 0x7e51cd6c, 0x7e4dbbd9, 0x7e49a567,

+  0x7e458a17, 0x7e4169e9,

+  0x7e3d44dd, 0x7e391af3, 0x7e34ec2b, 0x7e30b885, 0x7e2c8002, 0x7e2842a2,

+  0x7e240064, 0x7e1fb94a,

+  0x7e1b6d53, 0x7e171c7f, 0x7e12c6ce, 0x7e0e6c42, 0x7e0a0cd9, 0x7e05a894,

+  0x7e013f74, 0x7dfcd178,

+  0x7df85ea0, 0x7df3e6ee, 0x7def6a60, 0x7deae8f7, 0x7de662b3, 0x7de1d795,

+  0x7ddd479d, 0x7dd8b2ca,

+  0x7dd4191d, 0x7dcf7a96, 0x7dcad736, 0x7dc62efc, 0x7dc181e8, 0x7dbccffc,

+  0x7db81936, 0x7db35d98,

+  0x7dae9d21, 0x7da9d7d2, 0x7da50dab, 0x7da03eab, 0x7d9b6ad3, 0x7d969224,

+  0x7d91b49e, 0x7d8cd240,

+  0x7d87eb0a, 0x7d82fefe, 0x7d7e0e1c, 0x7d791862, 0x7d741dd2, 0x7d6f1e6c,

+  0x7d6a1a31, 0x7d65111f,

+  0x7d600338, 0x7d5af07b, 0x7d55d8e9, 0x7d50bc82, 0x7d4b9b46, 0x7d467536,

+  0x7d414a51, 0x7d3c1a98,

+  0x7d36e60b, 0x7d31acaa, 0x7d2c6e76, 0x7d272b6e, 0x7d21e393, 0x7d1c96e5,

+  0x7d174564, 0x7d11ef11,

+  0x7d0c93eb, 0x7d0733f3, 0x7d01cf29, 0x7cfc658d, 0x7cf6f720, 0x7cf183e1,

+  0x7cec0bd1, 0x7ce68ef0,

+  0x7ce10d3f, 0x7cdb86bd, 0x7cd5fb6a, 0x7cd06b48, 0x7ccad656, 0x7cc53c94,

+  0x7cbf9e03, 0x7cb9faa2,

+  0x7cb45272, 0x7caea574, 0x7ca8f3a7, 0x7ca33d0c, 0x7c9d81a3, 0x7c97c16b,

+  0x7c91fc66, 0x7c8c3294,

+  0x7c8663f4, 0x7c809088, 0x7c7ab84e, 0x7c74db48, 0x7c6ef976, 0x7c6912d7,

+  0x7c63276d, 0x7c5d3737,

+  0x7c574236, 0x7c514869, 0x7c4b49d2, 0x7c45466f, 0x7c3f3e42, 0x7c39314b,

+  0x7c331f8a, 0x7c2d08ff,

+  0x7c26edab, 0x7c20cd8d, 0x7c1aa8a6, 0x7c147ef6, 0x7c0e507e, 0x7c081d3d,

+  0x7c01e534, 0x7bfba863,

+  0x7bf566cb, 0x7bef206b, 0x7be8d544, 0x7be28556, 0x7bdc30a1, 0x7bd5d726,

+  0x7bcf78e5, 0x7bc915dd,

+  0x7bc2ae10, 0x7bbc417e, 0x7bb5d026, 0x7baf5a09, 0x7ba8df28, 0x7ba25f82,

+  0x7b9bdb18, 0x7b9551ea,

+  0x7b8ec3f8, 0x7b883143, 0x7b8199ca, 0x7b7afd8f, 0x7b745c91, 0x7b6db6d0,

+  0x7b670c4d, 0x7b605d09,

+  0x7b59a902, 0x7b52f03a, 0x7b4c32b1, 0x7b457068, 0x7b3ea95d, 0x7b37dd92,

+  0x7b310d07, 0x7b2a37bc,

+  0x7b235db2, 0x7b1c7ee8, 0x7b159b5f, 0x7b0eb318, 0x7b07c612, 0x7b00d44d,

+  0x7af9ddcb, 0x7af2e28b,

+  0x7aebe28d, 0x7ae4ddd2, 0x7addd45b, 0x7ad6c626, 0x7acfb336, 0x7ac89b89,

+  0x7ac17f20, 0x7aba5dfc,

+  0x7ab3381d, 0x7aac0d82, 0x7aa4de2d, 0x7a9daa1d, 0x7a967153, 0x7a8f33d0,

+  0x7a87f192, 0x7a80aa9c,

+  0x7a795eec, 0x7a720e84, 0x7a6ab963, 0x7a635f8a, 0x7a5c00f9, 0x7a549db0,

+  0x7a4d35b0, 0x7a45c8f9,

+  0x7a3e578b, 0x7a36e166, 0x7a2f668c, 0x7a27e6fb, 0x7a2062b5, 0x7a18d9b9,

+  0x7a114c09, 0x7a09b9a4,

+  0x7a02228a, 0x79fa86bc, 0x79f2e63a, 0x79eb4105, 0x79e3971c, 0x79dbe880,

+  0x79d43532, 0x79cc7d31,

+  0x79c4c07e, 0x79bcff19, 0x79b53903, 0x79ad6e3c, 0x79a59ec3, 0x799dca9a,

+  0x7995f1c1, 0x798e1438,

+  0x798631ff, 0x797e4b16, 0x79765f7f, 0x796e6f39, 0x79667a44, 0x795e80a1,

+  0x79568250, 0x794e7f52,

+  0x794677a6, 0x793e6b4e, 0x79365a49, 0x792e4497, 0x79262a3a, 0x791e0b31,

+  0x7915e77c, 0x790dbf1d,

+  0x79059212, 0x78fd605d, 0x78f529fe, 0x78eceef6, 0x78e4af44, 0x78dc6ae8,

+  0x78d421e4, 0x78cbd437,

+  0x78c381e2, 0x78bb2ae5, 0x78b2cf41, 0x78aa6ef5, 0x78a20a03, 0x7899a06a,

+  0x7891322a, 0x7888bf45,

+  0x788047ba, 0x7877cb89, 0x786f4ab4, 0x7866c53a, 0x785e3b1c, 0x7855ac5a,

+  0x784d18f4, 0x784480ea,

+  0x783be43e, 0x783342ef, 0x782a9cfe, 0x7821f26b, 0x78194336, 0x78108f60,

+  0x7807d6e9, 0x77ff19d1,

+  0x77f65819, 0x77ed91c0, 0x77e4c6c9, 0x77dbf732, 0x77d322fc, 0x77ca4a27,

+  0x77c16cb4, 0x77b88aa3,

+  0x77afa3f5, 0x77a6b8a9, 0x779dc8c0, 0x7794d43b, 0x778bdb19, 0x7782dd5c,

+  0x7779db03, 0x7770d40f,

+  0x7767c880, 0x775eb857, 0x7755a394, 0x774c8a36, 0x77436c40, 0x773a49b0,

+  0x77312287, 0x7727f6c6,

+  0x771ec66e, 0x7715917d, 0x770c57f5, 0x770319d6, 0x76f9d721, 0x76f08fd5,

+  0x76e743f4, 0x76ddf37c,

+  0x76d49e70, 0x76cb44cf, 0x76c1e699, 0x76b883d0, 0x76af1c72, 0x76a5b082,

+  0x769c3ffe, 0x7692cae8,

+  0x7689513f, 0x767fd304, 0x76765038, 0x766cc8db, 0x76633ced, 0x7659ac6f,

+  0x76501760, 0x76467dc2,

+  0x763cdf94, 0x76333cd8, 0x7629958c, 0x761fe9b3, 0x7616394c, 0x760c8457,

+  0x7602cad5, 0x75f90cc7,

+  0x75ef4a2c, 0x75e58305, 0x75dbb753, 0x75d1e715, 0x75c8124d, 0x75be38fa,

+  0x75b45b1d, 0x75aa78b6,

+  0x75a091c6, 0x7596a64d, 0x758cb64c, 0x7582c1c2, 0x7578c8b0, 0x756ecb18,

+  0x7564c8f8, 0x755ac251,

+  0x7550b725, 0x7546a772, 0x753c933a, 0x75327a7d, 0x75285d3b, 0x751e3b75,

+  0x7514152b, 0x7509ea5d,

+  0x74ffbb0d, 0x74f58739, 0x74eb4ee3, 0x74e1120c, 0x74d6d0b2, 0x74cc8ad8,

+  0x74c2407d, 0x74b7f1a1,

+  0x74ad9e46, 0x74a3466b, 0x7498ea11, 0x748e8938, 0x748423e0, 0x7479ba0b,

+  0x746f4bb8, 0x7464d8e8,

+  0x745a619b, 0x744fe5d2, 0x7445658d, 0x743ae0cc, 0x74305790, 0x7425c9da,

+  0x741b37a9, 0x7410a0fe,

+  0x740605d9, 0x73fb663c, 0x73f0c226, 0x73e61997, 0x73db6c91, 0x73d0bb13,

+  0x73c6051f, 0x73bb4ab3,

+  0x73b08bd1, 0x73a5c87a, 0x739b00ad, 0x7390346b, 0x738563b5, 0x737a8e8a,

+  0x736fb4ec, 0x7364d6da,

+  0x7359f456, 0x734f0d5f, 0x734421f6, 0x7339321b, 0x732e3dcf, 0x73234512,

+  0x731847e5, 0x730d4648,

+  0x7302403c, 0x72f735c0, 0x72ec26d6, 0x72e1137d, 0x72d5fbb7, 0x72cadf83,

+  0x72bfbee3, 0x72b499d6,

+  0x72a9705c, 0x729e4277, 0x72931027, 0x7287d96c, 0x727c9e47, 0x72715eb8,

+  0x72661abf, 0x725ad25d,

+  0x724f8593, 0x72443460, 0x7238dec5, 0x722d84c4, 0x7222265b, 0x7216c38c,

+  0x720b5c57, 0x71fff0bc,

+  0x71f480bc, 0x71e90c57, 0x71dd938f, 0x71d21662, 0x71c694d2, 0x71bb0edf,

+  0x71af848a, 0x71a3f5d2,

+  0x719862b9, 0x718ccb3f, 0x71812f65, 0x71758f29, 0x7169ea8f, 0x715e4194,

+  0x7152943b, 0x7146e284,

+  0x713b2c6e, 0x712f71fb, 0x7123b32b, 0x7117effe, 0x710c2875, 0x71005c90,

+  0x70f48c50, 0x70e8b7b5,

+  0x70dcdec0, 0x70d10171, 0x70c51fc8, 0x70b939c7, 0x70ad4f6d, 0x70a160ba,

+  0x70956db1, 0x70897650,

+  0x707d7a98, 0x70717a8a, 0x70657626, 0x70596d6d, 0x704d6060, 0x70414efd,

+  0x70353947, 0x70291f3e,

+  0x701d00e1, 0x7010de32, 0x7004b731, 0x6ff88bde, 0x6fec5c3b, 0x6fe02846,

+  0x6fd3f001, 0x6fc7b36d,

+  0x6fbb728a, 0x6faf2d57, 0x6fa2e3d7, 0x6f969608, 0x6f8a43ed, 0x6f7ded84,

+  0x6f7192cf, 0x6f6533ce,

+  0x6f58d082, 0x6f4c68eb, 0x6f3ffd09, 0x6f338cde, 0x6f271868, 0x6f1a9faa,

+  0x6f0e22a3, 0x6f01a155,

+  0x6ef51bbe, 0x6ee891e1, 0x6edc03bc, 0x6ecf7152, 0x6ec2daa2, 0x6eb63fad,

+  0x6ea9a073, 0x6e9cfcf5,

+  0x6e905534, 0x6e83a92f, 0x6e76f8e7, 0x6e6a445d, 0x6e5d8b91, 0x6e50ce84,

+  0x6e440d37, 0x6e3747a9,

+  0x6e2a7ddb, 0x6e1dafce, 0x6e10dd82, 0x6e0406f8, 0x6df72c30, 0x6dea4d2b,

+  0x6ddd69e9, 0x6dd0826a,

+  0x6dc396b0, 0x6db6a6ba, 0x6da9b28a, 0x6d9cba1f, 0x6d8fbd7a, 0x6d82bc9d,

+  0x6d75b786, 0x6d68ae37,

+  0x6d5ba0b0, 0x6d4e8ef2, 0x6d4178fd, 0x6d345ed1, 0x6d274070, 0x6d1a1dda,

+  0x6d0cf70f, 0x6cffcc0f,

+  0x6cf29cdc, 0x6ce56975, 0x6cd831dc, 0x6ccaf610, 0x6cbdb613, 0x6cb071e4,

+  0x6ca32985, 0x6c95dcf6,

+  0x6c888c36, 0x6c7b3748, 0x6c6dde2b, 0x6c6080e0, 0x6c531f67, 0x6c45b9c1,

+  0x6c384fef, 0x6c2ae1f0,

+  0x6c1d6fc6, 0x6c0ff971, 0x6c027ef1, 0x6bf50047, 0x6be77d74, 0x6bd9f677,

+  0x6bcc6b53, 0x6bbedc06,

+  0x6bb14892, 0x6ba3b0f7, 0x6b961536, 0x6b88754f, 0x6b7ad142, 0x6b6d2911,

+  0x6b5f7cbc, 0x6b51cc42,

+  0x6b4417a6, 0x6b365ee7, 0x6b28a206, 0x6b1ae103, 0x6b0d1bdf, 0x6aff529a,

+  0x6af18536, 0x6ae3b3b2,

+  0x6ad5de0f, 0x6ac8044e, 0x6aba266e, 0x6aac4472, 0x6a9e5e58, 0x6a907423,

+  0x6a8285d1, 0x6a749365,

+  0x6a669cdd, 0x6a58a23c, 0x6a4aa381, 0x6a3ca0ad, 0x6a2e99c0, 0x6a208ebb,

+  0x6a127f9f, 0x6a046c6c,

+  0x69f65523, 0x69e839c4, 0x69da1a50, 0x69cbf6c7, 0x69bdcf29, 0x69afa378,

+  0x69a173b5, 0x69933fde,

+  0x698507f6, 0x6976cbfc, 0x69688bf1, 0x695a47d6, 0x694bffab, 0x693db371,

+  0x692f6328, 0x69210ed1,

+  0x6912b66c, 0x690459fb, 0x68f5f97d, 0x68e794f3, 0x68d92c5d, 0x68cabfbd,

+  0x68bc4f13, 0x68adda5f,

+  0x689f61a1, 0x6890e4dc, 0x6882640e, 0x6873df38, 0x6865565c, 0x6856c979,

+  0x68483891, 0x6839a3a4,

+  0x682b0ab1, 0x681c6dbb, 0x680dccc1, 0x67ff27c4, 0x67f07ec5, 0x67e1d1c4,

+  0x67d320c1, 0x67c46bbe,

+  0x67b5b2bb, 0x67a6f5b8, 0x679834b6, 0x67896fb6, 0x677aa6b8, 0x676bd9bd,

+  0x675d08c4, 0x674e33d0,

+  0x673f5ae0, 0x67307df5, 0x67219d10, 0x6712b831, 0x6703cf58, 0x66f4e287,

+  0x66e5f1be, 0x66d6fcfd,

+  0x66c80445, 0x66b90797, 0x66aa06f3, 0x669b0259, 0x668bf9cb, 0x667ced49,

+  0x666ddcd3, 0x665ec86b,

+  0x664fb010, 0x664093c3, 0x66317385, 0x66224f56, 0x66132738, 0x6603fb2a,

+  0x65f4cb2d, 0x65e59742,

+  0x65d65f69, 0x65c723a3, 0x65b7e3f1, 0x65a8a052, 0x659958c9, 0x658a0d54,

+  0x657abdf6, 0x656b6aae,

+  0x655c137d, 0x654cb863, 0x653d5962, 0x652df679, 0x651e8faa, 0x650f24f5,

+  0x64ffb65b, 0x64f043dc,

+  0x64e0cd78, 0x64d15331, 0x64c1d507, 0x64b252fa, 0x64a2cd0c, 0x6493433c,

+  0x6483b58c, 0x647423fb,

+  0x64648e8c, 0x6454f53d, 0x64455810, 0x6435b706, 0x6426121e, 0x6416695a,

+  0x6406bcba, 0x63f70c3f,

+  0x63e757ea, 0x63d79fba, 0x63c7e3b1, 0x63b823cf, 0x63a86015, 0x63989884,

+  0x6388cd1b, 0x6378fddc,

+  0x63692ac7, 0x635953dd, 0x6349791f, 0x63399a8d, 0x6329b827, 0x6319d1ef,

+  0x6309e7e4, 0x62f9fa09,

+  0x62ea085c, 0x62da12df, 0x62ca1992, 0x62ba1c77, 0x62aa1b8d, 0x629a16d5,

+  0x628a0e50, 0x627a01fe,

+  0x6269f1e1, 0x6259ddf8, 0x6249c645, 0x6239aac7, 0x62298b81, 0x62196871,

+  0x62094199, 0x61f916f9,

+  0x61e8e893, 0x61d8b666, 0x61c88074, 0x61b846bc, 0x61a80940, 0x6197c800,

+  0x618782fd, 0x61773a37,

+  0x6166edb0, 0x61569d67, 0x6146495d, 0x6135f193, 0x6125960a, 0x611536c2,

+  0x6104d3bc, 0x60f46cf9,

+  0x60e40278, 0x60d3943b, 0x60c32243, 0x60b2ac8f, 0x60a23322, 0x6091b5fa,

+  0x60813519, 0x6070b080,

+  0x6060282f, 0x604f9c27, 0x603f0c69, 0x602e78f4, 0x601de1ca, 0x600d46ec,

+  0x5ffca859, 0x5fec0613,

+  0x5fdb601b, 0x5fcab670, 0x5fba0914, 0x5fa95807, 0x5f98a34a, 0x5f87eade,

+  0x5f772ec2, 0x5f666ef9,

+  0x5f55ab82, 0x5f44e45e, 0x5f34198e, 0x5f234b12, 0x5f1278eb, 0x5f01a31a,

+  0x5ef0c99f, 0x5edfec7b,

+  0x5ecf0baf, 0x5ebe273b, 0x5ead3f1f, 0x5e9c535e, 0x5e8b63f7, 0x5e7a70ea,

+  0x5e697a39, 0x5e587fe5,

+  0x5e4781ed, 0x5e368053, 0x5e257b17, 0x5e147239, 0x5e0365bb, 0x5df2559e,

+  0x5de141e1, 0x5dd02a85,

+  0x5dbf0f8c, 0x5dadf0f5, 0x5d9ccec2, 0x5d8ba8f3, 0x5d7a7f88, 0x5d695283,

+  0x5d5821e4, 0x5d46edac,

+  0x5d35b5db, 0x5d247a72, 0x5d133b72, 0x5d01f8dc, 0x5cf0b2af, 0x5cdf68ed,

+  0x5cce1b97, 0x5cbccaac,

+  0x5cab762f, 0x5c9a1e1e, 0x5c88c27c, 0x5c776348, 0x5c660084, 0x5c549a30,

+  0x5c43304d, 0x5c31c2db,

+  0x5c2051db, 0x5c0edd4e, 0x5bfd6534, 0x5bebe98e, 0x5bda6a5d, 0x5bc8e7a2,

+  0x5bb7615d, 0x5ba5d78e,

+  0x5b944a37, 0x5b82b958, 0x5b7124f2, 0x5b5f8d06, 0x5b4df193, 0x5b3c529c,

+  0x5b2ab020, 0x5b190a20,

+  0x5b07609d, 0x5af5b398, 0x5ae40311, 0x5ad24f09, 0x5ac09781, 0x5aaedc78,

+  0x5a9d1df1, 0x5a8b5bec,

+  0x5a799669, 0x5a67cd69, 0x5a5600ec, 0x5a4430f5, 0x5a325d82, 0x5a208695,

+  0x5a0eac2e, 0x59fcce4f,

+  0x59eaecf8, 0x59d90829, 0x59c71fe3, 0x59b53427, 0x59a344f6, 0x59915250,

+  0x597f5c36, 0x596d62a9,

+  0x595b65aa, 0x59496538, 0x59376155, 0x59255a02, 0x59134f3e, 0x5901410c,

+  0x58ef2f6b, 0x58dd1a5d,

+  0x58cb01e1, 0x58b8e5f9, 0x58a6c6a5, 0x5894a3e7, 0x58827dbe, 0x5870542c,

+  0x585e2730, 0x584bf6cd,

+  0x5839c302, 0x58278bd1, 0x58155139, 0x5803133c, 0x57f0d1da, 0x57de8d15,

+  0x57cc44ec, 0x57b9f960,

+  0x57a7aa73, 0x57955825, 0x57830276, 0x5770a968, 0x575e4cfa, 0x574bed2f,

+  0x57398a05, 0x5727237f,

+  0x5714b99d, 0x57024c5f, 0x56efdbc7, 0x56dd67d4, 0x56caf088, 0x56b875e4,

+  0x56a5f7e7, 0x56937694,

+  0x5680f1ea, 0x566e69ea, 0x565bde95, 0x56494fec, 0x5636bdef, 0x5624289f,

+  0x56118ffe, 0x55fef40a,

+  0x55ec54c6, 0x55d9b232, 0x55c70c4f, 0x55b4631d, 0x55a1b69d, 0x558f06d0,

+  0x557c53b6, 0x55699d51,

+  0x5556e3a1, 0x554426a7, 0x55316663, 0x551ea2d6, 0x550bdc01, 0x54f911e5,

+  0x54e64482, 0x54d373d9,

+  0x54c09feb, 0x54adc8b8, 0x549aee42, 0x54881089, 0x54752f8d, 0x54624b50,

+  0x544f63d2, 0x543c7914,

+  0x54298b17, 0x541699db, 0x5403a561, 0x53f0adaa, 0x53ddb2b6, 0x53cab486,

+  0x53b7b31c, 0x53a4ae77,

+  0x5391a699, 0x537e9b82, 0x536b8d33, 0x53587bad, 0x534566f0, 0x53324efd,

+  0x531f33d5, 0x530c1579,

+  0x52f8f3e9, 0x52e5cf27, 0x52d2a732, 0x52bf7c0b, 0x52ac4db4, 0x52991c2d,

+  0x5285e777, 0x5272af92,

+  0x525f7480, 0x524c3640, 0x5238f4d4, 0x5225b03d, 0x5212687b, 0x51ff1d8f,

+  0x51ebcf7a, 0x51d87e3c,

+  0x51c529d7, 0x51b1d24a, 0x519e7797, 0x518b19bf, 0x5177b8c2, 0x516454a0,

+  0x5150ed5c, 0x513d82f4,

+  0x512a156b, 0x5116a4c1, 0x510330f7, 0x50efba0d, 0x50dc4005, 0x50c8c2de,

+  0x50b5429a, 0x50a1bf39,

+  0x508e38bd, 0x507aaf25, 0x50672273, 0x505392a8, 0x503fffc4, 0x502c69c8,

+  0x5018d0b4, 0x5005348a,

+  0x4ff1954b, 0x4fddf2f6, 0x4fca4d8d, 0x4fb6a510, 0x4fa2f981, 0x4f8f4ae0,

+  0x4f7b992d, 0x4f67e46a,

+  0x4f542c98, 0x4f4071b6, 0x4f2cb3c7, 0x4f18f2c9, 0x4f052ec0, 0x4ef167aa,

+  0x4edd9d89, 0x4ec9d05e,

+  0x4eb60029, 0x4ea22ceb, 0x4e8e56a5, 0x4e7a7d58, 0x4e66a105, 0x4e52c1ab,

+  0x4e3edf4d, 0x4e2af9ea,

+  0x4e171184, 0x4e03261b, 0x4def37b0, 0x4ddb4644, 0x4dc751d8, 0x4db35a6c,

+  0x4d9f6001, 0x4d8b6298,

+  0x4d776231, 0x4d635ece, 0x4d4f5870, 0x4d3b4f16, 0x4d2742c2, 0x4d133374,

+  0x4cff212e, 0x4ceb0bf0,

+  0x4cd6f3bb, 0x4cc2d88f, 0x4caeba6e, 0x4c9a9958, 0x4c86754e, 0x4c724e50,

+  0x4c5e2460, 0x4c49f77f,

+  0x4c35c7ac, 0x4c2194e9, 0x4c0d5f37, 0x4bf92697, 0x4be4eb08, 0x4bd0ac8d,

+  0x4bbc6b25, 0x4ba826d1,

+  0x4b93df93, 0x4b7f956b, 0x4b6b485a, 0x4b56f861, 0x4b42a580, 0x4b2e4fb8,

+  0x4b19f70a, 0x4b059b77,

+  0x4af13d00, 0x4adcdba5, 0x4ac87767, 0x4ab41046, 0x4a9fa645, 0x4a8b3963,

+  0x4a76c9a2, 0x4a625701,

+  0x4a4de182, 0x4a396926, 0x4a24edee, 0x4a106fda, 0x49fbeeea, 0x49e76b21,

+  0x49d2e47e, 0x49be5b02,

+  0x49a9ceaf, 0x49953f84, 0x4980ad84, 0x496c18ae, 0x49578103, 0x4942e684,

+  0x492e4933, 0x4919a90f,

+  0x4905061a, 0x48f06054, 0x48dbb7be, 0x48c70c59, 0x48b25e25, 0x489dad25,

+  0x4888f957, 0x487442be,

+  0x485f8959, 0x484acd2a, 0x48360e32, 0x48214c71, 0x480c87e8, 0x47f7c099,

+  0x47e2f682, 0x47ce29a7,

+  0x47b95a06, 0x47a487a2, 0x478fb27b, 0x477ada91, 0x4765ffe6, 0x4751227a,

+  0x473c424e, 0x47275f63,

+  0x471279ba, 0x46fd9154, 0x46e8a631, 0x46d3b852, 0x46bec7b8, 0x46a9d464,

+  0x4694de56, 0x467fe590,

+  0x466aea12, 0x4655ebdd, 0x4640eaf2, 0x462be751, 0x4616e0fc, 0x4601d7f3,

+  0x45eccc37, 0x45d7bdc9,

+  0x45c2acaa, 0x45ad98da, 0x4598825a, 0x4583692c, 0x456e4d4f, 0x45592ec6,

+  0x45440d90, 0x452ee9ae,

+  0x4519c321, 0x450499eb, 0x44ef6e0b, 0x44da3f83, 0x44c50e53, 0x44afda7d,

+  0x449aa400, 0x44856adf,

+  0x44702f19, 0x445af0b0, 0x4445afa4, 0x44306bf6, 0x441b25a8, 0x4405dcb9,

+  0x43f0912b, 0x43db42fe,

+  0x43c5f234, 0x43b09ecc, 0x439b48c9, 0x4385f02a, 0x437094f1, 0x435b371f,

+  0x4345d6b3, 0x433073b0,

+  0x431b0e15, 0x4305a5e5, 0x42f03b1e, 0x42dacdc3, 0x42c55dd4, 0x42afeb53,

+  0x429a763f, 0x4284fe99,

+  0x426f8463, 0x425a079e, 0x42448849, 0x422f0667, 0x421981f7, 0x4203fafb,

+  0x41ee7174, 0x41d8e561,

+  0x41c356c5, 0x41adc5a0, 0x419831f3, 0x41829bbe, 0x416d0302, 0x415767c1,

+  0x4141c9fb, 0x412c29b1,

+  0x411686e4, 0x4100e194, 0x40eb39c3, 0x40d58f71, 0x40bfe29f, 0x40aa334e,

+  0x4094817f, 0x407ecd32,

+  0x40691669, 0x40535d24, 0x403da165, 0x4027e32b, 0x40122278, 0x3ffc5f4d,

+  0x3fe699aa, 0x3fd0d191,

+  0x3fbb0702, 0x3fa539fd, 0x3f8f6a85, 0x3f799899, 0x3f63c43b, 0x3f4ded6b,

+  0x3f38142a, 0x3f22387a,

+  0x3f0c5a5a, 0x3ef679cc, 0x3ee096d1, 0x3ecab169, 0x3eb4c995, 0x3e9edf57,

+  0x3e88f2ae, 0x3e73039d,

+  0x3e5d1222, 0x3e471e41, 0x3e3127f9, 0x3e1b2f4a, 0x3e053437, 0x3def36c0,

+  0x3dd936e6, 0x3dc334a9,

+  0x3dad300b, 0x3d97290b, 0x3d811fac, 0x3d6b13ee, 0x3d5505d2, 0x3d3ef559,

+  0x3d28e282, 0x3d12cd51,

+  0x3cfcb5c4, 0x3ce69bde, 0x3cd07f9f, 0x3cba6107, 0x3ca44018, 0x3c8e1cd3,

+  0x3c77f737, 0x3c61cf48,

+  0x3c4ba504, 0x3c35786d, 0x3c1f4983, 0x3c091849, 0x3bf2e4be, 0x3bdcaee3,

+  0x3bc676b9, 0x3bb03c42,

+  0x3b99ff7d, 0x3b83c06c, 0x3b6d7f10, 0x3b573b69, 0x3b40f579, 0x3b2aad3f,

+  0x3b1462be, 0x3afe15f6,

+  0x3ae7c6e7, 0x3ad17593, 0x3abb21fb, 0x3aa4cc1e, 0x3a8e7400, 0x3a78199f,

+  0x3a61bcfd, 0x3a4b5e1b,

+  0x3a34fcf9, 0x3a1e9999, 0x3a0833fc, 0x39f1cc21, 0x39db620b, 0x39c4f5ba,

+  0x39ae872f, 0x3998166a,

+  0x3981a36d, 0x396b2e38, 0x3954b6cd, 0x393e3d2c, 0x3927c155, 0x3911434b,

+  0x38fac30e, 0x38e4409e,

+  0x38cdbbfc, 0x38b7352a, 0x38a0ac29, 0x388a20f8, 0x38739399, 0x385d040d,

+  0x38467255, 0x382fde72,

+  0x38194864, 0x3802b02c, 0x37ec15cb, 0x37d57943, 0x37beda93, 0x37a839be,

+  0x379196c3, 0x377af1a3,

+  0x37644a60, 0x374da0fa, 0x3736f573, 0x372047ca, 0x37099802, 0x36f2e61a,

+  0x36dc3214, 0x36c57bf0,

+  0x36aec3b0, 0x36980954, 0x36814cde, 0x366a8e4d, 0x3653cda3, 0x363d0ae2,

+  0x36264609, 0x360f7f19,

+  0x35f8b614, 0x35e1eafa, 0x35cb1dcc, 0x35b44e8c, 0x359d7d39, 0x3586a9d5,

+  0x356fd461, 0x3558fcde,

+  0x3542234c, 0x352b47ad, 0x35146a00, 0x34fd8a48, 0x34e6a885, 0x34cfc4b7,

+  0x34b8dee1, 0x34a1f702,

+  0x348b0d1c, 0x3474212f, 0x345d333c, 0x34464345, 0x342f5149, 0x34185d4b,

+  0x3401674a, 0x33ea6f48,

+  0x33d37546, 0x33bc7944, 0x33a57b44, 0x338e7b46, 0x3377794b, 0x33607554,

+  0x33496f62, 0x33326776,

+  0x331b5d91, 0x330451b3, 0x32ed43de, 0x32d63412, 0x32bf2250, 0x32a80e99,

+  0x3290f8ef, 0x3279e151,

+  0x3262c7c1, 0x324bac40, 0x32348ecf, 0x321d6f6e, 0x32064e1e, 0x31ef2ae1,

+  0x31d805b7, 0x31c0dea1,

+  0x31a9b5a0, 0x31928ab4, 0x317b5de0, 0x31642f23, 0x314cfe7f, 0x3135cbf4,

+  0x311e9783, 0x3107612e,

+  0x30f028f4, 0x30d8eed8, 0x30c1b2da, 0x30aa74fa, 0x3093353a, 0x307bf39b,

+  0x3064b01d, 0x304d6ac1,

+  0x30362389, 0x301eda75, 0x30078f86, 0x2ff042bd, 0x2fd8f41b, 0x2fc1a3a0,

+  0x2faa514f, 0x2f92fd26,

+  0x2f7ba729, 0x2f644f56, 0x2f4cf5b0, 0x2f359a37, 0x2f1e3ced, 0x2f06ddd1,

+  0x2eef7ce5, 0x2ed81a29,

+  0x2ec0b5a0, 0x2ea94f49, 0x2e91e725, 0x2e7a7d36, 0x2e63117c, 0x2e4ba3f8,

+  0x2e3434ac, 0x2e1cc397,

+  0x2e0550bb, 0x2deddc19, 0x2dd665b2, 0x2dbeed86, 0x2da77397, 0x2d8ff7e5,

+  0x2d787a72, 0x2d60fb3e,

+  0x2d497a4a, 0x2d31f797, 0x2d1a7325, 0x2d02ecf7, 0x2ceb650d, 0x2cd3db67,

+  0x2cbc5006, 0x2ca4c2ed,

+  0x2c8d341a, 0x2c75a390, 0x2c5e114f, 0x2c467d58, 0x2c2ee7ad, 0x2c17504d,

+  0x2bffb73a, 0x2be81c74,

+  0x2bd07ffe, 0x2bb8e1d7, 0x2ba14200, 0x2b89a07b, 0x2b71fd48, 0x2b5a5868,

+  0x2b42b1dd, 0x2b2b09a6,

+  0x2b135fc6, 0x2afbb43c, 0x2ae4070a, 0x2acc5831, 0x2ab4a7b1, 0x2a9cf58c,

+  0x2a8541c3, 0x2a6d8c55,

+  0x2a55d545, 0x2a3e1c93, 0x2a266240, 0x2a0ea64d, 0x29f6e8bb, 0x29df298b,

+  0x29c768be, 0x29afa654,

+  0x2997e24f, 0x29801caf, 0x29685576, 0x29508ca4, 0x2938c23a, 0x2920f63a,

+  0x290928a3, 0x28f15978,

+  0x28d988b8, 0x28c1b666, 0x28a9e281, 0x28920d0a, 0x287a3604, 0x28625d6d,

+  0x284a8349, 0x2832a796,

+  0x281aca57, 0x2802eb8c, 0x27eb0b36, 0x27d32956, 0x27bb45ed, 0x27a360fc,

+  0x278b7a84, 0x27739285,

+  0x275ba901, 0x2743bdf9, 0x272bd16d, 0x2713e35f, 0x26fbf3ce, 0x26e402bd,

+  0x26cc102d, 0x26b41c1d,

+  0x269c268f, 0x26842f84, 0x266c36fe, 0x26543cfb, 0x263c417f, 0x26244489,

+  0x260c461b, 0x25f44635,

+  0x25dc44d9, 0x25c44207, 0x25ac3dc0, 0x25943806, 0x257c30d8, 0x25642839,

+  0x254c1e28, 0x253412a8,

+  0x251c05b8, 0x2503f75a, 0x24ebe78f, 0x24d3d657, 0x24bbc3b4, 0x24a3afa6,

+  0x248b9a2f, 0x2473834f,

+  0x245b6b07, 0x24435158, 0x242b3644, 0x241319ca, 0x23fafbec, 0x23e2dcac,

+  0x23cabc09, 0x23b29a05,

+  0x239a76a0, 0x238251dd, 0x236a2bba, 0x2352043b, 0x2339db5e, 0x2321b126,

+  0x23098593, 0x22f158a7,

+  0x22d92a61, 0x22c0fac4, 0x22a8c9cf, 0x22909785, 0x227863e5, 0x22602ef1,

+  0x2247f8aa, 0x222fc111,

+  0x22178826, 0x21ff4dea, 0x21e71260, 0x21ced586, 0x21b6975f, 0x219e57eb,

+  0x2186172b, 0x216dd521,

+  0x215591cc, 0x213d4d2f, 0x21250749, 0x210cc01d, 0x20f477aa, 0x20dc2df2,

+  0x20c3e2f5, 0x20ab96b5,

+  0x20934933, 0x207afa6f, 0x2062aa6b, 0x204a5927, 0x203206a4, 0x2019b2e4,

+  0x20015de7, 0x1fe907ae,

+  0x1fd0b03a, 0x1fb8578b, 0x1f9ffda4, 0x1f87a285, 0x1f6f462f, 0x1f56e8a2,

+  0x1f3e89e0, 0x1f2629ea,

+  0x1f0dc8c0, 0x1ef56664, 0x1edd02d6, 0x1ec49e17, 0x1eac3829, 0x1e93d10c,

+  0x1e7b68c2, 0x1e62ff4a,

+  0x1e4a94a7, 0x1e3228d9, 0x1e19bbe0, 0x1e014dbf, 0x1de8de75, 0x1dd06e04,

+  0x1db7fc6d, 0x1d9f89b1,

+  0x1d8715d0, 0x1d6ea0cc, 0x1d562aa6, 0x1d3db35e, 0x1d253af5, 0x1d0cc16c,

+  0x1cf446c5, 0x1cdbcb00,

+  0x1cc34e1f, 0x1caad021, 0x1c925109, 0x1c79d0d6, 0x1c614f8b, 0x1c48cd27,

+  0x1c3049ac, 0x1c17c51b,

+  0x1bff3f75, 0x1be6b8ba, 0x1bce30ec, 0x1bb5a80c, 0x1b9d1e1a, 0x1b849317,

+  0x1b6c0705, 0x1b5379e5,

+  0x1b3aebb6, 0x1b225c7b, 0x1b09cc34, 0x1af13ae3, 0x1ad8a887, 0x1ac01522,

+  0x1aa780b6, 0x1a8eeb42,

+  0x1a7654c8, 0x1a5dbd49, 0x1a4524c6, 0x1a2c8b3f, 0x1a13f0b6, 0x19fb552c,

+  0x19e2b8a2, 0x19ca1b17,

+  0x19b17c8f, 0x1998dd09, 0x19803c86, 0x19679b07, 0x194ef88e, 0x1936551b,

+  0x191db0af, 0x19050b4b,

+  0x18ec64f0, 0x18d3bda0, 0x18bb155a, 0x18a26c20, 0x1889c1f3, 0x187116d4,

+  0x18586ac3, 0x183fbdc3,

+  0x18270fd3, 0x180e60f4, 0x17f5b129, 0x17dd0070, 0x17c44ecd, 0x17ab9c3e,

+  0x1792e8c6, 0x177a3466,

+  0x17617f1d, 0x1748c8ee, 0x173011d9, 0x171759df, 0x16fea102, 0x16e5e741,

+  0x16cd2c9f, 0x16b4711b,

+  0x169bb4b7, 0x1682f774, 0x166a3953, 0x16517a55, 0x1638ba7a, 0x161ff9c4,

+  0x16073834, 0x15ee75cb,

+  0x15d5b288, 0x15bcee6f, 0x15a4297f, 0x158b63b9, 0x15729d1f, 0x1559d5b1,

+  0x15410d70, 0x1528445d,

+  0x150f7a7a, 0x14f6afc7, 0x14dde445, 0x14c517f4, 0x14ac4ad7, 0x14937cee,

+  0x147aae3a, 0x1461debc,

+  0x14490e74, 0x14303d65, 0x14176b8e, 0x13fe98f1, 0x13e5c58e, 0x13ccf167,

+  0x13b41c7d, 0x139b46d0,

+  0x13827062, 0x13699933, 0x1350c144, 0x1337e897, 0x131f0f2c, 0x13063505,

+  0x12ed5a21, 0x12d47e83,

+  0x12bba22b, 0x12a2c51b, 0x1289e752, 0x127108d2, 0x1258299c, 0x123f49b2,

+  0x12266913, 0x120d87c1,

+  0x11f4a5bd, 0x11dbc307, 0x11c2dfa2, 0x11a9fb8d, 0x119116c9, 0x11783159,

+  0x115f4b3c, 0x11466473,

+  0x112d7d00, 0x111494e4, 0x10fbac1e, 0x10e2c2b2, 0x10c9d89e, 0x10b0ede5,

+  0x10980287, 0x107f1686,

+  0x106629e1, 0x104d3c9b, 0x10344eb4, 0x101b602d, 0x10027107, 0xfe98143,

+  0xfd090e1, 0xfb79fe4,

+  0xf9eae4c, 0xf85bc19, 0xf6cc94e, 0xf53d5ea, 0xf3ae1ee, 0xf21ed5d, 0xf08f836,

+  0xef0027b,

+  0xed70c2c, 0xebe154b, 0xea51dd8, 0xe8c25d5, 0xe732d42, 0xe5a3421, 0xe413a72,

+  0xe284036,

+  0xe0f456f, 0xdf64a1c, 0xddd4e40, 0xdc451dc, 0xdab54ef, 0xd92577b, 0xd795982,

+  0xd605b03,

+  0xd475c00, 0xd2e5c7b, 0xd155c73, 0xcfc5bea, 0xce35ae1, 0xcca5959, 0xcb15752,

+  0xc9854cf,

+  0xc7f51cf, 0xc664e53, 0xc4d4a5d, 0xc3445ee, 0xc1b4107, 0xc023ba7, 0xbe935d2,

+  0xbd02f87,

+  0xbb728c7, 0xb9e2193, 0xb8519ed, 0xb6c11d5, 0xb53094d, 0xb3a0055, 0xb20f6ee,

+  0xb07ed19,

+  0xaeee2d7, 0xad5d829, 0xabccd11, 0xaa3c18e, 0xa8ab5a2, 0xa71a94f, 0xa589c94,

+  0xa3f8f73,

+  0xa2681ed, 0xa0d7403, 0x9f465b5, 0x9db5706, 0x9c247f5, 0x9a93884, 0x99028b3,

+  0x9771884,

+  0x95e07f8, 0x944f70f, 0x92be5ca, 0x912d42c, 0x8f9c233, 0x8e0afe2, 0x8c79d3a,

+  0x8ae8a3a,

+  0x89576e5, 0x87c633c, 0x8634f3e, 0x84a3aee, 0x831264c, 0x8181159, 0x7fefc16,

+  0x7e5e685,

+  0x7ccd0a5, 0x7b3ba78, 0x79aa400, 0x7818d3c, 0x768762e, 0x74f5ed7, 0x7364738,

+  0x71d2f52,

+  0x7041726, 0x6eafeb4, 0x6d1e5fe, 0x6b8cd05, 0x69fb3c9, 0x6869a4c, 0x66d808f,

+  0x6546692,

+  0x63b4c57, 0x62231de, 0x6091729, 0x5effc38, 0x5d6e10c, 0x5bdc5a7, 0x5a4aa09,

+  0x58b8e34,

+  0x5727228, 0x55955e6, 0x540396f, 0x5271cc4, 0x50dffe7, 0x4f4e2d8, 0x4dbc597,

+  0x4c2a827,

+  0x4a98a88, 0x4906cbb, 0x4774ec1, 0x45e309a, 0x4451249, 0x42bf3cd, 0x412d528,

+  0x3f9b65b,

+  0x3e09767, 0x3c7784d, 0x3ae590d, 0x39539a9, 0x37c1a22, 0x362fa78, 0x349daac,

+  0x330bac1,

+  0x3179ab5, 0x2fe7a8c, 0x2e55a44, 0x2cc39e1, 0x2b31961, 0x299f8c7, 0x280d813,

+  0x267b747,

+  0x24e9662, 0x2357567, 0x21c5457, 0x2033331, 0x1ea11f7, 0x1d0f0ab, 0x1b7cf4d,

+  0x19eaddd,

+  0x1858c5e, 0x16c6ad0, 0x1534934, 0x13a278a, 0x12105d5, 0x107e414, 0xeec249,

+  0xd5a075,

+  0xbc7e99, 0xa35cb5, 0x8a3acb, 0x7118dc, 0x57f6e9, 0x3ed4f2, 0x25b2f8,

+  0xc90fe,

+

+};

+

+static const q31_t cos_factorsQ31_8192[8192] = {

+  0x7ffffff6, 0x7fffffa7, 0x7fffff09, 0x7ffffe1c, 0x7ffffce1, 0x7ffffb56,

+    0x7ffff97c, 0x7ffff753,

+  0x7ffff4dc, 0x7ffff215, 0x7fffef00, 0x7fffeb9b, 0x7fffe7e8, 0x7fffe3e5,

+    0x7fffdf94, 0x7fffdaf3,

+  0x7fffd604, 0x7fffd0c6, 0x7fffcb39, 0x7fffc55c, 0x7fffbf31, 0x7fffb8b7,

+    0x7fffb1ee, 0x7fffaad6,

+  0x7fffa36f, 0x7fff9bb9, 0x7fff93b4, 0x7fff8b61, 0x7fff82be, 0x7fff79cc,

+    0x7fff708b, 0x7fff66fc,

+  0x7fff5d1d, 0x7fff52ef, 0x7fff4873, 0x7fff3da8, 0x7fff328d, 0x7fff2724,

+    0x7fff1b6b, 0x7fff0f64,

+  0x7fff030e, 0x7ffef669, 0x7ffee975, 0x7ffedc31, 0x7ffece9f, 0x7ffec0be,

+    0x7ffeb28e, 0x7ffea40f,

+  0x7ffe9542, 0x7ffe8625, 0x7ffe76b9, 0x7ffe66fe, 0x7ffe56f5, 0x7ffe469c,

+    0x7ffe35f4, 0x7ffe24fe,

+  0x7ffe13b8, 0x7ffe0224, 0x7ffdf040, 0x7ffdde0e, 0x7ffdcb8d, 0x7ffdb8bc,

+    0x7ffda59d, 0x7ffd922f,

+  0x7ffd7e72, 0x7ffd6a66, 0x7ffd560b, 0x7ffd4161, 0x7ffd2c68, 0x7ffd1720,

+    0x7ffd0189, 0x7ffceba4,

+  0x7ffcd56f, 0x7ffcbeeb, 0x7ffca819, 0x7ffc90f7, 0x7ffc7987, 0x7ffc61c7,

+    0x7ffc49b9, 0x7ffc315b,

+  0x7ffc18af, 0x7ffbffb4, 0x7ffbe66a, 0x7ffbccd0, 0x7ffbb2e8, 0x7ffb98b1,

+    0x7ffb7e2b, 0x7ffb6356,

+  0x7ffb4833, 0x7ffb2cc0, 0x7ffb10fe, 0x7ffaf4ed, 0x7ffad88e, 0x7ffabbdf,

+    0x7ffa9ee2, 0x7ffa8195,

+  0x7ffa63fa, 0x7ffa460f, 0x7ffa27d6, 0x7ffa094e, 0x7ff9ea76, 0x7ff9cb50,

+    0x7ff9abdb, 0x7ff98c17,

+  0x7ff96c04, 0x7ff94ba2, 0x7ff92af1, 0x7ff909f2, 0x7ff8e8a3, 0x7ff8c705,

+    0x7ff8a519, 0x7ff882dd,

+  0x7ff86053, 0x7ff83d79, 0x7ff81a51, 0x7ff7f6da, 0x7ff7d313, 0x7ff7aefe,

+    0x7ff78a9a, 0x7ff765e7,

+  0x7ff740e5, 0x7ff71b94, 0x7ff6f5f4, 0x7ff6d005, 0x7ff6a9c8, 0x7ff6833b,

+    0x7ff65c5f, 0x7ff63535,

+  0x7ff60dbb, 0x7ff5e5f3, 0x7ff5bddc, 0x7ff59576, 0x7ff56cc0, 0x7ff543bc,

+    0x7ff51a69, 0x7ff4f0c7,

+  0x7ff4c6d6, 0x7ff49c96, 0x7ff47208, 0x7ff4472a, 0x7ff41bfd, 0x7ff3f082,

+    0x7ff3c4b7, 0x7ff3989e,

+  0x7ff36c36, 0x7ff33f7e, 0x7ff31278, 0x7ff2e523, 0x7ff2b77f, 0x7ff2898c,

+    0x7ff25b4a, 0x7ff22cb9,

+  0x7ff1fdd9, 0x7ff1ceab, 0x7ff19f2d, 0x7ff16f61, 0x7ff13f45, 0x7ff10edb,

+    0x7ff0de22, 0x7ff0ad19,

+  0x7ff07bc2, 0x7ff04a1c, 0x7ff01827, 0x7fefe5e4, 0x7fefb351, 0x7fef806f,

+    0x7fef4d3e, 0x7fef19bf,

+  0x7feee5f0, 0x7feeb1d3, 0x7fee7d67, 0x7fee48ac, 0x7fee13a1, 0x7fedde48,

+    0x7feda8a0, 0x7fed72aa,

+  0x7fed3c64, 0x7fed05cf, 0x7fecceec, 0x7fec97b9, 0x7fec6038, 0x7fec2867,

+    0x7febf048, 0x7febb7da,

+  0x7feb7f1d, 0x7feb4611, 0x7feb0cb6, 0x7fead30c, 0x7fea9914, 0x7fea5ecc,

+    0x7fea2436, 0x7fe9e950,

+  0x7fe9ae1c, 0x7fe97299, 0x7fe936c7, 0x7fe8faa6, 0x7fe8be36, 0x7fe88177,

+    0x7fe84469, 0x7fe8070d,

+  0x7fe7c961, 0x7fe78b67, 0x7fe74d1e, 0x7fe70e85, 0x7fe6cf9e, 0x7fe69068,

+    0x7fe650e3, 0x7fe61110,

+  0x7fe5d0ed, 0x7fe5907b, 0x7fe54fbb, 0x7fe50eac, 0x7fe4cd4d, 0x7fe48ba0,

+    0x7fe449a4, 0x7fe40759,

+  0x7fe3c4bf, 0x7fe381d7, 0x7fe33e9f, 0x7fe2fb19, 0x7fe2b743, 0x7fe2731f,

+    0x7fe22eac, 0x7fe1e9ea,

+  0x7fe1a4d9, 0x7fe15f79, 0x7fe119cb, 0x7fe0d3cd, 0x7fe08d81, 0x7fe046e5,

+    0x7fdffffb, 0x7fdfb8c2,

+  0x7fdf713a, 0x7fdf2963, 0x7fdee13e, 0x7fde98c9, 0x7fde5006, 0x7fde06f3,

+    0x7fddbd92, 0x7fdd73e2,

+  0x7fdd29e3, 0x7fdcdf95, 0x7fdc94f9, 0x7fdc4a0d, 0x7fdbfed3, 0x7fdbb349,

+    0x7fdb6771, 0x7fdb1b4a,

+  0x7fdaced4, 0x7fda820f, 0x7fda34fc, 0x7fd9e799, 0x7fd999e8, 0x7fd94be8,

+    0x7fd8fd98, 0x7fd8aefa,

+  0x7fd8600e, 0x7fd810d2, 0x7fd7c147, 0x7fd7716e, 0x7fd72146, 0x7fd6d0cf,

+    0x7fd68009, 0x7fd62ef4,

+  0x7fd5dd90, 0x7fd58bdd, 0x7fd539dc, 0x7fd4e78c, 0x7fd494ed, 0x7fd441ff,

+    0x7fd3eec2, 0x7fd39b36,

+  0x7fd3475c, 0x7fd2f332, 0x7fd29eba, 0x7fd249f3, 0x7fd1f4dd, 0x7fd19f78,

+    0x7fd149c5, 0x7fd0f3c2,

+  0x7fd09d71, 0x7fd046d1, 0x7fcfefe2, 0x7fcf98a4, 0x7fcf4117, 0x7fcee93c,

+    0x7fce9112, 0x7fce3898,

+  0x7fcddfd0, 0x7fcd86b9, 0x7fcd2d54, 0x7fccd39f, 0x7fcc799c, 0x7fcc1f4a,

+    0x7fcbc4a9, 0x7fcb69b9,

+  0x7fcb0e7a, 0x7fcab2ed, 0x7fca5710, 0x7fc9fae5, 0x7fc99e6b, 0x7fc941a2,

+    0x7fc8e48b, 0x7fc88724,

+  0x7fc8296f, 0x7fc7cb6b, 0x7fc76d18, 0x7fc70e76, 0x7fc6af86, 0x7fc65046,

+    0x7fc5f0b8, 0x7fc590db,

+  0x7fc530af, 0x7fc4d035, 0x7fc46f6b, 0x7fc40e53, 0x7fc3acec, 0x7fc34b36,

+    0x7fc2e931, 0x7fc286de,

+  0x7fc2243b, 0x7fc1c14a, 0x7fc15e0a, 0x7fc0fa7b, 0x7fc0969e, 0x7fc03271,

+    0x7fbfcdf6, 0x7fbf692c,

+  0x7fbf0414, 0x7fbe9eac, 0x7fbe38f6, 0x7fbdd2f0, 0x7fbd6c9c, 0x7fbd05fa,

+    0x7fbc9f08, 0x7fbc37c8,

+  0x7fbbd039, 0x7fbb685b, 0x7fbb002e, 0x7fba97b2, 0x7fba2ee8, 0x7fb9c5cf,

+    0x7fb95c67, 0x7fb8f2b0,

+  0x7fb888ab, 0x7fb81e57, 0x7fb7b3b4, 0x7fb748c2, 0x7fb6dd81, 0x7fb671f2,

+    0x7fb60614, 0x7fb599e7,

+  0x7fb52d6b, 0x7fb4c0a1, 0x7fb45387, 0x7fb3e61f, 0x7fb37869, 0x7fb30a63,

+    0x7fb29c0f, 0x7fb22d6c,

+  0x7fb1be7a, 0x7fb14f39, 0x7fb0dfaa, 0x7fb06fcb, 0x7fafff9e, 0x7faf8f23,

+    0x7faf1e58, 0x7faead3f,

+  0x7fae3bd7, 0x7fadca20, 0x7fad581b, 0x7face5c6, 0x7fac7323, 0x7fac0031,

+    0x7fab8cf1, 0x7fab1962,

+  0x7faaa584, 0x7faa3157, 0x7fa9bcdb, 0x7fa94811, 0x7fa8d2f8, 0x7fa85d90,

+    0x7fa7e7d9, 0x7fa771d4,

+  0x7fa6fb80, 0x7fa684dd, 0x7fa60dec, 0x7fa596ac, 0x7fa51f1d, 0x7fa4a73f,

+    0x7fa42f12, 0x7fa3b697,

+  0x7fa33dcd, 0x7fa2c4b5, 0x7fa24b4d, 0x7fa1d197, 0x7fa15792, 0x7fa0dd3f,

+    0x7fa0629c, 0x7f9fe7ab,

+  0x7f9f6c6b, 0x7f9ef0dd, 0x7f9e7500, 0x7f9df8d4, 0x7f9d7c59, 0x7f9cff90,

+    0x7f9c8278, 0x7f9c0511,

+  0x7f9b875b, 0x7f9b0957, 0x7f9a8b04, 0x7f9a0c62, 0x7f998d72, 0x7f990e33,

+    0x7f988ea5, 0x7f980ec8,

+  0x7f978e9d, 0x7f970e23, 0x7f968d5b, 0x7f960c43, 0x7f958add, 0x7f950929,

+    0x7f948725, 0x7f9404d3,

+  0x7f938232, 0x7f92ff43, 0x7f927c04, 0x7f91f878, 0x7f91749c, 0x7f90f072,

+    0x7f906bf9, 0x7f8fe731,

+  0x7f8f621b, 0x7f8edcb6, 0x7f8e5702, 0x7f8dd0ff, 0x7f8d4aae, 0x7f8cc40f,

+    0x7f8c3d20, 0x7f8bb5e3,

+  0x7f8b2e57, 0x7f8aa67d, 0x7f8a1e54, 0x7f8995dc, 0x7f890d15, 0x7f888400,

+    0x7f87fa9c, 0x7f8770ea,

+  0x7f86e6e9, 0x7f865c99, 0x7f85d1fa, 0x7f85470d, 0x7f84bbd1, 0x7f843047,

+    0x7f83a46e, 0x7f831846,

+  0x7f828bcf, 0x7f81ff0a, 0x7f8171f6, 0x7f80e494, 0x7f8056e3, 0x7f7fc8e3,

+    0x7f7f3a95, 0x7f7eabf8,

+  0x7f7e1d0c, 0x7f7d8dd2, 0x7f7cfe49, 0x7f7c6e71, 0x7f7bde4b, 0x7f7b4dd6,

+    0x7f7abd13, 0x7f7a2c01,

+  0x7f799aa0, 0x7f7908f0, 0x7f7876f2, 0x7f77e4a6, 0x7f77520a, 0x7f76bf21,

+    0x7f762be8, 0x7f759861,

+  0x7f75048b, 0x7f747067, 0x7f73dbf4, 0x7f734732, 0x7f72b222, 0x7f721cc3,

+    0x7f718715, 0x7f70f119,

+  0x7f705ace, 0x7f6fc435, 0x7f6f2d4d, 0x7f6e9617, 0x7f6dfe91, 0x7f6d66be,

+    0x7f6cce9b, 0x7f6c362a,

+  0x7f6b9d6b, 0x7f6b045d, 0x7f6a6b00, 0x7f69d154, 0x7f69375a, 0x7f689d12,

+    0x7f68027b, 0x7f676795,

+  0x7f66cc61, 0x7f6630de, 0x7f65950c, 0x7f64f8ec, 0x7f645c7d, 0x7f63bfc0,

+    0x7f6322b4, 0x7f62855a,

+  0x7f61e7b1, 0x7f6149b9, 0x7f60ab73, 0x7f600cdf, 0x7f5f6dfb, 0x7f5ecec9,

+    0x7f5e2f49, 0x7f5d8f7a,

+  0x7f5cef5c, 0x7f5c4ef0, 0x7f5bae36, 0x7f5b0d2c, 0x7f5a6bd5, 0x7f59ca2e,

+    0x7f592839, 0x7f5885f6,

+  0x7f57e364, 0x7f574083, 0x7f569d54, 0x7f55f9d6, 0x7f55560a, 0x7f54b1ef,

+    0x7f540d86, 0x7f5368ce,

+  0x7f52c3c8, 0x7f521e73, 0x7f5178cf, 0x7f50d2dd, 0x7f502c9d, 0x7f4f860e,

+    0x7f4edf30, 0x7f4e3804,

+  0x7f4d9089, 0x7f4ce8c0, 0x7f4c40a8, 0x7f4b9842, 0x7f4aef8d, 0x7f4a468a,

+    0x7f499d38, 0x7f48f398,

+  0x7f4849a9, 0x7f479f6c, 0x7f46f4e0, 0x7f464a06, 0x7f459edd, 0x7f44f365,

+    0x7f44479f, 0x7f439b8b,

+  0x7f42ef28, 0x7f424277, 0x7f419577, 0x7f40e828, 0x7f403a8b, 0x7f3f8ca0,

+    0x7f3ede66, 0x7f3e2fde,

+  0x7f3d8107, 0x7f3cd1e2, 0x7f3c226e, 0x7f3b72ab, 0x7f3ac29b, 0x7f3a123b,

+    0x7f39618e, 0x7f38b091,

+  0x7f37ff47, 0x7f374dad, 0x7f369bc6, 0x7f35e990, 0x7f35370b, 0x7f348438,

+    0x7f33d116, 0x7f331da6,

+  0x7f3269e8, 0x7f31b5db, 0x7f31017f, 0x7f304cd6, 0x7f2f97dd, 0x7f2ee296,

+    0x7f2e2d01, 0x7f2d771e,

+  0x7f2cc0eb, 0x7f2c0a6b, 0x7f2b539c, 0x7f2a9c7e, 0x7f29e512, 0x7f292d58,

+    0x7f28754f, 0x7f27bcf8,

+  0x7f270452, 0x7f264b5e, 0x7f25921c, 0x7f24d88b, 0x7f241eab, 0x7f23647e,

+    0x7f22aa01, 0x7f21ef37,

+  0x7f21341e, 0x7f2078b6, 0x7f1fbd00, 0x7f1f00fc, 0x7f1e44a9, 0x7f1d8808,

+    0x7f1ccb18, 0x7f1c0dda,

+  0x7f1b504e, 0x7f1a9273, 0x7f19d44a, 0x7f1915d2, 0x7f18570c, 0x7f1797f8,

+    0x7f16d895, 0x7f1618e4,

+  0x7f1558e4, 0x7f149896, 0x7f13d7fa, 0x7f13170f, 0x7f1255d6, 0x7f11944f,

+    0x7f10d279, 0x7f101054,

+  0x7f0f4de2, 0x7f0e8b21, 0x7f0dc811, 0x7f0d04b3, 0x7f0c4107, 0x7f0b7d0d,

+    0x7f0ab8c4, 0x7f09f42d,

+  0x7f092f47, 0x7f086a13, 0x7f07a491, 0x7f06dec0, 0x7f0618a1, 0x7f055233,

+    0x7f048b78, 0x7f03c46d,

+  0x7f02fd15, 0x7f02356e, 0x7f016d79, 0x7f00a535, 0x7effdca4, 0x7eff13c3,

+    0x7efe4a95, 0x7efd8118,

+  0x7efcb74d, 0x7efbed33, 0x7efb22cb, 0x7efa5815, 0x7ef98d11, 0x7ef8c1be,

+    0x7ef7f61d, 0x7ef72a2d,

+  0x7ef65def, 0x7ef59163, 0x7ef4c489, 0x7ef3f760, 0x7ef329e9, 0x7ef25c24,

+    0x7ef18e10, 0x7ef0bfae,

+  0x7eeff0fe, 0x7eef21ff, 0x7eee52b2, 0x7eed8317, 0x7eecb32d, 0x7eebe2f6,

+    0x7eeb1270, 0x7eea419b,

+  0x7ee97079, 0x7ee89f08, 0x7ee7cd49, 0x7ee6fb3b, 0x7ee628df, 0x7ee55635,

+    0x7ee4833d, 0x7ee3aff6,

+  0x7ee2dc61, 0x7ee2087e, 0x7ee1344d, 0x7ee05fcd, 0x7edf8aff, 0x7edeb5e3,

+    0x7edde079, 0x7edd0ac0,

+  0x7edc34b9, 0x7edb5e64, 0x7eda87c0, 0x7ed9b0ce, 0x7ed8d98e, 0x7ed80200,

+    0x7ed72a24, 0x7ed651f9,

+  0x7ed57980, 0x7ed4a0b9, 0x7ed3c7a3, 0x7ed2ee40, 0x7ed2148e, 0x7ed13a8e,

+    0x7ed0603f, 0x7ecf85a3,

+  0x7eceaab8, 0x7ecdcf7f, 0x7eccf3f8, 0x7ecc1822, 0x7ecb3bff, 0x7eca5f8d,

+    0x7ec982cd, 0x7ec8a5bf,

+  0x7ec7c862, 0x7ec6eab7, 0x7ec60cbe, 0x7ec52e77, 0x7ec44fe2, 0x7ec370fe,

+    0x7ec291cd, 0x7ec1b24d,

+  0x7ec0d27f, 0x7ebff263, 0x7ebf11f8, 0x7ebe313f, 0x7ebd5039, 0x7ebc6ee4,

+    0x7ebb8d40, 0x7ebaab4f,

+  0x7eb9c910, 0x7eb8e682, 0x7eb803a6, 0x7eb7207c, 0x7eb63d04, 0x7eb5593d,

+    0x7eb47529, 0x7eb390c6,

+  0x7eb2ac15, 0x7eb1c716, 0x7eb0e1c9, 0x7eaffc2e, 0x7eaf1645, 0x7eae300d,

+    0x7ead4987, 0x7eac62b3,

+  0x7eab7b91, 0x7eaa9421, 0x7ea9ac63, 0x7ea8c457, 0x7ea7dbfc, 0x7ea6f353,

+    0x7ea60a5d, 0x7ea52118,

+  0x7ea43785, 0x7ea34da4, 0x7ea26374, 0x7ea178f7, 0x7ea08e2b, 0x7e9fa312,

+    0x7e9eb7aa, 0x7e9dcbf4,

+  0x7e9cdff0, 0x7e9bf39e, 0x7e9b06fe, 0x7e9a1a10, 0x7e992cd4, 0x7e983f49,

+    0x7e975171, 0x7e96634a,

+  0x7e9574d6, 0x7e948613, 0x7e939702, 0x7e92a7a3, 0x7e91b7f6, 0x7e90c7fb,

+    0x7e8fd7b2, 0x7e8ee71b,

+  0x7e8df636, 0x7e8d0502, 0x7e8c1381, 0x7e8b21b1, 0x7e8a2f94, 0x7e893d28,

+    0x7e884a6f, 0x7e875767,

+  0x7e866411, 0x7e85706d, 0x7e847c7c, 0x7e83883c, 0x7e8293ae, 0x7e819ed2,

+    0x7e80a9a8, 0x7e7fb430,

+  0x7e7ebe6a, 0x7e7dc856, 0x7e7cd1f4, 0x7e7bdb44, 0x7e7ae446, 0x7e79ecf9,

+    0x7e78f55f, 0x7e77fd77,

+  0x7e770541, 0x7e760cbd, 0x7e7513ea, 0x7e741aca, 0x7e73215c, 0x7e7227a0,

+    0x7e712d96, 0x7e70333d,

+  0x7e6f3897, 0x7e6e3da3, 0x7e6d4261, 0x7e6c46d1, 0x7e6b4af2, 0x7e6a4ec6,

+    0x7e69524c, 0x7e685584,

+  0x7e67586e, 0x7e665b0a, 0x7e655d58, 0x7e645f58, 0x7e63610a, 0x7e62626e,

+    0x7e616384, 0x7e60644c,

+  0x7e5f64c7, 0x7e5e64f3, 0x7e5d64d1, 0x7e5c6461, 0x7e5b63a4, 0x7e5a6298,

+    0x7e59613f, 0x7e585f97,

+  0x7e575da2, 0x7e565b5f, 0x7e5558ce, 0x7e5455ef, 0x7e5352c1, 0x7e524f46,

+    0x7e514b7e, 0x7e504767,

+  0x7e4f4302, 0x7e4e3e4f, 0x7e4d394f, 0x7e4c3400, 0x7e4b2e64, 0x7e4a287a,

+    0x7e492241, 0x7e481bbb,

+  0x7e4714e7, 0x7e460dc5, 0x7e450656, 0x7e43fe98, 0x7e42f68c, 0x7e41ee33,

+    0x7e40e58c, 0x7e3fdc97,

+  0x7e3ed353, 0x7e3dc9c3, 0x7e3cbfe4, 0x7e3bb5b7, 0x7e3aab3c, 0x7e39a074,

+    0x7e38955e, 0x7e3789fa,

+  0x7e367e48, 0x7e357248, 0x7e3465fa, 0x7e33595e, 0x7e324c75, 0x7e313f3e,

+    0x7e3031b9, 0x7e2f23e6,

+  0x7e2e15c5, 0x7e2d0756, 0x7e2bf89a, 0x7e2ae990, 0x7e29da38, 0x7e28ca92,

+    0x7e27ba9e, 0x7e26aa5d,

+  0x7e2599cd, 0x7e2488f0, 0x7e2377c5, 0x7e22664c, 0x7e215486, 0x7e204271,

+    0x7e1f300f, 0x7e1e1d5f,

+  0x7e1d0a61, 0x7e1bf716, 0x7e1ae37c, 0x7e19cf95, 0x7e18bb60, 0x7e17a6dd,

+    0x7e16920d, 0x7e157cee,

+  0x7e146782, 0x7e1351c9, 0x7e123bc1, 0x7e11256c, 0x7e100ec8, 0x7e0ef7d7,

+    0x7e0de099, 0x7e0cc90c,

+  0x7e0bb132, 0x7e0a990a, 0x7e098095, 0x7e0867d1, 0x7e074ec0, 0x7e063561,

+    0x7e051bb4, 0x7e0401ba,

+  0x7e02e772, 0x7e01ccdc, 0x7e00b1f9, 0x7dff96c7, 0x7dfe7b48, 0x7dfd5f7b,

+    0x7dfc4361, 0x7dfb26f9,

+  0x7dfa0a43, 0x7df8ed3f, 0x7df7cfee, 0x7df6b24f, 0x7df59462, 0x7df47628,

+    0x7df357a0, 0x7df238ca,

+  0x7df119a7, 0x7deffa35, 0x7deeda77, 0x7dedba6a, 0x7dec9a10, 0x7deb7968,

+    0x7dea5872, 0x7de9372f,

+  0x7de8159e, 0x7de6f3c0, 0x7de5d193, 0x7de4af1a, 0x7de38c52, 0x7de2693d,

+    0x7de145da, 0x7de02229,

+  0x7ddefe2b, 0x7dddd9e0, 0x7ddcb546, 0x7ddb905f, 0x7dda6b2a, 0x7dd945a8,

+    0x7dd81fd8, 0x7dd6f9ba,

+  0x7dd5d34f, 0x7dd4ac96, 0x7dd38590, 0x7dd25e3c, 0x7dd1369a, 0x7dd00eab,

+    0x7dcee66e, 0x7dcdbde3,

+  0x7dcc950b, 0x7dcb6be6, 0x7dca4272, 0x7dc918b1, 0x7dc7eea3, 0x7dc6c447,

+    0x7dc5999d, 0x7dc46ea6,

+  0x7dc34361, 0x7dc217cf, 0x7dc0ebef, 0x7dbfbfc1, 0x7dbe9346, 0x7dbd667d,

+    0x7dbc3967, 0x7dbb0c03,

+  0x7db9de52, 0x7db8b053, 0x7db78207, 0x7db6536d, 0x7db52485, 0x7db3f550,

+    0x7db2c5cd, 0x7db195fd,

+  0x7db065df, 0x7daf3574, 0x7dae04bb, 0x7dacd3b5, 0x7daba261, 0x7daa70c0,

+    0x7da93ed1, 0x7da80c95,

+  0x7da6da0b, 0x7da5a733, 0x7da4740e, 0x7da3409c, 0x7da20cdc, 0x7da0d8cf,

+    0x7d9fa474, 0x7d9e6fcb,

+  0x7d9d3ad6, 0x7d9c0592, 0x7d9ad001, 0x7d999a23, 0x7d9863f7, 0x7d972d7e,

+    0x7d95f6b7, 0x7d94bfa3,

+  0x7d938841, 0x7d925092, 0x7d911896, 0x7d8fe04c, 0x7d8ea7b4, 0x7d8d6ecf,

+    0x7d8c359d, 0x7d8afc1d,

+  0x7d89c250, 0x7d888835, 0x7d874dcd, 0x7d861317, 0x7d84d814, 0x7d839cc4,

+    0x7d826126, 0x7d81253a,

+  0x7d7fe902, 0x7d7eac7c, 0x7d7d6fa8, 0x7d7c3287, 0x7d7af519, 0x7d79b75d,

+    0x7d787954, 0x7d773afd,

+  0x7d75fc59, 0x7d74bd68, 0x7d737e29, 0x7d723e9d, 0x7d70fec4, 0x7d6fbe9d,

+    0x7d6e7e29, 0x7d6d3d67,

+  0x7d6bfc58, 0x7d6abafc, 0x7d697952, 0x7d68375b, 0x7d66f517, 0x7d65b285,

+    0x7d646fa6, 0x7d632c79,

+  0x7d61e8ff, 0x7d60a538, 0x7d5f6124, 0x7d5e1cc2, 0x7d5cd813, 0x7d5b9316,

+    0x7d5a4dcc, 0x7d590835,

+  0x7d57c251, 0x7d567c1f, 0x7d5535a0, 0x7d53eed3, 0x7d52a7ba, 0x7d516053,

+    0x7d50189e, 0x7d4ed09d,

+  0x7d4d884e, 0x7d4c3fb1, 0x7d4af6c8, 0x7d49ad91, 0x7d48640d, 0x7d471a3c,

+    0x7d45d01d, 0x7d4485b1,

+  0x7d433af8, 0x7d41eff1, 0x7d40a49e, 0x7d3f58fd, 0x7d3e0d0e, 0x7d3cc0d3,

+    0x7d3b744a, 0x7d3a2774,

+  0x7d38da51, 0x7d378ce0, 0x7d363f23, 0x7d34f118, 0x7d33a2bf, 0x7d32541a,

+    0x7d310527, 0x7d2fb5e7,

+  0x7d2e665a, 0x7d2d1680, 0x7d2bc659, 0x7d2a75e4, 0x7d292522, 0x7d27d413,

+    0x7d2682b6, 0x7d25310d,

+  0x7d23df16, 0x7d228cd2, 0x7d213a41, 0x7d1fe762, 0x7d1e9437, 0x7d1d40be,

+    0x7d1becf8, 0x7d1a98e5,

+  0x7d194485, 0x7d17efd8, 0x7d169add, 0x7d154595, 0x7d13f001, 0x7d129a1f,

+    0x7d1143ef, 0x7d0fed73,

+  0x7d0e96aa, 0x7d0d3f93, 0x7d0be82f, 0x7d0a907e, 0x7d093880, 0x7d07e035,

+    0x7d06879d, 0x7d052eb8,

+  0x7d03d585, 0x7d027c05, 0x7d012239, 0x7cffc81f, 0x7cfe6db8, 0x7cfd1304,

+    0x7cfbb803, 0x7cfa5cb4,

+  0x7cf90119, 0x7cf7a531, 0x7cf648fb, 0x7cf4ec79, 0x7cf38fa9, 0x7cf2328c,

+    0x7cf0d522, 0x7cef776b,

+  0x7cee1967, 0x7cecbb16, 0x7ceb5c78, 0x7ce9fd8d, 0x7ce89e55, 0x7ce73ed0,

+    0x7ce5defd, 0x7ce47ede,

+  0x7ce31e72, 0x7ce1bdb8, 0x7ce05cb2, 0x7cdefb5e, 0x7cdd99be, 0x7cdc37d0,

+    0x7cdad596, 0x7cd9730e,

+  0x7cd8103a, 0x7cd6ad18, 0x7cd549aa, 0x7cd3e5ee, 0x7cd281e5, 0x7cd11d90,

+    0x7ccfb8ed, 0x7cce53fe,

+  0x7ccceec1, 0x7ccb8937, 0x7cca2361, 0x7cc8bd3d, 0x7cc756cd, 0x7cc5f010,

+    0x7cc48905, 0x7cc321ae,

+  0x7cc1ba09, 0x7cc05218, 0x7cbee9da, 0x7cbd814f, 0x7cbc1877, 0x7cbaaf51,

+    0x7cb945df, 0x7cb7dc20,

+  0x7cb67215, 0x7cb507bc, 0x7cb39d16, 0x7cb23223, 0x7cb0c6e4, 0x7caf5b57,

+    0x7cadef7e, 0x7cac8358,

+  0x7cab16e4, 0x7ca9aa24, 0x7ca83d17, 0x7ca6cfbd, 0x7ca56216, 0x7ca3f423,

+    0x7ca285e2, 0x7ca11755,

+  0x7c9fa87a, 0x7c9e3953, 0x7c9cc9df, 0x7c9b5a1e, 0x7c99ea10, 0x7c9879b6,

+    0x7c97090e, 0x7c95981a,

+  0x7c9426d8, 0x7c92b54a, 0x7c91436f, 0x7c8fd148, 0x7c8e5ed3, 0x7c8cec12,

+    0x7c8b7903, 0x7c8a05a8,

+  0x7c889200, 0x7c871e0c, 0x7c85a9ca, 0x7c84353c, 0x7c82c060, 0x7c814b39,

+    0x7c7fd5c4, 0x7c7e6002,

+  0x7c7ce9f4, 0x7c7b7399, 0x7c79fcf1, 0x7c7885fc, 0x7c770eba, 0x7c75972c,

+    0x7c741f51, 0x7c72a729,

+  0x7c712eb5, 0x7c6fb5f3, 0x7c6e3ce5, 0x7c6cc38a, 0x7c6b49e3, 0x7c69cfee,

+    0x7c6855ad, 0x7c66db1f,

+  0x7c656045, 0x7c63e51e, 0x7c6269aa, 0x7c60ede9, 0x7c5f71db, 0x7c5df581,

+    0x7c5c78da, 0x7c5afbe6,

+  0x7c597ea6, 0x7c580119, 0x7c56833f, 0x7c550519, 0x7c5386a6, 0x7c5207e6,

+    0x7c5088d9, 0x7c4f0980,

+  0x7c4d89da, 0x7c4c09e8, 0x7c4a89a8, 0x7c49091c, 0x7c478844, 0x7c46071f,

+    0x7c4485ad, 0x7c4303ee,

+  0x7c4181e3, 0x7c3fff8b, 0x7c3e7ce7, 0x7c3cf9f5, 0x7c3b76b8, 0x7c39f32d,

+    0x7c386f56, 0x7c36eb33,

+  0x7c3566c2, 0x7c33e205, 0x7c325cfc, 0x7c30d7a6, 0x7c2f5203, 0x7c2dcc14,

+    0x7c2c45d8, 0x7c2abf4f,

+  0x7c29387a, 0x7c27b158, 0x7c2629ea, 0x7c24a22f, 0x7c231a28, 0x7c2191d4,

+    0x7c200933, 0x7c1e8046,

+  0x7c1cf70c, 0x7c1b6d86, 0x7c19e3b3, 0x7c185994, 0x7c16cf28, 0x7c15446f,

+    0x7c13b96a, 0x7c122e19,

+  0x7c10a27b, 0x7c0f1690, 0x7c0d8a59, 0x7c0bfdd5, 0x7c0a7105, 0x7c08e3e8,

+    0x7c07567f, 0x7c05c8c9,

+  0x7c043ac7, 0x7c02ac78, 0x7c011ddd, 0x7bff8ef5, 0x7bfdffc1, 0x7bfc7041,

+    0x7bfae073, 0x7bf9505a,

+  0x7bf7bff4, 0x7bf62f41, 0x7bf49e42, 0x7bf30cf6, 0x7bf17b5e, 0x7befe97a,

+    0x7bee5749, 0x7becc4cc,

+  0x7beb3202, 0x7be99eec, 0x7be80b89, 0x7be677da, 0x7be4e3df, 0x7be34f97,

+    0x7be1bb02, 0x7be02621,

+  0x7bde90f4, 0x7bdcfb7b, 0x7bdb65b5, 0x7bd9cfa2, 0x7bd83944, 0x7bd6a298,

+    0x7bd50ba1, 0x7bd3745d,

+  0x7bd1dccc, 0x7bd044f0, 0x7bceacc7, 0x7bcd1451, 0x7bcb7b8f, 0x7bc9e281,

+    0x7bc84927, 0x7bc6af80,

+  0x7bc5158c, 0x7bc37b4d, 0x7bc1e0c1, 0x7bc045e9, 0x7bbeaac4, 0x7bbd0f53,

+    0x7bbb7396, 0x7bb9d78c,

+  0x7bb83b36, 0x7bb69e94, 0x7bb501a5, 0x7bb3646a, 0x7bb1c6e3, 0x7bb02910,

+    0x7bae8af0, 0x7bacec84,

+  0x7bab4dcc, 0x7ba9aec7, 0x7ba80f76, 0x7ba66fd9, 0x7ba4cfef, 0x7ba32fba,

+    0x7ba18f38, 0x7b9fee69,

+  0x7b9e4d4f, 0x7b9cabe8, 0x7b9b0a35, 0x7b996836, 0x7b97c5ea, 0x7b962352,

+    0x7b94806e, 0x7b92dd3e,

+  0x7b9139c2, 0x7b8f95f9, 0x7b8df1e4, 0x7b8c4d83, 0x7b8aa8d6, 0x7b8903dc,

+    0x7b875e96, 0x7b85b904,

+  0x7b841326, 0x7b826cfc, 0x7b80c686, 0x7b7f1fc3, 0x7b7d78b4, 0x7b7bd159,

+    0x7b7a29b2, 0x7b7881be,

+  0x7b76d97f, 0x7b7530f3, 0x7b73881b, 0x7b71def7, 0x7b703587, 0x7b6e8bcb,

+    0x7b6ce1c2, 0x7b6b376e,

+  0x7b698ccd, 0x7b67e1e0, 0x7b6636a7, 0x7b648b22, 0x7b62df51, 0x7b613334,

+    0x7b5f86ca, 0x7b5dda15,

+  0x7b5c2d13, 0x7b5a7fc6, 0x7b58d22c, 0x7b572446, 0x7b557614, 0x7b53c796,

+    0x7b5218cc, 0x7b5069b6,

+  0x7b4eba53, 0x7b4d0aa5, 0x7b4b5aab, 0x7b49aa64, 0x7b47f9d2, 0x7b4648f3,

+    0x7b4497c9, 0x7b42e652,

+  0x7b413490, 0x7b3f8281, 0x7b3dd026, 0x7b3c1d80, 0x7b3a6a8d, 0x7b38b74e,

+    0x7b3703c3, 0x7b354fed,

+  0x7b339bca, 0x7b31e75b, 0x7b3032a0, 0x7b2e7d9a, 0x7b2cc847, 0x7b2b12a8,

+    0x7b295cbe, 0x7b27a687,

+  0x7b25f004, 0x7b243936, 0x7b22821b, 0x7b20cab5, 0x7b1f1302, 0x7b1d5b04,

+    0x7b1ba2b9, 0x7b19ea23,

+  0x7b183141, 0x7b167813, 0x7b14be99, 0x7b1304d3, 0x7b114ac1, 0x7b0f9063,

+    0x7b0dd5b9, 0x7b0c1ac4,

+  0x7b0a5f82, 0x7b08a3f5, 0x7b06e81b, 0x7b052bf6, 0x7b036f85, 0x7b01b2c8,

+    0x7afff5bf, 0x7afe386a,

+  0x7afc7aca, 0x7afabcdd, 0x7af8fea5, 0x7af74021, 0x7af58151, 0x7af3c235,

+    0x7af202cd, 0x7af0431a,

+  0x7aee831a, 0x7aecc2cf, 0x7aeb0238, 0x7ae94155, 0x7ae78026, 0x7ae5beac,

+    0x7ae3fce6, 0x7ae23ad4,

+  0x7ae07876, 0x7adeb5cc, 0x7adcf2d6, 0x7adb2f95, 0x7ad96c08, 0x7ad7a82f,

+    0x7ad5e40a, 0x7ad41f9a,

+  0x7ad25ade, 0x7ad095d6, 0x7aced082, 0x7acd0ae3, 0x7acb44f8, 0x7ac97ec1,

+    0x7ac7b83e, 0x7ac5f170,

+  0x7ac42a55, 0x7ac262ef, 0x7ac09b3e, 0x7abed341, 0x7abd0af7, 0x7abb4263,

+    0x7ab97982, 0x7ab7b056,

+  0x7ab5e6de, 0x7ab41d1b, 0x7ab2530b, 0x7ab088b0, 0x7aaebe0a, 0x7aacf318,

+    0x7aab27da, 0x7aa95c50,

+  0x7aa7907b, 0x7aa5c45a, 0x7aa3f7ed, 0x7aa22b35, 0x7aa05e31, 0x7a9e90e1,

+    0x7a9cc346, 0x7a9af55f,

+  0x7a99272d, 0x7a9758af, 0x7a9589e5, 0x7a93bad0, 0x7a91eb6f, 0x7a901bc2,

+    0x7a8e4bca, 0x7a8c7b87,

+  0x7a8aaaf7, 0x7a88da1c, 0x7a8708f6, 0x7a853784, 0x7a8365c6, 0x7a8193bd,

+    0x7a7fc168, 0x7a7deec8,

+  0x7a7c1bdc, 0x7a7a48a4, 0x7a787521, 0x7a76a153, 0x7a74cd38, 0x7a72f8d3,

+    0x7a712422, 0x7a6f4f25,

+  0x7a6d79dd, 0x7a6ba449, 0x7a69ce6a, 0x7a67f83f, 0x7a6621c9, 0x7a644b07,

+    0x7a6273fa, 0x7a609ca1,

+  0x7a5ec4fc, 0x7a5ced0d, 0x7a5b14d1, 0x7a593c4b, 0x7a576379, 0x7a558a5b,

+    0x7a53b0f2, 0x7a51d73d,

+  0x7a4ffd3d, 0x7a4e22f2, 0x7a4c485b, 0x7a4a6d78, 0x7a48924b, 0x7a46b6d1,

+    0x7a44db0d, 0x7a42fefd,

+  0x7a4122a1, 0x7a3f45fa, 0x7a3d6908, 0x7a3b8bca, 0x7a39ae41, 0x7a37d06d,

+    0x7a35f24d, 0x7a3413e2,

+  0x7a32352b, 0x7a305629, 0x7a2e76dc, 0x7a2c9743, 0x7a2ab75f, 0x7a28d72f,

+    0x7a26f6b4, 0x7a2515ee,

+  0x7a2334dd, 0x7a215380, 0x7a1f71d7, 0x7a1d8fe4, 0x7a1bada5, 0x7a19cb1b,

+    0x7a17e845, 0x7a160524,

+  0x7a1421b8, 0x7a123e01, 0x7a1059fe, 0x7a0e75b0, 0x7a0c9117, 0x7a0aac32,

+    0x7a08c702, 0x7a06e187,

+  0x7a04fbc1, 0x7a0315af, 0x7a012f52, 0x79ff48aa, 0x79fd61b6, 0x79fb7a77,

+    0x79f992ed, 0x79f7ab18,

+  0x79f5c2f8, 0x79f3da8c, 0x79f1f1d5, 0x79f008d3, 0x79ee1f86, 0x79ec35ed,

+    0x79ea4c09, 0x79e861da,

+  0x79e67760, 0x79e48c9b, 0x79e2a18a, 0x79e0b62e, 0x79deca87, 0x79dcde95,

+    0x79daf258, 0x79d905d0,

+  0x79d718fc, 0x79d52bdd, 0x79d33e73, 0x79d150be, 0x79cf62be, 0x79cd7473,

+    0x79cb85dc, 0x79c996fb,

+  0x79c7a7ce, 0x79c5b856, 0x79c3c893, 0x79c1d885, 0x79bfe82c, 0x79bdf788,

+    0x79bc0698, 0x79ba155e,

+  0x79b823d8, 0x79b63207, 0x79b43fec, 0x79b24d85, 0x79b05ad3, 0x79ae67d6,

+    0x79ac748e, 0x79aa80fb,

+  0x79a88d1d, 0x79a698f4, 0x79a4a480, 0x79a2afc1, 0x79a0bab6, 0x799ec561,

+    0x799ccfc1, 0x799ad9d5,

+  0x7998e39f, 0x7996ed1e, 0x7994f651, 0x7992ff3a, 0x799107d8, 0x798f102a,

+    0x798d1832, 0x798b1fef,

+  0x79892761, 0x79872e87, 0x79853563, 0x79833bf4, 0x7981423a, 0x797f4835,

+    0x797d4de5, 0x797b534a,

+  0x79795864, 0x79775d33, 0x797561b8, 0x797365f1, 0x797169df, 0x796f6d83,

+    0x796d70dc, 0x796b73e9,

+  0x796976ac, 0x79677924, 0x79657b51, 0x79637d33, 0x79617eca, 0x795f8017,

+    0x795d8118, 0x795b81cf,

+  0x7959823b, 0x7957825c, 0x79558232, 0x795381bd, 0x795180fe, 0x794f7ff3,

+    0x794d7e9e, 0x794b7cfe,

+  0x79497b13, 0x794778dd, 0x7945765d, 0x79437391, 0x7941707b, 0x793f6d1a,

+    0x793d696f, 0x793b6578,

+  0x79396137, 0x79375cab, 0x793557d4, 0x793352b2, 0x79314d46, 0x792f478f,

+    0x792d418d, 0x792b3b40,

+  0x792934a9, 0x79272dc7, 0x7925269a, 0x79231f22, 0x79211760, 0x791f0f53,

+    0x791d06fb, 0x791afe59,

+  0x7918f56c, 0x7916ec34, 0x7914e2b2, 0x7912d8e4, 0x7910cecc, 0x790ec46a,

+    0x790cb9bd, 0x790aaec5,

+  0x7908a382, 0x790697f5, 0x79048c1d, 0x79027ffa, 0x7900738d, 0x78fe66d5,

+    0x78fc59d3, 0x78fa4c86,

+  0x78f83eee, 0x78f6310c, 0x78f422df, 0x78f21467, 0x78f005a5, 0x78edf698,

+    0x78ebe741, 0x78e9d79f,

+  0x78e7c7b2, 0x78e5b77b, 0x78e3a6f9, 0x78e1962d, 0x78df8516, 0x78dd73b5,

+    0x78db6209, 0x78d95012,

+  0x78d73dd1, 0x78d52b46, 0x78d31870, 0x78d1054f, 0x78cef1e4, 0x78ccde2e,

+    0x78caca2e, 0x78c8b5e3,

+  0x78c6a14e, 0x78c48c6e, 0x78c27744, 0x78c061cf, 0x78be4c10, 0x78bc3606,

+    0x78ba1fb2, 0x78b80913,

+  0x78b5f22a, 0x78b3daf7, 0x78b1c379, 0x78afabb0, 0x78ad939d, 0x78ab7b40,

+    0x78a96298, 0x78a749a6,

+  0x78a53069, 0x78a316e2, 0x78a0fd11, 0x789ee2f5, 0x789cc88f, 0x789aadde,

+    0x789892e3, 0x7896779d,

+  0x78945c0d, 0x78924033, 0x7890240e, 0x788e07a0, 0x788beae6, 0x7889cde2,

+    0x7887b094, 0x788592fc,

+  0x78837519, 0x788156ec, 0x787f3875, 0x787d19b3, 0x787afaa7, 0x7878db50,

+    0x7876bbb0, 0x78749bc5,

+  0x78727b8f, 0x78705b10, 0x786e3a46, 0x786c1932, 0x7869f7d3, 0x7867d62a,

+    0x7865b437, 0x786391fa,

+  0x78616f72, 0x785f4ca1, 0x785d2984, 0x785b061e, 0x7858e26e, 0x7856be73,

+    0x78549a2e, 0x7852759e,

+  0x785050c5, 0x784e2ba1, 0x784c0633, 0x7849e07b, 0x7847ba79, 0x7845942c,

+    0x78436d96, 0x784146b5,

+  0x783f1f8a, 0x783cf815, 0x783ad055, 0x7838a84c, 0x78367ff8, 0x7834575a,

+    0x78322e72, 0x78300540,

+  0x782ddbc4, 0x782bb1fd, 0x782987ed, 0x78275d92, 0x782532ed, 0x782307fe,

+    0x7820dcc5, 0x781eb142,

+  0x781c8575, 0x781a595d, 0x78182cfc, 0x78160051, 0x7813d35b, 0x7811a61b,

+    0x780f7892, 0x780d4abe,

+  0x780b1ca0, 0x7808ee38, 0x7806bf86, 0x7804908a, 0x78026145, 0x780031b5,

+    0x77fe01db, 0x77fbd1b6,

+  0x77f9a148, 0x77f77090, 0x77f53f8e, 0x77f30e42, 0x77f0dcac, 0x77eeaacc,

+    0x77ec78a2, 0x77ea462e,

+  0x77e81370, 0x77e5e068, 0x77e3ad17, 0x77e1797b, 0x77df4595, 0x77dd1165,

+    0x77dadcec, 0x77d8a828,

+  0x77d6731a, 0x77d43dc3, 0x77d20822, 0x77cfd236, 0x77cd9c01, 0x77cb6582,

+    0x77c92eb9, 0x77c6f7a6,

+  0x77c4c04a, 0x77c288a3, 0x77c050b2, 0x77be1878, 0x77bbdff4, 0x77b9a726,

+    0x77b76e0e, 0x77b534ac,

+  0x77b2fb00, 0x77b0c10b, 0x77ae86cc, 0x77ac4c43, 0x77aa1170, 0x77a7d653,

+    0x77a59aec, 0x77a35f3c,

+  0x77a12342, 0x779ee6fe, 0x779caa70, 0x779a6d99, 0x77983077, 0x7795f30c,

+    0x7793b557, 0x77917759,

+  0x778f3910, 0x778cfa7e, 0x778abba2, 0x77887c7d, 0x77863d0d, 0x7783fd54,

+    0x7781bd52, 0x777f7d05,

+  0x777d3c6f, 0x777afb8f, 0x7778ba65, 0x777678f2, 0x77743735, 0x7771f52e,

+    0x776fb2de, 0x776d7044,

+  0x776b2d60, 0x7768ea33, 0x7766a6bc, 0x776462fb, 0x77621ef1, 0x775fda9d,

+    0x775d95ff, 0x775b5118,

+  0x77590be7, 0x7756c66c, 0x775480a8, 0x77523a9b, 0x774ff443, 0x774dada2,

+    0x774b66b8, 0x77491f84,

+  0x7746d806, 0x7744903f, 0x7742482e, 0x773fffd4, 0x773db730, 0x773b6e42,

+    0x7739250b, 0x7736db8b,

+  0x773491c0, 0x773247ad, 0x772ffd50, 0x772db2a9, 0x772b67b9, 0x77291c7f,

+    0x7726d0fc, 0x7724852f,

+  0x77223919, 0x771fecb9, 0x771da010, 0x771b531d, 0x771905e1, 0x7716b85b,

+    0x77146a8c, 0x77121c74,

+  0x770fce12, 0x770d7f66, 0x770b3072, 0x7708e133, 0x770691ab, 0x770441da,

+    0x7701f1c0, 0x76ffa15c,

+  0x76fd50ae, 0x76faffb8, 0x76f8ae78, 0x76f65cee, 0x76f40b1b, 0x76f1b8ff,

+    0x76ef6699, 0x76ed13ea,

+  0x76eac0f2, 0x76e86db0, 0x76e61a25, 0x76e3c650, 0x76e17233, 0x76df1dcb,

+    0x76dcc91b, 0x76da7421,

+  0x76d81ede, 0x76d5c952, 0x76d3737c, 0x76d11d5d, 0x76cec6f5, 0x76cc7043,

+    0x76ca1948, 0x76c7c204,

+  0x76c56a77, 0x76c312a0, 0x76c0ba80, 0x76be6217, 0x76bc0965, 0x76b9b069,

+    0x76b75724, 0x76b4fd96,

+  0x76b2a3bf, 0x76b0499e, 0x76adef34, 0x76ab9481, 0x76a93985, 0x76a6de40,

+    0x76a482b1, 0x76a226da,

+  0x769fcab9, 0x769d6e4f, 0x769b119b, 0x7698b49f, 0x76965759, 0x7693f9ca,

+    0x76919bf3, 0x768f3dd2,

+  0x768cdf67, 0x768a80b4, 0x768821b8, 0x7685c272, 0x768362e4, 0x7681030c,

+    0x767ea2eb, 0x767c4281,

+  0x7679e1ce, 0x767780d2, 0x76751f8d, 0x7672bdfe, 0x76705c27, 0x766dfa07,

+    0x766b979d, 0x766934eb,

+  0x7666d1ef, 0x76646eab, 0x76620b1d, 0x765fa747, 0x765d4327, 0x765adebe,

+    0x76587a0d, 0x76561512,

+  0x7653afce, 0x76514a42, 0x764ee46c, 0x764c7e4d, 0x764a17e6, 0x7647b135,

+    0x76454a3c, 0x7642e2f9,

+  0x76407b6e, 0x763e139a, 0x763bab7c, 0x76394316, 0x7636da67, 0x7634716f,

+    0x7632082e, 0x762f9ea4,

+  0x762d34d1, 0x762acab6, 0x76286051, 0x7625f5a3, 0x76238aad, 0x76211f6e,

+    0x761eb3e6, 0x761c4815,

+  0x7619dbfb, 0x76176f98, 0x761502ed, 0x761295f9, 0x761028bb, 0x760dbb35,

+    0x760b4d67, 0x7608df4f,

+  0x760670ee, 0x76040245, 0x76019353, 0x75ff2418, 0x75fcb495, 0x75fa44c8,

+    0x75f7d4b3, 0x75f56455,

+  0x75f2f3ae, 0x75f082bf, 0x75ee1187, 0x75eba006, 0x75e92e3c, 0x75e6bc2a,

+    0x75e449ce, 0x75e1d72b,

+  0x75df643e, 0x75dcf109, 0x75da7d8b, 0x75d809c4, 0x75d595b4, 0x75d3215c,

+    0x75d0acbc, 0x75ce37d2,

+  0x75cbc2a0, 0x75c94d25, 0x75c6d762, 0x75c46156, 0x75c1eb01, 0x75bf7464,

+    0x75bcfd7e, 0x75ba864f,

+  0x75b80ed8, 0x75b59718, 0x75b31f0f, 0x75b0a6be, 0x75ae2e25, 0x75abb542,

+    0x75a93c18, 0x75a6c2a4,

+  0x75a448e8, 0x75a1cee4, 0x759f5496, 0x759cda01, 0x759a5f22, 0x7597e3fc,

+    0x7595688c, 0x7592ecd4,

+  0x759070d4, 0x758df48b, 0x758b77fa, 0x7588fb20, 0x75867dfd, 0x75840093,

+    0x758182df, 0x757f04e3,

+  0x757c869f, 0x757a0812, 0x7577893d, 0x75750a1f, 0x75728ab9, 0x75700b0a,

+    0x756d8b13, 0x756b0ad3,

+  0x75688a4b, 0x7566097b, 0x75638862, 0x75610701, 0x755e8557, 0x755c0365,

+    0x7559812b, 0x7556fea8,

+  0x75547bdd, 0x7551f8c9, 0x754f756e, 0x754cf1c9, 0x754a6ddd, 0x7547e9a8,

+    0x7545652a, 0x7542e065,

+  0x75405b57, 0x753dd600, 0x753b5061, 0x7538ca7b, 0x7536444b, 0x7533bdd4,

+    0x75313714, 0x752eb00c,

+  0x752c28bb, 0x7529a122, 0x75271941, 0x75249118, 0x752208a7, 0x751f7fed,

+    0x751cf6eb, 0x751a6da0,

+  0x7517e40e, 0x75155a33, 0x7512d010, 0x751045a5, 0x750dbaf2, 0x750b2ff6,

+    0x7508a4b2, 0x75061926,

+  0x75038d52, 0x75010136, 0x74fe74d1, 0x74fbe825, 0x74f95b30, 0x74f6cdf3,

+    0x74f4406d, 0x74f1b2a0,

+  0x74ef248b, 0x74ec962d, 0x74ea0787, 0x74e7789a, 0x74e4e964, 0x74e259e6,

+    0x74dfca20, 0x74dd3a11,

+  0x74daa9bb, 0x74d8191d, 0x74d58836, 0x74d2f708, 0x74d06591, 0x74cdd3d2,

+    0x74cb41cc, 0x74c8af7d,

+  0x74c61ce6, 0x74c38a07, 0x74c0f6e0, 0x74be6372, 0x74bbcfbb, 0x74b93bbc,

+    0x74b6a775, 0x74b412e6,

+  0x74b17e0f, 0x74aee8f0, 0x74ac5389, 0x74a9bddb, 0x74a727e4, 0x74a491a5,

+    0x74a1fb1e, 0x749f6450,

+  0x749ccd39, 0x749a35db, 0x74979e34, 0x74950646, 0x74926e10, 0x748fd592,

+    0x748d3ccb, 0x748aa3be,

+  0x74880a68, 0x748570ca, 0x7482d6e4, 0x74803cb7, 0x747da242, 0x747b0784,

+    0x74786c7f, 0x7475d132,

+  0x7473359e, 0x747099c1, 0x746dfd9d, 0x746b6131, 0x7468c47c, 0x74662781,

+    0x74638a3d, 0x7460ecb2,

+  0x745e4ede, 0x745bb0c3, 0x74591261, 0x745673b6, 0x7453d4c4, 0x7451358a,

+    0x744e9608, 0x744bf63e,

+  0x7449562d, 0x7446b5d4, 0x74441533, 0x7441744b, 0x743ed31b, 0x743c31a3,

+    0x74398fe3, 0x7436eddc,

+  0x74344b8d, 0x7431a8f6, 0x742f0618, 0x742c62f2, 0x7429bf84, 0x74271bcf,

+    0x742477d2, 0x7421d38e,

+  0x741f2f01, 0x741c8a2d, 0x7419e512, 0x74173faf, 0x74149a04, 0x7411f412,

+    0x740f4dd8, 0x740ca756,

+  0x740a008d, 0x7407597d, 0x7404b224, 0x74020a85, 0x73ff629d, 0x73fcba6e,

+    0x73fa11f8, 0x73f7693a,

+  0x73f4c034, 0x73f216e7, 0x73ef6d53, 0x73ecc377, 0x73ea1953, 0x73e76ee8,

+    0x73e4c435, 0x73e2193b,

+  0x73df6df9, 0x73dcc270, 0x73da16a0, 0x73d76a88, 0x73d4be28, 0x73d21182,

+    0x73cf6493, 0x73ccb75d,

+  0x73ca09e0, 0x73c75c1c, 0x73c4ae10, 0x73c1ffbc, 0x73bf5121, 0x73bca23f,

+    0x73b9f315, 0x73b743a4,

+  0x73b493ec, 0x73b1e3ec, 0x73af33a5, 0x73ac8316, 0x73a9d240, 0x73a72123,

+    0x73a46fbf, 0x73a1be13,

+  0x739f0c20, 0x739c59e5, 0x7399a763, 0x7396f49a, 0x73944189, 0x73918e32,

+    0x738eda93, 0x738c26ac,

+  0x7389727f, 0x7386be0a, 0x7384094e, 0x7381544a, 0x737e9f00, 0x737be96e,

+    0x73793395, 0x73767d74,

+  0x7373c70d, 0x7371105e, 0x736e5968, 0x736ba22b, 0x7368eaa6, 0x736632db,

+    0x73637ac8, 0x7360c26e,

+  0x735e09cd, 0x735b50e4, 0x735897b5, 0x7355de3e, 0x73532481, 0x73506a7c,

+    0x734db030, 0x734af59d,

+  0x73483ac2, 0x73457fa1, 0x7342c438, 0x73400889, 0x733d4c92, 0x733a9054,

+    0x7337d3d0, 0x73351704,

+  0x733259f1, 0x732f9c97, 0x732cdef6, 0x732a210d, 0x732762de, 0x7324a468,

+    0x7321e5ab, 0x731f26a7,

+  0x731c675b, 0x7319a7c9, 0x7316e7f0, 0x731427cf, 0x73116768, 0x730ea6ba,

+    0x730be5c5, 0x73092489,

+  0x73066306, 0x7303a13b, 0x7300df2a, 0x72fe1cd2, 0x72fb5a34, 0x72f8974e,

+    0x72f5d421, 0x72f310ad,

+  0x72f04cf3, 0x72ed88f1, 0x72eac4a9, 0x72e8001a, 0x72e53b44, 0x72e27627,

+    0x72dfb0c3, 0x72dceb18,

+  0x72da2526, 0x72d75eee, 0x72d4986f, 0x72d1d1a9, 0x72cf0a9c, 0x72cc4348,

+    0x72c97bad, 0x72c6b3cc,

+  0x72c3eba4, 0x72c12335, 0x72be5a7f, 0x72bb9183, 0x72b8c83f, 0x72b5feb5,

+    0x72b334e4, 0x72b06acd,

+  0x72ada06f, 0x72aad5c9, 0x72a80ade, 0x72a53fab, 0x72a27432, 0x729fa872,

+    0x729cdc6b, 0x729a101e,

+  0x7297438a, 0x729476af, 0x7291a98e, 0x728edc26, 0x728c0e77, 0x72894082,

+    0x72867245, 0x7283a3c3,

+  0x7280d4f9, 0x727e05e9, 0x727b3693, 0x727866f6, 0x72759712, 0x7272c6e7,

+    0x726ff676, 0x726d25bf,

+  0x726a54c1, 0x7267837c, 0x7264b1f0, 0x7261e01e, 0x725f0e06, 0x725c3ba7,

+    0x72596901, 0x72569615,

+  0x7253c2e3, 0x7250ef6a, 0x724e1baa, 0x724b47a4, 0x72487357, 0x72459ec4,

+    0x7242c9ea, 0x723ff4ca,

+  0x723d1f63, 0x723a49b6, 0x723773c3, 0x72349d89, 0x7231c708, 0x722ef041,

+    0x722c1934, 0x722941e0,

+  0x72266a46, 0x72239266, 0x7220ba3f, 0x721de1d1, 0x721b091d, 0x72183023,

+    0x721556e3, 0x72127d5c,

+  0x720fa38e, 0x720cc97b, 0x7209ef21, 0x72071480, 0x7204399a, 0x72015e6d,

+    0x71fe82f9, 0x71fba740,

+  0x71f8cb40, 0x71f5eefa, 0x71f3126d, 0x71f0359a, 0x71ed5881, 0x71ea7b22,

+    0x71e79d7c, 0x71e4bf90,

+  0x71e1e15e, 0x71df02e5, 0x71dc2427, 0x71d94522, 0x71d665d6, 0x71d38645,

+    0x71d0a66d, 0x71cdc650,

+  0x71cae5ec, 0x71c80542, 0x71c52451, 0x71c2431b, 0x71bf619e, 0x71bc7fdb,

+    0x71b99dd2, 0x71b6bb83,

+  0x71b3d8ed, 0x71b0f612, 0x71ae12f0, 0x71ab2f89, 0x71a84bdb, 0x71a567e7,

+    0x71a283ad, 0x719f9f2c,

+  0x719cba66, 0x7199d55a, 0x7196f008, 0x71940a6f, 0x71912490, 0x718e3e6c,

+    0x718b5801, 0x71887151,

+  0x71858a5a, 0x7182a31d, 0x717fbb9a, 0x717cd3d2, 0x7179ebc3, 0x7177036e,

+    0x71741ad3, 0x717131f3,

+  0x716e48cc, 0x716b5f5f, 0x716875ad, 0x71658bb4, 0x7162a175, 0x715fb6f1,

+    0x715ccc26, 0x7159e116,

+  0x7156f5c0, 0x71540a24, 0x71511e42, 0x714e321a, 0x714b45ac, 0x714858f8,

+    0x71456bfe, 0x71427ebf,

+  0x713f9139, 0x713ca36e, 0x7139b55d, 0x7136c706, 0x7133d869, 0x7130e987,

+    0x712dfa5e, 0x712b0af0,

+  0x71281b3c, 0x71252b42, 0x71223b02, 0x711f4a7d, 0x711c59b2, 0x711968a1,

+    0x7116774a, 0x711385ad,

+  0x711093cb, 0x710da1a3, 0x710aaf35, 0x7107bc82, 0x7104c989, 0x7101d64a,

+    0x70fee2c5, 0x70fbeefb,

+  0x70f8faeb, 0x70f60695, 0x70f311fa, 0x70f01d19, 0x70ed27f2, 0x70ea3286,

+    0x70e73cd4, 0x70e446dc,

+  0x70e1509f, 0x70de5a1c, 0x70db6353, 0x70d86c45, 0x70d574f1, 0x70d27d58,

+    0x70cf8579, 0x70cc8d54,

+  0x70c994ea, 0x70c69c3a, 0x70c3a345, 0x70c0aa0a, 0x70bdb08a, 0x70bab6c4,

+    0x70b7bcb8, 0x70b4c267,

+  0x70b1c7d1, 0x70aeccf5, 0x70abd1d3, 0x70a8d66c, 0x70a5dac0, 0x70a2dece,

+    0x709fe296, 0x709ce619,

+  0x7099e957, 0x7096ec4f, 0x7093ef01, 0x7090f16e, 0x708df396, 0x708af579,

+    0x7087f715, 0x7084f86d,

+  0x7081f97f, 0x707efa4c, 0x707bfad3, 0x7078fb15, 0x7075fb11, 0x7072fac9,

+    0x706ffa3a, 0x706cf967,

+  0x7069f84e, 0x7066f6f0, 0x7063f54c, 0x7060f363, 0x705df135, 0x705aeec1,

+    0x7057ec08, 0x7054e90a,

+  0x7051e5c7, 0x704ee23e, 0x704bde70, 0x7048da5d, 0x7045d604, 0x7042d166,

+    0x703fcc83, 0x703cc75b,

+  0x7039c1ed, 0x7036bc3b, 0x7033b643, 0x7030b005, 0x702da983, 0x702aa2bb,

+    0x70279baf, 0x7024945d,

+  0x70218cc6, 0x701e84e9, 0x701b7cc8, 0x70187461, 0x70156bb5, 0x701262c4,

+    0x700f598e, 0x700c5013,

+  0x70094653, 0x70063c4e, 0x70033203, 0x70002774, 0x6ffd1c9f, 0x6ffa1185,

+    0x6ff70626, 0x6ff3fa82,

+  0x6ff0ee99, 0x6fede26b, 0x6fead5f8, 0x6fe7c940, 0x6fe4bc43, 0x6fe1af01,

+    0x6fdea17a, 0x6fdb93ae,

+  0x6fd8859d, 0x6fd57746, 0x6fd268ab, 0x6fcf59cb, 0x6fcc4aa6, 0x6fc93b3c,

+    0x6fc62b8d, 0x6fc31b99,

+  0x6fc00b60, 0x6fbcfae2, 0x6fb9ea20, 0x6fb6d918, 0x6fb3c7cb, 0x6fb0b63a,

+    0x6fada464, 0x6faa9248,

+  0x6fa77fe8, 0x6fa46d43, 0x6fa15a59, 0x6f9e472b, 0x6f9b33b7, 0x6f981fff,

+    0x6f950c01, 0x6f91f7bf,

+  0x6f8ee338, 0x6f8bce6c, 0x6f88b95c, 0x6f85a407, 0x6f828e6c, 0x6f7f788d,

+    0x6f7c626a, 0x6f794c01,

+  0x6f763554, 0x6f731e62, 0x6f70072b, 0x6f6cefb0, 0x6f69d7f0, 0x6f66bfeb,

+    0x6f63a7a1, 0x6f608f13,

+  0x6f5d7640, 0x6f5a5d28, 0x6f5743cb, 0x6f542a2a, 0x6f511044, 0x6f4df61a,

+    0x6f4adbab, 0x6f47c0f7,

+  0x6f44a5ff, 0x6f418ac2, 0x6f3e6f40, 0x6f3b537a, 0x6f38376f, 0x6f351b1f,

+    0x6f31fe8b, 0x6f2ee1b2,

+  0x6f2bc495, 0x6f28a733, 0x6f25898d, 0x6f226ba2, 0x6f1f4d72, 0x6f1c2efe,

+    0x6f191045, 0x6f15f148,

+  0x6f12d206, 0x6f0fb280, 0x6f0c92b6, 0x6f0972a6, 0x6f065253, 0x6f0331ba,

+    0x6f0010de, 0x6efcefbd,

+  0x6ef9ce57, 0x6ef6acad, 0x6ef38abe, 0x6ef0688b, 0x6eed4614, 0x6eea2358,

+    0x6ee70058, 0x6ee3dd13,

+  0x6ee0b98a, 0x6edd95bd, 0x6eda71ab, 0x6ed74d55, 0x6ed428ba, 0x6ed103db,

+    0x6ecddeb8, 0x6ecab950,

+  0x6ec793a4, 0x6ec46db4, 0x6ec1477f, 0x6ebe2106, 0x6ebafa49, 0x6eb7d347,

+    0x6eb4ac02, 0x6eb18477,

+  0x6eae5ca9, 0x6eab3496, 0x6ea80c3f, 0x6ea4e3a4, 0x6ea1bac4, 0x6e9e91a1,

+    0x6e9b6839, 0x6e983e8d,

+  0x6e95149c, 0x6e91ea67, 0x6e8ebfef, 0x6e8b9532, 0x6e886a30, 0x6e853eeb,

+    0x6e821361, 0x6e7ee794,

+  0x6e7bbb82, 0x6e788f2c, 0x6e756291, 0x6e7235b3, 0x6e6f0890, 0x6e6bdb2a,

+    0x6e68ad7f, 0x6e657f90,

+  0x6e62515d, 0x6e5f22e6, 0x6e5bf42b, 0x6e58c52c, 0x6e5595e9, 0x6e526662,

+    0x6e4f3696, 0x6e4c0687,

+  0x6e48d633, 0x6e45a59c, 0x6e4274c1, 0x6e3f43a1, 0x6e3c123e, 0x6e38e096,

+    0x6e35aeab, 0x6e327c7b,

+  0x6e2f4a08, 0x6e2c1750, 0x6e28e455, 0x6e25b115, 0x6e227d92, 0x6e1f49cb,

+    0x6e1c15c0, 0x6e18e171,

+  0x6e15acde, 0x6e127807, 0x6e0f42ec, 0x6e0c0d8e, 0x6e08d7eb, 0x6e05a205,

+    0x6e026bda, 0x6dff356c,

+  0x6dfbfeba, 0x6df8c7c4, 0x6df5908b, 0x6df2590d, 0x6def214c, 0x6debe947,

+    0x6de8b0fe, 0x6de57871,

+  0x6de23fa0, 0x6ddf068c, 0x6ddbcd34, 0x6dd89398, 0x6dd559b9, 0x6dd21f95,

+    0x6dcee52e, 0x6dcbaa83,

+  0x6dc86f95, 0x6dc53462, 0x6dc1f8ec, 0x6dbebd33, 0x6dbb8135, 0x6db844f4,

+    0x6db5086f, 0x6db1cba7,

+  0x6dae8e9b, 0x6dab514b, 0x6da813b8, 0x6da4d5e1, 0x6da197c6, 0x6d9e5968,

+    0x6d9b1ac6, 0x6d97dbe0,

+  0x6d949cb7, 0x6d915d4a, 0x6d8e1d9a, 0x6d8adda6, 0x6d879d6e, 0x6d845cf3,

+    0x6d811c35, 0x6d7ddb33,

+  0x6d7a99ed, 0x6d775864, 0x6d741697, 0x6d70d487, 0x6d6d9233, 0x6d6a4f9c,

+    0x6d670cc1, 0x6d63c9a3,

+  0x6d608641, 0x6d5d429c, 0x6d59feb3, 0x6d56ba87, 0x6d537617, 0x6d503164,

+    0x6d4cec6e, 0x6d49a734,

+  0x6d4661b7, 0x6d431bf6, 0x6d3fd5f2, 0x6d3c8fab, 0x6d394920, 0x6d360252,

+    0x6d32bb40, 0x6d2f73eb,

+  0x6d2c2c53, 0x6d28e477, 0x6d259c58, 0x6d2253f6, 0x6d1f0b50, 0x6d1bc267,

+    0x6d18793b, 0x6d152fcc,

+  0x6d11e619, 0x6d0e9c23, 0x6d0b51e9, 0x6d08076d, 0x6d04bcad, 0x6d0171aa,

+    0x6cfe2663, 0x6cfadada,

+  0x6cf78f0d, 0x6cf442fd, 0x6cf0f6aa, 0x6cedaa13, 0x6cea5d3a, 0x6ce7101d,

+    0x6ce3c2bd, 0x6ce0751a,

+  0x6cdd2733, 0x6cd9d90a, 0x6cd68a9d, 0x6cd33bed, 0x6ccfecfa, 0x6ccc9dc4,

+    0x6cc94e4b, 0x6cc5fe8f,

+  0x6cc2ae90, 0x6cbf5e4d, 0x6cbc0dc8, 0x6cb8bcff, 0x6cb56bf4, 0x6cb21aa5,

+    0x6caec913, 0x6cab773e,

+  0x6ca82527, 0x6ca4d2cc, 0x6ca1802e, 0x6c9e2d4d, 0x6c9ada29, 0x6c9786c2,

+    0x6c943318, 0x6c90df2c,

+  0x6c8d8afc, 0x6c8a3689, 0x6c86e1d3, 0x6c838cdb, 0x6c80379f, 0x6c7ce220,

+    0x6c798c5f, 0x6c76365b,

+  0x6c72e013, 0x6c6f8989, 0x6c6c32bc, 0x6c68dbac, 0x6c658459, 0x6c622cc4,

+    0x6c5ed4eb, 0x6c5b7cd0,

+  0x6c582472, 0x6c54cbd1, 0x6c5172ed, 0x6c4e19c6, 0x6c4ac05d, 0x6c4766b0,

+    0x6c440cc1, 0x6c40b28f,

+  0x6c3d581b, 0x6c39fd63, 0x6c36a269, 0x6c33472c, 0x6c2febad, 0x6c2c8fea,

+    0x6c2933e5, 0x6c25d79d,

+  0x6c227b13, 0x6c1f1e45, 0x6c1bc136, 0x6c1863e3, 0x6c15064e, 0x6c11a876,

+    0x6c0e4a5b, 0x6c0aebfe,

+  0x6c078d5e, 0x6c042e7b, 0x6c00cf56, 0x6bfd6fee, 0x6bfa1044, 0x6bf6b056,

+    0x6bf35027, 0x6befefb5,

+  0x6bec8f00, 0x6be92e08, 0x6be5ccce, 0x6be26b52, 0x6bdf0993, 0x6bdba791,

+    0x6bd8454d, 0x6bd4e2c6,

+  0x6bd17ffd, 0x6bce1cf1, 0x6bcab9a3, 0x6bc75613, 0x6bc3f23f, 0x6bc08e2a,

+    0x6bbd29d2, 0x6bb9c537,

+  0x6bb6605a, 0x6bb2fb3b, 0x6baf95d9, 0x6bac3034, 0x6ba8ca4e, 0x6ba56425,

+    0x6ba1fdb9, 0x6b9e970b,

+  0x6b9b301b, 0x6b97c8e8, 0x6b946173, 0x6b90f9bc, 0x6b8d91c2, 0x6b8a2986,

+    0x6b86c107, 0x6b835846,

+  0x6b7fef43, 0x6b7c85fe, 0x6b791c76, 0x6b75b2ac, 0x6b7248a0, 0x6b6ede51,

+    0x6b6b73c0, 0x6b6808ed,

+  0x6b649dd8, 0x6b613280, 0x6b5dc6e6, 0x6b5a5b0a, 0x6b56eeec, 0x6b53828b,

+    0x6b5015e9, 0x6b4ca904,

+  0x6b493bdd, 0x6b45ce73, 0x6b4260c8, 0x6b3ef2da, 0x6b3b84ab, 0x6b381639,

+    0x6b34a785, 0x6b31388e,

+  0x6b2dc956, 0x6b2a59dc, 0x6b26ea1f, 0x6b237a21, 0x6b2009e0, 0x6b1c995d,

+    0x6b192898, 0x6b15b791,

+  0x6b124648, 0x6b0ed4bd, 0x6b0b62f0, 0x6b07f0e1, 0x6b047e90, 0x6b010bfd,

+    0x6afd9928, 0x6afa2610,

+  0x6af6b2b7, 0x6af33f1c, 0x6aefcb3f, 0x6aec5720, 0x6ae8e2bf, 0x6ae56e1c,

+    0x6ae1f937, 0x6ade8410,

+  0x6adb0ea8, 0x6ad798fd, 0x6ad42311, 0x6ad0ace2, 0x6acd3672, 0x6ac9bfc0,

+    0x6ac648cb, 0x6ac2d195,

+  0x6abf5a1e, 0x6abbe264, 0x6ab86a68, 0x6ab4f22b, 0x6ab179ac, 0x6aae00eb,

+    0x6aaa87e8, 0x6aa70ea4,

+  0x6aa3951d, 0x6aa01b55, 0x6a9ca14b, 0x6a992700, 0x6a95ac72, 0x6a9231a3,

+    0x6a8eb692, 0x6a8b3b3f,

+  0x6a87bfab, 0x6a8443d5, 0x6a80c7bd, 0x6a7d4b64, 0x6a79cec8, 0x6a7651ec,

+    0x6a72d4cd, 0x6a6f576d,

+  0x6a6bd9cb, 0x6a685be8, 0x6a64ddc2, 0x6a615f5c, 0x6a5de0b3, 0x6a5a61c9,

+    0x6a56e29e, 0x6a536331,

+  0x6a4fe382, 0x6a4c6391, 0x6a48e360, 0x6a4562ec, 0x6a41e237, 0x6a3e6140,

+    0x6a3ae008, 0x6a375e8f,

+  0x6a33dcd4, 0x6a305ad7, 0x6a2cd899, 0x6a295619, 0x6a25d358, 0x6a225055,

+    0x6a1ecd11, 0x6a1b498c,

+  0x6a17c5c5, 0x6a1441bc, 0x6a10bd72, 0x6a0d38e7, 0x6a09b41a, 0x6a062f0c,

+    0x6a02a9bc, 0x69ff242b,

+  0x69fb9e59, 0x69f81845, 0x69f491f0, 0x69f10b5a, 0x69ed8482, 0x69e9fd69,

+    0x69e6760f, 0x69e2ee73,

+  0x69df6696, 0x69dbde77, 0x69d85618, 0x69d4cd77, 0x69d14494, 0x69cdbb71,

+    0x69ca320c, 0x69c6a866,

+  0x69c31e7f, 0x69bf9456, 0x69bc09ec, 0x69b87f41, 0x69b4f455, 0x69b16928,

+    0x69adddb9, 0x69aa5209,

+  0x69a6c618, 0x69a339e6, 0x699fad73, 0x699c20be, 0x699893c9, 0x69950692,

+    0x6991791a, 0x698deb61,

+  0x698a5d67, 0x6986cf2c, 0x698340af, 0x697fb1f2, 0x697c22f3, 0x697893b4,

+    0x69750433, 0x69717472,

+  0x696de46f, 0x696a542b, 0x6966c3a6, 0x696332e1, 0x695fa1da, 0x695c1092,

+    0x69587f09, 0x6954ed40,

+  0x69515b35, 0x694dc8e9, 0x694a365c, 0x6946a38f, 0x69431080, 0x693f7d31,

+    0x693be9a0, 0x693855cf,

+  0x6934c1bd, 0x69312d6a, 0x692d98d6, 0x692a0401, 0x69266eeb, 0x6922d995,

+    0x691f43fd, 0x691bae25,

+  0x6918180c, 0x691481b2, 0x6910eb17, 0x690d543b, 0x6909bd1f, 0x690625c2,

+    0x69028e24, 0x68fef645,

+  0x68fb5e25, 0x68f7c5c5, 0x68f42d24, 0x68f09442, 0x68ecfb20, 0x68e961bd,

+    0x68e5c819, 0x68e22e34,

+  0x68de940f, 0x68daf9a9, 0x68d75f02, 0x68d3c41b, 0x68d028f2, 0x68cc8d8a,

+    0x68c8f1e0, 0x68c555f6,

+  0x68c1b9cc, 0x68be1d61, 0x68ba80b5, 0x68b6e3c8, 0x68b3469b, 0x68afa92e,

+    0x68ac0b7f, 0x68a86d91,

+  0x68a4cf61, 0x68a130f1, 0x689d9241, 0x6899f350, 0x6896541f, 0x6892b4ad,

+    0x688f14fa, 0x688b7507,

+  0x6887d4d4, 0x68843460, 0x688093ab, 0x687cf2b6, 0x68795181, 0x6875b00b,

+    0x68720e55, 0x686e6c5e,

+  0x686aca27, 0x686727b0, 0x686384f8, 0x685fe200, 0x685c3ec7, 0x68589b4e,

+    0x6854f795, 0x6851539b,

+  0x684daf61, 0x684a0ae6, 0x6846662c, 0x6842c131, 0x683f1bf5, 0x683b7679,

+    0x6837d0bd, 0x68342ac1,

+  0x68308485, 0x682cde08, 0x6829374b, 0x6825904d, 0x6821e910, 0x681e4192,

+    0x681a99d4, 0x6816f1d6,

+  0x68134997, 0x680fa118, 0x680bf85a, 0x68084f5a, 0x6804a61b, 0x6800fc9c,

+    0x67fd52dc, 0x67f9a8dd,

+  0x67f5fe9d, 0x67f2541d, 0x67eea95d, 0x67eafe5d, 0x67e7531c, 0x67e3a79c,

+    0x67dffbdc, 0x67dc4fdb,

+  0x67d8a39a, 0x67d4f71a, 0x67d14a59, 0x67cd9d58, 0x67c9f017, 0x67c64297,

+    0x67c294d6, 0x67bee6d5,

+  0x67bb3894, 0x67b78a13, 0x67b3db53, 0x67b02c52, 0x67ac7d11, 0x67a8cd91,

+    0x67a51dd0, 0x67a16dcf,

+  0x679dbd8f, 0x679a0d0f, 0x67965c4e, 0x6792ab4e, 0x678efa0e, 0x678b488e,

+    0x678796ce, 0x6783e4cf,

+  0x6780328f, 0x677c8010, 0x6778cd50, 0x67751a51, 0x67716713, 0x676db394,

+    0x6769ffd5, 0x67664bd7,

+  0x67629799, 0x675ee31b, 0x675b2e5e, 0x67577960, 0x6753c423, 0x67500ea7,

+    0x674c58ea, 0x6748a2ee,

+  0x6744ecb2, 0x67413636, 0x673d7f7b, 0x6739c880, 0x67361145, 0x673259ca,

+    0x672ea210, 0x672aea17,

+  0x672731dd, 0x67237964, 0x671fc0ac, 0x671c07b4, 0x67184e7c, 0x67149504,

+    0x6710db4d, 0x670d2157,

+  0x67096721, 0x6705acab, 0x6701f1f6, 0x66fe3701, 0x66fa7bcd, 0x66f6c059,

+    0x66f304a6, 0x66ef48b3,

+  0x66eb8c80, 0x66e7d00f, 0x66e4135d, 0x66e0566c, 0x66dc993c, 0x66d8dbcd,

+    0x66d51e1d, 0x66d1602f,

+  0x66cda201, 0x66c9e393, 0x66c624e7, 0x66c265fa, 0x66bea6cf, 0x66bae764,

+    0x66b727ba, 0x66b367d0,

+  0x66afa7a7, 0x66abe73f, 0x66a82697, 0x66a465b0, 0x66a0a489, 0x669ce324,

+    0x6699217f, 0x66955f9b,

+  0x66919d77, 0x668ddb14, 0x668a1872, 0x66865591, 0x66829270, 0x667ecf11,

+    0x667b0b72, 0x66774793,

+  0x66738376, 0x666fbf19, 0x666bfa7d, 0x666835a2, 0x66647088, 0x6660ab2f,

+    0x665ce596, 0x66591fbf,

+  0x665559a8, 0x66519352, 0x664dccbd, 0x664a05e9, 0x66463ed6, 0x66427784,

+    0x663eaff2, 0x663ae822,

+  0x66372012, 0x663357c4, 0x662f8f36, 0x662bc66a, 0x6627fd5e, 0x66243413,

+    0x66206a8a, 0x661ca0c1,

+  0x6618d6b9, 0x66150c73, 0x661141ed, 0x660d7729, 0x6609ac25, 0x6605e0e3,

+    0x66021561, 0x65fe49a1,

+  0x65fa7da2, 0x65f6b164, 0x65f2e4e7, 0x65ef182b, 0x65eb4b30, 0x65e77df6,

+    0x65e3b07e, 0x65dfe2c6,

+  0x65dc14d0, 0x65d8469b, 0x65d47827, 0x65d0a975, 0x65ccda83, 0x65c90b53,

+    0x65c53be4, 0x65c16c36,

+  0x65bd9c49, 0x65b9cc1e, 0x65b5fbb4, 0x65b22b0b, 0x65ae5a23, 0x65aa88fd,

+    0x65a6b798, 0x65a2e5f4,

+  0x659f1412, 0x659b41f1, 0x65976f91, 0x65939cf3, 0x658fca15, 0x658bf6fa,

+    0x6588239f, 0x65845006,

+  0x65807c2f, 0x657ca818, 0x6578d3c4, 0x6574ff30, 0x65712a5e, 0x656d554d,

+    0x65697ffe, 0x6565aa71,

+  0x6561d4a4, 0x655dfe99, 0x655a2850, 0x655651c8, 0x65527b02, 0x654ea3fd,

+    0x654accba, 0x6546f538,

+  0x65431d77, 0x653f4579, 0x653b6d3b, 0x653794c0, 0x6533bc06, 0x652fe30d,

+    0x652c09d6, 0x65283061,

+  0x652456ad, 0x65207cbb, 0x651ca28a, 0x6518c81b, 0x6514ed6e, 0x65111283,

+    0x650d3759, 0x65095bf0,

+  0x6505804a, 0x6501a465, 0x64fdc841, 0x64f9ebe0, 0x64f60f40, 0x64f23262,

+    0x64ee5546, 0x64ea77eb,

+  0x64e69a52, 0x64e2bc7b, 0x64dede66, 0x64db0012, 0x64d72180, 0x64d342b0,

+    0x64cf63a2, 0x64cb8456,

+  0x64c7a4cb, 0x64c3c502, 0x64bfe4fc, 0x64bc04b6, 0x64b82433, 0x64b44372,

+    0x64b06273, 0x64ac8135,

+  0x64a89fba, 0x64a4be00, 0x64a0dc08, 0x649cf9d2, 0x6499175e, 0x649534ac,

+    0x649151bc, 0x648d6e8e,

+  0x64898b22, 0x6485a778, 0x6481c390, 0x647ddf6a, 0x6479fb06, 0x64761664,

+    0x64723184, 0x646e4c66,

+  0x646a670a, 0x64668170, 0x64629b98, 0x645eb582, 0x645acf2e, 0x6456e89d,

+    0x645301cd, 0x644f1ac0,

+  0x644b3375, 0x64474bec, 0x64436425, 0x643f7c20, 0x643b93dd, 0x6437ab5d,

+    0x6433c29f, 0x642fd9a3,

+  0x642bf069, 0x642806f1, 0x64241d3c, 0x64203348, 0x641c4917, 0x64185ea9,

+    0x641473fc, 0x64108912,

+  0x640c9dea, 0x6408b284, 0x6404c6e1, 0x6400db00, 0x63fceee1, 0x63f90285,

+    0x63f515eb, 0x63f12913,

+  0x63ed3bfd, 0x63e94eaa, 0x63e5611a, 0x63e1734b, 0x63dd853f, 0x63d996f6,

+    0x63d5a86f, 0x63d1b9aa,

+  0x63cdcaa8, 0x63c9db68, 0x63c5ebeb, 0x63c1fc30, 0x63be0c37, 0x63ba1c01,

+    0x63b62b8e, 0x63b23add,

+  0x63ae49ee, 0x63aa58c2, 0x63a66759, 0x63a275b2, 0x639e83cd, 0x639a91ac,

+    0x63969f4c, 0x6392acaf,

+  0x638eb9d5, 0x638ac6be, 0x6386d369, 0x6382dfd6, 0x637eec07, 0x637af7fa,

+    0x637703af, 0x63730f27,

+  0x636f1a62, 0x636b2560, 0x63673020, 0x63633aa3, 0x635f44e8, 0x635b4ef0,

+    0x635758bb, 0x63536249,

+  0x634f6b99, 0x634b74ad, 0x63477d82, 0x6343861b, 0x633f8e76, 0x633b9695,

+    0x63379e76, 0x6333a619,

+  0x632fad80, 0x632bb4a9, 0x6327bb96, 0x6323c245, 0x631fc8b7, 0x631bceeb,

+    0x6317d4e3, 0x6313da9e,

+  0x630fe01b, 0x630be55b, 0x6307ea5e, 0x6303ef25, 0x62fff3ae, 0x62fbf7fa,

+    0x62f7fc08, 0x62f3ffda,

+  0x62f0036f, 0x62ec06c7, 0x62e809e2, 0x62e40cbf, 0x62e00f60, 0x62dc11c4,

+    0x62d813eb, 0x62d415d4,

+  0x62d01781, 0x62cc18f1, 0x62c81a24, 0x62c41b1a, 0x62c01bd3, 0x62bc1c4f,

+    0x62b81c8f, 0x62b41c91,

+  0x62b01c57, 0x62ac1bdf, 0x62a81b2b, 0x62a41a3a, 0x62a0190c, 0x629c17a1,

+    0x629815fa, 0x62941415,

+  0x629011f4, 0x628c0f96, 0x62880cfb, 0x62840a23, 0x6280070f, 0x627c03be,

+    0x62780030, 0x6273fc65,

+  0x626ff85e, 0x626bf41a, 0x6267ef99, 0x6263eadc, 0x625fe5e1, 0x625be0ab,

+    0x6257db37, 0x6253d587,

+  0x624fcf9a, 0x624bc970, 0x6247c30a, 0x6243bc68, 0x623fb588, 0x623bae6c,

+    0x6237a714, 0x62339f7e,

+  0x622f97ad, 0x622b8f9e, 0x62278754, 0x62237ecc, 0x621f7608, 0x621b6d08,

+    0x621763cb, 0x62135a51,

+  0x620f509b, 0x620b46a9, 0x62073c7a, 0x6203320e, 0x61ff2766, 0x61fb1c82,

+    0x61f71161, 0x61f30604,

+  0x61eefa6b, 0x61eaee95, 0x61e6e282, 0x61e2d633, 0x61dec9a8, 0x61dabce0,

+    0x61d6afdd, 0x61d2a29c,

+  0x61ce9520, 0x61ca8767, 0x61c67971, 0x61c26b40, 0x61be5cd2, 0x61ba4e28,

+    0x61b63f41, 0x61b2301e,

+  0x61ae20bf, 0x61aa1124, 0x61a6014d, 0x61a1f139, 0x619de0e9, 0x6199d05d,

+    0x6195bf94, 0x6191ae90,

+  0x618d9d4f, 0x61898bd2, 0x61857a19, 0x61816824, 0x617d55f2, 0x61794385,

+    0x617530db, 0x61711df5,

+  0x616d0ad3, 0x6168f775, 0x6164e3db, 0x6160d005, 0x615cbbf3, 0x6158a7a4,

+    0x6154931a, 0x61507e54,

+  0x614c6951, 0x61485413, 0x61443e98, 0x614028e2, 0x613c12f0, 0x6137fcc1,

+    0x6133e657, 0x612fcfb0,

+  0x612bb8ce, 0x6127a1b0, 0x61238a56, 0x611f72c0, 0x611b5aee, 0x611742e0,

+    0x61132a96, 0x610f1210,

+  0x610af94f, 0x6106e051, 0x6102c718, 0x60feada3, 0x60fa93f2, 0x60f67a05,

+    0x60f25fdd, 0x60ee4579,

+  0x60ea2ad8, 0x60e60ffd, 0x60e1f4e5, 0x60ddd991, 0x60d9be02, 0x60d5a237,

+    0x60d18631, 0x60cd69ee,

+  0x60c94d70, 0x60c530b6, 0x60c113c1, 0x60bcf690, 0x60b8d923, 0x60b4bb7a,

+    0x60b09d96, 0x60ac7f76,

+  0x60a8611b, 0x60a44284, 0x60a023b1, 0x609c04a3, 0x6097e559, 0x6093c5d3,

+    0x608fa612, 0x608b8616,

+  0x608765dd, 0x6083456a, 0x607f24ba, 0x607b03d0, 0x6076e2a9, 0x6072c148,

+    0x606e9faa, 0x606a7dd2,

+  0x60665bbd, 0x6062396e, 0x605e16e2, 0x6059f41c, 0x6055d11a, 0x6051addc,

+    0x604d8a63, 0x604966af,

+  0x604542bf, 0x60411e94, 0x603cfa2e, 0x6038d58c, 0x6034b0af, 0x60308b97,

+    0x602c6643, 0x602840b4,

+  0x60241ae9, 0x601ff4e3, 0x601bcea2, 0x6017a826, 0x6013816e, 0x600f5a7b,

+    0x600b334d, 0x60070be4,

+  0x6002e43f, 0x5ffebc5f, 0x5ffa9444, 0x5ff66bee, 0x5ff2435d, 0x5fee1a90,

+    0x5fe9f188, 0x5fe5c845,

+  0x5fe19ec7, 0x5fdd750e, 0x5fd94b19, 0x5fd520ea, 0x5fd0f67f, 0x5fcccbd9,

+    0x5fc8a0f8, 0x5fc475dc,

+  0x5fc04a85, 0x5fbc1ef3, 0x5fb7f326, 0x5fb3c71e, 0x5faf9adb, 0x5fab6e5d,

+    0x5fa741a3, 0x5fa314af,

+  0x5f9ee780, 0x5f9aba16, 0x5f968c70, 0x5f925e90, 0x5f8e3075, 0x5f8a021f,

+    0x5f85d38e, 0x5f81a4c2,

+  0x5f7d75bb, 0x5f794679, 0x5f7516fd, 0x5f70e745, 0x5f6cb753, 0x5f688726,

+    0x5f6456be, 0x5f60261b,

+  0x5f5bf53d, 0x5f57c424, 0x5f5392d1, 0x5f4f6143, 0x5f4b2f7a, 0x5f46fd76,

+    0x5f42cb37, 0x5f3e98be,

+  0x5f3a660a, 0x5f36331b, 0x5f31fff1, 0x5f2dcc8d, 0x5f2998ee, 0x5f256515,

+    0x5f213100, 0x5f1cfcb1,

+  0x5f18c827, 0x5f149363, 0x5f105e64, 0x5f0c292a, 0x5f07f3b6, 0x5f03be07,

+    0x5eff881d, 0x5efb51f9,

+  0x5ef71b9b, 0x5ef2e501, 0x5eeeae2d, 0x5eea771f, 0x5ee63fd6, 0x5ee20853,

+    0x5eddd094, 0x5ed9989c,

+  0x5ed56069, 0x5ed127fb, 0x5eccef53, 0x5ec8b671, 0x5ec47d54, 0x5ec043fc,

+    0x5ebc0a6a, 0x5eb7d09e,

+  0x5eb39697, 0x5eaf5c56, 0x5eab21da, 0x5ea6e724, 0x5ea2ac34, 0x5e9e7109,

+    0x5e9a35a4, 0x5e95fa05,

+  0x5e91be2b, 0x5e8d8217, 0x5e8945c8, 0x5e85093f, 0x5e80cc7c, 0x5e7c8f7f,

+    0x5e785247, 0x5e7414d5,

+  0x5e6fd729, 0x5e6b9943, 0x5e675b22, 0x5e631cc7, 0x5e5ede32, 0x5e5a9f62,

+    0x5e566059, 0x5e522115,

+  0x5e4de197, 0x5e49a1df, 0x5e4561ed, 0x5e4121c0, 0x5e3ce15a, 0x5e38a0b9,

+    0x5e345fde, 0x5e301ec9,

+  0x5e2bdd7a, 0x5e279bf1, 0x5e235a2e, 0x5e1f1830, 0x5e1ad5f9, 0x5e169388,

+    0x5e1250dc, 0x5e0e0df7,

+  0x5e09cad7, 0x5e05877e, 0x5e0143ea, 0x5dfd001d, 0x5df8bc15, 0x5df477d4,

+    0x5df03359, 0x5debeea3,

+  0x5de7a9b4, 0x5de3648b, 0x5ddf1f28, 0x5ddad98b, 0x5dd693b4, 0x5dd24da3,

+    0x5dce0759, 0x5dc9c0d4,

+  0x5dc57a16, 0x5dc1331d, 0x5dbcebeb, 0x5db8a480, 0x5db45cda, 0x5db014fa,

+    0x5dabcce1, 0x5da7848e,

+  0x5da33c01, 0x5d9ef33b, 0x5d9aaa3a, 0x5d966100, 0x5d92178d, 0x5d8dcddf,

+    0x5d8983f8, 0x5d8539d7,

+  0x5d80ef7c, 0x5d7ca4e8, 0x5d785a1a, 0x5d740f12, 0x5d6fc3d1, 0x5d6b7856,

+    0x5d672ca2, 0x5d62e0b4,

+  0x5d5e948c, 0x5d5a482a, 0x5d55fb90, 0x5d51aebb, 0x5d4d61ad, 0x5d491465,

+    0x5d44c6e4, 0x5d40792a,

+  0x5d3c2b35, 0x5d37dd08, 0x5d338ea0, 0x5d2f4000, 0x5d2af125, 0x5d26a212,

+    0x5d2252c5, 0x5d1e033e,

+  0x5d19b37e, 0x5d156385, 0x5d111352, 0x5d0cc2e5, 0x5d087240, 0x5d042161,

+    0x5cffd048, 0x5cfb7ef7,

+  0x5cf72d6b, 0x5cf2dba7, 0x5cee89a9, 0x5cea3772, 0x5ce5e501, 0x5ce19258,

+    0x5cdd3f75, 0x5cd8ec58,

+  0x5cd49903, 0x5cd04574, 0x5ccbf1ab, 0x5cc79daa, 0x5cc3496f, 0x5cbef4fc,

+    0x5cbaa04f, 0x5cb64b68,

+  0x5cb1f649, 0x5cada0f0, 0x5ca94b5e, 0x5ca4f594, 0x5ca09f8f, 0x5c9c4952,

+    0x5c97f2dc, 0x5c939c2c,

+  0x5c8f4544, 0x5c8aee22, 0x5c8696c7, 0x5c823f34, 0x5c7de767, 0x5c798f61,

+    0x5c753722, 0x5c70deaa,

+  0x5c6c85f9, 0x5c682d0f, 0x5c63d3eb, 0x5c5f7a8f, 0x5c5b20fa, 0x5c56c72c,

+    0x5c526d25, 0x5c4e12e5,

+  0x5c49b86d, 0x5c455dbb, 0x5c4102d0, 0x5c3ca7ad, 0x5c384c50, 0x5c33f0bb,

+    0x5c2f94ec, 0x5c2b38e5,

+  0x5c26dca5, 0x5c22802c, 0x5c1e237b, 0x5c19c690, 0x5c15696d, 0x5c110c11,

+    0x5c0cae7c, 0x5c0850ae,

+  0x5c03f2a8, 0x5bff9469, 0x5bfb35f1, 0x5bf6d740, 0x5bf27857, 0x5bee1935,

+    0x5be9b9da, 0x5be55a46,

+  0x5be0fa7a, 0x5bdc9a75, 0x5bd83a37, 0x5bd3d9c1, 0x5bcf7912, 0x5bcb182b,

+    0x5bc6b70b, 0x5bc255b2,

+  0x5bbdf421, 0x5bb99257, 0x5bb53054, 0x5bb0ce19, 0x5bac6ba6, 0x5ba808f9,

+    0x5ba3a615, 0x5b9f42f7,

+  0x5b9adfa2, 0x5b967c13, 0x5b92184d, 0x5b8db44d, 0x5b895016, 0x5b84eba6,

+    0x5b8086fd, 0x5b7c221c,

+  0x5b77bd02, 0x5b7357b0, 0x5b6ef226, 0x5b6a8c63, 0x5b662668, 0x5b61c035,

+    0x5b5d59c9, 0x5b58f324,

+  0x5b548c48, 0x5b502533, 0x5b4bbde6, 0x5b475660, 0x5b42eea2, 0x5b3e86ac,

+    0x5b3a1e7e, 0x5b35b617,

+  0x5b314d78, 0x5b2ce4a1, 0x5b287b91, 0x5b241249, 0x5b1fa8c9, 0x5b1b3f11,

+    0x5b16d521, 0x5b126af8,

+  0x5b0e0098, 0x5b0995ff, 0x5b052b2e, 0x5b00c025, 0x5afc54e3, 0x5af7e96a,

+    0x5af37db8, 0x5aef11cf,

+  0x5aeaa5ad, 0x5ae63953, 0x5ae1ccc1, 0x5add5ff7, 0x5ad8f2f5, 0x5ad485bb,

+    0x5ad01849, 0x5acbaa9f,

+  0x5ac73cbd, 0x5ac2cea3, 0x5abe6050, 0x5ab9f1c6, 0x5ab58304, 0x5ab1140a,

+    0x5aaca4d8, 0x5aa8356f,

+  0x5aa3c5cd, 0x5a9f55f3, 0x5a9ae5e2, 0x5a967598, 0x5a920517, 0x5a8d945d,

+    0x5a89236c, 0x5a84b243,

+  0x5a8040e3, 0x5a7bcf4a, 0x5a775d7a, 0x5a72eb71, 0x5a6e7931, 0x5a6a06ba,

+    0x5a65940a, 0x5a612123,

+  0x5a5cae04, 0x5a583aad, 0x5a53c71e, 0x5a4f5358, 0x5a4adf5a, 0x5a466b24,

+    0x5a41f6b7, 0x5a3d8212,

+  0x5a390d35, 0x5a349821, 0x5a3022d5, 0x5a2bad51, 0x5a273796, 0x5a22c1a3,

+    0x5a1e4b79, 0x5a19d517,

+  0x5a155e7d, 0x5a10e7ac, 0x5a0c70a3, 0x5a07f963, 0x5a0381eb, 0x59ff0a3c,

+    0x59fa9255, 0x59f61a36,

+  0x59f1a1e0, 0x59ed2953, 0x59e8b08e, 0x59e43792, 0x59dfbe5e, 0x59db44f3,

+    0x59d6cb50, 0x59d25176,

+  0x59cdd765, 0x59c95d1c, 0x59c4e29c, 0x59c067e4, 0x59bbecf5, 0x59b771cf,

+    0x59b2f671, 0x59ae7add,

+  0x59a9ff10, 0x59a5830d, 0x59a106d2, 0x599c8a60, 0x59980db6, 0x599390d5,

+    0x598f13bd, 0x598a966e,

+  0x598618e8, 0x59819b2a, 0x597d1d35, 0x59789f09, 0x597420a6, 0x596fa20b,

+    0x596b233a, 0x5966a431,

+  0x596224f1, 0x595da57a, 0x595925cc, 0x5954a5e6, 0x595025ca, 0x594ba576,

+    0x594724ec, 0x5942a42a,

+  0x593e2331, 0x5939a202, 0x5935209b, 0x59309efd, 0x592c1d28, 0x59279b1c,

+    0x592318d9, 0x591e9660,

+  0x591a13af, 0x591590c7, 0x59110da8, 0x590c8a53, 0x590806c6, 0x59038302,

+    0x58feff08, 0x58fa7ad7,

+  0x58f5f66e, 0x58f171cf, 0x58ececf9, 0x58e867ed, 0x58e3e2a9, 0x58df5d2e,

+    0x58dad77d, 0x58d65195,

+  0x58d1cb76, 0x58cd4520, 0x58c8be94, 0x58c437d1, 0x58bfb0d7, 0x58bb29a6,

+    0x58b6a23e, 0x58b21aa0,

+  0x58ad92cb, 0x58a90ac0, 0x58a4827d, 0x589ffa04, 0x589b7155, 0x5896e86f,

+    0x58925f52, 0x588dd5fe,

+  0x58894c74, 0x5884c2b3, 0x588038bb, 0x587bae8d, 0x58772429, 0x5872998e,

+    0x586e0ebc, 0x586983b4,

+  0x5864f875, 0x58606d00, 0x585be154, 0x58575571, 0x5852c958, 0x584e3d09,

+    0x5849b083, 0x584523c7,

+  0x584096d4, 0x583c09ab, 0x58377c4c, 0x5832eeb6, 0x582e60e9, 0x5829d2e6,

+    0x582544ad, 0x5820b63e,

+  0x581c2798, 0x581798bb, 0x581309a9, 0x580e7a60, 0x5809eae1, 0x58055b2b,

+    0x5800cb3f, 0x57fc3b1d,

+  0x57f7aac5, 0x57f31a36, 0x57ee8971, 0x57e9f876, 0x57e56744, 0x57e0d5dd,

+    0x57dc443f, 0x57d7b26b,

+  0x57d32061, 0x57ce8e20, 0x57c9fbaa, 0x57c568fd, 0x57c0d61a, 0x57bc4301,

+    0x57b7afb2, 0x57b31c2d,

+  0x57ae8872, 0x57a9f480, 0x57a56059, 0x57a0cbfb, 0x579c3768, 0x5797a29e,

+    0x57930d9e, 0x578e7869,

+  0x5789e2fd, 0x57854d5b, 0x5780b784, 0x577c2176, 0x57778b32, 0x5772f4b9,

+    0x576e5e09, 0x5769c724,

+  0x57653009, 0x576098b7, 0x575c0130, 0x57576973, 0x5752d180, 0x574e3957,

+    0x5749a0f9, 0x57450864,

+  0x57406f9a, 0x573bd69a, 0x57373d64, 0x5732a3f8, 0x572e0a56, 0x5729707f,

+    0x5724d672, 0x57203c2f,

+  0x571ba1b7, 0x57170708, 0x57126c24, 0x570dd10a, 0x570935bb, 0x57049a36,

+    0x56fffe7b, 0x56fb628b,

+  0x56f6c664, 0x56f22a09, 0x56ed8d77, 0x56e8f0b0, 0x56e453b4, 0x56dfb681,

+    0x56db1919, 0x56d67b7c,

+  0x56d1dda9, 0x56cd3fa1, 0x56c8a162, 0x56c402ef, 0x56bf6446, 0x56bac567,

+    0x56b62653, 0x56b18709,

+  0x56ace78a, 0x56a847d6, 0x56a3a7ec, 0x569f07cc, 0x569a6777, 0x5695c6ed,

+    0x5691262d, 0x568c8538,

+  0x5687e40e, 0x568342ae, 0x567ea118, 0x5679ff4e, 0x56755d4e, 0x5670bb19,

+    0x566c18ae, 0x5667760e,

+  0x5662d339, 0x565e302e, 0x56598cee, 0x5654e979, 0x565045cf, 0x564ba1f0,

+    0x5646fddb, 0x56425991,

+  0x563db512, 0x5639105d, 0x56346b74, 0x562fc655, 0x562b2101, 0x56267b78,

+    0x5621d5ba, 0x561d2fc6,

+  0x5618899e, 0x5613e340, 0x560f3cae, 0x560a95e6, 0x5605eee9, 0x560147b7,

+    0x55fca050, 0x55f7f8b4,

+  0x55f350e3, 0x55eea8dd, 0x55ea00a2, 0x55e55832, 0x55e0af8d, 0x55dc06b3,

+    0x55d75da4, 0x55d2b460,

+  0x55ce0ae7, 0x55c96139, 0x55c4b757, 0x55c00d3f, 0x55bb62f3, 0x55b6b871,

+    0x55b20dbb, 0x55ad62d0,

+  0x55a8b7b0, 0x55a40c5b, 0x559f60d1, 0x559ab513, 0x55960920, 0x55915cf8,

+    0x558cb09b, 0x55880409,

+  0x55835743, 0x557eaa48, 0x5579fd18, 0x55754fb3, 0x5570a21a, 0x556bf44c,

+    0x55674649, 0x55629812,

+  0x555de9a6, 0x55593b05, 0x55548c30, 0x554fdd26, 0x554b2de7, 0x55467e74,

+    0x5541cecc, 0x553d1ef0,

+  0x55386edf, 0x5533be99, 0x552f0e1f, 0x552a5d70, 0x5525ac8d, 0x5520fb75,

+    0x551c4a29, 0x551798a8,

+  0x5512e6f3, 0x550e3509, 0x550982eb, 0x5504d099, 0x55001e12, 0x54fb6b56,

+    0x54f6b866, 0x54f20542,

+  0x54ed51e9, 0x54e89e5c, 0x54e3ea9a, 0x54df36a5, 0x54da827a, 0x54d5ce1c,

+    0x54d11989, 0x54cc64c2,

+  0x54c7afc6, 0x54c2fa96, 0x54be4532, 0x54b98f9a, 0x54b4d9cd, 0x54b023cc,

+    0x54ab6d97, 0x54a6b72e,

+  0x54a20090, 0x549d49bf, 0x549892b9, 0x5493db7f, 0x548f2410, 0x548a6c6e,

+    0x5485b497, 0x5480fc8c,

+  0x547c444d, 0x54778bda, 0x5472d333, 0x546e1a58, 0x54696149, 0x5464a805,

+    0x545fee8e, 0x545b34e3,

+  0x54567b03, 0x5451c0f0, 0x544d06a8, 0x54484c2d, 0x5443917d, 0x543ed699,

+    0x543a1b82, 0x54356037,

+  0x5430a4b7, 0x542be904, 0x54272d1d, 0x54227102, 0x541db4b3, 0x5418f830,

+    0x54143b79, 0x540f7e8e,

+  0x540ac170, 0x5406041d, 0x54014697, 0x53fc88dd, 0x53f7caef, 0x53f30cce,

+    0x53ee4e78, 0x53e98fef,

+  0x53e4d132, 0x53e01242, 0x53db531d, 0x53d693c5, 0x53d1d439, 0x53cd147a,

+    0x53c85486, 0x53c3945f,

+  0x53bed405, 0x53ba1377, 0x53b552b5, 0x53b091bf, 0x53abd096, 0x53a70f39,

+    0x53a24da9, 0x539d8be5,

+  0x5398c9ed, 0x539407c2, 0x538f4564, 0x538a82d1, 0x5385c00c, 0x5380fd12,

+    0x537c39e6, 0x53777685,

+  0x5372b2f2, 0x536def2a, 0x53692b30, 0x53646701, 0x535fa2a0, 0x535ade0b,

+    0x53561942, 0x53515447,

+  0x534c8f17, 0x5347c9b5, 0x5343041f, 0x533e3e55, 0x53397859, 0x5334b229,

+    0x532febc5, 0x532b252f,

+  0x53265e65, 0x53219767, 0x531cd037, 0x531808d3, 0x5313413c, 0x530e7972,

+    0x5309b174, 0x5304e943,

+  0x530020df, 0x52fb5848, 0x52f68f7e, 0x52f1c680, 0x52ecfd4f, 0x52e833ec,

+    0x52e36a55, 0x52dea08a,

+  0x52d9d68d, 0x52d50c5d, 0x52d041f9, 0x52cb7763, 0x52c6ac99, 0x52c1e19d,

+    0x52bd166d, 0x52b84b0a,

+  0x52b37f74, 0x52aeb3ac, 0x52a9e7b0, 0x52a51b81, 0x52a04f1f, 0x529b828a,

+    0x5296b5c3, 0x5291e8c8,

+  0x528d1b9b, 0x52884e3a, 0x528380a7, 0x527eb2e0, 0x5279e4e7, 0x527516bb,

+    0x5270485c, 0x526b79ca,

+  0x5266ab06, 0x5261dc0e, 0x525d0ce4, 0x52583d87, 0x52536df7, 0x524e9e34,

+    0x5249ce3f, 0x5244fe17,

+  0x52402dbc, 0x523b5d2e, 0x52368c6e, 0x5231bb7b, 0x522cea55, 0x522818fc,

+    0x52234771, 0x521e75b3,

+  0x5219a3c3, 0x5214d1a0, 0x520fff4a, 0x520b2cc2, 0x52065a07, 0x52018719,

+    0x51fcb3f9, 0x51f7e0a6,

+  0x51f30d21, 0x51ee3969, 0x51e9657e, 0x51e49162, 0x51dfbd12, 0x51dae890,

+    0x51d613dc, 0x51d13ef5,

+  0x51cc69db, 0x51c79490, 0x51c2bf11, 0x51bde960, 0x51b9137d, 0x51b43d68,

+    0x51af6720, 0x51aa90a5,

+  0x51a5b9f9, 0x51a0e31a, 0x519c0c08, 0x519734c4, 0x51925d4e, 0x518d85a6,

+    0x5188adcb, 0x5183d5be,

+  0x517efd7f, 0x517a250d, 0x51754c69, 0x51707393, 0x516b9a8b, 0x5166c150,

+    0x5161e7e4, 0x515d0e45,

+  0x51583473, 0x51535a70, 0x514e803b, 0x5149a5d3, 0x5144cb39, 0x513ff06d,

+    0x513b156f, 0x51363a3f,

+  0x51315edd, 0x512c8348, 0x5127a782, 0x5122cb8a, 0x511def5f, 0x51191302,

+    0x51143674, 0x510f59b3,

+  0x510a7cc1, 0x51059f9c, 0x5100c246, 0x50fbe4bd, 0x50f70703, 0x50f22916,

+    0x50ed4af8, 0x50e86ca8,

+  0x50e38e25, 0x50deaf71, 0x50d9d08b, 0x50d4f173, 0x50d0122a, 0x50cb32ae,

+    0x50c65301, 0x50c17322,

+  0x50bc9311, 0x50b7b2ce, 0x50b2d259, 0x50adf1b3, 0x50a910db, 0x50a42fd1,

+    0x509f4e95, 0x509a6d28,

+  0x50958b88, 0x5090a9b8, 0x508bc7b5, 0x5086e581, 0x5082031b, 0x507d2083,

+    0x50783dba, 0x50735abf,

+  0x506e7793, 0x50699435, 0x5064b0a5, 0x505fcce4, 0x505ae8f1, 0x505604cd,

+    0x50512077, 0x504c3bef,

+  0x50475736, 0x5042724c, 0x503d8d30, 0x5038a7e2, 0x5033c263, 0x502edcb2,

+    0x5029f6d1, 0x502510bd,

+  0x50202a78, 0x501b4402, 0x50165d5a, 0x50117681, 0x500c8f77, 0x5007a83b,

+    0x5002c0cd, 0x4ffdd92f,

+  0x4ff8f15f, 0x4ff4095e, 0x4fef212b, 0x4fea38c7, 0x4fe55032, 0x4fe0676c,

+    0x4fdb7e74, 0x4fd6954b,

+  0x4fd1abf0, 0x4fccc265, 0x4fc7d8a8, 0x4fc2eeba, 0x4fbe049b, 0x4fb91a4b,

+    0x4fb42fc9, 0x4faf4517,

+  0x4faa5a33, 0x4fa56f1e, 0x4fa083d8, 0x4f9b9861, 0x4f96acb8, 0x4f91c0df,

+    0x4f8cd4d4, 0x4f87e899,

+  0x4f82fc2c, 0x4f7e0f8f, 0x4f7922c0, 0x4f7435c0, 0x4f6f488f, 0x4f6a5b2e,

+    0x4f656d9b, 0x4f607fd7,

+  0x4f5b91e3, 0x4f56a3bd, 0x4f51b566, 0x4f4cc6df, 0x4f47d827, 0x4f42e93d,

+    0x4f3dfa23, 0x4f390ad8,

+  0x4f341b5c, 0x4f2f2baf, 0x4f2a3bd2, 0x4f254bc3, 0x4f205b84, 0x4f1b6b14,

+    0x4f167a73, 0x4f1189a1,

+  0x4f0c989f, 0x4f07a76b, 0x4f02b608, 0x4efdc473, 0x4ef8d2ad, 0x4ef3e0b7,

+    0x4eeeee90, 0x4ee9fc39,

+  0x4ee509b1, 0x4ee016f8, 0x4edb240e, 0x4ed630f4, 0x4ed13da9, 0x4ecc4a2e,

+    0x4ec75682, 0x4ec262a5,

+  0x4ebd6e98, 0x4eb87a5a, 0x4eb385ec, 0x4eae914d, 0x4ea99c7d, 0x4ea4a77d,

+    0x4e9fb24d, 0x4e9abcec,

+  0x4e95c75b, 0x4e90d199, 0x4e8bdba6, 0x4e86e583, 0x4e81ef30, 0x4e7cf8ac,

+    0x4e7801f8, 0x4e730b14,

+  0x4e6e13ff, 0x4e691cba, 0x4e642544, 0x4e5f2d9e, 0x4e5a35c7, 0x4e553dc1,

+    0x4e50458a, 0x4e4b4d22,

+  0x4e46548b, 0x4e415bc3, 0x4e3c62cb, 0x4e3769a2, 0x4e32704a, 0x4e2d76c1,

+    0x4e287d08, 0x4e23831e,

+  0x4e1e8905, 0x4e198ebb, 0x4e149441, 0x4e0f9997, 0x4e0a9ebd, 0x4e05a3b2,

+    0x4e00a878, 0x4dfbad0d,

+  0x4df6b173, 0x4df1b5a8, 0x4decb9ad, 0x4de7bd82, 0x4de2c127, 0x4dddc49c,

+    0x4dd8c7e1, 0x4dd3caf6,

+  0x4dcecdda, 0x4dc9d08f, 0x4dc4d314, 0x4dbfd569, 0x4dbad78e, 0x4db5d983,

+    0x4db0db48, 0x4dabdcdd,

+  0x4da6de43, 0x4da1df78, 0x4d9ce07d, 0x4d97e153, 0x4d92e1f9, 0x4d8de26f,

+    0x4d88e2b5, 0x4d83e2cb,

+  0x4d7ee2b1, 0x4d79e268, 0x4d74e1ef, 0x4d6fe146, 0x4d6ae06d, 0x4d65df64,

+    0x4d60de2c, 0x4d5bdcc4,

+  0x4d56db2d, 0x4d51d965, 0x4d4cd76e, 0x4d47d547, 0x4d42d2f1, 0x4d3dd06b,

+    0x4d38cdb5, 0x4d33cad0,

+  0x4d2ec7bb, 0x4d29c476, 0x4d24c102, 0x4d1fbd5e, 0x4d1ab98b, 0x4d15b588,

+    0x4d10b155, 0x4d0bacf3,

+  0x4d06a862, 0x4d01a3a0, 0x4cfc9eb0, 0x4cf79990, 0x4cf29440, 0x4ced8ec1,

+    0x4ce88913, 0x4ce38335,

+  0x4cde7d28, 0x4cd976eb, 0x4cd4707f, 0x4ccf69e3, 0x4cca6318, 0x4cc55c1e,

+    0x4cc054f4, 0x4cbb4d9b,

+  0x4cb64613, 0x4cb13e5b, 0x4cac3674, 0x4ca72e5e, 0x4ca22619, 0x4c9d1da4,

+    0x4c981500, 0x4c930c2d,

+  0x4c8e032a, 0x4c88f9f8, 0x4c83f097, 0x4c7ee707, 0x4c79dd48, 0x4c74d359,

+    0x4c6fc93b, 0x4c6abeef,

+  0x4c65b473, 0x4c60a9c8, 0x4c5b9eed, 0x4c5693e4, 0x4c5188ac, 0x4c4c7d44,

+    0x4c4771ae, 0x4c4265e8,

+  0x4c3d59f3, 0x4c384dd0, 0x4c33417d, 0x4c2e34fb, 0x4c29284b, 0x4c241b6b,

+    0x4c1f0e5c, 0x4c1a011f,

+  0x4c14f3b2, 0x4c0fe617, 0x4c0ad84c, 0x4c05ca53, 0x4c00bc2b, 0x4bfbadd4,

+    0x4bf69f4e, 0x4bf19099,

+  0x4bec81b5, 0x4be772a3, 0x4be26362, 0x4bdd53f2, 0x4bd84453, 0x4bd33485,

+    0x4bce2488, 0x4bc9145d,

+  0x4bc40403, 0x4bbef37b, 0x4bb9e2c3, 0x4bb4d1dd, 0x4bafc0c8, 0x4baaaf85,

+    0x4ba59e12, 0x4ba08c72,

+  0x4b9b7aa2, 0x4b9668a4, 0x4b915677, 0x4b8c441c, 0x4b873192, 0x4b821ed9,

+    0x4b7d0bf2, 0x4b77f8dc,

+  0x4b72e598, 0x4b6dd225, 0x4b68be84, 0x4b63aab4, 0x4b5e96b6, 0x4b598289,

+    0x4b546e2d, 0x4b4f59a4,

+  0x4b4a44eb, 0x4b453005, 0x4b401aef, 0x4b3b05ac, 0x4b35f03a, 0x4b30da9a,

+    0x4b2bc4cb, 0x4b26aece,

+  0x4b2198a2, 0x4b1c8248, 0x4b176bc0, 0x4b12550a, 0x4b0d3e25, 0x4b082712,

+    0x4b030fd1, 0x4afdf861,

+  0x4af8e0c3, 0x4af3c8f7, 0x4aeeb0fd, 0x4ae998d4, 0x4ae4807d, 0x4adf67f8,

+    0x4ada4f45, 0x4ad53664,

+  0x4ad01d54, 0x4acb0417, 0x4ac5eaab, 0x4ac0d111, 0x4abbb749, 0x4ab69d53,

+    0x4ab1832f, 0x4aac68dc,

+  0x4aa74e5c, 0x4aa233ae, 0x4a9d18d1, 0x4a97fdc7, 0x4a92e28e, 0x4a8dc728,

+    0x4a88ab93, 0x4a838fd1,

+  0x4a7e73e0, 0x4a7957c2, 0x4a743b76, 0x4a6f1efc, 0x4a6a0253, 0x4a64e57d,

+    0x4a5fc879, 0x4a5aab48,

+  0x4a558de8, 0x4a50705a, 0x4a4b529f, 0x4a4634b6, 0x4a41169f, 0x4a3bf85a,

+    0x4a36d9e7, 0x4a31bb47,

+  0x4a2c9c79, 0x4a277d7d, 0x4a225e53, 0x4a1d3efc, 0x4a181f77, 0x4a12ffc4,

+    0x4a0ddfe4, 0x4a08bfd5,

+  0x4a039f9a, 0x49fe7f30, 0x49f95e99, 0x49f43dd4, 0x49ef1ce2, 0x49e9fbc2,

+    0x49e4da74, 0x49dfb8f9,

+  0x49da9750, 0x49d5757a, 0x49d05376, 0x49cb3145, 0x49c60ee6, 0x49c0ec59,

+    0x49bbc9a0, 0x49b6a6b8,

+  0x49b183a3, 0x49ac6061, 0x49a73cf1, 0x49a21954, 0x499cf589, 0x4997d191,

+    0x4992ad6c, 0x498d8919,

+  0x49886499, 0x49833fec, 0x497e1b11, 0x4978f609, 0x4973d0d3, 0x496eab70,

+    0x496985e0, 0x49646023,

+  0x495f3a38, 0x495a1420, 0x4954eddb, 0x494fc768, 0x494aa0c9, 0x494579fc,

+    0x49405302, 0x493b2bdb,

+  0x49360486, 0x4930dd05, 0x492bb556, 0x49268d7a, 0x49216571, 0x491c3d3b,

+    0x491714d8, 0x4911ec47,

+  0x490cc38a, 0x49079aa0, 0x49027188, 0x48fd4844, 0x48f81ed2, 0x48f2f534,

+    0x48edcb68, 0x48e8a170,

+  0x48e3774a, 0x48de4cf8, 0x48d92278, 0x48d3f7cc, 0x48ceccf3, 0x48c9a1ed,

+    0x48c476b9, 0x48bf4b59,

+  0x48ba1fcd, 0x48b4f413, 0x48afc82c, 0x48aa9c19, 0x48a56fd9, 0x48a0436c,

+    0x489b16d2, 0x4895ea0b,

+  0x4890bd18, 0x488b8ff8, 0x488662ab, 0x48813531, 0x487c078b, 0x4876d9b8,

+    0x4871abb8, 0x486c7d8c,

+  0x48674f33, 0x486220ad, 0x485cf1fa, 0x4857c31b, 0x48529410, 0x484d64d7,

+    0x48483572, 0x484305e1,

+  0x483dd623, 0x4838a638, 0x48337621, 0x482e45dd, 0x4829156d, 0x4823e4d0,

+    0x481eb407, 0x48198311,

+  0x481451ef, 0x480f20a0, 0x4809ef25, 0x4804bd7e, 0x47ff8baa, 0x47fa59a9,

+    0x47f5277d, 0x47eff523,

+  0x47eac29e, 0x47e58fec, 0x47e05d0e, 0x47db2a03, 0x47d5f6cc, 0x47d0c369,

+    0x47cb8fd9, 0x47c65c1d,

+  0x47c12835, 0x47bbf421, 0x47b6bfe0, 0x47b18b74, 0x47ac56da, 0x47a72215,

+    0x47a1ed24, 0x479cb806,

+  0x479782bc, 0x47924d46, 0x478d17a4, 0x4787e1d6, 0x4782abdb, 0x477d75b5,

+    0x47783f62, 0x477308e3,

+  0x476dd239, 0x47689b62, 0x4763645f, 0x475e2d30, 0x4758f5d5, 0x4753be4e,

+    0x474e869b, 0x47494ebc,

+  0x474416b1, 0x473ede7a, 0x4739a617, 0x47346d89, 0x472f34ce, 0x4729fbe7,

+    0x4724c2d5, 0x471f8996,

+  0x471a502c, 0x47151696, 0x470fdcd4, 0x470aa2e6, 0x470568cd, 0x47002e87,

+    0x46faf416, 0x46f5b979,

+  0x46f07eb0, 0x46eb43bc, 0x46e6089b, 0x46e0cd4f, 0x46db91d8, 0x46d65634,

+    0x46d11a65, 0x46cbde6a,

+  0x46c6a244, 0x46c165f1, 0x46bc2974, 0x46b6ecca, 0x46b1aff5, 0x46ac72f4,

+    0x46a735c8, 0x46a1f870,

+  0x469cbaed, 0x46977d3e, 0x46923f63, 0x468d015d, 0x4687c32c, 0x468284cf,

+    0x467d4646, 0x46780792,

+  0x4672c8b3, 0x466d89a8, 0x46684a71, 0x46630b0f, 0x465dcb82, 0x46588bc9,

+    0x46534be5, 0x464e0bd6,

+  0x4648cb9b, 0x46438b35, 0x463e4aa3, 0x463909e7, 0x4633c8fe, 0x462e87eb,

+    0x462946ac, 0x46240542,

+  0x461ec3ad, 0x461981ec, 0x46144001, 0x460efde9, 0x4609bba7, 0x4604793a,

+    0x45ff36a1, 0x45f9f3dd,

+  0x45f4b0ee, 0x45ef6dd4, 0x45ea2a8f, 0x45e4e71f, 0x45dfa383, 0x45da5fbc,

+    0x45d51bcb, 0x45cfd7ae,

+  0x45ca9366, 0x45c54ef3, 0x45c00a55, 0x45bac58c, 0x45b58098, 0x45b03b79,

+    0x45aaf630, 0x45a5b0bb,

+  0x45a06b1b, 0x459b2550, 0x4595df5a, 0x45909939, 0x458b52ee, 0x45860c77,

+    0x4580c5d6, 0x457b7f0a,

+  0x45763813, 0x4570f0f1, 0x456ba9a4, 0x4566622c, 0x45611a8a, 0x455bd2bc,

+    0x45568ac4, 0x455142a2,

+  0x454bfa54, 0x4546b1dc, 0x45416939, 0x453c206b, 0x4536d773, 0x45318e4f,

+    0x452c4502, 0x4526fb89,

+  0x4521b1e6, 0x451c6818, 0x45171e20, 0x4511d3fd, 0x450c89af, 0x45073f37,

+    0x4501f494, 0x44fca9c6,

+  0x44f75ecf, 0x44f213ac, 0x44ecc85f, 0x44e77ce7, 0x44e23145, 0x44dce579,

+    0x44d79982, 0x44d24d60,

+  0x44cd0114, 0x44c7b49e, 0x44c267fd, 0x44bd1b32, 0x44b7ce3c, 0x44b2811c,

+    0x44ad33d2, 0x44a7e65d,

+  0x44a298be, 0x449d4af5, 0x4497fd01, 0x4492aee3, 0x448d609b, 0x44881228,

+    0x4482c38b, 0x447d74c4,

+  0x447825d2, 0x4472d6b7, 0x446d8771, 0x44683801, 0x4462e866, 0x445d98a2,

+    0x445848b3, 0x4452f89b,

+  0x444da858, 0x444857ea, 0x44430753, 0x443db692, 0x443865a7, 0x44331491,

+    0x442dc351, 0x442871e8,

+  0x44232054, 0x441dce96, 0x44187caf, 0x44132a9d, 0x440dd861, 0x440885fc,

+    0x4403336c, 0x43fde0b2,

+  0x43f88dcf, 0x43f33ac1, 0x43ede78a, 0x43e89429, 0x43e3409d, 0x43ddece8,

+    0x43d8990a, 0x43d34501,

+  0x43cdf0ce, 0x43c89c72, 0x43c347eb, 0x43bdf33b, 0x43b89e62, 0x43b3495e,

+    0x43adf431, 0x43a89ed9,

+  0x43a34959, 0x439df3ae, 0x43989dda, 0x439347dc, 0x438df1b4, 0x43889b63,

+    0x438344e8, 0x437dee43,

+  0x43789775, 0x4373407d, 0x436de95b, 0x43689210, 0x43633a9c, 0x435de2fd,

+    0x43588b36, 0x43533344,

+  0x434ddb29, 0x434882e5, 0x43432a77, 0x433dd1e0, 0x4338791f, 0x43332035,

+    0x432dc721, 0x43286de4,

+  0x4323147d, 0x431dbaed, 0x43186133, 0x43130751, 0x430dad44, 0x4308530f,

+    0x4302f8b0, 0x42fd9e28,

+  0x42f84376, 0x42f2e89b, 0x42ed8d97, 0x42e83269, 0x42e2d713, 0x42dd7b93,

+    0x42d81fe9, 0x42d2c417,

+  0x42cd681b, 0x42c80bf6, 0x42c2afa8, 0x42bd5331, 0x42b7f690, 0x42b299c7,

+    0x42ad3cd4, 0x42a7dfb8,

+  0x42a28273, 0x429d2505, 0x4297c76e, 0x429269ae, 0x428d0bc4, 0x4287adb2,

+    0x42824f76, 0x427cf112,

+  0x42779285, 0x427233ce, 0x426cd4ef, 0x426775e6, 0x426216b5, 0x425cb75a,

+    0x425757d7, 0x4251f82b,

+  0x424c9856, 0x42473858, 0x4241d831, 0x423c77e1, 0x42371769, 0x4231b6c7,

+    0x422c55fd, 0x4226f50a,

+  0x422193ee, 0x421c32a9, 0x4216d13c, 0x42116fa5, 0x420c0de6, 0x4206abfe,

+    0x420149ee, 0x41fbe7b5,

+  0x41f68553, 0x41f122c8, 0x41ebc015, 0x41e65d39, 0x41e0fa35, 0x41db9707,

+    0x41d633b1, 0x41d0d033,

+  0x41cb6c8c, 0x41c608bc, 0x41c0a4c4, 0x41bb40a3, 0x41b5dc5a, 0x41b077e8,

+    0x41ab134e, 0x41a5ae8b,

+  0x41a049a0, 0x419ae48c, 0x41957f4f, 0x419019eb, 0x418ab45d, 0x41854ea8,

+    0x417fe8ca, 0x417a82c3,

+  0x41751c94, 0x416fb63d, 0x416a4fbd, 0x4164e916, 0x415f8245, 0x415a1b4d,

+    0x4154b42c, 0x414f4ce2,

+  0x4149e571, 0x41447dd7, 0x413f1615, 0x4139ae2b, 0x41344618, 0x412edddd,

+    0x4129757b, 0x41240cef,

+  0x411ea43c, 0x41193b61, 0x4113d25d, 0x410e6931, 0x4108ffdd, 0x41039661,

+    0x40fe2cbd, 0x40f8c2f1,

+  0x40f358fc, 0x40edeee0, 0x40e8849b, 0x40e31a2f, 0x40ddaf9b, 0x40d844de,

+    0x40d2d9f9, 0x40cd6eed,

+  0x40c803b8, 0x40c2985c, 0x40bd2cd8, 0x40b7c12b, 0x40b25557, 0x40ace95b,

+    0x40a77d37, 0x40a210eb,

+  0x409ca477, 0x409737dc, 0x4091cb18, 0x408c5e2d, 0x4086f11a, 0x408183df,

+    0x407c167c, 0x4076a8f1,

+  0x40713b3f, 0x406bcd65, 0x40665f63, 0x4060f13a, 0x405b82e9, 0x40561470,

+    0x4050a5cf, 0x404b3707,

+  0x4045c817, 0x404058ff, 0x403ae9c0, 0x40357a59, 0x40300acb, 0x402a9b15,

+    0x40252b37, 0x401fbb32,

+  0x401a4b05, 0x4014dab1, 0x400f6a35, 0x4009f992, 0x400488c7, 0x3fff17d5,

+    0x3ff9a6bb, 0x3ff4357a,

+  0x3feec411, 0x3fe95281, 0x3fe3e0c9, 0x3fde6eeb, 0x3fd8fce4, 0x3fd38ab6,

+    0x3fce1861, 0x3fc8a5e5,

+  0x3fc33341, 0x3fbdc076, 0x3fb84d83, 0x3fb2da6a, 0x3fad6729, 0x3fa7f3c0,

+    0x3fa28031, 0x3f9d0c7a,

+  0x3f97989c, 0x3f922496, 0x3f8cb06a, 0x3f873c16, 0x3f81c79b, 0x3f7c52f9,

+    0x3f76de30, 0x3f71693f,

+  0x3f6bf428, 0x3f667ee9, 0x3f610983, 0x3f5b93f6, 0x3f561e42, 0x3f50a867,

+    0x3f4b3265, 0x3f45bc3c,

+  0x3f4045ec, 0x3f3acf75, 0x3f3558d7, 0x3f2fe211, 0x3f2a6b25, 0x3f24f412,

+    0x3f1f7cd8, 0x3f1a0577,

+  0x3f148def, 0x3f0f1640, 0x3f099e6b, 0x3f04266e, 0x3efeae4a, 0x3ef93600,

+    0x3ef3bd8f, 0x3eee44f7,

+  0x3ee8cc38, 0x3ee35352, 0x3eddda46, 0x3ed86113, 0x3ed2e7b9, 0x3ecd6e38,

+    0x3ec7f491, 0x3ec27ac2,

+  0x3ebd00cd, 0x3eb786b2, 0x3eb20c6f, 0x3eac9206, 0x3ea71777, 0x3ea19cc1,

+    0x3e9c21e4, 0x3e96a6e0,

+  0x3e912bb6, 0x3e8bb065, 0x3e8634ee, 0x3e80b950, 0x3e7b3d8c, 0x3e75c1a1,

+    0x3e70458f, 0x3e6ac957,

+  0x3e654cf8, 0x3e5fd073, 0x3e5a53c8, 0x3e54d6f6, 0x3e4f59fe, 0x3e49dcdf,

+    0x3e445f99, 0x3e3ee22e,

+  0x3e39649c, 0x3e33e6e3, 0x3e2e6904, 0x3e28eaff, 0x3e236cd4, 0x3e1dee82,

+    0x3e18700a, 0x3e12f16b,

+  0x3e0d72a6, 0x3e07f3bb, 0x3e0274aa, 0x3dfcf572, 0x3df77615, 0x3df1f691,

+    0x3dec76e6, 0x3de6f716,

+  0x3de1771f, 0x3ddbf703, 0x3dd676c0, 0x3dd0f656, 0x3dcb75c7, 0x3dc5f512,

+    0x3dc07436, 0x3dbaf335,

+  0x3db5720d, 0x3daff0c0, 0x3daa6f4c, 0x3da4edb2, 0x3d9f6bf2, 0x3d99ea0d,

+    0x3d946801, 0x3d8ee5cf,

+  0x3d896377, 0x3d83e0f9, 0x3d7e5e56, 0x3d78db8c, 0x3d73589d, 0x3d6dd587,

+    0x3d68524c, 0x3d62ceeb,

+  0x3d5d4b64, 0x3d57c7b7, 0x3d5243e4, 0x3d4cbfeb, 0x3d473bcd, 0x3d41b789,

+    0x3d3c331f, 0x3d36ae8f,

+  0x3d3129da, 0x3d2ba4fe, 0x3d261ffd, 0x3d209ad7, 0x3d1b158a, 0x3d159018,

+    0x3d100a80, 0x3d0a84c3,

+  0x3d04fee0, 0x3cff78d7, 0x3cf9f2a9, 0x3cf46c55, 0x3ceee5db, 0x3ce95f3c,

+    0x3ce3d877, 0x3cde518d,

+  0x3cd8ca7d, 0x3cd34347, 0x3ccdbbed, 0x3cc8346c, 0x3cc2acc6, 0x3cbd24fb,

+    0x3cb79d0a, 0x3cb214f4,

+  0x3cac8cb8, 0x3ca70457, 0x3ca17bd0, 0x3c9bf324, 0x3c966a53, 0x3c90e15c,

+    0x3c8b5840, 0x3c85cefe,

+  0x3c804598, 0x3c7abc0c, 0x3c75325a, 0x3c6fa883, 0x3c6a1e87, 0x3c649466,

+    0x3c5f0a20, 0x3c597fb4,

+  0x3c53f523, 0x3c4e6a6d, 0x3c48df91, 0x3c435491, 0x3c3dc96b, 0x3c383e20,

+    0x3c32b2b0, 0x3c2d271b,

+  0x3c279b61, 0x3c220f81, 0x3c1c837d, 0x3c16f753, 0x3c116b04, 0x3c0bde91,

+    0x3c0651f8, 0x3c00c53a,

+  0x3bfb3857, 0x3bf5ab50, 0x3bf01e23, 0x3bea90d1, 0x3be5035a, 0x3bdf75bf,

+    0x3bd9e7fe, 0x3bd45a19,

+  0x3bcecc0e, 0x3bc93ddf, 0x3bc3af8b, 0x3bbe2112, 0x3bb89274, 0x3bb303b1,

+    0x3bad74c9, 0x3ba7e5bd,

+  0x3ba2568c, 0x3b9cc736, 0x3b9737bb, 0x3b91a81c, 0x3b8c1857, 0x3b86886e,

+    0x3b80f861, 0x3b7b682e,

+  0x3b75d7d7, 0x3b70475c, 0x3b6ab6bb, 0x3b6525f6, 0x3b5f950c, 0x3b5a03fe,

+    0x3b5472cb, 0x3b4ee173,

+  0x3b494ff7, 0x3b43be57, 0x3b3e2c91, 0x3b389aa8, 0x3b330899, 0x3b2d7666,

+    0x3b27e40f, 0x3b225193,

+  0x3b1cbef3, 0x3b172c2e, 0x3b119945, 0x3b0c0637, 0x3b067305, 0x3b00dfaf,

+    0x3afb4c34, 0x3af5b894,

+  0x3af024d1, 0x3aea90e9, 0x3ae4fcdc, 0x3adf68ac, 0x3ad9d457, 0x3ad43fdd,

+    0x3aceab40, 0x3ac9167e,

+  0x3ac38198, 0x3abdec8d, 0x3ab8575f, 0x3ab2c20c, 0x3aad2c95, 0x3aa796fa,

+    0x3aa2013a, 0x3a9c6b57,

+  0x3a96d54f, 0x3a913f23, 0x3a8ba8d3, 0x3a86125f, 0x3a807bc7, 0x3a7ae50a,

+    0x3a754e2a, 0x3a6fb726,

+  0x3a6a1ffd, 0x3a6488b1, 0x3a5ef140, 0x3a5959ab, 0x3a53c1f3, 0x3a4e2a16,

+    0x3a489216, 0x3a42f9f2,

+  0x3a3d61a9, 0x3a37c93d, 0x3a3230ad, 0x3a2c97f9, 0x3a26ff21, 0x3a216625,

+    0x3a1bcd05, 0x3a1633c1,

+  0x3a109a5a, 0x3a0b00cf, 0x3a056720, 0x39ffcd4d, 0x39fa3356, 0x39f4993c,

+    0x39eefefe, 0x39e9649c,

+  0x39e3ca17, 0x39de2f6d, 0x39d894a0, 0x39d2f9b0, 0x39cd5e9b, 0x39c7c363,

+    0x39c22808, 0x39bc8c89,

+  0x39b6f0e6, 0x39b1551f, 0x39abb935, 0x39a61d28, 0x39a080f6, 0x399ae4a2,

+    0x39954829, 0x398fab8e,

+  0x398a0ece, 0x398471ec, 0x397ed4e5, 0x397937bc, 0x39739a6e, 0x396dfcfe,

+    0x39685f6a, 0x3962c1b2,

+  0x395d23d7, 0x395785d9, 0x3951e7b8, 0x394c4973, 0x3946ab0a, 0x39410c7f,

+    0x393b6dd0, 0x3935cefd,

+  0x39303008, 0x392a90ef, 0x3924f1b3, 0x391f5254, 0x3919b2d1, 0x3914132b,

+    0x390e7362, 0x3908d376,

+  0x39033367, 0x38fd9334, 0x38f7f2de, 0x38f25266, 0x38ecb1ca, 0x38e7110a,

+    0x38e17028, 0x38dbcf23,

+  0x38d62dfb, 0x38d08caf, 0x38caeb41, 0x38c549af, 0x38bfa7fb, 0x38ba0623,

+    0x38b46429, 0x38aec20b,

+  0x38a91fcb, 0x38a37d67, 0x389ddae1, 0x38983838, 0x3892956c, 0x388cf27d,

+    0x38874f6b, 0x3881ac36,

+  0x387c08de, 0x38766564, 0x3870c1c6, 0x386b1e06, 0x38657a23, 0x385fd61d,

+    0x385a31f5, 0x38548daa,

+  0x384ee93b, 0x384944ab, 0x38439ff7, 0x383dfb21, 0x38385628, 0x3832b10d,

+    0x382d0bce, 0x3827666d,

+  0x3821c0ea, 0x381c1b44, 0x3816757b, 0x3810cf90, 0x380b2982, 0x38058351,

+    0x37ffdcfe, 0x37fa3688,

+  0x37f48ff0, 0x37eee936, 0x37e94259, 0x37e39b59, 0x37ddf437, 0x37d84cf2,

+    0x37d2a58b, 0x37ccfe02,

+  0x37c75656, 0x37c1ae87, 0x37bc0697, 0x37b65e84, 0x37b0b64e, 0x37ab0df6,

+    0x37a5657c, 0x379fbce0,

+  0x379a1421, 0x37946b40, 0x378ec23d, 0x37891917, 0x37836fcf, 0x377dc665,

+    0x37781cd9, 0x3772732a,

+  0x376cc959, 0x37671f66, 0x37617551, 0x375bcb1a, 0x375620c1, 0x37507645,

+    0x374acba7, 0x374520e7,

+  0x373f7606, 0x3739cb02, 0x37341fdc, 0x372e7493, 0x3728c929, 0x37231d9d,

+    0x371d71ef, 0x3717c61f,

+  0x37121a2d, 0x370c6e19, 0x3706c1e2, 0x3701158a, 0x36fb6910, 0x36f5bc75,

+    0x36f00fb7, 0x36ea62d7,

+  0x36e4b5d6, 0x36df08b2, 0x36d95b6d, 0x36d3ae06, 0x36ce007d, 0x36c852d2,

+    0x36c2a506, 0x36bcf718,

+  0x36b74908, 0x36b19ad6, 0x36abec82, 0x36a63e0d, 0x36a08f76, 0x369ae0bd,

+    0x369531e3, 0x368f82e7,

+  0x3689d3c9, 0x3684248a, 0x367e7529, 0x3678c5a7, 0x36731602, 0x366d663d,

+    0x3667b655, 0x3662064c,

+  0x365c5622, 0x3656a5d6, 0x3650f569, 0x364b44da, 0x36459429, 0x363fe357,

+    0x363a3264, 0x3634814f,

+  0x362ed019, 0x36291ec1, 0x36236d48, 0x361dbbad, 0x361809f1, 0x36125814,

+    0x360ca615, 0x3606f3f5,

+  0x360141b4, 0x35fb8f52, 0x35f5dcce, 0x35f02a28, 0x35ea7762, 0x35e4c47a,

+    0x35df1171, 0x35d95e47,

+  0x35d3aafc, 0x35cdf78f, 0x35c84401, 0x35c29052, 0x35bcdc82, 0x35b72891,

+    0x35b1747e, 0x35abc04b,

+  0x35a60bf6, 0x35a05781, 0x359aa2ea, 0x3594ee32, 0x358f3959, 0x3589845f,

+    0x3583cf44, 0x357e1a08,

+  0x357864ab, 0x3572af2d, 0x356cf98e, 0x356743ce, 0x35618ded, 0x355bd7eb,

+    0x355621c9, 0x35506b85,

+  0x354ab520, 0x3544fe9b, 0x353f47f5, 0x3539912e, 0x3533da46, 0x352e233d,

+    0x35286c14, 0x3522b4c9,

+  0x351cfd5e, 0x351745d2, 0x35118e26, 0x350bd658, 0x35061e6a, 0x3500665c,

+    0x34faae2c, 0x34f4f5dc,

+  0x34ef3d6b, 0x34e984da, 0x34e3cc28, 0x34de1355, 0x34d85a62, 0x34d2a14e,

+    0x34cce819, 0x34c72ec4,

+  0x34c1754e, 0x34bbbbb8, 0x34b60202, 0x34b0482a, 0x34aa8e33, 0x34a4d41a,

+    0x349f19e2, 0x34995f88,

+  0x3493a50f, 0x348dea75, 0x34882fba, 0x348274e0, 0x347cb9e4, 0x3476fec9,

+    0x3471438d, 0x346b8830,

+  0x3465ccb4, 0x34601117, 0x345a5559, 0x3454997c, 0x344edd7e, 0x34492160,

+    0x34436521, 0x343da8c3,

+  0x3437ec44, 0x34322fa5, 0x342c72e6, 0x3426b606, 0x3420f907, 0x341b3be7,

+    0x34157ea7, 0x340fc147,

+  0x340a03c7, 0x34044626, 0x33fe8866, 0x33f8ca86, 0x33f30c85, 0x33ed4e65,

+    0x33e79024, 0x33e1d1c4,

+  0x33dc1343, 0x33d654a2, 0x33d095e2, 0x33cad701, 0x33c51801, 0x33bf58e1,

+    0x33b999a0, 0x33b3da40,

+  0x33ae1ac0, 0x33a85b20, 0x33a29b60, 0x339cdb81, 0x33971b81, 0x33915b62,

+    0x338b9b22, 0x3385dac4,

+  0x33801a45, 0x337a59a6, 0x337498e8, 0x336ed80a, 0x3369170c, 0x336355ef,

+    0x335d94b2, 0x3357d355,

+  0x335211d8, 0x334c503c, 0x33468e80, 0x3340cca5, 0x333b0aaa, 0x3335488f,

+    0x332f8655, 0x3329c3fb,

+  0x33240182, 0x331e3ee9, 0x33187c31, 0x3312b959, 0x330cf661, 0x3307334a,

+    0x33017014, 0x32fbacbe,

+  0x32f5e948, 0x32f025b4, 0x32ea61ff, 0x32e49e2c, 0x32deda39, 0x32d91626,

+    0x32d351f5, 0x32cd8da4,

+  0x32c7c933, 0x32c204a3, 0x32bc3ff4, 0x32b67b26, 0x32b0b638, 0x32aaf12b,

+    0x32a52bff, 0x329f66b4,

+  0x3299a149, 0x3293dbbf, 0x328e1616, 0x3288504e, 0x32828a67, 0x327cc460,

+    0x3276fe3a, 0x327137f6,

+  0x326b7192, 0x3265ab0f, 0x325fe46c, 0x325a1dab, 0x325456cb, 0x324e8fcc,

+    0x3248c8ad, 0x32430170,

+  0x323d3a14, 0x32377298, 0x3231aafe, 0x322be345, 0x32261b6c, 0x32205375,

+    0x321a8b5f, 0x3214c32a,

+  0x320efad6, 0x32093263, 0x320369d2, 0x31fda121, 0x31f7d852, 0x31f20f64,

+    0x31ec4657, 0x31e67d2b,

+  0x31e0b3e0, 0x31daea77, 0x31d520ef, 0x31cf5748, 0x31c98d83, 0x31c3c39e,

+    0x31bdf99b, 0x31b82f7a,

+  0x31b2653a, 0x31ac9adb, 0x31a6d05d, 0x31a105c1, 0x319b3b06, 0x3195702d,

+    0x318fa535, 0x3189da1e,

+  0x31840ee9, 0x317e4395, 0x31787823, 0x3172ac92, 0x316ce0e3, 0x31671515,

+    0x31614929, 0x315b7d1e,

+  0x3155b0f5, 0x314fe4ae, 0x314a1848, 0x31444bc3, 0x313e7f21, 0x3138b260,

+    0x3132e580, 0x312d1882,

+  0x31274b66, 0x31217e2c, 0x311bb0d3, 0x3115e35c, 0x311015c6, 0x310a4813,

+    0x31047a41, 0x30feac51,

+  0x30f8de42, 0x30f31016, 0x30ed41cb, 0x30e77362, 0x30e1a4db, 0x30dbd636,

+    0x30d60772, 0x30d03891,

+  0x30ca6991, 0x30c49a74, 0x30becb38, 0x30b8fbde, 0x30b32c66, 0x30ad5cd0,

+    0x30a78d1c, 0x30a1bd4a,

+  0x309bed5a, 0x30961d4c, 0x30904d20, 0x308a7cd6, 0x3084ac6e, 0x307edbe9,

+    0x30790b45, 0x30733a83,

+  0x306d69a4, 0x306798a7, 0x3061c78b, 0x305bf652, 0x305624fb, 0x30505387,

+    0x304a81f4, 0x3044b044,

+  0x303ede76, 0x30390c8a, 0x30333a80, 0x302d6859, 0x30279614, 0x3021c3b1,

+    0x301bf131, 0x30161e93,

+  0x30104bd7, 0x300a78fe, 0x3004a607, 0x2ffed2f2, 0x2ff8ffc0, 0x2ff32c70,

+    0x2fed5902, 0x2fe78577,

+  0x2fe1b1cf, 0x2fdbde09, 0x2fd60a25, 0x2fd03624, 0x2fca6206, 0x2fc48dc9,

+    0x2fbeb970, 0x2fb8e4f9,

+  0x2fb31064, 0x2fad3bb3, 0x2fa766e3, 0x2fa191f7, 0x2f9bbced, 0x2f95e7c5,

+    0x2f901280, 0x2f8a3d1e,

+  0x2f84679f, 0x2f7e9202, 0x2f78bc48, 0x2f72e671, 0x2f6d107c, 0x2f673a6a,

+    0x2f61643b, 0x2f5b8def,

+  0x2f55b785, 0x2f4fe0ff, 0x2f4a0a5b, 0x2f44339a, 0x2f3e5cbb, 0x2f3885c0,

+    0x2f32aea8, 0x2f2cd772,

+  0x2f27001f, 0x2f2128af, 0x2f1b5122, 0x2f157979, 0x2f0fa1b2, 0x2f09c9ce,

+    0x2f03f1cd, 0x2efe19ae,

+  0x2ef84173, 0x2ef2691b, 0x2eec90a7, 0x2ee6b815, 0x2ee0df66, 0x2edb069a,

+    0x2ed52db1, 0x2ecf54ac,

+  0x2ec97b89, 0x2ec3a24a, 0x2ebdc8ee, 0x2eb7ef75, 0x2eb215df, 0x2eac3c2d,

+    0x2ea6625d, 0x2ea08871,

+  0x2e9aae68, 0x2e94d443, 0x2e8efa00, 0x2e891fa1, 0x2e834525, 0x2e7d6a8d,

+    0x2e778fd8, 0x2e71b506,

+  0x2e6bda17, 0x2e65ff0c, 0x2e6023e5, 0x2e5a48a0, 0x2e546d3f, 0x2e4e91c2,

+    0x2e48b628, 0x2e42da71,

+  0x2e3cfe9e, 0x2e3722ae, 0x2e3146a2, 0x2e2b6a79, 0x2e258e34, 0x2e1fb1d3,

+    0x2e19d554, 0x2e13f8ba,

+  0x2e0e1c03, 0x2e083f30, 0x2e026240, 0x2dfc8534, 0x2df6a80b, 0x2df0cac6,

+    0x2deaed65, 0x2de50fe8,

+  0x2ddf324e, 0x2dd95498, 0x2dd376c5, 0x2dcd98d7, 0x2dc7bacc, 0x2dc1dca4,

+    0x2dbbfe61, 0x2db62001,

+  0x2db04186, 0x2daa62ee, 0x2da4843a, 0x2d9ea569, 0x2d98c67d, 0x2d92e774,

+    0x2d8d084f, 0x2d87290f,

+  0x2d8149b2, 0x2d7b6a39, 0x2d758aa4, 0x2d6faaf3, 0x2d69cb26, 0x2d63eb3d,

+    0x2d5e0b38, 0x2d582b17,

+  0x2d524ada, 0x2d4c6a81, 0x2d468a0c, 0x2d40a97b, 0x2d3ac8ce, 0x2d34e805,

+    0x2d2f0721, 0x2d292620,

+  0x2d234504, 0x2d1d63cc, 0x2d178278, 0x2d11a108, 0x2d0bbf7d, 0x2d05ddd5,

+    0x2cfffc12, 0x2cfa1a33,

+  0x2cf43839, 0x2cee5622, 0x2ce873f0, 0x2ce291a2, 0x2cdcaf39, 0x2cd6ccb4,

+    0x2cd0ea13, 0x2ccb0756,

+  0x2cc5247e, 0x2cbf418b, 0x2cb95e7b, 0x2cb37b51, 0x2cad980a, 0x2ca7b4a8,

+    0x2ca1d12a, 0x2c9bed91,

+  0x2c9609dd, 0x2c90260d, 0x2c8a4221, 0x2c845e1a, 0x2c7e79f7, 0x2c7895b9,

+    0x2c72b160, 0x2c6ccceb,

+  0x2c66e85b, 0x2c6103af, 0x2c5b1ee8, 0x2c553a06, 0x2c4f5508, 0x2c496fef,

+    0x2c438abb, 0x2c3da56b,

+  0x2c37c000, 0x2c31da7a, 0x2c2bf4d8, 0x2c260f1c, 0x2c202944, 0x2c1a4351,

+    0x2c145d42, 0x2c0e7719,

+  0x2c0890d4, 0x2c02aa74, 0x2bfcc3f9, 0x2bf6dd63, 0x2bf0f6b1, 0x2beb0fe5,

+    0x2be528fd, 0x2bdf41fb,

+  0x2bd95add, 0x2bd373a4, 0x2bcd8c51, 0x2bc7a4e2, 0x2bc1bd58, 0x2bbbd5b3,

+    0x2bb5edf4, 0x2bb00619,

+  0x2baa1e23, 0x2ba43613, 0x2b9e4de7, 0x2b9865a1, 0x2b927d3f, 0x2b8c94c3,

+    0x2b86ac2c, 0x2b80c37a,

+  0x2b7adaae, 0x2b74f1c6, 0x2b6f08c4, 0x2b691fa6, 0x2b63366f, 0x2b5d4d1c,

+    0x2b5763ae, 0x2b517a26,

+  0x2b4b9083, 0x2b45a6c6, 0x2b3fbced, 0x2b39d2fa, 0x2b33e8ed, 0x2b2dfec5,

+    0x2b281482, 0x2b222a24,

+  0x2b1c3fac, 0x2b165519, 0x2b106a6c, 0x2b0a7fa4, 0x2b0494c2, 0x2afea9c5,

+    0x2af8bead, 0x2af2d37b,

+  0x2aece82f, 0x2ae6fcc8, 0x2ae11146, 0x2adb25aa, 0x2ad539f4, 0x2acf4e23,

+    0x2ac96238, 0x2ac37633,

+  0x2abd8a13, 0x2ab79dd8, 0x2ab1b184, 0x2aabc515, 0x2aa5d88b, 0x2a9febe8,

+    0x2a99ff2a, 0x2a941252,

+  0x2a8e255f, 0x2a883853, 0x2a824b2c, 0x2a7c5deb, 0x2a76708f, 0x2a70831a,

+    0x2a6a958a, 0x2a64a7e0,

+  0x2a5eba1c, 0x2a58cc3e, 0x2a52de46, 0x2a4cf033, 0x2a470207, 0x2a4113c0,

+    0x2a3b2560, 0x2a3536e5,

+  0x2a2f4850, 0x2a2959a1, 0x2a236ad9, 0x2a1d7bf6, 0x2a178cf9, 0x2a119de2,

+    0x2a0baeb2, 0x2a05bf67,

+  0x29ffd003, 0x29f9e084, 0x29f3f0ec, 0x29ee013a, 0x29e8116e, 0x29e22188,

+    0x29dc3188, 0x29d6416f,

+  0x29d0513b, 0x29ca60ee, 0x29c47087, 0x29be8007, 0x29b88f6c, 0x29b29eb8,

+    0x29acadea, 0x29a6bd02,

+  0x29a0cc01, 0x299adae6, 0x2994e9b1, 0x298ef863, 0x298906fb, 0x2983157a,

+    0x297d23df, 0x2977322a,

+  0x2971405b, 0x296b4e74, 0x29655c72, 0x295f6a57, 0x29597823, 0x295385d5,

+    0x294d936d, 0x2947a0ec,

+  0x2941ae52, 0x293bbb9e, 0x2935c8d1, 0x292fd5ea, 0x2929e2ea, 0x2923efd0,

+    0x291dfc9d, 0x29180951,

+  0x291215eb, 0x290c226c, 0x29062ed4, 0x29003b23, 0x28fa4758, 0x28f45374,

+    0x28ee5f76, 0x28e86b5f,

+  0x28e27730, 0x28dc82e6, 0x28d68e84, 0x28d09a09, 0x28caa574, 0x28c4b0c6,

+    0x28bebbff, 0x28b8c71f,

+  0x28b2d226, 0x28acdd13, 0x28a6e7e8, 0x28a0f2a3, 0x289afd46, 0x289507cf,

+    0x288f123f, 0x28891c97,

+  0x288326d5, 0x287d30fa, 0x28773b07, 0x287144fa, 0x286b4ed5, 0x28655896,

+    0x285f623f, 0x28596bce,

+  0x28537545, 0x284d7ea3, 0x284787e8, 0x28419114, 0x283b9a28, 0x2835a322,

+    0x282fac04, 0x2829b4cd,

+  0x2823bd7d, 0x281dc615, 0x2817ce93, 0x2811d6f9, 0x280bdf46, 0x2805e77b,

+    0x27ffef97, 0x27f9f79a,

+  0x27f3ff85, 0x27ee0756, 0x27e80f10, 0x27e216b0, 0x27dc1e38, 0x27d625a8,

+    0x27d02cff, 0x27ca343d,

+  0x27c43b63, 0x27be4270, 0x27b84965, 0x27b25041, 0x27ac5705, 0x27a65db0,

+    0x27a06443, 0x279a6abd,

+  0x2794711f, 0x278e7768, 0x27887d99, 0x278283b2, 0x277c89b3, 0x27768f9b,

+    0x2770956a, 0x276a9b21,

+  0x2764a0c0, 0x275ea647, 0x2758abb6, 0x2752b10c, 0x274cb64a, 0x2746bb6f,

+    0x2740c07d, 0x273ac572,

+  0x2734ca4f, 0x272ecf14, 0x2728d3c0, 0x2722d855, 0x271cdcd1, 0x2716e136,

+    0x2710e582, 0x270ae9b6,

+  0x2704edd2, 0x26fef1d5, 0x26f8f5c1, 0x26f2f995, 0x26ecfd51, 0x26e700f5,

+    0x26e10480, 0x26db07f4,

+  0x26d50b50, 0x26cf0e94, 0x26c911c0, 0x26c314d4, 0x26bd17d0, 0x26b71ab4,

+    0x26b11d80, 0x26ab2034,

+  0x26a522d1, 0x269f2556, 0x269927c3, 0x26932a18, 0x268d2c55, 0x26872e7b,

+    0x26813088, 0x267b327e,

+  0x2675345d, 0x266f3623, 0x266937d2, 0x26633969, 0x265d3ae9, 0x26573c50,

+    0x26513da1, 0x264b3ed9,

+  0x26453ffa, 0x263f4103, 0x263941f5, 0x263342cf, 0x262d4392, 0x2627443d,

+    0x262144d0, 0x261b454c,

+  0x261545b0, 0x260f45fd, 0x26094633, 0x26034651, 0x25fd4657, 0x25f74646,

+    0x25f1461e, 0x25eb45de,

+  0x25e54587, 0x25df4519, 0x25d94493, 0x25d343f6, 0x25cd4341, 0x25c74276,

+    0x25c14192, 0x25bb4098,

+  0x25b53f86, 0x25af3e5d, 0x25a93d1d, 0x25a33bc6, 0x259d3a57, 0x259738d1,

+    0x25913734, 0x258b3580,

+  0x258533b5, 0x257f31d2, 0x25792fd8, 0x25732dc8, 0x256d2ba0, 0x25672961,

+    0x2561270b, 0x255b249e,

+  0x2555221a, 0x254f1f7e, 0x25491ccc, 0x25431a03, 0x253d1723, 0x2537142c,

+    0x2531111e, 0x252b0df9,

+  0x25250abd, 0x251f076a, 0x25190400, 0x25130080, 0x250cfce8, 0x2506f93a,

+    0x2500f574, 0x24faf198,

+  0x24f4eda6, 0x24eee99c, 0x24e8e57c, 0x24e2e144, 0x24dcdcf6, 0x24d6d892,

+    0x24d0d416, 0x24cacf84,

+  0x24c4cadb, 0x24bec61c, 0x24b8c146, 0x24b2bc59, 0x24acb756, 0x24a6b23b,

+    0x24a0ad0b, 0x249aa7c4,

+  0x2494a266, 0x248e9cf1, 0x24889766, 0x248291c5, 0x247c8c0d, 0x2476863e,

+    0x24708059, 0x246a7a5e,

+  0x2464744c, 0x245e6e23, 0x245867e4, 0x2452618f, 0x244c5b24, 0x244654a1,

+    0x24404e09, 0x243a475a,

+  0x24344095, 0x242e39ba, 0x242832c8, 0x24222bc0, 0x241c24a1, 0x24161d6d,

+    0x24101622, 0x240a0ec1,

+  0x24040749, 0x23fdffbc, 0x23f7f818, 0x23f1f05e, 0x23ebe88e, 0x23e5e0a7,

+    0x23dfd8ab, 0x23d9d098,

+  0x23d3c86f, 0x23cdc031, 0x23c7b7dc, 0x23c1af71, 0x23bba6f0, 0x23b59e59,

+    0x23af95ac, 0x23a98ce8,

+  0x23a3840f, 0x239d7b20, 0x2397721b, 0x23916900, 0x238b5fcf, 0x23855688,

+    0x237f4d2b, 0x237943b9,

+  0x23733a30, 0x236d3092, 0x236726dd, 0x23611d13, 0x235b1333, 0x2355093e,

+    0x234eff32, 0x2348f511,

+  0x2342eada, 0x233ce08d, 0x2336d62a, 0x2330cbb2, 0x232ac124, 0x2324b680,

+    0x231eabc7, 0x2318a0f8,

+  0x23129613, 0x230c8b19, 0x23068009, 0x230074e3, 0x22fa69a8, 0x22f45e57,

+    0x22ee52f1, 0x22e84775,

+  0x22e23be4, 0x22dc303d, 0x22d62480, 0x22d018ae, 0x22ca0cc7, 0x22c400ca,

+    0x22bdf4b8, 0x22b7e890,

+  0x22b1dc53, 0x22abd001, 0x22a5c399, 0x229fb71b, 0x2299aa89, 0x22939de1,

+    0x228d9123, 0x22878451,

+  0x22817769, 0x227b6a6c, 0x22755d59, 0x226f5032, 0x226942f5, 0x226335a2,

+    0x225d283b, 0x22571abe,

+  0x22510d2d, 0x224aff86, 0x2244f1c9, 0x223ee3f8, 0x2238d612, 0x2232c816,

+    0x222cba06, 0x2226abe0,

+  0x22209da5, 0x221a8f56, 0x221480f1, 0x220e7277, 0x220863e8, 0x22025544,

+    0x21fc468b, 0x21f637be,

+  0x21f028db, 0x21ea19e3, 0x21e40ad7, 0x21ddfbb5, 0x21d7ec7f, 0x21d1dd34,

+    0x21cbcdd3, 0x21c5be5e,

+  0x21bfaed5, 0x21b99f36, 0x21b38f83, 0x21ad7fba, 0x21a76fdd, 0x21a15fec,

+    0x219b4fe5, 0x21953fca,

+  0x218f2f9a, 0x21891f55, 0x21830efc, 0x217cfe8e, 0x2176ee0b, 0x2170dd74,

+    0x216accc8, 0x2164bc08,

+  0x215eab33, 0x21589a49, 0x2152894b, 0x214c7838, 0x21466710, 0x214055d4,

+    0x213a4484, 0x2134331f,

+  0x212e21a6, 0x21281018, 0x2121fe76, 0x211becbf, 0x2115daf4, 0x210fc914,

+    0x2109b720, 0x2103a518,

+  0x20fd92fb, 0x20f780ca, 0x20f16e84, 0x20eb5c2b, 0x20e549bd, 0x20df373a,

+    0x20d924a4, 0x20d311f9,

+  0x20ccff3a, 0x20c6ec66, 0x20c0d97f, 0x20bac683, 0x20b4b373, 0x20aea04f,

+    0x20a88d17, 0x20a279ca,

+  0x209c666a, 0x209652f5, 0x20903f6c, 0x208a2bcf, 0x2084181e, 0x207e0459,

+    0x2077f080, 0x2071dc93,

+  0x206bc892, 0x2065b47d, 0x205fa054, 0x20598c17, 0x205377c6, 0x204d6361,

+    0x20474ee8, 0x20413a5b,

+  0x203b25bb, 0x20351106, 0x202efc3e, 0x2028e761, 0x2022d271, 0x201cbd6d,

+    0x2016a856, 0x2010932a,

+  0x200a7deb, 0x20046898, 0x1ffe5331, 0x1ff83db6, 0x1ff22828, 0x1fec1286,

+    0x1fe5fcd0, 0x1fdfe707,

+  0x1fd9d12a, 0x1fd3bb39, 0x1fcda535, 0x1fc78f1d, 0x1fc178f1, 0x1fbb62b2,

+    0x1fb54c60, 0x1faf35f9,

+  0x1fa91f80, 0x1fa308f2, 0x1f9cf252, 0x1f96db9d, 0x1f90c4d5, 0x1f8aadfa,

+    0x1f84970b, 0x1f7e8009,

+  0x1f7868f4, 0x1f7251ca, 0x1f6c3a8e, 0x1f66233e, 0x1f600bdb, 0x1f59f465,

+    0x1f53dcdb, 0x1f4dc53d,

+  0x1f47ad8d, 0x1f4195c9, 0x1f3b7df2, 0x1f356608, 0x1f2f4e0a, 0x1f2935f9,

+    0x1f231dd5, 0x1f1d059e,

+  0x1f16ed54, 0x1f10d4f6, 0x1f0abc85, 0x1f04a401, 0x1efe8b6a, 0x1ef872c0,

+    0x1ef25a03, 0x1eec4132,

+  0x1ee6284f, 0x1ee00f58, 0x1ed9f64f, 0x1ed3dd32, 0x1ecdc402, 0x1ec7aac0,

+    0x1ec1916a, 0x1ebb7802,

+  0x1eb55e86, 0x1eaf44f8, 0x1ea92b56, 0x1ea311a2, 0x1e9cf7db, 0x1e96de01,

+    0x1e90c414, 0x1e8aaa14,

+  0x1e849001, 0x1e7e75dc, 0x1e785ba3, 0x1e724158, 0x1e6c26fa, 0x1e660c8a,

+    0x1e5ff206, 0x1e59d770,

+  0x1e53bcc7, 0x1e4da20c, 0x1e47873d, 0x1e416c5d, 0x1e3b5169, 0x1e353663,

+    0x1e2f1b4a, 0x1e29001e,

+  0x1e22e4e0, 0x1e1cc990, 0x1e16ae2c, 0x1e1092b6, 0x1e0a772e, 0x1e045b93,

+    0x1dfe3fe6, 0x1df82426,

+  0x1df20853, 0x1debec6f, 0x1de5d077, 0x1ddfb46e, 0x1dd99851, 0x1dd37c23,

+    0x1dcd5fe2, 0x1dc7438e,

+  0x1dc12729, 0x1dbb0ab0, 0x1db4ee26, 0x1daed189, 0x1da8b4da, 0x1da29819,

+    0x1d9c7b45, 0x1d965e5f,

+  0x1d904167, 0x1d8a245c, 0x1d840740, 0x1d7dea11, 0x1d77ccd0, 0x1d71af7d,

+    0x1d6b9217, 0x1d6574a0,

+  0x1d5f5716, 0x1d59397a, 0x1d531bcc, 0x1d4cfe0d, 0x1d46e03a, 0x1d40c256,

+    0x1d3aa460, 0x1d348658,

+  0x1d2e683e, 0x1d284a12, 0x1d222bd3, 0x1d1c0d83, 0x1d15ef21, 0x1d0fd0ad,

+    0x1d09b227, 0x1d03938f,

+  0x1cfd74e5, 0x1cf7562a, 0x1cf1375c, 0x1ceb187d, 0x1ce4f98c, 0x1cdeda89,

+    0x1cd8bb74, 0x1cd29c4d,

+  0x1ccc7d15, 0x1cc65dca, 0x1cc03e6e, 0x1cba1f01, 0x1cb3ff81, 0x1caddff0,

+    0x1ca7c04d, 0x1ca1a099,

+  0x1c9b80d3, 0x1c9560fb, 0x1c8f4112, 0x1c892117, 0x1c83010a, 0x1c7ce0ec,

+    0x1c76c0bc, 0x1c70a07b,

+  0x1c6a8028, 0x1c645fc3, 0x1c5e3f4d, 0x1c581ec6, 0x1c51fe2d, 0x1c4bdd83,

+    0x1c45bcc7, 0x1c3f9bf9,

+  0x1c397b1b, 0x1c335a2b, 0x1c2d3929, 0x1c271816, 0x1c20f6f2, 0x1c1ad5bc,

+    0x1c14b475, 0x1c0e931d,

+  0x1c0871b4, 0x1c025039, 0x1bfc2ead, 0x1bf60d0f, 0x1befeb60, 0x1be9c9a1,

+    0x1be3a7cf, 0x1bdd85ed,

+  0x1bd763fa, 0x1bd141f5, 0x1bcb1fdf, 0x1bc4fdb8, 0x1bbedb80, 0x1bb8b937,

+    0x1bb296dc, 0x1bac7471,

+  0x1ba651f5, 0x1ba02f67, 0x1b9a0cc8, 0x1b93ea19, 0x1b8dc758, 0x1b87a487,

+    0x1b8181a4, 0x1b7b5eb0,

+  0x1b753bac, 0x1b6f1897, 0x1b68f570, 0x1b62d239, 0x1b5caef1, 0x1b568b98,

+    0x1b50682e, 0x1b4a44b3,

+  0x1b442127, 0x1b3dfd8b, 0x1b37d9de, 0x1b31b620, 0x1b2b9251, 0x1b256e71,

+    0x1b1f4a81, 0x1b192680,

+  0x1b13026e, 0x1b0cde4c, 0x1b06ba19, 0x1b0095d5, 0x1afa7180, 0x1af44d1b,

+    0x1aee28a6, 0x1ae8041f,

+  0x1ae1df88, 0x1adbbae1, 0x1ad59629, 0x1acf7160, 0x1ac94c87, 0x1ac3279d,

+    0x1abd02a3, 0x1ab6dd98,

+  0x1ab0b87d, 0x1aaa9352, 0x1aa46e16, 0x1a9e48c9, 0x1a98236c, 0x1a91fdff,

+    0x1a8bd881, 0x1a85b2f3,

+  0x1a7f8d54, 0x1a7967a6, 0x1a7341e6, 0x1a6d1c17, 0x1a66f637, 0x1a60d047,

+    0x1a5aaa47, 0x1a548436,

+  0x1a4e5e15, 0x1a4837e4, 0x1a4211a3, 0x1a3beb52, 0x1a35c4f0, 0x1a2f9e7e,

+    0x1a2977fc, 0x1a23516a,

+  0x1a1d2ac8, 0x1a170416, 0x1a10dd53, 0x1a0ab681, 0x1a048f9e, 0x19fe68ac,

+    0x19f841a9, 0x19f21a96,

+  0x19ebf374, 0x19e5cc41, 0x19dfa4fe, 0x19d97dac, 0x19d35649, 0x19cd2ed7,

+    0x19c70754, 0x19c0dfc2,

+  0x19bab820, 0x19b4906e, 0x19ae68ac, 0x19a840da, 0x19a218f9, 0x199bf107,

+    0x1995c906, 0x198fa0f5,

+  0x198978d4, 0x198350a4, 0x197d2864, 0x19770014, 0x1970d7b4, 0x196aaf45,

+    0x196486c6, 0x195e5e37,

+  0x19583599, 0x19520ceb, 0x194be42d, 0x1945bb60, 0x193f9283, 0x19396997,

+    0x1933409b, 0x192d178f,

+  0x1926ee74, 0x1920c54a, 0x191a9c10, 0x191472c6, 0x190e496d, 0x19082005,

+    0x1901f68d, 0x18fbcd06,

+  0x18f5a36f, 0x18ef79c9, 0x18e95014, 0x18e3264f, 0x18dcfc7b, 0x18d6d297,

+    0x18d0a8a4, 0x18ca7ea2,

+  0x18c45491, 0x18be2a70, 0x18b80040, 0x18b1d601, 0x18ababb2, 0x18a58154,

+    0x189f56e8, 0x18992c6b,

+  0x189301e0, 0x188cd746, 0x1886ac9c, 0x188081e4, 0x187a571c, 0x18742c45,

+    0x186e015f, 0x1867d66a,

+  0x1861ab66, 0x185b8053, 0x18555530, 0x184f29ff, 0x1848febf, 0x1842d370,

+    0x183ca812, 0x18367ca5,

+  0x18305129, 0x182a259e, 0x1823fa04, 0x181dce5b, 0x1817a2a4, 0x181176dd,

+    0x180b4b08, 0x18051f24,

+  0x17fef331, 0x17f8c72f, 0x17f29b1e, 0x17ec6eff, 0x17e642d1, 0x17e01694,

+    0x17d9ea49, 0x17d3bdee,

+  0x17cd9186, 0x17c7650e, 0x17c13888, 0x17bb0bf3, 0x17b4df4f, 0x17aeb29d,

+    0x17a885dc, 0x17a2590d,

+  0x179c2c2f, 0x1795ff42, 0x178fd247, 0x1789a53d, 0x17837825, 0x177d4afe,

+    0x17771dc9, 0x1770f086,

+  0x176ac333, 0x176495d3, 0x175e6864, 0x17583ae7, 0x17520d5b, 0x174bdfc1,

+    0x1745b218, 0x173f8461,

+  0x1739569c, 0x173328c8, 0x172cfae6, 0x1726ccf6, 0x17209ef8, 0x171a70eb,

+    0x171442d0, 0x170e14a7,

+  0x1707e670, 0x1701b82a, 0x16fb89d6, 0x16f55b74, 0x16ef2d04, 0x16e8fe86,

+    0x16e2cff9, 0x16dca15f,

+  0x16d672b6, 0x16d043ff, 0x16ca153a, 0x16c3e667, 0x16bdb787, 0x16b78898,

+    0x16b1599b, 0x16ab2a90,

+  0x16a4fb77, 0x169ecc50, 0x16989d1b, 0x16926dd8, 0x168c3e87, 0x16860f29,

+    0x167fdfbc, 0x1679b042,

+  0x167380ba, 0x166d5123, 0x1667217f, 0x1660f1ce, 0x165ac20e, 0x16549241,

+    0x164e6266, 0x1648327d,

+  0x16420286, 0x163bd282, 0x1635a270, 0x162f7250, 0x16294222, 0x162311e7,

+    0x161ce19e, 0x1616b148,

+  0x161080e4, 0x160a5072, 0x16041ff3, 0x15fdef66, 0x15f7becc, 0x15f18e24,

+    0x15eb5d6e, 0x15e52cab,

+  0x15defbdb, 0x15d8cafd, 0x15d29a11, 0x15cc6918, 0x15c63812, 0x15c006fe,

+    0x15b9d5dd, 0x15b3a4ae,

+  0x15ad7372, 0x15a74228, 0x15a110d2, 0x159adf6e, 0x1594adfc, 0x158e7c7d,

+    0x15884af1, 0x15821958,

+  0x157be7b1, 0x1575b5fe, 0x156f843c, 0x1569526e, 0x15632093, 0x155ceeaa,

+    0x1556bcb4, 0x15508ab1,

+  0x154a58a1, 0x15442683, 0x153df459, 0x1537c221, 0x15318fdd, 0x152b5d8b,

+    0x15252b2c, 0x151ef8c0,

+  0x1518c648, 0x151293c2, 0x150c612f, 0x15062e8f, 0x14fffbe2, 0x14f9c928,

+    0x14f39662, 0x14ed638e,

+  0x14e730ae, 0x14e0fdc0, 0x14dacac6, 0x14d497bf, 0x14ce64ab, 0x14c8318a,

+    0x14c1fe5c, 0x14bbcb22,

+  0x14b597da, 0x14af6486, 0x14a93125, 0x14a2fdb8, 0x149cca3e, 0x149696b7,

+    0x14906323, 0x148a2f82,

+  0x1483fbd5, 0x147dc81c, 0x14779455, 0x14716082, 0x146b2ca3, 0x1464f8b7,

+    0x145ec4be, 0x145890b9,

+  0x14525ca7, 0x144c2888, 0x1445f45d, 0x143fc026, 0x14398be2, 0x14335792,

+    0x142d2335, 0x1426eecb,

+  0x1420ba56, 0x141a85d3, 0x14145145, 0x140e1caa, 0x1407e803, 0x1401b34f,

+    0x13fb7e8f, 0x13f549c3,

+  0x13ef14ea, 0x13e8e005, 0x13e2ab14, 0x13dc7616, 0x13d6410d, 0x13d00bf7,

+    0x13c9d6d4, 0x13c3a1a6,

+  0x13bd6c6b, 0x13b73725, 0x13b101d2, 0x13aacc73, 0x13a49707, 0x139e6190,

+    0x13982c0d, 0x1391f67d,

+  0x138bc0e1, 0x13858b3a, 0x137f5586, 0x13791fc6, 0x1372e9fb, 0x136cb423,

+    0x13667e3f, 0x13604850,

+  0x135a1254, 0x1353dc4c, 0x134da639, 0x1347701a, 0x134139ee, 0x133b03b7,

+    0x1334cd74, 0x132e9725,

+  0x132860ca, 0x13222a64, 0x131bf3f2, 0x1315bd73, 0x130f86ea, 0x13095054,

+    0x130319b3, 0x12fce305,

+  0x12f6ac4d, 0x12f07588, 0x12ea3eb8, 0x12e407dc, 0x12ddd0f4, 0x12d79a01,

+    0x12d16303, 0x12cb2bf8,

+  0x12c4f4e2, 0x12bebdc1, 0x12b88693, 0x12b24f5b, 0x12ac1817, 0x12a5e0c7,

+    0x129fa96c, 0x12997205,

+  0x12933a93, 0x128d0315, 0x1286cb8c, 0x128093f7, 0x127a5c57, 0x127424ac,

+    0x126decf5, 0x1267b533,

+  0x12617d66, 0x125b458d, 0x12550da9, 0x124ed5ba, 0x12489dbf, 0x124265b9,

+    0x123c2da8, 0x1235f58b,

+  0x122fbd63, 0x12298530, 0x12234cf2, 0x121d14a9, 0x1216dc54, 0x1210a3f5,

+    0x120a6b8a, 0x12043314,

+  0x11fdfa93, 0x11f7c207, 0x11f18970, 0x11eb50cd, 0x11e51820, 0x11dedf68,

+    0x11d8a6a4, 0x11d26dd6,

+  0x11cc34fc, 0x11c5fc18, 0x11bfc329, 0x11b98a2e, 0x11b35129, 0x11ad1819,

+    0x11a6defe, 0x11a0a5d8,

+  0x119a6ca7, 0x1194336b, 0x118dfa25, 0x1187c0d3, 0x11818777, 0x117b4e10,

+    0x1175149e, 0x116edb22,

+  0x1168a19b, 0x11626809, 0x115c2e6c, 0x1155f4c4, 0x114fbb12, 0x11498156,

+    0x1143478e, 0x113d0dbc,

+  0x1136d3df, 0x113099f8, 0x112a6006, 0x11242609, 0x111dec02, 0x1117b1f0,

+    0x111177d4, 0x110b3dad,

+  0x1105037c, 0x10fec940, 0x10f88efa, 0x10f254a9, 0x10ec1a4e, 0x10e5dfe8,

+    0x10dfa578, 0x10d96afe,

+  0x10d33079, 0x10ccf5ea, 0x10c6bb50, 0x10c080ac, 0x10ba45fe, 0x10b40b45,

+    0x10add082, 0x10a795b5,

+  0x10a15ade, 0x109b1ffc, 0x1094e510, 0x108eaa1a, 0x10886f19, 0x1082340f,

+    0x107bf8fa, 0x1075bddb,

+  0x106f82b2, 0x1069477f, 0x10630c41, 0x105cd0fa, 0x105695a8, 0x10505a4d,

+    0x104a1ee7, 0x1043e377,

+  0x103da7fd, 0x10376c79, 0x103130ec, 0x102af554, 0x1024b9b2, 0x101e7e06,

+    0x10184251, 0x10120691,

+  0x100bcac7, 0x10058ef4, 0xfff5317, 0xff91730, 0xff2db3e, 0xfec9f44,

+    0xfe6633f, 0xfe02730,

+  0xfd9eb18, 0xfd3aef6, 0xfcd72ca, 0xfc73695, 0xfc0fa55, 0xfbabe0c, 0xfb481ba,

+    0xfae455d,

+  0xfa808f7, 0xfa1cc87, 0xf9b900e, 0xf95538b, 0xf8f16fe, 0xf88da68, 0xf829dc8,

+    0xf7c611f,

+  0xf76246c, 0xf6fe7af, 0xf69aae9, 0xf636e1a, 0xf5d3141, 0xf56f45e, 0xf50b773,

+    0xf4a7a7d,

+  0xf443d7e, 0xf3e0076, 0xf37c365, 0xf318649, 0xf2b4925, 0xf250bf7, 0xf1ecec0,

+    0xf189180,

+  0xf125436, 0xf0c16e3, 0xf05d987, 0xeff9c21, 0xef95eb2, 0xef3213a, 0xeece3b9,

+    0xee6a62f,

+  0xee0689b, 0xeda2afe, 0xed3ed58, 0xecdafa9, 0xec771f1, 0xec1342f, 0xebaf665,

+    0xeb4b891,

+  0xeae7ab4, 0xea83ccf, 0xea1fee0, 0xe9bc0e8, 0xe9582e7, 0xe8f44dd, 0xe8906cb,

+    0xe82c8af,

+  0xe7c8a8a, 0xe764c5c, 0xe700e26, 0xe69cfe6, 0xe63919e, 0xe5d534d, 0xe5714f3,

+    0xe50d690,

+  0xe4a9824, 0xe4459af, 0xe3e1b32, 0xe37dcac, 0xe319e1d, 0xe2b5f85, 0xe2520e5,

+    0xe1ee23c,

+  0xe18a38a, 0xe1264cf, 0xe0c260c, 0xe05e740, 0xdffa86b, 0xdf9698e, 0xdf32aa8,

+    0xdecebba,

+  0xde6acc3, 0xde06dc3, 0xdda2ebb, 0xdd3efab, 0xdcdb091, 0xdc77170, 0xdc13245,

+    0xdbaf313,

+  0xdb4b3d7, 0xdae7494, 0xda83548, 0xda1f5f3, 0xd9bb696, 0xd957731, 0xd8f37c3,

+    0xd88f84d,

+  0xd82b8cf, 0xd7c7948, 0xd7639b9, 0xd6ffa22, 0xd69ba82, 0xd637ada, 0xd5d3b2a,

+    0xd56fb71,

+  0xd50bbb1, 0xd4a7be8, 0xd443c17, 0xd3dfc3e, 0xd37bc5c, 0xd317c73, 0xd2b3c81,

+    0xd24fc87,

+  0xd1ebc85, 0xd187c7b, 0xd123c69, 0xd0bfc4f, 0xd05bc2d, 0xcff7c02, 0xcf93bd0,

+    0xcf2fb96,

+  0xcecbb53, 0xce67b09, 0xce03ab7, 0xcd9fa5d, 0xcd3b9fb, 0xccd7991, 0xcc7391f,

+    0xcc0f8a5,

+  0xcbab824, 0xcb4779a, 0xcae3709, 0xca7f670, 0xca1b5cf, 0xc9b7526, 0xc953475,

+    0xc8ef3bd,

+  0xc88b2fd, 0xc827235, 0xc7c3166, 0xc75f08f, 0xc6fafb0, 0xc696ec9, 0xc632ddb,

+    0xc5cece5,

+  0xc56abe8, 0xc506ae3, 0xc4a29d6, 0xc43e8c2, 0xc3da7a6, 0xc376683, 0xc312558,

+    0xc2ae425,

+  0xc24a2eb, 0xc1e61aa, 0xc182061, 0xc11df11, 0xc0b9db9, 0xc055c5a, 0xbff1af3,

+    0xbf8d985,

+  0xbf29810, 0xbec5693, 0xbe6150f, 0xbdfd383, 0xbd991f0, 0xbd35056, 0xbcd0eb5,

+    0xbc6cd0c,

+  0xbc08b5c, 0xbba49a5, 0xbb407e7, 0xbadc621, 0xba78454, 0xba14280, 0xb9b00a5,

+    0xb94bec2,

+  0xb8e7cd9, 0xb883ae8, 0xb81f8f0, 0xb7bb6f2, 0xb7574ec, 0xb6f32df, 0xb68f0cb,

+    0xb62aeaf,

+  0xb5c6c8d, 0xb562a64, 0xb4fe834, 0xb49a5fd, 0xb4363bf, 0xb3d217a, 0xb36df2e,

+    0xb309cdb,

+  0xb2a5a81, 0xb241820, 0xb1dd5b9, 0xb17934b, 0xb1150d5, 0xb0b0e59, 0xb04cbd6,

+    0xafe894d,

+  0xaf846bc, 0xaf20425, 0xaebc187, 0xae57ee2, 0xadf3c37, 0xad8f985, 0xad2b6cc,

+    0xacc740c,

+  0xac63146, 0xabfee79, 0xab9aba6, 0xab368cc, 0xaad25eb, 0xaa6e304, 0xaa0a016,

+    0xa9a5d22,

+  0xa941a27, 0xa8dd725, 0xa87941d, 0xa81510f, 0xa7b0dfa, 0xa74cadf, 0xa6e87bd,

+    0xa684495,

+  0xa620166, 0xa5bbe31, 0xa557af5, 0xa4f37b3, 0xa48f46b, 0xa42b11d, 0xa3c6dc8,

+    0xa362a6d,

+  0xa2fe70b, 0xa29a3a3, 0xa236035, 0xa1d1cc1, 0xa16d946, 0xa1095c6, 0xa0a523f,

+    0xa040eb1,

+  0x9fdcb1e, 0x9f78784, 0x9f143e5, 0x9eb003f, 0x9e4bc93, 0x9de78e1, 0x9d83529,

+    0x9d1f16b,

+  0x9cbada7, 0x9c569dc, 0x9bf260c, 0x9b8e236, 0x9b29e59, 0x9ac5a77, 0x9a6168f,

+    0x99fd2a0,

+  0x9998eac, 0x9934ab2, 0x98d06b2, 0x986c2ac, 0x9807ea1, 0x97a3a8f, 0x973f678,

+    0x96db25a,

+  0x9676e37, 0x9612a0e, 0x95ae5e0, 0x954a1ab, 0x94e5d71, 0x9481931, 0x941d4eb,

+    0x93b90a0,

+  0x9354c4f, 0x92f07f8, 0x928c39b, 0x9227f39, 0x91c3ad2, 0x915f664, 0x90fb1f1,

+    0x9096d79,

+  0x90328fb, 0x8fce477, 0x8f69fee, 0x8f05b5f, 0x8ea16cb, 0x8e3d231, 0x8dd8d92,

+    0x8d748ed,

+  0x8d10443, 0x8cabf93, 0x8c47ade, 0x8be3624, 0x8b7f164, 0x8b1ac9f, 0x8ab67d4,

+    0x8a52304,

+  0x89ede2f, 0x8989955, 0x8925475, 0x88c0f90, 0x885caa5, 0x87f85b5, 0x87940c1,

+    0x872fbc6,

+  0x86cb6c7, 0x86671c2, 0x8602cb9, 0x859e7aa, 0x853a296, 0x84d5d7d, 0x847185e,

+    0x840d33b,

+  0x83a8e12, 0x83448e5, 0x82e03b2, 0x827be7a, 0x821793e, 0x81b33fc, 0x814eeb5,

+    0x80ea969,

+  0x8086419, 0x8021ec3, 0x7fbd968, 0x7f59409, 0x7ef4ea4, 0x7e9093b, 0x7e2c3cd,

+    0x7dc7e5a,

+  0x7d638e2, 0x7cff365, 0x7c9ade4, 0x7c3685d, 0x7bd22d2, 0x7b6dd42, 0x7b097ad,

+    0x7aa5214,

+  0x7a40c76, 0x79dc6d3, 0x797812b, 0x7913b7f, 0x78af5ce, 0x784b019, 0x77e6a5e,

+    0x77824a0,

+  0x771dedc, 0x76b9914, 0x7655347, 0x75f0d76, 0x758c7a1, 0x75281c6, 0x74c3be7,

+    0x745f604,

+  0x73fb01c, 0x7396a30, 0x733243f, 0x72cde4a, 0x7269851, 0x7205253, 0x71a0c50,

+    0x713c64a,

+  0x70d803f, 0x7073a2f, 0x700f41b, 0x6faae03, 0x6f467e7, 0x6ee21c6, 0x6e7dba1,

+    0x6e19578,

+  0x6db4f4a, 0x6d50919, 0x6cec2e3, 0x6c87ca9, 0x6c2366a, 0x6bbf028, 0x6b5a9e1,

+    0x6af6396,

+  0x6a91d47, 0x6a2d6f4, 0x69c909d, 0x6964a42, 0x69003e3, 0x689bd80, 0x6837718,

+    0x67d30ad,

+  0x676ea3d, 0x670a3ca, 0x66a5d53, 0x66416d8, 0x65dd058, 0x65789d5, 0x651434e,

+    0x64afcc3,

+  0x644b634, 0x63e6fa2, 0x638290b, 0x631e271, 0x62b9bd3, 0x6255531, 0x61f0e8b,

+    0x618c7e1,

+  0x6128134, 0x60c3a83, 0x605f3ce, 0x5ffad15, 0x5f96659, 0x5f31f99, 0x5ecd8d6,

+    0x5e6920e,

+  0x5e04b43, 0x5da0475, 0x5d3bda3, 0x5cd76cd, 0x5c72ff4, 0x5c0e917, 0x5baa237,

+    0x5b45b53,

+  0x5ae146b, 0x5a7cd80, 0x5a18692, 0x59b3fa0, 0x594f8aa, 0x58eb1b2, 0x5886ab5,

+    0x58223b6,

+  0x57bdcb3, 0x57595ac, 0x56f4ea2, 0x5690795, 0x562c085, 0x55c7971, 0x556325a,

+    0x54feb3f,

+  0x549a422, 0x5435d01, 0x53d15dd, 0x536ceb5, 0x530878a, 0x52a405d, 0x523f92c,

+    0x51db1f7,

+  0x5176ac0, 0x5112385, 0x50adc48, 0x5049507, 0x4fe4dc3, 0x4f8067c, 0x4f1bf32,

+    0x4eb77e5,

+  0x4e53095, 0x4dee942, 0x4d8a1ec, 0x4d25a93, 0x4cc1337, 0x4c5cbd8, 0x4bf8476,

+    0x4b93d11,

+  0x4b2f5a9, 0x4acae3e, 0x4a666d1, 0x4a01f60, 0x499d7ed, 0x4939077, 0x48d48fe,

+    0x4870182,

+  0x480ba04, 0x47a7282, 0x4742afe, 0x46de377, 0x4679bee, 0x4615461, 0x45b0cd2,

+    0x454c541,

+  0x44e7dac, 0x4483615, 0x441ee7c, 0x43ba6df, 0x4355f40, 0x42f179f, 0x428cffb,

+    0x4228854,

+  0x41c40ab, 0x415f8ff, 0x40fb151, 0x40969a0, 0x40321ed, 0x3fcda37, 0x3f6927f,

+    0x3f04ac4,

+  0x3ea0307, 0x3e3bb48, 0x3dd7386, 0x3d72bc2, 0x3d0e3fb, 0x3ca9c32, 0x3c45467,

+    0x3be0c99,

+  0x3b7c4c9, 0x3b17cf7, 0x3ab3523, 0x3a4ed4c, 0x39ea573, 0x3985d97, 0x39215ba,

+    0x38bcdda,

+  0x38585f8, 0x37f3e14, 0x378f62e, 0x372ae46, 0x36c665b, 0x3661e6f, 0x35fd680,

+    0x3598e8f,

+  0x353469c, 0x34cfea8, 0x346b6b1, 0x3406eb8, 0x33a26bd, 0x333dec0, 0x32d96c1,

+    0x3274ec0,

+  0x32106bd, 0x31abeb9, 0x31476b2, 0x30e2ea9, 0x307e69f, 0x3019e93, 0x2fb5684,

+    0x2f50e74,

+  0x2eec663, 0x2e87e4f, 0x2e2363a, 0x2dbee22, 0x2d5a609, 0x2cf5def, 0x2c915d2,

+    0x2c2cdb4,

+  0x2bc8594, 0x2b63d73, 0x2aff54f, 0x2a9ad2a, 0x2a36504, 0x29d1cdc, 0x296d4b2,

+    0x2908c87,

+  0x28a445a, 0x283fc2b, 0x27db3fb, 0x2776bc9, 0x2712396, 0x26adb62, 0x264932b,

+    0x25e4af4,

+  0x25802bb, 0x251ba80, 0x24b7244, 0x2452a07, 0x23ee1c8, 0x2389988, 0x2325147,

+    0x22c0904,

+  0x225c0bf, 0x21f787a, 0x2193033, 0x212e7eb, 0x20c9fa1, 0x2065757, 0x2000f0b,

+    0x1f9c6be,

+  0x1f37e6f, 0x1ed3620, 0x1e6edcf, 0x1e0a57d, 0x1da5d2a, 0x1d414d6, 0x1cdcc80,

+    0x1c7842a,

+  0x1c13bd2, 0x1baf37a, 0x1b4ab20, 0x1ae62c5, 0x1a81a69, 0x1a1d20c, 0x19b89ae,

+    0x1954150,

+  0x18ef8f0, 0x188b08f, 0x182682d, 0x17c1fcb, 0x175d767, 0x16f8f03, 0x169469d,

+    0x162fe37,

+  0x15cb5d0, 0x1566d68, 0x15024ff, 0x149dc96, 0x143942b, 0x13d4bc0, 0x1370354,

+    0x130bae7,

+  0x12a727a, 0x1242a0c, 0x11de19d, 0x117992e, 0x11150be, 0x10b084d, 0x104bfdb,

+    0xfe7769,

+  0xf82ef6, 0xf1e683, 0xeb9e0f, 0xe5559b, 0xdf0d26, 0xd8c4b0, 0xd27c3a,

+    0xcc33c3,

+  0xc5eb4c, 0xbfa2d5, 0xb95a5d, 0xb311e4, 0xacc96b, 0xa680f2, 0xa03878,

+    0x99effe,

+  0x93a784, 0x8d5f09, 0x87168e, 0x80ce12, 0x7a8597, 0x743d1a, 0x6df49e,

+    0x67ac21,

+  0x6163a5, 0x5b1b27, 0x54d2aa, 0x4e8a2c, 0x4841af, 0x41f931, 0x3bb0b3,

+    0x356835,

+  0x2f1fb6, 0x28d738, 0x228eb9, 0x1c463b, 0x15fdbc, 0xfb53d, 0x96cbe, 0x3243f,

+

+};

+

+/**    

+ * @brief  Initialization function for the Q31 DCT4/IDCT4.   

+ * @param[in,out] *S         points to an instance of Q31 DCT4/IDCT4 structure.   

+ * @param[in]     *S_RFFT    points to an instance of Q31 RFFT/RIFFT structure   

+ * @param[in]     *S_CFFT    points to an instance of Q31 CFFT/CIFFT structure   

+ * @param[in]     N          length of the DCT4.   

+ * @param[in]     Nby2       half of the length of the DCT4.   

+ * @param[in]     normalize  normalizing factor.   

+ * @return		  arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if <code>N</code> is not a supported transform length.   

+ * \par Normalizing factor:    

+ * The normalizing factor is <code>sqrt(2/N)</code>, which depends on the size of transform <code>N</code>.    

+ * Normalizing factors in 1.31 format are mentioned in the table below for different DCT sizes:    

+ * \image html dct4NormalizingQ31Table.gif    

+ */

+

+arm_status arm_dct4_init_q31(

+  arm_dct4_instance_q31 * S,

+  arm_rfft_instance_q31 * S_RFFT,

+  arm_cfft_radix4_instance_q31 * S_CFFT,

+  uint16_t N,

+  uint16_t Nby2,

+  q31_t normalize)

+{

+  /*  Initialise the default arm status */

+  arm_status status = ARM_MATH_SUCCESS;

+

+  /* Initializing the pointer array with the weight table base addresses of different lengths */

+  q31_t *twiddlePtr[4] = { (q31_t *) WeightsQ31_128, (q31_t *) WeightsQ31_512,

+    (q31_t *) WeightsQ31_2048, (q31_t *) WeightsQ31_8192

+  };

+

+  /* Initializing the pointer array with the cos factor table base addresses of different lengths */

+  q31_t *pCosFactor[4] =

+    { (q31_t *) cos_factorsQ31_128, (q31_t *) cos_factorsQ31_512,

+    (q31_t *) cos_factorsQ31_2048, (q31_t *) cos_factorsQ31_8192

+  };

+

+  /* Initialize the DCT4 length */

+  S->N = N;

+

+  /* Initialize the half of DCT4 length */

+  S->Nby2 = Nby2;

+

+  /* Initialize the DCT4 Normalizing factor */

+  S->normalize = normalize;

+

+  /* Initialize Real FFT Instance */

+  S->pRfft = S_RFFT;

+

+  /* Initialize Complex FFT Instance */

+  S->pCfft = S_CFFT;

+

+  switch (N)

+  {

+    /* Initialize the table modifier values */

+  case 8192u:

+    S->pTwiddle = twiddlePtr[3];

+    S->pCosFactor = pCosFactor[3];

+    break;

+  case 2048u:

+    S->pTwiddle = twiddlePtr[2];

+    S->pCosFactor = pCosFactor[2];

+    break;

+  case 512u:

+    S->pTwiddle = twiddlePtr[1];

+    S->pCosFactor = pCosFactor[1];

+    break;

+  case 128u:

+    S->pTwiddle = twiddlePtr[0];

+    S->pCosFactor = pCosFactor[0];

+    break;

+  default:

+    status = ARM_MATH_ARGUMENT_ERROR;

+  }

+

+  /* Initialize the RFFT/RIFFT Function */

+  arm_rfft_init_q31(S->pRfft, S->pCfft, S->N, 0, 1);

+

+  /* return the status of DCT4 Init function */

+  return (status);

+}

+

+/**    

+   * @} end of DCT4_IDCT4 group    

+   */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q15.c
new file mode 100644
index 000000000..feaa2ae3c
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q15.c
@@ -0,0 +1,386 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_dct4_q15.c    

+*    

+* Description:	Processing function of DCT4 & IDCT4 Q15.    

+*    

+* 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"

+

+/**    

+ * @addtogroup DCT4_IDCT4    

+ * @{    

+ */

+

+/**    

+ * @brief Processing function for the Q15 DCT4/IDCT4.   

+ * @param[in]       *S             points to an instance of the Q15 DCT4 structure.   

+ * @param[in]       *pState        points to state buffer.   

+ * @param[in,out]   *pInlineBuffer points to the in-place input and output buffer.   

+ * @return none.   

+ *     

+ * \par Input an output formats:    

+ * Internally inputs are downscaled in the RFFT process function to avoid overflows.    

+ * Number of bits downscaled, depends on the size of the transform.    

+ * The input and output formats for different DCT sizes and number of bits to upscale are mentioned in the table below:     

+ *    

+ * \image html dct4FormatsQ15Table.gif    

+ */

+

+void arm_dct4_q15(

+  const arm_dct4_instance_q15 * S,

+  q15_t * pState,

+  q15_t * pInlineBuffer)

+{

+  uint32_t i;                                    /* Loop counter */

+  q15_t *weights = S->pTwiddle;                  /* Pointer to the Weights table */

+  q15_t *cosFact = S->pCosFactor;                /* Pointer to the cos factors table */

+  q15_t *pS1, *pS2, *pbuff;                      /* Temporary pointers for input buffer and pState buffer */

+  q15_t in;                                      /* Temporary variable */

+

+

+  /* DCT4 computation involves DCT2 (which is calculated using RFFT)    

+   * along with some pre-processing and post-processing.    

+   * Computational procedure is explained as follows:    

+   * (a) Pre-processing involves multiplying input with cos factor,    

+   *     r(n) = 2 * u(n) * cos(pi*(2*n+1)/(4*n))    

+   *              where,    

+   *                 r(n) -- output of preprocessing    

+   *                 u(n) -- input to preprocessing(actual Source buffer)    

+   * (b) Calculation of DCT2 using FFT is divided into three steps:    

+   *                  Step1: Re-ordering of even and odd elements of input.    

+   *                  Step2: Calculating FFT of the re-ordered input.    

+   *                  Step3: Taking the real part of the product of FFT output and weights.    

+   * (c) Post-processing - DCT4 can be obtained from DCT2 output using the following equation:    

+   *                   Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    

+   *                        where,    

+   *                           Y4 -- DCT4 output,   Y2 -- DCT2 output    

+   * (d) Multiplying the output with the normalizing factor sqrt(2/N).    

+   */

+

+        /*-------- Pre-processing ------------*/

+  /* Multiplying input with cos factor i.e. r(n) = 2 * x(n) * cos(pi*(2*n+1)/(4*n)) */

+  arm_mult_q15(pInlineBuffer, cosFact, pInlineBuffer, S->N);

+  arm_shift_q15(pInlineBuffer, 1, pInlineBuffer, S->N);

+

+  /* ----------------------------------------------------------------    

+   * Step1: Re-ordering of even and odd elements as    

+   *             pState[i] =  pInlineBuffer[2*i] and    

+   *             pState[N-i-1] = pInlineBuffer[2*i+1] where i = 0 to N/2    

+   ---------------------------------------------------------------------*/

+

+  /* pS1 initialized to pState */

+  pS1 = pState;

+

+  /* pS2 initialized to pState+N-1, so that it points to the end of the state buffer */

+  pS2 = pState + (S->N - 1u);

+

+  /* pbuff initialized to input buffer */

+  pbuff = pInlineBuffer;

+

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+

+  /* Initializing the loop counter to N/2 >> 2 for loop unrolling by 4 */

+  i = (uint32_t) S->Nby2 >> 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. */

+  do

+  {

+    /* Re-ordering of even and odd elements */

+    /* pState[i] =  pInlineBuffer[2*i] */

+    *pS1++ = *pbuff++;

+    /* pState[N-i-1] = pInlineBuffer[2*i+1] */

+    *pS2-- = *pbuff++;

+

+    *pS1++ = *pbuff++;

+    *pS2-- = *pbuff++;

+

+    *pS1++ = *pbuff++;

+    *pS2-- = *pbuff++;

+

+    *pS1++ = *pbuff++;

+    *pS2-- = *pbuff++;

+

+    /* Decrement the loop counter */

+    i--;

+  } while(i > 0u);

+

+  /* pbuff initialized to input buffer */

+  pbuff = pInlineBuffer;

+

+  /* pS1 initialized to pState */

+  pS1 = pState;

+

+  /* Initializing the loop counter to N/4 instead of N for loop unrolling */

+  i = (uint32_t) S->N >> 2u;

+

+  /* Processing with loop unrolling 4 times as N is always multiple of 4.    

+   * Compute 4 outputs at a time */

+  do

+  {

+    /* Writing the re-ordered output back to inplace input buffer */

+    *pbuff++ = *pS1++;

+    *pbuff++ = *pS1++;

+    *pbuff++ = *pS1++;

+    *pbuff++ = *pS1++;

+

+    /* Decrement the loop counter */

+    i--;

+  } while(i > 0u);

+

+

+  /* ---------------------------------------------------------    

+   *     Step2: Calculate RFFT for N-point input    

+   * ---------------------------------------------------------- */

+  /* pInlineBuffer is real input of length N , pState is the complex output of length 2N */

+  arm_rfft_q15(S->pRfft, pInlineBuffer, pState);

+

+ /*----------------------------------------------------------------------    

+  *  Step3: Multiply the FFT output with the weights.    

+  *----------------------------------------------------------------------*/

+  arm_cmplx_mult_cmplx_q15(pState, weights, pState, S->N);

+

+  /* The output of complex multiplication is in 3.13 format.    

+   * Hence changing the format of N (i.e. 2*N elements) complex numbers to 1.15 format by shifting left by 2 bits. */

+  arm_shift_q15(pState, 2, pState, S->N * 2);

+

+  /* ----------- Post-processing ---------- */

+  /* DCT-IV can be obtained from DCT-II by the equation,    

+   *       Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    

+   *       Hence, Y4(0) = Y2(0)/2  */

+  /* Getting only real part from the output and Converting to DCT-IV */

+

+  /* Initializing the loop counter to N >> 2 for loop unrolling by 4 */

+  i = ((uint32_t) S->N - 1u) >> 2u;

+

+  /* pbuff initialized to input buffer. */

+  pbuff = pInlineBuffer;

+

+  /* pS1 initialized to pState */

+  pS1 = pState;

+

+  /* Calculating Y4(0) from Y2(0) using Y4(0) = Y2(0)/2 */

+  in = *pS1++ >> 1u;

+  /* input buffer acts as inplace, so output values are stored in the input itself. */

+  *pbuff++ = in;

+

+  /* pState pointer is incremented twice as the real values are located alternatively in the array */

+  pS1++;

+

+  /* 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. */

+  do

+  {

+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */

+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */

+    in = *pS1++ - in;

+    *pbuff++ = in;

+    /* points to the next real value */

+    pS1++;

+

+    in = *pS1++ - in;

+    *pbuff++ = in;

+    pS1++;

+

+    in = *pS1++ - in;

+    *pbuff++ = in;

+    pS1++;

+

+    in = *pS1++ - in;

+    *pbuff++ = in;

+    pS1++;

+

+    /* Decrement the loop counter */

+    i--;

+  } while(i > 0u);

+

+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    

+   ** No loop unrolling is used. */

+  i = ((uint32_t) S->N - 1u) % 0x4u;

+

+  while(i > 0u)

+  {

+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */

+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */

+    in = *pS1++ - in;

+    *pbuff++ = in;

+    /* points to the next real value */

+    pS1++;

+

+    /* Decrement the loop counter */

+    i--;

+  }

+

+

+   /*------------ Normalizing the output by multiplying with the normalizing factor ----------*/

+

+  /* Initializing the loop counter to N/4 instead of N for loop unrolling */

+  i = (uint32_t) S->N >> 2u;

+

+  /* pbuff initialized to the pInlineBuffer(now contains the output values) */

+  pbuff = pInlineBuffer;

+

+  /* Processing with loop unrolling 4 times as N is always multiple of 4.  Compute 4 outputs at a time */

+  do

+  {

+    /* Multiplying pInlineBuffer with the normalizing factor sqrt(2/N) */

+    in = *pbuff;

+    *pbuff++ = ((q15_t) (((q31_t) in * S->normalize) >> 15));

+

+    in = *pbuff;

+    *pbuff++ = ((q15_t) (((q31_t) in * S->normalize) >> 15));

+

+    in = *pbuff;

+    *pbuff++ = ((q15_t) (((q31_t) in * S->normalize) >> 15));

+

+    in = *pbuff;

+    *pbuff++ = ((q15_t) (((q31_t) in * S->normalize) >> 15));

+

+    /* Decrement the loop counter */

+    i--;

+  } while(i > 0u);

+

+

+#else

+

+  /* Run the below code for Cortex-M0 */

+

+  /* Initializing the loop counter to N/2 */

+  i = (uint32_t) S->Nby2;

+

+  do

+  {

+    /* Re-ordering of even and odd elements */

+    /* pState[i] =  pInlineBuffer[2*i] */

+    *pS1++ = *pbuff++;

+    /* pState[N-i-1] = pInlineBuffer[2*i+1] */

+    *pS2-- = *pbuff++;

+

+    /* Decrement the loop counter */

+    i--;

+  } while(i > 0u);

+

+  /* pbuff initialized to input buffer */

+  pbuff = pInlineBuffer;

+

+  /* pS1 initialized to pState */

+  pS1 = pState;

+

+  /* Initializing the loop counter */

+  i = (uint32_t) S->N;

+

+  do

+  {

+    /* Writing the re-ordered output back to inplace input buffer */

+    *pbuff++ = *pS1++;

+

+    /* Decrement the loop counter */

+    i--;

+  } while(i > 0u);

+

+

+  /* ---------------------------------------------------------    

+   *     Step2: Calculate RFFT for N-point input    

+   * ---------------------------------------------------------- */

+  /* pInlineBuffer is real input of length N , pState is the complex output of length 2N */

+  arm_rfft_q15(S->pRfft, pInlineBuffer, pState);

+

+ /*----------------------------------------------------------------------    

+  *  Step3: Multiply the FFT output with the weights.    

+  *----------------------------------------------------------------------*/

+  arm_cmplx_mult_cmplx_q15(pState, weights, pState, S->N);

+

+  /* The output of complex multiplication is in 3.13 format.    

+   * Hence changing the format of N (i.e. 2*N elements) complex numbers to 1.15 format by shifting left by 2 bits. */

+  arm_shift_q15(pState, 2, pState, S->N * 2);

+

+  /* ----------- Post-processing ---------- */

+  /* DCT-IV can be obtained from DCT-II by the equation,    

+   *       Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    

+   *       Hence, Y4(0) = Y2(0)/2  */

+  /* Getting only real part from the output and Converting to DCT-IV */

+

+  /* Initializing the loop counter */

+  i = ((uint32_t) S->N - 1u);

+

+  /* pbuff initialized to input buffer. */

+  pbuff = pInlineBuffer;

+

+  /* pS1 initialized to pState */

+  pS1 = pState;

+

+  /* Calculating Y4(0) from Y2(0) using Y4(0) = Y2(0)/2 */

+  in = *pS1++ >> 1u;

+  /* input buffer acts as inplace, so output values are stored in the input itself. */

+  *pbuff++ = in;

+

+  /* pState pointer is incremented twice as the real values are located alternatively in the array */

+  pS1++;

+

+  do

+  {

+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */

+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */

+    in = *pS1++ - in;

+    *pbuff++ = in;

+    /* points to the next real value */

+    pS1++;

+

+    /* Decrement the loop counter */

+    i--;

+  } while(i > 0u);

+

+   /*------------ Normalizing the output by multiplying with the normalizing factor ----------*/

+

+  /* Initializing the loop counter */

+  i = (uint32_t) S->N;

+

+  /* pbuff initialized to the pInlineBuffer(now contains the output values) */

+  pbuff = pInlineBuffer;

+

+  do

+  {

+    /* Multiplying pInlineBuffer with the normalizing factor sqrt(2/N) */

+    in = *pbuff;

+    *pbuff++ = ((q15_t) (((q31_t) in * S->normalize) >> 15));

+

+    /* Decrement the loop counter */

+    i--;

+  } while(i > 0u);

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+   * @} end of DCT4_IDCT4 group    

+   */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q31.c
new file mode 100644
index 000000000..887cfb385
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q31.c
@@ -0,0 +1,387 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_dct4_q31.c    

+*    

+* Description:	Processing function of DCT4 & IDCT4 Q31.    

+*    

+* 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"

+

+/**    

+ * @addtogroup DCT4_IDCT4    

+ * @{    

+ */

+

+/**    

+ * @brief Processing function for the Q31 DCT4/IDCT4.   

+ * @param[in]       *S             points to an instance of the Q31 DCT4 structure.   

+ * @param[in]       *pState        points to state buffer.   

+ * @param[in,out]   *pInlineBuffer points to the in-place input and output buffer.   

+ * @return none.   

+ * \par Input an output formats:    

+ * Input samples need to be downscaled by 1 bit to avoid saturations in the Q31 DCT process,    

+ * as the conversion from DCT2 to DCT4 involves one subtraction.    

+ * Internally inputs are downscaled in the RFFT process function to avoid overflows.    

+ * Number of bits downscaled, depends on the size of the transform.    

+ * The input and output formats for different DCT sizes and number of bits to upscale are mentioned in the table below:     

+ *    

+ * \image html dct4FormatsQ31Table.gif    

+ */

+

+void arm_dct4_q31(

+  const arm_dct4_instance_q31 * S,

+  q31_t * pState,

+  q31_t * pInlineBuffer)

+{

+  uint16_t i;                                    /* Loop counter */

+  q31_t *weights = S->pTwiddle;                  /* Pointer to the Weights table */

+  q31_t *cosFact = S->pCosFactor;                /* Pointer to the cos factors table */

+  q31_t *pS1, *pS2, *pbuff;                      /* Temporary pointers for input buffer and pState buffer */

+  q31_t in;                                      /* Temporary variable */

+

+

+  /* DCT4 computation involves DCT2 (which is calculated using RFFT)    

+   * along with some pre-processing and post-processing.    

+   * Computational procedure is explained as follows:    

+   * (a) Pre-processing involves multiplying input with cos factor,    

+   *     r(n) = 2 * u(n) * cos(pi*(2*n+1)/(4*n))    

+   *              where,    

+   *                 r(n) -- output of preprocessing    

+   *                 u(n) -- input to preprocessing(actual Source buffer)    

+   * (b) Calculation of DCT2 using FFT is divided into three steps:    

+   *                  Step1: Re-ordering of even and odd elements of input.    

+   *                  Step2: Calculating FFT of the re-ordered input.    

+   *                  Step3: Taking the real part of the product of FFT output and weights.    

+   * (c) Post-processing - DCT4 can be obtained from DCT2 output using the following equation:    

+   *                   Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    

+   *                        where,    

+   *                           Y4 -- DCT4 output,   Y2 -- DCT2 output    

+   * (d) Multiplying the output with the normalizing factor sqrt(2/N).    

+   */

+

+        /*-------- Pre-processing ------------*/

+  /* Multiplying input with cos factor i.e. r(n) = 2 * x(n) * cos(pi*(2*n+1)/(4*n)) */

+  arm_mult_q31(pInlineBuffer, cosFact, pInlineBuffer, S->N);

+  arm_shift_q31(pInlineBuffer, 1, pInlineBuffer, S->N);

+

+  /* ----------------------------------------------------------------    

+   * Step1: Re-ordering of even and odd elements as    

+   *             pState[i] =  pInlineBuffer[2*i] and    

+   *             pState[N-i-1] = pInlineBuffer[2*i+1] where i = 0 to N/2    

+   ---------------------------------------------------------------------*/

+

+  /* pS1 initialized to pState */

+  pS1 = pState;

+

+  /* pS2 initialized to pState+N-1, so that it points to the end of the state buffer */

+  pS2 = pState + (S->N - 1u);

+

+  /* pbuff initialized to input buffer */

+  pbuff = pInlineBuffer;

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+

+  /* Initializing the loop counter to N/2 >> 2 for loop unrolling by 4 */

+  i = S->Nby2 >> 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. */

+  do

+  {

+    /* Re-ordering of even and odd elements */

+    /* pState[i] =  pInlineBuffer[2*i] */

+    *pS1++ = *pbuff++;

+    /* pState[N-i-1] = pInlineBuffer[2*i+1] */

+    *pS2-- = *pbuff++;

+

+    *pS1++ = *pbuff++;

+    *pS2-- = *pbuff++;

+

+    *pS1++ = *pbuff++;

+    *pS2-- = *pbuff++;

+

+    *pS1++ = *pbuff++;

+    *pS2-- = *pbuff++;

+

+    /* Decrement the loop counter */

+    i--;

+  } while(i > 0u);

+

+  /* pbuff initialized to input buffer */

+  pbuff = pInlineBuffer;

+

+  /* pS1 initialized to pState */

+  pS1 = pState;

+

+  /* Initializing the loop counter to N/4 instead of N for loop unrolling */

+  i = S->N >> 2u;

+

+  /* Processing with loop unrolling 4 times as N is always multiple of 4.    

+   * Compute 4 outputs at a time */

+  do

+  {

+    /* Writing the re-ordered output back to inplace input buffer */

+    *pbuff++ = *pS1++;

+    *pbuff++ = *pS1++;

+    *pbuff++ = *pS1++;

+    *pbuff++ = *pS1++;

+

+    /* Decrement the loop counter */

+    i--;

+  } while(i > 0u);

+

+

+  /* ---------------------------------------------------------    

+   *     Step2: Calculate RFFT for N-point input    

+   * ---------------------------------------------------------- */

+  /* pInlineBuffer is real input of length N , pState is the complex output of length 2N */

+  arm_rfft_q31(S->pRfft, pInlineBuffer, pState);

+

+  /*----------------------------------------------------------------------    

+   *  Step3: Multiply the FFT output with the weights.    

+   *----------------------------------------------------------------------*/

+  arm_cmplx_mult_cmplx_q31(pState, weights, pState, S->N);

+

+  /* The output of complex multiplication is in 3.29 format.    

+   * Hence changing the format of N (i.e. 2*N elements) complex numbers to 1.31 format by shifting left by 2 bits. */

+  arm_shift_q31(pState, 2, pState, S->N * 2);

+

+  /* ----------- Post-processing ---------- */

+  /* DCT-IV can be obtained from DCT-II by the equation,    

+   *       Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    

+   *       Hence, Y4(0) = Y2(0)/2  */

+  /* Getting only real part from the output and Converting to DCT-IV */

+

+  /* Initializing the loop counter to N >> 2 for loop unrolling by 4 */

+  i = (S->N - 1u) >> 2u;

+

+  /* pbuff initialized to input buffer. */

+  pbuff = pInlineBuffer;

+

+  /* pS1 initialized to pState */

+  pS1 = pState;

+

+  /* Calculating Y4(0) from Y2(0) using Y4(0) = Y2(0)/2 */

+  in = *pS1++ >> 1u;

+  /* input buffer acts as inplace, so output values are stored in the input itself. */

+  *pbuff++ = in;

+

+  /* pState pointer is incremented twice as the real values are located alternatively in the array */

+  pS1++;

+

+  /* 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. */

+  do

+  {

+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */

+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */

+    in = *pS1++ - in;

+    *pbuff++ = in;

+    /* points to the next real value */

+    pS1++;

+

+    in = *pS1++ - in;

+    *pbuff++ = in;

+    pS1++;

+

+    in = *pS1++ - in;

+    *pbuff++ = in;

+    pS1++;

+

+    in = *pS1++ - in;

+    *pbuff++ = in;

+    pS1++;

+

+    /* Decrement the loop counter */

+    i--;

+  } while(i > 0u);

+

+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    

+   ** No loop unrolling is used. */

+  i = (S->N - 1u) % 0x4u;

+

+  while(i > 0u)

+  {

+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */

+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */

+    in = *pS1++ - in;

+    *pbuff++ = in;

+    /* points to the next real value */

+    pS1++;

+

+    /* Decrement the loop counter */

+    i--;

+  }

+

+

+        /*------------ Normalizing the output by multiplying with the normalizing factor ----------*/

+

+  /* Initializing the loop counter to N/4 instead of N for loop unrolling */

+  i = S->N >> 2u;

+

+  /* pbuff initialized to the pInlineBuffer(now contains the output values) */

+  pbuff = pInlineBuffer;

+

+  /* Processing with loop unrolling 4 times as N is always multiple of 4.  Compute 4 outputs at a time */

+  do

+  {

+    /* Multiplying pInlineBuffer with the normalizing factor sqrt(2/N) */

+    in = *pbuff;

+    *pbuff++ = ((q31_t) (((q63_t) in * S->normalize) >> 31));

+

+    in = *pbuff;

+    *pbuff++ = ((q31_t) (((q63_t) in * S->normalize) >> 31));

+

+    in = *pbuff;

+    *pbuff++ = ((q31_t) (((q63_t) in * S->normalize) >> 31));

+

+    in = *pbuff;

+    *pbuff++ = ((q31_t) (((q63_t) in * S->normalize) >> 31));

+

+    /* Decrement the loop counter */

+    i--;

+  } while(i > 0u);

+

+

+#else

+

+  /* Run the below code for Cortex-M0 */

+

+  /* Initializing the loop counter to N/2 */

+  i = S->Nby2;

+

+  do

+  {

+    /* Re-ordering of even and odd elements */

+    /* pState[i] =  pInlineBuffer[2*i] */

+    *pS1++ = *pbuff++;

+    /* pState[N-i-1] = pInlineBuffer[2*i+1] */

+    *pS2-- = *pbuff++;

+

+    /* Decrement the loop counter */

+    i--;

+  } while(i > 0u);

+

+  /* pbuff initialized to input buffer */

+  pbuff = pInlineBuffer;

+

+  /* pS1 initialized to pState */

+  pS1 = pState;

+

+  /* Initializing the loop counter */

+  i = S->N;

+

+  do

+  {

+    /* Writing the re-ordered output back to inplace input buffer */

+    *pbuff++ = *pS1++;

+

+    /* Decrement the loop counter */

+    i--;

+  } while(i > 0u);

+

+

+  /* ---------------------------------------------------------    

+   *     Step2: Calculate RFFT for N-point input    

+   * ---------------------------------------------------------- */

+  /* pInlineBuffer is real input of length N , pState is the complex output of length 2N */

+  arm_rfft_q31(S->pRfft, pInlineBuffer, pState);

+

+  /*----------------------------------------------------------------------    

+   *  Step3: Multiply the FFT output with the weights.    

+   *----------------------------------------------------------------------*/

+  arm_cmplx_mult_cmplx_q31(pState, weights, pState, S->N);

+

+  /* The output of complex multiplication is in 3.29 format.    

+   * Hence changing the format of N (i.e. 2*N elements) complex numbers to 1.31 format by shifting left by 2 bits. */

+  arm_shift_q31(pState, 2, pState, S->N * 2);

+

+  /* ----------- Post-processing ---------- */

+  /* DCT-IV can be obtained from DCT-II by the equation,    

+   *       Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    

+   *       Hence, Y4(0) = Y2(0)/2  */

+  /* Getting only real part from the output and Converting to DCT-IV */

+

+  /* pbuff initialized to input buffer. */

+  pbuff = pInlineBuffer;

+

+  /* pS1 initialized to pState */

+  pS1 = pState;

+

+  /* Calculating Y4(0) from Y2(0) using Y4(0) = Y2(0)/2 */

+  in = *pS1++ >> 1u;

+  /* input buffer acts as inplace, so output values are stored in the input itself. */

+  *pbuff++ = in;

+

+  /* pState pointer is incremented twice as the real values are located alternatively in the array */

+  pS1++;

+

+  /* Initializing the loop counter */

+  i = (S->N - 1u);

+

+  while(i > 0u)

+  {

+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */

+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */

+    in = *pS1++ - in;

+    *pbuff++ = in;

+    /* points to the next real value */

+    pS1++;

+

+    /* Decrement the loop counter */

+    i--;

+  }

+

+

+        /*------------ Normalizing the output by multiplying with the normalizing factor ----------*/

+

+  /* Initializing the loop counter */

+  i = S->N;

+

+  /* pbuff initialized to the pInlineBuffer(now contains the output values) */

+  pbuff = pInlineBuffer;

+

+  do

+  {

+    /* Multiplying pInlineBuffer with the normalizing factor sqrt(2/N) */

+    in = *pbuff;

+    *pbuff++ = ((q31_t) (((q63_t) in * S->normalize) >> 31));

+

+    /* Decrement the loop counter */

+    i--;

+  } while(i > 0u);

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+   * @} end of DCT4_IDCT4 group    

+   */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_f32.c
new file mode 100644
index 000000000..2043a4e0d
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_f32.c
@@ -0,0 +1,382 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_rfft_f32.c    

+*    

+* Description:	RFFT & RIFFT Floating point process 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupTransforms    

+ */

+

+/**    

+ * @defgroup RFFT_RIFFT Real FFT Functions    

+ *    

+ * \par    

+ * Complex FFT/IFFT typically assumes complex input and output. However many applications use real valued data in time domain.     

+ * Real FFT/IFFT efficiently process real valued sequences with the advantage of requirement of low memory and with less complexity.    

+ *    

+ * \par    

+ * This set of functions implements Real Fast Fourier Transforms(RFFT) and Real Inverse Fast Fourier Transform(RIFFT)    

+ * for Q15, Q31, and floating-point data types.      

+ *    

+ *    

+ * \par Algorithm:    

+ *    

+ * <b>Real Fast Fourier Transform:</b>    

+ * \par    

+ * Real FFT of N-point is calculated using CFFT of N/2-point and Split RFFT process as shown below figure.    

+ * \par    

+ * \image html RFFT.gif "Real Fast Fourier Transform"    

+ * \par    

+ * The RFFT functions operate on blocks of input and output data and each call to the function processes    

+ * <code>fftLenR</code> samples through the transform.  <code>pSrc</code>  points to input array containing <code>fftLenR</code> values.    

+ * <code>pDst</code>  points to output array containing <code>2*fftLenR</code> values. \n   

+ * Input for real FFT is in the order of     

+ * <pre>{real[0], real[1], real[2], real[3], ..}</pre>    

+ * Output for real FFT is complex and are in the order of    

+ * <pre>{real(0), imag(0), real(1), imag(1), ...}</pre>     

+ *    

+ * <b>Real Inverse Fast Fourier Transform:</b>    

+ * \par    

+ * Real IFFT of N-point is calculated using Split RIFFT process and CFFT of N/2-point as shown below figure.    

+ * \par    

+ * \image html RIFFT.gif "Real Inverse Fast Fourier Transform"    

+ * \par    

+ * The RIFFT functions operate on blocks of input and output data and each call to the function processes    

+ * <code>2*fftLenR</code> samples through the transform.  <code>pSrc</code>  points to input array containing <code>2*fftLenR</code> values.    

+ * <code>pDst</code>  points to output array containing <code>fftLenR</code> values. \n    

+ * Input for real IFFT is complex and are in the order of   

+ * <pre>{real(0), imag(0), real(1), imag(1), ...}</pre>   

+ *  Output for real IFFT is real and in the order of     

+ * <pre>{real[0], real[1], real[2], real[3], ..}</pre>   

+ *    

+ * \par Lengths supported by the transform:   

+ * \par    

+ * Real FFT/IFFT supports the lengths [128, 512, 2048], as it internally uses CFFT/CIFFT.    

+ *    

+ * \par Instance Structure    

+ * A separate instance structure must be defined for each Instance but the twiddle factors can be reused.    

+ * There are separate instance structure declarations for each of the 3 supported data types.    

+ *    

+ * \par Initialization Functions    

+ * There is also an associated initialization function for each data type.    

+ * The initialization function performs the following operations:    

+ * - Sets the values of the internal structure fields.    

+ * - Initializes twiddle factor tables.   

+ * - Initializes CFFT data structure fields.     

+ * \par    

+ * Use of the initialization function is optional.    

+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    

+ * To place an instance structure into a const data section, the instance structure must be manually initialized.    

+ * Manually initialize the instance structure as follows:    

+ * <pre>    

+ *arm_rfft_instance_f32 S = {fftLenReal, fftLenBy2, ifftFlagR, bitReverseFlagR, twidCoefRModifier, pTwiddleAReal, pTwiddleBReal, pCfft};    

+ *arm_rfft_instance_q31 S = {fftLenReal, fftLenBy2, ifftFlagR, bitReverseFlagR, twidCoefRModifier, pTwiddleAReal, pTwiddleBReal, pCfft};    

+ *arm_rfft_instance_q15 S = {fftLenReal, fftLenBy2, ifftFlagR, bitReverseFlagR, twidCoefRModifier, pTwiddleAReal, pTwiddleBReal, pCfft};    

+ * </pre>    

+ * where <code>fftLenReal</code> length of RFFT/RIFFT; <code>fftLenBy2</code> length of CFFT/CIFFT.     

+ * <code>ifftFlagR</code> Flag for selection of RFFT or RIFFT(Set ifftFlagR to calculate RIFFT otherwise calculates RFFT);    

+ * <code>bitReverseFlagR</code> Flag for selection of output order(Set bitReverseFlagR to output in normal order otherwise output in bit reversed order);     

+ * <code>twidCoefRModifier</code> modifier for twiddle factor table which supports 128, 512, 2048 RFFT lengths with same table;    

+ * <code>pTwiddleAReal</code>points to A array of twiddle coefficients; <code>pTwiddleBReal</code>points to B array of twiddle coefficients;    

+ * <code>pCfft</code> points to the CFFT Instance structure. The CFFT structure also needs to be initialized, refer to arm_cfft_radix4_f32() for details regarding    

+ * static initialization of cfft structure.    

+ *    

+ * \par Fixed-Point Behavior    

+ * Care must be taken when using the fixed-point versions of the RFFT/RIFFT function.    

+ * Refer to the function specific documentation below for usage guidelines.    

+ */

+

+/*--------------------------------------------------------------------    

+ *		Internal functions prototypes    

+ *--------------------------------------------------------------------*/

+

+void arm_split_rfft_f32(

+  float32_t * pSrc,

+  uint32_t fftLen,

+  float32_t * pATable,

+  float32_t * pBTable,

+  float32_t * pDst,

+  uint32_t modifier);

+void arm_split_rifft_f32(

+  float32_t * pSrc,

+  uint32_t fftLen,

+  float32_t * pATable,

+  float32_t * pBTable,

+  float32_t * pDst,

+  uint32_t modifier);

+

+/**    

+ * @addtogroup RFFT_RIFFT    

+ * @{    

+ */

+

+/**    

+ * @brief Processing function for the floating-point RFFT/RIFFT.   

+ * @param[in]  *S    points to an instance of the floating-point RFFT/RIFFT structure.   

+ * @param[in]  *pSrc points to the input buffer.   

+ * @param[out] *pDst points to the output buffer.   

+ * @return none.   

+ */

+

+void arm_rfft_f32(

+  const arm_rfft_instance_f32 * S,

+  float32_t * pSrc,

+  float32_t * pDst)

+{

+  const arm_cfft_radix4_instance_f32 *S_CFFT = S->pCfft;

+

+

+  /* Calculation of Real IFFT of input */

+  if(S->ifftFlagR == 1u)

+  {

+    /*  Real IFFT core process */

+    arm_split_rifft_f32(pSrc, S->fftLenBy2, S->pTwiddleAReal,

+                        S->pTwiddleBReal, pDst, S->twidCoefRModifier);

+

+

+    /* Complex radix-4 IFFT process */

+    arm_radix4_butterfly_inverse_f32(pDst, S_CFFT->fftLen,

+                                     S_CFFT->pTwiddle,

+                                     S_CFFT->twidCoefModifier,

+                                     S_CFFT->onebyfftLen);

+

+    /* Bit reversal process */

+    if(S->bitReverseFlagR == 1u)

+    {

+      arm_bitreversal_f32(pDst, S_CFFT->fftLen,

+                          S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);

+    }

+  }

+  else

+  {

+

+    /* Calculation of RFFT of input */

+

+    /* Complex radix-4 FFT process */

+    arm_radix4_butterfly_f32(pSrc, S_CFFT->fftLen,

+                             S_CFFT->pTwiddle, S_CFFT->twidCoefModifier);

+

+    /* Bit reversal process */

+    if(S->bitReverseFlagR == 1u)

+    {

+      arm_bitreversal_f32(pSrc, S_CFFT->fftLen,

+                          S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);

+    }

+

+

+    /*  Real FFT core process */

+    arm_split_rfft_f32(pSrc, S->fftLenBy2, S->pTwiddleAReal,

+                       S->pTwiddleBReal, pDst, S->twidCoefRModifier);

+  }

+

+}

+

+/**    

+   * @} end of RFFT_RIFFT group    

+   */

+

+/**    

+ * @brief  Core Real FFT process    

+ * @param[in]   *pSrc 				points to the input buffer.    

+ * @param[in]   fftLen  			length of FFT.    

+ * @param[in]   *pATable 			points to the twiddle Coef A buffer.    

+ * @param[in]   *pBTable 			points to the twiddle Coef B buffer.    

+ * @param[out]  *pDst 				points to the output buffer.    

+ * @param[in]   modifier 	        twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   

+ * @return none.    

+ */

+

+void arm_split_rfft_f32(

+  float32_t * pSrc,

+  uint32_t fftLen,

+  float32_t * pATable,

+  float32_t * pBTable,

+  float32_t * pDst,

+  uint32_t modifier)

+{

+  uint32_t i;                                    /* Loop Counter */

+  float32_t outR, outI;                          /* Temporary variables for output */

+  float32_t *pCoefA, *pCoefB;                    /* Temporary pointers for twiddle factors */

+  float32_t CoefA1, CoefA2, CoefB1;              /* Temporary variables for twiddle coefficients */

+  float32_t *pDst1 = &pDst[2], *pDst2 = &pDst[(4u * fftLen) - 1u];      /* temp pointers for output buffer */

+  float32_t *pSrc1 = &pSrc[2], *pSrc2 = &pSrc[(2u * fftLen) - 1u];      /* temp pointers for input buffer */

+

+  /* Init coefficient pointers */

+  pCoefA = &pATable[modifier * 2u];

+  pCoefB = &pBTable[modifier * 2u];

+

+  i = fftLen - 1u;

+

+  while(i > 0u)

+  {

+    /*    

+       outR = (pSrc[2 * i] * pATable[2 * i] - pSrc[2 * i + 1] * pATable[2 * i + 1]    

+       + pSrc[2 * n - 2 * i] * pBTable[2 * i] +    

+       pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);    

+     */

+

+    /* outI = (pIn[2 * i + 1] * pATable[2 * i] + pIn[2 * i] * pATable[2 * i + 1] +    

+       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -    

+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]); */

+

+    /* read pATable[2 * i] */

+    CoefA1 = *pCoefA++;

+    /* pATable[2 * i + 1] */

+    CoefA2 = *pCoefA;

+

+    /* pSrc[2 * i] * pATable[2 * i] */

+    outR = *pSrc1 * CoefA1;

+    /* pSrc[2 * i] * CoefA2 */

+    outI = *pSrc1++ * CoefA2;

+

+    /* (pSrc[2 * i + 1] + pSrc[2 * fftLen - 2 * i + 1]) * CoefA2 */

+    outR -= (*pSrc1 + *pSrc2) * CoefA2;

+    /* pSrc[2 * i + 1] * CoefA1 */

+    outI += *pSrc1++ * CoefA1;

+

+    CoefB1 = *pCoefB;

+

+    /* pSrc[2 * fftLen - 2 * i + 1] * CoefB1 */

+    outI -= *pSrc2-- * CoefB1;

+    /* pSrc[2 * fftLen - 2 * i] * CoefA2 */

+    outI -= *pSrc2 * CoefA2;

+

+    /* pSrc[2 * fftLen - 2 * i] * CoefB1 */

+    outR += *pSrc2-- * CoefB1;

+

+    /* write output */

+    *pDst1++ = outR;

+    *pDst1++ = outI;

+

+    /* write complex conjugate output */

+    *pDst2-- = -outI;

+    *pDst2-- = outR;

+

+    /* update coefficient pointer */

+    pCoefB = pCoefB + (modifier * 2u);

+    pCoefA = pCoefA + ((modifier * 2u) - 1u);

+

+    i--;

+

+  }

+

+  pDst[2u * fftLen] = pSrc[0] - pSrc[1];

+  pDst[(2u * fftLen) + 1u] = 0.0f;

+

+  pDst[0] = pSrc[0] + pSrc[1];

+  pDst[1] = 0.0f;

+

+}

+

+

+/**    

+ * @brief  Core Real IFFT process    

+ * @param[in]   *pSrc 				points to the input buffer.    

+ * @param[in]   fftLen  			length of FFT.   

+ * @param[in]   *pATable 			points to the twiddle Coef A buffer.   

+ * @param[in]   *pBTable 			points to the twiddle Coef B buffer.   

+ * @param[out]  *pDst 				points to the output buffer.   

+ * @param[in]   modifier 	        twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.    

+ * @return none.    

+ */

+

+void arm_split_rifft_f32(

+  float32_t * pSrc,

+  uint32_t fftLen,

+  float32_t * pATable,

+  float32_t * pBTable,

+  float32_t * pDst,

+  uint32_t modifier)

+{

+  float32_t outR, outI;                          /* Temporary variables for output */

+  float32_t *pCoefA, *pCoefB;                    /* Temporary pointers for twiddle factors */

+  float32_t CoefA1, CoefA2, CoefB1;              /* Temporary variables for twiddle coefficients */

+  float32_t *pSrc1 = &pSrc[0], *pSrc2 = &pSrc[(2u * fftLen) + 1u];

+

+  pCoefA = &pATable[0];

+  pCoefB = &pBTable[0];

+

+  while(fftLen > 0u)

+  {

+    /*    

+       outR = (pIn[2 * i] * pATable[2 * i] + pIn[2 * i + 1] * pATable[2 * i + 1] +    

+       pIn[2 * n - 2 * i] * pBTable[2 * i] -    

+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);    

+

+       outI = (pIn[2 * i + 1] * pATable[2 * i] - pIn[2 * i] * pATable[2 * i + 1] -    

+       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -    

+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]);    

+

+     */

+

+    CoefA1 = *pCoefA++;

+    CoefA2 = *pCoefA;

+

+    /* outR = (pSrc[2 * i] * CoefA1 */

+    outR = *pSrc1 * CoefA1;

+

+    /* - pSrc[2 * i] * CoefA2 */

+    outI = -(*pSrc1++) * CoefA2;

+

+    /* (pSrc[2 * i + 1] + pSrc[2 * fftLen - 2 * i + 1]) * CoefA2 */

+    outR += (*pSrc1 + *pSrc2) * CoefA2;

+

+    /* pSrc[2 * i + 1] * CoefA1 */

+    outI += (*pSrc1++) * CoefA1;

+

+    CoefB1 = *pCoefB;

+

+    /* - pSrc[2 * fftLen - 2 * i + 1] * CoefB1 */

+    outI -= *pSrc2-- * CoefB1;

+

+    /* pSrc[2 * fftLen - 2 * i] * CoefB1 */

+    outR += *pSrc2 * CoefB1;

+

+    /* pSrc[2 * fftLen - 2 * i] * CoefA2 */

+    outI += *pSrc2-- * CoefA2;

+

+    /* write output */

+    *pDst++ = outR;

+    *pDst++ = outI;

+

+    /* update coefficient pointer */

+    pCoefB = pCoefB + (modifier * 2u);

+    pCoefA = pCoefA + ((modifier * 2u) - 1u);

+

+    /* Decrement loop count */

+    fftLen--;

+  }

+

+}

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_f32.c
new file mode 100644
index 000000000..7a54df6e2
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_f32.c
@@ -0,0 +1,8369 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_rfft_init_f32.c    

+*    

+* Description:	RFFT & RIFFT Floating point initialisation 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupTransforms    

+ */

+

+/**    

+ * @addtogroup RFFT_RIFFT    

+ * @{    

+ */

+

+/**    

+* \par    

+* Generation of realCoefA array:    

+* \par    

+* 	n = 4096    

+* <pre>for (i = 0; i < n; i++)    

+*  {    

+*    pATable[2 * i] = 0.5 * (1.0 - sin (2 * PI / (double) (2 * n) * (double) i));    

+*    pATable[2 * i + 1] = 0.5 * (-1.0 * cos (2 * PI / (double) (2 * n) * (double) i));    

+*  } </pre>    

+*/

+

+

+

+static const float32_t realCoefA[8192] = {

+  0.500000000000000f, -0.500000000000000f, 0.499616503715515f,

+    -0.499999850988388f,

+  0.499233007431030f, -0.499999403953552f, 0.498849511146545f,

+    -0.499998688697815f,

+  0.498466014862061f, -0.499997645616531f, 0.498082518577576f,

+    -0.499996334314346f,

+  0.497699022293091f, -0.499994695186615f, 0.497315555810928f,

+    -0.499992787837982f,

+  0.496932059526443f, -0.499990582466125f, 0.496548563241959f,

+    -0.499988079071045f,

+  0.496165096759796f, -0.499985307455063f, 0.495781600475311f,

+    -0.499982208013535f,

+  0.495398133993149f, -0.499978810548782f, 0.495014637708664f,

+    -0.499975144863129f,

+  0.494631171226501f, -0.499971181154251f, 0.494247704744339f,

+    -0.499966919422150f,

+  0.493864238262177f, -0.499962359666824f, 0.493480771780014f,

+    -0.499957501888275f,

+  0.493097305297852f, -0.499952346086502f, 0.492713838815689f,

+    -0.499946922063828f,

+  0.492330402135849f, -0.499941170215607f, 0.491946935653687f,

+    -0.499935150146484f,

+  0.491563498973846f, -0.499928832054138f, 0.491180062294006f,

+    -0.499922215938568f,

+  0.490796625614166f, -0.499915301799774f, 0.490413218736649f,

+    -0.499908089637756f,

+  0.490029782056808f, -0.499900579452515f, 0.489646375179291f,

+    -0.499892801046371f,

+  0.489262968301773f, -0.499884694814682f, 0.488879561424255f,

+    -0.499876320362091f,

+  0.488496154546738f, -0.499867647886276f, 0.488112777471542f,

+    -0.499858677387238f,

+  0.487729400396347f, -0.499849408864975f, 0.487346023321152f,

+    -0.499839842319489f,

+  0.486962646245956f, -0.499830007553101f, 0.486579269170761f,

+    -0.499819844961166f,

+  0.486195921897888f, -0.499809414148331f, 0.485812574625015f,

+    -0.499798685312271f,

+  0.485429257154465f, -0.499787658452988f, 0.485045909881592f,

+    -0.499776333570480f,

+  0.484662592411041f, -0.499764710664749f, 0.484279274940491f,

+    -0.499752789735794f,

+  0.483895987272263f, -0.499740600585938f, 0.483512699604034f,

+    -0.499728083610535f,

+  0.483129411935806f, -0.499715298414230f, 0.482746154069901f,

+    -0.499702215194702f,

+  0.482362866401672f, -0.499688833951950f, 0.481979638338089f,

+    -0.499675154685974f,

+  0.481596380472183f, -0.499661177396774f, 0.481213152408600f,

+    -0.499646931886673f,

+  0.480829954147339f, -0.499632388353348f, 0.480446726083755f,

+    -0.499617516994476f,

+  0.480063527822495f, -0.499602377414703f, 0.479680359363556f,

+    -0.499586939811707f,

+  0.479297190904617f, -0.499571204185486f, 0.478914022445679f,

+    -0.499555170536041f,

+  0.478530883789063f, -0.499538868665695f, 0.478147745132446f,

+    -0.499522238969803f,

+  0.477764606475830f, -0.499505341053009f, 0.477381497621536f,

+    -0.499488145112991f,

+  0.476998418569565f, -0.499470651149750f, 0.476615339517593f,

+    -0.499452859163284f,

+  0.476232260465622f, -0.499434769153595f, 0.475849211215973f,

+    -0.499416410923004f,

+  0.475466161966324f, -0.499397724866867f, 0.475083142518997f,

+    -0.499378770589828f,

+  0.474700123071671f, -0.499359518289566f, 0.474317133426666f,

+    -0.499339967966080f,

+  0.473934143781662f, -0.499320119619370f, 0.473551183938980f,

+    -0.499299973249435f,

+  0.473168224096298f, -0.499279528856277f, 0.472785294055939f,

+    -0.499258816242218f,

+  0.472402364015579f, -0.499237775802612f, 0.472019463777542f,

+    -0.499216467142105f,

+  0.471636593341827f, -0.499194860458374f, 0.471253722906113f,

+    -0.499172955751419f,

+  0.470870882272720f, -0.499150782823563f, 0.470488041639328f,

+    -0.499128282070160f,

+  0.470105201005936f, -0.499105513095856f, 0.469722419977188f,

+    -0.499082416296005f,

+  0.469339638948441f, -0.499059051275253f, 0.468956857919693f,

+    -0.499035388231277f,

+  0.468574106693268f, -0.499011427164078f, 0.468191385269165f,

+    -0.498987197875977f,

+  0.467808693647385f, -0.498962640762329f, 0.467426002025604f,

+    -0.498937815427780f,

+  0.467043310403824f, -0.498912662267685f, 0.466660678386688f,

+    -0.498887240886688f,

+  0.466278046369553f, -0.498861521482468f, 0.465895414352417f,

+    -0.498835533857346f,

+  0.465512841939926f, -0.498809218406677f, 0.465130269527435f,

+    -0.498782604932785f,

+  0.464747726917267f, -0.498755723237991f, 0.464365184307098f,

+    -0.498728543519974f,

+  0.463982671499252f, -0.498701065778732f, 0.463600188493729f,

+    -0.498673290014267f,

+  0.463217705488205f, -0.498645216226578f, 0.462835282087326f,

+    -0.498616874217987f,

+  0.462452858686447f, -0.498588204383850f, 0.462070435285568f,

+    -0.498559266328812f,

+  0.461688071489334f, -0.498530030250549f, 0.461305707693100f,

+    -0.498500496149063f,

+  0.460923373699188f, -0.498470664024353f, 0.460541069507599f,

+    -0.498440563678741f,

+  0.460158795118332f, -0.498410135507584f, 0.459776520729065f,

+    -0.498379439115524f,

+  0.459394276142120f, -0.498348444700241f, 0.459012061357498f,

+    -0.498317152261734f,

+  0.458629876375198f, -0.498285561800003f, 0.458247691392899f,

+    -0.498253703117371f,

+  0.457865566015244f, -0.498221516609192f, 0.457483440637589f,

+    -0.498189061880112f,

+  0.457101345062256f, -0.498156309127808f, 0.456719279289246f,

+    -0.498123258352280f,

+  0.456337243318558f, -0.498089909553528f, 0.455955207347870f,

+    -0.498056292533875f,

+  0.455573230981827f, -0.498022347688675f, 0.455191254615784f,

+    -0.497988134622574f,

+  0.454809308052063f, -0.497953623533249f, 0.454427421092987f,

+    -0.497918814420700f,

+  0.454045534133911f, -0.497883707284927f, 0.453663676977158f,

+    -0.497848302125931f,

+  0.453281819820404f, -0.497812628746033f, 0.452900022268295f,

+    -0.497776657342911f,

+  0.452518254518509f, -0.497740387916565f, 0.452136516571045f,

+    -0.497703820466995f,

+  0.451754778623581f, -0.497666954994202f, 0.451373100280762f,

+    -0.497629791498184f,

+  0.450991421937943f, -0.497592359781265f, 0.450609803199768f,

+    -0.497554630041122f,

+  0.450228184461594f, -0.497516602277756f, 0.449846625328064f,

+    -0.497478276491165f,

+  0.449465066194534f, -0.497439652681351f, 0.449083566665649f,

+    -0.497400760650635f,

+  0.448702067136765f, -0.497361570596695f, 0.448320597410202f,

+    -0.497322082519531f,

+  0.447939187288284f, -0.497282296419144f, 0.447557777166367f,

+    -0.497242212295532f,

+  0.447176426649094f, -0.497201830148697f, 0.446795076131821f,

+    -0.497161179780960f,

+  0.446413785219193f, -0.497120231389999f, 0.446032524108887f,

+    -0.497078984975815f,

+  0.445651292800903f, -0.497037440538406f, 0.445270061492920f,

+    -0.496995598077774f,

+  0.444888889789581f, -0.496953487396240f, 0.444507747888565f,

+    -0.496911078691483f,

+  0.444126635789871f, -0.496868371963501f, 0.443745553493500f,

+    -0.496825367212296f,

+  0.443364530801773f, -0.496782064437866f, 0.442983508110046f,

+    -0.496738493442535f,

+  0.442602545022964f, -0.496694594621658f, 0.442221581935883f,

+    -0.496650427579880f,

+  0.441840678453445f, -0.496605962514877f, 0.441459804773331f,

+    -0.496561229228973f,

+  0.441078960895538f, -0.496516168117523f, 0.440698176622391f,

+    -0.496470838785172f,

+  0.440317392349243f, -0.496425211429596f, 0.439936667680740f,

+    -0.496379286050797f,

+  0.439555943012238f, -0.496333062648773f, 0.439175277948380f,

+    -0.496286571025848f,

+  0.438794672489166f, -0.496239781379700f, 0.438414067029953f,

+    -0.496192663908005f,

+  0.438033521175385f, -0.496145308017731f, 0.437653005123138f,

+    -0.496097624301910f,

+  0.437272518873215f, -0.496049642562866f, 0.436892062425613f,

+    -0.496001392602921f,

+  0.436511665582657f, -0.495952844619751f, 0.436131268739700f,

+    -0.495903998613358f,

+  0.435750931501389f, -0.495854884386063f, 0.435370653867722f,

+    -0.495805442333221f,

+  0.434990376234055f, -0.495755732059479f, 0.434610158205032f,

+    -0.495705723762512f,

+  0.434229999780655f, -0.495655417442322f, 0.433849841356277f,

+    -0.495604842901230f,

+  0.433469742536545f, -0.495553970336914f, 0.433089673519135f,

+    -0.495502769947052f,

+  0.432709634304047f, -0.495451331138611f, 0.432329654693604f,

+    -0.495399564504623f,

+  0.431949704885483f, -0.495347499847412f, 0.431569814682007f,

+    -0.495295166969299f,

+  0.431189924478531f, -0.495242536067963f, 0.430810123682022f,

+    -0.495189607143402f,

+  0.430430322885513f, -0.495136409997940f, 0.430050581693649f,

+    -0.495082914829254f,

+  0.429670870304108f, -0.495029091835022f, 0.429291218519211f,

+    -0.494975030422211f,

+  0.428911596536636f, -0.494920641183853f, 0.428532034158707f,

+    -0.494865983724594f,

+  0.428152471780777f, -0.494810998439789f, 0.427772998809814f,

+    -0.494755744934082f,

+  0.427393525838852f, -0.494700223207474f, 0.427014142274857f,

+    -0.494644373655319f,

+  0.426634758710861f, -0.494588255882263f, 0.426255434751511f,

+    -0.494531840085983f,

+  0.425876170396805f, -0.494475126266479f, 0.425496935844421f,

+    -0.494418144226074f,

+  0.425117731094360f, -0.494360834360123f, 0.424738585948944f,

+    -0.494303256273270f,

+  0.424359470605850f, -0.494245409965515f, 0.423980414867401f,

+    -0.494187235832214f,

+  0.423601418733597f, -0.494128793478012f, 0.423222452402115f,

+    -0.494070053100586f,

+  0.422843515872955f, -0.494011014699936f, 0.422464638948441f,

+    -0.493951678276062f,

+  0.422085791826248f, -0.493892073631287f, 0.421707004308701f,

+    -0.493832170963287f,

+  0.421328276395798f, -0.493771970272064f, 0.420949578285217f,

+    -0.493711471557617f,

+  0.420570939779282f, -0.493650704622269f, 0.420192331075668f,

+    -0.493589639663696f,

+  0.419813781976700f, -0.493528276681900f, 0.419435262680054f,

+    -0.493466645479202f,

+  0.419056802988052f, -0.493404686450958f, 0.418678402900696f,

+    -0.493342459201813f,

+  0.418300032615662f, -0.493279963731766f, 0.417921721935272f,

+    -0.493217140436172f,

+  0.417543441057205f, -0.493154048919678f, 0.417165219783783f,

+    -0.493090659379959f,

+  0.416787058115005f, -0.493026971817017f, 0.416408926248550f,

+    -0.492963016033173f,

+  0.416030853986740f, -0.492898762226105f, 0.415652841329575f,

+    -0.492834210395813f,

+  0.415274858474731f, -0.492769360542297f, 0.414896935224533f,

+    -0.492704242467880f,

+  0.414519041776657f, -0.492638826370239f, 0.414141237735748f,

+    -0.492573112249374f,

+  0.413763463497162f, -0.492507129907608f, 0.413385748863220f,

+    -0.492440819740295f,

+  0.413008064031601f, -0.492374241352081f, 0.412630438804626f,

+    -0.492307394742966f,

+  0.412252873182297f, -0.492240220308304f, 0.411875367164612f,

+    -0.492172777652740f,

+  0.411497890949249f, -0.492105036973953f, 0.411120474338531f,

+    -0.492037028074265f,

+  0.410743117332459f, -0.491968721151352f, 0.410365819931030f,

+    -0.491900116205215f,

+  0.409988552331924f, -0.491831213235855f, 0.409611344337463f,

+    -0.491762012243271f,

+  0.409234195947647f, -0.491692543029785f, 0.408857107162476f,

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+    0.488757967948914f,

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+    0.488919109106064f,

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+    0.489079117774963f,

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+    0.489237964153290f,

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+    0.489552229642868f,

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+    0.489707618951797f,

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+    0.489861875772476f,

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+    0.490014940500259f,

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+    0.490166902542114f,

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+    0.490317672491074f,

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+    0.490467309951782f,

+  0.403207212686539f, 0.490541696548462f, 0.403583467006683f,

+    0.490615785121918f,

+  0.403959810733795f, 0.490689605474472f, 0.404336184263229f,

+    0.490763127803802f,

+  0.404712617397308f, 0.490836352109909f, 0.405089110136032f,

+    0.490909278392792f,

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+    0.491054296493530f,

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+    0.491198152303696f,

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+    0.491340845823288f,

+  0.407726138830185f, 0.491411775350571f, 0.408103078603745f,

+    0.491482406854630f,

+  0.408480048179626f, 0.491552740335464f, 0.408857107162476f,

+    0.491622805595398f,

+  0.409234195947647f, 0.491692543029785f, 0.409611344337463f,

+    0.491762012243271f,

+  0.409988552331924f, 0.491831213235855f, 0.410365819931030f,

+    0.491900116205215f,

+  0.410743117332459f, 0.491968721151352f, 0.411120474338531f,

+    0.492037028074265f,

+  0.411497890949249f, 0.492105036973953f, 0.411875367164612f,

+    0.492172777652740f,

+  0.412252873182297f, 0.492240220308304f, 0.412630438804626f,

+    0.492307394742966f,

+  0.413008064031601f, 0.492374241352081f, 0.413385748863220f,

+    0.492440819740295f,

+  0.413763463497162f, 0.492507129907608f, 0.414141237735748f,

+    0.492573112249374f,

+  0.414519041776657f, 0.492638826370239f, 0.414896935224533f,

+    0.492704242467880f,

+  0.415274858474731f, 0.492769360542297f, 0.415652841329575f,

+    0.492834210395813f,

+  0.416030853986740f, 0.492898762226105f, 0.416408926248550f,

+    0.492963016033173f,

+  0.416787058115005f, 0.493026971817017f, 0.417165219783783f,

+    0.493090659379959f,

+  0.417543441057205f, 0.493154048919678f, 0.417921721935272f,

+    0.493217140436172f,

+  0.418300032615662f, 0.493279963731766f, 0.418678402900696f,

+    0.493342459201813f,

+  0.419056802988052f, 0.493404686450958f, 0.419435262680054f,

+    0.493466645479202f,

+  0.419813781976700f, 0.493528276681900f, 0.420192331075668f,

+    0.493589639663696f,

+  0.420570939779282f, 0.493650704622269f, 0.420949578285217f,

+    0.493711471557617f,

+  0.421328276395798f, 0.493771970272064f, 0.421707004308701f,

+    0.493832170963287f,

+  0.422085791826248f, 0.493892073631287f, 0.422464638948441f,

+    0.493951678276062f,

+  0.422843515872955f, 0.494011014699936f, 0.423222452402115f,

+    0.494070053100586f,

+  0.423601418733597f, 0.494128793478012f, 0.423980414867401f,

+    0.494187235832214f,

+  0.424359470605850f, 0.494245409965515f, 0.424738585948944f,

+    0.494303256273270f,

+  0.425117731094360f, 0.494360834360123f, 0.425496935844421f,

+    0.494418144226074f,

+  0.425876170396805f, 0.494475126266479f, 0.426255434751511f,

+    0.494531840085983f,

+  0.426634758710861f, 0.494588255882263f, 0.427014142274857f,

+    0.494644373655319f,

+  0.427393525838852f, 0.494700223207474f, 0.427772998809814f,

+    0.494755744934082f,

+  0.428152471780777f, 0.494810998439789f, 0.428532034158707f,

+    0.494865983724594f,

+  0.428911596536636f, 0.494920641183853f, 0.429291218519211f,

+    0.494975030422211f,

+  0.429670870304108f, 0.495029091835022f, 0.430050581693649f,

+    0.495082914829254f,

+  0.430430322885513f, 0.495136409997940f, 0.430810123682022f,

+    0.495189607143402f,

+  0.431189924478531f, 0.495242536067963f, 0.431569814682007f,

+    0.495295166969299f,

+  0.431949704885483f, 0.495347499847412f, 0.432329654693604f,

+    0.495399564504623f,

+  0.432709634304047f, 0.495451331138611f, 0.433089673519135f,

+    0.495502769947052f,

+  0.433469742536545f, 0.495553970336914f, 0.433849841356277f,

+    0.495604842901230f,

+  0.434229999780655f, 0.495655417442322f, 0.434610158205032f,

+    0.495705723762512f,

+  0.434990376234055f, 0.495755732059479f, 0.435370653867722f,

+    0.495805442333221f,

+  0.435750931501389f, 0.495854884386063f, 0.436131268739700f,

+    0.495903998613358f,

+  0.436511665582657f, 0.495952844619751f, 0.436892062425613f,

+    0.496001392602921f,

+  0.437272518873215f, 0.496049642562866f, 0.437653005123138f,

+    0.496097624301910f,

+  0.438033521175385f, 0.496145308017731f, 0.438414067029953f,

+    0.496192663908005f,

+  0.438794672489166f, 0.496239781379700f, 0.439175277948380f,

+    0.496286571025848f,

+  0.439555943012238f, 0.496333062648773f, 0.439936667680740f,

+    0.496379286050797f,

+  0.440317392349243f, 0.496425211429596f, 0.440698176622391f,

+    0.496470838785172f,

+  0.441078960895538f, 0.496516168117523f, 0.441459804773331f,

+    0.496561229228973f,

+  0.441840678453445f, 0.496605962514877f, 0.442221581935883f,

+    0.496650427579880f,

+  0.442602545022964f, 0.496694594621658f, 0.442983508110046f,

+    0.496738493442535f,

+  0.443364530801773f, 0.496782064437866f, 0.443745553493500f,

+    0.496825367212296f,

+  0.444126635789871f, 0.496868371963501f, 0.444507747888565f,

+    0.496911078691483f,

+  0.444888889789581f, 0.496953487396240f, 0.445270061492920f,

+    0.496995598077774f,

+  0.445651292800903f, 0.497037440538406f, 0.446032524108887f,

+    0.497078984975815f,

+  0.446413785219193f, 0.497120231389999f, 0.446795076131821f,

+    0.497161179780960f,

+  0.447176426649094f, 0.497201830148697f, 0.447557777166367f,

+    0.497242212295532f,

+  0.447939187288284f, 0.497282296419144f, 0.448320597410202f,

+    0.497322082519531f,

+  0.448702067136765f, 0.497361570596695f, 0.449083566665649f,

+    0.497400760650635f,

+  0.449465066194534f, 0.497439652681351f, 0.449846625328064f,

+    0.497478276491165f,

+  0.450228184461594f, 0.497516602277756f, 0.450609803199768f,

+    0.497554630041122f,

+  0.450991421937943f, 0.497592359781265f, 0.451373100280762f,

+    0.497629791498184f,

+  0.451754778623581f, 0.497666954994202f, 0.452136516571045f,

+    0.497703820466995f,

+  0.452518254518509f, 0.497740387916565f, 0.452900022268295f,

+    0.497776657342911f,

+  0.453281819820404f, 0.497812628746033f, 0.453663676977158f,

+    0.497848302125931f,

+  0.454045534133911f, 0.497883707284927f, 0.454427421092987f,

+    0.497918814420700f,

+  0.454809308052063f, 0.497953623533249f, 0.455191254615784f,

+    0.497988134622574f,

+  0.455573230981827f, 0.498022347688675f, 0.455955207347870f,

+    0.498056292533875f,

+  0.456337243318558f, 0.498089909553528f, 0.456719279289246f,

+    0.498123258352280f,

+  0.457101345062256f, 0.498156309127808f, 0.457483440637589f,

+    0.498189061880112f,

+  0.457865566015244f, 0.498221516609192f, 0.458247691392899f,

+    0.498253703117371f,

+  0.458629876375198f, 0.498285561800003f, 0.459012061357498f,

+    0.498317152261734f,

+  0.459394276142120f, 0.498348444700241f, 0.459776520729065f,

+    0.498379439115524f,

+  0.460158795118332f, 0.498410135507584f, 0.460541069507599f,

+    0.498440563678741f,

+  0.460923373699188f, 0.498470664024353f, 0.461305707693100f,

+    0.498500496149063f,

+  0.461688071489334f, 0.498530030250549f, 0.462070435285568f,

+    0.498559266328812f,

+  0.462452858686447f, 0.498588204383850f, 0.462835282087326f,

+    0.498616874217987f,

+  0.463217705488205f, 0.498645216226578f, 0.463600188493729f,

+    0.498673290014267f,

+  0.463982671499252f, 0.498701065778732f, 0.464365184307098f,

+    0.498728543519974f,

+  0.464747726917267f, 0.498755723237991f, 0.465130269527435f,

+    0.498782604932785f,

+  0.465512841939926f, 0.498809218406677f, 0.465895414352417f,

+    0.498835533857346f,

+  0.466278046369553f, 0.498861521482468f, 0.466660678386688f,

+    0.498887240886688f,

+  0.467043310403824f, 0.498912662267685f, 0.467426002025604f,

+    0.498937815427780f,

+  0.467808693647385f, 0.498962640762329f, 0.468191385269165f,

+    0.498987197875977f,

+  0.468574106693268f, 0.499011427164078f, 0.468956857919693f,

+    0.499035388231277f,

+  0.469339638948441f, 0.499059051275253f, 0.469722419977188f,

+    0.499082416296005f,

+  0.470105201005936f, 0.499105513095856f, 0.470488041639328f,

+    0.499128282070160f,

+  0.470870882272720f, 0.499150782823563f, 0.471253722906113f,

+    0.499172955751419f,

+  0.471636593341827f, 0.499194860458374f, 0.472019463777542f,

+    0.499216467142105f,

+  0.472402364015579f, 0.499237775802612f, 0.472785294055939f,

+    0.499258816242218f,

+  0.473168224096298f, 0.499279528856277f, 0.473551183938980f,

+    0.499299973249435f,

+  0.473934143781662f, 0.499320119619370f, 0.474317133426666f,

+    0.499339967966080f,

+  0.474700123071671f, 0.499359518289566f, 0.475083142518997f,

+    0.499378770589828f,

+  0.475466161966324f, 0.499397724866867f, 0.475849211215973f,

+    0.499416410923004f,

+  0.476232260465622f, 0.499434769153595f, 0.476615339517593f,

+    0.499452859163284f,

+  0.476998418569565f, 0.499470651149750f, 0.477381497621536f,

+    0.499488145112991f,

+  0.477764606475830f, 0.499505341053009f, 0.478147745132446f,

+    0.499522238969803f,

+  0.478530883789063f, 0.499538868665695f, 0.478914022445679f,

+    0.499555170536041f,

+  0.479297190904617f, 0.499571204185486f, 0.479680359363556f,

+    0.499586939811707f,

+  0.480063527822495f, 0.499602377414703f, 0.480446726083755f,

+    0.499617516994476f,

+  0.480829954147339f, 0.499632388353348f, 0.481213152408600f,

+    0.499646931886673f,

+  0.481596380472183f, 0.499661177396774f, 0.481979638338089f,

+    0.499675154685974f,

+  0.482362866401672f, 0.499688833951950f, 0.482746154069901f,

+    0.499702215194702f,

+  0.483129411935806f, 0.499715298414230f, 0.483512699604034f,

+    0.499728083610535f,

+  0.483895987272263f, 0.499740600585938f, 0.484279274940491f,

+    0.499752789735794f,

+  0.484662592411041f, 0.499764710664749f, 0.485045909881592f,

+    0.499776333570480f,

+  0.485429257154465f, 0.499787658452988f, 0.485812574625015f,

+    0.499798685312271f,

+  0.486195921897888f, 0.499809414148331f, 0.486579269170761f,

+    0.499819844961166f,

+  0.486962646245956f, 0.499830007553101f, 0.487346023321152f,

+    0.499839842319489f,

+  0.487729400396347f, 0.499849408864975f, 0.488112777471542f,

+    0.499858677387238f,

+  0.488496154546738f, 0.499867647886276f, 0.488879561424255f,

+    0.499876320362091f,

+  0.489262968301773f, 0.499884694814682f, 0.489646375179291f,

+    0.499892801046371f,

+  0.490029782056808f, 0.499900579452515f, 0.490413218736649f,

+    0.499908089637756f,

+  0.490796625614166f, 0.499915301799774f, 0.491180062294006f,

+    0.499922215938568f,

+  0.491563498973846f, 0.499928832054138f, 0.491946935653687f,

+    0.499935150146484f,

+  0.492330402135849f, 0.499941170215607f, 0.492713838815689f,

+    0.499946922063828f,

+  0.493097305297852f, 0.499952346086502f, 0.493480771780014f,

+    0.499957501888275f,

+  0.493864238262177f, 0.499962359666824f, 0.494247704744339f,

+    0.499966919422150f,

+  0.494631171226501f, 0.499971181154251f, 0.495014637708664f,

+    0.499975144863129f,

+  0.495398133993149f, 0.499978810548782f, 0.495781600475311f,

+    0.499982208013535f,

+  0.496165096759796f, 0.499985307455063f, 0.496548563241959f,

+    0.499988079071045f,

+  0.496932059526443f, 0.499990582466125f, 0.497315555810928f,

+    0.499992787837982f,

+  0.497699022293091f, 0.499994695186615f, 0.498082518577576f,

+    0.499996334314346f,

+  0.498466014862061f, 0.499997645616531f, 0.498849511146545f,

+    0.499998688697815f,

+  0.499233007431030f, 0.499999403953552f, 0.499616503715515f,

+    0.499999850988388f,

+};

+

+

+/**    

+* \par   

+* Generation of realCoefB array:    

+* \par   

+* n = 4096    

+* <pre>for (i = 0; i < n; i++)    

+* {    

+*    pBTable[2 * i] = 0.5 * (1.0 + sin (2 * PI / (double) (2 * n) * (double) i));    

+*    pBTable[2 * i + 1] = 0.5 * (1.0 * cos (2 * PI / (double) (2 * n) * (double) i));    

+*  } </pre>    

+*    

+*/

+static const float32_t realCoefB[8192] = {

+  0.500000000000000f, 0.500000000000000f, 0.500383496284485f,

+    0.499999850988388f,

+  0.500766992568970f, 0.499999403953552f, 0.501150488853455f,

+    0.499998688697815f,

+  0.501533985137939f, 0.499997645616531f, 0.501917481422424f,

+    0.499996334314346f,

+  0.502300977706909f, 0.499994695186615f, 0.502684473991394f,

+    0.499992787837982f,

+  0.503067970275879f, 0.499990582466125f, 0.503451406955719f,

+    0.499988079071045f,

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+    -0.499982208013535f,

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+    -0.499988079071045f,

+  0.503067970275879f, -0.499990582466125f, 0.502684473991394f,

+    -0.499992787837982f,

+  0.502300977706909f, -0.499994695186615f, 0.501917481422424f,

+    -0.499996334314346f,

+  0.501533985137939f, -0.499997645616531f, 0.501150488853455f,

+    -0.499998688697815f,

+  0.500766992568970f, -0.499999403953552f, 0.500383496284485f,

+    -0.499999850988388f,

+};

+

+

+

+/**    

+* @brief  Initialization function for the floating-point RFFT/RIFFT.   

+* @param[in,out] *S             points to an instance of the floating-point RFFT/RIFFT structure.   

+* @param[in,out] *S_CFFT        points to an instance of the floating-point CFFT/CIFFT structure.   

+* @param[in]     fftLenReal     length of the FFT.   

+* @param[in]     ifftFlagR      flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform.   

+* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.   

+* @return		The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if <code>fftLenReal</code> is not a supported value.   

+*    

+* \par Description:   

+* \par   

+* The parameter <code>fftLenReal</code>	Specifies length of RFFT/RIFFT Process. Supported FFT Lengths are 128, 512, 2048.    

+* \par    

+* The parameter <code>ifftFlagR</code> controls whether a forward or inverse transform is computed.    

+* Set(=1) ifftFlagR to calculate RIFFT, otherwise RFFT is calculated.    

+* \par    

+* The parameter <code>bitReverseFlag</code> controls whether output is in normal order or bit reversed order.    

+* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.   

+* \par    

+* This function also initializes Twiddle factor table.     

+*/

+

+arm_status arm_rfft_init_f32(

+  arm_rfft_instance_f32 * S,

+  arm_cfft_radix4_instance_f32 * S_CFFT,

+  uint32_t fftLenReal,

+  uint32_t ifftFlagR,

+  uint32_t bitReverseFlag)

+{

+

+  /*  Initialise the default arm status */

+  arm_status status = ARM_MATH_SUCCESS;

+

+  /*  Initialize the Real FFT length */

+  S->fftLenReal = (uint16_t) fftLenReal;

+

+  /*  Initialize the Complex FFT length */

+  S->fftLenBy2 = (uint16_t) fftLenReal / 2u;

+

+  /*  Initialize the Twiddle coefficientA pointer */

+  S->pTwiddleAReal = (float32_t *) realCoefA;

+

+  /*  Initialize the Twiddle coefficientB pointer */

+  S->pTwiddleBReal = (float32_t *) realCoefB;

+

+  /*  Initialize the Flag for selection of RFFT or RIFFT */

+  S->ifftFlagR = (uint8_t) ifftFlagR;

+

+  /*  Initialize the Flag for calculation Bit reversal or not */

+  S->bitReverseFlagR = (uint8_t) bitReverseFlag;

+

+  /*  Initializations of structure parameters depending on the FFT length */

+  switch (S->fftLenReal)

+  {

+    /* Init table modifier value */

+  case 8192u:

+    S->twidCoefRModifier = 1u;

+    break;

+  case 2048u:

+    S->twidCoefRModifier = 4u;

+    break;

+  case 512u:

+    S->twidCoefRModifier = 16u;

+    break;

+  case 128u:

+    S->twidCoefRModifier = 64u;

+    break;

+  default:

+    /*  Reporting argument error if rfftSize is not valid value */

+    status = ARM_MATH_ARGUMENT_ERROR;

+    break;

+  }

+

+  /* Init Complex FFT Instance */

+  S->pCfft = S_CFFT;

+

+  if(S->ifftFlagR)

+  {

+    /* Initializes the CIFFT Module for fftLenreal/2 length */

+    arm_cfft_radix4_init_f32(S->pCfft, S->fftLenBy2, 1u, 0u);

+  }

+  else

+  {

+    /* Initializes the CFFT Module for fftLenreal/2 length */

+    arm_cfft_radix4_init_f32(S->pCfft, S->fftLenBy2, 0u, 0u);

+  }

+

+  /* return the status of RFFT Init function */

+  return (status);

+

+}

+

+  /**    

+   * @} end of RFFT_RIFFT group    

+   */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q15.c
new file mode 100644
index 000000000..50b9d994d
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q15.c
@@ -0,0 +1,2229 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_rfft_init_q15.c    

+*    

+* Description:	RFFT & RIFFT Q15 initialisation 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupTransforms    

+ */

+

+/**    

+ * @addtogroup RFFT_RIFFT    

+ * @{    

+ */

+

+

+

+/**    

+* \par    

+* Generation floating point real_CoefA array:    

+* \par    

+* n = 4096    

+* <pre>for (i = 0; i < n; i++)    

+*  {    

+*    pATable[2 * i] = 0.5 * (1.0 - sin (2 * PI / (double) (2 * n) * (double) i));    

+*    pATable[2 * i + 1] = 0.5 * (-1.0 * cos (2 * PI / (double) (2 * n) * (double) i));    

+*  } </pre>    

+* \par    

+* Convert to fixed point Q15 format    

+*       round(pATable[i] * pow(2, 15))    

+*/

+

+

+static const q15_t ALIGN4 realCoefAQ15[8192] = {

+  0x4000, 0xc000, 0x3ff3, 0xc000, 0x3fe7, 0xc000, 0x3fda, 0xc000,

+  0x3fce, 0xc000, 0x3fc1, 0xc000, 0x3fb5, 0xc000, 0x3fa8, 0xc000,

+  0x3f9b, 0xc000, 0x3f8f, 0xc000, 0x3f82, 0xc000, 0x3f76, 0xc001,

+  0x3f69, 0xc001, 0x3f5d, 0xc001, 0x3f50, 0xc001, 0x3f44, 0xc001,

+  0x3f37, 0xc001, 0x3f2a, 0xc001, 0x3f1e, 0xc002, 0x3f11, 0xc002,

+  0x3f05, 0xc002, 0x3ef8, 0xc002, 0x3eec, 0xc002, 0x3edf, 0xc003,

+  0x3ed2, 0xc003, 0x3ec6, 0xc003, 0x3eb9, 0xc003, 0x3ead, 0xc004,

+  0x3ea0, 0xc004, 0x3e94, 0xc004, 0x3e87, 0xc004, 0x3e7a, 0xc005,

+  0x3e6e, 0xc005, 0x3e61, 0xc005, 0x3e55, 0xc006, 0x3e48, 0xc006,

+  0x3e3c, 0xc006, 0x3e2f, 0xc007, 0x3e23, 0xc007, 0x3e16, 0xc007,

+  0x3e09, 0xc008, 0x3dfd, 0xc008, 0x3df0, 0xc009, 0x3de4, 0xc009,

+  0x3dd7, 0xc009, 0x3dcb, 0xc00a, 0x3dbe, 0xc00a, 0x3db2, 0xc00b,

+  0x3da5, 0xc00b, 0x3d98, 0xc00c, 0x3d8c, 0xc00c, 0x3d7f, 0xc00d,

+  0x3d73, 0xc00d, 0x3d66, 0xc00e, 0x3d5a, 0xc00e, 0x3d4d, 0xc00f,

+  0x3d40, 0xc00f, 0x3d34, 0xc010, 0x3d27, 0xc010, 0x3d1b, 0xc011,

+  0x3d0e, 0xc011, 0x3d02, 0xc012, 0x3cf5, 0xc013, 0x3ce9, 0xc013,

+  0x3cdc, 0xc014, 0x3cd0, 0xc014, 0x3cc3, 0xc015, 0x3cb6, 0xc016,

+  0x3caa, 0xc016, 0x3c9d, 0xc017, 0x3c91, 0xc018, 0x3c84, 0xc018,

+  0x3c78, 0xc019, 0x3c6b, 0xc01a, 0x3c5f, 0xc01a, 0x3c52, 0xc01b,

+  0x3c45, 0xc01c, 0x3c39, 0xc01d, 0x3c2c, 0xc01d, 0x3c20, 0xc01e,

+  0x3c13, 0xc01f, 0x3c07, 0xc020, 0x3bfa, 0xc020, 0x3bee, 0xc021,

+  0x3be1, 0xc022, 0x3bd5, 0xc023, 0x3bc8, 0xc024, 0x3bbc, 0xc024,

+  0x3baf, 0xc025, 0x3ba2, 0xc026, 0x3b96, 0xc027, 0x3b89, 0xc028,

+  0x3b7d, 0xc029, 0x3b70, 0xc02a, 0x3b64, 0xc02b, 0x3b57, 0xc02b,

+  0x3b4b, 0xc02c, 0x3b3e, 0xc02d, 0x3b32, 0xc02e, 0x3b25, 0xc02f,

+  0x3b19, 0xc030, 0x3b0c, 0xc031, 0x3b00, 0xc032, 0x3af3, 0xc033,

+  0x3ae6, 0xc034, 0x3ada, 0xc035, 0x3acd, 0xc036, 0x3ac1, 0xc037,

+  0x3ab4, 0xc038, 0x3aa8, 0xc039, 0x3a9b, 0xc03a, 0x3a8f, 0xc03b,

+  0x3a82, 0xc03c, 0x3a76, 0xc03d, 0x3a69, 0xc03f, 0x3a5d, 0xc040,

+  0x3a50, 0xc041, 0x3a44, 0xc042, 0x3a37, 0xc043, 0x3a2b, 0xc044,

+  0x3a1e, 0xc045, 0x3a12, 0xc047, 0x3a05, 0xc048, 0x39f9, 0xc049,

+  0x39ec, 0xc04a, 0x39e0, 0xc04b, 0x39d3, 0xc04c, 0x39c7, 0xc04e,

+  0x39ba, 0xc04f, 0x39ae, 0xc050, 0x39a1, 0xc051, 0x3995, 0xc053,

+  0x3988, 0xc054, 0x397c, 0xc055, 0x396f, 0xc056, 0x3963, 0xc058,

+  0x3956, 0xc059, 0x394a, 0xc05a, 0x393d, 0xc05c, 0x3931, 0xc05d,

+  0x3924, 0xc05e, 0x3918, 0xc060, 0x390b, 0xc061, 0x38ff, 0xc062,

+  0x38f2, 0xc064, 0x38e6, 0xc065, 0x38d9, 0xc067, 0x38cd, 0xc068,

+  0x38c0, 0xc069, 0x38b4, 0xc06b, 0x38a7, 0xc06c, 0x389b, 0xc06e,

+  0x388e, 0xc06f, 0x3882, 0xc071, 0x3875, 0xc072, 0x3869, 0xc074,

+  0x385c, 0xc075, 0x3850, 0xc077, 0x3843, 0xc078, 0x3837, 0xc07a,

+  0x382a, 0xc07b, 0x381e, 0xc07d, 0x3811, 0xc07e, 0x3805, 0xc080,

+  0x37f9, 0xc081, 0x37ec, 0xc083, 0x37e0, 0xc085, 0x37d3, 0xc086,

+  0x37c7, 0xc088, 0x37ba, 0xc089, 0x37ae, 0xc08b, 0x37a1, 0xc08d,

+  0x3795, 0xc08e, 0x3788, 0xc090, 0x377c, 0xc092, 0x376f, 0xc093,

+  0x3763, 0xc095, 0x3757, 0xc097, 0x374a, 0xc098, 0x373e, 0xc09a,

+  0x3731, 0xc09c, 0x3725, 0xc09e, 0x3718, 0xc09f, 0x370c, 0xc0a1,

+  0x36ff, 0xc0a3, 0x36f3, 0xc0a5, 0x36e7, 0xc0a6, 0x36da, 0xc0a8,

+  0x36ce, 0xc0aa, 0x36c1, 0xc0ac, 0x36b5, 0xc0ae, 0x36a8, 0xc0af,

+  0x369c, 0xc0b1, 0x3690, 0xc0b3, 0x3683, 0xc0b5, 0x3677, 0xc0b7,

+  0x366a, 0xc0b9, 0x365e, 0xc0bb, 0x3651, 0xc0bd, 0x3645, 0xc0be,

+  0x3639, 0xc0c0, 0x362c, 0xc0c2, 0x3620, 0xc0c4, 0x3613, 0xc0c6,

+  0x3607, 0xc0c8, 0x35fa, 0xc0ca, 0x35ee, 0xc0cc, 0x35e2, 0xc0ce,

+  0x35d5, 0xc0d0, 0x35c9, 0xc0d2, 0x35bc, 0xc0d4, 0x35b0, 0xc0d6,

+  0x35a4, 0xc0d8, 0x3597, 0xc0da, 0x358b, 0xc0dc, 0x357e, 0xc0de,

+  0x3572, 0xc0e0, 0x3566, 0xc0e2, 0x3559, 0xc0e4, 0x354d, 0xc0e7,

+  0x3540, 0xc0e9, 0x3534, 0xc0eb, 0x3528, 0xc0ed, 0x351b, 0xc0ef,

+  0x350f, 0xc0f1, 0x3503, 0xc0f3, 0x34f6, 0xc0f6, 0x34ea, 0xc0f8,

+  0x34dd, 0xc0fa, 0x34d1, 0xc0fc, 0x34c5, 0xc0fe, 0x34b8, 0xc100,

+  0x34ac, 0xc103, 0x34a0, 0xc105, 0x3493, 0xc107, 0x3487, 0xc109,

+  0x347b, 0xc10c, 0x346e, 0xc10e, 0x3462, 0xc110, 0x3455, 0xc113,

+  0x3449, 0xc115, 0x343d, 0xc117, 0x3430, 0xc119, 0x3424, 0xc11c,

+  0x3418, 0xc11e, 0x340b, 0xc120, 0x33ff, 0xc123, 0x33f3, 0xc125,

+  0x33e6, 0xc128, 0x33da, 0xc12a, 0x33ce, 0xc12c, 0x33c1, 0xc12f,

+  0x33b5, 0xc131, 0x33a9, 0xc134, 0x339c, 0xc136, 0x3390, 0xc138,

+  0x3384, 0xc13b, 0x3377, 0xc13d, 0x336b, 0xc140, 0x335f, 0xc142,

+  0x3352, 0xc145, 0x3346, 0xc147, 0x333a, 0xc14a, 0x332d, 0xc14c,

+  0x3321, 0xc14f, 0x3315, 0xc151, 0x3308, 0xc154, 0x32fc, 0xc156,

+  0x32f0, 0xc159, 0x32e4, 0xc15b, 0x32d7, 0xc15e, 0x32cb, 0xc161,

+  0x32bf, 0xc163, 0x32b2, 0xc166, 0x32a6, 0xc168, 0x329a, 0xc16b,

+  0x328e, 0xc16e, 0x3281, 0xc170, 0x3275, 0xc173, 0x3269, 0xc176,

+  0x325c, 0xc178, 0x3250, 0xc17b, 0x3244, 0xc17e, 0x3238, 0xc180,

+  0x322b, 0xc183, 0x321f, 0xc186, 0x3213, 0xc189, 0x3207, 0xc18b,

+  0x31fa, 0xc18e, 0x31ee, 0xc191, 0x31e2, 0xc194, 0x31d5, 0xc196,

+  0x31c9, 0xc199, 0x31bd, 0xc19c, 0x31b1, 0xc19f, 0x31a4, 0xc1a2,

+  0x3198, 0xc1a4, 0x318c, 0xc1a7, 0x3180, 0xc1aa, 0x3174, 0xc1ad,

+  0x3167, 0xc1b0, 0x315b, 0xc1b3, 0x314f, 0xc1b6, 0x3143, 0xc1b8,

+  0x3136, 0xc1bb, 0x312a, 0xc1be, 0x311e, 0xc1c1, 0x3112, 0xc1c4,

+  0x3105, 0xc1c7, 0x30f9, 0xc1ca, 0x30ed, 0xc1cd, 0x30e1, 0xc1d0,

+  0x30d5, 0xc1d3, 0x30c8, 0xc1d6, 0x30bc, 0xc1d9, 0x30b0, 0xc1dc,

+  0x30a4, 0xc1df, 0x3098, 0xc1e2, 0x308b, 0xc1e5, 0x307f, 0xc1e8,

+  0x3073, 0xc1eb, 0x3067, 0xc1ee, 0x305b, 0xc1f1, 0x304e, 0xc1f4,

+  0x3042, 0xc1f7, 0x3036, 0xc1fa, 0x302a, 0xc1fd, 0x301e, 0xc201,

+  0x3012, 0xc204, 0x3005, 0xc207, 0x2ff9, 0xc20a, 0x2fed, 0xc20d,

+  0x2fe1, 0xc210, 0x2fd5, 0xc213, 0x2fc9, 0xc217, 0x2fbc, 0xc21a,

+  0x2fb0, 0xc21d, 0x2fa4, 0xc220, 0x2f98, 0xc223, 0x2f8c, 0xc227,

+  0x2f80, 0xc22a, 0x2f74, 0xc22d, 0x2f67, 0xc230, 0x2f5b, 0xc234,

+  0x2f4f, 0xc237, 0x2f43, 0xc23a, 0x2f37, 0xc23e, 0x2f2b, 0xc241,

+  0x2f1f, 0xc244, 0x2f13, 0xc247, 0x2f06, 0xc24b, 0x2efa, 0xc24e,

+  0x2eee, 0xc251, 0x2ee2, 0xc255, 0x2ed6, 0xc258, 0x2eca, 0xc25c,

+  0x2ebe, 0xc25f, 0x2eb2, 0xc262, 0x2ea6, 0xc266, 0x2e99, 0xc269,

+  0x2e8d, 0xc26d, 0x2e81, 0xc270, 0x2e75, 0xc273, 0x2e69, 0xc277,

+  0x2e5d, 0xc27a, 0x2e51, 0xc27e, 0x2e45, 0xc281, 0x2e39, 0xc285,

+  0x2e2d, 0xc288, 0x2e21, 0xc28c, 0x2e15, 0xc28f, 0x2e09, 0xc293,

+  0x2dfc, 0xc296, 0x2df0, 0xc29a, 0x2de4, 0xc29d, 0x2dd8, 0xc2a1,

+  0x2dcc, 0xc2a5, 0x2dc0, 0xc2a8, 0x2db4, 0xc2ac, 0x2da8, 0xc2af,

+  0x2d9c, 0xc2b3, 0x2d90, 0xc2b7, 0x2d84, 0xc2ba, 0x2d78, 0xc2be,

+  0x2d6c, 0xc2c1, 0x2d60, 0xc2c5, 0x2d54, 0xc2c9, 0x2d48, 0xc2cc,

+  0x2d3c, 0xc2d0, 0x2d30, 0xc2d4, 0x2d24, 0xc2d8, 0x2d18, 0xc2db,

+  0x2d0c, 0xc2df, 0x2d00, 0xc2e3, 0x2cf4, 0xc2e6, 0x2ce8, 0xc2ea,

+  0x2cdc, 0xc2ee, 0x2cd0, 0xc2f2, 0x2cc4, 0xc2f5, 0x2cb8, 0xc2f9,

+  0x2cac, 0xc2fd, 0x2ca0, 0xc301, 0x2c94, 0xc305, 0x2c88, 0xc308,

+  0x2c7c, 0xc30c, 0x2c70, 0xc310, 0x2c64, 0xc314, 0x2c58, 0xc318,

+  0x2c4c, 0xc31c, 0x2c40, 0xc320, 0x2c34, 0xc323, 0x2c28, 0xc327,

+  0x2c1c, 0xc32b, 0x2c10, 0xc32f, 0x2c05, 0xc333, 0x2bf9, 0xc337,

+  0x2bed, 0xc33b, 0x2be1, 0xc33f, 0x2bd5, 0xc343, 0x2bc9, 0xc347,

+  0x2bbd, 0xc34b, 0x2bb1, 0xc34f, 0x2ba5, 0xc353, 0x2b99, 0xc357,

+  0x2b8d, 0xc35b, 0x2b81, 0xc35f, 0x2b75, 0xc363, 0x2b6a, 0xc367,

+  0x2b5e, 0xc36b, 0x2b52, 0xc36f, 0x2b46, 0xc373, 0x2b3a, 0xc377,

+  0x2b2e, 0xc37b, 0x2b22, 0xc37f, 0x2b16, 0xc383, 0x2b0a, 0xc387,

+  0x2aff, 0xc38c, 0x2af3, 0xc390, 0x2ae7, 0xc394, 0x2adb, 0xc398,

+  0x2acf, 0xc39c, 0x2ac3, 0xc3a0, 0x2ab7, 0xc3a5, 0x2aac, 0xc3a9,

+  0x2aa0, 0xc3ad, 0x2a94, 0xc3b1, 0x2a88, 0xc3b5, 0x2a7c, 0xc3ba,

+  0x2a70, 0xc3be, 0x2a65, 0xc3c2, 0x2a59, 0xc3c6, 0x2a4d, 0xc3ca,

+  0x2a41, 0xc3cf, 0x2a35, 0xc3d3, 0x2a29, 0xc3d7, 0x2a1e, 0xc3dc,

+  0x2a12, 0xc3e0, 0x2a06, 0xc3e4, 0x29fa, 0xc3e9, 0x29ee, 0xc3ed,

+  0x29e3, 0xc3f1, 0x29d7, 0xc3f6, 0x29cb, 0xc3fa, 0x29bf, 0xc3fe,

+  0x29b4, 0xc403, 0x29a8, 0xc407, 0x299c, 0xc40b, 0x2990, 0xc410,

+  0x2984, 0xc414, 0x2979, 0xc419, 0x296d, 0xc41d, 0x2961, 0xc422,

+  0x2955, 0xc426, 0x294a, 0xc42a, 0x293e, 0xc42f, 0x2932, 0xc433,

+  0x2926, 0xc438, 0x291b, 0xc43c, 0x290f, 0xc441, 0x2903, 0xc445,

+  0x28f7, 0xc44a, 0x28ec, 0xc44e, 0x28e0, 0xc453, 0x28d4, 0xc457,

+  0x28c9, 0xc45c, 0x28bd, 0xc461, 0x28b1, 0xc465, 0x28a5, 0xc46a,

+  0x289a, 0xc46e, 0x288e, 0xc473, 0x2882, 0xc478, 0x2877, 0xc47c,

+  0x286b, 0xc481, 0x285f, 0xc485, 0x2854, 0xc48a, 0x2848, 0xc48f,

+  0x283c, 0xc493, 0x2831, 0xc498, 0x2825, 0xc49d, 0x2819, 0xc4a1,

+  0x280e, 0xc4a6, 0x2802, 0xc4ab, 0x27f6, 0xc4b0, 0x27eb, 0xc4b4,

+  0x27df, 0xc4b9, 0x27d3, 0xc4be, 0x27c8, 0xc4c2, 0x27bc, 0xc4c7,

+  0x27b1, 0xc4cc, 0x27a5, 0xc4d1, 0x2799, 0xc4d6, 0x278e, 0xc4da,

+  0x2782, 0xc4df, 0x2777, 0xc4e4, 0x276b, 0xc4e9, 0x275f, 0xc4ee,

+  0x2754, 0xc4f2, 0x2748, 0xc4f7, 0x273d, 0xc4fc, 0x2731, 0xc501,

+  0x2725, 0xc506, 0x271a, 0xc50b, 0x270e, 0xc510, 0x2703, 0xc515,

+  0x26f7, 0xc51a, 0x26ec, 0xc51e, 0x26e0, 0xc523, 0x26d4, 0xc528,

+  0x26c9, 0xc52d, 0x26bd, 0xc532, 0x26b2, 0xc537, 0x26a6, 0xc53c,

+  0x269b, 0xc541, 0x268f, 0xc546, 0x2684, 0xc54b, 0x2678, 0xc550,

+  0x266d, 0xc555, 0x2661, 0xc55a, 0x2656, 0xc55f, 0x264a, 0xc564,

+  0x263f, 0xc569, 0x2633, 0xc56e, 0x2628, 0xc573, 0x261c, 0xc578,

+  0x2611, 0xc57e, 0x2605, 0xc583, 0x25fa, 0xc588, 0x25ee, 0xc58d,

+  0x25e3, 0xc592, 0x25d7, 0xc597, 0x25cc, 0xc59c, 0x25c0, 0xc5a1,

+  0x25b5, 0xc5a7, 0x25a9, 0xc5ac, 0x259e, 0xc5b1, 0x2592, 0xc5b6,

+  0x2587, 0xc5bb, 0x257c, 0xc5c1, 0x2570, 0xc5c6, 0x2565, 0xc5cb,

+  0x2559, 0xc5d0, 0x254e, 0xc5d5, 0x2542, 0xc5db, 0x2537, 0xc5e0,

+  0x252c, 0xc5e5, 0x2520, 0xc5ea, 0x2515, 0xc5f0, 0x2509, 0xc5f5,

+  0x24fe, 0xc5fa, 0x24f3, 0xc600, 0x24e7, 0xc605, 0x24dc, 0xc60a,

+  0x24d0, 0xc610, 0x24c5, 0xc615, 0x24ba, 0xc61a, 0x24ae, 0xc620,

+  0x24a3, 0xc625, 0x2498, 0xc62a, 0x248c, 0xc630, 0x2481, 0xc635,

+  0x2476, 0xc63b, 0x246a, 0xc640, 0x245f, 0xc645, 0x2454, 0xc64b,

+  0x2448, 0xc650, 0x243d, 0xc656, 0x2432, 0xc65b, 0x2426, 0xc661,

+  0x241b, 0xc666, 0x2410, 0xc66c, 0x2404, 0xc671, 0x23f9, 0xc677,

+  0x23ee, 0xc67c, 0x23e2, 0xc682, 0x23d7, 0xc687, 0x23cc, 0xc68d,

+  0x23c1, 0xc692, 0x23b5, 0xc698, 0x23aa, 0xc69d, 0x239f, 0xc6a3,

+  0x2394, 0xc6a8, 0x2388, 0xc6ae, 0x237d, 0xc6b4, 0x2372, 0xc6b9,

+  0x2367, 0xc6bf, 0x235b, 0xc6c5, 0x2350, 0xc6ca, 0x2345, 0xc6d0,

+  0x233a, 0xc6d5, 0x232e, 0xc6db, 0x2323, 0xc6e1, 0x2318, 0xc6e6,

+  0x230d, 0xc6ec, 0x2301, 0xc6f2, 0x22f6, 0xc6f7, 0x22eb, 0xc6fd,

+  0x22e0, 0xc703, 0x22d5, 0xc709, 0x22ca, 0xc70e, 0x22be, 0xc714,

+  0x22b3, 0xc71a, 0x22a8, 0xc720, 0x229d, 0xc725, 0x2292, 0xc72b,

+  0x2287, 0xc731, 0x227b, 0xc737, 0x2270, 0xc73d, 0x2265, 0xc742,

+  0x225a, 0xc748, 0x224f, 0xc74e, 0x2244, 0xc754, 0x2239, 0xc75a,

+  0x222d, 0xc75f, 0x2222, 0xc765, 0x2217, 0xc76b, 0x220c, 0xc771,

+  0x2201, 0xc777, 0x21f6, 0xc77d, 0x21eb, 0xc783, 0x21e0, 0xc789,

+  0x21d5, 0xc78f, 0x21ca, 0xc795, 0x21be, 0xc79a, 0x21b3, 0xc7a0,

+  0x21a8, 0xc7a6, 0x219d, 0xc7ac, 0x2192, 0xc7b2, 0x2187, 0xc7b8,

+  0x217c, 0xc7be, 0x2171, 0xc7c4, 0x2166, 0xc7ca, 0x215b, 0xc7d0,

+  0x2150, 0xc7d6, 0x2145, 0xc7dc, 0x213a, 0xc7e2, 0x212f, 0xc7e8,

+  0x2124, 0xc7ee, 0x2119, 0xc7f5, 0x210e, 0xc7fb, 0x2103, 0xc801,

+  0x20f8, 0xc807, 0x20ed, 0xc80d, 0x20e2, 0xc813, 0x20d7, 0xc819,

+  0x20cc, 0xc81f, 0x20c1, 0xc825, 0x20b6, 0xc82b, 0x20ab, 0xc832,

+  0x20a0, 0xc838, 0x2095, 0xc83e, 0x208a, 0xc844, 0x207f, 0xc84a,

+  0x2074, 0xc850, 0x2069, 0xc857, 0x205e, 0xc85d, 0x2054, 0xc863,

+  0x2049, 0xc869, 0x203e, 0xc870, 0x2033, 0xc876, 0x2028, 0xc87c,

+  0x201d, 0xc882, 0x2012, 0xc889, 0x2007, 0xc88f, 0x1ffc, 0xc895,

+  0x1ff1, 0xc89b, 0x1fe7, 0xc8a2, 0x1fdc, 0xc8a8, 0x1fd1, 0xc8ae,

+  0x1fc6, 0xc8b5, 0x1fbb, 0xc8bb, 0x1fb0, 0xc8c1, 0x1fa5, 0xc8c8,

+  0x1f9b, 0xc8ce, 0x1f90, 0xc8d4, 0x1f85, 0xc8db, 0x1f7a, 0xc8e1,

+  0x1f6f, 0xc8e8, 0x1f65, 0xc8ee, 0x1f5a, 0xc8f4, 0x1f4f, 0xc8fb,

+  0x1f44, 0xc901, 0x1f39, 0xc908, 0x1f2f, 0xc90e, 0x1f24, 0xc915,

+  0x1f19, 0xc91b, 0x1f0e, 0xc921, 0x1f03, 0xc928, 0x1ef9, 0xc92e,

+  0x1eee, 0xc935, 0x1ee3, 0xc93b, 0x1ed8, 0xc942, 0x1ece, 0xc948,

+  0x1ec3, 0xc94f, 0x1eb8, 0xc955, 0x1ead, 0xc95c, 0x1ea3, 0xc963,

+  0x1e98, 0xc969, 0x1e8d, 0xc970, 0x1e83, 0xc976, 0x1e78, 0xc97d,

+  0x1e6d, 0xc983, 0x1e62, 0xc98a, 0x1e58, 0xc991, 0x1e4d, 0xc997,

+  0x1e42, 0xc99e, 0x1e38, 0xc9a4, 0x1e2d, 0xc9ab, 0x1e22, 0xc9b2,

+  0x1e18, 0xc9b8, 0x1e0d, 0xc9bf, 0x1e02, 0xc9c6, 0x1df8, 0xc9cc,

+  0x1ded, 0xc9d3, 0x1de2, 0xc9da, 0x1dd8, 0xc9e0, 0x1dcd, 0xc9e7,

+  0x1dc3, 0xc9ee, 0x1db8, 0xc9f5, 0x1dad, 0xc9fb, 0x1da3, 0xca02,

+  0x1d98, 0xca09, 0x1d8e, 0xca10, 0x1d83, 0xca16, 0x1d78, 0xca1d,

+  0x1d6e, 0xca24, 0x1d63, 0xca2b, 0x1d59, 0xca32, 0x1d4e, 0xca38,

+  0x1d44, 0xca3f, 0x1d39, 0xca46, 0x1d2e, 0xca4d, 0x1d24, 0xca54,

+  0x1d19, 0xca5b, 0x1d0f, 0xca61, 0x1d04, 0xca68, 0x1cfa, 0xca6f,

+  0x1cef, 0xca76, 0x1ce5, 0xca7d, 0x1cda, 0xca84, 0x1cd0, 0xca8b,

+  0x1cc5, 0xca92, 0x1cbb, 0xca99, 0x1cb0, 0xca9f, 0x1ca6, 0xcaa6,

+  0x1c9b, 0xcaad, 0x1c91, 0xcab4, 0x1c86, 0xcabb, 0x1c7c, 0xcac2,

+  0x1c72, 0xcac9, 0x1c67, 0xcad0, 0x1c5d, 0xcad7, 0x1c52, 0xcade,

+  0x1c48, 0xcae5, 0x1c3d, 0xcaec, 0x1c33, 0xcaf3, 0x1c29, 0xcafa,

+  0x1c1e, 0xcb01, 0x1c14, 0xcb08, 0x1c09, 0xcb0f, 0x1bff, 0xcb16,

+  0x1bf5, 0xcb1e, 0x1bea, 0xcb25, 0x1be0, 0xcb2c, 0x1bd5, 0xcb33,

+  0x1bcb, 0xcb3a, 0x1bc1, 0xcb41, 0x1bb6, 0xcb48, 0x1bac, 0xcb4f,

+  0x1ba2, 0xcb56, 0x1b97, 0xcb5e, 0x1b8d, 0xcb65, 0x1b83, 0xcb6c,

+  0x1b78, 0xcb73, 0x1b6e, 0xcb7a, 0x1b64, 0xcb81, 0x1b59, 0xcb89,

+  0x1b4f, 0xcb90, 0x1b45, 0xcb97, 0x1b3b, 0xcb9e, 0x1b30, 0xcba5,

+  0x1b26, 0xcbad, 0x1b1c, 0xcbb4, 0x1b11, 0xcbbb, 0x1b07, 0xcbc2,

+  0x1afd, 0xcbca, 0x1af3, 0xcbd1, 0x1ae8, 0xcbd8, 0x1ade, 0xcbe0,

+  0x1ad4, 0xcbe7, 0x1aca, 0xcbee, 0x1abf, 0xcbf5, 0x1ab5, 0xcbfd,

+  0x1aab, 0xcc04, 0x1aa1, 0xcc0b, 0x1a97, 0xcc13, 0x1a8c, 0xcc1a,

+  0x1a82, 0xcc21, 0x1a78, 0xcc29, 0x1a6e, 0xcc30, 0x1a64, 0xcc38,

+  0x1a5a, 0xcc3f, 0x1a4f, 0xcc46, 0x1a45, 0xcc4e, 0x1a3b, 0xcc55,

+  0x1a31, 0xcc5d, 0x1a27, 0xcc64, 0x1a1d, 0xcc6b, 0x1a13, 0xcc73,

+  0x1a08, 0xcc7a, 0x19fe, 0xcc82, 0x19f4, 0xcc89, 0x19ea, 0xcc91,

+  0x19e0, 0xcc98, 0x19d6, 0xcca0, 0x19cc, 0xcca7, 0x19c2, 0xccaf,

+  0x19b8, 0xccb6, 0x19ae, 0xccbe, 0x19a4, 0xccc5, 0x199a, 0xcccd,

+  0x198f, 0xccd4, 0x1985, 0xccdc, 0x197b, 0xcce3, 0x1971, 0xcceb,

+  0x1967, 0xccf3, 0x195d, 0xccfa, 0x1953, 0xcd02, 0x1949, 0xcd09,

+  0x193f, 0xcd11, 0x1935, 0xcd19, 0x192b, 0xcd20, 0x1921, 0xcd28,

+  0x1917, 0xcd30, 0x190d, 0xcd37, 0x1903, 0xcd3f, 0x18f9, 0xcd46,

+  0x18ef, 0xcd4e, 0x18e6, 0xcd56, 0x18dc, 0xcd5d, 0x18d2, 0xcd65,

+  0x18c8, 0xcd6d, 0x18be, 0xcd75, 0x18b4, 0xcd7c, 0x18aa, 0xcd84,

+  0x18a0, 0xcd8c, 0x1896, 0xcd93, 0x188c, 0xcd9b, 0x1882, 0xcda3,

+  0x1878, 0xcdab, 0x186f, 0xcdb2, 0x1865, 0xcdba, 0x185b, 0xcdc2,

+  0x1851, 0xcdca, 0x1847, 0xcdd2, 0x183d, 0xcdd9, 0x1833, 0xcde1,

+  0x182a, 0xcde9, 0x1820, 0xcdf1, 0x1816, 0xcdf9, 0x180c, 0xce01,

+  0x1802, 0xce08, 0x17f8, 0xce10, 0x17ef, 0xce18, 0x17e5, 0xce20,

+  0x17db, 0xce28, 0x17d1, 0xce30, 0x17c8, 0xce38, 0x17be, 0xce40,

+  0x17b4, 0xce47, 0x17aa, 0xce4f, 0x17a0, 0xce57, 0x1797, 0xce5f,

+  0x178d, 0xce67, 0x1783, 0xce6f, 0x177a, 0xce77, 0x1770, 0xce7f,

+  0x1766, 0xce87, 0x175c, 0xce8f, 0x1753, 0xce97, 0x1749, 0xce9f,

+  0x173f, 0xcea7, 0x1736, 0xceaf, 0x172c, 0xceb7, 0x1722, 0xcebf,

+  0x1719, 0xcec7, 0x170f, 0xcecf, 0x1705, 0xced7, 0x16fc, 0xcedf,

+  0x16f2, 0xcee7, 0x16e8, 0xceef, 0x16df, 0xcef7, 0x16d5, 0xceff,

+  0x16cb, 0xcf07, 0x16c2, 0xcf10, 0x16b8, 0xcf18, 0x16af, 0xcf20,

+  0x16a5, 0xcf28, 0x169b, 0xcf30, 0x1692, 0xcf38, 0x1688, 0xcf40,

+  0x167f, 0xcf48, 0x1675, 0xcf51, 0x166c, 0xcf59, 0x1662, 0xcf61,

+  0x1659, 0xcf69, 0x164f, 0xcf71, 0x1645, 0xcf79, 0x163c, 0xcf82,

+  0x1632, 0xcf8a, 0x1629, 0xcf92, 0x161f, 0xcf9a, 0x1616, 0xcfa3,

+  0x160c, 0xcfab, 0x1603, 0xcfb3, 0x15f9, 0xcfbb, 0x15f0, 0xcfc4,

+  0x15e6, 0xcfcc, 0x15dd, 0xcfd4, 0x15d4, 0xcfdc, 0x15ca, 0xcfe5,

+  0x15c1, 0xcfed, 0x15b7, 0xcff5, 0x15ae, 0xcffe, 0x15a4, 0xd006,

+  0x159b, 0xd00e, 0x1592, 0xd016, 0x1588, 0xd01f, 0x157f, 0xd027,

+  0x1575, 0xd030, 0x156c, 0xd038, 0x1563, 0xd040, 0x1559, 0xd049,

+  0x1550, 0xd051, 0x1547, 0xd059, 0x153d, 0xd062, 0x1534, 0xd06a,

+  0x152a, 0xd073, 0x1521, 0xd07b, 0x1518, 0xd083, 0x150e, 0xd08c,

+  0x1505, 0xd094, 0x14fc, 0xd09d, 0x14f3, 0xd0a5, 0x14e9, 0xd0ae,

+  0x14e0, 0xd0b6, 0x14d7, 0xd0bf, 0x14cd, 0xd0c7, 0x14c4, 0xd0d0,

+  0x14bb, 0xd0d8, 0x14b2, 0xd0e0, 0x14a8, 0xd0e9, 0x149f, 0xd0f2,

+  0x1496, 0xd0fa, 0x148d, 0xd103, 0x1483, 0xd10b, 0x147a, 0xd114,

+  0x1471, 0xd11c, 0x1468, 0xd125, 0x145f, 0xd12d, 0x1455, 0xd136,

+  0x144c, 0xd13e, 0x1443, 0xd147, 0x143a, 0xd150, 0x1431, 0xd158,

+  0x1428, 0xd161, 0x141e, 0xd169, 0x1415, 0xd172, 0x140c, 0xd17b,

+  0x1403, 0xd183, 0x13fa, 0xd18c, 0x13f1, 0xd195, 0x13e8, 0xd19d,

+  0x13df, 0xd1a6, 0x13d5, 0xd1af, 0x13cc, 0xd1b7, 0x13c3, 0xd1c0,

+  0x13ba, 0xd1c9, 0x13b1, 0xd1d1, 0x13a8, 0xd1da, 0x139f, 0xd1e3,

+  0x1396, 0xd1eb, 0x138d, 0xd1f4, 0x1384, 0xd1fd, 0x137b, 0xd206,

+  0x1372, 0xd20e, 0x1369, 0xd217, 0x1360, 0xd220, 0x1357, 0xd229,

+  0x134e, 0xd231, 0x1345, 0xd23a, 0x133c, 0xd243, 0x1333, 0xd24c,

+  0x132a, 0xd255, 0x1321, 0xd25d, 0x1318, 0xd266, 0x130f, 0xd26f,

+  0x1306, 0xd278, 0x12fd, 0xd281, 0x12f4, 0xd28a, 0x12eb, 0xd292,

+  0x12e2, 0xd29b, 0x12d9, 0xd2a4, 0x12d1, 0xd2ad, 0x12c8, 0xd2b6,

+  0x12bf, 0xd2bf, 0x12b6, 0xd2c8, 0x12ad, 0xd2d1, 0x12a4, 0xd2d9,

+  0x129b, 0xd2e2, 0x1292, 0xd2eb, 0x128a, 0xd2f4, 0x1281, 0xd2fd,

+  0x1278, 0xd306, 0x126f, 0xd30f, 0x1266, 0xd318, 0x125d, 0xd321,

+  0x1255, 0xd32a, 0x124c, 0xd333, 0x1243, 0xd33c, 0x123a, 0xd345,

+  0x1231, 0xd34e, 0x1229, 0xd357, 0x1220, 0xd360, 0x1217, 0xd369,

+  0x120e, 0xd372, 0x1206, 0xd37b, 0x11fd, 0xd384, 0x11f4, 0xd38d,

+  0x11eb, 0xd396, 0x11e3, 0xd39f, 0x11da, 0xd3a8, 0x11d1, 0xd3b1,

+  0x11c9, 0xd3ba, 0x11c0, 0xd3c3, 0x11b7, 0xd3cc, 0x11af, 0xd3d5,

+  0x11a6, 0xd3df, 0x119d, 0xd3e8, 0x1195, 0xd3f1, 0x118c, 0xd3fa,

+  0x1183, 0xd403, 0x117b, 0xd40c, 0x1172, 0xd415, 0x1169, 0xd41e,

+  0x1161, 0xd428, 0x1158, 0xd431, 0x1150, 0xd43a, 0x1147, 0xd443,

+  0x113e, 0xd44c, 0x1136, 0xd455, 0x112d, 0xd45f, 0x1125, 0xd468,

+  0x111c, 0xd471, 0x1114, 0xd47a, 0x110b, 0xd483, 0x1103, 0xd48d,

+  0x10fa, 0xd496, 0x10f2, 0xd49f, 0x10e9, 0xd4a8, 0x10e0, 0xd4b2,

+  0x10d8, 0xd4bb, 0x10d0, 0xd4c4, 0x10c7, 0xd4cd, 0x10bf, 0xd4d7,

+  0x10b6, 0xd4e0, 0x10ae, 0xd4e9, 0x10a5, 0xd4f3, 0x109d, 0xd4fc,

+  0x1094, 0xd505, 0x108c, 0xd50e, 0x1083, 0xd518, 0x107b, 0xd521,

+  0x1073, 0xd52a, 0x106a, 0xd534, 0x1062, 0xd53d, 0x1059, 0xd547,

+  0x1051, 0xd550, 0x1049, 0xd559, 0x1040, 0xd563, 0x1038, 0xd56c,

+  0x1030, 0xd575, 0x1027, 0xd57f, 0x101f, 0xd588, 0x1016, 0xd592,

+  0x100e, 0xd59b, 0x1006, 0xd5a4, 0xffe, 0xd5ae, 0xff5, 0xd5b7,

+  0xfed, 0xd5c1, 0xfe5, 0xd5ca, 0xfdc, 0xd5d4, 0xfd4, 0xd5dd,

+  0xfcc, 0xd5e6, 0xfc4, 0xd5f0, 0xfbb, 0xd5f9, 0xfb3, 0xd603,

+  0xfab, 0xd60c, 0xfa3, 0xd616, 0xf9a, 0xd61f, 0xf92, 0xd629,

+  0xf8a, 0xd632, 0xf82, 0xd63c, 0xf79, 0xd645, 0xf71, 0xd64f,

+  0xf69, 0xd659, 0xf61, 0xd662, 0xf59, 0xd66c, 0xf51, 0xd675,

+  0xf48, 0xd67f, 0xf40, 0xd688, 0xf38, 0xd692, 0xf30, 0xd69b,

+  0xf28, 0xd6a5, 0xf20, 0xd6af, 0xf18, 0xd6b8, 0xf10, 0xd6c2,

+  0xf07, 0xd6cb, 0xeff, 0xd6d5, 0xef7, 0xd6df, 0xeef, 0xd6e8,

+  0xee7, 0xd6f2, 0xedf, 0xd6fc, 0xed7, 0xd705, 0xecf, 0xd70f,

+  0xec7, 0xd719, 0xebf, 0xd722, 0xeb7, 0xd72c, 0xeaf, 0xd736,

+  0xea7, 0xd73f, 0xe9f, 0xd749, 0xe97, 0xd753, 0xe8f, 0xd75c,

+  0xe87, 0xd766, 0xe7f, 0xd770, 0xe77, 0xd77a, 0xe6f, 0xd783,

+  0xe67, 0xd78d, 0xe5f, 0xd797, 0xe57, 0xd7a0, 0xe4f, 0xd7aa,

+  0xe47, 0xd7b4, 0xe40, 0xd7be, 0xe38, 0xd7c8, 0xe30, 0xd7d1,

+  0xe28, 0xd7db, 0xe20, 0xd7e5, 0xe18, 0xd7ef, 0xe10, 0xd7f8,

+  0xe08, 0xd802, 0xe01, 0xd80c, 0xdf9, 0xd816, 0xdf1, 0xd820,

+  0xde9, 0xd82a, 0xde1, 0xd833, 0xdd9, 0xd83d, 0xdd2, 0xd847,

+  0xdca, 0xd851, 0xdc2, 0xd85b, 0xdba, 0xd865, 0xdb2, 0xd86f,

+  0xdab, 0xd878, 0xda3, 0xd882, 0xd9b, 0xd88c, 0xd93, 0xd896,

+  0xd8c, 0xd8a0, 0xd84, 0xd8aa, 0xd7c, 0xd8b4, 0xd75, 0xd8be,

+  0xd6d, 0xd8c8, 0xd65, 0xd8d2, 0xd5d, 0xd8dc, 0xd56, 0xd8e6,

+  0xd4e, 0xd8ef, 0xd46, 0xd8f9, 0xd3f, 0xd903, 0xd37, 0xd90d,

+  0xd30, 0xd917, 0xd28, 0xd921, 0xd20, 0xd92b, 0xd19, 0xd935,

+  0xd11, 0xd93f, 0xd09, 0xd949, 0xd02, 0xd953, 0xcfa, 0xd95d,

+  0xcf3, 0xd967, 0xceb, 0xd971, 0xce3, 0xd97b, 0xcdc, 0xd985,

+  0xcd4, 0xd98f, 0xccd, 0xd99a, 0xcc5, 0xd9a4, 0xcbe, 0xd9ae,

+  0xcb6, 0xd9b8, 0xcaf, 0xd9c2, 0xca7, 0xd9cc, 0xca0, 0xd9d6,

+  0xc98, 0xd9e0, 0xc91, 0xd9ea, 0xc89, 0xd9f4, 0xc82, 0xd9fe,

+  0xc7a, 0xda08, 0xc73, 0xda13, 0xc6b, 0xda1d, 0xc64, 0xda27,

+  0xc5d, 0xda31, 0xc55, 0xda3b, 0xc4e, 0xda45, 0xc46, 0xda4f,

+  0xc3f, 0xda5a, 0xc38, 0xda64, 0xc30, 0xda6e, 0xc29, 0xda78,

+  0xc21, 0xda82, 0xc1a, 0xda8c, 0xc13, 0xda97, 0xc0b, 0xdaa1,

+  0xc04, 0xdaab, 0xbfd, 0xdab5, 0xbf5, 0xdabf, 0xbee, 0xdaca,

+  0xbe7, 0xdad4, 0xbe0, 0xdade, 0xbd8, 0xdae8, 0xbd1, 0xdaf3,

+  0xbca, 0xdafd, 0xbc2, 0xdb07, 0xbbb, 0xdb11, 0xbb4, 0xdb1c,

+  0xbad, 0xdb26, 0xba5, 0xdb30, 0xb9e, 0xdb3b, 0xb97, 0xdb45,

+  0xb90, 0xdb4f, 0xb89, 0xdb59, 0xb81, 0xdb64, 0xb7a, 0xdb6e,

+  0xb73, 0xdb78, 0xb6c, 0xdb83, 0xb65, 0xdb8d, 0xb5e, 0xdb97,

+  0xb56, 0xdba2, 0xb4f, 0xdbac, 0xb48, 0xdbb6, 0xb41, 0xdbc1,

+  0xb3a, 0xdbcb, 0xb33, 0xdbd5, 0xb2c, 0xdbe0, 0xb25, 0xdbea,

+  0xb1e, 0xdbf5, 0xb16, 0xdbff, 0xb0f, 0xdc09, 0xb08, 0xdc14,

+  0xb01, 0xdc1e, 0xafa, 0xdc29, 0xaf3, 0xdc33, 0xaec, 0xdc3d,

+  0xae5, 0xdc48, 0xade, 0xdc52, 0xad7, 0xdc5d, 0xad0, 0xdc67,

+  0xac9, 0xdc72, 0xac2, 0xdc7c, 0xabb, 0xdc86, 0xab4, 0xdc91,

+  0xaad, 0xdc9b, 0xaa6, 0xdca6, 0xa9f, 0xdcb0, 0xa99, 0xdcbb,

+  0xa92, 0xdcc5, 0xa8b, 0xdcd0, 0xa84, 0xdcda, 0xa7d, 0xdce5,

+  0xa76, 0xdcef, 0xa6f, 0xdcfa, 0xa68, 0xdd04, 0xa61, 0xdd0f,

+  0xa5b, 0xdd19, 0xa54, 0xdd24, 0xa4d, 0xdd2e, 0xa46, 0xdd39,

+  0xa3f, 0xdd44, 0xa38, 0xdd4e, 0xa32, 0xdd59, 0xa2b, 0xdd63,

+  0xa24, 0xdd6e, 0xa1d, 0xdd78, 0xa16, 0xdd83, 0xa10, 0xdd8e,

+  0xa09, 0xdd98, 0xa02, 0xdda3, 0x9fb, 0xddad, 0x9f5, 0xddb8,

+  0x9ee, 0xddc3, 0x9e7, 0xddcd, 0x9e0, 0xddd8, 0x9da, 0xdde2,

+  0x9d3, 0xdded, 0x9cc, 0xddf8, 0x9c6, 0xde02, 0x9bf, 0xde0d,

+  0x9b8, 0xde18, 0x9b2, 0xde22, 0x9ab, 0xde2d, 0x9a4, 0xde38,

+  0x99e, 0xde42, 0x997, 0xde4d, 0x991, 0xde58, 0x98a, 0xde62,

+  0x983, 0xde6d, 0x97d, 0xde78, 0x976, 0xde83, 0x970, 0xde8d,

+  0x969, 0xde98, 0x963, 0xdea3, 0x95c, 0xdead, 0x955, 0xdeb8,

+  0x94f, 0xdec3, 0x948, 0xdece, 0x942, 0xded8, 0x93b, 0xdee3,

+  0x935, 0xdeee, 0x92e, 0xdef9, 0x928, 0xdf03, 0x921, 0xdf0e,

+  0x91b, 0xdf19, 0x915, 0xdf24, 0x90e, 0xdf2f, 0x908, 0xdf39,

+  0x901, 0xdf44, 0x8fb, 0xdf4f, 0x8f4, 0xdf5a, 0x8ee, 0xdf65,

+  0x8e8, 0xdf6f, 0x8e1, 0xdf7a, 0x8db, 0xdf85, 0x8d4, 0xdf90,

+  0x8ce, 0xdf9b, 0x8c8, 0xdfa5, 0x8c1, 0xdfb0, 0x8bb, 0xdfbb,

+  0x8b5, 0xdfc6, 0x8ae, 0xdfd1, 0x8a8, 0xdfdc, 0x8a2, 0xdfe7,

+  0x89b, 0xdff1, 0x895, 0xdffc, 0x88f, 0xe007, 0x889, 0xe012,

+  0x882, 0xe01d, 0x87c, 0xe028, 0x876, 0xe033, 0x870, 0xe03e,

+  0x869, 0xe049, 0x863, 0xe054, 0x85d, 0xe05e, 0x857, 0xe069,

+  0x850, 0xe074, 0x84a, 0xe07f, 0x844, 0xe08a, 0x83e, 0xe095,

+  0x838, 0xe0a0, 0x832, 0xe0ab, 0x82b, 0xe0b6, 0x825, 0xe0c1,

+  0x81f, 0xe0cc, 0x819, 0xe0d7, 0x813, 0xe0e2, 0x80d, 0xe0ed,

+  0x807, 0xe0f8, 0x801, 0xe103, 0x7fb, 0xe10e, 0x7f5, 0xe119,

+  0x7ee, 0xe124, 0x7e8, 0xe12f, 0x7e2, 0xe13a, 0x7dc, 0xe145,

+  0x7d6, 0xe150, 0x7d0, 0xe15b, 0x7ca, 0xe166, 0x7c4, 0xe171,

+  0x7be, 0xe17c, 0x7b8, 0xe187, 0x7b2, 0xe192, 0x7ac, 0xe19d,

+  0x7a6, 0xe1a8, 0x7a0, 0xe1b3, 0x79a, 0xe1be, 0x795, 0xe1ca,

+  0x78f, 0xe1d5, 0x789, 0xe1e0, 0x783, 0xe1eb, 0x77d, 0xe1f6,

+  0x777, 0xe201, 0x771, 0xe20c, 0x76b, 0xe217, 0x765, 0xe222,

+  0x75f, 0xe22d, 0x75a, 0xe239, 0x754, 0xe244, 0x74e, 0xe24f,

+  0x748, 0xe25a, 0x742, 0xe265, 0x73d, 0xe270, 0x737, 0xe27b,

+  0x731, 0xe287, 0x72b, 0xe292, 0x725, 0xe29d, 0x720, 0xe2a8,

+  0x71a, 0xe2b3, 0x714, 0xe2be, 0x70e, 0xe2ca, 0x709, 0xe2d5,

+  0x703, 0xe2e0, 0x6fd, 0xe2eb, 0x6f7, 0xe2f6, 0x6f2, 0xe301,

+  0x6ec, 0xe30d, 0x6e6, 0xe318, 0x6e1, 0xe323, 0x6db, 0xe32e,

+  0x6d5, 0xe33a, 0x6d0, 0xe345, 0x6ca, 0xe350, 0x6c5, 0xe35b,

+  0x6bf, 0xe367, 0x6b9, 0xe372, 0x6b4, 0xe37d, 0x6ae, 0xe388,

+  0x6a8, 0xe394, 0x6a3, 0xe39f, 0x69d, 0xe3aa, 0x698, 0xe3b5,

+  0x692, 0xe3c1, 0x68d, 0xe3cc, 0x687, 0xe3d7, 0x682, 0xe3e2,

+  0x67c, 0xe3ee, 0x677, 0xe3f9, 0x671, 0xe404, 0x66c, 0xe410,

+  0x666, 0xe41b, 0x661, 0xe426, 0x65b, 0xe432, 0x656, 0xe43d,

+  0x650, 0xe448, 0x64b, 0xe454, 0x645, 0xe45f, 0x640, 0xe46a,

+  0x63b, 0xe476, 0x635, 0xe481, 0x630, 0xe48c, 0x62a, 0xe498,

+  0x625, 0xe4a3, 0x620, 0xe4ae, 0x61a, 0xe4ba, 0x615, 0xe4c5,

+  0x610, 0xe4d0, 0x60a, 0xe4dc, 0x605, 0xe4e7, 0x600, 0xe4f3,

+  0x5fa, 0xe4fe, 0x5f5, 0xe509, 0x5f0, 0xe515, 0x5ea, 0xe520,

+  0x5e5, 0xe52c, 0x5e0, 0xe537, 0x5db, 0xe542, 0x5d5, 0xe54e,

+  0x5d0, 0xe559, 0x5cb, 0xe565, 0x5c6, 0xe570, 0x5c1, 0xe57c,

+  0x5bb, 0xe587, 0x5b6, 0xe592, 0x5b1, 0xe59e, 0x5ac, 0xe5a9,

+  0x5a7, 0xe5b5, 0x5a1, 0xe5c0, 0x59c, 0xe5cc, 0x597, 0xe5d7,

+  0x592, 0xe5e3, 0x58d, 0xe5ee, 0x588, 0xe5fa, 0x583, 0xe605,

+  0x57e, 0xe611, 0x578, 0xe61c, 0x573, 0xe628, 0x56e, 0xe633,

+  0x569, 0xe63f, 0x564, 0xe64a, 0x55f, 0xe656, 0x55a, 0xe661,

+  0x555, 0xe66d, 0x550, 0xe678, 0x54b, 0xe684, 0x546, 0xe68f,

+  0x541, 0xe69b, 0x53c, 0xe6a6, 0x537, 0xe6b2, 0x532, 0xe6bd,

+  0x52d, 0xe6c9, 0x528, 0xe6d4, 0x523, 0xe6e0, 0x51e, 0xe6ec,

+  0x51a, 0xe6f7, 0x515, 0xe703, 0x510, 0xe70e, 0x50b, 0xe71a,

+  0x506, 0xe725, 0x501, 0xe731, 0x4fc, 0xe73d, 0x4f7, 0xe748,

+  0x4f2, 0xe754, 0x4ee, 0xe75f, 0x4e9, 0xe76b, 0x4e4, 0xe777,

+  0x4df, 0xe782, 0x4da, 0xe78e, 0x4d6, 0xe799, 0x4d1, 0xe7a5,

+  0x4cc, 0xe7b1, 0x4c7, 0xe7bc, 0x4c2, 0xe7c8, 0x4be, 0xe7d3,

+  0x4b9, 0xe7df, 0x4b4, 0xe7eb, 0x4b0, 0xe7f6, 0x4ab, 0xe802,

+  0x4a6, 0xe80e, 0x4a1, 0xe819, 0x49d, 0xe825, 0x498, 0xe831,

+  0x493, 0xe83c, 0x48f, 0xe848, 0x48a, 0xe854, 0x485, 0xe85f,

+  0x481, 0xe86b, 0x47c, 0xe877, 0x478, 0xe882, 0x473, 0xe88e,

+  0x46e, 0xe89a, 0x46a, 0xe8a5, 0x465, 0xe8b1, 0x461, 0xe8bd,

+  0x45c, 0xe8c9, 0x457, 0xe8d4, 0x453, 0xe8e0, 0x44e, 0xe8ec,

+  0x44a, 0xe8f7, 0x445, 0xe903, 0x441, 0xe90f, 0x43c, 0xe91b,

+  0x438, 0xe926, 0x433, 0xe932, 0x42f, 0xe93e, 0x42a, 0xe94a,

+  0x426, 0xe955, 0x422, 0xe961, 0x41d, 0xe96d, 0x419, 0xe979,

+  0x414, 0xe984, 0x410, 0xe990, 0x40b, 0xe99c, 0x407, 0xe9a8,

+  0x403, 0xe9b4, 0x3fe, 0xe9bf, 0x3fa, 0xe9cb, 0x3f6, 0xe9d7,

+  0x3f1, 0xe9e3, 0x3ed, 0xe9ee, 0x3e9, 0xe9fa, 0x3e4, 0xea06,

+  0x3e0, 0xea12, 0x3dc, 0xea1e, 0x3d7, 0xea29, 0x3d3, 0xea35,

+  0x3cf, 0xea41, 0x3ca, 0xea4d, 0x3c6, 0xea59, 0x3c2, 0xea65,

+  0x3be, 0xea70, 0x3ba, 0xea7c, 0x3b5, 0xea88, 0x3b1, 0xea94,

+  0x3ad, 0xeaa0, 0x3a9, 0xeaac, 0x3a5, 0xeab7, 0x3a0, 0xeac3,

+  0x39c, 0xeacf, 0x398, 0xeadb, 0x394, 0xeae7, 0x390, 0xeaf3,

+  0x38c, 0xeaff, 0x387, 0xeb0a, 0x383, 0xeb16, 0x37f, 0xeb22,

+  0x37b, 0xeb2e, 0x377, 0xeb3a, 0x373, 0xeb46, 0x36f, 0xeb52,

+  0x36b, 0xeb5e, 0x367, 0xeb6a, 0x363, 0xeb75, 0x35f, 0xeb81,

+  0x35b, 0xeb8d, 0x357, 0xeb99, 0x353, 0xeba5, 0x34f, 0xebb1,

+  0x34b, 0xebbd, 0x347, 0xebc9, 0x343, 0xebd5, 0x33f, 0xebe1,

+  0x33b, 0xebed, 0x337, 0xebf9, 0x333, 0xec05, 0x32f, 0xec10,

+  0x32b, 0xec1c, 0x327, 0xec28, 0x323, 0xec34, 0x320, 0xec40,

+  0x31c, 0xec4c, 0x318, 0xec58, 0x314, 0xec64, 0x310, 0xec70,

+  0x30c, 0xec7c, 0x308, 0xec88, 0x305, 0xec94, 0x301, 0xeca0,

+  0x2fd, 0xecac, 0x2f9, 0xecb8, 0x2f5, 0xecc4, 0x2f2, 0xecd0,

+  0x2ee, 0xecdc, 0x2ea, 0xece8, 0x2e6, 0xecf4, 0x2e3, 0xed00,

+  0x2df, 0xed0c, 0x2db, 0xed18, 0x2d8, 0xed24, 0x2d4, 0xed30,

+  0x2d0, 0xed3c, 0x2cc, 0xed48, 0x2c9, 0xed54, 0x2c5, 0xed60,

+  0x2c1, 0xed6c, 0x2be, 0xed78, 0x2ba, 0xed84, 0x2b7, 0xed90,

+  0x2b3, 0xed9c, 0x2af, 0xeda8, 0x2ac, 0xedb4, 0x2a8, 0xedc0,

+  0x2a5, 0xedcc, 0x2a1, 0xedd8, 0x29d, 0xede4, 0x29a, 0xedf0,

+  0x296, 0xedfc, 0x293, 0xee09, 0x28f, 0xee15, 0x28c, 0xee21,

+  0x288, 0xee2d, 0x285, 0xee39, 0x281, 0xee45, 0x27e, 0xee51,

+  0x27a, 0xee5d, 0x277, 0xee69, 0x273, 0xee75, 0x270, 0xee81,

+  0x26d, 0xee8d, 0x269, 0xee99, 0x266, 0xeea6, 0x262, 0xeeb2,

+  0x25f, 0xeebe, 0x25c, 0xeeca, 0x258, 0xeed6, 0x255, 0xeee2,

+  0x251, 0xeeee, 0x24e, 0xeefa, 0x24b, 0xef06, 0x247, 0xef13,

+  0x244, 0xef1f, 0x241, 0xef2b, 0x23e, 0xef37, 0x23a, 0xef43,

+  0x237, 0xef4f, 0x234, 0xef5b, 0x230, 0xef67, 0x22d, 0xef74,

+  0x22a, 0xef80, 0x227, 0xef8c, 0x223, 0xef98, 0x220, 0xefa4,

+  0x21d, 0xefb0, 0x21a, 0xefbc, 0x217, 0xefc9, 0x213, 0xefd5,

+  0x210, 0xefe1, 0x20d, 0xefed, 0x20a, 0xeff9, 0x207, 0xf005,

+  0x204, 0xf012, 0x201, 0xf01e, 0x1fd, 0xf02a, 0x1fa, 0xf036,

+  0x1f7, 0xf042, 0x1f4, 0xf04e, 0x1f1, 0xf05b, 0x1ee, 0xf067,

+  0x1eb, 0xf073, 0x1e8, 0xf07f, 0x1e5, 0xf08b, 0x1e2, 0xf098,

+  0x1df, 0xf0a4, 0x1dc, 0xf0b0, 0x1d9, 0xf0bc, 0x1d6, 0xf0c8,

+  0x1d3, 0xf0d5, 0x1d0, 0xf0e1, 0x1cd, 0xf0ed, 0x1ca, 0xf0f9,

+  0x1c7, 0xf105, 0x1c4, 0xf112, 0x1c1, 0xf11e, 0x1be, 0xf12a,

+  0x1bb, 0xf136, 0x1b8, 0xf143, 0x1b6, 0xf14f, 0x1b3, 0xf15b,

+  0x1b0, 0xf167, 0x1ad, 0xf174, 0x1aa, 0xf180, 0x1a7, 0xf18c,

+  0x1a4, 0xf198, 0x1a2, 0xf1a4, 0x19f, 0xf1b1, 0x19c, 0xf1bd,

+  0x199, 0xf1c9, 0x196, 0xf1d5, 0x194, 0xf1e2, 0x191, 0xf1ee,

+  0x18e, 0xf1fa, 0x18b, 0xf207, 0x189, 0xf213, 0x186, 0xf21f,

+  0x183, 0xf22b, 0x180, 0xf238, 0x17e, 0xf244, 0x17b, 0xf250,

+  0x178, 0xf25c, 0x176, 0xf269, 0x173, 0xf275, 0x170, 0xf281,

+  0x16e, 0xf28e, 0x16b, 0xf29a, 0x168, 0xf2a6, 0x166, 0xf2b2,

+  0x163, 0xf2bf, 0x161, 0xf2cb, 0x15e, 0xf2d7, 0x15b, 0xf2e4,

+  0x159, 0xf2f0, 0x156, 0xf2fc, 0x154, 0xf308, 0x151, 0xf315,

+  0x14f, 0xf321, 0x14c, 0xf32d, 0x14a, 0xf33a, 0x147, 0xf346,

+  0x145, 0xf352, 0x142, 0xf35f, 0x140, 0xf36b, 0x13d, 0xf377,

+  0x13b, 0xf384, 0x138, 0xf390, 0x136, 0xf39c, 0x134, 0xf3a9,

+  0x131, 0xf3b5, 0x12f, 0xf3c1, 0x12c, 0xf3ce, 0x12a, 0xf3da,

+  0x128, 0xf3e6, 0x125, 0xf3f3, 0x123, 0xf3ff, 0x120, 0xf40b,

+  0x11e, 0xf418, 0x11c, 0xf424, 0x119, 0xf430, 0x117, 0xf43d,

+  0x115, 0xf449, 0x113, 0xf455, 0x110, 0xf462, 0x10e, 0xf46e,

+  0x10c, 0xf47b, 0x109, 0xf487, 0x107, 0xf493, 0x105, 0xf4a0,

+  0x103, 0xf4ac, 0x100, 0xf4b8, 0xfe, 0xf4c5, 0xfc, 0xf4d1,

+  0xfa, 0xf4dd, 0xf8, 0xf4ea, 0xf6, 0xf4f6, 0xf3, 0xf503,

+  0xf1, 0xf50f, 0xef, 0xf51b, 0xed, 0xf528, 0xeb, 0xf534,

+  0xe9, 0xf540, 0xe7, 0xf54d, 0xe4, 0xf559, 0xe2, 0xf566,

+  0xe0, 0xf572, 0xde, 0xf57e, 0xdc, 0xf58b, 0xda, 0xf597,

+  0xd8, 0xf5a4, 0xd6, 0xf5b0, 0xd4, 0xf5bc, 0xd2, 0xf5c9,

+  0xd0, 0xf5d5, 0xce, 0xf5e2, 0xcc, 0xf5ee, 0xca, 0xf5fa,

+  0xc8, 0xf607, 0xc6, 0xf613, 0xc4, 0xf620, 0xc2, 0xf62c,

+  0xc0, 0xf639, 0xbe, 0xf645, 0xbd, 0xf651, 0xbb, 0xf65e,

+  0xb9, 0xf66a, 0xb7, 0xf677, 0xb5, 0xf683, 0xb3, 0xf690,

+  0xb1, 0xf69c, 0xaf, 0xf6a8, 0xae, 0xf6b5, 0xac, 0xf6c1,

+  0xaa, 0xf6ce, 0xa8, 0xf6da, 0xa6, 0xf6e7, 0xa5, 0xf6f3,

+  0xa3, 0xf6ff, 0xa1, 0xf70c, 0x9f, 0xf718, 0x9e, 0xf725,

+  0x9c, 0xf731, 0x9a, 0xf73e, 0x98, 0xf74a, 0x97, 0xf757,

+  0x95, 0xf763, 0x93, 0xf76f, 0x92, 0xf77c, 0x90, 0xf788,

+  0x8e, 0xf795, 0x8d, 0xf7a1, 0x8b, 0xf7ae, 0x89, 0xf7ba,

+  0x88, 0xf7c7, 0x86, 0xf7d3, 0x85, 0xf7e0, 0x83, 0xf7ec,

+  0x81, 0xf7f9, 0x80, 0xf805, 0x7e, 0xf811, 0x7d, 0xf81e,

+  0x7b, 0xf82a, 0x7a, 0xf837, 0x78, 0xf843, 0x77, 0xf850,

+  0x75, 0xf85c, 0x74, 0xf869, 0x72, 0xf875, 0x71, 0xf882,

+  0x6f, 0xf88e, 0x6e, 0xf89b, 0x6c, 0xf8a7, 0x6b, 0xf8b4,

+  0x69, 0xf8c0, 0x68, 0xf8cd, 0x67, 0xf8d9, 0x65, 0xf8e6,

+  0x64, 0xf8f2, 0x62, 0xf8ff, 0x61, 0xf90b, 0x60, 0xf918,

+  0x5e, 0xf924, 0x5d, 0xf931, 0x5c, 0xf93d, 0x5a, 0xf94a,

+  0x59, 0xf956, 0x58, 0xf963, 0x56, 0xf96f, 0x55, 0xf97c,

+  0x54, 0xf988, 0x53, 0xf995, 0x51, 0xf9a1, 0x50, 0xf9ae,

+  0x4f, 0xf9ba, 0x4e, 0xf9c7, 0x4c, 0xf9d3, 0x4b, 0xf9e0,

+  0x4a, 0xf9ec, 0x49, 0xf9f9, 0x48, 0xfa05, 0x47, 0xfa12,

+  0x45, 0xfa1e, 0x44, 0xfa2b, 0x43, 0xfa37, 0x42, 0xfa44,

+  0x41, 0xfa50, 0x40, 0xfa5d, 0x3f, 0xfa69, 0x3d, 0xfa76,

+  0x3c, 0xfa82, 0x3b, 0xfa8f, 0x3a, 0xfa9b, 0x39, 0xfaa8,

+  0x38, 0xfab4, 0x37, 0xfac1, 0x36, 0xfacd, 0x35, 0xfada,

+  0x34, 0xfae6, 0x33, 0xfaf3, 0x32, 0xfb00, 0x31, 0xfb0c,

+  0x30, 0xfb19, 0x2f, 0xfb25, 0x2e, 0xfb32, 0x2d, 0xfb3e,

+  0x2c, 0xfb4b, 0x2b, 0xfb57, 0x2b, 0xfb64, 0x2a, 0xfb70,

+  0x29, 0xfb7d, 0x28, 0xfb89, 0x27, 0xfb96, 0x26, 0xfba2,

+  0x25, 0xfbaf, 0x24, 0xfbbc, 0x24, 0xfbc8, 0x23, 0xfbd5,

+  0x22, 0xfbe1, 0x21, 0xfbee, 0x20, 0xfbfa, 0x20, 0xfc07,

+  0x1f, 0xfc13, 0x1e, 0xfc20, 0x1d, 0xfc2c, 0x1d, 0xfc39,

+  0x1c, 0xfc45, 0x1b, 0xfc52, 0x1a, 0xfc5f, 0x1a, 0xfc6b,

+  0x19, 0xfc78, 0x18, 0xfc84, 0x18, 0xfc91, 0x17, 0xfc9d,

+  0x16, 0xfcaa, 0x16, 0xfcb6, 0x15, 0xfcc3, 0x14, 0xfcd0,

+  0x14, 0xfcdc, 0x13, 0xfce9, 0x13, 0xfcf5, 0x12, 0xfd02,

+  0x11, 0xfd0e, 0x11, 0xfd1b, 0x10, 0xfd27, 0x10, 0xfd34,

+  0xf, 0xfd40, 0xf, 0xfd4d, 0xe, 0xfd5a, 0xe, 0xfd66,

+  0xd, 0xfd73, 0xd, 0xfd7f, 0xc, 0xfd8c, 0xc, 0xfd98,

+  0xb, 0xfda5, 0xb, 0xfdb2, 0xa, 0xfdbe, 0xa, 0xfdcb,

+  0x9, 0xfdd7, 0x9, 0xfde4, 0x9, 0xfdf0, 0x8, 0xfdfd,

+  0x8, 0xfe09, 0x7, 0xfe16, 0x7, 0xfe23, 0x7, 0xfe2f,

+  0x6, 0xfe3c, 0x6, 0xfe48, 0x6, 0xfe55, 0x5, 0xfe61,

+  0x5, 0xfe6e, 0x5, 0xfe7a, 0x4, 0xfe87, 0x4, 0xfe94,

+  0x4, 0xfea0, 0x4, 0xfead, 0x3, 0xfeb9, 0x3, 0xfec6,

+  0x3, 0xfed2, 0x3, 0xfedf, 0x2, 0xfeec, 0x2, 0xfef8,

+  0x2, 0xff05, 0x2, 0xff11, 0x2, 0xff1e, 0x1, 0xff2a,

+  0x1, 0xff37, 0x1, 0xff44, 0x1, 0xff50, 0x1, 0xff5d,

+  0x1, 0xff69, 0x1, 0xff76, 0x0, 0xff82, 0x0, 0xff8f,

+  0x0, 0xff9b, 0x0, 0xffa8, 0x0, 0xffb5, 0x0, 0xffc1,

+  0x0, 0xffce, 0x0, 0xffda, 0x0, 0xffe7, 0x0, 0xfff3,

+  0x0, 0x0, 0x0, 0xd, 0x0, 0x19, 0x0, 0x26,

+  0x0, 0x32, 0x0, 0x3f, 0x0, 0x4b, 0x0, 0x58,

+  0x0, 0x65, 0x0, 0x71, 0x0, 0x7e, 0x1, 0x8a,

+  0x1, 0x97, 0x1, 0xa3, 0x1, 0xb0, 0x1, 0xbc,

+  0x1, 0xc9, 0x1, 0xd6, 0x2, 0xe2, 0x2, 0xef,

+  0x2, 0xfb, 0x2, 0x108, 0x2, 0x114, 0x3, 0x121,

+  0x3, 0x12e, 0x3, 0x13a, 0x3, 0x147, 0x4, 0x153,

+  0x4, 0x160, 0x4, 0x16c, 0x4, 0x179, 0x5, 0x186,

+  0x5, 0x192, 0x5, 0x19f, 0x6, 0x1ab, 0x6, 0x1b8,

+  0x6, 0x1c4, 0x7, 0x1d1, 0x7, 0x1dd, 0x7, 0x1ea,

+  0x8, 0x1f7, 0x8, 0x203, 0x9, 0x210, 0x9, 0x21c,

+  0x9, 0x229, 0xa, 0x235, 0xa, 0x242, 0xb, 0x24e,

+  0xb, 0x25b, 0xc, 0x268, 0xc, 0x274, 0xd, 0x281,

+  0xd, 0x28d, 0xe, 0x29a, 0xe, 0x2a6, 0xf, 0x2b3,

+  0xf, 0x2c0, 0x10, 0x2cc, 0x10, 0x2d9, 0x11, 0x2e5,

+  0x11, 0x2f2, 0x12, 0x2fe, 0x13, 0x30b, 0x13, 0x317,

+  0x14, 0x324, 0x14, 0x330, 0x15, 0x33d, 0x16, 0x34a,

+  0x16, 0x356, 0x17, 0x363, 0x18, 0x36f, 0x18, 0x37c,

+  0x19, 0x388, 0x1a, 0x395, 0x1a, 0x3a1, 0x1b, 0x3ae,

+  0x1c, 0x3bb, 0x1d, 0x3c7, 0x1d, 0x3d4, 0x1e, 0x3e0,

+  0x1f, 0x3ed, 0x20, 0x3f9, 0x20, 0x406, 0x21, 0x412,

+  0x22, 0x41f, 0x23, 0x42b, 0x24, 0x438, 0x24, 0x444,

+  0x25, 0x451, 0x26, 0x45e, 0x27, 0x46a, 0x28, 0x477,

+  0x29, 0x483, 0x2a, 0x490, 0x2b, 0x49c, 0x2b, 0x4a9,

+  0x2c, 0x4b5, 0x2d, 0x4c2, 0x2e, 0x4ce, 0x2f, 0x4db,

+  0x30, 0x4e7, 0x31, 0x4f4, 0x32, 0x500, 0x33, 0x50d,

+  0x34, 0x51a, 0x35, 0x526, 0x36, 0x533, 0x37, 0x53f,

+  0x38, 0x54c, 0x39, 0x558, 0x3a, 0x565, 0x3b, 0x571,

+  0x3c, 0x57e, 0x3d, 0x58a, 0x3f, 0x597, 0x40, 0x5a3,

+  0x41, 0x5b0, 0x42, 0x5bc, 0x43, 0x5c9, 0x44, 0x5d5,

+  0x45, 0x5e2, 0x47, 0x5ee, 0x48, 0x5fb, 0x49, 0x607,

+  0x4a, 0x614, 0x4b, 0x620, 0x4c, 0x62d, 0x4e, 0x639,

+  0x4f, 0x646, 0x50, 0x652, 0x51, 0x65f, 0x53, 0x66b,

+  0x54, 0x678, 0x55, 0x684, 0x56, 0x691, 0x58, 0x69d,

+  0x59, 0x6aa, 0x5a, 0x6b6, 0x5c, 0x6c3, 0x5d, 0x6cf,

+  0x5e, 0x6dc, 0x60, 0x6e8, 0x61, 0x6f5, 0x62, 0x701,

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+  0x4a6, 0x17f2, 0x4ab, 0x17fe, 0x4b0, 0x180a, 0x4b4, 0x1815,

+  0x4b9, 0x1821, 0x4be, 0x182d, 0x4c2, 0x1838, 0x4c7, 0x1844,

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+  0x4df, 0x187e, 0x4e4, 0x1889, 0x4e9, 0x1895, 0x4ee, 0x18a1,

+  0x4f2, 0x18ac, 0x4f7, 0x18b8, 0x4fc, 0x18c3, 0x501, 0x18cf,

+  0x506, 0x18db, 0x50b, 0x18e6, 0x510, 0x18f2, 0x515, 0x18fd,

+  0x51a, 0x1909, 0x51e, 0x1914, 0x523, 0x1920, 0x528, 0x192c,

+  0x52d, 0x1937, 0x532, 0x1943, 0x537, 0x194e, 0x53c, 0x195a,

+  0x541, 0x1965, 0x546, 0x1971, 0x54b, 0x197c, 0x550, 0x1988,

+  0x555, 0x1993, 0x55a, 0x199f, 0x55f, 0x19aa, 0x564, 0x19b6,

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+  0x57e, 0x19ef, 0x583, 0x19fb, 0x588, 0x1a06, 0x58d, 0x1a12,

+  0x592, 0x1a1d, 0x597, 0x1a29, 0x59c, 0x1a34, 0x5a1, 0x1a40,

+  0x5a7, 0x1a4b, 0x5ac, 0x1a57, 0x5b1, 0x1a62, 0x5b6, 0x1a6e,

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+  0x5d0, 0x1aa7, 0x5d5, 0x1ab2, 0x5db, 0x1abe, 0x5e0, 0x1ac9,

+  0x5e5, 0x1ad4, 0x5ea, 0x1ae0, 0x5f0, 0x1aeb, 0x5f5, 0x1af7,

+  0x5fa, 0x1b02, 0x600, 0x1b0d, 0x605, 0x1b19, 0x60a, 0x1b24,

+  0x610, 0x1b30, 0x615, 0x1b3b, 0x61a, 0x1b46, 0x620, 0x1b52,

+  0x625, 0x1b5d, 0x62a, 0x1b68, 0x630, 0x1b74, 0x635, 0x1b7f,

+  0x63b, 0x1b8a, 0x640, 0x1b96, 0x645, 0x1ba1, 0x64b, 0x1bac,

+  0x650, 0x1bb8, 0x656, 0x1bc3, 0x65b, 0x1bce, 0x661, 0x1bda,

+  0x666, 0x1be5, 0x66c, 0x1bf0, 0x671, 0x1bfc, 0x677, 0x1c07,

+  0x67c, 0x1c12, 0x682, 0x1c1e, 0x687, 0x1c29, 0x68d, 0x1c34,

+  0x692, 0x1c3f, 0x698, 0x1c4b, 0x69d, 0x1c56, 0x6a3, 0x1c61,

+  0x6a8, 0x1c6c, 0x6ae, 0x1c78, 0x6b4, 0x1c83, 0x6b9, 0x1c8e,

+  0x6bf, 0x1c99, 0x6c5, 0x1ca5, 0x6ca, 0x1cb0, 0x6d0, 0x1cbb,

+  0x6d5, 0x1cc6, 0x6db, 0x1cd2, 0x6e1, 0x1cdd, 0x6e6, 0x1ce8,

+  0x6ec, 0x1cf3, 0x6f2, 0x1cff, 0x6f7, 0x1d0a, 0x6fd, 0x1d15,

+  0x703, 0x1d20, 0x709, 0x1d2b, 0x70e, 0x1d36, 0x714, 0x1d42,

+  0x71a, 0x1d4d, 0x720, 0x1d58, 0x725, 0x1d63, 0x72b, 0x1d6e,

+  0x731, 0x1d79, 0x737, 0x1d85, 0x73d, 0x1d90, 0x742, 0x1d9b,

+  0x748, 0x1da6, 0x74e, 0x1db1, 0x754, 0x1dbc, 0x75a, 0x1dc7,

+  0x75f, 0x1dd3, 0x765, 0x1dde, 0x76b, 0x1de9, 0x771, 0x1df4,

+  0x777, 0x1dff, 0x77d, 0x1e0a, 0x783, 0x1e15, 0x789, 0x1e20,

+  0x78f, 0x1e2b, 0x795, 0x1e36, 0x79a, 0x1e42, 0x7a0, 0x1e4d,

+  0x7a6, 0x1e58, 0x7ac, 0x1e63, 0x7b2, 0x1e6e, 0x7b8, 0x1e79,

+  0x7be, 0x1e84, 0x7c4, 0x1e8f, 0x7ca, 0x1e9a, 0x7d0, 0x1ea5,

+  0x7d6, 0x1eb0, 0x7dc, 0x1ebb, 0x7e2, 0x1ec6, 0x7e8, 0x1ed1,

+  0x7ee, 0x1edc, 0x7f5, 0x1ee7, 0x7fb, 0x1ef2, 0x801, 0x1efd,

+  0x807, 0x1f08, 0x80d, 0x1f13, 0x813, 0x1f1e, 0x819, 0x1f29,

+  0x81f, 0x1f34, 0x825, 0x1f3f, 0x82b, 0x1f4a, 0x832, 0x1f55,

+  0x838, 0x1f60, 0x83e, 0x1f6b, 0x844, 0x1f76, 0x84a, 0x1f81,

+  0x850, 0x1f8c, 0x857, 0x1f97, 0x85d, 0x1fa2, 0x863, 0x1fac,

+  0x869, 0x1fb7, 0x870, 0x1fc2, 0x876, 0x1fcd, 0x87c, 0x1fd8,

+  0x882, 0x1fe3, 0x889, 0x1fee, 0x88f, 0x1ff9, 0x895, 0x2004,

+  0x89b, 0x200f, 0x8a2, 0x2019, 0x8a8, 0x2024, 0x8ae, 0x202f,

+  0x8b5, 0x203a, 0x8bb, 0x2045, 0x8c1, 0x2050, 0x8c8, 0x205b,

+  0x8ce, 0x2065, 0x8d4, 0x2070, 0x8db, 0x207b, 0x8e1, 0x2086,

+  0x8e8, 0x2091, 0x8ee, 0x209b, 0x8f4, 0x20a6, 0x8fb, 0x20b1,

+  0x901, 0x20bc, 0x908, 0x20c7, 0x90e, 0x20d1, 0x915, 0x20dc,

+  0x91b, 0x20e7, 0x921, 0x20f2, 0x928, 0x20fd, 0x92e, 0x2107,

+  0x935, 0x2112, 0x93b, 0x211d, 0x942, 0x2128, 0x948, 0x2132,

+  0x94f, 0x213d, 0x955, 0x2148, 0x95c, 0x2153, 0x963, 0x215d,

+  0x969, 0x2168, 0x970, 0x2173, 0x976, 0x217d, 0x97d, 0x2188,

+  0x983, 0x2193, 0x98a, 0x219e, 0x991, 0x21a8, 0x997, 0x21b3,

+  0x99e, 0x21be, 0x9a4, 0x21c8, 0x9ab, 0x21d3, 0x9b2, 0x21de,

+  0x9b8, 0x21e8, 0x9bf, 0x21f3, 0x9c6, 0x21fe, 0x9cc, 0x2208,

+  0x9d3, 0x2213, 0x9da, 0x221e, 0x9e0, 0x2228, 0x9e7, 0x2233,

+  0x9ee, 0x223d, 0x9f5, 0x2248, 0x9fb, 0x2253, 0xa02, 0x225d,

+  0xa09, 0x2268, 0xa10, 0x2272, 0xa16, 0x227d, 0xa1d, 0x2288,

+  0xa24, 0x2292, 0xa2b, 0x229d, 0xa32, 0x22a7, 0xa38, 0x22b2,

+  0xa3f, 0x22bc, 0xa46, 0x22c7, 0xa4d, 0x22d2, 0xa54, 0x22dc,

+  0xa5b, 0x22e7, 0xa61, 0x22f1, 0xa68, 0x22fc, 0xa6f, 0x2306,

+  0xa76, 0x2311, 0xa7d, 0x231b, 0xa84, 0x2326, 0xa8b, 0x2330,

+  0xa92, 0x233b, 0xa99, 0x2345, 0xa9f, 0x2350, 0xaa6, 0x235a,

+  0xaad, 0x2365, 0xab4, 0x236f, 0xabb, 0x237a, 0xac2, 0x2384,

+  0xac9, 0x238e, 0xad0, 0x2399, 0xad7, 0x23a3, 0xade, 0x23ae,

+  0xae5, 0x23b8, 0xaec, 0x23c3, 0xaf3, 0x23cd, 0xafa, 0x23d7,

+  0xb01, 0x23e2, 0xb08, 0x23ec, 0xb0f, 0x23f7, 0xb16, 0x2401,

+  0xb1e, 0x240b, 0xb25, 0x2416, 0xb2c, 0x2420, 0xb33, 0x242b,

+  0xb3a, 0x2435, 0xb41, 0x243f, 0xb48, 0x244a, 0xb4f, 0x2454,

+  0xb56, 0x245e, 0xb5e, 0x2469, 0xb65, 0x2473, 0xb6c, 0x247d,

+  0xb73, 0x2488, 0xb7a, 0x2492, 0xb81, 0x249c, 0xb89, 0x24a7,

+  0xb90, 0x24b1, 0xb97, 0x24bb, 0xb9e, 0x24c5, 0xba5, 0x24d0,

+  0xbad, 0x24da, 0xbb4, 0x24e4, 0xbbb, 0x24ef, 0xbc2, 0x24f9,

+  0xbca, 0x2503, 0xbd1, 0x250d, 0xbd8, 0x2518, 0xbe0, 0x2522,

+  0xbe7, 0x252c, 0xbee, 0x2536, 0xbf5, 0x2541, 0xbfd, 0x254b,

+  0xc04, 0x2555, 0xc0b, 0x255f, 0xc13, 0x2569, 0xc1a, 0x2574,

+  0xc21, 0x257e, 0xc29, 0x2588, 0xc30, 0x2592, 0xc38, 0x259c,

+  0xc3f, 0x25a6, 0xc46, 0x25b1, 0xc4e, 0x25bb, 0xc55, 0x25c5,

+  0xc5d, 0x25cf, 0xc64, 0x25d9, 0xc6b, 0x25e3, 0xc73, 0x25ed,

+  0xc7a, 0x25f8, 0xc82, 0x2602, 0xc89, 0x260c, 0xc91, 0x2616,

+  0xc98, 0x2620, 0xca0, 0x262a, 0xca7, 0x2634, 0xcaf, 0x263e,

+  0xcb6, 0x2648, 0xcbe, 0x2652, 0xcc5, 0x265c, 0xccd, 0x2666,

+  0xcd4, 0x2671, 0xcdc, 0x267b, 0xce3, 0x2685, 0xceb, 0x268f,

+  0xcf3, 0x2699, 0xcfa, 0x26a3, 0xd02, 0x26ad, 0xd09, 0x26b7,

+  0xd11, 0x26c1, 0xd19, 0x26cb, 0xd20, 0x26d5, 0xd28, 0x26df,

+  0xd30, 0x26e9, 0xd37, 0x26f3, 0xd3f, 0x26fd, 0xd46, 0x2707,

+  0xd4e, 0x2711, 0xd56, 0x271a, 0xd5d, 0x2724, 0xd65, 0x272e,

+  0xd6d, 0x2738, 0xd75, 0x2742, 0xd7c, 0x274c, 0xd84, 0x2756,

+  0xd8c, 0x2760, 0xd93, 0x276a, 0xd9b, 0x2774, 0xda3, 0x277e,

+  0xdab, 0x2788, 0xdb2, 0x2791, 0xdba, 0x279b, 0xdc2, 0x27a5,

+  0xdca, 0x27af, 0xdd2, 0x27b9, 0xdd9, 0x27c3, 0xde1, 0x27cd,

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+  0xe08, 0x27fe, 0xe10, 0x2808, 0xe18, 0x2811, 0xe20, 0x281b,

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+  0xf28, 0x295b, 0xf30, 0x2965, 0xf38, 0x296e, 0xf40, 0x2978,

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+  0xfab, 0x29f4, 0xfb3, 0x29fd, 0xfbb, 0x2a07, 0xfc4, 0x2a10,

+  0xfcc, 0x2a1a, 0xfd4, 0x2a23, 0xfdc, 0x2a2c, 0xfe5, 0x2a36,

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+  0x10d8, 0x2b45, 0x10e0, 0x2b4e, 0x10e9, 0x2b58, 0x10f2, 0x2b61,

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+  0x113e, 0x2bb4, 0x1147, 0x2bbd, 0x1150, 0x2bc6, 0x1158, 0x2bcf,

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+  0x12e2, 0x2d65, 0x12eb, 0x2d6e, 0x12f4, 0x2d76, 0x12fd, 0x2d7f,

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+  0x132a, 0x2dab, 0x1333, 0x2db4, 0x133c, 0x2dbd, 0x1345, 0x2dc6,

+  0x134e, 0x2dcf, 0x1357, 0x2dd7, 0x1360, 0x2de0, 0x1369, 0x2de9,

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+  0x1575, 0x2fd0, 0x157f, 0x2fd9, 0x1588, 0x2fe1, 0x1592, 0x2fea,

+  0x159b, 0x2ff2, 0x15a4, 0x2ffa, 0x15ae, 0x3002, 0x15b7, 0x300b,

+  0x15c1, 0x3013, 0x15ca, 0x301b, 0x15d4, 0x3024, 0x15dd, 0x302c,

+  0x15e6, 0x3034, 0x15f0, 0x303c, 0x15f9, 0x3045, 0x1603, 0x304d,

+  0x160c, 0x3055, 0x1616, 0x305d, 0x161f, 0x3066, 0x1629, 0x306e,

+  0x1632, 0x3076, 0x163c, 0x307e, 0x1645, 0x3087, 0x164f, 0x308f,

+  0x1659, 0x3097, 0x1662, 0x309f, 0x166c, 0x30a7, 0x1675, 0x30af,

+  0x167f, 0x30b8, 0x1688, 0x30c0, 0x1692, 0x30c8, 0x169b, 0x30d0,

+  0x16a5, 0x30d8, 0x16af, 0x30e0, 0x16b8, 0x30e8, 0x16c2, 0x30f0,

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+  0x16f2, 0x3119, 0x16fc, 0x3121, 0x1705, 0x3129, 0x170f, 0x3131,

+  0x1719, 0x3139, 0x1722, 0x3141, 0x172c, 0x3149, 0x1736, 0x3151,

+  0x173f, 0x3159, 0x1749, 0x3161, 0x1753, 0x3169, 0x175c, 0x3171,

+  0x1766, 0x3179, 0x1770, 0x3181, 0x177a, 0x3189, 0x1783, 0x3191,

+  0x178d, 0x3199, 0x1797, 0x31a1, 0x17a0, 0x31a9, 0x17aa, 0x31b1,

+  0x17b4, 0x31b9, 0x17be, 0x31c0, 0x17c8, 0x31c8, 0x17d1, 0x31d0,

+  0x17db, 0x31d8, 0x17e5, 0x31e0, 0x17ef, 0x31e8, 0x17f8, 0x31f0,

+  0x1802, 0x31f8, 0x180c, 0x31ff, 0x1816, 0x3207, 0x1820, 0x320f,

+  0x182a, 0x3217, 0x1833, 0x321f, 0x183d, 0x3227, 0x1847, 0x322e,

+  0x1851, 0x3236, 0x185b, 0x323e, 0x1865, 0x3246, 0x186f, 0x324e,

+  0x1878, 0x3255, 0x1882, 0x325d, 0x188c, 0x3265, 0x1896, 0x326d,

+  0x18a0, 0x3274, 0x18aa, 0x327c, 0x18b4, 0x3284, 0x18be, 0x328b,

+  0x18c8, 0x3293, 0x18d2, 0x329b, 0x18dc, 0x32a3, 0x18e6, 0x32aa,

+  0x18ef, 0x32b2, 0x18f9, 0x32ba, 0x1903, 0x32c1, 0x190d, 0x32c9,

+  0x1917, 0x32d0, 0x1921, 0x32d8, 0x192b, 0x32e0, 0x1935, 0x32e7,

+  0x193f, 0x32ef, 0x1949, 0x32f7, 0x1953, 0x32fe, 0x195d, 0x3306,

+  0x1967, 0x330d, 0x1971, 0x3315, 0x197b, 0x331d, 0x1985, 0x3324,

+  0x198f, 0x332c, 0x199a, 0x3333, 0x19a4, 0x333b, 0x19ae, 0x3342,

+  0x19b8, 0x334a, 0x19c2, 0x3351, 0x19cc, 0x3359, 0x19d6, 0x3360,

+  0x19e0, 0x3368, 0x19ea, 0x336f, 0x19f4, 0x3377, 0x19fe, 0x337e,

+  0x1a08, 0x3386, 0x1a13, 0x338d, 0x1a1d, 0x3395, 0x1a27, 0x339c,

+  0x1a31, 0x33a3, 0x1a3b, 0x33ab, 0x1a45, 0x33b2, 0x1a4f, 0x33ba,

+  0x1a5a, 0x33c1, 0x1a64, 0x33c8, 0x1a6e, 0x33d0, 0x1a78, 0x33d7,

+  0x1a82, 0x33df, 0x1a8c, 0x33e6, 0x1a97, 0x33ed, 0x1aa1, 0x33f5,

+  0x1aab, 0x33fc, 0x1ab5, 0x3403, 0x1abf, 0x340b, 0x1aca, 0x3412,

+  0x1ad4, 0x3419, 0x1ade, 0x3420, 0x1ae8, 0x3428, 0x1af3, 0x342f,

+  0x1afd, 0x3436, 0x1b07, 0x343e, 0x1b11, 0x3445, 0x1b1c, 0x344c,

+  0x1b26, 0x3453, 0x1b30, 0x345b, 0x1b3b, 0x3462, 0x1b45, 0x3469,

+  0x1b4f, 0x3470, 0x1b59, 0x3477, 0x1b64, 0x347f, 0x1b6e, 0x3486,

+  0x1b78, 0x348d, 0x1b83, 0x3494, 0x1b8d, 0x349b, 0x1b97, 0x34a2,

+  0x1ba2, 0x34aa, 0x1bac, 0x34b1, 0x1bb6, 0x34b8, 0x1bc1, 0x34bf,

+  0x1bcb, 0x34c6, 0x1bd5, 0x34cd, 0x1be0, 0x34d4, 0x1bea, 0x34db,

+  0x1bf5, 0x34e2, 0x1bff, 0x34ea, 0x1c09, 0x34f1, 0x1c14, 0x34f8,

+  0x1c1e, 0x34ff, 0x1c29, 0x3506, 0x1c33, 0x350d, 0x1c3d, 0x3514,

+  0x1c48, 0x351b, 0x1c52, 0x3522, 0x1c5d, 0x3529, 0x1c67, 0x3530,

+  0x1c72, 0x3537, 0x1c7c, 0x353e, 0x1c86, 0x3545, 0x1c91, 0x354c,

+  0x1c9b, 0x3553, 0x1ca6, 0x355a, 0x1cb0, 0x3561, 0x1cbb, 0x3567,

+  0x1cc5, 0x356e, 0x1cd0, 0x3575, 0x1cda, 0x357c, 0x1ce5, 0x3583,

+  0x1cef, 0x358a, 0x1cfa, 0x3591, 0x1d04, 0x3598, 0x1d0f, 0x359f,

+  0x1d19, 0x35a5, 0x1d24, 0x35ac, 0x1d2e, 0x35b3, 0x1d39, 0x35ba,

+  0x1d44, 0x35c1, 0x1d4e, 0x35c8, 0x1d59, 0x35ce, 0x1d63, 0x35d5,

+  0x1d6e, 0x35dc, 0x1d78, 0x35e3, 0x1d83, 0x35ea, 0x1d8e, 0x35f0,

+  0x1d98, 0x35f7, 0x1da3, 0x35fe, 0x1dad, 0x3605, 0x1db8, 0x360b,

+  0x1dc3, 0x3612, 0x1dcd, 0x3619, 0x1dd8, 0x3620, 0x1de2, 0x3626,

+  0x1ded, 0x362d, 0x1df8, 0x3634, 0x1e02, 0x363a, 0x1e0d, 0x3641,

+  0x1e18, 0x3648, 0x1e22, 0x364e, 0x1e2d, 0x3655, 0x1e38, 0x365c,

+  0x1e42, 0x3662, 0x1e4d, 0x3669, 0x1e58, 0x366f, 0x1e62, 0x3676,

+  0x1e6d, 0x367d, 0x1e78, 0x3683, 0x1e83, 0x368a, 0x1e8d, 0x3690,

+  0x1e98, 0x3697, 0x1ea3, 0x369d, 0x1ead, 0x36a4, 0x1eb8, 0x36ab,

+  0x1ec3, 0x36b1, 0x1ece, 0x36b8, 0x1ed8, 0x36be, 0x1ee3, 0x36c5,

+  0x1eee, 0x36cb, 0x1ef9, 0x36d2, 0x1f03, 0x36d8, 0x1f0e, 0x36df,

+  0x1f19, 0x36e5, 0x1f24, 0x36eb, 0x1f2f, 0x36f2, 0x1f39, 0x36f8,

+  0x1f44, 0x36ff, 0x1f4f, 0x3705, 0x1f5a, 0x370c, 0x1f65, 0x3712,

+  0x1f6f, 0x3718, 0x1f7a, 0x371f, 0x1f85, 0x3725, 0x1f90, 0x372c,

+  0x1f9b, 0x3732, 0x1fa5, 0x3738, 0x1fb0, 0x373f, 0x1fbb, 0x3745,

+  0x1fc6, 0x374b, 0x1fd1, 0x3752, 0x1fdc, 0x3758, 0x1fe7, 0x375e,

+  0x1ff1, 0x3765, 0x1ffc, 0x376b, 0x2007, 0x3771, 0x2012, 0x3777,

+  0x201d, 0x377e, 0x2028, 0x3784, 0x2033, 0x378a, 0x203e, 0x3790,

+  0x2049, 0x3797, 0x2054, 0x379d, 0x205e, 0x37a3, 0x2069, 0x37a9,

+  0x2074, 0x37b0, 0x207f, 0x37b6, 0x208a, 0x37bc, 0x2095, 0x37c2,

+  0x20a0, 0x37c8, 0x20ab, 0x37ce, 0x20b6, 0x37d5, 0x20c1, 0x37db,

+  0x20cc, 0x37e1, 0x20d7, 0x37e7, 0x20e2, 0x37ed, 0x20ed, 0x37f3,

+  0x20f8, 0x37f9, 0x2103, 0x37ff, 0x210e, 0x3805, 0x2119, 0x380b,

+  0x2124, 0x3812, 0x212f, 0x3818, 0x213a, 0x381e, 0x2145, 0x3824,

+  0x2150, 0x382a, 0x215b, 0x3830, 0x2166, 0x3836, 0x2171, 0x383c,

+  0x217c, 0x3842, 0x2187, 0x3848, 0x2192, 0x384e, 0x219d, 0x3854,

+  0x21a8, 0x385a, 0x21b3, 0x3860, 0x21be, 0x3866, 0x21ca, 0x386b,

+  0x21d5, 0x3871, 0x21e0, 0x3877, 0x21eb, 0x387d, 0x21f6, 0x3883,

+  0x2201, 0x3889, 0x220c, 0x388f, 0x2217, 0x3895, 0x2222, 0x389b,

+  0x222d, 0x38a1, 0x2239, 0x38a6, 0x2244, 0x38ac, 0x224f, 0x38b2,

+  0x225a, 0x38b8, 0x2265, 0x38be, 0x2270, 0x38c3, 0x227b, 0x38c9,

+  0x2287, 0x38cf, 0x2292, 0x38d5, 0x229d, 0x38db, 0x22a8, 0x38e0,

+  0x22b3, 0x38e6, 0x22be, 0x38ec, 0x22ca, 0x38f2, 0x22d5, 0x38f7,

+  0x22e0, 0x38fd, 0x22eb, 0x3903, 0x22f6, 0x3909, 0x2301, 0x390e,

+  0x230d, 0x3914, 0x2318, 0x391a, 0x2323, 0x391f, 0x232e, 0x3925,

+  0x233a, 0x392b, 0x2345, 0x3930, 0x2350, 0x3936, 0x235b, 0x393b,

+  0x2367, 0x3941, 0x2372, 0x3947, 0x237d, 0x394c, 0x2388, 0x3952,

+  0x2394, 0x3958, 0x239f, 0x395d, 0x23aa, 0x3963, 0x23b5, 0x3968,

+  0x23c1, 0x396e, 0x23cc, 0x3973, 0x23d7, 0x3979, 0x23e2, 0x397e,

+  0x23ee, 0x3984, 0x23f9, 0x3989, 0x2404, 0x398f, 0x2410, 0x3994,

+  0x241b, 0x399a, 0x2426, 0x399f, 0x2432, 0x39a5, 0x243d, 0x39aa,

+  0x2448, 0x39b0, 0x2454, 0x39b5, 0x245f, 0x39bb, 0x246a, 0x39c0,

+  0x2476, 0x39c5, 0x2481, 0x39cb, 0x248c, 0x39d0, 0x2498, 0x39d6,

+  0x24a3, 0x39db, 0x24ae, 0x39e0, 0x24ba, 0x39e6, 0x24c5, 0x39eb,

+  0x24d0, 0x39f0, 0x24dc, 0x39f6, 0x24e7, 0x39fb, 0x24f3, 0x3a00,

+  0x24fe, 0x3a06, 0x2509, 0x3a0b, 0x2515, 0x3a10, 0x2520, 0x3a16,

+  0x252c, 0x3a1b, 0x2537, 0x3a20, 0x2542, 0x3a25, 0x254e, 0x3a2b,

+  0x2559, 0x3a30, 0x2565, 0x3a35, 0x2570, 0x3a3a, 0x257c, 0x3a3f,

+  0x2587, 0x3a45, 0x2592, 0x3a4a, 0x259e, 0x3a4f, 0x25a9, 0x3a54,

+  0x25b5, 0x3a59, 0x25c0, 0x3a5f, 0x25cc, 0x3a64, 0x25d7, 0x3a69,

+  0x25e3, 0x3a6e, 0x25ee, 0x3a73, 0x25fa, 0x3a78, 0x2605, 0x3a7d,

+  0x2611, 0x3a82, 0x261c, 0x3a88, 0x2628, 0x3a8d, 0x2633, 0x3a92,

+  0x263f, 0x3a97, 0x264a, 0x3a9c, 0x2656, 0x3aa1, 0x2661, 0x3aa6,

+  0x266d, 0x3aab, 0x2678, 0x3ab0, 0x2684, 0x3ab5, 0x268f, 0x3aba,

+  0x269b, 0x3abf, 0x26a6, 0x3ac4, 0x26b2, 0x3ac9, 0x26bd, 0x3ace,

+  0x26c9, 0x3ad3, 0x26d4, 0x3ad8, 0x26e0, 0x3add, 0x26ec, 0x3ae2,

+  0x26f7, 0x3ae6, 0x2703, 0x3aeb, 0x270e, 0x3af0, 0x271a, 0x3af5,

+  0x2725, 0x3afa, 0x2731, 0x3aff, 0x273d, 0x3b04, 0x2748, 0x3b09,

+  0x2754, 0x3b0e, 0x275f, 0x3b12, 0x276b, 0x3b17, 0x2777, 0x3b1c,

+  0x2782, 0x3b21, 0x278e, 0x3b26, 0x2799, 0x3b2a, 0x27a5, 0x3b2f,

+  0x27b1, 0x3b34, 0x27bc, 0x3b39, 0x27c8, 0x3b3e, 0x27d3, 0x3b42,

+  0x27df, 0x3b47, 0x27eb, 0x3b4c, 0x27f6, 0x3b50, 0x2802, 0x3b55,

+  0x280e, 0x3b5a, 0x2819, 0x3b5f, 0x2825, 0x3b63, 0x2831, 0x3b68,

+  0x283c, 0x3b6d, 0x2848, 0x3b71, 0x2854, 0x3b76, 0x285f, 0x3b7b,

+  0x286b, 0x3b7f, 0x2877, 0x3b84, 0x2882, 0x3b88, 0x288e, 0x3b8d,

+  0x289a, 0x3b92, 0x28a5, 0x3b96, 0x28b1, 0x3b9b, 0x28bd, 0x3b9f,

+  0x28c9, 0x3ba4, 0x28d4, 0x3ba9, 0x28e0, 0x3bad, 0x28ec, 0x3bb2,

+  0x28f7, 0x3bb6, 0x2903, 0x3bbb, 0x290f, 0x3bbf, 0x291b, 0x3bc4,

+  0x2926, 0x3bc8, 0x2932, 0x3bcd, 0x293e, 0x3bd1, 0x294a, 0x3bd6,

+  0x2955, 0x3bda, 0x2961, 0x3bde, 0x296d, 0x3be3, 0x2979, 0x3be7,

+  0x2984, 0x3bec, 0x2990, 0x3bf0, 0x299c, 0x3bf5, 0x29a8, 0x3bf9,

+  0x29b4, 0x3bfd, 0x29bf, 0x3c02, 0x29cb, 0x3c06, 0x29d7, 0x3c0a,

+  0x29e3, 0x3c0f, 0x29ee, 0x3c13, 0x29fa, 0x3c17, 0x2a06, 0x3c1c,

+  0x2a12, 0x3c20, 0x2a1e, 0x3c24, 0x2a29, 0x3c29, 0x2a35, 0x3c2d,

+  0x2a41, 0x3c31, 0x2a4d, 0x3c36, 0x2a59, 0x3c3a, 0x2a65, 0x3c3e,

+  0x2a70, 0x3c42, 0x2a7c, 0x3c46, 0x2a88, 0x3c4b, 0x2a94, 0x3c4f,

+  0x2aa0, 0x3c53, 0x2aac, 0x3c57, 0x2ab7, 0x3c5b, 0x2ac3, 0x3c60,

+  0x2acf, 0x3c64, 0x2adb, 0x3c68, 0x2ae7, 0x3c6c, 0x2af3, 0x3c70,

+  0x2aff, 0x3c74, 0x2b0a, 0x3c79, 0x2b16, 0x3c7d, 0x2b22, 0x3c81,

+  0x2b2e, 0x3c85, 0x2b3a, 0x3c89, 0x2b46, 0x3c8d, 0x2b52, 0x3c91,

+  0x2b5e, 0x3c95, 0x2b6a, 0x3c99, 0x2b75, 0x3c9d, 0x2b81, 0x3ca1,

+  0x2b8d, 0x3ca5, 0x2b99, 0x3ca9, 0x2ba5, 0x3cad, 0x2bb1, 0x3cb1,

+  0x2bbd, 0x3cb5, 0x2bc9, 0x3cb9, 0x2bd5, 0x3cbd, 0x2be1, 0x3cc1,

+  0x2bed, 0x3cc5, 0x2bf9, 0x3cc9, 0x2c05, 0x3ccd, 0x2c10, 0x3cd1,

+  0x2c1c, 0x3cd5, 0x2c28, 0x3cd9, 0x2c34, 0x3cdd, 0x2c40, 0x3ce0,

+  0x2c4c, 0x3ce4, 0x2c58, 0x3ce8, 0x2c64, 0x3cec, 0x2c70, 0x3cf0,

+  0x2c7c, 0x3cf4, 0x2c88, 0x3cf8, 0x2c94, 0x3cfb, 0x2ca0, 0x3cff,

+  0x2cac, 0x3d03, 0x2cb8, 0x3d07, 0x2cc4, 0x3d0b, 0x2cd0, 0x3d0e,

+  0x2cdc, 0x3d12, 0x2ce8, 0x3d16, 0x2cf4, 0x3d1a, 0x2d00, 0x3d1d,

+  0x2d0c, 0x3d21, 0x2d18, 0x3d25, 0x2d24, 0x3d28, 0x2d30, 0x3d2c,

+  0x2d3c, 0x3d30, 0x2d48, 0x3d34, 0x2d54, 0x3d37, 0x2d60, 0x3d3b,

+  0x2d6c, 0x3d3f, 0x2d78, 0x3d42, 0x2d84, 0x3d46, 0x2d90, 0x3d49,

+  0x2d9c, 0x3d4d, 0x2da8, 0x3d51, 0x2db4, 0x3d54, 0x2dc0, 0x3d58,

+  0x2dcc, 0x3d5b, 0x2dd8, 0x3d5f, 0x2de4, 0x3d63, 0x2df0, 0x3d66,

+  0x2dfc, 0x3d6a, 0x2e09, 0x3d6d, 0x2e15, 0x3d71, 0x2e21, 0x3d74,

+  0x2e2d, 0x3d78, 0x2e39, 0x3d7b, 0x2e45, 0x3d7f, 0x2e51, 0x3d82,

+  0x2e5d, 0x3d86, 0x2e69, 0x3d89, 0x2e75, 0x3d8d, 0x2e81, 0x3d90,

+  0x2e8d, 0x3d93, 0x2e99, 0x3d97, 0x2ea6, 0x3d9a, 0x2eb2, 0x3d9e,

+  0x2ebe, 0x3da1, 0x2eca, 0x3da4, 0x2ed6, 0x3da8, 0x2ee2, 0x3dab,

+  0x2eee, 0x3daf, 0x2efa, 0x3db2, 0x2f06, 0x3db5, 0x2f13, 0x3db9,

+  0x2f1f, 0x3dbc, 0x2f2b, 0x3dbf, 0x2f37, 0x3dc2, 0x2f43, 0x3dc6,

+  0x2f4f, 0x3dc9, 0x2f5b, 0x3dcc, 0x2f67, 0x3dd0, 0x2f74, 0x3dd3,

+  0x2f80, 0x3dd6, 0x2f8c, 0x3dd9, 0x2f98, 0x3ddd, 0x2fa4, 0x3de0,

+  0x2fb0, 0x3de3, 0x2fbc, 0x3de6, 0x2fc9, 0x3de9, 0x2fd5, 0x3ded,

+  0x2fe1, 0x3df0, 0x2fed, 0x3df3, 0x2ff9, 0x3df6, 0x3005, 0x3df9,

+  0x3012, 0x3dfc, 0x301e, 0x3dff, 0x302a, 0x3e03, 0x3036, 0x3e06,

+  0x3042, 0x3e09, 0x304e, 0x3e0c, 0x305b, 0x3e0f, 0x3067, 0x3e12,

+  0x3073, 0x3e15, 0x307f, 0x3e18, 0x308b, 0x3e1b, 0x3098, 0x3e1e,

+  0x30a4, 0x3e21, 0x30b0, 0x3e24, 0x30bc, 0x3e27, 0x30c8, 0x3e2a,

+  0x30d5, 0x3e2d, 0x30e1, 0x3e30, 0x30ed, 0x3e33, 0x30f9, 0x3e36,

+  0x3105, 0x3e39, 0x3112, 0x3e3c, 0x311e, 0x3e3f, 0x312a, 0x3e42,

+  0x3136, 0x3e45, 0x3143, 0x3e48, 0x314f, 0x3e4a, 0x315b, 0x3e4d,

+  0x3167, 0x3e50, 0x3174, 0x3e53, 0x3180, 0x3e56, 0x318c, 0x3e59,

+  0x3198, 0x3e5c, 0x31a4, 0x3e5e, 0x31b1, 0x3e61, 0x31bd, 0x3e64,

+  0x31c9, 0x3e67, 0x31d5, 0x3e6a, 0x31e2, 0x3e6c, 0x31ee, 0x3e6f,

+  0x31fa, 0x3e72, 0x3207, 0x3e75, 0x3213, 0x3e77, 0x321f, 0x3e7a,

+  0x322b, 0x3e7d, 0x3238, 0x3e80, 0x3244, 0x3e82, 0x3250, 0x3e85,

+  0x325c, 0x3e88, 0x3269, 0x3e8a, 0x3275, 0x3e8d, 0x3281, 0x3e90,

+  0x328e, 0x3e92, 0x329a, 0x3e95, 0x32a6, 0x3e98, 0x32b2, 0x3e9a,

+  0x32bf, 0x3e9d, 0x32cb, 0x3e9f, 0x32d7, 0x3ea2, 0x32e4, 0x3ea5,

+  0x32f0, 0x3ea7, 0x32fc, 0x3eaa, 0x3308, 0x3eac, 0x3315, 0x3eaf,

+  0x3321, 0x3eb1, 0x332d, 0x3eb4, 0x333a, 0x3eb6, 0x3346, 0x3eb9,

+  0x3352, 0x3ebb, 0x335f, 0x3ebe, 0x336b, 0x3ec0, 0x3377, 0x3ec3,

+  0x3384, 0x3ec5, 0x3390, 0x3ec8, 0x339c, 0x3eca, 0x33a9, 0x3ecc,

+  0x33b5, 0x3ecf, 0x33c1, 0x3ed1, 0x33ce, 0x3ed4, 0x33da, 0x3ed6,

+  0x33e6, 0x3ed8, 0x33f3, 0x3edb, 0x33ff, 0x3edd, 0x340b, 0x3ee0,

+  0x3418, 0x3ee2, 0x3424, 0x3ee4, 0x3430, 0x3ee7, 0x343d, 0x3ee9,

+  0x3449, 0x3eeb, 0x3455, 0x3eed, 0x3462, 0x3ef0, 0x346e, 0x3ef2,

+  0x347b, 0x3ef4, 0x3487, 0x3ef7, 0x3493, 0x3ef9, 0x34a0, 0x3efb,

+  0x34ac, 0x3efd, 0x34b8, 0x3f00, 0x34c5, 0x3f02, 0x34d1, 0x3f04,

+  0x34dd, 0x3f06, 0x34ea, 0x3f08, 0x34f6, 0x3f0a, 0x3503, 0x3f0d,

+  0x350f, 0x3f0f, 0x351b, 0x3f11, 0x3528, 0x3f13, 0x3534, 0x3f15,

+  0x3540, 0x3f17, 0x354d, 0x3f19, 0x3559, 0x3f1c, 0x3566, 0x3f1e,

+  0x3572, 0x3f20, 0x357e, 0x3f22, 0x358b, 0x3f24, 0x3597, 0x3f26,

+  0x35a4, 0x3f28, 0x35b0, 0x3f2a, 0x35bc, 0x3f2c, 0x35c9, 0x3f2e,

+  0x35d5, 0x3f30, 0x35e2, 0x3f32, 0x35ee, 0x3f34, 0x35fa, 0x3f36,

+  0x3607, 0x3f38, 0x3613, 0x3f3a, 0x3620, 0x3f3c, 0x362c, 0x3f3e,

+  0x3639, 0x3f40, 0x3645, 0x3f42, 0x3651, 0x3f43, 0x365e, 0x3f45,

+  0x366a, 0x3f47, 0x3677, 0x3f49, 0x3683, 0x3f4b, 0x3690, 0x3f4d,

+  0x369c, 0x3f4f, 0x36a8, 0x3f51, 0x36b5, 0x3f52, 0x36c1, 0x3f54,

+  0x36ce, 0x3f56, 0x36da, 0x3f58, 0x36e7, 0x3f5a, 0x36f3, 0x3f5b,

+  0x36ff, 0x3f5d, 0x370c, 0x3f5f, 0x3718, 0x3f61, 0x3725, 0x3f62,

+  0x3731, 0x3f64, 0x373e, 0x3f66, 0x374a, 0x3f68, 0x3757, 0x3f69,

+  0x3763, 0x3f6b, 0x376f, 0x3f6d, 0x377c, 0x3f6e, 0x3788, 0x3f70,

+  0x3795, 0x3f72, 0x37a1, 0x3f73, 0x37ae, 0x3f75, 0x37ba, 0x3f77,

+  0x37c7, 0x3f78, 0x37d3, 0x3f7a, 0x37e0, 0x3f7b, 0x37ec, 0x3f7d,

+  0x37f9, 0x3f7f, 0x3805, 0x3f80, 0x3811, 0x3f82, 0x381e, 0x3f83,

+  0x382a, 0x3f85, 0x3837, 0x3f86, 0x3843, 0x3f88, 0x3850, 0x3f89,

+  0x385c, 0x3f8b, 0x3869, 0x3f8c, 0x3875, 0x3f8e, 0x3882, 0x3f8f,

+  0x388e, 0x3f91, 0x389b, 0x3f92, 0x38a7, 0x3f94, 0x38b4, 0x3f95,

+  0x38c0, 0x3f97, 0x38cd, 0x3f98, 0x38d9, 0x3f99, 0x38e6, 0x3f9b,

+  0x38f2, 0x3f9c, 0x38ff, 0x3f9e, 0x390b, 0x3f9f, 0x3918, 0x3fa0,

+  0x3924, 0x3fa2, 0x3931, 0x3fa3, 0x393d, 0x3fa4, 0x394a, 0x3fa6,

+  0x3956, 0x3fa7, 0x3963, 0x3fa8, 0x396f, 0x3faa, 0x397c, 0x3fab,

+  0x3988, 0x3fac, 0x3995, 0x3fad, 0x39a1, 0x3faf, 0x39ae, 0x3fb0,

+  0x39ba, 0x3fb1, 0x39c7, 0x3fb2, 0x39d3, 0x3fb4, 0x39e0, 0x3fb5,

+  0x39ec, 0x3fb6, 0x39f9, 0x3fb7, 0x3a05, 0x3fb8, 0x3a12, 0x3fb9,

+  0x3a1e, 0x3fbb, 0x3a2b, 0x3fbc, 0x3a37, 0x3fbd, 0x3a44, 0x3fbe,

+  0x3a50, 0x3fbf, 0x3a5d, 0x3fc0, 0x3a69, 0x3fc1, 0x3a76, 0x3fc3,

+  0x3a82, 0x3fc4, 0x3a8f, 0x3fc5, 0x3a9b, 0x3fc6, 0x3aa8, 0x3fc7,

+  0x3ab4, 0x3fc8, 0x3ac1, 0x3fc9, 0x3acd, 0x3fca, 0x3ada, 0x3fcb,

+  0x3ae6, 0x3fcc, 0x3af3, 0x3fcd, 0x3b00, 0x3fce, 0x3b0c, 0x3fcf,

+  0x3b19, 0x3fd0, 0x3b25, 0x3fd1, 0x3b32, 0x3fd2, 0x3b3e, 0x3fd3,

+  0x3b4b, 0x3fd4, 0x3b57, 0x3fd5, 0x3b64, 0x3fd5, 0x3b70, 0x3fd6,

+  0x3b7d, 0x3fd7, 0x3b89, 0x3fd8, 0x3b96, 0x3fd9, 0x3ba2, 0x3fda,

+  0x3baf, 0x3fdb, 0x3bbc, 0x3fdc, 0x3bc8, 0x3fdc, 0x3bd5, 0x3fdd,

+  0x3be1, 0x3fde, 0x3bee, 0x3fdf, 0x3bfa, 0x3fe0, 0x3c07, 0x3fe0,

+  0x3c13, 0x3fe1, 0x3c20, 0x3fe2, 0x3c2c, 0x3fe3, 0x3c39, 0x3fe3,

+  0x3c45, 0x3fe4, 0x3c52, 0x3fe5, 0x3c5f, 0x3fe6, 0x3c6b, 0x3fe6,

+  0x3c78, 0x3fe7, 0x3c84, 0x3fe8, 0x3c91, 0x3fe8, 0x3c9d, 0x3fe9,

+  0x3caa, 0x3fea, 0x3cb6, 0x3fea, 0x3cc3, 0x3feb, 0x3cd0, 0x3fec,

+  0x3cdc, 0x3fec, 0x3ce9, 0x3fed, 0x3cf5, 0x3fed, 0x3d02, 0x3fee,

+  0x3d0e, 0x3fef, 0x3d1b, 0x3fef, 0x3d27, 0x3ff0, 0x3d34, 0x3ff0,

+  0x3d40, 0x3ff1, 0x3d4d, 0x3ff1, 0x3d5a, 0x3ff2, 0x3d66, 0x3ff2,

+  0x3d73, 0x3ff3, 0x3d7f, 0x3ff3, 0x3d8c, 0x3ff4, 0x3d98, 0x3ff4,

+  0x3da5, 0x3ff5, 0x3db2, 0x3ff5, 0x3dbe, 0x3ff6, 0x3dcb, 0x3ff6,

+  0x3dd7, 0x3ff7, 0x3de4, 0x3ff7, 0x3df0, 0x3ff7, 0x3dfd, 0x3ff8,

+  0x3e09, 0x3ff8, 0x3e16, 0x3ff9, 0x3e23, 0x3ff9, 0x3e2f, 0x3ff9,

+  0x3e3c, 0x3ffa, 0x3e48, 0x3ffa, 0x3e55, 0x3ffa, 0x3e61, 0x3ffb,

+  0x3e6e, 0x3ffb, 0x3e7a, 0x3ffb, 0x3e87, 0x3ffc, 0x3e94, 0x3ffc,

+  0x3ea0, 0x3ffc, 0x3ead, 0x3ffc, 0x3eb9, 0x3ffd, 0x3ec6, 0x3ffd,

+  0x3ed2, 0x3ffd, 0x3edf, 0x3ffd, 0x3eec, 0x3ffe, 0x3ef8, 0x3ffe,

+  0x3f05, 0x3ffe, 0x3f11, 0x3ffe, 0x3f1e, 0x3ffe, 0x3f2a, 0x3fff,

+  0x3f37, 0x3fff, 0x3f44, 0x3fff, 0x3f50, 0x3fff, 0x3f5d, 0x3fff,

+  0x3f69, 0x3fff, 0x3f76, 0x3fff, 0x3f82, 0x4000, 0x3f8f, 0x4000,

+  0x3f9b, 0x4000, 0x3fa8, 0x4000, 0x3fb5, 0x4000, 0x3fc1, 0x4000,

+  0x3fce, 0x4000, 0x3fda, 0x4000, 0x3fe7, 0x4000, 0x3ff3, 0x4000,

+};

+

+/**    

+* \par   

+* Generation of real_CoefB array:    

+* \par    

+* n = 4096    

+* <pre>for (i = 0; i < n; i++)    

+*  {    

+*    pBTable[2 * i] = 0.5 * (1.0 + sin (2 * PI / (double) (2 * n) * (double) i));    

+*    pBTable[2 * i + 1] = 0.5 * (1.0 * cos (2 * PI / (double) (2 * n) * (double) i));    

+*  } </pre>   

+* \par    

+* Convert to fixed point Q15 format    

+*       round(pBTable[i] * pow(2, 15))    

+*    

+*/

+

+static const q15_t ALIGN4 realCoefBQ15[8192] = {

+  0x4000, 0x4000, 0x400d, 0x4000, 0x4019, 0x4000, 0x4026, 0x4000,

+  0x4032, 0x4000, 0x403f, 0x4000, 0x404b, 0x4000, 0x4058, 0x4000,

+  0x4065, 0x4000, 0x4071, 0x4000, 0x407e, 0x4000, 0x408a, 0x3fff,

+  0x4097, 0x3fff, 0x40a3, 0x3fff, 0x40b0, 0x3fff, 0x40bc, 0x3fff,

+  0x40c9, 0x3fff, 0x40d6, 0x3fff, 0x40e2, 0x3ffe, 0x40ef, 0x3ffe,

+  0x40fb, 0x3ffe, 0x4108, 0x3ffe, 0x4114, 0x3ffe, 0x4121, 0x3ffd,

+  0x412e, 0x3ffd, 0x413a, 0x3ffd, 0x4147, 0x3ffd, 0x4153, 0x3ffc,

+  0x4160, 0x3ffc, 0x416c, 0x3ffc, 0x4179, 0x3ffc, 0x4186, 0x3ffb,

+  0x4192, 0x3ffb, 0x419f, 0x3ffb, 0x41ab, 0x3ffa, 0x41b8, 0x3ffa,

+  0x41c4, 0x3ffa, 0x41d1, 0x3ff9, 0x41dd, 0x3ff9, 0x41ea, 0x3ff9,

+  0x41f7, 0x3ff8, 0x4203, 0x3ff8, 0x4210, 0x3ff7, 0x421c, 0x3ff7,

+  0x4229, 0x3ff7, 0x4235, 0x3ff6, 0x4242, 0x3ff6, 0x424e, 0x3ff5,

+  0x425b, 0x3ff5, 0x4268, 0x3ff4, 0x4274, 0x3ff4, 0x4281, 0x3ff3,

+  0x428d, 0x3ff3, 0x429a, 0x3ff2, 0x42a6, 0x3ff2, 0x42b3, 0x3ff1,

+  0x42c0, 0x3ff1, 0x42cc, 0x3ff0, 0x42d9, 0x3ff0, 0x42e5, 0x3fef,

+  0x42f2, 0x3fef, 0x42fe, 0x3fee, 0x430b, 0x3fed, 0x4317, 0x3fed,

+  0x4324, 0x3fec, 0x4330, 0x3fec, 0x433d, 0x3feb, 0x434a, 0x3fea,

+  0x4356, 0x3fea, 0x4363, 0x3fe9, 0x436f, 0x3fe8, 0x437c, 0x3fe8,

+  0x4388, 0x3fe7, 0x4395, 0x3fe6, 0x43a1, 0x3fe6, 0x43ae, 0x3fe5,

+  0x43bb, 0x3fe4, 0x43c7, 0x3fe3, 0x43d4, 0x3fe3, 0x43e0, 0x3fe2,

+  0x43ed, 0x3fe1, 0x43f9, 0x3fe0, 0x4406, 0x3fe0, 0x4412, 0x3fdf,

+  0x441f, 0x3fde, 0x442b, 0x3fdd, 0x4438, 0x3fdc, 0x4444, 0x3fdc,

+  0x4451, 0x3fdb, 0x445e, 0x3fda, 0x446a, 0x3fd9, 0x4477, 0x3fd8,

+  0x4483, 0x3fd7, 0x4490, 0x3fd6, 0x449c, 0x3fd5, 0x44a9, 0x3fd5,

+  0x44b5, 0x3fd4, 0x44c2, 0x3fd3, 0x44ce, 0x3fd2, 0x44db, 0x3fd1,

+  0x44e7, 0x3fd0, 0x44f4, 0x3fcf, 0x4500, 0x3fce, 0x450d, 0x3fcd,

+  0x451a, 0x3fcc, 0x4526, 0x3fcb, 0x4533, 0x3fca, 0x453f, 0x3fc9,

+  0x454c, 0x3fc8, 0x4558, 0x3fc7, 0x4565, 0x3fc6, 0x4571, 0x3fc5,

+  0x457e, 0x3fc4, 0x458a, 0x3fc3, 0x4597, 0x3fc1, 0x45a3, 0x3fc0,

+  0x45b0, 0x3fbf, 0x45bc, 0x3fbe, 0x45c9, 0x3fbd, 0x45d5, 0x3fbc,

+  0x45e2, 0x3fbb, 0x45ee, 0x3fb9, 0x45fb, 0x3fb8, 0x4607, 0x3fb7,

+  0x4614, 0x3fb6, 0x4620, 0x3fb5, 0x462d, 0x3fb4, 0x4639, 0x3fb2,

+  0x4646, 0x3fb1, 0x4652, 0x3fb0, 0x465f, 0x3faf, 0x466b, 0x3fad,

+  0x4678, 0x3fac, 0x4684, 0x3fab, 0x4691, 0x3faa, 0x469d, 0x3fa8,

+  0x46aa, 0x3fa7, 0x46b6, 0x3fa6, 0x46c3, 0x3fa4, 0x46cf, 0x3fa3,

+  0x46dc, 0x3fa2, 0x46e8, 0x3fa0, 0x46f5, 0x3f9f, 0x4701, 0x3f9e,

+  0x470e, 0x3f9c, 0x471a, 0x3f9b, 0x4727, 0x3f99, 0x4733, 0x3f98,

+  0x4740, 0x3f97, 0x474c, 0x3f95, 0x4759, 0x3f94, 0x4765, 0x3f92,

+  0x4772, 0x3f91, 0x477e, 0x3f8f, 0x478b, 0x3f8e, 0x4797, 0x3f8c,

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+  0x47d6, 0x3f85, 0x47e2, 0x3f83, 0x47ef, 0x3f82, 0x47fb, 0x3f80,

+  0x4807, 0x3f7f, 0x4814, 0x3f7d, 0x4820, 0x3f7b, 0x482d, 0x3f7a,

+  0x4839, 0x3f78, 0x4846, 0x3f77, 0x4852, 0x3f75, 0x485f, 0x3f73,

+  0x486b, 0x3f72, 0x4878, 0x3f70, 0x4884, 0x3f6e, 0x4891, 0x3f6d,

+  0x489d, 0x3f6b, 0x48a9, 0x3f69, 0x48b6, 0x3f68, 0x48c2, 0x3f66,

+  0x48cf, 0x3f64, 0x48db, 0x3f62, 0x48e8, 0x3f61, 0x48f4, 0x3f5f,

+  0x4901, 0x3f5d, 0x490d, 0x3f5b, 0x4919, 0x3f5a, 0x4926, 0x3f58,

+  0x4932, 0x3f56, 0x493f, 0x3f54, 0x494b, 0x3f52, 0x4958, 0x3f51,

+  0x4964, 0x3f4f, 0x4970, 0x3f4d, 0x497d, 0x3f4b, 0x4989, 0x3f49,

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+  0x49c7, 0x3f40, 0x49d4, 0x3f3e, 0x49e0, 0x3f3c, 0x49ed, 0x3f3a,

+  0x49f9, 0x3f38, 0x4a06, 0x3f36, 0x4a12, 0x3f34, 0x4a1e, 0x3f32,

+  0x4a2b, 0x3f30, 0x4a37, 0x3f2e, 0x4a44, 0x3f2c, 0x4a50, 0x3f2a,

+  0x4a5c, 0x3f28, 0x4a69, 0x3f26, 0x4a75, 0x3f24, 0x4a82, 0x3f22,

+  0x4a8e, 0x3f20, 0x4a9a, 0x3f1e, 0x4aa7, 0x3f1c, 0x4ab3, 0x3f19,

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+  0x4b23, 0x3f06, 0x4b2f, 0x3f04, 0x4b3b, 0x3f02, 0x4b48, 0x3f00,

+  0x4b54, 0x3efd, 0x4b60, 0x3efb, 0x4b6d, 0x3ef9, 0x4b79, 0x3ef7,

+  0x4b85, 0x3ef4, 0x4b92, 0x3ef2, 0x4b9e, 0x3ef0, 0x4bab, 0x3eed,

+  0x4bb7, 0x3eeb, 0x4bc3, 0x3ee9, 0x4bd0, 0x3ee7, 0x4bdc, 0x3ee4,

+  0x4be8, 0x3ee2, 0x4bf5, 0x3ee0, 0x4c01, 0x3edd, 0x4c0d, 0x3edb,

+  0x4c1a, 0x3ed8, 0x4c26, 0x3ed6, 0x4c32, 0x3ed4, 0x4c3f, 0x3ed1,

+  0x4c4b, 0x3ecf, 0x4c57, 0x3ecc, 0x4c64, 0x3eca, 0x4c70, 0x3ec8,

+  0x4c7c, 0x3ec5, 0x4c89, 0x3ec3, 0x4c95, 0x3ec0, 0x4ca1, 0x3ebe,

+  0x4cae, 0x3ebb, 0x4cba, 0x3eb9, 0x4cc6, 0x3eb6, 0x4cd3, 0x3eb4,

+  0x4cdf, 0x3eb1, 0x4ceb, 0x3eaf, 0x4cf8, 0x3eac, 0x4d04, 0x3eaa,

+  0x4d10, 0x3ea7, 0x4d1c, 0x3ea5, 0x4d29, 0x3ea2, 0x4d35, 0x3e9f,

+  0x4d41, 0x3e9d, 0x4d4e, 0x3e9a, 0x4d5a, 0x3e98, 0x4d66, 0x3e95,

+  0x4d72, 0x3e92, 0x4d7f, 0x3e90, 0x4d8b, 0x3e8d, 0x4d97, 0x3e8a,

+  0x4da4, 0x3e88, 0x4db0, 0x3e85, 0x4dbc, 0x3e82, 0x4dc8, 0x3e80,

+  0x4dd5, 0x3e7d, 0x4de1, 0x3e7a, 0x4ded, 0x3e77, 0x4df9, 0x3e75,

+  0x4e06, 0x3e72, 0x4e12, 0x3e6f, 0x4e1e, 0x3e6c, 0x4e2b, 0x3e6a,

+  0x4e37, 0x3e67, 0x4e43, 0x3e64, 0x4e4f, 0x3e61, 0x4e5c, 0x3e5e,

+  0x4e68, 0x3e5c, 0x4e74, 0x3e59, 0x4e80, 0x3e56, 0x4e8c, 0x3e53,

+  0x4e99, 0x3e50, 0x4ea5, 0x3e4d, 0x4eb1, 0x3e4a, 0x4ebd, 0x3e48,

+  0x4eca, 0x3e45, 0x4ed6, 0x3e42, 0x4ee2, 0x3e3f, 0x4eee, 0x3e3c,

+  0x4efb, 0x3e39, 0x4f07, 0x3e36, 0x4f13, 0x3e33, 0x4f1f, 0x3e30,

+  0x4f2b, 0x3e2d, 0x4f38, 0x3e2a, 0x4f44, 0x3e27, 0x4f50, 0x3e24,

+  0x4f5c, 0x3e21, 0x4f68, 0x3e1e, 0x4f75, 0x3e1b, 0x4f81, 0x3e18,

+  0x4f8d, 0x3e15, 0x4f99, 0x3e12, 0x4fa5, 0x3e0f, 0x4fb2, 0x3e0c,

+  0x4fbe, 0x3e09, 0x4fca, 0x3e06, 0x4fd6, 0x3e03, 0x4fe2, 0x3dff,

+  0x4fee, 0x3dfc, 0x4ffb, 0x3df9, 0x5007, 0x3df6, 0x5013, 0x3df3,

+  0x501f, 0x3df0, 0x502b, 0x3ded, 0x5037, 0x3de9, 0x5044, 0x3de6,

+  0x5050, 0x3de3, 0x505c, 0x3de0, 0x5068, 0x3ddd, 0x5074, 0x3dd9,

+  0x5080, 0x3dd6, 0x508c, 0x3dd3, 0x5099, 0x3dd0, 0x50a5, 0x3dcc,

+  0x50b1, 0x3dc9, 0x50bd, 0x3dc6, 0x50c9, 0x3dc2, 0x50d5, 0x3dbf,

+  0x50e1, 0x3dbc, 0x50ed, 0x3db9, 0x50fa, 0x3db5, 0x5106, 0x3db2,

+  0x5112, 0x3daf, 0x511e, 0x3dab, 0x512a, 0x3da8, 0x5136, 0x3da4,

+  0x5142, 0x3da1, 0x514e, 0x3d9e, 0x515a, 0x3d9a, 0x5167, 0x3d97,

+  0x5173, 0x3d93, 0x517f, 0x3d90, 0x518b, 0x3d8d, 0x5197, 0x3d89,

+  0x51a3, 0x3d86, 0x51af, 0x3d82, 0x51bb, 0x3d7f, 0x51c7, 0x3d7b,

+  0x51d3, 0x3d78, 0x51df, 0x3d74, 0x51eb, 0x3d71, 0x51f7, 0x3d6d,

+  0x5204, 0x3d6a, 0x5210, 0x3d66, 0x521c, 0x3d63, 0x5228, 0x3d5f,

+  0x5234, 0x3d5b, 0x5240, 0x3d58, 0x524c, 0x3d54, 0x5258, 0x3d51,

+  0x5264, 0x3d4d, 0x5270, 0x3d49, 0x527c, 0x3d46, 0x5288, 0x3d42,

+  0x5294, 0x3d3f, 0x52a0, 0x3d3b, 0x52ac, 0x3d37, 0x52b8, 0x3d34,

+  0x52c4, 0x3d30, 0x52d0, 0x3d2c, 0x52dc, 0x3d28, 0x52e8, 0x3d25,

+  0x52f4, 0x3d21, 0x5300, 0x3d1d, 0x530c, 0x3d1a, 0x5318, 0x3d16,

+  0x5324, 0x3d12, 0x5330, 0x3d0e, 0x533c, 0x3d0b, 0x5348, 0x3d07,

+  0x5354, 0x3d03, 0x5360, 0x3cff, 0x536c, 0x3cfb, 0x5378, 0x3cf8,

+  0x5384, 0x3cf4, 0x5390, 0x3cf0, 0x539c, 0x3cec, 0x53a8, 0x3ce8,

+  0x53b4, 0x3ce4, 0x53c0, 0x3ce0, 0x53cc, 0x3cdd, 0x53d8, 0x3cd9,

+  0x53e4, 0x3cd5, 0x53f0, 0x3cd1, 0x53fb, 0x3ccd, 0x5407, 0x3cc9,

+  0x5413, 0x3cc5, 0x541f, 0x3cc1, 0x542b, 0x3cbd, 0x5437, 0x3cb9,

+  0x5443, 0x3cb5, 0x544f, 0x3cb1, 0x545b, 0x3cad, 0x5467, 0x3ca9,

+  0x5473, 0x3ca5, 0x547f, 0x3ca1, 0x548b, 0x3c9d, 0x5496, 0x3c99,

+  0x54a2, 0x3c95, 0x54ae, 0x3c91, 0x54ba, 0x3c8d, 0x54c6, 0x3c89,

+  0x54d2, 0x3c85, 0x54de, 0x3c81, 0x54ea, 0x3c7d, 0x54f6, 0x3c79,

+  0x5501, 0x3c74, 0x550d, 0x3c70, 0x5519, 0x3c6c, 0x5525, 0x3c68,

+  0x5531, 0x3c64, 0x553d, 0x3c60, 0x5549, 0x3c5b, 0x5554, 0x3c57,

+  0x5560, 0x3c53, 0x556c, 0x3c4f, 0x5578, 0x3c4b, 0x5584, 0x3c46,

+  0x5590, 0x3c42, 0x559b, 0x3c3e, 0x55a7, 0x3c3a, 0x55b3, 0x3c36,

+  0x55bf, 0x3c31, 0x55cb, 0x3c2d, 0x55d7, 0x3c29, 0x55e2, 0x3c24,

+  0x55ee, 0x3c20, 0x55fa, 0x3c1c, 0x5606, 0x3c17, 0x5612, 0x3c13,

+  0x561d, 0x3c0f, 0x5629, 0x3c0a, 0x5635, 0x3c06, 0x5641, 0x3c02,

+  0x564c, 0x3bfd, 0x5658, 0x3bf9, 0x5664, 0x3bf5, 0x5670, 0x3bf0,

+  0x567c, 0x3bec, 0x5687, 0x3be7, 0x5693, 0x3be3, 0x569f, 0x3bde,

+  0x56ab, 0x3bda, 0x56b6, 0x3bd6, 0x56c2, 0x3bd1, 0x56ce, 0x3bcd,

+  0x56da, 0x3bc8, 0x56e5, 0x3bc4, 0x56f1, 0x3bbf, 0x56fd, 0x3bbb,

+  0x5709, 0x3bb6, 0x5714, 0x3bb2, 0x5720, 0x3bad, 0x572c, 0x3ba9,

+  0x5737, 0x3ba4, 0x5743, 0x3b9f, 0x574f, 0x3b9b, 0x575b, 0x3b96,

+  0x5766, 0x3b92, 0x5772, 0x3b8d, 0x577e, 0x3b88, 0x5789, 0x3b84,

+  0x5795, 0x3b7f, 0x57a1, 0x3b7b, 0x57ac, 0x3b76, 0x57b8, 0x3b71,

+  0x57c4, 0x3b6d, 0x57cf, 0x3b68, 0x57db, 0x3b63, 0x57e7, 0x3b5f,

+  0x57f2, 0x3b5a, 0x57fe, 0x3b55, 0x580a, 0x3b50, 0x5815, 0x3b4c,

+  0x5821, 0x3b47, 0x582d, 0x3b42, 0x5838, 0x3b3e, 0x5844, 0x3b39,

+  0x584f, 0x3b34, 0x585b, 0x3b2f, 0x5867, 0x3b2a, 0x5872, 0x3b26,

+  0x587e, 0x3b21, 0x5889, 0x3b1c, 0x5895, 0x3b17, 0x58a1, 0x3b12,

+  0x58ac, 0x3b0e, 0x58b8, 0x3b09, 0x58c3, 0x3b04, 0x58cf, 0x3aff,

+  0x58db, 0x3afa, 0x58e6, 0x3af5, 0x58f2, 0x3af0, 0x58fd, 0x3aeb,

+  0x5909, 0x3ae6, 0x5914, 0x3ae2, 0x5920, 0x3add, 0x592c, 0x3ad8,

+  0x5937, 0x3ad3, 0x5943, 0x3ace, 0x594e, 0x3ac9, 0x595a, 0x3ac4,

+  0x5965, 0x3abf, 0x5971, 0x3aba, 0x597c, 0x3ab5, 0x5988, 0x3ab0,

+  0x5993, 0x3aab, 0x599f, 0x3aa6, 0x59aa, 0x3aa1, 0x59b6, 0x3a9c,

+  0x59c1, 0x3a97, 0x59cd, 0x3a92, 0x59d8, 0x3a8d, 0x59e4, 0x3a88,

+  0x59ef, 0x3a82, 0x59fb, 0x3a7d, 0x5a06, 0x3a78, 0x5a12, 0x3a73,

+  0x5a1d, 0x3a6e, 0x5a29, 0x3a69, 0x5a34, 0x3a64, 0x5a40, 0x3a5f,

+  0x5a4b, 0x3a59, 0x5a57, 0x3a54, 0x5a62, 0x3a4f, 0x5a6e, 0x3a4a,

+  0x5a79, 0x3a45, 0x5a84, 0x3a3f, 0x5a90, 0x3a3a, 0x5a9b, 0x3a35,

+  0x5aa7, 0x3a30, 0x5ab2, 0x3a2b, 0x5abe, 0x3a25, 0x5ac9, 0x3a20,

+  0x5ad4, 0x3a1b, 0x5ae0, 0x3a16, 0x5aeb, 0x3a10, 0x5af7, 0x3a0b,

+  0x5b02, 0x3a06, 0x5b0d, 0x3a00, 0x5b19, 0x39fb, 0x5b24, 0x39f6,

+  0x5b30, 0x39f0, 0x5b3b, 0x39eb, 0x5b46, 0x39e6, 0x5b52, 0x39e0,

+  0x5b5d, 0x39db, 0x5b68, 0x39d6, 0x5b74, 0x39d0, 0x5b7f, 0x39cb,

+  0x5b8a, 0x39c5, 0x5b96, 0x39c0, 0x5ba1, 0x39bb, 0x5bac, 0x39b5,

+  0x5bb8, 0x39b0, 0x5bc3, 0x39aa, 0x5bce, 0x39a5, 0x5bda, 0x399f,

+  0x5be5, 0x399a, 0x5bf0, 0x3994, 0x5bfc, 0x398f, 0x5c07, 0x3989,

+  0x5c12, 0x3984, 0x5c1e, 0x397e, 0x5c29, 0x3979, 0x5c34, 0x3973,

+  0x5c3f, 0x396e, 0x5c4b, 0x3968, 0x5c56, 0x3963, 0x5c61, 0x395d,

+  0x5c6c, 0x3958, 0x5c78, 0x3952, 0x5c83, 0x394c, 0x5c8e, 0x3947,

+  0x5c99, 0x3941, 0x5ca5, 0x393b, 0x5cb0, 0x3936, 0x5cbb, 0x3930,

+  0x5cc6, 0x392b, 0x5cd2, 0x3925, 0x5cdd, 0x391f, 0x5ce8, 0x391a,

+  0x5cf3, 0x3914, 0x5cff, 0x390e, 0x5d0a, 0x3909, 0x5d15, 0x3903,

+  0x5d20, 0x38fd, 0x5d2b, 0x38f7, 0x5d36, 0x38f2, 0x5d42, 0x38ec,

+  0x5d4d, 0x38e6, 0x5d58, 0x38e0, 0x5d63, 0x38db, 0x5d6e, 0x38d5,

+  0x5d79, 0x38cf, 0x5d85, 0x38c9, 0x5d90, 0x38c3, 0x5d9b, 0x38be,

+  0x5da6, 0x38b8, 0x5db1, 0x38b2, 0x5dbc, 0x38ac, 0x5dc7, 0x38a6,

+  0x5dd3, 0x38a1, 0x5dde, 0x389b, 0x5de9, 0x3895, 0x5df4, 0x388f,

+  0x5dff, 0x3889, 0x5e0a, 0x3883, 0x5e15, 0x387d, 0x5e20, 0x3877,

+  0x5e2b, 0x3871, 0x5e36, 0x386b, 0x5e42, 0x3866, 0x5e4d, 0x3860,

+  0x5e58, 0x385a, 0x5e63, 0x3854, 0x5e6e, 0x384e, 0x5e79, 0x3848,

+  0x5e84, 0x3842, 0x5e8f, 0x383c, 0x5e9a, 0x3836, 0x5ea5, 0x3830,

+  0x5eb0, 0x382a, 0x5ebb, 0x3824, 0x5ec6, 0x381e, 0x5ed1, 0x3818,

+  0x5edc, 0x3812, 0x5ee7, 0x380b, 0x5ef2, 0x3805, 0x5efd, 0x37ff,

+  0x5f08, 0x37f9, 0x5f13, 0x37f3, 0x5f1e, 0x37ed, 0x5f29, 0x37e7,

+  0x5f34, 0x37e1, 0x5f3f, 0x37db, 0x5f4a, 0x37d5, 0x5f55, 0x37ce,

+  0x5f60, 0x37c8, 0x5f6b, 0x37c2, 0x5f76, 0x37bc, 0x5f81, 0x37b6,

+  0x5f8c, 0x37b0, 0x5f97, 0x37a9, 0x5fa2, 0x37a3, 0x5fac, 0x379d,

+  0x5fb7, 0x3797, 0x5fc2, 0x3790, 0x5fcd, 0x378a, 0x5fd8, 0x3784,

+  0x5fe3, 0x377e, 0x5fee, 0x3777, 0x5ff9, 0x3771, 0x6004, 0x376b,

+  0x600f, 0x3765, 0x6019, 0x375e, 0x6024, 0x3758, 0x602f, 0x3752,

+  0x603a, 0x374b, 0x6045, 0x3745, 0x6050, 0x373f, 0x605b, 0x3738,

+  0x6065, 0x3732, 0x6070, 0x372c, 0x607b, 0x3725, 0x6086, 0x371f,

+  0x6091, 0x3718, 0x609b, 0x3712, 0x60a6, 0x370c, 0x60b1, 0x3705,

+  0x60bc, 0x36ff, 0x60c7, 0x36f8, 0x60d1, 0x36f2, 0x60dc, 0x36eb,

+  0x60e7, 0x36e5, 0x60f2, 0x36df, 0x60fd, 0x36d8, 0x6107, 0x36d2,

+  0x6112, 0x36cb, 0x611d, 0x36c5, 0x6128, 0x36be, 0x6132, 0x36b8,

+  0x613d, 0x36b1, 0x6148, 0x36ab, 0x6153, 0x36a4, 0x615d, 0x369d,

+  0x6168, 0x3697, 0x6173, 0x3690, 0x617d, 0x368a, 0x6188, 0x3683,

+  0x6193, 0x367d, 0x619e, 0x3676, 0x61a8, 0x366f, 0x61b3, 0x3669,

+  0x61be, 0x3662, 0x61c8, 0x365c, 0x61d3, 0x3655, 0x61de, 0x364e,

+  0x61e8, 0x3648, 0x61f3, 0x3641, 0x61fe, 0x363a, 0x6208, 0x3634,

+  0x6213, 0x362d, 0x621e, 0x3626, 0x6228, 0x3620, 0x6233, 0x3619,

+  0x623d, 0x3612, 0x6248, 0x360b, 0x6253, 0x3605, 0x625d, 0x35fe,

+  0x6268, 0x35f7, 0x6272, 0x35f0, 0x627d, 0x35ea, 0x6288, 0x35e3,

+  0x6292, 0x35dc, 0x629d, 0x35d5, 0x62a7, 0x35ce, 0x62b2, 0x35c8,

+  0x62bc, 0x35c1, 0x62c7, 0x35ba, 0x62d2, 0x35b3, 0x62dc, 0x35ac,

+  0x62e7, 0x35a5, 0x62f1, 0x359f, 0x62fc, 0x3598, 0x6306, 0x3591,

+  0x6311, 0x358a, 0x631b, 0x3583, 0x6326, 0x357c, 0x6330, 0x3575,

+  0x633b, 0x356e, 0x6345, 0x3567, 0x6350, 0x3561, 0x635a, 0x355a,

+  0x6365, 0x3553, 0x636f, 0x354c, 0x637a, 0x3545, 0x6384, 0x353e,

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+  0x78fd, 0x1d20, 0x7903, 0x1d15, 0x7909, 0x1d0a, 0x790e, 0x1cff,

+  0x7914, 0x1cf3, 0x791a, 0x1ce8, 0x791f, 0x1cdd, 0x7925, 0x1cd2,

+  0x792b, 0x1cc6, 0x7930, 0x1cbb, 0x7936, 0x1cb0, 0x793b, 0x1ca5,

+  0x7941, 0x1c99, 0x7947, 0x1c8e, 0x794c, 0x1c83, 0x7952, 0x1c78,

+  0x7958, 0x1c6c, 0x795d, 0x1c61, 0x7963, 0x1c56, 0x7968, 0x1c4b,

+  0x796e, 0x1c3f, 0x7973, 0x1c34, 0x7979, 0x1c29, 0x797e, 0x1c1e,

+  0x7984, 0x1c12, 0x7989, 0x1c07, 0x798f, 0x1bfc, 0x7994, 0x1bf0,

+  0x799a, 0x1be5, 0x799f, 0x1bda, 0x79a5, 0x1bce, 0x79aa, 0x1bc3,

+  0x79b0, 0x1bb8, 0x79b5, 0x1bac, 0x79bb, 0x1ba1, 0x79c0, 0x1b96,

+  0x79c5, 0x1b8a, 0x79cb, 0x1b7f, 0x79d0, 0x1b74, 0x79d6, 0x1b68,

+  0x79db, 0x1b5d, 0x79e0, 0x1b52, 0x79e6, 0x1b46, 0x79eb, 0x1b3b,

+  0x79f0, 0x1b30, 0x79f6, 0x1b24, 0x79fb, 0x1b19, 0x7a00, 0x1b0d,

+  0x7a06, 0x1b02, 0x7a0b, 0x1af7, 0x7a10, 0x1aeb, 0x7a16, 0x1ae0,

+  0x7a1b, 0x1ad4, 0x7a20, 0x1ac9, 0x7a25, 0x1abe, 0x7a2b, 0x1ab2,

+  0x7a30, 0x1aa7, 0x7a35, 0x1a9b, 0x7a3a, 0x1a90, 0x7a3f, 0x1a84,

+  0x7a45, 0x1a79, 0x7a4a, 0x1a6e, 0x7a4f, 0x1a62, 0x7a54, 0x1a57,

+  0x7a59, 0x1a4b, 0x7a5f, 0x1a40, 0x7a64, 0x1a34, 0x7a69, 0x1a29,

+  0x7a6e, 0x1a1d, 0x7a73, 0x1a12, 0x7a78, 0x1a06, 0x7a7d, 0x19fb,

+  0x7a82, 0x19ef, 0x7a88, 0x19e4, 0x7a8d, 0x19d8, 0x7a92, 0x19cd,

+  0x7a97, 0x19c1, 0x7a9c, 0x19b6, 0x7aa1, 0x19aa, 0x7aa6, 0x199f,

+  0x7aab, 0x1993, 0x7ab0, 0x1988, 0x7ab5, 0x197c, 0x7aba, 0x1971,

+  0x7abf, 0x1965, 0x7ac4, 0x195a, 0x7ac9, 0x194e, 0x7ace, 0x1943,

+  0x7ad3, 0x1937, 0x7ad8, 0x192c, 0x7add, 0x1920, 0x7ae2, 0x1914,

+  0x7ae6, 0x1909, 0x7aeb, 0x18fd, 0x7af0, 0x18f2, 0x7af5, 0x18e6,

+  0x7afa, 0x18db, 0x7aff, 0x18cf, 0x7b04, 0x18c3, 0x7b09, 0x18b8,

+  0x7b0e, 0x18ac, 0x7b12, 0x18a1, 0x7b17, 0x1895, 0x7b1c, 0x1889,

+  0x7b21, 0x187e, 0x7b26, 0x1872, 0x7b2a, 0x1867, 0x7b2f, 0x185b,

+  0x7b34, 0x184f, 0x7b39, 0x1844, 0x7b3e, 0x1838, 0x7b42, 0x182d,

+  0x7b47, 0x1821, 0x7b4c, 0x1815, 0x7b50, 0x180a, 0x7b55, 0x17fe,

+  0x7b5a, 0x17f2, 0x7b5f, 0x17e7, 0x7b63, 0x17db, 0x7b68, 0x17cf,

+  0x7b6d, 0x17c4, 0x7b71, 0x17b8, 0x7b76, 0x17ac, 0x7b7b, 0x17a1,

+  0x7b7f, 0x1795, 0x7b84, 0x1789, 0x7b88, 0x177e, 0x7b8d, 0x1772,

+  0x7b92, 0x1766, 0x7b96, 0x175b, 0x7b9b, 0x174f, 0x7b9f, 0x1743,

+  0x7ba4, 0x1737, 0x7ba9, 0x172c, 0x7bad, 0x1720, 0x7bb2, 0x1714,

+  0x7bb6, 0x1709, 0x7bbb, 0x16fd, 0x7bbf, 0x16f1, 0x7bc4, 0x16e5,

+  0x7bc8, 0x16da, 0x7bcd, 0x16ce, 0x7bd1, 0x16c2, 0x7bd6, 0x16b6,

+  0x7bda, 0x16ab, 0x7bde, 0x169f, 0x7be3, 0x1693, 0x7be7, 0x1687,

+  0x7bec, 0x167c, 0x7bf0, 0x1670, 0x7bf5, 0x1664, 0x7bf9, 0x1658,

+  0x7bfd, 0x164c, 0x7c02, 0x1641, 0x7c06, 0x1635, 0x7c0a, 0x1629,

+  0x7c0f, 0x161d, 0x7c13, 0x1612, 0x7c17, 0x1606, 0x7c1c, 0x15fa,

+  0x7c20, 0x15ee, 0x7c24, 0x15e2, 0x7c29, 0x15d7, 0x7c2d, 0x15cb,

+  0x7c31, 0x15bf, 0x7c36, 0x15b3, 0x7c3a, 0x15a7, 0x7c3e, 0x159b,

+  0x7c42, 0x1590, 0x7c46, 0x1584, 0x7c4b, 0x1578, 0x7c4f, 0x156c,

+  0x7c53, 0x1560, 0x7c57, 0x1554, 0x7c5b, 0x1549, 0x7c60, 0x153d,

+  0x7c64, 0x1531, 0x7c68, 0x1525, 0x7c6c, 0x1519, 0x7c70, 0x150d,

+  0x7c74, 0x1501, 0x7c79, 0x14f6, 0x7c7d, 0x14ea, 0x7c81, 0x14de,

+  0x7c85, 0x14d2, 0x7c89, 0x14c6, 0x7c8d, 0x14ba, 0x7c91, 0x14ae,

+  0x7c95, 0x14a2, 0x7c99, 0x1496, 0x7c9d, 0x148b, 0x7ca1, 0x147f,

+  0x7ca5, 0x1473, 0x7ca9, 0x1467, 0x7cad, 0x145b, 0x7cb1, 0x144f,

+  0x7cb5, 0x1443, 0x7cb9, 0x1437, 0x7cbd, 0x142b, 0x7cc1, 0x141f,

+  0x7cc5, 0x1413, 0x7cc9, 0x1407, 0x7ccd, 0x13fb, 0x7cd1, 0x13f0,

+  0x7cd5, 0x13e4, 0x7cd9, 0x13d8, 0x7cdd, 0x13cc, 0x7ce0, 0x13c0,

+  0x7ce4, 0x13b4, 0x7ce8, 0x13a8, 0x7cec, 0x139c, 0x7cf0, 0x1390,

+  0x7cf4, 0x1384, 0x7cf8, 0x1378, 0x7cfb, 0x136c, 0x7cff, 0x1360,

+  0x7d03, 0x1354, 0x7d07, 0x1348, 0x7d0b, 0x133c, 0x7d0e, 0x1330,

+  0x7d12, 0x1324, 0x7d16, 0x1318, 0x7d1a, 0x130c, 0x7d1d, 0x1300,

+  0x7d21, 0x12f4, 0x7d25, 0x12e8, 0x7d28, 0x12dc, 0x7d2c, 0x12d0,

+  0x7d30, 0x12c4, 0x7d34, 0x12b8, 0x7d37, 0x12ac, 0x7d3b, 0x12a0,

+  0x7d3f, 0x1294, 0x7d42, 0x1288, 0x7d46, 0x127c, 0x7d49, 0x1270,

+  0x7d4d, 0x1264, 0x7d51, 0x1258, 0x7d54, 0x124c, 0x7d58, 0x1240,

+  0x7d5b, 0x1234, 0x7d5f, 0x1228, 0x7d63, 0x121c, 0x7d66, 0x1210,

+  0x7d6a, 0x1204, 0x7d6d, 0x11f7, 0x7d71, 0x11eb, 0x7d74, 0x11df,

+  0x7d78, 0x11d3, 0x7d7b, 0x11c7, 0x7d7f, 0x11bb, 0x7d82, 0x11af,

+  0x7d86, 0x11a3, 0x7d89, 0x1197, 0x7d8d, 0x118b, 0x7d90, 0x117f,

+  0x7d93, 0x1173, 0x7d97, 0x1167, 0x7d9a, 0x115a, 0x7d9e, 0x114e,

+  0x7da1, 0x1142, 0x7da4, 0x1136, 0x7da8, 0x112a, 0x7dab, 0x111e,

+  0x7daf, 0x1112, 0x7db2, 0x1106, 0x7db5, 0x10fa, 0x7db9, 0x10ed,

+  0x7dbc, 0x10e1, 0x7dbf, 0x10d5, 0x7dc2, 0x10c9, 0x7dc6, 0x10bd,

+  0x7dc9, 0x10b1, 0x7dcc, 0x10a5, 0x7dd0, 0x1099, 0x7dd3, 0x108c,

+  0x7dd6, 0x1080, 0x7dd9, 0x1074, 0x7ddd, 0x1068, 0x7de0, 0x105c,

+  0x7de3, 0x1050, 0x7de6, 0x1044, 0x7de9, 0x1037, 0x7ded, 0x102b,

+  0x7df0, 0x101f, 0x7df3, 0x1013, 0x7df6, 0x1007, 0x7df9, 0xffb,

+  0x7dfc, 0xfee, 0x7dff, 0xfe2, 0x7e03, 0xfd6, 0x7e06, 0xfca,

+  0x7e09, 0xfbe, 0x7e0c, 0xfb2, 0x7e0f, 0xfa5, 0x7e12, 0xf99,

+  0x7e15, 0xf8d, 0x7e18, 0xf81, 0x7e1b, 0xf75, 0x7e1e, 0xf68,

+  0x7e21, 0xf5c, 0x7e24, 0xf50, 0x7e27, 0xf44, 0x7e2a, 0xf38,

+  0x7e2d, 0xf2b, 0x7e30, 0xf1f, 0x7e33, 0xf13, 0x7e36, 0xf07,

+  0x7e39, 0xefb, 0x7e3c, 0xeee, 0x7e3f, 0xee2, 0x7e42, 0xed6,

+  0x7e45, 0xeca, 0x7e48, 0xebd, 0x7e4a, 0xeb1, 0x7e4d, 0xea5,

+  0x7e50, 0xe99, 0x7e53, 0xe8c, 0x7e56, 0xe80, 0x7e59, 0xe74,

+  0x7e5c, 0xe68, 0x7e5e, 0xe5c, 0x7e61, 0xe4f, 0x7e64, 0xe43,

+  0x7e67, 0xe37, 0x7e6a, 0xe2b, 0x7e6c, 0xe1e, 0x7e6f, 0xe12,

+  0x7e72, 0xe06, 0x7e75, 0xdf9, 0x7e77, 0xded, 0x7e7a, 0xde1,

+  0x7e7d, 0xdd5, 0x7e80, 0xdc8, 0x7e82, 0xdbc, 0x7e85, 0xdb0,

+  0x7e88, 0xda4, 0x7e8a, 0xd97, 0x7e8d, 0xd8b, 0x7e90, 0xd7f,

+  0x7e92, 0xd72, 0x7e95, 0xd66, 0x7e98, 0xd5a, 0x7e9a, 0xd4e,

+  0x7e9d, 0xd41, 0x7e9f, 0xd35, 0x7ea2, 0xd29, 0x7ea5, 0xd1c,

+  0x7ea7, 0xd10, 0x7eaa, 0xd04, 0x7eac, 0xcf8, 0x7eaf, 0xceb,

+  0x7eb1, 0xcdf, 0x7eb4, 0xcd3, 0x7eb6, 0xcc6, 0x7eb9, 0xcba,

+  0x7ebb, 0xcae, 0x7ebe, 0xca1, 0x7ec0, 0xc95, 0x7ec3, 0xc89,

+  0x7ec5, 0xc7c, 0x7ec8, 0xc70, 0x7eca, 0xc64, 0x7ecc, 0xc57,

+  0x7ecf, 0xc4b, 0x7ed1, 0xc3f, 0x7ed4, 0xc32, 0x7ed6, 0xc26,

+  0x7ed8, 0xc1a, 0x7edb, 0xc0d, 0x7edd, 0xc01, 0x7ee0, 0xbf5,

+  0x7ee2, 0xbe8, 0x7ee4, 0xbdc, 0x7ee7, 0xbd0, 0x7ee9, 0xbc3,

+  0x7eeb, 0xbb7, 0x7eed, 0xbab, 0x7ef0, 0xb9e, 0x7ef2, 0xb92,

+  0x7ef4, 0xb85, 0x7ef7, 0xb79, 0x7ef9, 0xb6d, 0x7efb, 0xb60,

+  0x7efd, 0xb54, 0x7f00, 0xb48, 0x7f02, 0xb3b, 0x7f04, 0xb2f,

+  0x7f06, 0xb23, 0x7f08, 0xb16, 0x7f0a, 0xb0a, 0x7f0d, 0xafd,

+  0x7f0f, 0xaf1, 0x7f11, 0xae5, 0x7f13, 0xad8, 0x7f15, 0xacc,

+  0x7f17, 0xac0, 0x7f19, 0xab3, 0x7f1c, 0xaa7, 0x7f1e, 0xa9a,

+  0x7f20, 0xa8e, 0x7f22, 0xa82, 0x7f24, 0xa75, 0x7f26, 0xa69,

+  0x7f28, 0xa5c, 0x7f2a, 0xa50, 0x7f2c, 0xa44, 0x7f2e, 0xa37,

+  0x7f30, 0xa2b, 0x7f32, 0xa1e, 0x7f34, 0xa12, 0x7f36, 0xa06,

+  0x7f38, 0x9f9, 0x7f3a, 0x9ed, 0x7f3c, 0x9e0, 0x7f3e, 0x9d4,

+  0x7f40, 0x9c7, 0x7f42, 0x9bb, 0x7f43, 0x9af, 0x7f45, 0x9a2,

+  0x7f47, 0x996, 0x7f49, 0x989, 0x7f4b, 0x97d, 0x7f4d, 0x970,

+  0x7f4f, 0x964, 0x7f51, 0x958, 0x7f52, 0x94b, 0x7f54, 0x93f,

+  0x7f56, 0x932, 0x7f58, 0x926, 0x7f5a, 0x919, 0x7f5b, 0x90d,

+  0x7f5d, 0x901, 0x7f5f, 0x8f4, 0x7f61, 0x8e8, 0x7f62, 0x8db,

+  0x7f64, 0x8cf, 0x7f66, 0x8c2, 0x7f68, 0x8b6, 0x7f69, 0x8a9,

+  0x7f6b, 0x89d, 0x7f6d, 0x891, 0x7f6e, 0x884, 0x7f70, 0x878,

+  0x7f72, 0x86b, 0x7f73, 0x85f, 0x7f75, 0x852, 0x7f77, 0x846,

+  0x7f78, 0x839, 0x7f7a, 0x82d, 0x7f7b, 0x820, 0x7f7d, 0x814,

+  0x7f7f, 0x807, 0x7f80, 0x7fb, 0x7f82, 0x7ef, 0x7f83, 0x7e2,

+  0x7f85, 0x7d6, 0x7f86, 0x7c9, 0x7f88, 0x7bd, 0x7f89, 0x7b0,

+  0x7f8b, 0x7a4, 0x7f8c, 0x797, 0x7f8e, 0x78b, 0x7f8f, 0x77e,

+  0x7f91, 0x772, 0x7f92, 0x765, 0x7f94, 0x759, 0x7f95, 0x74c,

+  0x7f97, 0x740, 0x7f98, 0x733, 0x7f99, 0x727, 0x7f9b, 0x71a,

+  0x7f9c, 0x70e, 0x7f9e, 0x701, 0x7f9f, 0x6f5, 0x7fa0, 0x6e8,

+  0x7fa2, 0x6dc, 0x7fa3, 0x6cf, 0x7fa4, 0x6c3, 0x7fa6, 0x6b6,

+  0x7fa7, 0x6aa, 0x7fa8, 0x69d, 0x7faa, 0x691, 0x7fab, 0x684,

+  0x7fac, 0x678, 0x7fad, 0x66b, 0x7faf, 0x65f, 0x7fb0, 0x652,

+  0x7fb1, 0x646, 0x7fb2, 0x639, 0x7fb4, 0x62d, 0x7fb5, 0x620,

+  0x7fb6, 0x614, 0x7fb7, 0x607, 0x7fb8, 0x5fb, 0x7fb9, 0x5ee,

+  0x7fbb, 0x5e2, 0x7fbc, 0x5d5, 0x7fbd, 0x5c9, 0x7fbe, 0x5bc,

+  0x7fbf, 0x5b0, 0x7fc0, 0x5a3, 0x7fc1, 0x597, 0x7fc3, 0x58a,

+  0x7fc4, 0x57e, 0x7fc5, 0x571, 0x7fc6, 0x565, 0x7fc7, 0x558,

+  0x7fc8, 0x54c, 0x7fc9, 0x53f, 0x7fca, 0x533, 0x7fcb, 0x526,

+  0x7fcc, 0x51a, 0x7fcd, 0x50d, 0x7fce, 0x500, 0x7fcf, 0x4f4,

+  0x7fd0, 0x4e7, 0x7fd1, 0x4db, 0x7fd2, 0x4ce, 0x7fd3, 0x4c2,

+  0x7fd4, 0x4b5, 0x7fd5, 0x4a9, 0x7fd5, 0x49c, 0x7fd6, 0x490,

+  0x7fd7, 0x483, 0x7fd8, 0x477, 0x7fd9, 0x46a, 0x7fda, 0x45e,

+  0x7fdb, 0x451, 0x7fdc, 0x444, 0x7fdc, 0x438, 0x7fdd, 0x42b,

+  0x7fde, 0x41f, 0x7fdf, 0x412, 0x7fe0, 0x406, 0x7fe0, 0x3f9,

+  0x7fe1, 0x3ed, 0x7fe2, 0x3e0, 0x7fe3, 0x3d4, 0x7fe3, 0x3c7,

+  0x7fe4, 0x3bb, 0x7fe5, 0x3ae, 0x7fe6, 0x3a1, 0x7fe6, 0x395,

+  0x7fe7, 0x388, 0x7fe8, 0x37c, 0x7fe8, 0x36f, 0x7fe9, 0x363,

+  0x7fea, 0x356, 0x7fea, 0x34a, 0x7feb, 0x33d, 0x7fec, 0x330,

+  0x7fec, 0x324, 0x7fed, 0x317, 0x7fed, 0x30b, 0x7fee, 0x2fe,

+  0x7fef, 0x2f2, 0x7fef, 0x2e5, 0x7ff0, 0x2d9, 0x7ff0, 0x2cc,

+  0x7ff1, 0x2c0, 0x7ff1, 0x2b3, 0x7ff2, 0x2a6, 0x7ff2, 0x29a,

+  0x7ff3, 0x28d, 0x7ff3, 0x281, 0x7ff4, 0x274, 0x7ff4, 0x268,

+  0x7ff5, 0x25b, 0x7ff5, 0x24e, 0x7ff6, 0x242, 0x7ff6, 0x235,

+  0x7ff7, 0x229, 0x7ff7, 0x21c, 0x7ff7, 0x210, 0x7ff8, 0x203,

+  0x7ff8, 0x1f7, 0x7ff9, 0x1ea, 0x7ff9, 0x1dd, 0x7ff9, 0x1d1,

+  0x7ffa, 0x1c4, 0x7ffa, 0x1b8, 0x7ffa, 0x1ab, 0x7ffb, 0x19f,

+  0x7ffb, 0x192, 0x7ffb, 0x186, 0x7ffc, 0x179, 0x7ffc, 0x16c,

+  0x7ffc, 0x160, 0x7ffc, 0x153, 0x7ffd, 0x147, 0x7ffd, 0x13a,

+  0x7ffd, 0x12e, 0x7ffd, 0x121, 0x7ffe, 0x114, 0x7ffe, 0x108,

+  0x7ffe, 0xfb, 0x7ffe, 0xef, 0x7ffe, 0xe2, 0x7fff, 0xd6,

+  0x7fff, 0xc9, 0x7fff, 0xbc, 0x7fff, 0xb0, 0x7fff, 0xa3,

+  0x7fff, 0x97, 0x7fff, 0x8a, 0x7fff, 0x7e, 0x7fff, 0x71,

+  0x7fff, 0x65, 0x7fff, 0x58, 0x7fff, 0x4b, 0x7fff, 0x3f,

+  0x7fff, 0x32, 0x7fff, 0x26, 0x7fff, 0x19, 0x7fff, 0xd,

+  0x7fff, 0x0, 0x7fff, 0xfff3, 0x7fff, 0xffe7, 0x7fff, 0xffda,

+  0x7fff, 0xffce, 0x7fff, 0xffc1, 0x7fff, 0xffb5, 0x7fff, 0xffa8,

+  0x7fff, 0xff9b, 0x7fff, 0xff8f, 0x7fff, 0xff82, 0x7fff, 0xff76,

+  0x7fff, 0xff69, 0x7fff, 0xff5d, 0x7fff, 0xff50, 0x7fff, 0xff44,

+  0x7fff, 0xff37, 0x7fff, 0xff2a, 0x7ffe, 0xff1e, 0x7ffe, 0xff11,

+  0x7ffe, 0xff05, 0x7ffe, 0xfef8, 0x7ffe, 0xfeec, 0x7ffd, 0xfedf,

+  0x7ffd, 0xfed2, 0x7ffd, 0xfec6, 0x7ffd, 0xfeb9, 0x7ffc, 0xfead,

+  0x7ffc, 0xfea0, 0x7ffc, 0xfe94, 0x7ffc, 0xfe87, 0x7ffb, 0xfe7a,

+  0x7ffb, 0xfe6e, 0x7ffb, 0xfe61, 0x7ffa, 0xfe55, 0x7ffa, 0xfe48,

+  0x7ffa, 0xfe3c, 0x7ff9, 0xfe2f, 0x7ff9, 0xfe23, 0x7ff9, 0xfe16,

+  0x7ff8, 0xfe09, 0x7ff8, 0xfdfd, 0x7ff7, 0xfdf0, 0x7ff7, 0xfde4,

+  0x7ff7, 0xfdd7, 0x7ff6, 0xfdcb, 0x7ff6, 0xfdbe, 0x7ff5, 0xfdb2,

+  0x7ff5, 0xfda5, 0x7ff4, 0xfd98, 0x7ff4, 0xfd8c, 0x7ff3, 0xfd7f,

+  0x7ff3, 0xfd73, 0x7ff2, 0xfd66, 0x7ff2, 0xfd5a, 0x7ff1, 0xfd4d,

+  0x7ff1, 0xfd40, 0x7ff0, 0xfd34, 0x7ff0, 0xfd27, 0x7fef, 0xfd1b,

+  0x7fef, 0xfd0e, 0x7fee, 0xfd02, 0x7fed, 0xfcf5, 0x7fed, 0xfce9,

+  0x7fec, 0xfcdc, 0x7fec, 0xfcd0, 0x7feb, 0xfcc3, 0x7fea, 0xfcb6,

+  0x7fea, 0xfcaa, 0x7fe9, 0xfc9d, 0x7fe8, 0xfc91, 0x7fe8, 0xfc84,

+  0x7fe7, 0xfc78, 0x7fe6, 0xfc6b, 0x7fe6, 0xfc5f, 0x7fe5, 0xfc52,

+  0x7fe4, 0xfc45, 0x7fe3, 0xfc39, 0x7fe3, 0xfc2c, 0x7fe2, 0xfc20,

+  0x7fe1, 0xfc13, 0x7fe0, 0xfc07, 0x7fe0, 0xfbfa, 0x7fdf, 0xfbee,

+  0x7fde, 0xfbe1, 0x7fdd, 0xfbd5, 0x7fdc, 0xfbc8, 0x7fdc, 0xfbbc,

+  0x7fdb, 0xfbaf, 0x7fda, 0xfba2, 0x7fd9, 0xfb96, 0x7fd8, 0xfb89,

+  0x7fd7, 0xfb7d, 0x7fd6, 0xfb70, 0x7fd5, 0xfb64, 0x7fd5, 0xfb57,

+  0x7fd4, 0xfb4b, 0x7fd3, 0xfb3e, 0x7fd2, 0xfb32, 0x7fd1, 0xfb25,

+  0x7fd0, 0xfb19, 0x7fcf, 0xfb0c, 0x7fce, 0xfb00, 0x7fcd, 0xfaf3,

+  0x7fcc, 0xfae6, 0x7fcb, 0xfada, 0x7fca, 0xfacd, 0x7fc9, 0xfac1,

+  0x7fc8, 0xfab4, 0x7fc7, 0xfaa8, 0x7fc6, 0xfa9b, 0x7fc5, 0xfa8f,

+  0x7fc4, 0xfa82, 0x7fc3, 0xfa76, 0x7fc1, 0xfa69, 0x7fc0, 0xfa5d,

+  0x7fbf, 0xfa50, 0x7fbe, 0xfa44, 0x7fbd, 0xfa37, 0x7fbc, 0xfa2b,

+  0x7fbb, 0xfa1e, 0x7fb9, 0xfa12, 0x7fb8, 0xfa05, 0x7fb7, 0xf9f9,

+  0x7fb6, 0xf9ec, 0x7fb5, 0xf9e0, 0x7fb4, 0xf9d3, 0x7fb2, 0xf9c7,

+  0x7fb1, 0xf9ba, 0x7fb0, 0xf9ae, 0x7faf, 0xf9a1, 0x7fad, 0xf995,

+  0x7fac, 0xf988, 0x7fab, 0xf97c, 0x7faa, 0xf96f, 0x7fa8, 0xf963,

+  0x7fa7, 0xf956, 0x7fa6, 0xf94a, 0x7fa4, 0xf93d, 0x7fa3, 0xf931,

+  0x7fa2, 0xf924, 0x7fa0, 0xf918, 0x7f9f, 0xf90b, 0x7f9e, 0xf8ff,

+  0x7f9c, 0xf8f2, 0x7f9b, 0xf8e6, 0x7f99, 0xf8d9, 0x7f98, 0xf8cd,

+  0x7f97, 0xf8c0, 0x7f95, 0xf8b4, 0x7f94, 0xf8a7, 0x7f92, 0xf89b,

+  0x7f91, 0xf88e, 0x7f8f, 0xf882, 0x7f8e, 0xf875, 0x7f8c, 0xf869,

+  0x7f8b, 0xf85c, 0x7f89, 0xf850, 0x7f88, 0xf843, 0x7f86, 0xf837,

+  0x7f85, 0xf82a, 0x7f83, 0xf81e, 0x7f82, 0xf811, 0x7f80, 0xf805,

+  0x7f7f, 0xf7f9, 0x7f7d, 0xf7ec, 0x7f7b, 0xf7e0, 0x7f7a, 0xf7d3,

+  0x7f78, 0xf7c7, 0x7f77, 0xf7ba, 0x7f75, 0xf7ae, 0x7f73, 0xf7a1,

+  0x7f72, 0xf795, 0x7f70, 0xf788, 0x7f6e, 0xf77c, 0x7f6d, 0xf76f,

+  0x7f6b, 0xf763, 0x7f69, 0xf757, 0x7f68, 0xf74a, 0x7f66, 0xf73e,

+  0x7f64, 0xf731, 0x7f62, 0xf725, 0x7f61, 0xf718, 0x7f5f, 0xf70c,

+  0x7f5d, 0xf6ff, 0x7f5b, 0xf6f3, 0x7f5a, 0xf6e7, 0x7f58, 0xf6da,

+  0x7f56, 0xf6ce, 0x7f54, 0xf6c1, 0x7f52, 0xf6b5, 0x7f51, 0xf6a8,

+  0x7f4f, 0xf69c, 0x7f4d, 0xf690, 0x7f4b, 0xf683, 0x7f49, 0xf677,

+  0x7f47, 0xf66a, 0x7f45, 0xf65e, 0x7f43, 0xf651, 0x7f42, 0xf645,

+  0x7f40, 0xf639, 0x7f3e, 0xf62c, 0x7f3c, 0xf620, 0x7f3a, 0xf613,

+  0x7f38, 0xf607, 0x7f36, 0xf5fa, 0x7f34, 0xf5ee, 0x7f32, 0xf5e2,

+  0x7f30, 0xf5d5, 0x7f2e, 0xf5c9, 0x7f2c, 0xf5bc, 0x7f2a, 0xf5b0,

+  0x7f28, 0xf5a4, 0x7f26, 0xf597, 0x7f24, 0xf58b, 0x7f22, 0xf57e,

+  0x7f20, 0xf572, 0x7f1e, 0xf566, 0x7f1c, 0xf559, 0x7f19, 0xf54d,

+  0x7f17, 0xf540, 0x7f15, 0xf534, 0x7f13, 0xf528, 0x7f11, 0xf51b,

+  0x7f0f, 0xf50f, 0x7f0d, 0xf503, 0x7f0a, 0xf4f6, 0x7f08, 0xf4ea,

+  0x7f06, 0xf4dd, 0x7f04, 0xf4d1, 0x7f02, 0xf4c5, 0x7f00, 0xf4b8,

+  0x7efd, 0xf4ac, 0x7efb, 0xf4a0, 0x7ef9, 0xf493, 0x7ef7, 0xf487,

+  0x7ef4, 0xf47b, 0x7ef2, 0xf46e, 0x7ef0, 0xf462, 0x7eed, 0xf455,

+  0x7eeb, 0xf449, 0x7ee9, 0xf43d, 0x7ee7, 0xf430, 0x7ee4, 0xf424,

+  0x7ee2, 0xf418, 0x7ee0, 0xf40b, 0x7edd, 0xf3ff, 0x7edb, 0xf3f3,

+  0x7ed8, 0xf3e6, 0x7ed6, 0xf3da, 0x7ed4, 0xf3ce, 0x7ed1, 0xf3c1,

+  0x7ecf, 0xf3b5, 0x7ecc, 0xf3a9, 0x7eca, 0xf39c, 0x7ec8, 0xf390,

+  0x7ec5, 0xf384, 0x7ec3, 0xf377, 0x7ec0, 0xf36b, 0x7ebe, 0xf35f,

+  0x7ebb, 0xf352, 0x7eb9, 0xf346, 0x7eb6, 0xf33a, 0x7eb4, 0xf32d,

+  0x7eb1, 0xf321, 0x7eaf, 0xf315, 0x7eac, 0xf308, 0x7eaa, 0xf2fc,

+  0x7ea7, 0xf2f0, 0x7ea5, 0xf2e4, 0x7ea2, 0xf2d7, 0x7e9f, 0xf2cb,

+  0x7e9d, 0xf2bf, 0x7e9a, 0xf2b2, 0x7e98, 0xf2a6, 0x7e95, 0xf29a,

+  0x7e92, 0xf28e, 0x7e90, 0xf281, 0x7e8d, 0xf275, 0x7e8a, 0xf269,

+  0x7e88, 0xf25c, 0x7e85, 0xf250, 0x7e82, 0xf244, 0x7e80, 0xf238,

+  0x7e7d, 0xf22b, 0x7e7a, 0xf21f, 0x7e77, 0xf213, 0x7e75, 0xf207,

+  0x7e72, 0xf1fa, 0x7e6f, 0xf1ee, 0x7e6c, 0xf1e2, 0x7e6a, 0xf1d5,

+  0x7e67, 0xf1c9, 0x7e64, 0xf1bd, 0x7e61, 0xf1b1, 0x7e5e, 0xf1a4,

+  0x7e5c, 0xf198, 0x7e59, 0xf18c, 0x7e56, 0xf180, 0x7e53, 0xf174,

+  0x7e50, 0xf167, 0x7e4d, 0xf15b, 0x7e4a, 0xf14f, 0x7e48, 0xf143,

+  0x7e45, 0xf136, 0x7e42, 0xf12a, 0x7e3f, 0xf11e, 0x7e3c, 0xf112,

+  0x7e39, 0xf105, 0x7e36, 0xf0f9, 0x7e33, 0xf0ed, 0x7e30, 0xf0e1,

+  0x7e2d, 0xf0d5, 0x7e2a, 0xf0c8, 0x7e27, 0xf0bc, 0x7e24, 0xf0b0,

+  0x7e21, 0xf0a4, 0x7e1e, 0xf098, 0x7e1b, 0xf08b, 0x7e18, 0xf07f,

+  0x7e15, 0xf073, 0x7e12, 0xf067, 0x7e0f, 0xf05b, 0x7e0c, 0xf04e,

+  0x7e09, 0xf042, 0x7e06, 0xf036, 0x7e03, 0xf02a, 0x7dff, 0xf01e,

+  0x7dfc, 0xf012, 0x7df9, 0xf005, 0x7df6, 0xeff9, 0x7df3, 0xefed,

+  0x7df0, 0xefe1, 0x7ded, 0xefd5, 0x7de9, 0xefc9, 0x7de6, 0xefbc,

+  0x7de3, 0xefb0, 0x7de0, 0xefa4, 0x7ddd, 0xef98, 0x7dd9, 0xef8c,

+  0x7dd6, 0xef80, 0x7dd3, 0xef74, 0x7dd0, 0xef67, 0x7dcc, 0xef5b,

+  0x7dc9, 0xef4f, 0x7dc6, 0xef43, 0x7dc2, 0xef37, 0x7dbf, 0xef2b,

+  0x7dbc, 0xef1f, 0x7db9, 0xef13, 0x7db5, 0xef06, 0x7db2, 0xeefa,

+  0x7daf, 0xeeee, 0x7dab, 0xeee2, 0x7da8, 0xeed6, 0x7da4, 0xeeca,

+  0x7da1, 0xeebe, 0x7d9e, 0xeeb2, 0x7d9a, 0xeea6, 0x7d97, 0xee99,

+  0x7d93, 0xee8d, 0x7d90, 0xee81, 0x7d8d, 0xee75, 0x7d89, 0xee69,

+  0x7d86, 0xee5d, 0x7d82, 0xee51, 0x7d7f, 0xee45, 0x7d7b, 0xee39,

+  0x7d78, 0xee2d, 0x7d74, 0xee21, 0x7d71, 0xee15, 0x7d6d, 0xee09,

+  0x7d6a, 0xedfc, 0x7d66, 0xedf0, 0x7d63, 0xede4, 0x7d5f, 0xedd8,

+  0x7d5b, 0xedcc, 0x7d58, 0xedc0, 0x7d54, 0xedb4, 0x7d51, 0xeda8,

+  0x7d4d, 0xed9c, 0x7d49, 0xed90, 0x7d46, 0xed84, 0x7d42, 0xed78,

+  0x7d3f, 0xed6c, 0x7d3b, 0xed60, 0x7d37, 0xed54, 0x7d34, 0xed48,

+  0x7d30, 0xed3c, 0x7d2c, 0xed30, 0x7d28, 0xed24, 0x7d25, 0xed18,

+  0x7d21, 0xed0c, 0x7d1d, 0xed00, 0x7d1a, 0xecf4, 0x7d16, 0xece8,

+  0x7d12, 0xecdc, 0x7d0e, 0xecd0, 0x7d0b, 0xecc4, 0x7d07, 0xecb8,

+  0x7d03, 0xecac, 0x7cff, 0xeca0, 0x7cfb, 0xec94, 0x7cf8, 0xec88,

+  0x7cf4, 0xec7c, 0x7cf0, 0xec70, 0x7cec, 0xec64, 0x7ce8, 0xec58,

+  0x7ce4, 0xec4c, 0x7ce0, 0xec40, 0x7cdd, 0xec34, 0x7cd9, 0xec28,

+  0x7cd5, 0xec1c, 0x7cd1, 0xec10, 0x7ccd, 0xec05, 0x7cc9, 0xebf9,

+  0x7cc5, 0xebed, 0x7cc1, 0xebe1, 0x7cbd, 0xebd5, 0x7cb9, 0xebc9,

+  0x7cb5, 0xebbd, 0x7cb1, 0xebb1, 0x7cad, 0xeba5, 0x7ca9, 0xeb99,

+  0x7ca5, 0xeb8d, 0x7ca1, 0xeb81, 0x7c9d, 0xeb75, 0x7c99, 0xeb6a,

+  0x7c95, 0xeb5e, 0x7c91, 0xeb52, 0x7c8d, 0xeb46, 0x7c89, 0xeb3a,

+  0x7c85, 0xeb2e, 0x7c81, 0xeb22, 0x7c7d, 0xeb16, 0x7c79, 0xeb0a,

+  0x7c74, 0xeaff, 0x7c70, 0xeaf3, 0x7c6c, 0xeae7, 0x7c68, 0xeadb,

+  0x7c64, 0xeacf, 0x7c60, 0xeac3, 0x7c5b, 0xeab7, 0x7c57, 0xeaac,

+  0x7c53, 0xeaa0, 0x7c4f, 0xea94, 0x7c4b, 0xea88, 0x7c46, 0xea7c,

+  0x7c42, 0xea70, 0x7c3e, 0xea65, 0x7c3a, 0xea59, 0x7c36, 0xea4d,

+  0x7c31, 0xea41, 0x7c2d, 0xea35, 0x7c29, 0xea29, 0x7c24, 0xea1e,

+  0x7c20, 0xea12, 0x7c1c, 0xea06, 0x7c17, 0xe9fa, 0x7c13, 0xe9ee,

+  0x7c0f, 0xe9e3, 0x7c0a, 0xe9d7, 0x7c06, 0xe9cb, 0x7c02, 0xe9bf,

+  0x7bfd, 0xe9b4, 0x7bf9, 0xe9a8, 0x7bf5, 0xe99c, 0x7bf0, 0xe990,

+  0x7bec, 0xe984, 0x7be7, 0xe979, 0x7be3, 0xe96d, 0x7bde, 0xe961,

+  0x7bda, 0xe955, 0x7bd6, 0xe94a, 0x7bd1, 0xe93e, 0x7bcd, 0xe932,

+  0x7bc8, 0xe926, 0x7bc4, 0xe91b, 0x7bbf, 0xe90f, 0x7bbb, 0xe903,

+  0x7bb6, 0xe8f7, 0x7bb2, 0xe8ec, 0x7bad, 0xe8e0, 0x7ba9, 0xe8d4,

+  0x7ba4, 0xe8c9, 0x7b9f, 0xe8bd, 0x7b9b, 0xe8b1, 0x7b96, 0xe8a5,

+  0x7b92, 0xe89a, 0x7b8d, 0xe88e, 0x7b88, 0xe882, 0x7b84, 0xe877,

+  0x7b7f, 0xe86b, 0x7b7b, 0xe85f, 0x7b76, 0xe854, 0x7b71, 0xe848,

+  0x7b6d, 0xe83c, 0x7b68, 0xe831, 0x7b63, 0xe825, 0x7b5f, 0xe819,

+  0x7b5a, 0xe80e, 0x7b55, 0xe802, 0x7b50, 0xe7f6, 0x7b4c, 0xe7eb,

+  0x7b47, 0xe7df, 0x7b42, 0xe7d3, 0x7b3e, 0xe7c8, 0x7b39, 0xe7bc,

+  0x7b34, 0xe7b1, 0x7b2f, 0xe7a5, 0x7b2a, 0xe799, 0x7b26, 0xe78e,

+  0x7b21, 0xe782, 0x7b1c, 0xe777, 0x7b17, 0xe76b, 0x7b12, 0xe75f,

+  0x7b0e, 0xe754, 0x7b09, 0xe748, 0x7b04, 0xe73d, 0x7aff, 0xe731,

+  0x7afa, 0xe725, 0x7af5, 0xe71a, 0x7af0, 0xe70e, 0x7aeb, 0xe703,

+  0x7ae6, 0xe6f7, 0x7ae2, 0xe6ec, 0x7add, 0xe6e0, 0x7ad8, 0xe6d4,

+  0x7ad3, 0xe6c9, 0x7ace, 0xe6bd, 0x7ac9, 0xe6b2, 0x7ac4, 0xe6a6,

+  0x7abf, 0xe69b, 0x7aba, 0xe68f, 0x7ab5, 0xe684, 0x7ab0, 0xe678,

+  0x7aab, 0xe66d, 0x7aa6, 0xe661, 0x7aa1, 0xe656, 0x7a9c, 0xe64a,

+  0x7a97, 0xe63f, 0x7a92, 0xe633, 0x7a8d, 0xe628, 0x7a88, 0xe61c,

+  0x7a82, 0xe611, 0x7a7d, 0xe605, 0x7a78, 0xe5fa, 0x7a73, 0xe5ee,

+  0x7a6e, 0xe5e3, 0x7a69, 0xe5d7, 0x7a64, 0xe5cc, 0x7a5f, 0xe5c0,

+  0x7a59, 0xe5b5, 0x7a54, 0xe5a9, 0x7a4f, 0xe59e, 0x7a4a, 0xe592,

+  0x7a45, 0xe587, 0x7a3f, 0xe57c, 0x7a3a, 0xe570, 0x7a35, 0xe565,

+  0x7a30, 0xe559, 0x7a2b, 0xe54e, 0x7a25, 0xe542, 0x7a20, 0xe537,

+  0x7a1b, 0xe52c, 0x7a16, 0xe520, 0x7a10, 0xe515, 0x7a0b, 0xe509,

+  0x7a06, 0xe4fe, 0x7a00, 0xe4f3, 0x79fb, 0xe4e7, 0x79f6, 0xe4dc,

+  0x79f0, 0xe4d0, 0x79eb, 0xe4c5, 0x79e6, 0xe4ba, 0x79e0, 0xe4ae,

+  0x79db, 0xe4a3, 0x79d6, 0xe498, 0x79d0, 0xe48c, 0x79cb, 0xe481,

+  0x79c5, 0xe476, 0x79c0, 0xe46a, 0x79bb, 0xe45f, 0x79b5, 0xe454,

+  0x79b0, 0xe448, 0x79aa, 0xe43d, 0x79a5, 0xe432, 0x799f, 0xe426,

+  0x799a, 0xe41b, 0x7994, 0xe410, 0x798f, 0xe404, 0x7989, 0xe3f9,

+  0x7984, 0xe3ee, 0x797e, 0xe3e2, 0x7979, 0xe3d7, 0x7973, 0xe3cc,

+  0x796e, 0xe3c1, 0x7968, 0xe3b5, 0x7963, 0xe3aa, 0x795d, 0xe39f,

+  0x7958, 0xe394, 0x7952, 0xe388, 0x794c, 0xe37d, 0x7947, 0xe372,

+  0x7941, 0xe367, 0x793b, 0xe35b, 0x7936, 0xe350, 0x7930, 0xe345,

+  0x792b, 0xe33a, 0x7925, 0xe32e, 0x791f, 0xe323, 0x791a, 0xe318,

+  0x7914, 0xe30d, 0x790e, 0xe301, 0x7909, 0xe2f6, 0x7903, 0xe2eb,

+  0x78fd, 0xe2e0, 0x78f7, 0xe2d5, 0x78f2, 0xe2ca, 0x78ec, 0xe2be,

+  0x78e6, 0xe2b3, 0x78e0, 0xe2a8, 0x78db, 0xe29d, 0x78d5, 0xe292,

+  0x78cf, 0xe287, 0x78c9, 0xe27b, 0x78c3, 0xe270, 0x78be, 0xe265,

+  0x78b8, 0xe25a, 0x78b2, 0xe24f, 0x78ac, 0xe244, 0x78a6, 0xe239,

+  0x78a1, 0xe22d, 0x789b, 0xe222, 0x7895, 0xe217, 0x788f, 0xe20c,

+  0x7889, 0xe201, 0x7883, 0xe1f6, 0x787d, 0xe1eb, 0x7877, 0xe1e0,

+  0x7871, 0xe1d5, 0x786b, 0xe1ca, 0x7866, 0xe1be, 0x7860, 0xe1b3,

+  0x785a, 0xe1a8, 0x7854, 0xe19d, 0x784e, 0xe192, 0x7848, 0xe187,

+  0x7842, 0xe17c, 0x783c, 0xe171, 0x7836, 0xe166, 0x7830, 0xe15b,

+  0x782a, 0xe150, 0x7824, 0xe145, 0x781e, 0xe13a, 0x7818, 0xe12f,

+  0x7812, 0xe124, 0x780b, 0xe119, 0x7805, 0xe10e, 0x77ff, 0xe103,

+  0x77f9, 0xe0f8, 0x77f3, 0xe0ed, 0x77ed, 0xe0e2, 0x77e7, 0xe0d7,

+  0x77e1, 0xe0cc, 0x77db, 0xe0c1, 0x77d5, 0xe0b6, 0x77ce, 0xe0ab,

+  0x77c8, 0xe0a0, 0x77c2, 0xe095, 0x77bc, 0xe08a, 0x77b6, 0xe07f,

+  0x77b0, 0xe074, 0x77a9, 0xe069, 0x77a3, 0xe05e, 0x779d, 0xe054,

+  0x7797, 0xe049, 0x7790, 0xe03e, 0x778a, 0xe033, 0x7784, 0xe028,

+  0x777e, 0xe01d, 0x7777, 0xe012, 0x7771, 0xe007, 0x776b, 0xdffc,

+  0x7765, 0xdff1, 0x775e, 0xdfe7, 0x7758, 0xdfdc, 0x7752, 0xdfd1,

+  0x774b, 0xdfc6, 0x7745, 0xdfbb, 0x773f, 0xdfb0, 0x7738, 0xdfa5,

+  0x7732, 0xdf9b, 0x772c, 0xdf90, 0x7725, 0xdf85, 0x771f, 0xdf7a,

+  0x7718, 0xdf6f, 0x7712, 0xdf65, 0x770c, 0xdf5a, 0x7705, 0xdf4f,

+  0x76ff, 0xdf44, 0x76f8, 0xdf39, 0x76f2, 0xdf2f, 0x76eb, 0xdf24,

+  0x76e5, 0xdf19, 0x76df, 0xdf0e, 0x76d8, 0xdf03, 0x76d2, 0xdef9,

+  0x76cb, 0xdeee, 0x76c5, 0xdee3, 0x76be, 0xded8, 0x76b8, 0xdece,

+  0x76b1, 0xdec3, 0x76ab, 0xdeb8, 0x76a4, 0xdead, 0x769d, 0xdea3,

+  0x7697, 0xde98, 0x7690, 0xde8d, 0x768a, 0xde83, 0x7683, 0xde78,

+  0x767d, 0xde6d, 0x7676, 0xde62, 0x766f, 0xde58, 0x7669, 0xde4d,

+  0x7662, 0xde42, 0x765c, 0xde38, 0x7655, 0xde2d, 0x764e, 0xde22,

+  0x7648, 0xde18, 0x7641, 0xde0d, 0x763a, 0xde02, 0x7634, 0xddf8,

+  0x762d, 0xdded, 0x7626, 0xdde2, 0x7620, 0xddd8, 0x7619, 0xddcd,

+  0x7612, 0xddc3, 0x760b, 0xddb8, 0x7605, 0xddad, 0x75fe, 0xdda3,

+  0x75f7, 0xdd98, 0x75f0, 0xdd8e, 0x75ea, 0xdd83, 0x75e3, 0xdd78,

+  0x75dc, 0xdd6e, 0x75d5, 0xdd63, 0x75ce, 0xdd59, 0x75c8, 0xdd4e,

+  0x75c1, 0xdd44, 0x75ba, 0xdd39, 0x75b3, 0xdd2e, 0x75ac, 0xdd24,

+  0x75a5, 0xdd19, 0x759f, 0xdd0f, 0x7598, 0xdd04, 0x7591, 0xdcfa,

+  0x758a, 0xdcef, 0x7583, 0xdce5, 0x757c, 0xdcda, 0x7575, 0xdcd0,

+  0x756e, 0xdcc5, 0x7567, 0xdcbb, 0x7561, 0xdcb0, 0x755a, 0xdca6,

+  0x7553, 0xdc9b, 0x754c, 0xdc91, 0x7545, 0xdc86, 0x753e, 0xdc7c,

+  0x7537, 0xdc72, 0x7530, 0xdc67, 0x7529, 0xdc5d, 0x7522, 0xdc52,

+  0x751b, 0xdc48, 0x7514, 0xdc3d, 0x750d, 0xdc33, 0x7506, 0xdc29,

+  0x74ff, 0xdc1e, 0x74f8, 0xdc14, 0x74f1, 0xdc09, 0x74ea, 0xdbff,

+  0x74e2, 0xdbf5, 0x74db, 0xdbea, 0x74d4, 0xdbe0, 0x74cd, 0xdbd5,

+  0x74c6, 0xdbcb, 0x74bf, 0xdbc1, 0x74b8, 0xdbb6, 0x74b1, 0xdbac,

+  0x74aa, 0xdba2, 0x74a2, 0xdb97, 0x749b, 0xdb8d, 0x7494, 0xdb83,

+  0x748d, 0xdb78, 0x7486, 0xdb6e, 0x747f, 0xdb64, 0x7477, 0xdb59,

+  0x7470, 0xdb4f, 0x7469, 0xdb45, 0x7462, 0xdb3b, 0x745b, 0xdb30,

+  0x7453, 0xdb26, 0x744c, 0xdb1c, 0x7445, 0xdb11, 0x743e, 0xdb07,

+  0x7436, 0xdafd, 0x742f, 0xdaf3, 0x7428, 0xdae8, 0x7420, 0xdade,

+  0x7419, 0xdad4, 0x7412, 0xdaca, 0x740b, 0xdabf, 0x7403, 0xdab5,

+  0x73fc, 0xdaab, 0x73f5, 0xdaa1, 0x73ed, 0xda97, 0x73e6, 0xda8c,

+  0x73df, 0xda82, 0x73d7, 0xda78, 0x73d0, 0xda6e, 0x73c8, 0xda64,

+  0x73c1, 0xda5a, 0x73ba, 0xda4f, 0x73b2, 0xda45, 0x73ab, 0xda3b,

+  0x73a3, 0xda31, 0x739c, 0xda27, 0x7395, 0xda1d, 0x738d, 0xda13,

+  0x7386, 0xda08, 0x737e, 0xd9fe, 0x7377, 0xd9f4, 0x736f, 0xd9ea,

+  0x7368, 0xd9e0, 0x7360, 0xd9d6, 0x7359, 0xd9cc, 0x7351, 0xd9c2,

+  0x734a, 0xd9b8, 0x7342, 0xd9ae, 0x733b, 0xd9a4, 0x7333, 0xd99a,

+  0x732c, 0xd98f, 0x7324, 0xd985, 0x731d, 0xd97b, 0x7315, 0xd971,

+  0x730d, 0xd967, 0x7306, 0xd95d, 0x72fe, 0xd953, 0x72f7, 0xd949,

+  0x72ef, 0xd93f, 0x72e7, 0xd935, 0x72e0, 0xd92b, 0x72d8, 0xd921,

+  0x72d0, 0xd917, 0x72c9, 0xd90d, 0x72c1, 0xd903, 0x72ba, 0xd8f9,

+  0x72b2, 0xd8ef, 0x72aa, 0xd8e6, 0x72a3, 0xd8dc, 0x729b, 0xd8d2,

+  0x7293, 0xd8c8, 0x728b, 0xd8be, 0x7284, 0xd8b4, 0x727c, 0xd8aa,

+  0x7274, 0xd8a0, 0x726d, 0xd896, 0x7265, 0xd88c, 0x725d, 0xd882,

+  0x7255, 0xd878, 0x724e, 0xd86f, 0x7246, 0xd865, 0x723e, 0xd85b,

+  0x7236, 0xd851, 0x722e, 0xd847, 0x7227, 0xd83d, 0x721f, 0xd833,

+  0x7217, 0xd82a, 0x720f, 0xd820, 0x7207, 0xd816, 0x71ff, 0xd80c,

+  0x71f8, 0xd802, 0x71f0, 0xd7f8, 0x71e8, 0xd7ef, 0x71e0, 0xd7e5,

+  0x71d8, 0xd7db, 0x71d0, 0xd7d1, 0x71c8, 0xd7c8, 0x71c0, 0xd7be,

+  0x71b9, 0xd7b4, 0x71b1, 0xd7aa, 0x71a9, 0xd7a0, 0x71a1, 0xd797,

+  0x7199, 0xd78d, 0x7191, 0xd783, 0x7189, 0xd77a, 0x7181, 0xd770,

+  0x7179, 0xd766, 0x7171, 0xd75c, 0x7169, 0xd753, 0x7161, 0xd749,

+  0x7159, 0xd73f, 0x7151, 0xd736, 0x7149, 0xd72c, 0x7141, 0xd722,

+  0x7139, 0xd719, 0x7131, 0xd70f, 0x7129, 0xd705, 0x7121, 0xd6fc,

+  0x7119, 0xd6f2, 0x7111, 0xd6e8, 0x7109, 0xd6df, 0x7101, 0xd6d5,

+  0x70f9, 0xd6cb, 0x70f0, 0xd6c2, 0x70e8, 0xd6b8, 0x70e0, 0xd6af,

+  0x70d8, 0xd6a5, 0x70d0, 0xd69b, 0x70c8, 0xd692, 0x70c0, 0xd688,

+  0x70b8, 0xd67f, 0x70af, 0xd675, 0x70a7, 0xd66c, 0x709f, 0xd662,

+  0x7097, 0xd659, 0x708f, 0xd64f, 0x7087, 0xd645, 0x707e, 0xd63c,

+  0x7076, 0xd632, 0x706e, 0xd629, 0x7066, 0xd61f, 0x705d, 0xd616,

+  0x7055, 0xd60c, 0x704d, 0xd603, 0x7045, 0xd5f9, 0x703c, 0xd5f0,

+  0x7034, 0xd5e6, 0x702c, 0xd5dd, 0x7024, 0xd5d4, 0x701b, 0xd5ca,

+  0x7013, 0xd5c1, 0x700b, 0xd5b7, 0x7002, 0xd5ae, 0x6ffa, 0xd5a4,

+  0x6ff2, 0xd59b, 0x6fea, 0xd592, 0x6fe1, 0xd588, 0x6fd9, 0xd57f,

+  0x6fd0, 0xd575, 0x6fc8, 0xd56c, 0x6fc0, 0xd563, 0x6fb7, 0xd559,

+  0x6faf, 0xd550, 0x6fa7, 0xd547, 0x6f9e, 0xd53d, 0x6f96, 0xd534,

+  0x6f8d, 0xd52a, 0x6f85, 0xd521, 0x6f7d, 0xd518, 0x6f74, 0xd50e,

+  0x6f6c, 0xd505, 0x6f63, 0xd4fc, 0x6f5b, 0xd4f3, 0x6f52, 0xd4e9,

+  0x6f4a, 0xd4e0, 0x6f41, 0xd4d7, 0x6f39, 0xd4cd, 0x6f30, 0xd4c4,

+  0x6f28, 0xd4bb, 0x6f20, 0xd4b2, 0x6f17, 0xd4a8, 0x6f0e, 0xd49f,

+  0x6f06, 0xd496, 0x6efd, 0xd48d, 0x6ef5, 0xd483, 0x6eec, 0xd47a,

+  0x6ee4, 0xd471, 0x6edb, 0xd468, 0x6ed3, 0xd45f, 0x6eca, 0xd455,

+  0x6ec2, 0xd44c, 0x6eb9, 0xd443, 0x6eb0, 0xd43a, 0x6ea8, 0xd431,

+  0x6e9f, 0xd428, 0x6e97, 0xd41e, 0x6e8e, 0xd415, 0x6e85, 0xd40c,

+  0x6e7d, 0xd403, 0x6e74, 0xd3fa, 0x6e6b, 0xd3f1, 0x6e63, 0xd3e8,

+  0x6e5a, 0xd3df, 0x6e51, 0xd3d5, 0x6e49, 0xd3cc, 0x6e40, 0xd3c3,

+  0x6e37, 0xd3ba, 0x6e2f, 0xd3b1, 0x6e26, 0xd3a8, 0x6e1d, 0xd39f,

+  0x6e15, 0xd396, 0x6e0c, 0xd38d, 0x6e03, 0xd384, 0x6dfa, 0xd37b,

+  0x6df2, 0xd372, 0x6de9, 0xd369, 0x6de0, 0xd360, 0x6dd7, 0xd357,

+  0x6dcf, 0xd34e, 0x6dc6, 0xd345, 0x6dbd, 0xd33c, 0x6db4, 0xd333,

+  0x6dab, 0xd32a, 0x6da3, 0xd321, 0x6d9a, 0xd318, 0x6d91, 0xd30f,

+  0x6d88, 0xd306, 0x6d7f, 0xd2fd, 0x6d76, 0xd2f4, 0x6d6e, 0xd2eb,

+  0x6d65, 0xd2e2, 0x6d5c, 0xd2d9, 0x6d53, 0xd2d1, 0x6d4a, 0xd2c8,

+  0x6d41, 0xd2bf, 0x6d38, 0xd2b6, 0x6d2f, 0xd2ad, 0x6d27, 0xd2a4,

+  0x6d1e, 0xd29b, 0x6d15, 0xd292, 0x6d0c, 0xd28a, 0x6d03, 0xd281,

+  0x6cfa, 0xd278, 0x6cf1, 0xd26f, 0x6ce8, 0xd266, 0x6cdf, 0xd25d,

+  0x6cd6, 0xd255, 0x6ccd, 0xd24c, 0x6cc4, 0xd243, 0x6cbb, 0xd23a,

+  0x6cb2, 0xd231, 0x6ca9, 0xd229, 0x6ca0, 0xd220, 0x6c97, 0xd217,

+  0x6c8e, 0xd20e, 0x6c85, 0xd206, 0x6c7c, 0xd1fd, 0x6c73, 0xd1f4,

+  0x6c6a, 0xd1eb, 0x6c61, 0xd1e3, 0x6c58, 0xd1da, 0x6c4f, 0xd1d1,

+  0x6c46, 0xd1c9, 0x6c3d, 0xd1c0, 0x6c34, 0xd1b7, 0x6c2b, 0xd1af,

+  0x6c21, 0xd1a6, 0x6c18, 0xd19d, 0x6c0f, 0xd195, 0x6c06, 0xd18c,

+  0x6bfd, 0xd183, 0x6bf4, 0xd17b, 0x6beb, 0xd172, 0x6be2, 0xd169,

+  0x6bd8, 0xd161, 0x6bcf, 0xd158, 0x6bc6, 0xd150, 0x6bbd, 0xd147,

+  0x6bb4, 0xd13e, 0x6bab, 0xd136, 0x6ba1, 0xd12d, 0x6b98, 0xd125,

+  0x6b8f, 0xd11c, 0x6b86, 0xd114, 0x6b7d, 0xd10b, 0x6b73, 0xd103,

+  0x6b6a, 0xd0fa, 0x6b61, 0xd0f2, 0x6b58, 0xd0e9, 0x6b4e, 0xd0e0,

+  0x6b45, 0xd0d8, 0x6b3c, 0xd0d0, 0x6b33, 0xd0c7, 0x6b29, 0xd0bf,

+  0x6b20, 0xd0b6, 0x6b17, 0xd0ae, 0x6b0d, 0xd0a5, 0x6b04, 0xd09d,

+  0x6afb, 0xd094, 0x6af2, 0xd08c, 0x6ae8, 0xd083, 0x6adf, 0xd07b,

+  0x6ad6, 0xd073, 0x6acc, 0xd06a, 0x6ac3, 0xd062, 0x6ab9, 0xd059,

+  0x6ab0, 0xd051, 0x6aa7, 0xd049, 0x6a9d, 0xd040, 0x6a94, 0xd038,

+  0x6a8b, 0xd030, 0x6a81, 0xd027, 0x6a78, 0xd01f, 0x6a6e, 0xd016,

+  0x6a65, 0xd00e, 0x6a5c, 0xd006, 0x6a52, 0xcffe, 0x6a49, 0xcff5,

+  0x6a3f, 0xcfed, 0x6a36, 0xcfe5, 0x6a2c, 0xcfdc, 0x6a23, 0xcfd4,

+  0x6a1a, 0xcfcc, 0x6a10, 0xcfc4, 0x6a07, 0xcfbb, 0x69fd, 0xcfb3,

+  0x69f4, 0xcfab, 0x69ea, 0xcfa3, 0x69e1, 0xcf9a, 0x69d7, 0xcf92,

+  0x69ce, 0xcf8a, 0x69c4, 0xcf82, 0x69bb, 0xcf79, 0x69b1, 0xcf71,

+  0x69a7, 0xcf69, 0x699e, 0xcf61, 0x6994, 0xcf59, 0x698b, 0xcf51,

+  0x6981, 0xcf48, 0x6978, 0xcf40, 0x696e, 0xcf38, 0x6965, 0xcf30,

+  0x695b, 0xcf28, 0x6951, 0xcf20, 0x6948, 0xcf18, 0x693e, 0xcf10,

+  0x6935, 0xcf07, 0x692b, 0xceff, 0x6921, 0xcef7, 0x6918, 0xceef,

+  0x690e, 0xcee7, 0x6904, 0xcedf, 0x68fb, 0xced7, 0x68f1, 0xcecf,

+  0x68e7, 0xcec7, 0x68de, 0xcebf, 0x68d4, 0xceb7, 0x68ca, 0xceaf,

+  0x68c1, 0xcea7, 0x68b7, 0xce9f, 0x68ad, 0xce97, 0x68a4, 0xce8f,

+  0x689a, 0xce87, 0x6890, 0xce7f, 0x6886, 0xce77, 0x687d, 0xce6f,

+  0x6873, 0xce67, 0x6869, 0xce5f, 0x6860, 0xce57, 0x6856, 0xce4f,

+  0x684c, 0xce47, 0x6842, 0xce40, 0x6838, 0xce38, 0x682f, 0xce30,

+  0x6825, 0xce28, 0x681b, 0xce20, 0x6811, 0xce18, 0x6808, 0xce10,

+  0x67fe, 0xce08, 0x67f4, 0xce01, 0x67ea, 0xcdf9, 0x67e0, 0xcdf1,

+  0x67d6, 0xcde9, 0x67cd, 0xcde1, 0x67c3, 0xcdd9, 0x67b9, 0xcdd2,

+  0x67af, 0xcdca, 0x67a5, 0xcdc2, 0x679b, 0xcdba, 0x6791, 0xcdb2,

+  0x6788, 0xcdab, 0x677e, 0xcda3, 0x6774, 0xcd9b, 0x676a, 0xcd93,

+  0x6760, 0xcd8c, 0x6756, 0xcd84, 0x674c, 0xcd7c, 0x6742, 0xcd75,

+  0x6738, 0xcd6d, 0x672e, 0xcd65, 0x6724, 0xcd5d, 0x671a, 0xcd56,

+  0x6711, 0xcd4e, 0x6707, 0xcd46, 0x66fd, 0xcd3f, 0x66f3, 0xcd37,

+  0x66e9, 0xcd30, 0x66df, 0xcd28, 0x66d5, 0xcd20, 0x66cb, 0xcd19,

+  0x66c1, 0xcd11, 0x66b7, 0xcd09, 0x66ad, 0xcd02, 0x66a3, 0xccfa,

+  0x6699, 0xccf3, 0x668f, 0xcceb, 0x6685, 0xcce3, 0x667b, 0xccdc,

+  0x6671, 0xccd4, 0x6666, 0xcccd, 0x665c, 0xccc5, 0x6652, 0xccbe,

+  0x6648, 0xccb6, 0x663e, 0xccaf, 0x6634, 0xcca7, 0x662a, 0xcca0,

+  0x6620, 0xcc98, 0x6616, 0xcc91, 0x660c, 0xcc89, 0x6602, 0xcc82,

+  0x65f8, 0xcc7a, 0x65ed, 0xcc73, 0x65e3, 0xcc6b, 0x65d9, 0xcc64,

+  0x65cf, 0xcc5d, 0x65c5, 0xcc55, 0x65bb, 0xcc4e, 0x65b1, 0xcc46,

+  0x65a6, 0xcc3f, 0x659c, 0xcc38, 0x6592, 0xcc30, 0x6588, 0xcc29,

+  0x657e, 0xcc21, 0x6574, 0xcc1a, 0x6569, 0xcc13, 0x655f, 0xcc0b,

+  0x6555, 0xcc04, 0x654b, 0xcbfd, 0x6541, 0xcbf5, 0x6536, 0xcbee,

+  0x652c, 0xcbe7, 0x6522, 0xcbe0, 0x6518, 0xcbd8, 0x650d, 0xcbd1,

+  0x6503, 0xcbca, 0x64f9, 0xcbc2, 0x64ef, 0xcbbb, 0x64e4, 0xcbb4,

+  0x64da, 0xcbad, 0x64d0, 0xcba5, 0x64c5, 0xcb9e, 0x64bb, 0xcb97,

+  0x64b1, 0xcb90, 0x64a7, 0xcb89, 0x649c, 0xcb81, 0x6492, 0xcb7a,

+  0x6488, 0xcb73, 0x647d, 0xcb6c, 0x6473, 0xcb65, 0x6469, 0xcb5e,

+  0x645e, 0xcb56, 0x6454, 0xcb4f, 0x644a, 0xcb48, 0x643f, 0xcb41,

+  0x6435, 0xcb3a, 0x642b, 0xcb33, 0x6420, 0xcb2c, 0x6416, 0xcb25,

+  0x640b, 0xcb1e, 0x6401, 0xcb16, 0x63f7, 0xcb0f, 0x63ec, 0xcb08,

+  0x63e2, 0xcb01, 0x63d7, 0xcafa, 0x63cd, 0xcaf3, 0x63c3, 0xcaec,

+  0x63b8, 0xcae5, 0x63ae, 0xcade, 0x63a3, 0xcad7, 0x6399, 0xcad0,

+  0x638e, 0xcac9, 0x6384, 0xcac2, 0x637a, 0xcabb, 0x636f, 0xcab4,

+  0x6365, 0xcaad, 0x635a, 0xcaa6, 0x6350, 0xca9f, 0x6345, 0xca99,

+  0x633b, 0xca92, 0x6330, 0xca8b, 0x6326, 0xca84, 0x631b, 0xca7d,

+  0x6311, 0xca76, 0x6306, 0xca6f, 0x62fc, 0xca68, 0x62f1, 0xca61,

+  0x62e7, 0xca5b, 0x62dc, 0xca54, 0x62d2, 0xca4d, 0x62c7, 0xca46,

+  0x62bc, 0xca3f, 0x62b2, 0xca38, 0x62a7, 0xca32, 0x629d, 0xca2b,

+  0x6292, 0xca24, 0x6288, 0xca1d, 0x627d, 0xca16, 0x6272, 0xca10,

+  0x6268, 0xca09, 0x625d, 0xca02, 0x6253, 0xc9fb, 0x6248, 0xc9f5,

+  0x623d, 0xc9ee, 0x6233, 0xc9e7, 0x6228, 0xc9e0, 0x621e, 0xc9da,

+  0x6213, 0xc9d3, 0x6208, 0xc9cc, 0x61fe, 0xc9c6, 0x61f3, 0xc9bf,

+  0x61e8, 0xc9b8, 0x61de, 0xc9b2, 0x61d3, 0xc9ab, 0x61c8, 0xc9a4,

+  0x61be, 0xc99e, 0x61b3, 0xc997, 0x61a8, 0xc991, 0x619e, 0xc98a,

+  0x6193, 0xc983, 0x6188, 0xc97d, 0x617d, 0xc976, 0x6173, 0xc970,

+  0x6168, 0xc969, 0x615d, 0xc963, 0x6153, 0xc95c, 0x6148, 0xc955,

+  0x613d, 0xc94f, 0x6132, 0xc948, 0x6128, 0xc942, 0x611d, 0xc93b,

+  0x6112, 0xc935, 0x6107, 0xc92e, 0x60fd, 0xc928, 0x60f2, 0xc921,

+  0x60e7, 0xc91b, 0x60dc, 0xc915, 0x60d1, 0xc90e, 0x60c7, 0xc908,

+  0x60bc, 0xc901, 0x60b1, 0xc8fb, 0x60a6, 0xc8f4, 0x609b, 0xc8ee,

+  0x6091, 0xc8e8, 0x6086, 0xc8e1, 0x607b, 0xc8db, 0x6070, 0xc8d4,

+  0x6065, 0xc8ce, 0x605b, 0xc8c8, 0x6050, 0xc8c1, 0x6045, 0xc8bb,

+  0x603a, 0xc8b5, 0x602f, 0xc8ae, 0x6024, 0xc8a8, 0x6019, 0xc8a2,

+  0x600f, 0xc89b, 0x6004, 0xc895, 0x5ff9, 0xc88f, 0x5fee, 0xc889,

+  0x5fe3, 0xc882, 0x5fd8, 0xc87c, 0x5fcd, 0xc876, 0x5fc2, 0xc870,

+  0x5fb7, 0xc869, 0x5fac, 0xc863, 0x5fa2, 0xc85d, 0x5f97, 0xc857,

+  0x5f8c, 0xc850, 0x5f81, 0xc84a, 0x5f76, 0xc844, 0x5f6b, 0xc83e,

+  0x5f60, 0xc838, 0x5f55, 0xc832, 0x5f4a, 0xc82b, 0x5f3f, 0xc825,

+  0x5f34, 0xc81f, 0x5f29, 0xc819, 0x5f1e, 0xc813, 0x5f13, 0xc80d,

+  0x5f08, 0xc807, 0x5efd, 0xc801, 0x5ef2, 0xc7fb, 0x5ee7, 0xc7f5,

+  0x5edc, 0xc7ee, 0x5ed1, 0xc7e8, 0x5ec6, 0xc7e2, 0x5ebb, 0xc7dc,

+  0x5eb0, 0xc7d6, 0x5ea5, 0xc7d0, 0x5e9a, 0xc7ca, 0x5e8f, 0xc7c4,

+  0x5e84, 0xc7be, 0x5e79, 0xc7b8, 0x5e6e, 0xc7b2, 0x5e63, 0xc7ac,

+  0x5e58, 0xc7a6, 0x5e4d, 0xc7a0, 0x5e42, 0xc79a, 0x5e36, 0xc795,

+  0x5e2b, 0xc78f, 0x5e20, 0xc789, 0x5e15, 0xc783, 0x5e0a, 0xc77d,

+  0x5dff, 0xc777, 0x5df4, 0xc771, 0x5de9, 0xc76b, 0x5dde, 0xc765,

+  0x5dd3, 0xc75f, 0x5dc7, 0xc75a, 0x5dbc, 0xc754, 0x5db1, 0xc74e,

+  0x5da6, 0xc748, 0x5d9b, 0xc742, 0x5d90, 0xc73d, 0x5d85, 0xc737,

+  0x5d79, 0xc731, 0x5d6e, 0xc72b, 0x5d63, 0xc725, 0x5d58, 0xc720,

+  0x5d4d, 0xc71a, 0x5d42, 0xc714, 0x5d36, 0xc70e, 0x5d2b, 0xc709,

+  0x5d20, 0xc703, 0x5d15, 0xc6fd, 0x5d0a, 0xc6f7, 0x5cff, 0xc6f2,

+  0x5cf3, 0xc6ec, 0x5ce8, 0xc6e6, 0x5cdd, 0xc6e1, 0x5cd2, 0xc6db,

+  0x5cc6, 0xc6d5, 0x5cbb, 0xc6d0, 0x5cb0, 0xc6ca, 0x5ca5, 0xc6c5,

+  0x5c99, 0xc6bf, 0x5c8e, 0xc6b9, 0x5c83, 0xc6b4, 0x5c78, 0xc6ae,

+  0x5c6c, 0xc6a8, 0x5c61, 0xc6a3, 0x5c56, 0xc69d, 0x5c4b, 0xc698,

+  0x5c3f, 0xc692, 0x5c34, 0xc68d, 0x5c29, 0xc687, 0x5c1e, 0xc682,

+  0x5c12, 0xc67c, 0x5c07, 0xc677, 0x5bfc, 0xc671, 0x5bf0, 0xc66c,

+  0x5be5, 0xc666, 0x5bda, 0xc661, 0x5bce, 0xc65b, 0x5bc3, 0xc656,

+  0x5bb8, 0xc650, 0x5bac, 0xc64b, 0x5ba1, 0xc645, 0x5b96, 0xc640,

+  0x5b8a, 0xc63b, 0x5b7f, 0xc635, 0x5b74, 0xc630, 0x5b68, 0xc62a,

+  0x5b5d, 0xc625, 0x5b52, 0xc620, 0x5b46, 0xc61a, 0x5b3b, 0xc615,

+  0x5b30, 0xc610, 0x5b24, 0xc60a, 0x5b19, 0xc605, 0x5b0d, 0xc600,

+  0x5b02, 0xc5fa, 0x5af7, 0xc5f5, 0x5aeb, 0xc5f0, 0x5ae0, 0xc5ea,

+  0x5ad4, 0xc5e5, 0x5ac9, 0xc5e0, 0x5abe, 0xc5db, 0x5ab2, 0xc5d5,

+  0x5aa7, 0xc5d0, 0x5a9b, 0xc5cb, 0x5a90, 0xc5c6, 0x5a84, 0xc5c1,

+  0x5a79, 0xc5bb, 0x5a6e, 0xc5b6, 0x5a62, 0xc5b1, 0x5a57, 0xc5ac,

+  0x5a4b, 0xc5a7, 0x5a40, 0xc5a1, 0x5a34, 0xc59c, 0x5a29, 0xc597,

+  0x5a1d, 0xc592, 0x5a12, 0xc58d, 0x5a06, 0xc588, 0x59fb, 0xc583,

+  0x59ef, 0xc57e, 0x59e4, 0xc578, 0x59d8, 0xc573, 0x59cd, 0xc56e,

+  0x59c1, 0xc569, 0x59b6, 0xc564, 0x59aa, 0xc55f, 0x599f, 0xc55a,

+  0x5993, 0xc555, 0x5988, 0xc550, 0x597c, 0xc54b, 0x5971, 0xc546,

+  0x5965, 0xc541, 0x595a, 0xc53c, 0x594e, 0xc537, 0x5943, 0xc532,

+  0x5937, 0xc52d, 0x592c, 0xc528, 0x5920, 0xc523, 0x5914, 0xc51e,

+  0x5909, 0xc51a, 0x58fd, 0xc515, 0x58f2, 0xc510, 0x58e6, 0xc50b,

+  0x58db, 0xc506, 0x58cf, 0xc501, 0x58c3, 0xc4fc, 0x58b8, 0xc4f7,

+  0x58ac, 0xc4f2, 0x58a1, 0xc4ee, 0x5895, 0xc4e9, 0x5889, 0xc4e4,

+  0x587e, 0xc4df, 0x5872, 0xc4da, 0x5867, 0xc4d6, 0x585b, 0xc4d1,

+  0x584f, 0xc4cc, 0x5844, 0xc4c7, 0x5838, 0xc4c2, 0x582d, 0xc4be,

+  0x5821, 0xc4b9, 0x5815, 0xc4b4, 0x580a, 0xc4b0, 0x57fe, 0xc4ab,

+  0x57f2, 0xc4a6, 0x57e7, 0xc4a1, 0x57db, 0xc49d, 0x57cf, 0xc498,

+  0x57c4, 0xc493, 0x57b8, 0xc48f, 0x57ac, 0xc48a, 0x57a1, 0xc485,

+  0x5795, 0xc481, 0x5789, 0xc47c, 0x577e, 0xc478, 0x5772, 0xc473,

+  0x5766, 0xc46e, 0x575b, 0xc46a, 0x574f, 0xc465, 0x5743, 0xc461,

+  0x5737, 0xc45c, 0x572c, 0xc457, 0x5720, 0xc453, 0x5714, 0xc44e,

+  0x5709, 0xc44a, 0x56fd, 0xc445, 0x56f1, 0xc441, 0x56e5, 0xc43c,

+  0x56da, 0xc438, 0x56ce, 0xc433, 0x56c2, 0xc42f, 0x56b6, 0xc42a,

+  0x56ab, 0xc426, 0x569f, 0xc422, 0x5693, 0xc41d, 0x5687, 0xc419,

+  0x567c, 0xc414, 0x5670, 0xc410, 0x5664, 0xc40b, 0x5658, 0xc407,

+  0x564c, 0xc403, 0x5641, 0xc3fe, 0x5635, 0xc3fa, 0x5629, 0xc3f6,

+  0x561d, 0xc3f1, 0x5612, 0xc3ed, 0x5606, 0xc3e9, 0x55fa, 0xc3e4,

+  0x55ee, 0xc3e0, 0x55e2, 0xc3dc, 0x55d7, 0xc3d7, 0x55cb, 0xc3d3,

+  0x55bf, 0xc3cf, 0x55b3, 0xc3ca, 0x55a7, 0xc3c6, 0x559b, 0xc3c2,

+  0x5590, 0xc3be, 0x5584, 0xc3ba, 0x5578, 0xc3b5, 0x556c, 0xc3b1,

+  0x5560, 0xc3ad, 0x5554, 0xc3a9, 0x5549, 0xc3a5, 0x553d, 0xc3a0,

+  0x5531, 0xc39c, 0x5525, 0xc398, 0x5519, 0xc394, 0x550d, 0xc390,

+  0x5501, 0xc38c, 0x54f6, 0xc387, 0x54ea, 0xc383, 0x54de, 0xc37f,

+  0x54d2, 0xc37b, 0x54c6, 0xc377, 0x54ba, 0xc373, 0x54ae, 0xc36f,

+  0x54a2, 0xc36b, 0x5496, 0xc367, 0x548b, 0xc363, 0x547f, 0xc35f,

+  0x5473, 0xc35b, 0x5467, 0xc357, 0x545b, 0xc353, 0x544f, 0xc34f,

+  0x5443, 0xc34b, 0x5437, 0xc347, 0x542b, 0xc343, 0x541f, 0xc33f,

+  0x5413, 0xc33b, 0x5407, 0xc337, 0x53fb, 0xc333, 0x53f0, 0xc32f,

+  0x53e4, 0xc32b, 0x53d8, 0xc327, 0x53cc, 0xc323, 0x53c0, 0xc320,

+  0x53b4, 0xc31c, 0x53a8, 0xc318, 0x539c, 0xc314, 0x5390, 0xc310,

+  0x5384, 0xc30c, 0x5378, 0xc308, 0x536c, 0xc305, 0x5360, 0xc301,

+  0x5354, 0xc2fd, 0x5348, 0xc2f9, 0x533c, 0xc2f5, 0x5330, 0xc2f2,

+  0x5324, 0xc2ee, 0x5318, 0xc2ea, 0x530c, 0xc2e6, 0x5300, 0xc2e3,

+  0x52f4, 0xc2df, 0x52e8, 0xc2db, 0x52dc, 0xc2d8, 0x52d0, 0xc2d4,

+  0x52c4, 0xc2d0, 0x52b8, 0xc2cc, 0x52ac, 0xc2c9, 0x52a0, 0xc2c5,

+  0x5294, 0xc2c1, 0x5288, 0xc2be, 0x527c, 0xc2ba, 0x5270, 0xc2b7,

+  0x5264, 0xc2b3, 0x5258, 0xc2af, 0x524c, 0xc2ac, 0x5240, 0xc2a8,

+  0x5234, 0xc2a5, 0x5228, 0xc2a1, 0x521c, 0xc29d, 0x5210, 0xc29a,

+  0x5204, 0xc296, 0x51f7, 0xc293, 0x51eb, 0xc28f, 0x51df, 0xc28c,

+  0x51d3, 0xc288, 0x51c7, 0xc285, 0x51bb, 0xc281, 0x51af, 0xc27e,

+  0x51a3, 0xc27a, 0x5197, 0xc277, 0x518b, 0xc273, 0x517f, 0xc270,

+  0x5173, 0xc26d, 0x5167, 0xc269, 0x515a, 0xc266, 0x514e, 0xc262,

+  0x5142, 0xc25f, 0x5136, 0xc25c, 0x512a, 0xc258, 0x511e, 0xc255,

+  0x5112, 0xc251, 0x5106, 0xc24e, 0x50fa, 0xc24b, 0x50ed, 0xc247,

+  0x50e1, 0xc244, 0x50d5, 0xc241, 0x50c9, 0xc23e, 0x50bd, 0xc23a,

+  0x50b1, 0xc237, 0x50a5, 0xc234, 0x5099, 0xc230, 0x508c, 0xc22d,

+  0x5080, 0xc22a, 0x5074, 0xc227, 0x5068, 0xc223, 0x505c, 0xc220,

+  0x5050, 0xc21d, 0x5044, 0xc21a, 0x5037, 0xc217, 0x502b, 0xc213,

+  0x501f, 0xc210, 0x5013, 0xc20d, 0x5007, 0xc20a, 0x4ffb, 0xc207,

+  0x4fee, 0xc204, 0x4fe2, 0xc201, 0x4fd6, 0xc1fd, 0x4fca, 0xc1fa,

+  0x4fbe, 0xc1f7, 0x4fb2, 0xc1f4, 0x4fa5, 0xc1f1, 0x4f99, 0xc1ee,

+  0x4f8d, 0xc1eb, 0x4f81, 0xc1e8, 0x4f75, 0xc1e5, 0x4f68, 0xc1e2,

+  0x4f5c, 0xc1df, 0x4f50, 0xc1dc, 0x4f44, 0xc1d9, 0x4f38, 0xc1d6,

+  0x4f2b, 0xc1d3, 0x4f1f, 0xc1d0, 0x4f13, 0xc1cd, 0x4f07, 0xc1ca,

+  0x4efb, 0xc1c7, 0x4eee, 0xc1c4, 0x4ee2, 0xc1c1, 0x4ed6, 0xc1be,

+  0x4eca, 0xc1bb, 0x4ebd, 0xc1b8, 0x4eb1, 0xc1b6, 0x4ea5, 0xc1b3,

+  0x4e99, 0xc1b0, 0x4e8c, 0xc1ad, 0x4e80, 0xc1aa, 0x4e74, 0xc1a7,

+  0x4e68, 0xc1a4, 0x4e5c, 0xc1a2, 0x4e4f, 0xc19f, 0x4e43, 0xc19c,

+  0x4e37, 0xc199, 0x4e2b, 0xc196, 0x4e1e, 0xc194, 0x4e12, 0xc191,

+  0x4e06, 0xc18e, 0x4df9, 0xc18b, 0x4ded, 0xc189, 0x4de1, 0xc186,

+  0x4dd5, 0xc183, 0x4dc8, 0xc180, 0x4dbc, 0xc17e, 0x4db0, 0xc17b,

+  0x4da4, 0xc178, 0x4d97, 0xc176, 0x4d8b, 0xc173, 0x4d7f, 0xc170,

+  0x4d72, 0xc16e, 0x4d66, 0xc16b, 0x4d5a, 0xc168, 0x4d4e, 0xc166,

+  0x4d41, 0xc163, 0x4d35, 0xc161, 0x4d29, 0xc15e, 0x4d1c, 0xc15b,

+  0x4d10, 0xc159, 0x4d04, 0xc156, 0x4cf8, 0xc154, 0x4ceb, 0xc151,

+  0x4cdf, 0xc14f, 0x4cd3, 0xc14c, 0x4cc6, 0xc14a, 0x4cba, 0xc147,

+  0x4cae, 0xc145, 0x4ca1, 0xc142, 0x4c95, 0xc140, 0x4c89, 0xc13d,

+  0x4c7c, 0xc13b, 0x4c70, 0xc138, 0x4c64, 0xc136, 0x4c57, 0xc134,

+  0x4c4b, 0xc131, 0x4c3f, 0xc12f, 0x4c32, 0xc12c, 0x4c26, 0xc12a,

+  0x4c1a, 0xc128, 0x4c0d, 0xc125, 0x4c01, 0xc123, 0x4bf5, 0xc120,

+  0x4be8, 0xc11e, 0x4bdc, 0xc11c, 0x4bd0, 0xc119, 0x4bc3, 0xc117,

+  0x4bb7, 0xc115, 0x4bab, 0xc113, 0x4b9e, 0xc110, 0x4b92, 0xc10e,

+  0x4b85, 0xc10c, 0x4b79, 0xc109, 0x4b6d, 0xc107, 0x4b60, 0xc105,

+  0x4b54, 0xc103, 0x4b48, 0xc100, 0x4b3b, 0xc0fe, 0x4b2f, 0xc0fc,

+  0x4b23, 0xc0fa, 0x4b16, 0xc0f8, 0x4b0a, 0xc0f6, 0x4afd, 0xc0f3,

+  0x4af1, 0xc0f1, 0x4ae5, 0xc0ef, 0x4ad8, 0xc0ed, 0x4acc, 0xc0eb,

+  0x4ac0, 0xc0e9, 0x4ab3, 0xc0e7, 0x4aa7, 0xc0e4, 0x4a9a, 0xc0e2,

+  0x4a8e, 0xc0e0, 0x4a82, 0xc0de, 0x4a75, 0xc0dc, 0x4a69, 0xc0da,

+  0x4a5c, 0xc0d8, 0x4a50, 0xc0d6, 0x4a44, 0xc0d4, 0x4a37, 0xc0d2,

+  0x4a2b, 0xc0d0, 0x4a1e, 0xc0ce, 0x4a12, 0xc0cc, 0x4a06, 0xc0ca,

+  0x49f9, 0xc0c8, 0x49ed, 0xc0c6, 0x49e0, 0xc0c4, 0x49d4, 0xc0c2,

+  0x49c7, 0xc0c0, 0x49bb, 0xc0be, 0x49af, 0xc0bd, 0x49a2, 0xc0bb,

+  0x4996, 0xc0b9, 0x4989, 0xc0b7, 0x497d, 0xc0b5, 0x4970, 0xc0b3,

+  0x4964, 0xc0b1, 0x4958, 0xc0af, 0x494b, 0xc0ae, 0x493f, 0xc0ac,

+  0x4932, 0xc0aa, 0x4926, 0xc0a8, 0x4919, 0xc0a6, 0x490d, 0xc0a5,

+  0x4901, 0xc0a3, 0x48f4, 0xc0a1, 0x48e8, 0xc09f, 0x48db, 0xc09e,

+  0x48cf, 0xc09c, 0x48c2, 0xc09a, 0x48b6, 0xc098, 0x48a9, 0xc097,

+  0x489d, 0xc095, 0x4891, 0xc093, 0x4884, 0xc092, 0x4878, 0xc090,

+  0x486b, 0xc08e, 0x485f, 0xc08d, 0x4852, 0xc08b, 0x4846, 0xc089,

+  0x4839, 0xc088, 0x482d, 0xc086, 0x4820, 0xc085, 0x4814, 0xc083,

+  0x4807, 0xc081, 0x47fb, 0xc080, 0x47ef, 0xc07e, 0x47e2, 0xc07d,

+  0x47d6, 0xc07b, 0x47c9, 0xc07a, 0x47bd, 0xc078, 0x47b0, 0xc077,

+  0x47a4, 0xc075, 0x4797, 0xc074, 0x478b, 0xc072, 0x477e, 0xc071,

+  0x4772, 0xc06f, 0x4765, 0xc06e, 0x4759, 0xc06c, 0x474c, 0xc06b,

+  0x4740, 0xc069, 0x4733, 0xc068, 0x4727, 0xc067, 0x471a, 0xc065,

+  0x470e, 0xc064, 0x4701, 0xc062, 0x46f5, 0xc061, 0x46e8, 0xc060,

+  0x46dc, 0xc05e, 0x46cf, 0xc05d, 0x46c3, 0xc05c, 0x46b6, 0xc05a,

+  0x46aa, 0xc059, 0x469d, 0xc058, 0x4691, 0xc056, 0x4684, 0xc055,

+  0x4678, 0xc054, 0x466b, 0xc053, 0x465f, 0xc051, 0x4652, 0xc050,

+  0x4646, 0xc04f, 0x4639, 0xc04e, 0x462d, 0xc04c, 0x4620, 0xc04b,

+  0x4614, 0xc04a, 0x4607, 0xc049, 0x45fb, 0xc048, 0x45ee, 0xc047,

+  0x45e2, 0xc045, 0x45d5, 0xc044, 0x45c9, 0xc043, 0x45bc, 0xc042,

+  0x45b0, 0xc041, 0x45a3, 0xc040, 0x4597, 0xc03f, 0x458a, 0xc03d,

+  0x457e, 0xc03c, 0x4571, 0xc03b, 0x4565, 0xc03a, 0x4558, 0xc039,

+  0x454c, 0xc038, 0x453f, 0xc037, 0x4533, 0xc036, 0x4526, 0xc035,

+  0x451a, 0xc034, 0x450d, 0xc033, 0x4500, 0xc032, 0x44f4, 0xc031,

+  0x44e7, 0xc030, 0x44db, 0xc02f, 0x44ce, 0xc02e, 0x44c2, 0xc02d,

+  0x44b5, 0xc02c, 0x44a9, 0xc02b, 0x449c, 0xc02b, 0x4490, 0xc02a,

+  0x4483, 0xc029, 0x4477, 0xc028, 0x446a, 0xc027, 0x445e, 0xc026,

+  0x4451, 0xc025, 0x4444, 0xc024, 0x4438, 0xc024, 0x442b, 0xc023,

+  0x441f, 0xc022, 0x4412, 0xc021, 0x4406, 0xc020, 0x43f9, 0xc020,

+  0x43ed, 0xc01f, 0x43e0, 0xc01e, 0x43d4, 0xc01d, 0x43c7, 0xc01d,

+  0x43bb, 0xc01c, 0x43ae, 0xc01b, 0x43a1, 0xc01a, 0x4395, 0xc01a,

+  0x4388, 0xc019, 0x437c, 0xc018, 0x436f, 0xc018, 0x4363, 0xc017,

+  0x4356, 0xc016, 0x434a, 0xc016, 0x433d, 0xc015, 0x4330, 0xc014,

+  0x4324, 0xc014, 0x4317, 0xc013, 0x430b, 0xc013, 0x42fe, 0xc012,

+  0x42f2, 0xc011, 0x42e5, 0xc011, 0x42d9, 0xc010, 0x42cc, 0xc010,

+  0x42c0, 0xc00f, 0x42b3, 0xc00f, 0x42a6, 0xc00e, 0x429a, 0xc00e,

+  0x428d, 0xc00d, 0x4281, 0xc00d, 0x4274, 0xc00c, 0x4268, 0xc00c,

+  0x425b, 0xc00b, 0x424e, 0xc00b, 0x4242, 0xc00a, 0x4235, 0xc00a,

+  0x4229, 0xc009, 0x421c, 0xc009, 0x4210, 0xc009, 0x4203, 0xc008,

+  0x41f7, 0xc008, 0x41ea, 0xc007, 0x41dd, 0xc007, 0x41d1, 0xc007,

+  0x41c4, 0xc006, 0x41b8, 0xc006, 0x41ab, 0xc006, 0x419f, 0xc005,

+  0x4192, 0xc005, 0x4186, 0xc005, 0x4179, 0xc004, 0x416c, 0xc004,

+  0x4160, 0xc004, 0x4153, 0xc004, 0x4147, 0xc003, 0x413a, 0xc003,

+  0x412e, 0xc003, 0x4121, 0xc003, 0x4114, 0xc002, 0x4108, 0xc002,

+  0x40fb, 0xc002, 0x40ef, 0xc002, 0x40e2, 0xc002, 0x40d6, 0xc001,

+  0x40c9, 0xc001, 0x40bc, 0xc001, 0x40b0, 0xc001, 0x40a3, 0xc001,

+  0x4097, 0xc001, 0x408a, 0xc001, 0x407e, 0xc000, 0x4071, 0xc000,

+  0x4065, 0xc000, 0x4058, 0xc000, 0x404b, 0xc000, 0x403f, 0xc000,

+  0x4032, 0xc000, 0x4026, 0xc000, 0x4019, 0xc000, 0x400d, 0xc000,

+};

+

+/**    

+* @brief  Initialization function for the Q15 RFFT/RIFFT.   

+* @param[in, out] *S             points to an instance of the Q15 RFFT/RIFFT structure.   

+* @param[in]      *S_CFFT        points to an instance of the Q15 CFFT/CIFFT structure.   

+* @param[in]      fftLenReal     length of the FFT.   

+* @param[in]      ifftFlagR      flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform.   

+* @param[in]      bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.   

+* @return		The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if <code>fftLenReal</code> is not a supported value.   

+*    

+* \par Description:   

+* \par   

+* The parameter <code>fftLenReal</code>	Specifies length of RFFT/RIFFT Process. Supported FFT Lengths are 128, 512, 2048.    

+* \par    

+* The parameter <code>ifftFlagR</code> controls whether a forward or inverse transform is computed.    

+* Set(=1) ifftFlagR to calculate RIFFT, otherwise RFFT is calculated.    

+* \par    

+* The parameter <code>bitReverseFlag</code> controls whether output is in normal order or bit reversed order.    

+* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.   

+* \par    

+* This function also initializes Twiddle factor table.     

+*/

+

+arm_status arm_rfft_init_q15(

+  arm_rfft_instance_q15 * S,

+  arm_cfft_radix4_instance_q15 * S_CFFT,

+  uint32_t fftLenReal,

+  uint32_t ifftFlagR,

+  uint32_t bitReverseFlag)

+{

+

+  /*  Initialise the default arm status */

+  arm_status status = ARM_MATH_SUCCESS;

+

+  /*  Initialize the Real FFT length */

+  S->fftLenReal = (uint16_t) fftLenReal;

+

+  /*  Initialize the Complex FFT length */

+  S->fftLenBy2 = (uint16_t) fftLenReal / 2u;

+

+  /*  Initialize the Twiddle coefficientA pointer */

+  S->pTwiddleAReal = (q15_t *) realCoefAQ15;

+

+  /*  Initialize the Twiddle coefficientB pointer */

+  S->pTwiddleBReal = (q15_t *) realCoefBQ15;

+

+  /*  Initialize the Flag for selection of RFFT or RIFFT */

+  S->ifftFlagR = (uint8_t) ifftFlagR;

+

+  /*  Initialize the Flag for calculation Bit reversal or not */

+  S->bitReverseFlagR = (uint8_t) bitReverseFlag;

+

+  /*  Initialization of coef modifier depending on the FFT length */

+  switch (S->fftLenReal)

+  {

+  case 8192:

+    S->twidCoefRModifier = 1u;

+    break;

+  case 2048u:

+    S->twidCoefRModifier = 4u;

+    break;

+  case 512u:

+    S->twidCoefRModifier = 16u;

+    break;

+  case 128u:

+    S->twidCoefRModifier = 64u;

+    break;

+  default:

+    /*  Reporting argument error if rfftSize is not valid value */

+    status = ARM_MATH_ARGUMENT_ERROR;

+    break;

+  }

+

+  /* Init Complex FFT Instance */

+  S->pCfft = S_CFFT;

+

+  if(S->ifftFlagR)

+  {

+    /* Initializes the CIFFT Module for fftLenreal/2 length */

+    arm_cfft_radix4_init_q15(S->pCfft, S->fftLenBy2, 1u, 1u);

+  }

+  else

+  {

+    /* Initializes the CFFT Module for fftLenreal/2 length */

+    arm_cfft_radix4_init_q15(S->pCfft, S->fftLenBy2, 0u, 1u);

+  }

+

+  /* return the status of RFFT Init function */

+  return (status);

+

+}

+

+  /**    

+   * @} end of RFFT_RIFFT group    

+   */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q31.c
new file mode 100644
index 000000000..400fe586c
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q31.c
@@ -0,0 +1,4274 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_rfft_init_q31.c    

+*    

+* Description:	RFFT & RIFFT Q31 initialisation 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/**    

+ * @ingroup groupTransforms    

+ */

+

+/**    

+ * @addtogroup RFFT_RIFFT    

+ * @{    

+ */

+

+/**    

+* \par    

+* Generation floating point realCoefAQ31 array:    

+* \par    

+* n = 4096    

+* <pre>for (i = 0; i < n; i++)    

+* {    

+*    pATable[2 * i] = 0.5 * (1.0 - sin (2 * PI / (double) (2 * n) * (double) i));    

+*    pATable[2 * i + 1] = 0.5 * (-1.0 * cos (2 * PI / (double) (2 * n) * (double) i));    

+* }</pre>    

+* \par    

+* Convert to fixed point Q31 format    

+*     round(pATable[i] * pow(2, 31))    

+*/

+

+

+static const q31_t realCoefAQ31[8192] = {

+  0x40000000, 0xc0000000, 0x3ff36f02, 0xc000013c,

+  0x3fe6de05, 0xc00004ef, 0x3fda4d09, 0xc0000b1a,

+  0x3fcdbc0f, 0xc00013bd, 0x3fc12b16, 0xc0001ed8,

+  0x3fb49a1f, 0xc0002c6a, 0x3fa8092c, 0xc0003c74,

+  0x3f9b783c, 0xc0004ef5, 0x3f8ee750, 0xc00063ee,

+  0x3f825668, 0xc0007b5f, 0x3f75c585, 0xc0009547,

+  0x3f6934a8, 0xc000b1a7, 0x3f5ca3d0, 0xc000d07e,

+  0x3f5012fe, 0xc000f1ce, 0x3f438234, 0xc0011594,

+  0x3f36f170, 0xc0013bd3, 0x3f2a60b4, 0xc0016489,

+  0x3f1dd001, 0xc0018fb6, 0x3f113f56, 0xc001bd5c,

+  0x3f04aeb5, 0xc001ed78, 0x3ef81e1d, 0xc002200d,

+  0x3eeb8d8f, 0xc0025519, 0x3edefd0c, 0xc0028c9c,

+  0x3ed26c94, 0xc002c697, 0x3ec5dc28, 0xc003030a,

+  0x3eb94bc8, 0xc00341f4, 0x3eacbb74, 0xc0038356,

+  0x3ea02b2e, 0xc003c72f, 0x3e939af5, 0xc0040d80,

+  0x3e870aca, 0xc0045648, 0x3e7a7aae, 0xc004a188,

+  0x3e6deaa1, 0xc004ef3f, 0x3e615aa3, 0xc0053f6e,

+  0x3e54cab5, 0xc0059214, 0x3e483ad8, 0xc005e731,

+  0x3e3bab0b, 0xc0063ec6, 0x3e2f1b50, 0xc00698d3,

+  0x3e228ba7, 0xc006f556, 0x3e15fc11, 0xc0075452,

+  0x3e096c8d, 0xc007b5c4, 0x3dfcdd1d, 0xc00819ae,

+  0x3df04dc0, 0xc008800f, 0x3de3be78, 0xc008e8e8,

+  0x3dd72f45, 0xc0095438, 0x3dcaa027, 0xc009c1ff,

+  0x3dbe111e, 0xc00a323d, 0x3db1822c, 0xc00aa4f3,

+  0x3da4f351, 0xc00b1a20, 0x3d98648d, 0xc00b91c4,

+  0x3d8bd5e1, 0xc00c0be0, 0x3d7f474d, 0xc00c8872,

+  0x3d72b8d2, 0xc00d077c, 0x3d662a70, 0xc00d88fd,

+  0x3d599c28, 0xc00e0cf5, 0x3d4d0df9, 0xc00e9364,

+  0x3d407fe6, 0xc00f1c4a, 0x3d33f1ed, 0xc00fa7a8,

+  0x3d276410, 0xc010357c, 0x3d1ad650, 0xc010c5c7,

+  0x3d0e48ab, 0xc011588a, 0x3d01bb24, 0xc011edc3,

+  0x3cf52dbb, 0xc0128574, 0x3ce8a06f, 0xc0131f9b,

+  0x3cdc1342, 0xc013bc39, 0x3ccf8634, 0xc0145b4e,

+  0x3cc2f945, 0xc014fcda, 0x3cb66c77, 0xc015a0dd,

+  0x3ca9dfc8, 0xc0164757, 0x3c9d533b, 0xc016f047,

+  0x3c90c6cf, 0xc0179bae, 0x3c843a85, 0xc018498c,

+  0x3c77ae5e, 0xc018f9e1, 0x3c6b2259, 0xc019acac,

+  0x3c5e9678, 0xc01a61ee, 0x3c520aba, 0xc01b19a7,

+  0x3c457f21, 0xc01bd3d6, 0x3c38f3ac, 0xc01c907c,

+  0x3c2c685d, 0xc01d4f99, 0x3c1fdd34, 0xc01e112b,

+  0x3c135231, 0xc01ed535, 0x3c06c754, 0xc01f9bb5,

+  0x3bfa3c9f, 0xc02064ab, 0x3bedb212, 0xc0213018,

+  0x3be127ac, 0xc021fdfb, 0x3bd49d70, 0xc022ce54,

+  0x3bc8135c, 0xc023a124, 0x3bbb8973, 0xc024766a,

+  0x3baeffb3, 0xc0254e27, 0x3ba2761e, 0xc0262859,

+  0x3b95ecb4, 0xc0270502, 0x3b896375, 0xc027e421,

+  0x3b7cda63, 0xc028c5b6, 0x3b70517d, 0xc029a9c1,

+  0x3b63c8c4, 0xc02a9042, 0x3b574039, 0xc02b7939,

+  0x3b4ab7db, 0xc02c64a6, 0x3b3e2fac, 0xc02d5289,

+  0x3b31a7ac, 0xc02e42e2, 0x3b251fdc, 0xc02f35b1,

+  0x3b18983b, 0xc0302af5, 0x3b0c10cb, 0xc03122b0,

+  0x3aff898c, 0xc0321ce0, 0x3af3027e, 0xc0331986,

+  0x3ae67ba2, 0xc03418a2, 0x3ad9f4f8, 0xc0351a33,

+  0x3acd6e81, 0xc0361e3a, 0x3ac0e83d, 0xc03724b6,

+  0x3ab4622d, 0xc0382da8, 0x3aa7dc52, 0xc0393910,

+  0x3a9b56ab, 0xc03a46ed, 0x3a8ed139, 0xc03b573f,

+  0x3a824bfd, 0xc03c6a07, 0x3a75c6f8, 0xc03d7f44,

+  0x3a694229, 0xc03e96f6, 0x3a5cbd91, 0xc03fb11d,

+  0x3a503930, 0xc040cdba, 0x3a43b508, 0xc041eccc,

+  0x3a373119, 0xc0430e53, 0x3a2aad62, 0xc044324f,

+  0x3a1e29e5, 0xc04558c0, 0x3a11a6a3, 0xc04681a6,

+  0x3a05239a, 0xc047ad01, 0x39f8a0cd, 0xc048dad1,

+  0x39ec1e3b, 0xc04a0b16, 0x39df9be6, 0xc04b3dcf,

+  0x39d319cc, 0xc04c72fe, 0x39c697f0, 0xc04daaa1,

+  0x39ba1651, 0xc04ee4b8, 0x39ad94f0, 0xc0502145,

+  0x39a113cd, 0xc0516045, 0x399492ea, 0xc052a1bb,

+  0x39881245, 0xc053e5a5, 0x397b91e1, 0xc0552c03,

+  0x396f11bc, 0xc05674d6, 0x396291d9, 0xc057c01d,

+  0x39561237, 0xc0590dd8, 0x394992d7, 0xc05a5e07,

+  0x393d13b8, 0xc05bb0ab, 0x393094dd, 0xc05d05c3,

+  0x39241645, 0xc05e5d4e, 0x391797f0, 0xc05fb74e,

+  0x390b19e0, 0xc06113c2, 0x38fe9c15, 0xc06272aa,

+  0x38f21e8e, 0xc063d405, 0x38e5a14d, 0xc06537d4,

+  0x38d92452, 0xc0669e18, 0x38cca79e, 0xc06806ce,

+  0x38c02b31, 0xc06971f9, 0x38b3af0c, 0xc06adf97,

+  0x38a7332e, 0xc06c4fa8, 0x389ab799, 0xc06dc22e,

+  0x388e3c4d, 0xc06f3726, 0x3881c14b, 0xc070ae92,

+  0x38754692, 0xc0722871, 0x3868cc24, 0xc073a4c3,

+  0x385c5201, 0xc0752389, 0x384fd829, 0xc076a4c2,

+  0x38435e9d, 0xc078286e, 0x3836e55d, 0xc079ae8c,

+  0x382a6c6a, 0xc07b371e, 0x381df3c5, 0xc07cc223,

+  0x38117b6d, 0xc07e4f9b, 0x38050364, 0xc07fdf85,

+  0x37f88ba9, 0xc08171e2, 0x37ec143e, 0xc08306b2,

+  0x37df9d22, 0xc0849df4, 0x37d32657, 0xc08637a9,

+  0x37c6afdc, 0xc087d3d0, 0x37ba39b3, 0xc089726a,

+  0x37adc3db, 0xc08b1376, 0x37a14e55, 0xc08cb6f5,

+  0x3794d922, 0xc08e5ce5, 0x37886442, 0xc0900548,

+  0x377befb5, 0xc091b01d, 0x376f7b7d, 0xc0935d64,

+  0x37630799, 0xc0950d1d, 0x3756940a, 0xc096bf48,

+  0x374a20d0, 0xc09873e4, 0x373daded, 0xc09a2af3,

+  0x37313b60, 0xc09be473, 0x3724c92a, 0xc09da065,

+  0x3718574b, 0xc09f5ec8, 0x370be5c4, 0xc0a11f9d,

+  0x36ff7496, 0xc0a2e2e3, 0x36f303c0, 0xc0a4a89b,

+  0x36e69344, 0xc0a670c4, 0x36da2321, 0xc0a83b5e,

+  0x36cdb359, 0xc0aa086a, 0x36c143ec, 0xc0abd7e6,

+  0x36b4d4d9, 0xc0ada9d4, 0x36a86623, 0xc0af7e33,

+  0x369bf7c9, 0xc0b15502, 0x368f89cb, 0xc0b32e42,

+  0x36831c2b, 0xc0b509f3, 0x3676aee8, 0xc0b6e815,

+  0x366a4203, 0xc0b8c8a7, 0x365dd57d, 0xc0baabaa,

+  0x36516956, 0xc0bc911d, 0x3644fd8f, 0xc0be7901,

+  0x36389228, 0xc0c06355, 0x362c2721, 0xc0c25019,

+  0x361fbc7b, 0xc0c43f4d, 0x36135237, 0xc0c630f2,

+  0x3606e854, 0xc0c82506, 0x35fa7ed4, 0xc0ca1b8a,

+  0x35ee15b7, 0xc0cc147f, 0x35e1acfd, 0xc0ce0fe3,

+  0x35d544a7, 0xc0d00db6, 0x35c8dcb6, 0xc0d20dfa,

+  0x35bc7529, 0xc0d410ad, 0x35b00e02, 0xc0d615cf,

+  0x35a3a740, 0xc0d81d61, 0x359740e5, 0xc0da2762,

+  0x358adaf0, 0xc0dc33d2, 0x357e7563, 0xc0de42b2,

+  0x3572103d, 0xc0e05401, 0x3565ab80, 0xc0e267be,

+  0x3559472b, 0xc0e47deb, 0x354ce33f, 0xc0e69686,

+  0x35407fbd, 0xc0e8b190, 0x35341ca5, 0xc0eacf09,

+  0x3527b9f7, 0xc0eceef1, 0x351b57b5, 0xc0ef1147,

+  0x350ef5de, 0xc0f1360b, 0x35029473, 0xc0f35d3e,

+  0x34f63374, 0xc0f586df, 0x34e9d2e3, 0xc0f7b2ee,

+  0x34dd72be, 0xc0f9e16b, 0x34d11308, 0xc0fc1257,

+  0x34c4b3c0, 0xc0fe45b0, 0x34b854e7, 0xc1007b77,

+  0x34abf67e, 0xc102b3ac, 0x349f9884, 0xc104ee4f,

+  0x34933afa, 0xc1072b5f, 0x3486dde1, 0xc1096add,

+  0x347a8139, 0xc10bacc8, 0x346e2504, 0xc10df120,

+  0x3461c940, 0xc11037e6, 0x34556def, 0xc1128119,

+  0x34491311, 0xc114ccb9, 0x343cb8a7, 0xc1171ac6,

+  0x34305eb0, 0xc1196b3f, 0x3424052f, 0xc11bbe26,

+  0x3417ac22, 0xc11e1379, 0x340b538b, 0xc1206b39,

+  0x33fefb6a, 0xc122c566, 0x33f2a3bf, 0xc12521ff,

+  0x33e64c8c, 0xc1278104, 0x33d9f5cf, 0xc129e276,

+  0x33cd9f8b, 0xc12c4653, 0x33c149bf, 0xc12eac9d,

+  0x33b4f46c, 0xc1311553, 0x33a89f92, 0xc1338075,

+  0x339c4b32, 0xc135ee02, 0x338ff74d, 0xc1385dfb,

+  0x3383a3e2, 0xc13ad060, 0x337750f2, 0xc13d4530,

+  0x336afe7e, 0xc13fbc6c, 0x335eac86, 0xc1423613,

+  0x33525b0b, 0xc144b225, 0x33460a0d, 0xc14730a3,

+  0x3339b98d, 0xc149b18b, 0x332d698a, 0xc14c34df,

+  0x33211a07, 0xc14eba9d, 0x3314cb02, 0xc15142c6,

+  0x33087c7d, 0xc153cd5a, 0x32fc2e77, 0xc1565a58,

+  0x32efe0f2, 0xc158e9c1, 0x32e393ef, 0xc15b7b94,

+  0x32d7476c, 0xc15e0fd1, 0x32cafb6b, 0xc160a678,

+  0x32beafed, 0xc1633f8a, 0x32b264f2, 0xc165db05,

+  0x32a61a7a, 0xc16878eb, 0x3299d085, 0xc16b193a,

+  0x328d8715, 0xc16dbbf3, 0x32813e2a, 0xc1706115,

+  0x3274f5c3, 0xc17308a1, 0x3268ade3, 0xc175b296,

+  0x325c6688, 0xc1785ef4, 0x32501fb5, 0xc17b0dbb,

+  0x3243d968, 0xc17dbeec, 0x323793a3, 0xc1807285,

+  0x322b4e66, 0xc1832888, 0x321f09b1, 0xc185e0f3,

+  0x3212c585, 0xc1889bc6, 0x320681e3, 0xc18b5903,

+  0x31fa3ecb, 0xc18e18a7, 0x31edfc3d, 0xc190dab4,

+  0x31e1ba3a, 0xc1939f29, 0x31d578c2, 0xc1966606,

+  0x31c937d6, 0xc1992f4c, 0x31bcf777, 0xc19bfaf9,

+  0x31b0b7a4, 0xc19ec90d, 0x31a4785e, 0xc1a1998a,

+  0x319839a6, 0xc1a46c6e, 0x318bfb7d, 0xc1a741b9,

+  0x317fbde2, 0xc1aa196c, 0x317380d6, 0xc1acf386,

+  0x31674459, 0xc1afd007, 0x315b086d, 0xc1b2aef0,

+  0x314ecd11, 0xc1b5903f, 0x31429247, 0xc1b873f5,

+  0x3136580d, 0xc1bb5a11, 0x312a1e66, 0xc1be4294,

+  0x311de551, 0xc1c12d7e, 0x3111accf, 0xc1c41ace,

+  0x310574e0, 0xc1c70a84, 0x30f93d86, 0xc1c9fca0,

+  0x30ed06bf, 0xc1ccf122, 0x30e0d08d, 0xc1cfe80a,

+  0x30d49af1, 0xc1d2e158, 0x30c865ea, 0xc1d5dd0c,

+  0x30bc317a, 0xc1d8db25, 0x30affda0, 0xc1dbdba3,

+  0x30a3ca5d, 0xc1dede87, 0x309797b2, 0xc1e1e3d0,

+  0x308b659f, 0xc1e4eb7e, 0x307f3424, 0xc1e7f591,

+  0x30730342, 0xc1eb0209, 0x3066d2fa, 0xc1ee10e5,

+  0x305aa34c, 0xc1f12227, 0x304e7438, 0xc1f435cc,

+  0x304245c0, 0xc1f74bd6, 0x303617e2, 0xc1fa6445,

+  0x3029eaa1, 0xc1fd7f17, 0x301dbdfb, 0xc2009c4e,

+  0x301191f3, 0xc203bbe8, 0x30056687, 0xc206dde6,

+  0x2ff93bba, 0xc20a0248, 0x2fed118a, 0xc20d290d,

+  0x2fe0e7f9, 0xc2105236, 0x2fd4bf08, 0xc2137dc2,

+  0x2fc896b5, 0xc216abb1, 0x2fbc6f03, 0xc219dc03,

+  0x2fb047f2, 0xc21d0eb8, 0x2fa42181, 0xc22043d0,

+  0x2f97fbb2, 0xc2237b4b, 0x2f8bd685, 0xc226b528,

+  0x2f7fb1fa, 0xc229f167, 0x2f738e12, 0xc22d3009,

+  0x2f676ace, 0xc230710d, 0x2f5b482d, 0xc233b473,

+  0x2f4f2630, 0xc236fa3b, 0x2f4304d8, 0xc23a4265,

+  0x2f36e426, 0xc23d8cf1, 0x2f2ac419, 0xc240d9de,

+  0x2f1ea4b2, 0xc244292c, 0x2f1285f2, 0xc2477adc,

+  0x2f0667d9, 0xc24aceed, 0x2efa4a67, 0xc24e255e,

+  0x2eee2d9d, 0xc2517e31, 0x2ee2117c, 0xc254d965,

+  0x2ed5f604, 0xc25836f9, 0x2ec9db35, 0xc25b96ee,

+  0x2ebdc110, 0xc25ef943, 0x2eb1a796, 0xc2625df8,

+  0x2ea58ec6, 0xc265c50e, 0x2e9976a1, 0xc2692e83,

+  0x2e8d5f29, 0xc26c9a58, 0x2e81485c, 0xc270088e,

+  0x2e75323c, 0xc2737922, 0x2e691cc9, 0xc276ec16,

+  0x2e5d0804, 0xc27a616a, 0x2e50f3ed, 0xc27dd91c,

+  0x2e44e084, 0xc281532e, 0x2e38cdcb, 0xc284cf9f,

+  0x2e2cbbc1, 0xc2884e6e, 0x2e20aa67, 0xc28bcf9c,

+  0x2e1499bd, 0xc28f5329, 0x2e0889c4, 0xc292d914,

+  0x2dfc7a7c, 0xc296615d, 0x2df06be6, 0xc299ec05,

+  0x2de45e03, 0xc29d790a, 0x2dd850d2, 0xc2a1086d,

+  0x2dcc4454, 0xc2a49a2e, 0x2dc0388a, 0xc2a82e4d,

+  0x2db42d74, 0xc2abc4c9, 0x2da82313, 0xc2af5da2,

+  0x2d9c1967, 0xc2b2f8d8, 0x2d901070, 0xc2b6966c,

+  0x2d84082f, 0xc2ba365c, 0x2d7800a5, 0xc2bdd8a9,

+  0x2d6bf9d1, 0xc2c17d52, 0x2d5ff3b5, 0xc2c52459,

+  0x2d53ee51, 0xc2c8cdbb, 0x2d47e9a5, 0xc2cc7979,

+  0x2d3be5b1, 0xc2d02794, 0x2d2fe277, 0xc2d3d80a,

+  0x2d23dff7, 0xc2d78add, 0x2d17de31, 0xc2db400a,

+  0x2d0bdd25, 0xc2def794, 0x2cffdcd4, 0xc2e2b178,

+  0x2cf3dd3f, 0xc2e66db8, 0x2ce7de66, 0xc2ea2c53,

+  0x2cdbe04a, 0xc2eded49, 0x2ccfe2ea, 0xc2f1b099,

+  0x2cc3e648, 0xc2f57644, 0x2cb7ea63, 0xc2f93e4a,

+  0x2cabef3d, 0xc2fd08a9, 0x2c9ff4d6, 0xc300d563,

+  0x2c93fb2e, 0xc304a477, 0x2c880245, 0xc30875e5,

+  0x2c7c0a1d, 0xc30c49ad, 0x2c7012b5, 0xc3101fce,

+  0x2c641c0e, 0xc313f848, 0x2c582629, 0xc317d31c,

+  0x2c4c3106, 0xc31bb049, 0x2c403ca5, 0xc31f8fcf,

+  0x2c344908, 0xc32371ae, 0x2c28562d, 0xc32755e5,

+  0x2c1c6417, 0xc32b3c75, 0x2c1072c4, 0xc32f255e,

+  0x2c048237, 0xc333109e, 0x2bf8926f, 0xc336fe37,

+  0x2beca36c, 0xc33aee27, 0x2be0b52f, 0xc33ee070,

+  0x2bd4c7ba, 0xc342d510, 0x2bc8db0b, 0xc346cc07,

+  0x2bbcef23, 0xc34ac556, 0x2bb10404, 0xc34ec0fc,

+  0x2ba519ad, 0xc352bef9, 0x2b99301f, 0xc356bf4d,

+  0x2b8d475b, 0xc35ac1f7, 0x2b815f60, 0xc35ec6f8,

+  0x2b75782f, 0xc362ce50, 0x2b6991ca, 0xc366d7fd,

+  0x2b5dac2f, 0xc36ae401, 0x2b51c760, 0xc36ef25b,

+  0x2b45e35d, 0xc373030a, 0x2b3a0027, 0xc377160f,

+  0x2b2e1dbe, 0xc37b2b6a, 0x2b223c22, 0xc37f4319,

+  0x2b165b54, 0xc3835d1e, 0x2b0a7b54, 0xc3877978,

+  0x2afe9c24, 0xc38b9827, 0x2af2bdc3, 0xc38fb92a,

+  0x2ae6e031, 0xc393dc82, 0x2adb0370, 0xc398022f,

+  0x2acf277f, 0xc39c2a2f, 0x2ac34c60, 0xc3a05484,

+  0x2ab77212, 0xc3a4812c, 0x2aab9896, 0xc3a8b028,

+  0x2a9fbfed, 0xc3ace178, 0x2a93e817, 0xc3b1151b,

+  0x2a881114, 0xc3b54b11, 0x2a7c3ae5, 0xc3b9835a,

+  0x2a70658a, 0xc3bdbdf6, 0x2a649105, 0xc3c1fae5,

+  0x2a58bd54, 0xc3c63a26, 0x2a4cea79, 0xc3ca7bba,

+  0x2a411874, 0xc3cebfa0, 0x2a354746, 0xc3d305d8,

+  0x2a2976ef, 0xc3d74e62, 0x2a1da770, 0xc3db993e,

+  0x2a11d8c8, 0xc3dfe66c, 0x2a060af9, 0xc3e435ea,

+  0x29fa3e03, 0xc3e887bb, 0x29ee71e6, 0xc3ecdbdc,

+  0x29e2a6a3, 0xc3f1324e, 0x29d6dc3b, 0xc3f58b10,

+  0x29cb12ad, 0xc3f9e624, 0x29bf49fa, 0xc3fe4388,

+  0x29b38223, 0xc402a33c, 0x29a7bb28, 0xc4070540,

+  0x299bf509, 0xc40b6994, 0x29902fc7, 0xc40fd037,

+  0x29846b63, 0xc414392b, 0x2978a7dd, 0xc418a46d,

+  0x296ce535, 0xc41d11ff, 0x2961236c, 0xc42181e0,

+  0x29556282, 0xc425f410, 0x2949a278, 0xc42a688f,

+  0x293de34e, 0xc42edf5c, 0x29322505, 0xc4335877,

+  0x2926679c, 0xc437d3e1, 0x291aab16, 0xc43c5199,

+  0x290eef71, 0xc440d19e, 0x290334af, 0xc44553f2,

+  0x28f77acf, 0xc449d892, 0x28ebc1d3, 0xc44e5f80,

+  0x28e009ba, 0xc452e8bc, 0x28d45286, 0xc4577444,

+  0x28c89c37, 0xc45c0219, 0x28bce6cd, 0xc460923b,

+  0x28b13248, 0xc46524a9, 0x28a57ea9, 0xc469b963,

+  0x2899cbf1, 0xc46e5069, 0x288e1a20, 0xc472e9bc,

+  0x28826936, 0xc477855a, 0x2876b934, 0xc47c2344,

+  0x286b0a1a, 0xc480c379, 0x285f5be9, 0xc48565f9,

+  0x2853aea1, 0xc48a0ac4, 0x28480243, 0xc48eb1db,

+  0x283c56cf, 0xc4935b3c, 0x2830ac45, 0xc49806e7,

+  0x282502a7, 0xc49cb4dd, 0x281959f4, 0xc4a1651c,

+  0x280db22d, 0xc4a617a6, 0x28020b52, 0xc4aacc7a,

+  0x27f66564, 0xc4af8397, 0x27eac063, 0xc4b43cfd,

+  0x27df1c50, 0xc4b8f8ad, 0x27d3792b, 0xc4bdb6a6,

+  0x27c7d6f4, 0xc4c276e8, 0x27bc35ad, 0xc4c73972,

+  0x27b09555, 0xc4cbfe45, 0x27a4f5ed, 0xc4d0c560,

+  0x27995776, 0xc4d58ec3, 0x278db9ef, 0xc4da5a6f,

+  0x27821d59, 0xc4df2862, 0x277681b6, 0xc4e3f89c,

+  0x276ae704, 0xc4e8cb1e, 0x275f4d45, 0xc4ed9fe7,

+  0x2753b479, 0xc4f276f7, 0x27481ca1, 0xc4f7504e,

+  0x273c85bc, 0xc4fc2bec, 0x2730efcc, 0xc50109d0,

+  0x27255ad1, 0xc505e9fb, 0x2719c6cb, 0xc50acc6b,

+  0x270e33bb, 0xc50fb121, 0x2702a1a1, 0xc514981d,

+  0x26f7107e, 0xc519815f, 0x26eb8052, 0xc51e6ce6,

+  0x26dff11d, 0xc5235ab2, 0x26d462e1, 0xc5284ac3,

+  0x26c8d59c, 0xc52d3d18, 0x26bd4951, 0xc53231b3,

+  0x26b1bdff, 0xc5372891, 0x26a633a6, 0xc53c21b4,

+  0x269aaa48, 0xc5411d1b, 0x268f21e5, 0xc5461ac6,

+  0x26839a7c, 0xc54b1ab4, 0x26781410, 0xc5501ce5,

+  0x266c8e9f, 0xc555215a, 0x26610a2a, 0xc55a2812,

+  0x265586b3, 0xc55f310d, 0x264a0438, 0xc5643c4a,

+  0x263e82bc, 0xc56949ca, 0x2633023e, 0xc56e598c,

+  0x262782be, 0xc5736b90, 0x261c043d, 0xc5787fd6,

+  0x261086bc, 0xc57d965d, 0x26050a3b, 0xc582af26,

+  0x25f98ebb, 0xc587ca31, 0x25ee143b, 0xc58ce77c,

+  0x25e29abc, 0xc5920708, 0x25d72240, 0xc59728d5,

+  0x25cbaac5, 0xc59c4ce3, 0x25c0344d, 0xc5a17330,

+  0x25b4bed8, 0xc5a69bbe, 0x25a94a67, 0xc5abc68c,

+  0x259dd6f9, 0xc5b0f399, 0x25926490, 0xc5b622e6,

+  0x2586f32c, 0xc5bb5472, 0x257b82cd, 0xc5c0883d,

+  0x25701374, 0xc5c5be47, 0x2564a521, 0xc5caf690,

+  0x255937d5, 0xc5d03118, 0x254dcb8f, 0xc5d56ddd,

+  0x25426051, 0xc5daace1, 0x2536f61b, 0xc5dfee22,

+  0x252b8cee, 0xc5e531a1, 0x252024c9, 0xc5ea775e,

+  0x2514bdad, 0xc5efbf58, 0x2509579b, 0xc5f5098f,

+  0x24fdf294, 0xc5fa5603, 0x24f28e96, 0xc5ffa4b3,

+  0x24e72ba4, 0xc604f5a0, 0x24dbc9bd, 0xc60a48c9,

+  0x24d068e2, 0xc60f9e2e, 0x24c50914, 0xc614f5cf,

+  0x24b9aa52, 0xc61a4fac, 0x24ae4c9d, 0xc61fabc4,

+  0x24a2eff6, 0xc6250a18, 0x2497945d, 0xc62a6aa6,

+  0x248c39d3, 0xc62fcd6f, 0x2480e057, 0xc6353273,

+  0x247587eb, 0xc63a99b1, 0x246a308f, 0xc6400329,

+  0x245eda43, 0xc6456edb, 0x24538507, 0xc64adcc7,

+  0x244830dd, 0xc6504ced, 0x243cddc4, 0xc655bf4c,

+  0x24318bbe, 0xc65b33e4, 0x24263ac9, 0xc660aab5,

+  0x241aeae8, 0xc66623be, 0x240f9c1a, 0xc66b9f01,

+  0x24044e60, 0xc6711c7b, 0x23f901ba, 0xc6769c2e,

+  0x23edb628, 0xc67c1e18, 0x23e26bac, 0xc681a23a,

+  0x23d72245, 0xc6872894, 0x23cbd9f4, 0xc68cb124,

+  0x23c092b9, 0xc6923bec, 0x23b54c95, 0xc697c8eb,

+  0x23aa0788, 0xc69d5820, 0x239ec393, 0xc6a2e98b,

+  0x239380b6, 0xc6a87d2d, 0x23883ef2, 0xc6ae1304,

+  0x237cfe47, 0xc6b3ab12, 0x2371beb5, 0xc6b94554,

+  0x2366803c, 0xc6bee1cd, 0x235b42df, 0xc6c4807a,

+  0x2350069b, 0xc6ca215c, 0x2344cb73, 0xc6cfc472,

+  0x23399167, 0xc6d569be, 0x232e5876, 0xc6db113d,

+  0x232320a2, 0xc6e0baf0, 0x2317e9eb, 0xc6e666d7,

+  0x230cb451, 0xc6ec14f2, 0x23017fd5, 0xc6f1c540,

+  0x22f64c77, 0xc6f777c1, 0x22eb1a37, 0xc6fd2c75,

+  0x22dfe917, 0xc702e35c, 0x22d4b916, 0xc7089c75,

+  0x22c98a35, 0xc70e57c0, 0x22be5c74, 0xc714153e,

+  0x22b32fd4, 0xc719d4ed, 0x22a80456, 0xc71f96ce,

+  0x229cd9f8, 0xc7255ae0, 0x2291b0bd, 0xc72b2123,

+  0x228688a4, 0xc730e997, 0x227b61af, 0xc736b43c,

+  0x22703bdc, 0xc73c8111, 0x2265172e, 0xc7425016,

+  0x2259f3a3, 0xc748214c, 0x224ed13d, 0xc74df4b1,

+  0x2243affc, 0xc753ca46, 0x22388fe1, 0xc759a20a,

+  0x222d70eb, 0xc75f7bfe, 0x2222531c, 0xc7655820,

+  0x22173674, 0xc76b3671, 0x220c1af3, 0xc77116f0,

+  0x22010099, 0xc776f99d, 0x21f5e768, 0xc77cde79,

+  0x21eacf5f, 0xc782c582, 0x21dfb87f, 0xc788aeb9,

+  0x21d4a2c8, 0xc78e9a1d, 0x21c98e3b, 0xc79487ae,

+  0x21be7ad8, 0xc79a776c, 0x21b368a0, 0xc7a06957,

+  0x21a85793, 0xc7a65d6e, 0x219d47b1, 0xc7ac53b1,

+  0x219238fb, 0xc7b24c20, 0x21872b72, 0xc7b846ba,

+  0x217c1f15, 0xc7be4381, 0x217113e5, 0xc7c44272,

+  0x216609e3, 0xc7ca438f, 0x215b0110, 0xc7d046d6,

+  0x214ff96a, 0xc7d64c47, 0x2144f2f3, 0xc7dc53e3,

+  0x2139edac, 0xc7e25daa, 0x212ee995, 0xc7e8699a,

+  0x2123e6ad, 0xc7ee77b3, 0x2118e4f6, 0xc7f487f6,

+  0x210de470, 0xc7fa9a62, 0x2102e51c, 0xc800aef7,

+  0x20f7e6f9, 0xc806c5b5, 0x20ecea09, 0xc80cde9b,

+  0x20e1ee4b, 0xc812f9a9, 0x20d6f3c1, 0xc81916df,

+  0x20cbfa6a, 0xc81f363d, 0x20c10247, 0xc82557c3,

+  0x20b60b58, 0xc82b7b70, 0x20ab159e, 0xc831a143,

+  0x20a0211a, 0xc837c93e, 0x20952dcb, 0xc83df35f,

+  0x208a3bb2, 0xc8441fa6, 0x207f4acf, 0xc84a4e14,

+  0x20745b24, 0xc8507ea7, 0x20696cb0, 0xc856b160,

+  0x205e7f74, 0xc85ce63e, 0x2053936f, 0xc8631d42,

+  0x2048a8a4, 0xc869566a, 0x203dbf11, 0xc86f91b7,

+  0x2032d6b8, 0xc875cf28, 0x2027ef99, 0xc87c0ebd,

+  0x201d09b4, 0xc8825077, 0x2012250a, 0xc8889454,

+  0x2007419b, 0xc88eda54, 0x1ffc5f67, 0xc8952278,

+  0x1ff17e70, 0xc89b6cbf, 0x1fe69eb4, 0xc8a1b928,

+  0x1fdbc036, 0xc8a807b4, 0x1fd0e2f5, 0xc8ae5862,

+  0x1fc606f1, 0xc8b4ab32, 0x1fbb2c2c, 0xc8bb0023,

+  0x1fb052a5, 0xc8c15736, 0x1fa57a5d, 0xc8c7b06b,

+  0x1f9aa354, 0xc8ce0bc0, 0x1f8fcd8b, 0xc8d46936,

+  0x1f84f902, 0xc8dac8cd, 0x1f7a25ba, 0xc8e12a84,

+  0x1f6f53b3, 0xc8e78e5b, 0x1f6482ed, 0xc8edf452,

+  0x1f59b369, 0xc8f45c68, 0x1f4ee527, 0xc8fac69e,

+  0x1f441828, 0xc90132f2, 0x1f394c6b, 0xc907a166,

+  0x1f2e81f3, 0xc90e11f7, 0x1f23b8be, 0xc91484a8,

+  0x1f18f0ce, 0xc91af976, 0x1f0e2a22, 0xc9217062,

+  0x1f0364bc, 0xc927e96b, 0x1ef8a09b, 0xc92e6492,

+  0x1eedddc0, 0xc934e1d6, 0x1ee31c2b, 0xc93b6137,

+  0x1ed85bdd, 0xc941e2b4, 0x1ecd9cd7, 0xc948664d,

+  0x1ec2df18, 0xc94eec03, 0x1eb822a1, 0xc95573d4,

+  0x1ead6773, 0xc95bfdc1, 0x1ea2ad8d, 0xc96289c9,

+  0x1e97f4f1, 0xc96917ec, 0x1e8d3d9e, 0xc96fa82a,

+  0x1e828796, 0xc9763a83, 0x1e77d2d8, 0xc97ccef5,

+  0x1e6d1f65, 0xc9836582, 0x1e626d3e, 0xc989fe29,

+  0x1e57bc62, 0xc99098e9, 0x1e4d0cd2, 0xc99735c2,

+  0x1e425e8f, 0xc99dd4b4, 0x1e37b199, 0xc9a475bf,

+  0x1e2d05f1, 0xc9ab18e3, 0x1e225b96, 0xc9b1be1e,

+  0x1e17b28a, 0xc9b86572, 0x1e0d0acc, 0xc9bf0edd,

+  0x1e02645d, 0xc9c5ba60, 0x1df7bf3e, 0xc9cc67fa,

+  0x1ded1b6e, 0xc9d317ab, 0x1de278ef, 0xc9d9c973,

+  0x1dd7d7c1, 0xc9e07d51, 0x1dcd37e4, 0xc9e73346,

+  0x1dc29958, 0xc9edeb50, 0x1db7fc1e, 0xc9f4a570,

+  0x1dad6036, 0xc9fb61a5, 0x1da2c5a2, 0xca021fef,

+  0x1d982c60, 0xca08e04f, 0x1d8d9472, 0xca0fa2c3,

+  0x1d82fdd8, 0xca16674b, 0x1d786892, 0xca1d2de7,

+  0x1d6dd4a2, 0xca23f698, 0x1d634206, 0xca2ac15b,

+  0x1d58b0c0, 0xca318e32, 0x1d4e20d0, 0xca385d1d,

+  0x1d439236, 0xca3f2e19, 0x1d3904f4, 0xca460129,

+  0x1d2e7908, 0xca4cd64b, 0x1d23ee74, 0xca53ad7e,

+  0x1d196538, 0xca5a86c4, 0x1d0edd55, 0xca61621b,

+  0x1d0456ca, 0xca683f83, 0x1cf9d199, 0xca6f1efc,

+  0x1cef4dc2, 0xca760086, 0x1ce4cb44, 0xca7ce420,

+  0x1cda4a21, 0xca83c9ca, 0x1ccfca59, 0xca8ab184,

+  0x1cc54bec, 0xca919b4e, 0x1cbacedb, 0xca988727,

+  0x1cb05326, 0xca9f750f, 0x1ca5d8cd, 0xcaa66506,

+  0x1c9b5fd2, 0xcaad570c, 0x1c90e834, 0xcab44b1f,

+  0x1c8671f3, 0xcabb4141, 0x1c7bfd11, 0xcac23971,

+  0x1c71898d, 0xcac933ae, 0x1c671768, 0xcad02ff8,

+  0x1c5ca6a2, 0xcad72e4f, 0x1c52373c, 0xcade2eb3,

+  0x1c47c936, 0xcae53123, 0x1c3d5c91, 0xcaec35a0,

+  0x1c32f14d, 0xcaf33c28, 0x1c28876a, 0xcafa44bc,

+  0x1c1e1ee9, 0xcb014f5b, 0x1c13b7c9, 0xcb085c05,

+  0x1c09520d, 0xcb0f6aba, 0x1bfeedb3, 0xcb167b79,

+  0x1bf48abd, 0xcb1d8e43, 0x1bea292b, 0xcb24a316,

+  0x1bdfc8fc, 0xcb2bb9f4, 0x1bd56a32, 0xcb32d2da,

+  0x1bcb0cce, 0xcb39edca, 0x1bc0b0ce, 0xcb410ac3,

+  0x1bb65634, 0xcb4829c4, 0x1babfd01, 0xcb4f4acd,

+  0x1ba1a534, 0xcb566ddf, 0x1b974ece, 0xcb5d92f8,

+  0x1b8cf9cf, 0xcb64ba19, 0x1b82a638, 0xcb6be341,

+  0x1b785409, 0xcb730e70, 0x1b6e0342, 0xcb7a3ba5,

+  0x1b63b3e5, 0xcb816ae1, 0x1b5965f1, 0xcb889c23,

+  0x1b4f1967, 0xcb8fcf6b, 0x1b44ce46, 0xcb9704b9,

+  0x1b3a8491, 0xcb9e3c0b, 0x1b303c46, 0xcba57563,

+  0x1b25f566, 0xcbacb0bf, 0x1b1baff2, 0xcbb3ee20,

+  0x1b116beb, 0xcbbb2d85, 0x1b072950, 0xcbc26eee,

+  0x1afce821, 0xcbc9b25a, 0x1af2a860, 0xcbd0f7ca,

+  0x1ae86a0d, 0xcbd83f3d, 0x1ade2d28, 0xcbdf88b3,

+  0x1ad3f1b1, 0xcbe6d42b, 0x1ac9b7a9, 0xcbee21a5,

+  0x1abf7f11, 0xcbf57121, 0x1ab547e8, 0xcbfcc29f,

+  0x1aab122f, 0xcc04161e, 0x1aa0dde7, 0xcc0b6b9e,

+  0x1a96ab0f, 0xcc12c31f, 0x1a8c79a9, 0xcc1a1ca0,

+  0x1a8249b4, 0xcc217822, 0x1a781b31, 0xcc28d5a3,

+  0x1a6dee21, 0xcc303524, 0x1a63c284, 0xcc3796a5,

+  0x1a599859, 0xcc3efa25, 0x1a4f6fa3, 0xcc465fa3,

+  0x1a454860, 0xcc4dc720, 0x1a3b2292, 0xcc55309b,

+  0x1a30fe38, 0xcc5c9c14, 0x1a26db54, 0xcc64098b,

+  0x1a1cb9e5, 0xcc6b78ff, 0x1a1299ec, 0xcc72ea70,

+  0x1a087b69, 0xcc7a5dde, 0x19fe5e5e, 0xcc81d349,

+  0x19f442c9, 0xcc894aaf, 0x19ea28ac, 0xcc90c412,

+  0x19e01006, 0xcc983f70, 0x19d5f8d9, 0xcc9fbcca,

+  0x19cbe325, 0xcca73c1e, 0x19c1cee9, 0xccaebd6e,

+  0x19b7bc27, 0xccb640b8, 0x19adaadf, 0xccbdc5fc,

+  0x19a39b11, 0xccc54d3a, 0x19998cbe, 0xccccd671,

+  0x198f7fe6, 0xccd461a2, 0x19857489, 0xccdbeecc,

+  0x197b6aa8, 0xcce37def, 0x19716243, 0xcceb0f0a,

+  0x19675b5a, 0xccf2a21d, 0x195d55ef, 0xccfa3729,

+  0x19535201, 0xcd01ce2b, 0x19494f90, 0xcd096725,

+  0x193f4e9e, 0xcd110216, 0x19354f2a, 0xcd189efe,

+  0x192b5135, 0xcd203ddc, 0x192154bf, 0xcd27deb0,

+  0x191759c9, 0xcd2f817b, 0x190d6053, 0xcd37263a,

+  0x1903685d, 0xcd3eccef, 0x18f971e8, 0xcd467599,

+  0x18ef7cf4, 0xcd4e2037, 0x18e58982, 0xcd55ccca,

+  0x18db9792, 0xcd5d7b50, 0x18d1a724, 0xcd652bcb,

+  0x18c7b838, 0xcd6cde39, 0x18bdcad0, 0xcd74929a,

+  0x18b3deeb, 0xcd7c48ee, 0x18a9f48a, 0xcd840134,

+  0x18a00bae, 0xcd8bbb6d, 0x18962456, 0xcd937798,

+  0x188c3e83, 0xcd9b35b4, 0x18825a35, 0xcda2f5c2,

+  0x1878776d, 0xcdaab7c0, 0x186e962b, 0xcdb27bb0,

+  0x1864b670, 0xcdba4190, 0x185ad83c, 0xcdc20960,

+  0x1850fb8e, 0xcdc9d320, 0x18472069, 0xcdd19ed0,

+  0x183d46cc, 0xcdd96c6f, 0x18336eb7, 0xcde13bfd,

+  0x1829982b, 0xcde90d79, 0x181fc328, 0xcdf0e0e4,

+  0x1815efae, 0xcdf8b63d, 0x180c1dbf, 0xce008d84,

+  0x18024d59, 0xce0866b8, 0x17f87e7f, 0xce1041d9,

+  0x17eeb130, 0xce181ee8, 0x17e4e56c, 0xce1ffde2,

+  0x17db1b34, 0xce27dec9, 0x17d15288, 0xce2fc19c,

+  0x17c78b68, 0xce37a65b, 0x17bdc5d6, 0xce3f8d05,

+  0x17b401d1, 0xce47759a, 0x17aa3f5a, 0xce4f6019,

+  0x17a07e70, 0xce574c84, 0x1796bf16, 0xce5f3ad8,

+  0x178d014a, 0xce672b16, 0x1783450d, 0xce6f1d3d,

+  0x17798a60, 0xce77114e, 0x176fd143, 0xce7f0748,

+  0x176619b6, 0xce86ff2a, 0x175c63ba, 0xce8ef8f4,

+  0x1752af4f, 0xce96f4a7, 0x1748fc75, 0xce9ef241,

+  0x173f4b2e, 0xcea6f1c2, 0x17359b78, 0xceaef32b,

+  0x172bed55, 0xceb6f67a, 0x172240c5, 0xcebefbb0,

+  0x171895c9, 0xcec702cb, 0x170eec60, 0xcecf0bcd,

+  0x1705448b, 0xced716b4, 0x16fb9e4b, 0xcedf2380,

+  0x16f1f99f, 0xcee73231, 0x16e85689, 0xceef42c7,

+  0x16deb508, 0xcef75541, 0x16d5151d, 0xceff699f,

+  0x16cb76c9, 0xcf077fe1, 0x16c1da0b, 0xcf0f9805,

+  0x16b83ee4, 0xcf17b20d, 0x16aea555, 0xcf1fcdf8,

+  0x16a50d5d, 0xcf27ebc5, 0x169b76fe, 0xcf300b74,

+  0x1691e237, 0xcf382d05, 0x16884f09, 0xcf405077,

+  0x167ebd74, 0xcf4875ca, 0x16752d79, 0xcf509cfe,

+  0x166b9f18, 0xcf58c613, 0x16621251, 0xcf60f108,

+  0x16588725, 0xcf691ddd, 0x164efd94, 0xcf714c91,

+  0x1645759f, 0xcf797d24, 0x163bef46, 0xcf81af97,

+  0x16326a88, 0xcf89e3e8, 0x1628e767, 0xcf921a17,

+  0x161f65e4, 0xcf9a5225, 0x1615e5fd, 0xcfa28c10,

+  0x160c67b4, 0xcfaac7d8, 0x1602eb0a, 0xcfb3057d,

+  0x15f96ffd, 0xcfbb4500, 0x15eff690, 0xcfc3865e,

+  0x15e67ec1, 0xcfcbc999, 0x15dd0892, 0xcfd40eaf,

+  0x15d39403, 0xcfdc55a1, 0x15ca2115, 0xcfe49e6d,

+  0x15c0afc6, 0xcfece915, 0x15b74019, 0xcff53597,

+  0x15add20d, 0xcffd83f4, 0x15a465a3, 0xd005d42a,

+  0x159afadb, 0xd00e2639, 0x159191b5, 0xd0167a22,

+  0x15882a32, 0xd01ecfe4, 0x157ec452, 0xd027277e,

+  0x15756016, 0xd02f80f1, 0x156bfd7d, 0xd037dc3b,

+  0x15629c89, 0xd040395d, 0x15593d3a, 0xd0489856,

+  0x154fdf8f, 0xd050f926, 0x15468389, 0xd0595bcd,

+  0x153d292a, 0xd061c04a, 0x1533d070, 0xd06a269d,

+  0x152a795d, 0xd0728ec6, 0x152123f0, 0xd07af8c4,

+  0x1517d02b, 0xd0836497, 0x150e7e0d, 0xd08bd23f,

+  0x15052d97, 0xd09441bb, 0x14fbdec9, 0xd09cb30b,

+  0x14f291a4, 0xd0a5262f, 0x14e94627, 0xd0ad9b26,

+  0x14dffc54, 0xd0b611f1, 0x14d6b42b, 0xd0be8a8d,

+  0x14cd6dab, 0xd0c704fd, 0x14c428d6, 0xd0cf813e,

+  0x14bae5ab, 0xd0d7ff51, 0x14b1a42c, 0xd0e07f36,

+  0x14a86458, 0xd0e900ec, 0x149f2630, 0xd0f18472,

+  0x1495e9b3, 0xd0fa09c9, 0x148caee4, 0xd10290f0,

+  0x148375c1, 0xd10b19e7, 0x147a3e4b, 0xd113a4ad,

+  0x14710883, 0xd11c3142, 0x1467d469, 0xd124bfa6,

+  0x145ea1fd, 0xd12d4fd9, 0x14557140, 0xd135e1d9,

+  0x144c4232, 0xd13e75a8, 0x144314d3, 0xd1470b44,

+  0x1439e923, 0xd14fa2ad, 0x1430bf24, 0xd1583be2,

+  0x142796d5, 0xd160d6e5, 0x141e7037, 0xd16973b3,

+  0x14154b4a, 0xd172124d, 0x140c280e, 0xd17ab2b3,

+  0x14030684, 0xd18354e4, 0x13f9e6ad, 0xd18bf8e0,

+  0x13f0c887, 0xd1949ea6, 0x13e7ac15, 0xd19d4636,

+  0x13de9156, 0xd1a5ef90, 0x13d5784a, 0xd1ae9ab4,

+  0x13cc60f2, 0xd1b747a0, 0x13c34b4f, 0xd1bff656,

+  0x13ba3760, 0xd1c8a6d4, 0x13b12526, 0xd1d1591a,

+  0x13a814a2, 0xd1da0d28, 0x139f05d3, 0xd1e2c2fd,

+  0x1395f8ba, 0xd1eb7a9a, 0x138ced57, 0xd1f433fd,

+  0x1383e3ab, 0xd1fcef27, 0x137adbb6, 0xd205ac17,

+  0x1371d579, 0xd20e6acc, 0x1368d0f3, 0xd2172b48,

+  0x135fce26, 0xd21fed88, 0x1356cd11, 0xd228b18d,

+  0x134dcdb4, 0xd2317756, 0x1344d011, 0xd23a3ee4,

+  0x133bd427, 0xd2430835, 0x1332d9f7, 0xd24bd34a,

+  0x1329e181, 0xd254a021, 0x1320eac6, 0xd25d6ebc,

+  0x1317f5c6, 0xd2663f19, 0x130f0280, 0xd26f1138,

+  0x130610f7, 0xd277e518, 0x12fd2129, 0xd280babb,

+  0x12f43318, 0xd289921e, 0x12eb46c3, 0xd2926b41,

+  0x12e25c2b, 0xd29b4626, 0x12d97350, 0xd2a422ca,

+  0x12d08c33, 0xd2ad012e, 0x12c7a6d4, 0xd2b5e151,

+  0x12bec333, 0xd2bec333, 0x12b5e151, 0xd2c7a6d4,

+  0x12ad012e, 0xd2d08c33, 0x12a422ca, 0xd2d97350,

+  0x129b4626, 0xd2e25c2b, 0x12926b41, 0xd2eb46c3,

+  0x1289921e, 0xd2f43318, 0x1280babb, 0xd2fd2129,

+  0x1277e518, 0xd30610f7, 0x126f1138, 0xd30f0280,

+  0x12663f19, 0xd317f5c6, 0x125d6ebc, 0xd320eac6,

+  0x1254a021, 0xd329e181, 0x124bd34a, 0xd332d9f7,

+  0x12430835, 0xd33bd427, 0x123a3ee4, 0xd344d011,

+  0x12317756, 0xd34dcdb4, 0x1228b18d, 0xd356cd11,

+  0x121fed88, 0xd35fce26, 0x12172b48, 0xd368d0f3,

+  0x120e6acc, 0xd371d579, 0x1205ac17, 0xd37adbb6,

+  0x11fcef27, 0xd383e3ab, 0x11f433fd, 0xd38ced57,

+  0x11eb7a9a, 0xd395f8ba, 0x11e2c2fd, 0xd39f05d3,

+  0x11da0d28, 0xd3a814a2, 0x11d1591a, 0xd3b12526,

+  0x11c8a6d4, 0xd3ba3760, 0x11bff656, 0xd3c34b4f,

+  0x11b747a0, 0xd3cc60f2, 0x11ae9ab4, 0xd3d5784a,

+  0x11a5ef90, 0xd3de9156, 0x119d4636, 0xd3e7ac15,

+  0x11949ea6, 0xd3f0c887, 0x118bf8e0, 0xd3f9e6ad,

+  0x118354e4, 0xd4030684, 0x117ab2b3, 0xd40c280e,

+  0x1172124d, 0xd4154b4a, 0x116973b3, 0xd41e7037,

+  0x1160d6e5, 0xd42796d5, 0x11583be2, 0xd430bf24,

+  0x114fa2ad, 0xd439e923, 0x11470b44, 0xd44314d3,

+  0x113e75a8, 0xd44c4232, 0x1135e1d9, 0xd4557140,

+  0x112d4fd9, 0xd45ea1fd, 0x1124bfa6, 0xd467d469,

+  0x111c3142, 0xd4710883, 0x1113a4ad, 0xd47a3e4b,

+  0x110b19e7, 0xd48375c1, 0x110290f0, 0xd48caee4,

+  0x10fa09c9, 0xd495e9b3, 0x10f18472, 0xd49f2630,

+  0x10e900ec, 0xd4a86458, 0x10e07f36, 0xd4b1a42c,

+  0x10d7ff51, 0xd4bae5ab, 0x10cf813e, 0xd4c428d6,

+  0x10c704fd, 0xd4cd6dab, 0x10be8a8d, 0xd4d6b42b,

+  0x10b611f1, 0xd4dffc54, 0x10ad9b26, 0xd4e94627,

+  0x10a5262f, 0xd4f291a4, 0x109cb30b, 0xd4fbdec9,

+  0x109441bb, 0xd5052d97, 0x108bd23f, 0xd50e7e0d,

+  0x10836497, 0xd517d02b, 0x107af8c4, 0xd52123f0,

+  0x10728ec6, 0xd52a795d, 0x106a269d, 0xd533d070,

+  0x1061c04a, 0xd53d292a, 0x10595bcd, 0xd5468389,

+  0x1050f926, 0xd54fdf8f, 0x10489856, 0xd5593d3a,

+  0x1040395d, 0xd5629c89, 0x1037dc3b, 0xd56bfd7d,

+  0x102f80f1, 0xd5756016, 0x1027277e, 0xd57ec452,

+  0x101ecfe4, 0xd5882a32, 0x10167a22, 0xd59191b5,

+  0x100e2639, 0xd59afadb, 0x1005d42a, 0xd5a465a3,

+  0xffd83f4, 0xd5add20d, 0xff53597, 0xd5b74019,

+  0xfece915, 0xd5c0afc6, 0xfe49e6d, 0xd5ca2115,

+  0xfdc55a1, 0xd5d39403, 0xfd40eaf, 0xd5dd0892,

+  0xfcbc999, 0xd5e67ec1, 0xfc3865e, 0xd5eff690,

+  0xfbb4500, 0xd5f96ffd, 0xfb3057d, 0xd602eb0a,

+  0xfaac7d8, 0xd60c67b4, 0xfa28c10, 0xd615e5fd,

+  0xf9a5225, 0xd61f65e4, 0xf921a17, 0xd628e767,

+  0xf89e3e8, 0xd6326a88, 0xf81af97, 0xd63bef46,

+  0xf797d24, 0xd645759f, 0xf714c91, 0xd64efd94,

+  0xf691ddd, 0xd6588725, 0xf60f108, 0xd6621251,

+  0xf58c613, 0xd66b9f18, 0xf509cfe, 0xd6752d79,

+  0xf4875ca, 0xd67ebd74, 0xf405077, 0xd6884f09,

+  0xf382d05, 0xd691e237, 0xf300b74, 0xd69b76fe,

+  0xf27ebc5, 0xd6a50d5d, 0xf1fcdf8, 0xd6aea555,

+  0xf17b20d, 0xd6b83ee4, 0xf0f9805, 0xd6c1da0b,

+  0xf077fe1, 0xd6cb76c9, 0xeff699f, 0xd6d5151d,

+  0xef75541, 0xd6deb508, 0xeef42c7, 0xd6e85689,

+  0xee73231, 0xd6f1f99f, 0xedf2380, 0xd6fb9e4b,

+  0xed716b4, 0xd705448b, 0xecf0bcd, 0xd70eec60,

+  0xec702cb, 0xd71895c9, 0xebefbb0, 0xd72240c5,

+  0xeb6f67a, 0xd72bed55, 0xeaef32b, 0xd7359b78,

+  0xea6f1c2, 0xd73f4b2e, 0xe9ef241, 0xd748fc75,

+  0xe96f4a7, 0xd752af4f, 0xe8ef8f4, 0xd75c63ba,

+  0xe86ff2a, 0xd76619b6, 0xe7f0748, 0xd76fd143,

+  0xe77114e, 0xd7798a60, 0xe6f1d3d, 0xd783450d,

+  0xe672b16, 0xd78d014a, 0xe5f3ad8, 0xd796bf16,

+  0xe574c84, 0xd7a07e70, 0xe4f6019, 0xd7aa3f5a,

+  0xe47759a, 0xd7b401d1, 0xe3f8d05, 0xd7bdc5d6,

+  0xe37a65b, 0xd7c78b68, 0xe2fc19c, 0xd7d15288,

+  0xe27dec9, 0xd7db1b34, 0xe1ffde2, 0xd7e4e56c,

+  0xe181ee8, 0xd7eeb130, 0xe1041d9, 0xd7f87e7f,

+  0xe0866b8, 0xd8024d59, 0xe008d84, 0xd80c1dbf,

+  0xdf8b63d, 0xd815efae, 0xdf0e0e4, 0xd81fc328,

+  0xde90d79, 0xd829982b, 0xde13bfd, 0xd8336eb7,

+  0xdd96c6f, 0xd83d46cc, 0xdd19ed0, 0xd8472069,

+  0xdc9d320, 0xd850fb8e, 0xdc20960, 0xd85ad83c,

+  0xdba4190, 0xd864b670, 0xdb27bb0, 0xd86e962b,

+  0xdaab7c0, 0xd878776d, 0xda2f5c2, 0xd8825a35,

+  0xd9b35b4, 0xd88c3e83, 0xd937798, 0xd8962456,

+  0xd8bbb6d, 0xd8a00bae, 0xd840134, 0xd8a9f48a,

+  0xd7c48ee, 0xd8b3deeb, 0xd74929a, 0xd8bdcad0,

+  0xd6cde39, 0xd8c7b838, 0xd652bcb, 0xd8d1a724,

+  0xd5d7b50, 0xd8db9792, 0xd55ccca, 0xd8e58982,

+  0xd4e2037, 0xd8ef7cf4, 0xd467599, 0xd8f971e8,

+  0xd3eccef, 0xd903685d, 0xd37263a, 0xd90d6053,

+  0xd2f817b, 0xd91759c9, 0xd27deb0, 0xd92154bf,

+  0xd203ddc, 0xd92b5135, 0xd189efe, 0xd9354f2a,

+  0xd110216, 0xd93f4e9e, 0xd096725, 0xd9494f90,

+  0xd01ce2b, 0xd9535201, 0xcfa3729, 0xd95d55ef,

+  0xcf2a21d, 0xd9675b5a, 0xceb0f0a, 0xd9716243,

+  0xce37def, 0xd97b6aa8, 0xcdbeecc, 0xd9857489,

+  0xcd461a2, 0xd98f7fe6, 0xcccd671, 0xd9998cbe,

+  0xcc54d3a, 0xd9a39b11, 0xcbdc5fc, 0xd9adaadf,

+  0xcb640b8, 0xd9b7bc27, 0xcaebd6e, 0xd9c1cee9,

+  0xca73c1e, 0xd9cbe325, 0xc9fbcca, 0xd9d5f8d9,

+  0xc983f70, 0xd9e01006, 0xc90c412, 0xd9ea28ac,

+  0xc894aaf, 0xd9f442c9, 0xc81d349, 0xd9fe5e5e,

+  0xc7a5dde, 0xda087b69, 0xc72ea70, 0xda1299ec,

+  0xc6b78ff, 0xda1cb9e5, 0xc64098b, 0xda26db54,

+  0xc5c9c14, 0xda30fe38, 0xc55309b, 0xda3b2292,

+  0xc4dc720, 0xda454860, 0xc465fa3, 0xda4f6fa3,

+  0xc3efa25, 0xda599859, 0xc3796a5, 0xda63c284,

+  0xc303524, 0xda6dee21, 0xc28d5a3, 0xda781b31,

+  0xc217822, 0xda8249b4, 0xc1a1ca0, 0xda8c79a9,

+  0xc12c31f, 0xda96ab0f, 0xc0b6b9e, 0xdaa0dde7,

+  0xc04161e, 0xdaab122f, 0xbfcc29f, 0xdab547e8,

+  0xbf57121, 0xdabf7f11, 0xbee21a5, 0xdac9b7a9,

+  0xbe6d42b, 0xdad3f1b1, 0xbdf88b3, 0xdade2d28,

+  0xbd83f3d, 0xdae86a0d, 0xbd0f7ca, 0xdaf2a860,

+  0xbc9b25a, 0xdafce821, 0xbc26eee, 0xdb072950,

+  0xbbb2d85, 0xdb116beb, 0xbb3ee20, 0xdb1baff2,

+  0xbacb0bf, 0xdb25f566, 0xba57563, 0xdb303c46,

+  0xb9e3c0b, 0xdb3a8491, 0xb9704b9, 0xdb44ce46,

+  0xb8fcf6b, 0xdb4f1967, 0xb889c23, 0xdb5965f1,

+  0xb816ae1, 0xdb63b3e5, 0xb7a3ba5, 0xdb6e0342,

+  0xb730e70, 0xdb785409, 0xb6be341, 0xdb82a638,

+  0xb64ba19, 0xdb8cf9cf, 0xb5d92f8, 0xdb974ece,

+  0xb566ddf, 0xdba1a534, 0xb4f4acd, 0xdbabfd01,

+  0xb4829c4, 0xdbb65634, 0xb410ac3, 0xdbc0b0ce,

+  0xb39edca, 0xdbcb0cce, 0xb32d2da, 0xdbd56a32,

+  0xb2bb9f4, 0xdbdfc8fc, 0xb24a316, 0xdbea292b,

+  0xb1d8e43, 0xdbf48abd, 0xb167b79, 0xdbfeedb3,

+  0xb0f6aba, 0xdc09520d, 0xb085c05, 0xdc13b7c9,

+  0xb014f5b, 0xdc1e1ee9, 0xafa44bc, 0xdc28876a,

+  0xaf33c28, 0xdc32f14d, 0xaec35a0, 0xdc3d5c91,

+  0xae53123, 0xdc47c936, 0xade2eb3, 0xdc52373c,

+  0xad72e4f, 0xdc5ca6a2, 0xad02ff8, 0xdc671768,

+  0xac933ae, 0xdc71898d, 0xac23971, 0xdc7bfd11,

+  0xabb4141, 0xdc8671f3, 0xab44b1f, 0xdc90e834,

+  0xaad570c, 0xdc9b5fd2, 0xaa66506, 0xdca5d8cd,

+  0xa9f750f, 0xdcb05326, 0xa988727, 0xdcbacedb,

+  0xa919b4e, 0xdcc54bec, 0xa8ab184, 0xdccfca59,

+  0xa83c9ca, 0xdcda4a21, 0xa7ce420, 0xdce4cb44,

+  0xa760086, 0xdcef4dc2, 0xa6f1efc, 0xdcf9d199,

+  0xa683f83, 0xdd0456ca, 0xa61621b, 0xdd0edd55,

+  0xa5a86c4, 0xdd196538, 0xa53ad7e, 0xdd23ee74,

+  0xa4cd64b, 0xdd2e7908, 0xa460129, 0xdd3904f4,

+  0xa3f2e19, 0xdd439236, 0xa385d1d, 0xdd4e20d0,

+  0xa318e32, 0xdd58b0c0, 0xa2ac15b, 0xdd634206,

+  0xa23f698, 0xdd6dd4a2, 0xa1d2de7, 0xdd786892,

+  0xa16674b, 0xdd82fdd8, 0xa0fa2c3, 0xdd8d9472,

+  0xa08e04f, 0xdd982c60, 0xa021fef, 0xdda2c5a2,

+  0x9fb61a5, 0xddad6036, 0x9f4a570, 0xddb7fc1e,

+  0x9edeb50, 0xddc29958, 0x9e73346, 0xddcd37e4,

+  0x9e07d51, 0xddd7d7c1, 0x9d9c973, 0xdde278ef,

+  0x9d317ab, 0xdded1b6e, 0x9cc67fa, 0xddf7bf3e,

+  0x9c5ba60, 0xde02645d, 0x9bf0edd, 0xde0d0acc,

+  0x9b86572, 0xde17b28a, 0x9b1be1e, 0xde225b96,

+  0x9ab18e3, 0xde2d05f1, 0x9a475bf, 0xde37b199,

+  0x99dd4b4, 0xde425e8f, 0x99735c2, 0xde4d0cd2,

+  0x99098e9, 0xde57bc62, 0x989fe29, 0xde626d3e,

+  0x9836582, 0xde6d1f65, 0x97ccef5, 0xde77d2d8,

+  0x9763a83, 0xde828796, 0x96fa82a, 0xde8d3d9e,

+  0x96917ec, 0xde97f4f1, 0x96289c9, 0xdea2ad8d,

+  0x95bfdc1, 0xdead6773, 0x95573d4, 0xdeb822a1,

+  0x94eec03, 0xdec2df18, 0x948664d, 0xdecd9cd7,

+  0x941e2b4, 0xded85bdd, 0x93b6137, 0xdee31c2b,

+  0x934e1d6, 0xdeedddc0, 0x92e6492, 0xdef8a09b,

+  0x927e96b, 0xdf0364bc, 0x9217062, 0xdf0e2a22,

+  0x91af976, 0xdf18f0ce, 0x91484a8, 0xdf23b8be,

+  0x90e11f7, 0xdf2e81f3, 0x907a166, 0xdf394c6b,

+  0x90132f2, 0xdf441828, 0x8fac69e, 0xdf4ee527,

+  0x8f45c68, 0xdf59b369, 0x8edf452, 0xdf6482ed,

+  0x8e78e5b, 0xdf6f53b3, 0x8e12a84, 0xdf7a25ba,

+  0x8dac8cd, 0xdf84f902, 0x8d46936, 0xdf8fcd8b,

+  0x8ce0bc0, 0xdf9aa354, 0x8c7b06b, 0xdfa57a5d,

+  0x8c15736, 0xdfb052a5, 0x8bb0023, 0xdfbb2c2c,

+  0x8b4ab32, 0xdfc606f1, 0x8ae5862, 0xdfd0e2f5,

+  0x8a807b4, 0xdfdbc036, 0x8a1b928, 0xdfe69eb4,

+  0x89b6cbf, 0xdff17e70, 0x8952278, 0xdffc5f67,

+  0x88eda54, 0xe007419b, 0x8889454, 0xe012250a,

+  0x8825077, 0xe01d09b4, 0x87c0ebd, 0xe027ef99,

+  0x875cf28, 0xe032d6b8, 0x86f91b7, 0xe03dbf11,

+  0x869566a, 0xe048a8a4, 0x8631d42, 0xe053936f,

+  0x85ce63e, 0xe05e7f74, 0x856b160, 0xe0696cb0,

+  0x8507ea7, 0xe0745b24, 0x84a4e14, 0xe07f4acf,

+  0x8441fa6, 0xe08a3bb2, 0x83df35f, 0xe0952dcb,

+  0x837c93e, 0xe0a0211a, 0x831a143, 0xe0ab159e,

+  0x82b7b70, 0xe0b60b58, 0x82557c3, 0xe0c10247,

+  0x81f363d, 0xe0cbfa6a, 0x81916df, 0xe0d6f3c1,

+  0x812f9a9, 0xe0e1ee4b, 0x80cde9b, 0xe0ecea09,

+  0x806c5b5, 0xe0f7e6f9, 0x800aef7, 0xe102e51c,

+  0x7fa9a62, 0xe10de470, 0x7f487f6, 0xe118e4f6,

+  0x7ee77b3, 0xe123e6ad, 0x7e8699a, 0xe12ee995,

+  0x7e25daa, 0xe139edac, 0x7dc53e3, 0xe144f2f3,

+  0x7d64c47, 0xe14ff96a, 0x7d046d6, 0xe15b0110,

+  0x7ca438f, 0xe16609e3, 0x7c44272, 0xe17113e5,

+  0x7be4381, 0xe17c1f15, 0x7b846ba, 0xe1872b72,

+  0x7b24c20, 0xe19238fb, 0x7ac53b1, 0xe19d47b1,

+  0x7a65d6e, 0xe1a85793, 0x7a06957, 0xe1b368a0,

+  0x79a776c, 0xe1be7ad8, 0x79487ae, 0xe1c98e3b,

+  0x78e9a1d, 0xe1d4a2c8, 0x788aeb9, 0xe1dfb87f,

+  0x782c582, 0xe1eacf5f, 0x77cde79, 0xe1f5e768,

+  0x776f99d, 0xe2010099, 0x77116f0, 0xe20c1af3,

+  0x76b3671, 0xe2173674, 0x7655820, 0xe222531c,

+  0x75f7bfe, 0xe22d70eb, 0x759a20a, 0xe2388fe1,

+  0x753ca46, 0xe243affc, 0x74df4b1, 0xe24ed13d,

+  0x748214c, 0xe259f3a3, 0x7425016, 0xe265172e,

+  0x73c8111, 0xe2703bdc, 0x736b43c, 0xe27b61af,

+  0x730e997, 0xe28688a4, 0x72b2123, 0xe291b0bd,

+  0x7255ae0, 0xe29cd9f8, 0x71f96ce, 0xe2a80456,

+  0x719d4ed, 0xe2b32fd4, 0x714153e, 0xe2be5c74,

+  0x70e57c0, 0xe2c98a35, 0x7089c75, 0xe2d4b916,

+  0x702e35c, 0xe2dfe917, 0x6fd2c75, 0xe2eb1a37,

+  0x6f777c1, 0xe2f64c77, 0x6f1c540, 0xe3017fd5,

+  0x6ec14f2, 0xe30cb451, 0x6e666d7, 0xe317e9eb,

+  0x6e0baf0, 0xe32320a2, 0x6db113d, 0xe32e5876,

+  0x6d569be, 0xe3399167, 0x6cfc472, 0xe344cb73,

+  0x6ca215c, 0xe350069b, 0x6c4807a, 0xe35b42df,

+  0x6bee1cd, 0xe366803c, 0x6b94554, 0xe371beb5,

+  0x6b3ab12, 0xe37cfe47, 0x6ae1304, 0xe3883ef2,

+  0x6a87d2d, 0xe39380b6, 0x6a2e98b, 0xe39ec393,

+  0x69d5820, 0xe3aa0788, 0x697c8eb, 0xe3b54c95,

+  0x6923bec, 0xe3c092b9, 0x68cb124, 0xe3cbd9f4,

+  0x6872894, 0xe3d72245, 0x681a23a, 0xe3e26bac,

+  0x67c1e18, 0xe3edb628, 0x6769c2e, 0xe3f901ba,

+  0x6711c7b, 0xe4044e60, 0x66b9f01, 0xe40f9c1a,

+  0x66623be, 0xe41aeae8, 0x660aab5, 0xe4263ac9,

+  0x65b33e4, 0xe4318bbe, 0x655bf4c, 0xe43cddc4,

+  0x6504ced, 0xe44830dd, 0x64adcc7, 0xe4538507,

+  0x6456edb, 0xe45eda43, 0x6400329, 0xe46a308f,

+  0x63a99b1, 0xe47587eb, 0x6353273, 0xe480e057,

+  0x62fcd6f, 0xe48c39d3, 0x62a6aa6, 0xe497945d,

+  0x6250a18, 0xe4a2eff6, 0x61fabc4, 0xe4ae4c9d,

+  0x61a4fac, 0xe4b9aa52, 0x614f5cf, 0xe4c50914,

+  0x60f9e2e, 0xe4d068e2, 0x60a48c9, 0xe4dbc9bd,

+  0x604f5a0, 0xe4e72ba4, 0x5ffa4b3, 0xe4f28e96,

+  0x5fa5603, 0xe4fdf294, 0x5f5098f, 0xe509579b,

+  0x5efbf58, 0xe514bdad, 0x5ea775e, 0xe52024c9,

+  0x5e531a1, 0xe52b8cee, 0x5dfee22, 0xe536f61b,

+  0x5daace1, 0xe5426051, 0x5d56ddd, 0xe54dcb8f,

+  0x5d03118, 0xe55937d5, 0x5caf690, 0xe564a521,

+  0x5c5be47, 0xe5701374, 0x5c0883d, 0xe57b82cd,

+  0x5bb5472, 0xe586f32c, 0x5b622e6, 0xe5926490,

+  0x5b0f399, 0xe59dd6f9, 0x5abc68c, 0xe5a94a67,

+  0x5a69bbe, 0xe5b4bed8, 0x5a17330, 0xe5c0344d,

+  0x59c4ce3, 0xe5cbaac5, 0x59728d5, 0xe5d72240,

+  0x5920708, 0xe5e29abc, 0x58ce77c, 0xe5ee143b,

+  0x587ca31, 0xe5f98ebb, 0x582af26, 0xe6050a3b,

+  0x57d965d, 0xe61086bc, 0x5787fd6, 0xe61c043d,

+  0x5736b90, 0xe62782be, 0x56e598c, 0xe633023e,

+  0x56949ca, 0xe63e82bc, 0x5643c4a, 0xe64a0438,

+  0x55f310d, 0xe65586b3, 0x55a2812, 0xe6610a2a,

+  0x555215a, 0xe66c8e9f, 0x5501ce5, 0xe6781410,

+  0x54b1ab4, 0xe6839a7c, 0x5461ac6, 0xe68f21e5,

+  0x5411d1b, 0xe69aaa48, 0x53c21b4, 0xe6a633a6,

+  0x5372891, 0xe6b1bdff, 0x53231b3, 0xe6bd4951,

+  0x52d3d18, 0xe6c8d59c, 0x5284ac3, 0xe6d462e1,

+  0x5235ab2, 0xe6dff11d, 0x51e6ce6, 0xe6eb8052,

+  0x519815f, 0xe6f7107e, 0x514981d, 0xe702a1a1,

+  0x50fb121, 0xe70e33bb, 0x50acc6b, 0xe719c6cb,

+  0x505e9fb, 0xe7255ad1, 0x50109d0, 0xe730efcc,

+  0x4fc2bec, 0xe73c85bc, 0x4f7504e, 0xe7481ca1,

+  0x4f276f7, 0xe753b479, 0x4ed9fe7, 0xe75f4d45,

+  0x4e8cb1e, 0xe76ae704, 0x4e3f89c, 0xe77681b6,

+  0x4df2862, 0xe7821d59, 0x4da5a6f, 0xe78db9ef,

+  0x4d58ec3, 0xe7995776, 0x4d0c560, 0xe7a4f5ed,

+  0x4cbfe45, 0xe7b09555, 0x4c73972, 0xe7bc35ad,

+  0x4c276e8, 0xe7c7d6f4, 0x4bdb6a6, 0xe7d3792b,

+  0x4b8f8ad, 0xe7df1c50, 0x4b43cfd, 0xe7eac063,

+  0x4af8397, 0xe7f66564, 0x4aacc7a, 0xe8020b52,

+  0x4a617a6, 0xe80db22d, 0x4a1651c, 0xe81959f4,

+  0x49cb4dd, 0xe82502a7, 0x49806e7, 0xe830ac45,

+  0x4935b3c, 0xe83c56cf, 0x48eb1db, 0xe8480243,

+  0x48a0ac4, 0xe853aea1, 0x48565f9, 0xe85f5be9,

+  0x480c379, 0xe86b0a1a, 0x47c2344, 0xe876b934,

+  0x477855a, 0xe8826936, 0x472e9bc, 0xe88e1a20,

+  0x46e5069, 0xe899cbf1, 0x469b963, 0xe8a57ea9,

+  0x46524a9, 0xe8b13248, 0x460923b, 0xe8bce6cd,

+  0x45c0219, 0xe8c89c37, 0x4577444, 0xe8d45286,

+  0x452e8bc, 0xe8e009ba, 0x44e5f80, 0xe8ebc1d3,

+  0x449d892, 0xe8f77acf, 0x44553f2, 0xe90334af,

+  0x440d19e, 0xe90eef71, 0x43c5199, 0xe91aab16,

+  0x437d3e1, 0xe926679c, 0x4335877, 0xe9322505,

+  0x42edf5c, 0xe93de34e, 0x42a688f, 0xe949a278,

+  0x425f410, 0xe9556282, 0x42181e0, 0xe961236c,

+  0x41d11ff, 0xe96ce535, 0x418a46d, 0xe978a7dd,

+  0x414392b, 0xe9846b63, 0x40fd037, 0xe9902fc7,

+  0x40b6994, 0xe99bf509, 0x4070540, 0xe9a7bb28,

+  0x402a33c, 0xe9b38223, 0x3fe4388, 0xe9bf49fa,

+  0x3f9e624, 0xe9cb12ad, 0x3f58b10, 0xe9d6dc3b,

+  0x3f1324e, 0xe9e2a6a3, 0x3ecdbdc, 0xe9ee71e6,

+  0x3e887bb, 0xe9fa3e03, 0x3e435ea, 0xea060af9,

+  0x3dfe66c, 0xea11d8c8, 0x3db993e, 0xea1da770,

+  0x3d74e62, 0xea2976ef, 0x3d305d8, 0xea354746,

+  0x3cebfa0, 0xea411874, 0x3ca7bba, 0xea4cea79,

+  0x3c63a26, 0xea58bd54, 0x3c1fae5, 0xea649105,

+  0x3bdbdf6, 0xea70658a, 0x3b9835a, 0xea7c3ae5,

+  0x3b54b11, 0xea881114, 0x3b1151b, 0xea93e817,

+  0x3ace178, 0xea9fbfed, 0x3a8b028, 0xeaab9896,

+  0x3a4812c, 0xeab77212, 0x3a05484, 0xeac34c60,

+  0x39c2a2f, 0xeacf277f, 0x398022f, 0xeadb0370,

+  0x393dc82, 0xeae6e031, 0x38fb92a, 0xeaf2bdc3,

+  0x38b9827, 0xeafe9c24, 0x3877978, 0xeb0a7b54,

+  0x3835d1e, 0xeb165b54, 0x37f4319, 0xeb223c22,

+  0x37b2b6a, 0xeb2e1dbe, 0x377160f, 0xeb3a0027,

+  0x373030a, 0xeb45e35d, 0x36ef25b, 0xeb51c760,

+  0x36ae401, 0xeb5dac2f, 0x366d7fd, 0xeb6991ca,

+  0x362ce50, 0xeb75782f, 0x35ec6f8, 0xeb815f60,

+  0x35ac1f7, 0xeb8d475b, 0x356bf4d, 0xeb99301f,

+  0x352bef9, 0xeba519ad, 0x34ec0fc, 0xebb10404,

+  0x34ac556, 0xebbcef23, 0x346cc07, 0xebc8db0b,

+  0x342d510, 0xebd4c7ba, 0x33ee070, 0xebe0b52f,

+  0x33aee27, 0xebeca36c, 0x336fe37, 0xebf8926f,

+  0x333109e, 0xec048237, 0x32f255e, 0xec1072c4,

+  0x32b3c75, 0xec1c6417, 0x32755e5, 0xec28562d,

+  0x32371ae, 0xec344908, 0x31f8fcf, 0xec403ca5,

+  0x31bb049, 0xec4c3106, 0x317d31c, 0xec582629,

+  0x313f848, 0xec641c0e, 0x3101fce, 0xec7012b5,

+  0x30c49ad, 0xec7c0a1d, 0x30875e5, 0xec880245,

+  0x304a477, 0xec93fb2e, 0x300d563, 0xec9ff4d6,

+  0x2fd08a9, 0xecabef3d, 0x2f93e4a, 0xecb7ea63,

+  0x2f57644, 0xecc3e648, 0x2f1b099, 0xeccfe2ea,

+  0x2eded49, 0xecdbe04a, 0x2ea2c53, 0xece7de66,

+  0x2e66db8, 0xecf3dd3f, 0x2e2b178, 0xecffdcd4,

+  0x2def794, 0xed0bdd25, 0x2db400a, 0xed17de31,

+  0x2d78add, 0xed23dff7, 0x2d3d80a, 0xed2fe277,

+  0x2d02794, 0xed3be5b1, 0x2cc7979, 0xed47e9a5,

+  0x2c8cdbb, 0xed53ee51, 0x2c52459, 0xed5ff3b5,

+  0x2c17d52, 0xed6bf9d1, 0x2bdd8a9, 0xed7800a5,

+  0x2ba365c, 0xed84082f, 0x2b6966c, 0xed901070,

+  0x2b2f8d8, 0xed9c1967, 0x2af5da2, 0xeda82313,

+  0x2abc4c9, 0xedb42d74, 0x2a82e4d, 0xedc0388a,

+  0x2a49a2e, 0xedcc4454, 0x2a1086d, 0xedd850d2,

+  0x29d790a, 0xede45e03, 0x299ec05, 0xedf06be6,

+  0x296615d, 0xedfc7a7c, 0x292d914, 0xee0889c4,

+  0x28f5329, 0xee1499bd, 0x28bcf9c, 0xee20aa67,

+  0x2884e6e, 0xee2cbbc1, 0x284cf9f, 0xee38cdcb,

+  0x281532e, 0xee44e084, 0x27dd91c, 0xee50f3ed,

+  0x27a616a, 0xee5d0804, 0x276ec16, 0xee691cc9,

+  0x2737922, 0xee75323c, 0x270088e, 0xee81485c,

+  0x26c9a58, 0xee8d5f29, 0x2692e83, 0xee9976a1,

+  0x265c50e, 0xeea58ec6, 0x2625df8, 0xeeb1a796,

+  0x25ef943, 0xeebdc110, 0x25b96ee, 0xeec9db35,

+  0x25836f9, 0xeed5f604, 0x254d965, 0xeee2117c,

+  0x2517e31, 0xeeee2d9d, 0x24e255e, 0xeefa4a67,

+  0x24aceed, 0xef0667d9, 0x2477adc, 0xef1285f2,

+  0x244292c, 0xef1ea4b2, 0x240d9de, 0xef2ac419,

+  0x23d8cf1, 0xef36e426, 0x23a4265, 0xef4304d8,

+  0x236fa3b, 0xef4f2630, 0x233b473, 0xef5b482d,

+  0x230710d, 0xef676ace, 0x22d3009, 0xef738e12,

+  0x229f167, 0xef7fb1fa, 0x226b528, 0xef8bd685,

+  0x2237b4b, 0xef97fbb2, 0x22043d0, 0xefa42181,

+  0x21d0eb8, 0xefb047f2, 0x219dc03, 0xefbc6f03,

+  0x216abb1, 0xefc896b5, 0x2137dc2, 0xefd4bf08,

+  0x2105236, 0xefe0e7f9, 0x20d290d, 0xefed118a,

+  0x20a0248, 0xeff93bba, 0x206dde6, 0xf0056687,

+  0x203bbe8, 0xf01191f3, 0x2009c4e, 0xf01dbdfb,

+  0x1fd7f17, 0xf029eaa1, 0x1fa6445, 0xf03617e2,

+  0x1f74bd6, 0xf04245c0, 0x1f435cc, 0xf04e7438,

+  0x1f12227, 0xf05aa34c, 0x1ee10e5, 0xf066d2fa,

+  0x1eb0209, 0xf0730342, 0x1e7f591, 0xf07f3424,

+  0x1e4eb7e, 0xf08b659f, 0x1e1e3d0, 0xf09797b2,

+  0x1dede87, 0xf0a3ca5d, 0x1dbdba3, 0xf0affda0,

+  0x1d8db25, 0xf0bc317a, 0x1d5dd0c, 0xf0c865ea,

+  0x1d2e158, 0xf0d49af1, 0x1cfe80a, 0xf0e0d08d,

+  0x1ccf122, 0xf0ed06bf, 0x1c9fca0, 0xf0f93d86,

+  0x1c70a84, 0xf10574e0, 0x1c41ace, 0xf111accf,

+  0x1c12d7e, 0xf11de551, 0x1be4294, 0xf12a1e66,

+  0x1bb5a11, 0xf136580d, 0x1b873f5, 0xf1429247,

+  0x1b5903f, 0xf14ecd11, 0x1b2aef0, 0xf15b086d,

+  0x1afd007, 0xf1674459, 0x1acf386, 0xf17380d6,

+  0x1aa196c, 0xf17fbde2, 0x1a741b9, 0xf18bfb7d,

+  0x1a46c6e, 0xf19839a6, 0x1a1998a, 0xf1a4785e,

+  0x19ec90d, 0xf1b0b7a4, 0x19bfaf9, 0xf1bcf777,

+  0x1992f4c, 0xf1c937d6, 0x1966606, 0xf1d578c2,

+  0x1939f29, 0xf1e1ba3a, 0x190dab4, 0xf1edfc3d,

+  0x18e18a7, 0xf1fa3ecb, 0x18b5903, 0xf20681e3,

+  0x1889bc6, 0xf212c585, 0x185e0f3, 0xf21f09b1,

+  0x1832888, 0xf22b4e66, 0x1807285, 0xf23793a3,

+  0x17dbeec, 0xf243d968, 0x17b0dbb, 0xf2501fb5,

+  0x1785ef4, 0xf25c6688, 0x175b296, 0xf268ade3,

+  0x17308a1, 0xf274f5c3, 0x1706115, 0xf2813e2a,

+  0x16dbbf3, 0xf28d8715, 0x16b193a, 0xf299d085,

+  0x16878eb, 0xf2a61a7a, 0x165db05, 0xf2b264f2,

+  0x1633f8a, 0xf2beafed, 0x160a678, 0xf2cafb6b,

+  0x15e0fd1, 0xf2d7476c, 0x15b7b94, 0xf2e393ef,

+  0x158e9c1, 0xf2efe0f2, 0x1565a58, 0xf2fc2e77,

+  0x153cd5a, 0xf3087c7d, 0x15142c6, 0xf314cb02,

+  0x14eba9d, 0xf3211a07, 0x14c34df, 0xf32d698a,

+  0x149b18b, 0xf339b98d, 0x14730a3, 0xf3460a0d,

+  0x144b225, 0xf3525b0b, 0x1423613, 0xf35eac86,

+  0x13fbc6c, 0xf36afe7e, 0x13d4530, 0xf37750f2,

+  0x13ad060, 0xf383a3e2, 0x1385dfb, 0xf38ff74d,

+  0x135ee02, 0xf39c4b32, 0x1338075, 0xf3a89f92,

+  0x1311553, 0xf3b4f46c, 0x12eac9d, 0xf3c149bf,

+  0x12c4653, 0xf3cd9f8b, 0x129e276, 0xf3d9f5cf,

+  0x1278104, 0xf3e64c8c, 0x12521ff, 0xf3f2a3bf,

+  0x122c566, 0xf3fefb6a, 0x1206b39, 0xf40b538b,

+  0x11e1379, 0xf417ac22, 0x11bbe26, 0xf424052f,

+  0x1196b3f, 0xf4305eb0, 0x1171ac6, 0xf43cb8a7,

+  0x114ccb9, 0xf4491311, 0x1128119, 0xf4556def,

+  0x11037e6, 0xf461c940, 0x10df120, 0xf46e2504,

+  0x10bacc8, 0xf47a8139, 0x1096add, 0xf486dde1,

+  0x1072b5f, 0xf4933afa, 0x104ee4f, 0xf49f9884,

+  0x102b3ac, 0xf4abf67e, 0x1007b77, 0xf4b854e7,

+  0xfe45b0, 0xf4c4b3c0, 0xfc1257, 0xf4d11308,

+  0xf9e16b, 0xf4dd72be, 0xf7b2ee, 0xf4e9d2e3,

+  0xf586df, 0xf4f63374, 0xf35d3e, 0xf5029473,

+  0xf1360b, 0xf50ef5de, 0xef1147, 0xf51b57b5,

+  0xeceef1, 0xf527b9f7, 0xeacf09, 0xf5341ca5,

+  0xe8b190, 0xf5407fbd, 0xe69686, 0xf54ce33f,

+  0xe47deb, 0xf559472b, 0xe267be, 0xf565ab80,

+  0xe05401, 0xf572103d, 0xde42b2, 0xf57e7563,

+  0xdc33d2, 0xf58adaf0, 0xda2762, 0xf59740e5,

+  0xd81d61, 0xf5a3a740, 0xd615cf, 0xf5b00e02,

+  0xd410ad, 0xf5bc7529, 0xd20dfa, 0xf5c8dcb6,

+  0xd00db6, 0xf5d544a7, 0xce0fe3, 0xf5e1acfd,

+  0xcc147f, 0xf5ee15b7, 0xca1b8a, 0xf5fa7ed4,

+  0xc82506, 0xf606e854, 0xc630f2, 0xf6135237,

+  0xc43f4d, 0xf61fbc7b, 0xc25019, 0xf62c2721,

+  0xc06355, 0xf6389228, 0xbe7901, 0xf644fd8f,

+  0xbc911d, 0xf6516956, 0xbaabaa, 0xf65dd57d,

+  0xb8c8a7, 0xf66a4203, 0xb6e815, 0xf676aee8,

+  0xb509f3, 0xf6831c2b, 0xb32e42, 0xf68f89cb,

+  0xb15502, 0xf69bf7c9, 0xaf7e33, 0xf6a86623,

+  0xada9d4, 0xf6b4d4d9, 0xabd7e6, 0xf6c143ec,

+  0xaa086a, 0xf6cdb359, 0xa83b5e, 0xf6da2321,

+  0xa670c4, 0xf6e69344, 0xa4a89b, 0xf6f303c0,

+  0xa2e2e3, 0xf6ff7496, 0xa11f9d, 0xf70be5c4,

+  0x9f5ec8, 0xf718574b, 0x9da065, 0xf724c92a,

+  0x9be473, 0xf7313b60, 0x9a2af3, 0xf73daded,

+  0x9873e4, 0xf74a20d0, 0x96bf48, 0xf756940a,

+  0x950d1d, 0xf7630799, 0x935d64, 0xf76f7b7d,

+  0x91b01d, 0xf77befb5, 0x900548, 0xf7886442,

+  0x8e5ce5, 0xf794d922, 0x8cb6f5, 0xf7a14e55,

+  0x8b1376, 0xf7adc3db, 0x89726a, 0xf7ba39b3,

+  0x87d3d0, 0xf7c6afdc, 0x8637a9, 0xf7d32657,

+  0x849df4, 0xf7df9d22, 0x8306b2, 0xf7ec143e,

+  0x8171e2, 0xf7f88ba9, 0x7fdf85, 0xf8050364,

+  0x7e4f9b, 0xf8117b6d, 0x7cc223, 0xf81df3c5,

+  0x7b371e, 0xf82a6c6a, 0x79ae8c, 0xf836e55d,

+  0x78286e, 0xf8435e9d, 0x76a4c2, 0xf84fd829,

+  0x752389, 0xf85c5201, 0x73a4c3, 0xf868cc24,

+  0x722871, 0xf8754692, 0x70ae92, 0xf881c14b,

+  0x6f3726, 0xf88e3c4d, 0x6dc22e, 0xf89ab799,

+  0x6c4fa8, 0xf8a7332e, 0x6adf97, 0xf8b3af0c,

+  0x6971f9, 0xf8c02b31, 0x6806ce, 0xf8cca79e,

+  0x669e18, 0xf8d92452, 0x6537d4, 0xf8e5a14d,

+  0x63d405, 0xf8f21e8e, 0x6272aa, 0xf8fe9c15,

+  0x6113c2, 0xf90b19e0, 0x5fb74e, 0xf91797f0,

+  0x5e5d4e, 0xf9241645, 0x5d05c3, 0xf93094dd,

+  0x5bb0ab, 0xf93d13b8, 0x5a5e07, 0xf94992d7,

+  0x590dd8, 0xf9561237, 0x57c01d, 0xf96291d9,

+  0x5674d6, 0xf96f11bc, 0x552c03, 0xf97b91e1,

+  0x53e5a5, 0xf9881245, 0x52a1bb, 0xf99492ea,

+  0x516045, 0xf9a113cd, 0x502145, 0xf9ad94f0,

+  0x4ee4b8, 0xf9ba1651, 0x4daaa1, 0xf9c697f0,

+  0x4c72fe, 0xf9d319cc, 0x4b3dcf, 0xf9df9be6,

+  0x4a0b16, 0xf9ec1e3b, 0x48dad1, 0xf9f8a0cd,

+  0x47ad01, 0xfa05239a, 0x4681a6, 0xfa11a6a3,

+  0x4558c0, 0xfa1e29e5, 0x44324f, 0xfa2aad62,

+  0x430e53, 0xfa373119, 0x41eccc, 0xfa43b508,

+  0x40cdba, 0xfa503930, 0x3fb11d, 0xfa5cbd91,

+  0x3e96f6, 0xfa694229, 0x3d7f44, 0xfa75c6f8,

+  0x3c6a07, 0xfa824bfd, 0x3b573f, 0xfa8ed139,

+  0x3a46ed, 0xfa9b56ab, 0x393910, 0xfaa7dc52,

+  0x382da8, 0xfab4622d, 0x3724b6, 0xfac0e83d,

+  0x361e3a, 0xfacd6e81, 0x351a33, 0xfad9f4f8,

+  0x3418a2, 0xfae67ba2, 0x331986, 0xfaf3027e,

+  0x321ce0, 0xfaff898c, 0x3122b0, 0xfb0c10cb,

+  0x302af5, 0xfb18983b, 0x2f35b1, 0xfb251fdc,

+  0x2e42e2, 0xfb31a7ac, 0x2d5289, 0xfb3e2fac,

+  0x2c64a6, 0xfb4ab7db, 0x2b7939, 0xfb574039,

+  0x2a9042, 0xfb63c8c4, 0x29a9c1, 0xfb70517d,

+  0x28c5b6, 0xfb7cda63, 0x27e421, 0xfb896375,

+  0x270502, 0xfb95ecb4, 0x262859, 0xfba2761e,

+  0x254e27, 0xfbaeffb3, 0x24766a, 0xfbbb8973,

+  0x23a124, 0xfbc8135c, 0x22ce54, 0xfbd49d70,

+  0x21fdfb, 0xfbe127ac, 0x213018, 0xfbedb212,

+  0x2064ab, 0xfbfa3c9f, 0x1f9bb5, 0xfc06c754,

+  0x1ed535, 0xfc135231, 0x1e112b, 0xfc1fdd34,

+  0x1d4f99, 0xfc2c685d, 0x1c907c, 0xfc38f3ac,

+  0x1bd3d6, 0xfc457f21, 0x1b19a7, 0xfc520aba,

+  0x1a61ee, 0xfc5e9678, 0x19acac, 0xfc6b2259,

+  0x18f9e1, 0xfc77ae5e, 0x18498c, 0xfc843a85,

+  0x179bae, 0xfc90c6cf, 0x16f047, 0xfc9d533b,

+  0x164757, 0xfca9dfc8, 0x15a0dd, 0xfcb66c77,

+  0x14fcda, 0xfcc2f945, 0x145b4e, 0xfccf8634,

+  0x13bc39, 0xfcdc1342, 0x131f9b, 0xfce8a06f,

+  0x128574, 0xfcf52dbb, 0x11edc3, 0xfd01bb24,

+  0x11588a, 0xfd0e48ab, 0x10c5c7, 0xfd1ad650,

+  0x10357c, 0xfd276410, 0xfa7a8, 0xfd33f1ed,

+  0xf1c4a, 0xfd407fe6, 0xe9364, 0xfd4d0df9,

+  0xe0cf5, 0xfd599c28, 0xd88fd, 0xfd662a70,

+  0xd077c, 0xfd72b8d2, 0xc8872, 0xfd7f474d,

+  0xc0be0, 0xfd8bd5e1, 0xb91c4, 0xfd98648d,

+  0xb1a20, 0xfda4f351, 0xaa4f3, 0xfdb1822c,

+  0xa323d, 0xfdbe111e, 0x9c1ff, 0xfdcaa027,

+  0x95438, 0xfdd72f45, 0x8e8e8, 0xfde3be78,

+  0x8800f, 0xfdf04dc0, 0x819ae, 0xfdfcdd1d,

+  0x7b5c4, 0xfe096c8d, 0x75452, 0xfe15fc11,

+  0x6f556, 0xfe228ba7, 0x698d3, 0xfe2f1b50,

+  0x63ec6, 0xfe3bab0b, 0x5e731, 0xfe483ad8,

+  0x59214, 0xfe54cab5, 0x53f6e, 0xfe615aa3,

+  0x4ef3f, 0xfe6deaa1, 0x4a188, 0xfe7a7aae,

+  0x45648, 0xfe870aca, 0x40d80, 0xfe939af5,

+  0x3c72f, 0xfea02b2e, 0x38356, 0xfeacbb74,

+  0x341f4, 0xfeb94bc8, 0x3030a, 0xfec5dc28,

+  0x2c697, 0xfed26c94, 0x28c9c, 0xfedefd0c,

+  0x25519, 0xfeeb8d8f, 0x2200d, 0xfef81e1d,

+  0x1ed78, 0xff04aeb5, 0x1bd5c, 0xff113f56,

+  0x18fb6, 0xff1dd001, 0x16489, 0xff2a60b4,

+  0x13bd3, 0xff36f170, 0x11594, 0xff438234,

+  0xf1ce, 0xff5012fe, 0xd07e, 0xff5ca3d0,

+  0xb1a7, 0xff6934a8, 0x9547, 0xff75c585,

+  0x7b5f, 0xff825668, 0x63ee, 0xff8ee750,

+  0x4ef5, 0xff9b783c, 0x3c74, 0xffa8092c,

+  0x2c6a, 0xffb49a1f, 0x1ed8, 0xffc12b16,

+  0x13bd, 0xffcdbc0f, 0xb1a, 0xffda4d09,

+  0x4ef, 0xffe6de05, 0x13c, 0xfff36f02,

+  0x0, 0x0, 0x13c, 0xc90fe,

+  0x4ef, 0x1921fb, 0xb1a, 0x25b2f7,

+  0x13bd, 0x3243f1, 0x1ed8, 0x3ed4ea,

+  0x2c6a, 0x4b65e1, 0x3c74, 0x57f6d4,

+  0x4ef5, 0x6487c4, 0x63ee, 0x7118b0,

+  0x7b5f, 0x7da998, 0x9547, 0x8a3a7b,

+  0xb1a7, 0x96cb58, 0xd07e, 0xa35c30,

+  0xf1ce, 0xafed02, 0x11594, 0xbc7dcc,

+  0x13bd3, 0xc90e90, 0x16489, 0xd59f4c,

+  0x18fb6, 0xe22fff, 0x1bd5c, 0xeec0aa,

+  0x1ed78, 0xfb514b, 0x2200d, 0x107e1e3,

+  0x25519, 0x1147271, 0x28c9c, 0x12102f4,

+  0x2c697, 0x12d936c, 0x3030a, 0x13a23d8,

+  0x341f4, 0x146b438, 0x38356, 0x153448c,

+  0x3c72f, 0x15fd4d2, 0x40d80, 0x16c650b,

+  0x45648, 0x178f536, 0x4a188, 0x1858552,

+  0x4ef3f, 0x192155f, 0x53f6e, 0x19ea55d,

+  0x59214, 0x1ab354b, 0x5e731, 0x1b7c528,

+  0x63ec6, 0x1c454f5, 0x698d3, 0x1d0e4b0,

+  0x6f556, 0x1dd7459, 0x75452, 0x1ea03ef,

+  0x7b5c4, 0x1f69373, 0x819ae, 0x20322e3,

+  0x8800f, 0x20fb240, 0x8e8e8, 0x21c4188,

+  0x95438, 0x228d0bb, 0x9c1ff, 0x2355fd9,

+  0xa323d, 0x241eee2, 0xaa4f3, 0x24e7dd4,

+  0xb1a20, 0x25b0caf, 0xb91c4, 0x2679b73,

+  0xc0be0, 0x2742a1f, 0xc8872, 0x280b8b3,

+  0xd077c, 0x28d472e, 0xd88fd, 0x299d590,

+  0xe0cf5, 0x2a663d8, 0xe9364, 0x2b2f207,

+  0xf1c4a, 0x2bf801a, 0xfa7a8, 0x2cc0e13,

+  0x10357c, 0x2d89bf0, 0x10c5c7, 0x2e529b0,

+  0x11588a, 0x2f1b755, 0x11edc3, 0x2fe44dc,

+  0x128574, 0x30ad245, 0x131f9b, 0x3175f91,

+  0x13bc39, 0x323ecbe, 0x145b4e, 0x33079cc,

+  0x14fcda, 0x33d06bb, 0x15a0dd, 0x3499389,

+  0x164757, 0x3562038, 0x16f047, 0x362acc5,

+  0x179bae, 0x36f3931, 0x18498c, 0x37bc57b,

+  0x18f9e1, 0x38851a2, 0x19acac, 0x394dda7,

+  0x1a61ee, 0x3a16988, 0x1b19a7, 0x3adf546,

+  0x1bd3d6, 0x3ba80df, 0x1c907c, 0x3c70c54,

+  0x1d4f99, 0x3d397a3, 0x1e112b, 0x3e022cc,

+  0x1ed535, 0x3ecadcf, 0x1f9bb5, 0x3f938ac,

+  0x2064ab, 0x405c361, 0x213018, 0x4124dee,

+  0x21fdfb, 0x41ed854, 0x22ce54, 0x42b6290,

+  0x23a124, 0x437eca4, 0x24766a, 0x444768d,

+  0x254e27, 0x451004d, 0x262859, 0x45d89e2,

+  0x270502, 0x46a134c, 0x27e421, 0x4769c8b,

+  0x28c5b6, 0x483259d, 0x29a9c1, 0x48fae83,

+  0x2a9042, 0x49c373c, 0x2b7939, 0x4a8bfc7,

+  0x2c64a6, 0x4b54825, 0x2d5289, 0x4c1d054,

+  0x2e42e2, 0x4ce5854, 0x2f35b1, 0x4dae024,

+  0x302af5, 0x4e767c5, 0x3122b0, 0x4f3ef35,

+  0x321ce0, 0x5007674, 0x331986, 0x50cfd82,

+  0x3418a2, 0x519845e, 0x351a33, 0x5260b08,

+  0x361e3a, 0x532917f, 0x3724b6, 0x53f17c3,

+  0x382da8, 0x54b9dd3, 0x393910, 0x55823ae,

+  0x3a46ed, 0x564a955, 0x3b573f, 0x5712ec7,

+  0x3c6a07, 0x57db403, 0x3d7f44, 0x58a3908,

+  0x3e96f6, 0x596bdd7, 0x3fb11d, 0x5a3426f,

+  0x40cdba, 0x5afc6d0, 0x41eccc, 0x5bc4af8,

+  0x430e53, 0x5c8cee7, 0x44324f, 0x5d5529e,

+  0x4558c0, 0x5e1d61b, 0x4681a6, 0x5ee595d,

+  0x47ad01, 0x5fadc66, 0x48dad1, 0x6075f33,

+  0x4a0b16, 0x613e1c5, 0x4b3dcf, 0x620641a,

+  0x4c72fe, 0x62ce634, 0x4daaa1, 0x6396810,

+  0x4ee4b8, 0x645e9af, 0x502145, 0x6526b10,

+  0x516045, 0x65eec33, 0x52a1bb, 0x66b6d16,

+  0x53e5a5, 0x677edbb, 0x552c03, 0x6846e1f,

+  0x5674d6, 0x690ee44, 0x57c01d, 0x69d6e27,

+  0x590dd8, 0x6a9edc9, 0x5a5e07, 0x6b66d29,

+  0x5bb0ab, 0x6c2ec48, 0x5d05c3, 0x6cf6b23,

+  0x5e5d4e, 0x6dbe9bb, 0x5fb74e, 0x6e86810,

+  0x6113c2, 0x6f4e620, 0x6272aa, 0x70163eb,

+  0x63d405, 0x70de172, 0x6537d4, 0x71a5eb3,

+  0x669e18, 0x726dbae, 0x6806ce, 0x7335862,

+  0x6971f9, 0x73fd4cf, 0x6adf97, 0x74c50f4,

+  0x6c4fa8, 0x758ccd2, 0x6dc22e, 0x7654867,

+  0x6f3726, 0x771c3b3, 0x70ae92, 0x77e3eb5,

+  0x722871, 0x78ab96e, 0x73a4c3, 0x79733dc,

+  0x752389, 0x7a3adff, 0x76a4c2, 0x7b027d7,

+  0x78286e, 0x7bca163, 0x79ae8c, 0x7c91aa3,

+  0x7b371e, 0x7d59396, 0x7cc223, 0x7e20c3b,

+  0x7e4f9b, 0x7ee8493, 0x7fdf85, 0x7fafc9c,

+  0x8171e2, 0x8077457, 0x8306b2, 0x813ebc2,

+  0x849df4, 0x82062de, 0x8637a9, 0x82cd9a9,

+  0x87d3d0, 0x8395024, 0x89726a, 0x845c64d,

+  0x8b1376, 0x8523c25, 0x8cb6f5, 0x85eb1ab,

+  0x8e5ce5, 0x86b26de, 0x900548, 0x8779bbe,

+  0x91b01d, 0x884104b, 0x935d64, 0x8908483,

+  0x950d1d, 0x89cf867, 0x96bf48, 0x8a96bf6,

+  0x9873e4, 0x8b5df30, 0x9a2af3, 0x8c25213,

+  0x9be473, 0x8cec4a0, 0x9da065, 0x8db36d6,

+  0x9f5ec8, 0x8e7a8b5, 0xa11f9d, 0x8f41a3c,

+  0xa2e2e3, 0x9008b6a, 0xa4a89b, 0x90cfc40,

+  0xa670c4, 0x9196cbc, 0xa83b5e, 0x925dcdf,

+  0xaa086a, 0x9324ca7, 0xabd7e6, 0x93ebc14,

+  0xada9d4, 0x94b2b27, 0xaf7e33, 0x95799dd,

+  0xb15502, 0x9640837, 0xb32e42, 0x9707635,

+  0xb509f3, 0x97ce3d5, 0xb6e815, 0x9895118,

+  0xb8c8a7, 0x995bdfd, 0xbaabaa, 0x9a22a83,

+  0xbc911d, 0x9ae96aa, 0xbe7901, 0x9bb0271,

+  0xc06355, 0x9c76dd8, 0xc25019, 0x9d3d8df,

+  0xc43f4d, 0x9e04385, 0xc630f2, 0x9ecadc9,

+  0xc82506, 0x9f917ac, 0xca1b8a, 0xa05812c,

+  0xcc147f, 0xa11ea49, 0xce0fe3, 0xa1e5303,

+  0xd00db6, 0xa2abb59, 0xd20dfa, 0xa37234a,

+  0xd410ad, 0xa438ad7, 0xd615cf, 0xa4ff1fe,

+  0xd81d61, 0xa5c58c0, 0xda2762, 0xa68bf1b,

+  0xdc33d2, 0xa752510, 0xde42b2, 0xa818a9d,

+  0xe05401, 0xa8defc3, 0xe267be, 0xa9a5480,

+  0xe47deb, 0xaa6b8d5, 0xe69686, 0xab31cc1,

+  0xe8b190, 0xabf8043, 0xeacf09, 0xacbe35b,

+  0xeceef1, 0xad84609, 0xef1147, 0xae4a84b,

+  0xf1360b, 0xaf10a22, 0xf35d3e, 0xafd6b8d,

+  0xf586df, 0xb09cc8c, 0xf7b2ee, 0xb162d1d,

+  0xf9e16b, 0xb228d42, 0xfc1257, 0xb2eecf8,

+  0xfe45b0, 0xb3b4c40, 0x1007b77, 0xb47ab19,

+  0x102b3ac, 0xb540982, 0x104ee4f, 0xb60677c,

+  0x1072b5f, 0xb6cc506, 0x1096add, 0xb79221f,

+  0x10bacc8, 0xb857ec7, 0x10df120, 0xb91dafc,

+  0x11037e6, 0xb9e36c0, 0x1128119, 0xbaa9211,

+  0x114ccb9, 0xbb6ecef, 0x1171ac6, 0xbc34759,

+  0x1196b3f, 0xbcfa150, 0x11bbe26, 0xbdbfad1,

+  0x11e1379, 0xbe853de, 0x1206b39, 0xbf4ac75,

+  0x122c566, 0xc010496, 0x12521ff, 0xc0d5c41,

+  0x1278104, 0xc19b374, 0x129e276, 0xc260a31,

+  0x12c4653, 0xc326075, 0x12eac9d, 0xc3eb641,

+  0x1311553, 0xc4b0b94, 0x1338075, 0xc57606e,

+  0x135ee02, 0xc63b4ce, 0x1385dfb, 0xc7008b3,

+  0x13ad060, 0xc7c5c1e, 0x13d4530, 0xc88af0e,

+  0x13fbc6c, 0xc950182, 0x1423613, 0xca1537a,

+  0x144b225, 0xcada4f5, 0x14730a3, 0xcb9f5f3,

+  0x149b18b, 0xcc64673, 0x14c34df, 0xcd29676,

+  0x14eba9d, 0xcdee5f9, 0x15142c6, 0xceb34fe,

+  0x153cd5a, 0xcf78383, 0x1565a58, 0xd03d189,

+  0x158e9c1, 0xd101f0e, 0x15b7b94, 0xd1c6c11,

+  0x15e0fd1, 0xd28b894, 0x160a678, 0xd350495,

+  0x1633f8a, 0xd415013, 0x165db05, 0xd4d9b0e,

+  0x16878eb, 0xd59e586, 0x16b193a, 0xd662f7b,

+  0x16dbbf3, 0xd7278eb, 0x1706115, 0xd7ec1d6,

+  0x17308a1, 0xd8b0a3d, 0x175b296, 0xd97521d,

+  0x1785ef4, 0xda39978, 0x17b0dbb, 0xdafe04b,

+  0x17dbeec, 0xdbc2698, 0x1807285, 0xdc86c5d,

+  0x1832888, 0xdd4b19a, 0x185e0f3, 0xde0f64f,

+  0x1889bc6, 0xded3a7b, 0x18b5903, 0xdf97e1d,

+  0x18e18a7, 0xe05c135, 0x190dab4, 0xe1203c3,

+  0x1939f29, 0xe1e45c6, 0x1966606, 0xe2a873e,

+  0x1992f4c, 0xe36c82a, 0x19bfaf9, 0xe430889,

+  0x19ec90d, 0xe4f485c, 0x1a1998a, 0xe5b87a2,

+  0x1a46c6e, 0xe67c65a, 0x1a741b9, 0xe740483,

+  0x1aa196c, 0xe80421e, 0x1acf386, 0xe8c7f2a,

+  0x1afd007, 0xe98bba7, 0x1b2aef0, 0xea4f793,

+  0x1b5903f, 0xeb132ef, 0x1b873f5, 0xebd6db9,

+  0x1bb5a11, 0xec9a7f3, 0x1be4294, 0xed5e19a,

+  0x1c12d7e, 0xee21aaf, 0x1c41ace, 0xeee5331,

+  0x1c70a84, 0xefa8b20, 0x1c9fca0, 0xf06c27a,

+  0x1ccf122, 0xf12f941, 0x1cfe80a, 0xf1f2f73,

+  0x1d2e158, 0xf2b650f, 0x1d5dd0c, 0xf379a16,

+  0x1d8db25, 0xf43ce86, 0x1dbdba3, 0xf500260,

+  0x1dede87, 0xf5c35a3, 0x1e1e3d0, 0xf68684e,

+  0x1e4eb7e, 0xf749a61, 0x1e7f591, 0xf80cbdc,

+  0x1eb0209, 0xf8cfcbe, 0x1ee10e5, 0xf992d06,

+  0x1f12227, 0xfa55cb4, 0x1f435cc, 0xfb18bc8,

+  0x1f74bd6, 0xfbdba40, 0x1fa6445, 0xfc9e81e,

+  0x1fd7f17, 0xfd6155f, 0x2009c4e, 0xfe24205,

+  0x203bbe8, 0xfee6e0d, 0x206dde6, 0xffa9979,

+  0x20a0248, 0x1006c446, 0x20d290d, 0x1012ee76,

+  0x2105236, 0x101f1807, 0x2137dc2, 0x102b40f8,

+  0x216abb1, 0x1037694b, 0x219dc03, 0x104390fd,

+  0x21d0eb8, 0x104fb80e, 0x22043d0, 0x105bde7f,

+  0x2237b4b, 0x1068044e, 0x226b528, 0x1074297b,

+  0x229f167, 0x10804e06, 0x22d3009, 0x108c71ee,

+  0x230710d, 0x10989532, 0x233b473, 0x10a4b7d3,

+  0x236fa3b, 0x10b0d9d0, 0x23a4265, 0x10bcfb28,

+  0x23d8cf1, 0x10c91bda, 0x240d9de, 0x10d53be7,

+  0x244292c, 0x10e15b4e, 0x2477adc, 0x10ed7a0e,

+  0x24aceed, 0x10f99827, 0x24e255e, 0x1105b599,

+  0x2517e31, 0x1111d263, 0x254d965, 0x111dee84,

+  0x25836f9, 0x112a09fc, 0x25b96ee, 0x113624cb,

+  0x25ef943, 0x11423ef0, 0x2625df8, 0x114e586a,

+  0x265c50e, 0x115a713a, 0x2692e83, 0x1166895f,

+  0x26c9a58, 0x1172a0d7, 0x270088e, 0x117eb7a4,

+  0x2737922, 0x118acdc4, 0x276ec16, 0x1196e337,

+  0x27a616a, 0x11a2f7fc, 0x27dd91c, 0x11af0c13,

+  0x281532e, 0x11bb1f7c, 0x284cf9f, 0x11c73235,

+  0x2884e6e, 0x11d3443f, 0x28bcf9c, 0x11df5599,

+  0x28f5329, 0x11eb6643, 0x292d914, 0x11f7763c,

+  0x296615d, 0x12038584, 0x299ec05, 0x120f941a,

+  0x29d790a, 0x121ba1fd, 0x2a1086d, 0x1227af2e,

+  0x2a49a2e, 0x1233bbac, 0x2a82e4d, 0x123fc776,

+  0x2abc4c9, 0x124bd28c, 0x2af5da2, 0x1257dced,

+  0x2b2f8d8, 0x1263e699, 0x2b6966c, 0x126fef90,

+  0x2ba365c, 0x127bf7d1, 0x2bdd8a9, 0x1287ff5b,

+  0x2c17d52, 0x1294062f, 0x2c52459, 0x12a00c4b,

+  0x2c8cdbb, 0x12ac11af, 0x2cc7979, 0x12b8165b,

+  0x2d02794, 0x12c41a4f, 0x2d3d80a, 0x12d01d89,

+  0x2d78add, 0x12dc2009, 0x2db400a, 0x12e821cf,

+  0x2def794, 0x12f422db, 0x2e2b178, 0x1300232c,

+  0x2e66db8, 0x130c22c1, 0x2ea2c53, 0x1318219a,

+  0x2eded49, 0x13241fb6, 0x2f1b099, 0x13301d16,

+  0x2f57644, 0x133c19b8, 0x2f93e4a, 0x1348159d,

+  0x2fd08a9, 0x135410c3, 0x300d563, 0x13600b2a,

+  0x304a477, 0x136c04d2, 0x30875e5, 0x1377fdbb,

+  0x30c49ad, 0x1383f5e3, 0x3101fce, 0x138fed4b,

+  0x313f848, 0x139be3f2, 0x317d31c, 0x13a7d9d7,

+  0x31bb049, 0x13b3cefa, 0x31f8fcf, 0x13bfc35b,

+  0x32371ae, 0x13cbb6f8, 0x32755e5, 0x13d7a9d3,

+  0x32b3c75, 0x13e39be9, 0x32f255e, 0x13ef8d3c,

+  0x333109e, 0x13fb7dc9, 0x336fe37, 0x14076d91,

+  0x33aee27, 0x14135c94, 0x33ee070, 0x141f4ad1,

+  0x342d510, 0x142b3846, 0x346cc07, 0x143724f5,

+  0x34ac556, 0x144310dd, 0x34ec0fc, 0x144efbfc,

+  0x352bef9, 0x145ae653, 0x356bf4d, 0x1466cfe1,

+  0x35ac1f7, 0x1472b8a5, 0x35ec6f8, 0x147ea0a0,

+  0x362ce50, 0x148a87d1, 0x366d7fd, 0x14966e36,

+  0x36ae401, 0x14a253d1, 0x36ef25b, 0x14ae38a0,

+  0x373030a, 0x14ba1ca3, 0x377160f, 0x14c5ffd9,

+  0x37b2b6a, 0x14d1e242, 0x37f4319, 0x14ddc3de,

+  0x3835d1e, 0x14e9a4ac, 0x3877978, 0x14f584ac,

+  0x38b9827, 0x150163dc, 0x38fb92a, 0x150d423d,

+  0x393dc82, 0x15191fcf, 0x398022f, 0x1524fc90,

+  0x39c2a2f, 0x1530d881, 0x3a05484, 0x153cb3a0,

+  0x3a4812c, 0x15488dee, 0x3a8b028, 0x1554676a,

+  0x3ace178, 0x15604013, 0x3b1151b, 0x156c17e9,

+  0x3b54b11, 0x1577eeec, 0x3b9835a, 0x1583c51b,

+  0x3bdbdf6, 0x158f9a76, 0x3c1fae5, 0x159b6efb,

+  0x3c63a26, 0x15a742ac, 0x3ca7bba, 0x15b31587,

+  0x3cebfa0, 0x15bee78c, 0x3d305d8, 0x15cab8ba,

+  0x3d74e62, 0x15d68911, 0x3db993e, 0x15e25890,

+  0x3dfe66c, 0x15ee2738, 0x3e435ea, 0x15f9f507,

+  0x3e887bb, 0x1605c1fd, 0x3ecdbdc, 0x16118e1a,

+  0x3f1324e, 0x161d595d, 0x3f58b10, 0x162923c5,

+  0x3f9e624, 0x1634ed53, 0x3fe4388, 0x1640b606,

+  0x402a33c, 0x164c7ddd, 0x4070540, 0x165844d8,

+  0x40b6994, 0x16640af7, 0x40fd037, 0x166fd039,

+  0x414392b, 0x167b949d, 0x418a46d, 0x16875823,

+  0x41d11ff, 0x16931acb, 0x42181e0, 0x169edc94,

+  0x425f410, 0x16aa9d7e, 0x42a688f, 0x16b65d88,

+  0x42edf5c, 0x16c21cb2, 0x4335877, 0x16cddafb,

+  0x437d3e1, 0x16d99864, 0x43c5199, 0x16e554ea,

+  0x440d19e, 0x16f1108f, 0x44553f2, 0x16fccb51,

+  0x449d892, 0x17088531, 0x44e5f80, 0x17143e2d,

+  0x452e8bc, 0x171ff646, 0x4577444, 0x172bad7a,

+  0x45c0219, 0x173763c9, 0x460923b, 0x17431933,

+  0x46524a9, 0x174ecdb8, 0x469b963, 0x175a8157,

+  0x46e5069, 0x1766340f, 0x472e9bc, 0x1771e5e0,

+  0x477855a, 0x177d96ca, 0x47c2344, 0x178946cc,

+  0x480c379, 0x1794f5e6, 0x48565f9, 0x17a0a417,

+  0x48a0ac4, 0x17ac515f, 0x48eb1db, 0x17b7fdbd,

+  0x4935b3c, 0x17c3a931, 0x49806e7, 0x17cf53bb,

+  0x49cb4dd, 0x17dafd59, 0x4a1651c, 0x17e6a60c,

+  0x4a617a6, 0x17f24dd3, 0x4aacc7a, 0x17fdf4ae,

+  0x4af8397, 0x18099a9c, 0x4b43cfd, 0x18153f9d,

+  0x4b8f8ad, 0x1820e3b0, 0x4bdb6a6, 0x182c86d5,

+  0x4c276e8, 0x1838290c, 0x4c73972, 0x1843ca53,

+  0x4cbfe45, 0x184f6aab, 0x4d0c560, 0x185b0a13,

+  0x4d58ec3, 0x1866a88a, 0x4da5a6f, 0x18724611,

+  0x4df2862, 0x187de2a7, 0x4e3f89c, 0x18897e4a,

+  0x4e8cb1e, 0x189518fc, 0x4ed9fe7, 0x18a0b2bb,

+  0x4f276f7, 0x18ac4b87, 0x4f7504e, 0x18b7e35f,

+  0x4fc2bec, 0x18c37a44, 0x50109d0, 0x18cf1034,

+  0x505e9fb, 0x18daa52f, 0x50acc6b, 0x18e63935,

+  0x50fb121, 0x18f1cc45, 0x514981d, 0x18fd5e5f,

+  0x519815f, 0x1908ef82, 0x51e6ce6, 0x19147fae,

+  0x5235ab2, 0x19200ee3, 0x5284ac3, 0x192b9d1f,

+  0x52d3d18, 0x19372a64, 0x53231b3, 0x1942b6af,

+  0x5372891, 0x194e4201, 0x53c21b4, 0x1959cc5a,

+  0x5411d1b, 0x196555b8, 0x5461ac6, 0x1970de1b,

+  0x54b1ab4, 0x197c6584, 0x5501ce5, 0x1987ebf0,

+  0x555215a, 0x19937161, 0x55a2812, 0x199ef5d6,

+  0x55f310d, 0x19aa794d, 0x5643c4a, 0x19b5fbc8,

+  0x56949ca, 0x19c17d44, 0x56e598c, 0x19ccfdc2,

+  0x5736b90, 0x19d87d42, 0x5787fd6, 0x19e3fbc3,

+  0x57d965d, 0x19ef7944, 0x582af26, 0x19faf5c5,

+  0x587ca31, 0x1a067145, 0x58ce77c, 0x1a11ebc5,

+  0x5920708, 0x1a1d6544, 0x59728d5, 0x1a28ddc0,

+  0x59c4ce3, 0x1a34553b, 0x5a17330, 0x1a3fcbb3,

+  0x5a69bbe, 0x1a4b4128, 0x5abc68c, 0x1a56b599,

+  0x5b0f399, 0x1a622907, 0x5b622e6, 0x1a6d9b70,

+  0x5bb5472, 0x1a790cd4, 0x5c0883d, 0x1a847d33,

+  0x5c5be47, 0x1a8fec8c, 0x5caf690, 0x1a9b5adf,

+  0x5d03118, 0x1aa6c82b, 0x5d56ddd, 0x1ab23471,

+  0x5daace1, 0x1abd9faf, 0x5dfee22, 0x1ac909e5,

+  0x5e531a1, 0x1ad47312, 0x5ea775e, 0x1adfdb37,

+  0x5efbf58, 0x1aeb4253, 0x5f5098f, 0x1af6a865,

+  0x5fa5603, 0x1b020d6c, 0x5ffa4b3, 0x1b0d716a,

+  0x604f5a0, 0x1b18d45c, 0x60a48c9, 0x1b243643,

+  0x60f9e2e, 0x1b2f971e, 0x614f5cf, 0x1b3af6ec,

+  0x61a4fac, 0x1b4655ae, 0x61fabc4, 0x1b51b363,

+  0x6250a18, 0x1b5d100a, 0x62a6aa6, 0x1b686ba3,

+  0x62fcd6f, 0x1b73c62d, 0x6353273, 0x1b7f1fa9,

+  0x63a99b1, 0x1b8a7815, 0x6400329, 0x1b95cf71,

+  0x6456edb, 0x1ba125bd, 0x64adcc7, 0x1bac7af9,

+  0x6504ced, 0x1bb7cf23, 0x655bf4c, 0x1bc3223c,

+  0x65b33e4, 0x1bce7442, 0x660aab5, 0x1bd9c537,

+  0x66623be, 0x1be51518, 0x66b9f01, 0x1bf063e6,

+  0x6711c7b, 0x1bfbb1a0, 0x6769c2e, 0x1c06fe46,

+  0x67c1e18, 0x1c1249d8, 0x681a23a, 0x1c1d9454,

+  0x6872894, 0x1c28ddbb, 0x68cb124, 0x1c34260c,

+  0x6923bec, 0x1c3f6d47, 0x697c8eb, 0x1c4ab36b,

+  0x69d5820, 0x1c55f878, 0x6a2e98b, 0x1c613c6d,

+  0x6a87d2d, 0x1c6c7f4a, 0x6ae1304, 0x1c77c10e,

+  0x6b3ab12, 0x1c8301b9, 0x6b94554, 0x1c8e414b,

+  0x6bee1cd, 0x1c997fc4, 0x6c4807a, 0x1ca4bd21,

+  0x6ca215c, 0x1caff965, 0x6cfc472, 0x1cbb348d,

+  0x6d569be, 0x1cc66e99, 0x6db113d, 0x1cd1a78a,

+  0x6e0baf0, 0x1cdcdf5e, 0x6e666d7, 0x1ce81615,

+  0x6ec14f2, 0x1cf34baf, 0x6f1c540, 0x1cfe802b,

+  0x6f777c1, 0x1d09b389, 0x6fd2c75, 0x1d14e5c9,

+  0x702e35c, 0x1d2016e9, 0x7089c75, 0x1d2b46ea,

+  0x70e57c0, 0x1d3675cb, 0x714153e, 0x1d41a38c,

+  0x719d4ed, 0x1d4cd02c, 0x71f96ce, 0x1d57fbaa,

+  0x7255ae0, 0x1d632608, 0x72b2123, 0x1d6e4f43,

+  0x730e997, 0x1d79775c, 0x736b43c, 0x1d849e51,

+  0x73c8111, 0x1d8fc424, 0x7425016, 0x1d9ae8d2,

+  0x748214c, 0x1da60c5d, 0x74df4b1, 0x1db12ec3,

+  0x753ca46, 0x1dbc5004, 0x759a20a, 0x1dc7701f,

+  0x75f7bfe, 0x1dd28f15, 0x7655820, 0x1dddace4,

+  0x76b3671, 0x1de8c98c, 0x77116f0, 0x1df3e50d,

+  0x776f99d, 0x1dfeff67, 0x77cde79, 0x1e0a1898,

+  0x782c582, 0x1e1530a1, 0x788aeb9, 0x1e204781,

+  0x78e9a1d, 0x1e2b5d38, 0x79487ae, 0x1e3671c5,

+  0x79a776c, 0x1e418528, 0x7a06957, 0x1e4c9760,

+  0x7a65d6e, 0x1e57a86d, 0x7ac53b1, 0x1e62b84f,

+  0x7b24c20, 0x1e6dc705, 0x7b846ba, 0x1e78d48e,

+  0x7be4381, 0x1e83e0eb, 0x7c44272, 0x1e8eec1b,

+  0x7ca438f, 0x1e99f61d, 0x7d046d6, 0x1ea4fef0,

+  0x7d64c47, 0x1eb00696, 0x7dc53e3, 0x1ebb0d0d,

+  0x7e25daa, 0x1ec61254, 0x7e8699a, 0x1ed1166b,

+  0x7ee77b3, 0x1edc1953, 0x7f487f6, 0x1ee71b0a,

+  0x7fa9a62, 0x1ef21b90, 0x800aef7, 0x1efd1ae4,

+  0x806c5b5, 0x1f081907, 0x80cde9b, 0x1f1315f7,

+  0x812f9a9, 0x1f1e11b5, 0x81916df, 0x1f290c3f,

+  0x81f363d, 0x1f340596, 0x82557c3, 0x1f3efdb9,

+  0x82b7b70, 0x1f49f4a8, 0x831a143, 0x1f54ea62,

+  0x837c93e, 0x1f5fdee6, 0x83df35f, 0x1f6ad235,

+  0x8441fa6, 0x1f75c44e, 0x84a4e14, 0x1f80b531,

+  0x8507ea7, 0x1f8ba4dc, 0x856b160, 0x1f969350,

+  0x85ce63e, 0x1fa1808c, 0x8631d42, 0x1fac6c91,

+  0x869566a, 0x1fb7575c, 0x86f91b7, 0x1fc240ef,

+  0x875cf28, 0x1fcd2948, 0x87c0ebd, 0x1fd81067,

+  0x8825077, 0x1fe2f64c, 0x8889454, 0x1feddaf6,

+  0x88eda54, 0x1ff8be65, 0x8952278, 0x2003a099,

+  0x89b6cbf, 0x200e8190, 0x8a1b928, 0x2019614c,

+  0x8a807b4, 0x20243fca, 0x8ae5862, 0x202f1d0b,

+  0x8b4ab32, 0x2039f90f, 0x8bb0023, 0x2044d3d4,

+  0x8c15736, 0x204fad5b, 0x8c7b06b, 0x205a85a3,

+  0x8ce0bc0, 0x20655cac, 0x8d46936, 0x20703275,

+  0x8dac8cd, 0x207b06fe, 0x8e12a84, 0x2085da46,

+  0x8e78e5b, 0x2090ac4d, 0x8edf452, 0x209b7d13,

+  0x8f45c68, 0x20a64c97, 0x8fac69e, 0x20b11ad9,

+  0x90132f2, 0x20bbe7d8, 0x907a166, 0x20c6b395,

+  0x90e11f7, 0x20d17e0d, 0x91484a8, 0x20dc4742,

+  0x91af976, 0x20e70f32, 0x9217062, 0x20f1d5de,

+  0x927e96b, 0x20fc9b44, 0x92e6492, 0x21075f65,

+  0x934e1d6, 0x21122240, 0x93b6137, 0x211ce3d5,

+  0x941e2b4, 0x2127a423, 0x948664d, 0x21326329,

+  0x94eec03, 0x213d20e8, 0x95573d4, 0x2147dd5f,

+  0x95bfdc1, 0x2152988d, 0x96289c9, 0x215d5273,

+  0x96917ec, 0x21680b0f, 0x96fa82a, 0x2172c262,

+  0x9763a83, 0x217d786a, 0x97ccef5, 0x21882d28,

+  0x9836582, 0x2192e09b, 0x989fe29, 0x219d92c2,

+  0x99098e9, 0x21a8439e, 0x99735c2, 0x21b2f32e,

+  0x99dd4b4, 0x21bda171, 0x9a475bf, 0x21c84e67,

+  0x9ab18e3, 0x21d2fa0f, 0x9b1be1e, 0x21dda46a,

+  0x9b86572, 0x21e84d76, 0x9bf0edd, 0x21f2f534,

+  0x9c5ba60, 0x21fd9ba3, 0x9cc67fa, 0x220840c2,

+  0x9d317ab, 0x2212e492, 0x9d9c973, 0x221d8711,

+  0x9e07d51, 0x2228283f, 0x9e73346, 0x2232c81c,

+  0x9edeb50, 0x223d66a8, 0x9f4a570, 0x224803e2,

+  0x9fb61a5, 0x22529fca, 0xa021fef, 0x225d3a5e,

+  0xa08e04f, 0x2267d3a0, 0xa0fa2c3, 0x22726b8e,

+  0xa16674b, 0x227d0228, 0xa1d2de7, 0x2287976e,

+  0xa23f698, 0x22922b5e, 0xa2ac15b, 0x229cbdfa,

+  0xa318e32, 0x22a74f40, 0xa385d1d, 0x22b1df30,

+  0xa3f2e19, 0x22bc6dca, 0xa460129, 0x22c6fb0c,

+  0xa4cd64b, 0x22d186f8, 0xa53ad7e, 0x22dc118c,

+  0xa5a86c4, 0x22e69ac8, 0xa61621b, 0x22f122ab,

+  0xa683f83, 0x22fba936, 0xa6f1efc, 0x23062e67,

+  0xa760086, 0x2310b23e, 0xa7ce420, 0x231b34bc,

+  0xa83c9ca, 0x2325b5df, 0xa8ab184, 0x233035a7,

+  0xa919b4e, 0x233ab414, 0xa988727, 0x23453125,

+  0xa9f750f, 0x234facda, 0xaa66506, 0x235a2733,

+  0xaad570c, 0x2364a02e, 0xab44b1f, 0x236f17cc,

+  0xabb4141, 0x23798e0d, 0xac23971, 0x238402ef,

+  0xac933ae, 0x238e7673, 0xad02ff8, 0x2398e898,

+  0xad72e4f, 0x23a3595e, 0xade2eb3, 0x23adc8c4,

+  0xae53123, 0x23b836ca, 0xaec35a0, 0x23c2a36f,

+  0xaf33c28, 0x23cd0eb3, 0xafa44bc, 0x23d77896,

+  0xb014f5b, 0x23e1e117, 0xb085c05, 0x23ec4837,

+  0xb0f6aba, 0x23f6adf3, 0xb167b79, 0x2401124d,

+  0xb1d8e43, 0x240b7543, 0xb24a316, 0x2415d6d5,

+  0xb2bb9f4, 0x24203704, 0xb32d2da, 0x242a95ce,

+  0xb39edca, 0x2434f332, 0xb410ac3, 0x243f4f32,

+  0xb4829c4, 0x2449a9cc, 0xb4f4acd, 0x245402ff,

+  0xb566ddf, 0x245e5acc, 0xb5d92f8, 0x2468b132,

+  0xb64ba19, 0x24730631, 0xb6be341, 0x247d59c8,

+  0xb730e70, 0x2487abf7, 0xb7a3ba5, 0x2491fcbe,

+  0xb816ae1, 0x249c4c1b, 0xb889c23, 0x24a69a0f,

+  0xb8fcf6b, 0x24b0e699, 0xb9704b9, 0x24bb31ba,

+  0xb9e3c0b, 0x24c57b6f, 0xba57563, 0x24cfc3ba,

+  0xbacb0bf, 0x24da0a9a, 0xbb3ee20, 0x24e4500e,

+  0xbbb2d85, 0x24ee9415, 0xbc26eee, 0x24f8d6b0,

+  0xbc9b25a, 0x250317df, 0xbd0f7ca, 0x250d57a0,

+  0xbd83f3d, 0x251795f3, 0xbdf88b3, 0x2521d2d8,

+  0xbe6d42b, 0x252c0e4f, 0xbee21a5, 0x25364857,

+  0xbf57121, 0x254080ef, 0xbfcc29f, 0x254ab818,

+  0xc04161e, 0x2554edd1, 0xc0b6b9e, 0x255f2219,

+  0xc12c31f, 0x256954f1, 0xc1a1ca0, 0x25738657,

+  0xc217822, 0x257db64c, 0xc28d5a3, 0x2587e4cf,

+  0xc303524, 0x259211df, 0xc3796a5, 0x259c3d7c,

+  0xc3efa25, 0x25a667a7, 0xc465fa3, 0x25b0905d,

+  0xc4dc720, 0x25bab7a0, 0xc55309b, 0x25c4dd6e,

+  0xc5c9c14, 0x25cf01c8, 0xc64098b, 0x25d924ac,

+  0xc6b78ff, 0x25e3461b, 0xc72ea70, 0x25ed6614,

+  0xc7a5dde, 0x25f78497, 0xc81d349, 0x2601a1a2,

+  0xc894aaf, 0x260bbd37, 0xc90c412, 0x2615d754,

+  0xc983f70, 0x261feffa, 0xc9fbcca, 0x262a0727,

+  0xca73c1e, 0x26341cdb, 0xcaebd6e, 0x263e3117,

+  0xcb640b8, 0x264843d9, 0xcbdc5fc, 0x26525521,

+  0xcc54d3a, 0x265c64ef, 0xcccd671, 0x26667342,

+  0xcd461a2, 0x2670801a, 0xcdbeecc, 0x267a8b77,

+  0xce37def, 0x26849558, 0xceb0f0a, 0x268e9dbd,

+  0xcf2a21d, 0x2698a4a6, 0xcfa3729, 0x26a2aa11,

+  0xd01ce2b, 0x26acadff, 0xd096725, 0x26b6b070,

+  0xd110216, 0x26c0b162, 0xd189efe, 0x26cab0d6,

+  0xd203ddc, 0x26d4aecb, 0xd27deb0, 0x26deab41,

+  0xd2f817b, 0x26e8a637, 0xd37263a, 0x26f29fad,

+  0xd3eccef, 0x26fc97a3, 0xd467599, 0x27068e18,

+  0xd4e2037, 0x2710830c, 0xd55ccca, 0x271a767e,

+  0xd5d7b50, 0x2724686e, 0xd652bcb, 0x272e58dc,

+  0xd6cde39, 0x273847c8, 0xd74929a, 0x27423530,

+  0xd7c48ee, 0x274c2115, 0xd840134, 0x27560b76,

+  0xd8bbb6d, 0x275ff452, 0xd937798, 0x2769dbaa,

+  0xd9b35b4, 0x2773c17d, 0xda2f5c2, 0x277da5cb,

+  0xdaab7c0, 0x27878893, 0xdb27bb0, 0x279169d5,

+  0xdba4190, 0x279b4990, 0xdc20960, 0x27a527c4,

+  0xdc9d320, 0x27af0472, 0xdd19ed0, 0x27b8df97,

+  0xdd96c6f, 0x27c2b934, 0xde13bfd, 0x27cc9149,

+  0xde90d79, 0x27d667d5, 0xdf0e0e4, 0x27e03cd8,

+  0xdf8b63d, 0x27ea1052, 0xe008d84, 0x27f3e241,

+  0xe0866b8, 0x27fdb2a7, 0xe1041d9, 0x28078181,

+  0xe181ee8, 0x28114ed0, 0xe1ffde2, 0x281b1a94,

+  0xe27dec9, 0x2824e4cc, 0xe2fc19c, 0x282ead78,

+  0xe37a65b, 0x28387498, 0xe3f8d05, 0x28423a2a,

+  0xe47759a, 0x284bfe2f, 0xe4f6019, 0x2855c0a6,

+  0xe574c84, 0x285f8190, 0xe5f3ad8, 0x286940ea,

+  0xe672b16, 0x2872feb6, 0xe6f1d3d, 0x287cbaf3,

+  0xe77114e, 0x288675a0, 0xe7f0748, 0x28902ebd,

+  0xe86ff2a, 0x2899e64a, 0xe8ef8f4, 0x28a39c46,

+  0xe96f4a7, 0x28ad50b1, 0xe9ef241, 0x28b7038b,

+  0xea6f1c2, 0x28c0b4d2, 0xeaef32b, 0x28ca6488,

+  0xeb6f67a, 0x28d412ab, 0xebefbb0, 0x28ddbf3b,

+  0xec702cb, 0x28e76a37, 0xecf0bcd, 0x28f113a0,

+  0xed716b4, 0x28fabb75, 0xedf2380, 0x290461b5,

+  0xee73231, 0x290e0661, 0xeef42c7, 0x2917a977,

+  0xef75541, 0x29214af8, 0xeff699f, 0x292aeae3,

+  0xf077fe1, 0x29348937, 0xf0f9805, 0x293e25f5,

+  0xf17b20d, 0x2947c11c, 0xf1fcdf8, 0x29515aab,

+  0xf27ebc5, 0x295af2a3, 0xf300b74, 0x29648902,

+  0xf382d05, 0x296e1dc9, 0xf405077, 0x2977b0f7,

+  0xf4875ca, 0x2981428c, 0xf509cfe, 0x298ad287,

+  0xf58c613, 0x299460e8, 0xf60f108, 0x299dedaf,

+  0xf691ddd, 0x29a778db, 0xf714c91, 0x29b1026c,

+  0xf797d24, 0x29ba8a61, 0xf81af97, 0x29c410ba,

+  0xf89e3e8, 0x29cd9578, 0xf921a17, 0x29d71899,

+  0xf9a5225, 0x29e09a1c, 0xfa28c10, 0x29ea1a03,

+  0xfaac7d8, 0x29f3984c, 0xfb3057d, 0x29fd14f6,

+  0xfbb4500, 0x2a069003, 0xfc3865e, 0x2a100970,

+  0xfcbc999, 0x2a19813f, 0xfd40eaf, 0x2a22f76e,

+  0xfdc55a1, 0x2a2c6bfd, 0xfe49e6d, 0x2a35deeb,

+  0xfece915, 0x2a3f503a, 0xff53597, 0x2a48bfe7,

+  0xffd83f4, 0x2a522df3, 0x1005d42a, 0x2a5b9a5d,

+  0x100e2639, 0x2a650525, 0x10167a22, 0x2a6e6e4b,

+  0x101ecfe4, 0x2a77d5ce, 0x1027277e, 0x2a813bae,

+  0x102f80f1, 0x2a8a9fea, 0x1037dc3b, 0x2a940283,

+  0x1040395d, 0x2a9d6377, 0x10489856, 0x2aa6c2c6,

+  0x1050f926, 0x2ab02071, 0x10595bcd, 0x2ab97c77,

+  0x1061c04a, 0x2ac2d6d6, 0x106a269d, 0x2acc2f90,

+  0x10728ec6, 0x2ad586a3, 0x107af8c4, 0x2adedc10,

+  0x10836497, 0x2ae82fd5, 0x108bd23f, 0x2af181f3,

+  0x109441bb, 0x2afad269, 0x109cb30b, 0x2b042137,

+  0x10a5262f, 0x2b0d6e5c, 0x10ad9b26, 0x2b16b9d9,

+  0x10b611f1, 0x2b2003ac, 0x10be8a8d, 0x2b294bd5,

+  0x10c704fd, 0x2b329255, 0x10cf813e, 0x2b3bd72a,

+  0x10d7ff51, 0x2b451a55, 0x10e07f36, 0x2b4e5bd4,

+  0x10e900ec, 0x2b579ba8, 0x10f18472, 0x2b60d9d0,

+  0x10fa09c9, 0x2b6a164d, 0x110290f0, 0x2b73511c,

+  0x110b19e7, 0x2b7c8a3f, 0x1113a4ad, 0x2b85c1b5,

+  0x111c3142, 0x2b8ef77d, 0x1124bfa6, 0x2b982b97,

+  0x112d4fd9, 0x2ba15e03, 0x1135e1d9, 0x2baa8ec0,

+  0x113e75a8, 0x2bb3bdce, 0x11470b44, 0x2bbceb2d,

+  0x114fa2ad, 0x2bc616dd, 0x11583be2, 0x2bcf40dc,

+  0x1160d6e5, 0x2bd8692b, 0x116973b3, 0x2be18fc9,

+  0x1172124d, 0x2beab4b6, 0x117ab2b3, 0x2bf3d7f2,

+  0x118354e4, 0x2bfcf97c, 0x118bf8e0, 0x2c061953,

+  0x11949ea6, 0x2c0f3779, 0x119d4636, 0x2c1853eb,

+  0x11a5ef90, 0x2c216eaa, 0x11ae9ab4, 0x2c2a87b6,

+  0x11b747a0, 0x2c339f0e, 0x11bff656, 0x2c3cb4b1,

+  0x11c8a6d4, 0x2c45c8a0, 0x11d1591a, 0x2c4edada,

+  0x11da0d28, 0x2c57eb5e, 0x11e2c2fd, 0x2c60fa2d,

+  0x11eb7a9a, 0x2c6a0746, 0x11f433fd, 0x2c7312a9,

+  0x11fcef27, 0x2c7c1c55, 0x1205ac17, 0x2c85244a,

+  0x120e6acc, 0x2c8e2a87, 0x12172b48, 0x2c972f0d,

+  0x121fed88, 0x2ca031da, 0x1228b18d, 0x2ca932ef,

+  0x12317756, 0x2cb2324c, 0x123a3ee4, 0x2cbb2fef,

+  0x12430835, 0x2cc42bd9, 0x124bd34a, 0x2ccd2609,

+  0x1254a021, 0x2cd61e7f, 0x125d6ebc, 0x2cdf153a,

+  0x12663f19, 0x2ce80a3a, 0x126f1138, 0x2cf0fd80,

+  0x1277e518, 0x2cf9ef09, 0x1280babb, 0x2d02ded7,

+  0x1289921e, 0x2d0bcce8, 0x12926b41, 0x2d14b93d,

+  0x129b4626, 0x2d1da3d5, 0x12a422ca, 0x2d268cb0,

+  0x12ad012e, 0x2d2f73cd, 0x12b5e151, 0x2d38592c,

+  0x12bec333, 0x2d413ccd, 0x12c7a6d4, 0x2d4a1eaf,

+  0x12d08c33, 0x2d52fed2, 0x12d97350, 0x2d5bdd36,

+  0x12e25c2b, 0x2d64b9da, 0x12eb46c3, 0x2d6d94bf,

+  0x12f43318, 0x2d766de2, 0x12fd2129, 0x2d7f4545,

+  0x130610f7, 0x2d881ae8, 0x130f0280, 0x2d90eec8,

+  0x1317f5c6, 0x2d99c0e7, 0x1320eac6, 0x2da29144,

+  0x1329e181, 0x2dab5fdf, 0x1332d9f7, 0x2db42cb6,

+  0x133bd427, 0x2dbcf7cb, 0x1344d011, 0x2dc5c11c,

+  0x134dcdb4, 0x2dce88aa, 0x1356cd11, 0x2dd74e73,

+  0x135fce26, 0x2de01278, 0x1368d0f3, 0x2de8d4b8,

+  0x1371d579, 0x2df19534, 0x137adbb6, 0x2dfa53e9,

+  0x1383e3ab, 0x2e0310d9, 0x138ced57, 0x2e0bcc03,

+  0x1395f8ba, 0x2e148566, 0x139f05d3, 0x2e1d3d03,

+  0x13a814a2, 0x2e25f2d8, 0x13b12526, 0x2e2ea6e6,

+  0x13ba3760, 0x2e37592c, 0x13c34b4f, 0x2e4009aa,

+  0x13cc60f2, 0x2e48b860, 0x13d5784a, 0x2e51654c,

+  0x13de9156, 0x2e5a1070, 0x13e7ac15, 0x2e62b9ca,

+  0x13f0c887, 0x2e6b615a, 0x13f9e6ad, 0x2e740720,

+  0x14030684, 0x2e7cab1c, 0x140c280e, 0x2e854d4d,

+  0x14154b4a, 0x2e8dedb3, 0x141e7037, 0x2e968c4d,

+  0x142796d5, 0x2e9f291b, 0x1430bf24, 0x2ea7c41e,

+  0x1439e923, 0x2eb05d53, 0x144314d3, 0x2eb8f4bc,

+  0x144c4232, 0x2ec18a58, 0x14557140, 0x2eca1e27,

+  0x145ea1fd, 0x2ed2b027, 0x1467d469, 0x2edb405a,

+  0x14710883, 0x2ee3cebe, 0x147a3e4b, 0x2eec5b53,

+  0x148375c1, 0x2ef4e619, 0x148caee4, 0x2efd6f10,

+  0x1495e9b3, 0x2f05f637, 0x149f2630, 0x2f0e7b8e,

+  0x14a86458, 0x2f16ff14, 0x14b1a42c, 0x2f1f80ca,

+  0x14bae5ab, 0x2f2800af, 0x14c428d6, 0x2f307ec2,

+  0x14cd6dab, 0x2f38fb03, 0x14d6b42b, 0x2f417573,

+  0x14dffc54, 0x2f49ee0f, 0x14e94627, 0x2f5264da,

+  0x14f291a4, 0x2f5ad9d1, 0x14fbdec9, 0x2f634cf5,

+  0x15052d97, 0x2f6bbe45, 0x150e7e0d, 0x2f742dc1,

+  0x1517d02b, 0x2f7c9b69, 0x152123f0, 0x2f85073c,

+  0x152a795d, 0x2f8d713a, 0x1533d070, 0x2f95d963,

+  0x153d292a, 0x2f9e3fb6, 0x15468389, 0x2fa6a433,

+  0x154fdf8f, 0x2faf06da, 0x15593d3a, 0x2fb767aa,

+  0x15629c89, 0x2fbfc6a3, 0x156bfd7d, 0x2fc823c5,

+  0x15756016, 0x2fd07f0f, 0x157ec452, 0x2fd8d882,

+  0x15882a32, 0x2fe1301c, 0x159191b5, 0x2fe985de,

+  0x159afadb, 0x2ff1d9c7, 0x15a465a3, 0x2ffa2bd6,

+  0x15add20d, 0x30027c0c, 0x15b74019, 0x300aca69,

+  0x15c0afc6, 0x301316eb, 0x15ca2115, 0x301b6193,

+  0x15d39403, 0x3023aa5f, 0x15dd0892, 0x302bf151,

+  0x15e67ec1, 0x30343667, 0x15eff690, 0x303c79a2,

+  0x15f96ffd, 0x3044bb00, 0x1602eb0a, 0x304cfa83,

+  0x160c67b4, 0x30553828, 0x1615e5fd, 0x305d73f0,

+  0x161f65e4, 0x3065addb, 0x1628e767, 0x306de5e9,

+  0x16326a88, 0x30761c18, 0x163bef46, 0x307e5069,

+  0x1645759f, 0x308682dc, 0x164efd94, 0x308eb36f,

+  0x16588725, 0x3096e223, 0x16621251, 0x309f0ef8,

+  0x166b9f18, 0x30a739ed, 0x16752d79, 0x30af6302,

+  0x167ebd74, 0x30b78a36, 0x16884f09, 0x30bfaf89,

+  0x1691e237, 0x30c7d2fb, 0x169b76fe, 0x30cff48c,

+  0x16a50d5d, 0x30d8143b, 0x16aea555, 0x30e03208,

+  0x16b83ee4, 0x30e84df3, 0x16c1da0b, 0x30f067fb,

+  0x16cb76c9, 0x30f8801f, 0x16d5151d, 0x31009661,

+  0x16deb508, 0x3108aabf, 0x16e85689, 0x3110bd39,

+  0x16f1f99f, 0x3118cdcf, 0x16fb9e4b, 0x3120dc80,

+  0x1705448b, 0x3128e94c, 0x170eec60, 0x3130f433,

+  0x171895c9, 0x3138fd35, 0x172240c5, 0x31410450,

+  0x172bed55, 0x31490986, 0x17359b78, 0x31510cd5,

+  0x173f4b2e, 0x31590e3e, 0x1748fc75, 0x31610dbf,

+  0x1752af4f, 0x31690b59, 0x175c63ba, 0x3171070c,

+  0x176619b6, 0x317900d6, 0x176fd143, 0x3180f8b8,

+  0x17798a60, 0x3188eeb2, 0x1783450d, 0x3190e2c3,

+  0x178d014a, 0x3198d4ea, 0x1796bf16, 0x31a0c528,

+  0x17a07e70, 0x31a8b37c, 0x17aa3f5a, 0x31b09fe7,

+  0x17b401d1, 0x31b88a66, 0x17bdc5d6, 0x31c072fb,

+  0x17c78b68, 0x31c859a5, 0x17d15288, 0x31d03e64,

+  0x17db1b34, 0x31d82137, 0x17e4e56c, 0x31e0021e,

+  0x17eeb130, 0x31e7e118, 0x17f87e7f, 0x31efbe27,

+  0x18024d59, 0x31f79948, 0x180c1dbf, 0x31ff727c,

+  0x1815efae, 0x320749c3, 0x181fc328, 0x320f1f1c,

+  0x1829982b, 0x3216f287, 0x18336eb7, 0x321ec403,

+  0x183d46cc, 0x32269391, 0x18472069, 0x322e6130,

+  0x1850fb8e, 0x32362ce0, 0x185ad83c, 0x323df6a0,

+  0x1864b670, 0x3245be70, 0x186e962b, 0x324d8450,

+  0x1878776d, 0x32554840, 0x18825a35, 0x325d0a3e,

+  0x188c3e83, 0x3264ca4c, 0x18962456, 0x326c8868,

+  0x18a00bae, 0x32744493, 0x18a9f48a, 0x327bfecc,

+  0x18b3deeb, 0x3283b712, 0x18bdcad0, 0x328b6d66,

+  0x18c7b838, 0x329321c7, 0x18d1a724, 0x329ad435,

+  0x18db9792, 0x32a284b0, 0x18e58982, 0x32aa3336,

+  0x18ef7cf4, 0x32b1dfc9, 0x18f971e8, 0x32b98a67,

+  0x1903685d, 0x32c13311, 0x190d6053, 0x32c8d9c6,

+  0x191759c9, 0x32d07e85, 0x192154bf, 0x32d82150,

+  0x192b5135, 0x32dfc224, 0x19354f2a, 0x32e76102,

+  0x193f4e9e, 0x32eefdea, 0x19494f90, 0x32f698db,

+  0x19535201, 0x32fe31d5, 0x195d55ef, 0x3305c8d7,

+  0x19675b5a, 0x330d5de3, 0x19716243, 0x3314f0f6,

+  0x197b6aa8, 0x331c8211, 0x19857489, 0x33241134,

+  0x198f7fe6, 0x332b9e5e, 0x19998cbe, 0x3333298f,

+  0x19a39b11, 0x333ab2c6, 0x19adaadf, 0x33423a04,

+  0x19b7bc27, 0x3349bf48, 0x19c1cee9, 0x33514292,

+  0x19cbe325, 0x3358c3e2, 0x19d5f8d9, 0x33604336,

+  0x19e01006, 0x3367c090, 0x19ea28ac, 0x336f3bee,

+  0x19f442c9, 0x3376b551, 0x19fe5e5e, 0x337e2cb7,

+  0x1a087b69, 0x3385a222, 0x1a1299ec, 0x338d1590,

+  0x1a1cb9e5, 0x33948701, 0x1a26db54, 0x339bf675,

+  0x1a30fe38, 0x33a363ec, 0x1a3b2292, 0x33aacf65,

+  0x1a454860, 0x33b238e0, 0x1a4f6fa3, 0x33b9a05d,

+  0x1a599859, 0x33c105db, 0x1a63c284, 0x33c8695b,

+  0x1a6dee21, 0x33cfcadc, 0x1a781b31, 0x33d72a5d,

+  0x1a8249b4, 0x33de87de, 0x1a8c79a9, 0x33e5e360,

+  0x1a96ab0f, 0x33ed3ce1, 0x1aa0dde7, 0x33f49462,

+  0x1aab122f, 0x33fbe9e2, 0x1ab547e8, 0x34033d61,

+  0x1abf7f11, 0x340a8edf, 0x1ac9b7a9, 0x3411de5b,

+  0x1ad3f1b1, 0x34192bd5, 0x1ade2d28, 0x3420774d,

+  0x1ae86a0d, 0x3427c0c3, 0x1af2a860, 0x342f0836,

+  0x1afce821, 0x34364da6, 0x1b072950, 0x343d9112,

+  0x1b116beb, 0x3444d27b, 0x1b1baff2, 0x344c11e0,

+  0x1b25f566, 0x34534f41, 0x1b303c46, 0x345a8a9d,

+  0x1b3a8491, 0x3461c3f5, 0x1b44ce46, 0x3468fb47,

+  0x1b4f1967, 0x34703095, 0x1b5965f1, 0x347763dd,

+  0x1b63b3e5, 0x347e951f, 0x1b6e0342, 0x3485c45b,

+  0x1b785409, 0x348cf190, 0x1b82a638, 0x34941cbf,

+  0x1b8cf9cf, 0x349b45e7, 0x1b974ece, 0x34a26d08,

+  0x1ba1a534, 0x34a99221, 0x1babfd01, 0x34b0b533,

+  0x1bb65634, 0x34b7d63c, 0x1bc0b0ce, 0x34bef53d,

+  0x1bcb0cce, 0x34c61236, 0x1bd56a32, 0x34cd2d26,

+  0x1bdfc8fc, 0x34d4460c, 0x1bea292b, 0x34db5cea,

+  0x1bf48abd, 0x34e271bd, 0x1bfeedb3, 0x34e98487,

+  0x1c09520d, 0x34f09546, 0x1c13b7c9, 0x34f7a3fb,

+  0x1c1e1ee9, 0x34feb0a5, 0x1c28876a, 0x3505bb44,

+  0x1c32f14d, 0x350cc3d8, 0x1c3d5c91, 0x3513ca60,

+  0x1c47c936, 0x351acedd, 0x1c52373c, 0x3521d14d,

+  0x1c5ca6a2, 0x3528d1b1, 0x1c671768, 0x352fd008,

+  0x1c71898d, 0x3536cc52, 0x1c7bfd11, 0x353dc68f,

+  0x1c8671f3, 0x3544bebf, 0x1c90e834, 0x354bb4e1,

+  0x1c9b5fd2, 0x3552a8f4, 0x1ca5d8cd, 0x35599afa,

+  0x1cb05326, 0x35608af1, 0x1cbacedb, 0x356778d9,

+  0x1cc54bec, 0x356e64b2, 0x1ccfca59, 0x35754e7c,

+  0x1cda4a21, 0x357c3636, 0x1ce4cb44, 0x35831be0,

+  0x1cef4dc2, 0x3589ff7a, 0x1cf9d199, 0x3590e104,

+  0x1d0456ca, 0x3597c07d, 0x1d0edd55, 0x359e9de5,

+  0x1d196538, 0x35a5793c, 0x1d23ee74, 0x35ac5282,

+  0x1d2e7908, 0x35b329b5, 0x1d3904f4, 0x35b9fed7,

+  0x1d439236, 0x35c0d1e7, 0x1d4e20d0, 0x35c7a2e3,

+  0x1d58b0c0, 0x35ce71ce, 0x1d634206, 0x35d53ea5,

+  0x1d6dd4a2, 0x35dc0968, 0x1d786892, 0x35e2d219,

+  0x1d82fdd8, 0x35e998b5, 0x1d8d9472, 0x35f05d3d,

+  0x1d982c60, 0x35f71fb1, 0x1da2c5a2, 0x35fde011,

+  0x1dad6036, 0x36049e5b, 0x1db7fc1e, 0x360b5a90,

+  0x1dc29958, 0x361214b0, 0x1dcd37e4, 0x3618ccba,

+  0x1dd7d7c1, 0x361f82af, 0x1de278ef, 0x3626368d,

+  0x1ded1b6e, 0x362ce855, 0x1df7bf3e, 0x36339806,

+  0x1e02645d, 0x363a45a0, 0x1e0d0acc, 0x3640f123,

+  0x1e17b28a, 0x36479a8e, 0x1e225b96, 0x364e41e2,

+  0x1e2d05f1, 0x3654e71d, 0x1e37b199, 0x365b8a41,

+  0x1e425e8f, 0x36622b4c, 0x1e4d0cd2, 0x3668ca3e,

+  0x1e57bc62, 0x366f6717, 0x1e626d3e, 0x367601d7,

+  0x1e6d1f65, 0x367c9a7e, 0x1e77d2d8, 0x3683310b,

+  0x1e828796, 0x3689c57d, 0x1e8d3d9e, 0x369057d6,

+  0x1e97f4f1, 0x3696e814, 0x1ea2ad8d, 0x369d7637,

+  0x1ead6773, 0x36a4023f, 0x1eb822a1, 0x36aa8c2c,

+  0x1ec2df18, 0x36b113fd, 0x1ecd9cd7, 0x36b799b3,

+  0x1ed85bdd, 0x36be1d4c, 0x1ee31c2b, 0x36c49ec9,

+  0x1eedddc0, 0x36cb1e2a, 0x1ef8a09b, 0x36d19b6e,

+  0x1f0364bc, 0x36d81695, 0x1f0e2a22, 0x36de8f9e,

+  0x1f18f0ce, 0x36e5068a, 0x1f23b8be, 0x36eb7b58,

+  0x1f2e81f3, 0x36f1ee09, 0x1f394c6b, 0x36f85e9a,

+  0x1f441828, 0x36fecd0e, 0x1f4ee527, 0x37053962,

+  0x1f59b369, 0x370ba398, 0x1f6482ed, 0x37120bae,

+  0x1f6f53b3, 0x371871a5, 0x1f7a25ba, 0x371ed57c,

+  0x1f84f902, 0x37253733, 0x1f8fcd8b, 0x372b96ca,

+  0x1f9aa354, 0x3731f440, 0x1fa57a5d, 0x37384f95,

+  0x1fb052a5, 0x373ea8ca, 0x1fbb2c2c, 0x3744ffdd,

+  0x1fc606f1, 0x374b54ce, 0x1fd0e2f5, 0x3751a79e,

+  0x1fdbc036, 0x3757f84c, 0x1fe69eb4, 0x375e46d8,

+  0x1ff17e70, 0x37649341, 0x1ffc5f67, 0x376add88,

+  0x2007419b, 0x377125ac, 0x2012250a, 0x37776bac,

+  0x201d09b4, 0x377daf89, 0x2027ef99, 0x3783f143,

+  0x2032d6b8, 0x378a30d8, 0x203dbf11, 0x37906e49,

+  0x2048a8a4, 0x3796a996, 0x2053936f, 0x379ce2be,

+  0x205e7f74, 0x37a319c2, 0x20696cb0, 0x37a94ea0,

+  0x20745b24, 0x37af8159, 0x207f4acf, 0x37b5b1ec,

+  0x208a3bb2, 0x37bbe05a, 0x20952dcb, 0x37c20ca1,

+  0x20a0211a, 0x37c836c2, 0x20ab159e, 0x37ce5ebd,

+  0x20b60b58, 0x37d48490, 0x20c10247, 0x37daa83d,

+  0x20cbfa6a, 0x37e0c9c3, 0x20d6f3c1, 0x37e6e921,

+  0x20e1ee4b, 0x37ed0657, 0x20ecea09, 0x37f32165,

+  0x20f7e6f9, 0x37f93a4b, 0x2102e51c, 0x37ff5109,

+  0x210de470, 0x3805659e, 0x2118e4f6, 0x380b780a,

+  0x2123e6ad, 0x3811884d, 0x212ee995, 0x38179666,

+  0x2139edac, 0x381da256, 0x2144f2f3, 0x3823ac1d,

+  0x214ff96a, 0x3829b3b9, 0x215b0110, 0x382fb92a,

+  0x216609e3, 0x3835bc71, 0x217113e5, 0x383bbd8e,

+  0x217c1f15, 0x3841bc7f, 0x21872b72, 0x3847b946,

+  0x219238fb, 0x384db3e0, 0x219d47b1, 0x3853ac4f,

+  0x21a85793, 0x3859a292, 0x21b368a0, 0x385f96a9,

+  0x21be7ad8, 0x38658894, 0x21c98e3b, 0x386b7852,

+  0x21d4a2c8, 0x387165e3, 0x21dfb87f, 0x38775147,

+  0x21eacf5f, 0x387d3a7e, 0x21f5e768, 0x38832187,

+  0x22010099, 0x38890663, 0x220c1af3, 0x388ee910,

+  0x22173674, 0x3894c98f, 0x2222531c, 0x389aa7e0,

+  0x222d70eb, 0x38a08402, 0x22388fe1, 0x38a65df6,

+  0x2243affc, 0x38ac35ba, 0x224ed13d, 0x38b20b4f,

+  0x2259f3a3, 0x38b7deb4, 0x2265172e, 0x38bdafea,

+  0x22703bdc, 0x38c37eef, 0x227b61af, 0x38c94bc4,

+  0x228688a4, 0x38cf1669, 0x2291b0bd, 0x38d4dedd,

+  0x229cd9f8, 0x38daa520, 0x22a80456, 0x38e06932,

+  0x22b32fd4, 0x38e62b13, 0x22be5c74, 0x38ebeac2,

+  0x22c98a35, 0x38f1a840, 0x22d4b916, 0x38f7638b,

+  0x22dfe917, 0x38fd1ca4, 0x22eb1a37, 0x3902d38b,

+  0x22f64c77, 0x3908883f, 0x23017fd5, 0x390e3ac0,

+  0x230cb451, 0x3913eb0e, 0x2317e9eb, 0x39199929,

+  0x232320a2, 0x391f4510, 0x232e5876, 0x3924eec3,

+  0x23399167, 0x392a9642, 0x2344cb73, 0x39303b8e,

+  0x2350069b, 0x3935dea4, 0x235b42df, 0x393b7f86,

+  0x2366803c, 0x39411e33, 0x2371beb5, 0x3946baac,

+  0x237cfe47, 0x394c54ee, 0x23883ef2, 0x3951ecfc,

+  0x239380b6, 0x395782d3, 0x239ec393, 0x395d1675,

+  0x23aa0788, 0x3962a7e0, 0x23b54c95, 0x39683715,

+  0x23c092b9, 0x396dc414, 0x23cbd9f4, 0x39734edc,

+  0x23d72245, 0x3978d76c, 0x23e26bac, 0x397e5dc6,

+  0x23edb628, 0x3983e1e8, 0x23f901ba, 0x398963d2,

+  0x24044e60, 0x398ee385, 0x240f9c1a, 0x399460ff,

+  0x241aeae8, 0x3999dc42, 0x24263ac9, 0x399f554b,

+  0x24318bbe, 0x39a4cc1c, 0x243cddc4, 0x39aa40b4,

+  0x244830dd, 0x39afb313, 0x24538507, 0x39b52339,

+  0x245eda43, 0x39ba9125, 0x246a308f, 0x39bffcd7,

+  0x247587eb, 0x39c5664f, 0x2480e057, 0x39cacd8d,

+  0x248c39d3, 0x39d03291, 0x2497945d, 0x39d5955a,

+  0x24a2eff6, 0x39daf5e8, 0x24ae4c9d, 0x39e0543c,

+  0x24b9aa52, 0x39e5b054, 0x24c50914, 0x39eb0a31,

+  0x24d068e2, 0x39f061d2, 0x24dbc9bd, 0x39f5b737,

+  0x24e72ba4, 0x39fb0a60, 0x24f28e96, 0x3a005b4d,

+  0x24fdf294, 0x3a05a9fd, 0x2509579b, 0x3a0af671,

+  0x2514bdad, 0x3a1040a8, 0x252024c9, 0x3a1588a2,

+  0x252b8cee, 0x3a1ace5f, 0x2536f61b, 0x3a2011de,

+  0x25426051, 0x3a25531f, 0x254dcb8f, 0x3a2a9223,

+  0x255937d5, 0x3a2fcee8, 0x2564a521, 0x3a350970,

+  0x25701374, 0x3a3a41b9, 0x257b82cd, 0x3a3f77c3,

+  0x2586f32c, 0x3a44ab8e, 0x25926490, 0x3a49dd1a,

+  0x259dd6f9, 0x3a4f0c67, 0x25a94a67, 0x3a543974,

+  0x25b4bed8, 0x3a596442, 0x25c0344d, 0x3a5e8cd0,

+  0x25cbaac5, 0x3a63b31d, 0x25d72240, 0x3a68d72b,

+  0x25e29abc, 0x3a6df8f8, 0x25ee143b, 0x3a731884,

+  0x25f98ebb, 0x3a7835cf, 0x26050a3b, 0x3a7d50da,

+  0x261086bc, 0x3a8269a3, 0x261c043d, 0x3a87802a,

+  0x262782be, 0x3a8c9470, 0x2633023e, 0x3a91a674,

+  0x263e82bc, 0x3a96b636, 0x264a0438, 0x3a9bc3b6,

+  0x265586b3, 0x3aa0cef3, 0x26610a2a, 0x3aa5d7ee,

+  0x266c8e9f, 0x3aaadea6, 0x26781410, 0x3aafe31b,

+  0x26839a7c, 0x3ab4e54c, 0x268f21e5, 0x3ab9e53a,

+  0x269aaa48, 0x3abee2e5, 0x26a633a6, 0x3ac3de4c,

+  0x26b1bdff, 0x3ac8d76f, 0x26bd4951, 0x3acdce4d,

+  0x26c8d59c, 0x3ad2c2e8, 0x26d462e1, 0x3ad7b53d,

+  0x26dff11d, 0x3adca54e, 0x26eb8052, 0x3ae1931a,

+  0x26f7107e, 0x3ae67ea1, 0x2702a1a1, 0x3aeb67e3,

+  0x270e33bb, 0x3af04edf, 0x2719c6cb, 0x3af53395,

+  0x27255ad1, 0x3afa1605, 0x2730efcc, 0x3afef630,

+  0x273c85bc, 0x3b03d414, 0x27481ca1, 0x3b08afb2,

+  0x2753b479, 0x3b0d8909, 0x275f4d45, 0x3b126019,

+  0x276ae704, 0x3b1734e2, 0x277681b6, 0x3b1c0764,

+  0x27821d59, 0x3b20d79e, 0x278db9ef, 0x3b25a591,

+  0x27995776, 0x3b2a713d, 0x27a4f5ed, 0x3b2f3aa0,

+  0x27b09555, 0x3b3401bb, 0x27bc35ad, 0x3b38c68e,

+  0x27c7d6f4, 0x3b3d8918, 0x27d3792b, 0x3b42495a,

+  0x27df1c50, 0x3b470753, 0x27eac063, 0x3b4bc303,

+  0x27f66564, 0x3b507c69, 0x28020b52, 0x3b553386,

+  0x280db22d, 0x3b59e85a, 0x281959f4, 0x3b5e9ae4,

+  0x282502a7, 0x3b634b23, 0x2830ac45, 0x3b67f919,

+  0x283c56cf, 0x3b6ca4c4, 0x28480243, 0x3b714e25,

+  0x2853aea1, 0x3b75f53c, 0x285f5be9, 0x3b7a9a07,

+  0x286b0a1a, 0x3b7f3c87, 0x2876b934, 0x3b83dcbc,

+  0x28826936, 0x3b887aa6, 0x288e1a20, 0x3b8d1644,

+  0x2899cbf1, 0x3b91af97, 0x28a57ea9, 0x3b96469d,

+  0x28b13248, 0x3b9adb57, 0x28bce6cd, 0x3b9f6dc5,

+  0x28c89c37, 0x3ba3fde7, 0x28d45286, 0x3ba88bbc,

+  0x28e009ba, 0x3bad1744, 0x28ebc1d3, 0x3bb1a080,

+  0x28f77acf, 0x3bb6276e, 0x290334af, 0x3bbaac0e,

+  0x290eef71, 0x3bbf2e62, 0x291aab16, 0x3bc3ae67,

+  0x2926679c, 0x3bc82c1f, 0x29322505, 0x3bcca789,

+  0x293de34e, 0x3bd120a4, 0x2949a278, 0x3bd59771,

+  0x29556282, 0x3bda0bf0, 0x2961236c, 0x3bde7e20,

+  0x296ce535, 0x3be2ee01, 0x2978a7dd, 0x3be75b93,

+  0x29846b63, 0x3bebc6d5, 0x29902fc7, 0x3bf02fc9,

+  0x299bf509, 0x3bf4966c, 0x29a7bb28, 0x3bf8fac0,

+  0x29b38223, 0x3bfd5cc4, 0x29bf49fa, 0x3c01bc78,

+  0x29cb12ad, 0x3c0619dc, 0x29d6dc3b, 0x3c0a74f0,

+  0x29e2a6a3, 0x3c0ecdb2, 0x29ee71e6, 0x3c132424,

+  0x29fa3e03, 0x3c177845, 0x2a060af9, 0x3c1bca16,

+  0x2a11d8c8, 0x3c201994, 0x2a1da770, 0x3c2466c2,

+  0x2a2976ef, 0x3c28b19e, 0x2a354746, 0x3c2cfa28,

+  0x2a411874, 0x3c314060, 0x2a4cea79, 0x3c358446,

+  0x2a58bd54, 0x3c39c5da, 0x2a649105, 0x3c3e051b,

+  0x2a70658a, 0x3c42420a, 0x2a7c3ae5, 0x3c467ca6,

+  0x2a881114, 0x3c4ab4ef, 0x2a93e817, 0x3c4eeae5,

+  0x2a9fbfed, 0x3c531e88, 0x2aab9896, 0x3c574fd8,

+  0x2ab77212, 0x3c5b7ed4, 0x2ac34c60, 0x3c5fab7c,

+  0x2acf277f, 0x3c63d5d1, 0x2adb0370, 0x3c67fdd1,

+  0x2ae6e031, 0x3c6c237e, 0x2af2bdc3, 0x3c7046d6,

+  0x2afe9c24, 0x3c7467d9, 0x2b0a7b54, 0x3c788688,

+  0x2b165b54, 0x3c7ca2e2, 0x2b223c22, 0x3c80bce7,

+  0x2b2e1dbe, 0x3c84d496, 0x2b3a0027, 0x3c88e9f1,

+  0x2b45e35d, 0x3c8cfcf6, 0x2b51c760, 0x3c910da5,

+  0x2b5dac2f, 0x3c951bff, 0x2b6991ca, 0x3c992803,

+  0x2b75782f, 0x3c9d31b0, 0x2b815f60, 0x3ca13908,

+  0x2b8d475b, 0x3ca53e09, 0x2b99301f, 0x3ca940b3,

+  0x2ba519ad, 0x3cad4107, 0x2bb10404, 0x3cb13f04,

+  0x2bbcef23, 0x3cb53aaa, 0x2bc8db0b, 0x3cb933f9,

+  0x2bd4c7ba, 0x3cbd2af0, 0x2be0b52f, 0x3cc11f90,

+  0x2beca36c, 0x3cc511d9, 0x2bf8926f, 0x3cc901c9,

+  0x2c048237, 0x3cccef62, 0x2c1072c4, 0x3cd0daa2,

+  0x2c1c6417, 0x3cd4c38b, 0x2c28562d, 0x3cd8aa1b,

+  0x2c344908, 0x3cdc8e52, 0x2c403ca5, 0x3ce07031,

+  0x2c4c3106, 0x3ce44fb7, 0x2c582629, 0x3ce82ce4,

+  0x2c641c0e, 0x3cec07b8, 0x2c7012b5, 0x3cefe032,

+  0x2c7c0a1d, 0x3cf3b653, 0x2c880245, 0x3cf78a1b,

+  0x2c93fb2e, 0x3cfb5b89, 0x2c9ff4d6, 0x3cff2a9d,

+  0x2cabef3d, 0x3d02f757, 0x2cb7ea63, 0x3d06c1b6,

+  0x2cc3e648, 0x3d0a89bc, 0x2ccfe2ea, 0x3d0e4f67,

+  0x2cdbe04a, 0x3d1212b7, 0x2ce7de66, 0x3d15d3ad,

+  0x2cf3dd3f, 0x3d199248, 0x2cffdcd4, 0x3d1d4e88,

+  0x2d0bdd25, 0x3d21086c, 0x2d17de31, 0x3d24bff6,

+  0x2d23dff7, 0x3d287523, 0x2d2fe277, 0x3d2c27f6,

+  0x2d3be5b1, 0x3d2fd86c, 0x2d47e9a5, 0x3d338687,

+  0x2d53ee51, 0x3d373245, 0x2d5ff3b5, 0x3d3adba7,

+  0x2d6bf9d1, 0x3d3e82ae, 0x2d7800a5, 0x3d422757,

+  0x2d84082f, 0x3d45c9a4, 0x2d901070, 0x3d496994,

+  0x2d9c1967, 0x3d4d0728, 0x2da82313, 0x3d50a25e,

+  0x2db42d74, 0x3d543b37, 0x2dc0388a, 0x3d57d1b3,

+  0x2dcc4454, 0x3d5b65d2, 0x2dd850d2, 0x3d5ef793,

+  0x2de45e03, 0x3d6286f6, 0x2df06be6, 0x3d6613fb,

+  0x2dfc7a7c, 0x3d699ea3, 0x2e0889c4, 0x3d6d26ec,

+  0x2e1499bd, 0x3d70acd7, 0x2e20aa67, 0x3d743064,

+  0x2e2cbbc1, 0x3d77b192, 0x2e38cdcb, 0x3d7b3061,

+  0x2e44e084, 0x3d7eacd2, 0x2e50f3ed, 0x3d8226e4,

+  0x2e5d0804, 0x3d859e96, 0x2e691cc9, 0x3d8913ea,

+  0x2e75323c, 0x3d8c86de, 0x2e81485c, 0x3d8ff772,

+  0x2e8d5f29, 0x3d9365a8, 0x2e9976a1, 0x3d96d17d,

+  0x2ea58ec6, 0x3d9a3af2, 0x2eb1a796, 0x3d9da208,

+  0x2ebdc110, 0x3da106bd, 0x2ec9db35, 0x3da46912,

+  0x2ed5f604, 0x3da7c907, 0x2ee2117c, 0x3dab269b,

+  0x2eee2d9d, 0x3dae81cf, 0x2efa4a67, 0x3db1daa2,

+  0x2f0667d9, 0x3db53113, 0x2f1285f2, 0x3db88524,

+  0x2f1ea4b2, 0x3dbbd6d4, 0x2f2ac419, 0x3dbf2622,

+  0x2f36e426, 0x3dc2730f, 0x2f4304d8, 0x3dc5bd9b,

+  0x2f4f2630, 0x3dc905c5, 0x2f5b482d, 0x3dcc4b8d,

+  0x2f676ace, 0x3dcf8ef3, 0x2f738e12, 0x3dd2cff7,

+  0x2f7fb1fa, 0x3dd60e99, 0x2f8bd685, 0x3dd94ad8,

+  0x2f97fbb2, 0x3ddc84b5, 0x2fa42181, 0x3ddfbc30,

+  0x2fb047f2, 0x3de2f148, 0x2fbc6f03, 0x3de623fd,

+  0x2fc896b5, 0x3de9544f, 0x2fd4bf08, 0x3dec823e,

+  0x2fe0e7f9, 0x3defadca, 0x2fed118a, 0x3df2d6f3,

+  0x2ff93bba, 0x3df5fdb8, 0x30056687, 0x3df9221a,

+  0x301191f3, 0x3dfc4418, 0x301dbdfb, 0x3dff63b2,

+  0x3029eaa1, 0x3e0280e9, 0x303617e2, 0x3e059bbb,

+  0x304245c0, 0x3e08b42a, 0x304e7438, 0x3e0bca34,

+  0x305aa34c, 0x3e0eddd9, 0x3066d2fa, 0x3e11ef1b,

+  0x30730342, 0x3e14fdf7, 0x307f3424, 0x3e180a6f,

+  0x308b659f, 0x3e1b1482, 0x309797b2, 0x3e1e1c30,

+  0x30a3ca5d, 0x3e212179, 0x30affda0, 0x3e24245d,

+  0x30bc317a, 0x3e2724db, 0x30c865ea, 0x3e2a22f4,

+  0x30d49af1, 0x3e2d1ea8, 0x30e0d08d, 0x3e3017f6,

+  0x30ed06bf, 0x3e330ede, 0x30f93d86, 0x3e360360,

+  0x310574e0, 0x3e38f57c, 0x3111accf, 0x3e3be532,

+  0x311de551, 0x3e3ed282, 0x312a1e66, 0x3e41bd6c,

+  0x3136580d, 0x3e44a5ef, 0x31429247, 0x3e478c0b,

+  0x314ecd11, 0x3e4a6fc1, 0x315b086d, 0x3e4d5110,

+  0x31674459, 0x3e502ff9, 0x317380d6, 0x3e530c7a,

+  0x317fbde2, 0x3e55e694, 0x318bfb7d, 0x3e58be47,

+  0x319839a6, 0x3e5b9392, 0x31a4785e, 0x3e5e6676,

+  0x31b0b7a4, 0x3e6136f3, 0x31bcf777, 0x3e640507,

+  0x31c937d6, 0x3e66d0b4, 0x31d578c2, 0x3e6999fa,

+  0x31e1ba3a, 0x3e6c60d7, 0x31edfc3d, 0x3e6f254c,

+  0x31fa3ecb, 0x3e71e759, 0x320681e3, 0x3e74a6fd,

+  0x3212c585, 0x3e77643a, 0x321f09b1, 0x3e7a1f0d,

+  0x322b4e66, 0x3e7cd778, 0x323793a3, 0x3e7f8d7b,

+  0x3243d968, 0x3e824114, 0x32501fb5, 0x3e84f245,

+  0x325c6688, 0x3e87a10c, 0x3268ade3, 0x3e8a4d6a,

+  0x3274f5c3, 0x3e8cf75f, 0x32813e2a, 0x3e8f9eeb,

+  0x328d8715, 0x3e92440d, 0x3299d085, 0x3e94e6c6,

+  0x32a61a7a, 0x3e978715, 0x32b264f2, 0x3e9a24fb,

+  0x32beafed, 0x3e9cc076, 0x32cafb6b, 0x3e9f5988,

+  0x32d7476c, 0x3ea1f02f, 0x32e393ef, 0x3ea4846c,

+  0x32efe0f2, 0x3ea7163f, 0x32fc2e77, 0x3ea9a5a8,

+  0x33087c7d, 0x3eac32a6, 0x3314cb02, 0x3eaebd3a,

+  0x33211a07, 0x3eb14563, 0x332d698a, 0x3eb3cb21,

+  0x3339b98d, 0x3eb64e75, 0x33460a0d, 0x3eb8cf5d,

+  0x33525b0b, 0x3ebb4ddb, 0x335eac86, 0x3ebdc9ed,

+  0x336afe7e, 0x3ec04394, 0x337750f2, 0x3ec2bad0,

+  0x3383a3e2, 0x3ec52fa0, 0x338ff74d, 0x3ec7a205,

+  0x339c4b32, 0x3eca11fe, 0x33a89f92, 0x3ecc7f8b,

+  0x33b4f46c, 0x3eceeaad, 0x33c149bf, 0x3ed15363,

+  0x33cd9f8b, 0x3ed3b9ad, 0x33d9f5cf, 0x3ed61d8a,

+  0x33e64c8c, 0x3ed87efc, 0x33f2a3bf, 0x3edade01,

+  0x33fefb6a, 0x3edd3a9a, 0x340b538b, 0x3edf94c7,

+  0x3417ac22, 0x3ee1ec87, 0x3424052f, 0x3ee441da,

+  0x34305eb0, 0x3ee694c1, 0x343cb8a7, 0x3ee8e53a,

+  0x34491311, 0x3eeb3347, 0x34556def, 0x3eed7ee7,

+  0x3461c940, 0x3eefc81a, 0x346e2504, 0x3ef20ee0,

+  0x347a8139, 0x3ef45338, 0x3486dde1, 0x3ef69523,

+  0x34933afa, 0x3ef8d4a1, 0x349f9884, 0x3efb11b1,

+  0x34abf67e, 0x3efd4c54, 0x34b854e7, 0x3eff8489,

+  0x34c4b3c0, 0x3f01ba50, 0x34d11308, 0x3f03eda9,

+  0x34dd72be, 0x3f061e95, 0x34e9d2e3, 0x3f084d12,

+  0x34f63374, 0x3f0a7921, 0x35029473, 0x3f0ca2c2,

+  0x350ef5de, 0x3f0ec9f5, 0x351b57b5, 0x3f10eeb9,

+  0x3527b9f7, 0x3f13110f, 0x35341ca5, 0x3f1530f7,

+  0x35407fbd, 0x3f174e70, 0x354ce33f, 0x3f19697a,

+  0x3559472b, 0x3f1b8215, 0x3565ab80, 0x3f1d9842,

+  0x3572103d, 0x3f1fabff, 0x357e7563, 0x3f21bd4e,

+  0x358adaf0, 0x3f23cc2e, 0x359740e5, 0x3f25d89e,

+  0x35a3a740, 0x3f27e29f, 0x35b00e02, 0x3f29ea31,

+  0x35bc7529, 0x3f2bef53, 0x35c8dcb6, 0x3f2df206,

+  0x35d544a7, 0x3f2ff24a, 0x35e1acfd, 0x3f31f01d,

+  0x35ee15b7, 0x3f33eb81, 0x35fa7ed4, 0x3f35e476,

+  0x3606e854, 0x3f37dafa, 0x36135237, 0x3f39cf0e,

+  0x361fbc7b, 0x3f3bc0b3, 0x362c2721, 0x3f3dafe7,

+  0x36389228, 0x3f3f9cab, 0x3644fd8f, 0x3f4186ff,

+  0x36516956, 0x3f436ee3, 0x365dd57d, 0x3f455456,

+  0x366a4203, 0x3f473759, 0x3676aee8, 0x3f4917eb,

+  0x36831c2b, 0x3f4af60d, 0x368f89cb, 0x3f4cd1be,

+  0x369bf7c9, 0x3f4eaafe, 0x36a86623, 0x3f5081cd,

+  0x36b4d4d9, 0x3f52562c, 0x36c143ec, 0x3f54281a,

+  0x36cdb359, 0x3f55f796, 0x36da2321, 0x3f57c4a2,

+  0x36e69344, 0x3f598f3c, 0x36f303c0, 0x3f5b5765,

+  0x36ff7496, 0x3f5d1d1d, 0x370be5c4, 0x3f5ee063,

+  0x3718574b, 0x3f60a138, 0x3724c92a, 0x3f625f9b,

+  0x37313b60, 0x3f641b8d, 0x373daded, 0x3f65d50d,

+  0x374a20d0, 0x3f678c1c, 0x3756940a, 0x3f6940b8,

+  0x37630799, 0x3f6af2e3, 0x376f7b7d, 0x3f6ca29c,

+  0x377befb5, 0x3f6e4fe3, 0x37886442, 0x3f6ffab8,

+  0x3794d922, 0x3f71a31b, 0x37a14e55, 0x3f73490b,

+  0x37adc3db, 0x3f74ec8a, 0x37ba39b3, 0x3f768d96,

+  0x37c6afdc, 0x3f782c30, 0x37d32657, 0x3f79c857,

+  0x37df9d22, 0x3f7b620c, 0x37ec143e, 0x3f7cf94e,

+  0x37f88ba9, 0x3f7e8e1e, 0x38050364, 0x3f80207b,

+  0x38117b6d, 0x3f81b065, 0x381df3c5, 0x3f833ddd,

+  0x382a6c6a, 0x3f84c8e2, 0x3836e55d, 0x3f865174,

+  0x38435e9d, 0x3f87d792, 0x384fd829, 0x3f895b3e,

+  0x385c5201, 0x3f8adc77, 0x3868cc24, 0x3f8c5b3d,

+  0x38754692, 0x3f8dd78f, 0x3881c14b, 0x3f8f516e,

+  0x388e3c4d, 0x3f90c8da, 0x389ab799, 0x3f923dd2,

+  0x38a7332e, 0x3f93b058, 0x38b3af0c, 0x3f952069,

+  0x38c02b31, 0x3f968e07, 0x38cca79e, 0x3f97f932,

+  0x38d92452, 0x3f9961e8, 0x38e5a14d, 0x3f9ac82c,

+  0x38f21e8e, 0x3f9c2bfb, 0x38fe9c15, 0x3f9d8d56,

+  0x390b19e0, 0x3f9eec3e, 0x391797f0, 0x3fa048b2,

+  0x39241645, 0x3fa1a2b2, 0x393094dd, 0x3fa2fa3d,

+  0x393d13b8, 0x3fa44f55, 0x394992d7, 0x3fa5a1f9,

+  0x39561237, 0x3fa6f228, 0x396291d9, 0x3fa83fe3,

+  0x396f11bc, 0x3fa98b2a, 0x397b91e1, 0x3faad3fd,

+  0x39881245, 0x3fac1a5b, 0x399492ea, 0x3fad5e45,

+  0x39a113cd, 0x3fae9fbb, 0x39ad94f0, 0x3fafdebb,

+  0x39ba1651, 0x3fb11b48, 0x39c697f0, 0x3fb2555f,

+  0x39d319cc, 0x3fb38d02, 0x39df9be6, 0x3fb4c231,

+  0x39ec1e3b, 0x3fb5f4ea, 0x39f8a0cd, 0x3fb7252f,

+  0x3a05239a, 0x3fb852ff, 0x3a11a6a3, 0x3fb97e5a,

+  0x3a1e29e5, 0x3fbaa740, 0x3a2aad62, 0x3fbbcdb1,

+  0x3a373119, 0x3fbcf1ad, 0x3a43b508, 0x3fbe1334,

+  0x3a503930, 0x3fbf3246, 0x3a5cbd91, 0x3fc04ee3,

+  0x3a694229, 0x3fc1690a, 0x3a75c6f8, 0x3fc280bc,

+  0x3a824bfd, 0x3fc395f9, 0x3a8ed139, 0x3fc4a8c1,

+  0x3a9b56ab, 0x3fc5b913, 0x3aa7dc52, 0x3fc6c6f0,

+  0x3ab4622d, 0x3fc7d258, 0x3ac0e83d, 0x3fc8db4a,

+  0x3acd6e81, 0x3fc9e1c6, 0x3ad9f4f8, 0x3fcae5cd,

+  0x3ae67ba2, 0x3fcbe75e, 0x3af3027e, 0x3fcce67a,

+  0x3aff898c, 0x3fcde320, 0x3b0c10cb, 0x3fcedd50,

+  0x3b18983b, 0x3fcfd50b, 0x3b251fdc, 0x3fd0ca4f,

+  0x3b31a7ac, 0x3fd1bd1e, 0x3b3e2fac, 0x3fd2ad77,

+  0x3b4ab7db, 0x3fd39b5a, 0x3b574039, 0x3fd486c7,

+  0x3b63c8c4, 0x3fd56fbe, 0x3b70517d, 0x3fd6563f,

+  0x3b7cda63, 0x3fd73a4a, 0x3b896375, 0x3fd81bdf,

+  0x3b95ecb4, 0x3fd8fafe, 0x3ba2761e, 0x3fd9d7a7,

+  0x3baeffb3, 0x3fdab1d9, 0x3bbb8973, 0x3fdb8996,

+  0x3bc8135c, 0x3fdc5edc, 0x3bd49d70, 0x3fdd31ac,

+  0x3be127ac, 0x3fde0205, 0x3bedb212, 0x3fdecfe8,

+  0x3bfa3c9f, 0x3fdf9b55, 0x3c06c754, 0x3fe0644b,

+  0x3c135231, 0x3fe12acb, 0x3c1fdd34, 0x3fe1eed5,

+  0x3c2c685d, 0x3fe2b067, 0x3c38f3ac, 0x3fe36f84,

+  0x3c457f21, 0x3fe42c2a, 0x3c520aba, 0x3fe4e659,

+  0x3c5e9678, 0x3fe59e12, 0x3c6b2259, 0x3fe65354,

+  0x3c77ae5e, 0x3fe7061f, 0x3c843a85, 0x3fe7b674,

+  0x3c90c6cf, 0x3fe86452, 0x3c9d533b, 0x3fe90fb9,

+  0x3ca9dfc8, 0x3fe9b8a9, 0x3cb66c77, 0x3fea5f23,

+  0x3cc2f945, 0x3feb0326, 0x3ccf8634, 0x3feba4b2,

+  0x3cdc1342, 0x3fec43c7, 0x3ce8a06f, 0x3fece065,

+  0x3cf52dbb, 0x3fed7a8c, 0x3d01bb24, 0x3fee123d,

+  0x3d0e48ab, 0x3feea776, 0x3d1ad650, 0x3fef3a39,

+  0x3d276410, 0x3fefca84, 0x3d33f1ed, 0x3ff05858,

+  0x3d407fe6, 0x3ff0e3b6, 0x3d4d0df9, 0x3ff16c9c,

+  0x3d599c28, 0x3ff1f30b, 0x3d662a70, 0x3ff27703,

+  0x3d72b8d2, 0x3ff2f884, 0x3d7f474d, 0x3ff3778e,

+  0x3d8bd5e1, 0x3ff3f420, 0x3d98648d, 0x3ff46e3c,

+  0x3da4f351, 0x3ff4e5e0, 0x3db1822c, 0x3ff55b0d,

+  0x3dbe111e, 0x3ff5cdc3, 0x3dcaa027, 0x3ff63e01,

+  0x3dd72f45, 0x3ff6abc8, 0x3de3be78, 0x3ff71718,

+  0x3df04dc0, 0x3ff77ff1, 0x3dfcdd1d, 0x3ff7e652,

+  0x3e096c8d, 0x3ff84a3c, 0x3e15fc11, 0x3ff8abae,

+  0x3e228ba7, 0x3ff90aaa, 0x3e2f1b50, 0x3ff9672d,

+  0x3e3bab0b, 0x3ff9c13a, 0x3e483ad8, 0x3ffa18cf,

+  0x3e54cab5, 0x3ffa6dec, 0x3e615aa3, 0x3ffac092,

+  0x3e6deaa1, 0x3ffb10c1, 0x3e7a7aae, 0x3ffb5e78,

+  0x3e870aca, 0x3ffba9b8, 0x3e939af5, 0x3ffbf280,

+  0x3ea02b2e, 0x3ffc38d1, 0x3eacbb74, 0x3ffc7caa,

+  0x3eb94bc8, 0x3ffcbe0c, 0x3ec5dc28, 0x3ffcfcf6,

+  0x3ed26c94, 0x3ffd3969, 0x3edefd0c, 0x3ffd7364,

+  0x3eeb8d8f, 0x3ffdaae7, 0x3ef81e1d, 0x3ffddff3,

+  0x3f04aeb5, 0x3ffe1288, 0x3f113f56, 0x3ffe42a4,

+  0x3f1dd001, 0x3ffe704a, 0x3f2a60b4, 0x3ffe9b77,

+  0x3f36f170, 0x3ffec42d, 0x3f438234, 0x3ffeea6c,

+  0x3f5012fe, 0x3fff0e32, 0x3f5ca3d0, 0x3fff2f82,

+  0x3f6934a8, 0x3fff4e59, 0x3f75c585, 0x3fff6ab9,

+  0x3f825668, 0x3fff84a1, 0x3f8ee750, 0x3fff9c12,

+  0x3f9b783c, 0x3fffb10b, 0x3fa8092c, 0x3fffc38c,

+  0x3fb49a1f, 0x3fffd396, 0x3fc12b16, 0x3fffe128,

+  0x3fcdbc0f, 0x3fffec43, 0x3fda4d09, 0x3ffff4e6,

+  0x3fe6de05, 0x3ffffb11, 0x3ff36f02, 0x3ffffec4,

+};

+

+

+/**    

+* \par   

+* Generation of realCoefBQ31 array:    

+* \par    

+*  n = 4096        

+* <pre>for (i = 0; i < n; i++)    

+* {    

+*    pBTable[2 * i] = 0.5 * (1.0 + sin (2 * PI / (double) (2 * n) * (double) i));    

+*    pBTable[2 * i + 1] = 0.5 * (1.0 * cos (2 * PI / (double) (2 * n) * (double) i));    

+* } </pre>    

+* \par    

+* Convert to fixed point Q31 format    

+*     round(pBTable[i] * pow(2, 31))    

+*    

+*/

+

+static const q31_t realCoefBQ31[8192] = {

+  0x40000000, 0x40000000, 0x400c90fe, 0x3ffffec4,

+  0x401921fb, 0x3ffffb11, 0x4025b2f7, 0x3ffff4e6,

+  0x403243f1, 0x3fffec43, 0x403ed4ea, 0x3fffe128,

+  0x404b65e1, 0x3fffd396, 0x4057f6d4, 0x3fffc38c,

+  0x406487c4, 0x3fffb10b, 0x407118b0, 0x3fff9c12,

+  0x407da998, 0x3fff84a1, 0x408a3a7b, 0x3fff6ab9,

+  0x4096cb58, 0x3fff4e59, 0x40a35c30, 0x3fff2f82,

+  0x40afed02, 0x3fff0e32, 0x40bc7dcc, 0x3ffeea6c,

+  0x40c90e90, 0x3ffec42d, 0x40d59f4c, 0x3ffe9b77,

+  0x40e22fff, 0x3ffe704a, 0x40eec0aa, 0x3ffe42a4,

+  0x40fb514b, 0x3ffe1288, 0x4107e1e3, 0x3ffddff3,

+  0x41147271, 0x3ffdaae7, 0x412102f4, 0x3ffd7364,

+  0x412d936c, 0x3ffd3969, 0x413a23d8, 0x3ffcfcf6,

+  0x4146b438, 0x3ffcbe0c, 0x4153448c, 0x3ffc7caa,

+  0x415fd4d2, 0x3ffc38d1, 0x416c650b, 0x3ffbf280,

+  0x4178f536, 0x3ffba9b8, 0x41858552, 0x3ffb5e78,

+  0x4192155f, 0x3ffb10c1, 0x419ea55d, 0x3ffac092,

+  0x41ab354b, 0x3ffa6dec, 0x41b7c528, 0x3ffa18cf,

+  0x41c454f5, 0x3ff9c13a, 0x41d0e4b0, 0x3ff9672d,

+  0x41dd7459, 0x3ff90aaa, 0x41ea03ef, 0x3ff8abae,

+  0x41f69373, 0x3ff84a3c, 0x420322e3, 0x3ff7e652,

+  0x420fb240, 0x3ff77ff1, 0x421c4188, 0x3ff71718,

+  0x4228d0bb, 0x3ff6abc8, 0x42355fd9, 0x3ff63e01,

+  0x4241eee2, 0x3ff5cdc3, 0x424e7dd4, 0x3ff55b0d,

+  0x425b0caf, 0x3ff4e5e0, 0x42679b73, 0x3ff46e3c,

+  0x42742a1f, 0x3ff3f420, 0x4280b8b3, 0x3ff3778e,

+  0x428d472e, 0x3ff2f884, 0x4299d590, 0x3ff27703,

+  0x42a663d8, 0x3ff1f30b, 0x42b2f207, 0x3ff16c9c,

+  0x42bf801a, 0x3ff0e3b6, 0x42cc0e13, 0x3ff05858,

+  0x42d89bf0, 0x3fefca84, 0x42e529b0, 0x3fef3a39,

+  0x42f1b755, 0x3feea776, 0x42fe44dc, 0x3fee123d,

+  0x430ad245, 0x3fed7a8c, 0x43175f91, 0x3fece065,

+  0x4323ecbe, 0x3fec43c7, 0x433079cc, 0x3feba4b2,

+  0x433d06bb, 0x3feb0326, 0x43499389, 0x3fea5f23,

+  0x43562038, 0x3fe9b8a9, 0x4362acc5, 0x3fe90fb9,

+  0x436f3931, 0x3fe86452, 0x437bc57b, 0x3fe7b674,

+  0x438851a2, 0x3fe7061f, 0x4394dda7, 0x3fe65354,

+  0x43a16988, 0x3fe59e12, 0x43adf546, 0x3fe4e659,

+  0x43ba80df, 0x3fe42c2a, 0x43c70c54, 0x3fe36f84,

+  0x43d397a3, 0x3fe2b067, 0x43e022cc, 0x3fe1eed5,

+  0x43ecadcf, 0x3fe12acb, 0x43f938ac, 0x3fe0644b,

+  0x4405c361, 0x3fdf9b55, 0x44124dee, 0x3fdecfe8,

+  0x441ed854, 0x3fde0205, 0x442b6290, 0x3fdd31ac,

+  0x4437eca4, 0x3fdc5edc, 0x4444768d, 0x3fdb8996,

+  0x4451004d, 0x3fdab1d9, 0x445d89e2, 0x3fd9d7a7,

+  0x446a134c, 0x3fd8fafe, 0x44769c8b, 0x3fd81bdf,

+  0x4483259d, 0x3fd73a4a, 0x448fae83, 0x3fd6563f,

+  0x449c373c, 0x3fd56fbe, 0x44a8bfc7, 0x3fd486c7,

+  0x44b54825, 0x3fd39b5a, 0x44c1d054, 0x3fd2ad77,

+  0x44ce5854, 0x3fd1bd1e, 0x44dae024, 0x3fd0ca4f,

+  0x44e767c5, 0x3fcfd50b, 0x44f3ef35, 0x3fcedd50,

+  0x45007674, 0x3fcde320, 0x450cfd82, 0x3fcce67a,

+  0x4519845e, 0x3fcbe75e, 0x45260b08, 0x3fcae5cd,

+  0x4532917f, 0x3fc9e1c6, 0x453f17c3, 0x3fc8db4a,

+  0x454b9dd3, 0x3fc7d258, 0x455823ae, 0x3fc6c6f0,

+  0x4564a955, 0x3fc5b913, 0x45712ec7, 0x3fc4a8c1,

+  0x457db403, 0x3fc395f9, 0x458a3908, 0x3fc280bc,

+  0x4596bdd7, 0x3fc1690a, 0x45a3426f, 0x3fc04ee3,

+  0x45afc6d0, 0x3fbf3246, 0x45bc4af8, 0x3fbe1334,

+  0x45c8cee7, 0x3fbcf1ad, 0x45d5529e, 0x3fbbcdb1,

+  0x45e1d61b, 0x3fbaa740, 0x45ee595d, 0x3fb97e5a,

+  0x45fadc66, 0x3fb852ff, 0x46075f33, 0x3fb7252f,

+  0x4613e1c5, 0x3fb5f4ea, 0x4620641a, 0x3fb4c231,

+  0x462ce634, 0x3fb38d02, 0x46396810, 0x3fb2555f,

+  0x4645e9af, 0x3fb11b48, 0x46526b10, 0x3fafdebb,

+  0x465eec33, 0x3fae9fbb, 0x466b6d16, 0x3fad5e45,

+  0x4677edbb, 0x3fac1a5b, 0x46846e1f, 0x3faad3fd,

+  0x4690ee44, 0x3fa98b2a, 0x469d6e27, 0x3fa83fe3,

+  0x46a9edc9, 0x3fa6f228, 0x46b66d29, 0x3fa5a1f9,

+  0x46c2ec48, 0x3fa44f55, 0x46cf6b23, 0x3fa2fa3d,

+  0x46dbe9bb, 0x3fa1a2b2, 0x46e86810, 0x3fa048b2,

+  0x46f4e620, 0x3f9eec3e, 0x470163eb, 0x3f9d8d56,

+  0x470de172, 0x3f9c2bfb, 0x471a5eb3, 0x3f9ac82c,

+  0x4726dbae, 0x3f9961e8, 0x47335862, 0x3f97f932,

+  0x473fd4cf, 0x3f968e07, 0x474c50f4, 0x3f952069,

+  0x4758ccd2, 0x3f93b058, 0x47654867, 0x3f923dd2,

+  0x4771c3b3, 0x3f90c8da, 0x477e3eb5, 0x3f8f516e,

+  0x478ab96e, 0x3f8dd78f, 0x479733dc, 0x3f8c5b3d,

+  0x47a3adff, 0x3f8adc77, 0x47b027d7, 0x3f895b3e,

+  0x47bca163, 0x3f87d792, 0x47c91aa3, 0x3f865174,

+  0x47d59396, 0x3f84c8e2, 0x47e20c3b, 0x3f833ddd,

+  0x47ee8493, 0x3f81b065, 0x47fafc9c, 0x3f80207b,

+  0x48077457, 0x3f7e8e1e, 0x4813ebc2, 0x3f7cf94e,

+  0x482062de, 0x3f7b620c, 0x482cd9a9, 0x3f79c857,

+  0x48395024, 0x3f782c30, 0x4845c64d, 0x3f768d96,

+  0x48523c25, 0x3f74ec8a, 0x485eb1ab, 0x3f73490b,

+  0x486b26de, 0x3f71a31b, 0x48779bbe, 0x3f6ffab8,

+  0x4884104b, 0x3f6e4fe3, 0x48908483, 0x3f6ca29c,

+  0x489cf867, 0x3f6af2e3, 0x48a96bf6, 0x3f6940b8,

+  0x48b5df30, 0x3f678c1c, 0x48c25213, 0x3f65d50d,

+  0x48cec4a0, 0x3f641b8d, 0x48db36d6, 0x3f625f9b,

+  0x48e7a8b5, 0x3f60a138, 0x48f41a3c, 0x3f5ee063,

+  0x49008b6a, 0x3f5d1d1d, 0x490cfc40, 0x3f5b5765,

+  0x49196cbc, 0x3f598f3c, 0x4925dcdf, 0x3f57c4a2,

+  0x49324ca7, 0x3f55f796, 0x493ebc14, 0x3f54281a,

+  0x494b2b27, 0x3f52562c, 0x495799dd, 0x3f5081cd,

+  0x49640837, 0x3f4eaafe, 0x49707635, 0x3f4cd1be,

+  0x497ce3d5, 0x3f4af60d, 0x49895118, 0x3f4917eb,

+  0x4995bdfd, 0x3f473759, 0x49a22a83, 0x3f455456,

+  0x49ae96aa, 0x3f436ee3, 0x49bb0271, 0x3f4186ff,

+  0x49c76dd8, 0x3f3f9cab, 0x49d3d8df, 0x3f3dafe7,

+  0x49e04385, 0x3f3bc0b3, 0x49ecadc9, 0x3f39cf0e,

+  0x49f917ac, 0x3f37dafa, 0x4a05812c, 0x3f35e476,

+  0x4a11ea49, 0x3f33eb81, 0x4a1e5303, 0x3f31f01d,

+  0x4a2abb59, 0x3f2ff24a, 0x4a37234a, 0x3f2df206,

+  0x4a438ad7, 0x3f2bef53, 0x4a4ff1fe, 0x3f29ea31,

+  0x4a5c58c0, 0x3f27e29f, 0x4a68bf1b, 0x3f25d89e,

+  0x4a752510, 0x3f23cc2e, 0x4a818a9d, 0x3f21bd4e,

+  0x4a8defc3, 0x3f1fabff, 0x4a9a5480, 0x3f1d9842,

+  0x4aa6b8d5, 0x3f1b8215, 0x4ab31cc1, 0x3f19697a,

+  0x4abf8043, 0x3f174e70, 0x4acbe35b, 0x3f1530f7,

+  0x4ad84609, 0x3f13110f, 0x4ae4a84b, 0x3f10eeb9,

+  0x4af10a22, 0x3f0ec9f5, 0x4afd6b8d, 0x3f0ca2c2,

+  0x4b09cc8c, 0x3f0a7921, 0x4b162d1d, 0x3f084d12,

+  0x4b228d42, 0x3f061e95, 0x4b2eecf8, 0x3f03eda9,

+  0x4b3b4c40, 0x3f01ba50, 0x4b47ab19, 0x3eff8489,

+  0x4b540982, 0x3efd4c54, 0x4b60677c, 0x3efb11b1,

+  0x4b6cc506, 0x3ef8d4a1, 0x4b79221f, 0x3ef69523,

+  0x4b857ec7, 0x3ef45338, 0x4b91dafc, 0x3ef20ee0,

+  0x4b9e36c0, 0x3eefc81a, 0x4baa9211, 0x3eed7ee7,

+  0x4bb6ecef, 0x3eeb3347, 0x4bc34759, 0x3ee8e53a,

+  0x4bcfa150, 0x3ee694c1, 0x4bdbfad1, 0x3ee441da,

+  0x4be853de, 0x3ee1ec87, 0x4bf4ac75, 0x3edf94c7,

+  0x4c010496, 0x3edd3a9a, 0x4c0d5c41, 0x3edade01,

+  0x4c19b374, 0x3ed87efc, 0x4c260a31, 0x3ed61d8a,

+  0x4c326075, 0x3ed3b9ad, 0x4c3eb641, 0x3ed15363,

+  0x4c4b0b94, 0x3eceeaad, 0x4c57606e, 0x3ecc7f8b,

+  0x4c63b4ce, 0x3eca11fe, 0x4c7008b3, 0x3ec7a205,

+  0x4c7c5c1e, 0x3ec52fa0, 0x4c88af0e, 0x3ec2bad0,

+  0x4c950182, 0x3ec04394, 0x4ca1537a, 0x3ebdc9ed,

+  0x4cada4f5, 0x3ebb4ddb, 0x4cb9f5f3, 0x3eb8cf5d,

+  0x4cc64673, 0x3eb64e75, 0x4cd29676, 0x3eb3cb21,

+  0x4cdee5f9, 0x3eb14563, 0x4ceb34fe, 0x3eaebd3a,

+  0x4cf78383, 0x3eac32a6, 0x4d03d189, 0x3ea9a5a8,

+  0x4d101f0e, 0x3ea7163f, 0x4d1c6c11, 0x3ea4846c,

+  0x4d28b894, 0x3ea1f02f, 0x4d350495, 0x3e9f5988,

+  0x4d415013, 0x3e9cc076, 0x4d4d9b0e, 0x3e9a24fb,

+  0x4d59e586, 0x3e978715, 0x4d662f7b, 0x3e94e6c6,

+  0x4d7278eb, 0x3e92440d, 0x4d7ec1d6, 0x3e8f9eeb,

+  0x4d8b0a3d, 0x3e8cf75f, 0x4d97521d, 0x3e8a4d6a,

+  0x4da39978, 0x3e87a10c, 0x4dafe04b, 0x3e84f245,

+  0x4dbc2698, 0x3e824114, 0x4dc86c5d, 0x3e7f8d7b,

+  0x4dd4b19a, 0x3e7cd778, 0x4de0f64f, 0x3e7a1f0d,

+  0x4ded3a7b, 0x3e77643a, 0x4df97e1d, 0x3e74a6fd,

+  0x4e05c135, 0x3e71e759, 0x4e1203c3, 0x3e6f254c,

+  0x4e1e45c6, 0x3e6c60d7, 0x4e2a873e, 0x3e6999fa,

+  0x4e36c82a, 0x3e66d0b4, 0x4e430889, 0x3e640507,

+  0x4e4f485c, 0x3e6136f3, 0x4e5b87a2, 0x3e5e6676,

+  0x4e67c65a, 0x3e5b9392, 0x4e740483, 0x3e58be47,

+  0x4e80421e, 0x3e55e694, 0x4e8c7f2a, 0x3e530c7a,

+  0x4e98bba7, 0x3e502ff9, 0x4ea4f793, 0x3e4d5110,

+  0x4eb132ef, 0x3e4a6fc1, 0x4ebd6db9, 0x3e478c0b,

+  0x4ec9a7f3, 0x3e44a5ef, 0x4ed5e19a, 0x3e41bd6c,

+  0x4ee21aaf, 0x3e3ed282, 0x4eee5331, 0x3e3be532,

+  0x4efa8b20, 0x3e38f57c, 0x4f06c27a, 0x3e360360,

+  0x4f12f941, 0x3e330ede, 0x4f1f2f73, 0x3e3017f6,

+  0x4f2b650f, 0x3e2d1ea8, 0x4f379a16, 0x3e2a22f4,

+  0x4f43ce86, 0x3e2724db, 0x4f500260, 0x3e24245d,

+  0x4f5c35a3, 0x3e212179, 0x4f68684e, 0x3e1e1c30,

+  0x4f749a61, 0x3e1b1482, 0x4f80cbdc, 0x3e180a6f,

+  0x4f8cfcbe, 0x3e14fdf7, 0x4f992d06, 0x3e11ef1b,

+  0x4fa55cb4, 0x3e0eddd9, 0x4fb18bc8, 0x3e0bca34,

+  0x4fbdba40, 0x3e08b42a, 0x4fc9e81e, 0x3e059bbb,

+  0x4fd6155f, 0x3e0280e9, 0x4fe24205, 0x3dff63b2,

+  0x4fee6e0d, 0x3dfc4418, 0x4ffa9979, 0x3df9221a,

+  0x5006c446, 0x3df5fdb8, 0x5012ee76, 0x3df2d6f3,

+  0x501f1807, 0x3defadca, 0x502b40f8, 0x3dec823e,

+  0x5037694b, 0x3de9544f, 0x504390fd, 0x3de623fd,

+  0x504fb80e, 0x3de2f148, 0x505bde7f, 0x3ddfbc30,

+  0x5068044e, 0x3ddc84b5, 0x5074297b, 0x3dd94ad8,

+  0x50804e06, 0x3dd60e99, 0x508c71ee, 0x3dd2cff7,

+  0x50989532, 0x3dcf8ef3, 0x50a4b7d3, 0x3dcc4b8d,

+  0x50b0d9d0, 0x3dc905c5, 0x50bcfb28, 0x3dc5bd9b,

+  0x50c91bda, 0x3dc2730f, 0x50d53be7, 0x3dbf2622,

+  0x50e15b4e, 0x3dbbd6d4, 0x50ed7a0e, 0x3db88524,

+  0x50f99827, 0x3db53113, 0x5105b599, 0x3db1daa2,

+  0x5111d263, 0x3dae81cf, 0x511dee84, 0x3dab269b,

+  0x512a09fc, 0x3da7c907, 0x513624cb, 0x3da46912,

+  0x51423ef0, 0x3da106bd, 0x514e586a, 0x3d9da208,

+  0x515a713a, 0x3d9a3af2, 0x5166895f, 0x3d96d17d,

+  0x5172a0d7, 0x3d9365a8, 0x517eb7a4, 0x3d8ff772,

+  0x518acdc4, 0x3d8c86de, 0x5196e337, 0x3d8913ea,

+  0x51a2f7fc, 0x3d859e96, 0x51af0c13, 0x3d8226e4,

+  0x51bb1f7c, 0x3d7eacd2, 0x51c73235, 0x3d7b3061,

+  0x51d3443f, 0x3d77b192, 0x51df5599, 0x3d743064,

+  0x51eb6643, 0x3d70acd7, 0x51f7763c, 0x3d6d26ec,

+  0x52038584, 0x3d699ea3, 0x520f941a, 0x3d6613fb,

+  0x521ba1fd, 0x3d6286f6, 0x5227af2e, 0x3d5ef793,

+  0x5233bbac, 0x3d5b65d2, 0x523fc776, 0x3d57d1b3,

+  0x524bd28c, 0x3d543b37, 0x5257dced, 0x3d50a25e,

+  0x5263e699, 0x3d4d0728, 0x526fef90, 0x3d496994,

+  0x527bf7d1, 0x3d45c9a4, 0x5287ff5b, 0x3d422757,

+  0x5294062f, 0x3d3e82ae, 0x52a00c4b, 0x3d3adba7,

+  0x52ac11af, 0x3d373245, 0x52b8165b, 0x3d338687,

+  0x52c41a4f, 0x3d2fd86c, 0x52d01d89, 0x3d2c27f6,

+  0x52dc2009, 0x3d287523, 0x52e821cf, 0x3d24bff6,

+  0x52f422db, 0x3d21086c, 0x5300232c, 0x3d1d4e88,

+  0x530c22c1, 0x3d199248, 0x5318219a, 0x3d15d3ad,

+  0x53241fb6, 0x3d1212b7, 0x53301d16, 0x3d0e4f67,

+  0x533c19b8, 0x3d0a89bc, 0x5348159d, 0x3d06c1b6,

+  0x535410c3, 0x3d02f757, 0x53600b2a, 0x3cff2a9d,

+  0x536c04d2, 0x3cfb5b89, 0x5377fdbb, 0x3cf78a1b,

+  0x5383f5e3, 0x3cf3b653, 0x538fed4b, 0x3cefe032,

+  0x539be3f2, 0x3cec07b8, 0x53a7d9d7, 0x3ce82ce4,

+  0x53b3cefa, 0x3ce44fb7, 0x53bfc35b, 0x3ce07031,

+  0x53cbb6f8, 0x3cdc8e52, 0x53d7a9d3, 0x3cd8aa1b,

+  0x53e39be9, 0x3cd4c38b, 0x53ef8d3c, 0x3cd0daa2,

+  0x53fb7dc9, 0x3cccef62, 0x54076d91, 0x3cc901c9,

+  0x54135c94, 0x3cc511d9, 0x541f4ad1, 0x3cc11f90,

+  0x542b3846, 0x3cbd2af0, 0x543724f5, 0x3cb933f9,

+  0x544310dd, 0x3cb53aaa, 0x544efbfc, 0x3cb13f04,

+  0x545ae653, 0x3cad4107, 0x5466cfe1, 0x3ca940b3,

+  0x5472b8a5, 0x3ca53e09, 0x547ea0a0, 0x3ca13908,

+  0x548a87d1, 0x3c9d31b0, 0x54966e36, 0x3c992803,

+  0x54a253d1, 0x3c951bff, 0x54ae38a0, 0x3c910da5,

+  0x54ba1ca3, 0x3c8cfcf6, 0x54c5ffd9, 0x3c88e9f1,

+  0x54d1e242, 0x3c84d496, 0x54ddc3de, 0x3c80bce7,

+  0x54e9a4ac, 0x3c7ca2e2, 0x54f584ac, 0x3c788688,

+  0x550163dc, 0x3c7467d9, 0x550d423d, 0x3c7046d6,

+  0x55191fcf, 0x3c6c237e, 0x5524fc90, 0x3c67fdd1,

+  0x5530d881, 0x3c63d5d1, 0x553cb3a0, 0x3c5fab7c,

+  0x55488dee, 0x3c5b7ed4, 0x5554676a, 0x3c574fd8,

+  0x55604013, 0x3c531e88, 0x556c17e9, 0x3c4eeae5,

+  0x5577eeec, 0x3c4ab4ef, 0x5583c51b, 0x3c467ca6,

+  0x558f9a76, 0x3c42420a, 0x559b6efb, 0x3c3e051b,

+  0x55a742ac, 0x3c39c5da, 0x55b31587, 0x3c358446,

+  0x55bee78c, 0x3c314060, 0x55cab8ba, 0x3c2cfa28,

+  0x55d68911, 0x3c28b19e, 0x55e25890, 0x3c2466c2,

+  0x55ee2738, 0x3c201994, 0x55f9f507, 0x3c1bca16,

+  0x5605c1fd, 0x3c177845, 0x56118e1a, 0x3c132424,

+  0x561d595d, 0x3c0ecdb2, 0x562923c5, 0x3c0a74f0,

+  0x5634ed53, 0x3c0619dc, 0x5640b606, 0x3c01bc78,

+  0x564c7ddd, 0x3bfd5cc4, 0x565844d8, 0x3bf8fac0,

+  0x56640af7, 0x3bf4966c, 0x566fd039, 0x3bf02fc9,

+  0x567b949d, 0x3bebc6d5, 0x56875823, 0x3be75b93,

+  0x56931acb, 0x3be2ee01, 0x569edc94, 0x3bde7e20,

+  0x56aa9d7e, 0x3bda0bf0, 0x56b65d88, 0x3bd59771,

+  0x56c21cb2, 0x3bd120a4, 0x56cddafb, 0x3bcca789,

+  0x56d99864, 0x3bc82c1f, 0x56e554ea, 0x3bc3ae67,

+  0x56f1108f, 0x3bbf2e62, 0x56fccb51, 0x3bbaac0e,

+  0x57088531, 0x3bb6276e, 0x57143e2d, 0x3bb1a080,

+  0x571ff646, 0x3bad1744, 0x572bad7a, 0x3ba88bbc,

+  0x573763c9, 0x3ba3fde7, 0x57431933, 0x3b9f6dc5,

+  0x574ecdb8, 0x3b9adb57, 0x575a8157, 0x3b96469d,

+  0x5766340f, 0x3b91af97, 0x5771e5e0, 0x3b8d1644,

+  0x577d96ca, 0x3b887aa6, 0x578946cc, 0x3b83dcbc,

+  0x5794f5e6, 0x3b7f3c87, 0x57a0a417, 0x3b7a9a07,

+  0x57ac515f, 0x3b75f53c, 0x57b7fdbd, 0x3b714e25,

+  0x57c3a931, 0x3b6ca4c4, 0x57cf53bb, 0x3b67f919,

+  0x57dafd59, 0x3b634b23, 0x57e6a60c, 0x3b5e9ae4,

+  0x57f24dd3, 0x3b59e85a, 0x57fdf4ae, 0x3b553386,

+  0x58099a9c, 0x3b507c69, 0x58153f9d, 0x3b4bc303,

+  0x5820e3b0, 0x3b470753, 0x582c86d5, 0x3b42495a,

+  0x5838290c, 0x3b3d8918, 0x5843ca53, 0x3b38c68e,

+  0x584f6aab, 0x3b3401bb, 0x585b0a13, 0x3b2f3aa0,

+  0x5866a88a, 0x3b2a713d, 0x58724611, 0x3b25a591,

+  0x587de2a7, 0x3b20d79e, 0x58897e4a, 0x3b1c0764,

+  0x589518fc, 0x3b1734e2, 0x58a0b2bb, 0x3b126019,

+  0x58ac4b87, 0x3b0d8909, 0x58b7e35f, 0x3b08afb2,

+  0x58c37a44, 0x3b03d414, 0x58cf1034, 0x3afef630,

+  0x58daa52f, 0x3afa1605, 0x58e63935, 0x3af53395,

+  0x58f1cc45, 0x3af04edf, 0x58fd5e5f, 0x3aeb67e3,

+  0x5908ef82, 0x3ae67ea1, 0x59147fae, 0x3ae1931a,

+  0x59200ee3, 0x3adca54e, 0x592b9d1f, 0x3ad7b53d,

+  0x59372a64, 0x3ad2c2e8, 0x5942b6af, 0x3acdce4d,

+  0x594e4201, 0x3ac8d76f, 0x5959cc5a, 0x3ac3de4c,

+  0x596555b8, 0x3abee2e5, 0x5970de1b, 0x3ab9e53a,

+  0x597c6584, 0x3ab4e54c, 0x5987ebf0, 0x3aafe31b,

+  0x59937161, 0x3aaadea6, 0x599ef5d6, 0x3aa5d7ee,

+  0x59aa794d, 0x3aa0cef3, 0x59b5fbc8, 0x3a9bc3b6,

+  0x59c17d44, 0x3a96b636, 0x59ccfdc2, 0x3a91a674,

+  0x59d87d42, 0x3a8c9470, 0x59e3fbc3, 0x3a87802a,

+  0x59ef7944, 0x3a8269a3, 0x59faf5c5, 0x3a7d50da,

+  0x5a067145, 0x3a7835cf, 0x5a11ebc5, 0x3a731884,

+  0x5a1d6544, 0x3a6df8f8, 0x5a28ddc0, 0x3a68d72b,

+  0x5a34553b, 0x3a63b31d, 0x5a3fcbb3, 0x3a5e8cd0,

+  0x5a4b4128, 0x3a596442, 0x5a56b599, 0x3a543974,

+  0x5a622907, 0x3a4f0c67, 0x5a6d9b70, 0x3a49dd1a,

+  0x5a790cd4, 0x3a44ab8e, 0x5a847d33, 0x3a3f77c3,

+  0x5a8fec8c, 0x3a3a41b9, 0x5a9b5adf, 0x3a350970,

+  0x5aa6c82b, 0x3a2fcee8, 0x5ab23471, 0x3a2a9223,

+  0x5abd9faf, 0x3a25531f, 0x5ac909e5, 0x3a2011de,

+  0x5ad47312, 0x3a1ace5f, 0x5adfdb37, 0x3a1588a2,

+  0x5aeb4253, 0x3a1040a8, 0x5af6a865, 0x3a0af671,

+  0x5b020d6c, 0x3a05a9fd, 0x5b0d716a, 0x3a005b4d,

+  0x5b18d45c, 0x39fb0a60, 0x5b243643, 0x39f5b737,

+  0x5b2f971e, 0x39f061d2, 0x5b3af6ec, 0x39eb0a31,

+  0x5b4655ae, 0x39e5b054, 0x5b51b363, 0x39e0543c,

+  0x5b5d100a, 0x39daf5e8, 0x5b686ba3, 0x39d5955a,

+  0x5b73c62d, 0x39d03291, 0x5b7f1fa9, 0x39cacd8d,

+  0x5b8a7815, 0x39c5664f, 0x5b95cf71, 0x39bffcd7,

+  0x5ba125bd, 0x39ba9125, 0x5bac7af9, 0x39b52339,

+  0x5bb7cf23, 0x39afb313, 0x5bc3223c, 0x39aa40b4,

+  0x5bce7442, 0x39a4cc1c, 0x5bd9c537, 0x399f554b,

+  0x5be51518, 0x3999dc42, 0x5bf063e6, 0x399460ff,

+  0x5bfbb1a0, 0x398ee385, 0x5c06fe46, 0x398963d2,

+  0x5c1249d8, 0x3983e1e8, 0x5c1d9454, 0x397e5dc6,

+  0x5c28ddbb, 0x3978d76c, 0x5c34260c, 0x39734edc,

+  0x5c3f6d47, 0x396dc414, 0x5c4ab36b, 0x39683715,

+  0x5c55f878, 0x3962a7e0, 0x5c613c6d, 0x395d1675,

+  0x5c6c7f4a, 0x395782d3, 0x5c77c10e, 0x3951ecfc,

+  0x5c8301b9, 0x394c54ee, 0x5c8e414b, 0x3946baac,

+  0x5c997fc4, 0x39411e33, 0x5ca4bd21, 0x393b7f86,

+  0x5caff965, 0x3935dea4, 0x5cbb348d, 0x39303b8e,

+  0x5cc66e99, 0x392a9642, 0x5cd1a78a, 0x3924eec3,

+  0x5cdcdf5e, 0x391f4510, 0x5ce81615, 0x39199929,

+  0x5cf34baf, 0x3913eb0e, 0x5cfe802b, 0x390e3ac0,

+  0x5d09b389, 0x3908883f, 0x5d14e5c9, 0x3902d38b,

+  0x5d2016e9, 0x38fd1ca4, 0x5d2b46ea, 0x38f7638b,

+  0x5d3675cb, 0x38f1a840, 0x5d41a38c, 0x38ebeac2,

+  0x5d4cd02c, 0x38e62b13, 0x5d57fbaa, 0x38e06932,

+  0x5d632608, 0x38daa520, 0x5d6e4f43, 0x38d4dedd,

+  0x5d79775c, 0x38cf1669, 0x5d849e51, 0x38c94bc4,

+  0x5d8fc424, 0x38c37eef, 0x5d9ae8d2, 0x38bdafea,

+  0x5da60c5d, 0x38b7deb4, 0x5db12ec3, 0x38b20b4f,

+  0x5dbc5004, 0x38ac35ba, 0x5dc7701f, 0x38a65df6,

+  0x5dd28f15, 0x38a08402, 0x5dddace4, 0x389aa7e0,

+  0x5de8c98c, 0x3894c98f, 0x5df3e50d, 0x388ee910,

+  0x5dfeff67, 0x38890663, 0x5e0a1898, 0x38832187,

+  0x5e1530a1, 0x387d3a7e, 0x5e204781, 0x38775147,

+  0x5e2b5d38, 0x387165e3, 0x5e3671c5, 0x386b7852,

+  0x5e418528, 0x38658894, 0x5e4c9760, 0x385f96a9,

+  0x5e57a86d, 0x3859a292, 0x5e62b84f, 0x3853ac4f,

+  0x5e6dc705, 0x384db3e0, 0x5e78d48e, 0x3847b946,

+  0x5e83e0eb, 0x3841bc7f, 0x5e8eec1b, 0x383bbd8e,

+  0x5e99f61d, 0x3835bc71, 0x5ea4fef0, 0x382fb92a,

+  0x5eb00696, 0x3829b3b9, 0x5ebb0d0d, 0x3823ac1d,

+  0x5ec61254, 0x381da256, 0x5ed1166b, 0x38179666,

+  0x5edc1953, 0x3811884d, 0x5ee71b0a, 0x380b780a,

+  0x5ef21b90, 0x3805659e, 0x5efd1ae4, 0x37ff5109,

+  0x5f081907, 0x37f93a4b, 0x5f1315f7, 0x37f32165,

+  0x5f1e11b5, 0x37ed0657, 0x5f290c3f, 0x37e6e921,

+  0x5f340596, 0x37e0c9c3, 0x5f3efdb9, 0x37daa83d,

+  0x5f49f4a8, 0x37d48490, 0x5f54ea62, 0x37ce5ebd,

+  0x5f5fdee6, 0x37c836c2, 0x5f6ad235, 0x37c20ca1,

+  0x5f75c44e, 0x37bbe05a, 0x5f80b531, 0x37b5b1ec,

+  0x5f8ba4dc, 0x37af8159, 0x5f969350, 0x37a94ea0,

+  0x5fa1808c, 0x37a319c2, 0x5fac6c91, 0x379ce2be,

+  0x5fb7575c, 0x3796a996, 0x5fc240ef, 0x37906e49,

+  0x5fcd2948, 0x378a30d8, 0x5fd81067, 0x3783f143,

+  0x5fe2f64c, 0x377daf89, 0x5feddaf6, 0x37776bac,

+  0x5ff8be65, 0x377125ac, 0x6003a099, 0x376add88,

+  0x600e8190, 0x37649341, 0x6019614c, 0x375e46d8,

+  0x60243fca, 0x3757f84c, 0x602f1d0b, 0x3751a79e,

+  0x6039f90f, 0x374b54ce, 0x6044d3d4, 0x3744ffdd,

+  0x604fad5b, 0x373ea8ca, 0x605a85a3, 0x37384f95,

+  0x60655cac, 0x3731f440, 0x60703275, 0x372b96ca,

+  0x607b06fe, 0x37253733, 0x6085da46, 0x371ed57c,

+  0x6090ac4d, 0x371871a5, 0x609b7d13, 0x37120bae,

+  0x60a64c97, 0x370ba398, 0x60b11ad9, 0x37053962,

+  0x60bbe7d8, 0x36fecd0e, 0x60c6b395, 0x36f85e9a,

+  0x60d17e0d, 0x36f1ee09, 0x60dc4742, 0x36eb7b58,

+  0x60e70f32, 0x36e5068a, 0x60f1d5de, 0x36de8f9e,

+  0x60fc9b44, 0x36d81695, 0x61075f65, 0x36d19b6e,

+  0x61122240, 0x36cb1e2a, 0x611ce3d5, 0x36c49ec9,

+  0x6127a423, 0x36be1d4c, 0x61326329, 0x36b799b3,

+  0x613d20e8, 0x36b113fd, 0x6147dd5f, 0x36aa8c2c,

+  0x6152988d, 0x36a4023f, 0x615d5273, 0x369d7637,

+  0x61680b0f, 0x3696e814, 0x6172c262, 0x369057d6,

+  0x617d786a, 0x3689c57d, 0x61882d28, 0x3683310b,

+  0x6192e09b, 0x367c9a7e, 0x619d92c2, 0x367601d7,

+  0x61a8439e, 0x366f6717, 0x61b2f32e, 0x3668ca3e,

+  0x61bda171, 0x36622b4c, 0x61c84e67, 0x365b8a41,

+  0x61d2fa0f, 0x3654e71d, 0x61dda46a, 0x364e41e2,

+  0x61e84d76, 0x36479a8e, 0x61f2f534, 0x3640f123,

+  0x61fd9ba3, 0x363a45a0, 0x620840c2, 0x36339806,

+  0x6212e492, 0x362ce855, 0x621d8711, 0x3626368d,

+  0x6228283f, 0x361f82af, 0x6232c81c, 0x3618ccba,

+  0x623d66a8, 0x361214b0, 0x624803e2, 0x360b5a90,

+  0x62529fca, 0x36049e5b, 0x625d3a5e, 0x35fde011,

+  0x6267d3a0, 0x35f71fb1, 0x62726b8e, 0x35f05d3d,

+  0x627d0228, 0x35e998b5, 0x6287976e, 0x35e2d219,

+  0x62922b5e, 0x35dc0968, 0x629cbdfa, 0x35d53ea5,

+  0x62a74f40, 0x35ce71ce, 0x62b1df30, 0x35c7a2e3,

+  0x62bc6dca, 0x35c0d1e7, 0x62c6fb0c, 0x35b9fed7,

+  0x62d186f8, 0x35b329b5, 0x62dc118c, 0x35ac5282,

+  0x62e69ac8, 0x35a5793c, 0x62f122ab, 0x359e9de5,

+  0x62fba936, 0x3597c07d, 0x63062e67, 0x3590e104,

+  0x6310b23e, 0x3589ff7a, 0x631b34bc, 0x35831be0,

+  0x6325b5df, 0x357c3636, 0x633035a7, 0x35754e7c,

+  0x633ab414, 0x356e64b2, 0x63453125, 0x356778d9,

+  0x634facda, 0x35608af1, 0x635a2733, 0x35599afa,

+  0x6364a02e, 0x3552a8f4, 0x636f17cc, 0x354bb4e1,

+  0x63798e0d, 0x3544bebf, 0x638402ef, 0x353dc68f,

+  0x638e7673, 0x3536cc52, 0x6398e898, 0x352fd008,

+  0x63a3595e, 0x3528d1b1, 0x63adc8c4, 0x3521d14d,

+  0x63b836ca, 0x351acedd, 0x63c2a36f, 0x3513ca60,

+  0x63cd0eb3, 0x350cc3d8, 0x63d77896, 0x3505bb44,

+  0x63e1e117, 0x34feb0a5, 0x63ec4837, 0x34f7a3fb,

+  0x63f6adf3, 0x34f09546, 0x6401124d, 0x34e98487,

+  0x640b7543, 0x34e271bd, 0x6415d6d5, 0x34db5cea,

+  0x64203704, 0x34d4460c, 0x642a95ce, 0x34cd2d26,

+  0x6434f332, 0x34c61236, 0x643f4f32, 0x34bef53d,

+  0x6449a9cc, 0x34b7d63c, 0x645402ff, 0x34b0b533,

+  0x645e5acc, 0x34a99221, 0x6468b132, 0x34a26d08,

+  0x64730631, 0x349b45e7, 0x647d59c8, 0x34941cbf,

+  0x6487abf7, 0x348cf190, 0x6491fcbe, 0x3485c45b,

+  0x649c4c1b, 0x347e951f, 0x64a69a0f, 0x347763dd,

+  0x64b0e699, 0x34703095, 0x64bb31ba, 0x3468fb47,

+  0x64c57b6f, 0x3461c3f5, 0x64cfc3ba, 0x345a8a9d,

+  0x64da0a9a, 0x34534f41, 0x64e4500e, 0x344c11e0,

+  0x64ee9415, 0x3444d27b, 0x64f8d6b0, 0x343d9112,

+  0x650317df, 0x34364da6, 0x650d57a0, 0x342f0836,

+  0x651795f3, 0x3427c0c3, 0x6521d2d8, 0x3420774d,

+  0x652c0e4f, 0x34192bd5, 0x65364857, 0x3411de5b,

+  0x654080ef, 0x340a8edf, 0x654ab818, 0x34033d61,

+  0x6554edd1, 0x33fbe9e2, 0x655f2219, 0x33f49462,

+  0x656954f1, 0x33ed3ce1, 0x65738657, 0x33e5e360,

+  0x657db64c, 0x33de87de, 0x6587e4cf, 0x33d72a5d,

+  0x659211df, 0x33cfcadc, 0x659c3d7c, 0x33c8695b,

+  0x65a667a7, 0x33c105db, 0x65b0905d, 0x33b9a05d,

+  0x65bab7a0, 0x33b238e0, 0x65c4dd6e, 0x33aacf65,

+  0x65cf01c8, 0x33a363ec, 0x65d924ac, 0x339bf675,

+  0x65e3461b, 0x33948701, 0x65ed6614, 0x338d1590,

+  0x65f78497, 0x3385a222, 0x6601a1a2, 0x337e2cb7,

+  0x660bbd37, 0x3376b551, 0x6615d754, 0x336f3bee,

+  0x661feffa, 0x3367c090, 0x662a0727, 0x33604336,

+  0x66341cdb, 0x3358c3e2, 0x663e3117, 0x33514292,

+  0x664843d9, 0x3349bf48, 0x66525521, 0x33423a04,

+  0x665c64ef, 0x333ab2c6, 0x66667342, 0x3333298f,

+  0x6670801a, 0x332b9e5e, 0x667a8b77, 0x33241134,

+  0x66849558, 0x331c8211, 0x668e9dbd, 0x3314f0f6,

+  0x6698a4a6, 0x330d5de3, 0x66a2aa11, 0x3305c8d7,

+  0x66acadff, 0x32fe31d5, 0x66b6b070, 0x32f698db,

+  0x66c0b162, 0x32eefdea, 0x66cab0d6, 0x32e76102,

+  0x66d4aecb, 0x32dfc224, 0x66deab41, 0x32d82150,

+  0x66e8a637, 0x32d07e85, 0x66f29fad, 0x32c8d9c6,

+  0x66fc97a3, 0x32c13311, 0x67068e18, 0x32b98a67,

+  0x6710830c, 0x32b1dfc9, 0x671a767e, 0x32aa3336,

+  0x6724686e, 0x32a284b0, 0x672e58dc, 0x329ad435,

+  0x673847c8, 0x329321c7, 0x67423530, 0x328b6d66,

+  0x674c2115, 0x3283b712, 0x67560b76, 0x327bfecc,

+  0x675ff452, 0x32744493, 0x6769dbaa, 0x326c8868,

+  0x6773c17d, 0x3264ca4c, 0x677da5cb, 0x325d0a3e,

+  0x67878893, 0x32554840, 0x679169d5, 0x324d8450,

+  0x679b4990, 0x3245be70, 0x67a527c4, 0x323df6a0,

+  0x67af0472, 0x32362ce0, 0x67b8df97, 0x322e6130,

+  0x67c2b934, 0x32269391, 0x67cc9149, 0x321ec403,

+  0x67d667d5, 0x3216f287, 0x67e03cd8, 0x320f1f1c,

+  0x67ea1052, 0x320749c3, 0x67f3e241, 0x31ff727c,

+  0x67fdb2a7, 0x31f79948, 0x68078181, 0x31efbe27,

+  0x68114ed0, 0x31e7e118, 0x681b1a94, 0x31e0021e,

+  0x6824e4cc, 0x31d82137, 0x682ead78, 0x31d03e64,

+  0x68387498, 0x31c859a5, 0x68423a2a, 0x31c072fb,

+  0x684bfe2f, 0x31b88a66, 0x6855c0a6, 0x31b09fe7,

+  0x685f8190, 0x31a8b37c, 0x686940ea, 0x31a0c528,

+  0x6872feb6, 0x3198d4ea, 0x687cbaf3, 0x3190e2c3,

+  0x688675a0, 0x3188eeb2, 0x68902ebd, 0x3180f8b8,

+  0x6899e64a, 0x317900d6, 0x68a39c46, 0x3171070c,

+  0x68ad50b1, 0x31690b59, 0x68b7038b, 0x31610dbf,

+  0x68c0b4d2, 0x31590e3e, 0x68ca6488, 0x31510cd5,

+  0x68d412ab, 0x31490986, 0x68ddbf3b, 0x31410450,

+  0x68e76a37, 0x3138fd35, 0x68f113a0, 0x3130f433,

+  0x68fabb75, 0x3128e94c, 0x690461b5, 0x3120dc80,

+  0x690e0661, 0x3118cdcf, 0x6917a977, 0x3110bd39,

+  0x69214af8, 0x3108aabf, 0x692aeae3, 0x31009661,

+  0x69348937, 0x30f8801f, 0x693e25f5, 0x30f067fb,

+  0x6947c11c, 0x30e84df3, 0x69515aab, 0x30e03208,

+  0x695af2a3, 0x30d8143b, 0x69648902, 0x30cff48c,

+  0x696e1dc9, 0x30c7d2fb, 0x6977b0f7, 0x30bfaf89,

+  0x6981428c, 0x30b78a36, 0x698ad287, 0x30af6302,

+  0x699460e8, 0x30a739ed, 0x699dedaf, 0x309f0ef8,

+  0x69a778db, 0x3096e223, 0x69b1026c, 0x308eb36f,

+  0x69ba8a61, 0x308682dc, 0x69c410ba, 0x307e5069,

+  0x69cd9578, 0x30761c18, 0x69d71899, 0x306de5e9,

+  0x69e09a1c, 0x3065addb, 0x69ea1a03, 0x305d73f0,

+  0x69f3984c, 0x30553828, 0x69fd14f6, 0x304cfa83,

+  0x6a069003, 0x3044bb00, 0x6a100970, 0x303c79a2,

+  0x6a19813f, 0x30343667, 0x6a22f76e, 0x302bf151,

+  0x6a2c6bfd, 0x3023aa5f, 0x6a35deeb, 0x301b6193,

+  0x6a3f503a, 0x301316eb, 0x6a48bfe7, 0x300aca69,

+  0x6a522df3, 0x30027c0c, 0x6a5b9a5d, 0x2ffa2bd6,

+  0x6a650525, 0x2ff1d9c7, 0x6a6e6e4b, 0x2fe985de,

+  0x6a77d5ce, 0x2fe1301c, 0x6a813bae, 0x2fd8d882,

+  0x6a8a9fea, 0x2fd07f0f, 0x6a940283, 0x2fc823c5,

+  0x6a9d6377, 0x2fbfc6a3, 0x6aa6c2c6, 0x2fb767aa,

+  0x6ab02071, 0x2faf06da, 0x6ab97c77, 0x2fa6a433,

+  0x6ac2d6d6, 0x2f9e3fb6, 0x6acc2f90, 0x2f95d963,

+  0x6ad586a3, 0x2f8d713a, 0x6adedc10, 0x2f85073c,

+  0x6ae82fd5, 0x2f7c9b69, 0x6af181f3, 0x2f742dc1,

+  0x6afad269, 0x2f6bbe45, 0x6b042137, 0x2f634cf5,

+  0x6b0d6e5c, 0x2f5ad9d1, 0x6b16b9d9, 0x2f5264da,

+  0x6b2003ac, 0x2f49ee0f, 0x6b294bd5, 0x2f417573,

+  0x6b329255, 0x2f38fb03, 0x6b3bd72a, 0x2f307ec2,

+  0x6b451a55, 0x2f2800af, 0x6b4e5bd4, 0x2f1f80ca,

+  0x6b579ba8, 0x2f16ff14, 0x6b60d9d0, 0x2f0e7b8e,

+  0x6b6a164d, 0x2f05f637, 0x6b73511c, 0x2efd6f10,

+  0x6b7c8a3f, 0x2ef4e619, 0x6b85c1b5, 0x2eec5b53,

+  0x6b8ef77d, 0x2ee3cebe, 0x6b982b97, 0x2edb405a,

+  0x6ba15e03, 0x2ed2b027, 0x6baa8ec0, 0x2eca1e27,

+  0x6bb3bdce, 0x2ec18a58, 0x6bbceb2d, 0x2eb8f4bc,

+  0x6bc616dd, 0x2eb05d53, 0x6bcf40dc, 0x2ea7c41e,

+  0x6bd8692b, 0x2e9f291b, 0x6be18fc9, 0x2e968c4d,

+  0x6beab4b6, 0x2e8dedb3, 0x6bf3d7f2, 0x2e854d4d,

+  0x6bfcf97c, 0x2e7cab1c, 0x6c061953, 0x2e740720,

+  0x6c0f3779, 0x2e6b615a, 0x6c1853eb, 0x2e62b9ca,

+  0x6c216eaa, 0x2e5a1070, 0x6c2a87b6, 0x2e51654c,

+  0x6c339f0e, 0x2e48b860, 0x6c3cb4b1, 0x2e4009aa,

+  0x6c45c8a0, 0x2e37592c, 0x6c4edada, 0x2e2ea6e6,

+  0x6c57eb5e, 0x2e25f2d8, 0x6c60fa2d, 0x2e1d3d03,

+  0x6c6a0746, 0x2e148566, 0x6c7312a9, 0x2e0bcc03,

+  0x6c7c1c55, 0x2e0310d9, 0x6c85244a, 0x2dfa53e9,

+  0x6c8e2a87, 0x2df19534, 0x6c972f0d, 0x2de8d4b8,

+  0x6ca031da, 0x2de01278, 0x6ca932ef, 0x2dd74e73,

+  0x6cb2324c, 0x2dce88aa, 0x6cbb2fef, 0x2dc5c11c,

+  0x6cc42bd9, 0x2dbcf7cb, 0x6ccd2609, 0x2db42cb6,

+  0x6cd61e7f, 0x2dab5fdf, 0x6cdf153a, 0x2da29144,

+  0x6ce80a3a, 0x2d99c0e7, 0x6cf0fd80, 0x2d90eec8,

+  0x6cf9ef09, 0x2d881ae8, 0x6d02ded7, 0x2d7f4545,

+  0x6d0bcce8, 0x2d766de2, 0x6d14b93d, 0x2d6d94bf,

+  0x6d1da3d5, 0x2d64b9da, 0x6d268cb0, 0x2d5bdd36,

+  0x6d2f73cd, 0x2d52fed2, 0x6d38592c, 0x2d4a1eaf,

+  0x6d413ccd, 0x2d413ccd, 0x6d4a1eaf, 0x2d38592c,

+  0x6d52fed2, 0x2d2f73cd, 0x6d5bdd36, 0x2d268cb0,

+  0x6d64b9da, 0x2d1da3d5, 0x6d6d94bf, 0x2d14b93d,

+  0x6d766de2, 0x2d0bcce8, 0x6d7f4545, 0x2d02ded7,

+  0x6d881ae8, 0x2cf9ef09, 0x6d90eec8, 0x2cf0fd80,

+  0x6d99c0e7, 0x2ce80a3a, 0x6da29144, 0x2cdf153a,

+  0x6dab5fdf, 0x2cd61e7f, 0x6db42cb6, 0x2ccd2609,

+  0x6dbcf7cb, 0x2cc42bd9, 0x6dc5c11c, 0x2cbb2fef,

+  0x6dce88aa, 0x2cb2324c, 0x6dd74e73, 0x2ca932ef,

+  0x6de01278, 0x2ca031da, 0x6de8d4b8, 0x2c972f0d,

+  0x6df19534, 0x2c8e2a87, 0x6dfa53e9, 0x2c85244a,

+  0x6e0310d9, 0x2c7c1c55, 0x6e0bcc03, 0x2c7312a9,

+  0x6e148566, 0x2c6a0746, 0x6e1d3d03, 0x2c60fa2d,

+  0x6e25f2d8, 0x2c57eb5e, 0x6e2ea6e6, 0x2c4edada,

+  0x6e37592c, 0x2c45c8a0, 0x6e4009aa, 0x2c3cb4b1,

+  0x6e48b860, 0x2c339f0e, 0x6e51654c, 0x2c2a87b6,

+  0x6e5a1070, 0x2c216eaa, 0x6e62b9ca, 0x2c1853eb,

+  0x6e6b615a, 0x2c0f3779, 0x6e740720, 0x2c061953,

+  0x6e7cab1c, 0x2bfcf97c, 0x6e854d4d, 0x2bf3d7f2,

+  0x6e8dedb3, 0x2beab4b6, 0x6e968c4d, 0x2be18fc9,

+  0x6e9f291b, 0x2bd8692b, 0x6ea7c41e, 0x2bcf40dc,

+  0x6eb05d53, 0x2bc616dd, 0x6eb8f4bc, 0x2bbceb2d,

+  0x6ec18a58, 0x2bb3bdce, 0x6eca1e27, 0x2baa8ec0,

+  0x6ed2b027, 0x2ba15e03, 0x6edb405a, 0x2b982b97,

+  0x6ee3cebe, 0x2b8ef77d, 0x6eec5b53, 0x2b85c1b5,

+  0x6ef4e619, 0x2b7c8a3f, 0x6efd6f10, 0x2b73511c,

+  0x6f05f637, 0x2b6a164d, 0x6f0e7b8e, 0x2b60d9d0,

+  0x6f16ff14, 0x2b579ba8, 0x6f1f80ca, 0x2b4e5bd4,

+  0x6f2800af, 0x2b451a55, 0x6f307ec2, 0x2b3bd72a,

+  0x6f38fb03, 0x2b329255, 0x6f417573, 0x2b294bd5,

+  0x6f49ee0f, 0x2b2003ac, 0x6f5264da, 0x2b16b9d9,

+  0x6f5ad9d1, 0x2b0d6e5c, 0x6f634cf5, 0x2b042137,

+  0x6f6bbe45, 0x2afad269, 0x6f742dc1, 0x2af181f3,

+  0x6f7c9b69, 0x2ae82fd5, 0x6f85073c, 0x2adedc10,

+  0x6f8d713a, 0x2ad586a3, 0x6f95d963, 0x2acc2f90,

+  0x6f9e3fb6, 0x2ac2d6d6, 0x6fa6a433, 0x2ab97c77,

+  0x6faf06da, 0x2ab02071, 0x6fb767aa, 0x2aa6c2c6,

+  0x6fbfc6a3, 0x2a9d6377, 0x6fc823c5, 0x2a940283,

+  0x6fd07f0f, 0x2a8a9fea, 0x6fd8d882, 0x2a813bae,

+  0x6fe1301c, 0x2a77d5ce, 0x6fe985de, 0x2a6e6e4b,

+  0x6ff1d9c7, 0x2a650525, 0x6ffa2bd6, 0x2a5b9a5d,

+  0x70027c0c, 0x2a522df3, 0x700aca69, 0x2a48bfe7,

+  0x701316eb, 0x2a3f503a, 0x701b6193, 0x2a35deeb,

+  0x7023aa5f, 0x2a2c6bfd, 0x702bf151, 0x2a22f76e,

+  0x70343667, 0x2a19813f, 0x703c79a2, 0x2a100970,

+  0x7044bb00, 0x2a069003, 0x704cfa83, 0x29fd14f6,

+  0x70553828, 0x29f3984c, 0x705d73f0, 0x29ea1a03,

+  0x7065addb, 0x29e09a1c, 0x706de5e9, 0x29d71899,

+  0x70761c18, 0x29cd9578, 0x707e5069, 0x29c410ba,

+  0x708682dc, 0x29ba8a61, 0x708eb36f, 0x29b1026c,

+  0x7096e223, 0x29a778db, 0x709f0ef8, 0x299dedaf,

+  0x70a739ed, 0x299460e8, 0x70af6302, 0x298ad287,

+  0x70b78a36, 0x2981428c, 0x70bfaf89, 0x2977b0f7,

+  0x70c7d2fb, 0x296e1dc9, 0x70cff48c, 0x29648902,

+  0x70d8143b, 0x295af2a3, 0x70e03208, 0x29515aab,

+  0x70e84df3, 0x2947c11c, 0x70f067fb, 0x293e25f5,

+  0x70f8801f, 0x29348937, 0x71009661, 0x292aeae3,

+  0x7108aabf, 0x29214af8, 0x7110bd39, 0x2917a977,

+  0x7118cdcf, 0x290e0661, 0x7120dc80, 0x290461b5,

+  0x7128e94c, 0x28fabb75, 0x7130f433, 0x28f113a0,

+  0x7138fd35, 0x28e76a37, 0x71410450, 0x28ddbf3b,

+  0x71490986, 0x28d412ab, 0x71510cd5, 0x28ca6488,

+  0x71590e3e, 0x28c0b4d2, 0x71610dbf, 0x28b7038b,

+  0x71690b59, 0x28ad50b1, 0x7171070c, 0x28a39c46,

+  0x717900d6, 0x2899e64a, 0x7180f8b8, 0x28902ebd,

+  0x7188eeb2, 0x288675a0, 0x7190e2c3, 0x287cbaf3,

+  0x7198d4ea, 0x2872feb6, 0x71a0c528, 0x286940ea,

+  0x71a8b37c, 0x285f8190, 0x71b09fe7, 0x2855c0a6,

+  0x71b88a66, 0x284bfe2f, 0x71c072fb, 0x28423a2a,

+  0x71c859a5, 0x28387498, 0x71d03e64, 0x282ead78,

+  0x71d82137, 0x2824e4cc, 0x71e0021e, 0x281b1a94,

+  0x71e7e118, 0x28114ed0, 0x71efbe27, 0x28078181,

+  0x71f79948, 0x27fdb2a7, 0x71ff727c, 0x27f3e241,

+  0x720749c3, 0x27ea1052, 0x720f1f1c, 0x27e03cd8,

+  0x7216f287, 0x27d667d5, 0x721ec403, 0x27cc9149,

+  0x72269391, 0x27c2b934, 0x722e6130, 0x27b8df97,

+  0x72362ce0, 0x27af0472, 0x723df6a0, 0x27a527c4,

+  0x7245be70, 0x279b4990, 0x724d8450, 0x279169d5,

+  0x72554840, 0x27878893, 0x725d0a3e, 0x277da5cb,

+  0x7264ca4c, 0x2773c17d, 0x726c8868, 0x2769dbaa,

+  0x72744493, 0x275ff452, 0x727bfecc, 0x27560b76,

+  0x7283b712, 0x274c2115, 0x728b6d66, 0x27423530,

+  0x729321c7, 0x273847c8, 0x729ad435, 0x272e58dc,

+  0x72a284b0, 0x2724686e, 0x72aa3336, 0x271a767e,

+  0x72b1dfc9, 0x2710830c, 0x72b98a67, 0x27068e18,

+  0x72c13311, 0x26fc97a3, 0x72c8d9c6, 0x26f29fad,

+  0x72d07e85, 0x26e8a637, 0x72d82150, 0x26deab41,

+  0x72dfc224, 0x26d4aecb, 0x72e76102, 0x26cab0d6,

+  0x72eefdea, 0x26c0b162, 0x72f698db, 0x26b6b070,

+  0x72fe31d5, 0x26acadff, 0x7305c8d7, 0x26a2aa11,

+  0x730d5de3, 0x2698a4a6, 0x7314f0f6, 0x268e9dbd,

+  0x731c8211, 0x26849558, 0x73241134, 0x267a8b77,

+  0x732b9e5e, 0x2670801a, 0x7333298f, 0x26667342,

+  0x733ab2c6, 0x265c64ef, 0x73423a04, 0x26525521,

+  0x7349bf48, 0x264843d9, 0x73514292, 0x263e3117,

+  0x7358c3e2, 0x26341cdb, 0x73604336, 0x262a0727,

+  0x7367c090, 0x261feffa, 0x736f3bee, 0x2615d754,

+  0x7376b551, 0x260bbd37, 0x737e2cb7, 0x2601a1a2,

+  0x7385a222, 0x25f78497, 0x738d1590, 0x25ed6614,

+  0x73948701, 0x25e3461b, 0x739bf675, 0x25d924ac,

+  0x73a363ec, 0x25cf01c8, 0x73aacf65, 0x25c4dd6e,

+  0x73b238e0, 0x25bab7a0, 0x73b9a05d, 0x25b0905d,

+  0x73c105db, 0x25a667a7, 0x73c8695b, 0x259c3d7c,

+  0x73cfcadc, 0x259211df, 0x73d72a5d, 0x2587e4cf,

+  0x73de87de, 0x257db64c, 0x73e5e360, 0x25738657,

+  0x73ed3ce1, 0x256954f1, 0x73f49462, 0x255f2219,

+  0x73fbe9e2, 0x2554edd1, 0x74033d61, 0x254ab818,

+  0x740a8edf, 0x254080ef, 0x7411de5b, 0x25364857,

+  0x74192bd5, 0x252c0e4f, 0x7420774d, 0x2521d2d8,

+  0x7427c0c3, 0x251795f3, 0x742f0836, 0x250d57a0,

+  0x74364da6, 0x250317df, 0x743d9112, 0x24f8d6b0,

+  0x7444d27b, 0x24ee9415, 0x744c11e0, 0x24e4500e,

+  0x74534f41, 0x24da0a9a, 0x745a8a9d, 0x24cfc3ba,

+  0x7461c3f5, 0x24c57b6f, 0x7468fb47, 0x24bb31ba,

+  0x74703095, 0x24b0e699, 0x747763dd, 0x24a69a0f,

+  0x747e951f, 0x249c4c1b, 0x7485c45b, 0x2491fcbe,

+  0x748cf190, 0x2487abf7, 0x74941cbf, 0x247d59c8,

+  0x749b45e7, 0x24730631, 0x74a26d08, 0x2468b132,

+  0x74a99221, 0x245e5acc, 0x74b0b533, 0x245402ff,

+  0x74b7d63c, 0x2449a9cc, 0x74bef53d, 0x243f4f32,

+  0x74c61236, 0x2434f332, 0x74cd2d26, 0x242a95ce,

+  0x74d4460c, 0x24203704, 0x74db5cea, 0x2415d6d5,

+  0x74e271bd, 0x240b7543, 0x74e98487, 0x2401124d,

+  0x74f09546, 0x23f6adf3, 0x74f7a3fb, 0x23ec4837,

+  0x74feb0a5, 0x23e1e117, 0x7505bb44, 0x23d77896,

+  0x750cc3d8, 0x23cd0eb3, 0x7513ca60, 0x23c2a36f,

+  0x751acedd, 0x23b836ca, 0x7521d14d, 0x23adc8c4,

+  0x7528d1b1, 0x23a3595e, 0x752fd008, 0x2398e898,

+  0x7536cc52, 0x238e7673, 0x753dc68f, 0x238402ef,

+  0x7544bebf, 0x23798e0d, 0x754bb4e1, 0x236f17cc,

+  0x7552a8f4, 0x2364a02e, 0x75599afa, 0x235a2733,

+  0x75608af1, 0x234facda, 0x756778d9, 0x23453125,

+  0x756e64b2, 0x233ab414, 0x75754e7c, 0x233035a7,

+  0x757c3636, 0x2325b5df, 0x75831be0, 0x231b34bc,

+  0x7589ff7a, 0x2310b23e, 0x7590e104, 0x23062e67,

+  0x7597c07d, 0x22fba936, 0x759e9de5, 0x22f122ab,

+  0x75a5793c, 0x22e69ac8, 0x75ac5282, 0x22dc118c,

+  0x75b329b5, 0x22d186f8, 0x75b9fed7, 0x22c6fb0c,

+  0x75c0d1e7, 0x22bc6dca, 0x75c7a2e3, 0x22b1df30,

+  0x75ce71ce, 0x22a74f40, 0x75d53ea5, 0x229cbdfa,

+  0x75dc0968, 0x22922b5e, 0x75e2d219, 0x2287976e,

+  0x75e998b5, 0x227d0228, 0x75f05d3d, 0x22726b8e,

+  0x75f71fb1, 0x2267d3a0, 0x75fde011, 0x225d3a5e,

+  0x76049e5b, 0x22529fca, 0x760b5a90, 0x224803e2,

+  0x761214b0, 0x223d66a8, 0x7618ccba, 0x2232c81c,

+  0x761f82af, 0x2228283f, 0x7626368d, 0x221d8711,

+  0x762ce855, 0x2212e492, 0x76339806, 0x220840c2,

+  0x763a45a0, 0x21fd9ba3, 0x7640f123, 0x21f2f534,

+  0x76479a8e, 0x21e84d76, 0x764e41e2, 0x21dda46a,

+  0x7654e71d, 0x21d2fa0f, 0x765b8a41, 0x21c84e67,

+  0x76622b4c, 0x21bda171, 0x7668ca3e, 0x21b2f32e,

+  0x766f6717, 0x21a8439e, 0x767601d7, 0x219d92c2,

+  0x767c9a7e, 0x2192e09b, 0x7683310b, 0x21882d28,

+  0x7689c57d, 0x217d786a, 0x769057d6, 0x2172c262,

+  0x7696e814, 0x21680b0f, 0x769d7637, 0x215d5273,

+  0x76a4023f, 0x2152988d, 0x76aa8c2c, 0x2147dd5f,

+  0x76b113fd, 0x213d20e8, 0x76b799b3, 0x21326329,

+  0x76be1d4c, 0x2127a423, 0x76c49ec9, 0x211ce3d5,

+  0x76cb1e2a, 0x21122240, 0x76d19b6e, 0x21075f65,

+  0x76d81695, 0x20fc9b44, 0x76de8f9e, 0x20f1d5de,

+  0x76e5068a, 0x20e70f32, 0x76eb7b58, 0x20dc4742,

+  0x76f1ee09, 0x20d17e0d, 0x76f85e9a, 0x20c6b395,

+  0x76fecd0e, 0x20bbe7d8, 0x77053962, 0x20b11ad9,

+  0x770ba398, 0x20a64c97, 0x77120bae, 0x209b7d13,

+  0x771871a5, 0x2090ac4d, 0x771ed57c, 0x2085da46,

+  0x77253733, 0x207b06fe, 0x772b96ca, 0x20703275,

+  0x7731f440, 0x20655cac, 0x77384f95, 0x205a85a3,

+  0x773ea8ca, 0x204fad5b, 0x7744ffdd, 0x2044d3d4,

+  0x774b54ce, 0x2039f90f, 0x7751a79e, 0x202f1d0b,

+  0x7757f84c, 0x20243fca, 0x775e46d8, 0x2019614c,

+  0x77649341, 0x200e8190, 0x776add88, 0x2003a099,

+  0x777125ac, 0x1ff8be65, 0x77776bac, 0x1feddaf6,

+  0x777daf89, 0x1fe2f64c, 0x7783f143, 0x1fd81067,

+  0x778a30d8, 0x1fcd2948, 0x77906e49, 0x1fc240ef,

+  0x7796a996, 0x1fb7575c, 0x779ce2be, 0x1fac6c91,

+  0x77a319c2, 0x1fa1808c, 0x77a94ea0, 0x1f969350,

+  0x77af8159, 0x1f8ba4dc, 0x77b5b1ec, 0x1f80b531,

+  0x77bbe05a, 0x1f75c44e, 0x77c20ca1, 0x1f6ad235,

+  0x77c836c2, 0x1f5fdee6, 0x77ce5ebd, 0x1f54ea62,

+  0x77d48490, 0x1f49f4a8, 0x77daa83d, 0x1f3efdb9,

+  0x77e0c9c3, 0x1f340596, 0x77e6e921, 0x1f290c3f,

+  0x77ed0657, 0x1f1e11b5, 0x77f32165, 0x1f1315f7,

+  0x77f93a4b, 0x1f081907, 0x77ff5109, 0x1efd1ae4,

+  0x7805659e, 0x1ef21b90, 0x780b780a, 0x1ee71b0a,

+  0x7811884d, 0x1edc1953, 0x78179666, 0x1ed1166b,

+  0x781da256, 0x1ec61254, 0x7823ac1d, 0x1ebb0d0d,

+  0x7829b3b9, 0x1eb00696, 0x782fb92a, 0x1ea4fef0,

+  0x7835bc71, 0x1e99f61d, 0x783bbd8e, 0x1e8eec1b,

+  0x7841bc7f, 0x1e83e0eb, 0x7847b946, 0x1e78d48e,

+  0x784db3e0, 0x1e6dc705, 0x7853ac4f, 0x1e62b84f,

+  0x7859a292, 0x1e57a86d, 0x785f96a9, 0x1e4c9760,

+  0x78658894, 0x1e418528, 0x786b7852, 0x1e3671c5,

+  0x787165e3, 0x1e2b5d38, 0x78775147, 0x1e204781,

+  0x787d3a7e, 0x1e1530a1, 0x78832187, 0x1e0a1898,

+  0x78890663, 0x1dfeff67, 0x788ee910, 0x1df3e50d,

+  0x7894c98f, 0x1de8c98c, 0x789aa7e0, 0x1dddace4,

+  0x78a08402, 0x1dd28f15, 0x78a65df6, 0x1dc7701f,

+  0x78ac35ba, 0x1dbc5004, 0x78b20b4f, 0x1db12ec3,

+  0x78b7deb4, 0x1da60c5d, 0x78bdafea, 0x1d9ae8d2,

+  0x78c37eef, 0x1d8fc424, 0x78c94bc4, 0x1d849e51,

+  0x78cf1669, 0x1d79775c, 0x78d4dedd, 0x1d6e4f43,

+  0x78daa520, 0x1d632608, 0x78e06932, 0x1d57fbaa,

+  0x78e62b13, 0x1d4cd02c, 0x78ebeac2, 0x1d41a38c,

+  0x78f1a840, 0x1d3675cb, 0x78f7638b, 0x1d2b46ea,

+  0x78fd1ca4, 0x1d2016e9, 0x7902d38b, 0x1d14e5c9,

+  0x7908883f, 0x1d09b389, 0x790e3ac0, 0x1cfe802b,

+  0x7913eb0e, 0x1cf34baf, 0x79199929, 0x1ce81615,

+  0x791f4510, 0x1cdcdf5e, 0x7924eec3, 0x1cd1a78a,

+  0x792a9642, 0x1cc66e99, 0x79303b8e, 0x1cbb348d,

+  0x7935dea4, 0x1caff965, 0x793b7f86, 0x1ca4bd21,

+  0x79411e33, 0x1c997fc4, 0x7946baac, 0x1c8e414b,

+  0x794c54ee, 0x1c8301b9, 0x7951ecfc, 0x1c77c10e,

+  0x795782d3, 0x1c6c7f4a, 0x795d1675, 0x1c613c6d,

+  0x7962a7e0, 0x1c55f878, 0x79683715, 0x1c4ab36b,

+  0x796dc414, 0x1c3f6d47, 0x79734edc, 0x1c34260c,

+  0x7978d76c, 0x1c28ddbb, 0x797e5dc6, 0x1c1d9454,

+  0x7983e1e8, 0x1c1249d8, 0x798963d2, 0x1c06fe46,

+  0x798ee385, 0x1bfbb1a0, 0x799460ff, 0x1bf063e6,

+  0x7999dc42, 0x1be51518, 0x799f554b, 0x1bd9c537,

+  0x79a4cc1c, 0x1bce7442, 0x79aa40b4, 0x1bc3223c,

+  0x79afb313, 0x1bb7cf23, 0x79b52339, 0x1bac7af9,

+  0x79ba9125, 0x1ba125bd, 0x79bffcd7, 0x1b95cf71,

+  0x79c5664f, 0x1b8a7815, 0x79cacd8d, 0x1b7f1fa9,

+  0x79d03291, 0x1b73c62d, 0x79d5955a, 0x1b686ba3,

+  0x79daf5e8, 0x1b5d100a, 0x79e0543c, 0x1b51b363,

+  0x79e5b054, 0x1b4655ae, 0x79eb0a31, 0x1b3af6ec,

+  0x79f061d2, 0x1b2f971e, 0x79f5b737, 0x1b243643,

+  0x79fb0a60, 0x1b18d45c, 0x7a005b4d, 0x1b0d716a,

+  0x7a05a9fd, 0x1b020d6c, 0x7a0af671, 0x1af6a865,

+  0x7a1040a8, 0x1aeb4253, 0x7a1588a2, 0x1adfdb37,

+  0x7a1ace5f, 0x1ad47312, 0x7a2011de, 0x1ac909e5,

+  0x7a25531f, 0x1abd9faf, 0x7a2a9223, 0x1ab23471,

+  0x7a2fcee8, 0x1aa6c82b, 0x7a350970, 0x1a9b5adf,

+  0x7a3a41b9, 0x1a8fec8c, 0x7a3f77c3, 0x1a847d33,

+  0x7a44ab8e, 0x1a790cd4, 0x7a49dd1a, 0x1a6d9b70,

+  0x7a4f0c67, 0x1a622907, 0x7a543974, 0x1a56b599,

+  0x7a596442, 0x1a4b4128, 0x7a5e8cd0, 0x1a3fcbb3,

+  0x7a63b31d, 0x1a34553b, 0x7a68d72b, 0x1a28ddc0,

+  0x7a6df8f8, 0x1a1d6544, 0x7a731884, 0x1a11ebc5,

+  0x7a7835cf, 0x1a067145, 0x7a7d50da, 0x19faf5c5,

+  0x7a8269a3, 0x19ef7944, 0x7a87802a, 0x19e3fbc3,

+  0x7a8c9470, 0x19d87d42, 0x7a91a674, 0x19ccfdc2,

+  0x7a96b636, 0x19c17d44, 0x7a9bc3b6, 0x19b5fbc8,

+  0x7aa0cef3, 0x19aa794d, 0x7aa5d7ee, 0x199ef5d6,

+  0x7aaadea6, 0x19937161, 0x7aafe31b, 0x1987ebf0,

+  0x7ab4e54c, 0x197c6584, 0x7ab9e53a, 0x1970de1b,

+  0x7abee2e5, 0x196555b8, 0x7ac3de4c, 0x1959cc5a,

+  0x7ac8d76f, 0x194e4201, 0x7acdce4d, 0x1942b6af,

+  0x7ad2c2e8, 0x19372a64, 0x7ad7b53d, 0x192b9d1f,

+  0x7adca54e, 0x19200ee3, 0x7ae1931a, 0x19147fae,

+  0x7ae67ea1, 0x1908ef82, 0x7aeb67e3, 0x18fd5e5f,

+  0x7af04edf, 0x18f1cc45, 0x7af53395, 0x18e63935,

+  0x7afa1605, 0x18daa52f, 0x7afef630, 0x18cf1034,

+  0x7b03d414, 0x18c37a44, 0x7b08afb2, 0x18b7e35f,

+  0x7b0d8909, 0x18ac4b87, 0x7b126019, 0x18a0b2bb,

+  0x7b1734e2, 0x189518fc, 0x7b1c0764, 0x18897e4a,

+  0x7b20d79e, 0x187de2a7, 0x7b25a591, 0x18724611,

+  0x7b2a713d, 0x1866a88a, 0x7b2f3aa0, 0x185b0a13,

+  0x7b3401bb, 0x184f6aab, 0x7b38c68e, 0x1843ca53,

+  0x7b3d8918, 0x1838290c, 0x7b42495a, 0x182c86d5,

+  0x7b470753, 0x1820e3b0, 0x7b4bc303, 0x18153f9d,

+  0x7b507c69, 0x18099a9c, 0x7b553386, 0x17fdf4ae,

+  0x7b59e85a, 0x17f24dd3, 0x7b5e9ae4, 0x17e6a60c,

+  0x7b634b23, 0x17dafd59, 0x7b67f919, 0x17cf53bb,

+  0x7b6ca4c4, 0x17c3a931, 0x7b714e25, 0x17b7fdbd,

+  0x7b75f53c, 0x17ac515f, 0x7b7a9a07, 0x17a0a417,

+  0x7b7f3c87, 0x1794f5e6, 0x7b83dcbc, 0x178946cc,

+  0x7b887aa6, 0x177d96ca, 0x7b8d1644, 0x1771e5e0,

+  0x7b91af97, 0x1766340f, 0x7b96469d, 0x175a8157,

+  0x7b9adb57, 0x174ecdb8, 0x7b9f6dc5, 0x17431933,

+  0x7ba3fde7, 0x173763c9, 0x7ba88bbc, 0x172bad7a,

+  0x7bad1744, 0x171ff646, 0x7bb1a080, 0x17143e2d,

+  0x7bb6276e, 0x17088531, 0x7bbaac0e, 0x16fccb51,

+  0x7bbf2e62, 0x16f1108f, 0x7bc3ae67, 0x16e554ea,

+  0x7bc82c1f, 0x16d99864, 0x7bcca789, 0x16cddafb,

+  0x7bd120a4, 0x16c21cb2, 0x7bd59771, 0x16b65d88,

+  0x7bda0bf0, 0x16aa9d7e, 0x7bde7e20, 0x169edc94,

+  0x7be2ee01, 0x16931acb, 0x7be75b93, 0x16875823,

+  0x7bebc6d5, 0x167b949d, 0x7bf02fc9, 0x166fd039,

+  0x7bf4966c, 0x16640af7, 0x7bf8fac0, 0x165844d8,

+  0x7bfd5cc4, 0x164c7ddd, 0x7c01bc78, 0x1640b606,

+  0x7c0619dc, 0x1634ed53, 0x7c0a74f0, 0x162923c5,

+  0x7c0ecdb2, 0x161d595d, 0x7c132424, 0x16118e1a,

+  0x7c177845, 0x1605c1fd, 0x7c1bca16, 0x15f9f507,

+  0x7c201994, 0x15ee2738, 0x7c2466c2, 0x15e25890,

+  0x7c28b19e, 0x15d68911, 0x7c2cfa28, 0x15cab8ba,

+  0x7c314060, 0x15bee78c, 0x7c358446, 0x15b31587,

+  0x7c39c5da, 0x15a742ac, 0x7c3e051b, 0x159b6efb,

+  0x7c42420a, 0x158f9a76, 0x7c467ca6, 0x1583c51b,

+  0x7c4ab4ef, 0x1577eeec, 0x7c4eeae5, 0x156c17e9,

+  0x7c531e88, 0x15604013, 0x7c574fd8, 0x1554676a,

+  0x7c5b7ed4, 0x15488dee, 0x7c5fab7c, 0x153cb3a0,

+  0x7c63d5d1, 0x1530d881, 0x7c67fdd1, 0x1524fc90,

+  0x7c6c237e, 0x15191fcf, 0x7c7046d6, 0x150d423d,

+  0x7c7467d9, 0x150163dc, 0x7c788688, 0x14f584ac,

+  0x7c7ca2e2, 0x14e9a4ac, 0x7c80bce7, 0x14ddc3de,

+  0x7c84d496, 0x14d1e242, 0x7c88e9f1, 0x14c5ffd9,

+  0x7c8cfcf6, 0x14ba1ca3, 0x7c910da5, 0x14ae38a0,

+  0x7c951bff, 0x14a253d1, 0x7c992803, 0x14966e36,

+  0x7c9d31b0, 0x148a87d1, 0x7ca13908, 0x147ea0a0,

+  0x7ca53e09, 0x1472b8a5, 0x7ca940b3, 0x1466cfe1,

+  0x7cad4107, 0x145ae653, 0x7cb13f04, 0x144efbfc,

+  0x7cb53aaa, 0x144310dd, 0x7cb933f9, 0x143724f5,

+  0x7cbd2af0, 0x142b3846, 0x7cc11f90, 0x141f4ad1,

+  0x7cc511d9, 0x14135c94, 0x7cc901c9, 0x14076d91,

+  0x7cccef62, 0x13fb7dc9, 0x7cd0daa2, 0x13ef8d3c,

+  0x7cd4c38b, 0x13e39be9, 0x7cd8aa1b, 0x13d7a9d3,

+  0x7cdc8e52, 0x13cbb6f8, 0x7ce07031, 0x13bfc35b,

+  0x7ce44fb7, 0x13b3cefa, 0x7ce82ce4, 0x13a7d9d7,

+  0x7cec07b8, 0x139be3f2, 0x7cefe032, 0x138fed4b,

+  0x7cf3b653, 0x1383f5e3, 0x7cf78a1b, 0x1377fdbb,

+  0x7cfb5b89, 0x136c04d2, 0x7cff2a9d, 0x13600b2a,

+  0x7d02f757, 0x135410c3, 0x7d06c1b6, 0x1348159d,

+  0x7d0a89bc, 0x133c19b8, 0x7d0e4f67, 0x13301d16,

+  0x7d1212b7, 0x13241fb6, 0x7d15d3ad, 0x1318219a,

+  0x7d199248, 0x130c22c1, 0x7d1d4e88, 0x1300232c,

+  0x7d21086c, 0x12f422db, 0x7d24bff6, 0x12e821cf,

+  0x7d287523, 0x12dc2009, 0x7d2c27f6, 0x12d01d89,

+  0x7d2fd86c, 0x12c41a4f, 0x7d338687, 0x12b8165b,

+  0x7d373245, 0x12ac11af, 0x7d3adba7, 0x12a00c4b,

+  0x7d3e82ae, 0x1294062f, 0x7d422757, 0x1287ff5b,

+  0x7d45c9a4, 0x127bf7d1, 0x7d496994, 0x126fef90,

+  0x7d4d0728, 0x1263e699, 0x7d50a25e, 0x1257dced,

+  0x7d543b37, 0x124bd28c, 0x7d57d1b3, 0x123fc776,

+  0x7d5b65d2, 0x1233bbac, 0x7d5ef793, 0x1227af2e,

+  0x7d6286f6, 0x121ba1fd, 0x7d6613fb, 0x120f941a,

+  0x7d699ea3, 0x12038584, 0x7d6d26ec, 0x11f7763c,

+  0x7d70acd7, 0x11eb6643, 0x7d743064, 0x11df5599,

+  0x7d77b192, 0x11d3443f, 0x7d7b3061, 0x11c73235,

+  0x7d7eacd2, 0x11bb1f7c, 0x7d8226e4, 0x11af0c13,

+  0x7d859e96, 0x11a2f7fc, 0x7d8913ea, 0x1196e337,

+  0x7d8c86de, 0x118acdc4, 0x7d8ff772, 0x117eb7a4,

+  0x7d9365a8, 0x1172a0d7, 0x7d96d17d, 0x1166895f,

+  0x7d9a3af2, 0x115a713a, 0x7d9da208, 0x114e586a,

+  0x7da106bd, 0x11423ef0, 0x7da46912, 0x113624cb,

+  0x7da7c907, 0x112a09fc, 0x7dab269b, 0x111dee84,

+  0x7dae81cf, 0x1111d263, 0x7db1daa2, 0x1105b599,

+  0x7db53113, 0x10f99827, 0x7db88524, 0x10ed7a0e,

+  0x7dbbd6d4, 0x10e15b4e, 0x7dbf2622, 0x10d53be7,

+  0x7dc2730f, 0x10c91bda, 0x7dc5bd9b, 0x10bcfb28,

+  0x7dc905c5, 0x10b0d9d0, 0x7dcc4b8d, 0x10a4b7d3,

+  0x7dcf8ef3, 0x10989532, 0x7dd2cff7, 0x108c71ee,

+  0x7dd60e99, 0x10804e06, 0x7dd94ad8, 0x1074297b,

+  0x7ddc84b5, 0x1068044e, 0x7ddfbc30, 0x105bde7f,

+  0x7de2f148, 0x104fb80e, 0x7de623fd, 0x104390fd,

+  0x7de9544f, 0x1037694b, 0x7dec823e, 0x102b40f8,

+  0x7defadca, 0x101f1807, 0x7df2d6f3, 0x1012ee76,

+  0x7df5fdb8, 0x1006c446, 0x7df9221a, 0xffa9979,

+  0x7dfc4418, 0xfee6e0d, 0x7dff63b2, 0xfe24205,

+  0x7e0280e9, 0xfd6155f, 0x7e059bbb, 0xfc9e81e,

+  0x7e08b42a, 0xfbdba40, 0x7e0bca34, 0xfb18bc8,

+  0x7e0eddd9, 0xfa55cb4, 0x7e11ef1b, 0xf992d06,

+  0x7e14fdf7, 0xf8cfcbe, 0x7e180a6f, 0xf80cbdc,

+  0x7e1b1482, 0xf749a61, 0x7e1e1c30, 0xf68684e,

+  0x7e212179, 0xf5c35a3, 0x7e24245d, 0xf500260,

+  0x7e2724db, 0xf43ce86, 0x7e2a22f4, 0xf379a16,

+  0x7e2d1ea8, 0xf2b650f, 0x7e3017f6, 0xf1f2f73,

+  0x7e330ede, 0xf12f941, 0x7e360360, 0xf06c27a,

+  0x7e38f57c, 0xefa8b20, 0x7e3be532, 0xeee5331,

+  0x7e3ed282, 0xee21aaf, 0x7e41bd6c, 0xed5e19a,

+  0x7e44a5ef, 0xec9a7f3, 0x7e478c0b, 0xebd6db9,

+  0x7e4a6fc1, 0xeb132ef, 0x7e4d5110, 0xea4f793,

+  0x7e502ff9, 0xe98bba7, 0x7e530c7a, 0xe8c7f2a,

+  0x7e55e694, 0xe80421e, 0x7e58be47, 0xe740483,

+  0x7e5b9392, 0xe67c65a, 0x7e5e6676, 0xe5b87a2,

+  0x7e6136f3, 0xe4f485c, 0x7e640507, 0xe430889,

+  0x7e66d0b4, 0xe36c82a, 0x7e6999fa, 0xe2a873e,

+  0x7e6c60d7, 0xe1e45c6, 0x7e6f254c, 0xe1203c3,

+  0x7e71e759, 0xe05c135, 0x7e74a6fd, 0xdf97e1d,

+  0x7e77643a, 0xded3a7b, 0x7e7a1f0d, 0xde0f64f,

+  0x7e7cd778, 0xdd4b19a, 0x7e7f8d7b, 0xdc86c5d,

+  0x7e824114, 0xdbc2698, 0x7e84f245, 0xdafe04b,

+  0x7e87a10c, 0xda39978, 0x7e8a4d6a, 0xd97521d,

+  0x7e8cf75f, 0xd8b0a3d, 0x7e8f9eeb, 0xd7ec1d6,

+  0x7e92440d, 0xd7278eb, 0x7e94e6c6, 0xd662f7b,

+  0x7e978715, 0xd59e586, 0x7e9a24fb, 0xd4d9b0e,

+  0x7e9cc076, 0xd415013, 0x7e9f5988, 0xd350495,

+  0x7ea1f02f, 0xd28b894, 0x7ea4846c, 0xd1c6c11,

+  0x7ea7163f, 0xd101f0e, 0x7ea9a5a8, 0xd03d189,

+  0x7eac32a6, 0xcf78383, 0x7eaebd3a, 0xceb34fe,

+  0x7eb14563, 0xcdee5f9, 0x7eb3cb21, 0xcd29676,

+  0x7eb64e75, 0xcc64673, 0x7eb8cf5d, 0xcb9f5f3,

+  0x7ebb4ddb, 0xcada4f5, 0x7ebdc9ed, 0xca1537a,

+  0x7ec04394, 0xc950182, 0x7ec2bad0, 0xc88af0e,

+  0x7ec52fa0, 0xc7c5c1e, 0x7ec7a205, 0xc7008b3,

+  0x7eca11fe, 0xc63b4ce, 0x7ecc7f8b, 0xc57606e,

+  0x7eceeaad, 0xc4b0b94, 0x7ed15363, 0xc3eb641,

+  0x7ed3b9ad, 0xc326075, 0x7ed61d8a, 0xc260a31,

+  0x7ed87efc, 0xc19b374, 0x7edade01, 0xc0d5c41,

+  0x7edd3a9a, 0xc010496, 0x7edf94c7, 0xbf4ac75,

+  0x7ee1ec87, 0xbe853de, 0x7ee441da, 0xbdbfad1,

+  0x7ee694c1, 0xbcfa150, 0x7ee8e53a, 0xbc34759,

+  0x7eeb3347, 0xbb6ecef, 0x7eed7ee7, 0xbaa9211,

+  0x7eefc81a, 0xb9e36c0, 0x7ef20ee0, 0xb91dafc,

+  0x7ef45338, 0xb857ec7, 0x7ef69523, 0xb79221f,

+  0x7ef8d4a1, 0xb6cc506, 0x7efb11b1, 0xb60677c,

+  0x7efd4c54, 0xb540982, 0x7eff8489, 0xb47ab19,

+  0x7f01ba50, 0xb3b4c40, 0x7f03eda9, 0xb2eecf8,

+  0x7f061e95, 0xb228d42, 0x7f084d12, 0xb162d1d,

+  0x7f0a7921, 0xb09cc8c, 0x7f0ca2c2, 0xafd6b8d,

+  0x7f0ec9f5, 0xaf10a22, 0x7f10eeb9, 0xae4a84b,

+  0x7f13110f, 0xad84609, 0x7f1530f7, 0xacbe35b,

+  0x7f174e70, 0xabf8043, 0x7f19697a, 0xab31cc1,

+  0x7f1b8215, 0xaa6b8d5, 0x7f1d9842, 0xa9a5480,

+  0x7f1fabff, 0xa8defc3, 0x7f21bd4e, 0xa818a9d,

+  0x7f23cc2e, 0xa752510, 0x7f25d89e, 0xa68bf1b,

+  0x7f27e29f, 0xa5c58c0, 0x7f29ea31, 0xa4ff1fe,

+  0x7f2bef53, 0xa438ad7, 0x7f2df206, 0xa37234a,

+  0x7f2ff24a, 0xa2abb59, 0x7f31f01d, 0xa1e5303,

+  0x7f33eb81, 0xa11ea49, 0x7f35e476, 0xa05812c,

+  0x7f37dafa, 0x9f917ac, 0x7f39cf0e, 0x9ecadc9,

+  0x7f3bc0b3, 0x9e04385, 0x7f3dafe7, 0x9d3d8df,

+  0x7f3f9cab, 0x9c76dd8, 0x7f4186ff, 0x9bb0271,

+  0x7f436ee3, 0x9ae96aa, 0x7f455456, 0x9a22a83,

+  0x7f473759, 0x995bdfd, 0x7f4917eb, 0x9895118,

+  0x7f4af60d, 0x97ce3d5, 0x7f4cd1be, 0x9707635,

+  0x7f4eaafe, 0x9640837, 0x7f5081cd, 0x95799dd,

+  0x7f52562c, 0x94b2b27, 0x7f54281a, 0x93ebc14,

+  0x7f55f796, 0x9324ca7, 0x7f57c4a2, 0x925dcdf,

+  0x7f598f3c, 0x9196cbc, 0x7f5b5765, 0x90cfc40,

+  0x7f5d1d1d, 0x9008b6a, 0x7f5ee063, 0x8f41a3c,

+  0x7f60a138, 0x8e7a8b5, 0x7f625f9b, 0x8db36d6,

+  0x7f641b8d, 0x8cec4a0, 0x7f65d50d, 0x8c25213,

+  0x7f678c1c, 0x8b5df30, 0x7f6940b8, 0x8a96bf6,

+  0x7f6af2e3, 0x89cf867, 0x7f6ca29c, 0x8908483,

+  0x7f6e4fe3, 0x884104b, 0x7f6ffab8, 0x8779bbe,

+  0x7f71a31b, 0x86b26de, 0x7f73490b, 0x85eb1ab,

+  0x7f74ec8a, 0x8523c25, 0x7f768d96, 0x845c64d,

+  0x7f782c30, 0x8395024, 0x7f79c857, 0x82cd9a9,

+  0x7f7b620c, 0x82062de, 0x7f7cf94e, 0x813ebc2,

+  0x7f7e8e1e, 0x8077457, 0x7f80207b, 0x7fafc9c,

+  0x7f81b065, 0x7ee8493, 0x7f833ddd, 0x7e20c3b,

+  0x7f84c8e2, 0x7d59396, 0x7f865174, 0x7c91aa3,

+  0x7f87d792, 0x7bca163, 0x7f895b3e, 0x7b027d7,

+  0x7f8adc77, 0x7a3adff, 0x7f8c5b3d, 0x79733dc,

+  0x7f8dd78f, 0x78ab96e, 0x7f8f516e, 0x77e3eb5,

+  0x7f90c8da, 0x771c3b3, 0x7f923dd2, 0x7654867,

+  0x7f93b058, 0x758ccd2, 0x7f952069, 0x74c50f4,

+  0x7f968e07, 0x73fd4cf, 0x7f97f932, 0x7335862,

+  0x7f9961e8, 0x726dbae, 0x7f9ac82c, 0x71a5eb3,

+  0x7f9c2bfb, 0x70de172, 0x7f9d8d56, 0x70163eb,

+  0x7f9eec3e, 0x6f4e620, 0x7fa048b2, 0x6e86810,

+  0x7fa1a2b2, 0x6dbe9bb, 0x7fa2fa3d, 0x6cf6b23,

+  0x7fa44f55, 0x6c2ec48, 0x7fa5a1f9, 0x6b66d29,

+  0x7fa6f228, 0x6a9edc9, 0x7fa83fe3, 0x69d6e27,

+  0x7fa98b2a, 0x690ee44, 0x7faad3fd, 0x6846e1f,

+  0x7fac1a5b, 0x677edbb, 0x7fad5e45, 0x66b6d16,

+  0x7fae9fbb, 0x65eec33, 0x7fafdebb, 0x6526b10,

+  0x7fb11b48, 0x645e9af, 0x7fb2555f, 0x6396810,

+  0x7fb38d02, 0x62ce634, 0x7fb4c231, 0x620641a,

+  0x7fb5f4ea, 0x613e1c5, 0x7fb7252f, 0x6075f33,

+  0x7fb852ff, 0x5fadc66, 0x7fb97e5a, 0x5ee595d,

+  0x7fbaa740, 0x5e1d61b, 0x7fbbcdb1, 0x5d5529e,

+  0x7fbcf1ad, 0x5c8cee7, 0x7fbe1334, 0x5bc4af8,

+  0x7fbf3246, 0x5afc6d0, 0x7fc04ee3, 0x5a3426f,

+  0x7fc1690a, 0x596bdd7, 0x7fc280bc, 0x58a3908,

+  0x7fc395f9, 0x57db403, 0x7fc4a8c1, 0x5712ec7,

+  0x7fc5b913, 0x564a955, 0x7fc6c6f0, 0x55823ae,

+  0x7fc7d258, 0x54b9dd3, 0x7fc8db4a, 0x53f17c3,

+  0x7fc9e1c6, 0x532917f, 0x7fcae5cd, 0x5260b08,

+  0x7fcbe75e, 0x519845e, 0x7fcce67a, 0x50cfd82,

+  0x7fcde320, 0x5007674, 0x7fcedd50, 0x4f3ef35,

+  0x7fcfd50b, 0x4e767c5, 0x7fd0ca4f, 0x4dae024,

+  0x7fd1bd1e, 0x4ce5854, 0x7fd2ad77, 0x4c1d054,

+  0x7fd39b5a, 0x4b54825, 0x7fd486c7, 0x4a8bfc7,

+  0x7fd56fbe, 0x49c373c, 0x7fd6563f, 0x48fae83,

+  0x7fd73a4a, 0x483259d, 0x7fd81bdf, 0x4769c8b,

+  0x7fd8fafe, 0x46a134c, 0x7fd9d7a7, 0x45d89e2,

+  0x7fdab1d9, 0x451004d, 0x7fdb8996, 0x444768d,

+  0x7fdc5edc, 0x437eca4, 0x7fdd31ac, 0x42b6290,

+  0x7fde0205, 0x41ed854, 0x7fdecfe8, 0x4124dee,

+  0x7fdf9b55, 0x405c361, 0x7fe0644b, 0x3f938ac,

+  0x7fe12acb, 0x3ecadcf, 0x7fe1eed5, 0x3e022cc,

+  0x7fe2b067, 0x3d397a3, 0x7fe36f84, 0x3c70c54,

+  0x7fe42c2a, 0x3ba80df, 0x7fe4e659, 0x3adf546,

+  0x7fe59e12, 0x3a16988, 0x7fe65354, 0x394dda7,

+  0x7fe7061f, 0x38851a2, 0x7fe7b674, 0x37bc57b,

+  0x7fe86452, 0x36f3931, 0x7fe90fb9, 0x362acc5,

+  0x7fe9b8a9, 0x3562038, 0x7fea5f23, 0x3499389,

+  0x7feb0326, 0x33d06bb, 0x7feba4b2, 0x33079cc,

+  0x7fec43c7, 0x323ecbe, 0x7fece065, 0x3175f91,

+  0x7fed7a8c, 0x30ad245, 0x7fee123d, 0x2fe44dc,

+  0x7feea776, 0x2f1b755, 0x7fef3a39, 0x2e529b0,

+  0x7fefca84, 0x2d89bf0, 0x7ff05858, 0x2cc0e13,

+  0x7ff0e3b6, 0x2bf801a, 0x7ff16c9c, 0x2b2f207,

+  0x7ff1f30b, 0x2a663d8, 0x7ff27703, 0x299d590,

+  0x7ff2f884, 0x28d472e, 0x7ff3778e, 0x280b8b3,

+  0x7ff3f420, 0x2742a1f, 0x7ff46e3c, 0x2679b73,

+  0x7ff4e5e0, 0x25b0caf, 0x7ff55b0d, 0x24e7dd4,

+  0x7ff5cdc3, 0x241eee2, 0x7ff63e01, 0x2355fd9,

+  0x7ff6abc8, 0x228d0bb, 0x7ff71718, 0x21c4188,

+  0x7ff77ff1, 0x20fb240, 0x7ff7e652, 0x20322e3,

+  0x7ff84a3c, 0x1f69373, 0x7ff8abae, 0x1ea03ef,

+  0x7ff90aaa, 0x1dd7459, 0x7ff9672d, 0x1d0e4b0,

+  0x7ff9c13a, 0x1c454f5, 0x7ffa18cf, 0x1b7c528,

+  0x7ffa6dec, 0x1ab354b, 0x7ffac092, 0x19ea55d,

+  0x7ffb10c1, 0x192155f, 0x7ffb5e78, 0x1858552,

+  0x7ffba9b8, 0x178f536, 0x7ffbf280, 0x16c650b,

+  0x7ffc38d1, 0x15fd4d2, 0x7ffc7caa, 0x153448c,

+  0x7ffcbe0c, 0x146b438, 0x7ffcfcf6, 0x13a23d8,

+  0x7ffd3969, 0x12d936c, 0x7ffd7364, 0x12102f4,

+  0x7ffdaae7, 0x1147271, 0x7ffddff3, 0x107e1e3,

+  0x7ffe1288, 0xfb514b, 0x7ffe42a4, 0xeec0aa,

+  0x7ffe704a, 0xe22fff, 0x7ffe9b77, 0xd59f4c,

+  0x7ffec42d, 0xc90e90, 0x7ffeea6c, 0xbc7dcc,

+  0x7fff0e32, 0xafed02, 0x7fff2f82, 0xa35c30,

+  0x7fff4e59, 0x96cb58, 0x7fff6ab9, 0x8a3a7b,

+  0x7fff84a1, 0x7da998, 0x7fff9c12, 0x7118b0,

+  0x7fffb10b, 0x6487c4, 0x7fffc38c, 0x57f6d4,

+  0x7fffd396, 0x4b65e1, 0x7fffe128, 0x3ed4ea,

+  0x7fffec43, 0x3243f1, 0x7ffff4e6, 0x25b2f7,

+  0x7ffffb11, 0x1921fb, 0x7ffffec4, 0xc90fe,

+  0x7fffffff, 0x0, 0x7ffffec4, 0xfff36f02,

+  0x7ffffb11, 0xffe6de05, 0x7ffff4e6, 0xffda4d09,

+  0x7fffec43, 0xffcdbc0f, 0x7fffe128, 0xffc12b16,

+  0x7fffd396, 0xffb49a1f, 0x7fffc38c, 0xffa8092c,

+  0x7fffb10b, 0xff9b783c, 0x7fff9c12, 0xff8ee750,

+  0x7fff84a1, 0xff825668, 0x7fff6ab9, 0xff75c585,

+  0x7fff4e59, 0xff6934a8, 0x7fff2f82, 0xff5ca3d0,

+  0x7fff0e32, 0xff5012fe, 0x7ffeea6c, 0xff438234,

+  0x7ffec42d, 0xff36f170, 0x7ffe9b77, 0xff2a60b4,

+  0x7ffe704a, 0xff1dd001, 0x7ffe42a4, 0xff113f56,

+  0x7ffe1288, 0xff04aeb5, 0x7ffddff3, 0xfef81e1d,

+  0x7ffdaae7, 0xfeeb8d8f, 0x7ffd7364, 0xfedefd0c,

+  0x7ffd3969, 0xfed26c94, 0x7ffcfcf6, 0xfec5dc28,

+  0x7ffcbe0c, 0xfeb94bc8, 0x7ffc7caa, 0xfeacbb74,

+  0x7ffc38d1, 0xfea02b2e, 0x7ffbf280, 0xfe939af5,

+  0x7ffba9b8, 0xfe870aca, 0x7ffb5e78, 0xfe7a7aae,

+  0x7ffb10c1, 0xfe6deaa1, 0x7ffac092, 0xfe615aa3,

+  0x7ffa6dec, 0xfe54cab5, 0x7ffa18cf, 0xfe483ad8,

+  0x7ff9c13a, 0xfe3bab0b, 0x7ff9672d, 0xfe2f1b50,

+  0x7ff90aaa, 0xfe228ba7, 0x7ff8abae, 0xfe15fc11,

+  0x7ff84a3c, 0xfe096c8d, 0x7ff7e652, 0xfdfcdd1d,

+  0x7ff77ff1, 0xfdf04dc0, 0x7ff71718, 0xfde3be78,

+  0x7ff6abc8, 0xfdd72f45, 0x7ff63e01, 0xfdcaa027,

+  0x7ff5cdc3, 0xfdbe111e, 0x7ff55b0d, 0xfdb1822c,

+  0x7ff4e5e0, 0xfda4f351, 0x7ff46e3c, 0xfd98648d,

+  0x7ff3f420, 0xfd8bd5e1, 0x7ff3778e, 0xfd7f474d,

+  0x7ff2f884, 0xfd72b8d2, 0x7ff27703, 0xfd662a70,

+  0x7ff1f30b, 0xfd599c28, 0x7ff16c9c, 0xfd4d0df9,

+  0x7ff0e3b6, 0xfd407fe6, 0x7ff05858, 0xfd33f1ed,

+  0x7fefca84, 0xfd276410, 0x7fef3a39, 0xfd1ad650,

+  0x7feea776, 0xfd0e48ab, 0x7fee123d, 0xfd01bb24,

+  0x7fed7a8c, 0xfcf52dbb, 0x7fece065, 0xfce8a06f,

+  0x7fec43c7, 0xfcdc1342, 0x7feba4b2, 0xfccf8634,

+  0x7feb0326, 0xfcc2f945, 0x7fea5f23, 0xfcb66c77,

+  0x7fe9b8a9, 0xfca9dfc8, 0x7fe90fb9, 0xfc9d533b,

+  0x7fe86452, 0xfc90c6cf, 0x7fe7b674, 0xfc843a85,

+  0x7fe7061f, 0xfc77ae5e, 0x7fe65354, 0xfc6b2259,

+  0x7fe59e12, 0xfc5e9678, 0x7fe4e659, 0xfc520aba,

+  0x7fe42c2a, 0xfc457f21, 0x7fe36f84, 0xfc38f3ac,

+  0x7fe2b067, 0xfc2c685d, 0x7fe1eed5, 0xfc1fdd34,

+  0x7fe12acb, 0xfc135231, 0x7fe0644b, 0xfc06c754,

+  0x7fdf9b55, 0xfbfa3c9f, 0x7fdecfe8, 0xfbedb212,

+  0x7fde0205, 0xfbe127ac, 0x7fdd31ac, 0xfbd49d70,

+  0x7fdc5edc, 0xfbc8135c, 0x7fdb8996, 0xfbbb8973,

+  0x7fdab1d9, 0xfbaeffb3, 0x7fd9d7a7, 0xfba2761e,

+  0x7fd8fafe, 0xfb95ecb4, 0x7fd81bdf, 0xfb896375,

+  0x7fd73a4a, 0xfb7cda63, 0x7fd6563f, 0xfb70517d,

+  0x7fd56fbe, 0xfb63c8c4, 0x7fd486c7, 0xfb574039,

+  0x7fd39b5a, 0xfb4ab7db, 0x7fd2ad77, 0xfb3e2fac,

+  0x7fd1bd1e, 0xfb31a7ac, 0x7fd0ca4f, 0xfb251fdc,

+  0x7fcfd50b, 0xfb18983b, 0x7fcedd50, 0xfb0c10cb,

+  0x7fcde320, 0xfaff898c, 0x7fcce67a, 0xfaf3027e,

+  0x7fcbe75e, 0xfae67ba2, 0x7fcae5cd, 0xfad9f4f8,

+  0x7fc9e1c6, 0xfacd6e81, 0x7fc8db4a, 0xfac0e83d,

+  0x7fc7d258, 0xfab4622d, 0x7fc6c6f0, 0xfaa7dc52,

+  0x7fc5b913, 0xfa9b56ab, 0x7fc4a8c1, 0xfa8ed139,

+  0x7fc395f9, 0xfa824bfd, 0x7fc280bc, 0xfa75c6f8,

+  0x7fc1690a, 0xfa694229, 0x7fc04ee3, 0xfa5cbd91,

+  0x7fbf3246, 0xfa503930, 0x7fbe1334, 0xfa43b508,

+  0x7fbcf1ad, 0xfa373119, 0x7fbbcdb1, 0xfa2aad62,

+  0x7fbaa740, 0xfa1e29e5, 0x7fb97e5a, 0xfa11a6a3,

+  0x7fb852ff, 0xfa05239a, 0x7fb7252f, 0xf9f8a0cd,

+  0x7fb5f4ea, 0xf9ec1e3b, 0x7fb4c231, 0xf9df9be6,

+  0x7fb38d02, 0xf9d319cc, 0x7fb2555f, 0xf9c697f0,

+  0x7fb11b48, 0xf9ba1651, 0x7fafdebb, 0xf9ad94f0,

+  0x7fae9fbb, 0xf9a113cd, 0x7fad5e45, 0xf99492ea,

+  0x7fac1a5b, 0xf9881245, 0x7faad3fd, 0xf97b91e1,

+  0x7fa98b2a, 0xf96f11bc, 0x7fa83fe3, 0xf96291d9,

+  0x7fa6f228, 0xf9561237, 0x7fa5a1f9, 0xf94992d7,

+  0x7fa44f55, 0xf93d13b8, 0x7fa2fa3d, 0xf93094dd,

+  0x7fa1a2b2, 0xf9241645, 0x7fa048b2, 0xf91797f0,

+  0x7f9eec3e, 0xf90b19e0, 0x7f9d8d56, 0xf8fe9c15,

+  0x7f9c2bfb, 0xf8f21e8e, 0x7f9ac82c, 0xf8e5a14d,

+  0x7f9961e8, 0xf8d92452, 0x7f97f932, 0xf8cca79e,

+  0x7f968e07, 0xf8c02b31, 0x7f952069, 0xf8b3af0c,

+  0x7f93b058, 0xf8a7332e, 0x7f923dd2, 0xf89ab799,

+  0x7f90c8da, 0xf88e3c4d, 0x7f8f516e, 0xf881c14b,

+  0x7f8dd78f, 0xf8754692, 0x7f8c5b3d, 0xf868cc24,

+  0x7f8adc77, 0xf85c5201, 0x7f895b3e, 0xf84fd829,

+  0x7f87d792, 0xf8435e9d, 0x7f865174, 0xf836e55d,

+  0x7f84c8e2, 0xf82a6c6a, 0x7f833ddd, 0xf81df3c5,

+  0x7f81b065, 0xf8117b6d, 0x7f80207b, 0xf8050364,

+  0x7f7e8e1e, 0xf7f88ba9, 0x7f7cf94e, 0xf7ec143e,

+  0x7f7b620c, 0xf7df9d22, 0x7f79c857, 0xf7d32657,

+  0x7f782c30, 0xf7c6afdc, 0x7f768d96, 0xf7ba39b3,

+  0x7f74ec8a, 0xf7adc3db, 0x7f73490b, 0xf7a14e55,

+  0x7f71a31b, 0xf794d922, 0x7f6ffab8, 0xf7886442,

+  0x7f6e4fe3, 0xf77befb5, 0x7f6ca29c, 0xf76f7b7d,

+  0x7f6af2e3, 0xf7630799, 0x7f6940b8, 0xf756940a,

+  0x7f678c1c, 0xf74a20d0, 0x7f65d50d, 0xf73daded,

+  0x7f641b8d, 0xf7313b60, 0x7f625f9b, 0xf724c92a,

+  0x7f60a138, 0xf718574b, 0x7f5ee063, 0xf70be5c4,

+  0x7f5d1d1d, 0xf6ff7496, 0x7f5b5765, 0xf6f303c0,

+  0x7f598f3c, 0xf6e69344, 0x7f57c4a2, 0xf6da2321,

+  0x7f55f796, 0xf6cdb359, 0x7f54281a, 0xf6c143ec,

+  0x7f52562c, 0xf6b4d4d9, 0x7f5081cd, 0xf6a86623,

+  0x7f4eaafe, 0xf69bf7c9, 0x7f4cd1be, 0xf68f89cb,

+  0x7f4af60d, 0xf6831c2b, 0x7f4917eb, 0xf676aee8,

+  0x7f473759, 0xf66a4203, 0x7f455456, 0xf65dd57d,

+  0x7f436ee3, 0xf6516956, 0x7f4186ff, 0xf644fd8f,

+  0x7f3f9cab, 0xf6389228, 0x7f3dafe7, 0xf62c2721,

+  0x7f3bc0b3, 0xf61fbc7b, 0x7f39cf0e, 0xf6135237,

+  0x7f37dafa, 0xf606e854, 0x7f35e476, 0xf5fa7ed4,

+  0x7f33eb81, 0xf5ee15b7, 0x7f31f01d, 0xf5e1acfd,

+  0x7f2ff24a, 0xf5d544a7, 0x7f2df206, 0xf5c8dcb6,

+  0x7f2bef53, 0xf5bc7529, 0x7f29ea31, 0xf5b00e02,

+  0x7f27e29f, 0xf5a3a740, 0x7f25d89e, 0xf59740e5,

+  0x7f23cc2e, 0xf58adaf0, 0x7f21bd4e, 0xf57e7563,

+  0x7f1fabff, 0xf572103d, 0x7f1d9842, 0xf565ab80,

+  0x7f1b8215, 0xf559472b, 0x7f19697a, 0xf54ce33f,

+  0x7f174e70, 0xf5407fbd, 0x7f1530f7, 0xf5341ca5,

+  0x7f13110f, 0xf527b9f7, 0x7f10eeb9, 0xf51b57b5,

+  0x7f0ec9f5, 0xf50ef5de, 0x7f0ca2c2, 0xf5029473,

+  0x7f0a7921, 0xf4f63374, 0x7f084d12, 0xf4e9d2e3,

+  0x7f061e95, 0xf4dd72be, 0x7f03eda9, 0xf4d11308,

+  0x7f01ba50, 0xf4c4b3c0, 0x7eff8489, 0xf4b854e7,

+  0x7efd4c54, 0xf4abf67e, 0x7efb11b1, 0xf49f9884,

+  0x7ef8d4a1, 0xf4933afa, 0x7ef69523, 0xf486dde1,

+  0x7ef45338, 0xf47a8139, 0x7ef20ee0, 0xf46e2504,

+  0x7eefc81a, 0xf461c940, 0x7eed7ee7, 0xf4556def,

+  0x7eeb3347, 0xf4491311, 0x7ee8e53a, 0xf43cb8a7,

+  0x7ee694c1, 0xf4305eb0, 0x7ee441da, 0xf424052f,

+  0x7ee1ec87, 0xf417ac22, 0x7edf94c7, 0xf40b538b,

+  0x7edd3a9a, 0xf3fefb6a, 0x7edade01, 0xf3f2a3bf,

+  0x7ed87efc, 0xf3e64c8c, 0x7ed61d8a, 0xf3d9f5cf,

+  0x7ed3b9ad, 0xf3cd9f8b, 0x7ed15363, 0xf3c149bf,

+  0x7eceeaad, 0xf3b4f46c, 0x7ecc7f8b, 0xf3a89f92,

+  0x7eca11fe, 0xf39c4b32, 0x7ec7a205, 0xf38ff74d,

+  0x7ec52fa0, 0xf383a3e2, 0x7ec2bad0, 0xf37750f2,

+  0x7ec04394, 0xf36afe7e, 0x7ebdc9ed, 0xf35eac86,

+  0x7ebb4ddb, 0xf3525b0b, 0x7eb8cf5d, 0xf3460a0d,

+  0x7eb64e75, 0xf339b98d, 0x7eb3cb21, 0xf32d698a,

+  0x7eb14563, 0xf3211a07, 0x7eaebd3a, 0xf314cb02,

+  0x7eac32a6, 0xf3087c7d, 0x7ea9a5a8, 0xf2fc2e77,

+  0x7ea7163f, 0xf2efe0f2, 0x7ea4846c, 0xf2e393ef,

+  0x7ea1f02f, 0xf2d7476c, 0x7e9f5988, 0xf2cafb6b,

+  0x7e9cc076, 0xf2beafed, 0x7e9a24fb, 0xf2b264f2,

+  0x7e978715, 0xf2a61a7a, 0x7e94e6c6, 0xf299d085,

+  0x7e92440d, 0xf28d8715, 0x7e8f9eeb, 0xf2813e2a,

+  0x7e8cf75f, 0xf274f5c3, 0x7e8a4d6a, 0xf268ade3,

+  0x7e87a10c, 0xf25c6688, 0x7e84f245, 0xf2501fb5,

+  0x7e824114, 0xf243d968, 0x7e7f8d7b, 0xf23793a3,

+  0x7e7cd778, 0xf22b4e66, 0x7e7a1f0d, 0xf21f09b1,

+  0x7e77643a, 0xf212c585, 0x7e74a6fd, 0xf20681e3,

+  0x7e71e759, 0xf1fa3ecb, 0x7e6f254c, 0xf1edfc3d,

+  0x7e6c60d7, 0xf1e1ba3a, 0x7e6999fa, 0xf1d578c2,

+  0x7e66d0b4, 0xf1c937d6, 0x7e640507, 0xf1bcf777,

+  0x7e6136f3, 0xf1b0b7a4, 0x7e5e6676, 0xf1a4785e,

+  0x7e5b9392, 0xf19839a6, 0x7e58be47, 0xf18bfb7d,

+  0x7e55e694, 0xf17fbde2, 0x7e530c7a, 0xf17380d6,

+  0x7e502ff9, 0xf1674459, 0x7e4d5110, 0xf15b086d,

+  0x7e4a6fc1, 0xf14ecd11, 0x7e478c0b, 0xf1429247,

+  0x7e44a5ef, 0xf136580d, 0x7e41bd6c, 0xf12a1e66,

+  0x7e3ed282, 0xf11de551, 0x7e3be532, 0xf111accf,

+  0x7e38f57c, 0xf10574e0, 0x7e360360, 0xf0f93d86,

+  0x7e330ede, 0xf0ed06bf, 0x7e3017f6, 0xf0e0d08d,

+  0x7e2d1ea8, 0xf0d49af1, 0x7e2a22f4, 0xf0c865ea,

+  0x7e2724db, 0xf0bc317a, 0x7e24245d, 0xf0affda0,

+  0x7e212179, 0xf0a3ca5d, 0x7e1e1c30, 0xf09797b2,

+  0x7e1b1482, 0xf08b659f, 0x7e180a6f, 0xf07f3424,

+  0x7e14fdf7, 0xf0730342, 0x7e11ef1b, 0xf066d2fa,

+  0x7e0eddd9, 0xf05aa34c, 0x7e0bca34, 0xf04e7438,

+  0x7e08b42a, 0xf04245c0, 0x7e059bbb, 0xf03617e2,

+  0x7e0280e9, 0xf029eaa1, 0x7dff63b2, 0xf01dbdfb,

+  0x7dfc4418, 0xf01191f3, 0x7df9221a, 0xf0056687,

+  0x7df5fdb8, 0xeff93bba, 0x7df2d6f3, 0xefed118a,

+  0x7defadca, 0xefe0e7f9, 0x7dec823e, 0xefd4bf08,

+  0x7de9544f, 0xefc896b5, 0x7de623fd, 0xefbc6f03,

+  0x7de2f148, 0xefb047f2, 0x7ddfbc30, 0xefa42181,

+  0x7ddc84b5, 0xef97fbb2, 0x7dd94ad8, 0xef8bd685,

+  0x7dd60e99, 0xef7fb1fa, 0x7dd2cff7, 0xef738e12,

+  0x7dcf8ef3, 0xef676ace, 0x7dcc4b8d, 0xef5b482d,

+  0x7dc905c5, 0xef4f2630, 0x7dc5bd9b, 0xef4304d8,

+  0x7dc2730f, 0xef36e426, 0x7dbf2622, 0xef2ac419,

+  0x7dbbd6d4, 0xef1ea4b2, 0x7db88524, 0xef1285f2,

+  0x7db53113, 0xef0667d9, 0x7db1daa2, 0xeefa4a67,

+  0x7dae81cf, 0xeeee2d9d, 0x7dab269b, 0xeee2117c,

+  0x7da7c907, 0xeed5f604, 0x7da46912, 0xeec9db35,

+  0x7da106bd, 0xeebdc110, 0x7d9da208, 0xeeb1a796,

+  0x7d9a3af2, 0xeea58ec6, 0x7d96d17d, 0xee9976a1,

+  0x7d9365a8, 0xee8d5f29, 0x7d8ff772, 0xee81485c,

+  0x7d8c86de, 0xee75323c, 0x7d8913ea, 0xee691cc9,

+  0x7d859e96, 0xee5d0804, 0x7d8226e4, 0xee50f3ed,

+  0x7d7eacd2, 0xee44e084, 0x7d7b3061, 0xee38cdcb,

+  0x7d77b192, 0xee2cbbc1, 0x7d743064, 0xee20aa67,

+  0x7d70acd7, 0xee1499bd, 0x7d6d26ec, 0xee0889c4,

+  0x7d699ea3, 0xedfc7a7c, 0x7d6613fb, 0xedf06be6,

+  0x7d6286f6, 0xede45e03, 0x7d5ef793, 0xedd850d2,

+  0x7d5b65d2, 0xedcc4454, 0x7d57d1b3, 0xedc0388a,

+  0x7d543b37, 0xedb42d74, 0x7d50a25e, 0xeda82313,

+  0x7d4d0728, 0xed9c1967, 0x7d496994, 0xed901070,

+  0x7d45c9a4, 0xed84082f, 0x7d422757, 0xed7800a5,

+  0x7d3e82ae, 0xed6bf9d1, 0x7d3adba7, 0xed5ff3b5,

+  0x7d373245, 0xed53ee51, 0x7d338687, 0xed47e9a5,

+  0x7d2fd86c, 0xed3be5b1, 0x7d2c27f6, 0xed2fe277,

+  0x7d287523, 0xed23dff7, 0x7d24bff6, 0xed17de31,

+  0x7d21086c, 0xed0bdd25, 0x7d1d4e88, 0xecffdcd4,

+  0x7d199248, 0xecf3dd3f, 0x7d15d3ad, 0xece7de66,

+  0x7d1212b7, 0xecdbe04a, 0x7d0e4f67, 0xeccfe2ea,

+  0x7d0a89bc, 0xecc3e648, 0x7d06c1b6, 0xecb7ea63,

+  0x7d02f757, 0xecabef3d, 0x7cff2a9d, 0xec9ff4d6,

+  0x7cfb5b89, 0xec93fb2e, 0x7cf78a1b, 0xec880245,

+  0x7cf3b653, 0xec7c0a1d, 0x7cefe032, 0xec7012b5,

+  0x7cec07b8, 0xec641c0e, 0x7ce82ce4, 0xec582629,

+  0x7ce44fb7, 0xec4c3106, 0x7ce07031, 0xec403ca5,

+  0x7cdc8e52, 0xec344908, 0x7cd8aa1b, 0xec28562d,

+  0x7cd4c38b, 0xec1c6417, 0x7cd0daa2, 0xec1072c4,

+  0x7cccef62, 0xec048237, 0x7cc901c9, 0xebf8926f,

+  0x7cc511d9, 0xebeca36c, 0x7cc11f90, 0xebe0b52f,

+  0x7cbd2af0, 0xebd4c7ba, 0x7cb933f9, 0xebc8db0b,

+  0x7cb53aaa, 0xebbcef23, 0x7cb13f04, 0xebb10404,

+  0x7cad4107, 0xeba519ad, 0x7ca940b3, 0xeb99301f,

+  0x7ca53e09, 0xeb8d475b, 0x7ca13908, 0xeb815f60,

+  0x7c9d31b0, 0xeb75782f, 0x7c992803, 0xeb6991ca,

+  0x7c951bff, 0xeb5dac2f, 0x7c910da5, 0xeb51c760,

+  0x7c8cfcf6, 0xeb45e35d, 0x7c88e9f1, 0xeb3a0027,

+  0x7c84d496, 0xeb2e1dbe, 0x7c80bce7, 0xeb223c22,

+  0x7c7ca2e2, 0xeb165b54, 0x7c788688, 0xeb0a7b54,

+  0x7c7467d9, 0xeafe9c24, 0x7c7046d6, 0xeaf2bdc3,

+  0x7c6c237e, 0xeae6e031, 0x7c67fdd1, 0xeadb0370,

+  0x7c63d5d1, 0xeacf277f, 0x7c5fab7c, 0xeac34c60,

+  0x7c5b7ed4, 0xeab77212, 0x7c574fd8, 0xeaab9896,

+  0x7c531e88, 0xea9fbfed, 0x7c4eeae5, 0xea93e817,

+  0x7c4ab4ef, 0xea881114, 0x7c467ca6, 0xea7c3ae5,

+  0x7c42420a, 0xea70658a, 0x7c3e051b, 0xea649105,

+  0x7c39c5da, 0xea58bd54, 0x7c358446, 0xea4cea79,

+  0x7c314060, 0xea411874, 0x7c2cfa28, 0xea354746,

+  0x7c28b19e, 0xea2976ef, 0x7c2466c2, 0xea1da770,

+  0x7c201994, 0xea11d8c8, 0x7c1bca16, 0xea060af9,

+  0x7c177845, 0xe9fa3e03, 0x7c132424, 0xe9ee71e6,

+  0x7c0ecdb2, 0xe9e2a6a3, 0x7c0a74f0, 0xe9d6dc3b,

+  0x7c0619dc, 0xe9cb12ad, 0x7c01bc78, 0xe9bf49fa,

+  0x7bfd5cc4, 0xe9b38223, 0x7bf8fac0, 0xe9a7bb28,

+  0x7bf4966c, 0xe99bf509, 0x7bf02fc9, 0xe9902fc7,

+  0x7bebc6d5, 0xe9846b63, 0x7be75b93, 0xe978a7dd,

+  0x7be2ee01, 0xe96ce535, 0x7bde7e20, 0xe961236c,

+  0x7bda0bf0, 0xe9556282, 0x7bd59771, 0xe949a278,

+  0x7bd120a4, 0xe93de34e, 0x7bcca789, 0xe9322505,

+  0x7bc82c1f, 0xe926679c, 0x7bc3ae67, 0xe91aab16,

+  0x7bbf2e62, 0xe90eef71, 0x7bbaac0e, 0xe90334af,

+  0x7bb6276e, 0xe8f77acf, 0x7bb1a080, 0xe8ebc1d3,

+  0x7bad1744, 0xe8e009ba, 0x7ba88bbc, 0xe8d45286,

+  0x7ba3fde7, 0xe8c89c37, 0x7b9f6dc5, 0xe8bce6cd,

+  0x7b9adb57, 0xe8b13248, 0x7b96469d, 0xe8a57ea9,

+  0x7b91af97, 0xe899cbf1, 0x7b8d1644, 0xe88e1a20,

+  0x7b887aa6, 0xe8826936, 0x7b83dcbc, 0xe876b934,

+  0x7b7f3c87, 0xe86b0a1a, 0x7b7a9a07, 0xe85f5be9,

+  0x7b75f53c, 0xe853aea1, 0x7b714e25, 0xe8480243,

+  0x7b6ca4c4, 0xe83c56cf, 0x7b67f919, 0xe830ac45,

+  0x7b634b23, 0xe82502a7, 0x7b5e9ae4, 0xe81959f4,

+  0x7b59e85a, 0xe80db22d, 0x7b553386, 0xe8020b52,

+  0x7b507c69, 0xe7f66564, 0x7b4bc303, 0xe7eac063,

+  0x7b470753, 0xe7df1c50, 0x7b42495a, 0xe7d3792b,

+  0x7b3d8918, 0xe7c7d6f4, 0x7b38c68e, 0xe7bc35ad,

+  0x7b3401bb, 0xe7b09555, 0x7b2f3aa0, 0xe7a4f5ed,

+  0x7b2a713d, 0xe7995776, 0x7b25a591, 0xe78db9ef,

+  0x7b20d79e, 0xe7821d59, 0x7b1c0764, 0xe77681b6,

+  0x7b1734e2, 0xe76ae704, 0x7b126019, 0xe75f4d45,

+  0x7b0d8909, 0xe753b479, 0x7b08afb2, 0xe7481ca1,

+  0x7b03d414, 0xe73c85bc, 0x7afef630, 0xe730efcc,

+  0x7afa1605, 0xe7255ad1, 0x7af53395, 0xe719c6cb,

+  0x7af04edf, 0xe70e33bb, 0x7aeb67e3, 0xe702a1a1,

+  0x7ae67ea1, 0xe6f7107e, 0x7ae1931a, 0xe6eb8052,

+  0x7adca54e, 0xe6dff11d, 0x7ad7b53d, 0xe6d462e1,

+  0x7ad2c2e8, 0xe6c8d59c, 0x7acdce4d, 0xe6bd4951,

+  0x7ac8d76f, 0xe6b1bdff, 0x7ac3de4c, 0xe6a633a6,

+  0x7abee2e5, 0xe69aaa48, 0x7ab9e53a, 0xe68f21e5,

+  0x7ab4e54c, 0xe6839a7c, 0x7aafe31b, 0xe6781410,

+  0x7aaadea6, 0xe66c8e9f, 0x7aa5d7ee, 0xe6610a2a,

+  0x7aa0cef3, 0xe65586b3, 0x7a9bc3b6, 0xe64a0438,

+  0x7a96b636, 0xe63e82bc, 0x7a91a674, 0xe633023e,

+  0x7a8c9470, 0xe62782be, 0x7a87802a, 0xe61c043d,

+  0x7a8269a3, 0xe61086bc, 0x7a7d50da, 0xe6050a3b,

+  0x7a7835cf, 0xe5f98ebb, 0x7a731884, 0xe5ee143b,

+  0x7a6df8f8, 0xe5e29abc, 0x7a68d72b, 0xe5d72240,

+  0x7a63b31d, 0xe5cbaac5, 0x7a5e8cd0, 0xe5c0344d,

+  0x7a596442, 0xe5b4bed8, 0x7a543974, 0xe5a94a67,

+  0x7a4f0c67, 0xe59dd6f9, 0x7a49dd1a, 0xe5926490,

+  0x7a44ab8e, 0xe586f32c, 0x7a3f77c3, 0xe57b82cd,

+  0x7a3a41b9, 0xe5701374, 0x7a350970, 0xe564a521,

+  0x7a2fcee8, 0xe55937d5, 0x7a2a9223, 0xe54dcb8f,

+  0x7a25531f, 0xe5426051, 0x7a2011de, 0xe536f61b,

+  0x7a1ace5f, 0xe52b8cee, 0x7a1588a2, 0xe52024c9,

+  0x7a1040a8, 0xe514bdad, 0x7a0af671, 0xe509579b,

+  0x7a05a9fd, 0xe4fdf294, 0x7a005b4d, 0xe4f28e96,

+  0x79fb0a60, 0xe4e72ba4, 0x79f5b737, 0xe4dbc9bd,

+  0x79f061d2, 0xe4d068e2, 0x79eb0a31, 0xe4c50914,

+  0x79e5b054, 0xe4b9aa52, 0x79e0543c, 0xe4ae4c9d,

+  0x79daf5e8, 0xe4a2eff6, 0x79d5955a, 0xe497945d,

+  0x79d03291, 0xe48c39d3, 0x79cacd8d, 0xe480e057,

+  0x79c5664f, 0xe47587eb, 0x79bffcd7, 0xe46a308f,

+  0x79ba9125, 0xe45eda43, 0x79b52339, 0xe4538507,

+  0x79afb313, 0xe44830dd, 0x79aa40b4, 0xe43cddc4,

+  0x79a4cc1c, 0xe4318bbe, 0x799f554b, 0xe4263ac9,

+  0x7999dc42, 0xe41aeae8, 0x799460ff, 0xe40f9c1a,

+  0x798ee385, 0xe4044e60, 0x798963d2, 0xe3f901ba,

+  0x7983e1e8, 0xe3edb628, 0x797e5dc6, 0xe3e26bac,

+  0x7978d76c, 0xe3d72245, 0x79734edc, 0xe3cbd9f4,

+  0x796dc414, 0xe3c092b9, 0x79683715, 0xe3b54c95,

+  0x7962a7e0, 0xe3aa0788, 0x795d1675, 0xe39ec393,

+  0x795782d3, 0xe39380b6, 0x7951ecfc, 0xe3883ef2,

+  0x794c54ee, 0xe37cfe47, 0x7946baac, 0xe371beb5,

+  0x79411e33, 0xe366803c, 0x793b7f86, 0xe35b42df,

+  0x7935dea4, 0xe350069b, 0x79303b8e, 0xe344cb73,

+  0x792a9642, 0xe3399167, 0x7924eec3, 0xe32e5876,

+  0x791f4510, 0xe32320a2, 0x79199929, 0xe317e9eb,

+  0x7913eb0e, 0xe30cb451, 0x790e3ac0, 0xe3017fd5,

+  0x7908883f, 0xe2f64c77, 0x7902d38b, 0xe2eb1a37,

+  0x78fd1ca4, 0xe2dfe917, 0x78f7638b, 0xe2d4b916,

+  0x78f1a840, 0xe2c98a35, 0x78ebeac2, 0xe2be5c74,

+  0x78e62b13, 0xe2b32fd4, 0x78e06932, 0xe2a80456,

+  0x78daa520, 0xe29cd9f8, 0x78d4dedd, 0xe291b0bd,

+  0x78cf1669, 0xe28688a4, 0x78c94bc4, 0xe27b61af,

+  0x78c37eef, 0xe2703bdc, 0x78bdafea, 0xe265172e,

+  0x78b7deb4, 0xe259f3a3, 0x78b20b4f, 0xe24ed13d,

+  0x78ac35ba, 0xe243affc, 0x78a65df6, 0xe2388fe1,

+  0x78a08402, 0xe22d70eb, 0x789aa7e0, 0xe222531c,

+  0x7894c98f, 0xe2173674, 0x788ee910, 0xe20c1af3,

+  0x78890663, 0xe2010099, 0x78832187, 0xe1f5e768,

+  0x787d3a7e, 0xe1eacf5f, 0x78775147, 0xe1dfb87f,

+  0x787165e3, 0xe1d4a2c8, 0x786b7852, 0xe1c98e3b,

+  0x78658894, 0xe1be7ad8, 0x785f96a9, 0xe1b368a0,

+  0x7859a292, 0xe1a85793, 0x7853ac4f, 0xe19d47b1,

+  0x784db3e0, 0xe19238fb, 0x7847b946, 0xe1872b72,

+  0x7841bc7f, 0xe17c1f15, 0x783bbd8e, 0xe17113e5,

+  0x7835bc71, 0xe16609e3, 0x782fb92a, 0xe15b0110,

+  0x7829b3b9, 0xe14ff96a, 0x7823ac1d, 0xe144f2f3,

+  0x781da256, 0xe139edac, 0x78179666, 0xe12ee995,

+  0x7811884d, 0xe123e6ad, 0x780b780a, 0xe118e4f6,

+  0x7805659e, 0xe10de470, 0x77ff5109, 0xe102e51c,

+  0x77f93a4b, 0xe0f7e6f9, 0x77f32165, 0xe0ecea09,

+  0x77ed0657, 0xe0e1ee4b, 0x77e6e921, 0xe0d6f3c1,

+  0x77e0c9c3, 0xe0cbfa6a, 0x77daa83d, 0xe0c10247,

+  0x77d48490, 0xe0b60b58, 0x77ce5ebd, 0xe0ab159e,

+  0x77c836c2, 0xe0a0211a, 0x77c20ca1, 0xe0952dcb,

+  0x77bbe05a, 0xe08a3bb2, 0x77b5b1ec, 0xe07f4acf,

+  0x77af8159, 0xe0745b24, 0x77a94ea0, 0xe0696cb0,

+  0x77a319c2, 0xe05e7f74, 0x779ce2be, 0xe053936f,

+  0x7796a996, 0xe048a8a4, 0x77906e49, 0xe03dbf11,

+  0x778a30d8, 0xe032d6b8, 0x7783f143, 0xe027ef99,

+  0x777daf89, 0xe01d09b4, 0x77776bac, 0xe012250a,

+  0x777125ac, 0xe007419b, 0x776add88, 0xdffc5f67,

+  0x77649341, 0xdff17e70, 0x775e46d8, 0xdfe69eb4,

+  0x7757f84c, 0xdfdbc036, 0x7751a79e, 0xdfd0e2f5,

+  0x774b54ce, 0xdfc606f1, 0x7744ffdd, 0xdfbb2c2c,

+  0x773ea8ca, 0xdfb052a5, 0x77384f95, 0xdfa57a5d,

+  0x7731f440, 0xdf9aa354, 0x772b96ca, 0xdf8fcd8b,

+  0x77253733, 0xdf84f902, 0x771ed57c, 0xdf7a25ba,

+  0x771871a5, 0xdf6f53b3, 0x77120bae, 0xdf6482ed,

+  0x770ba398, 0xdf59b369, 0x77053962, 0xdf4ee527,

+  0x76fecd0e, 0xdf441828, 0x76f85e9a, 0xdf394c6b,

+  0x76f1ee09, 0xdf2e81f3, 0x76eb7b58, 0xdf23b8be,

+  0x76e5068a, 0xdf18f0ce, 0x76de8f9e, 0xdf0e2a22,

+  0x76d81695, 0xdf0364bc, 0x76d19b6e, 0xdef8a09b,

+  0x76cb1e2a, 0xdeedddc0, 0x76c49ec9, 0xdee31c2b,

+  0x76be1d4c, 0xded85bdd, 0x76b799b3, 0xdecd9cd7,

+  0x76b113fd, 0xdec2df18, 0x76aa8c2c, 0xdeb822a1,

+  0x76a4023f, 0xdead6773, 0x769d7637, 0xdea2ad8d,

+  0x7696e814, 0xde97f4f1, 0x769057d6, 0xde8d3d9e,

+  0x7689c57d, 0xde828796, 0x7683310b, 0xde77d2d8,

+  0x767c9a7e, 0xde6d1f65, 0x767601d7, 0xde626d3e,

+  0x766f6717, 0xde57bc62, 0x7668ca3e, 0xde4d0cd2,

+  0x76622b4c, 0xde425e8f, 0x765b8a41, 0xde37b199,

+  0x7654e71d, 0xde2d05f1, 0x764e41e2, 0xde225b96,

+  0x76479a8e, 0xde17b28a, 0x7640f123, 0xde0d0acc,

+  0x763a45a0, 0xde02645d, 0x76339806, 0xddf7bf3e,

+  0x762ce855, 0xdded1b6e, 0x7626368d, 0xdde278ef,

+  0x761f82af, 0xddd7d7c1, 0x7618ccba, 0xddcd37e4,

+  0x761214b0, 0xddc29958, 0x760b5a90, 0xddb7fc1e,

+  0x76049e5b, 0xddad6036, 0x75fde011, 0xdda2c5a2,

+  0x75f71fb1, 0xdd982c60, 0x75f05d3d, 0xdd8d9472,

+  0x75e998b5, 0xdd82fdd8, 0x75e2d219, 0xdd786892,

+  0x75dc0968, 0xdd6dd4a2, 0x75d53ea5, 0xdd634206,

+  0x75ce71ce, 0xdd58b0c0, 0x75c7a2e3, 0xdd4e20d0,

+  0x75c0d1e7, 0xdd439236, 0x75b9fed7, 0xdd3904f4,

+  0x75b329b5, 0xdd2e7908, 0x75ac5282, 0xdd23ee74,

+  0x75a5793c, 0xdd196538, 0x759e9de5, 0xdd0edd55,

+  0x7597c07d, 0xdd0456ca, 0x7590e104, 0xdcf9d199,

+  0x7589ff7a, 0xdcef4dc2, 0x75831be0, 0xdce4cb44,

+  0x757c3636, 0xdcda4a21, 0x75754e7c, 0xdccfca59,

+  0x756e64b2, 0xdcc54bec, 0x756778d9, 0xdcbacedb,

+  0x75608af1, 0xdcb05326, 0x75599afa, 0xdca5d8cd,

+  0x7552a8f4, 0xdc9b5fd2, 0x754bb4e1, 0xdc90e834,

+  0x7544bebf, 0xdc8671f3, 0x753dc68f, 0xdc7bfd11,

+  0x7536cc52, 0xdc71898d, 0x752fd008, 0xdc671768,

+  0x7528d1b1, 0xdc5ca6a2, 0x7521d14d, 0xdc52373c,

+  0x751acedd, 0xdc47c936, 0x7513ca60, 0xdc3d5c91,

+  0x750cc3d8, 0xdc32f14d, 0x7505bb44, 0xdc28876a,

+  0x74feb0a5, 0xdc1e1ee9, 0x74f7a3fb, 0xdc13b7c9,

+  0x74f09546, 0xdc09520d, 0x74e98487, 0xdbfeedb3,

+  0x74e271bd, 0xdbf48abd, 0x74db5cea, 0xdbea292b,

+  0x74d4460c, 0xdbdfc8fc, 0x74cd2d26, 0xdbd56a32,

+  0x74c61236, 0xdbcb0cce, 0x74bef53d, 0xdbc0b0ce,

+  0x74b7d63c, 0xdbb65634, 0x74b0b533, 0xdbabfd01,

+  0x74a99221, 0xdba1a534, 0x74a26d08, 0xdb974ece,

+  0x749b45e7, 0xdb8cf9cf, 0x74941cbf, 0xdb82a638,

+  0x748cf190, 0xdb785409, 0x7485c45b, 0xdb6e0342,

+  0x747e951f, 0xdb63b3e5, 0x747763dd, 0xdb5965f1,

+  0x74703095, 0xdb4f1967, 0x7468fb47, 0xdb44ce46,

+  0x7461c3f5, 0xdb3a8491, 0x745a8a9d, 0xdb303c46,

+  0x74534f41, 0xdb25f566, 0x744c11e0, 0xdb1baff2,

+  0x7444d27b, 0xdb116beb, 0x743d9112, 0xdb072950,

+  0x74364da6, 0xdafce821, 0x742f0836, 0xdaf2a860,

+  0x7427c0c3, 0xdae86a0d, 0x7420774d, 0xdade2d28,

+  0x74192bd5, 0xdad3f1b1, 0x7411de5b, 0xdac9b7a9,

+  0x740a8edf, 0xdabf7f11, 0x74033d61, 0xdab547e8,

+  0x73fbe9e2, 0xdaab122f, 0x73f49462, 0xdaa0dde7,

+  0x73ed3ce1, 0xda96ab0f, 0x73e5e360, 0xda8c79a9,

+  0x73de87de, 0xda8249b4, 0x73d72a5d, 0xda781b31,

+  0x73cfcadc, 0xda6dee21, 0x73c8695b, 0xda63c284,

+  0x73c105db, 0xda599859, 0x73b9a05d, 0xda4f6fa3,

+  0x73b238e0, 0xda454860, 0x73aacf65, 0xda3b2292,

+  0x73a363ec, 0xda30fe38, 0x739bf675, 0xda26db54,

+  0x73948701, 0xda1cb9e5, 0x738d1590, 0xda1299ec,

+  0x7385a222, 0xda087b69, 0x737e2cb7, 0xd9fe5e5e,

+  0x7376b551, 0xd9f442c9, 0x736f3bee, 0xd9ea28ac,

+  0x7367c090, 0xd9e01006, 0x73604336, 0xd9d5f8d9,

+  0x7358c3e2, 0xd9cbe325, 0x73514292, 0xd9c1cee9,

+  0x7349bf48, 0xd9b7bc27, 0x73423a04, 0xd9adaadf,

+  0x733ab2c6, 0xd9a39b11, 0x7333298f, 0xd9998cbe,

+  0x732b9e5e, 0xd98f7fe6, 0x73241134, 0xd9857489,

+  0x731c8211, 0xd97b6aa8, 0x7314f0f6, 0xd9716243,

+  0x730d5de3, 0xd9675b5a, 0x7305c8d7, 0xd95d55ef,

+  0x72fe31d5, 0xd9535201, 0x72f698db, 0xd9494f90,

+  0x72eefdea, 0xd93f4e9e, 0x72e76102, 0xd9354f2a,

+  0x72dfc224, 0xd92b5135, 0x72d82150, 0xd92154bf,

+  0x72d07e85, 0xd91759c9, 0x72c8d9c6, 0xd90d6053,

+  0x72c13311, 0xd903685d, 0x72b98a67, 0xd8f971e8,

+  0x72b1dfc9, 0xd8ef7cf4, 0x72aa3336, 0xd8e58982,

+  0x72a284b0, 0xd8db9792, 0x729ad435, 0xd8d1a724,

+  0x729321c7, 0xd8c7b838, 0x728b6d66, 0xd8bdcad0,

+  0x7283b712, 0xd8b3deeb, 0x727bfecc, 0xd8a9f48a,

+  0x72744493, 0xd8a00bae, 0x726c8868, 0xd8962456,

+  0x7264ca4c, 0xd88c3e83, 0x725d0a3e, 0xd8825a35,

+  0x72554840, 0xd878776d, 0x724d8450, 0xd86e962b,

+  0x7245be70, 0xd864b670, 0x723df6a0, 0xd85ad83c,

+  0x72362ce0, 0xd850fb8e, 0x722e6130, 0xd8472069,

+  0x72269391, 0xd83d46cc, 0x721ec403, 0xd8336eb7,

+  0x7216f287, 0xd829982b, 0x720f1f1c, 0xd81fc328,

+  0x720749c3, 0xd815efae, 0x71ff727c, 0xd80c1dbf,

+  0x71f79948, 0xd8024d59, 0x71efbe27, 0xd7f87e7f,

+  0x71e7e118, 0xd7eeb130, 0x71e0021e, 0xd7e4e56c,

+  0x71d82137, 0xd7db1b34, 0x71d03e64, 0xd7d15288,

+  0x71c859a5, 0xd7c78b68, 0x71c072fb, 0xd7bdc5d6,

+  0x71b88a66, 0xd7b401d1, 0x71b09fe7, 0xd7aa3f5a,

+  0x71a8b37c, 0xd7a07e70, 0x71a0c528, 0xd796bf16,

+  0x7198d4ea, 0xd78d014a, 0x7190e2c3, 0xd783450d,

+  0x7188eeb2, 0xd7798a60, 0x7180f8b8, 0xd76fd143,

+  0x717900d6, 0xd76619b6, 0x7171070c, 0xd75c63ba,

+  0x71690b59, 0xd752af4f, 0x71610dbf, 0xd748fc75,

+  0x71590e3e, 0xd73f4b2e, 0x71510cd5, 0xd7359b78,

+  0x71490986, 0xd72bed55, 0x71410450, 0xd72240c5,

+  0x7138fd35, 0xd71895c9, 0x7130f433, 0xd70eec60,

+  0x7128e94c, 0xd705448b, 0x7120dc80, 0xd6fb9e4b,

+  0x7118cdcf, 0xd6f1f99f, 0x7110bd39, 0xd6e85689,

+  0x7108aabf, 0xd6deb508, 0x71009661, 0xd6d5151d,

+  0x70f8801f, 0xd6cb76c9, 0x70f067fb, 0xd6c1da0b,

+  0x70e84df3, 0xd6b83ee4, 0x70e03208, 0xd6aea555,

+  0x70d8143b, 0xd6a50d5d, 0x70cff48c, 0xd69b76fe,

+  0x70c7d2fb, 0xd691e237, 0x70bfaf89, 0xd6884f09,

+  0x70b78a36, 0xd67ebd74, 0x70af6302, 0xd6752d79,

+  0x70a739ed, 0xd66b9f18, 0x709f0ef8, 0xd6621251,

+  0x7096e223, 0xd6588725, 0x708eb36f, 0xd64efd94,

+  0x708682dc, 0xd645759f, 0x707e5069, 0xd63bef46,

+  0x70761c18, 0xd6326a88, 0x706de5e9, 0xd628e767,

+  0x7065addb, 0xd61f65e4, 0x705d73f0, 0xd615e5fd,

+  0x70553828, 0xd60c67b4, 0x704cfa83, 0xd602eb0a,

+  0x7044bb00, 0xd5f96ffd, 0x703c79a2, 0xd5eff690,

+  0x70343667, 0xd5e67ec1, 0x702bf151, 0xd5dd0892,

+  0x7023aa5f, 0xd5d39403, 0x701b6193, 0xd5ca2115,

+  0x701316eb, 0xd5c0afc6, 0x700aca69, 0xd5b74019,

+  0x70027c0c, 0xd5add20d, 0x6ffa2bd6, 0xd5a465a3,

+  0x6ff1d9c7, 0xd59afadb, 0x6fe985de, 0xd59191b5,

+  0x6fe1301c, 0xd5882a32, 0x6fd8d882, 0xd57ec452,

+  0x6fd07f0f, 0xd5756016, 0x6fc823c5, 0xd56bfd7d,

+  0x6fbfc6a3, 0xd5629c89, 0x6fb767aa, 0xd5593d3a,

+  0x6faf06da, 0xd54fdf8f, 0x6fa6a433, 0xd5468389,

+  0x6f9e3fb6, 0xd53d292a, 0x6f95d963, 0xd533d070,

+  0x6f8d713a, 0xd52a795d, 0x6f85073c, 0xd52123f0,

+  0x6f7c9b69, 0xd517d02b, 0x6f742dc1, 0xd50e7e0d,

+  0x6f6bbe45, 0xd5052d97, 0x6f634cf5, 0xd4fbdec9,

+  0x6f5ad9d1, 0xd4f291a4, 0x6f5264da, 0xd4e94627,

+  0x6f49ee0f, 0xd4dffc54, 0x6f417573, 0xd4d6b42b,

+  0x6f38fb03, 0xd4cd6dab, 0x6f307ec2, 0xd4c428d6,

+  0x6f2800af, 0xd4bae5ab, 0x6f1f80ca, 0xd4b1a42c,

+  0x6f16ff14, 0xd4a86458, 0x6f0e7b8e, 0xd49f2630,

+  0x6f05f637, 0xd495e9b3, 0x6efd6f10, 0xd48caee4,

+  0x6ef4e619, 0xd48375c1, 0x6eec5b53, 0xd47a3e4b,

+  0x6ee3cebe, 0xd4710883, 0x6edb405a, 0xd467d469,

+  0x6ed2b027, 0xd45ea1fd, 0x6eca1e27, 0xd4557140,

+  0x6ec18a58, 0xd44c4232, 0x6eb8f4bc, 0xd44314d3,

+  0x6eb05d53, 0xd439e923, 0x6ea7c41e, 0xd430bf24,

+  0x6e9f291b, 0xd42796d5, 0x6e968c4d, 0xd41e7037,

+  0x6e8dedb3, 0xd4154b4a, 0x6e854d4d, 0xd40c280e,

+  0x6e7cab1c, 0xd4030684, 0x6e740720, 0xd3f9e6ad,

+  0x6e6b615a, 0xd3f0c887, 0x6e62b9ca, 0xd3e7ac15,

+  0x6e5a1070, 0xd3de9156, 0x6e51654c, 0xd3d5784a,

+  0x6e48b860, 0xd3cc60f2, 0x6e4009aa, 0xd3c34b4f,

+  0x6e37592c, 0xd3ba3760, 0x6e2ea6e6, 0xd3b12526,

+  0x6e25f2d8, 0xd3a814a2, 0x6e1d3d03, 0xd39f05d3,

+  0x6e148566, 0xd395f8ba, 0x6e0bcc03, 0xd38ced57,

+  0x6e0310d9, 0xd383e3ab, 0x6dfa53e9, 0xd37adbb6,

+  0x6df19534, 0xd371d579, 0x6de8d4b8, 0xd368d0f3,

+  0x6de01278, 0xd35fce26, 0x6dd74e73, 0xd356cd11,

+  0x6dce88aa, 0xd34dcdb4, 0x6dc5c11c, 0xd344d011,

+  0x6dbcf7cb, 0xd33bd427, 0x6db42cb6, 0xd332d9f7,

+  0x6dab5fdf, 0xd329e181, 0x6da29144, 0xd320eac6,

+  0x6d99c0e7, 0xd317f5c6, 0x6d90eec8, 0xd30f0280,

+  0x6d881ae8, 0xd30610f7, 0x6d7f4545, 0xd2fd2129,

+  0x6d766de2, 0xd2f43318, 0x6d6d94bf, 0xd2eb46c3,

+  0x6d64b9da, 0xd2e25c2b, 0x6d5bdd36, 0xd2d97350,

+  0x6d52fed2, 0xd2d08c33, 0x6d4a1eaf, 0xd2c7a6d4,

+  0x6d413ccd, 0xd2bec333, 0x6d38592c, 0xd2b5e151,

+  0x6d2f73cd, 0xd2ad012e, 0x6d268cb0, 0xd2a422ca,

+  0x6d1da3d5, 0xd29b4626, 0x6d14b93d, 0xd2926b41,

+  0x6d0bcce8, 0xd289921e, 0x6d02ded7, 0xd280babb,

+  0x6cf9ef09, 0xd277e518, 0x6cf0fd80, 0xd26f1138,

+  0x6ce80a3a, 0xd2663f19, 0x6cdf153a, 0xd25d6ebc,

+  0x6cd61e7f, 0xd254a021, 0x6ccd2609, 0xd24bd34a,

+  0x6cc42bd9, 0xd2430835, 0x6cbb2fef, 0xd23a3ee4,

+  0x6cb2324c, 0xd2317756, 0x6ca932ef, 0xd228b18d,

+  0x6ca031da, 0xd21fed88, 0x6c972f0d, 0xd2172b48,

+  0x6c8e2a87, 0xd20e6acc, 0x6c85244a, 0xd205ac17,

+  0x6c7c1c55, 0xd1fcef27, 0x6c7312a9, 0xd1f433fd,

+  0x6c6a0746, 0xd1eb7a9a, 0x6c60fa2d, 0xd1e2c2fd,

+  0x6c57eb5e, 0xd1da0d28, 0x6c4edada, 0xd1d1591a,

+  0x6c45c8a0, 0xd1c8a6d4, 0x6c3cb4b1, 0xd1bff656,

+  0x6c339f0e, 0xd1b747a0, 0x6c2a87b6, 0xd1ae9ab4,

+  0x6c216eaa, 0xd1a5ef90, 0x6c1853eb, 0xd19d4636,

+  0x6c0f3779, 0xd1949ea6, 0x6c061953, 0xd18bf8e0,

+  0x6bfcf97c, 0xd18354e4, 0x6bf3d7f2, 0xd17ab2b3,

+  0x6beab4b6, 0xd172124d, 0x6be18fc9, 0xd16973b3,

+  0x6bd8692b, 0xd160d6e5, 0x6bcf40dc, 0xd1583be2,

+  0x6bc616dd, 0xd14fa2ad, 0x6bbceb2d, 0xd1470b44,

+  0x6bb3bdce, 0xd13e75a8, 0x6baa8ec0, 0xd135e1d9,

+  0x6ba15e03, 0xd12d4fd9, 0x6b982b97, 0xd124bfa6,

+  0x6b8ef77d, 0xd11c3142, 0x6b85c1b5, 0xd113a4ad,

+  0x6b7c8a3f, 0xd10b19e7, 0x6b73511c, 0xd10290f0,

+  0x6b6a164d, 0xd0fa09c9, 0x6b60d9d0, 0xd0f18472,

+  0x6b579ba8, 0xd0e900ec, 0x6b4e5bd4, 0xd0e07f36,

+  0x6b451a55, 0xd0d7ff51, 0x6b3bd72a, 0xd0cf813e,

+  0x6b329255, 0xd0c704fd, 0x6b294bd5, 0xd0be8a8d,

+  0x6b2003ac, 0xd0b611f1, 0x6b16b9d9, 0xd0ad9b26,

+  0x6b0d6e5c, 0xd0a5262f, 0x6b042137, 0xd09cb30b,

+  0x6afad269, 0xd09441bb, 0x6af181f3, 0xd08bd23f,

+  0x6ae82fd5, 0xd0836497, 0x6adedc10, 0xd07af8c4,

+  0x6ad586a3, 0xd0728ec6, 0x6acc2f90, 0xd06a269d,

+  0x6ac2d6d6, 0xd061c04a, 0x6ab97c77, 0xd0595bcd,

+  0x6ab02071, 0xd050f926, 0x6aa6c2c6, 0xd0489856,

+  0x6a9d6377, 0xd040395d, 0x6a940283, 0xd037dc3b,

+  0x6a8a9fea, 0xd02f80f1, 0x6a813bae, 0xd027277e,

+  0x6a77d5ce, 0xd01ecfe4, 0x6a6e6e4b, 0xd0167a22,

+  0x6a650525, 0xd00e2639, 0x6a5b9a5d, 0xd005d42a,

+  0x6a522df3, 0xcffd83f4, 0x6a48bfe7, 0xcff53597,

+  0x6a3f503a, 0xcfece915, 0x6a35deeb, 0xcfe49e6d,

+  0x6a2c6bfd, 0xcfdc55a1, 0x6a22f76e, 0xcfd40eaf,

+  0x6a19813f, 0xcfcbc999, 0x6a100970, 0xcfc3865e,

+  0x6a069003, 0xcfbb4500, 0x69fd14f6, 0xcfb3057d,

+  0x69f3984c, 0xcfaac7d8, 0x69ea1a03, 0xcfa28c10,

+  0x69e09a1c, 0xcf9a5225, 0x69d71899, 0xcf921a17,

+  0x69cd9578, 0xcf89e3e8, 0x69c410ba, 0xcf81af97,

+  0x69ba8a61, 0xcf797d24, 0x69b1026c, 0xcf714c91,

+  0x69a778db, 0xcf691ddd, 0x699dedaf, 0xcf60f108,

+  0x699460e8, 0xcf58c613, 0x698ad287, 0xcf509cfe,

+  0x6981428c, 0xcf4875ca, 0x6977b0f7, 0xcf405077,

+  0x696e1dc9, 0xcf382d05, 0x69648902, 0xcf300b74,

+  0x695af2a3, 0xcf27ebc5, 0x69515aab, 0xcf1fcdf8,

+  0x6947c11c, 0xcf17b20d, 0x693e25f5, 0xcf0f9805,

+  0x69348937, 0xcf077fe1, 0x692aeae3, 0xceff699f,

+  0x69214af8, 0xcef75541, 0x6917a977, 0xceef42c7,

+  0x690e0661, 0xcee73231, 0x690461b5, 0xcedf2380,

+  0x68fabb75, 0xced716b4, 0x68f113a0, 0xcecf0bcd,

+  0x68e76a37, 0xcec702cb, 0x68ddbf3b, 0xcebefbb0,

+  0x68d412ab, 0xceb6f67a, 0x68ca6488, 0xceaef32b,

+  0x68c0b4d2, 0xcea6f1c2, 0x68b7038b, 0xce9ef241,

+  0x68ad50b1, 0xce96f4a7, 0x68a39c46, 0xce8ef8f4,

+  0x6899e64a, 0xce86ff2a, 0x68902ebd, 0xce7f0748,

+  0x688675a0, 0xce77114e, 0x687cbaf3, 0xce6f1d3d,

+  0x6872feb6, 0xce672b16, 0x686940ea, 0xce5f3ad8,

+  0x685f8190, 0xce574c84, 0x6855c0a6, 0xce4f6019,

+  0x684bfe2f, 0xce47759a, 0x68423a2a, 0xce3f8d05,

+  0x68387498, 0xce37a65b, 0x682ead78, 0xce2fc19c,

+  0x6824e4cc, 0xce27dec9, 0x681b1a94, 0xce1ffde2,

+  0x68114ed0, 0xce181ee8, 0x68078181, 0xce1041d9,

+  0x67fdb2a7, 0xce0866b8, 0x67f3e241, 0xce008d84,

+  0x67ea1052, 0xcdf8b63d, 0x67e03cd8, 0xcdf0e0e4,

+  0x67d667d5, 0xcde90d79, 0x67cc9149, 0xcde13bfd,

+  0x67c2b934, 0xcdd96c6f, 0x67b8df97, 0xcdd19ed0,

+  0x67af0472, 0xcdc9d320, 0x67a527c4, 0xcdc20960,

+  0x679b4990, 0xcdba4190, 0x679169d5, 0xcdb27bb0,

+  0x67878893, 0xcdaab7c0, 0x677da5cb, 0xcda2f5c2,

+  0x6773c17d, 0xcd9b35b4, 0x6769dbaa, 0xcd937798,

+  0x675ff452, 0xcd8bbb6d, 0x67560b76, 0xcd840134,

+  0x674c2115, 0xcd7c48ee, 0x67423530, 0xcd74929a,

+  0x673847c8, 0xcd6cde39, 0x672e58dc, 0xcd652bcb,

+  0x6724686e, 0xcd5d7b50, 0x671a767e, 0xcd55ccca,

+  0x6710830c, 0xcd4e2037, 0x67068e18, 0xcd467599,

+  0x66fc97a3, 0xcd3eccef, 0x66f29fad, 0xcd37263a,

+  0x66e8a637, 0xcd2f817b, 0x66deab41, 0xcd27deb0,

+  0x66d4aecb, 0xcd203ddc, 0x66cab0d6, 0xcd189efe,

+  0x66c0b162, 0xcd110216, 0x66b6b070, 0xcd096725,

+  0x66acadff, 0xcd01ce2b, 0x66a2aa11, 0xccfa3729,

+  0x6698a4a6, 0xccf2a21d, 0x668e9dbd, 0xcceb0f0a,

+  0x66849558, 0xcce37def, 0x667a8b77, 0xccdbeecc,

+  0x6670801a, 0xccd461a2, 0x66667342, 0xccccd671,

+  0x665c64ef, 0xccc54d3a, 0x66525521, 0xccbdc5fc,

+  0x664843d9, 0xccb640b8, 0x663e3117, 0xccaebd6e,

+  0x66341cdb, 0xcca73c1e, 0x662a0727, 0xcc9fbcca,

+  0x661feffa, 0xcc983f70, 0x6615d754, 0xcc90c412,

+  0x660bbd37, 0xcc894aaf, 0x6601a1a2, 0xcc81d349,

+  0x65f78497, 0xcc7a5dde, 0x65ed6614, 0xcc72ea70,

+  0x65e3461b, 0xcc6b78ff, 0x65d924ac, 0xcc64098b,

+  0x65cf01c8, 0xcc5c9c14, 0x65c4dd6e, 0xcc55309b,

+  0x65bab7a0, 0xcc4dc720, 0x65b0905d, 0xcc465fa3,

+  0x65a667a7, 0xcc3efa25, 0x659c3d7c, 0xcc3796a5,

+  0x659211df, 0xcc303524, 0x6587e4cf, 0xcc28d5a3,

+  0x657db64c, 0xcc217822, 0x65738657, 0xcc1a1ca0,

+  0x656954f1, 0xcc12c31f, 0x655f2219, 0xcc0b6b9e,

+  0x6554edd1, 0xcc04161e, 0x654ab818, 0xcbfcc29f,

+  0x654080ef, 0xcbf57121, 0x65364857, 0xcbee21a5,

+  0x652c0e4f, 0xcbe6d42b, 0x6521d2d8, 0xcbdf88b3,

+  0x651795f3, 0xcbd83f3d, 0x650d57a0, 0xcbd0f7ca,

+  0x650317df, 0xcbc9b25a, 0x64f8d6b0, 0xcbc26eee,

+  0x64ee9415, 0xcbbb2d85, 0x64e4500e, 0xcbb3ee20,

+  0x64da0a9a, 0xcbacb0bf, 0x64cfc3ba, 0xcba57563,

+  0x64c57b6f, 0xcb9e3c0b, 0x64bb31ba, 0xcb9704b9,

+  0x64b0e699, 0xcb8fcf6b, 0x64a69a0f, 0xcb889c23,

+  0x649c4c1b, 0xcb816ae1, 0x6491fcbe, 0xcb7a3ba5,

+  0x6487abf7, 0xcb730e70, 0x647d59c8, 0xcb6be341,

+  0x64730631, 0xcb64ba19, 0x6468b132, 0xcb5d92f8,

+  0x645e5acc, 0xcb566ddf, 0x645402ff, 0xcb4f4acd,

+  0x6449a9cc, 0xcb4829c4, 0x643f4f32, 0xcb410ac3,

+  0x6434f332, 0xcb39edca, 0x642a95ce, 0xcb32d2da,

+  0x64203704, 0xcb2bb9f4, 0x6415d6d5, 0xcb24a316,

+  0x640b7543, 0xcb1d8e43, 0x6401124d, 0xcb167b79,

+  0x63f6adf3, 0xcb0f6aba, 0x63ec4837, 0xcb085c05,

+  0x63e1e117, 0xcb014f5b, 0x63d77896, 0xcafa44bc,

+  0x63cd0eb3, 0xcaf33c28, 0x63c2a36f, 0xcaec35a0,

+  0x63b836ca, 0xcae53123, 0x63adc8c4, 0xcade2eb3,

+  0x63a3595e, 0xcad72e4f, 0x6398e898, 0xcad02ff8,

+  0x638e7673, 0xcac933ae, 0x638402ef, 0xcac23971,

+  0x63798e0d, 0xcabb4141, 0x636f17cc, 0xcab44b1f,

+  0x6364a02e, 0xcaad570c, 0x635a2733, 0xcaa66506,

+  0x634facda, 0xca9f750f, 0x63453125, 0xca988727,

+  0x633ab414, 0xca919b4e, 0x633035a7, 0xca8ab184,

+  0x6325b5df, 0xca83c9ca, 0x631b34bc, 0xca7ce420,

+  0x6310b23e, 0xca760086, 0x63062e67, 0xca6f1efc,

+  0x62fba936, 0xca683f83, 0x62f122ab, 0xca61621b,

+  0x62e69ac8, 0xca5a86c4, 0x62dc118c, 0xca53ad7e,

+  0x62d186f8, 0xca4cd64b, 0x62c6fb0c, 0xca460129,

+  0x62bc6dca, 0xca3f2e19, 0x62b1df30, 0xca385d1d,

+  0x62a74f40, 0xca318e32, 0x629cbdfa, 0xca2ac15b,

+  0x62922b5e, 0xca23f698, 0x6287976e, 0xca1d2de7,

+  0x627d0228, 0xca16674b, 0x62726b8e, 0xca0fa2c3,

+  0x6267d3a0, 0xca08e04f, 0x625d3a5e, 0xca021fef,

+  0x62529fca, 0xc9fb61a5, 0x624803e2, 0xc9f4a570,

+  0x623d66a8, 0xc9edeb50, 0x6232c81c, 0xc9e73346,

+  0x6228283f, 0xc9e07d51, 0x621d8711, 0xc9d9c973,

+  0x6212e492, 0xc9d317ab, 0x620840c2, 0xc9cc67fa,

+  0x61fd9ba3, 0xc9c5ba60, 0x61f2f534, 0xc9bf0edd,

+  0x61e84d76, 0xc9b86572, 0x61dda46a, 0xc9b1be1e,

+  0x61d2fa0f, 0xc9ab18e3, 0x61c84e67, 0xc9a475bf,

+  0x61bda171, 0xc99dd4b4, 0x61b2f32e, 0xc99735c2,

+  0x61a8439e, 0xc99098e9, 0x619d92c2, 0xc989fe29,

+  0x6192e09b, 0xc9836582, 0x61882d28, 0xc97ccef5,

+  0x617d786a, 0xc9763a83, 0x6172c262, 0xc96fa82a,

+  0x61680b0f, 0xc96917ec, 0x615d5273, 0xc96289c9,

+  0x6152988d, 0xc95bfdc1, 0x6147dd5f, 0xc95573d4,

+  0x613d20e8, 0xc94eec03, 0x61326329, 0xc948664d,

+  0x6127a423, 0xc941e2b4, 0x611ce3d5, 0xc93b6137,

+  0x61122240, 0xc934e1d6, 0x61075f65, 0xc92e6492,

+  0x60fc9b44, 0xc927e96b, 0x60f1d5de, 0xc9217062,

+  0x60e70f32, 0xc91af976, 0x60dc4742, 0xc91484a8,

+  0x60d17e0d, 0xc90e11f7, 0x60c6b395, 0xc907a166,

+  0x60bbe7d8, 0xc90132f2, 0x60b11ad9, 0xc8fac69e,

+  0x60a64c97, 0xc8f45c68, 0x609b7d13, 0xc8edf452,

+  0x6090ac4d, 0xc8e78e5b, 0x6085da46, 0xc8e12a84,

+  0x607b06fe, 0xc8dac8cd, 0x60703275, 0xc8d46936,

+  0x60655cac, 0xc8ce0bc0, 0x605a85a3, 0xc8c7b06b,

+  0x604fad5b, 0xc8c15736, 0x6044d3d4, 0xc8bb0023,

+  0x6039f90f, 0xc8b4ab32, 0x602f1d0b, 0xc8ae5862,

+  0x60243fca, 0xc8a807b4, 0x6019614c, 0xc8a1b928,

+  0x600e8190, 0xc89b6cbf, 0x6003a099, 0xc8952278,

+  0x5ff8be65, 0xc88eda54, 0x5feddaf6, 0xc8889454,

+  0x5fe2f64c, 0xc8825077, 0x5fd81067, 0xc87c0ebd,

+  0x5fcd2948, 0xc875cf28, 0x5fc240ef, 0xc86f91b7,

+  0x5fb7575c, 0xc869566a, 0x5fac6c91, 0xc8631d42,

+  0x5fa1808c, 0xc85ce63e, 0x5f969350, 0xc856b160,

+  0x5f8ba4dc, 0xc8507ea7, 0x5f80b531, 0xc84a4e14,

+  0x5f75c44e, 0xc8441fa6, 0x5f6ad235, 0xc83df35f,

+  0x5f5fdee6, 0xc837c93e, 0x5f54ea62, 0xc831a143,

+  0x5f49f4a8, 0xc82b7b70, 0x5f3efdb9, 0xc82557c3,

+  0x5f340596, 0xc81f363d, 0x5f290c3f, 0xc81916df,

+  0x5f1e11b5, 0xc812f9a9, 0x5f1315f7, 0xc80cde9b,

+  0x5f081907, 0xc806c5b5, 0x5efd1ae4, 0xc800aef7,

+  0x5ef21b90, 0xc7fa9a62, 0x5ee71b0a, 0xc7f487f6,

+  0x5edc1953, 0xc7ee77b3, 0x5ed1166b, 0xc7e8699a,

+  0x5ec61254, 0xc7e25daa, 0x5ebb0d0d, 0xc7dc53e3,

+  0x5eb00696, 0xc7d64c47, 0x5ea4fef0, 0xc7d046d6,

+  0x5e99f61d, 0xc7ca438f, 0x5e8eec1b, 0xc7c44272,

+  0x5e83e0eb, 0xc7be4381, 0x5e78d48e, 0xc7b846ba,

+  0x5e6dc705, 0xc7b24c20, 0x5e62b84f, 0xc7ac53b1,

+  0x5e57a86d, 0xc7a65d6e, 0x5e4c9760, 0xc7a06957,

+  0x5e418528, 0xc79a776c, 0x5e3671c5, 0xc79487ae,

+  0x5e2b5d38, 0xc78e9a1d, 0x5e204781, 0xc788aeb9,

+  0x5e1530a1, 0xc782c582, 0x5e0a1898, 0xc77cde79,

+  0x5dfeff67, 0xc776f99d, 0x5df3e50d, 0xc77116f0,

+  0x5de8c98c, 0xc76b3671, 0x5dddace4, 0xc7655820,

+  0x5dd28f15, 0xc75f7bfe, 0x5dc7701f, 0xc759a20a,

+  0x5dbc5004, 0xc753ca46, 0x5db12ec3, 0xc74df4b1,

+  0x5da60c5d, 0xc748214c, 0x5d9ae8d2, 0xc7425016,

+  0x5d8fc424, 0xc73c8111, 0x5d849e51, 0xc736b43c,

+  0x5d79775c, 0xc730e997, 0x5d6e4f43, 0xc72b2123,

+  0x5d632608, 0xc7255ae0, 0x5d57fbaa, 0xc71f96ce,

+  0x5d4cd02c, 0xc719d4ed, 0x5d41a38c, 0xc714153e,

+  0x5d3675cb, 0xc70e57c0, 0x5d2b46ea, 0xc7089c75,

+  0x5d2016e9, 0xc702e35c, 0x5d14e5c9, 0xc6fd2c75,

+  0x5d09b389, 0xc6f777c1, 0x5cfe802b, 0xc6f1c540,

+  0x5cf34baf, 0xc6ec14f2, 0x5ce81615, 0xc6e666d7,

+  0x5cdcdf5e, 0xc6e0baf0, 0x5cd1a78a, 0xc6db113d,

+  0x5cc66e99, 0xc6d569be, 0x5cbb348d, 0xc6cfc472,

+  0x5caff965, 0xc6ca215c, 0x5ca4bd21, 0xc6c4807a,

+  0x5c997fc4, 0xc6bee1cd, 0x5c8e414b, 0xc6b94554,

+  0x5c8301b9, 0xc6b3ab12, 0x5c77c10e, 0xc6ae1304,

+  0x5c6c7f4a, 0xc6a87d2d, 0x5c613c6d, 0xc6a2e98b,

+  0x5c55f878, 0xc69d5820, 0x5c4ab36b, 0xc697c8eb,

+  0x5c3f6d47, 0xc6923bec, 0x5c34260c, 0xc68cb124,

+  0x5c28ddbb, 0xc6872894, 0x5c1d9454, 0xc681a23a,

+  0x5c1249d8, 0xc67c1e18, 0x5c06fe46, 0xc6769c2e,

+  0x5bfbb1a0, 0xc6711c7b, 0x5bf063e6, 0xc66b9f01,

+  0x5be51518, 0xc66623be, 0x5bd9c537, 0xc660aab5,

+  0x5bce7442, 0xc65b33e4, 0x5bc3223c, 0xc655bf4c,

+  0x5bb7cf23, 0xc6504ced, 0x5bac7af9, 0xc64adcc7,

+  0x5ba125bd, 0xc6456edb, 0x5b95cf71, 0xc6400329,

+  0x5b8a7815, 0xc63a99b1, 0x5b7f1fa9, 0xc6353273,

+  0x5b73c62d, 0xc62fcd6f, 0x5b686ba3, 0xc62a6aa6,

+  0x5b5d100a, 0xc6250a18, 0x5b51b363, 0xc61fabc4,

+  0x5b4655ae, 0xc61a4fac, 0x5b3af6ec, 0xc614f5cf,

+  0x5b2f971e, 0xc60f9e2e, 0x5b243643, 0xc60a48c9,

+  0x5b18d45c, 0xc604f5a0, 0x5b0d716a, 0xc5ffa4b3,

+  0x5b020d6c, 0xc5fa5603, 0x5af6a865, 0xc5f5098f,

+  0x5aeb4253, 0xc5efbf58, 0x5adfdb37, 0xc5ea775e,

+  0x5ad47312, 0xc5e531a1, 0x5ac909e5, 0xc5dfee22,

+  0x5abd9faf, 0xc5daace1, 0x5ab23471, 0xc5d56ddd,

+  0x5aa6c82b, 0xc5d03118, 0x5a9b5adf, 0xc5caf690,

+  0x5a8fec8c, 0xc5c5be47, 0x5a847d33, 0xc5c0883d,

+  0x5a790cd4, 0xc5bb5472, 0x5a6d9b70, 0xc5b622e6,

+  0x5a622907, 0xc5b0f399, 0x5a56b599, 0xc5abc68c,

+  0x5a4b4128, 0xc5a69bbe, 0x5a3fcbb3, 0xc5a17330,

+  0x5a34553b, 0xc59c4ce3, 0x5a28ddc0, 0xc59728d5,

+  0x5a1d6544, 0xc5920708, 0x5a11ebc5, 0xc58ce77c,

+  0x5a067145, 0xc587ca31, 0x59faf5c5, 0xc582af26,

+  0x59ef7944, 0xc57d965d, 0x59e3fbc3, 0xc5787fd6,

+  0x59d87d42, 0xc5736b90, 0x59ccfdc2, 0xc56e598c,

+  0x59c17d44, 0xc56949ca, 0x59b5fbc8, 0xc5643c4a,

+  0x59aa794d, 0xc55f310d, 0x599ef5d6, 0xc55a2812,

+  0x59937161, 0xc555215a, 0x5987ebf0, 0xc5501ce5,

+  0x597c6584, 0xc54b1ab4, 0x5970de1b, 0xc5461ac6,

+  0x596555b8, 0xc5411d1b, 0x5959cc5a, 0xc53c21b4,

+  0x594e4201, 0xc5372891, 0x5942b6af, 0xc53231b3,

+  0x59372a64, 0xc52d3d18, 0x592b9d1f, 0xc5284ac3,

+  0x59200ee3, 0xc5235ab2, 0x59147fae, 0xc51e6ce6,

+  0x5908ef82, 0xc519815f, 0x58fd5e5f, 0xc514981d,

+  0x58f1cc45, 0xc50fb121, 0x58e63935, 0xc50acc6b,

+  0x58daa52f, 0xc505e9fb, 0x58cf1034, 0xc50109d0,

+  0x58c37a44, 0xc4fc2bec, 0x58b7e35f, 0xc4f7504e,

+  0x58ac4b87, 0xc4f276f7, 0x58a0b2bb, 0xc4ed9fe7,

+  0x589518fc, 0xc4e8cb1e, 0x58897e4a, 0xc4e3f89c,

+  0x587de2a7, 0xc4df2862, 0x58724611, 0xc4da5a6f,

+  0x5866a88a, 0xc4d58ec3, 0x585b0a13, 0xc4d0c560,

+  0x584f6aab, 0xc4cbfe45, 0x5843ca53, 0xc4c73972,

+  0x5838290c, 0xc4c276e8, 0x582c86d5, 0xc4bdb6a6,

+  0x5820e3b0, 0xc4b8f8ad, 0x58153f9d, 0xc4b43cfd,

+  0x58099a9c, 0xc4af8397, 0x57fdf4ae, 0xc4aacc7a,

+  0x57f24dd3, 0xc4a617a6, 0x57e6a60c, 0xc4a1651c,

+  0x57dafd59, 0xc49cb4dd, 0x57cf53bb, 0xc49806e7,

+  0x57c3a931, 0xc4935b3c, 0x57b7fdbd, 0xc48eb1db,

+  0x57ac515f, 0xc48a0ac4, 0x57a0a417, 0xc48565f9,

+  0x5794f5e6, 0xc480c379, 0x578946cc, 0xc47c2344,

+  0x577d96ca, 0xc477855a, 0x5771e5e0, 0xc472e9bc,

+  0x5766340f, 0xc46e5069, 0x575a8157, 0xc469b963,

+  0x574ecdb8, 0xc46524a9, 0x57431933, 0xc460923b,

+  0x573763c9, 0xc45c0219, 0x572bad7a, 0xc4577444,

+  0x571ff646, 0xc452e8bc, 0x57143e2d, 0xc44e5f80,

+  0x57088531, 0xc449d892, 0x56fccb51, 0xc44553f2,

+  0x56f1108f, 0xc440d19e, 0x56e554ea, 0xc43c5199,

+  0x56d99864, 0xc437d3e1, 0x56cddafb, 0xc4335877,

+  0x56c21cb2, 0xc42edf5c, 0x56b65d88, 0xc42a688f,

+  0x56aa9d7e, 0xc425f410, 0x569edc94, 0xc42181e0,

+  0x56931acb, 0xc41d11ff, 0x56875823, 0xc418a46d,

+  0x567b949d, 0xc414392b, 0x566fd039, 0xc40fd037,

+  0x56640af7, 0xc40b6994, 0x565844d8, 0xc4070540,

+  0x564c7ddd, 0xc402a33c, 0x5640b606, 0xc3fe4388,

+  0x5634ed53, 0xc3f9e624, 0x562923c5, 0xc3f58b10,

+  0x561d595d, 0xc3f1324e, 0x56118e1a, 0xc3ecdbdc,

+  0x5605c1fd, 0xc3e887bb, 0x55f9f507, 0xc3e435ea,

+  0x55ee2738, 0xc3dfe66c, 0x55e25890, 0xc3db993e,

+  0x55d68911, 0xc3d74e62, 0x55cab8ba, 0xc3d305d8,

+  0x55bee78c, 0xc3cebfa0, 0x55b31587, 0xc3ca7bba,

+  0x55a742ac, 0xc3c63a26, 0x559b6efb, 0xc3c1fae5,

+  0x558f9a76, 0xc3bdbdf6, 0x5583c51b, 0xc3b9835a,

+  0x5577eeec, 0xc3b54b11, 0x556c17e9, 0xc3b1151b,

+  0x55604013, 0xc3ace178, 0x5554676a, 0xc3a8b028,

+  0x55488dee, 0xc3a4812c, 0x553cb3a0, 0xc3a05484,

+  0x5530d881, 0xc39c2a2f, 0x5524fc90, 0xc398022f,

+  0x55191fcf, 0xc393dc82, 0x550d423d, 0xc38fb92a,

+  0x550163dc, 0xc38b9827, 0x54f584ac, 0xc3877978,

+  0x54e9a4ac, 0xc3835d1e, 0x54ddc3de, 0xc37f4319,

+  0x54d1e242, 0xc37b2b6a, 0x54c5ffd9, 0xc377160f,

+  0x54ba1ca3, 0xc373030a, 0x54ae38a0, 0xc36ef25b,

+  0x54a253d1, 0xc36ae401, 0x54966e36, 0xc366d7fd,

+  0x548a87d1, 0xc362ce50, 0x547ea0a0, 0xc35ec6f8,

+  0x5472b8a5, 0xc35ac1f7, 0x5466cfe1, 0xc356bf4d,

+  0x545ae653, 0xc352bef9, 0x544efbfc, 0xc34ec0fc,

+  0x544310dd, 0xc34ac556, 0x543724f5, 0xc346cc07,

+  0x542b3846, 0xc342d510, 0x541f4ad1, 0xc33ee070,

+  0x54135c94, 0xc33aee27, 0x54076d91, 0xc336fe37,

+  0x53fb7dc9, 0xc333109e, 0x53ef8d3c, 0xc32f255e,

+  0x53e39be9, 0xc32b3c75, 0x53d7a9d3, 0xc32755e5,

+  0x53cbb6f8, 0xc32371ae, 0x53bfc35b, 0xc31f8fcf,

+  0x53b3cefa, 0xc31bb049, 0x53a7d9d7, 0xc317d31c,

+  0x539be3f2, 0xc313f848, 0x538fed4b, 0xc3101fce,

+  0x5383f5e3, 0xc30c49ad, 0x5377fdbb, 0xc30875e5,

+  0x536c04d2, 0xc304a477, 0x53600b2a, 0xc300d563,

+  0x535410c3, 0xc2fd08a9, 0x5348159d, 0xc2f93e4a,

+  0x533c19b8, 0xc2f57644, 0x53301d16, 0xc2f1b099,

+  0x53241fb6, 0xc2eded49, 0x5318219a, 0xc2ea2c53,

+  0x530c22c1, 0xc2e66db8, 0x5300232c, 0xc2e2b178,

+  0x52f422db, 0xc2def794, 0x52e821cf, 0xc2db400a,

+  0x52dc2009, 0xc2d78add, 0x52d01d89, 0xc2d3d80a,

+  0x52c41a4f, 0xc2d02794, 0x52b8165b, 0xc2cc7979,

+  0x52ac11af, 0xc2c8cdbb, 0x52a00c4b, 0xc2c52459,

+  0x5294062f, 0xc2c17d52, 0x5287ff5b, 0xc2bdd8a9,

+  0x527bf7d1, 0xc2ba365c, 0x526fef90, 0xc2b6966c,

+  0x5263e699, 0xc2b2f8d8, 0x5257dced, 0xc2af5da2,

+  0x524bd28c, 0xc2abc4c9, 0x523fc776, 0xc2a82e4d,

+  0x5233bbac, 0xc2a49a2e, 0x5227af2e, 0xc2a1086d,

+  0x521ba1fd, 0xc29d790a, 0x520f941a, 0xc299ec05,

+  0x52038584, 0xc296615d, 0x51f7763c, 0xc292d914,

+  0x51eb6643, 0xc28f5329, 0x51df5599, 0xc28bcf9c,

+  0x51d3443f, 0xc2884e6e, 0x51c73235, 0xc284cf9f,

+  0x51bb1f7c, 0xc281532e, 0x51af0c13, 0xc27dd91c,

+  0x51a2f7fc, 0xc27a616a, 0x5196e337, 0xc276ec16,

+  0x518acdc4, 0xc2737922, 0x517eb7a4, 0xc270088e,

+  0x5172a0d7, 0xc26c9a58, 0x5166895f, 0xc2692e83,

+  0x515a713a, 0xc265c50e, 0x514e586a, 0xc2625df8,

+  0x51423ef0, 0xc25ef943, 0x513624cb, 0xc25b96ee,

+  0x512a09fc, 0xc25836f9, 0x511dee84, 0xc254d965,

+  0x5111d263, 0xc2517e31, 0x5105b599, 0xc24e255e,

+  0x50f99827, 0xc24aceed, 0x50ed7a0e, 0xc2477adc,

+  0x50e15b4e, 0xc244292c, 0x50d53be7, 0xc240d9de,

+  0x50c91bda, 0xc23d8cf1, 0x50bcfb28, 0xc23a4265,

+  0x50b0d9d0, 0xc236fa3b, 0x50a4b7d3, 0xc233b473,

+  0x50989532, 0xc230710d, 0x508c71ee, 0xc22d3009,

+  0x50804e06, 0xc229f167, 0x5074297b, 0xc226b528,

+  0x5068044e, 0xc2237b4b, 0x505bde7f, 0xc22043d0,

+  0x504fb80e, 0xc21d0eb8, 0x504390fd, 0xc219dc03,

+  0x5037694b, 0xc216abb1, 0x502b40f8, 0xc2137dc2,

+  0x501f1807, 0xc2105236, 0x5012ee76, 0xc20d290d,

+  0x5006c446, 0xc20a0248, 0x4ffa9979, 0xc206dde6,

+  0x4fee6e0d, 0xc203bbe8, 0x4fe24205, 0xc2009c4e,

+  0x4fd6155f, 0xc1fd7f17, 0x4fc9e81e, 0xc1fa6445,

+  0x4fbdba40, 0xc1f74bd6, 0x4fb18bc8, 0xc1f435cc,

+  0x4fa55cb4, 0xc1f12227, 0x4f992d06, 0xc1ee10e5,

+  0x4f8cfcbe, 0xc1eb0209, 0x4f80cbdc, 0xc1e7f591,

+  0x4f749a61, 0xc1e4eb7e, 0x4f68684e, 0xc1e1e3d0,

+  0x4f5c35a3, 0xc1dede87, 0x4f500260, 0xc1dbdba3,

+  0x4f43ce86, 0xc1d8db25, 0x4f379a16, 0xc1d5dd0c,

+  0x4f2b650f, 0xc1d2e158, 0x4f1f2f73, 0xc1cfe80a,

+  0x4f12f941, 0xc1ccf122, 0x4f06c27a, 0xc1c9fca0,

+  0x4efa8b20, 0xc1c70a84, 0x4eee5331, 0xc1c41ace,

+  0x4ee21aaf, 0xc1c12d7e, 0x4ed5e19a, 0xc1be4294,

+  0x4ec9a7f3, 0xc1bb5a11, 0x4ebd6db9, 0xc1b873f5,

+  0x4eb132ef, 0xc1b5903f, 0x4ea4f793, 0xc1b2aef0,

+  0x4e98bba7, 0xc1afd007, 0x4e8c7f2a, 0xc1acf386,

+  0x4e80421e, 0xc1aa196c, 0x4e740483, 0xc1a741b9,

+  0x4e67c65a, 0xc1a46c6e, 0x4e5b87a2, 0xc1a1998a,

+  0x4e4f485c, 0xc19ec90d, 0x4e430889, 0xc19bfaf9,

+  0x4e36c82a, 0xc1992f4c, 0x4e2a873e, 0xc1966606,

+  0x4e1e45c6, 0xc1939f29, 0x4e1203c3, 0xc190dab4,

+  0x4e05c135, 0xc18e18a7, 0x4df97e1d, 0xc18b5903,

+  0x4ded3a7b, 0xc1889bc6, 0x4de0f64f, 0xc185e0f3,

+  0x4dd4b19a, 0xc1832888, 0x4dc86c5d, 0xc1807285,

+  0x4dbc2698, 0xc17dbeec, 0x4dafe04b, 0xc17b0dbb,

+  0x4da39978, 0xc1785ef4, 0x4d97521d, 0xc175b296,

+  0x4d8b0a3d, 0xc17308a1, 0x4d7ec1d6, 0xc1706115,

+  0x4d7278eb, 0xc16dbbf3, 0x4d662f7b, 0xc16b193a,

+  0x4d59e586, 0xc16878eb, 0x4d4d9b0e, 0xc165db05,

+  0x4d415013, 0xc1633f8a, 0x4d350495, 0xc160a678,

+  0x4d28b894, 0xc15e0fd1, 0x4d1c6c11, 0xc15b7b94,

+  0x4d101f0e, 0xc158e9c1, 0x4d03d189, 0xc1565a58,

+  0x4cf78383, 0xc153cd5a, 0x4ceb34fe, 0xc15142c6,

+  0x4cdee5f9, 0xc14eba9d, 0x4cd29676, 0xc14c34df,

+  0x4cc64673, 0xc149b18b, 0x4cb9f5f3, 0xc14730a3,

+  0x4cada4f5, 0xc144b225, 0x4ca1537a, 0xc1423613,

+  0x4c950182, 0xc13fbc6c, 0x4c88af0e, 0xc13d4530,

+  0x4c7c5c1e, 0xc13ad060, 0x4c7008b3, 0xc1385dfb,

+  0x4c63b4ce, 0xc135ee02, 0x4c57606e, 0xc1338075,

+  0x4c4b0b94, 0xc1311553, 0x4c3eb641, 0xc12eac9d,

+  0x4c326075, 0xc12c4653, 0x4c260a31, 0xc129e276,

+  0x4c19b374, 0xc1278104, 0x4c0d5c41, 0xc12521ff,

+  0x4c010496, 0xc122c566, 0x4bf4ac75, 0xc1206b39,

+  0x4be853de, 0xc11e1379, 0x4bdbfad1, 0xc11bbe26,

+  0x4bcfa150, 0xc1196b3f, 0x4bc34759, 0xc1171ac6,

+  0x4bb6ecef, 0xc114ccb9, 0x4baa9211, 0xc1128119,

+  0x4b9e36c0, 0xc11037e6, 0x4b91dafc, 0xc10df120,

+  0x4b857ec7, 0xc10bacc8, 0x4b79221f, 0xc1096add,

+  0x4b6cc506, 0xc1072b5f, 0x4b60677c, 0xc104ee4f,

+  0x4b540982, 0xc102b3ac, 0x4b47ab19, 0xc1007b77,

+  0x4b3b4c40, 0xc0fe45b0, 0x4b2eecf8, 0xc0fc1257,

+  0x4b228d42, 0xc0f9e16b, 0x4b162d1d, 0xc0f7b2ee,

+  0x4b09cc8c, 0xc0f586df, 0x4afd6b8d, 0xc0f35d3e,

+  0x4af10a22, 0xc0f1360b, 0x4ae4a84b, 0xc0ef1147,

+  0x4ad84609, 0xc0eceef1, 0x4acbe35b, 0xc0eacf09,

+  0x4abf8043, 0xc0e8b190, 0x4ab31cc1, 0xc0e69686,

+  0x4aa6b8d5, 0xc0e47deb, 0x4a9a5480, 0xc0e267be,

+  0x4a8defc3, 0xc0e05401, 0x4a818a9d, 0xc0de42b2,

+  0x4a752510, 0xc0dc33d2, 0x4a68bf1b, 0xc0da2762,

+  0x4a5c58c0, 0xc0d81d61, 0x4a4ff1fe, 0xc0d615cf,

+  0x4a438ad7, 0xc0d410ad, 0x4a37234a, 0xc0d20dfa,

+  0x4a2abb59, 0xc0d00db6, 0x4a1e5303, 0xc0ce0fe3,

+  0x4a11ea49, 0xc0cc147f, 0x4a05812c, 0xc0ca1b8a,

+  0x49f917ac, 0xc0c82506, 0x49ecadc9, 0xc0c630f2,

+  0x49e04385, 0xc0c43f4d, 0x49d3d8df, 0xc0c25019,

+  0x49c76dd8, 0xc0c06355, 0x49bb0271, 0xc0be7901,

+  0x49ae96aa, 0xc0bc911d, 0x49a22a83, 0xc0baabaa,

+  0x4995bdfd, 0xc0b8c8a7, 0x49895118, 0xc0b6e815,

+  0x497ce3d5, 0xc0b509f3, 0x49707635, 0xc0b32e42,

+  0x49640837, 0xc0b15502, 0x495799dd, 0xc0af7e33,

+  0x494b2b27, 0xc0ada9d4, 0x493ebc14, 0xc0abd7e6,

+  0x49324ca7, 0xc0aa086a, 0x4925dcdf, 0xc0a83b5e,

+  0x49196cbc, 0xc0a670c4, 0x490cfc40, 0xc0a4a89b,

+  0x49008b6a, 0xc0a2e2e3, 0x48f41a3c, 0xc0a11f9d,

+  0x48e7a8b5, 0xc09f5ec8, 0x48db36d6, 0xc09da065,

+  0x48cec4a0, 0xc09be473, 0x48c25213, 0xc09a2af3,

+  0x48b5df30, 0xc09873e4, 0x48a96bf6, 0xc096bf48,

+  0x489cf867, 0xc0950d1d, 0x48908483, 0xc0935d64,

+  0x4884104b, 0xc091b01d, 0x48779bbe, 0xc0900548,

+  0x486b26de, 0xc08e5ce5, 0x485eb1ab, 0xc08cb6f5,

+  0x48523c25, 0xc08b1376, 0x4845c64d, 0xc089726a,

+  0x48395024, 0xc087d3d0, 0x482cd9a9, 0xc08637a9,

+  0x482062de, 0xc0849df4, 0x4813ebc2, 0xc08306b2,

+  0x48077457, 0xc08171e2, 0x47fafc9c, 0xc07fdf85,

+  0x47ee8493, 0xc07e4f9b, 0x47e20c3b, 0xc07cc223,

+  0x47d59396, 0xc07b371e, 0x47c91aa3, 0xc079ae8c,

+  0x47bca163, 0xc078286e, 0x47b027d7, 0xc076a4c2,

+  0x47a3adff, 0xc0752389, 0x479733dc, 0xc073a4c3,

+  0x478ab96e, 0xc0722871, 0x477e3eb5, 0xc070ae92,

+  0x4771c3b3, 0xc06f3726, 0x47654867, 0xc06dc22e,

+  0x4758ccd2, 0xc06c4fa8, 0x474c50f4, 0xc06adf97,

+  0x473fd4cf, 0xc06971f9, 0x47335862, 0xc06806ce,

+  0x4726dbae, 0xc0669e18, 0x471a5eb3, 0xc06537d4,

+  0x470de172, 0xc063d405, 0x470163eb, 0xc06272aa,

+  0x46f4e620, 0xc06113c2, 0x46e86810, 0xc05fb74e,

+  0x46dbe9bb, 0xc05e5d4e, 0x46cf6b23, 0xc05d05c3,

+  0x46c2ec48, 0xc05bb0ab, 0x46b66d29, 0xc05a5e07,

+  0x46a9edc9, 0xc0590dd8, 0x469d6e27, 0xc057c01d,

+  0x4690ee44, 0xc05674d6, 0x46846e1f, 0xc0552c03,

+  0x4677edbb, 0xc053e5a5, 0x466b6d16, 0xc052a1bb,

+  0x465eec33, 0xc0516045, 0x46526b10, 0xc0502145,

+  0x4645e9af, 0xc04ee4b8, 0x46396810, 0xc04daaa1,

+  0x462ce634, 0xc04c72fe, 0x4620641a, 0xc04b3dcf,

+  0x4613e1c5, 0xc04a0b16, 0x46075f33, 0xc048dad1,

+  0x45fadc66, 0xc047ad01, 0x45ee595d, 0xc04681a6,

+  0x45e1d61b, 0xc04558c0, 0x45d5529e, 0xc044324f,

+  0x45c8cee7, 0xc0430e53, 0x45bc4af8, 0xc041eccc,

+  0x45afc6d0, 0xc040cdba, 0x45a3426f, 0xc03fb11d,

+  0x4596bdd7, 0xc03e96f6, 0x458a3908, 0xc03d7f44,

+  0x457db403, 0xc03c6a07, 0x45712ec7, 0xc03b573f,

+  0x4564a955, 0xc03a46ed, 0x455823ae, 0xc0393910,

+  0x454b9dd3, 0xc0382da8, 0x453f17c3, 0xc03724b6,

+  0x4532917f, 0xc0361e3a, 0x45260b08, 0xc0351a33,

+  0x4519845e, 0xc03418a2, 0x450cfd82, 0xc0331986,

+  0x45007674, 0xc0321ce0, 0x44f3ef35, 0xc03122b0,

+  0x44e767c5, 0xc0302af5, 0x44dae024, 0xc02f35b1,

+  0x44ce5854, 0xc02e42e2, 0x44c1d054, 0xc02d5289,

+  0x44b54825, 0xc02c64a6, 0x44a8bfc7, 0xc02b7939,

+  0x449c373c, 0xc02a9042, 0x448fae83, 0xc029a9c1,

+  0x4483259d, 0xc028c5b6, 0x44769c8b, 0xc027e421,

+  0x446a134c, 0xc0270502, 0x445d89e2, 0xc0262859,

+  0x4451004d, 0xc0254e27, 0x4444768d, 0xc024766a,

+  0x4437eca4, 0xc023a124, 0x442b6290, 0xc022ce54,

+  0x441ed854, 0xc021fdfb, 0x44124dee, 0xc0213018,

+  0x4405c361, 0xc02064ab, 0x43f938ac, 0xc01f9bb5,

+  0x43ecadcf, 0xc01ed535, 0x43e022cc, 0xc01e112b,

+  0x43d397a3, 0xc01d4f99, 0x43c70c54, 0xc01c907c,

+  0x43ba80df, 0xc01bd3d6, 0x43adf546, 0xc01b19a7,

+  0x43a16988, 0xc01a61ee, 0x4394dda7, 0xc019acac,

+  0x438851a2, 0xc018f9e1, 0x437bc57b, 0xc018498c,

+  0x436f3931, 0xc0179bae, 0x4362acc5, 0xc016f047,

+  0x43562038, 0xc0164757, 0x43499389, 0xc015a0dd,

+  0x433d06bb, 0xc014fcda, 0x433079cc, 0xc0145b4e,

+  0x4323ecbe, 0xc013bc39, 0x43175f91, 0xc0131f9b,

+  0x430ad245, 0xc0128574, 0x42fe44dc, 0xc011edc3,

+  0x42f1b755, 0xc011588a, 0x42e529b0, 0xc010c5c7,

+  0x42d89bf0, 0xc010357c, 0x42cc0e13, 0xc00fa7a8,

+  0x42bf801a, 0xc00f1c4a, 0x42b2f207, 0xc00e9364,

+  0x42a663d8, 0xc00e0cf5, 0x4299d590, 0xc00d88fd,

+  0x428d472e, 0xc00d077c, 0x4280b8b3, 0xc00c8872,

+  0x42742a1f, 0xc00c0be0, 0x42679b73, 0xc00b91c4,

+  0x425b0caf, 0xc00b1a20, 0x424e7dd4, 0xc00aa4f3,

+  0x4241eee2, 0xc00a323d, 0x42355fd9, 0xc009c1ff,

+  0x4228d0bb, 0xc0095438, 0x421c4188, 0xc008e8e8,

+  0x420fb240, 0xc008800f, 0x420322e3, 0xc00819ae,

+  0x41f69373, 0xc007b5c4, 0x41ea03ef, 0xc0075452,

+  0x41dd7459, 0xc006f556, 0x41d0e4b0, 0xc00698d3,

+  0x41c454f5, 0xc0063ec6, 0x41b7c528, 0xc005e731,

+  0x41ab354b, 0xc0059214, 0x419ea55d, 0xc0053f6e,

+  0x4192155f, 0xc004ef3f, 0x41858552, 0xc004a188,

+  0x4178f536, 0xc0045648, 0x416c650b, 0xc0040d80,

+  0x415fd4d2, 0xc003c72f, 0x4153448c, 0xc0038356,

+  0x4146b438, 0xc00341f4, 0x413a23d8, 0xc003030a,

+  0x412d936c, 0xc002c697, 0x412102f4, 0xc0028c9c,

+  0x41147271, 0xc0025519, 0x4107e1e3, 0xc002200d,

+  0x40fb514b, 0xc001ed78, 0x40eec0aa, 0xc001bd5c,

+  0x40e22fff, 0xc0018fb6, 0x40d59f4c, 0xc0016489,

+  0x40c90e90, 0xc0013bd3, 0x40bc7dcc, 0xc0011594,

+  0x40afed02, 0xc000f1ce, 0x40a35c30, 0xc000d07e,

+  0x4096cb58, 0xc000b1a7, 0x408a3a7b, 0xc0009547,

+  0x407da998, 0xc0007b5f, 0x407118b0, 0xc00063ee,

+  0x406487c4, 0xc0004ef5, 0x4057f6d4, 0xc0003c74,

+  0x404b65e1, 0xc0002c6a, 0x403ed4ea, 0xc0001ed8,

+  0x403243f1, 0xc00013bd, 0x4025b2f7, 0xc0000b1a,

+  0x401921fb, 0xc00004ef, 0x400c90fe, 0xc000013c,

+};

+

+/**    

+* @brief  Initialization function for the Q31 RFFT/RIFFT.   

+* @param[in, out] *S             points to an instance of the Q31 RFFT/RIFFT structure.   

+* @param[in, out] *S_CFFT        points to an instance of the Q31 CFFT/CIFFT structure.   

+* @param[in]      fftLenReal     length of the FFT.   

+* @param[in]      ifftFlagR      flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform.   

+* @param[in]      bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.   

+* @return		The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if <code>fftLenReal</code> is not a supported value.   

+*    

+* \par Description:   

+* \par   

+* The parameter <code>fftLenReal</code>	Specifies length of RFFT/RIFFT Process. Supported FFT Lengths are 128, 512, 2048.    

+* \par    

+* The parameter <code>ifftFlagR</code> controls whether a forward or inverse transform is computed.    

+* Set(=1) ifftFlagR to calculate RIFFT, otherwise RFFT is calculated.    

+* \par    

+* The parameter <code>bitReverseFlag</code> controls whether output is in normal order or bit reversed order.    

+* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.   

+* \par    

+* This function also initializes Twiddle factor table.    

+*/

+

+arm_status arm_rfft_init_q31(

+  arm_rfft_instance_q31 * S,

+  arm_cfft_radix4_instance_q31 * S_CFFT,

+  uint32_t fftLenReal,

+  uint32_t ifftFlagR,

+  uint32_t bitReverseFlag)

+{

+  /*  Initialise the default arm status */

+  arm_status status = ARM_MATH_SUCCESS;

+

+  /*  Initialize the Real FFT length */

+  S->fftLenReal = (uint16_t) fftLenReal;

+

+  /*  Initialize the Complex FFT length */

+  S->fftLenBy2 = (uint16_t) fftLenReal / 2u;

+

+  /*  Initialize the Twiddle coefficientA pointer */

+  S->pTwiddleAReal = (q31_t *) realCoefAQ31;

+

+  /*  Initialize the Twiddle coefficientB pointer */

+  S->pTwiddleBReal = (q31_t *) realCoefBQ31;

+

+  /*  Initialize the Flag for selection of RFFT or RIFFT */

+  S->ifftFlagR = (uint8_t) ifftFlagR;

+

+  /*  Initialize the Flag for calculation Bit reversal or not */

+  S->bitReverseFlagR = (uint8_t) bitReverseFlag;

+

+  /*  Initialization of coef modifier depending on the FFT length */

+  switch (S->fftLenReal)

+  {

+  case 8192:

+    S->twidCoefRModifier = 1u;

+    break;

+  case 2048u:

+    S->twidCoefRModifier = 4u;

+    break;

+  case 512u:

+    S->twidCoefRModifier = 16u;

+    break;

+  case 128u:

+    S->twidCoefRModifier = 64u;

+    break;

+  default:

+    /*  Reporting argument error if rfftSize is not valid value */

+    status = ARM_MATH_ARGUMENT_ERROR;

+    break;

+  }

+

+  /* Init Complex FFT Instance */

+  S->pCfft = S_CFFT;

+

+  if(S->ifftFlagR)

+  {

+    /* Initializes the CIFFT Module for fftLenreal/2 length */

+    arm_cfft_radix4_init_q31(S->pCfft, (uint16_t) S->fftLenBy2, 1u, 1u);

+  }

+  else

+  {

+    /* Initializes the CFFT Module for fftLenreal/2 length */

+    arm_cfft_radix4_init_q31(S->pCfft, (uint16_t) S->fftLenBy2, 0u, 1u);

+  }

+

+  /* return the status of RFFT Init function */

+  return (status);

+

+}

+

+  /**    

+   * @} end of RFFT_RIFFT group    

+   */

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q15.c
new file mode 100644
index 000000000..c0c201277
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q15.c
@@ -0,0 +1,460 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_rfft_q15.c    

+*    

+* Description:	RFFT & RIFFT Q15 process 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+

+#include "arm_math.h"

+

+/*--------------------------------------------------------------------    

+*		Internal functions prototypes    

+--------------------------------------------------------------------*/

+

+void arm_split_rfft_q15(

+  q15_t * pSrc,

+  uint32_t fftLen,

+  q15_t * pATable,

+  q15_t * pBTable,

+  q15_t * pDst,

+  uint32_t modifier);

+

+void arm_split_rifft_q15(

+  q15_t * pSrc,

+  uint32_t fftLen,

+  q15_t * pATable,

+  q15_t * pBTable,

+  q15_t * pDst,

+  uint32_t modifier);

+

+/**    

+ * @addtogroup RFFT_RIFFT    

+ * @{    

+ */

+

+/**    

+ * @brief Processing function for the Q15 RFFT/RIFFT.   

+ * @param[in]  *S    points to an instance of the Q15 RFFT/RIFFT structure.   

+ * @param[in]  *pSrc points to the input buffer.   

+ * @param[out] *pDst points to the output buffer.   

+ * @return none.   

+ *    

+ * \par Input an output formats:   

+ * \par    

+ * Internally input is downscaled by 2 for every stage to avoid saturations inside CFFT/CIFFT process.    

+ * Hence the output format is different for different RFFT sizes.    

+ * The input and output formats for different RFFT sizes and number of bits to upscale are mentioned in the tables below for RFFT and RIFFT:   

+ * \par    

+ * \image html RFFTQ15.gif "Input and Output Formats for Q15 RFFT"    

+ * \par    

+ * \image html RIFFTQ15.gif "Input and Output Formats for Q15 RIFFT"    

+ */

+

+void arm_rfft_q15(

+  const arm_rfft_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst)

+{

+  const arm_cfft_radix4_instance_q15 *S_CFFT = S->pCfft;

+

+  /* Calculation of RIFFT of input */

+  if(S->ifftFlagR == 1u)

+  {

+    /*  Real IFFT core process */

+    arm_split_rifft_q15(pSrc, S->fftLenBy2, S->pTwiddleAReal,

+                        S->pTwiddleBReal, pDst, S->twidCoefRModifier);

+

+    /* Complex readix-4 IFFT process */

+    arm_radix4_butterfly_inverse_q15(pDst, S_CFFT->fftLen,

+                                     S_CFFT->pTwiddle,

+                                     S_CFFT->twidCoefModifier);

+

+    /* Bit reversal process */

+    if(S->bitReverseFlagR == 1u)

+    {

+      arm_bitreversal_q15(pDst, S_CFFT->fftLen,

+                          S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);

+    }

+  }

+  else

+  {

+    /* Calculation of RFFT of input */

+

+    /* Complex readix-4 FFT process */

+    arm_radix4_butterfly_q15(pSrc, S_CFFT->fftLen,

+                             S_CFFT->pTwiddle, S_CFFT->twidCoefModifier);

+

+    /* Bit reversal process */

+    if(S->bitReverseFlagR == 1u)

+    {

+      arm_bitreversal_q15(pSrc, S_CFFT->fftLen,

+                          S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);

+    }

+

+    arm_split_rfft_q15(pSrc, S->fftLenBy2, S->pTwiddleAReal,

+                       S->pTwiddleBReal, pDst, S->twidCoefRModifier);

+  }

+

+}

+

+  /**    

+   * @} end of RFFT_RIFFT group    

+   */

+

+/**    

+ * @brief  Core Real FFT process    

+ * @param  *pSrc 				points to the input buffer.   

+ * @param  fftLen  				length of FFT.   

+ * @param  *pATable 			points to the A twiddle Coef buffer.    

+ * @param  *pBTable 			points to the B twiddle Coef buffer.   

+ * @param  *pDst 				points to the output buffer.   

+ * @param  modifier 	        twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   

+ * @return none.    

+ * The function implements a Real FFT    

+ */

+

+void arm_split_rfft_q15(

+  q15_t * pSrc,

+  uint32_t fftLen,

+  q15_t * pATable,

+  q15_t * pBTable,

+  q15_t * pDst,

+  uint32_t modifier)

+{

+  uint32_t i;                                    /* Loop Counter */

+  q31_t outR, outI;                              /* Temporary variables for output */

+  q15_t *pCoefA, *pCoefB;                        /* Temporary pointers for twiddle factors */

+  q15_t *pSrc1, *pSrc2;

+

+

+//  pSrc[2u * fftLen] = pSrc[0]; 

+//  pSrc[(2u * fftLen) + 1u] = pSrc[1]; 

+

+  pCoefA = &pATable[modifier * 2u];

+  pCoefB = &pBTable[modifier * 2u];

+

+  pSrc1 = &pSrc[2];

+  pSrc2 = &pSrc[(2u * fftLen) - 2u];

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+

+  i = 1u;

+

+  while(i < fftLen)

+  {

+    /*    

+       outR = (pSrc[2 * i] * pATable[2 * i] - pSrc[2 * i + 1] * pATable[2 * i + 1]    

+       + pSrc[2 * n - 2 * i] * pBTable[2 * i] +    

+       pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);    

+     */

+

+    /* outI = (pIn[2 * i + 1] * pATable[2 * i] + pIn[2 * i] * pATable[2 * i + 1] +    

+       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -    

+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]); */

+

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    /* pSrc[2 * i] * pATable[2 * i] - pSrc[2 * i + 1] * pATable[2 * i + 1] */

+    outR = __SMUSD(*__SIMD32(pSrc1), *__SIMD32(pCoefA));

+

+#else

+

+    /* -(pSrc[2 * i + 1] * pATable[2 * i + 1] - pSrc[2 * i] * pATable[2 * i]) */

+    outR = -(__SMUSD(*__SIMD32(pSrc1), *__SIMD32(pCoefA)));

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */

+

+    /* pSrc[2 * n - 2 * i] * pBTable[2 * i] +    

+       pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1]) */

+    outR = __SMLAD(*__SIMD32(pSrc2), *__SIMD32(pCoefB), outR) >> 15u;

+

+    /* pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -    

+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i] */

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    outI = __SMUSDX(*__SIMD32(pSrc2)--, *__SIMD32(pCoefB));

+

+#else

+

+    outI = __SMUSDX(*__SIMD32(pCoefB), *__SIMD32(pSrc2)--);

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */

+

+    /* (pIn[2 * i + 1] * pATable[2 * i] + pIn[2 * i] * pATable[2 * i + 1] */

+    outI = __SMLADX(*__SIMD32(pSrc1)++, *__SIMD32(pCoefA), outI);

+

+    /* write output */

+    pDst[2u * i] = (q15_t) outR;

+    pDst[(2u * i) + 1u] = outI >> 15u;

+

+    /* write complex conjugate output */

+    pDst[(4u * fftLen) - (2u * i)] = (q15_t) outR;

+    pDst[((4u * fftLen) - (2u * i)) + 1u] = -(outI >> 15u);

+

+    /* update coefficient pointer */

+    pCoefB = pCoefB + (2u * modifier);

+    pCoefA = pCoefA + (2u * modifier);

+

+    i++;

+

+  }

+

+  pDst[2u * fftLen] = pSrc[0] - pSrc[1];

+  pDst[(2u * fftLen) + 1u] = 0;

+

+  pDst[0] = pSrc[0] + pSrc[1];

+  pDst[1] = 0;

+

+

+#else

+

+  /* Run the below code for Cortex-M0 */

+

+  i = 1u;

+

+  while(i < fftLen)

+  {

+    /*    

+       outR = (pSrc[2 * i] * pATable[2 * i] - pSrc[2 * i + 1] * pATable[2 * i + 1]    

+       + pSrc[2 * n - 2 * i] * pBTable[2 * i] +    

+       pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);    

+     */

+

+    outR = *pSrc1 * *pCoefA;

+    outR = outR - (*(pSrc1 + 1) * *(pCoefA + 1));

+    outR = outR + (*pSrc2 * *pCoefB);

+    outR = (outR + (*(pSrc2 + 1) * *(pCoefB + 1))) >> 15;

+

+

+    /* outI = (pIn[2 * i + 1] * pATable[2 * i] + pIn[2 * i] * pATable[2 * i + 1] +    

+       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -    

+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]);   

+     */

+

+    outI = *pSrc2 * *(pCoefB + 1);

+    outI = outI - (*(pSrc2 + 1) * *pCoefB);

+    outI = outI + (*(pSrc1 + 1) * *pCoefA);

+    outI = outI + (*pSrc1 * *(pCoefA + 1));

+

+    /* update input pointers */

+    pSrc1 += 2u;

+    pSrc2 -= 2u;

+

+    /* write output */

+    pDst[2u * i] = (q15_t) outR;

+    pDst[(2u * i) + 1u] = outI >> 15u;

+

+    /* write complex conjugate output */

+    pDst[(4u * fftLen) - (2u * i)] = (q15_t) outR;

+    pDst[((4u * fftLen) - (2u * i)) + 1u] = -(outI >> 15u);

+

+    /* update coefficient pointer */

+    pCoefB = pCoefB + (2u * modifier);

+    pCoefA = pCoefA + (2u * modifier);

+

+    i++;

+

+  }

+

+  pDst[2u * fftLen] = pSrc[0] - pSrc[1];

+  pDst[(2u * fftLen) + 1u] = 0;

+

+  pDst[0] = pSrc[0] + pSrc[1];

+  pDst[1] = 0;

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

+

+

+/**    

+ * @brief  Core Real IFFT process    

+ * @param[in]   *pSrc 				points to the input buffer.    

+ * @param[in]   fftLen  		    length of FFT.   

+ * @param[in]   *pATable 			points to the twiddle Coef A buffer.   

+ * @param[in]   *pBTable 			points to the twiddle Coef B buffer.    

+ * @param[out]  *pDst 				points to the output buffer.   

+ * @param[in]   modifier 	        twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   

+ * @return none.    

+ * The function implements a Real IFFT    

+ */

+void arm_split_rifft_q15(

+  q15_t * pSrc,

+  uint32_t fftLen,

+  q15_t * pATable,

+  q15_t * pBTable,

+  q15_t * pDst,

+  uint32_t modifier)

+{

+  uint32_t i;                                    /* Loop Counter */

+  q31_t outR, outI;                              /* Temporary variables for output */

+  q15_t *pCoefA, *pCoefB;                        /* Temporary pointers for twiddle factors */

+  q15_t *pSrc1, *pSrc2;

+  q15_t *pDst1 = &pDst[0];

+

+  pCoefA = &pATable[0];

+  pCoefB = &pBTable[0];

+

+  pSrc1 = &pSrc[0];

+  pSrc2 = &pSrc[2u * fftLen];

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+

+  i = fftLen;

+

+  while(i > 0u)

+  {

+

+    /*    

+       outR = (pIn[2 * i] * pATable[2 * i] + pIn[2 * i + 1] * pATable[2 * i + 1] +    

+       pIn[2 * n - 2 * i] * pBTable[2 * i] -    

+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);    

+

+       outI = (pIn[2 * i + 1] * pATable[2 * i] - pIn[2 * i] * pATable[2 * i + 1] -    

+       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -    

+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]);    

+

+     */

+

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    /* pIn[2 * n - 2 * i] * pBTable[2 * i] -    

+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1]) */

+    outR = __SMUSD(*__SIMD32(pSrc2), *__SIMD32(pCoefB));

+

+#else

+

+    /* -(-pIn[2 * n - 2 * i] * pBTable[2 * i] +  

+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1])) */

+    outR = -(__SMUSD(*__SIMD32(pSrc2), *__SIMD32(pCoefB)));

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */

+

+    /* pIn[2 * i] * pATable[2 * i] + pIn[2 * i + 1] * pATable[2 * i + 1] +    

+       pIn[2 * n - 2 * i] * pBTable[2 * i] */

+    outR = __SMLAD(*__SIMD32(pSrc1), *__SIMD32(pCoefA), outR) >> 15u;

+

+    /*    

+       -pIn[2 * n - 2 * i] * pBTable[2 * i + 1] +    

+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i] */

+    outI = __SMUADX(*__SIMD32(pSrc2)--, *__SIMD32(pCoefB));

+

+    /* pIn[2 * i + 1] * pATable[2 * i] - pIn[2 * i] * pATable[2 * i + 1] */

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    outI = __SMLSDX(*__SIMD32(pCoefA), *__SIMD32(pSrc1)++, -outI);

+

+#else

+

+    outI = __SMLSDX(*__SIMD32(pSrc1)++, *__SIMD32(pCoefA), -outI);

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */

+    /* write output */

+

+#ifndef ARM_MATH_BIG_ENDIAN

+

+    *__SIMD32(pDst1)++ = __PKHBT(outR, (outI >> 15u), 16);

+

+#else

+

+    *__SIMD32(pDst1)++ = __PKHBT((outI >> 15u), outR, 16);

+

+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */

+

+    /* update coefficient pointer */

+    pCoefB = pCoefB + (2u * modifier);

+    pCoefA = pCoefA + (2u * modifier);

+

+    i--;

+

+  }

+

+

+#else

+

+  /* Run the below code for Cortex-M0 */

+

+  i = fftLen;

+

+  while(i > 0u)

+  {

+

+    /*    

+       outR = (pIn[2 * i] * pATable[2 * i] + pIn[2 * i + 1] * pATable[2 * i + 1] +    

+       pIn[2 * n - 2 * i] * pBTable[2 * i] -    

+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);    

+     */

+

+    outR = *pSrc2 * *pCoefB;

+    outR = outR - (*(pSrc2 + 1) * *(pCoefB + 1));

+    outR = outR + (*pSrc1 * *pCoefA);

+    outR = (outR + (*(pSrc1 + 1) * *(pCoefA + 1))) >> 15;

+

+    /*   

+       outI = (pIn[2 * i + 1] * pATable[2 * i] - pIn[2 * i] * pATable[2 * i + 1] -   

+       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -   

+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]);   

+     */

+

+    outI = *(pSrc1 + 1) * *pCoefA;

+    outI = outI - (*pSrc1 * *(pCoefA + 1));

+    outI = outI - (*pSrc2 * *(pCoefB + 1));

+    outI = outI - (*(pSrc2 + 1) * *(pCoefB));

+

+    /* update input pointers */

+    pSrc1 += 2u;

+    pSrc2 -= 2u;

+

+    /* write output */

+    *pDst1++ = (q15_t) outR;

+    *pDst1++ = (q15_t) (outI >> 15);

+

+    /* update coefficient pointer */

+    pCoefB = pCoefB + (2u * modifier);

+    pCoefA = pCoefA + (2u * modifier);

+

+    i--;

+

+  }

+

+#endif /* #ifndef ARM_MATH_CM0 */

+

+}

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q31.c
new file mode 100644
index 000000000..afcb47041
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q31.c
@@ -0,0 +1,326 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:	    arm_rfft_q31.c    

+*    

+* Description:	RFFT & RIFFT Q31 process 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 0.0.7  2010/06/10     

+*    Misra-C changes done    

+* -------------------------------------------------------------------- */

+

+#include "arm_math.h"

+

+/*--------------------------------------------------------------------    

+*		Internal functions prototypes    

+--------------------------------------------------------------------*/

+

+void arm_split_rfft_q31(

+  q31_t * pSrc,

+  uint32_t fftLen,

+  q31_t * pATable,

+  q31_t * pBTable,

+  q31_t * pDst,

+  uint32_t modifier);

+

+void arm_split_rifft_q31(

+  q31_t * pSrc,

+  uint32_t fftLen,

+  q31_t * pATable,

+  q31_t * pBTable,

+  q31_t * pDst,

+  uint32_t modifier);

+

+/**    

+ * @addtogroup RFFT_RIFFT    

+ * @{    

+ */

+

+/**    

+ * @brief Processing function for the Q31 RFFT/RIFFT.   

+ * @param[in]  *S    points to an instance of the Q31 RFFT/RIFFT structure.   

+ * @param[in]  *pSrc points to the input buffer.   

+ * @param[out] *pDst points to the output buffer.   

+ * @return none.   

+ *    

+ * \par Input an output formats:   

+ * \par    

+ * Internally input is downscaled by 2 for every stage to avoid saturations inside CFFT/CIFFT process.   

+ * Hence the output format is different for different RFFT sizes.    

+ * The input and output formats for different RFFT sizes and number of bits to upscale are mentioned in the tables below for RFFT and RIFFT:   

+ * \par    

+ * \image html RFFTQ31.gif "Input and Output Formats for Q31 RFFT"    

+ *    

+ * \par    

+ * \image html RIFFTQ31.gif "Input and Output Formats for Q31 RIFFT"    

+ */

+

+void arm_rfft_q31(

+  const arm_rfft_instance_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst)

+{

+  const arm_cfft_radix4_instance_q31 *S_CFFT = S->pCfft;

+

+  /* Calculation of RIFFT of input */

+  if(S->ifftFlagR == 1u)

+  {

+    /*  Real IFFT core process */

+    arm_split_rifft_q31(pSrc, S->fftLenBy2, S->pTwiddleAReal,

+                        S->pTwiddleBReal, pDst, S->twidCoefRModifier);

+

+    /* Complex readix-4 IFFT process */

+    arm_radix4_butterfly_inverse_q31(pDst, S_CFFT->fftLen,

+                                     S_CFFT->pTwiddle,

+                                     S_CFFT->twidCoefModifier);

+    /* Bit reversal process */

+    if(S->bitReverseFlagR == 1u)

+    {

+      arm_bitreversal_q31(pDst, S_CFFT->fftLen,

+                          S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);

+    }

+  }

+  else

+  {

+    /* Calculation of RFFT of input */

+

+    /* Complex readix-4 FFT process */

+    arm_radix4_butterfly_q31(pSrc, S_CFFT->fftLen,

+                             S_CFFT->pTwiddle, S_CFFT->twidCoefModifier);

+

+    /* Bit reversal process */

+    if(S->bitReverseFlagR == 1u)

+    {

+      arm_bitreversal_q31(pSrc, S_CFFT->fftLen,

+                          S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);

+    }

+

+    /*  Real FFT core process */

+    arm_split_rfft_q31(pSrc, S->fftLenBy2, S->pTwiddleAReal,

+                       S->pTwiddleBReal, pDst, S->twidCoefRModifier);

+  }

+

+}

+

+

+  /**    

+   * @} end of RFFT_RIFFT group    

+   */

+

+/**    

+ * @brief  Core Real FFT process    

+ * @param[in]   *pSrc 				points to the input buffer.    

+ * @param[in]   fftLen  			length of FFT.   

+ * @param[in]   *pATable 			points to the twiddle Coef A buffer.    

+ * @param[in]   *pBTable 			points to the twiddle Coef B buffer.    

+ * @param[out]  *pDst 				points to the output buffer.    

+ * @param[in]   modifier 	        twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   

+ * @return none.    

+ */

+

+void arm_split_rfft_q31(

+  q31_t * pSrc,

+  uint32_t fftLen,

+  q31_t * pATable,

+  q31_t * pBTable,

+  q31_t * pDst,

+  uint32_t modifier)

+{

+  uint32_t i;                                    /* Loop Counter */

+  q31_t outR, outI;                              /* Temporary variables for output */

+  q31_t *pCoefA, *pCoefB;                        /* Temporary pointers for twiddle factors */

+  q31_t CoefA1, CoefA2, CoefB1;                  /* Temporary variables for twiddle coefficients */

+  q31_t *pOut1 = &pDst[2], *pOut2 = &pDst[(4u * fftLen) - 1u];

+  q31_t *pIn1 = &pSrc[2], *pIn2 = &pSrc[(2u * fftLen) - 1u];

+

+  /* Init coefficient pointers */

+  pCoefA = &pATable[modifier * 2u];

+  pCoefB = &pBTable[modifier * 2u];

+

+  i = fftLen - 1u;

+

+  while(i > 0u)

+  {

+    /*    

+       outR = (pSrc[2 * i] * pATable[2 * i] - pSrc[2 * i + 1] * pATable[2 * i + 1]    

+       + pSrc[2 * n - 2 * i] * pBTable[2 * i] +    

+       pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);    

+     */

+

+    /* outI = (pIn[2 * i + 1] * pATable[2 * i] + pIn[2 * i] * pATable[2 * i + 1] +    

+       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -    

+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]); */

+

+    CoefA1 = *pCoefA++;

+    CoefA2 = *pCoefA;

+

+    /* outR = (pSrc[2 * i] * pATable[2 * i] */

+    outR = ((int32_t) (((q63_t) * pIn1 * CoefA1) >> 32));

+

+    /* outI = pIn[2 * i] * pATable[2 * i + 1] */

+    outI = ((int32_t) (((q63_t) * pIn1++ * CoefA2) >> 32));

+

+    /* - pSrc[2 * i + 1] * pATable[2 * i + 1] */

+    outR =

+      (q31_t) ((((q63_t) outR << 32) + ((q63_t) * pIn1 * (-CoefA2))) >> 32);

+

+    /* (pIn[2 * i + 1] * pATable[2 * i] */

+    outI =

+      (q31_t) ((((q63_t) outI << 32) + ((q63_t) * pIn1++ * (CoefA1))) >> 32);

+

+    /* pSrc[2 * n - 2 * i] * pBTable[2 * i]  */

+    outR =

+      (q31_t) ((((q63_t) outR << 32) + ((q63_t) * pIn2 * (-CoefA2))) >> 32);

+    CoefB1 = *pCoefB;

+

+    /* pIn[2 * n - 2 * i] * pBTable[2 * i + 1] */

+    outI =

+      (q31_t) ((((q63_t) outI << 32) + ((q63_t) * pIn2-- * (-CoefB1))) >> 32);

+

+    /* pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1] */

+    outR =

+      (q31_t) ((((q63_t) outR << 32) + ((q63_t) * pIn2 * (CoefB1))) >> 32);

+

+    /* pIn[2 * n - 2 * i + 1] * pBTable[2 * i] */

+    outI =

+      (q31_t) ((((q63_t) outI << 32) + ((q63_t) * pIn2-- * (-CoefA2))) >> 32);

+

+    /* write output */

+    *pOut1++ = (outR << 1u);

+    *pOut1++ = (outI << 1u);

+

+    /* write complex conjugate output */

+    *pOut2-- = -(outI << 1u);

+    *pOut2-- = (outR << 1u);

+

+    /* update coefficient pointer */

+    pCoefB = pCoefB + (modifier * 2u);

+    pCoefA = pCoefA + ((modifier * 2u) - 1u);

+

+    i--;

+

+  }

+

+  pDst[2u * fftLen] = pSrc[0] - pSrc[1];

+  pDst[(2u * fftLen) + 1u] = 0;

+

+  pDst[0] = pSrc[0] + pSrc[1];

+  pDst[1] = 0;

+

+}

+

+

+/**    

+ * @brief  Core Real IFFT process    

+ * @param[in]   *pSrc 				points to the input buffer.   

+ * @param[in]   fftLen  			length of FFT.    

+ * @param[in]   *pATable 			points to the twiddle Coef A buffer.   

+ * @param[in]   *pBTable 			points to the twiddle Coef B buffer.    

+ * @param[out]  *pDst 				points to the output buffer.   

+ * @param[in]   modifier 	        twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   

+ * @return none.    

+ */

+

+void arm_split_rifft_q31(

+  q31_t * pSrc,

+  uint32_t fftLen,

+  q31_t * pATable,

+  q31_t * pBTable,

+  q31_t * pDst,

+  uint32_t modifier)

+{

+  q31_t outR, outI;                              /* Temporary variables for output */

+  q31_t *pCoefA, *pCoefB;                        /* Temporary pointers for twiddle factors */

+  q31_t CoefA1, CoefA2, CoefB1;                  /* Temporary variables for twiddle coefficients */

+  q31_t *pIn1 = &pSrc[0], *pIn2 = &pSrc[(2u * fftLen) + 1u];

+

+  pCoefA = &pATable[0];

+  pCoefB = &pBTable[0];

+

+  while(fftLen > 0u)

+  {

+    /*    

+       outR = (pIn[2 * i] * pATable[2 * i] + pIn[2 * i + 1] * pATable[2 * i + 1] +    

+       pIn[2 * n - 2 * i] * pBTable[2 * i] -    

+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);    

+

+       outI = (pIn[2 * i + 1] * pATable[2 * i] - pIn[2 * i] * pATable[2 * i + 1] -    

+       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -    

+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]);    

+

+     */

+    CoefA1 = *pCoefA++;

+    CoefA2 = *pCoefA;

+

+    /* outR = (pIn[2 * i] * pATable[2 * i] */

+    outR = ((int32_t) (((q63_t) * pIn1 * CoefA1) >> 32));

+

+    /* - pIn[2 * i] * pATable[2 * i + 1] */

+    outI = -((int32_t) (((q63_t) * pIn1++ * CoefA2) >> 32));

+

+    /* pIn[2 * i + 1] * pATable[2 * i + 1] */

+    outR =

+      (q31_t) ((((q63_t) outR << 32) + ((q63_t) * pIn1 * (CoefA2))) >> 32);

+

+    /* pIn[2 * i + 1] * pATable[2 * i] */

+    outI =

+      (q31_t) ((((q63_t) outI << 32) + ((q63_t) * pIn1++ * (CoefA1))) >> 32);

+

+    /* pIn[2 * n - 2 * i] * pBTable[2 * i] */

+    outR =

+      (q31_t) ((((q63_t) outR << 32) + ((q63_t) * pIn2 * (CoefA2))) >> 32);

+

+    CoefB1 = *pCoefB;

+

+    /* pIn[2 * n - 2 * i] * pBTable[2 * i + 1] */

+    outI =

+      (q31_t) ((((q63_t) outI << 32) - ((q63_t) * pIn2-- * (CoefB1))) >> 32);

+

+    /* pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1] */

+    outR =

+      (q31_t) ((((q63_t) outR << 32) + ((q63_t) * pIn2 * (CoefB1))) >> 32);

+

+    /* pIn[2 * n - 2 * i + 1] * pBTable[2 * i] */

+    outI =

+      (q31_t) ((((q63_t) outI << 32) + ((q63_t) * pIn2-- * (CoefA2))) >> 32);

+

+    /* write output */

+    *pDst++ = (outR << 1u);

+    *pDst++ = (outI << 1u);

+

+    /* update coefficient pointer */

+    pCoefB = pCoefB + (modifier * 2u);

+    pCoefA = pCoefA + ((modifier * 2u) - 1u);

+

+    /* Decrement loop count */

+    fftLen--;

+

+  }

+

+

+}

diff --git a/apps/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h b/apps/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h
new file mode 100644
index 000000000..8f39acd9d
--- /dev/null
+++ b/apps/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h
@@ -0,0 +1,264 @@
+/**************************************************************************//**

+ * @file     ARMCM3.h

+ * @brief    CMSIS Core Peripheral Access Layer Header File for

+ *           ARMCM3 Device Series

+ * @version  V1.07

+ * @date     30. January 2012

+ *

+ * @note

+ * Copyright (C) 2012 ARM Limited. All rights reserved.

+ *

+ * @par

+ * ARM Limited (ARM) is supplying this software for use with Cortex-M 

+ * processor based microcontrollers.  This file can be freely distributed 

+ * within development tools that are supporting such ARM based processors. 

+ *

+ * @par

+ * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED

+ * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF

+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.

+ * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR

+ * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.

+ *

+ ******************************************************************************/

+

+#ifndef ARMCM3_H

+#define ARMCM3_H

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+

+

+/* -------------------------  Interrupt Number Definition  ------------------------ */

+

+typedef enum IRQn

+{

+/* -------------------  Cortex-M3 Processor Exceptions Numbers  ------------------- */

+  NonMaskableInt_IRQn           = -14,      /*!<  2 Non Maskable Interrupt          */

+  HardFault_IRQn                = -13,      /*!<  3 HardFault Interrupt             */

+  MemoryManagement_IRQn         = -12,      /*!<  4 Memory Management Interrupt     */

+  BusFault_IRQn                 = -11,      /*!<  5 Bus Fault Interrupt             */

+  UsageFault_IRQn               = -10,      /*!<  6 Usage Fault Interrupt           */

+  SVCall_IRQn                   =  -5,      /*!< 11 SV Call Interrupt               */

+  DebugMonitor_IRQn             =  -4,      /*!< 12 Debug Monitor Interrupt         */

+  PendSV_IRQn                   =  -2,      /*!< 14 Pend SV Interrupt               */

+  SysTick_IRQn                  =  -1,      /*!< 15 System Tick Interrupt           */

+

+/* ----------------------  ARMCM3 Specific Interrupt Numbers  --------------------- */

+  WDT_IRQn                      =   0,      /*!< Watchdog Timer Interrupt           */

+  RTC_IRQn                      =   1,      /*!< Real Time Clock Interrupt          */

+  TIM0_IRQn                     =   2,      /*!< Timer0 / Timer1 Interrupt          */

+  TIM2_IRQn                     =   3,      /*!< Timer2 / Timer3 Interrupt          */

+  MCIA_IRQn                     =   4,      /*!< MCIa Interrupt                     */

+  MCIB_IRQn                     =   5,      /*!< MCIb Interrupt                     */

+  UART0_IRQn                    =   6,      /*!< UART0 Interrupt                    */

+  UART1_IRQn                    =   7,      /*!< UART1 Interrupt                    */

+  UART2_IRQn                    =   8,      /*!< UART2 Interrupt                    */

+  UART4_IRQn                    =   9,      /*!< UART4 Interrupt                    */

+  AACI_IRQn                     =  10,      /*!< AACI / AC97 Interrupt              */

+  CLCD_IRQn                     =  11,      /*!< CLCD Combined Interrupt            */

+  ENET_IRQn                     =  12,      /*!< Ethernet Interrupt                 */

+  USBDC_IRQn                    =  13,      /*!< USB Device Interrupt               */

+  USBHC_IRQn                    =  14,      /*!< USB Host Controller Interrupt      */

+  CHLCD_IRQn                    =  15,      /*!< Character LCD Interrupt            */

+  FLEXRAY_IRQn                  =  16,      /*!< Flexray Interrupt                  */

+  CAN_IRQn                      =  17,      /*!< CAN Interrupt                      */

+  LIN_IRQn                      =  18,      /*!< LIN Interrupt                      */

+  I2C_IRQn                      =  19,      /*!< I2C ADC/DAC Interrupt              */

+  CPU_CLCD_IRQn                 =  28,      /*!< CPU CLCD Combined Interrupt        */

+  UART3_IRQn                    =  30,      /*!< UART3 Interrupt                    */

+  SPI_IRQn                      =  31,      /*!< SPI Touchscreen Interrupt          */

+} IRQn_Type;

+

+

+/* ================================================================================ */

+/* ================      Processor and Core Peripheral Section     ================ */

+/* ================================================================================ */

+

+/* --------  Configuration of the Cortex-M4 Processor and Core Peripherals  ------- */

+#define __CM3_REV                 0x0201    /*!< Core revision r2p1                              */

+#define __MPU_PRESENT             1         /*!< MPU present or not                              */

+#define __NVIC_PRIO_BITS          3         /*!< Number of Bits used for Priority Levels         */

+#define __Vendor_SysTickConfig    0         /*!< Set to 1 if different SysTick Config is used    */

+

+#include <core_cm3.h>                       /* Processor and core peripherals                    */

+/* NuttX */

+//#include "system_ARMCM3.h"                  /* System Header                                     */

+

+

+/* ================================================================================ */

+/* ================       Device Specific Peripheral Section       ================ */

+/* ================================================================================ */

+

+/* -------------------  Start of section using anonymous unions  ------------------ */

+#if defined(__CC_ARM)

+  #pragma push

+  #pragma anon_unions

+#elif defined(__ICCARM__)

+  #pragma language=extended

+#elif defined(__GNUC__)

+  /* anonymous unions are enabled by default */

+#elif defined(__TMS470__)

+/* anonymous unions are enabled by default */

+#elif defined(__TASKING__)

+  #pragma warning 586

+#else

+  #warning Not supported compiler type

+#endif

+

+

+

+/* ================================================================================ */

+/* ================            CPU FPGA System (CPU_SYS)           ================ */

+/* ================================================================================ */

+typedef struct

+{

+  __I  uint32_t ID;               /* Offset: 0x000 (R/ )  Board and FPGA Identifier */

+  __IO uint32_t MEMCFG;           /* Offset: 0x004 (R/W)  Remap and Alias Memory Control */

+  __I  uint32_t SW;               /* Offset: 0x008 (R/ )  Switch States */

+  __IO uint32_t LED;              /* Offset: 0x00C (R/W)  LED Output States */

+  __I  uint32_t TS;               /* Offset: 0x010 (R/ )  Touchscreen Register */

+  __IO uint32_t CTRL1;            /* Offset: 0x014 (R/W)  Misc Control Functions */

+       uint32_t RESERVED0[2];

+  __IO uint32_t CLKCFG;           /* Offset: 0x020 (R/W)  System Clock Configuration */

+  __IO uint32_t WSCFG;            /* Offset: 0x024 (R/W)  Flash Waitstate Configuration */

+  __IO uint32_t CPUCFG;           /* Offset: 0x028 (R/W)  Processor Configuration */

+       uint32_t RESERVED1[3];

+  __IO uint32_t BASE;             /* Offset: 0x038 (R/W)  ROM Table base Address */

+  __IO uint32_t ID2;              /* Offset: 0x03C (R/W)  Secondary Identification Register */

+} ARM_CPU_SYS_TypeDef;

+

+

+/* ================================================================================ */

+/* ================            DUT FPGA System (DUT_SYS)           ================ */

+/* ================================================================================ */

+typedef struct

+{

+  __I  uint32_t ID;               /* Offset: 0x000 (R/ )  Board and FPGA Identifier */

+  __IO uint32_t PERCFG;           /* Offset: 0x004 (R/W)  Peripheral Control Signals */

+  __I  uint32_t SW;               /* Offset: 0x008 (R/ )  Switch States */

+  __IO uint32_t LED;              /* Offset: 0x00C (R/W)  LED Output States */

+  __IO uint32_t SEG7;             /* Offset: 0x010 (R/W)  7-segment LED Output States */

+  __I  uint32_t CNT25MHz;         /* Offset: 0x014 (R/ )  Freerunning counter incrementing at 25MHz */

+  __I  uint32_t CNT100Hz;         /* Offset: 0x018 (R/ )  Freerunning counter incrementing at 100Hz */

+} ARM_DUT_SYS_TypeDef;

+

+

+/* ================================================================================ */

+/* ================                   Timer (TIM)                  ================ */

+/* ================================================================================ */

+typedef struct

+{

+  __IO uint32_t Timer1Load;       /* Offset: 0x000 (R/W)  Timer 1 Load */

+  __I  uint32_t Timer1Value;      /* Offset: 0x004 (R/ )  Timer 1 Counter Current Value */

+  __IO uint32_t Timer1Control;    /* Offset: 0x008 (R/W)  Timer 1 Control */

+  __O  uint32_t Timer1IntClr;     /* Offset: 0x00C ( /W)  Timer 1 Interrupt Clear */

+  __I  uint32_t Timer1RIS;        /* Offset: 0x010 (R/ )  Timer 1 Raw Interrupt Status */

+  __I  uint32_t Timer1MIS;        /* Offset: 0x014 (R/ )  Timer 1 Masked Interrupt Status */

+  __IO uint32_t Timer1BGLoad;     /* Offset: 0x018 (R/W)  Background Load Register */

+       uint32_t RESERVED0[1];

+  __IO uint32_t Timer2Load;       /* Offset: 0x020 (R/W)  Timer 2 Load */

+  __I  uint32_t Timer2Value;      /* Offset: 0x024 (R/ )  Timer 2 Counter Current Value */

+  __IO uint32_t Timer2Control;    /* Offset: 0x028 (R/W)  Timer 2 Control */

+  __O  uint32_t Timer2IntClr;     /* Offset: 0x02C ( /W)  Timer 2 Interrupt Clear */

+  __I  uint32_t Timer2RIS;        /* Offset: 0x030 (R/ )  Timer 2 Raw Interrupt Status */

+  __I  uint32_t Timer2MIS;        /* Offset: 0x034 (R/ )  Timer 2 Masked Interrupt Status */

+  __IO uint32_t Timer2BGLoad;     /* Offset: 0x038 (R/W)  Background Load Register */

+} ARM_TIM_TypeDef;

+

+

+/* ================================================================================ */

+/* ============== Universal Asyncronous Receiver / Transmitter (UART) ============= */

+/* ================================================================================ */

+typedef struct

+{

+  __IO uint32_t DR;               /* Offset: 0x000 (R/W)  Data */ 

+  union {

+  __I  uint32_t RSR;              /* Offset: 0x000 (R/ )  Receive Status */

+  __O  uint32_t ECR;              /* Offset: 0x000 ( /W)  Error Clear */

+  };

+       uint32_t RESERVED0[4];

+  __IO uint32_t FR;               /* Offset: 0x018 (R/W)  Flags */

+       uint32_t RESERVED1[1];

+  __IO uint32_t ILPR;             /* Offset: 0x020 (R/W)  IrDA Low-power Counter */

+  __IO uint32_t IBRD;             /* Offset: 0x024 (R/W)  Interger Baud Rate */

+  __IO uint32_t FBRD;             /* Offset: 0x028 (R/W)  Fractional Baud Rate */

+  __IO uint32_t LCR_H;            /* Offset: 0x02C (R/W)  Line Control */

+  __IO uint32_t CR;               /* Offset: 0x030 (R/W)  Control */

+  __IO uint32_t IFLS;             /* Offset: 0x034 (R/W)  Interrupt FIFO Level Select */

+  __IO uint32_t IMSC;             /* Offset: 0x038 (R/W)  Interrupt Mask Set / Clear */

+  __IO uint32_t RIS;              /* Offset: 0x03C (R/W)  Raw Interrupt Status */

+  __IO uint32_t MIS;              /* Offset: 0x040 (R/W)  Masked Interrupt Status */

+  __O  uint32_t ICR;              /* Offset: 0x044 ( /W)  Interrupt Clear */

+  __IO uint32_t DMACR;            /* Offset: 0x048 (R/W)  DMA Control */

+} ARM_UART_TypeDef;

+

+

+/* --------------------  End of section using anonymous unions  ------------------- */

+#if defined(__CC_ARM)

+  #pragma pop

+#elif defined(__ICCARM__)

+  /* leave anonymous unions enabled */

+#elif defined(__GNUC__)

+  /* anonymous unions are enabled by default */

+#elif defined(__TMS470__)

+  /* anonymous unions are enabled by default */

+#elif defined(__TASKING__)

+  #pragma warning restore

+#else

+  #warning Not supported compiler type

+#endif

+

+

+

+

+/* ================================================================================ */

+/* ================              Peripheral memory map             ================ */

+/* ================================================================================ */

+/* --------------------------  CPU FPGA memory map  ------------------------------- */

+#define ARM_FLASH_BASE            (0x00000000UL)

+#define ARM_RAM_BASE              (0x20000000UL)

+#define ARM_RAM_FPGA_BASE         (0x1EFF0000UL)

+#define ARM_CPU_CFG_BASE          (0xDFFF0000UL)

+

+#define ARM_CPU_SYS_BASE          (ARM_CPU_CFG_BASE  + 0x00000)

+#define ARM_UART3_BASE            (ARM_CPU_CFG_BASE  + 0x05000)

+

+/* --------------------------  DUT FPGA memory map  ------------------------------- */

+#define ARM_APB_BASE              (0x40000000UL)

+#define ARM_AHB_BASE              (0x4FF00000UL)

+#define ARM_DMC_BASE              (0x60000000UL)

+#define ARM_SMC_BASE              (0xA0000000UL)

+

+#define ARM_TIM0_BASE             (ARM_APB_BASE      + 0x02000)

+#define ARM_TIM2_BASE             (ARM_APB_BASE      + 0x03000)

+#define ARM_DUT_SYS_BASE          (ARM_APB_BASE      + 0x04000)

+#define ARM_UART0_BASE            (ARM_APB_BASE      + 0x06000)

+#define ARM_UART1_BASE            (ARM_APB_BASE      + 0x07000)

+#define ARM_UART2_BASE            (ARM_APB_BASE      + 0x08000)

+#define ARM_UART4_BASE            (ARM_APB_BASE      + 0x09000)

+

+

+/* ================================================================================ */

+/* ================             Peripheral declaration             ================ */

+/* ================================================================================ */

+/* --------------------------  CPU FPGA Peripherals  ------------------------------ */

+#define ARM_CPU_SYS               ((ARM_CPU_SYS_TypeDef *)  ARM_CPU_SYS_BASE)

+#define ARM_UART3                 ((   ARM_UART_TypeDef *)    ARM_UART3_BASE)

+

+/* --------------------------  DUT FPGA Peripherals  ------------------------------ */

+#define ARM_DUT_SYS               ((ARM_DUT_SYS_TypeDef *)  ARM_DUT_SYS_BASE)

+#define ARM_TIM0                  ((    ARM_TIM_TypeDef *)     ARM_TIM0_BASE)

+#define ARM_TIM2                  ((    ARM_TIM_TypeDef *)     ARM_TIM2_BASE)

+#define ARM_UART0                 ((   ARM_UART_TypeDef *)    ARM_UART0_BASE)

+#define ARM_UART1                 ((   ARM_UART_TypeDef *)    ARM_UART1_BASE)

+#define ARM_UART2                 ((   ARM_UART_TypeDef *)    ARM_UART2_BASE)

+#define ARM_UART4                 ((   ARM_UART_TypeDef *)    ARM_UART4_BASE)

+

+

+#ifdef __cplusplus

+}

+#endif

+

+#endif  /* ARMCM3_H */

diff --git a/apps/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h b/apps/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h
new file mode 100644
index 000000000..181b7e433
--- /dev/null
+++ b/apps/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h
@@ -0,0 +1,265 @@
+/**************************************************************************//**

+ * @file     ARMCM4.h

+ * @brief    CMSIS Core Peripheral Access Layer Header File for

+ *           ARMCM4 Device Series

+ * @version  V1.07

+ * @date     30. January 2012

+ *

+ * @note

+ * Copyright (C) 2012 ARM Limited. All rights reserved.

+ *

+ * @par

+ * ARM Limited (ARM) is supplying this software for use with Cortex-M 

+ * processor based microcontrollers.  This file can be freely distributed 

+ * within development tools that are supporting such ARM based processors. 

+ *

+ * @par

+ * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED

+ * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF

+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.

+ * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR

+ * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.

+ *

+ ******************************************************************************/

+

+#ifndef ARMCM4_H

+#define ARMCM4_H

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+

+

+/* -------------------------  Interrupt Number Definition  ------------------------ */

+

+typedef enum IRQn

+{

+/* -------------------  Cortex-M4 Processor Exceptions Numbers  ------------------- */

+  NonMaskableInt_IRQn           = -14,      /*!<  2 Non Maskable Interrupt          */

+  HardFault_IRQn                = -13,      /*!<  3 HardFault Interrupt             */

+  MemoryManagement_IRQn         = -12,      /*!<  4 Memory Management Interrupt     */

+  BusFault_IRQn                 = -11,      /*!<  5 Bus Fault Interrupt             */

+  UsageFault_IRQn               = -10,      /*!<  6 Usage Fault Interrupt           */

+  SVCall_IRQn                   =  -5,      /*!< 11 SV Call Interrupt               */

+  DebugMonitor_IRQn             =  -4,      /*!< 12 Debug Monitor Interrupt         */

+  PendSV_IRQn                   =  -2,      /*!< 14 Pend SV Interrupt               */

+  SysTick_IRQn                  =  -1,      /*!< 15 System Tick Interrupt           */

+

+/* ----------------------  ARMCM4 Specific Interrupt Numbers  --------------------- */

+  WDT_IRQn                      =   0,      /*!< Watchdog Timer Interrupt           */

+  RTC_IRQn                      =   1,      /*!< Real Time Clock Interrupt          */

+  TIM0_IRQn                     =   2,      /*!< Timer0 / Timer1 Interrupt          */

+  TIM2_IRQn                     =   3,      /*!< Timer2 / Timer3 Interrupt          */

+  MCIA_IRQn                     =   4,      /*!< MCIa Interrupt                     */

+  MCIB_IRQn                     =   5,      /*!< MCIb Interrupt                     */

+  UART0_IRQn                    =   6,      /*!< UART0 Interrupt                    */

+  UART1_IRQn                    =   7,      /*!< UART1 Interrupt                    */

+  UART2_IRQn                    =   8,      /*!< UART2 Interrupt                    */

+  UART4_IRQn                    =   9,      /*!< UART4 Interrupt                    */

+  AACI_IRQn                     =  10,      /*!< AACI / AC97 Interrupt              */

+  CLCD_IRQn                     =  11,      /*!< CLCD Combined Interrupt            */

+  ENET_IRQn                     =  12,      /*!< Ethernet Interrupt                 */

+  USBDC_IRQn                    =  13,      /*!< USB Device Interrupt               */

+  USBHC_IRQn                    =  14,      /*!< USB Host Controller Interrupt      */

+  CHLCD_IRQn                    =  15,      /*!< Character LCD Interrupt            */

+  FLEXRAY_IRQn                  =  16,      /*!< Flexray Interrupt                  */

+  CAN_IRQn                      =  17,      /*!< CAN Interrupt                      */

+  LIN_IRQn                      =  18,      /*!< LIN Interrupt                      */

+  I2C_IRQn                      =  19,      /*!< I2C ADC/DAC Interrupt              */

+  CPU_CLCD_IRQn                 =  28,      /*!< CPU CLCD Combined Interrupt        */

+  UART3_IRQn                    =  30,      /*!< UART3 Interrupt                    */

+  SPI_IRQn                      =  31,      /*!< SPI Touchscreen Interrupt          */

+} IRQn_Type;

+

+

+/* ================================================================================ */

+/* ================      Processor and Core Peripheral Section     ================ */

+/* ================================================================================ */

+

+/* --------  Configuration of the Cortex-M4 Processor and Core Peripherals  ------- */

+#define __CM4_REV                 0x0001    /*!< Core revision r0p1                              */

+#define __MPU_PRESENT             1         /*!< MPU present or not                              */

+#define __NVIC_PRIO_BITS          3         /*!< Number of Bits used for Priority Levels         */

+#define __Vendor_SysTickConfig    0         /*!< Set to 1 if different SysTick Config is used    */

+#define __FPU_PRESENT             1         /*!< FPU present or not                              */

+

+#include <core_cm4.h>                       /* Processor and core peripherals                    */

+/* NuttX */

+//#include "system_ARMCM4.h"                  /* System Header                                     */

+

+

+/* ================================================================================ */

+/* ================       Device Specific Peripheral Section       ================ */

+/* ================================================================================ */

+

+/* -------------------  Start of section using anonymous unions  ------------------ */

+#if defined(__CC_ARM)

+  #pragma push

+  #pragma anon_unions

+#elif defined(__ICCARM__)

+  #pragma language=extended

+#elif defined(__GNUC__)

+  /* anonymous unions are enabled by default */

+#elif defined(__TMS470__)

+/* anonymous unions are enabled by default */

+#elif defined(__TASKING__)

+  #pragma warning 586

+#else

+  #warning Not supported compiler type

+#endif

+

+

+

+/* ================================================================================ */

+/* ================            CPU FPGA System (CPU_SYS)           ================ */

+/* ================================================================================ */

+typedef struct

+{

+  __I  uint32_t ID;               /* Offset: 0x000 (R/ )  Board and FPGA Identifier */

+  __IO uint32_t MEMCFG;           /* Offset: 0x004 (R/W)  Remap and Alias Memory Control */

+  __I  uint32_t SW;               /* Offset: 0x008 (R/ )  Switch States */

+  __IO uint32_t LED;              /* Offset: 0x00C (R/W)  LED Output States */

+  __I  uint32_t TS;               /* Offset: 0x010 (R/ )  Touchscreen Register */

+  __IO uint32_t CTRL1;            /* Offset: 0x014 (R/W)  Misc Control Functions */

+       uint32_t RESERVED0[2];

+  __IO uint32_t CLKCFG;           /* Offset: 0x020 (R/W)  System Clock Configuration */

+  __IO uint32_t WSCFG;            /* Offset: 0x024 (R/W)  Flash Waitstate Configuration */

+  __IO uint32_t CPUCFG;           /* Offset: 0x028 (R/W)  Processor Configuration */

+       uint32_t RESERVED1[3];

+  __IO uint32_t BASE;             /* Offset: 0x038 (R/W)  ROM Table base Address */

+  __IO uint32_t ID2;              /* Offset: 0x03C (R/W)  Secondary Identification Register */

+} ARM_CPU_SYS_TypeDef;

+

+

+/* ================================================================================ */

+/* ================            DUT FPGA System (DUT_SYS)           ================ */

+/* ================================================================================ */

+typedef struct

+{

+  __I  uint32_t ID;               /* Offset: 0x000 (R/ )  Board and FPGA Identifier */

+  __IO uint32_t PERCFG;           /* Offset: 0x004 (R/W)  Peripheral Control Signals */

+  __I  uint32_t SW;               /* Offset: 0x008 (R/ )  Switch States */

+  __IO uint32_t LED;              /* Offset: 0x00C (R/W)  LED Output States */

+  __IO uint32_t SEG7;             /* Offset: 0x010 (R/W)  7-segment LED Output States */

+  __I  uint32_t CNT25MHz;         /* Offset: 0x014 (R/ )  Freerunning counter incrementing at 25MHz */

+  __I  uint32_t CNT100Hz;         /* Offset: 0x018 (R/ )  Freerunning counter incrementing at 100Hz */

+} ARM_DUT_SYS_TypeDef;

+

+

+/* ================================================================================ */

+/* ================                   Timer (TIM)                  ================ */

+/* ================================================================================ */

+typedef struct

+{

+  __IO uint32_t Timer1Load;       /* Offset: 0x000 (R/W)  Timer 1 Load */

+  __I  uint32_t Timer1Value;      /* Offset: 0x004 (R/ )  Timer 1 Counter Current Value */

+  __IO uint32_t Timer1Control;    /* Offset: 0x008 (R/W)  Timer 1 Control */

+  __O  uint32_t Timer1IntClr;     /* Offset: 0x00C ( /W)  Timer 1 Interrupt Clear */

+  __I  uint32_t Timer1RIS;        /* Offset: 0x010 (R/ )  Timer 1 Raw Interrupt Status */

+  __I  uint32_t Timer1MIS;        /* Offset: 0x014 (R/ )  Timer 1 Masked Interrupt Status */

+  __IO uint32_t Timer1BGLoad;     /* Offset: 0x018 (R/W)  Background Load Register */

+       uint32_t RESERVED0[1];

+  __IO uint32_t Timer2Load;       /* Offset: 0x020 (R/W)  Timer 2 Load */

+  __I  uint32_t Timer2Value;      /* Offset: 0x024 (R/ )  Timer 2 Counter Current Value */

+  __IO uint32_t Timer2Control;    /* Offset: 0x028 (R/W)  Timer 2 Control */

+  __O  uint32_t Timer2IntClr;     /* Offset: 0x02C ( /W)  Timer 2 Interrupt Clear */

+  __I  uint32_t Timer2RIS;        /* Offset: 0x030 (R/ )  Timer 2 Raw Interrupt Status */

+  __I  uint32_t Timer2MIS;        /* Offset: 0x034 (R/ )  Timer 2 Masked Interrupt Status */

+  __IO uint32_t Timer2BGLoad;     /* Offset: 0x038 (R/W)  Background Load Register */

+} ARM_TIM_TypeDef;

+

+

+/* ================================================================================ */

+/* ============== Universal Asyncronous Receiver / Transmitter (UART) ============= */

+/* ================================================================================ */

+typedef struct

+{

+  __IO uint32_t DR;               /* Offset: 0x000 (R/W)  Data */ 

+  union {

+  __I  uint32_t RSR;              /* Offset: 0x000 (R/ )  Receive Status */

+  __O  uint32_t ECR;              /* Offset: 0x000 ( /W)  Error Clear */

+  };

+       uint32_t RESERVED0[4];

+  __IO uint32_t FR;               /* Offset: 0x018 (R/W)  Flags */

+       uint32_t RESERVED1[1];

+  __IO uint32_t ILPR;             /* Offset: 0x020 (R/W)  IrDA Low-power Counter */

+  __IO uint32_t IBRD;             /* Offset: 0x024 (R/W)  Interger Baud Rate */

+  __IO uint32_t FBRD;             /* Offset: 0x028 (R/W)  Fractional Baud Rate */

+  __IO uint32_t LCR_H;            /* Offset: 0x02C (R/W)  Line Control */

+  __IO uint32_t CR;               /* Offset: 0x030 (R/W)  Control */

+  __IO uint32_t IFLS;             /* Offset: 0x034 (R/W)  Interrupt FIFO Level Select */

+  __IO uint32_t IMSC;             /* Offset: 0x038 (R/W)  Interrupt Mask Set / Clear */

+  __IO uint32_t RIS;              /* Offset: 0x03C (R/W)  Raw Interrupt Status */

+  __IO uint32_t MIS;              /* Offset: 0x040 (R/W)  Masked Interrupt Status */

+  __O  uint32_t ICR;              /* Offset: 0x044 ( /W)  Interrupt Clear */

+  __IO uint32_t DMACR;            /* Offset: 0x048 (R/W)  DMA Control */

+} ARM_UART_TypeDef;

+

+

+/* --------------------  End of section using anonymous unions  ------------------- */

+#if defined(__CC_ARM)

+  #pragma pop

+#elif defined(__ICCARM__)

+  /* leave anonymous unions enabled */

+#elif defined(__GNUC__)

+  /* anonymous unions are enabled by default */

+#elif defined(__TMS470__)

+  /* anonymous unions are enabled by default */

+#elif defined(__TASKING__)

+  #pragma warning restore

+#else

+  #warning Not supported compiler type

+#endif

+

+

+

+

+/* ================================================================================ */

+/* ================              Peripheral memory map             ================ */

+/* ================================================================================ */

+/* --------------------------  CPU FPGA memory map  ------------------------------- */

+#define ARM_FLASH_BASE            (0x00000000UL)

+#define ARM_RAM_BASE              (0x20000000UL)

+#define ARM_RAM_FPGA_BASE         (0x1EFF0000UL)

+#define ARM_CPU_CFG_BASE          (0xDFFF0000UL)

+

+#define ARM_CPU_SYS_BASE          (ARM_CPU_CFG_BASE  + 0x00000)

+#define ARM_UART3_BASE            (ARM_CPU_CFG_BASE  + 0x05000)

+

+/* --------------------------  DUT FPGA memory map  ------------------------------- */

+#define ARM_APB_BASE              (0x40000000UL)

+#define ARM_AHB_BASE              (0x4FF00000UL)

+#define ARM_DMC_BASE              (0x60000000UL)

+#define ARM_SMC_BASE              (0xA0000000UL)

+

+#define ARM_TIM0_BASE             (ARM_APB_BASE      + 0x02000)

+#define ARM_TIM2_BASE             (ARM_APB_BASE      + 0x03000)

+#define ARM_DUT_SYS_BASE          (ARM_APB_BASE      + 0x04000)

+#define ARM_UART0_BASE            (ARM_APB_BASE      + 0x06000)

+#define ARM_UART1_BASE            (ARM_APB_BASE      + 0x07000)

+#define ARM_UART2_BASE            (ARM_APB_BASE      + 0x08000)

+#define ARM_UART4_BASE            (ARM_APB_BASE      + 0x09000)

+

+

+/* ================================================================================ */

+/* ================             Peripheral declaration             ================ */

+/* ================================================================================ */

+/* --------------------------  CPU FPGA Peripherals  ------------------------------ */

+#define ARM_CPU_SYS               ((ARM_CPU_SYS_TypeDef *)  ARM_CPU_SYS_BASE)

+#define ARM_UART3                 ((   ARM_UART_TypeDef *)    ARM_UART3_BASE)

+

+/* --------------------------  DUT FPGA Peripherals  ------------------------------ */

+#define ARM_DUT_SYS               ((ARM_DUT_SYS_TypeDef *)  ARM_DUT_SYS_BASE)

+#define ARM_TIM0                  ((    ARM_TIM_TypeDef *)     ARM_TIM0_BASE)

+#define ARM_TIM2                  ((    ARM_TIM_TypeDef *)     ARM_TIM2_BASE)

+#define ARM_UART0                 ((   ARM_UART_TypeDef *)    ARM_UART0_BASE)

+#define ARM_UART1                 ((   ARM_UART_TypeDef *)    ARM_UART1_BASE)

+#define ARM_UART2                 ((   ARM_UART_TypeDef *)    ARM_UART2_BASE)

+#define ARM_UART4                 ((   ARM_UART_TypeDef *)    ARM_UART4_BASE)

+

+

+#ifdef __cplusplus

+}

+#endif

+

+#endif  /* ARMCM4_H */

diff --git a/apps/mathlib/CMSIS/Include/arm_common_tables.h b/apps/mathlib/CMSIS/Include/arm_common_tables.h
new file mode 100644
index 000000000..5fd6ff4af
--- /dev/null
+++ b/apps/mathlib/CMSIS/Include/arm_common_tables.h
@@ -0,0 +1,38 @@
+/* ---------------------------------------------------------------------- 

+* Copyright (C) 2010 ARM Limited. All rights reserved. 

+* 

+* $Date:        11. November 2010  

+* $Revision: 	V1.0.2  

+* 

+* Project: 	    CMSIS DSP Library 

+* Title:	    arm_common_tables.h 

+* 

+* Description:	This file has extern declaration for common tables like Bitreverse, reciprocal etc which are used across different functions 

+* 

+* Target Processor: Cortex-M4/Cortex-M3

+*  

+* 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. 

+* -------------------------------------------------------------------- */

+

+#ifndef _ARM_COMMON_TABLES_H

+#define _ARM_COMMON_TABLES_H

+

+#include "arm_math.h"

+

+extern const uint16_t armBitRevTable[1024];

+extern const q15_t armRecipTableQ15[64];

+extern const q31_t armRecipTableQ31[64];

+extern const q31_t realCoefAQ31[1024];

+extern const q31_t realCoefBQ31[1024];

+extern const float32_t twiddleCoef[6144];

+extern const q31_t twiddleCoefQ31[6144];

+extern const q15_t twiddleCoefQ15[6144];

+

+#endif /*  ARM_COMMON_TABLES_H */

diff --git a/apps/mathlib/CMSIS/Include/arm_math.h b/apps/mathlib/CMSIS/Include/arm_math.h
new file mode 100644
index 000000000..f224d3eb0
--- /dev/null
+++ b/apps/mathlib/CMSIS/Include/arm_math.h
@@ -0,0 +1,7569 @@
+/* ----------------------------------------------------------------------   

+ * Copyright (C) 2010-2011 ARM Limited. All rights reserved.   

+ *   

+ * $Date:        15. February 2012  

+ * $Revision: 	V1.1.0  

+ *   

+ * Project: 	    CMSIS DSP Library   

+ * Title:	     	arm_math.h

+ *   

+ * Description:	 Public header file for CMSIS DSP Library

+ *   

+ * 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.   

+ * -------------------------------------------------------------------- */

+

+/**

+   \mainpage CMSIS DSP Software Library

+   *

+   * <b>Introduction</b>

+   *

+   * This user manual describes the CMSIS DSP software library, 

+   * a suite of common signal processing functions for use on Cortex-M processor based devices.

+   *

+   * The library is divided into a number of functions each covering a specific category:  

+   * - Basic math functions

+   * - Fast math functions

+   * - Complex math functions

+   * - Filters

+   * - Matrix functions

+   * - Transforms

+   * - Motor control functions

+   * - Statistical functions

+   * - Support functions

+   * - Interpolation functions

+   *

+   * The library has separate functions for operating on 8-bit integers, 16-bit integers,

+   * 32-bit integer and 32-bit floating-point values. 

+   *

+   * <b>Pre-processor Macros</b> 

+   * 

+   * Each library project have differant pre-processor macros. 

+   * 

+   * - UNALIGNED_SUPPORT_DISABLE: 

+   * 

+   * Define macro UNALIGNED_SUPPORT_DISABLE, If the silicon does not support unaligned memory access    

+   * 

+   * - ARM_MATH_BIG_ENDIAN: 

+   * 

+   * Define macro ARM_MATH_BIG_ENDIAN to build the library for big endian targets. By default library builds for little endian targets. 

+   * 

+   * - ARM_MATH_MATRIX_CHECK: 

+   * 

+   * Define macro ARM_MATH_MATRIX_CHECK for checking on the input and output sizes of matrices 

+   * 

+   * - ARM_MATH_ROUNDING: 

+   * 

+   * Define macro ARM_MATH_ROUNDING for rounding on support functions

+   *

+   * - ARM_MATH_CMx:

+   *

+   * Define macro ARM_MATH_CM4 for building the library on Cortex-M4 target, ARM_MATH_CM3 for building library on Cortex-M3 target

+   * and ARM_MATH_CM0 for building library on cortex-M0 target.

+   * 

+   * - __FPU_PRESENT:

+   *

+   * Initialize macro __FPU_PRESENT = 1 when building on FPU supported Targets. Enable this macro for M4bf and M4lf libraries 

+   *

+   * <b>Toolchain Support</b>

+   *

+   * The library has been developed and tested with MDK-ARM version 4.23. 

+   * The library is being tested in GCC and IAR toolchains and updates on this activity will be made available shortly.

+   *

+   * <b>Using the Library</b>

+   *

+   * The library installer contains prebuilt versions of the libraries in the <code>Lib</code> folder.

+   * - arm_cortexM4lf_math.lib (Little endian and Floating Point Unit on Cortex-M4)

+   * - arm_cortexM4bf_math.lib (Big endian and Floating Point Unit on Cortex-M4)

+   * - arm_cortexM4l_math.lib (Little endian on Cortex-M4)

+   * - arm_cortexM4b_math.lib (Big endian on Cortex-M4)

+   * - arm_cortexM3l_math.lib (Little endian on Cortex-M3)

+   * - arm_cortexM3b_math.lib (Big endian on Cortex-M3)

+   * - arm_cortexM0l_math.lib (Little endian on Cortex-M0)

+   * - arm_cortexM0b_math.lib (Big endian on Cortex-M3)

+   *

+   * The library functions are declared in the public file <code>arm_math.h</code> which is placed in the <code>Include</code> folder.

+   * Simply include this file and link the appropriate library in the application and begin calling the library functions. The Library supports single 

+   * public header file <code> arm_math.h</code> for Cortex-M4/M3/M0 with little endian and big endian. Same header file will be used for floating point unit(FPU) variants. 

+   * Define the appropriate pre processor MACRO ARM_MATH_CM4 or  ARM_MATH_CM3 or 

+   * ARM_MATH_CM0 depending on the target processor in the application.

+   *

+   * <b>Examples</b>

+   *

+   * The library ships with a number of examples which demonstrate how to use the library functions.

+   *

+   * <b>Building the Library</b>

+   *

+   * The library installer contains project files to re build libraries on MDK Tool chain in the <code>CMSIS\\DSP_Lib\\Source\\ARM</code> folder.

+   * - arm_cortexM0b_math.uvproj

+   * - arm_cortexM0l_math.uvproj

+   * - arm_cortexM3b_math.uvproj

+   * - arm_cortexM3l_math.uvproj  

+   * - arm_cortexM4b_math.uvproj

+   * - arm_cortexM4l_math.uvproj

+   * - arm_cortexM4bf_math.uvproj

+   * - arm_cortexM4lf_math.uvproj

+   *

+   *

+   * The project can be built by opening the appropriate project in MDK-ARM 4.23 chain and defining the optional pre processor MACROs detailed above.

+   *

+   * <b>Copyright Notice</b>

+   *

+   * Copyright (C) 2010 ARM Limited. All rights reserved.

+   */

+

+

+/**

+ * @defgroup groupMath Basic Math Functions

+ */

+

+/**

+ * @defgroup groupFastMath Fast Math Functions

+ * This set of functions provides a fast approximation to sine, cosine, and square root.

+ * As compared to most of the other functions in the CMSIS math library, the fast math functions

+ * operate on individual values and not arrays.

+ * There are separate functions for Q15, Q31, and floating-point data.

+ *

+ */

+

+/**

+ * @defgroup groupCmplxMath Complex Math Functions

+ * This set of functions operates on complex data vectors.

+ * The data in the complex arrays is stored in an interleaved fashion

+ * (real, imag, real, imag, ...).

+ * In the API functions, the number of samples in a complex array refers

+ * to the number of complex values; the array contains twice this number of

+ * real values.

+ */

+

+/**

+ * @defgroup groupFilters Filtering Functions

+ */

+

+/**

+ * @defgroup groupMatrix Matrix Functions

+ *

+ * This set of functions provides basic matrix math operations.

+ * The functions operate on matrix data structures.  For example,

+ * the type

+ * definition for the floating-point matrix structure is shown

+ * below:

+ * <pre>

+ *     typedef struct

+ *     {

+ *       uint16_t numRows;     // number of rows of the matrix.

+ *       uint16_t numCols;     // number of columns of the matrix.

+ *       float32_t *pData;     // points to the data of the matrix.

+ *     } arm_matrix_instance_f32;

+ * </pre>

+ * There are similar definitions for Q15 and Q31 data types.

+ *

+ * The structure specifies the size of the matrix and then points to

+ * an array of data.  The array is of size <code>numRows X numCols</code>

+ * and the values are arranged in row order.  That is, the

+ * matrix element (i, j) is stored at:

+ * <pre>

+ *     pData[i*numCols + j]

+ * </pre>

+ *

+ * \par Init Functions

+ * There is an associated initialization function for each type of matrix

+ * data structure.

+ * The initialization function sets the values of the internal structure fields.

+ * Refer to the function <code>arm_mat_init_f32()</code>, <code>arm_mat_init_q31()</code>

+ * and <code>arm_mat_init_q15()</code> for floating-point, Q31 and Q15 types,  respectively.

+ *

+ * \par

+ * Use of the initialization function is optional. However, if initialization function is used

+ * then the instance structure cannot be placed into a const data section.

+ * To place the instance structure in a const data

+ * section, manually initialize the data structure.  For example:

+ * <pre>

+ * <code>arm_matrix_instance_f32 S = {nRows, nColumns, pData};</code>

+ * <code>arm_matrix_instance_q31 S = {nRows, nColumns, pData};</code>

+ * <code>arm_matrix_instance_q15 S = {nRows, nColumns, pData};</code>

+ * </pre>

+ * where <code>nRows</code> specifies the number of rows, <code>nColumns</code>

+ * specifies the number of columns, and <code>pData</code> points to the

+ * data array.

+ *

+ * \par Size Checking

+ * By default all of the matrix functions perform size checking on the input and

+ * output matrices.  For example, the matrix addition function verifies that the

+ * two input matrices and the output matrix all have the same number of rows and

+ * columns.  If the size check fails the functions return:

+ * <pre>

+ *     ARM_MATH_SIZE_MISMATCH

+ * </pre>

+ * Otherwise the functions return

+ * <pre>

+ *     ARM_MATH_SUCCESS

+ * </pre>

+ * There is some overhead associated with this matrix size checking.

+ * The matrix size checking is enabled via the \#define

+ * <pre>

+ *     ARM_MATH_MATRIX_CHECK

+ * </pre>

+ * within the library project settings.  By default this macro is defined

+ * and size checking is enabled.  By changing the project settings and

+ * undefining this macro size checking is eliminated and the functions

+ * run a bit faster.  With size checking disabled the functions always

+ * return <code>ARM_MATH_SUCCESS</code>.

+ */

+

+/**

+ * @defgroup groupTransforms Transform Functions

+ */

+

+/**

+ * @defgroup groupController Controller Functions

+ */

+

+/**

+ * @defgroup groupStats Statistics Functions

+ */

+/**

+ * @defgroup groupSupport Support Functions

+ */

+

+/**

+ * @defgroup groupInterpolation Interpolation Functions

+ * These functions perform 1- and 2-dimensional interpolation of data.

+ * Linear interpolation is used for 1-dimensional data and

+ * bilinear interpolation is used for 2-dimensional data.

+ */

+

+/**

+ * @defgroup groupExamples Examples

+ */

+#ifndef _ARM_MATH_H

+#define _ARM_MATH_H

+

+#define __CMSIS_GENERIC         /* disable NVIC and Systick functions */

+

+/* NuttX */

+#include <nuttx/config.h>

+#ifdef CONFIG_ARCH_CORTEXM4

+# define ARM_MATH_CM4 1

+#endif

+#ifdef CONFIG_ARCH_CORTEXM3

+# define ARM_MATH_CM3 1

+#endif

+#ifdef CONFIG_ARCH_FPU

+# define __FPU_PRESENT 1

+#endif

+

+#if defined (ARM_MATH_CM4)

+#include "core_cm4.h"

+#elif defined (ARM_MATH_CM3)

+#include "core_cm3.h"

+#elif defined (ARM_MATH_CM0)

+#include "core_cm0.h"

+#else

+#include "ARMCM4.h"

+#warning "Define either ARM_MATH_CM4 OR ARM_MATH_CM3...By Default building on ARM_MATH_CM4....."

+#endif

+

+#undef  __CMSIS_GENERIC         /* enable NVIC and Systick functions */

+#include "string.h"

+#include "math.h"

+#ifdef	__cplusplus

+extern "C"

+{

+#endif

+

+

+  /**

+   * @brief Macros required for reciprocal calculation in Normalized LMS

+   */

+

+#define DELTA_Q31 			(0x100)

+#define DELTA_Q15 			0x5

+#define INDEX_MASK 			0x0000003F

+#ifndef PI

+#define PI					3.14159265358979f

+#endif

+

+  /**

+   * @brief Macros required for SINE and COSINE Fast math approximations

+   */

+

+#define TABLE_SIZE			256

+#define TABLE_SPACING_Q31	0x800000

+#define TABLE_SPACING_Q15	0x80

+

+  /**

+   * @brief Macros required for SINE and COSINE Controller functions

+   */

+  /* 1.31(q31) Fixed value of 2/360 */

+  /* -1 to +1 is divided into 360 values so total spacing is (2/360) */

+#define INPUT_SPACING			0xB60B61

+

+  /**

+   * @brief Macro for Unaligned Support

+   */

+#ifndef UNALIGNED_SUPPORT_DISABLE

+    #define ALIGN4

+#else

+  #if defined  (__GNUC__)

+    #define ALIGN4 __attribute__((aligned(4)))

+  #else

+    #define ALIGN4 __align(4)

+  #endif

+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/

+

+  /**

+   * @brief Error status returned by some functions in the library.

+   */

+

+  typedef enum

+  {

+    ARM_MATH_SUCCESS = 0,                /**< No error */

+    ARM_MATH_ARGUMENT_ERROR = -1,        /**< One or more arguments are incorrect */

+    ARM_MATH_LENGTH_ERROR = -2,          /**< Length of data buffer is incorrect */

+    ARM_MATH_SIZE_MISMATCH = -3,         /**< Size of matrices is not compatible with the operation. */

+    ARM_MATH_NANINF = -4,                /**< Not-a-number (NaN) or infinity is generated */

+    ARM_MATH_SINGULAR = -5,              /**< Generated by matrix inversion if the input matrix is singular and cannot be inverted. */

+    ARM_MATH_TEST_FAILURE = -6           /**< Test Failed  */

+  } arm_status;

+

+  /**

+   * @brief 8-bit fractional data type in 1.7 format.

+   */

+  typedef int8_t q7_t;

+

+  /**

+   * @brief 16-bit fractional data type in 1.15 format.

+   */

+  typedef int16_t q15_t;

+

+  /**

+   * @brief 32-bit fractional data type in 1.31 format.

+   */

+  typedef int32_t q31_t;

+

+  /**

+   * @brief 64-bit fractional data type in 1.63 format.

+   */

+  typedef int64_t q63_t;

+

+  /**

+   * @brief 32-bit floating-point type definition.

+   */

+  typedef float float32_t;

+

+  /**

+   * @brief 64-bit floating-point type definition.

+   */

+  typedef double float64_t;

+

+  /**

+   * @brief definition to read/write two 16 bit values.

+   */

+#if defined  (__GNUC__)

+  #define __SIMD32(addr)         (*( int32_t **) & (addr))

+  #define  _SIMD32_OFFSET(addr)  (*( int32_t * )   (addr))

+#else

+  #define __SIMD32(addr)         (*(__packed                    int32_t **) & (addr))

+  #define  _SIMD32_OFFSET(addr)  (*(__packed                    int32_t * )   (addr))

+#endif 

+

+  #define __SIMD64(addr)  (*(int64_t **) & (addr))

+

+#if defined (ARM_MATH_CM3) || defined (ARM_MATH_CM0)

+  /**

+   * @brief definition to pack two 16 bit values.

+   */

+#define __PKHBT(ARG1, ARG2, ARG3)      ( (((int32_t)(ARG1) <<  0) & (int32_t)0x0000FFFF) | \

+                                         (((int32_t)(ARG2) << ARG3) & (int32_t)0xFFFF0000)  )

+#define __PKHTB(ARG1, ARG2, ARG3)      ( (((int32_t)(ARG1) <<  0) & (int32_t)0xFFFF0000) | \

+                                         (((int32_t)(ARG2) >> ARG3) & (int32_t)0x0000FFFF)  )

+

+#endif

+

+

+   /**

+   * @brief definition to pack four 8 bit values.

+   */

+#ifndef ARM_MATH_BIG_ENDIAN

+

+#define __PACKq7(v0,v1,v2,v3) ( (((int32_t)(v0) <<  0) & (int32_t)0x000000FF) |	\

+                                (((int32_t)(v1) <<  8) & (int32_t)0x0000FF00) |	\

+							    (((int32_t)(v2) << 16) & (int32_t)0x00FF0000) |	\

+							    (((int32_t)(v3) << 24) & (int32_t)0xFF000000)  )

+#else

+

+#define __PACKq7(v0,v1,v2,v3) ( (((int32_t)(v3) <<  0) & (int32_t)0x000000FF) |	\

+                                (((int32_t)(v2) <<  8) & (int32_t)0x0000FF00) |	\

+							    (((int32_t)(v1) << 16) & (int32_t)0x00FF0000) |	\

+							    (((int32_t)(v0) << 24) & (int32_t)0xFF000000)  )

+

+#endif

+

+

+  /**

+   * @brief Clips Q63 to Q31 values.

+   */

+  __STATIC_INLINE q31_t clip_q63_to_q31(

+  q63_t x)

+  {

+    return ((q31_t) (x >> 32) != ((q31_t) x >> 31)) ?

+      ((0x7FFFFFFF ^ ((q31_t) (x >> 63)))) : (q31_t) x;

+  }

+

+  /**

+   * @brief Clips Q63 to Q15 values.

+   */

+  __STATIC_INLINE q15_t clip_q63_to_q15(

+  q63_t x)

+  {

+    return ((q31_t) (x >> 32) != ((q31_t) x >> 31)) ?

+      ((0x7FFF ^ ((q15_t) (x >> 63)))) : (q15_t) (x >> 15);

+  }

+

+  /**

+   * @brief Clips Q31 to Q7 values.

+   */

+  __STATIC_INLINE q7_t clip_q31_to_q7(

+  q31_t x)

+  {

+    return ((q31_t) (x >> 24) != ((q31_t) x >> 23)) ?

+      ((0x7F ^ ((q7_t) (x >> 31)))) : (q7_t) x;

+  }

+

+  /**

+   * @brief Clips Q31 to Q15 values.

+   */

+  __STATIC_INLINE q15_t clip_q31_to_q15(

+  q31_t x)

+  {

+    return ((q31_t) (x >> 16) != ((q31_t) x >> 15)) ?

+      ((0x7FFF ^ ((q15_t) (x >> 31)))) : (q15_t) x;

+  }

+

+  /**

+   * @brief Multiplies 32 X 64 and returns 32 bit result in 2.30 format.

+   */

+

+  __STATIC_INLINE q63_t mult32x64(

+  q63_t x,

+  q31_t y)

+  {

+    return ((((q63_t) (x & 0x00000000FFFFFFFF) * y) >> 32) +

+            (((q63_t) (x >> 32) * y)));

+  }

+

+

+#if defined (ARM_MATH_CM0) && defined ( __CC_ARM   )

+#define __CLZ __clz

+#endif

+

+#if defined (ARM_MATH_CM0) && defined ( __TASKING__ )

+/* No need to redefine __CLZ */

+#endif

+

+#if defined (ARM_MATH_CM0) && ((defined (__ICCARM__)) ||(defined (__GNUC__)) )

+

+  __STATIC_INLINE  uint32_t __CLZ(q31_t data);

+

+

+  __STATIC_INLINE uint32_t __CLZ(q31_t data)

+  {

+    uint32_t count = 0;

+    uint32_t mask = 0x80000000;

+

+    while((data & mask) == 0)

+    {

+      count += 1u;

+      mask = mask >> 1u;

+    }

+

+    return (count);

+

+  }

+

+#endif

+

+  /**

+   * @brief Function to Calculates 1/in(reciprocal) value of Q31 Data type.

+   */

+

+  __STATIC_INLINE uint32_t arm_recip_q31(

+  q31_t in,

+  q31_t * dst,

+  q31_t * pRecipTable)

+  {

+

+    uint32_t out, tempVal;

+    uint32_t index, i;

+    uint32_t signBits;

+

+    if(in > 0)

+    {

+      signBits = __CLZ(in) - 1;

+    }

+    else

+    {

+      signBits = __CLZ(-in) - 1;

+    }

+

+    /* Convert input sample to 1.31 format */

+    in = in << signBits;

+

+    /* calculation of index for initial approximated Val */

+    index = (uint32_t) (in >> 24u);

+    index = (index & INDEX_MASK);

+

+    /* 1.31 with exp 1 */

+    out = pRecipTable[index];

+

+    /* calculation of reciprocal value */

+    /* running approximation for two iterations */

+    for (i = 0u; i < 2u; i++)

+    {

+      tempVal = (q31_t) (((q63_t) in * out) >> 31u);

+      tempVal = 0x7FFFFFFF - tempVal;

+      /*      1.31 with exp 1 */

+      //out = (q31_t) (((q63_t) out * tempVal) >> 30u);

+      out = (q31_t) clip_q63_to_q31(((q63_t) out * tempVal) >> 30u);

+    }

+

+    /* write output */

+    *dst = out;

+

+    /* return num of signbits of out = 1/in value */

+    return (signBits + 1u);

+

+  }

+

+  /**

+   * @brief Function to Calculates 1/in(reciprocal) value of Q15 Data type.

+   */

+  __STATIC_INLINE uint32_t arm_recip_q15(

+  q15_t in,

+  q15_t * dst,

+  q15_t * pRecipTable)

+  {

+

+    uint32_t out = 0, tempVal = 0;

+    uint32_t index = 0, i = 0;

+    uint32_t signBits = 0;

+

+    if(in > 0)

+    {

+      signBits = __CLZ(in) - 17;

+    }

+    else

+    {

+      signBits = __CLZ(-in) - 17;

+    }

+

+    /* Convert input sample to 1.15 format */

+    in = in << signBits;

+

+    /* calculation of index for initial approximated Val */

+    index = in >> 8;

+    index = (index & INDEX_MASK);

+

+    /*      1.15 with exp 1  */

+    out = pRecipTable[index];

+

+    /* calculation of reciprocal value */

+    /* running approximation for two iterations */

+    for (i = 0; i < 2; i++)

+    {

+      tempVal = (q15_t) (((q31_t) in * out) >> 15);

+      tempVal = 0x7FFF - tempVal;

+      /*      1.15 with exp 1 */

+      out = (q15_t) (((q31_t) out * tempVal) >> 14);

+    }

+

+    /* write output */

+    *dst = out;

+

+    /* return num of signbits of out = 1/in value */

+    return (signBits + 1);

+

+  }

+

+

+  /*

+   * @brief C custom defined intrinisic function for only M0 processors

+   */

+#if defined(ARM_MATH_CM0)

+

+  __STATIC_INLINE q31_t __SSAT(

+  q31_t x,

+  uint32_t y)

+  {

+    int32_t posMax, negMin;

+    uint32_t i;

+

+    posMax = 1;

+    for (i = 0; i < (y - 1); i++)

+    {

+      posMax = posMax * 2;

+    }

+

+    if(x > 0)

+    {

+      posMax = (posMax - 1);

+

+      if(x > posMax)

+      {

+        x = posMax;

+      }

+    }

+    else

+    {

+      negMin = -posMax;

+

+      if(x < negMin)

+      {

+        x = negMin;

+      }

+    }

+    return (x);

+

+

+  }

+

+#endif /* end of ARM_MATH_CM0 */

+

+

+

+  /*

+   * @brief C custom defined intrinsic function for M3 and M0 processors

+   */

+#if defined (ARM_MATH_CM3) || defined (ARM_MATH_CM0)

+

+  /*

+   * @brief C custom defined QADD8 for M3 and M0 processors

+   */

+  __STATIC_INLINE q31_t __QADD8(

+  q31_t x,

+  q31_t y)

+  {

+

+    q31_t sum;

+    q7_t r, s, t, u;

+

+    r = (q7_t) x;

+    s = (q7_t) y;

+

+    r = __SSAT((q31_t) (r + s), 8);

+    s = __SSAT(((q31_t) (((x << 16) >> 24) + ((y << 16) >> 24))), 8);

+    t = __SSAT(((q31_t) (((x << 8) >> 24) + ((y << 8) >> 24))), 8);

+    u = __SSAT(((q31_t) ((x >> 24) + (y >> 24))), 8);

+

+    sum =

+      (((q31_t) u << 24) & 0xFF000000) | (((q31_t) t << 16) & 0x00FF0000) |

+      (((q31_t) s << 8) & 0x0000FF00) | (r & 0x000000FF);

+

+    return sum;

+

+  }

+

+  /*

+   * @brief C custom defined QSUB8 for M3 and M0 processors

+   */

+  __STATIC_INLINE q31_t __QSUB8(

+  q31_t x,

+  q31_t y)

+  {

+

+    q31_t sum;

+    q31_t r, s, t, u;

+

+    r = (q7_t) x;

+    s = (q7_t) y;

+

+    r = __SSAT((r - s), 8);

+    s = __SSAT(((q31_t) (((x << 16) >> 24) - ((y << 16) >> 24))), 8) << 8;

+    t = __SSAT(((q31_t) (((x << 8) >> 24) - ((y << 8) >> 24))), 8) << 16;

+    u = __SSAT(((q31_t) ((x >> 24) - (y >> 24))), 8) << 24;

+

+    sum =

+      (u & 0xFF000000) | (t & 0x00FF0000) | (s & 0x0000FF00) | (r &

+                                                                0x000000FF);

+

+    return sum;

+  }

+

+  /*

+   * @brief C custom defined QADD16 for M3 and M0 processors

+   */

+

+  /*

+   * @brief C custom defined QADD16 for M3 and M0 processors

+   */

+  __STATIC_INLINE q31_t __QADD16(

+  q31_t x,

+  q31_t y)

+  {

+

+    q31_t sum;

+    q31_t r, s;

+

+    r = (short) x;

+    s = (short) y;

+

+    r = __SSAT(r + s, 16);

+    s = __SSAT(((q31_t) ((x >> 16) + (y >> 16))), 16) << 16;

+

+    sum = (s & 0xFFFF0000) | (r & 0x0000FFFF);

+

+    return sum;

+

+  }

+

+  /*

+   * @brief C custom defined SHADD16 for M3 and M0 processors

+   */

+  __STATIC_INLINE q31_t __SHADD16(

+  q31_t x,

+  q31_t y)

+  {

+

+    q31_t sum;

+    q31_t r, s;

+

+    r = (short) x;

+    s = (short) y;

+

+    r = ((r >> 1) + (s >> 1));

+    s = ((q31_t) ((x >> 17) + (y >> 17))) << 16;

+

+    sum = (s & 0xFFFF0000) | (r & 0x0000FFFF);

+

+    return sum;

+

+  }

+

+  /*

+   * @brief C custom defined QSUB16 for M3 and M0 processors

+   */

+  __STATIC_INLINE q31_t __QSUB16(

+  q31_t x,

+  q31_t y)

+  {

+

+    q31_t sum;

+    q31_t r, s;

+

+    r = (short) x;

+    s = (short) y;

+

+    r = __SSAT(r - s, 16);

+    s = __SSAT(((q31_t) ((x >> 16) - (y >> 16))), 16) << 16;

+

+    sum = (s & 0xFFFF0000) | (r & 0x0000FFFF);

+

+    return sum;

+  }

+

+  /*

+   * @brief C custom defined SHSUB16 for M3 and M0 processors

+   */

+  __STATIC_INLINE q31_t __SHSUB16(

+  q31_t x,

+  q31_t y)

+  {

+

+    q31_t diff;

+    q31_t r, s;

+

+    r = (short) x;

+    s = (short) y;

+

+    r = ((r >> 1) - (s >> 1));

+    s = (((x >> 17) - (y >> 17)) << 16);

+

+    diff = (s & 0xFFFF0000) | (r & 0x0000FFFF);

+

+    return diff;

+  }

+

+  /*

+   * @brief C custom defined QASX for M3 and M0 processors

+   */

+  __STATIC_INLINE q31_t __QASX(

+  q31_t x,

+  q31_t y)

+  {

+

+    q31_t sum = 0;

+

+    sum =

+      ((sum +

+        clip_q31_to_q15((q31_t) ((short) (x >> 16) + (short) y))) << 16) +

+      clip_q31_to_q15((q31_t) ((short) x - (short) (y >> 16)));

+

+    return sum;

+  }

+

+  /*

+   * @brief C custom defined SHASX for M3 and M0 processors

+   */

+  __STATIC_INLINE q31_t __SHASX(

+  q31_t x,

+  q31_t y)

+  {

+

+    q31_t sum;

+    q31_t r, s;

+

+    r = (short) x;

+    s = (short) y;

+

+    r = ((r >> 1) - (y >> 17));

+    s = (((x >> 17) + (s >> 1)) << 16);

+

+    sum = (s & 0xFFFF0000) | (r & 0x0000FFFF);

+

+    return sum;

+  }

+

+

+  /*

+   * @brief C custom defined QSAX for M3 and M0 processors

+   */

+  __STATIC_INLINE q31_t __QSAX(

+  q31_t x,

+  q31_t y)

+  {

+

+    q31_t sum = 0;

+

+    sum =

+      ((sum +

+        clip_q31_to_q15((q31_t) ((short) (x >> 16) - (short) y))) << 16) +

+      clip_q31_to_q15((q31_t) ((short) x + (short) (y >> 16)));

+

+    return sum;

+  }

+

+  /*

+   * @brief C custom defined SHSAX for M3 and M0 processors

+   */

+  __STATIC_INLINE q31_t __SHSAX(

+  q31_t x,

+  q31_t y)

+  {

+

+    q31_t sum;

+    q31_t r, s;

+

+    r = (short) x;

+    s = (short) y;

+

+    r = ((r >> 1) + (y >> 17));

+    s = (((x >> 17) - (s >> 1)) << 16);

+

+    sum = (s & 0xFFFF0000) | (r & 0x0000FFFF);

+

+    return sum;

+  }

+

+  /*

+   * @brief C custom defined SMUSDX for M3 and M0 processors

+   */

+  __STATIC_INLINE q31_t __SMUSDX(

+  q31_t x,

+  q31_t y)

+  {

+

+    return ((q31_t) (((short) x * (short) (y >> 16)) -

+                     ((short) (x >> 16) * (short) y)));

+  }

+

+  /*

+   * @brief C custom defined SMUADX for M3 and M0 processors

+   */

+  __STATIC_INLINE q31_t __SMUADX(

+  q31_t x,

+  q31_t y)

+  {

+

+    return ((q31_t) (((short) x * (short) (y >> 16)) +

+                     ((short) (x >> 16) * (short) y)));

+  }

+

+  /*

+   * @brief C custom defined QADD for M3 and M0 processors

+   */

+  __STATIC_INLINE q31_t __QADD(

+  q31_t x,

+  q31_t y)

+  {

+    return clip_q63_to_q31((q63_t) x + y);

+  }

+

+  /*

+   * @brief C custom defined QSUB for M3 and M0 processors

+   */

+  __STATIC_INLINE q31_t __QSUB(

+  q31_t x,

+  q31_t y)

+  {

+    return clip_q63_to_q31((q63_t) x - y);

+  }

+

+  /*

+   * @brief C custom defined SMLAD for M3 and M0 processors

+   */

+  __STATIC_INLINE q31_t __SMLAD(

+  q31_t x,

+  q31_t y,

+  q31_t sum)

+  {

+

+    return (sum + ((short) (x >> 16) * (short) (y >> 16)) +

+            ((short) x * (short) y));

+  }

+

+  /*

+   * @brief C custom defined SMLADX for M3 and M0 processors

+   */

+  __STATIC_INLINE q31_t __SMLADX(

+  q31_t x,

+  q31_t y,

+  q31_t sum)

+  {

+

+    return (sum + ((short) (x >> 16) * (short) (y)) +

+            ((short) x * (short) (y >> 16)));

+  }

+

+  /*

+   * @brief C custom defined SMLSDX for M3 and M0 processors

+   */

+  __STATIC_INLINE q31_t __SMLSDX(

+  q31_t x,

+  q31_t y,

+  q31_t sum)

+  {

+

+    return (sum - ((short) (x >> 16) * (short) (y)) +

+            ((short) x * (short) (y >> 16)));

+  }

+

+  /*

+   * @brief C custom defined SMLALD for M3 and M0 processors

+   */

+  __STATIC_INLINE q63_t __SMLALD(

+  q31_t x,

+  q31_t y,

+  q63_t sum)

+  {

+

+    return (sum + ((short) (x >> 16) * (short) (y >> 16)) +

+            ((short) x * (short) y));

+  }

+

+  /*

+   * @brief C custom defined SMLALDX for M3 and M0 processors

+   */

+  __STATIC_INLINE q63_t __SMLALDX(

+  q31_t x,

+  q31_t y,

+  q63_t sum)

+  {

+

+    return (sum + ((short) (x >> 16) * (short) y)) +

+      ((short) x * (short) (y >> 16));

+  }

+

+  /*

+   * @brief C custom defined SMUAD for M3 and M0 processors

+   */

+  __STATIC_INLINE q31_t __SMUAD(

+  q31_t x,

+  q31_t y)

+  {

+

+    return (((x >> 16) * (y >> 16)) +

+            (((x << 16) >> 16) * ((y << 16) >> 16)));

+  }

+

+  /*

+   * @brief C custom defined SMUSD for M3 and M0 processors

+   */

+  __STATIC_INLINE q31_t __SMUSD(

+  q31_t x,

+  q31_t y)

+  {

+

+    return (-((x >> 16) * (y >> 16)) +

+            (((x << 16) >> 16) * ((y << 16) >> 16)));

+  }

+

+

+  /*

+   * @brief C custom defined SXTB16 for M3 and M0 processors

+   */

+  __STATIC_INLINE q31_t __SXTB16(

+  q31_t x)

+  {

+

+    return ((((x << 24) >> 24) & 0x0000FFFF) |

+            (((x << 8) >> 8) & 0xFFFF0000));

+  }

+

+

+#endif /* defined (ARM_MATH_CM3) || defined (ARM_MATH_CM0) */

+

+

+  /**

+   * @brief Instance structure for the Q7 FIR filter.

+   */

+  typedef struct

+  {

+    uint16_t numTaps;        /**< number of filter coefficients in the filter. */

+    q7_t *pState;            /**< points to the state variable array. The array is of length numTaps+blockSize-1. */

+    q7_t *pCoeffs;           /**< points to the coefficient array. The array is of length numTaps.*/

+  } arm_fir_instance_q7;

+

+  /**

+   * @brief Instance structure for the Q15 FIR filter.

+   */

+  typedef struct

+  {

+    uint16_t numTaps;         /**< number of filter coefficients in the filter. */

+    q15_t *pState;            /**< points to the state variable array. The array is of length numTaps+blockSize-1. */

+    q15_t *pCoeffs;           /**< points to the coefficient array. The array is of length numTaps.*/

+  } arm_fir_instance_q15;

+

+  /**

+   * @brief Instance structure for the Q31 FIR filter.

+   */

+  typedef struct

+  {

+    uint16_t numTaps;         /**< number of filter coefficients in the filter. */

+    q31_t *pState;            /**< points to the state variable array. The array is of length numTaps+blockSize-1. */

+    q31_t *pCoeffs;           /**< points to the coefficient array. The array is of length numTaps. */

+  } arm_fir_instance_q31;

+

+  /**

+   * @brief Instance structure for the floating-point FIR filter.

+   */

+  typedef struct

+  {

+    uint16_t numTaps;     /**< number of filter coefficients in the filter. */

+    float32_t *pState;    /**< points to the state variable array. The array is of length numTaps+blockSize-1. */

+    float32_t *pCoeffs;   /**< points to the coefficient array. The array is of length numTaps. */

+  } arm_fir_instance_f32;

+

+

+  /**

+   * @brief Processing function for the Q7 FIR filter.

+   * @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.

+   * @return none.

+   */

+  void arm_fir_q7(

+  const arm_fir_instance_q7 * S,

+  q7_t * pSrc,

+  q7_t * pDst,

+  uint32_t blockSize);

+

+

+  /**

+   * @brief  Initialization function for the Q7 FIR filter.

+   * @param[in,out] *S points to an instance of the Q7 FIR structure.

+   * @param[in] numTaps  Number of filter coefficients in the filter.

+   * @param[in] *pCoeffs points to the filter coefficients.

+   * @param[in] *pState points to the state buffer.

+   * @param[in] blockSize number of samples that are processed.

+   * @return none

+   */

+  void arm_fir_init_q7(

+  arm_fir_instance_q7 * S,

+  uint16_t numTaps,

+  q7_t * pCoeffs,

+  q7_t * pState,

+  uint32_t blockSize);

+

+

+  /**

+   * @brief Processing function for the Q15 FIR filter.

+   * @param[in] *S points to an instance of the Q15 FIR 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.

+   * @return none.

+   */

+  void arm_fir_q15(

+  const arm_fir_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Processing function for the fast Q15 FIR filter for Cortex-M3 and Cortex-M4.

+   * @param[in] *S points to an instance of the Q15 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.

+   * @return none.

+   */

+  void arm_fir_fast_q15(

+  const arm_fir_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Initialization function for the Q15 FIR filter.

+   * @param[in,out] *S points to an instance of the Q15 FIR filter structure.

+   * @param[in] numTaps  Number of filter coefficients in the filter. Must be even and greater than or equal to 4.

+   * @param[in] *pCoeffs points to the filter coefficients.

+   * @param[in] *pState points to the state buffer.

+   * @param[in] blockSize number of samples that are processed at a time.

+   * @return The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_ARGUMENT_ERROR if

+   * <code>numTaps</code> is not a supported value.

+   */

+

+  arm_status arm_fir_init_q15(

+  arm_fir_instance_q15 * S,

+  uint16_t numTaps,

+  q15_t * pCoeffs,

+  q15_t * pState,

+  uint32_t blockSize);

+

+  /**

+   * @brief Processing function for the Q31 FIR filter.

+   * @param[in] *S points to an instance of the Q31 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.

+   * @return none.

+   */

+  void arm_fir_q31(

+  const arm_fir_instance_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Processing function for the fast Q31 FIR filter for Cortex-M3 and Cortex-M4.

+   * @param[in] *S points to an instance of the Q31 FIR 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.

+   * @return none.

+   */

+  void arm_fir_fast_q31(

+  const arm_fir_instance_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Initialization function for the Q31 FIR filter.

+   * @param[in,out] *S points to an instance of the Q31 FIR structure.

+   * @param[in] 	numTaps  Number of filter coefficients in the filter.

+   * @param[in] 	*pCoeffs points to the filter coefficients.

+   * @param[in] 	*pState points to the state buffer.

+   * @param[in] 	blockSize number of samples that are processed at a time.

+   * @return 		none.

+   */

+  void arm_fir_init_q31(

+  arm_fir_instance_q31 * S,

+  uint16_t numTaps,

+  q31_t * pCoeffs,

+  q31_t * pState,

+  uint32_t blockSize);

+

+  /**

+   * @brief Processing function for the floating-point FIR filter.

+   * @param[in] *S points to an instance of the floating-point FIR 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.

+   * @return none.

+   */

+  void arm_fir_f32(

+  const arm_fir_instance_f32 * S,

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Initialization function for the floating-point FIR filter.

+   * @param[in,out] *S points to an instance of the floating-point FIR filter structure.

+   * @param[in] 	numTaps  Number of filter coefficients in the filter.

+   * @param[in] 	*pCoeffs points to the filter coefficients.

+   * @param[in] 	*pState points to the state buffer.

+   * @param[in] 	blockSize number of samples that are processed at a time.

+   * @return    	none.

+   */

+  void arm_fir_init_f32(

+  arm_fir_instance_f32 * S,

+  uint16_t numTaps,

+  float32_t * pCoeffs,

+  float32_t * pState,

+  uint32_t blockSize);

+

+

+  /**

+   * @brief Instance structure for the Q15 Biquad cascade filter.

+   */

+  typedef struct

+  {

+    int8_t numStages;         /**< number of 2nd order stages in the filter.  Overall order is 2*numStages. */

+    q15_t *pState;            /**< Points to the array of state coefficients.  The array is of length 4*numStages. */

+    q15_t *pCoeffs;           /**< Points to the array of coefficients.  The array is of length 5*numStages. */

+    int8_t postShift;         /**< Additional shift, in bits, applied to each output sample. */

+

+  } arm_biquad_casd_df1_inst_q15;

+

+

+  /**

+   * @brief Instance structure for the Q31 Biquad cascade filter.

+   */

+  typedef struct

+  {

+    uint32_t numStages;      /**< number of 2nd order stages in the filter.  Overall order is 2*numStages. */

+    q31_t *pState;           /**< Points to the array of state coefficients.  The array is of length 4*numStages. */

+    q31_t *pCoeffs;          /**< Points to the array of coefficients.  The array is of length 5*numStages. */

+    uint8_t postShift;       /**< Additional shift, in bits, applied to each output sample. */

+

+  } arm_biquad_casd_df1_inst_q31;

+

+  /**

+   * @brief Instance structure for the floating-point Biquad cascade filter.

+   */

+  typedef struct

+  {

+    uint32_t numStages;         /**< number of 2nd order stages in the filter.  Overall order is 2*numStages. */

+    float32_t *pState;          /**< Points to the array of state coefficients.  The array is of length 4*numStages. */

+    float32_t *pCoeffs;         /**< Points to the array of coefficients.  The array is of length 5*numStages. */

+

+

+  } arm_biquad_casd_df1_inst_f32;

+

+

+

+  /**

+   * @brief Processing function for the Q15 Biquad cascade filter.

+   * @param[in]  *S points to an instance of the Q15 Biquad cascade 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.

+   * @return     none.

+   */

+

+  void arm_biquad_cascade_df1_q15(

+  const arm_biquad_casd_df1_inst_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Initialization function for the Q15 Biquad cascade filter.

+   * @param[in,out] *S           points to an instance of the Q15 Biquad cascade structure.

+   * @param[in]     numStages    number of 2nd order stages in the filter.

+   * @param[in]     *pCoeffs     points to the filter coefficients.

+   * @param[in]     *pState      points to the state buffer.

+   * @param[in]     postShift    Shift to be applied to the output. Varies according to the coefficients format

+   * @return        none

+   */

+

+  void arm_biquad_cascade_df1_init_q15(

+  arm_biquad_casd_df1_inst_q15 * S,

+  uint8_t numStages,

+  q15_t * pCoeffs,

+  q15_t * pState,

+  int8_t postShift);

+

+

+  /**

+   * @brief Fast but less precise processing function for the Q15 Biquad cascade filter for Cortex-M3 and Cortex-M4.

+   * @param[in]  *S points to an instance of the Q15 Biquad cascade 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.

+   * @return     none.

+   */

+

+  void arm_biquad_cascade_df1_fast_q15(

+  const arm_biquad_casd_df1_inst_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize);

+

+

+  /**

+   * @brief Processing function for the Q31 Biquad cascade filter

+   * @param[in]  *S         points to an instance of the Q31 Biquad cascade 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.

+   * @return     none.

+   */

+

+  void arm_biquad_cascade_df1_q31(

+  const arm_biquad_casd_df1_inst_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Fast but less precise processing function for the Q31 Biquad cascade filter for Cortex-M3 and Cortex-M4.

+   * @param[in]  *S         points to an instance of the Q31 Biquad cascade 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.

+   * @return     none.

+   */

+

+  void arm_biquad_cascade_df1_fast_q31(

+  const arm_biquad_casd_df1_inst_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Initialization function for the Q31 Biquad cascade filter.

+   * @param[in,out] *S           points to an instance of the Q31 Biquad cascade structure.

+   * @param[in]     numStages      number of 2nd order stages in the filter.

+   * @param[in]     *pCoeffs     points to the filter coefficients.

+   * @param[in]     *pState      points to the state buffer.

+   * @param[in]     postShift    Shift to be applied to the output. Varies according to the coefficients format

+   * @return        none

+   */

+

+  void arm_biquad_cascade_df1_init_q31(

+  arm_biquad_casd_df1_inst_q31 * S,

+  uint8_t numStages,

+  q31_t * pCoeffs,

+  q31_t * pState,

+  int8_t postShift);

+

+  /**

+   * @brief Processing function for the floating-point Biquad cascade filter.

+   * @param[in]  *S         points to an instance of the floating-point Biquad cascade 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.

+   * @return     none.

+   */

+

+  void arm_biquad_cascade_df1_f32(

+  const arm_biquad_casd_df1_inst_f32 * S,

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Initialization function for the floating-point Biquad cascade filter.

+   * @param[in,out] *S           points to an instance of the floating-point Biquad cascade structure.

+   * @param[in]     numStages    number of 2nd order stages in the filter.

+   * @param[in]     *pCoeffs     points to the filter coefficients.

+   * @param[in]     *pState      points to the state buffer.

+   * @return        none

+   */

+

+  void arm_biquad_cascade_df1_init_f32(

+  arm_biquad_casd_df1_inst_f32 * S,

+  uint8_t numStages,

+  float32_t * pCoeffs,

+  float32_t * pState);

+

+

+  /**

+   * @brief Instance structure for the floating-point matrix structure.

+   */

+

+  typedef struct

+  {

+    uint16_t numRows;     /**< number of rows of the matrix.     */

+    uint16_t numCols;     /**< number of columns of the matrix.  */

+    float32_t *pData;     /**< points to the data of the matrix. */

+  } arm_matrix_instance_f32;

+

+  /**

+   * @brief Instance structure for the Q15 matrix structure.

+   */

+

+  typedef struct

+  {

+    uint16_t numRows;     /**< number of rows of the matrix.     */

+    uint16_t numCols;     /**< number of columns of the matrix.  */

+    q15_t *pData;         /**< points to the data of the matrix. */

+

+  } arm_matrix_instance_q15;

+

+  /**

+   * @brief Instance structure for the Q31 matrix structure.

+   */

+

+  typedef struct

+  {

+    uint16_t numRows;     /**< number of rows of the matrix.     */

+    uint16_t numCols;     /**< number of columns of the matrix.  */

+    q31_t *pData;         /**< points to the data of the matrix. */

+

+  } arm_matrix_instance_q31;

+

+

+

+  /**

+   * @brief Floating-point matrix addition.

+   * @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.

+   */

+

+  arm_status arm_mat_add_f32(

+  const arm_matrix_instance_f32 * pSrcA,

+  const arm_matrix_instance_f32 * pSrcB,

+  arm_matrix_instance_f32 * pDst);

+

+  /**

+   * @brief Q15 matrix addition.

+   * @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.

+   */

+

+  arm_status arm_mat_add_q15(

+  const arm_matrix_instance_q15 * pSrcA,

+  const arm_matrix_instance_q15 * pSrcB,

+  arm_matrix_instance_q15 * pDst);

+

+  /**

+   * @brief Q31 matrix addition.

+   * @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.

+   */

+

+  arm_status arm_mat_add_q31(

+  const arm_matrix_instance_q31 * pSrcA,

+  const arm_matrix_instance_q31 * pSrcB,

+  arm_matrix_instance_q31 * pDst);

+

+

+  /**

+   * @brief Floating-point matrix transpose.

+   * @param[in]  *pSrc points to the input matrix

+   * @param[out] *pDst points to the output matrix

+   * @return 	The function returns either  <code>ARM_MATH_SIZE_MISMATCH</code>

+   * or <code>ARM_MATH_SUCCESS</code> based on the outcome of size checking.

+   */

+

+  arm_status arm_mat_trans_f32(

+  const arm_matrix_instance_f32 * pSrc,

+  arm_matrix_instance_f32 * pDst);

+

+

+  /**

+   * @brief Q15 matrix transpose.

+   * @param[in]  *pSrc points to the input matrix

+   * @param[out] *pDst points to the output matrix

+   * @return 	The function returns either  <code>ARM_MATH_SIZE_MISMATCH</code>

+   * or <code>ARM_MATH_SUCCESS</code> based on the outcome of size checking.

+   */

+

+  arm_status arm_mat_trans_q15(

+  const arm_matrix_instance_q15 * pSrc,

+  arm_matrix_instance_q15 * pDst);

+

+  /**

+   * @brief Q31 matrix transpose.

+   * @param[in]  *pSrc points to the input matrix

+   * @param[out] *pDst points to the output matrix

+   * @return 	The function returns either  <code>ARM_MATH_SIZE_MISMATCH</code>

+   * or <code>ARM_MATH_SUCCESS</code> based on the outcome of size checking.

+   */

+

+  arm_status arm_mat_trans_q31(

+  const arm_matrix_instance_q31 * pSrc,

+  arm_matrix_instance_q31 * pDst);

+

+

+  /**

+   * @brief Floating-point 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.

+   */

+

+  arm_status arm_mat_mult_f32(

+  const arm_matrix_instance_f32 * pSrcA,

+  const arm_matrix_instance_f32 * pSrcB,

+  arm_matrix_instance_f32 * pDst);

+

+  /**

+   * @brief Q15 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.

+   */

+

+  arm_status arm_mat_mult_q15(

+  const arm_matrix_instance_q15 * pSrcA,

+  const arm_matrix_instance_q15 * pSrcB,

+  arm_matrix_instance_q15 * pDst,

+  q15_t * pState);

+

+  /**

+   * @brief Q15 matrix multiplication (fast variant) for Cortex-M3 and Cortex-M4

+   * @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

+   * @param[in]		  *pState points to the array for storing intermediate results  

+   * @return     The function returns either

+   * <code>ARM_MATH_SIZE_MISMATCH</code> or <code>ARM_MATH_SUCCESS</code> based on the outcome of size checking.

+   */

+

+  arm_status arm_mat_mult_fast_q15(

+  const arm_matrix_instance_q15 * pSrcA,

+  const arm_matrix_instance_q15 * pSrcB,

+  arm_matrix_instance_q15 * pDst,

+  q15_t * pState);

+

+  /**

+   * @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.

+   */

+

+  arm_status arm_mat_mult_q31(

+  const arm_matrix_instance_q31 * pSrcA,

+  const arm_matrix_instance_q31 * pSrcB,

+  arm_matrix_instance_q31 * pDst);

+

+  /**

+   * @brief Q31 matrix multiplication (fast variant) for Cortex-M3 and Cortex-M4

+   * @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.

+   */

+

+  arm_status arm_mat_mult_fast_q31(

+  const arm_matrix_instance_q31 * pSrcA,

+  const arm_matrix_instance_q31 * pSrcB,

+  arm_matrix_instance_q31 * pDst);

+

+

+  /**

+   * @brief Floating-point matrix subtraction

+   * @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.

+   */

+

+  arm_status arm_mat_sub_f32(

+  const arm_matrix_instance_f32 * pSrcA,

+  const arm_matrix_instance_f32 * pSrcB,

+  arm_matrix_instance_f32 * pDst);

+

+  /**

+   * @brief Q15 matrix subtraction

+   * @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.

+   */

+

+  arm_status arm_mat_sub_q15(

+  const arm_matrix_instance_q15 * pSrcA,

+  const arm_matrix_instance_q15 * pSrcB,

+  arm_matrix_instance_q15 * pDst);

+

+  /**

+   * @brief Q31 matrix subtraction

+   * @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.

+   */

+

+  arm_status arm_mat_sub_q31(

+  const arm_matrix_instance_q31 * pSrcA,

+  const arm_matrix_instance_q31 * pSrcB,

+  arm_matrix_instance_q31 * pDst);

+

+  /**

+   * @brief Floating-point matrix scaling.

+   * @param[in]  *pSrc points to the input matrix

+   * @param[in]  scale scale factor

+   * @param[out] *pDst points to the output matrix

+   * @return     The function returns either

+   * <code>ARM_MATH_SIZE_MISMATCH</code> or <code>ARM_MATH_SUCCESS</code> based on the outcome of size checking.

+   */

+

+  arm_status arm_mat_scale_f32(

+  const arm_matrix_instance_f32 * pSrc,

+  float32_t scale,

+  arm_matrix_instance_f32 * pDst);

+

+  /**

+   * @brief Q15 matrix scaling.

+   * @param[in]       *pSrc points to input matrix

+   * @param[in]       scaleFract fractional portion of the scale factor

+   * @param[in]       shift number of bits to shift the result by

+   * @param[out]      *pDst points to output matrix

+   * @return     The function returns either

+   * <code>ARM_MATH_SIZE_MISMATCH</code> or <code>ARM_MATH_SUCCESS</code> based on the outcome of size checking.

+   */

+

+  arm_status arm_mat_scale_q15(

+  const arm_matrix_instance_q15 * pSrc,

+  q15_t scaleFract,

+  int32_t shift,

+  arm_matrix_instance_q15 * pDst);

+

+  /**

+   * @brief Q31 matrix scaling.

+   * @param[in]       *pSrc points to input matrix

+   * @param[in]       scaleFract fractional portion of the scale factor

+   * @param[in]       shift number of bits to shift the result by

+   * @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.

+   */

+

+  arm_status arm_mat_scale_q31(

+  const arm_matrix_instance_q31 * pSrc,

+  q31_t scaleFract,

+  int32_t shift,

+  arm_matrix_instance_q31 * pDst);

+

+

+  /**

+   * @brief  Q31 matrix initialization.

+   * @param[in,out] *S             points to an instance of the floating-point matrix structure.

+   * @param[in]     nRows          number of rows in the matrix.

+   * @param[in]     nColumns       number of columns in the matrix.

+   * @param[in]     *pData	       points to the matrix data array.

+   * @return        none

+   */

+

+  void arm_mat_init_q31(

+  arm_matrix_instance_q31 * S,

+  uint16_t nRows,

+  uint16_t nColumns,

+  q31_t * pData);

+

+  /**

+   * @brief  Q15 matrix initialization.

+   * @param[in,out] *S             points to an instance of the floating-point matrix structure.

+   * @param[in]     nRows          number of rows in the matrix.

+   * @param[in]     nColumns       number of columns in the matrix.

+   * @param[in]     *pData	       points to the matrix data array.

+   * @return        none

+   */

+

+  void arm_mat_init_q15(

+  arm_matrix_instance_q15 * S,

+  uint16_t nRows,

+  uint16_t nColumns,

+  q15_t * pData);

+

+  /**

+   * @brief  Floating-point matrix initialization.

+   * @param[in,out] *S             points to an instance of the floating-point matrix structure.

+   * @param[in]     nRows          number of rows in the matrix.

+   * @param[in]     nColumns       number of columns in the matrix.

+   * @param[in]     *pData	       points to the matrix data array.

+   * @return        none

+   */

+

+  void arm_mat_init_f32(

+  arm_matrix_instance_f32 * S,

+  uint16_t nRows,

+  uint16_t nColumns,

+  float32_t * pData);

+

+

+

+  /**

+   * @brief Instance structure for the Q15 PID Control.

+   */

+  typedef struct

+  {

+    q15_t A0;    /**< The derived gain, A0 = Kp + Ki + Kd . */

+#ifdef ARM_MATH_CM0

+    q15_t A1;

+    q15_t A2;

+#else

+    q31_t A1;           /**< The derived gain A1 = -Kp - 2Kd | Kd.*/

+#endif

+    q15_t state[3];       /**< The state array of length 3. */

+    q15_t Kp;           /**< The proportional gain. */

+    q15_t Ki;           /**< The integral gain. */

+    q15_t Kd;           /**< The derivative gain. */

+  } arm_pid_instance_q15;

+

+  /**

+   * @brief Instance structure for the Q31 PID Control.

+   */

+  typedef struct

+  {

+    q31_t A0;            /**< The derived gain, A0 = Kp + Ki + Kd . */

+    q31_t A1;            /**< The derived gain, A1 = -Kp - 2Kd. */

+    q31_t A2;            /**< The derived gain, A2 = Kd . */

+    q31_t state[3];      /**< The state array of length 3. */

+    q31_t Kp;            /**< The proportional gain. */

+    q31_t Ki;            /**< The integral gain. */

+    q31_t Kd;            /**< The derivative gain. */

+

+  } arm_pid_instance_q31;

+

+  /**

+   * @brief Instance structure for the floating-point PID Control.

+   */

+  typedef struct

+  {

+    float32_t A0;          /**< The derived gain, A0 = Kp + Ki + Kd . */

+    float32_t A1;          /**< The derived gain, A1 = -Kp - 2Kd. */

+    float32_t A2;          /**< The derived gain, A2 = Kd . */

+    float32_t state[3];    /**< The state array of length 3. */

+    float32_t Kp;               /**< The proportional gain. */

+    float32_t Ki;               /**< The integral gain. */

+    float32_t Kd;               /**< The derivative gain. */

+  } arm_pid_instance_f32;

+

+

+

+  /**

+   * @brief  Initialization function for the floating-point PID Control.

+   * @param[in,out] *S      points to an instance of the PID structure.

+   * @param[in]     resetStateFlag  flag to reset the state. 0 = no change in state 1 = reset the state.

+   * @return none.

+   */

+  void arm_pid_init_f32(

+  arm_pid_instance_f32 * S,

+  int32_t resetStateFlag);

+

+  /**

+   * @brief  Reset function for the floating-point PID Control.

+   * @param[in,out] *S is an instance of the floating-point PID Control structure

+   * @return none

+   */

+  void arm_pid_reset_f32(

+  arm_pid_instance_f32 * S);

+

+

+  /**

+   * @brief  Initialization function for the Q31 PID Control.

+   * @param[in,out] *S points to an instance of the Q15 PID structure.

+   * @param[in]     resetStateFlag  flag to reset the state. 0 = no change in state 1 = reset the state.

+   * @return none.

+   */

+  void arm_pid_init_q31(

+  arm_pid_instance_q31 * S,

+  int32_t resetStateFlag);

+

+

+  /**

+   * @brief  Reset function for the Q31 PID Control.

+   * @param[in,out] *S points to an instance of the Q31 PID Control structure

+   * @return none

+   */

+

+  void arm_pid_reset_q31(

+  arm_pid_instance_q31 * S);

+

+  /**

+   * @brief  Initialization function for the Q15 PID Control.

+   * @param[in,out] *S points to an instance of the Q15 PID structure.

+   * @param[in] resetStateFlag  flag to reset the state. 0 = no change in state 1 = reset the state.

+   * @return none.

+   */

+  void arm_pid_init_q15(

+  arm_pid_instance_q15 * S,

+  int32_t resetStateFlag);

+

+  /**

+   * @brief  Reset function for the Q15 PID Control.

+   * @param[in,out] *S points to an instance of the q15 PID Control structure

+   * @return none

+   */

+  void arm_pid_reset_q15(

+  arm_pid_instance_q15 * S);

+

+

+  /**

+   * @brief Instance structure for the floating-point Linear Interpolate function.

+   */

+  typedef struct

+  {

+    uint32_t nValues;           /**< nValues */

+    float32_t x1;               /**< x1 */

+    float32_t xSpacing;         /**< xSpacing */

+    float32_t *pYData;          /**< pointer to the table of Y values */

+  } arm_linear_interp_instance_f32;

+

+  /**

+   * @brief Instance structure for the floating-point bilinear interpolation function.

+   */

+

+  typedef struct

+  {

+    uint16_t numRows;   /**< number of rows in the data table. */

+    uint16_t numCols;   /**< number of columns in the data table. */

+    float32_t *pData;   /**< points to the data table. */

+  } arm_bilinear_interp_instance_f32;

+

+   /**

+   * @brief Instance structure for the Q31 bilinear interpolation function.

+   */

+

+  typedef struct

+  {

+    uint16_t numRows;   /**< number of rows in the data table. */

+    uint16_t numCols;   /**< number of columns in the data table. */

+    q31_t *pData;       /**< points to the data table. */

+  } arm_bilinear_interp_instance_q31;

+

+   /**

+   * @brief Instance structure for the Q15 bilinear interpolation function.

+   */

+

+  typedef struct

+  {

+    uint16_t numRows;   /**< number of rows in the data table. */

+    uint16_t numCols;   /**< number of columns in the data table. */

+    q15_t *pData;       /**< points to the data table. */

+  } arm_bilinear_interp_instance_q15;

+

+   /**

+   * @brief Instance structure for the Q15 bilinear interpolation function.

+   */

+

+  typedef struct

+  {

+    uint16_t numRows;   /**< number of rows in the data table. */

+    uint16_t numCols;   /**< number of columns in the data table. */

+    q7_t *pData;                /**< points to the data table. */

+  } arm_bilinear_interp_instance_q7;

+

+

+  /**

+   * @brief Q7 vector multiplication.

+   * @param[in]       *pSrcA points to the first input vector

+   * @param[in]       *pSrcB points to the second input vector

+   * @param[out]      *pDst  points to the output vector

+   * @param[in]       blockSize number of samples in each vector

+   * @return none.

+   */

+

+  void arm_mult_q7(

+  q7_t * pSrcA,

+  q7_t * pSrcB,

+  q7_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Q15 vector multiplication.

+   * @param[in]       *pSrcA points to the first input vector

+   * @param[in]       *pSrcB points to the second input vector

+   * @param[out]      *pDst  points to the output vector

+   * @param[in]       blockSize number of samples in each vector

+   * @return none.

+   */

+

+  void arm_mult_q15(

+  q15_t * pSrcA,

+  q15_t * pSrcB,

+  q15_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Q31 vector multiplication.

+   * @param[in]       *pSrcA points to the first input vector

+   * @param[in]       *pSrcB points to the second input vector

+   * @param[out]      *pDst points to the output vector

+   * @param[in]       blockSize number of samples in each vector

+   * @return none.

+   */

+

+  void arm_mult_q31(

+  q31_t * pSrcA,

+  q31_t * pSrcB,

+  q31_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Floating-point vector multiplication.

+   * @param[in]       *pSrcA points to the first input vector

+   * @param[in]       *pSrcB points to the second input vector

+   * @param[out]      *pDst points to the output vector

+   * @param[in]       blockSize number of samples in each vector

+   * @return none.

+   */

+

+  void arm_mult_f32(

+  float32_t * pSrcA,

+  float32_t * pSrcB,

+  float32_t * pDst,

+  uint32_t blockSize);

+

+

+  /**

+   * @brief Instance structure for the Q15 CFFT/CIFFT function.

+   */

+

+  typedef struct

+  {

+    uint16_t fftLen;                 /**< length of the FFT. */

+    uint8_t ifftFlag;                /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */

+    uint8_t bitReverseFlag;          /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */

+    q15_t *pTwiddle;                 /**< points to the twiddle factor table. */

+    uint16_t *pBitRevTable;          /**< points to the bit reversal table. */

+    uint16_t twidCoefModifier;       /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */

+    uint16_t bitRevFactor;           /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */

+  } arm_cfft_radix4_instance_q15;

+

+  /**

+   * @brief Instance structure for the Q31 CFFT/CIFFT function.

+   */

+

+  typedef struct

+  {

+    uint16_t fftLen;                 /**< length of the FFT. */

+    uint8_t ifftFlag;                /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */

+    uint8_t bitReverseFlag;          /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */

+    q31_t *pTwiddle;                 /**< points to the twiddle factor table. */

+    uint16_t *pBitRevTable;          /**< points to the bit reversal table. */

+    uint16_t twidCoefModifier;       /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */

+    uint16_t bitRevFactor;           /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */

+  } arm_cfft_radix4_instance_q31;

+

+

+  /**

+   * @brief Instance structure for the floating-point CFFT/CIFFT function.

+   */

+

+  typedef struct

+  {

+    uint16_t fftLen;                   /**< length of the FFT. */

+    uint8_t ifftFlag;                  /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */

+    uint8_t bitReverseFlag;            /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */

+    float32_t *pTwiddle;               /**< points to the twiddle factor table. */

+    uint16_t *pBitRevTable;            /**< points to the bit reversal table. */

+    uint16_t twidCoefModifier;         /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */

+    uint16_t bitRevFactor;             /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */

+    float32_t onebyfftLen;                 /**< value of 1/fftLen. */

+  } arm_cfft_radix4_instance_f32;

+

+

+  /**

+   * @brief Instance structure for the Q15 CFFT/CIFFT function.

+   */

+

+  typedef struct

+  {

+    uint16_t fftLen;                 /**< length of the FFT. */

+    uint8_t ifftFlag;                /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */

+    uint8_t bitReverseFlag;          /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */

+    q15_t *pTwiddle;                     /**< points to the Sin twiddle factor table. */

+    uint16_t *pBitRevTable;          /**< points to the bit reversal table. */

+    uint16_t twidCoefModifier;       /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */

+    uint16_t bitRevFactor;           /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */

+  } arm_cfft_radix2_instance_q15;

+

+  /**

+   * @brief Instance structure for the Radix-2 Q31 CFFT/CIFFT function.

+   */

+

+  typedef struct

+  {

+    uint16_t fftLen;                 /**< length of the FFT. */

+    uint8_t ifftFlag;                /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */

+    uint8_t bitReverseFlag;          /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */

+    q31_t *pTwiddle;                     /**< points to the Twiddle factor table. */

+    uint16_t *pBitRevTable;          /**< points to the bit reversal table. */

+    uint16_t twidCoefModifier;       /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */

+    uint16_t bitRevFactor;           /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */

+  } arm_cfft_radix2_instance_q31;

+

+  /**

+   * @brief Instance structure for the floating-point CFFT/CIFFT function.

+   */

+

+  typedef struct

+  {

+    uint16_t fftLen;                   /**< length of the FFT. */

+    uint8_t ifftFlag;                  /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */

+    uint8_t bitReverseFlag;            /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */

+    float32_t *pTwiddle;               /**< points to the Twiddle factor table. */

+    uint16_t *pBitRevTable;            /**< points to the bit reversal table. */

+    uint16_t twidCoefModifier;         /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */

+    uint16_t bitRevFactor;             /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */

+    float32_t onebyfftLen;                 /**< value of 1/fftLen. */

+  } arm_cfft_radix2_instance_f32;

+

+

+  /**

+   * @brief Processing function for the Q15 CFFT/CIFFT.

+   * @param[in]      *S    points to an instance of the Q15 CFFT/CIFFT structure.

+   * @param[in, out] *pSrc points to the complex data buffer. Processing occurs in-place.

+   * @return none.

+   */

+

+  void arm_cfft_radix4_q15(

+  const arm_cfft_radix4_instance_q15 * S,

+  q15_t * pSrc);

+

+  /**

+   * @brief Processing function for the Q15 CFFT/CIFFT.

+   * @param[in]      *S    points to an instance of the Q15 CFFT/CIFFT structure.

+   * @param[in, out] *pSrc points to the complex data buffer. Processing occurs in-place.

+   * @return none.

+   */

+

+  void arm_cfft_radix2_q15(

+  const arm_cfft_radix2_instance_q15 * S,

+  q15_t * pSrc);

+

+  /**

+   * @brief Initialization function for the Q15 CFFT/CIFFT.

+   * @param[in,out] *S             points to an instance of the Q15 CFFT/CIFFT structure.

+   * @param[in]     fftLen         length of the FFT.

+   * @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.

+   * @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.

+   * @return        arm_status     function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if <code>fftLen</code> is not a supported value.

+   */

+

+  arm_status arm_cfft_radix4_init_q15(

+  arm_cfft_radix4_instance_q15 * S,

+  uint16_t fftLen,

+  uint8_t ifftFlag,

+  uint8_t bitReverseFlag);

+

+  /**

+   * @brief Initialization function for the Q15 CFFT/CIFFT.

+   * @param[in,out] *S             points to an instance of the Q15 CFFT/CIFFT structure.

+   * @param[in]     fftLen         length of the FFT.

+   * @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.

+   * @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.

+   * @return        arm_status     function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if <code>fftLen</code> is not a supported value.

+   */

+

+  arm_status arm_cfft_radix2_init_q15(

+  arm_cfft_radix2_instance_q15 * S,

+  uint16_t fftLen,

+  uint8_t ifftFlag,

+  uint8_t bitReverseFlag);

+

+  /**

+   * @brief Processing function for the Q31 CFFT/CIFFT.

+   * @param[in]      *S    points to an instance of the Q31 CFFT/CIFFT structure.

+   * @param[in, out] *pSrc points to the complex data buffer. Processing occurs in-place.

+   * @return none.

+   */

+

+  void arm_cfft_radix4_q31(

+  const arm_cfft_radix4_instance_q31 * S,

+  q31_t * pSrc);

+

+  /**

+   * @brief  Initialization function for the Q31 CFFT/CIFFT.

+   * @param[in,out] *S             points to an instance of the Q31 CFFT/CIFFT structure.

+   * @param[in]     fftLen         length of the FFT.

+   * @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.

+   * @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.

+   * @return        arm_status     function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if <code>fftLen</code> is not a supported value.

+   */

+

+  arm_status arm_cfft_radix4_init_q31(

+  arm_cfft_radix4_instance_q31 * S,

+  uint16_t fftLen,

+  uint8_t ifftFlag,

+  uint8_t bitReverseFlag);

+

+  /**

+   * @brief Processing function for the Radix-2 Q31 CFFT/CIFFT.

+   * @param[in]      *S    points to an instance of the Radix-2 Q31 CFFT/CIFFT structure.

+   * @param[in, out] *pSrc points to the complex data buffer. Processing occurs in-place.

+   * @return none.

+   */

+

+  void arm_cfft_radix2_q31(

+  const arm_cfft_radix2_instance_q31 * S,

+  q31_t * pSrc);

+

+  /**

+   * @brief  Initialization function for the Radix-2 Q31 CFFT/CIFFT.

+   * @param[in,out] *S             points to an instance of the Radix-2 Q31 CFFT/CIFFT structure.

+   * @param[in]     fftLen         length of the FFT.

+   * @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.

+   * @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.

+   * @return        arm_status     function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if <code>fftLen</code> is not a supported value.

+   */

+

+  arm_status arm_cfft_radix2_init_q31(

+  arm_cfft_radix2_instance_q31 * S,

+  uint16_t fftLen,

+  uint8_t ifftFlag,

+  uint8_t bitReverseFlag);

+

+

+

+  /**

+   * @brief Processing function for the floating-point CFFT/CIFFT.

+   * @param[in]      *S    points to an instance of the floating-point CFFT/CIFFT structure.

+   * @param[in, out] *pSrc points to the complex data buffer. Processing occurs in-place.

+   * @return none.

+   */

+

+  void arm_cfft_radix2_f32(

+  const arm_cfft_radix2_instance_f32 * S,

+  float32_t * pSrc);

+

+  /**

+   * @brief  Initialization function for the floating-point CFFT/CIFFT.

+   * @param[in,out] *S             points to an instance of the floating-point CFFT/CIFFT structure.

+   * @param[in]     fftLen         length of the FFT.

+   * @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.

+   * @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.

+   * @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if <code>fftLen</code> is not a supported value.

+   */

+

+  arm_status arm_cfft_radix2_init_f32(

+  arm_cfft_radix2_instance_f32 * S,

+  uint16_t fftLen,

+  uint8_t ifftFlag,

+  uint8_t bitReverseFlag);

+

+  /**

+   * @brief Processing function for the floating-point CFFT/CIFFT.

+   * @param[in]      *S    points to an instance of the floating-point CFFT/CIFFT structure.

+   * @param[in, out] *pSrc points to the complex data buffer. Processing occurs in-place.

+   * @return none.

+   */

+

+  void arm_cfft_radix4_f32(

+  const arm_cfft_radix4_instance_f32 * S,

+  float32_t * pSrc);

+

+  /**

+   * @brief  Initialization function for the floating-point CFFT/CIFFT.

+   * @param[in,out] *S             points to an instance of the floating-point CFFT/CIFFT structure.

+   * @param[in]     fftLen         length of the FFT.

+   * @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.

+   * @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.

+   * @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if <code>fftLen</code> is not a supported value.

+   */

+

+  arm_status arm_cfft_radix4_init_f32(

+  arm_cfft_radix4_instance_f32 * S,

+  uint16_t fftLen,

+  uint8_t ifftFlag,

+  uint8_t bitReverseFlag);

+

+

+

+  /*----------------------------------------------------------------------

+   *		Internal functions prototypes FFT function

+   ----------------------------------------------------------------------*/

+

+  /**

+   * @brief  Core function for the floating-point CFFT butterfly process.

+   * @param[in, out] *pSrc            points to the in-place buffer of floating-point data type.

+   * @param[in]      fftLen           length of the FFT.

+   * @param[in]      *pCoef           points to the twiddle coefficient buffer.

+   * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.

+   * @return none.

+   */

+

+  void arm_radix4_butterfly_f32(

+  float32_t * pSrc,

+  uint16_t fftLen,

+  float32_t * pCoef,

+  uint16_t twidCoefModifier);

+

+  /**

+   * @brief  Core function for the floating-point CIFFT butterfly process.

+   * @param[in, out] *pSrc            points to the in-place buffer of floating-point data type.

+   * @param[in]      fftLen           length of the FFT.

+   * @param[in]      *pCoef           points to twiddle coefficient buffer.

+   * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.

+   * @param[in]      onebyfftLen      value of 1/fftLen.

+   * @return none.

+   */

+

+  void arm_radix4_butterfly_inverse_f32(

+  float32_t * pSrc,

+  uint16_t fftLen,

+  float32_t * pCoef,

+  uint16_t twidCoefModifier,

+  float32_t onebyfftLen);

+

+  /**

+   * @brief  In-place bit reversal function.

+   * @param[in, out] *pSrc        points to the in-place buffer of floating-point data type.

+   * @param[in]      fftSize      length of the FFT.

+   * @param[in]      bitRevFactor bit reversal modifier that supports different size FFTs with the same bit reversal table.

+   * @param[in]      *pBitRevTab  points to the bit reversal table.

+   * @return none.

+   */

+

+  void arm_bitreversal_f32(

+  float32_t * pSrc,

+  uint16_t fftSize,

+  uint16_t bitRevFactor,

+  uint16_t * pBitRevTab);

+

+  /**

+   * @brief  Core function for the Q31 CFFT butterfly process.

+   * @param[in, out] *pSrc            points to the in-place buffer of Q31 data type.

+   * @param[in]      fftLen           length of the FFT.

+   * @param[in]      *pCoef           points to Twiddle coefficient buffer.

+   * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.

+   * @return none.

+   */

+

+  void arm_radix4_butterfly_q31(

+  q31_t * pSrc,

+  uint32_t fftLen,

+  q31_t * pCoef,

+  uint32_t twidCoefModifier);

+

+  /**

+   * @brief  Core function for the f32 FFT butterfly process.

+   * @param[in, out] *pSrc            points to the in-place buffer of f32 data type.

+   * @param[in]      fftLen           length of the FFT.

+   * @param[in]      *pCoef        	  points to Twiddle coefficient buffer.

+   * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.

+   * @return none.

+   */

+

+  void arm_radix2_butterfly_f32(

+  float32_t * pSrc,

+  uint32_t fftLen,

+  float32_t * pCoef,

+  uint16_t twidCoefModifier);

+

+        /**  

+	 * @brief  Core function for the Radix-2 Q31 CFFT butterfly process. 

+	 * @param[in, out] *pSrc            points to the in-place buffer of Q31 data type. 

+	 * @param[in]      fftLen           length of the FFT. 

+	 * @param[in]      *pCoef         	points to Twiddle coefficient buffer.

+	 * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 

+	 * @return none. 

+	 */

+

+  void arm_radix2_butterfly_q31(

+  q31_t * pSrc,

+  uint32_t fftLen,

+  q31_t * pCoef,

+  uint16_t twidCoefModifier);

+

+        /**  

+	 * @brief  Core function for the Radix-2 Q15 CFFT butterfly process. 

+	 * @param[in, out] *pSrc            points to the in-place buffer of Q15 data type. 

+	 * @param[in]      fftLen           length of the FFT. 

+	 * @param[in]      *pCoef           points to Twiddle coefficient buffer.

+	 * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 

+	 * @return none. 

+	 */

+

+  void arm_radix2_butterfly_q15(

+  q15_t * pSrc,

+  uint32_t fftLen,

+  q15_t * pCoef,

+  uint16_t twidCoefModifier);

+

+        /**  

+	 * @brief  Core function for the Radix-2 Q15 CFFT Inverse butterfly process. 

+	 * @param[in, out] *pSrc            points to the in-place buffer of Q15 data type. 

+	 * @param[in]      fftLen           length of the FFT. 

+	 * @param[in]      *pCoef       	points to Twiddle coefficient buffer.

+	 * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 

+	 * @return none. 

+	 */

+

+  void arm_radix2_butterfly_inverse_q15(

+  q15_t * pSrc,

+  uint32_t fftLen,

+  q15_t * pCoef,

+  uint16_t twidCoefModifier);

+

+        /**  

+	 * @brief  Core function for the Radix-2 Q31 CFFT Inverse butterfly process. 

+	 * @param[in, out] *pSrc            points to the in-place buffer of Q31 data type. 

+	 * @param[in]      fftLen           length of the FFT. 

+	 * @param[in]      *pCoef         	points to Twiddle coefficient buffer.

+	 * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 

+	 * @return none. 

+	 */

+

+  void arm_radix2_butterfly_inverse_q31(

+  q31_t * pSrc,

+  uint32_t fftLen,

+  q31_t * pCoef,

+  uint16_t twidCoefModifier);

+

+  /**

+   * @brief  Core function for the f32 IFFT butterfly process.

+   * @param[in, out] *pSrc            points to the in-place buffer of f32 data type.

+   * @param[in]      fftLen           length of the FFT.

+   * @param[in]      *pCoef        	  points to Twiddle coefficient buffer.

+   * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.

+   * @param[in]		 onebyfftLen	  1/fftLenfth

+   * @return none.

+   */

+

+  void arm_radix2_butterfly_inverse_f32(

+  float32_t * pSrc,

+  uint32_t fftLen,

+  float32_t * pCoef,

+  uint16_t twidCoefModifier,

+  float32_t onebyfftLen);

+

+                                                                /**

+   * @brief  Core function for the Q31 CIFFT butterfly process.

+   * @param[in, out] *pSrc            points to the in-place buffer of Q31 data type.

+   * @param[in]      fftLen           length of the FFT.

+   * @param[in]      *pCoef           points to twiddle coefficient buffer.

+   * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.

+   * @return none.

+   */

+

+  void arm_radix4_butterfly_inverse_q31(

+  q31_t * pSrc,

+  uint32_t fftLen,

+  q31_t * pCoef,

+  uint32_t twidCoefModifier);

+

+  /**

+   * @brief  In-place bit reversal function.

+   * @param[in, out] *pSrc        points to the in-place buffer of Q31 data type.

+   * @param[in]      fftLen       length of the FFT.

+   * @param[in]      bitRevFactor bit reversal modifier that supports different size FFTs with the same bit reversal table

+   * @param[in]      *pBitRevTab  points to bit reversal table.

+   * @return none.

+   */

+

+  void arm_bitreversal_q31(

+  q31_t * pSrc,

+  uint32_t fftLen,

+  uint16_t bitRevFactor,

+  uint16_t * pBitRevTab);

+

+  /**

+   * @brief  Core function for the Q15 CFFT butterfly process.

+   * @param[in, out] *pSrc16          points to the in-place buffer of Q15 data type.

+   * @param[in]      fftLen           length of the FFT.

+   * @param[in]      *pCoef16         points to twiddle coefficient buffer.

+   * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.

+   * @return none.

+   */

+

+  void arm_radix4_butterfly_q15(

+  q15_t * pSrc16,

+  uint32_t fftLen,

+  q15_t * pCoef16,

+  uint32_t twidCoefModifier);

+

+

+  /**

+   * @brief  Core function for the Q15 CIFFT butterfly process.

+   * @param[in, out] *pSrc16          points to the in-place buffer of Q15 data type.

+   * @param[in]      fftLen           length of the FFT.

+   * @param[in]      *pCoef16         points to twiddle coefficient buffer.

+   * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.

+   * @return none.

+   */

+

+  void arm_radix4_butterfly_inverse_q15(

+  q15_t * pSrc16,

+  uint32_t fftLen,

+  q15_t * pCoef16,

+  uint32_t twidCoefModifier);

+

+  /**

+   * @brief  In-place bit reversal function.

+   * @param[in, out] *pSrc        points to the in-place buffer of Q15 data type.

+   * @param[in]      fftLen       length of the FFT.

+   * @param[in]      bitRevFactor bit reversal modifier that supports different size FFTs with the same bit reversal table

+   * @param[in]      *pBitRevTab  points to bit reversal table.

+   * @return none.

+   */

+

+  void arm_bitreversal_q15(

+  q15_t * pSrc,

+  uint32_t fftLen,

+  uint16_t bitRevFactor,

+  uint16_t * pBitRevTab);

+

+

+  /**

+   * @brief Instance structure for the Q15 RFFT/RIFFT function.

+   */

+

+  typedef struct

+  {

+    uint32_t fftLenReal;                      /**< length of the real FFT. */

+    uint32_t fftLenBy2;                       /**< length of the complex FFT. */

+    uint8_t ifftFlagR;                        /**< flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform. */

+    uint8_t bitReverseFlagR;                      /**< flag that enables (bitReverseFlagR=1) or disables (bitReverseFlagR=0) bit reversal of output. */

+    uint32_t twidCoefRModifier;               /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */

+    q15_t *pTwiddleAReal;                     /**< points to the real twiddle factor table. */

+    q15_t *pTwiddleBReal;                     /**< points to the imag twiddle factor table. */

+    arm_cfft_radix4_instance_q15 *pCfft;          /**< points to the complex FFT instance. */

+  } arm_rfft_instance_q15;

+

+  /**

+   * @brief Instance structure for the Q31 RFFT/RIFFT function.

+   */

+

+  typedef struct

+  {

+    uint32_t fftLenReal;                        /**< length of the real FFT. */

+    uint32_t fftLenBy2;                         /**< length of the complex FFT. */

+    uint8_t ifftFlagR;                          /**< flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform. */

+    uint8_t bitReverseFlagR;                        /**< flag that enables (bitReverseFlagR=1) or disables (bitReverseFlagR=0) bit reversal of output. */

+    uint32_t twidCoefRModifier;                 /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */

+    q31_t *pTwiddleAReal;                       /**< points to the real twiddle factor table. */

+    q31_t *pTwiddleBReal;                       /**< points to the imag twiddle factor table. */

+    arm_cfft_radix4_instance_q31 *pCfft;        /**< points to the complex FFT instance. */

+  } arm_rfft_instance_q31;

+

+  /**

+   * @brief Instance structure for the floating-point RFFT/RIFFT function.

+   */

+

+  typedef struct

+  {

+    uint32_t fftLenReal;                        /**< length of the real FFT. */

+    uint16_t fftLenBy2;                         /**< length of the complex FFT. */

+    uint8_t ifftFlagR;                          /**< flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform. */

+    uint8_t bitReverseFlagR;                    /**< flag that enables (bitReverseFlagR=1) or disables (bitReverseFlagR=0) bit reversal of output. */

+    uint32_t twidCoefRModifier;                     /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */

+    float32_t *pTwiddleAReal;                   /**< points to the real twiddle factor table. */

+    float32_t *pTwiddleBReal;                   /**< points to the imag twiddle factor table. */

+    arm_cfft_radix4_instance_f32 *pCfft;        /**< points to the complex FFT instance. */

+  } arm_rfft_instance_f32;

+

+  /**

+   * @brief Processing function for the Q15 RFFT/RIFFT.

+   * @param[in]  *S    points to an instance of the Q15 RFFT/RIFFT structure.

+   * @param[in]  *pSrc points to the input buffer.

+   * @param[out] *pDst points to the output buffer.

+   * @return none.

+   */

+

+  void arm_rfft_q15(

+  const arm_rfft_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst);

+

+  /**

+   * @brief  Initialization function for the Q15 RFFT/RIFFT.

+   * @param[in, out] *S             points to an instance of the Q15 RFFT/RIFFT structure.

+   * @param[in]      *S_CFFT        points to an instance of the Q15 CFFT/CIFFT structure.

+   * @param[in]      fftLenReal     length of the FFT.

+   * @param[in]      ifftFlagR      flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform.

+   * @param[in]      bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.

+   * @return		The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if <code>fftLenReal</code> is not a supported value.

+   */

+

+  arm_status arm_rfft_init_q15(

+  arm_rfft_instance_q15 * S,

+  arm_cfft_radix4_instance_q15 * S_CFFT,

+  uint32_t fftLenReal,

+  uint32_t ifftFlagR,

+  uint32_t bitReverseFlag);

+

+  /**

+   * @brief Processing function for the Q31 RFFT/RIFFT.

+   * @param[in]  *S    points to an instance of the Q31 RFFT/RIFFT structure.

+   * @param[in]  *pSrc points to the input buffer.

+   * @param[out] *pDst points to the output buffer.

+   * @return none.

+   */

+

+  void arm_rfft_q31(

+  const arm_rfft_instance_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst);

+

+  /**

+   * @brief  Initialization function for the Q31 RFFT/RIFFT.

+   * @param[in, out] *S             points to an instance of the Q31 RFFT/RIFFT structure.

+   * @param[in, out] *S_CFFT        points to an instance of the Q31 CFFT/CIFFT structure.

+   * @param[in]      fftLenReal     length of the FFT.

+   * @param[in]      ifftFlagR      flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform.

+   * @param[in]      bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.

+   * @return		The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if <code>fftLenReal</code> is not a supported value.

+   */

+

+  arm_status arm_rfft_init_q31(

+  arm_rfft_instance_q31 * S,

+  arm_cfft_radix4_instance_q31 * S_CFFT,

+  uint32_t fftLenReal,

+  uint32_t ifftFlagR,

+  uint32_t bitReverseFlag);

+

+  /**

+   * @brief  Initialization function for the floating-point RFFT/RIFFT.

+   * @param[in,out] *S             points to an instance of the floating-point RFFT/RIFFT structure.

+   * @param[in,out] *S_CFFT        points to an instance of the floating-point CFFT/CIFFT structure.

+   * @param[in]     fftLenReal     length of the FFT.

+   * @param[in]     ifftFlagR      flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform.

+   * @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.

+   * @return		The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if <code>fftLenReal</code> is not a supported value.

+   */

+

+  arm_status arm_rfft_init_f32(

+  arm_rfft_instance_f32 * S,

+  arm_cfft_radix4_instance_f32 * S_CFFT,

+  uint32_t fftLenReal,

+  uint32_t ifftFlagR,

+  uint32_t bitReverseFlag);

+

+  /**

+   * @brief Processing function for the floating-point RFFT/RIFFT.

+   * @param[in]  *S    points to an instance of the floating-point RFFT/RIFFT structure.

+   * @param[in]  *pSrc points to the input buffer.

+   * @param[out] *pDst points to the output buffer.

+   * @return none.

+   */

+

+  void arm_rfft_f32(

+  const arm_rfft_instance_f32 * S,

+  float32_t * pSrc,

+  float32_t * pDst);

+

+  /**

+   * @brief Instance structure for the floating-point DCT4/IDCT4 function.

+   */

+

+  typedef struct

+  {

+    uint16_t N;                         /**< length of the DCT4. */

+    uint16_t Nby2;                      /**< half of the length of the DCT4. */

+    float32_t normalize;                /**< normalizing factor. */

+    float32_t *pTwiddle;                /**< points to the twiddle factor table. */

+    float32_t *pCosFactor;              /**< points to the cosFactor table. */

+    arm_rfft_instance_f32 *pRfft;        /**< points to the real FFT instance. */

+    arm_cfft_radix4_instance_f32 *pCfft; /**< points to the complex FFT instance. */

+  } arm_dct4_instance_f32;

+

+  /**

+   * @brief  Initialization function for the floating-point DCT4/IDCT4.

+   * @param[in,out] *S         points to an instance of floating-point DCT4/IDCT4 structure.

+   * @param[in]     *S_RFFT    points to an instance of floating-point RFFT/RIFFT structure.

+   * @param[in]     *S_CFFT    points to an instance of floating-point CFFT/CIFFT structure.

+   * @param[in]     N          length of the DCT4.

+   * @param[in]     Nby2       half of the length of the DCT4.

+   * @param[in]     normalize  normalizing factor.

+   * @return		arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if <code>fftLenReal</code> is not a supported transform length.

+   */

+

+  arm_status arm_dct4_init_f32(

+  arm_dct4_instance_f32 * S,

+  arm_rfft_instance_f32 * S_RFFT,

+  arm_cfft_radix4_instance_f32 * S_CFFT,

+  uint16_t N,

+  uint16_t Nby2,

+  float32_t normalize);

+

+  /**

+   * @brief Processing function for the floating-point DCT4/IDCT4.

+   * @param[in]       *S             points to an instance of the floating-point DCT4/IDCT4 structure.

+   * @param[in]       *pState        points to state buffer.

+   * @param[in,out]   *pInlineBuffer points to the in-place input and output buffer.

+   * @return none.

+   */

+

+  void arm_dct4_f32(

+  const arm_dct4_instance_f32 * S,

+  float32_t * pState,

+  float32_t * pInlineBuffer);

+

+  /**

+   * @brief Instance structure for the Q31 DCT4/IDCT4 function.

+   */

+

+  typedef struct

+  {

+    uint16_t N;                         /**< length of the DCT4. */

+    uint16_t Nby2;                      /**< half of the length of the DCT4. */

+    q31_t normalize;                    /**< normalizing factor. */

+    q31_t *pTwiddle;                    /**< points to the twiddle factor table. */

+    q31_t *pCosFactor;                  /**< points to the cosFactor table. */

+    arm_rfft_instance_q31 *pRfft;        /**< points to the real FFT instance. */

+    arm_cfft_radix4_instance_q31 *pCfft; /**< points to the complex FFT instance. */

+  } arm_dct4_instance_q31;

+

+  /**

+   * @brief  Initialization function for the Q31 DCT4/IDCT4.

+   * @param[in,out] *S         points to an instance of Q31 DCT4/IDCT4 structure.

+   * @param[in]     *S_RFFT    points to an instance of Q31 RFFT/RIFFT structure

+   * @param[in]     *S_CFFT    points to an instance of Q31 CFFT/CIFFT structure

+   * @param[in]     N          length of the DCT4.

+   * @param[in]     Nby2       half of the length of the DCT4.

+   * @param[in]     normalize  normalizing factor.

+   * @return		arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if <code>N</code> is not a supported transform length.

+   */

+

+  arm_status arm_dct4_init_q31(

+  arm_dct4_instance_q31 * S,

+  arm_rfft_instance_q31 * S_RFFT,

+  arm_cfft_radix4_instance_q31 * S_CFFT,

+  uint16_t N,

+  uint16_t Nby2,

+  q31_t normalize);

+

+  /**

+   * @brief Processing function for the Q31 DCT4/IDCT4.

+   * @param[in]       *S             points to an instance of the Q31 DCT4 structure.

+   * @param[in]       *pState        points to state buffer.

+   * @param[in,out]   *pInlineBuffer points to the in-place input and output buffer.

+   * @return none.

+   */

+

+  void arm_dct4_q31(

+  const arm_dct4_instance_q31 * S,

+  q31_t * pState,

+  q31_t * pInlineBuffer);

+

+  /**

+   * @brief Instance structure for the Q15 DCT4/IDCT4 function.

+   */

+

+  typedef struct

+  {

+    uint16_t N;                         /**< length of the DCT4. */

+    uint16_t Nby2;                      /**< half of the length of the DCT4. */

+    q15_t normalize;                    /**< normalizing factor. */

+    q15_t *pTwiddle;                    /**< points to the twiddle factor table. */

+    q15_t *pCosFactor;                  /**< points to the cosFactor table. */

+    arm_rfft_instance_q15 *pRfft;        /**< points to the real FFT instance. */

+    arm_cfft_radix4_instance_q15 *pCfft; /**< points to the complex FFT instance. */

+  } arm_dct4_instance_q15;

+

+  /**

+   * @brief  Initialization function for the Q15 DCT4/IDCT4.

+   * @param[in,out] *S         points to an instance of Q15 DCT4/IDCT4 structure.

+   * @param[in]     *S_RFFT    points to an instance of Q15 RFFT/RIFFT structure.

+   * @param[in]     *S_CFFT    points to an instance of Q15 CFFT/CIFFT structure.

+   * @param[in]     N          length of the DCT4.

+   * @param[in]     Nby2       half of the length of the DCT4.

+   * @param[in]     normalize  normalizing factor.

+   * @return		arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if <code>N</code> is not a supported transform length.

+   */

+

+  arm_status arm_dct4_init_q15(

+  arm_dct4_instance_q15 * S,

+  arm_rfft_instance_q15 * S_RFFT,

+  arm_cfft_radix4_instance_q15 * S_CFFT,

+  uint16_t N,

+  uint16_t Nby2,

+  q15_t normalize);

+

+  /**

+   * @brief Processing function for the Q15 DCT4/IDCT4.

+   * @param[in]       *S             points to an instance of the Q15 DCT4 structure.

+   * @param[in]       *pState        points to state buffer.

+   * @param[in,out]   *pInlineBuffer points to the in-place input and output buffer.

+   * @return none.

+   */

+

+  void arm_dct4_q15(

+  const arm_dct4_instance_q15 * S,

+  q15_t * pState,

+  q15_t * pInlineBuffer);

+

+  /**

+   * @brief Floating-point vector addition.

+   * @param[in]       *pSrcA points to the first input vector

+   * @param[in]       *pSrcB points to the second input vector

+   * @param[out]      *pDst points to the output vector

+   * @param[in]       blockSize number of samples in each vector

+   * @return none.

+   */

+

+  void arm_add_f32(

+  float32_t * pSrcA,

+  float32_t * pSrcB,

+  float32_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Q7 vector addition.

+   * @param[in]       *pSrcA points to the first input vector

+   * @param[in]       *pSrcB points to the second input vector

+   * @param[out]      *pDst points to the output vector

+   * @param[in]       blockSize number of samples in each vector

+   * @return none.

+   */

+

+  void arm_add_q7(

+  q7_t * pSrcA,

+  q7_t * pSrcB,

+  q7_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Q15 vector addition.

+   * @param[in]       *pSrcA points to the first input vector

+   * @param[in]       *pSrcB points to the second input vector

+   * @param[out]      *pDst points to the output vector

+   * @param[in]       blockSize number of samples in each vector

+   * @return none.

+   */

+

+  void arm_add_q15(

+  q15_t * pSrcA,

+  q15_t * pSrcB,

+  q15_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Q31 vector addition.

+   * @param[in]       *pSrcA points to the first input vector

+   * @param[in]       *pSrcB points to the second input vector

+   * @param[out]      *pDst points to the output vector

+   * @param[in]       blockSize number of samples in each vector

+   * @return none.

+   */

+

+  void arm_add_q31(

+  q31_t * pSrcA,

+  q31_t * pSrcB,

+  q31_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Floating-point vector subtraction.

+   * @param[in]       *pSrcA points to the first input vector

+   * @param[in]       *pSrcB points to the second input vector

+   * @param[out]      *pDst points to the output vector

+   * @param[in]       blockSize number of samples in each vector

+   * @return none.

+   */

+

+  void arm_sub_f32(

+  float32_t * pSrcA,

+  float32_t * pSrcB,

+  float32_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Q7 vector subtraction.

+   * @param[in]       *pSrcA points to the first input vector

+   * @param[in]       *pSrcB points to the second input vector

+   * @param[out]      *pDst points to the output vector

+   * @param[in]       blockSize number of samples in each vector

+   * @return none.

+   */

+

+  void arm_sub_q7(

+  q7_t * pSrcA,

+  q7_t * pSrcB,

+  q7_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Q15 vector subtraction.

+   * @param[in]       *pSrcA points to the first input vector

+   * @param[in]       *pSrcB points to the second input vector

+   * @param[out]      *pDst points to the output vector

+   * @param[in]       blockSize number of samples in each vector

+   * @return none.

+   */

+

+  void arm_sub_q15(

+  q15_t * pSrcA,

+  q15_t * pSrcB,

+  q15_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Q31 vector subtraction.

+   * @param[in]       *pSrcA points to the first input vector

+   * @param[in]       *pSrcB points to the second input vector

+   * @param[out]      *pDst points to the output vector

+   * @param[in]       blockSize number of samples in each vector

+   * @return none.

+   */

+

+  void arm_sub_q31(

+  q31_t * pSrcA,

+  q31_t * pSrcB,

+  q31_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Multiplies a floating-point vector by a scalar.

+   * @param[in]       *pSrc points to the input vector

+   * @param[in]       scale scale factor to be applied

+   * @param[out]      *pDst points to the output vector

+   * @param[in]       blockSize number of samples in the vector

+   * @return none.

+   */

+

+  void arm_scale_f32(

+  float32_t * pSrc,

+  float32_t scale,

+  float32_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Multiplies a Q7 vector by a scalar.

+   * @param[in]       *pSrc points to the input vector

+   * @param[in]       scaleFract fractional portion of the scale value

+   * @param[in]       shift number of bits to shift the result by

+   * @param[out]      *pDst points to the output vector

+   * @param[in]       blockSize number of samples in the vector

+   * @return none.

+   */

+

+  void arm_scale_q7(

+  q7_t * pSrc,

+  q7_t scaleFract,

+  int8_t shift,

+  q7_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Multiplies a Q15 vector by a scalar.

+   * @param[in]       *pSrc points to the input vector

+   * @param[in]       scaleFract fractional portion of the scale value

+   * @param[in]       shift number of bits to shift the result by

+   * @param[out]      *pDst points to the output vector

+   * @param[in]       blockSize number of samples in the vector

+   * @return none.

+   */

+

+  void arm_scale_q15(

+  q15_t * pSrc,

+  q15_t scaleFract,

+  int8_t shift,

+  q15_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Multiplies a Q31 vector by a scalar.

+   * @param[in]       *pSrc points to the input vector

+   * @param[in]       scaleFract fractional portion of the scale value

+   * @param[in]       shift number of bits to shift the result by

+   * @param[out]      *pDst points to the output vector

+   * @param[in]       blockSize number of samples in the vector

+   * @return none.

+   */

+

+  void arm_scale_q31(

+  q31_t * pSrc,

+  q31_t scaleFract,

+  int8_t shift,

+  q31_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Q7 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_q7(

+  q7_t * pSrc,

+  q7_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @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);

+

+  /**

+   * @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.

+   */

+

+  void arm_abs_q15(

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Q31 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_q31(

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Dot product of floating-point vectors.

+   * @param[in]       *pSrcA points to the first input vector

+   * @param[in]       *pSrcB points to the second input vector

+   * @param[in]       blockSize number of samples in each vector

+   * @param[out]      *result output result returned here

+   * @return none.

+   */

+

+  void arm_dot_prod_f32(

+  float32_t * pSrcA,

+  float32_t * pSrcB,

+  uint32_t blockSize,

+  float32_t * result);

+

+  /**

+   * @brief Dot product of Q7 vectors.

+   * @param[in]       *pSrcA points to the first input vector

+   * @param[in]       *pSrcB points to the second input vector

+   * @param[in]       blockSize number of samples in each vector

+   * @param[out]      *result output result returned here

+   * @return none.

+   */

+

+  void arm_dot_prod_q7(

+  q7_t * pSrcA,

+  q7_t * pSrcB,

+  uint32_t blockSize,

+  q31_t * result);

+

+  /**

+   * @brief Dot product of Q15 vectors.

+   * @param[in]       *pSrcA points to the first input vector

+   * @param[in]       *pSrcB points to the second input vector

+   * @param[in]       blockSize number of samples in each vector

+   * @param[out]      *result output result returned here

+   * @return none.

+   */

+

+  void arm_dot_prod_q15(

+  q15_t * pSrcA,

+  q15_t * pSrcB,

+  uint32_t blockSize,

+  q63_t * result);

+

+  /**

+   * @brief Dot product of Q31 vectors.

+   * @param[in]       *pSrcA points to the first input vector

+   * @param[in]       *pSrcB points to the second input vector

+   * @param[in]       blockSize number of samples in each vector

+   * @param[out]      *result output result returned here

+   * @return none.

+   */

+

+  void arm_dot_prod_q31(

+  q31_t * pSrcA,

+  q31_t * pSrcB,

+  uint32_t blockSize,

+  q63_t * result);

+

+  /**

+   * @brief  Shifts the elements of a Q7 vector a specified number of bits.

+   * @param[in]  *pSrc points to the input vector

+   * @param[in]  shiftBits number of bits to shift.  A positive value shifts left; a negative value shifts right.

+   * @param[out]  *pDst points to the output vector

+   * @param[in]  blockSize number of samples in the vector

+   * @return none.

+   */

+

+  void arm_shift_q7(

+  q7_t * pSrc,

+  int8_t shiftBits,

+  q7_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Shifts the elements of a Q15 vector a specified number of bits.

+   * @param[in]  *pSrc points to the input vector

+   * @param[in]  shiftBits number of bits to shift.  A positive value shifts left; a negative value shifts right.

+   * @param[out]  *pDst points to the output vector

+   * @param[in]  blockSize number of samples in the vector

+   * @return none.

+   */

+

+  void arm_shift_q15(

+  q15_t * pSrc,

+  int8_t shiftBits,

+  q15_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Shifts the elements of a Q31 vector a specified number of bits.

+   * @param[in]  *pSrc points to the input vector

+   * @param[in]  shiftBits number of bits to shift.  A positive value shifts left; a negative value shifts right.

+   * @param[out]  *pDst points to the output vector

+   * @param[in]  blockSize number of samples in the vector

+   * @return none.

+   */

+

+  void arm_shift_q31(

+  q31_t * pSrc,

+  int8_t shiftBits,

+  q31_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Adds a constant offset to a floating-point vector.

+   * @param[in]  *pSrc points to the input vector

+   * @param[in]  offset is the offset to be added

+   * @param[out]  *pDst points to the output vector

+   * @param[in]  blockSize number of samples in the vector

+   * @return none.

+   */

+

+  void arm_offset_f32(

+  float32_t * pSrc,

+  float32_t offset,

+  float32_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Adds a constant offset to a Q7 vector.

+   * @param[in]  *pSrc points to the input vector

+   * @param[in]  offset is the offset to be added

+   * @param[out]  *pDst points to the output vector

+   * @param[in]  blockSize number of samples in the vector

+   * @return none.

+   */

+

+  void arm_offset_q7(

+  q7_t * pSrc,

+  q7_t offset,

+  q7_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Adds a constant offset to a Q15 vector.

+   * @param[in]  *pSrc points to the input vector

+   * @param[in]  offset is the offset to be added

+   * @param[out]  *pDst points to the output vector

+   * @param[in]  blockSize number of samples in the vector

+   * @return none.

+   */

+

+  void arm_offset_q15(

+  q15_t * pSrc,

+  q15_t offset,

+  q15_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Adds a constant offset to a Q31 vector.

+   * @param[in]  *pSrc points to the input vector

+   * @param[in]  offset is the offset to be added

+   * @param[out]  *pDst points to the output vector

+   * @param[in]  blockSize number of samples in the vector

+   * @return none.

+   */

+

+  void arm_offset_q31(

+  q31_t * pSrc,

+  q31_t offset,

+  q31_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Negates the elements of a floating-point vector.

+   * @param[in]  *pSrc points to the input vector

+   * @param[out]  *pDst points to the output vector

+   * @param[in]  blockSize number of samples in the vector

+   * @return none.

+   */

+

+  void arm_negate_f32(

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Negates the elements of a Q7 vector.

+   * @param[in]  *pSrc points to the input vector

+   * @param[out]  *pDst points to the output vector

+   * @param[in]  blockSize number of samples in the vector

+   * @return none.

+   */

+

+  void arm_negate_q7(

+  q7_t * pSrc,

+  q7_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Negates the elements of a Q15 vector.

+   * @param[in]  *pSrc points to the input vector

+   * @param[out]  *pDst points to the output vector

+   * @param[in]  blockSize number of samples in the vector

+   * @return none.

+   */

+

+  void arm_negate_q15(

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Negates the elements of a Q31 vector.

+   * @param[in]  *pSrc points to the input vector

+   * @param[out]  *pDst points to the output vector

+   * @param[in]  blockSize number of samples in the vector

+   * @return none.

+   */

+

+  void arm_negate_q31(

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize);

+  /**

+   * @brief  Copies the elements of a floating-point vector. 

+   * @param[in]  *pSrc input pointer

+   * @param[out]  *pDst output pointer

+   * @param[in]  blockSize number of samples to process

+   * @return none.

+   */

+  void arm_copy_f32(

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Copies the elements of a Q7 vector. 

+   * @param[in]  *pSrc input pointer

+   * @param[out]  *pDst output pointer

+   * @param[in]  blockSize number of samples to process

+   * @return none.

+   */

+  void arm_copy_q7(

+  q7_t * pSrc,

+  q7_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Copies the elements of a Q15 vector. 

+   * @param[in]  *pSrc input pointer

+   * @param[out]  *pDst output pointer

+   * @param[in]  blockSize number of samples to process

+   * @return none.

+   */

+  void arm_copy_q15(

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Copies the elements of a Q31 vector. 

+   * @param[in]  *pSrc input pointer

+   * @param[out]  *pDst output pointer

+   * @param[in]  blockSize number of samples to process

+   * @return none.

+   */

+  void arm_copy_q31(

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize);

+  /**

+   * @brief  Fills a constant value into a floating-point vector. 

+   * @param[in]  value input value to be filled

+   * @param[out]  *pDst output pointer

+   * @param[in]  blockSize number of samples to process

+   * @return none.

+   */

+  void arm_fill_f32(

+  float32_t value,

+  float32_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Fills a constant value into a Q7 vector. 

+   * @param[in]  value input value to be filled

+   * @param[out]  *pDst output pointer

+   * @param[in]  blockSize number of samples to process

+   * @return none.

+   */

+  void arm_fill_q7(

+  q7_t value,

+  q7_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Fills a constant value into a Q15 vector. 

+   * @param[in]  value input value to be filled

+   * @param[out]  *pDst output pointer

+   * @param[in]  blockSize number of samples to process

+   * @return none.

+   */

+  void arm_fill_q15(

+  q15_t value,

+  q15_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Fills a constant value into a Q31 vector. 

+   * @param[in]  value input value to be filled

+   * @param[out]  *pDst output pointer

+   * @param[in]  blockSize number of samples to process

+   * @return none.

+   */

+  void arm_fill_q31(

+  q31_t value,

+  q31_t * pDst,

+  uint32_t blockSize);

+

+/**  

+ * @brief Convolution of floating-point sequences.  

+ * @param[in] *pSrcA points to the first input sequence.  

+ * @param[in] srcALen length of the first input sequence.  

+ * @param[in] *pSrcB points to the second input sequence.  

+ * @param[in] srcBLen length of the second input sequence.  

+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.  

+ * @return none.  

+ */

+

+  void arm_conv_f32(

+  float32_t * pSrcA,

+  uint32_t srcALen,

+  float32_t * pSrcB,

+  uint32_t srcBLen,

+  float32_t * pDst);

+

+  

+  /**   

+   * @brief Convolution of Q15 sequences.   

+   * @param[in] *pSrcA points to the first input sequence.   

+   * @param[in] srcALen length of the first input sequence.   

+   * @param[in] *pSrcB points to the second input sequence.   

+   * @param[in] srcBLen length of the second input sequence.   

+   * @param[out] *pDst points to the block of output data  Length srcALen+srcBLen-1.   

+   * @param[in]  *pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   

+   * @param[in]  *pScratch2 points to scratch buffer of size min(srcALen, srcBLen).   

+   * @return none.   

+   */

+

+

+  void arm_conv_opt_q15(

+  q15_t * pSrcA,

+  uint32_t srcALen,

+  q15_t * pSrcB,

+  uint32_t srcBLen,

+  q15_t * pDst,

+  q15_t * pScratch1,

+  q15_t * pScratch2);

+

+

+/**  

+ * @brief Convolution of Q15 sequences.  

+ * @param[in] *pSrcA points to the first input sequence.  

+ * @param[in] srcALen length of the first input sequence.  

+ * @param[in] *pSrcB points to the second input sequence.  

+ * @param[in] srcBLen length of the second input sequence.  

+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.  

+ * @return none.  

+ */

+

+  void arm_conv_q15(

+  q15_t * pSrcA,

+  uint32_t srcALen,

+  q15_t * pSrcB,

+  uint32_t srcBLen,

+  q15_t * pDst);

+

+  /**

+   * @brief Convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4

+   * @param[in] *pSrcA points to the first input sequence.

+   * @param[in] srcALen length of the first input sequence.

+   * @param[in] *pSrcB points to the second input sequence.

+   * @param[in] srcBLen length of the second input sequence.

+   * @param[out] *pDst points to the block of output data  Length srcALen+srcBLen-1.

+   * @return none.

+   */

+

+  void arm_conv_fast_q15(

+			  q15_t * pSrcA,

+			 uint32_t srcALen,

+			  q15_t * pSrcB,

+			 uint32_t srcBLen,

+			 q15_t * pDst);

+

+  /**

+   * @brief Convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4

+   * @param[in] *pSrcA points to the first input sequence.

+   * @param[in] srcALen length of the first input sequence.

+   * @param[in] *pSrcB points to the second input sequence.

+   * @param[in] srcBLen length of the second input sequence.

+   * @param[out] *pDst points to the block of output data  Length srcALen+srcBLen-1.

+   * @param[in]  *pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   

+   * @param[in]  *pScratch2 points to scratch buffer of size min(srcALen, srcBLen).   

+   * @return none.   

+   */

+

+  void arm_conv_fast_opt_q15(

+  q15_t * pSrcA,

+  uint32_t srcALen,

+  q15_t * pSrcB,

+  uint32_t srcBLen,

+  q15_t * pDst,

+  q15_t * pScratch1,

+  q15_t * pScratch2);

+

+

+

+  /**

+   * @brief Convolution of Q31 sequences.

+   * @param[in] *pSrcA points to the first input sequence.

+   * @param[in] srcALen length of the first input sequence.

+   * @param[in] *pSrcB points to the second input sequence.

+   * @param[in] srcBLen length of the second input sequence.

+   * @param[out] *pDst points to the block of output data  Length srcALen+srcBLen-1.

+   * @return none.

+   */

+

+  void arm_conv_q31(

+  q31_t * pSrcA,

+  uint32_t srcALen,

+  q31_t * pSrcB,

+  uint32_t srcBLen,

+  q31_t * pDst);

+

+  /**

+   * @brief Convolution of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4

+   * @param[in] *pSrcA points to the first input sequence.

+   * @param[in] srcALen length of the first input sequence.

+   * @param[in] *pSrcB points to the second input sequence.

+   * @param[in] srcBLen length of the second input sequence.

+   * @param[out] *pDst points to the block of output data  Length srcALen+srcBLen-1.

+   * @return none.

+   */

+

+  void arm_conv_fast_q31(

+  q31_t * pSrcA,

+  uint32_t srcALen,

+  q31_t * pSrcB,

+  uint32_t srcBLen,

+  q31_t * pDst);

+

+

+    /**   

+   * @brief Convolution of Q7 sequences.   

+   * @param[in] *pSrcA points to the first input sequence.   

+   * @param[in] srcALen length of the first input sequence.   

+   * @param[in] *pSrcB points to the second input sequence.   

+   * @param[in] srcBLen length of the second input sequence.   

+   * @param[out] *pDst points to the block of output data  Length srcALen+srcBLen-1.   

+   * @param[in]  *pScratch1 points to scratch buffer(of type q15_t) of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   

+   * @param[in]  *pScratch2 points to scratch buffer (of type q15_t) of size min(srcALen, srcBLen).   

+   * @return none.   

+   */

+

+  void arm_conv_opt_q7(

+  q7_t * pSrcA,

+  uint32_t srcALen,

+  q7_t * pSrcB,

+  uint32_t srcBLen,

+  q7_t * pDst,

+  q15_t * pScratch1,

+  q15_t * pScratch2);

+

+

+

+  /**

+   * @brief Convolution of Q7 sequences.

+   * @param[in] *pSrcA points to the first input sequence.

+   * @param[in] srcALen length of the first input sequence.

+   * @param[in] *pSrcB points to the second input sequence.

+   * @param[in] srcBLen length of the second input sequence.

+   * @param[out] *pDst points to the block of output data  Length srcALen+srcBLen-1.

+   * @return none.

+   */

+

+  void arm_conv_q7(

+  q7_t * pSrcA,

+  uint32_t srcALen,

+  q7_t * pSrcB,

+  uint32_t srcBLen,

+  q7_t * pDst);

+

+

+  /**

+   * @brief Partial convolution of floating-point sequences.

+   * @param[in]       *pSrcA points to the first input sequence.

+   * @param[in]       srcALen length of the first input sequence.

+   * @param[in]       *pSrcB points to the second input sequence.

+   * @param[in]       srcBLen length of the second input sequence.

+   * @param[out]      *pDst points to the block of output data

+   * @param[in]       firstIndex is the first output sample to start with.

+   * @param[in]       numPoints is the number of output points to be computed.

+   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].

+   */

+

+  arm_status arm_conv_partial_f32(

+  float32_t * pSrcA,

+  uint32_t srcALen,

+  float32_t * pSrcB,

+  uint32_t srcBLen,

+  float32_t * pDst,

+  uint32_t firstIndex,

+  uint32_t numPoints);

+

+    /**   

+   * @brief Partial convolution of Q15 sequences.   

+   * @param[in]       *pSrcA points to the first input sequence.   

+   * @param[in]       srcALen length of the first input sequence.   

+   * @param[in]       *pSrcB points to the second input sequence.   

+   * @param[in]       srcBLen length of the second input sequence.   

+   * @param[out]      *pDst points to the block of output data   

+   * @param[in]       firstIndex is the first output sample to start with.   

+   * @param[in]       numPoints is the number of output points to be computed.   

+   * @param[in]       * pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   

+   * @param[in]       * pScratch2 points to scratch buffer of size min(srcALen, srcBLen).   

+   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].   

+   */

+

+  arm_status arm_conv_partial_opt_q15(

+  q15_t * pSrcA,

+  uint32_t srcALen,

+  q15_t * pSrcB,

+  uint32_t srcBLen,

+  q15_t * pDst,

+  uint32_t firstIndex,

+  uint32_t numPoints,

+  q15_t * pScratch1,

+  q15_t * pScratch2);

+

+

+/**

+   * @brief Partial convolution of Q15 sequences.

+   * @param[in]       *pSrcA points to the first input sequence.

+   * @param[in]       srcALen length of the first input sequence.

+   * @param[in]       *pSrcB points to the second input sequence.

+   * @param[in]       srcBLen length of the second input sequence.

+   * @param[out]      *pDst points to the block of output data

+   * @param[in]       firstIndex is the first output sample to start with.

+   * @param[in]       numPoints is the number of output points to be computed.

+   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].

+   */

+

+  arm_status arm_conv_partial_q15(

+  q15_t * pSrcA,

+  uint32_t srcALen,

+  q15_t * pSrcB,

+  uint32_t srcBLen,

+  q15_t * pDst,

+  uint32_t firstIndex,

+  uint32_t numPoints);

+

+  /**

+   * @brief Partial convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4

+   * @param[in]       *pSrcA points to the first input sequence.

+   * @param[in]       srcALen length of the first input sequence.

+   * @param[in]       *pSrcB points to the second input sequence.

+   * @param[in]       srcBLen length of the second input sequence.

+   * @param[out]      *pDst points to the block of output data

+   * @param[in]       firstIndex is the first output sample to start with.

+   * @param[in]       numPoints is the number of output points to be computed.

+   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].

+   */

+

+  arm_status arm_conv_partial_fast_q15(

+				        q15_t * pSrcA,

+				       uint32_t srcALen,

+				        q15_t * pSrcB,

+				       uint32_t srcBLen,

+				       q15_t * pDst,

+				       uint32_t firstIndex,

+				       uint32_t numPoints);

+

+

+  /**

+   * @brief Partial convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4

+   * @param[in]       *pSrcA points to the first input sequence.

+   * @param[in]       srcALen length of the first input sequence.

+   * @param[in]       *pSrcB points to the second input sequence.

+   * @param[in]       srcBLen length of the second input sequence.

+   * @param[out]      *pDst points to the block of output data

+   * @param[in]       firstIndex is the first output sample to start with.

+   * @param[in]       numPoints is the number of output points to be computed.

+   * @param[in]       * pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   

+   * @param[in]       * pScratch2 points to scratch buffer of size min(srcALen, srcBLen).   

+   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].   

+   */

+

+  arm_status arm_conv_partial_fast_opt_q15(

+  q15_t * pSrcA,

+  uint32_t srcALen,

+  q15_t * pSrcB,

+  uint32_t srcBLen,

+  q15_t * pDst,

+  uint32_t firstIndex,

+  uint32_t numPoints,

+  q15_t * pScratch1,

+  q15_t * pScratch2);

+

+

+  /**

+   * @brief Partial convolution of Q31 sequences.

+   * @param[in]       *pSrcA points to the first input sequence.

+   * @param[in]       srcALen length of the first input sequence.

+   * @param[in]       *pSrcB points to the second input sequence.

+   * @param[in]       srcBLen length of the second input sequence.

+   * @param[out]      *pDst points to the block of output data

+   * @param[in]       firstIndex is the first output sample to start with.

+   * @param[in]       numPoints is the number of output points to be computed.

+   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].

+   */

+

+  arm_status arm_conv_partial_q31(

+  q31_t * pSrcA,

+  uint32_t srcALen,

+  q31_t * pSrcB,

+  uint32_t srcBLen,

+  q31_t * pDst,

+  uint32_t firstIndex,

+  uint32_t numPoints);

+

+

+  /**

+   * @brief Partial convolution of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4

+   * @param[in]       *pSrcA points to the first input sequence.

+   * @param[in]       srcALen length of the first input sequence.

+   * @param[in]       *pSrcB points to the second input sequence.

+   * @param[in]       srcBLen length of the second input sequence.

+   * @param[out]      *pDst points to the block of output data

+   * @param[in]       firstIndex is the first output sample to start with.

+   * @param[in]       numPoints is the number of output points to be computed.

+   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].

+   */

+

+  arm_status arm_conv_partial_fast_q31(

+  q31_t * pSrcA,

+  uint32_t srcALen,

+  q31_t * pSrcB,

+  uint32_t srcBLen,

+  q31_t * pDst,

+  uint32_t firstIndex,

+  uint32_t numPoints);

+

+

+  /**   

+   * @brief Partial convolution of Q7 sequences   

+   * @param[in]       *pSrcA points to the first input sequence.   

+   * @param[in]       srcALen length of the first input sequence.   

+   * @param[in]       *pSrcB points to the second input sequence.   

+   * @param[in]       srcBLen length of the second input sequence.   

+   * @param[out]      *pDst points to the block of output data   

+   * @param[in]       firstIndex is the first output sample to start with.   

+   * @param[in]       numPoints is the number of output points to be computed.   

+   * @param[in]  *pScratch1 points to scratch buffer(of type q15_t) of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   

+   * @param[in]  *pScratch2 points to scratch buffer (of type q15_t) of size min(srcALen, srcBLen).   

+   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].   

+   */

+

+  arm_status arm_conv_partial_opt_q7(

+  q7_t * pSrcA,

+  uint32_t srcALen,

+  q7_t * pSrcB,

+  uint32_t srcBLen,

+  q7_t * pDst,

+  uint32_t firstIndex,

+  uint32_t numPoints,

+  q15_t * pScratch1,

+  q15_t * pScratch2);

+

+

+/**

+   * @brief Partial convolution of Q7 sequences.

+   * @param[in]       *pSrcA points to the first input sequence.

+   * @param[in]       srcALen length of the first input sequence.

+   * @param[in]       *pSrcB points to the second input sequence.

+   * @param[in]       srcBLen length of the second input sequence.

+   * @param[out]      *pDst points to the block of output data

+   * @param[in]       firstIndex is the first output sample to start with.

+   * @param[in]       numPoints is the number of output points to be computed.

+   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].

+   */

+

+  arm_status arm_conv_partial_q7(

+  q7_t * pSrcA,

+  uint32_t srcALen,

+  q7_t * pSrcB,

+  uint32_t srcBLen,

+  q7_t * pDst,

+  uint32_t firstIndex,

+  uint32_t numPoints);

+

+

+

+  /**

+   * @brief Instance structure for the Q15 FIR decimator.

+   */

+

+  typedef struct

+  {

+    uint8_t M;                      /**< decimation factor. */

+    uint16_t numTaps;               /**< number of coefficients in the filter. */

+    q15_t *pCoeffs;                  /**< points to the coefficient array. The array is of length numTaps.*/

+    q15_t *pState;                   /**< points to the state variable array. The array is of length numTaps+blockSize-1. */

+  } arm_fir_decimate_instance_q15;

+

+  /**

+   * @brief Instance structure for the Q31 FIR decimator.

+   */

+

+  typedef struct

+  {

+    uint8_t M;                  /**< decimation factor. */

+    uint16_t numTaps;           /**< number of coefficients in the filter. */

+    q31_t *pCoeffs;              /**< points to the coefficient array. The array is of length numTaps.*/

+    q31_t *pState;               /**< points to the state variable array. The array is of length numTaps+blockSize-1. */

+

+  } arm_fir_decimate_instance_q31;

+

+  /**

+   * @brief Instance structure for the floating-point FIR decimator.

+   */

+

+  typedef struct

+  {

+    uint8_t M;                          /**< decimation factor. */

+    uint16_t numTaps;                   /**< number of coefficients in the filter. */

+    float32_t *pCoeffs;                  /**< points to the coefficient array. The array is of length numTaps.*/

+    float32_t *pState;                   /**< points to the state variable array. The array is of length numTaps+blockSize-1. */

+

+  } arm_fir_decimate_instance_f32;

+

+

+

+  /**

+   * @brief Processing function for the floating-point FIR decimator.

+   * @param[in] *S points to an instance of the floating-point FIR decimator 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 input samples to process per call.

+   * @return none

+   */

+

+  void arm_fir_decimate_f32(

+  const arm_fir_decimate_instance_f32 * S,

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize);

+

+

+  /**

+   * @brief  Initialization function for the floating-point FIR decimator.

+   * @param[in,out] *S points to an instance of the floating-point FIR decimator structure.

+   * @param[in] numTaps  number of coefficients in the filter.

+   * @param[in] M  decimation factor.

+   * @param[in] *pCoeffs points to the filter coefficients.

+   * @param[in] *pState points to the state buffer.

+   * @param[in] blockSize number of input samples to process per call.

+   * @return    The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if

+   * <code>blockSize</code> is not a multiple of <code>M</code>.

+   */

+

+  arm_status arm_fir_decimate_init_f32(

+  arm_fir_decimate_instance_f32 * S,

+  uint16_t numTaps,

+  uint8_t M,

+  float32_t * pCoeffs,

+  float32_t * pState,

+  uint32_t blockSize);

+

+  /**

+   * @brief Processing function for the Q15 FIR decimator.

+   * @param[in] *S points to an instance of the Q15 FIR decimator 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 input samples to process per call.

+   * @return none

+   */

+

+  void arm_fir_decimate_q15(

+  const arm_fir_decimate_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Processing function for the Q15 FIR decimator (fast variant) for Cortex-M3 and Cortex-M4.

+   * @param[in] *S points to an instance of the Q15 FIR decimator 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 input samples to process per call.

+   * @return none

+   */

+

+  void arm_fir_decimate_fast_q15(

+  const arm_fir_decimate_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize);

+

+

+

+  /**

+   * @brief  Initialization function for the Q15 FIR decimator.

+   * @param[in,out] *S points to an instance of the Q15 FIR decimator structure.

+   * @param[in] numTaps  number of coefficients in the filter.

+   * @param[in] M  decimation factor.

+   * @param[in] *pCoeffs points to the filter coefficients.

+   * @param[in] *pState points to the state buffer.

+   * @param[in] blockSize number of input samples to process per call.

+   * @return    The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if

+   * <code>blockSize</code> is not a multiple of <code>M</code>.

+   */

+

+  arm_status arm_fir_decimate_init_q15(

+  arm_fir_decimate_instance_q15 * S,

+  uint16_t numTaps,

+  uint8_t M,

+  q15_t * pCoeffs,

+  q15_t * pState,

+  uint32_t blockSize);

+

+  /**

+   * @brief Processing function for the Q31 FIR decimator.

+   * @param[in] *S points to an instance of the Q31 FIR decimator 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 input samples to process per call.

+   * @return none

+   */

+

+  void arm_fir_decimate_q31(

+  const arm_fir_decimate_instance_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Processing function for the Q31 FIR decimator (fast variant) for Cortex-M3 and Cortex-M4.

+   * @param[in] *S points to an instance of the Q31 FIR decimator 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 input samples to process per call.

+   * @return none

+   */

+

+  void arm_fir_decimate_fast_q31(

+  arm_fir_decimate_instance_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize);

+

+

+  /**

+   * @brief  Initialization function for the Q31 FIR decimator.

+   * @param[in,out] *S points to an instance of the Q31 FIR decimator structure.

+   * @param[in] numTaps  number of coefficients in the filter.

+   * @param[in] M  decimation factor.

+   * @param[in] *pCoeffs points to the filter coefficients.

+   * @param[in] *pState points to the state buffer.

+   * @param[in] blockSize number of input samples to process per call.

+   * @return    The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if

+   * <code>blockSize</code> is not a multiple of <code>M</code>.

+   */

+

+  arm_status arm_fir_decimate_init_q31(

+  arm_fir_decimate_instance_q31 * S,

+  uint16_t numTaps,

+  uint8_t M,

+  q31_t * pCoeffs,

+  q31_t * pState,

+  uint32_t blockSize);

+

+

+

+  /**

+   * @brief Instance structure for the Q15 FIR interpolator.

+   */

+

+  typedef struct

+  {

+    uint8_t L;                      /**< upsample factor. */

+    uint16_t phaseLength;           /**< length of each polyphase filter component. */

+    q15_t *pCoeffs;                 /**< points to the coefficient array. The array is of length L*phaseLength. */

+    q15_t *pState;                  /**< points to the state variable array. The array is of length blockSize+phaseLength-1. */

+  } arm_fir_interpolate_instance_q15;

+

+  /**

+   * @brief Instance structure for the Q31 FIR interpolator.

+   */

+

+  typedef struct

+  {

+    uint8_t L;                      /**< upsample factor. */

+    uint16_t phaseLength;           /**< length of each polyphase filter component. */

+    q31_t *pCoeffs;                  /**< points to the coefficient array. The array is of length L*phaseLength. */

+    q31_t *pState;                   /**< points to the state variable array. The array is of length blockSize+phaseLength-1. */

+  } arm_fir_interpolate_instance_q31;

+

+  /**

+   * @brief Instance structure for the floating-point FIR interpolator.

+   */

+

+  typedef struct

+  {

+    uint8_t L;                     /**< upsample factor. */

+    uint16_t phaseLength;          /**< length of each polyphase filter component. */

+    float32_t *pCoeffs;             /**< points to the coefficient array. The array is of length L*phaseLength. */

+    float32_t *pState;              /**< points to the state variable array. The array is of length phaseLength+numTaps-1. */

+  } arm_fir_interpolate_instance_f32;

+

+

+  /**

+   * @brief Processing function for the Q15 FIR interpolator.

+   * @param[in] *S        points to an instance of the Q15 FIR interpolator 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 input samples to process per call.

+   * @return none.

+   */

+

+  void arm_fir_interpolate_q15(

+  const arm_fir_interpolate_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize);

+

+

+  /**

+   * @brief  Initialization function for the Q15 FIR interpolator.

+   * @param[in,out] *S        points to an instance of the Q15 FIR interpolator structure.

+   * @param[in]     L         upsample factor.

+   * @param[in]     numTaps   number of filter coefficients in the filter.

+   * @param[in]     *pCoeffs  points to the filter coefficient buffer.

+   * @param[in]     *pState   points to the state buffer.

+   * @param[in]     blockSize number of input samples to process per call.

+   * @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if

+   * the filter length <code>numTaps</code> is not a multiple of the interpolation factor <code>L</code>.

+   */

+

+  arm_status arm_fir_interpolate_init_q15(

+  arm_fir_interpolate_instance_q15 * S,

+  uint8_t L,

+  uint16_t numTaps,

+  q15_t * pCoeffs,

+  q15_t * pState,

+  uint32_t blockSize);

+

+  /**

+   * @brief Processing function for the Q31 FIR interpolator.

+   * @param[in] *S        points to an instance of the Q15 FIR interpolator 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 input samples to process per call.

+   * @return none.

+   */

+

+  void arm_fir_interpolate_q31(

+  const arm_fir_interpolate_instance_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Initialization function for the Q31 FIR interpolator.

+   * @param[in,out] *S        points to an instance of the Q31 FIR interpolator structure.

+   * @param[in]     L         upsample factor.

+   * @param[in]     numTaps   number of filter coefficients in the filter.

+   * @param[in]     *pCoeffs  points to the filter coefficient buffer.

+   * @param[in]     *pState   points to the state buffer.

+   * @param[in]     blockSize number of input samples to process per call.

+   * @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if

+   * the filter length <code>numTaps</code> is not a multiple of the interpolation factor <code>L</code>.

+   */

+

+  arm_status arm_fir_interpolate_init_q31(

+  arm_fir_interpolate_instance_q31 * S,

+  uint8_t L,

+  uint16_t numTaps,

+  q31_t * pCoeffs,

+  q31_t * pState,

+  uint32_t blockSize);

+

+

+  /**

+   * @brief Processing function for the floating-point FIR interpolator.

+   * @param[in] *S        points to an instance of the floating-point FIR interpolator 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 input samples to process per call.

+   * @return none.

+   */

+

+  void arm_fir_interpolate_f32(

+  const arm_fir_interpolate_instance_f32 * S,

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Initialization function for the floating-point FIR interpolator.

+   * @param[in,out] *S        points to an instance of the floating-point FIR interpolator structure.

+   * @param[in]     L         upsample factor.

+   * @param[in]     numTaps   number of filter coefficients in the filter.

+   * @param[in]     *pCoeffs  points to the filter coefficient buffer.

+   * @param[in]     *pState   points to the state buffer.

+   * @param[in]     blockSize number of input samples to process per call.

+   * @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if

+   * the filter length <code>numTaps</code> is not a multiple of the interpolation factor <code>L</code>.

+   */

+

+  arm_status arm_fir_interpolate_init_f32(

+  arm_fir_interpolate_instance_f32 * S,

+  uint8_t L,

+  uint16_t numTaps,

+  float32_t * pCoeffs,

+  float32_t * pState,

+  uint32_t blockSize);

+

+  /**

+   * @brief Instance structure for the high precision Q31 Biquad cascade filter.

+   */

+

+  typedef struct

+  {

+    uint8_t numStages;       /**< number of 2nd order stages in the filter.  Overall order is 2*numStages. */

+    q63_t *pState;           /**< points to the array of state coefficients.  The array is of length 4*numStages. */

+    q31_t *pCoeffs;          /**< points to the array of coefficients.  The array is of length 5*numStages. */

+    uint8_t postShift;       /**< additional shift, in bits, applied to each output sample. */

+

+  } arm_biquad_cas_df1_32x64_ins_q31;

+

+

+  /**

+   * @param[in]  *S        points to an instance of the high precision Q31 Biquad cascade 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.

+   * @return none.

+   */

+

+  void arm_biquad_cas_df1_32x64_q31(

+  const arm_biquad_cas_df1_32x64_ins_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize);

+

+

+  /**

+   * @param[in,out] *S           points to an instance of the high precision Q31 Biquad cascade filter structure.

+   * @param[in]     numStages    number of 2nd order stages in the filter.

+   * @param[in]     *pCoeffs     points to the filter coefficients.

+   * @param[in]     *pState      points to the state buffer.

+   * @param[in]     postShift    shift to be applied to the output. Varies according to the coefficients format

+   * @return        none

+   */

+

+  void arm_biquad_cas_df1_32x64_init_q31(

+  arm_biquad_cas_df1_32x64_ins_q31 * S,

+  uint8_t numStages,

+  q31_t * pCoeffs,

+  q63_t * pState,

+  uint8_t postShift);

+

+

+

+  /**

+   * @brief Instance structure for the floating-point transposed direct form II Biquad cascade filter.

+   */

+

+  typedef struct

+  {

+    uint8_t numStages;         /**< number of 2nd order stages in the filter.  Overall order is 2*numStages. */

+    float32_t *pState;         /**< points to the array of state coefficients.  The array is of length 2*numStages. */

+    float32_t *pCoeffs;        /**< points to the array of coefficients.  The array is of length 5*numStages. */

+  } arm_biquad_cascade_df2T_instance_f32;

+

+

+  /**

+   * @brief Processing function for the floating-point transposed direct form II Biquad cascade filter.

+   * @param[in]  *S        points to an instance of the filter data 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.

+   * @return none.

+   */

+

+  void arm_biquad_cascade_df2T_f32(

+  const arm_biquad_cascade_df2T_instance_f32 * S,

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize);

+

+

+  /**

+   * @brief  Initialization function for the floating-point transposed direct form II Biquad cascade filter.

+   * @param[in,out] *S           points to an instance of the filter data structure.

+   * @param[in]     numStages    number of 2nd order stages in the filter.

+   * @param[in]     *pCoeffs     points to the filter coefficients.

+   * @param[in]     *pState      points to the state buffer.

+   * @return        none

+   */

+

+  void arm_biquad_cascade_df2T_init_f32(

+  arm_biquad_cascade_df2T_instance_f32 * S,

+  uint8_t numStages,

+  float32_t * pCoeffs,

+  float32_t * pState);

+

+

+

+  /**

+   * @brief Instance structure for the Q15 FIR lattice filter.

+   */

+

+  typedef struct

+  {

+    uint16_t numStages;                          /**< number of filter stages. */

+    q15_t *pState;                               /**< points to the state variable array. The array is of length numStages. */

+    q15_t *pCoeffs;                              /**< points to the coefficient array. The array is of length numStages. */

+  } arm_fir_lattice_instance_q15;

+

+  /**

+   * @brief Instance structure for the Q31 FIR lattice filter.

+   */

+

+  typedef struct

+  {

+    uint16_t numStages;                          /**< number of filter stages. */

+    q31_t *pState;                               /**< points to the state variable array. The array is of length numStages. */

+    q31_t *pCoeffs;                              /**< points to the coefficient array. The array is of length numStages. */

+  } arm_fir_lattice_instance_q31;

+

+  /**

+   * @brief Instance structure for the floating-point FIR lattice filter.

+   */

+

+  typedef struct

+  {

+    uint16_t numStages;                  /**< number of filter stages. */

+    float32_t *pState;                   /**< points to the state variable array. The array is of length numStages. */

+    float32_t *pCoeffs;                  /**< points to the coefficient array. The array is of length numStages. */

+  } arm_fir_lattice_instance_f32;

+

+  /**

+   * @brief Initialization function for the Q15 FIR lattice filter.

+   * @param[in] *S points to an instance of the Q15 FIR lattice structure.

+   * @param[in] numStages  number of filter stages.

+   * @param[in] *pCoeffs points to the coefficient buffer.  The array is of length numStages. 

+   * @param[in] *pState points to the state buffer.  The array is of length numStages. 

+   * @return none.

+   */

+

+  void arm_fir_lattice_init_q15(

+  arm_fir_lattice_instance_q15 * S,

+  uint16_t numStages,

+  q15_t * pCoeffs,

+  q15_t * pState);

+

+

+  /**

+   * @brief Processing function for the Q15 FIR lattice filter.

+   * @param[in] *S points to an instance of the Q15 FIR lattice 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.

+   * @return none.

+   */

+  void arm_fir_lattice_q15(

+  const arm_fir_lattice_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Initialization function for the Q31 FIR lattice filter.

+   * @param[in] *S points to an instance of the Q31 FIR lattice structure.

+   * @param[in] numStages  number of filter stages.

+   * @param[in] *pCoeffs points to the coefficient buffer.  The array is of length numStages.

+   * @param[in] *pState points to the state buffer.   The array is of length numStages.

+   * @return none.

+   */

+

+  void arm_fir_lattice_init_q31(

+  arm_fir_lattice_instance_q31 * S,

+  uint16_t numStages,

+  q31_t * pCoeffs,

+  q31_t * pState);

+

+

+  /**

+   * @brief Processing function for the Q31 FIR lattice filter.

+   * @param[in]  *S        points to an instance of the Q31 FIR lattice 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.

+   * @return none.

+   */

+

+  void arm_fir_lattice_q31(

+  const arm_fir_lattice_instance_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize);

+

+/**

+ * @brief Initialization function for the floating-point FIR lattice filter.

+ * @param[in] *S points to an instance of the floating-point FIR lattice structure.

+ * @param[in] numStages  number of filter stages.

+ * @param[in] *pCoeffs points to the coefficient buffer.  The array is of length numStages.

+ * @param[in] *pState points to the state buffer.  The array is of length numStages.

+ * @return none.

+ */

+

+  void arm_fir_lattice_init_f32(

+  arm_fir_lattice_instance_f32 * S,

+  uint16_t numStages,

+  float32_t * pCoeffs,

+  float32_t * pState);

+

+  /**

+   * @brief Processing function for the floating-point FIR lattice filter.

+   * @param[in]  *S        points to an instance of the floating-point FIR lattice 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.

+   * @return none.

+   */

+

+  void arm_fir_lattice_f32(

+  const arm_fir_lattice_instance_f32 * S,

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Instance structure for the Q15 IIR lattice filter.

+   */

+  typedef struct

+  {

+    uint16_t numStages;                         /**< number of stages in the filter. */

+    q15_t *pState;                              /**< points to the state variable array. The array is of length numStages+blockSize. */

+    q15_t *pkCoeffs;                            /**< points to the reflection coefficient array. The array is of length numStages. */

+    q15_t *pvCoeffs;                            /**< points to the ladder coefficient array. The array is of length numStages+1. */

+  } arm_iir_lattice_instance_q15;

+

+  /**

+   * @brief Instance structure for the Q31 IIR lattice filter.

+   */

+  typedef struct

+  {

+    uint16_t numStages;                         /**< number of stages in the filter. */

+    q31_t *pState;                              /**< points to the state variable array. The array is of length numStages+blockSize. */

+    q31_t *pkCoeffs;                            /**< points to the reflection coefficient array. The array is of length numStages. */

+    q31_t *pvCoeffs;                            /**< points to the ladder coefficient array. The array is of length numStages+1. */

+  } arm_iir_lattice_instance_q31;

+

+  /**

+   * @brief Instance structure for the floating-point IIR lattice filter.

+   */

+  typedef struct

+  {

+    uint16_t numStages;                         /**< number of stages in the filter. */

+    float32_t *pState;                          /**< points to the state variable array. The array is of length numStages+blockSize. */

+    float32_t *pkCoeffs;                        /**< points to the reflection coefficient array. The array is of length numStages. */

+    float32_t *pvCoeffs;                        /**< points to the ladder coefficient array. The array is of length numStages+1. */

+  } arm_iir_lattice_instance_f32;

+

+  /**

+   * @brief Processing function for the floating-point IIR lattice filter.

+   * @param[in] *S points to an instance of the floating-point IIR lattice 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.

+   * @return none.

+   */

+

+  void arm_iir_lattice_f32(

+  const arm_iir_lattice_instance_f32 * S,

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Initialization function for the floating-point IIR lattice filter.

+   * @param[in] *S points to an instance of the floating-point IIR lattice structure.

+   * @param[in] numStages number of stages in the filter.

+   * @param[in] *pkCoeffs points to the reflection coefficient buffer.  The array is of length numStages.

+   * @param[in] *pvCoeffs points to the ladder coefficient buffer.  The array is of length numStages+1.

+   * @param[in] *pState points to the state buffer.  The array is of length numStages+blockSize-1.

+   * @param[in] blockSize number of samples to process.

+   * @return none.

+   */

+

+  void arm_iir_lattice_init_f32(

+  arm_iir_lattice_instance_f32 * S,

+  uint16_t numStages,

+  float32_t * pkCoeffs,

+  float32_t * pvCoeffs,

+  float32_t * pState,

+  uint32_t blockSize);

+

+

+  /**

+   * @brief Processing function for the Q31 IIR lattice filter.

+   * @param[in] *S points to an instance of the Q31 IIR lattice 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.

+   * @return none.

+   */

+

+  void arm_iir_lattice_q31(

+  const arm_iir_lattice_instance_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize);

+

+

+  /**

+   * @brief Initialization function for the Q31 IIR lattice filter.

+   * @param[in] *S points to an instance of the Q31 IIR lattice structure.

+   * @param[in] numStages number of stages in the filter.

+   * @param[in] *pkCoeffs points to the reflection coefficient buffer.  The array is of length numStages.

+   * @param[in] *pvCoeffs points to the ladder coefficient buffer.  The array is of length numStages+1.

+   * @param[in] *pState points to the state buffer.  The array is of length numStages+blockSize.

+   * @param[in] blockSize number of samples to process.

+   * @return none.

+   */

+

+  void arm_iir_lattice_init_q31(

+  arm_iir_lattice_instance_q31 * S,

+  uint16_t numStages,

+  q31_t * pkCoeffs,

+  q31_t * pvCoeffs,

+  q31_t * pState,

+  uint32_t blockSize);

+

+

+  /**

+   * @brief Processing function for the Q15 IIR lattice filter.

+   * @param[in] *S points to an instance of the Q15 IIR lattice 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.

+   * @return none.

+   */

+

+  void arm_iir_lattice_q15(

+  const arm_iir_lattice_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize);

+

+

+/**

+ * @brief Initialization function for the Q15 IIR lattice filter.

+ * @param[in] *S points to an instance of the fixed-point Q15 IIR lattice structure.

+ * @param[in] numStages  number of stages in the filter.

+ * @param[in] *pkCoeffs points to reflection coefficient buffer.  The array is of length numStages.

+ * @param[in] *pvCoeffs points to ladder coefficient buffer.  The array is of length numStages+1.

+ * @param[in] *pState points to state buffer.  The array is of length numStages+blockSize.

+ * @param[in] blockSize number of samples to process per call.

+ * @return none.

+ */

+

+  void arm_iir_lattice_init_q15(

+  arm_iir_lattice_instance_q15 * S,

+  uint16_t numStages,

+  q15_t * pkCoeffs,

+  q15_t * pvCoeffs,

+  q15_t * pState,

+  uint32_t blockSize);

+

+  /**

+   * @brief Instance structure for the floating-point LMS filter.

+   */

+

+  typedef struct

+  {

+    uint16_t numTaps;    /**< number of coefficients in the filter. */

+    float32_t *pState;   /**< points to the state variable array. The array is of length numTaps+blockSize-1. */

+    float32_t *pCoeffs;  /**< points to the coefficient array. The array is of length numTaps. */

+    float32_t mu;        /**< step size that controls filter coefficient updates. */

+  } arm_lms_instance_f32;

+

+  /**

+   * @brief Processing function for floating-point LMS filter.

+   * @param[in]  *S points to an instance of the floating-point LMS filter structure.

+   * @param[in]  *pSrc points to the block of input data.

+   * @param[in]  *pRef points to the block of reference data.

+   * @param[out] *pOut points to the block of output data.

+   * @param[out] *pErr points to the block of error data.

+   * @param[in]  blockSize number of samples to process.

+   * @return     none.

+   */

+

+  void arm_lms_f32(

+  const arm_lms_instance_f32 * S,

+  float32_t * pSrc,

+  float32_t * pRef,

+  float32_t * pOut,

+  float32_t * pErr,

+  uint32_t blockSize);

+

+  /**

+   * @brief Initialization function for floating-point LMS filter.

+   * @param[in] *S points to an instance of the floating-point LMS filter structure.

+   * @param[in] numTaps  number of filter coefficients.

+   * @param[in] *pCoeffs points to the coefficient buffer.

+   * @param[in] *pState points to state buffer.

+   * @param[in] mu step size that controls filter coefficient updates.

+   * @param[in] blockSize number of samples to process.

+   * @return none.

+   */

+

+  void arm_lms_init_f32(

+  arm_lms_instance_f32 * S,

+  uint16_t numTaps,

+  float32_t * pCoeffs,

+  float32_t * pState,

+  float32_t mu,

+  uint32_t blockSize);

+

+  /**

+   * @brief Instance structure for the Q15 LMS filter.

+   */

+

+  typedef struct

+  {

+    uint16_t numTaps;    /**< number of coefficients in the filter. */

+    q15_t *pState;       /**< points to the state variable array. The array is of length numTaps+blockSize-1. */

+    q15_t *pCoeffs;      /**< points to the coefficient array. The array is of length numTaps. */

+    q15_t mu;            /**< step size that controls filter coefficient updates. */

+    uint32_t postShift;  /**< bit shift applied to coefficients. */

+  } arm_lms_instance_q15;

+

+

+  /**

+   * @brief Initialization function for the Q15 LMS filter.

+   * @param[in] *S points to an instance of the Q15 LMS filter structure.

+   * @param[in] numTaps  number of filter coefficients.

+   * @param[in] *pCoeffs points to the coefficient buffer.

+   * @param[in] *pState points to the state buffer.

+   * @param[in] mu step size that controls filter coefficient updates.

+   * @param[in] blockSize number of samples to process.

+   * @param[in] postShift bit shift applied to coefficients.

+   * @return    none.

+   */

+

+  void arm_lms_init_q15(

+  arm_lms_instance_q15 * S,

+  uint16_t numTaps,

+  q15_t * pCoeffs,

+  q15_t * pState,

+  q15_t mu,

+  uint32_t blockSize,

+  uint32_t postShift);

+

+  /**

+   * @brief Processing function for Q15 LMS filter.

+   * @param[in] *S points to an instance of the Q15 LMS filter structure.

+   * @param[in] *pSrc points to the block of input data.

+   * @param[in] *pRef points to the block of reference data.

+   * @param[out] *pOut points to the block of output data.

+   * @param[out] *pErr points to the block of error data.

+   * @param[in] blockSize number of samples to process.

+   * @return none.

+   */

+

+  void arm_lms_q15(

+  const arm_lms_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pRef,

+  q15_t * pOut,

+  q15_t * pErr,

+  uint32_t blockSize);

+

+

+  /**

+   * @brief Instance structure for the Q31 LMS filter.

+   */

+

+  typedef struct

+  {

+    uint16_t numTaps;    /**< number of coefficients in the filter. */

+    q31_t *pState;       /**< points to the state variable array. The array is of length numTaps+blockSize-1. */

+    q31_t *pCoeffs;      /**< points to the coefficient array. The array is of length numTaps. */

+    q31_t mu;            /**< step size that controls filter coefficient updates. */

+    uint32_t postShift;  /**< bit shift applied to coefficients. */

+

+  } arm_lms_instance_q31;

+

+  /**

+   * @brief Processing function for Q31 LMS filter.

+   * @param[in]  *S points to an instance of the Q15 LMS filter structure.

+   * @param[in]  *pSrc points to the block of input data.

+   * @param[in]  *pRef points to the block of reference data.

+   * @param[out] *pOut points to the block of output data.

+   * @param[out] *pErr points to the block of error data.

+   * @param[in]  blockSize number of samples to process.

+   * @return     none.

+   */

+

+  void arm_lms_q31(

+  const arm_lms_instance_q31 * S,

+  q31_t * pSrc,

+  q31_t * pRef,

+  q31_t * pOut,

+  q31_t * pErr,

+  uint32_t blockSize);

+

+  /**

+   * @brief Initialization function for Q31 LMS filter.

+   * @param[in] *S points to an instance of the Q31 LMS filter structure.

+   * @param[in] numTaps  number of filter coefficients.

+   * @param[in] *pCoeffs points to coefficient buffer.

+   * @param[in] *pState points to state buffer.

+   * @param[in] mu step size that controls filter coefficient updates.

+   * @param[in] blockSize number of samples to process.

+   * @param[in] postShift bit shift applied to coefficients.

+   * @return none.

+   */

+

+  void arm_lms_init_q31(

+  arm_lms_instance_q31 * S,

+  uint16_t numTaps,

+  q31_t * pCoeffs,

+  q31_t * pState,

+  q31_t mu,

+  uint32_t blockSize,

+  uint32_t postShift);

+

+  /**

+   * @brief Instance structure for the floating-point normalized LMS filter.

+   */

+

+  typedef struct

+  {

+    uint16_t numTaps;     /**< number of coefficients in the filter. */

+    float32_t *pState;    /**< points to the state variable array. The array is of length numTaps+blockSize-1. */

+    float32_t *pCoeffs;   /**< points to the coefficient array. The array is of length numTaps. */

+    float32_t mu;        /**< step size that control filter coefficient updates. */

+    float32_t energy;    /**< saves previous frame energy. */

+    float32_t x0;        /**< saves previous input sample. */

+  } arm_lms_norm_instance_f32;

+

+  /**

+   * @brief Processing function for floating-point normalized LMS filter.

+   * @param[in] *S points to an instance of the floating-point normalized LMS filter structure.

+   * @param[in] *pSrc points to the block of input data.

+   * @param[in] *pRef points to the block of reference data.

+   * @param[out] *pOut points to the block of output data.

+   * @param[out] *pErr points to the block of error data.

+   * @param[in] blockSize number of samples to process.

+   * @return none.

+   */

+

+  void arm_lms_norm_f32(

+  arm_lms_norm_instance_f32 * S,

+  float32_t * pSrc,

+  float32_t * pRef,

+  float32_t * pOut,

+  float32_t * pErr,

+  uint32_t blockSize);

+

+  /**

+   * @brief Initialization function for floating-point normalized LMS filter.

+   * @param[in] *S points to an instance of the floating-point LMS filter structure.

+   * @param[in] numTaps  number of filter coefficients.

+   * @param[in] *pCoeffs points to coefficient buffer.

+   * @param[in] *pState points to state buffer.

+   * @param[in] mu step size that controls filter coefficient updates.

+   * @param[in] blockSize number of samples to process.

+   * @return none.

+   */

+

+  void arm_lms_norm_init_f32(

+  arm_lms_norm_instance_f32 * S,

+  uint16_t numTaps,

+  float32_t * pCoeffs,

+  float32_t * pState,

+  float32_t mu,

+  uint32_t blockSize);

+

+

+  /**

+   * @brief Instance structure for the Q31 normalized LMS filter.

+   */

+  typedef struct

+  {

+    uint16_t numTaps;     /**< number of coefficients in the filter. */

+    q31_t *pState;        /**< points to the state variable array. The array is of length numTaps+blockSize-1. */

+    q31_t *pCoeffs;       /**< points to the coefficient array. The array is of length numTaps. */

+    q31_t mu;             /**< step size that controls filter coefficient updates. */

+    uint8_t postShift;    /**< bit shift applied to coefficients. */

+    q31_t *recipTable;    /**< points to the reciprocal initial value table. */

+    q31_t energy;         /**< saves previous frame energy. */

+    q31_t x0;             /**< saves previous input sample. */

+  } arm_lms_norm_instance_q31;

+

+  /**

+   * @brief Processing function for Q31 normalized LMS filter.

+   * @param[in] *S points to an instance of the Q31 normalized LMS filter structure.

+   * @param[in] *pSrc points to the block of input data.

+   * @param[in] *pRef points to the block of reference data.

+   * @param[out] *pOut points to the block of output data.

+   * @param[out] *pErr points to the block of error data.

+   * @param[in] blockSize number of samples to process.

+   * @return none.

+   */

+

+  void arm_lms_norm_q31(

+  arm_lms_norm_instance_q31 * S,

+  q31_t * pSrc,

+  q31_t * pRef,

+  q31_t * pOut,

+  q31_t * pErr,

+  uint32_t blockSize);

+

+  /**

+   * @brief Initialization function for Q31 normalized LMS filter.

+   * @param[in] *S points to an instance of the Q31 normalized LMS filter structure.

+   * @param[in] numTaps  number of filter coefficients.

+   * @param[in] *pCoeffs points to coefficient buffer.

+   * @param[in] *pState points to state buffer.

+   * @param[in] mu step size that controls filter coefficient updates.

+   * @param[in] blockSize number of samples to process.

+   * @param[in] postShift bit shift applied to coefficients.

+   * @return none.

+   */

+

+  void arm_lms_norm_init_q31(

+  arm_lms_norm_instance_q31 * S,

+  uint16_t numTaps,

+  q31_t * pCoeffs,

+  q31_t * pState,

+  q31_t mu,

+  uint32_t blockSize,

+  uint8_t postShift);

+

+  /**

+   * @brief Instance structure for the Q15 normalized LMS filter.

+   */

+

+  typedef struct

+  {

+    uint16_t numTaps;    /**< Number of coefficients in the filter. */

+    q15_t *pState;        /**< points to the state variable array. The array is of length numTaps+blockSize-1. */

+    q15_t *pCoeffs;       /**< points to the coefficient array. The array is of length numTaps. */

+    q15_t mu;            /**< step size that controls filter coefficient updates. */

+    uint8_t postShift;   /**< bit shift applied to coefficients. */

+    q15_t *recipTable;   /**< Points to the reciprocal initial value table. */

+    q15_t energy;        /**< saves previous frame energy. */

+    q15_t x0;            /**< saves previous input sample. */

+  } arm_lms_norm_instance_q15;

+

+  /**

+   * @brief Processing function for Q15 normalized LMS filter.

+   * @param[in] *S points to an instance of the Q15 normalized LMS filter structure.

+   * @param[in] *pSrc points to the block of input data.

+   * @param[in] *pRef points to the block of reference data.

+   * @param[out] *pOut points to the block of output data.

+   * @param[out] *pErr points to the block of error data.

+   * @param[in] blockSize number of samples to process.

+   * @return none.

+   */

+

+  void arm_lms_norm_q15(

+  arm_lms_norm_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pRef,

+  q15_t * pOut,

+  q15_t * pErr,

+  uint32_t blockSize);

+

+

+  /**

+   * @brief Initialization function for Q15 normalized LMS filter.

+   * @param[in] *S points to an instance of the Q15 normalized LMS filter structure.

+   * @param[in] numTaps  number of filter coefficients.

+   * @param[in] *pCoeffs points to coefficient buffer.

+   * @param[in] *pState points to state buffer.

+   * @param[in] mu step size that controls filter coefficient updates.

+   * @param[in] blockSize number of samples to process.

+   * @param[in] postShift bit shift applied to coefficients.

+   * @return none.

+   */

+

+  void arm_lms_norm_init_q15(

+  arm_lms_norm_instance_q15 * S,

+  uint16_t numTaps,

+  q15_t * pCoeffs,

+  q15_t * pState,

+  q15_t mu,

+  uint32_t blockSize,

+  uint8_t postShift);

+

+  /**

+   * @brief Correlation of floating-point sequences.

+   * @param[in] *pSrcA points to the first input sequence.

+   * @param[in] srcALen length of the first input sequence.

+   * @param[in] *pSrcB points to the second input sequence.

+   * @param[in] srcBLen length of the second input sequence.

+   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.

+   * @return none.

+   */

+

+  void arm_correlate_f32(

+  float32_t * pSrcA,

+  uint32_t srcALen,

+  float32_t * pSrcB,

+  uint32_t srcBLen,

+  float32_t * pDst);

+

+

+   /**   

+   * @brief Correlation of Q15 sequences   

+   * @param[in] *pSrcA points to the first input sequence.   

+   * @param[in] srcALen length of the first input sequence.   

+   * @param[in] *pSrcB points to the second input sequence.   

+   * @param[in] srcBLen length of the second input sequence.   

+   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.   

+   * @param[in]  *pScratch points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   

+   * @return none.   

+   */

+  void arm_correlate_opt_q15(

+  q15_t * pSrcA,

+  uint32_t srcALen,

+  q15_t * pSrcB,

+  uint32_t srcBLen,

+  q15_t * pDst,

+  q15_t * pScratch);

+

+

+  /**

+   * @brief Correlation of Q15 sequences.

+   * @param[in] *pSrcA points to the first input sequence.

+   * @param[in] srcALen length of the first input sequence.

+   * @param[in] *pSrcB points to the second input sequence.

+   * @param[in] srcBLen length of the second input sequence.

+   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.

+   * @return none.

+   */

+

+  void arm_correlate_q15(

+  q15_t * pSrcA,

+  uint32_t srcALen,

+  q15_t * pSrcB,

+  uint32_t srcBLen,

+  q15_t * pDst);

+

+  /**

+   * @brief Correlation of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.

+   * @param[in] *pSrcA points to the first input sequence.

+   * @param[in] srcALen length of the first input sequence.

+   * @param[in] *pSrcB points to the second input sequence.

+   * @param[in] srcBLen length of the second input sequence.

+   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.

+   * @return none.

+   */

+

+  void arm_correlate_fast_q15(

+			       q15_t * pSrcA,

+			      uint32_t srcALen,

+			       q15_t * pSrcB,

+			      uint32_t srcBLen,

+			      q15_t * pDst);

+

+

+

+  /**

+   * @brief Correlation of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.

+   * @param[in] *pSrcA points to the first input sequence.

+   * @param[in] srcALen length of the first input sequence.

+   * @param[in] *pSrcB points to the second input sequence.

+   * @param[in] srcBLen length of the second input sequence.

+   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.

+   * @param[in]  *pScratch points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   

+   * @return none.

+   */

+

+  void arm_correlate_fast_opt_q15(

+  q15_t * pSrcA,

+  uint32_t srcALen,

+  q15_t * pSrcB,

+  uint32_t srcBLen,

+  q15_t * pDst,

+  q15_t * pScratch);

+

+  /**

+   * @brief Correlation of Q31 sequences.

+   * @param[in] *pSrcA points to the first input sequence.

+   * @param[in] srcALen length of the first input sequence.

+   * @param[in] *pSrcB points to the second input sequence.

+   * @param[in] srcBLen length of the second input sequence.

+   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.

+   * @return none.

+   */

+

+  void arm_correlate_q31(

+  q31_t * pSrcA,

+  uint32_t srcALen,

+  q31_t * pSrcB,

+  uint32_t srcBLen,

+  q31_t * pDst);

+

+  /**

+   * @brief Correlation of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4

+   * @param[in] *pSrcA points to the first input sequence.

+   * @param[in] srcALen length of the first input sequence.

+   * @param[in] *pSrcB points to the second input sequence.

+   * @param[in] srcBLen length of the second input sequence.

+   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.

+   * @return none.

+   */

+

+  void arm_correlate_fast_q31(

+  q31_t * pSrcA,

+  uint32_t srcALen,

+  q31_t * pSrcB,

+  uint32_t srcBLen,

+  q31_t * pDst);

+

+

+

+ /**   

+   * @brief Correlation of Q7 sequences.   

+   * @param[in] *pSrcA points to the first input sequence.   

+   * @param[in] srcALen length of the first input sequence.   

+   * @param[in] *pSrcB points to the second input sequence.   

+   * @param[in] srcBLen length of the second input sequence.   

+   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.   

+   * @param[in]  *pScratch1 points to scratch buffer(of type q15_t) of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   

+   * @param[in]  *pScratch2 points to scratch buffer (of type q15_t) of size min(srcALen, srcBLen).   

+   * @return none.   

+   */

+

+  void arm_correlate_opt_q7(

+  q7_t * pSrcA,

+  uint32_t srcALen,

+  q7_t * pSrcB,

+  uint32_t srcBLen,

+  q7_t * pDst,

+  q15_t * pScratch1,

+  q15_t * pScratch2);

+

+

+  /**

+   * @brief Correlation of Q7 sequences.

+   * @param[in] *pSrcA points to the first input sequence.

+   * @param[in] srcALen length of the first input sequence.

+   * @param[in] *pSrcB points to the second input sequence.

+   * @param[in] srcBLen length of the second input sequence.

+   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.

+   * @return none.

+   */

+

+  void arm_correlate_q7(

+  q7_t * pSrcA,

+  uint32_t srcALen,

+  q7_t * pSrcB,

+  uint32_t srcBLen,

+  q7_t * pDst);

+

+

+  /**

+   * @brief Instance structure for the floating-point sparse FIR filter.

+   */

+  typedef struct

+  {

+    uint16_t numTaps;             /**< number of coefficients in the filter. */

+    uint16_t stateIndex;          /**< state buffer index.  Points to the oldest sample in the state buffer. */

+    float32_t *pState;            /**< points to the state buffer array. The array is of length maxDelay+blockSize-1. */

+    float32_t *pCoeffs;           /**< points to the coefficient array. The array is of length numTaps.*/

+    uint16_t maxDelay;            /**< maximum offset specified by the pTapDelay array. */

+    int32_t *pTapDelay;           /**< points to the array of delay values.  The array is of length numTaps. */

+  } arm_fir_sparse_instance_f32;

+

+  /**

+   * @brief Instance structure for the Q31 sparse FIR filter.

+   */

+

+  typedef struct

+  {

+    uint16_t numTaps;             /**< number of coefficients in the filter. */

+    uint16_t stateIndex;          /**< state buffer index.  Points to the oldest sample in the state buffer. */

+    q31_t *pState;                /**< points to the state buffer array. The array is of length maxDelay+blockSize-1. */

+    q31_t *pCoeffs;               /**< points to the coefficient array. The array is of length numTaps.*/

+    uint16_t maxDelay;            /**< maximum offset specified by the pTapDelay array. */

+    int32_t *pTapDelay;           /**< points to the array of delay values.  The array is of length numTaps. */

+  } arm_fir_sparse_instance_q31;

+

+  /**

+   * @brief Instance structure for the Q15 sparse FIR filter.

+   */

+

+  typedef struct

+  {

+    uint16_t numTaps;             /**< number of coefficients in the filter. */

+    uint16_t stateIndex;          /**< state buffer index.  Points to the oldest sample in the state buffer. */

+    q15_t *pState;                /**< points to the state buffer array. The array is of length maxDelay+blockSize-1. */

+    q15_t *pCoeffs;               /**< points to the coefficient array. The array is of length numTaps.*/

+    uint16_t maxDelay;            /**< maximum offset specified by the pTapDelay array. */

+    int32_t *pTapDelay;           /**< points to the array of delay values.  The array is of length numTaps. */

+  } arm_fir_sparse_instance_q15;

+

+  /**

+   * @brief Instance structure for the Q7 sparse FIR filter.

+   */

+

+  typedef struct

+  {

+    uint16_t numTaps;             /**< number of coefficients in the filter. */

+    uint16_t stateIndex;          /**< state buffer index.  Points to the oldest sample in the state buffer. */

+    q7_t *pState;                 /**< points to the state buffer array. The array is of length maxDelay+blockSize-1. */

+    q7_t *pCoeffs;                /**< points to the coefficient array. The array is of length numTaps.*/

+    uint16_t maxDelay;            /**< maximum offset specified by the pTapDelay array. */

+    int32_t *pTapDelay;           /**< points to the array of delay values.  The array is of length numTaps. */

+  } arm_fir_sparse_instance_q7;

+

+  /**

+   * @brief Processing function for the floating-point sparse FIR filter.

+   * @param[in]  *S          points to an instance of the floating-point sparse FIR structure.

+   * @param[in]  *pSrc       points to the block of input data.

+   * @param[out] *pDst       points to the block of output data

+   * @param[in]  *pScratchIn points to a temporary buffer of size blockSize.

+   * @param[in]  blockSize   number of input samples to process per call.

+   * @return none.

+   */

+

+  void arm_fir_sparse_f32(

+  arm_fir_sparse_instance_f32 * S,

+  float32_t * pSrc,

+  float32_t * pDst,

+  float32_t * pScratchIn,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Initialization function for the floating-point sparse FIR filter.

+   * @param[in,out] *S         points to an instance of the floating-point sparse FIR structure.

+   * @param[in]     numTaps    number of nonzero coefficients in the filter.

+   * @param[in]     *pCoeffs   points to the array of filter coefficients.

+   * @param[in]     *pState    points to the state buffer.

+   * @param[in]     *pTapDelay points to the array of offset times.

+   * @param[in]     maxDelay   maximum offset time supported.

+   * @param[in]     blockSize  number of samples that will be processed per block.

+   * @return none

+   */

+

+  void arm_fir_sparse_init_f32(

+  arm_fir_sparse_instance_f32 * S,

+  uint16_t numTaps,

+  float32_t * pCoeffs,

+  float32_t * pState,

+  int32_t * pTapDelay,

+  uint16_t maxDelay,

+  uint32_t blockSize);

+

+  /**

+   * @brief Processing function for the Q31 sparse FIR filter.

+   * @param[in]  *S          points to an instance of the Q31 sparse FIR structure.

+   * @param[in]  *pSrc       points to the block of input data.

+   * @param[out] *pDst       points to the block of output data

+   * @param[in]  *pScratchIn points to a temporary buffer of size blockSize.

+   * @param[in]  blockSize   number of input samples to process per call.

+   * @return none.

+   */

+

+  void arm_fir_sparse_q31(

+  arm_fir_sparse_instance_q31 * S,

+  q31_t * pSrc,

+  q31_t * pDst,

+  q31_t * pScratchIn,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Initialization function for the Q31 sparse FIR filter.

+   * @param[in,out] *S         points to an instance of the Q31 sparse FIR structure.

+   * @param[in]     numTaps    number of nonzero coefficients in the filter.

+   * @param[in]     *pCoeffs   points to the array of filter coefficients.

+   * @param[in]     *pState    points to the state buffer.

+   * @param[in]     *pTapDelay points to the array of offset times.

+   * @param[in]     maxDelay   maximum offset time supported.

+   * @param[in]     blockSize  number of samples that will be processed per block.

+   * @return none

+   */

+

+  void arm_fir_sparse_init_q31(

+  arm_fir_sparse_instance_q31 * S,

+  uint16_t numTaps,

+  q31_t * pCoeffs,

+  q31_t * pState,

+  int32_t * pTapDelay,

+  uint16_t maxDelay,

+  uint32_t blockSize);

+

+  /**

+   * @brief Processing function for the Q15 sparse FIR filter.

+   * @param[in]  *S           points to an instance of the Q15 sparse FIR structure.

+   * @param[in]  *pSrc        points to the block of input data.

+   * @param[out] *pDst        points to the block of output data

+   * @param[in]  *pScratchIn  points to a temporary buffer of size blockSize.

+   * @param[in]  *pScratchOut points to a temporary buffer of size blockSize.

+   * @param[in]  blockSize    number of input samples to process per call.

+   * @return none.

+   */

+

+  void arm_fir_sparse_q15(

+  arm_fir_sparse_instance_q15 * S,

+  q15_t * pSrc,

+  q15_t * pDst,

+  q15_t * pScratchIn,

+  q31_t * pScratchOut,

+  uint32_t blockSize);

+

+

+  /**

+   * @brief  Initialization function for the Q15 sparse FIR filter.

+   * @param[in,out] *S         points to an instance of the Q15 sparse FIR structure.

+   * @param[in]     numTaps    number of nonzero coefficients in the filter.

+   * @param[in]     *pCoeffs   points to the array of filter coefficients.

+   * @param[in]     *pState    points to the state buffer.

+   * @param[in]     *pTapDelay points to the array of offset times.

+   * @param[in]     maxDelay   maximum offset time supported.

+   * @param[in]     blockSize  number of samples that will be processed per block.

+   * @return none

+   */

+

+  void arm_fir_sparse_init_q15(

+  arm_fir_sparse_instance_q15 * S,

+  uint16_t numTaps,

+  q15_t * pCoeffs,

+  q15_t * pState,

+  int32_t * pTapDelay,

+  uint16_t maxDelay,

+  uint32_t blockSize);

+

+  /**

+   * @brief Processing function for the Q7 sparse FIR filter.

+   * @param[in]  *S           points to an instance of the Q7 sparse FIR structure.

+   * @param[in]  *pSrc        points to the block of input data.

+   * @param[out] *pDst        points to the block of output data

+   * @param[in]  *pScratchIn  points to a temporary buffer of size blockSize.

+   * @param[in]  *pScratchOut points to a temporary buffer of size blockSize.

+   * @param[in]  blockSize    number of input samples to process per call.

+   * @return none.

+   */

+

+  void arm_fir_sparse_q7(

+  arm_fir_sparse_instance_q7 * S,

+  q7_t * pSrc,

+  q7_t * pDst,

+  q7_t * pScratchIn,

+  q31_t * pScratchOut,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Initialization function for the Q7 sparse FIR filter.

+   * @param[in,out] *S         points to an instance of the Q7 sparse FIR structure.

+   * @param[in]     numTaps    number of nonzero coefficients in the filter.

+   * @param[in]     *pCoeffs   points to the array of filter coefficients.

+   * @param[in]     *pState    points to the state buffer.

+   * @param[in]     *pTapDelay points to the array of offset times.

+   * @param[in]     maxDelay   maximum offset time supported.

+   * @param[in]     blockSize  number of samples that will be processed per block.

+   * @return none

+   */

+

+  void arm_fir_sparse_init_q7(

+  arm_fir_sparse_instance_q7 * S,

+  uint16_t numTaps,

+  q7_t * pCoeffs,

+  q7_t * pState,

+  int32_t * pTapDelay,

+  uint16_t maxDelay,

+  uint32_t blockSize);

+

+

+  /*

+   * @brief  Floating-point sin_cos function.

+   * @param[in]  theta    input value in degrees 

+   * @param[out] *pSinVal points to the processed sine output. 

+   * @param[out] *pCosVal points to the processed cos output. 

+   * @return none.

+   */

+

+  void arm_sin_cos_f32(

+  float32_t theta,

+  float32_t * pSinVal,

+  float32_t * pCcosVal);

+

+  /*

+   * @brief  Q31 sin_cos function.

+   * @param[in]  theta    scaled input value in degrees 

+   * @param[out] *pSinVal points to the processed sine output. 

+   * @param[out] *pCosVal points to the processed cosine output. 

+   * @return none.

+   */

+

+  void arm_sin_cos_q31(

+  q31_t theta,

+  q31_t * pSinVal,

+  q31_t * pCosVal);

+

+

+  /**

+   * @brief  Floating-point complex conjugate.

+   * @param[in]  *pSrc points to the input vector

+   * @param[out]  *pDst points to the output vector

+   * @param[in]  numSamples number of complex samples in each vector

+   * @return none.

+   */

+

+  void arm_cmplx_conj_f32(

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t numSamples);

+

+  /**

+   * @brief  Q31 complex conjugate.

+   * @param[in]  *pSrc points to the input vector

+   * @param[out]  *pDst points to the output vector

+   * @param[in]  numSamples number of complex samples in each vector

+   * @return none.

+   */

+

+  void arm_cmplx_conj_q31(

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t numSamples);

+

+  /**

+   * @brief  Q15 complex conjugate.

+   * @param[in]  *pSrc points to the input vector

+   * @param[out]  *pDst points to the output vector

+   * @param[in]  numSamples number of complex samples in each vector

+   * @return none.

+   */

+

+  void arm_cmplx_conj_q15(

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t numSamples);

+

+

+

+  /**

+   * @brief  Floating-point complex magnitude squared

+   * @param[in]  *pSrc points to the complex input vector

+   * @param[out]  *pDst points to the real output vector

+   * @param[in]  numSamples number of complex samples in the input vector

+   * @return none.

+   */

+

+  void arm_cmplx_mag_squared_f32(

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t numSamples);

+

+  /**

+   * @brief  Q31 complex magnitude squared

+   * @param[in]  *pSrc points to the complex input vector

+   * @param[out]  *pDst points to the real output vector

+   * @param[in]  numSamples number of complex samples in the input vector

+   * @return none.

+   */

+

+  void arm_cmplx_mag_squared_q31(

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t numSamples);

+

+  /**

+   * @brief  Q15 complex magnitude squared

+   * @param[in]  *pSrc points to the complex input vector

+   * @param[out]  *pDst points to the real output vector

+   * @param[in]  numSamples number of complex samples in the input vector

+   * @return none.

+   */

+

+  void arm_cmplx_mag_squared_q15(

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t numSamples);

+

+

+ /**

+   * @ingroup groupController

+   */

+

+  /**

+   * @defgroup PID PID Motor Control

+   *

+   * A Proportional Integral Derivative (PID) controller is a generic feedback control 

+   * loop mechanism widely used in industrial control systems.

+   * A PID controller is the most commonly used type of feedback controller.

+   *

+   * This set of functions implements (PID) controllers

+   * for Q15, Q31, and floating-point data types.  The functions operate on a single sample

+   * of data and each call to the function returns a single processed value.

+   * <code>S</code> points to an instance of the PID control data structure.  <code>in</code>

+   * is the input sample value. The functions return the output value.

+   *

+   * \par Algorithm:

+   * <pre>

+   *    y[n] = y[n-1] + A0 * x[n] + A1 * x[n-1] + A2 * x[n-2]

+   *    A0 = Kp + Ki + Kd

+   *    A1 = (-Kp ) - (2 * Kd )

+   *    A2 = Kd  </pre>

+   *

+   * \par

+   * where \c Kp is proportional constant, \c Ki is Integral constant and \c Kd is Derivative constant

+   * 

+   * \par 

+   * \image html PID.gif "Proportional Integral Derivative Controller" 

+   *

+   * \par

+   * The PID controller calculates an "error" value as the difference between

+   * the measured output and the reference input.

+   * The controller attempts to minimize the error by adjusting the process control inputs.  

+   * The proportional value determines the reaction to the current error, 

+   * the integral value determines the reaction based on the sum of recent errors, 

+   * and the derivative value determines the reaction based on the rate at which the error has been changing.

+   *

+   * \par Instance Structure 

+   * The Gains A0, A1, A2 and state variables for a PID controller are stored together in an instance data structure. 

+   * A separate instance structure must be defined for each PID Controller. 

+   * There are separate instance structure declarations for each of the 3 supported data types. 

+   * 

+   * \par Reset Functions 

+   * There is also an associated reset function for each data type which clears the state array. 

+   *

+   * \par Initialization Functions 

+   * There is also an associated initialization function for each data type. 

+   * The initialization function performs the following operations: 

+   * - Initializes the Gains A0, A1, A2 from Kp,Ki, Kd gains.

+   * - Zeros out the values in the state buffer.   

+   * 

+   * \par 

+   * Instance structure cannot be placed into a const data section and it is recommended to use the initialization function. 

+   *

+   * \par Fixed-Point Behavior 

+   * Care must be taken when using the fixed-point versions of the PID Controller functions. 

+   * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered. 

+   * Refer to the function specific documentation below for usage guidelines. 

+   */

+

+  /**

+   * @addtogroup PID

+   * @{

+   */

+

+  /**

+   * @brief  Process function for the floating-point PID Control.

+   * @param[in,out] *S is an instance of the floating-point PID Control structure

+   * @param[in] in input sample to process

+   * @return out processed output sample.

+   */

+

+

+  __STATIC_INLINE float32_t arm_pid_f32(

+  arm_pid_instance_f32 * S,

+  float32_t in)

+  {

+    float32_t out;

+

+    /* y[n] = y[n-1] + A0 * x[n] + A1 * x[n-1] + A2 * x[n-2]  */

+    out = (S->A0 * in) +

+      (S->A1 * S->state[0]) + (S->A2 * S->state[1]) + (S->state[2]);

+

+    /* Update state */

+    S->state[1] = S->state[0];

+    S->state[0] = in;

+    S->state[2] = out;

+

+    /* return to application */

+    return (out);

+

+  }

+

+  /**

+   * @brief  Process function for the Q31 PID Control.

+   * @param[in,out] *S points to an instance of the Q31 PID Control structure

+   * @param[in] in input sample to process

+   * @return out processed output sample.

+   *

+   * <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. 

+   * Thus, if the accumulator result overflows it wraps around rather than clip. 

+   * In order to avoid overflows completely the input signal must be scaled down by 2 bits as there are four additions. 

+   * After all multiply-accumulates are performed, the 2.62 accumulator is truncated to 1.32 format and then saturated to 1.31 format. 

+   */

+

+  __STATIC_INLINE q31_t arm_pid_q31(

+  arm_pid_instance_q31 * S,

+  q31_t in)

+  {

+    q63_t acc;

+    q31_t out;

+

+    /* acc = A0 * x[n]  */

+    acc = (q63_t) S->A0 * in;

+

+    /* acc += A1 * x[n-1] */

+    acc += (q63_t) S->A1 * S->state[0];

+

+    /* acc += A2 * x[n-2]  */

+    acc += (q63_t) S->A2 * S->state[1];

+

+    /* convert output to 1.31 format to add y[n-1] */

+    out = (q31_t) (acc >> 31u);

+

+    /* out += y[n-1] */

+    out += S->state[2];

+

+    /* Update state */

+    S->state[1] = S->state[0];

+    S->state[0] = in;

+    S->state[2] = out;

+

+    /* return to application */

+    return (out);

+

+  }

+

+  /**

+   * @brief  Process function for the Q15 PID Control.

+   * @param[in,out] *S points to an instance of the Q15 PID Control structure

+   * @param[in] in input sample to process

+   * @return out processed output sample.

+   *

+   * <b>Scaling and Overflow Behavior:</b> 

+   * \par 

+   * The function is implemented using a 64-bit internal accumulator. 

+   * Both Gains and state variables are represented in 1.15 format and multiplications yield a 2.30 result. 

+   * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format. 

+   * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved. 

+   * After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits. 

+   * Lastly, the accumulator is saturated to yield a result in 1.15 format.

+   */

+

+  __STATIC_INLINE q15_t arm_pid_q15(

+  arm_pid_instance_q15 * S,

+  q15_t in)

+  {

+    q63_t acc;

+    q15_t out;

+

+    /* Implementation of PID controller */

+

+#ifdef ARM_MATH_CM0

+

+    /* acc = A0 * x[n]  */

+    acc = ((q31_t) S->A0) * in;

+

+#else

+

+    /* acc = A0 * x[n]  */

+    acc = (q31_t) __SMUAD(S->A0, in);

+

+#endif

+

+#ifdef ARM_MATH_CM0

+

+    /* acc += A1 * x[n-1] + A2 * x[n-2]  */

+    acc += (q31_t) S->A1 * S->state[0];

+    acc += (q31_t) S->A2 * S->state[1];

+

+#else

+

+    /* acc += A1 * x[n-1] + A2 * x[n-2]  */

+    acc = __SMLALD(S->A1, (q31_t) __SIMD32(S->state), acc);

+

+#endif

+

+    /* acc += y[n-1] */

+    acc += (q31_t) S->state[2] << 15;

+

+    /* saturate the output */

+    out = (q15_t) (__SSAT((acc >> 15), 16));

+

+    /* Update state */

+    S->state[1] = S->state[0];

+    S->state[0] = in;

+    S->state[2] = out;

+

+    /* return to application */

+    return (out);

+

+  }

+

+  /**

+   * @} end of PID group

+   */

+

+

+  /**

+   * @brief Floating-point matrix inverse.

+   * @param[in]  *src points to the instance of the input floating-point matrix structure.

+   * @param[out] *dst points to the instance of the output floating-point matrix structure.

+   * @return The function returns ARM_MATH_SIZE_MISMATCH, if the dimensions do not match.

+   * If the input matrix is singular (does not have an inverse), then the algorithm terminates and returns error status ARM_MATH_SINGULAR.

+   */

+

+  arm_status arm_mat_inverse_f32(

+  const arm_matrix_instance_f32 * src,

+  arm_matrix_instance_f32 * dst);

+

+

+

+  /**

+   * @ingroup groupController

+   */

+

+

+  /**

+   * @defgroup clarke Vector Clarke Transform

+   * Forward Clarke transform converts the instantaneous stator phases into a two-coordinate time invariant vector.

+   * Generally the Clarke transform uses three-phase currents <code>Ia, Ib and Ic</code> to calculate currents

+   * in the two-phase orthogonal stator axis <code>Ialpha</code> and <code>Ibeta</code>.

+   * When <code>Ialpha</code> is superposed with <code>Ia</code> as shown in the figure below

+   * \image html clarke.gif Stator current space vector and its components in (a,b).

+   * and <code>Ia + Ib + Ic = 0</code>, in this condition <code>Ialpha</code> and <code>Ibeta</code>

+   * can be calculated using only <code>Ia</code> and <code>Ib</code>.

+   *

+   * The function operates on a single sample of data and each call to the function returns the processed output. 

+   * The library provides separate functions for Q31 and floating-point data types.

+   * \par Algorithm

+   * \image html clarkeFormula.gif

+   * where <code>Ia</code> and <code>Ib</code> are the instantaneous stator phases and

+   * <code>pIalpha</code> and <code>pIbeta</code> are the two coordinates of time invariant vector.

+   * \par Fixed-Point Behavior

+   * Care must be taken when using the Q31 version of the Clarke transform.

+   * In particular, the overflow and saturation behavior of the accumulator used must be considered.

+   * Refer to the function specific documentation below for usage guidelines.

+   */

+

+  /**

+   * @addtogroup clarke

+   * @{

+   */

+

+  /**

+   *

+   * @brief  Floating-point Clarke transform

+   * @param[in]       Ia       input three-phase coordinate <code>a</code>

+   * @param[in]       Ib       input three-phase coordinate <code>b</code>

+   * @param[out]      *pIalpha points to output two-phase orthogonal vector axis alpha

+   * @param[out]      *pIbeta  points to output two-phase orthogonal vector axis beta

+   * @return none.

+   */

+

+  __STATIC_INLINE void arm_clarke_f32(

+  float32_t Ia,

+  float32_t Ib,

+  float32_t * pIalpha,

+  float32_t * pIbeta)

+  {

+    /* Calculate pIalpha using the equation, pIalpha = Ia */

+    *pIalpha = Ia;

+

+    /* Calculate pIbeta using the equation, pIbeta = (1/sqrt(3)) * Ia + (2/sqrt(3)) * Ib */

+    *pIbeta =

+      ((float32_t) 0.57735026919 * Ia + (float32_t) 1.15470053838 * Ib);

+

+  }

+

+  /**

+   * @brief  Clarke transform for Q31 version

+   * @param[in]       Ia       input three-phase coordinate <code>a</code>

+   * @param[in]       Ib       input three-phase coordinate <code>b</code>

+   * @param[out]      *pIalpha points to output two-phase orthogonal vector axis alpha

+   * @param[out]      *pIbeta  points to output two-phase orthogonal vector axis beta

+   * @return none.

+   *

+   * <b>Scaling and Overflow Behavior:</b>

+   * \par

+   * The function is implemented using an internal 32-bit accumulator.

+   * The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format.

+   * There is saturation on the addition, hence there is no risk of overflow.

+   */

+

+  __STATIC_INLINE void arm_clarke_q31(

+  q31_t Ia,

+  q31_t Ib,

+  q31_t * pIalpha,

+  q31_t * pIbeta)

+  {

+    q31_t product1, product2;                    /* Temporary variables used to store intermediate results */

+

+    /* Calculating pIalpha from Ia by equation pIalpha = Ia */

+    *pIalpha = Ia;

+

+    /* Intermediate product is calculated by (1/(sqrt(3)) * Ia) */

+    product1 = (q31_t) (((q63_t) Ia * 0x24F34E8B) >> 30);

+

+    /* Intermediate product is calculated by (2/sqrt(3) * Ib) */

+    product2 = (q31_t) (((q63_t) Ib * 0x49E69D16) >> 30);

+

+    /* pIbeta is calculated by adding the intermediate products */

+    *pIbeta = __QADD(product1, product2);

+  }

+

+  /**

+   * @} end of clarke group

+   */

+

+  /**

+   * @brief  Converts the elements of the Q7 vector to Q31 vector.

+   * @param[in]  *pSrc     input pointer

+   * @param[out]  *pDst    output pointer

+   * @param[in]  blockSize number of samples to process

+   * @return none.

+   */

+  void arm_q7_to_q31(

+  q7_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize);

+

+

+

+

+  /**

+   * @ingroup groupController

+   */

+

+  /**

+   * @defgroup inv_clarke Vector Inverse Clarke Transform

+   * Inverse Clarke transform converts the two-coordinate time invariant vector into instantaneous stator phases.

+   * 

+   * The function operates on a single sample of data and each call to the function returns the processed output. 

+   * The library provides separate functions for Q31 and floating-point data types.

+   * \par Algorithm

+   * \image html clarkeInvFormula.gif

+   * where <code>pIa</code> and <code>pIb</code> are the instantaneous stator phases and

+   * <code>Ialpha</code> and <code>Ibeta</code> are the two coordinates of time invariant vector.

+   * \par Fixed-Point Behavior

+   * Care must be taken when using the Q31 version of the Clarke transform.

+   * In particular, the overflow and saturation behavior of the accumulator used must be considered.

+   * Refer to the function specific documentation below for usage guidelines.

+   */

+

+  /**

+   * @addtogroup inv_clarke

+   * @{

+   */

+

+   /**

+   * @brief  Floating-point Inverse Clarke transform

+   * @param[in]       Ialpha  input two-phase orthogonal vector axis alpha

+   * @param[in]       Ibeta   input two-phase orthogonal vector axis beta

+   * @param[out]      *pIa    points to output three-phase coordinate <code>a</code>

+   * @param[out]      *pIb    points to output three-phase coordinate <code>b</code>

+   * @return none.

+   */

+

+

+  __STATIC_INLINE void arm_inv_clarke_f32(

+  float32_t Ialpha,

+  float32_t Ibeta,

+  float32_t * pIa,

+  float32_t * pIb)

+  {

+    /* Calculating pIa from Ialpha by equation pIa = Ialpha */

+    *pIa = Ialpha;

+

+    /* Calculating pIb from Ialpha and Ibeta by equation pIb = -(1/2) * Ialpha + (sqrt(3)/2) * Ibeta */

+    *pIb = -0.5f * Ialpha + (float32_t) 0.8660254039f *Ibeta;

+

+  }

+

+  /**

+   * @brief  Inverse Clarke transform for Q31 version 

+   * @param[in]       Ialpha  input two-phase orthogonal vector axis alpha

+   * @param[in]       Ibeta   input two-phase orthogonal vector axis beta

+   * @param[out]      *pIa    points to output three-phase coordinate <code>a</code>

+   * @param[out]      *pIb    points to output three-phase coordinate <code>b</code>

+   * @return none.

+   *

+   * <b>Scaling and Overflow Behavior:</b>

+   * \par

+   * The function is implemented using an internal 32-bit accumulator.

+   * The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format.

+   * There is saturation on the subtraction, hence there is no risk of overflow.

+   */

+

+  __STATIC_INLINE void arm_inv_clarke_q31(

+  q31_t Ialpha,

+  q31_t Ibeta,

+  q31_t * pIa,

+  q31_t * pIb)

+  {

+    q31_t product1, product2;                    /* Temporary variables used to store intermediate results */

+

+    /* Calculating pIa from Ialpha by equation pIa = Ialpha */

+    *pIa = Ialpha;

+

+    /* Intermediate product is calculated by (1/(2*sqrt(3)) * Ia) */

+    product1 = (q31_t) (((q63_t) (Ialpha) * (0x40000000)) >> 31);

+

+    /* Intermediate product is calculated by (1/sqrt(3) * pIb) */

+    product2 = (q31_t) (((q63_t) (Ibeta) * (0x6ED9EBA1)) >> 31);

+

+    /* pIb is calculated by subtracting the products */

+    *pIb = __QSUB(product2, product1);

+

+  }

+

+  /**

+   * @} end of inv_clarke group

+   */

+

+  /**

+   * @brief  Converts the elements of the Q7 vector to Q15 vector.

+   * @param[in]  *pSrc     input pointer

+   * @param[out] *pDst     output pointer

+   * @param[in]  blockSize number of samples to process

+   * @return none.

+   */

+  void arm_q7_to_q15(

+  q7_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize);

+

+

+

+  /**

+   * @ingroup groupController

+   */

+

+  /**

+   * @defgroup park Vector Park Transform

+   *

+   * Forward Park transform converts the input two-coordinate vector to flux and torque components.

+   * The Park transform can be used to realize the transformation of the <code>Ialpha</code> and the <code>Ibeta</code> currents 

+   * from the stationary to the moving reference frame and control the spatial relationship between 

+   * the stator vector current and rotor flux vector.

+   * If we consider the d axis aligned with the rotor flux, the diagram below shows the 

+   * current vector and the relationship from the two reference frames:

+   * \image html park.gif "Stator current space vector and its component in (a,b) and in the d,q rotating reference frame"

+   *

+   * The function operates on a single sample of data and each call to the function returns the processed output. 

+   * The library provides separate functions for Q31 and floating-point data types.

+   * \par Algorithm

+   * \image html parkFormula.gif

+   * where <code>Ialpha</code> and <code>Ibeta</code> are the stator vector components,  

+   * <code>pId</code> and <code>pIq</code> are rotor vector components and <code>cosVal</code> and <code>sinVal</code> are the 

+   * cosine and sine values of theta (rotor flux position).

+   * \par Fixed-Point Behavior

+   * Care must be taken when using the Q31 version of the Park transform.

+   * In particular, the overflow and saturation behavior of the accumulator used must be considered.

+   * Refer to the function specific documentation below for usage guidelines.

+   */

+

+  /**

+   * @addtogroup park

+   * @{

+   */

+

+  /**

+   * @brief Floating-point Park transform

+   * @param[in]       Ialpha input two-phase vector coordinate alpha

+   * @param[in]       Ibeta  input two-phase vector coordinate beta

+   * @param[out]      *pId   points to output	rotor reference frame d

+   * @param[out]      *pIq   points to output	rotor reference frame q

+   * @param[in]       sinVal sine value of rotation angle theta

+   * @param[in]       cosVal cosine value of rotation angle theta

+   * @return none.

+   *

+   * The function implements the forward Park transform.

+   *

+   */

+

+  __STATIC_INLINE void arm_park_f32(

+  float32_t Ialpha,

+  float32_t Ibeta,

+  float32_t * pId,

+  float32_t * pIq,

+  float32_t sinVal,

+  float32_t cosVal)

+  {

+    /* Calculate pId using the equation, pId = Ialpha * cosVal + Ibeta * sinVal */

+    *pId = Ialpha * cosVal + Ibeta * sinVal;

+

+    /* Calculate pIq using the equation, pIq = - Ialpha * sinVal + Ibeta * cosVal */

+    *pIq = -Ialpha * sinVal + Ibeta * cosVal;

+

+  }

+

+  /**

+   * @brief  Park transform for Q31 version 

+   * @param[in]       Ialpha input two-phase vector coordinate alpha

+   * @param[in]       Ibeta  input two-phase vector coordinate beta

+   * @param[out]      *pId   points to output rotor reference frame d

+   * @param[out]      *pIq   points to output rotor reference frame q

+   * @param[in]       sinVal sine value of rotation angle theta

+   * @param[in]       cosVal cosine value of rotation angle theta

+   * @return none.

+   *

+   * <b>Scaling and Overflow Behavior:</b>

+   * \par

+   * The function is implemented using an internal 32-bit accumulator.

+   * The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format.

+   * There is saturation on the addition and subtraction, hence there is no risk of overflow.

+   */

+

+

+  __STATIC_INLINE void arm_park_q31(

+  q31_t Ialpha,

+  q31_t Ibeta,

+  q31_t * pId,

+  q31_t * pIq,

+  q31_t sinVal,

+  q31_t cosVal)

+  {

+    q31_t product1, product2;                    /* Temporary variables used to store intermediate results */

+    q31_t product3, product4;                    /* Temporary variables used to store intermediate results */

+

+    /* Intermediate product is calculated by (Ialpha * cosVal) */

+    product1 = (q31_t) (((q63_t) (Ialpha) * (cosVal)) >> 31);

+

+    /* Intermediate product is calculated by (Ibeta * sinVal) */

+    product2 = (q31_t) (((q63_t) (Ibeta) * (sinVal)) >> 31);

+

+

+    /* Intermediate product is calculated by (Ialpha * sinVal) */

+    product3 = (q31_t) (((q63_t) (Ialpha) * (sinVal)) >> 31);

+

+    /* Intermediate product is calculated by (Ibeta * cosVal) */

+    product4 = (q31_t) (((q63_t) (Ibeta) * (cosVal)) >> 31);

+

+    /* Calculate pId by adding the two intermediate products 1 and 2 */

+    *pId = __QADD(product1, product2);

+

+    /* Calculate pIq by subtracting the two intermediate products 3 from 4 */

+    *pIq = __QSUB(product4, product3);

+  }

+

+  /**

+   * @} end of park group

+   */

+

+  /**

+   * @brief  Converts the elements of the Q7 vector to floating-point vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[out]  *pDst is output pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @return none.

+   */

+  void arm_q7_to_float(

+  q7_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize);

+

+

+  /**

+   * @ingroup groupController

+   */

+

+  /**

+   * @defgroup inv_park Vector Inverse Park transform

+   * Inverse Park transform converts the input flux and torque components to two-coordinate vector.

+   *

+   * The function operates on a single sample of data and each call to the function returns the processed output. 

+   * The library provides separate functions for Q31 and floating-point data types.

+   * \par Algorithm

+   * \image html parkInvFormula.gif

+   * where <code>pIalpha</code> and <code>pIbeta</code> are the stator vector components,  

+   * <code>Id</code> and <code>Iq</code> are rotor vector components and <code>cosVal</code> and <code>sinVal</code> are the 

+   * cosine and sine values of theta (rotor flux position).

+   * \par Fixed-Point Behavior

+   * Care must be taken when using the Q31 version of the Park transform.

+   * In particular, the overflow and saturation behavior of the accumulator used must be considered.

+   * Refer to the function specific documentation below for usage guidelines.

+   */

+

+  /**

+   * @addtogroup inv_park

+   * @{

+   */

+

+   /**

+   * @brief  Floating-point Inverse Park transform

+   * @param[in]       Id        input coordinate of rotor reference frame d

+   * @param[in]       Iq        input coordinate of rotor reference frame q

+   * @param[out]      *pIalpha  points to output two-phase orthogonal vector axis alpha

+   * @param[out]      *pIbeta   points to output two-phase orthogonal vector axis beta

+   * @param[in]       sinVal    sine value of rotation angle theta

+   * @param[in]       cosVal    cosine value of rotation angle theta

+   * @return none.

+   */

+

+  __STATIC_INLINE void arm_inv_park_f32(

+  float32_t Id,

+  float32_t Iq,

+  float32_t * pIalpha,

+  float32_t * pIbeta,

+  float32_t sinVal,

+  float32_t cosVal)

+  {

+    /* Calculate pIalpha using the equation, pIalpha = Id * cosVal - Iq * sinVal */

+    *pIalpha = Id * cosVal - Iq * sinVal;

+

+    /* Calculate pIbeta using the equation, pIbeta = Id * sinVal + Iq * cosVal */

+    *pIbeta = Id * sinVal + Iq * cosVal;

+

+  }

+

+

+  /**

+   * @brief  Inverse Park transform for	Q31 version 

+   * @param[in]       Id        input coordinate of rotor reference frame d

+   * @param[in]       Iq        input coordinate of rotor reference frame q

+   * @param[out]      *pIalpha  points to output two-phase orthogonal vector axis alpha

+   * @param[out]      *pIbeta   points to output two-phase orthogonal vector axis beta

+   * @param[in]       sinVal    sine value of rotation angle theta

+   * @param[in]       cosVal    cosine value of rotation angle theta

+   * @return none.

+   *

+   * <b>Scaling and Overflow Behavior:</b>

+   * \par

+   * The function is implemented using an internal 32-bit accumulator.

+   * The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format.

+   * There is saturation on the addition, hence there is no risk of overflow.

+   */

+

+

+  __STATIC_INLINE void arm_inv_park_q31(

+  q31_t Id,

+  q31_t Iq,

+  q31_t * pIalpha,

+  q31_t * pIbeta,

+  q31_t sinVal,

+  q31_t cosVal)

+  {

+    q31_t product1, product2;                    /* Temporary variables used to store intermediate results */

+    q31_t product3, product4;                    /* Temporary variables used to store intermediate results */

+

+    /* Intermediate product is calculated by (Id * cosVal) */

+    product1 = (q31_t) (((q63_t) (Id) * (cosVal)) >> 31);

+

+    /* Intermediate product is calculated by (Iq * sinVal) */

+    product2 = (q31_t) (((q63_t) (Iq) * (sinVal)) >> 31);

+

+

+    /* Intermediate product is calculated by (Id * sinVal) */

+    product3 = (q31_t) (((q63_t) (Id) * (sinVal)) >> 31);

+

+    /* Intermediate product is calculated by (Iq * cosVal) */

+    product4 = (q31_t) (((q63_t) (Iq) * (cosVal)) >> 31);

+

+    /* Calculate pIalpha by using the two intermediate products 1 and 2 */

+    *pIalpha = __QSUB(product1, product2);

+

+    /* Calculate pIbeta by using the two intermediate products 3 and 4 */

+    *pIbeta = __QADD(product4, product3);

+

+  }

+

+  /**

+   * @} end of Inverse park group

+   */

+

+

+  /**

+   * @brief  Converts the elements of the Q31 vector to floating-point vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[out]  *pDst is output pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @return none.

+   */

+  void arm_q31_to_float(

+  q31_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @ingroup groupInterpolation

+   */

+

+  /**

+   * @defgroup LinearInterpolate Linear Interpolation

+   *

+   * Linear interpolation is a method of curve fitting using linear polynomials.

+   * Linear interpolation works by effectively drawing a straight line between two neighboring samples and returning the appropriate point along that line

+   *

+   * \par 

+   * \image html LinearInterp.gif "Linear interpolation"

+   *

+   * \par

+   * A  Linear Interpolate function calculates an output value(y), for the input(x)

+   * using linear interpolation of the input values x0, x1( nearest input values) and the output values y0 and y1(nearest output values)

+   *

+   * \par Algorithm:

+   * <pre>

+   *       y = y0 + (x - x0) * ((y1 - y0)/(x1-x0))

+   *       where x0, x1 are nearest values of input x

+   *             y0, y1 are nearest values to output y

+   * </pre>

+   *

+   * \par

+   * This set of functions implements Linear interpolation process

+   * for Q7, Q15, Q31, and floating-point data types.  The functions operate on a single

+   * sample of data and each call to the function returns a single processed value.

+   * <code>S</code> points to an instance of the Linear Interpolate function data structure.

+   * <code>x</code> is the input sample value. The functions returns the output value.

+   * 

+   * \par

+   * if x is outside of the table boundary, Linear interpolation returns first value of the table 

+   * if x is below input range and returns last value of table if x is above range.  

+   */

+

+  /**

+   * @addtogroup LinearInterpolate

+   * @{

+   */

+

+  /**

+   * @brief  Process function for the floating-point Linear Interpolation Function.

+   * @param[in,out] *S is an instance of the floating-point Linear Interpolation structure

+   * @param[in] x input sample to process

+   * @return y processed output sample.

+   *

+   */

+

+  __STATIC_INLINE float32_t arm_linear_interp_f32(

+  arm_linear_interp_instance_f32 * S,

+  float32_t x)

+  {

+

+    float32_t y;

+    float32_t x0, x1;                            /* Nearest input values */

+    float32_t y0, y1;                            /* Nearest output values */

+    float32_t xSpacing = S->xSpacing;            /* spacing between input values */

+    int32_t i;                                   /* Index variable */

+    float32_t *pYData = S->pYData;               /* pointer to output table */

+

+    /* Calculation of index */

+    i = (x - S->x1) / xSpacing;

+

+    if(i < 0)

+    {

+      /* Iniatilize output for below specified range as least output value of table */

+      y = pYData[0];

+    }

+    else if((unsigned)i >= S->nValues)

+    {

+      /* Iniatilize output for above specified range as last output value of table */

+      y = pYData[S->nValues - 1];

+    }

+    else

+    {

+      /* Calculation of nearest input values */

+      x0 = S->x1 + i * xSpacing;

+      x1 = S->x1 + (i + 1) * xSpacing;

+

+      /* Read of nearest output values */

+      y0 = pYData[i];

+      y1 = pYData[i + 1];

+

+      /* Calculation of output */

+      y = y0 + (x - x0) * ((y1 - y0) / (x1 - x0));

+

+    }

+

+    /* returns output value */

+    return (y);

+  }

+

+   /**

+   *

+   * @brief  Process function for the Q31 Linear Interpolation Function.

+   * @param[in] *pYData  pointer to Q31 Linear Interpolation table

+   * @param[in] x input sample to process

+   * @param[in] nValues number of table values

+   * @return y processed output sample.

+   *

+   * \par

+   * Input sample <code>x</code> is in 12.20 format which contains 12 bits for table index and 20 bits for fractional part.

+   * This function can support maximum of table size 2^12.

+   *

+   */

+

+

+  __STATIC_INLINE q31_t arm_linear_interp_q31(

+  q31_t * pYData,

+  q31_t x,

+  uint32_t nValues)

+  {

+    q31_t y;                                     /* output */

+    q31_t y0, y1;                                /* Nearest output values */

+    q31_t fract;                                 /* fractional part */

+    int32_t index;                               /* Index to read nearest output values */

+

+    /* Input is in 12.20 format */

+    /* 12 bits for the table index */

+    /* Index value calculation */

+    index = ((x & 0xFFF00000) >> 20);

+

+    if(index >= (nValues - 1))

+    {

+      return (pYData[nValues - 1]);

+    }

+    else if(index < 0)

+    {

+      return (pYData[0]);

+    }

+    else

+    {

+

+      /* 20 bits for the fractional part */

+      /* shift left by 11 to keep fract in 1.31 format */

+      fract = (x & 0x000FFFFF) << 11;

+

+      /* Read two nearest output values from the index in 1.31(q31) format */

+      y0 = pYData[index];

+      y1 = pYData[index + 1u];

+

+      /* Calculation of y0 * (1-fract) and y is in 2.30 format */

+      y = ((q31_t) ((q63_t) y0 * (0x7FFFFFFF - fract) >> 32));

+

+      /* Calculation of y0 * (1-fract) + y1 *fract and y is in 2.30 format */

+      y += ((q31_t) (((q63_t) y1 * fract) >> 32));

+

+      /* Convert y to 1.31 format */

+      return (y << 1u);

+

+    }

+

+  }

+

+  /**

+   *

+   * @brief  Process function for the Q15 Linear Interpolation Function.

+   * @param[in] *pYData  pointer to Q15 Linear Interpolation table

+   * @param[in] x input sample to process

+   * @param[in] nValues number of table values

+   * @return y processed output sample.

+   *

+   * \par

+   * Input sample <code>x</code> is in 12.20 format which contains 12 bits for table index and 20 bits for fractional part.

+   * This function can support maximum of table size 2^12. 

+   *

+   */

+

+

+  __STATIC_INLINE q15_t arm_linear_interp_q15(

+  q15_t * pYData,

+  q31_t x,

+  uint32_t nValues)

+  {

+    q63_t y;                                     /* output */

+    q15_t y0, y1;                                /* Nearest output values */

+    q31_t fract;                                 /* fractional part */

+    int32_t index;                               /* Index to read nearest output values */

+

+    /* Input is in 12.20 format */

+    /* 12 bits for the table index */

+    /* Index value calculation */

+    index = ((x & 0xFFF00000) >> 20u);

+

+    if(index >= (nValues - 1))

+    {

+      return (pYData[nValues - 1]);

+    }

+    else if(index < 0)

+    {

+      return (pYData[0]);

+    }

+    else

+    {

+      /* 20 bits for the fractional part */

+      /* fract is in 12.20 format */

+      fract = (x & 0x000FFFFF);

+

+      /* Read two nearest output values from the index */

+      y0 = pYData[index];

+      y1 = pYData[index + 1u];

+

+      /* Calculation of y0 * (1-fract) and y is in 13.35 format */

+      y = ((q63_t) y0 * (0xFFFFF - fract));

+

+      /* Calculation of (y0 * (1-fract) + y1 * fract) and y is in 13.35 format */

+      y += ((q63_t) y1 * (fract));

+

+      /* convert y to 1.15 format */

+      return (y >> 20);

+    }

+

+

+  }

+

+  /**

+   *

+   * @brief  Process function for the Q7 Linear Interpolation Function.

+   * @param[in] *pYData  pointer to Q7 Linear Interpolation table

+   * @param[in] x input sample to process

+   * @param[in] nValues number of table values

+   * @return y processed output sample.

+   *

+   * \par

+   * Input sample <code>x</code> is in 12.20 format which contains 12 bits for table index and 20 bits for fractional part.

+   * This function can support maximum of table size 2^12.

+   */

+

+

+  __STATIC_INLINE q7_t arm_linear_interp_q7(

+  q7_t * pYData,

+  q31_t x,

+  uint32_t nValues)

+  {

+    q31_t y;                                     /* output */

+    q7_t y0, y1;                                 /* Nearest output values */

+    q31_t fract;                                 /* fractional part */

+    int32_t index;                               /* Index to read nearest output values */

+

+    /* Input is in 12.20 format */

+    /* 12 bits for the table index */

+    /* Index value calculation */

+    index = ((x & 0xFFF00000) >> 20u);

+

+

+    if(index >= (nValues - 1))

+    {

+      return (pYData[nValues - 1]);

+    }

+    else if(index < 0)

+    {

+      return (pYData[0]);

+    }

+    else

+    {

+

+      /* 20 bits for the fractional part */

+      /* fract is in 12.20 format */

+      fract = (x & 0x000FFFFF);

+

+      /* Read two nearest output values from the index and are in 1.7(q7) format */

+      y0 = pYData[index];

+      y1 = pYData[index + 1u];

+

+      /* Calculation of y0 * (1-fract ) and y is in 13.27(q27) format */

+      y = ((y0 * (0xFFFFF - fract)));

+

+      /* Calculation of y1 * fract + y0 * (1-fract) and y is in 13.27(q27) format */

+      y += (y1 * fract);

+

+      /* convert y to 1.7(q7) format */

+      return (y >> 20u);

+

+    }

+

+  }

+  /**

+   * @} end of LinearInterpolate group

+   */

+

+  /**

+   * @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);

+

+  /**

+   * @brief  Fast approximation to the trigonometric sine function for Q31 data.

+   * @param[in] x Scaled input value in radians.

+   * @return  sin(x).

+   */

+

+  q31_t arm_sin_q31(

+  q31_t x);

+

+  /**

+   * @brief  Fast approximation to the trigonometric sine function for Q15 data.

+   * @param[in] x Scaled input value in radians.

+   * @return  sin(x).

+   */

+

+  q15_t arm_sin_q15(

+  q15_t x);

+

+  /**

+   * @brief  Fast approximation to the trigonometric cosine function for floating-point data.

+   * @param[in] x input value in radians.

+   * @return  cos(x).

+   */

+

+  float32_t arm_cos_f32(

+  float32_t x);

+

+  /**

+   * @brief Fast approximation to the trigonometric cosine function for Q31 data.

+   * @param[in] x Scaled input value in radians.

+   * @return  cos(x).

+   */

+

+  q31_t arm_cos_q31(

+  q31_t x);

+

+  /**

+   * @brief  Fast approximation to the trigonometric cosine function for Q15 data.

+   * @param[in] x Scaled input value in radians.

+   * @return  cos(x).

+   */

+

+  q15_t arm_cos_q15(

+  q15_t x);

+

+

+  /**

+   * @ingroup groupFastMath

+   */

+

+

+  /**

+   * @defgroup SQRT Square Root

+   *

+   * Computes the square root of a number.

+   * There are separate functions for Q15, Q31, and floating-point data types.  

+   * The square root function is computed using the Newton-Raphson algorithm.

+   * This is an iterative algorithm of the form:

+   * <pre>

+   *      x1 = x0 - f(x0)/f'(x0)

+   * </pre>

+   * where <code>x1</code> is the current estimate,

+   * <code>x0</code> is the previous estimate and

+   * <code>f'(x0)</code> is the derivative of <code>f()</code> evaluated at <code>x0</code>.

+   * For the square root function, the algorithm reduces to:

+   * <pre>

+   *     x0 = in/2                         [initial guess]

+   *     x1 = 1/2 * ( x0 + in / x0)        [each iteration]

+   * </pre>

+   */

+

+

+  /**

+   * @addtogroup SQRT

+   * @{

+   */

+

+  /**

+   * @brief  Floating-point square root function.

+   * @param[in]  in     input value.

+   * @param[out] *pOut  square root of input value.

+   * @return The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if

+   * <code>in</code> is negative value and returns zero output for negative values.

+   */

+

+  __STATIC_INLINE arm_status arm_sqrt_f32(

+  float32_t in,

+  float32_t * pOut)

+  {

+    if(in > 0)

+    {

+

+//    #if __FPU_USED

+    #if (__FPU_USED == 1) && defined ( __CC_ARM   )

+        *pOut = __sqrtf(in);

+    #elif (__FPU_USED == 1) && defined ( __TMS_740 )

+        *pOut = __builtin_sqrtf(in);

+    #else

+        *pOut = sqrtf(in);

+    #endif

+

+      return (ARM_MATH_SUCCESS);

+    }

+    else

+    {

+      *pOut = 0.0f;

+      return (ARM_MATH_ARGUMENT_ERROR);

+    }

+

+  }

+

+

+  /**

+   * @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 square root of input value.

+   * @return The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if

+   * <code>in</code> is negative value and returns zero output for negative values.

+   */

+  arm_status arm_sqrt_q31(

+  q31_t in,

+  q31_t * pOut);

+

+  /**

+   * @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  square root of input value.

+   * @return The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if

+   * <code>in</code> is negative value and returns zero output for negative values.

+   */

+  arm_status arm_sqrt_q15(

+  q15_t in,

+  q15_t * pOut);

+

+  /**

+   * @} end of SQRT group

+   */

+

+

+

+

+

+

+  /**

+   * @brief floating-point Circular write function.

+   */

+

+  __STATIC_INLINE void arm_circularWrite_f32(

+  int32_t * circBuffer,

+  int32_t L,

+  uint16_t * writeOffset,

+  int32_t bufferInc,

+  const int32_t * src,

+  int32_t srcInc,

+  uint32_t blockSize)

+  {

+    uint32_t i = 0u;

+    int32_t wOffset;

+

+    /* Copy the value of Index pointer that points

+     * to the current location where the input samples to be copied */

+    wOffset = *writeOffset;

+

+    /* Loop over the blockSize */

+    i = blockSize;

+

+    while(i > 0u)

+    {

+      /* copy the input sample to the circular buffer */

+      circBuffer[wOffset] = *src;

+

+      /* Update the input pointer */

+      src += srcInc;

+

+      /* Circularly update wOffset.  Watch out for positive and negative value */

+      wOffset += bufferInc;

+      if(wOffset >= L)

+        wOffset -= L;

+

+      /* Decrement the loop counter */

+      i--;

+    }

+

+    /* Update the index pointer */

+    *writeOffset = wOffset;

+  }

+

+

+

+  /**

+   * @brief floating-point Circular Read function.

+   */

+  __STATIC_INLINE void arm_circularRead_f32(

+  int32_t * circBuffer,

+  int32_t L,

+  int32_t * readOffset,

+  int32_t bufferInc,

+  int32_t * dst,

+  int32_t * dst_base,

+  int32_t dst_length,

+  int32_t dstInc,

+  uint32_t blockSize)

+  {

+    uint32_t i = 0u;

+    int32_t rOffset, dst_end;

+

+    /* Copy the value of Index pointer that points

+     * to the current location from where the input samples to be read */

+    rOffset = *readOffset;

+    dst_end = (int32_t) (dst_base + dst_length);

+

+    /* Loop over the blockSize */

+    i = blockSize;

+

+    while(i > 0u)

+    {

+      /* copy the sample from the circular buffer to the destination buffer */

+      *dst = circBuffer[rOffset];

+

+      /* Update the input pointer */

+      dst += dstInc;

+

+      if(dst == (int32_t *) dst_end)

+      {

+        dst = dst_base;

+      }

+

+      /* Circularly update rOffset.  Watch out for positive and negative value  */

+      rOffset += bufferInc;

+

+      if(rOffset >= L)

+      {

+        rOffset -= L;

+      }

+

+      /* Decrement the loop counter */

+      i--;

+    }

+

+    /* Update the index pointer */

+    *readOffset = rOffset;

+  }

+

+  /**

+   * @brief Q15 Circular write function.

+   */

+

+  __STATIC_INLINE void arm_circularWrite_q15(

+  q15_t * circBuffer,

+  int32_t L,

+  uint16_t * writeOffset,

+  int32_t bufferInc,

+  const q15_t * src,

+  int32_t srcInc,

+  uint32_t blockSize)

+  {

+    uint32_t i = 0u;

+    int32_t wOffset;

+

+    /* Copy the value of Index pointer that points

+     * to the current location where the input samples to be copied */

+    wOffset = *writeOffset;

+

+    /* Loop over the blockSize */

+    i = blockSize;

+

+    while(i > 0u)

+    {

+      /* copy the input sample to the circular buffer */

+      circBuffer[wOffset] = *src;

+

+      /* Update the input pointer */

+      src += srcInc;

+

+      /* Circularly update wOffset.  Watch out for positive and negative value */

+      wOffset += bufferInc;

+      if(wOffset >= L)

+        wOffset -= L;

+

+      /* Decrement the loop counter */

+      i--;

+    }

+

+    /* Update the index pointer */

+    *writeOffset = wOffset;

+  }

+

+

+

+  /**

+   * @brief Q15 Circular Read function.

+   */

+  __STATIC_INLINE void arm_circularRead_q15(

+  q15_t * circBuffer,

+  int32_t L,

+  int32_t * readOffset,

+  int32_t bufferInc,

+  q15_t * dst,

+  q15_t * dst_base,

+  int32_t dst_length,

+  int32_t dstInc,

+  uint32_t blockSize)

+  {

+    uint32_t i = 0;

+    int32_t rOffset, dst_end;

+

+    /* Copy the value of Index pointer that points

+     * to the current location from where the input samples to be read */

+    rOffset = *readOffset;

+

+    dst_end = (int32_t) (dst_base + dst_length);

+

+    /* Loop over the blockSize */

+    i = blockSize;

+

+    while(i > 0u)

+    {

+      /* copy the sample from the circular buffer to the destination buffer */

+      *dst = circBuffer[rOffset];

+

+      /* Update the input pointer */

+      dst += dstInc;

+

+      if(dst == (q15_t *) dst_end)

+      {

+        dst = dst_base;

+      }

+

+      /* Circularly update wOffset.  Watch out for positive and negative value */

+      rOffset += bufferInc;

+

+      if(rOffset >= L)

+      {

+        rOffset -= L;

+      }

+

+      /* Decrement the loop counter */

+      i--;

+    }

+

+    /* Update the index pointer */

+    *readOffset = rOffset;

+  }

+

+

+  /**

+   * @brief Q7 Circular write function.

+   */

+

+  __STATIC_INLINE void arm_circularWrite_q7(

+  q7_t * circBuffer,

+  int32_t L,

+  uint16_t * writeOffset,

+  int32_t bufferInc,

+  const q7_t * src,

+  int32_t srcInc,

+  uint32_t blockSize)

+  {

+    uint32_t i = 0u;

+    int32_t wOffset;

+

+    /* Copy the value of Index pointer that points

+     * to the current location where the input samples to be copied */

+    wOffset = *writeOffset;

+

+    /* Loop over the blockSize */

+    i = blockSize;

+

+    while(i > 0u)

+    {

+      /* copy the input sample to the circular buffer */

+      circBuffer[wOffset] = *src;

+

+      /* Update the input pointer */

+      src += srcInc;

+

+      /* Circularly update wOffset.  Watch out for positive and negative value */

+      wOffset += bufferInc;

+      if(wOffset >= L)

+        wOffset -= L;

+

+      /* Decrement the loop counter */

+      i--;

+    }

+

+    /* Update the index pointer */

+    *writeOffset = wOffset;

+  }

+

+

+

+  /**

+   * @brief Q7 Circular Read function.

+   */

+  __STATIC_INLINE void arm_circularRead_q7(

+  q7_t * circBuffer,

+  int32_t L,

+  int32_t * readOffset,

+  int32_t bufferInc,

+  q7_t * dst,

+  q7_t * dst_base,

+  int32_t dst_length,

+  int32_t dstInc,

+  uint32_t blockSize)

+  {

+    uint32_t i = 0;

+    int32_t rOffset, dst_end;

+

+    /* Copy the value of Index pointer that points

+     * to the current location from where the input samples to be read */

+    rOffset = *readOffset;

+

+    dst_end = (int32_t) (dst_base + dst_length);

+

+    /* Loop over the blockSize */

+    i = blockSize;

+

+    while(i > 0u)

+    {

+      /* copy the sample from the circular buffer to the destination buffer */

+      *dst = circBuffer[rOffset];

+

+      /* Update the input pointer */

+      dst += dstInc;

+

+      if(dst == (q7_t *) dst_end)

+      {

+        dst = dst_base;

+      }

+

+      /* Circularly update rOffset.  Watch out for positive and negative value */

+      rOffset += bufferInc;

+

+      if(rOffset >= L)

+      {

+        rOffset -= L;

+      }

+

+      /* Decrement the loop counter */

+      i--;

+    }

+

+    /* Update the index pointer */

+    *readOffset = rOffset;

+  }

+

+

+  /**

+   * @brief  Sum of the squares of the elements of a Q31 vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @param[out]  *pResult is output value.

+   * @return none.

+   */

+

+  void arm_power_q31(

+  q31_t * pSrc,

+  uint32_t blockSize,

+  q63_t * pResult);

+

+  /**

+   * @brief  Sum of the squares of the elements of a floating-point vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @param[out]  *pResult is output value.

+   * @return none.

+   */

+

+  void arm_power_f32(

+  float32_t * pSrc,

+  uint32_t blockSize,

+  float32_t * pResult);

+

+  /**

+   * @brief  Sum of the squares of the elements of a Q15 vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @param[out]  *pResult is output value.

+   * @return none.

+   */

+

+  void arm_power_q15(

+  q15_t * pSrc,

+  uint32_t blockSize,

+  q63_t * pResult);

+

+  /**

+   * @brief  Sum of the squares of the elements of a Q7 vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @param[out]  *pResult is output value.

+   * @return none.

+   */

+

+  void arm_power_q7(

+  q7_t * pSrc,

+  uint32_t blockSize,

+  q31_t * pResult);

+

+  /**

+   * @brief  Mean value of a Q7 vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @param[out]  *pResult is output value.

+   * @return none.

+   */

+

+  void arm_mean_q7(

+  q7_t * pSrc,

+  uint32_t blockSize,

+  q7_t * pResult);

+

+  /**

+   * @brief  Mean value of a Q15 vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @param[out]  *pResult is output value.

+   * @return none.

+   */

+  void arm_mean_q15(

+  q15_t * pSrc,

+  uint32_t blockSize,

+  q15_t * pResult);

+

+  /**

+   * @brief  Mean value of a Q31 vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @param[out]  *pResult is output value.

+   * @return none.

+   */

+  void arm_mean_q31(

+  q31_t * pSrc,

+  uint32_t blockSize,

+  q31_t * pResult);

+

+  /**

+   * @brief  Mean value of a floating-point vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @param[out]  *pResult is output value.

+   * @return none.

+   */

+  void arm_mean_f32(

+  float32_t * pSrc,

+  uint32_t blockSize,

+  float32_t * pResult);

+

+  /**

+   * @brief  Variance of the elements of a floating-point vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @param[out]  *pResult is output value.

+   * @return none.

+   */

+

+  void arm_var_f32(

+  float32_t * pSrc,

+  uint32_t blockSize,

+  float32_t * pResult);

+

+  /**

+   * @brief  Variance of the elements of a Q31 vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @param[out]  *pResult is output value.

+   * @return none.

+   */

+

+  void arm_var_q31(

+  q31_t * pSrc,

+  uint32_t blockSize,

+  q63_t * pResult);

+

+  /**

+   * @brief  Variance of the elements of a Q15 vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @param[out]  *pResult is output value.

+   * @return none.

+   */

+

+  void arm_var_q15(

+  q15_t * pSrc,

+  uint32_t blockSize,

+  q31_t * pResult);

+

+  /**

+   * @brief  Root Mean Square of the elements of a floating-point vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @param[out]  *pResult is output value.

+   * @return none.

+   */

+

+  void arm_rms_f32(

+  float32_t * pSrc,

+  uint32_t blockSize,

+  float32_t * pResult);

+

+  /**

+   * @brief  Root Mean Square of the elements of a Q31 vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @param[out]  *pResult is output value.

+   * @return none.

+   */

+

+  void arm_rms_q31(

+  q31_t * pSrc,

+  uint32_t blockSize,

+  q31_t * pResult);

+

+  /**

+   * @brief  Root Mean Square of the elements of a Q15 vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @param[out]  *pResult is output value.

+   * @return none.

+   */

+

+  void arm_rms_q15(

+  q15_t * pSrc,

+  uint32_t blockSize,

+  q15_t * pResult);

+

+  /**

+   * @brief  Standard deviation of the elements of a floating-point vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @param[out]  *pResult is output value.

+   * @return none.

+   */

+

+  void arm_std_f32(

+  float32_t * pSrc,

+  uint32_t blockSize,

+  float32_t * pResult);

+

+  /**

+   * @brief  Standard deviation of the elements of a Q31 vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @param[out]  *pResult is output value.

+   * @return none.

+   */

+

+  void arm_std_q31(

+  q31_t * pSrc,

+  uint32_t blockSize,

+  q31_t * pResult);

+

+  /**

+   * @brief  Standard deviation of the elements of a Q15 vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @param[out]  *pResult is output value.

+   * @return none.

+   */

+

+  void arm_std_q15(

+  q15_t * pSrc,

+  uint32_t blockSize,

+  q15_t * pResult);

+

+  /**

+   * @brief  Floating-point complex magnitude

+   * @param[in]  *pSrc points to the complex input vector

+   * @param[out]  *pDst points to the real output vector

+   * @param[in]  numSamples number of complex samples in the input vector

+   * @return none.

+   */

+

+  void arm_cmplx_mag_f32(

+  float32_t * pSrc,

+  float32_t * pDst,

+  uint32_t numSamples);

+

+  /**

+   * @brief  Q31 complex magnitude

+   * @param[in]  *pSrc points to the complex input vector

+   * @param[out]  *pDst points to the real output vector

+   * @param[in]  numSamples number of complex samples in the input vector

+   * @return none.

+   */

+

+  void arm_cmplx_mag_q31(

+  q31_t * pSrc,

+  q31_t * pDst,

+  uint32_t numSamples);

+

+  /**

+   * @brief  Q15 complex magnitude

+   * @param[in]  *pSrc points to the complex input vector

+   * @param[out]  *pDst points to the real output vector

+   * @param[in]  numSamples number of complex samples in the input vector

+   * @return none.

+   */

+

+  void arm_cmplx_mag_q15(

+  q15_t * pSrc,

+  q15_t * pDst,

+  uint32_t numSamples);

+

+  /**

+   * @brief  Q15 complex dot product

+   * @param[in]  *pSrcA points to the first input vector

+   * @param[in]  *pSrcB points to the second input vector

+   * @param[in]  numSamples number of complex samples in each vector

+   * @param[out]  *realResult real part of the result returned here

+   * @param[out]  *imagResult imaginary part of the result returned here

+   * @return none.

+   */

+

+  void arm_cmplx_dot_prod_q15(

+  q15_t * pSrcA,

+  q15_t * pSrcB,

+  uint32_t numSamples,

+  q31_t * realResult,

+  q31_t * imagResult);

+

+  /**

+   * @brief  Q31 complex dot product

+   * @param[in]  *pSrcA points to the first input vector

+   * @param[in]  *pSrcB points to the second input vector

+   * @param[in]  numSamples number of complex samples in each vector

+   * @param[out]  *realResult real part of the result returned here

+   * @param[out]  *imagResult imaginary part of the result returned here

+   * @return none.

+   */

+

+  void arm_cmplx_dot_prod_q31(

+  q31_t * pSrcA,

+  q31_t * pSrcB,

+  uint32_t numSamples,

+  q63_t * realResult,

+  q63_t * imagResult);

+

+  /**

+   * @brief  Floating-point complex dot product

+   * @param[in]  *pSrcA points to the first input vector

+   * @param[in]  *pSrcB points to the second input vector

+   * @param[in]  numSamples number of complex samples in each vector

+   * @param[out]  *realResult real part of the result returned here

+   * @param[out]  *imagResult imaginary part of the result returned here

+   * @return none.

+   */

+

+  void arm_cmplx_dot_prod_f32(

+  float32_t * pSrcA,

+  float32_t * pSrcB,

+  uint32_t numSamples,

+  float32_t * realResult,

+  float32_t * imagResult);

+

+  /**

+   * @brief  Q15 complex-by-real multiplication

+   * @param[in]  *pSrcCmplx points to the complex input vector

+   * @param[in]  *pSrcReal points to the real input vector

+   * @param[out]  *pCmplxDst points to the complex output vector

+   * @param[in]  numSamples number of samples in each vector

+   * @return none.

+   */

+

+  void arm_cmplx_mult_real_q15(

+  q15_t * pSrcCmplx,

+  q15_t * pSrcReal,

+  q15_t * pCmplxDst,

+  uint32_t numSamples);

+

+  /**

+   * @brief  Q31 complex-by-real multiplication

+   * @param[in]  *pSrcCmplx points to the complex input vector

+   * @param[in]  *pSrcReal points to the real input vector

+   * @param[out]  *pCmplxDst points to the complex output vector

+   * @param[in]  numSamples number of samples in each vector

+   * @return none.

+   */

+

+  void arm_cmplx_mult_real_q31(

+  q31_t * pSrcCmplx,

+  q31_t * pSrcReal,

+  q31_t * pCmplxDst,

+  uint32_t numSamples);

+

+  /**

+   * @brief  Floating-point complex-by-real multiplication

+   * @param[in]  *pSrcCmplx points to the complex input vector

+   * @param[in]  *pSrcReal points to the real input vector

+   * @param[out]  *pCmplxDst points to the complex output vector

+   * @param[in]  numSamples number of samples in each vector

+   * @return none.

+   */

+

+  void arm_cmplx_mult_real_f32(

+  float32_t * pSrcCmplx,

+  float32_t * pSrcReal,

+  float32_t * pCmplxDst,

+  uint32_t numSamples);

+

+  /**

+   * @brief  Minimum value of a Q7 vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @param[out]  *result is output pointer

+   * @param[in]  index is the array index of the minimum value in the input buffer.

+   * @return none.

+   */

+

+  void arm_min_q7(

+  q7_t * pSrc,

+  uint32_t blockSize,

+  q7_t * result,

+  uint32_t * index);

+

+  /**

+   * @brief  Minimum value of a Q15 vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @param[out]  *pResult is output pointer

+   * @param[in]  *pIndex is the array index of the minimum value in the input buffer.

+   * @return none.

+   */

+

+  void arm_min_q15(

+  q15_t * pSrc,

+  uint32_t blockSize,

+  q15_t * pResult,

+  uint32_t * pIndex);

+

+  /**

+   * @brief  Minimum value of a Q31 vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @param[out]  *pResult is output pointer

+   * @param[out]  *pIndex is the array index of the minimum value in the input buffer.

+   * @return none.

+   */

+  void arm_min_q31(

+  q31_t * pSrc,

+  uint32_t blockSize,

+  q31_t * pResult,

+  uint32_t * pIndex);

+

+  /**

+   * @brief  Minimum value of a floating-point vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @param[out]  *pResult is output pointer

+   * @param[out]  *pIndex is the array index of the minimum value in the input buffer.

+   * @return none.

+   */

+

+  void arm_min_f32(

+  float32_t * pSrc,

+  uint32_t blockSize,

+  float32_t * pResult,

+  uint32_t * pIndex);

+

+/**

+ * @brief Maximum value of a Q7 vector.

+ * @param[in]       *pSrc points to the input buffer

+ * @param[in]       blockSize length of the input vector

+ * @param[out]      *pResult maximum value returned here

+ * @param[out]      *pIndex index of maximum value returned here

+ * @return none.

+ */

+

+  void arm_max_q7(

+  q7_t * pSrc,

+  uint32_t blockSize,

+  q7_t * pResult,

+  uint32_t * pIndex);

+

+/**

+ * @brief Maximum value of a Q15 vector.

+ * @param[in]       *pSrc points to the input buffer

+ * @param[in]       blockSize length of the input vector

+ * @param[out]      *pResult maximum value returned here

+ * @param[out]      *pIndex index of maximum value returned here

+ * @return none.

+ */

+

+  void arm_max_q15(

+  q15_t * pSrc,

+  uint32_t blockSize,

+  q15_t * pResult,

+  uint32_t * pIndex);

+

+/**

+ * @brief Maximum value of a Q31 vector.

+ * @param[in]       *pSrc points to the input buffer

+ * @param[in]       blockSize length of the input vector

+ * @param[out]      *pResult maximum value returned here

+ * @param[out]      *pIndex index of maximum value returned here

+ * @return none.

+ */

+

+  void arm_max_q31(

+  q31_t * pSrc,

+  uint32_t blockSize,

+  q31_t * pResult,

+  uint32_t * pIndex);

+

+/**

+ * @brief Maximum value of a floating-point vector.

+ * @param[in]       *pSrc points to the input buffer

+ * @param[in]       blockSize length of the input vector

+ * @param[out]      *pResult maximum value returned here

+ * @param[out]      *pIndex index of maximum value returned here

+ * @return none.

+ */

+

+  void arm_max_f32(

+  float32_t * pSrc,

+  uint32_t blockSize,

+  float32_t * pResult,

+  uint32_t * pIndex);

+

+  /**

+   * @brief  Q15 complex-by-complex multiplication

+   * @param[in]  *pSrcA points to the first input vector

+   * @param[in]  *pSrcB points to the second input vector

+   * @param[out]  *pDst  points to the output vector

+   * @param[in]  numSamples number of complex samples in each vector

+   * @return none.

+   */

+

+  void arm_cmplx_mult_cmplx_q15(

+  q15_t * pSrcA,

+  q15_t * pSrcB,

+  q15_t * pDst,

+  uint32_t numSamples);

+

+  /**

+   * @brief  Q31 complex-by-complex multiplication

+   * @param[in]  *pSrcA points to the first input vector

+   * @param[in]  *pSrcB points to the second input vector

+   * @param[out]  *pDst  points to the output vector

+   * @param[in]  numSamples number of complex samples in each vector

+   * @return none.

+   */

+

+  void arm_cmplx_mult_cmplx_q31(

+  q31_t * pSrcA,

+  q31_t * pSrcB,

+  q31_t * pDst,

+  uint32_t numSamples);

+

+  /**

+   * @brief  Floating-point complex-by-complex multiplication

+   * @param[in]  *pSrcA points to the first input vector

+   * @param[in]  *pSrcB points to the second input vector

+   * @param[out]  *pDst  points to the output vector

+   * @param[in]  numSamples number of complex samples in each vector

+   * @return none.

+   */

+

+  void arm_cmplx_mult_cmplx_f32(

+  float32_t * pSrcA,

+  float32_t * pSrcB,

+  float32_t * pDst,

+  uint32_t numSamples);

+

+  /**

+   * @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. 

+   */

+  void arm_float_to_q31(

+  float32_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Converts the elements of the floating-point vector to Q15 vector. 

+   * @param[in]       *pSrc points to the floating-point input vector 

+   * @param[out]      *pDst points to the Q15 output vector

+   * @param[in]       blockSize length of the input vector 

+   * @return          none

+   */

+  void arm_float_to_q15(

+  float32_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief Converts the elements of the floating-point vector to Q7 vector. 

+   * @param[in]       *pSrc points to the floating-point input vector 

+   * @param[out]      *pDst points to the Q7 output vector

+   * @param[in]       blockSize length of the input vector 

+   * @return          none

+   */

+  void arm_float_to_q7(

+  float32_t * pSrc,

+  q7_t * pDst,

+  uint32_t blockSize);

+

+

+  /**

+   * @brief  Converts the elements of the Q31 vector to Q15 vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[out]  *pDst is output pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @return none.

+   */

+  void arm_q31_to_q15(

+  q31_t * pSrc,

+  q15_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Converts the elements of the Q31 vector to Q7 vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[out]  *pDst is output pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @return none.

+   */

+  void arm_q31_to_q7(

+  q31_t * pSrc,

+  q7_t * pDst,

+  uint32_t blockSize);

+

+  /**

+   * @brief  Converts the elements of the Q15 vector to floating-point vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[out]  *pDst is output pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @return none.

+   */

+  void arm_q15_to_float(

+  q15_t * pSrc,

+  float32_t * pDst,

+  uint32_t blockSize);

+

+

+  /**

+   * @brief  Converts the elements of the Q15 vector to Q31 vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[out]  *pDst is output pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @return none.

+   */

+  void arm_q15_to_q31(

+  q15_t * pSrc,

+  q31_t * pDst,

+  uint32_t blockSize);

+

+

+  /**

+   * @brief  Converts the elements of the Q15 vector to Q7 vector.

+   * @param[in]  *pSrc is input pointer

+   * @param[out]  *pDst is output pointer

+   * @param[in]  blockSize is the number of samples to process

+   * @return none.

+   */

+  void arm_q15_to_q7(

+  q15_t * pSrc,

+  q7_t * pDst,

+  uint32_t blockSize);

+

+

+  /**

+   * @ingroup groupInterpolation

+   */

+

+  /**

+   * @defgroup BilinearInterpolate Bilinear Interpolation

+   *

+   * Bilinear interpolation is an extension of linear interpolation applied to a two dimensional grid.

+   * The underlying function <code>f(x, y)</code> is sampled on a regular grid and the interpolation process

+   * determines values between the grid points.

+   * Bilinear interpolation is equivalent to two step linear interpolation, first in the x-dimension and then in the y-dimension.

+   * Bilinear interpolation is often used in image processing to rescale images.

+   * The CMSIS DSP library provides bilinear interpolation functions for Q7, Q15, Q31, and floating-point data types.

+   *

+   * <b>Algorithm</b>

+   * \par

+   * The instance structure used by the bilinear interpolation functions describes a two dimensional data table.

+   * For floating-point, the instance structure is defined as:

+   * <pre>

+   *   typedef struct

+   *   {

+   *     uint16_t numRows;

+   *     uint16_t numCols;

+   *     float32_t *pData;

+   * } arm_bilinear_interp_instance_f32;

+   * </pre>

+   *

+   * \par

+   * where <code>numRows</code> specifies the number of rows in the table;

+   * <code>numCols</code> specifies the number of columns in the table;

+   * and <code>pData</code> points to an array of size <code>numRows*numCols</code> values.

+   * The data table <code>pTable</code> is organized in row order and the supplied data values fall on integer indexes.

+   * That is, table element (x,y) is located at <code>pTable[x + y*numCols]</code> where x and y are integers.

+   *

+   * \par

+   * Let <code>(x, y)</code> specify the desired interpolation point.  Then define:

+   * <pre>

+   *     XF = floor(x)

+   *     YF = floor(y)

+   * </pre>

+   * \par

+   * The interpolated output point is computed as:

+   * <pre>

+   *  f(x, y) = f(XF, YF) * (1-(x-XF)) * (1-(y-YF))

+   *           + f(XF+1, YF) * (x-XF)*(1-(y-YF))

+   *           + f(XF, YF+1) * (1-(x-XF))*(y-YF)

+   *           + f(XF+1, YF+1) * (x-XF)*(y-YF)

+   * </pre>

+   * Note that the coordinates (x, y) contain integer and fractional components.  

+   * The integer components specify which portion of the table to use while the

+   * fractional components control the interpolation processor.

+   *

+   * \par

+   * if (x,y) are outside of the table boundary, Bilinear interpolation returns zero output. 

+   */

+

+  /**

+   * @addtogroup BilinearInterpolate

+   * @{

+   */

+

+  /**

+  *

+  * @brief  Floating-point bilinear interpolation.

+  * @param[in,out] *S points to an instance of the interpolation structure.

+  * @param[in] X interpolation coordinate.

+  * @param[in] Y interpolation coordinate.

+  * @return out interpolated value.

+  */

+

+

+  __STATIC_INLINE float32_t arm_bilinear_interp_f32(

+  const arm_bilinear_interp_instance_f32 * S,

+  float32_t X,

+  float32_t Y)

+  {

+    float32_t out;

+    float32_t f00, f01, f10, f11;

+    float32_t *pData = S->pData;

+    int32_t xIndex, yIndex, index;

+    float32_t xdiff, ydiff;

+    float32_t b1, b2, b3, b4;

+

+    xIndex = (int32_t) X;

+    yIndex = (int32_t) Y;

+

+    /* Care taken for table outside boundary */

+    /* Returns zero output when values are outside table boundary */

+    if(xIndex < 0 || xIndex > (S->numRows - 1) || yIndex < 0

+       || yIndex > (S->numCols - 1))

+    {

+      return (0);

+    }

+

+    /* Calculation of index for two nearest points in X-direction */

+    index = (xIndex - 1) + (yIndex - 1) * S->numCols;

+

+

+    /* Read two nearest points in X-direction */

+    f00 = pData[index];

+    f01 = pData[index + 1];

+

+    /* Calculation of index for two nearest points in Y-direction */

+    index = (xIndex - 1) + (yIndex) * S->numCols;

+

+

+    /* Read two nearest points in Y-direction */

+    f10 = pData[index];

+    f11 = pData[index + 1];

+

+    /* Calculation of intermediate values */

+    b1 = f00;

+    b2 = f01 - f00;

+    b3 = f10 - f00;

+    b4 = f00 - f01 - f10 + f11;

+

+    /* Calculation of fractional part in X */

+    xdiff = X - xIndex;

+

+    /* Calculation of fractional part in Y */

+    ydiff = Y - yIndex;

+

+    /* Calculation of bi-linear interpolated output */

+    out = b1 + b2 * xdiff + b3 * ydiff + b4 * xdiff * ydiff;

+

+    /* return to application */

+    return (out);

+

+  }

+

+  /**

+  *

+  * @brief  Q31 bilinear interpolation.

+  * @param[in,out] *S points to an instance of the interpolation structure.

+  * @param[in] X interpolation coordinate in 12.20 format.

+  * @param[in] Y interpolation coordinate in 12.20 format.

+  * @return out interpolated value.

+  */

+

+  __STATIC_INLINE q31_t arm_bilinear_interp_q31(

+  arm_bilinear_interp_instance_q31 * S,

+  q31_t X,

+  q31_t Y)

+  {

+    q31_t out;                                   /* Temporary output */

+    q31_t acc = 0;                               /* output */

+    q31_t xfract, yfract;                        /* X, Y fractional parts */

+    q31_t x1, x2, y1, y2;                        /* Nearest output values */

+    int32_t rI, cI;                              /* Row and column indices */

+    q31_t *pYData = S->pData;                    /* pointer to output table values */

+    uint32_t nCols = S->numCols;                 /* num of rows */

+

+

+    /* Input is in 12.20 format */

+    /* 12 bits for the table index */

+    /* Index value calculation */

+    rI = ((X & 0xFFF00000) >> 20u);

+

+    /* Input is in 12.20 format */

+    /* 12 bits for the table index */

+    /* Index value calculation */

+    cI = ((Y & 0xFFF00000) >> 20u);

+

+    /* Care taken for table outside boundary */

+    /* Returns zero output when values are outside table boundary */

+    if(rI < 0 || rI > (S->numRows - 1) || cI < 0 || cI > (S->numCols - 1))

+    {

+      return (0);

+    }

+

+    /* 20 bits for the fractional part */

+    /* shift left xfract by 11 to keep 1.31 format */

+    xfract = (X & 0x000FFFFF) << 11u;

+

+    /* Read two nearest output values from the index */

+    x1 = pYData[(rI) + nCols * (cI)];

+    x2 = pYData[(rI) + nCols * (cI) + 1u];

+

+    /* 20 bits for the fractional part */

+    /* shift left yfract by 11 to keep 1.31 format */

+    yfract = (Y & 0x000FFFFF) << 11u;

+

+    /* Read two nearest output values from the index */

+    y1 = pYData[(rI) + nCols * (cI + 1)];

+    y2 = pYData[(rI) + nCols * (cI + 1) + 1u];

+

+    /* Calculation of x1 * (1-xfract ) * (1-yfract) and acc is in 3.29(q29) format */

+    out = ((q31_t) (((q63_t) x1 * (0x7FFFFFFF - xfract)) >> 32));

+    acc = ((q31_t) (((q63_t) out * (0x7FFFFFFF - yfract)) >> 32));

+

+    /* x2 * (xfract) * (1-yfract)  in 3.29(q29) and adding to acc */

+    out = ((q31_t) ((q63_t) x2 * (0x7FFFFFFF - yfract) >> 32));

+    acc += ((q31_t) ((q63_t) out * (xfract) >> 32));

+

+    /* y1 * (1 - xfract) * (yfract)  in 3.29(q29) and adding to acc */

+    out = ((q31_t) ((q63_t) y1 * (0x7FFFFFFF - xfract) >> 32));

+    acc += ((q31_t) ((q63_t) out * (yfract) >> 32));

+

+    /* y2 * (xfract) * (yfract)  in 3.29(q29) and adding to acc */

+    out = ((q31_t) ((q63_t) y2 * (xfract) >> 32));

+    acc += ((q31_t) ((q63_t) out * (yfract) >> 32));

+

+    /* Convert acc to 1.31(q31) format */

+    return (acc << 2u);

+

+  }

+

+  /**

+  * @brief  Q15 bilinear interpolation.

+  * @param[in,out] *S points to an instance of the interpolation structure.

+  * @param[in] X interpolation coordinate in 12.20 format.

+  * @param[in] Y interpolation coordinate in 12.20 format.

+  * @return out interpolated value.

+  */

+

+  __STATIC_INLINE q15_t arm_bilinear_interp_q15(

+  arm_bilinear_interp_instance_q15 * S,

+  q31_t X,

+  q31_t Y)

+  {

+    q63_t acc = 0;                               /* output */

+    q31_t out;                                   /* Temporary output */

+    q15_t x1, x2, y1, y2;                        /* Nearest output values */

+    q31_t xfract, yfract;                        /* X, Y fractional parts */

+    int32_t rI, cI;                              /* Row and column indices */

+    q15_t *pYData = S->pData;                    /* pointer to output table values */

+    uint32_t nCols = S->numCols;                 /* num of rows */

+

+    /* Input is in 12.20 format */

+    /* 12 bits for the table index */

+    /* Index value calculation */

+    rI = ((X & 0xFFF00000) >> 20);

+

+    /* Input is in 12.20 format */

+    /* 12 bits for the table index */

+    /* Index value calculation */

+    cI = ((Y & 0xFFF00000) >> 20);

+

+    /* Care taken for table outside boundary */

+    /* Returns zero output when values are outside table boundary */

+    if(rI < 0 || rI > (S->numRows - 1) || cI < 0 || cI > (S->numCols - 1))

+    {

+      return (0);

+    }

+

+    /* 20 bits for the fractional part */

+    /* xfract should be in 12.20 format */

+    xfract = (X & 0x000FFFFF);

+

+    /* Read two nearest output values from the index */

+    x1 = pYData[(rI) + nCols * (cI)];

+    x2 = pYData[(rI) + nCols * (cI) + 1u];

+

+

+    /* 20 bits for the fractional part */

+    /* yfract should be in 12.20 format */

+    yfract = (Y & 0x000FFFFF);

+

+    /* Read two nearest output values from the index */

+    y1 = pYData[(rI) + nCols * (cI + 1)];

+    y2 = pYData[(rI) + nCols * (cI + 1) + 1u];

+

+    /* Calculation of x1 * (1-xfract ) * (1-yfract) and acc is in 13.51 format */

+

+    /* x1 is in 1.15(q15), xfract in 12.20 format and out is in 13.35 format */

+    /* convert 13.35 to 13.31 by right shifting  and out is in 1.31 */

+    out = (q31_t) (((q63_t) x1 * (0xFFFFF - xfract)) >> 4u);

+    acc = ((q63_t) out * (0xFFFFF - yfract));

+

+    /* x2 * (xfract) * (1-yfract)  in 1.51 and adding to acc */

+    out = (q31_t) (((q63_t) x2 * (0xFFFFF - yfract)) >> 4u);

+    acc += ((q63_t) out * (xfract));

+

+    /* y1 * (1 - xfract) * (yfract)  in 1.51 and adding to acc */

+    out = (q31_t) (((q63_t) y1 * (0xFFFFF - xfract)) >> 4u);

+    acc += ((q63_t) out * (yfract));

+

+    /* y2 * (xfract) * (yfract)  in 1.51 and adding to acc */

+    out = (q31_t) (((q63_t) y2 * (xfract)) >> 4u);

+    acc += ((q63_t) out * (yfract));

+

+    /* acc is in 13.51 format and down shift acc by 36 times */

+    /* Convert out to 1.15 format */

+    return (acc >> 36);

+

+  }

+

+  /**

+  * @brief  Q7 bilinear interpolation.

+  * @param[in,out] *S points to an instance of the interpolation structure.

+  * @param[in] X interpolation coordinate in 12.20 format.

+  * @param[in] Y interpolation coordinate in 12.20 format.

+  * @return out interpolated value.

+  */

+

+  __STATIC_INLINE q7_t arm_bilinear_interp_q7(

+  arm_bilinear_interp_instance_q7 * S,

+  q31_t X,

+  q31_t Y)

+  {

+    q63_t acc = 0;                               /* output */

+    q31_t out;                                   /* Temporary output */

+    q31_t xfract, yfract;                        /* X, Y fractional parts */

+    q7_t x1, x2, y1, y2;                         /* Nearest output values */

+    int32_t rI, cI;                              /* Row and column indices */

+    q7_t *pYData = S->pData;                     /* pointer to output table values */

+    uint32_t nCols = S->numCols;                 /* num of rows */

+

+    /* Input is in 12.20 format */

+    /* 12 bits for the table index */

+    /* Index value calculation */

+    rI = ((X & 0xFFF00000) >> 20);

+

+    /* Input is in 12.20 format */

+    /* 12 bits for the table index */

+    /* Index value calculation */

+    cI = ((Y & 0xFFF00000) >> 20);

+

+    /* Care taken for table outside boundary */

+    /* Returns zero output when values are outside table boundary */

+    if(rI < 0 || rI > (S->numRows - 1) || cI < 0 || cI > (S->numCols - 1))

+    {

+      return (0);

+    }

+

+    /* 20 bits for the fractional part */

+    /* xfract should be in 12.20 format */

+    xfract = (X & 0x000FFFFF);

+

+    /* Read two nearest output values from the index */

+    x1 = pYData[(rI) + nCols * (cI)];

+    x2 = pYData[(rI) + nCols * (cI) + 1u];

+

+

+    /* 20 bits for the fractional part */

+    /* yfract should be in 12.20 format */

+    yfract = (Y & 0x000FFFFF);

+

+    /* Read two nearest output values from the index */

+    y1 = pYData[(rI) + nCols * (cI + 1)];

+    y2 = pYData[(rI) + nCols * (cI + 1) + 1u];

+

+    /* Calculation of x1 * (1-xfract ) * (1-yfract) and acc is in 16.47 format */

+    out = ((x1 * (0xFFFFF - xfract)));

+    acc = (((q63_t) out * (0xFFFFF - yfract)));

+

+    /* x2 * (xfract) * (1-yfract)  in 2.22 and adding to acc */

+    out = ((x2 * (0xFFFFF - yfract)));

+    acc += (((q63_t) out * (xfract)));

+

+    /* y1 * (1 - xfract) * (yfract)  in 2.22 and adding to acc */

+    out = ((y1 * (0xFFFFF - xfract)));

+    acc += (((q63_t) out * (yfract)));

+

+    /* y2 * (xfract) * (yfract)  in 2.22 and adding to acc */

+    out = ((y2 * (yfract)));

+    acc += (((q63_t) out * (xfract)));

+

+    /* acc in 16.47 format and down shift by 40 to convert to 1.7 format */

+    return (acc >> 40);

+

+  }

+

+  /**

+   * @} end of BilinearInterpolate group

+   */

+

+

+

+

+

+

+#ifdef	__cplusplus

+}

+#endif

+

+

+#endif /* _ARM_MATH_H */

+

+

+/**

+ *

+ * End of file.

+ */

diff --git a/apps/mathlib/CMSIS/Include/core_cm3.h b/apps/mathlib/CMSIS/Include/core_cm3.h
new file mode 100644
index 000000000..733d6be53
--- /dev/null
+++ b/apps/mathlib/CMSIS/Include/core_cm3.h
@@ -0,0 +1,1612 @@
+/**************************************************************************//**

+ * @file     core_cm3.h

+ * @brief    CMSIS Cortex-M3 Core Peripheral Access Layer Header File

+ * @version  V3.01

+ * @date     22. March 2012

+ *

+ * @note

+ * Copyright (C) 2009-2012 ARM Limited. All rights reserved.

+ *

+ * @par

+ * ARM Limited (ARM) is supplying this software for use with Cortex-M

+ * processor based microcontrollers.  This file can be freely distributed

+ * within development tools that are supporting such ARM based processors.

+ *

+ * @par

+ * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED

+ * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF

+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.

+ * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR

+ * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.

+ *

+ ******************************************************************************/

+#if defined ( __ICCARM__ )

+ #pragma system_include  /* treat file as system include file for MISRA check */

+#endif

+

+#ifdef __cplusplus

+ extern "C" {

+#endif

+

+#ifndef __CORE_CM3_H_GENERIC

+#define __CORE_CM3_H_GENERIC

+

+/** \page CMSIS_MISRA_Exceptions  MISRA-C:2004 Compliance Exceptions

+  CMSIS violates the following MISRA-C:2004 rules:

+

+   \li Required Rule 8.5, object/function definition in header file.<br>

+     Function definitions in header files are used to allow 'inlining'.

+

+   \li Required Rule 18.4, declaration of union type or object of union type: '{...}'.<br>

+     Unions are used for effective representation of core registers.

+

+   \li Advisory Rule 19.7, Function-like macro defined.<br>

+     Function-like macros are used to allow more efficient code.

+ */

+

+

+/*******************************************************************************

+ *                 CMSIS definitions

+ ******************************************************************************/

+/** \ingroup Cortex_M3

+  @{

+ */

+

+/*  CMSIS CM3 definitions */

+#define __CM3_CMSIS_VERSION_MAIN  (0x03)                                   /*!< [31:16] CMSIS HAL main version   */

+#define __CM3_CMSIS_VERSION_SUB   (0x01)                                   /*!< [15:0]  CMSIS HAL sub version    */

+#define __CM3_CMSIS_VERSION       ((__CM3_CMSIS_VERSION_MAIN << 16) | \

+                                    __CM3_CMSIS_VERSION_SUB          )     /*!< CMSIS HAL version number         */

+

+#define __CORTEX_M                (0x03)                                   /*!< Cortex-M Core                    */

+

+

+#if   defined ( __CC_ARM )

+  #define __ASM            __asm                                      /*!< asm keyword for ARM Compiler          */

+  #define __INLINE         __inline                                   /*!< inline keyword for ARM Compiler       */

+  #define __STATIC_INLINE  static __inline

+

+#elif defined ( __ICCARM__ )

+  #define __ASM            __asm                                      /*!< asm keyword for IAR Compiler          */

+  #define __INLINE         inline                                     /*!< inline keyword for IAR Compiler. Only available in High optimization mode! */

+  #define __STATIC_INLINE  static inline

+

+#elif defined ( __TMS470__ )

+  #define __ASM            __asm                                      /*!< asm keyword for TI CCS Compiler       */

+  #define __STATIC_INLINE  static inline

+

+#elif defined ( __GNUC__ )

+  #define __ASM            __asm                                      /*!< asm keyword for GNU Compiler          */

+  #define __INLINE         inline                                     /*!< inline keyword for GNU Compiler       */

+  #define __STATIC_INLINE  static inline

+

+#elif defined ( __TASKING__ )

+  #define __ASM            __asm                                      /*!< asm keyword for TASKING Compiler      */

+  #define __INLINE         inline                                     /*!< inline keyword for TASKING Compiler   */

+  #define __STATIC_INLINE  static inline

+

+#endif

+

+/** __FPU_USED indicates whether an FPU is used or not. This core does not support an FPU at all

+*/

+#define __FPU_USED       0

+

+#if defined ( __CC_ARM )

+  #if defined __TARGET_FPU_VFP

+    #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"

+  #endif

+

+#elif defined ( __ICCARM__ )

+  #if defined __ARMVFP__

+    #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"

+  #endif

+

+#elif defined ( __TMS470__ )

+  #if defined __TI__VFP_SUPPORT____

+    #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"

+  #endif

+

+#elif defined ( __GNUC__ )

+  #if defined (__VFP_FP__) && !defined(__SOFTFP__)

+    #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"

+  #endif

+

+#elif defined ( __TASKING__ )

+  #if defined __FPU_VFP__

+    #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"

+  #endif

+#endif

+

+#include <stdint.h>                      /* standard types definitions                      */

+#include "core_cmInstr.h"                /* Core Instruction Access                         */

+#include "core_cmFunc.h"                 /* Core Function Access                            */

+

+#endif /* __CORE_CM3_H_GENERIC */

+

+#ifndef __CMSIS_GENERIC

+

+#ifndef __CORE_CM3_H_DEPENDANT

+#define __CORE_CM3_H_DEPENDANT

+

+/* check device defines and use defaults */

+#if defined __CHECK_DEVICE_DEFINES

+  #ifndef __CM3_REV

+    #define __CM3_REV               0x0200

+    #warning "__CM3_REV not defined in device header file; using default!"

+  #endif

+

+  #ifndef __MPU_PRESENT

+    #define __MPU_PRESENT             0

+    #warning "__MPU_PRESENT not defined in device header file; using default!"

+  #endif

+

+  #ifndef __NVIC_PRIO_BITS

+    #define __NVIC_PRIO_BITS          4

+    #warning "__NVIC_PRIO_BITS not defined in device header file; using default!"

+  #endif

+

+  #ifndef __Vendor_SysTickConfig

+    #define __Vendor_SysTickConfig    0

+    #warning "__Vendor_SysTickConfig not defined in device header file; using default!"

+  #endif

+#endif

+

+/* IO definitions (access restrictions to peripheral registers) */

+/**

+    \defgroup CMSIS_glob_defs CMSIS Global Defines

+

+    <strong>IO Type Qualifiers</strong> are used

+    \li to specify the access to peripheral variables.

+    \li for automatic generation of peripheral register debug information.

+*/

+#ifdef __cplusplus

+  #define   __I     volatile             /*!< Defines 'read only' permissions                 */

+#else

+  #define   __I     volatile const       /*!< Defines 'read only' permissions                 */

+#endif

+#define     __O     volatile             /*!< Defines 'write only' permissions                */

+#define     __IO    volatile             /*!< Defines 'read / write' permissions              */

+

+/*@} end of group Cortex_M3 */

+

+

+

+/*******************************************************************************

+ *                 Register Abstraction

+  Core Register contain:

+  - Core Register

+  - Core NVIC Register

+  - Core SCB Register

+  - Core SysTick Register

+  - Core Debug Register

+  - Core MPU Register

+ ******************************************************************************/

+/** \defgroup CMSIS_core_register Defines and Type Definitions

+    \brief Type definitions and defines for Cortex-M processor based devices.

+*/

+

+/** \ingroup    CMSIS_core_register

+    \defgroup   CMSIS_CORE  Status and Control Registers

+    \brief  Core Register type definitions.

+  @{

+ */

+

+/** \brief  Union type to access the Application Program Status Register (APSR).

+ */

+typedef union

+{

+  struct

+  {

+#if (__CORTEX_M != 0x04)

+    uint32_t _reserved0:27;              /*!< bit:  0..26  Reserved                           */

+#else

+    uint32_t _reserved0:16;              /*!< bit:  0..15  Reserved                           */

+    uint32_t GE:4;                       /*!< bit: 16..19  Greater than or Equal flags        */

+    uint32_t _reserved1:7;               /*!< bit: 20..26  Reserved                           */

+#endif

+    uint32_t Q:1;                        /*!< bit:     27  Saturation condition flag          */

+    uint32_t V:1;                        /*!< bit:     28  Overflow condition code flag       */

+    uint32_t C:1;                        /*!< bit:     29  Carry condition code flag          */

+    uint32_t Z:1;                        /*!< bit:     30  Zero condition code flag           */

+    uint32_t N:1;                        /*!< bit:     31  Negative condition code flag       */

+  } b;                                   /*!< Structure used for bit  access                  */

+  uint32_t w;                            /*!< Type      used for word access                  */

+} APSR_Type;

+

+

+/** \brief  Union type to access the Interrupt Program Status Register (IPSR).

+ */

+typedef union

+{

+  struct

+  {

+    uint32_t ISR:9;                      /*!< bit:  0.. 8  Exception number                   */

+    uint32_t _reserved0:23;              /*!< bit:  9..31  Reserved                           */

+  } b;                                   /*!< Structure used for bit  access                  */

+  uint32_t w;                            /*!< Type      used for word access                  */

+} IPSR_Type;

+

+

+/** \brief  Union type to access the Special-Purpose Program Status Registers (xPSR).

+ */

+typedef union

+{

+  struct

+  {

+    uint32_t ISR:9;                      /*!< bit:  0.. 8  Exception number                   */

+#if (__CORTEX_M != 0x04)

+    uint32_t _reserved0:15;              /*!< bit:  9..23  Reserved                           */

+#else

+    uint32_t _reserved0:7;               /*!< bit:  9..15  Reserved                           */

+    uint32_t GE:4;                       /*!< bit: 16..19  Greater than or Equal flags        */

+    uint32_t _reserved1:4;               /*!< bit: 20..23  Reserved                           */

+#endif

+    uint32_t T:1;                        /*!< bit:     24  Thumb bit        (read 0)          */

+    uint32_t IT:2;                       /*!< bit: 25..26  saved IT state   (read 0)          */

+    uint32_t Q:1;                        /*!< bit:     27  Saturation condition flag          */

+    uint32_t V:1;                        /*!< bit:     28  Overflow condition code flag       */

+    uint32_t C:1;                        /*!< bit:     29  Carry condition code flag          */

+    uint32_t Z:1;                        /*!< bit:     30  Zero condition code flag           */

+    uint32_t N:1;                        /*!< bit:     31  Negative condition code flag       */

+  } b;                                   /*!< Structure used for bit  access                  */

+  uint32_t w;                            /*!< Type      used for word access                  */

+} xPSR_Type;

+

+

+/** \brief  Union type to access the Control Registers (CONTROL).

+ */

+typedef union

+{

+  struct

+  {

+    uint32_t nPRIV:1;                    /*!< bit:      0  Execution privilege in Thread mode */

+    uint32_t SPSEL:1;                    /*!< bit:      1  Stack to be used                   */

+    uint32_t FPCA:1;                     /*!< bit:      2  FP extension active flag           */

+    uint32_t _reserved0:29;              /*!< bit:  3..31  Reserved                           */

+  } b;                                   /*!< Structure used for bit  access                  */

+  uint32_t w;                            /*!< Type      used for word access                  */

+} CONTROL_Type;

+

+/*@} end of group CMSIS_CORE */

+

+

+/** \ingroup    CMSIS_core_register

+    \defgroup   CMSIS_NVIC  Nested Vectored Interrupt Controller (NVIC)

+    \brief      Type definitions for the NVIC Registers

+  @{

+ */

+

+/** \brief  Structure type to access the Nested Vectored Interrupt Controller (NVIC).

+ */

+typedef struct

+{

+  __IO uint32_t ISER[8];                 /*!< Offset: 0x000 (R/W)  Interrupt Set Enable Register           */

+       uint32_t RESERVED0[24];

+  __IO uint32_t ICER[8];                 /*!< Offset: 0x080 (R/W)  Interrupt Clear Enable Register         */

+       uint32_t RSERVED1[24];

+  __IO uint32_t ISPR[8];                 /*!< Offset: 0x100 (R/W)  Interrupt Set Pending Register          */

+       uint32_t RESERVED2[24];

+  __IO uint32_t ICPR[8];                 /*!< Offset: 0x180 (R/W)  Interrupt Clear Pending Register        */

+       uint32_t RESERVED3[24];

+  __IO uint32_t IABR[8];                 /*!< Offset: 0x200 (R/W)  Interrupt Active bit Register           */

+       uint32_t RESERVED4[56];

+  __IO uint8_t  IP[240];                 /*!< Offset: 0x300 (R/W)  Interrupt Priority Register (8Bit wide) */

+       uint32_t RESERVED5[644];

+  __O  uint32_t STIR;                    /*!< Offset: 0xE00 ( /W)  Software Trigger Interrupt Register     */

+}  NVIC_Type;

+

+/* Software Triggered Interrupt Register Definitions */

+#define NVIC_STIR_INTID_Pos                 0                                          /*!< STIR: INTLINESNUM Position */

+#define NVIC_STIR_INTID_Msk                (0x1FFUL << NVIC_STIR_INTID_Pos)            /*!< STIR: INTLINESNUM Mask */

+

+/*@} end of group CMSIS_NVIC */

+

+

+/** \ingroup  CMSIS_core_register

+    \defgroup CMSIS_SCB     System Control Block (SCB)

+    \brief      Type definitions for the System Control Block Registers

+  @{

+ */

+

+/** \brief  Structure type to access the System Control Block (SCB).

+ */

+typedef struct

+{

+  __I  uint32_t CPUID;                   /*!< Offset: 0x000 (R/ )  CPUID Base Register                                   */

+  __IO uint32_t ICSR;                    /*!< Offset: 0x004 (R/W)  Interrupt Control and State Register                  */

+  __IO uint32_t VTOR;                    /*!< Offset: 0x008 (R/W)  Vector Table Offset Register                          */

+  __IO uint32_t AIRCR;                   /*!< Offset: 0x00C (R/W)  Application Interrupt and Reset Control Register      */

+  __IO uint32_t SCR;                     /*!< Offset: 0x010 (R/W)  System Control Register                               */

+  __IO uint32_t CCR;                     /*!< Offset: 0x014 (R/W)  Configuration Control Register                        */

+  __IO uint8_t  SHP[12];                 /*!< Offset: 0x018 (R/W)  System Handlers Priority Registers (4-7, 8-11, 12-15) */

+  __IO uint32_t SHCSR;                   /*!< Offset: 0x024 (R/W)  System Handler Control and State Register             */

+  __IO uint32_t CFSR;                    /*!< Offset: 0x028 (R/W)  Configurable Fault Status Register                    */

+  __IO uint32_t HFSR;                    /*!< Offset: 0x02C (R/W)  HardFault Status Register                             */

+  __IO uint32_t DFSR;                    /*!< Offset: 0x030 (R/W)  Debug Fault Status Register                           */

+  __IO uint32_t MMFAR;                   /*!< Offset: 0x034 (R/W)  MemManage Fault Address Register                      */

+  __IO uint32_t BFAR;                    /*!< Offset: 0x038 (R/W)  BusFault Address Register                             */

+  __IO uint32_t AFSR;                    /*!< Offset: 0x03C (R/W)  Auxiliary Fault Status Register                       */

+  __I  uint32_t PFR[2];                  /*!< Offset: 0x040 (R/ )  Processor Feature Register                            */

+  __I  uint32_t DFR;                     /*!< Offset: 0x048 (R/ )  Debug Feature Register                                */

+  __I  uint32_t ADR;                     /*!< Offset: 0x04C (R/ )  Auxiliary Feature Register                            */

+  __I  uint32_t MMFR[4];                 /*!< Offset: 0x050 (R/ )  Memory Model Feature Register                         */

+  __I  uint32_t ISAR[5];                 /*!< Offset: 0x060 (R/ )  Instruction Set Attributes Register                   */

+       uint32_t RESERVED0[5];

+  __IO uint32_t CPACR;                   /*!< Offset: 0x088 (R/W)  Coprocessor Access Control Register                   */

+} SCB_Type;

+

+/* SCB CPUID Register Definitions */

+#define SCB_CPUID_IMPLEMENTER_Pos          24                                             /*!< SCB CPUID: IMPLEMENTER Position */

+#define SCB_CPUID_IMPLEMENTER_Msk          (0xFFUL << SCB_CPUID_IMPLEMENTER_Pos)          /*!< SCB CPUID: IMPLEMENTER Mask */

+

+#define SCB_CPUID_VARIANT_Pos              20                                             /*!< SCB CPUID: VARIANT Position */

+#define SCB_CPUID_VARIANT_Msk              (0xFUL << SCB_CPUID_VARIANT_Pos)               /*!< SCB CPUID: VARIANT Mask */

+

+#define SCB_CPUID_ARCHITECTURE_Pos         16                                             /*!< SCB CPUID: ARCHITECTURE Position */

+#define SCB_CPUID_ARCHITECTURE_Msk         (0xFUL << SCB_CPUID_ARCHITECTURE_Pos)          /*!< SCB CPUID: ARCHITECTURE Mask */

+

+#define SCB_CPUID_PARTNO_Pos                4                                             /*!< SCB CPUID: PARTNO Position */

+#define SCB_CPUID_PARTNO_Msk               (0xFFFUL << SCB_CPUID_PARTNO_Pos)              /*!< SCB CPUID: PARTNO Mask */

+

+#define SCB_CPUID_REVISION_Pos              0                                             /*!< SCB CPUID: REVISION Position */

+#define SCB_CPUID_REVISION_Msk             (0xFUL << SCB_CPUID_REVISION_Pos)              /*!< SCB CPUID: REVISION Mask */

+

+/* SCB Interrupt Control State Register Definitions */

+#define SCB_ICSR_NMIPENDSET_Pos            31                                             /*!< SCB ICSR: NMIPENDSET Position */

+#define SCB_ICSR_NMIPENDSET_Msk            (1UL << SCB_ICSR_NMIPENDSET_Pos)               /*!< SCB ICSR: NMIPENDSET Mask */

+

+#define SCB_ICSR_PENDSVSET_Pos             28                                             /*!< SCB ICSR: PENDSVSET Position */

+#define SCB_ICSR_PENDSVSET_Msk             (1UL << SCB_ICSR_PENDSVSET_Pos)                /*!< SCB ICSR: PENDSVSET Mask */

+

+#define SCB_ICSR_PENDSVCLR_Pos             27                                             /*!< SCB ICSR: PENDSVCLR Position */

+#define SCB_ICSR_PENDSVCLR_Msk             (1UL << SCB_ICSR_PENDSVCLR_Pos)                /*!< SCB ICSR: PENDSVCLR Mask */

+

+#define SCB_ICSR_PENDSTSET_Pos             26                                             /*!< SCB ICSR: PENDSTSET Position */

+#define SCB_ICSR_PENDSTSET_Msk             (1UL << SCB_ICSR_PENDSTSET_Pos)                /*!< SCB ICSR: PENDSTSET Mask */

+

+#define SCB_ICSR_PENDSTCLR_Pos             25                                             /*!< SCB ICSR: PENDSTCLR Position */

+#define SCB_ICSR_PENDSTCLR_Msk             (1UL << SCB_ICSR_PENDSTCLR_Pos)                /*!< SCB ICSR: PENDSTCLR Mask */

+

+#define SCB_ICSR_ISRPREEMPT_Pos            23                                             /*!< SCB ICSR: ISRPREEMPT Position */

+#define SCB_ICSR_ISRPREEMPT_Msk            (1UL << SCB_ICSR_ISRPREEMPT_Pos)               /*!< SCB ICSR: ISRPREEMPT Mask */

+

+#define SCB_ICSR_ISRPENDING_Pos            22                                             /*!< SCB ICSR: ISRPENDING Position */

+#define SCB_ICSR_ISRPENDING_Msk            (1UL << SCB_ICSR_ISRPENDING_Pos)               /*!< SCB ICSR: ISRPENDING Mask */

+

+#define SCB_ICSR_VECTPENDING_Pos           12                                             /*!< SCB ICSR: VECTPENDING Position */

+#define SCB_ICSR_VECTPENDING_Msk           (0x1FFUL << SCB_ICSR_VECTPENDING_Pos)          /*!< SCB ICSR: VECTPENDING Mask */

+

+#define SCB_ICSR_RETTOBASE_Pos             11                                             /*!< SCB ICSR: RETTOBASE Position */

+#define SCB_ICSR_RETTOBASE_Msk             (1UL << SCB_ICSR_RETTOBASE_Pos)                /*!< SCB ICSR: RETTOBASE Mask */

+

+#define SCB_ICSR_VECTACTIVE_Pos             0                                             /*!< SCB ICSR: VECTACTIVE Position */

+#define SCB_ICSR_VECTACTIVE_Msk            (0x1FFUL << SCB_ICSR_VECTACTIVE_Pos)           /*!< SCB ICSR: VECTACTIVE Mask */

+

+/* SCB Vector Table Offset Register Definitions */

+#if (__CM3_REV < 0x0201)                   /* core r2p1 */

+#define SCB_VTOR_TBLBASE_Pos               29                                             /*!< SCB VTOR: TBLBASE Position */

+#define SCB_VTOR_TBLBASE_Msk               (1UL << SCB_VTOR_TBLBASE_Pos)                  /*!< SCB VTOR: TBLBASE Mask */

+

+#define SCB_VTOR_TBLOFF_Pos                 7                                             /*!< SCB VTOR: TBLOFF Position */

+#define SCB_VTOR_TBLOFF_Msk                (0x3FFFFFUL << SCB_VTOR_TBLOFF_Pos)            /*!< SCB VTOR: TBLOFF Mask */

+#else

+#define SCB_VTOR_TBLOFF_Pos                 7                                             /*!< SCB VTOR: TBLOFF Position */

+#define SCB_VTOR_TBLOFF_Msk                (0x1FFFFFFUL << SCB_VTOR_TBLOFF_Pos)           /*!< SCB VTOR: TBLOFF Mask */

+#endif

+

+/* SCB Application Interrupt and Reset Control Register Definitions */

+#define SCB_AIRCR_VECTKEY_Pos              16                                             /*!< SCB AIRCR: VECTKEY Position */

+#define SCB_AIRCR_VECTKEY_Msk              (0xFFFFUL << SCB_AIRCR_VECTKEY_Pos)            /*!< SCB AIRCR: VECTKEY Mask */

+

+#define SCB_AIRCR_VECTKEYSTAT_Pos          16                                             /*!< SCB AIRCR: VECTKEYSTAT Position */

+#define SCB_AIRCR_VECTKEYSTAT_Msk          (0xFFFFUL << SCB_AIRCR_VECTKEYSTAT_Pos)        /*!< SCB AIRCR: VECTKEYSTAT Mask */

+

+#define SCB_AIRCR_ENDIANESS_Pos            15                                             /*!< SCB AIRCR: ENDIANESS Position */

+#define SCB_AIRCR_ENDIANESS_Msk            (1UL << SCB_AIRCR_ENDIANESS_Pos)               /*!< SCB AIRCR: ENDIANESS Mask */

+

+#define SCB_AIRCR_PRIGROUP_Pos              8                                             /*!< SCB AIRCR: PRIGROUP Position */

+#define SCB_AIRCR_PRIGROUP_Msk             (7UL << SCB_AIRCR_PRIGROUP_Pos)                /*!< SCB AIRCR: PRIGROUP Mask */

+

+#define SCB_AIRCR_SYSRESETREQ_Pos           2                                             /*!< SCB AIRCR: SYSRESETREQ Position */

+#define SCB_AIRCR_SYSRESETREQ_Msk          (1UL << SCB_AIRCR_SYSRESETREQ_Pos)             /*!< SCB AIRCR: SYSRESETREQ Mask */

+

+#define SCB_AIRCR_VECTCLRACTIVE_Pos         1                                             /*!< SCB AIRCR: VECTCLRACTIVE Position */

+#define SCB_AIRCR_VECTCLRACTIVE_Msk        (1UL << SCB_AIRCR_VECTCLRACTIVE_Pos)           /*!< SCB AIRCR: VECTCLRACTIVE Mask */

+

+#define SCB_AIRCR_VECTRESET_Pos             0                                             /*!< SCB AIRCR: VECTRESET Position */

+#define SCB_AIRCR_VECTRESET_Msk            (1UL << SCB_AIRCR_VECTRESET_Pos)               /*!< SCB AIRCR: VECTRESET Mask */

+

+/* SCB System Control Register Definitions */

+#define SCB_SCR_SEVONPEND_Pos               4                                             /*!< SCB SCR: SEVONPEND Position */

+#define SCB_SCR_SEVONPEND_Msk              (1UL << SCB_SCR_SEVONPEND_Pos)                 /*!< SCB SCR: SEVONPEND Mask */

+

+#define SCB_SCR_SLEEPDEEP_Pos               2                                             /*!< SCB SCR: SLEEPDEEP Position */

+#define SCB_SCR_SLEEPDEEP_Msk              (1UL << SCB_SCR_SLEEPDEEP_Pos)                 /*!< SCB SCR: SLEEPDEEP Mask */

+

+#define SCB_SCR_SLEEPONEXIT_Pos             1                                             /*!< SCB SCR: SLEEPONEXIT Position */

+#define SCB_SCR_SLEEPONEXIT_Msk            (1UL << SCB_SCR_SLEEPONEXIT_Pos)               /*!< SCB SCR: SLEEPONEXIT Mask */

+

+/* SCB Configuration Control Register Definitions */

+#define SCB_CCR_STKALIGN_Pos                9                                             /*!< SCB CCR: STKALIGN Position */

+#define SCB_CCR_STKALIGN_Msk               (1UL << SCB_CCR_STKALIGN_Pos)                  /*!< SCB CCR: STKALIGN Mask */

+

+#define SCB_CCR_BFHFNMIGN_Pos               8                                             /*!< SCB CCR: BFHFNMIGN Position */

+#define SCB_CCR_BFHFNMIGN_Msk              (1UL << SCB_CCR_BFHFNMIGN_Pos)                 /*!< SCB CCR: BFHFNMIGN Mask */

+

+#define SCB_CCR_DIV_0_TRP_Pos               4                                             /*!< SCB CCR: DIV_0_TRP Position */

+#define SCB_CCR_DIV_0_TRP_Msk              (1UL << SCB_CCR_DIV_0_TRP_Pos)                 /*!< SCB CCR: DIV_0_TRP Mask */

+

+#define SCB_CCR_UNALIGN_TRP_Pos             3                                             /*!< SCB CCR: UNALIGN_TRP Position */

+#define SCB_CCR_UNALIGN_TRP_Msk            (1UL << SCB_CCR_UNALIGN_TRP_Pos)               /*!< SCB CCR: UNALIGN_TRP Mask */

+

+#define SCB_CCR_USERSETMPEND_Pos            1                                             /*!< SCB CCR: USERSETMPEND Position */

+#define SCB_CCR_USERSETMPEND_Msk           (1UL << SCB_CCR_USERSETMPEND_Pos)              /*!< SCB CCR: USERSETMPEND Mask */

+

+#define SCB_CCR_NONBASETHRDENA_Pos          0                                             /*!< SCB CCR: NONBASETHRDENA Position */

+#define SCB_CCR_NONBASETHRDENA_Msk         (1UL << SCB_CCR_NONBASETHRDENA_Pos)            /*!< SCB CCR: NONBASETHRDENA Mask */

+

+/* SCB System Handler Control and State Register Definitions */

+#define SCB_SHCSR_USGFAULTENA_Pos          18                                             /*!< SCB SHCSR: USGFAULTENA Position */

+#define SCB_SHCSR_USGFAULTENA_Msk          (1UL << SCB_SHCSR_USGFAULTENA_Pos)             /*!< SCB SHCSR: USGFAULTENA Mask */

+

+#define SCB_SHCSR_BUSFAULTENA_Pos          17                                             /*!< SCB SHCSR: BUSFAULTENA Position */

+#define SCB_SHCSR_BUSFAULTENA_Msk          (1UL << SCB_SHCSR_BUSFAULTENA_Pos)             /*!< SCB SHCSR: BUSFAULTENA Mask */

+

+#define SCB_SHCSR_MEMFAULTENA_Pos          16                                             /*!< SCB SHCSR: MEMFAULTENA Position */

+#define SCB_SHCSR_MEMFAULTENA_Msk          (1UL << SCB_SHCSR_MEMFAULTENA_Pos)             /*!< SCB SHCSR: MEMFAULTENA Mask */

+

+#define SCB_SHCSR_SVCALLPENDED_Pos         15                                             /*!< SCB SHCSR: SVCALLPENDED Position */

+#define SCB_SHCSR_SVCALLPENDED_Msk         (1UL << SCB_SHCSR_SVCALLPENDED_Pos)            /*!< SCB SHCSR: SVCALLPENDED Mask */

+

+#define SCB_SHCSR_BUSFAULTPENDED_Pos       14                                             /*!< SCB SHCSR: BUSFAULTPENDED Position */

+#define SCB_SHCSR_BUSFAULTPENDED_Msk       (1UL << SCB_SHCSR_BUSFAULTPENDED_Pos)          /*!< SCB SHCSR: BUSFAULTPENDED Mask */

+

+#define SCB_SHCSR_MEMFAULTPENDED_Pos       13                                             /*!< SCB SHCSR: MEMFAULTPENDED Position */

+#define SCB_SHCSR_MEMFAULTPENDED_Msk       (1UL << SCB_SHCSR_MEMFAULTPENDED_Pos)          /*!< SCB SHCSR: MEMFAULTPENDED Mask */

+

+#define SCB_SHCSR_USGFAULTPENDED_Pos       12                                             /*!< SCB SHCSR: USGFAULTPENDED Position */

+#define SCB_SHCSR_USGFAULTPENDED_Msk       (1UL << SCB_SHCSR_USGFAULTPENDED_Pos)          /*!< SCB SHCSR: USGFAULTPENDED Mask */

+

+#define SCB_SHCSR_SYSTICKACT_Pos           11                                             /*!< SCB SHCSR: SYSTICKACT Position */

+#define SCB_SHCSR_SYSTICKACT_Msk           (1UL << SCB_SHCSR_SYSTICKACT_Pos)              /*!< SCB SHCSR: SYSTICKACT Mask */

+

+#define SCB_SHCSR_PENDSVACT_Pos            10                                             /*!< SCB SHCSR: PENDSVACT Position */

+#define SCB_SHCSR_PENDSVACT_Msk            (1UL << SCB_SHCSR_PENDSVACT_Pos)               /*!< SCB SHCSR: PENDSVACT Mask */

+

+#define SCB_SHCSR_MONITORACT_Pos            8                                             /*!< SCB SHCSR: MONITORACT Position */

+#define SCB_SHCSR_MONITORACT_Msk           (1UL << SCB_SHCSR_MONITORACT_Pos)              /*!< SCB SHCSR: MONITORACT Mask */

+

+#define SCB_SHCSR_SVCALLACT_Pos             7                                             /*!< SCB SHCSR: SVCALLACT Position */

+#define SCB_SHCSR_SVCALLACT_Msk            (1UL << SCB_SHCSR_SVCALLACT_Pos)               /*!< SCB SHCSR: SVCALLACT Mask */

+

+#define SCB_SHCSR_USGFAULTACT_Pos           3                                             /*!< SCB SHCSR: USGFAULTACT Position */

+#define SCB_SHCSR_USGFAULTACT_Msk          (1UL << SCB_SHCSR_USGFAULTACT_Pos)             /*!< SCB SHCSR: USGFAULTACT Mask */

+

+#define SCB_SHCSR_BUSFAULTACT_Pos           1                                             /*!< SCB SHCSR: BUSFAULTACT Position */

+#define SCB_SHCSR_BUSFAULTACT_Msk          (1UL << SCB_SHCSR_BUSFAULTACT_Pos)             /*!< SCB SHCSR: BUSFAULTACT Mask */

+

+#define SCB_SHCSR_MEMFAULTACT_Pos           0                                             /*!< SCB SHCSR: MEMFAULTACT Position */

+#define SCB_SHCSR_MEMFAULTACT_Msk          (1UL << SCB_SHCSR_MEMFAULTACT_Pos)             /*!< SCB SHCSR: MEMFAULTACT Mask */

+

+/* SCB Configurable Fault Status Registers Definitions */

+#define SCB_CFSR_USGFAULTSR_Pos            16                                             /*!< SCB CFSR: Usage Fault Status Register Position */

+#define SCB_CFSR_USGFAULTSR_Msk            (0xFFFFUL << SCB_CFSR_USGFAULTSR_Pos)          /*!< SCB CFSR: Usage Fault Status Register Mask */

+

+#define SCB_CFSR_BUSFAULTSR_Pos             8                                             /*!< SCB CFSR: Bus Fault Status Register Position */

+#define SCB_CFSR_BUSFAULTSR_Msk            (0xFFUL << SCB_CFSR_BUSFAULTSR_Pos)            /*!< SCB CFSR: Bus Fault Status Register Mask */

+

+#define SCB_CFSR_MEMFAULTSR_Pos             0                                             /*!< SCB CFSR: Memory Manage Fault Status Register Position */

+#define SCB_CFSR_MEMFAULTSR_Msk            (0xFFUL << SCB_CFSR_MEMFAULTSR_Pos)            /*!< SCB CFSR: Memory Manage Fault Status Register Mask */

+

+/* SCB Hard Fault Status Registers Definitions */

+#define SCB_HFSR_DEBUGEVT_Pos              31                                             /*!< SCB HFSR: DEBUGEVT Position */

+#define SCB_HFSR_DEBUGEVT_Msk              (1UL << SCB_HFSR_DEBUGEVT_Pos)                 /*!< SCB HFSR: DEBUGEVT Mask */

+

+#define SCB_HFSR_FORCED_Pos                30                                             /*!< SCB HFSR: FORCED Position */

+#define SCB_HFSR_FORCED_Msk                (1UL << SCB_HFSR_FORCED_Pos)                   /*!< SCB HFSR: FORCED Mask */

+

+#define SCB_HFSR_VECTTBL_Pos                1                                             /*!< SCB HFSR: VECTTBL Position */

+#define SCB_HFSR_VECTTBL_Msk               (1UL << SCB_HFSR_VECTTBL_Pos)                  /*!< SCB HFSR: VECTTBL Mask */

+

+/* SCB Debug Fault Status Register Definitions */

+#define SCB_DFSR_EXTERNAL_Pos               4                                             /*!< SCB DFSR: EXTERNAL Position */

+#define SCB_DFSR_EXTERNAL_Msk              (1UL << SCB_DFSR_EXTERNAL_Pos)                 /*!< SCB DFSR: EXTERNAL Mask */

+

+#define SCB_DFSR_VCATCH_Pos                 3                                             /*!< SCB DFSR: VCATCH Position */

+#define SCB_DFSR_VCATCH_Msk                (1UL << SCB_DFSR_VCATCH_Pos)                   /*!< SCB DFSR: VCATCH Mask */

+

+#define SCB_DFSR_DWTTRAP_Pos                2                                             /*!< SCB DFSR: DWTTRAP Position */

+#define SCB_DFSR_DWTTRAP_Msk               (1UL << SCB_DFSR_DWTTRAP_Pos)                  /*!< SCB DFSR: DWTTRAP Mask */

+

+#define SCB_DFSR_BKPT_Pos                   1                                             /*!< SCB DFSR: BKPT Position */

+#define SCB_DFSR_BKPT_Msk                  (1UL << SCB_DFSR_BKPT_Pos)                     /*!< SCB DFSR: BKPT Mask */

+

+#define SCB_DFSR_HALTED_Pos                 0                                             /*!< SCB DFSR: HALTED Position */

+#define SCB_DFSR_HALTED_Msk                (1UL << SCB_DFSR_HALTED_Pos)                   /*!< SCB DFSR: HALTED Mask */

+

+/*@} end of group CMSIS_SCB */

+

+

+/** \ingroup  CMSIS_core_register

+    \defgroup CMSIS_SCnSCB System Controls not in SCB (SCnSCB)

+    \brief      Type definitions for the System Control and ID Register not in the SCB

+  @{

+ */

+

+/** \brief  Structure type to access the System Control and ID Register not in the SCB.

+ */

+typedef struct

+{

+       uint32_t RESERVED0[1];

+  __I  uint32_t ICTR;                    /*!< Offset: 0x004 (R/ )  Interrupt Controller Type Register      */

+#if ((defined __CM3_REV) && (__CM3_REV >= 0x200))

+  __IO uint32_t ACTLR;                   /*!< Offset: 0x008 (R/W)  Auxiliary Control Register      */

+#else

+       uint32_t RESERVED1[1];

+#endif

+} SCnSCB_Type;

+

+/* Interrupt Controller Type Register Definitions */

+#define SCnSCB_ICTR_INTLINESNUM_Pos         0                                          /*!< ICTR: INTLINESNUM Position */

+#define SCnSCB_ICTR_INTLINESNUM_Msk        (0xFUL << SCnSCB_ICTR_INTLINESNUM_Pos)      /*!< ICTR: INTLINESNUM Mask */

+

+/* Auxiliary Control Register Definitions */

+

+#define SCnSCB_ACTLR_DISFOLD_Pos            2                                          /*!< ACTLR: DISFOLD Position */

+#define SCnSCB_ACTLR_DISFOLD_Msk           (1UL << SCnSCB_ACTLR_DISFOLD_Pos)           /*!< ACTLR: DISFOLD Mask */

+

+#define SCnSCB_ACTLR_DISDEFWBUF_Pos         1                                          /*!< ACTLR: DISDEFWBUF Position */

+#define SCnSCB_ACTLR_DISDEFWBUF_Msk        (1UL << SCnSCB_ACTLR_DISDEFWBUF_Pos)        /*!< ACTLR: DISDEFWBUF Mask */

+

+#define SCnSCB_ACTLR_DISMCYCINT_Pos         0                                          /*!< ACTLR: DISMCYCINT Position */

+#define SCnSCB_ACTLR_DISMCYCINT_Msk        (1UL << SCnSCB_ACTLR_DISMCYCINT_Pos)        /*!< ACTLR: DISMCYCINT Mask */

+

+/*@} end of group CMSIS_SCnotSCB */

+

+

+/** \ingroup  CMSIS_core_register

+    \defgroup CMSIS_SysTick     System Tick Timer (SysTick)

+    \brief      Type definitions for the System Timer Registers.

+  @{

+ */

+

+/** \brief  Structure type to access the System Timer (SysTick).

+ */

+typedef struct

+{

+  __IO uint32_t CTRL;                    /*!< Offset: 0x000 (R/W)  SysTick Control and Status Register */

+  __IO uint32_t LOAD;                    /*!< Offset: 0x004 (R/W)  SysTick Reload Value Register       */

+  __IO uint32_t VAL;                     /*!< Offset: 0x008 (R/W)  SysTick Current Value Register      */

+  __I  uint32_t CALIB;                   /*!< Offset: 0x00C (R/ )  SysTick Calibration Register        */

+} SysTick_Type;

+

+/* SysTick Control / Status Register Definitions */

+#define SysTick_CTRL_COUNTFLAG_Pos         16                                             /*!< SysTick CTRL: COUNTFLAG Position */

+#define SysTick_CTRL_COUNTFLAG_Msk         (1UL << SysTick_CTRL_COUNTFLAG_Pos)            /*!< SysTick CTRL: COUNTFLAG Mask */

+

+#define SysTick_CTRL_CLKSOURCE_Pos          2                                             /*!< SysTick CTRL: CLKSOURCE Position */

+#define SysTick_CTRL_CLKSOURCE_Msk         (1UL << SysTick_CTRL_CLKSOURCE_Pos)            /*!< SysTick CTRL: CLKSOURCE Mask */

+

+#define SysTick_CTRL_TICKINT_Pos            1                                             /*!< SysTick CTRL: TICKINT Position */

+#define SysTick_CTRL_TICKINT_Msk           (1UL << SysTick_CTRL_TICKINT_Pos)              /*!< SysTick CTRL: TICKINT Mask */

+

+#define SysTick_CTRL_ENABLE_Pos             0                                             /*!< SysTick CTRL: ENABLE Position */

+#define SysTick_CTRL_ENABLE_Msk            (1UL << SysTick_CTRL_ENABLE_Pos)               /*!< SysTick CTRL: ENABLE Mask */

+

+/* SysTick Reload Register Definitions */

+#define SysTick_LOAD_RELOAD_Pos             0                                             /*!< SysTick LOAD: RELOAD Position */

+#define SysTick_LOAD_RELOAD_Msk            (0xFFFFFFUL << SysTick_LOAD_RELOAD_Pos)        /*!< SysTick LOAD: RELOAD Mask */

+

+/* SysTick Current Register Definitions */

+#define SysTick_VAL_CURRENT_Pos             0                                             /*!< SysTick VAL: CURRENT Position */

+#define SysTick_VAL_CURRENT_Msk            (0xFFFFFFUL << SysTick_VAL_CURRENT_Pos)        /*!< SysTick VAL: CURRENT Mask */

+

+/* SysTick Calibration Register Definitions */

+#define SysTick_CALIB_NOREF_Pos            31                                             /*!< SysTick CALIB: NOREF Position */

+#define SysTick_CALIB_NOREF_Msk            (1UL << SysTick_CALIB_NOREF_Pos)               /*!< SysTick CALIB: NOREF Mask */

+

+#define SysTick_CALIB_SKEW_Pos             30                                             /*!< SysTick CALIB: SKEW Position */

+#define SysTick_CALIB_SKEW_Msk             (1UL << SysTick_CALIB_SKEW_Pos)                /*!< SysTick CALIB: SKEW Mask */

+

+#define SysTick_CALIB_TENMS_Pos             0                                             /*!< SysTick CALIB: TENMS Position */

+#define SysTick_CALIB_TENMS_Msk            (0xFFFFFFUL << SysTick_VAL_CURRENT_Pos)        /*!< SysTick CALIB: TENMS Mask */

+

+/*@} end of group CMSIS_SysTick */

+

+

+/** \ingroup  CMSIS_core_register

+    \defgroup CMSIS_ITM     Instrumentation Trace Macrocell (ITM)

+    \brief      Type definitions for the Instrumentation Trace Macrocell (ITM)

+  @{

+ */

+

+/** \brief  Structure type to access the Instrumentation Trace Macrocell Register (ITM).

+ */

+typedef struct

+{

+  __O  union

+  {

+    __O  uint8_t    u8;                  /*!< Offset: 0x000 ( /W)  ITM Stimulus Port 8-bit                   */

+    __O  uint16_t   u16;                 /*!< Offset: 0x000 ( /W)  ITM Stimulus Port 16-bit                  */

+    __O  uint32_t   u32;                 /*!< Offset: 0x000 ( /W)  ITM Stimulus Port 32-bit                  */

+  }  PORT [32];                          /*!< Offset: 0x000 ( /W)  ITM Stimulus Port Registers               */

+       uint32_t RESERVED0[864];

+  __IO uint32_t TER;                     /*!< Offset: 0xE00 (R/W)  ITM Trace Enable Register                 */

+       uint32_t RESERVED1[15];

+  __IO uint32_t TPR;                     /*!< Offset: 0xE40 (R/W)  ITM Trace Privilege Register              */

+       uint32_t RESERVED2[15];

+  __IO uint32_t TCR;                     /*!< Offset: 0xE80 (R/W)  ITM Trace Control Register                */

+       uint32_t RESERVED3[29];                                  

+  __O  uint32_t IWR;                     /*!< Offset: 0xEF8 ( /W)  ITM Integration Write Register            */

+  __I  uint32_t IRR;                     /*!< Offset: 0xEFC (R/ )  ITM Integration Read Register             */

+  __IO uint32_t IMCR;                    /*!< Offset: 0xF00 (R/W)  ITM Integration Mode Control Register     */

+       uint32_t RESERVED4[43];                                  

+  __O  uint32_t LAR;                     /*!< Offset: 0xFB0 ( /W)  ITM Lock Access Register                  */

+  __I  uint32_t LSR;                     /*!< Offset: 0xFB4 (R/ )  ITM Lock Status Register                  */

+       uint32_t RESERVED5[6];                                   

+  __I  uint32_t PID4;                    /*!< Offset: 0xFD0 (R/ )  ITM Peripheral Identification Register #4 */

+  __I  uint32_t PID5;                    /*!< Offset: 0xFD4 (R/ )  ITM Peripheral Identification Register #5 */

+  __I  uint32_t PID6;                    /*!< Offset: 0xFD8 (R/ )  ITM Peripheral Identification Register #6 */

+  __I  uint32_t PID7;                    /*!< Offset: 0xFDC (R/ )  ITM Peripheral Identification Register #7 */

+  __I  uint32_t PID0;                    /*!< Offset: 0xFE0 (R/ )  ITM Peripheral Identification Register #0 */

+  __I  uint32_t PID1;                    /*!< Offset: 0xFE4 (R/ )  ITM Peripheral Identification Register #1 */

+  __I  uint32_t PID2;                    /*!< Offset: 0xFE8 (R/ )  ITM Peripheral Identification Register #2 */

+  __I  uint32_t PID3;                    /*!< Offset: 0xFEC (R/ )  ITM Peripheral Identification Register #3 */

+  __I  uint32_t CID0;                    /*!< Offset: 0xFF0 (R/ )  ITM Component  Identification Register #0 */

+  __I  uint32_t CID1;                    /*!< Offset: 0xFF4 (R/ )  ITM Component  Identification Register #1 */

+  __I  uint32_t CID2;                    /*!< Offset: 0xFF8 (R/ )  ITM Component  Identification Register #2 */

+  __I  uint32_t CID3;                    /*!< Offset: 0xFFC (R/ )  ITM Component  Identification Register #3 */

+} ITM_Type;

+

+/* ITM Trace Privilege Register Definitions */

+#define ITM_TPR_PRIVMASK_Pos                0                                             /*!< ITM TPR: PRIVMASK Position */

+#define ITM_TPR_PRIVMASK_Msk               (0xFUL << ITM_TPR_PRIVMASK_Pos)                /*!< ITM TPR: PRIVMASK Mask */

+

+/* ITM Trace Control Register Definitions */

+#define ITM_TCR_BUSY_Pos                   23                                             /*!< ITM TCR: BUSY Position */

+#define ITM_TCR_BUSY_Msk                   (1UL << ITM_TCR_BUSY_Pos)                      /*!< ITM TCR: BUSY Mask */

+

+#define ITM_TCR_TraceBusID_Pos             16                                             /*!< ITM TCR: ATBID Position */

+#define ITM_TCR_TraceBusID_Msk             (0x7FUL << ITM_TCR_TraceBusID_Pos)             /*!< ITM TCR: ATBID Mask */

+

+#define ITM_TCR_GTSFREQ_Pos                10                                             /*!< ITM TCR: Global timestamp frequency Position */

+#define ITM_TCR_GTSFREQ_Msk                (3UL << ITM_TCR_GTSFREQ_Pos)                   /*!< ITM TCR: Global timestamp frequency Mask */

+

+#define ITM_TCR_TSPrescale_Pos              8                                             /*!< ITM TCR: TSPrescale Position */

+#define ITM_TCR_TSPrescale_Msk             (3UL << ITM_TCR_TSPrescale_Pos)                /*!< ITM TCR: TSPrescale Mask */

+

+#define ITM_TCR_SWOENA_Pos                  4                                             /*!< ITM TCR: SWOENA Position */

+#define ITM_TCR_SWOENA_Msk                 (1UL << ITM_TCR_SWOENA_Pos)                    /*!< ITM TCR: SWOENA Mask */

+

+#define ITM_TCR_DWTENA_Pos                  3                                             /*!< ITM TCR: DWTENA Position */

+#define ITM_TCR_DWTENA_Msk                 (1UL << ITM_TCR_DWTENA_Pos)                    /*!< ITM TCR: DWTENA Mask */

+

+#define ITM_TCR_SYNCENA_Pos                 2                                             /*!< ITM TCR: SYNCENA Position */

+#define ITM_TCR_SYNCENA_Msk                (1UL << ITM_TCR_SYNCENA_Pos)                   /*!< ITM TCR: SYNCENA Mask */

+

+#define ITM_TCR_TSENA_Pos                   1                                             /*!< ITM TCR: TSENA Position */

+#define ITM_TCR_TSENA_Msk                  (1UL << ITM_TCR_TSENA_Pos)                     /*!< ITM TCR: TSENA Mask */

+

+#define ITM_TCR_ITMENA_Pos                  0                                             /*!< ITM TCR: ITM Enable bit Position */

+#define ITM_TCR_ITMENA_Msk                 (1UL << ITM_TCR_ITMENA_Pos)                    /*!< ITM TCR: ITM Enable bit Mask */

+

+/* ITM Integration Write Register Definitions */

+#define ITM_IWR_ATVALIDM_Pos                0                                             /*!< ITM IWR: ATVALIDM Position */

+#define ITM_IWR_ATVALIDM_Msk               (1UL << ITM_IWR_ATVALIDM_Pos)                  /*!< ITM IWR: ATVALIDM Mask */

+

+/* ITM Integration Read Register Definitions */

+#define ITM_IRR_ATREADYM_Pos                0                                             /*!< ITM IRR: ATREADYM Position */

+#define ITM_IRR_ATREADYM_Msk               (1UL << ITM_IRR_ATREADYM_Pos)                  /*!< ITM IRR: ATREADYM Mask */

+

+/* ITM Integration Mode Control Register Definitions */

+#define ITM_IMCR_INTEGRATION_Pos            0                                             /*!< ITM IMCR: INTEGRATION Position */

+#define ITM_IMCR_INTEGRATION_Msk           (1UL << ITM_IMCR_INTEGRATION_Pos)              /*!< ITM IMCR: INTEGRATION Mask */

+

+/* ITM Lock Status Register Definitions */

+#define ITM_LSR_ByteAcc_Pos                 2                                             /*!< ITM LSR: ByteAcc Position */

+#define ITM_LSR_ByteAcc_Msk                (1UL << ITM_LSR_ByteAcc_Pos)                   /*!< ITM LSR: ByteAcc Mask */

+

+#define ITM_LSR_Access_Pos                  1                                             /*!< ITM LSR: Access Position */

+#define ITM_LSR_Access_Msk                 (1UL << ITM_LSR_Access_Pos)                    /*!< ITM LSR: Access Mask */

+

+#define ITM_LSR_Present_Pos                 0                                             /*!< ITM LSR: Present Position */

+#define ITM_LSR_Present_Msk                (1UL << ITM_LSR_Present_Pos)                   /*!< ITM LSR: Present Mask */

+

+/*@}*/ /* end of group CMSIS_ITM */

+

+

+/** \ingroup  CMSIS_core_register

+    \defgroup CMSIS_DWT     Data Watchpoint and Trace (DWT)

+    \brief      Type definitions for the Data Watchpoint and Trace (DWT)

+  @{

+ */

+

+/** \brief  Structure type to access the Data Watchpoint and Trace Register (DWT).

+ */

+typedef struct

+{

+  __IO uint32_t CTRL;                    /*!< Offset: 0x000 (R/W)  Control Register                          */

+  __IO uint32_t CYCCNT;                  /*!< Offset: 0x004 (R/W)  Cycle Count Register                      */

+  __IO uint32_t CPICNT;                  /*!< Offset: 0x008 (R/W)  CPI Count Register                        */

+  __IO uint32_t EXCCNT;                  /*!< Offset: 0x00C (R/W)  Exception Overhead Count Register         */

+  __IO uint32_t SLEEPCNT;                /*!< Offset: 0x010 (R/W)  Sleep Count Register                      */

+  __IO uint32_t LSUCNT;                  /*!< Offset: 0x014 (R/W)  LSU Count Register                        */

+  __IO uint32_t FOLDCNT;                 /*!< Offset: 0x018 (R/W)  Folded-instruction Count Register         */

+  __I  uint32_t PCSR;                    /*!< Offset: 0x01C (R/ )  Program Counter Sample Register           */

+  __IO uint32_t COMP0;                   /*!< Offset: 0x020 (R/W)  Comparator Register 0                     */

+  __IO uint32_t MASK0;                   /*!< Offset: 0x024 (R/W)  Mask Register 0                           */

+  __IO uint32_t FUNCTION0;               /*!< Offset: 0x028 (R/W)  Function Register 0                       */

+       uint32_t RESERVED0[1];

+  __IO uint32_t COMP1;                   /*!< Offset: 0x030 (R/W)  Comparator Register 1                     */

+  __IO uint32_t MASK1;                   /*!< Offset: 0x034 (R/W)  Mask Register 1                           */

+  __IO uint32_t FUNCTION1;               /*!< Offset: 0x038 (R/W)  Function Register 1                       */

+       uint32_t RESERVED1[1];

+  __IO uint32_t COMP2;                   /*!< Offset: 0x040 (R/W)  Comparator Register 2                     */

+  __IO uint32_t MASK2;                   /*!< Offset: 0x044 (R/W)  Mask Register 2                           */

+  __IO uint32_t FUNCTION2;               /*!< Offset: 0x048 (R/W)  Function Register 2                       */

+       uint32_t RESERVED2[1];

+  __IO uint32_t COMP3;                   /*!< Offset: 0x050 (R/W)  Comparator Register 3                     */

+  __IO uint32_t MASK3;                   /*!< Offset: 0x054 (R/W)  Mask Register 3                           */

+  __IO uint32_t FUNCTION3;               /*!< Offset: 0x058 (R/W)  Function Register 3                       */

+} DWT_Type;

+

+/* DWT Control Register Definitions */

+#define DWT_CTRL_NUMCOMP_Pos               28                                          /*!< DWT CTRL: NUMCOMP Position */

+#define DWT_CTRL_NUMCOMP_Msk               (0xFUL << DWT_CTRL_NUMCOMP_Pos)             /*!< DWT CTRL: NUMCOMP Mask */

+

+#define DWT_CTRL_NOTRCPKT_Pos              27                                          /*!< DWT CTRL: NOTRCPKT Position */

+#define DWT_CTRL_NOTRCPKT_Msk              (0x1UL << DWT_CTRL_NOTRCPKT_Pos)            /*!< DWT CTRL: NOTRCPKT Mask */

+

+#define DWT_CTRL_NOEXTTRIG_Pos             26                                          /*!< DWT CTRL: NOEXTTRIG Position */

+#define DWT_CTRL_NOEXTTRIG_Msk             (0x1UL << DWT_CTRL_NOEXTTRIG_Pos)           /*!< DWT CTRL: NOEXTTRIG Mask */

+

+#define DWT_CTRL_NOCYCCNT_Pos              25                                          /*!< DWT CTRL: NOCYCCNT Position */

+#define DWT_CTRL_NOCYCCNT_Msk              (0x1UL << DWT_CTRL_NOCYCCNT_Pos)            /*!< DWT CTRL: NOCYCCNT Mask */

+

+#define DWT_CTRL_NOPRFCNT_Pos              24                                          /*!< DWT CTRL: NOPRFCNT Position */

+#define DWT_CTRL_NOPRFCNT_Msk              (0x1UL << DWT_CTRL_NOPRFCNT_Pos)            /*!< DWT CTRL: NOPRFCNT Mask */

+

+#define DWT_CTRL_CYCEVTENA_Pos             22                                          /*!< DWT CTRL: CYCEVTENA Position */

+#define DWT_CTRL_CYCEVTENA_Msk             (0x1UL << DWT_CTRL_CYCEVTENA_Pos)           /*!< DWT CTRL: CYCEVTENA Mask */

+

+#define DWT_CTRL_FOLDEVTENA_Pos            21                                          /*!< DWT CTRL: FOLDEVTENA Position */

+#define DWT_CTRL_FOLDEVTENA_Msk            (0x1UL << DWT_CTRL_FOLDEVTENA_Pos)          /*!< DWT CTRL: FOLDEVTENA Mask */

+

+#define DWT_CTRL_LSUEVTENA_Pos             20                                          /*!< DWT CTRL: LSUEVTENA Position */

+#define DWT_CTRL_LSUEVTENA_Msk             (0x1UL << DWT_CTRL_LSUEVTENA_Pos)           /*!< DWT CTRL: LSUEVTENA Mask */

+

+#define DWT_CTRL_SLEEPEVTENA_Pos           19                                          /*!< DWT CTRL: SLEEPEVTENA Position */

+#define DWT_CTRL_SLEEPEVTENA_Msk           (0x1UL << DWT_CTRL_SLEEPEVTENA_Pos)         /*!< DWT CTRL: SLEEPEVTENA Mask */

+

+#define DWT_CTRL_EXCEVTENA_Pos             18                                          /*!< DWT CTRL: EXCEVTENA Position */

+#define DWT_CTRL_EXCEVTENA_Msk             (0x1UL << DWT_CTRL_EXCEVTENA_Pos)           /*!< DWT CTRL: EXCEVTENA Mask */

+

+#define DWT_CTRL_CPIEVTENA_Pos             17                                          /*!< DWT CTRL: CPIEVTENA Position */

+#define DWT_CTRL_CPIEVTENA_Msk             (0x1UL << DWT_CTRL_CPIEVTENA_Pos)           /*!< DWT CTRL: CPIEVTENA Mask */

+

+#define DWT_CTRL_EXCTRCENA_Pos             16                                          /*!< DWT CTRL: EXCTRCENA Position */

+#define DWT_CTRL_EXCTRCENA_Msk             (0x1UL << DWT_CTRL_EXCTRCENA_Pos)           /*!< DWT CTRL: EXCTRCENA Mask */

+

+#define DWT_CTRL_PCSAMPLENA_Pos            12                                          /*!< DWT CTRL: PCSAMPLENA Position */

+#define DWT_CTRL_PCSAMPLENA_Msk            (0x1UL << DWT_CTRL_PCSAMPLENA_Pos)          /*!< DWT CTRL: PCSAMPLENA Mask */

+

+#define DWT_CTRL_SYNCTAP_Pos               10                                          /*!< DWT CTRL: SYNCTAP Position */

+#define DWT_CTRL_SYNCTAP_Msk               (0x3UL << DWT_CTRL_SYNCTAP_Pos)             /*!< DWT CTRL: SYNCTAP Mask */

+

+#define DWT_CTRL_CYCTAP_Pos                 9                                          /*!< DWT CTRL: CYCTAP Position */

+#define DWT_CTRL_CYCTAP_Msk                (0x1UL << DWT_CTRL_CYCTAP_Pos)              /*!< DWT CTRL: CYCTAP Mask */

+

+#define DWT_CTRL_POSTINIT_Pos               5                                          /*!< DWT CTRL: POSTINIT Position */

+#define DWT_CTRL_POSTINIT_Msk              (0xFUL << DWT_CTRL_POSTINIT_Pos)            /*!< DWT CTRL: POSTINIT Mask */

+

+#define DWT_CTRL_POSTPRESET_Pos             1                                          /*!< DWT CTRL: POSTPRESET Position */

+#define DWT_CTRL_POSTPRESET_Msk            (0xFUL << DWT_CTRL_POSTPRESET_Pos)          /*!< DWT CTRL: POSTPRESET Mask */

+

+#define DWT_CTRL_CYCCNTENA_Pos              0                                          /*!< DWT CTRL: CYCCNTENA Position */

+#define DWT_CTRL_CYCCNTENA_Msk             (0x1UL << DWT_CTRL_CYCCNTENA_Pos)           /*!< DWT CTRL: CYCCNTENA Mask */

+

+/* DWT CPI Count Register Definitions */

+#define DWT_CPICNT_CPICNT_Pos               0                                          /*!< DWT CPICNT: CPICNT Position */

+#define DWT_CPICNT_CPICNT_Msk              (0xFFUL << DWT_CPICNT_CPICNT_Pos)           /*!< DWT CPICNT: CPICNT Mask */

+

+/* DWT Exception Overhead Count Register Definitions */

+#define DWT_EXCCNT_EXCCNT_Pos               0                                          /*!< DWT EXCCNT: EXCCNT Position */

+#define DWT_EXCCNT_EXCCNT_Msk              (0xFFUL << DWT_EXCCNT_EXCCNT_Pos)           /*!< DWT EXCCNT: EXCCNT Mask */

+

+/* DWT Sleep Count Register Definitions */

+#define DWT_SLEEPCNT_SLEEPCNT_Pos           0                                          /*!< DWT SLEEPCNT: SLEEPCNT Position */

+#define DWT_SLEEPCNT_SLEEPCNT_Msk          (0xFFUL << DWT_SLEEPCNT_SLEEPCNT_Pos)       /*!< DWT SLEEPCNT: SLEEPCNT Mask */

+

+/* DWT LSU Count Register Definitions */

+#define DWT_LSUCNT_LSUCNT_Pos               0                                          /*!< DWT LSUCNT: LSUCNT Position */

+#define DWT_LSUCNT_LSUCNT_Msk              (0xFFUL << DWT_LSUCNT_LSUCNT_Pos)           /*!< DWT LSUCNT: LSUCNT Mask */

+

+/* DWT Folded-instruction Count Register Definitions */

+#define DWT_FOLDCNT_FOLDCNT_Pos             0                                          /*!< DWT FOLDCNT: FOLDCNT Position */

+#define DWT_FOLDCNT_FOLDCNT_Msk            (0xFFUL << DWT_FOLDCNT_FOLDCNT_Pos)         /*!< DWT FOLDCNT: FOLDCNT Mask */

+

+/* DWT Comparator Mask Register Definitions */

+#define DWT_MASK_MASK_Pos                   0                                          /*!< DWT MASK: MASK Position */

+#define DWT_MASK_MASK_Msk                  (0x1FUL << DWT_MASK_MASK_Pos)               /*!< DWT MASK: MASK Mask */

+

+/* DWT Comparator Function Register Definitions */

+#define DWT_FUNCTION_MATCHED_Pos           24                                          /*!< DWT FUNCTION: MATCHED Position */

+#define DWT_FUNCTION_MATCHED_Msk           (0x1UL << DWT_FUNCTION_MATCHED_Pos)         /*!< DWT FUNCTION: MATCHED Mask */

+

+#define DWT_FUNCTION_DATAVADDR1_Pos        16                                          /*!< DWT FUNCTION: DATAVADDR1 Position */

+#define DWT_FUNCTION_DATAVADDR1_Msk        (0xFUL << DWT_FUNCTION_DATAVADDR1_Pos)      /*!< DWT FUNCTION: DATAVADDR1 Mask */

+

+#define DWT_FUNCTION_DATAVADDR0_Pos        12                                          /*!< DWT FUNCTION: DATAVADDR0 Position */

+#define DWT_FUNCTION_DATAVADDR0_Msk        (0xFUL << DWT_FUNCTION_DATAVADDR0_Pos)      /*!< DWT FUNCTION: DATAVADDR0 Mask */

+

+#define DWT_FUNCTION_DATAVSIZE_Pos         10                                          /*!< DWT FUNCTION: DATAVSIZE Position */

+#define DWT_FUNCTION_DATAVSIZE_Msk         (0x3UL << DWT_FUNCTION_DATAVSIZE_Pos)       /*!< DWT FUNCTION: DATAVSIZE Mask */

+

+#define DWT_FUNCTION_LNK1ENA_Pos            9                                          /*!< DWT FUNCTION: LNK1ENA Position */

+#define DWT_FUNCTION_LNK1ENA_Msk           (0x1UL << DWT_FUNCTION_LNK1ENA_Pos)         /*!< DWT FUNCTION: LNK1ENA Mask */

+

+#define DWT_FUNCTION_DATAVMATCH_Pos         8                                          /*!< DWT FUNCTION: DATAVMATCH Position */

+#define DWT_FUNCTION_DATAVMATCH_Msk        (0x1UL << DWT_FUNCTION_DATAVMATCH_Pos)      /*!< DWT FUNCTION: DATAVMATCH Mask */

+

+#define DWT_FUNCTION_CYCMATCH_Pos           7                                          /*!< DWT FUNCTION: CYCMATCH Position */

+#define DWT_FUNCTION_CYCMATCH_Msk          (0x1UL << DWT_FUNCTION_CYCMATCH_Pos)        /*!< DWT FUNCTION: CYCMATCH Mask */

+

+#define DWT_FUNCTION_EMITRANGE_Pos          5                                          /*!< DWT FUNCTION: EMITRANGE Position */

+#define DWT_FUNCTION_EMITRANGE_Msk         (0x1UL << DWT_FUNCTION_EMITRANGE_Pos)       /*!< DWT FUNCTION: EMITRANGE Mask */

+

+#define DWT_FUNCTION_FUNCTION_Pos           0                                          /*!< DWT FUNCTION: FUNCTION Position */

+#define DWT_FUNCTION_FUNCTION_Msk          (0xFUL << DWT_FUNCTION_FUNCTION_Pos)        /*!< DWT FUNCTION: FUNCTION Mask */

+

+/*@}*/ /* end of group CMSIS_DWT */

+

+

+/** \ingroup  CMSIS_core_register

+    \defgroup CMSIS_TPI     Trace Port Interface (TPI)

+    \brief      Type definitions for the Trace Port Interface (TPI)

+  @{

+ */

+

+/** \brief  Structure type to access the Trace Port Interface Register (TPI).

+ */

+typedef struct

+{

+  __IO uint32_t SSPSR;                   /*!< Offset: 0x000 (R/ )  Supported Parallel Port Size Register     */

+  __IO uint32_t CSPSR;                   /*!< Offset: 0x004 (R/W)  Current Parallel Port Size Register */

+       uint32_t RESERVED0[2];

+  __IO uint32_t ACPR;                    /*!< Offset: 0x010 (R/W)  Asynchronous Clock Prescaler Register */

+       uint32_t RESERVED1[55];

+  __IO uint32_t SPPR;                    /*!< Offset: 0x0F0 (R/W)  Selected Pin Protocol Register */

+       uint32_t RESERVED2[131];

+  __I  uint32_t FFSR;                    /*!< Offset: 0x300 (R/ )  Formatter and Flush Status Register */

+  __IO uint32_t FFCR;                    /*!< Offset: 0x304 (R/W)  Formatter and Flush Control Register */

+  __I  uint32_t FSCR;                    /*!< Offset: 0x308 (R/ )  Formatter Synchronization Counter Register */

+       uint32_t RESERVED3[759];

+  __I  uint32_t TRIGGER;                 /*!< Offset: 0xEE8 (R/ )  TRIGGER */

+  __I  uint32_t FIFO0;                   /*!< Offset: 0xEEC (R/ )  Integration ETM Data */

+  __I  uint32_t ITATBCTR2;               /*!< Offset: 0xEF0 (R/ )  ITATBCTR2 */

+       uint32_t RESERVED4[1];

+  __I  uint32_t ITATBCTR0;               /*!< Offset: 0xEF8 (R/ )  ITATBCTR0 */

+  __I  uint32_t FIFO1;                   /*!< Offset: 0xEFC (R/ )  Integration ITM Data */

+  __IO uint32_t ITCTRL;                  /*!< Offset: 0xF00 (R/W)  Integration Mode Control */

+       uint32_t RESERVED5[39];

+  __IO uint32_t CLAIMSET;                /*!< Offset: 0xFA0 (R/W)  Claim tag set */

+  __IO uint32_t CLAIMCLR;                /*!< Offset: 0xFA4 (R/W)  Claim tag clear */

+       uint32_t RESERVED7[8];

+  __I  uint32_t DEVID;                   /*!< Offset: 0xFC8 (R/ )  TPIU_DEVID */

+  __I  uint32_t DEVTYPE;                 /*!< Offset: 0xFCC (R/ )  TPIU_DEVTYPE */

+} TPI_Type;

+

+/* TPI Asynchronous Clock Prescaler Register Definitions */

+#define TPI_ACPR_PRESCALER_Pos              0                                          /*!< TPI ACPR: PRESCALER Position */

+#define TPI_ACPR_PRESCALER_Msk             (0x1FFFUL << TPI_ACPR_PRESCALER_Pos)        /*!< TPI ACPR: PRESCALER Mask */

+

+/* TPI Selected Pin Protocol Register Definitions */

+#define TPI_SPPR_TXMODE_Pos                 0                                          /*!< TPI SPPR: TXMODE Position */

+#define TPI_SPPR_TXMODE_Msk                (0x3UL << TPI_SPPR_TXMODE_Pos)              /*!< TPI SPPR: TXMODE Mask */

+

+/* TPI Formatter and Flush Status Register Definitions */

+#define TPI_FFSR_FtNonStop_Pos              3                                          /*!< TPI FFSR: FtNonStop Position */

+#define TPI_FFSR_FtNonStop_Msk             (0x1UL << TPI_FFSR_FtNonStop_Pos)           /*!< TPI FFSR: FtNonStop Mask */

+

+#define TPI_FFSR_TCPresent_Pos              2                                          /*!< TPI FFSR: TCPresent Position */

+#define TPI_FFSR_TCPresent_Msk             (0x1UL << TPI_FFSR_TCPresent_Pos)           /*!< TPI FFSR: TCPresent Mask */

+

+#define TPI_FFSR_FtStopped_Pos              1                                          /*!< TPI FFSR: FtStopped Position */

+#define TPI_FFSR_FtStopped_Msk             (0x1UL << TPI_FFSR_FtStopped_Pos)           /*!< TPI FFSR: FtStopped Mask */

+

+#define TPI_FFSR_FlInProg_Pos               0                                          /*!< TPI FFSR: FlInProg Position */

+#define TPI_FFSR_FlInProg_Msk              (0x1UL << TPI_FFSR_FlInProg_Pos)            /*!< TPI FFSR: FlInProg Mask */

+

+/* TPI Formatter and Flush Control Register Definitions */

+#define TPI_FFCR_TrigIn_Pos                 8                                          /*!< TPI FFCR: TrigIn Position */

+#define TPI_FFCR_TrigIn_Msk                (0x1UL << TPI_FFCR_TrigIn_Pos)              /*!< TPI FFCR: TrigIn Mask */

+

+#define TPI_FFCR_EnFCont_Pos                1                                          /*!< TPI FFCR: EnFCont Position */

+#define TPI_FFCR_EnFCont_Msk               (0x1UL << TPI_FFCR_EnFCont_Pos)             /*!< TPI FFCR: EnFCont Mask */

+

+/* TPI TRIGGER Register Definitions */

+#define TPI_TRIGGER_TRIGGER_Pos             0                                          /*!< TPI TRIGGER: TRIGGER Position */

+#define TPI_TRIGGER_TRIGGER_Msk            (0x1UL << TPI_TRIGGER_TRIGGER_Pos)          /*!< TPI TRIGGER: TRIGGER Mask */

+

+/* TPI Integration ETM Data Register Definitions (FIFO0) */

+#define TPI_FIFO0_ITM_ATVALID_Pos          29                                          /*!< TPI FIFO0: ITM_ATVALID Position */

+#define TPI_FIFO0_ITM_ATVALID_Msk          (0x3UL << TPI_FIFO0_ITM_ATVALID_Pos)        /*!< TPI FIFO0: ITM_ATVALID Mask */

+

+#define TPI_FIFO0_ITM_bytecount_Pos        27                                          /*!< TPI FIFO0: ITM_bytecount Position */

+#define TPI_FIFO0_ITM_bytecount_Msk        (0x3UL << TPI_FIFO0_ITM_bytecount_Pos)      /*!< TPI FIFO0: ITM_bytecount Mask */

+

+#define TPI_FIFO0_ETM_ATVALID_Pos          26                                          /*!< TPI FIFO0: ETM_ATVALID Position */

+#define TPI_FIFO0_ETM_ATVALID_Msk          (0x3UL << TPI_FIFO0_ETM_ATVALID_Pos)        /*!< TPI FIFO0: ETM_ATVALID Mask */

+

+#define TPI_FIFO0_ETM_bytecount_Pos        24                                          /*!< TPI FIFO0: ETM_bytecount Position */

+#define TPI_FIFO0_ETM_bytecount_Msk        (0x3UL << TPI_FIFO0_ETM_bytecount_Pos)      /*!< TPI FIFO0: ETM_bytecount Mask */

+

+#define TPI_FIFO0_ETM2_Pos                 16                                          /*!< TPI FIFO0: ETM2 Position */

+#define TPI_FIFO0_ETM2_Msk                 (0xFFUL << TPI_FIFO0_ETM2_Pos)              /*!< TPI FIFO0: ETM2 Mask */

+

+#define TPI_FIFO0_ETM1_Pos                  8                                          /*!< TPI FIFO0: ETM1 Position */

+#define TPI_FIFO0_ETM1_Msk                 (0xFFUL << TPI_FIFO0_ETM1_Pos)              /*!< TPI FIFO0: ETM1 Mask */

+

+#define TPI_FIFO0_ETM0_Pos                  0                                          /*!< TPI FIFO0: ETM0 Position */

+#define TPI_FIFO0_ETM0_Msk                 (0xFFUL << TPI_FIFO0_ETM0_Pos)              /*!< TPI FIFO0: ETM0 Mask */

+

+/* TPI ITATBCTR2 Register Definitions */

+#define TPI_ITATBCTR2_ATREADY_Pos           0                                          /*!< TPI ITATBCTR2: ATREADY Position */

+#define TPI_ITATBCTR2_ATREADY_Msk          (0x1UL << TPI_ITATBCTR2_ATREADY_Pos)        /*!< TPI ITATBCTR2: ATREADY Mask */

+

+/* TPI Integration ITM Data Register Definitions (FIFO1) */

+#define TPI_FIFO1_ITM_ATVALID_Pos          29                                          /*!< TPI FIFO1: ITM_ATVALID Position */

+#define TPI_FIFO1_ITM_ATVALID_Msk          (0x3UL << TPI_FIFO1_ITM_ATVALID_Pos)        /*!< TPI FIFO1: ITM_ATVALID Mask */

+

+#define TPI_FIFO1_ITM_bytecount_Pos        27                                          /*!< TPI FIFO1: ITM_bytecount Position */

+#define TPI_FIFO1_ITM_bytecount_Msk        (0x3UL << TPI_FIFO1_ITM_bytecount_Pos)      /*!< TPI FIFO1: ITM_bytecount Mask */

+

+#define TPI_FIFO1_ETM_ATVALID_Pos          26                                          /*!< TPI FIFO1: ETM_ATVALID Position */

+#define TPI_FIFO1_ETM_ATVALID_Msk          (0x3UL << TPI_FIFO1_ETM_ATVALID_Pos)        /*!< TPI FIFO1: ETM_ATVALID Mask */

+

+#define TPI_FIFO1_ETM_bytecount_Pos        24                                          /*!< TPI FIFO1: ETM_bytecount Position */

+#define TPI_FIFO1_ETM_bytecount_Msk        (0x3UL << TPI_FIFO1_ETM_bytecount_Pos)      /*!< TPI FIFO1: ETM_bytecount Mask */

+

+#define TPI_FIFO1_ITM2_Pos                 16                                          /*!< TPI FIFO1: ITM2 Position */

+#define TPI_FIFO1_ITM2_Msk                 (0xFFUL << TPI_FIFO1_ITM2_Pos)              /*!< TPI FIFO1: ITM2 Mask */

+

+#define TPI_FIFO1_ITM1_Pos                  8                                          /*!< TPI FIFO1: ITM1 Position */

+#define TPI_FIFO1_ITM1_Msk                 (0xFFUL << TPI_FIFO1_ITM1_Pos)              /*!< TPI FIFO1: ITM1 Mask */

+

+#define TPI_FIFO1_ITM0_Pos                  0                                          /*!< TPI FIFO1: ITM0 Position */

+#define TPI_FIFO1_ITM0_Msk                 (0xFFUL << TPI_FIFO1_ITM0_Pos)              /*!< TPI FIFO1: ITM0 Mask */

+

+/* TPI ITATBCTR0 Register Definitions */

+#define TPI_ITATBCTR0_ATREADY_Pos           0                                          /*!< TPI ITATBCTR0: ATREADY Position */

+#define TPI_ITATBCTR0_ATREADY_Msk          (0x1UL << TPI_ITATBCTR0_ATREADY_Pos)        /*!< TPI ITATBCTR0: ATREADY Mask */

+

+/* TPI Integration Mode Control Register Definitions */

+#define TPI_ITCTRL_Mode_Pos                 0                                          /*!< TPI ITCTRL: Mode Position */

+#define TPI_ITCTRL_Mode_Msk                (0x1UL << TPI_ITCTRL_Mode_Pos)              /*!< TPI ITCTRL: Mode Mask */

+

+/* TPI DEVID Register Definitions */

+#define TPI_DEVID_NRZVALID_Pos             11                                          /*!< TPI DEVID: NRZVALID Position */

+#define TPI_DEVID_NRZVALID_Msk             (0x1UL << TPI_DEVID_NRZVALID_Pos)           /*!< TPI DEVID: NRZVALID Mask */

+

+#define TPI_DEVID_MANCVALID_Pos            10                                          /*!< TPI DEVID: MANCVALID Position */

+#define TPI_DEVID_MANCVALID_Msk            (0x1UL << TPI_DEVID_MANCVALID_Pos)          /*!< TPI DEVID: MANCVALID Mask */

+

+#define TPI_DEVID_PTINVALID_Pos             9                                          /*!< TPI DEVID: PTINVALID Position */

+#define TPI_DEVID_PTINVALID_Msk            (0x1UL << TPI_DEVID_PTINVALID_Pos)          /*!< TPI DEVID: PTINVALID Mask */

+

+#define TPI_DEVID_MinBufSz_Pos              6                                          /*!< TPI DEVID: MinBufSz Position */

+#define TPI_DEVID_MinBufSz_Msk             (0x7UL << TPI_DEVID_MinBufSz_Pos)           /*!< TPI DEVID: MinBufSz Mask */

+

+#define TPI_DEVID_AsynClkIn_Pos             5                                          /*!< TPI DEVID: AsynClkIn Position */

+#define TPI_DEVID_AsynClkIn_Msk            (0x1UL << TPI_DEVID_AsynClkIn_Pos)          /*!< TPI DEVID: AsynClkIn Mask */

+

+#define TPI_DEVID_NrTraceInput_Pos          0                                          /*!< TPI DEVID: NrTraceInput Position */

+#define TPI_DEVID_NrTraceInput_Msk         (0x1FUL << TPI_DEVID_NrTraceInput_Pos)      /*!< TPI DEVID: NrTraceInput Mask */

+

+/* TPI DEVTYPE Register Definitions */

+#define TPI_DEVTYPE_SubType_Pos             0                                          /*!< TPI DEVTYPE: SubType Position */

+#define TPI_DEVTYPE_SubType_Msk            (0xFUL << TPI_DEVTYPE_SubType_Pos)          /*!< TPI DEVTYPE: SubType Mask */

+

+#define TPI_DEVTYPE_MajorType_Pos           4                                          /*!< TPI DEVTYPE: MajorType Position */

+#define TPI_DEVTYPE_MajorType_Msk          (0xFUL << TPI_DEVTYPE_MajorType_Pos)        /*!< TPI DEVTYPE: MajorType Mask */

+

+/*@}*/ /* end of group CMSIS_TPI */

+

+

+#if (__MPU_PRESENT == 1)

+/** \ingroup  CMSIS_core_register

+    \defgroup CMSIS_MPU     Memory Protection Unit (MPU)

+    \brief      Type definitions for the Memory Protection Unit (MPU)

+  @{

+ */

+

+/** \brief  Structure type to access the Memory Protection Unit (MPU).

+ */

+typedef struct

+{

+  __I  uint32_t TYPE;                    /*!< Offset: 0x000 (R/ )  MPU Type Register                              */

+  __IO uint32_t CTRL;                    /*!< Offset: 0x004 (R/W)  MPU Control Register                           */

+  __IO uint32_t RNR;                     /*!< Offset: 0x008 (R/W)  MPU Region RNRber Register                     */

+  __IO uint32_t RBAR;                    /*!< Offset: 0x00C (R/W)  MPU Region Base Address Register               */

+  __IO uint32_t RASR;                    /*!< Offset: 0x010 (R/W)  MPU Region Attribute and Size Register         */

+  __IO uint32_t RBAR_A1;                 /*!< Offset: 0x014 (R/W)  MPU Alias 1 Region Base Address Register       */

+  __IO uint32_t RASR_A1;                 /*!< Offset: 0x018 (R/W)  MPU Alias 1 Region Attribute and Size Register */

+  __IO uint32_t RBAR_A2;                 /*!< Offset: 0x01C (R/W)  MPU Alias 2 Region Base Address Register       */

+  __IO uint32_t RASR_A2;                 /*!< Offset: 0x020 (R/W)  MPU Alias 2 Region Attribute and Size Register */

+  __IO uint32_t RBAR_A3;                 /*!< Offset: 0x024 (R/W)  MPU Alias 3 Region Base Address Register       */

+  __IO uint32_t RASR_A3;                 /*!< Offset: 0x028 (R/W)  MPU Alias 3 Region Attribute and Size Register */

+} MPU_Type;

+

+/* MPU Type Register */

+#define MPU_TYPE_IREGION_Pos               16                                             /*!< MPU TYPE: IREGION Position */

+#define MPU_TYPE_IREGION_Msk               (0xFFUL << MPU_TYPE_IREGION_Pos)               /*!< MPU TYPE: IREGION Mask */

+

+#define MPU_TYPE_DREGION_Pos                8                                             /*!< MPU TYPE: DREGION Position */

+#define MPU_TYPE_DREGION_Msk               (0xFFUL << MPU_TYPE_DREGION_Pos)               /*!< MPU TYPE: DREGION Mask */

+

+#define MPU_TYPE_SEPARATE_Pos               0                                             /*!< MPU TYPE: SEPARATE Position */

+#define MPU_TYPE_SEPARATE_Msk              (1UL << MPU_TYPE_SEPARATE_Pos)                 /*!< MPU TYPE: SEPARATE Mask */

+

+/* MPU Control Register */

+#define MPU_CTRL_PRIVDEFENA_Pos             2                                             /*!< MPU CTRL: PRIVDEFENA Position */

+#define MPU_CTRL_PRIVDEFENA_Msk            (1UL << MPU_CTRL_PRIVDEFENA_Pos)               /*!< MPU CTRL: PRIVDEFENA Mask */

+

+#define MPU_CTRL_HFNMIENA_Pos               1                                             /*!< MPU CTRL: HFNMIENA Position */

+#define MPU_CTRL_HFNMIENA_Msk              (1UL << MPU_CTRL_HFNMIENA_Pos)                 /*!< MPU CTRL: HFNMIENA Mask */

+

+#define MPU_CTRL_ENABLE_Pos                 0                                             /*!< MPU CTRL: ENABLE Position */

+#define MPU_CTRL_ENABLE_Msk                (1UL << MPU_CTRL_ENABLE_Pos)                   /*!< MPU CTRL: ENABLE Mask */

+

+/* MPU Region Number Register */

+#define MPU_RNR_REGION_Pos                  0                                             /*!< MPU RNR: REGION Position */

+#define MPU_RNR_REGION_Msk                 (0xFFUL << MPU_RNR_REGION_Pos)                 /*!< MPU RNR: REGION Mask */

+

+/* MPU Region Base Address Register */

+#define MPU_RBAR_ADDR_Pos                   5                                             /*!< MPU RBAR: ADDR Position */

+#define MPU_RBAR_ADDR_Msk                  (0x7FFFFFFUL << MPU_RBAR_ADDR_Pos)             /*!< MPU RBAR: ADDR Mask */

+

+#define MPU_RBAR_VALID_Pos                  4                                             /*!< MPU RBAR: VALID Position */

+#define MPU_RBAR_VALID_Msk                 (1UL << MPU_RBAR_VALID_Pos)                    /*!< MPU RBAR: VALID Mask */

+

+#define MPU_RBAR_REGION_Pos                 0                                             /*!< MPU RBAR: REGION Position */

+#define MPU_RBAR_REGION_Msk                (0xFUL << MPU_RBAR_REGION_Pos)                 /*!< MPU RBAR: REGION Mask */

+

+/* MPU Region Attribute and Size Register */

+#define MPU_RASR_ATTRS_Pos                 16                                             /*!< MPU RASR: MPU Region Attribute field Position */

+#define MPU_RASR_ATTRS_Msk                 (0xFFFFUL << MPU_RASR_ATTRS_Pos)               /*!< MPU RASR: MPU Region Attribute field Mask */

+

+#define MPU_RASR_XN_Pos                    28                                             /*!< MPU RASR: ATTRS.XN Position */

+#define MPU_RASR_XN_Msk                    (1UL << MPU_RASR_XN_Pos)                       /*!< MPU RASR: ATTRS.XN Mask */

+

+#define MPU_RASR_AP_Pos                    24                                             /*!< MPU RASR: ATTRS.AP Position */

+#define MPU_RASR_AP_Msk                    (0x7UL << MPU_RASR_AP_Pos)                     /*!< MPU RASR: ATTRS.AP Mask */

+

+#define MPU_RASR_TEX_Pos                   19                                             /*!< MPU RASR: ATTRS.TEX Position */

+#define MPU_RASR_TEX_Msk                   (0x7UL << MPU_RASR_TEX_Pos)                    /*!< MPU RASR: ATTRS.TEX Mask */

+

+#define MPU_RASR_S_Pos                     18                                             /*!< MPU RASR: ATTRS.S Position */

+#define MPU_RASR_S_Msk                     (1UL << MPU_RASR_S_Pos)                        /*!< MPU RASR: ATTRS.S Mask */

+

+#define MPU_RASR_C_Pos                     17                                             /*!< MPU RASR: ATTRS.C Position */

+#define MPU_RASR_C_Msk                     (1UL << MPU_RASR_C_Pos)                        /*!< MPU RASR: ATTRS.C Mask */

+

+#define MPU_RASR_B_Pos                     16                                             /*!< MPU RASR: ATTRS.B Position */

+#define MPU_RASR_B_Msk                     (1UL << MPU_RASR_B_Pos)                        /*!< MPU RASR: ATTRS.B Mask */

+

+#define MPU_RASR_SRD_Pos                    8                                             /*!< MPU RASR: Sub-Region Disable Position */

+#define MPU_RASR_SRD_Msk                   (0xFFUL << MPU_RASR_SRD_Pos)                   /*!< MPU RASR: Sub-Region Disable Mask */

+

+#define MPU_RASR_SIZE_Pos                   1                                             /*!< MPU RASR: Region Size Field Position */

+#define MPU_RASR_SIZE_Msk                  (0x1FUL << MPU_RASR_SIZE_Pos)                  /*!< MPU RASR: Region Size Field Mask */

+

+#define MPU_RASR_ENABLE_Pos                 0                                             /*!< MPU RASR: Region enable bit Position */

+#define MPU_RASR_ENABLE_Msk                (1UL << MPU_RASR_ENABLE_Pos)                   /*!< MPU RASR: Region enable bit Disable Mask */

+

+/*@} end of group CMSIS_MPU */

+#endif

+

+

+/** \ingroup  CMSIS_core_register

+    \defgroup CMSIS_CoreDebug       Core Debug Registers (CoreDebug)

+    \brief      Type definitions for the Core Debug Registers

+  @{

+ */

+

+/** \brief  Structure type to access the Core Debug Register (CoreDebug).

+ */

+typedef struct

+{

+  __IO uint32_t DHCSR;                   /*!< Offset: 0x000 (R/W)  Debug Halting Control and Status Register    */

+  __O  uint32_t DCRSR;                   /*!< Offset: 0x004 ( /W)  Debug Core Register Selector Register        */

+  __IO uint32_t DCRDR;                   /*!< Offset: 0x008 (R/W)  Debug Core Register Data Register            */

+  __IO uint32_t DEMCR;                   /*!< Offset: 0x00C (R/W)  Debug Exception and Monitor Control Register */

+} CoreDebug_Type;

+

+/* Debug Halting Control and Status Register */

+#define CoreDebug_DHCSR_DBGKEY_Pos         16                                             /*!< CoreDebug DHCSR: DBGKEY Position */

+#define CoreDebug_DHCSR_DBGKEY_Msk         (0xFFFFUL << CoreDebug_DHCSR_DBGKEY_Pos)       /*!< CoreDebug DHCSR: DBGKEY Mask */

+

+#define CoreDebug_DHCSR_S_RESET_ST_Pos     25                                             /*!< CoreDebug DHCSR: S_RESET_ST Position */

+#define CoreDebug_DHCSR_S_RESET_ST_Msk     (1UL << CoreDebug_DHCSR_S_RESET_ST_Pos)        /*!< CoreDebug DHCSR: S_RESET_ST Mask */

+

+#define CoreDebug_DHCSR_S_RETIRE_ST_Pos    24                                             /*!< CoreDebug DHCSR: S_RETIRE_ST Position */

+#define CoreDebug_DHCSR_S_RETIRE_ST_Msk    (1UL << CoreDebug_DHCSR_S_RETIRE_ST_Pos)       /*!< CoreDebug DHCSR: S_RETIRE_ST Mask */

+

+#define CoreDebug_DHCSR_S_LOCKUP_Pos       19                                             /*!< CoreDebug DHCSR: S_LOCKUP Position */

+#define CoreDebug_DHCSR_S_LOCKUP_Msk       (1UL << CoreDebug_DHCSR_S_LOCKUP_Pos)          /*!< CoreDebug DHCSR: S_LOCKUP Mask */

+

+#define CoreDebug_DHCSR_S_SLEEP_Pos        18                                             /*!< CoreDebug DHCSR: S_SLEEP Position */

+#define CoreDebug_DHCSR_S_SLEEP_Msk        (1UL << CoreDebug_DHCSR_S_SLEEP_Pos)           /*!< CoreDebug DHCSR: S_SLEEP Mask */

+

+#define CoreDebug_DHCSR_S_HALT_Pos         17                                             /*!< CoreDebug DHCSR: S_HALT Position */

+#define CoreDebug_DHCSR_S_HALT_Msk         (1UL << CoreDebug_DHCSR_S_HALT_Pos)            /*!< CoreDebug DHCSR: S_HALT Mask */

+

+#define CoreDebug_DHCSR_S_REGRDY_Pos       16                                             /*!< CoreDebug DHCSR: S_REGRDY Position */

+#define CoreDebug_DHCSR_S_REGRDY_Msk       (1UL << CoreDebug_DHCSR_S_REGRDY_Pos)          /*!< CoreDebug DHCSR: S_REGRDY Mask */

+

+#define CoreDebug_DHCSR_C_SNAPSTALL_Pos     5                                             /*!< CoreDebug DHCSR: C_SNAPSTALL Position */

+#define CoreDebug_DHCSR_C_SNAPSTALL_Msk    (1UL << CoreDebug_DHCSR_C_SNAPSTALL_Pos)       /*!< CoreDebug DHCSR: C_SNAPSTALL Mask */

+

+#define CoreDebug_DHCSR_C_MASKINTS_Pos      3                                             /*!< CoreDebug DHCSR: C_MASKINTS Position */

+#define CoreDebug_DHCSR_C_MASKINTS_Msk     (1UL << CoreDebug_DHCSR_C_MASKINTS_Pos)        /*!< CoreDebug DHCSR: C_MASKINTS Mask */

+

+#define CoreDebug_DHCSR_C_STEP_Pos          2                                             /*!< CoreDebug DHCSR: C_STEP Position */

+#define CoreDebug_DHCSR_C_STEP_Msk         (1UL << CoreDebug_DHCSR_C_STEP_Pos)            /*!< CoreDebug DHCSR: C_STEP Mask */

+

+#define CoreDebug_DHCSR_C_HALT_Pos          1                                             /*!< CoreDebug DHCSR: C_HALT Position */

+#define CoreDebug_DHCSR_C_HALT_Msk         (1UL << CoreDebug_DHCSR_C_HALT_Pos)            /*!< CoreDebug DHCSR: C_HALT Mask */

+

+#define CoreDebug_DHCSR_C_DEBUGEN_Pos       0                                             /*!< CoreDebug DHCSR: C_DEBUGEN Position */

+#define CoreDebug_DHCSR_C_DEBUGEN_Msk      (1UL << CoreDebug_DHCSR_C_DEBUGEN_Pos)         /*!< CoreDebug DHCSR: C_DEBUGEN Mask */

+

+/* Debug Core Register Selector Register */

+#define CoreDebug_DCRSR_REGWnR_Pos         16                                             /*!< CoreDebug DCRSR: REGWnR Position */

+#define CoreDebug_DCRSR_REGWnR_Msk         (1UL << CoreDebug_DCRSR_REGWnR_Pos)            /*!< CoreDebug DCRSR: REGWnR Mask */

+

+#define CoreDebug_DCRSR_REGSEL_Pos          0                                             /*!< CoreDebug DCRSR: REGSEL Position */

+#define CoreDebug_DCRSR_REGSEL_Msk         (0x1FUL << CoreDebug_DCRSR_REGSEL_Pos)         /*!< CoreDebug DCRSR: REGSEL Mask */

+

+/* Debug Exception and Monitor Control Register */

+#define CoreDebug_DEMCR_TRCENA_Pos         24                                             /*!< CoreDebug DEMCR: TRCENA Position */

+#define CoreDebug_DEMCR_TRCENA_Msk         (1UL << CoreDebug_DEMCR_TRCENA_Pos)            /*!< CoreDebug DEMCR: TRCENA Mask */

+

+#define CoreDebug_DEMCR_MON_REQ_Pos        19                                             /*!< CoreDebug DEMCR: MON_REQ Position */

+#define CoreDebug_DEMCR_MON_REQ_Msk        (1UL << CoreDebug_DEMCR_MON_REQ_Pos)           /*!< CoreDebug DEMCR: MON_REQ Mask */

+

+#define CoreDebug_DEMCR_MON_STEP_Pos       18                                             /*!< CoreDebug DEMCR: MON_STEP Position */

+#define CoreDebug_DEMCR_MON_STEP_Msk       (1UL << CoreDebug_DEMCR_MON_STEP_Pos)          /*!< CoreDebug DEMCR: MON_STEP Mask */

+

+#define CoreDebug_DEMCR_MON_PEND_Pos       17                                             /*!< CoreDebug DEMCR: MON_PEND Position */

+#define CoreDebug_DEMCR_MON_PEND_Msk       (1UL << CoreDebug_DEMCR_MON_PEND_Pos)          /*!< CoreDebug DEMCR: MON_PEND Mask */

+

+#define CoreDebug_DEMCR_MON_EN_Pos         16                                             /*!< CoreDebug DEMCR: MON_EN Position */

+#define CoreDebug_DEMCR_MON_EN_Msk         (1UL << CoreDebug_DEMCR_MON_EN_Pos)            /*!< CoreDebug DEMCR: MON_EN Mask */

+

+#define CoreDebug_DEMCR_VC_HARDERR_Pos     10                                             /*!< CoreDebug DEMCR: VC_HARDERR Position */

+#define CoreDebug_DEMCR_VC_HARDERR_Msk     (1UL << CoreDebug_DEMCR_VC_HARDERR_Pos)        /*!< CoreDebug DEMCR: VC_HARDERR Mask */

+

+#define CoreDebug_DEMCR_VC_INTERR_Pos       9                                             /*!< CoreDebug DEMCR: VC_INTERR Position */

+#define CoreDebug_DEMCR_VC_INTERR_Msk      (1UL << CoreDebug_DEMCR_VC_INTERR_Pos)         /*!< CoreDebug DEMCR: VC_INTERR Mask */

+

+#define CoreDebug_DEMCR_VC_BUSERR_Pos       8                                             /*!< CoreDebug DEMCR: VC_BUSERR Position */

+#define CoreDebug_DEMCR_VC_BUSERR_Msk      (1UL << CoreDebug_DEMCR_VC_BUSERR_Pos)         /*!< CoreDebug DEMCR: VC_BUSERR Mask */

+

+#define CoreDebug_DEMCR_VC_STATERR_Pos      7                                             /*!< CoreDebug DEMCR: VC_STATERR Position */

+#define CoreDebug_DEMCR_VC_STATERR_Msk     (1UL << CoreDebug_DEMCR_VC_STATERR_Pos)        /*!< CoreDebug DEMCR: VC_STATERR Mask */

+

+#define CoreDebug_DEMCR_VC_CHKERR_Pos       6                                             /*!< CoreDebug DEMCR: VC_CHKERR Position */

+#define CoreDebug_DEMCR_VC_CHKERR_Msk      (1UL << CoreDebug_DEMCR_VC_CHKERR_Pos)         /*!< CoreDebug DEMCR: VC_CHKERR Mask */

+

+#define CoreDebug_DEMCR_VC_NOCPERR_Pos      5                                             /*!< CoreDebug DEMCR: VC_NOCPERR Position */

+#define CoreDebug_DEMCR_VC_NOCPERR_Msk     (1UL << CoreDebug_DEMCR_VC_NOCPERR_Pos)        /*!< CoreDebug DEMCR: VC_NOCPERR Mask */

+

+#define CoreDebug_DEMCR_VC_MMERR_Pos        4                                             /*!< CoreDebug DEMCR: VC_MMERR Position */

+#define CoreDebug_DEMCR_VC_MMERR_Msk       (1UL << CoreDebug_DEMCR_VC_MMERR_Pos)          /*!< CoreDebug DEMCR: VC_MMERR Mask */

+

+#define CoreDebug_DEMCR_VC_CORERESET_Pos    0                                             /*!< CoreDebug DEMCR: VC_CORERESET Position */

+#define CoreDebug_DEMCR_VC_CORERESET_Msk   (1UL << CoreDebug_DEMCR_VC_CORERESET_Pos)      /*!< CoreDebug DEMCR: VC_CORERESET Mask */

+

+/*@} end of group CMSIS_CoreDebug */

+

+

+/** \ingroup    CMSIS_core_register

+    \defgroup   CMSIS_core_base     Core Definitions

+    \brief      Definitions for base addresses, unions, and structures.

+  @{

+ */

+

+/* Memory mapping of Cortex-M3 Hardware */

+#define SCS_BASE            (0xE000E000UL)                            /*!< System Control Space Base Address  */

+#define ITM_BASE            (0xE0000000UL)                            /*!< ITM Base Address                   */

+#define DWT_BASE            (0xE0001000UL)                            /*!< DWT Base Address                   */

+#define TPI_BASE            (0xE0040000UL)                            /*!< TPI Base Address                   */

+#define CoreDebug_BASE      (0xE000EDF0UL)                            /*!< Core Debug Base Address            */

+#define SysTick_BASE        (SCS_BASE +  0x0010UL)                    /*!< SysTick Base Address               */

+#define NVIC_BASE           (SCS_BASE +  0x0100UL)                    /*!< NVIC Base Address                  */

+#define SCB_BASE            (SCS_BASE +  0x0D00UL)                    /*!< System Control Block Base Address  */

+

+#define SCnSCB              ((SCnSCB_Type    *)     SCS_BASE      )   /*!< System control Register not in SCB */

+#define SCB                 ((SCB_Type       *)     SCB_BASE      )   /*!< SCB configuration struct           */

+#define SysTick             ((SysTick_Type   *)     SysTick_BASE  )   /*!< SysTick configuration struct       */

+#define NVIC                ((NVIC_Type      *)     NVIC_BASE     )   /*!< NVIC configuration struct          */

+#define ITM                 ((ITM_Type       *)     ITM_BASE      )   /*!< ITM configuration struct           */

+#define DWT                 ((DWT_Type       *)     DWT_BASE      )   /*!< DWT configuration struct           */

+#define TPI                 ((TPI_Type       *)     TPI_BASE      )   /*!< TPI configuration struct           */

+#define CoreDebug           ((CoreDebug_Type *)     CoreDebug_BASE)   /*!< Core Debug configuration struct    */

+

+#if (__MPU_PRESENT == 1)

+  #define MPU_BASE          (SCS_BASE +  0x0D90UL)                    /*!< Memory Protection Unit             */

+  #define MPU               ((MPU_Type       *)     MPU_BASE      )   /*!< Memory Protection Unit             */

+#endif

+

+/*@} */

+

+

+

+/*******************************************************************************

+ *                Hardware Abstraction Layer

+  Core Function Interface contains:

+  - Core NVIC Functions

+  - Core SysTick Functions

+  - Core Debug Functions

+  - Core Register Access Functions

+ ******************************************************************************/

+/** \defgroup CMSIS_Core_FunctionInterface Functions and Instructions Reference

+*/

+

+

+

+/* ##########################   NVIC functions  #################################### */

+/** \ingroup  CMSIS_Core_FunctionInterface

+    \defgroup CMSIS_Core_NVICFunctions NVIC Functions

+    \brief      Functions that manage interrupts and exceptions via the NVIC.

+    @{

+ */

+

+/** \brief  Set Priority Grouping

+

+  The function sets the priority grouping field using the required unlock sequence.

+  The parameter PriorityGroup is assigned to the field SCB->AIRCR [10:8] PRIGROUP field.

+  Only values from 0..7 are used.

+  In case of a conflict between priority grouping and available

+  priority bits (__NVIC_PRIO_BITS), the smallest possible priority group is set.

+

+    \param [in]      PriorityGroup  Priority grouping field.

+ */

+__STATIC_INLINE void NVIC_SetPriorityGrouping(uint32_t PriorityGroup)

+{

+  uint32_t reg_value;

+  uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07);               /* only values 0..7 are used          */

+

+  reg_value  =  SCB->AIRCR;                                                   /* read old register configuration    */

+  reg_value &= ~(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk);             /* clear bits to change               */

+  reg_value  =  (reg_value                                 |

+                ((uint32_t)0x5FA << SCB_AIRCR_VECTKEY_Pos) |

+                (PriorityGroupTmp << 8));                                     /* Insert write key and priorty group */

+  SCB->AIRCR =  reg_value;

+}

+

+

+/** \brief  Get Priority Grouping

+

+  The function reads the priority grouping field from the NVIC Interrupt Controller.

+

+    \return                Priority grouping field (SCB->AIRCR [10:8] PRIGROUP field).

+ */

+__STATIC_INLINE uint32_t NVIC_GetPriorityGrouping(void)

+{

+  return ((SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) >> SCB_AIRCR_PRIGROUP_Pos);   /* read priority grouping field */

+}

+

+

+/** \brief  Enable External Interrupt

+

+    The function enables a device-specific interrupt in the NVIC interrupt controller.

+

+    \param [in]      IRQn  External interrupt number. Value cannot be negative.

+ */

+__STATIC_INLINE void NVIC_EnableIRQ(IRQn_Type IRQn)

+{

+  NVIC->ISER[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* enable interrupt */

+}

+

+

+/** \brief  Disable External Interrupt

+

+    The function disables a device-specific interrupt in the NVIC interrupt controller.

+

+    \param [in]      IRQn  External interrupt number. Value cannot be negative.

+ */

+__STATIC_INLINE void NVIC_DisableIRQ(IRQn_Type IRQn)

+{

+  NVIC->ICER[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* disable interrupt */

+}

+

+

+/** \brief  Get Pending Interrupt

+

+    The function reads the pending register in the NVIC and returns the pending bit

+    for the specified interrupt.

+

+    \param [in]      IRQn  Interrupt number.

+

+    \return             0  Interrupt status is not pending.

+    \return             1  Interrupt status is pending.

+ */

+__STATIC_INLINE uint32_t NVIC_GetPendingIRQ(IRQn_Type IRQn)

+{

+  return((uint32_t) ((NVIC->ISPR[(uint32_t)(IRQn) >> 5] & (1 << ((uint32_t)(IRQn) & 0x1F)))?1:0)); /* Return 1 if pending else 0 */

+}

+

+

+/** \brief  Set Pending Interrupt

+

+    The function sets the pending bit of an external interrupt.

+

+    \param [in]      IRQn  Interrupt number. Value cannot be negative.

+ */

+__STATIC_INLINE void NVIC_SetPendingIRQ(IRQn_Type IRQn)

+{

+  NVIC->ISPR[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* set interrupt pending */

+}

+

+

+/** \brief  Clear Pending Interrupt

+

+    The function clears the pending bit of an external interrupt.

+

+    \param [in]      IRQn  External interrupt number. Value cannot be negative.

+ */

+__STATIC_INLINE void NVIC_ClearPendingIRQ(IRQn_Type IRQn)

+{

+  NVIC->ICPR[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* Clear pending interrupt */

+}

+

+

+/** \brief  Get Active Interrupt

+

+    The function reads the active register in NVIC and returns the active bit.

+

+    \param [in]      IRQn  Interrupt number.

+

+    \return             0  Interrupt status is not active.

+    \return             1  Interrupt status is active.

+ */

+__STATIC_INLINE uint32_t NVIC_GetActive(IRQn_Type IRQn)

+{

+  return((uint32_t)((NVIC->IABR[(uint32_t)(IRQn) >> 5] & (1 << ((uint32_t)(IRQn) & 0x1F)))?1:0)); /* Return 1 if active else 0 */

+}

+

+

+/** \brief  Set Interrupt Priority

+

+    The function sets the priority of an interrupt.

+

+    \note The priority cannot be set for every core interrupt.

+

+    \param [in]      IRQn  Interrupt number.

+    \param [in]  priority  Priority to set.

+ */

+__STATIC_INLINE void NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority)

+{

+  if(IRQn < 0) {

+    SCB->SHP[((uint32_t)(IRQn) & 0xF)-4] = ((priority << (8 - __NVIC_PRIO_BITS)) & 0xff); } /* set Priority for Cortex-M  System Interrupts */

+  else {

+    NVIC->IP[(uint32_t)(IRQn)] = ((priority << (8 - __NVIC_PRIO_BITS)) & 0xff);    }        /* set Priority for device specific Interrupts  */

+}

+

+

+/** \brief  Get Interrupt Priority

+

+    The function reads the priority of an interrupt. The interrupt

+    number can be positive to specify an external (device specific)

+    interrupt, or negative to specify an internal (core) interrupt.

+

+

+    \param [in]   IRQn  Interrupt number.

+    \return             Interrupt Priority. Value is aligned automatically to the implemented

+                        priority bits of the microcontroller.

+ */

+__STATIC_INLINE uint32_t NVIC_GetPriority(IRQn_Type IRQn)

+{

+

+  if(IRQn < 0) {

+    return((uint32_t)(SCB->SHP[((uint32_t)(IRQn) & 0xF)-4] >> (8 - __NVIC_PRIO_BITS)));  } /* get priority for Cortex-M  system interrupts */

+  else {

+    return((uint32_t)(NVIC->IP[(uint32_t)(IRQn)]           >> (8 - __NVIC_PRIO_BITS)));  } /* get priority for device specific interrupts  */

+}

+

+

+/** \brief  Encode Priority

+

+    The function encodes the priority for an interrupt with the given priority group,

+    preemptive priority value, and subpriority value.

+    In case of a conflict between priority grouping and available

+    priority bits (__NVIC_PRIO_BITS), the samllest possible priority group is set.

+

+    \param [in]     PriorityGroup  Used priority group.

+    \param [in]   PreemptPriority  Preemptive priority value (starting from 0).

+    \param [in]       SubPriority  Subpriority value (starting from 0).

+    \return                        Encoded priority. Value can be used in the function \ref NVIC_SetPriority().

+ */

+__STATIC_INLINE uint32_t NVIC_EncodePriority (uint32_t PriorityGroup, uint32_t PreemptPriority, uint32_t SubPriority)

+{

+  uint32_t PriorityGroupTmp = (PriorityGroup & 0x07);          /* only values 0..7 are used          */

+  uint32_t PreemptPriorityBits;

+  uint32_t SubPriorityBits;

+

+  PreemptPriorityBits = ((7 - PriorityGroupTmp) > __NVIC_PRIO_BITS) ? __NVIC_PRIO_BITS : 7 - PriorityGroupTmp;

+  SubPriorityBits     = ((PriorityGroupTmp + __NVIC_PRIO_BITS) < 7) ? 0 : PriorityGroupTmp - 7 + __NVIC_PRIO_BITS;

+

+  return (

+           ((PreemptPriority & ((1 << (PreemptPriorityBits)) - 1)) << SubPriorityBits) |

+           ((SubPriority     & ((1 << (SubPriorityBits    )) - 1)))

+         );

+}

+

+

+/** \brief  Decode Priority

+

+    The function decodes an interrupt priority value with a given priority group to

+    preemptive priority value and subpriority value.

+    In case of a conflict between priority grouping and available

+    priority bits (__NVIC_PRIO_BITS) the samllest possible priority group is set.

+

+    \param [in]         Priority   Priority value, which can be retrieved with the function \ref NVIC_GetPriority().

+    \param [in]     PriorityGroup  Used priority group.

+    \param [out] pPreemptPriority  Preemptive priority value (starting from 0).

+    \param [out]     pSubPriority  Subpriority value (starting from 0).

+ */

+__STATIC_INLINE void NVIC_DecodePriority (uint32_t Priority, uint32_t PriorityGroup, uint32_t* pPreemptPriority, uint32_t* pSubPriority)

+{

+  uint32_t PriorityGroupTmp = (PriorityGroup & 0x07);          /* only values 0..7 are used          */

+  uint32_t PreemptPriorityBits;

+  uint32_t SubPriorityBits;

+

+  PreemptPriorityBits = ((7 - PriorityGroupTmp) > __NVIC_PRIO_BITS) ? __NVIC_PRIO_BITS : 7 - PriorityGroupTmp;

+  SubPriorityBits     = ((PriorityGroupTmp + __NVIC_PRIO_BITS) < 7) ? 0 : PriorityGroupTmp - 7 + __NVIC_PRIO_BITS;

+

+  *pPreemptPriority = (Priority >> SubPriorityBits) & ((1 << (PreemptPriorityBits)) - 1);

+  *pSubPriority     = (Priority                   ) & ((1 << (SubPriorityBits    )) - 1);

+}

+

+

+/** \brief  System Reset

+

+    The function initiates a system reset request to reset the MCU.

+ */

+__STATIC_INLINE void NVIC_SystemReset(void)

+{

+  __DSB();                                                     /* Ensure all outstanding memory accesses included

+                                                                  buffered write are completed before reset */

+  SCB->AIRCR  = ((0x5FA << SCB_AIRCR_VECTKEY_Pos)      |

+                 (SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) |

+                 SCB_AIRCR_SYSRESETREQ_Msk);                   /* Keep priority group unchanged */

+  __DSB();                                                     /* Ensure completion of memory access */

+  while(1);                                                    /* wait until reset */

+}

+

+/*@} end of CMSIS_Core_NVICFunctions */

+

+

+

+/* ##################################    SysTick function  ############################################ */

+/** \ingroup  CMSIS_Core_FunctionInterface

+    \defgroup CMSIS_Core_SysTickFunctions SysTick Functions

+    \brief      Functions that configure the System.

+  @{

+ */

+

+#if (__Vendor_SysTickConfig == 0)

+

+/** \brief  System Tick Configuration

+

+    The function initializes the System Timer and its interrupt, and starts the System Tick Timer.

+    Counter is in free running mode to generate periodic interrupts.

+

+    \param [in]  ticks  Number of ticks between two interrupts.

+

+    \return          0  Function succeeded.

+    \return          1  Function failed.

+

+    \note     When the variable <b>__Vendor_SysTickConfig</b> is set to 1, then the

+    function <b>SysTick_Config</b> is not included. In this case, the file <b><i>device</i>.h</b>

+    must contain a vendor-specific implementation of this function.

+

+ */

+__STATIC_INLINE uint32_t SysTick_Config(uint32_t ticks)

+{

+  if (ticks > SysTick_LOAD_RELOAD_Msk)  return (1);            /* Reload value impossible */

+

+  SysTick->LOAD  = (ticks & SysTick_LOAD_RELOAD_Msk) - 1;      /* set reload register */

+  NVIC_SetPriority (SysTick_IRQn, (1<<__NVIC_PRIO_BITS) - 1);  /* set Priority for Systick Interrupt */

+  SysTick->VAL   = 0;                                          /* Load the SysTick Counter Value */

+  SysTick->CTRL  = SysTick_CTRL_CLKSOURCE_Msk |

+                   SysTick_CTRL_TICKINT_Msk   |

+                   SysTick_CTRL_ENABLE_Msk;                    /* Enable SysTick IRQ and SysTick Timer */

+  return (0);                                                  /* Function successful */

+}

+

+#endif

+

+/*@} end of CMSIS_Core_SysTickFunctions */

+

+

+

+/* ##################################### Debug In/Output function ########################################### */

+/** \ingroup  CMSIS_Core_FunctionInterface

+    \defgroup CMSIS_core_DebugFunctions ITM Functions

+    \brief   Functions that access the ITM debug interface.

+  @{

+ */

+

+extern volatile int32_t ITM_RxBuffer;                    /*!< External variable to receive characters.                         */

+#define                 ITM_RXBUFFER_EMPTY    0x5AA55AA5 /*!< Value identifying \ref ITM_RxBuffer is ready for next character. */

+

+

+/** \brief  ITM Send Character

+

+    The function transmits a character via the ITM channel 0, and

+    \li Just returns when no debugger is connected that has booked the output.

+    \li Is blocking when a debugger is connected, but the previous character sent has not been transmitted.

+

+    \param [in]     ch  Character to transmit.

+

+    \returns            Character to transmit.

+ */

+__STATIC_INLINE uint32_t ITM_SendChar (uint32_t ch)

+{

+  if ((ITM->TCR & ITM_TCR_ITMENA_Msk)                  &&      /* ITM enabled */

+      (ITM->TER & (1UL << 0)        )                    )     /* ITM Port #0 enabled */

+  {

+    while (ITM->PORT[0].u32 == 0);

+    ITM->PORT[0].u8 = (uint8_t) ch;

+  }

+  return (ch);

+}

+

+

+/** \brief  ITM Receive Character

+

+    The function inputs a character via the external variable \ref ITM_RxBuffer.

+

+    \return             Received character.

+    \return         -1  No character pending.

+ */

+__STATIC_INLINE int32_t ITM_ReceiveChar (void) {

+  int32_t ch = -1;                           /* no character available */

+

+  if (ITM_RxBuffer != ITM_RXBUFFER_EMPTY) {

+    ch = ITM_RxBuffer;

+    ITM_RxBuffer = ITM_RXBUFFER_EMPTY;       /* ready for next character */

+  }

+

+  return (ch);

+}

+

+

+/** \brief  ITM Check Character

+

+    The function checks whether a character is pending for reading in the variable \ref ITM_RxBuffer.

+

+    \return          0  No character available.

+    \return          1  Character available.

+ */

+__STATIC_INLINE int32_t ITM_CheckChar (void) {

+

+  if (ITM_RxBuffer == ITM_RXBUFFER_EMPTY) {

+    return (0);                                 /* no character available */

+  } else {

+    return (1);                                 /*    character available */

+  }

+}

+

+/*@} end of CMSIS_core_DebugFunctions */

+

+#endif /* __CORE_CM3_H_DEPENDANT */

+

+#endif /* __CMSIS_GENERIC */

+

+#ifdef __cplusplus

+}

+#endif

diff --git a/apps/mathlib/CMSIS/Include/core_cm4.h b/apps/mathlib/CMSIS/Include/core_cm4.h
new file mode 100644
index 000000000..5f3b7d619
--- /dev/null
+++ b/apps/mathlib/CMSIS/Include/core_cm4.h
@@ -0,0 +1,1757 @@
+/**************************************************************************//**

+ * @file     core_cm4.h

+ * @brief    CMSIS Cortex-M4 Core Peripheral Access Layer Header File

+ * @version  V3.01

+ * @date     22. March 2012

+ *

+ * @note

+ * Copyright (C) 2009-2012 ARM Limited. All rights reserved.

+ *

+ * @par

+ * ARM Limited (ARM) is supplying this software for use with Cortex-M

+ * processor based microcontrollers.  This file can be freely distributed

+ * within development tools that are supporting such ARM based processors.

+ *

+ * @par

+ * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED

+ * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF

+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.

+ * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR

+ * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.

+ *

+ ******************************************************************************/

+#if defined ( __ICCARM__ )

+ #pragma system_include  /* treat file as system include file for MISRA check */

+#endif

+

+#ifdef __cplusplus

+ extern "C" {

+#endif

+

+#ifndef __CORE_CM4_H_GENERIC

+#define __CORE_CM4_H_GENERIC

+

+/** \page CMSIS_MISRA_Exceptions  MISRA-C:2004 Compliance Exceptions

+  CMSIS violates the following MISRA-C:2004 rules:

+

+   \li Required Rule 8.5, object/function definition in header file.<br>

+     Function definitions in header files are used to allow 'inlining'.

+

+   \li Required Rule 18.4, declaration of union type or object of union type: '{...}'.<br>

+     Unions are used for effective representation of core registers.

+

+   \li Advisory Rule 19.7, Function-like macro defined.<br>

+     Function-like macros are used to allow more efficient code.

+ */

+

+

+/*******************************************************************************

+ *                 CMSIS definitions

+ ******************************************************************************/

+/** \ingroup Cortex_M4

+  @{

+ */

+

+/*  CMSIS CM4 definitions */

+#define __CM4_CMSIS_VERSION_MAIN  (0x03)                                   /*!< [31:16] CMSIS HAL main version   */

+#define __CM4_CMSIS_VERSION_SUB   (0x01)                                   /*!< [15:0]  CMSIS HAL sub version    */

+#define __CM4_CMSIS_VERSION       ((__CM4_CMSIS_VERSION_MAIN << 16) | \

+                                    __CM4_CMSIS_VERSION_SUB          )     /*!< CMSIS HAL version number         */

+

+#define __CORTEX_M                (0x04)                                   /*!< Cortex-M Core                    */

+

+

+#if   defined ( __CC_ARM )

+  #define __ASM            __asm                                      /*!< asm keyword for ARM Compiler          */

+  #define __INLINE         __inline                                   /*!< inline keyword for ARM Compiler       */

+  #define __STATIC_INLINE  static __inline

+

+#elif defined ( __ICCARM__ )

+  #define __ASM            __asm                                      /*!< asm keyword for IAR Compiler          */

+  #define __INLINE         inline                                     /*!< inline keyword for IAR Compiler. Only available in High optimization mode! */

+  #define __STATIC_INLINE  static inline

+

+#elif defined ( __TMS470__ )

+  #define __ASM            __asm                                      /*!< asm keyword for TI CCS Compiler       */

+  #define __STATIC_INLINE  static inline

+

+#elif defined ( __GNUC__ )

+  #define __ASM            __asm                                      /*!< asm keyword for GNU Compiler          */

+  #define __INLINE         inline                                     /*!< inline keyword for GNU Compiler       */

+  #define __STATIC_INLINE  static inline

+

+#elif defined ( __TASKING__ )

+  #define __ASM            __asm                                      /*!< asm keyword for TASKING Compiler      */

+  #define __INLINE         inline                                     /*!< inline keyword for TASKING Compiler   */

+  #define __STATIC_INLINE  static inline

+

+#endif

+

+/** __FPU_USED indicates whether an FPU is used or not. For this, __FPU_PRESENT has to be checked prior to making use of FPU specific registers and functions.

+*/

+#if defined ( __CC_ARM )

+  #if defined __TARGET_FPU_VFP

+    #if (__FPU_PRESENT == 1)

+      #define __FPU_USED       1

+    #else

+      #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"

+      #define __FPU_USED       0

+    #endif

+  #else

+    #define __FPU_USED         0

+  #endif

+

+#elif defined ( __ICCARM__ )

+  #if defined __ARMVFP__

+    #if (__FPU_PRESENT == 1)

+      #define __FPU_USED       1

+    #else

+      #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"

+      #define __FPU_USED       0

+    #endif

+  #else

+    #define __FPU_USED         0

+  #endif

+

+#elif defined ( __TMS470__ )

+  #if defined __TI_VFP_SUPPORT__

+    #if (__FPU_PRESENT == 1)

+      #define __FPU_USED       1

+    #else

+      #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"

+      #define __FPU_USED       0

+    #endif

+  #else

+    #define __FPU_USED         0

+  #endif

+

+#elif defined ( __GNUC__ )

+  #if defined (__VFP_FP__) && !defined(__SOFTFP__)

+    #if (__FPU_PRESENT == 1)

+      #define __FPU_USED       1

+    #else

+      #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"

+      #define __FPU_USED       0

+    #endif

+  #else

+    #define __FPU_USED         0

+  #endif

+

+#elif defined ( __TASKING__ )

+  #if defined __FPU_VFP__

+    #if (__FPU_PRESENT == 1)

+      #define __FPU_USED       1

+    #else

+      #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"

+      #define __FPU_USED       0

+    #endif

+  #else

+    #define __FPU_USED         0

+  #endif

+#endif

+

+#include <stdint.h>                      /* standard types definitions                      */

+#include "core_cmInstr.h"                /* Core Instruction Access                         */

+#include "core_cmFunc.h"                 /* Core Function Access                            */

+#include "core_cm4_simd.h"               /* Compiler specific SIMD Intrinsics               */

+

+#endif /* __CORE_CM4_H_GENERIC */

+

+#ifndef __CMSIS_GENERIC

+

+#ifndef __CORE_CM4_H_DEPENDANT

+#define __CORE_CM4_H_DEPENDANT

+

+/* check device defines and use defaults */

+#if defined __CHECK_DEVICE_DEFINES

+  #ifndef __CM4_REV

+    #define __CM4_REV               0x0000

+    #warning "__CM4_REV not defined in device header file; using default!"

+  #endif

+

+  #ifndef __FPU_PRESENT

+    #define __FPU_PRESENT             0

+    #warning "__FPU_PRESENT not defined in device header file; using default!"

+  #endif

+

+  #ifndef __MPU_PRESENT

+    #define __MPU_PRESENT             0

+    #warning "__MPU_PRESENT not defined in device header file; using default!"

+  #endif

+

+  #ifndef __NVIC_PRIO_BITS

+    #define __NVIC_PRIO_BITS          4

+    #warning "__NVIC_PRIO_BITS not defined in device header file; using default!"

+  #endif

+

+  #ifndef __Vendor_SysTickConfig

+    #define __Vendor_SysTickConfig    0

+    #warning "__Vendor_SysTickConfig not defined in device header file; using default!"

+  #endif

+#endif

+

+/* IO definitions (access restrictions to peripheral registers) */

+/**

+    \defgroup CMSIS_glob_defs CMSIS Global Defines

+

+    <strong>IO Type Qualifiers</strong> are used

+    \li to specify the access to peripheral variables.

+    \li for automatic generation of peripheral register debug information.

+*/

+#ifdef __cplusplus

+  #define   __I     volatile             /*!< Defines 'read only' permissions                 */

+#else

+  #define   __I     volatile const       /*!< Defines 'read only' permissions                 */

+#endif

+#define     __O     volatile             /*!< Defines 'write only' permissions                */

+#define     __IO    volatile             /*!< Defines 'read / write' permissions              */

+

+/*@} end of group Cortex_M4 */

+

+

+

+/*******************************************************************************

+ *                 Register Abstraction

+  Core Register contain:

+  - Core Register

+  - Core NVIC Register

+  - Core SCB Register

+  - Core SysTick Register

+  - Core Debug Register

+  - Core MPU Register

+  - Core FPU Register

+ ******************************************************************************/

+/** \defgroup CMSIS_core_register Defines and Type Definitions

+    \brief Type definitions and defines for Cortex-M processor based devices.

+*/

+

+/** \ingroup    CMSIS_core_register

+    \defgroup   CMSIS_CORE  Status and Control Registers

+    \brief  Core Register type definitions.

+  @{

+ */

+

+/** \brief  Union type to access the Application Program Status Register (APSR).

+ */

+typedef union

+{

+  struct

+  {

+#if (__CORTEX_M != 0x04)

+    uint32_t _reserved0:27;              /*!< bit:  0..26  Reserved                           */

+#else

+    uint32_t _reserved0:16;              /*!< bit:  0..15  Reserved                           */

+    uint32_t GE:4;                       /*!< bit: 16..19  Greater than or Equal flags        */

+    uint32_t _reserved1:7;               /*!< bit: 20..26  Reserved                           */

+#endif

+    uint32_t Q:1;                        /*!< bit:     27  Saturation condition flag          */

+    uint32_t V:1;                        /*!< bit:     28  Overflow condition code flag       */

+    uint32_t C:1;                        /*!< bit:     29  Carry condition code flag          */

+    uint32_t Z:1;                        /*!< bit:     30  Zero condition code flag           */

+    uint32_t N:1;                        /*!< bit:     31  Negative condition code flag       */

+  } b;                                   /*!< Structure used for bit  access                  */

+  uint32_t w;                            /*!< Type      used for word access                  */

+} APSR_Type;

+

+

+/** \brief  Union type to access the Interrupt Program Status Register (IPSR).

+ */

+typedef union

+{

+  struct

+  {

+    uint32_t ISR:9;                      /*!< bit:  0.. 8  Exception number                   */

+    uint32_t _reserved0:23;              /*!< bit:  9..31  Reserved                           */

+  } b;                                   /*!< Structure used for bit  access                  */

+  uint32_t w;                            /*!< Type      used for word access                  */

+} IPSR_Type;

+

+

+/** \brief  Union type to access the Special-Purpose Program Status Registers (xPSR).

+ */

+typedef union

+{

+  struct

+  {

+    uint32_t ISR:9;                      /*!< bit:  0.. 8  Exception number                   */

+#if (__CORTEX_M != 0x04)

+    uint32_t _reserved0:15;              /*!< bit:  9..23  Reserved                           */

+#else

+    uint32_t _reserved0:7;               /*!< bit:  9..15  Reserved                           */

+    uint32_t GE:4;                       /*!< bit: 16..19  Greater than or Equal flags        */

+    uint32_t _reserved1:4;               /*!< bit: 20..23  Reserved                           */

+#endif

+    uint32_t T:1;                        /*!< bit:     24  Thumb bit        (read 0)          */

+    uint32_t IT:2;                       /*!< bit: 25..26  saved IT state   (read 0)          */

+    uint32_t Q:1;                        /*!< bit:     27  Saturation condition flag          */

+    uint32_t V:1;                        /*!< bit:     28  Overflow condition code flag       */

+    uint32_t C:1;                        /*!< bit:     29  Carry condition code flag          */

+    uint32_t Z:1;                        /*!< bit:     30  Zero condition code flag           */

+    uint32_t N:1;                        /*!< bit:     31  Negative condition code flag       */

+  } b;                                   /*!< Structure used for bit  access                  */

+  uint32_t w;                            /*!< Type      used for word access                  */

+} xPSR_Type;

+

+

+/** \brief  Union type to access the Control Registers (CONTROL).

+ */

+typedef union

+{

+  struct

+  {

+    uint32_t nPRIV:1;                    /*!< bit:      0  Execution privilege in Thread mode */

+    uint32_t SPSEL:1;                    /*!< bit:      1  Stack to be used                   */

+    uint32_t FPCA:1;                     /*!< bit:      2  FP extension active flag           */

+    uint32_t _reserved0:29;              /*!< bit:  3..31  Reserved                           */

+  } b;                                   /*!< Structure used for bit  access                  */

+  uint32_t w;                            /*!< Type      used for word access                  */

+} CONTROL_Type;

+

+/*@} end of group CMSIS_CORE */

+

+

+/** \ingroup    CMSIS_core_register

+    \defgroup   CMSIS_NVIC  Nested Vectored Interrupt Controller (NVIC)

+    \brief      Type definitions for the NVIC Registers

+  @{

+ */

+

+/** \brief  Structure type to access the Nested Vectored Interrupt Controller (NVIC).

+ */

+typedef struct

+{

+  __IO uint32_t ISER[8];                 /*!< Offset: 0x000 (R/W)  Interrupt Set Enable Register           */

+       uint32_t RESERVED0[24];

+  __IO uint32_t ICER[8];                 /*!< Offset: 0x080 (R/W)  Interrupt Clear Enable Register         */

+       uint32_t RSERVED1[24];

+  __IO uint32_t ISPR[8];                 /*!< Offset: 0x100 (R/W)  Interrupt Set Pending Register          */

+       uint32_t RESERVED2[24];

+  __IO uint32_t ICPR[8];                 /*!< Offset: 0x180 (R/W)  Interrupt Clear Pending Register        */

+       uint32_t RESERVED3[24];

+  __IO uint32_t IABR[8];                 /*!< Offset: 0x200 (R/W)  Interrupt Active bit Register           */

+       uint32_t RESERVED4[56];

+  __IO uint8_t  IP[240];                 /*!< Offset: 0x300 (R/W)  Interrupt Priority Register (8Bit wide) */

+       uint32_t RESERVED5[644];

+  __O  uint32_t STIR;                    /*!< Offset: 0xE00 ( /W)  Software Trigger Interrupt Register     */

+}  NVIC_Type;

+

+/* Software Triggered Interrupt Register Definitions */

+#define NVIC_STIR_INTID_Pos                 0                                          /*!< STIR: INTLINESNUM Position */

+#define NVIC_STIR_INTID_Msk                (0x1FFUL << NVIC_STIR_INTID_Pos)            /*!< STIR: INTLINESNUM Mask */

+

+/*@} end of group CMSIS_NVIC */

+

+

+/** \ingroup  CMSIS_core_register

+    \defgroup CMSIS_SCB     System Control Block (SCB)

+    \brief      Type definitions for the System Control Block Registers

+  @{

+ */

+

+/** \brief  Structure type to access the System Control Block (SCB).

+ */

+typedef struct

+{

+  __I  uint32_t CPUID;                   /*!< Offset: 0x000 (R/ )  CPUID Base Register                                   */

+  __IO uint32_t ICSR;                    /*!< Offset: 0x004 (R/W)  Interrupt Control and State Register                  */

+  __IO uint32_t VTOR;                    /*!< Offset: 0x008 (R/W)  Vector Table Offset Register                          */

+  __IO uint32_t AIRCR;                   /*!< Offset: 0x00C (R/W)  Application Interrupt and Reset Control Register      */

+  __IO uint32_t SCR;                     /*!< Offset: 0x010 (R/W)  System Control Register                               */

+  __IO uint32_t CCR;                     /*!< Offset: 0x014 (R/W)  Configuration Control Register                        */

+  __IO uint8_t  SHP[12];                 /*!< Offset: 0x018 (R/W)  System Handlers Priority Registers (4-7, 8-11, 12-15) */

+  __IO uint32_t SHCSR;                   /*!< Offset: 0x024 (R/W)  System Handler Control and State Register             */

+  __IO uint32_t CFSR;                    /*!< Offset: 0x028 (R/W)  Configurable Fault Status Register                    */

+  __IO uint32_t HFSR;                    /*!< Offset: 0x02C (R/W)  HardFault Status Register                             */

+  __IO uint32_t DFSR;                    /*!< Offset: 0x030 (R/W)  Debug Fault Status Register                           */

+  __IO uint32_t MMFAR;                   /*!< Offset: 0x034 (R/W)  MemManage Fault Address Register                      */

+  __IO uint32_t BFAR;                    /*!< Offset: 0x038 (R/W)  BusFault Address Register                             */

+  __IO uint32_t AFSR;                    /*!< Offset: 0x03C (R/W)  Auxiliary Fault Status Register                       */

+  __I  uint32_t PFR[2];                  /*!< Offset: 0x040 (R/ )  Processor Feature Register                            */

+  __I  uint32_t DFR;                     /*!< Offset: 0x048 (R/ )  Debug Feature Register                                */

+  __I  uint32_t ADR;                     /*!< Offset: 0x04C (R/ )  Auxiliary Feature Register                            */

+  __I  uint32_t MMFR[4];                 /*!< Offset: 0x050 (R/ )  Memory Model Feature Register                         */

+  __I  uint32_t ISAR[5];                 /*!< Offset: 0x060 (R/ )  Instruction Set Attributes Register                   */

+       uint32_t RESERVED0[5];

+  __IO uint32_t CPACR;                   /*!< Offset: 0x088 (R/W)  Coprocessor Access Control Register                   */

+} SCB_Type;

+

+/* SCB CPUID Register Definitions */

+#define SCB_CPUID_IMPLEMENTER_Pos          24                                             /*!< SCB CPUID: IMPLEMENTER Position */

+#define SCB_CPUID_IMPLEMENTER_Msk          (0xFFUL << SCB_CPUID_IMPLEMENTER_Pos)          /*!< SCB CPUID: IMPLEMENTER Mask */

+

+#define SCB_CPUID_VARIANT_Pos              20                                             /*!< SCB CPUID: VARIANT Position */

+#define SCB_CPUID_VARIANT_Msk              (0xFUL << SCB_CPUID_VARIANT_Pos)               /*!< SCB CPUID: VARIANT Mask */

+

+#define SCB_CPUID_ARCHITECTURE_Pos         16                                             /*!< SCB CPUID: ARCHITECTURE Position */

+#define SCB_CPUID_ARCHITECTURE_Msk         (0xFUL << SCB_CPUID_ARCHITECTURE_Pos)          /*!< SCB CPUID: ARCHITECTURE Mask */

+

+#define SCB_CPUID_PARTNO_Pos                4                                             /*!< SCB CPUID: PARTNO Position */

+#define SCB_CPUID_PARTNO_Msk               (0xFFFUL << SCB_CPUID_PARTNO_Pos)              /*!< SCB CPUID: PARTNO Mask */

+

+#define SCB_CPUID_REVISION_Pos              0                                             /*!< SCB CPUID: REVISION Position */

+#define SCB_CPUID_REVISION_Msk             (0xFUL << SCB_CPUID_REVISION_Pos)              /*!< SCB CPUID: REVISION Mask */

+

+/* SCB Interrupt Control State Register Definitions */

+#define SCB_ICSR_NMIPENDSET_Pos            31                                             /*!< SCB ICSR: NMIPENDSET Position */

+#define SCB_ICSR_NMIPENDSET_Msk            (1UL << SCB_ICSR_NMIPENDSET_Pos)               /*!< SCB ICSR: NMIPENDSET Mask */

+

+#define SCB_ICSR_PENDSVSET_Pos             28                                             /*!< SCB ICSR: PENDSVSET Position */

+#define SCB_ICSR_PENDSVSET_Msk             (1UL << SCB_ICSR_PENDSVSET_Pos)                /*!< SCB ICSR: PENDSVSET Mask */

+

+#define SCB_ICSR_PENDSVCLR_Pos             27                                             /*!< SCB ICSR: PENDSVCLR Position */

+#define SCB_ICSR_PENDSVCLR_Msk             (1UL << SCB_ICSR_PENDSVCLR_Pos)                /*!< SCB ICSR: PENDSVCLR Mask */

+

+#define SCB_ICSR_PENDSTSET_Pos             26                                             /*!< SCB ICSR: PENDSTSET Position */

+#define SCB_ICSR_PENDSTSET_Msk             (1UL << SCB_ICSR_PENDSTSET_Pos)                /*!< SCB ICSR: PENDSTSET Mask */

+

+#define SCB_ICSR_PENDSTCLR_Pos             25                                             /*!< SCB ICSR: PENDSTCLR Position */

+#define SCB_ICSR_PENDSTCLR_Msk             (1UL << SCB_ICSR_PENDSTCLR_Pos)                /*!< SCB ICSR: PENDSTCLR Mask */

+

+#define SCB_ICSR_ISRPREEMPT_Pos            23                                             /*!< SCB ICSR: ISRPREEMPT Position */

+#define SCB_ICSR_ISRPREEMPT_Msk            (1UL << SCB_ICSR_ISRPREEMPT_Pos)               /*!< SCB ICSR: ISRPREEMPT Mask */

+

+#define SCB_ICSR_ISRPENDING_Pos            22                                             /*!< SCB ICSR: ISRPENDING Position */

+#define SCB_ICSR_ISRPENDING_Msk            (1UL << SCB_ICSR_ISRPENDING_Pos)               /*!< SCB ICSR: ISRPENDING Mask */

+

+#define SCB_ICSR_VECTPENDING_Pos           12                                             /*!< SCB ICSR: VECTPENDING Position */

+#define SCB_ICSR_VECTPENDING_Msk           (0x1FFUL << SCB_ICSR_VECTPENDING_Pos)          /*!< SCB ICSR: VECTPENDING Mask */

+

+#define SCB_ICSR_RETTOBASE_Pos             11                                             /*!< SCB ICSR: RETTOBASE Position */

+#define SCB_ICSR_RETTOBASE_Msk             (1UL << SCB_ICSR_RETTOBASE_Pos)                /*!< SCB ICSR: RETTOBASE Mask */

+

+#define SCB_ICSR_VECTACTIVE_Pos             0                                             /*!< SCB ICSR: VECTACTIVE Position */

+#define SCB_ICSR_VECTACTIVE_Msk            (0x1FFUL << SCB_ICSR_VECTACTIVE_Pos)           /*!< SCB ICSR: VECTACTIVE Mask */

+

+/* SCB Vector Table Offset Register Definitions */

+#define SCB_VTOR_TBLOFF_Pos                 7                                             /*!< SCB VTOR: TBLOFF Position */

+#define SCB_VTOR_TBLOFF_Msk                (0x1FFFFFFUL << SCB_VTOR_TBLOFF_Pos)           /*!< SCB VTOR: TBLOFF Mask */

+

+/* SCB Application Interrupt and Reset Control Register Definitions */

+#define SCB_AIRCR_VECTKEY_Pos              16                                             /*!< SCB AIRCR: VECTKEY Position */

+#define SCB_AIRCR_VECTKEY_Msk              (0xFFFFUL << SCB_AIRCR_VECTKEY_Pos)            /*!< SCB AIRCR: VECTKEY Mask */

+

+#define SCB_AIRCR_VECTKEYSTAT_Pos          16                                             /*!< SCB AIRCR: VECTKEYSTAT Position */

+#define SCB_AIRCR_VECTKEYSTAT_Msk          (0xFFFFUL << SCB_AIRCR_VECTKEYSTAT_Pos)        /*!< SCB AIRCR: VECTKEYSTAT Mask */

+

+#define SCB_AIRCR_ENDIANESS_Pos            15                                             /*!< SCB AIRCR: ENDIANESS Position */

+#define SCB_AIRCR_ENDIANESS_Msk            (1UL << SCB_AIRCR_ENDIANESS_Pos)               /*!< SCB AIRCR: ENDIANESS Mask */

+

+#define SCB_AIRCR_PRIGROUP_Pos              8                                             /*!< SCB AIRCR: PRIGROUP Position */

+#define SCB_AIRCR_PRIGROUP_Msk             (7UL << SCB_AIRCR_PRIGROUP_Pos)                /*!< SCB AIRCR: PRIGROUP Mask */

+

+#define SCB_AIRCR_SYSRESETREQ_Pos           2                                             /*!< SCB AIRCR: SYSRESETREQ Position */

+#define SCB_AIRCR_SYSRESETREQ_Msk          (1UL << SCB_AIRCR_SYSRESETREQ_Pos)             /*!< SCB AIRCR: SYSRESETREQ Mask */

+

+#define SCB_AIRCR_VECTCLRACTIVE_Pos         1                                             /*!< SCB AIRCR: VECTCLRACTIVE Position */

+#define SCB_AIRCR_VECTCLRACTIVE_Msk        (1UL << SCB_AIRCR_VECTCLRACTIVE_Pos)           /*!< SCB AIRCR: VECTCLRACTIVE Mask */

+

+#define SCB_AIRCR_VECTRESET_Pos             0                                             /*!< SCB AIRCR: VECTRESET Position */

+#define SCB_AIRCR_VECTRESET_Msk            (1UL << SCB_AIRCR_VECTRESET_Pos)               /*!< SCB AIRCR: VECTRESET Mask */

+

+/* SCB System Control Register Definitions */

+#define SCB_SCR_SEVONPEND_Pos               4                                             /*!< SCB SCR: SEVONPEND Position */

+#define SCB_SCR_SEVONPEND_Msk              (1UL << SCB_SCR_SEVONPEND_Pos)                 /*!< SCB SCR: SEVONPEND Mask */

+

+#define SCB_SCR_SLEEPDEEP_Pos               2                                             /*!< SCB SCR: SLEEPDEEP Position */

+#define SCB_SCR_SLEEPDEEP_Msk              (1UL << SCB_SCR_SLEEPDEEP_Pos)                 /*!< SCB SCR: SLEEPDEEP Mask */

+

+#define SCB_SCR_SLEEPONEXIT_Pos             1                                             /*!< SCB SCR: SLEEPONEXIT Position */

+#define SCB_SCR_SLEEPONEXIT_Msk            (1UL << SCB_SCR_SLEEPONEXIT_Pos)               /*!< SCB SCR: SLEEPONEXIT Mask */

+

+/* SCB Configuration Control Register Definitions */

+#define SCB_CCR_STKALIGN_Pos                9                                             /*!< SCB CCR: STKALIGN Position */

+#define SCB_CCR_STKALIGN_Msk               (1UL << SCB_CCR_STKALIGN_Pos)                  /*!< SCB CCR: STKALIGN Mask */

+

+#define SCB_CCR_BFHFNMIGN_Pos               8                                             /*!< SCB CCR: BFHFNMIGN Position */

+#define SCB_CCR_BFHFNMIGN_Msk              (1UL << SCB_CCR_BFHFNMIGN_Pos)                 /*!< SCB CCR: BFHFNMIGN Mask */

+

+#define SCB_CCR_DIV_0_TRP_Pos               4                                             /*!< SCB CCR: DIV_0_TRP Position */

+#define SCB_CCR_DIV_0_TRP_Msk              (1UL << SCB_CCR_DIV_0_TRP_Pos)                 /*!< SCB CCR: DIV_0_TRP Mask */

+

+#define SCB_CCR_UNALIGN_TRP_Pos             3                                             /*!< SCB CCR: UNALIGN_TRP Position */

+#define SCB_CCR_UNALIGN_TRP_Msk            (1UL << SCB_CCR_UNALIGN_TRP_Pos)               /*!< SCB CCR: UNALIGN_TRP Mask */

+

+#define SCB_CCR_USERSETMPEND_Pos            1                                             /*!< SCB CCR: USERSETMPEND Position */

+#define SCB_CCR_USERSETMPEND_Msk           (1UL << SCB_CCR_USERSETMPEND_Pos)              /*!< SCB CCR: USERSETMPEND Mask */

+

+#define SCB_CCR_NONBASETHRDENA_Pos          0                                             /*!< SCB CCR: NONBASETHRDENA Position */

+#define SCB_CCR_NONBASETHRDENA_Msk         (1UL << SCB_CCR_NONBASETHRDENA_Pos)            /*!< SCB CCR: NONBASETHRDENA Mask */

+

+/* SCB System Handler Control and State Register Definitions */

+#define SCB_SHCSR_USGFAULTENA_Pos          18                                             /*!< SCB SHCSR: USGFAULTENA Position */

+#define SCB_SHCSR_USGFAULTENA_Msk          (1UL << SCB_SHCSR_USGFAULTENA_Pos)             /*!< SCB SHCSR: USGFAULTENA Mask */

+

+#define SCB_SHCSR_BUSFAULTENA_Pos          17                                             /*!< SCB SHCSR: BUSFAULTENA Position */

+#define SCB_SHCSR_BUSFAULTENA_Msk          (1UL << SCB_SHCSR_BUSFAULTENA_Pos)             /*!< SCB SHCSR: BUSFAULTENA Mask */

+

+#define SCB_SHCSR_MEMFAULTENA_Pos          16                                             /*!< SCB SHCSR: MEMFAULTENA Position */

+#define SCB_SHCSR_MEMFAULTENA_Msk          (1UL << SCB_SHCSR_MEMFAULTENA_Pos)             /*!< SCB SHCSR: MEMFAULTENA Mask */

+

+#define SCB_SHCSR_SVCALLPENDED_Pos         15                                             /*!< SCB SHCSR: SVCALLPENDED Position */

+#define SCB_SHCSR_SVCALLPENDED_Msk         (1UL << SCB_SHCSR_SVCALLPENDED_Pos)            /*!< SCB SHCSR: SVCALLPENDED Mask */

+

+#define SCB_SHCSR_BUSFAULTPENDED_Pos       14                                             /*!< SCB SHCSR: BUSFAULTPENDED Position */

+#define SCB_SHCSR_BUSFAULTPENDED_Msk       (1UL << SCB_SHCSR_BUSFAULTPENDED_Pos)          /*!< SCB SHCSR: BUSFAULTPENDED Mask */

+

+#define SCB_SHCSR_MEMFAULTPENDED_Pos       13                                             /*!< SCB SHCSR: MEMFAULTPENDED Position */

+#define SCB_SHCSR_MEMFAULTPENDED_Msk       (1UL << SCB_SHCSR_MEMFAULTPENDED_Pos)          /*!< SCB SHCSR: MEMFAULTPENDED Mask */

+

+#define SCB_SHCSR_USGFAULTPENDED_Pos       12                                             /*!< SCB SHCSR: USGFAULTPENDED Position */

+#define SCB_SHCSR_USGFAULTPENDED_Msk       (1UL << SCB_SHCSR_USGFAULTPENDED_Pos)          /*!< SCB SHCSR: USGFAULTPENDED Mask */

+

+#define SCB_SHCSR_SYSTICKACT_Pos           11                                             /*!< SCB SHCSR: SYSTICKACT Position */

+#define SCB_SHCSR_SYSTICKACT_Msk           (1UL << SCB_SHCSR_SYSTICKACT_Pos)              /*!< SCB SHCSR: SYSTICKACT Mask */

+

+#define SCB_SHCSR_PENDSVACT_Pos            10                                             /*!< SCB SHCSR: PENDSVACT Position */

+#define SCB_SHCSR_PENDSVACT_Msk            (1UL << SCB_SHCSR_PENDSVACT_Pos)               /*!< SCB SHCSR: PENDSVACT Mask */

+

+#define SCB_SHCSR_MONITORACT_Pos            8                                             /*!< SCB SHCSR: MONITORACT Position */

+#define SCB_SHCSR_MONITORACT_Msk           (1UL << SCB_SHCSR_MONITORACT_Pos)              /*!< SCB SHCSR: MONITORACT Mask */

+

+#define SCB_SHCSR_SVCALLACT_Pos             7                                             /*!< SCB SHCSR: SVCALLACT Position */

+#define SCB_SHCSR_SVCALLACT_Msk            (1UL << SCB_SHCSR_SVCALLACT_Pos)               /*!< SCB SHCSR: SVCALLACT Mask */

+

+#define SCB_SHCSR_USGFAULTACT_Pos           3                                             /*!< SCB SHCSR: USGFAULTACT Position */

+#define SCB_SHCSR_USGFAULTACT_Msk          (1UL << SCB_SHCSR_USGFAULTACT_Pos)             /*!< SCB SHCSR: USGFAULTACT Mask */

+

+#define SCB_SHCSR_BUSFAULTACT_Pos           1                                             /*!< SCB SHCSR: BUSFAULTACT Position */

+#define SCB_SHCSR_BUSFAULTACT_Msk          (1UL << SCB_SHCSR_BUSFAULTACT_Pos)             /*!< SCB SHCSR: BUSFAULTACT Mask */

+

+#define SCB_SHCSR_MEMFAULTACT_Pos           0                                             /*!< SCB SHCSR: MEMFAULTACT Position */

+#define SCB_SHCSR_MEMFAULTACT_Msk          (1UL << SCB_SHCSR_MEMFAULTACT_Pos)             /*!< SCB SHCSR: MEMFAULTACT Mask */

+

+/* SCB Configurable Fault Status Registers Definitions */

+#define SCB_CFSR_USGFAULTSR_Pos            16                                             /*!< SCB CFSR: Usage Fault Status Register Position */

+#define SCB_CFSR_USGFAULTSR_Msk            (0xFFFFUL << SCB_CFSR_USGFAULTSR_Pos)          /*!< SCB CFSR: Usage Fault Status Register Mask */

+

+#define SCB_CFSR_BUSFAULTSR_Pos             8                                             /*!< SCB CFSR: Bus Fault Status Register Position */

+#define SCB_CFSR_BUSFAULTSR_Msk            (0xFFUL << SCB_CFSR_BUSFAULTSR_Pos)            /*!< SCB CFSR: Bus Fault Status Register Mask */

+

+#define SCB_CFSR_MEMFAULTSR_Pos             0                                             /*!< SCB CFSR: Memory Manage Fault Status Register Position */

+#define SCB_CFSR_MEMFAULTSR_Msk            (0xFFUL << SCB_CFSR_MEMFAULTSR_Pos)            /*!< SCB CFSR: Memory Manage Fault Status Register Mask */

+

+/* SCB Hard Fault Status Registers Definitions */

+#define SCB_HFSR_DEBUGEVT_Pos              31                                             /*!< SCB HFSR: DEBUGEVT Position */

+#define SCB_HFSR_DEBUGEVT_Msk              (1UL << SCB_HFSR_DEBUGEVT_Pos)                 /*!< SCB HFSR: DEBUGEVT Mask */

+

+#define SCB_HFSR_FORCED_Pos                30                                             /*!< SCB HFSR: FORCED Position */

+#define SCB_HFSR_FORCED_Msk                (1UL << SCB_HFSR_FORCED_Pos)                   /*!< SCB HFSR: FORCED Mask */

+

+#define SCB_HFSR_VECTTBL_Pos                1                                             /*!< SCB HFSR: VECTTBL Position */

+#define SCB_HFSR_VECTTBL_Msk               (1UL << SCB_HFSR_VECTTBL_Pos)                  /*!< SCB HFSR: VECTTBL Mask */

+

+/* SCB Debug Fault Status Register Definitions */

+#define SCB_DFSR_EXTERNAL_Pos               4                                             /*!< SCB DFSR: EXTERNAL Position */

+#define SCB_DFSR_EXTERNAL_Msk              (1UL << SCB_DFSR_EXTERNAL_Pos)                 /*!< SCB DFSR: EXTERNAL Mask */

+

+#define SCB_DFSR_VCATCH_Pos                 3                                             /*!< SCB DFSR: VCATCH Position */

+#define SCB_DFSR_VCATCH_Msk                (1UL << SCB_DFSR_VCATCH_Pos)                   /*!< SCB DFSR: VCATCH Mask */

+

+#define SCB_DFSR_DWTTRAP_Pos                2                                             /*!< SCB DFSR: DWTTRAP Position */

+#define SCB_DFSR_DWTTRAP_Msk               (1UL << SCB_DFSR_DWTTRAP_Pos)                  /*!< SCB DFSR: DWTTRAP Mask */

+

+#define SCB_DFSR_BKPT_Pos                   1                                             /*!< SCB DFSR: BKPT Position */

+#define SCB_DFSR_BKPT_Msk                  (1UL << SCB_DFSR_BKPT_Pos)                     /*!< SCB DFSR: BKPT Mask */

+

+#define SCB_DFSR_HALTED_Pos                 0                                             /*!< SCB DFSR: HALTED Position */

+#define SCB_DFSR_HALTED_Msk                (1UL << SCB_DFSR_HALTED_Pos)                   /*!< SCB DFSR: HALTED Mask */

+

+/*@} end of group CMSIS_SCB */

+

+

+/** \ingroup  CMSIS_core_register

+    \defgroup CMSIS_SCnSCB System Controls not in SCB (SCnSCB)

+    \brief      Type definitions for the System Control and ID Register not in the SCB

+  @{

+ */

+

+/** \brief  Structure type to access the System Control and ID Register not in the SCB.

+ */

+typedef struct

+{

+       uint32_t RESERVED0[1];

+  __I  uint32_t ICTR;                    /*!< Offset: 0x004 (R/ )  Interrupt Controller Type Register      */

+  __IO uint32_t ACTLR;                   /*!< Offset: 0x008 (R/W)  Auxiliary Control Register              */

+} SCnSCB_Type;

+

+/* Interrupt Controller Type Register Definitions */

+#define SCnSCB_ICTR_INTLINESNUM_Pos         0                                          /*!< ICTR: INTLINESNUM Position */

+#define SCnSCB_ICTR_INTLINESNUM_Msk        (0xFUL << SCnSCB_ICTR_INTLINESNUM_Pos)      /*!< ICTR: INTLINESNUM Mask */

+

+/* Auxiliary Control Register Definitions */

+#define SCnSCB_ACTLR_DISOOFP_Pos            9                                          /*!< ACTLR: DISOOFP Position */

+#define SCnSCB_ACTLR_DISOOFP_Msk           (1UL << SCnSCB_ACTLR_DISOOFP_Pos)           /*!< ACTLR: DISOOFP Mask */

+

+#define SCnSCB_ACTLR_DISFPCA_Pos            8                                          /*!< ACTLR: DISFPCA Position */

+#define SCnSCB_ACTLR_DISFPCA_Msk           (1UL << SCnSCB_ACTLR_DISFPCA_Pos)           /*!< ACTLR: DISFPCA Mask */

+

+#define SCnSCB_ACTLR_DISFOLD_Pos            2                                          /*!< ACTLR: DISFOLD Position */

+#define SCnSCB_ACTLR_DISFOLD_Msk           (1UL << SCnSCB_ACTLR_DISFOLD_Pos)           /*!< ACTLR: DISFOLD Mask */

+

+#define SCnSCB_ACTLR_DISDEFWBUF_Pos         1                                          /*!< ACTLR: DISDEFWBUF Position */

+#define SCnSCB_ACTLR_DISDEFWBUF_Msk        (1UL << SCnSCB_ACTLR_DISDEFWBUF_Pos)        /*!< ACTLR: DISDEFWBUF Mask */

+

+#define SCnSCB_ACTLR_DISMCYCINT_Pos         0                                          /*!< ACTLR: DISMCYCINT Position */

+#define SCnSCB_ACTLR_DISMCYCINT_Msk        (1UL << SCnSCB_ACTLR_DISMCYCINT_Pos)        /*!< ACTLR: DISMCYCINT Mask */

+

+/*@} end of group CMSIS_SCnotSCB */

+

+

+/** \ingroup  CMSIS_core_register

+    \defgroup CMSIS_SysTick     System Tick Timer (SysTick)

+    \brief      Type definitions for the System Timer Registers.

+  @{

+ */

+

+/** \brief  Structure type to access the System Timer (SysTick).

+ */

+typedef struct

+{

+  __IO uint32_t CTRL;                    /*!< Offset: 0x000 (R/W)  SysTick Control and Status Register */

+  __IO uint32_t LOAD;                    /*!< Offset: 0x004 (R/W)  SysTick Reload Value Register       */

+  __IO uint32_t VAL;                     /*!< Offset: 0x008 (R/W)  SysTick Current Value Register      */

+  __I  uint32_t CALIB;                   /*!< Offset: 0x00C (R/ )  SysTick Calibration Register        */

+} SysTick_Type;

+

+/* SysTick Control / Status Register Definitions */

+#define SysTick_CTRL_COUNTFLAG_Pos         16                                             /*!< SysTick CTRL: COUNTFLAG Position */

+#define SysTick_CTRL_COUNTFLAG_Msk         (1UL << SysTick_CTRL_COUNTFLAG_Pos)            /*!< SysTick CTRL: COUNTFLAG Mask */

+

+#define SysTick_CTRL_CLKSOURCE_Pos          2                                             /*!< SysTick CTRL: CLKSOURCE Position */

+#define SysTick_CTRL_CLKSOURCE_Msk         (1UL << SysTick_CTRL_CLKSOURCE_Pos)            /*!< SysTick CTRL: CLKSOURCE Mask */

+

+#define SysTick_CTRL_TICKINT_Pos            1                                             /*!< SysTick CTRL: TICKINT Position */

+#define SysTick_CTRL_TICKINT_Msk           (1UL << SysTick_CTRL_TICKINT_Pos)              /*!< SysTick CTRL: TICKINT Mask */

+

+#define SysTick_CTRL_ENABLE_Pos             0                                             /*!< SysTick CTRL: ENABLE Position */

+#define SysTick_CTRL_ENABLE_Msk            (1UL << SysTick_CTRL_ENABLE_Pos)               /*!< SysTick CTRL: ENABLE Mask */

+

+/* SysTick Reload Register Definitions */

+#define SysTick_LOAD_RELOAD_Pos             0                                             /*!< SysTick LOAD: RELOAD Position */

+#define SysTick_LOAD_RELOAD_Msk            (0xFFFFFFUL << SysTick_LOAD_RELOAD_Pos)        /*!< SysTick LOAD: RELOAD Mask */

+

+/* SysTick Current Register Definitions */

+#define SysTick_VAL_CURRENT_Pos             0                                             /*!< SysTick VAL: CURRENT Position */

+#define SysTick_VAL_CURRENT_Msk            (0xFFFFFFUL << SysTick_VAL_CURRENT_Pos)        /*!< SysTick VAL: CURRENT Mask */

+

+/* SysTick Calibration Register Definitions */

+#define SysTick_CALIB_NOREF_Pos            31                                             /*!< SysTick CALIB: NOREF Position */

+#define SysTick_CALIB_NOREF_Msk            (1UL << SysTick_CALIB_NOREF_Pos)               /*!< SysTick CALIB: NOREF Mask */

+

+#define SysTick_CALIB_SKEW_Pos             30                                             /*!< SysTick CALIB: SKEW Position */

+#define SysTick_CALIB_SKEW_Msk             (1UL << SysTick_CALIB_SKEW_Pos)                /*!< SysTick CALIB: SKEW Mask */

+

+#define SysTick_CALIB_TENMS_Pos             0                                             /*!< SysTick CALIB: TENMS Position */

+#define SysTick_CALIB_TENMS_Msk            (0xFFFFFFUL << SysTick_VAL_CURRENT_Pos)        /*!< SysTick CALIB: TENMS Mask */

+

+/*@} end of group CMSIS_SysTick */

+

+

+/** \ingroup  CMSIS_core_register

+    \defgroup CMSIS_ITM     Instrumentation Trace Macrocell (ITM)

+    \brief      Type definitions for the Instrumentation Trace Macrocell (ITM)

+  @{

+ */

+

+/** \brief  Structure type to access the Instrumentation Trace Macrocell Register (ITM).

+ */

+typedef struct

+{

+  __O  union

+  {

+    __O  uint8_t    u8;                  /*!< Offset: 0x000 ( /W)  ITM Stimulus Port 8-bit                   */

+    __O  uint16_t   u16;                 /*!< Offset: 0x000 ( /W)  ITM Stimulus Port 16-bit                  */

+    __O  uint32_t   u32;                 /*!< Offset: 0x000 ( /W)  ITM Stimulus Port 32-bit                  */

+  }  PORT [32];                          /*!< Offset: 0x000 ( /W)  ITM Stimulus Port Registers               */

+       uint32_t RESERVED0[864];

+  __IO uint32_t TER;                     /*!< Offset: 0xE00 (R/W)  ITM Trace Enable Register                 */

+       uint32_t RESERVED1[15];

+  __IO uint32_t TPR;                     /*!< Offset: 0xE40 (R/W)  ITM Trace Privilege Register              */

+       uint32_t RESERVED2[15];

+  __IO uint32_t TCR;                     /*!< Offset: 0xE80 (R/W)  ITM Trace Control Register                */

+       uint32_t RESERVED3[29];                                  

+  __O  uint32_t IWR;                     /*!< Offset: 0xEF8 ( /W)  ITM Integration Write Register            */

+  __I  uint32_t IRR;                     /*!< Offset: 0xEFC (R/ )  ITM Integration Read Register             */

+  __IO uint32_t IMCR;                    /*!< Offset: 0xF00 (R/W)  ITM Integration Mode Control Register     */

+       uint32_t RESERVED4[43];                                  

+  __O  uint32_t LAR;                     /*!< Offset: 0xFB0 ( /W)  ITM Lock Access Register                  */

+  __I  uint32_t LSR;                     /*!< Offset: 0xFB4 (R/ )  ITM Lock Status Register                  */

+       uint32_t RESERVED5[6];                                   

+  __I  uint32_t PID4;                    /*!< Offset: 0xFD0 (R/ )  ITM Peripheral Identification Register #4 */

+  __I  uint32_t PID5;                    /*!< Offset: 0xFD4 (R/ )  ITM Peripheral Identification Register #5 */

+  __I  uint32_t PID6;                    /*!< Offset: 0xFD8 (R/ )  ITM Peripheral Identification Register #6 */

+  __I  uint32_t PID7;                    /*!< Offset: 0xFDC (R/ )  ITM Peripheral Identification Register #7 */

+  __I  uint32_t PID0;                    /*!< Offset: 0xFE0 (R/ )  ITM Peripheral Identification Register #0 */

+  __I  uint32_t PID1;                    /*!< Offset: 0xFE4 (R/ )  ITM Peripheral Identification Register #1 */

+  __I  uint32_t PID2;                    /*!< Offset: 0xFE8 (R/ )  ITM Peripheral Identification Register #2 */

+  __I  uint32_t PID3;                    /*!< Offset: 0xFEC (R/ )  ITM Peripheral Identification Register #3 */

+  __I  uint32_t CID0;                    /*!< Offset: 0xFF0 (R/ )  ITM Component  Identification Register #0 */

+  __I  uint32_t CID1;                    /*!< Offset: 0xFF4 (R/ )  ITM Component  Identification Register #1 */

+  __I  uint32_t CID2;                    /*!< Offset: 0xFF8 (R/ )  ITM Component  Identification Register #2 */

+  __I  uint32_t CID3;                    /*!< Offset: 0xFFC (R/ )  ITM Component  Identification Register #3 */

+} ITM_Type;

+

+/* ITM Trace Privilege Register Definitions */

+#define ITM_TPR_PRIVMASK_Pos                0                                             /*!< ITM TPR: PRIVMASK Position */

+#define ITM_TPR_PRIVMASK_Msk               (0xFUL << ITM_TPR_PRIVMASK_Pos)                /*!< ITM TPR: PRIVMASK Mask */

+

+/* ITM Trace Control Register Definitions */

+#define ITM_TCR_BUSY_Pos                   23                                             /*!< ITM TCR: BUSY Position */

+#define ITM_TCR_BUSY_Msk                   (1UL << ITM_TCR_BUSY_Pos)                      /*!< ITM TCR: BUSY Mask */

+

+#define ITM_TCR_TraceBusID_Pos             16                                             /*!< ITM TCR: ATBID Position */

+#define ITM_TCR_TraceBusID_Msk             (0x7FUL << ITM_TCR_TraceBusID_Pos)             /*!< ITM TCR: ATBID Mask */

+

+#define ITM_TCR_GTSFREQ_Pos                10                                             /*!< ITM TCR: Global timestamp frequency Position */

+#define ITM_TCR_GTSFREQ_Msk                (3UL << ITM_TCR_GTSFREQ_Pos)                   /*!< ITM TCR: Global timestamp frequency Mask */

+

+#define ITM_TCR_TSPrescale_Pos              8                                             /*!< ITM TCR: TSPrescale Position */

+#define ITM_TCR_TSPrescale_Msk             (3UL << ITM_TCR_TSPrescale_Pos)                /*!< ITM TCR: TSPrescale Mask */

+

+#define ITM_TCR_SWOENA_Pos                  4                                             /*!< ITM TCR: SWOENA Position */

+#define ITM_TCR_SWOENA_Msk                 (1UL << ITM_TCR_SWOENA_Pos)                    /*!< ITM TCR: SWOENA Mask */

+

+#define ITM_TCR_DWTENA_Pos                  3                                             /*!< ITM TCR: DWTENA Position */

+#define ITM_TCR_DWTENA_Msk                 (1UL << ITM_TCR_DWTENA_Pos)                    /*!< ITM TCR: DWTENA Mask */

+

+#define ITM_TCR_SYNCENA_Pos                 2                                             /*!< ITM TCR: SYNCENA Position */

+#define ITM_TCR_SYNCENA_Msk                (1UL << ITM_TCR_SYNCENA_Pos)                   /*!< ITM TCR: SYNCENA Mask */

+

+#define ITM_TCR_TSENA_Pos                   1                                             /*!< ITM TCR: TSENA Position */

+#define ITM_TCR_TSENA_Msk                  (1UL << ITM_TCR_TSENA_Pos)                     /*!< ITM TCR: TSENA Mask */

+

+#define ITM_TCR_ITMENA_Pos                  0                                             /*!< ITM TCR: ITM Enable bit Position */

+#define ITM_TCR_ITMENA_Msk                 (1UL << ITM_TCR_ITMENA_Pos)                    /*!< ITM TCR: ITM Enable bit Mask */

+

+/* ITM Integration Write Register Definitions */

+#define ITM_IWR_ATVALIDM_Pos                0                                             /*!< ITM IWR: ATVALIDM Position */

+#define ITM_IWR_ATVALIDM_Msk               (1UL << ITM_IWR_ATVALIDM_Pos)                  /*!< ITM IWR: ATVALIDM Mask */

+

+/* ITM Integration Read Register Definitions */

+#define ITM_IRR_ATREADYM_Pos                0                                             /*!< ITM IRR: ATREADYM Position */

+#define ITM_IRR_ATREADYM_Msk               (1UL << ITM_IRR_ATREADYM_Pos)                  /*!< ITM IRR: ATREADYM Mask */

+

+/* ITM Integration Mode Control Register Definitions */

+#define ITM_IMCR_INTEGRATION_Pos            0                                             /*!< ITM IMCR: INTEGRATION Position */

+#define ITM_IMCR_INTEGRATION_Msk           (1UL << ITM_IMCR_INTEGRATION_Pos)              /*!< ITM IMCR: INTEGRATION Mask */

+

+/* ITM Lock Status Register Definitions */

+#define ITM_LSR_ByteAcc_Pos                 2                                             /*!< ITM LSR: ByteAcc Position */

+#define ITM_LSR_ByteAcc_Msk                (1UL << ITM_LSR_ByteAcc_Pos)                   /*!< ITM LSR: ByteAcc Mask */

+

+#define ITM_LSR_Access_Pos                  1                                             /*!< ITM LSR: Access Position */

+#define ITM_LSR_Access_Msk                 (1UL << ITM_LSR_Access_Pos)                    /*!< ITM LSR: Access Mask */

+

+#define ITM_LSR_Present_Pos                 0                                             /*!< ITM LSR: Present Position */

+#define ITM_LSR_Present_Msk                (1UL << ITM_LSR_Present_Pos)                   /*!< ITM LSR: Present Mask */

+

+/*@}*/ /* end of group CMSIS_ITM */

+

+

+/** \ingroup  CMSIS_core_register

+    \defgroup CMSIS_DWT     Data Watchpoint and Trace (DWT)

+    \brief      Type definitions for the Data Watchpoint and Trace (DWT)

+  @{

+ */

+

+/** \brief  Structure type to access the Data Watchpoint and Trace Register (DWT).

+ */

+typedef struct

+{

+  __IO uint32_t CTRL;                    /*!< Offset: 0x000 (R/W)  Control Register                          */

+  __IO uint32_t CYCCNT;                  /*!< Offset: 0x004 (R/W)  Cycle Count Register                      */

+  __IO uint32_t CPICNT;                  /*!< Offset: 0x008 (R/W)  CPI Count Register                        */

+  __IO uint32_t EXCCNT;                  /*!< Offset: 0x00C (R/W)  Exception Overhead Count Register         */

+  __IO uint32_t SLEEPCNT;                /*!< Offset: 0x010 (R/W)  Sleep Count Register                      */

+  __IO uint32_t LSUCNT;                  /*!< Offset: 0x014 (R/W)  LSU Count Register                        */

+  __IO uint32_t FOLDCNT;                 /*!< Offset: 0x018 (R/W)  Folded-instruction Count Register         */

+  __I  uint32_t PCSR;                    /*!< Offset: 0x01C (R/ )  Program Counter Sample Register           */

+  __IO uint32_t COMP0;                   /*!< Offset: 0x020 (R/W)  Comparator Register 0                     */

+  __IO uint32_t MASK0;                   /*!< Offset: 0x024 (R/W)  Mask Register 0                           */

+  __IO uint32_t FUNCTION0;               /*!< Offset: 0x028 (R/W)  Function Register 0                       */

+       uint32_t RESERVED0[1];

+  __IO uint32_t COMP1;                   /*!< Offset: 0x030 (R/W)  Comparator Register 1                     */

+  __IO uint32_t MASK1;                   /*!< Offset: 0x034 (R/W)  Mask Register 1                           */

+  __IO uint32_t FUNCTION1;               /*!< Offset: 0x038 (R/W)  Function Register 1                       */

+       uint32_t RESERVED1[1];

+  __IO uint32_t COMP2;                   /*!< Offset: 0x040 (R/W)  Comparator Register 2                     */

+  __IO uint32_t MASK2;                   /*!< Offset: 0x044 (R/W)  Mask Register 2                           */

+  __IO uint32_t FUNCTION2;               /*!< Offset: 0x048 (R/W)  Function Register 2                       */

+       uint32_t RESERVED2[1];

+  __IO uint32_t COMP3;                   /*!< Offset: 0x050 (R/W)  Comparator Register 3                     */

+  __IO uint32_t MASK3;                   /*!< Offset: 0x054 (R/W)  Mask Register 3                           */

+  __IO uint32_t FUNCTION3;               /*!< Offset: 0x058 (R/W)  Function Register 3                       */

+} DWT_Type;

+

+/* DWT Control Register Definitions */

+#define DWT_CTRL_NUMCOMP_Pos               28                                          /*!< DWT CTRL: NUMCOMP Position */

+#define DWT_CTRL_NUMCOMP_Msk               (0xFUL << DWT_CTRL_NUMCOMP_Pos)             /*!< DWT CTRL: NUMCOMP Mask */

+

+#define DWT_CTRL_NOTRCPKT_Pos              27                                          /*!< DWT CTRL: NOTRCPKT Position */

+#define DWT_CTRL_NOTRCPKT_Msk              (0x1UL << DWT_CTRL_NOTRCPKT_Pos)            /*!< DWT CTRL: NOTRCPKT Mask */

+

+#define DWT_CTRL_NOEXTTRIG_Pos             26                                          /*!< DWT CTRL: NOEXTTRIG Position */

+#define DWT_CTRL_NOEXTTRIG_Msk             (0x1UL << DWT_CTRL_NOEXTTRIG_Pos)           /*!< DWT CTRL: NOEXTTRIG Mask */

+

+#define DWT_CTRL_NOCYCCNT_Pos              25                                          /*!< DWT CTRL: NOCYCCNT Position */

+#define DWT_CTRL_NOCYCCNT_Msk              (0x1UL << DWT_CTRL_NOCYCCNT_Pos)            /*!< DWT CTRL: NOCYCCNT Mask */

+

+#define DWT_CTRL_NOPRFCNT_Pos              24                                          /*!< DWT CTRL: NOPRFCNT Position */

+#define DWT_CTRL_NOPRFCNT_Msk              (0x1UL << DWT_CTRL_NOPRFCNT_Pos)            /*!< DWT CTRL: NOPRFCNT Mask */

+

+#define DWT_CTRL_CYCEVTENA_Pos             22                                          /*!< DWT CTRL: CYCEVTENA Position */

+#define DWT_CTRL_CYCEVTENA_Msk             (0x1UL << DWT_CTRL_CYCEVTENA_Pos)           /*!< DWT CTRL: CYCEVTENA Mask */

+

+#define DWT_CTRL_FOLDEVTENA_Pos            21                                          /*!< DWT CTRL: FOLDEVTENA Position */

+#define DWT_CTRL_FOLDEVTENA_Msk            (0x1UL << DWT_CTRL_FOLDEVTENA_Pos)          /*!< DWT CTRL: FOLDEVTENA Mask */

+

+#define DWT_CTRL_LSUEVTENA_Pos             20                                          /*!< DWT CTRL: LSUEVTENA Position */

+#define DWT_CTRL_LSUEVTENA_Msk             (0x1UL << DWT_CTRL_LSUEVTENA_Pos)           /*!< DWT CTRL: LSUEVTENA Mask */

+

+#define DWT_CTRL_SLEEPEVTENA_Pos           19                                          /*!< DWT CTRL: SLEEPEVTENA Position */

+#define DWT_CTRL_SLEEPEVTENA_Msk           (0x1UL << DWT_CTRL_SLEEPEVTENA_Pos)         /*!< DWT CTRL: SLEEPEVTENA Mask */

+

+#define DWT_CTRL_EXCEVTENA_Pos             18                                          /*!< DWT CTRL: EXCEVTENA Position */

+#define DWT_CTRL_EXCEVTENA_Msk             (0x1UL << DWT_CTRL_EXCEVTENA_Pos)           /*!< DWT CTRL: EXCEVTENA Mask */

+

+#define DWT_CTRL_CPIEVTENA_Pos             17                                          /*!< DWT CTRL: CPIEVTENA Position */

+#define DWT_CTRL_CPIEVTENA_Msk             (0x1UL << DWT_CTRL_CPIEVTENA_Pos)           /*!< DWT CTRL: CPIEVTENA Mask */

+

+#define DWT_CTRL_EXCTRCENA_Pos             16                                          /*!< DWT CTRL: EXCTRCENA Position */

+#define DWT_CTRL_EXCTRCENA_Msk             (0x1UL << DWT_CTRL_EXCTRCENA_Pos)           /*!< DWT CTRL: EXCTRCENA Mask */

+

+#define DWT_CTRL_PCSAMPLENA_Pos            12                                          /*!< DWT CTRL: PCSAMPLENA Position */

+#define DWT_CTRL_PCSAMPLENA_Msk            (0x1UL << DWT_CTRL_PCSAMPLENA_Pos)          /*!< DWT CTRL: PCSAMPLENA Mask */

+

+#define DWT_CTRL_SYNCTAP_Pos               10                                          /*!< DWT CTRL: SYNCTAP Position */

+#define DWT_CTRL_SYNCTAP_Msk               (0x3UL << DWT_CTRL_SYNCTAP_Pos)             /*!< DWT CTRL: SYNCTAP Mask */

+

+#define DWT_CTRL_CYCTAP_Pos                 9                                          /*!< DWT CTRL: CYCTAP Position */

+#define DWT_CTRL_CYCTAP_Msk                (0x1UL << DWT_CTRL_CYCTAP_Pos)              /*!< DWT CTRL: CYCTAP Mask */

+

+#define DWT_CTRL_POSTINIT_Pos               5                                          /*!< DWT CTRL: POSTINIT Position */

+#define DWT_CTRL_POSTINIT_Msk              (0xFUL << DWT_CTRL_POSTINIT_Pos)            /*!< DWT CTRL: POSTINIT Mask */

+

+#define DWT_CTRL_POSTPRESET_Pos             1                                          /*!< DWT CTRL: POSTPRESET Position */

+#define DWT_CTRL_POSTPRESET_Msk            (0xFUL << DWT_CTRL_POSTPRESET_Pos)          /*!< DWT CTRL: POSTPRESET Mask */

+

+#define DWT_CTRL_CYCCNTENA_Pos              0                                          /*!< DWT CTRL: CYCCNTENA Position */

+#define DWT_CTRL_CYCCNTENA_Msk             (0x1UL << DWT_CTRL_CYCCNTENA_Pos)           /*!< DWT CTRL: CYCCNTENA Mask */

+

+/* DWT CPI Count Register Definitions */

+#define DWT_CPICNT_CPICNT_Pos               0                                          /*!< DWT CPICNT: CPICNT Position */

+#define DWT_CPICNT_CPICNT_Msk              (0xFFUL << DWT_CPICNT_CPICNT_Pos)           /*!< DWT CPICNT: CPICNT Mask */

+

+/* DWT Exception Overhead Count Register Definitions */

+#define DWT_EXCCNT_EXCCNT_Pos               0                                          /*!< DWT EXCCNT: EXCCNT Position */

+#define DWT_EXCCNT_EXCCNT_Msk              (0xFFUL << DWT_EXCCNT_EXCCNT_Pos)           /*!< DWT EXCCNT: EXCCNT Mask */

+

+/* DWT Sleep Count Register Definitions */

+#define DWT_SLEEPCNT_SLEEPCNT_Pos           0                                          /*!< DWT SLEEPCNT: SLEEPCNT Position */

+#define DWT_SLEEPCNT_SLEEPCNT_Msk          (0xFFUL << DWT_SLEEPCNT_SLEEPCNT_Pos)       /*!< DWT SLEEPCNT: SLEEPCNT Mask */

+

+/* DWT LSU Count Register Definitions */

+#define DWT_LSUCNT_LSUCNT_Pos               0                                          /*!< DWT LSUCNT: LSUCNT Position */

+#define DWT_LSUCNT_LSUCNT_Msk              (0xFFUL << DWT_LSUCNT_LSUCNT_Pos)           /*!< DWT LSUCNT: LSUCNT Mask */

+

+/* DWT Folded-instruction Count Register Definitions */

+#define DWT_FOLDCNT_FOLDCNT_Pos             0                                          /*!< DWT FOLDCNT: FOLDCNT Position */

+#define DWT_FOLDCNT_FOLDCNT_Msk            (0xFFUL << DWT_FOLDCNT_FOLDCNT_Pos)         /*!< DWT FOLDCNT: FOLDCNT Mask */

+

+/* DWT Comparator Mask Register Definitions */

+#define DWT_MASK_MASK_Pos                   0                                          /*!< DWT MASK: MASK Position */

+#define DWT_MASK_MASK_Msk                  (0x1FUL << DWT_MASK_MASK_Pos)               /*!< DWT MASK: MASK Mask */

+

+/* DWT Comparator Function Register Definitions */

+#define DWT_FUNCTION_MATCHED_Pos           24                                          /*!< DWT FUNCTION: MATCHED Position */

+#define DWT_FUNCTION_MATCHED_Msk           (0x1UL << DWT_FUNCTION_MATCHED_Pos)         /*!< DWT FUNCTION: MATCHED Mask */

+

+#define DWT_FUNCTION_DATAVADDR1_Pos        16                                          /*!< DWT FUNCTION: DATAVADDR1 Position */

+#define DWT_FUNCTION_DATAVADDR1_Msk        (0xFUL << DWT_FUNCTION_DATAVADDR1_Pos)      /*!< DWT FUNCTION: DATAVADDR1 Mask */

+

+#define DWT_FUNCTION_DATAVADDR0_Pos        12                                          /*!< DWT FUNCTION: DATAVADDR0 Position */

+#define DWT_FUNCTION_DATAVADDR0_Msk        (0xFUL << DWT_FUNCTION_DATAVADDR0_Pos)      /*!< DWT FUNCTION: DATAVADDR0 Mask */

+

+#define DWT_FUNCTION_DATAVSIZE_Pos         10                                          /*!< DWT FUNCTION: DATAVSIZE Position */

+#define DWT_FUNCTION_DATAVSIZE_Msk         (0x3UL << DWT_FUNCTION_DATAVSIZE_Pos)       /*!< DWT FUNCTION: DATAVSIZE Mask */

+

+#define DWT_FUNCTION_LNK1ENA_Pos            9                                          /*!< DWT FUNCTION: LNK1ENA Position */

+#define DWT_FUNCTION_LNK1ENA_Msk           (0x1UL << DWT_FUNCTION_LNK1ENA_Pos)         /*!< DWT FUNCTION: LNK1ENA Mask */

+

+#define DWT_FUNCTION_DATAVMATCH_Pos         8                                          /*!< DWT FUNCTION: DATAVMATCH Position */

+#define DWT_FUNCTION_DATAVMATCH_Msk        (0x1UL << DWT_FUNCTION_DATAVMATCH_Pos)      /*!< DWT FUNCTION: DATAVMATCH Mask */

+

+#define DWT_FUNCTION_CYCMATCH_Pos           7                                          /*!< DWT FUNCTION: CYCMATCH Position */

+#define DWT_FUNCTION_CYCMATCH_Msk          (0x1UL << DWT_FUNCTION_CYCMATCH_Pos)        /*!< DWT FUNCTION: CYCMATCH Mask */

+

+#define DWT_FUNCTION_EMITRANGE_Pos          5                                          /*!< DWT FUNCTION: EMITRANGE Position */

+#define DWT_FUNCTION_EMITRANGE_Msk         (0x1UL << DWT_FUNCTION_EMITRANGE_Pos)       /*!< DWT FUNCTION: EMITRANGE Mask */

+

+#define DWT_FUNCTION_FUNCTION_Pos           0                                          /*!< DWT FUNCTION: FUNCTION Position */

+#define DWT_FUNCTION_FUNCTION_Msk          (0xFUL << DWT_FUNCTION_FUNCTION_Pos)        /*!< DWT FUNCTION: FUNCTION Mask */

+

+/*@}*/ /* end of group CMSIS_DWT */

+

+

+/** \ingroup  CMSIS_core_register

+    \defgroup CMSIS_TPI     Trace Port Interface (TPI)

+    \brief      Type definitions for the Trace Port Interface (TPI)

+  @{

+ */

+

+/** \brief  Structure type to access the Trace Port Interface Register (TPI).

+ */

+typedef struct

+{

+  __IO uint32_t SSPSR;                   /*!< Offset: 0x000 (R/ )  Supported Parallel Port Size Register     */

+  __IO uint32_t CSPSR;                   /*!< Offset: 0x004 (R/W)  Current Parallel Port Size Register */

+       uint32_t RESERVED0[2];

+  __IO uint32_t ACPR;                    /*!< Offset: 0x010 (R/W)  Asynchronous Clock Prescaler Register */

+       uint32_t RESERVED1[55];

+  __IO uint32_t SPPR;                    /*!< Offset: 0x0F0 (R/W)  Selected Pin Protocol Register */

+       uint32_t RESERVED2[131];

+  __I  uint32_t FFSR;                    /*!< Offset: 0x300 (R/ )  Formatter and Flush Status Register */

+  __IO uint32_t FFCR;                    /*!< Offset: 0x304 (R/W)  Formatter and Flush Control Register */

+  __I  uint32_t FSCR;                    /*!< Offset: 0x308 (R/ )  Formatter Synchronization Counter Register */

+       uint32_t RESERVED3[759];

+  __I  uint32_t TRIGGER;                 /*!< Offset: 0xEE8 (R/ )  TRIGGER */

+  __I  uint32_t FIFO0;                   /*!< Offset: 0xEEC (R/ )  Integration ETM Data */

+  __I  uint32_t ITATBCTR2;               /*!< Offset: 0xEF0 (R/ )  ITATBCTR2 */

+       uint32_t RESERVED4[1];

+  __I  uint32_t ITATBCTR0;               /*!< Offset: 0xEF8 (R/ )  ITATBCTR0 */

+  __I  uint32_t FIFO1;                   /*!< Offset: 0xEFC (R/ )  Integration ITM Data */

+  __IO uint32_t ITCTRL;                  /*!< Offset: 0xF00 (R/W)  Integration Mode Control */

+       uint32_t RESERVED5[39];

+  __IO uint32_t CLAIMSET;                /*!< Offset: 0xFA0 (R/W)  Claim tag set */

+  __IO uint32_t CLAIMCLR;                /*!< Offset: 0xFA4 (R/W)  Claim tag clear */

+       uint32_t RESERVED7[8];

+  __I  uint32_t DEVID;                   /*!< Offset: 0xFC8 (R/ )  TPIU_DEVID */

+  __I  uint32_t DEVTYPE;                 /*!< Offset: 0xFCC (R/ )  TPIU_DEVTYPE */

+} TPI_Type;

+

+/* TPI Asynchronous Clock Prescaler Register Definitions */

+#define TPI_ACPR_PRESCALER_Pos              0                                          /*!< TPI ACPR: PRESCALER Position */

+#define TPI_ACPR_PRESCALER_Msk             (0x1FFFUL << TPI_ACPR_PRESCALER_Pos)        /*!< TPI ACPR: PRESCALER Mask */

+

+/* TPI Selected Pin Protocol Register Definitions */

+#define TPI_SPPR_TXMODE_Pos                 0                                          /*!< TPI SPPR: TXMODE Position */

+#define TPI_SPPR_TXMODE_Msk                (0x3UL << TPI_SPPR_TXMODE_Pos)              /*!< TPI SPPR: TXMODE Mask */

+

+/* TPI Formatter and Flush Status Register Definitions */

+#define TPI_FFSR_FtNonStop_Pos              3                                          /*!< TPI FFSR: FtNonStop Position */

+#define TPI_FFSR_FtNonStop_Msk             (0x1UL << TPI_FFSR_FtNonStop_Pos)           /*!< TPI FFSR: FtNonStop Mask */

+

+#define TPI_FFSR_TCPresent_Pos              2                                          /*!< TPI FFSR: TCPresent Position */

+#define TPI_FFSR_TCPresent_Msk             (0x1UL << TPI_FFSR_TCPresent_Pos)           /*!< TPI FFSR: TCPresent Mask */

+

+#define TPI_FFSR_FtStopped_Pos              1                                          /*!< TPI FFSR: FtStopped Position */

+#define TPI_FFSR_FtStopped_Msk             (0x1UL << TPI_FFSR_FtStopped_Pos)           /*!< TPI FFSR: FtStopped Mask */

+

+#define TPI_FFSR_FlInProg_Pos               0                                          /*!< TPI FFSR: FlInProg Position */

+#define TPI_FFSR_FlInProg_Msk              (0x1UL << TPI_FFSR_FlInProg_Pos)            /*!< TPI FFSR: FlInProg Mask */

+

+/* TPI Formatter and Flush Control Register Definitions */

+#define TPI_FFCR_TrigIn_Pos                 8                                          /*!< TPI FFCR: TrigIn Position */

+#define TPI_FFCR_TrigIn_Msk                (0x1UL << TPI_FFCR_TrigIn_Pos)              /*!< TPI FFCR: TrigIn Mask */

+

+#define TPI_FFCR_EnFCont_Pos                1                                          /*!< TPI FFCR: EnFCont Position */

+#define TPI_FFCR_EnFCont_Msk               (0x1UL << TPI_FFCR_EnFCont_Pos)             /*!< TPI FFCR: EnFCont Mask */

+

+/* TPI TRIGGER Register Definitions */

+#define TPI_TRIGGER_TRIGGER_Pos             0                                          /*!< TPI TRIGGER: TRIGGER Position */

+#define TPI_TRIGGER_TRIGGER_Msk            (0x1UL << TPI_TRIGGER_TRIGGER_Pos)          /*!< TPI TRIGGER: TRIGGER Mask */

+

+/* TPI Integration ETM Data Register Definitions (FIFO0) */

+#define TPI_FIFO0_ITM_ATVALID_Pos          29                                          /*!< TPI FIFO0: ITM_ATVALID Position */

+#define TPI_FIFO0_ITM_ATVALID_Msk          (0x3UL << TPI_FIFO0_ITM_ATVALID_Pos)        /*!< TPI FIFO0: ITM_ATVALID Mask */

+

+#define TPI_FIFO0_ITM_bytecount_Pos        27                                          /*!< TPI FIFO0: ITM_bytecount Position */

+#define TPI_FIFO0_ITM_bytecount_Msk        (0x3UL << TPI_FIFO0_ITM_bytecount_Pos)      /*!< TPI FIFO0: ITM_bytecount Mask */

+

+#define TPI_FIFO0_ETM_ATVALID_Pos          26                                          /*!< TPI FIFO0: ETM_ATVALID Position */

+#define TPI_FIFO0_ETM_ATVALID_Msk          (0x3UL << TPI_FIFO0_ETM_ATVALID_Pos)        /*!< TPI FIFO0: ETM_ATVALID Mask */

+

+#define TPI_FIFO0_ETM_bytecount_Pos        24                                          /*!< TPI FIFO0: ETM_bytecount Position */

+#define TPI_FIFO0_ETM_bytecount_Msk        (0x3UL << TPI_FIFO0_ETM_bytecount_Pos)      /*!< TPI FIFO0: ETM_bytecount Mask */

+

+#define TPI_FIFO0_ETM2_Pos                 16                                          /*!< TPI FIFO0: ETM2 Position */

+#define TPI_FIFO0_ETM2_Msk                 (0xFFUL << TPI_FIFO0_ETM2_Pos)              /*!< TPI FIFO0: ETM2 Mask */

+

+#define TPI_FIFO0_ETM1_Pos                  8                                          /*!< TPI FIFO0: ETM1 Position */

+#define TPI_FIFO0_ETM1_Msk                 (0xFFUL << TPI_FIFO0_ETM1_Pos)              /*!< TPI FIFO0: ETM1 Mask */

+

+#define TPI_FIFO0_ETM0_Pos                  0                                          /*!< TPI FIFO0: ETM0 Position */

+#define TPI_FIFO0_ETM0_Msk                 (0xFFUL << TPI_FIFO0_ETM0_Pos)              /*!< TPI FIFO0: ETM0 Mask */

+

+/* TPI ITATBCTR2 Register Definitions */

+#define TPI_ITATBCTR2_ATREADY_Pos           0                                          /*!< TPI ITATBCTR2: ATREADY Position */

+#define TPI_ITATBCTR2_ATREADY_Msk          (0x1UL << TPI_ITATBCTR2_ATREADY_Pos)        /*!< TPI ITATBCTR2: ATREADY Mask */

+

+/* TPI Integration ITM Data Register Definitions (FIFO1) */

+#define TPI_FIFO1_ITM_ATVALID_Pos          29                                          /*!< TPI FIFO1: ITM_ATVALID Position */

+#define TPI_FIFO1_ITM_ATVALID_Msk          (0x3UL << TPI_FIFO1_ITM_ATVALID_Pos)        /*!< TPI FIFO1: ITM_ATVALID Mask */

+

+#define TPI_FIFO1_ITM_bytecount_Pos        27                                          /*!< TPI FIFO1: ITM_bytecount Position */

+#define TPI_FIFO1_ITM_bytecount_Msk        (0x3UL << TPI_FIFO1_ITM_bytecount_Pos)      /*!< TPI FIFO1: ITM_bytecount Mask */

+

+#define TPI_FIFO1_ETM_ATVALID_Pos          26                                          /*!< TPI FIFO1: ETM_ATVALID Position */

+#define TPI_FIFO1_ETM_ATVALID_Msk          (0x3UL << TPI_FIFO1_ETM_ATVALID_Pos)        /*!< TPI FIFO1: ETM_ATVALID Mask */

+

+#define TPI_FIFO1_ETM_bytecount_Pos        24                                          /*!< TPI FIFO1: ETM_bytecount Position */

+#define TPI_FIFO1_ETM_bytecount_Msk        (0x3UL << TPI_FIFO1_ETM_bytecount_Pos)      /*!< TPI FIFO1: ETM_bytecount Mask */

+

+#define TPI_FIFO1_ITM2_Pos                 16                                          /*!< TPI FIFO1: ITM2 Position */

+#define TPI_FIFO1_ITM2_Msk                 (0xFFUL << TPI_FIFO1_ITM2_Pos)              /*!< TPI FIFO1: ITM2 Mask */

+

+#define TPI_FIFO1_ITM1_Pos                  8                                          /*!< TPI FIFO1: ITM1 Position */

+#define TPI_FIFO1_ITM1_Msk                 (0xFFUL << TPI_FIFO1_ITM1_Pos)              /*!< TPI FIFO1: ITM1 Mask */

+

+#define TPI_FIFO1_ITM0_Pos                  0                                          /*!< TPI FIFO1: ITM0 Position */

+#define TPI_FIFO1_ITM0_Msk                 (0xFFUL << TPI_FIFO1_ITM0_Pos)              /*!< TPI FIFO1: ITM0 Mask */

+

+/* TPI ITATBCTR0 Register Definitions */

+#define TPI_ITATBCTR0_ATREADY_Pos           0                                          /*!< TPI ITATBCTR0: ATREADY Position */

+#define TPI_ITATBCTR0_ATREADY_Msk          (0x1UL << TPI_ITATBCTR0_ATREADY_Pos)        /*!< TPI ITATBCTR0: ATREADY Mask */

+

+/* TPI Integration Mode Control Register Definitions */

+#define TPI_ITCTRL_Mode_Pos                 0                                          /*!< TPI ITCTRL: Mode Position */

+#define TPI_ITCTRL_Mode_Msk                (0x1UL << TPI_ITCTRL_Mode_Pos)              /*!< TPI ITCTRL: Mode Mask */

+

+/* TPI DEVID Register Definitions */

+#define TPI_DEVID_NRZVALID_Pos             11                                          /*!< TPI DEVID: NRZVALID Position */

+#define TPI_DEVID_NRZVALID_Msk             (0x1UL << TPI_DEVID_NRZVALID_Pos)           /*!< TPI DEVID: NRZVALID Mask */

+

+#define TPI_DEVID_MANCVALID_Pos            10                                          /*!< TPI DEVID: MANCVALID Position */

+#define TPI_DEVID_MANCVALID_Msk            (0x1UL << TPI_DEVID_MANCVALID_Pos)          /*!< TPI DEVID: MANCVALID Mask */

+

+#define TPI_DEVID_PTINVALID_Pos             9                                          /*!< TPI DEVID: PTINVALID Position */

+#define TPI_DEVID_PTINVALID_Msk            (0x1UL << TPI_DEVID_PTINVALID_Pos)          /*!< TPI DEVID: PTINVALID Mask */

+

+#define TPI_DEVID_MinBufSz_Pos              6                                          /*!< TPI DEVID: MinBufSz Position */

+#define TPI_DEVID_MinBufSz_Msk             (0x7UL << TPI_DEVID_MinBufSz_Pos)           /*!< TPI DEVID: MinBufSz Mask */

+

+#define TPI_DEVID_AsynClkIn_Pos             5                                          /*!< TPI DEVID: AsynClkIn Position */

+#define TPI_DEVID_AsynClkIn_Msk            (0x1UL << TPI_DEVID_AsynClkIn_Pos)          /*!< TPI DEVID: AsynClkIn Mask */

+

+#define TPI_DEVID_NrTraceInput_Pos          0                                          /*!< TPI DEVID: NrTraceInput Position */

+#define TPI_DEVID_NrTraceInput_Msk         (0x1FUL << TPI_DEVID_NrTraceInput_Pos)      /*!< TPI DEVID: NrTraceInput Mask */

+

+/* TPI DEVTYPE Register Definitions */

+#define TPI_DEVTYPE_SubType_Pos             0                                          /*!< TPI DEVTYPE: SubType Position */

+#define TPI_DEVTYPE_SubType_Msk            (0xFUL << TPI_DEVTYPE_SubType_Pos)          /*!< TPI DEVTYPE: SubType Mask */

+

+#define TPI_DEVTYPE_MajorType_Pos           4                                          /*!< TPI DEVTYPE: MajorType Position */

+#define TPI_DEVTYPE_MajorType_Msk          (0xFUL << TPI_DEVTYPE_MajorType_Pos)        /*!< TPI DEVTYPE: MajorType Mask */

+

+/*@}*/ /* end of group CMSIS_TPI */

+

+

+#if (__MPU_PRESENT == 1)

+/** \ingroup  CMSIS_core_register

+    \defgroup CMSIS_MPU     Memory Protection Unit (MPU)

+    \brief      Type definitions for the Memory Protection Unit (MPU)

+  @{

+ */

+

+/** \brief  Structure type to access the Memory Protection Unit (MPU).

+ */

+typedef struct

+{

+  __I  uint32_t TYPE;                    /*!< Offset: 0x000 (R/ )  MPU Type Register                              */

+  __IO uint32_t CTRL;                    /*!< Offset: 0x004 (R/W)  MPU Control Register                           */

+  __IO uint32_t RNR;                     /*!< Offset: 0x008 (R/W)  MPU Region RNRber Register                     */

+  __IO uint32_t RBAR;                    /*!< Offset: 0x00C (R/W)  MPU Region Base Address Register               */

+  __IO uint32_t RASR;                    /*!< Offset: 0x010 (R/W)  MPU Region Attribute and Size Register         */

+  __IO uint32_t RBAR_A1;                 /*!< Offset: 0x014 (R/W)  MPU Alias 1 Region Base Address Register       */

+  __IO uint32_t RASR_A1;                 /*!< Offset: 0x018 (R/W)  MPU Alias 1 Region Attribute and Size Register */

+  __IO uint32_t RBAR_A2;                 /*!< Offset: 0x01C (R/W)  MPU Alias 2 Region Base Address Register       */

+  __IO uint32_t RASR_A2;                 /*!< Offset: 0x020 (R/W)  MPU Alias 2 Region Attribute and Size Register */

+  __IO uint32_t RBAR_A3;                 /*!< Offset: 0x024 (R/W)  MPU Alias 3 Region Base Address Register       */

+  __IO uint32_t RASR_A3;                 /*!< Offset: 0x028 (R/W)  MPU Alias 3 Region Attribute and Size Register */

+} MPU_Type;

+

+/* MPU Type Register */

+#define MPU_TYPE_IREGION_Pos               16                                             /*!< MPU TYPE: IREGION Position */

+#define MPU_TYPE_IREGION_Msk               (0xFFUL << MPU_TYPE_IREGION_Pos)               /*!< MPU TYPE: IREGION Mask */

+

+#define MPU_TYPE_DREGION_Pos                8                                             /*!< MPU TYPE: DREGION Position */

+#define MPU_TYPE_DREGION_Msk               (0xFFUL << MPU_TYPE_DREGION_Pos)               /*!< MPU TYPE: DREGION Mask */

+

+#define MPU_TYPE_SEPARATE_Pos               0                                             /*!< MPU TYPE: SEPARATE Position */

+#define MPU_TYPE_SEPARATE_Msk              (1UL << MPU_TYPE_SEPARATE_Pos)                 /*!< MPU TYPE: SEPARATE Mask */

+

+/* MPU Control Register */

+#define MPU_CTRL_PRIVDEFENA_Pos             2                                             /*!< MPU CTRL: PRIVDEFENA Position */

+#define MPU_CTRL_PRIVDEFENA_Msk            (1UL << MPU_CTRL_PRIVDEFENA_Pos)               /*!< MPU CTRL: PRIVDEFENA Mask */

+

+#define MPU_CTRL_HFNMIENA_Pos               1                                             /*!< MPU CTRL: HFNMIENA Position */

+#define MPU_CTRL_HFNMIENA_Msk              (1UL << MPU_CTRL_HFNMIENA_Pos)                 /*!< MPU CTRL: HFNMIENA Mask */

+

+#define MPU_CTRL_ENABLE_Pos                 0                                             /*!< MPU CTRL: ENABLE Position */

+#define MPU_CTRL_ENABLE_Msk                (1UL << MPU_CTRL_ENABLE_Pos)                   /*!< MPU CTRL: ENABLE Mask */

+

+/* MPU Region Number Register */

+#define MPU_RNR_REGION_Pos                  0                                             /*!< MPU RNR: REGION Position */

+#define MPU_RNR_REGION_Msk                 (0xFFUL << MPU_RNR_REGION_Pos)                 /*!< MPU RNR: REGION Mask */

+

+/* MPU Region Base Address Register */

+#define MPU_RBAR_ADDR_Pos                   5                                             /*!< MPU RBAR: ADDR Position */

+#define MPU_RBAR_ADDR_Msk                  (0x7FFFFFFUL << MPU_RBAR_ADDR_Pos)             /*!< MPU RBAR: ADDR Mask */

+

+#define MPU_RBAR_VALID_Pos                  4                                             /*!< MPU RBAR: VALID Position */

+#define MPU_RBAR_VALID_Msk                 (1UL << MPU_RBAR_VALID_Pos)                    /*!< MPU RBAR: VALID Mask */

+

+#define MPU_RBAR_REGION_Pos                 0                                             /*!< MPU RBAR: REGION Position */

+#define MPU_RBAR_REGION_Msk                (0xFUL << MPU_RBAR_REGION_Pos)                 /*!< MPU RBAR: REGION Mask */

+

+/* MPU Region Attribute and Size Register */

+#define MPU_RASR_ATTRS_Pos                 16                                             /*!< MPU RASR: MPU Region Attribute field Position */

+#define MPU_RASR_ATTRS_Msk                 (0xFFFFUL << MPU_RASR_ATTRS_Pos)               /*!< MPU RASR: MPU Region Attribute field Mask */

+

+#define MPU_RASR_XN_Pos                    28                                             /*!< MPU RASR: ATTRS.XN Position */

+#define MPU_RASR_XN_Msk                    (1UL << MPU_RASR_XN_Pos)                       /*!< MPU RASR: ATTRS.XN Mask */

+

+#define MPU_RASR_AP_Pos                    24                                             /*!< MPU RASR: ATTRS.AP Position */

+#define MPU_RASR_AP_Msk                    (0x7UL << MPU_RASR_AP_Pos)                     /*!< MPU RASR: ATTRS.AP Mask */

+

+#define MPU_RASR_TEX_Pos                   19                                             /*!< MPU RASR: ATTRS.TEX Position */

+#define MPU_RASR_TEX_Msk                   (0x7UL << MPU_RASR_TEX_Pos)                    /*!< MPU RASR: ATTRS.TEX Mask */

+

+#define MPU_RASR_S_Pos                     18                                             /*!< MPU RASR: ATTRS.S Position */

+#define MPU_RASR_S_Msk                     (1UL << MPU_RASR_S_Pos)                        /*!< MPU RASR: ATTRS.S Mask */

+

+#define MPU_RASR_C_Pos                     17                                             /*!< MPU RASR: ATTRS.C Position */

+#define MPU_RASR_C_Msk                     (1UL << MPU_RASR_C_Pos)                        /*!< MPU RASR: ATTRS.C Mask */

+

+#define MPU_RASR_B_Pos                     16                                             /*!< MPU RASR: ATTRS.B Position */

+#define MPU_RASR_B_Msk                     (1UL << MPU_RASR_B_Pos)                        /*!< MPU RASR: ATTRS.B Mask */

+

+#define MPU_RASR_SRD_Pos                    8                                             /*!< MPU RASR: Sub-Region Disable Position */

+#define MPU_RASR_SRD_Msk                   (0xFFUL << MPU_RASR_SRD_Pos)                   /*!< MPU RASR: Sub-Region Disable Mask */

+

+#define MPU_RASR_SIZE_Pos                   1                                             /*!< MPU RASR: Region Size Field Position */

+#define MPU_RASR_SIZE_Msk                  (0x1FUL << MPU_RASR_SIZE_Pos)                  /*!< MPU RASR: Region Size Field Mask */

+

+#define MPU_RASR_ENABLE_Pos                 0                                             /*!< MPU RASR: Region enable bit Position */

+#define MPU_RASR_ENABLE_Msk                (1UL << MPU_RASR_ENABLE_Pos)                   /*!< MPU RASR: Region enable bit Disable Mask */

+

+/*@} end of group CMSIS_MPU */

+#endif

+

+

+#if (__FPU_PRESENT == 1)

+/** \ingroup  CMSIS_core_register

+    \defgroup CMSIS_FPU     Floating Point Unit (FPU)

+    \brief      Type definitions for the Floating Point Unit (FPU)

+  @{

+ */

+

+/** \brief  Structure type to access the Floating Point Unit (FPU).

+ */

+typedef struct

+{

+       uint32_t RESERVED0[1];

+  __IO uint32_t FPCCR;                   /*!< Offset: 0x004 (R/W)  Floating-Point Context Control Register               */

+  __IO uint32_t FPCAR;                   /*!< Offset: 0x008 (R/W)  Floating-Point Context Address Register               */

+  __IO uint32_t FPDSCR;                  /*!< Offset: 0x00C (R/W)  Floating-Point Default Status Control Register        */

+  __I  uint32_t MVFR0;                   /*!< Offset: 0x010 (R/ )  Media and FP Feature Register 0                       */

+  __I  uint32_t MVFR1;                   /*!< Offset: 0x014 (R/ )  Media and FP Feature Register 1                       */

+} FPU_Type;

+

+/* Floating-Point Context Control Register */

+#define FPU_FPCCR_ASPEN_Pos                31                                             /*!< FPCCR: ASPEN bit Position */

+#define FPU_FPCCR_ASPEN_Msk                (1UL << FPU_FPCCR_ASPEN_Pos)                   /*!< FPCCR: ASPEN bit Mask */

+

+#define FPU_FPCCR_LSPEN_Pos                30                                             /*!< FPCCR: LSPEN Position */

+#define FPU_FPCCR_LSPEN_Msk                (1UL << FPU_FPCCR_LSPEN_Pos)                   /*!< FPCCR: LSPEN bit Mask */

+

+#define FPU_FPCCR_MONRDY_Pos                8                                             /*!< FPCCR: MONRDY Position */

+#define FPU_FPCCR_MONRDY_Msk               (1UL << FPU_FPCCR_MONRDY_Pos)                  /*!< FPCCR: MONRDY bit Mask */

+

+#define FPU_FPCCR_BFRDY_Pos                 6                                             /*!< FPCCR: BFRDY Position */

+#define FPU_FPCCR_BFRDY_Msk                (1UL << FPU_FPCCR_BFRDY_Pos)                   /*!< FPCCR: BFRDY bit Mask */

+

+#define FPU_FPCCR_MMRDY_Pos                 5                                             /*!< FPCCR: MMRDY Position */

+#define FPU_FPCCR_MMRDY_Msk                (1UL << FPU_FPCCR_MMRDY_Pos)                   /*!< FPCCR: MMRDY bit Mask */

+

+#define FPU_FPCCR_HFRDY_Pos                 4                                             /*!< FPCCR: HFRDY Position */

+#define FPU_FPCCR_HFRDY_Msk                (1UL << FPU_FPCCR_HFRDY_Pos)                   /*!< FPCCR: HFRDY bit Mask */

+

+#define FPU_FPCCR_THREAD_Pos                3                                             /*!< FPCCR: processor mode bit Position */

+#define FPU_FPCCR_THREAD_Msk               (1UL << FPU_FPCCR_THREAD_Pos)                  /*!< FPCCR: processor mode active bit Mask */

+

+#define FPU_FPCCR_USER_Pos                  1                                             /*!< FPCCR: privilege level bit Position */

+#define FPU_FPCCR_USER_Msk                 (1UL << FPU_FPCCR_USER_Pos)                    /*!< FPCCR: privilege level bit Mask */

+

+#define FPU_FPCCR_LSPACT_Pos                0                                             /*!< FPCCR: Lazy state preservation active bit Position */

+#define FPU_FPCCR_LSPACT_Msk               (1UL << FPU_FPCCR_LSPACT_Pos)                  /*!< FPCCR: Lazy state preservation active bit Mask */

+

+/* Floating-Point Context Address Register */

+#define FPU_FPCAR_ADDRESS_Pos               3                                             /*!< FPCAR: ADDRESS bit Position */

+#define FPU_FPCAR_ADDRESS_Msk              (0x1FFFFFFFUL << FPU_FPCAR_ADDRESS_Pos)        /*!< FPCAR: ADDRESS bit Mask */

+

+/* Floating-Point Default Status Control Register */

+#define FPU_FPDSCR_AHP_Pos                 26                                             /*!< FPDSCR: AHP bit Position */

+#define FPU_FPDSCR_AHP_Msk                 (1UL << FPU_FPDSCR_AHP_Pos)                    /*!< FPDSCR: AHP bit Mask */

+

+#define FPU_FPDSCR_DN_Pos                  25                                             /*!< FPDSCR: DN bit Position */

+#define FPU_FPDSCR_DN_Msk                  (1UL << FPU_FPDSCR_DN_Pos)                     /*!< FPDSCR: DN bit Mask */

+

+#define FPU_FPDSCR_FZ_Pos                  24                                             /*!< FPDSCR: FZ bit Position */

+#define FPU_FPDSCR_FZ_Msk                  (1UL << FPU_FPDSCR_FZ_Pos)                     /*!< FPDSCR: FZ bit Mask */

+

+#define FPU_FPDSCR_RMode_Pos               22                                             /*!< FPDSCR: RMode bit Position */

+#define FPU_FPDSCR_RMode_Msk               (3UL << FPU_FPDSCR_RMode_Pos)                  /*!< FPDSCR: RMode bit Mask */

+

+/* Media and FP Feature Register 0 */

+#define FPU_MVFR0_FP_rounding_modes_Pos    28                                             /*!< MVFR0: FP rounding modes bits Position */

+#define FPU_MVFR0_FP_rounding_modes_Msk    (0xFUL << FPU_MVFR0_FP_rounding_modes_Pos)     /*!< MVFR0: FP rounding modes bits Mask */

+

+#define FPU_MVFR0_Short_vectors_Pos        24                                             /*!< MVFR0: Short vectors bits Position */

+#define FPU_MVFR0_Short_vectors_Msk        (0xFUL << FPU_MVFR0_Short_vectors_Pos)         /*!< MVFR0: Short vectors bits Mask */

+

+#define FPU_MVFR0_Square_root_Pos          20                                             /*!< MVFR0: Square root bits Position */

+#define FPU_MVFR0_Square_root_Msk          (0xFUL << FPU_MVFR0_Square_root_Pos)           /*!< MVFR0: Square root bits Mask */

+

+#define FPU_MVFR0_Divide_Pos               16                                             /*!< MVFR0: Divide bits Position */

+#define FPU_MVFR0_Divide_Msk               (0xFUL << FPU_MVFR0_Divide_Pos)                /*!< MVFR0: Divide bits Mask */

+

+#define FPU_MVFR0_FP_excep_trapping_Pos    12                                             /*!< MVFR0: FP exception trapping bits Position */

+#define FPU_MVFR0_FP_excep_trapping_Msk    (0xFUL << FPU_MVFR0_FP_excep_trapping_Pos)     /*!< MVFR0: FP exception trapping bits Mask */

+

+#define FPU_MVFR0_Double_precision_Pos      8                                             /*!< MVFR0: Double-precision bits Position */

+#define FPU_MVFR0_Double_precision_Msk     (0xFUL << FPU_MVFR0_Double_precision_Pos)      /*!< MVFR0: Double-precision bits Mask */

+

+#define FPU_MVFR0_Single_precision_Pos      4                                             /*!< MVFR0: Single-precision bits Position */

+#define FPU_MVFR0_Single_precision_Msk     (0xFUL << FPU_MVFR0_Single_precision_Pos)      /*!< MVFR0: Single-precision bits Mask */

+

+#define FPU_MVFR0_A_SIMD_registers_Pos      0                                             /*!< MVFR0: A_SIMD registers bits Position */

+#define FPU_MVFR0_A_SIMD_registers_Msk     (0xFUL << FPU_MVFR0_A_SIMD_registers_Pos)      /*!< MVFR0: A_SIMD registers bits Mask */

+

+/* Media and FP Feature Register 1 */

+#define FPU_MVFR1_FP_fused_MAC_Pos         28                                             /*!< MVFR1: FP fused MAC bits Position */

+#define FPU_MVFR1_FP_fused_MAC_Msk         (0xFUL << FPU_MVFR1_FP_fused_MAC_Pos)          /*!< MVFR1: FP fused MAC bits Mask */

+

+#define FPU_MVFR1_FP_HPFP_Pos              24                                             /*!< MVFR1: FP HPFP bits Position */

+#define FPU_MVFR1_FP_HPFP_Msk              (0xFUL << FPU_MVFR1_FP_HPFP_Pos)               /*!< MVFR1: FP HPFP bits Mask */

+

+#define FPU_MVFR1_D_NaN_mode_Pos            4                                             /*!< MVFR1: D_NaN mode bits Position */

+#define FPU_MVFR1_D_NaN_mode_Msk           (0xFUL << FPU_MVFR1_D_NaN_mode_Pos)            /*!< MVFR1: D_NaN mode bits Mask */

+

+#define FPU_MVFR1_FtZ_mode_Pos              0                                             /*!< MVFR1: FtZ mode bits Position */

+#define FPU_MVFR1_FtZ_mode_Msk             (0xFUL << FPU_MVFR1_FtZ_mode_Pos)              /*!< MVFR1: FtZ mode bits Mask */

+

+/*@} end of group CMSIS_FPU */

+#endif

+

+

+/** \ingroup  CMSIS_core_register

+    \defgroup CMSIS_CoreDebug       Core Debug Registers (CoreDebug)

+    \brief      Type definitions for the Core Debug Registers

+  @{

+ */

+

+/** \brief  Structure type to access the Core Debug Register (CoreDebug).

+ */

+typedef struct

+{

+  __IO uint32_t DHCSR;                   /*!< Offset: 0x000 (R/W)  Debug Halting Control and Status Register    */

+  __O  uint32_t DCRSR;                   /*!< Offset: 0x004 ( /W)  Debug Core Register Selector Register        */

+  __IO uint32_t DCRDR;                   /*!< Offset: 0x008 (R/W)  Debug Core Register Data Register            */

+  __IO uint32_t DEMCR;                   /*!< Offset: 0x00C (R/W)  Debug Exception and Monitor Control Register */

+} CoreDebug_Type;

+

+/* Debug Halting Control and Status Register */

+#define CoreDebug_DHCSR_DBGKEY_Pos         16                                             /*!< CoreDebug DHCSR: DBGKEY Position */

+#define CoreDebug_DHCSR_DBGKEY_Msk         (0xFFFFUL << CoreDebug_DHCSR_DBGKEY_Pos)       /*!< CoreDebug DHCSR: DBGKEY Mask */

+

+#define CoreDebug_DHCSR_S_RESET_ST_Pos     25                                             /*!< CoreDebug DHCSR: S_RESET_ST Position */

+#define CoreDebug_DHCSR_S_RESET_ST_Msk     (1UL << CoreDebug_DHCSR_S_RESET_ST_Pos)        /*!< CoreDebug DHCSR: S_RESET_ST Mask */

+

+#define CoreDebug_DHCSR_S_RETIRE_ST_Pos    24                                             /*!< CoreDebug DHCSR: S_RETIRE_ST Position */

+#define CoreDebug_DHCSR_S_RETIRE_ST_Msk    (1UL << CoreDebug_DHCSR_S_RETIRE_ST_Pos)       /*!< CoreDebug DHCSR: S_RETIRE_ST Mask */

+

+#define CoreDebug_DHCSR_S_LOCKUP_Pos       19                                             /*!< CoreDebug DHCSR: S_LOCKUP Position */

+#define CoreDebug_DHCSR_S_LOCKUP_Msk       (1UL << CoreDebug_DHCSR_S_LOCKUP_Pos)          /*!< CoreDebug DHCSR: S_LOCKUP Mask */

+

+#define CoreDebug_DHCSR_S_SLEEP_Pos        18                                             /*!< CoreDebug DHCSR: S_SLEEP Position */

+#define CoreDebug_DHCSR_S_SLEEP_Msk        (1UL << CoreDebug_DHCSR_S_SLEEP_Pos)           /*!< CoreDebug DHCSR: S_SLEEP Mask */

+

+#define CoreDebug_DHCSR_S_HALT_Pos         17                                             /*!< CoreDebug DHCSR: S_HALT Position */

+#define CoreDebug_DHCSR_S_HALT_Msk         (1UL << CoreDebug_DHCSR_S_HALT_Pos)            /*!< CoreDebug DHCSR: S_HALT Mask */

+

+#define CoreDebug_DHCSR_S_REGRDY_Pos       16                                             /*!< CoreDebug DHCSR: S_REGRDY Position */

+#define CoreDebug_DHCSR_S_REGRDY_Msk       (1UL << CoreDebug_DHCSR_S_REGRDY_Pos)          /*!< CoreDebug DHCSR: S_REGRDY Mask */

+

+#define CoreDebug_DHCSR_C_SNAPSTALL_Pos     5                                             /*!< CoreDebug DHCSR: C_SNAPSTALL Position */

+#define CoreDebug_DHCSR_C_SNAPSTALL_Msk    (1UL << CoreDebug_DHCSR_C_SNAPSTALL_Pos)       /*!< CoreDebug DHCSR: C_SNAPSTALL Mask */

+

+#define CoreDebug_DHCSR_C_MASKINTS_Pos      3                                             /*!< CoreDebug DHCSR: C_MASKINTS Position */

+#define CoreDebug_DHCSR_C_MASKINTS_Msk     (1UL << CoreDebug_DHCSR_C_MASKINTS_Pos)        /*!< CoreDebug DHCSR: C_MASKINTS Mask */

+

+#define CoreDebug_DHCSR_C_STEP_Pos          2                                             /*!< CoreDebug DHCSR: C_STEP Position */

+#define CoreDebug_DHCSR_C_STEP_Msk         (1UL << CoreDebug_DHCSR_C_STEP_Pos)            /*!< CoreDebug DHCSR: C_STEP Mask */

+

+#define CoreDebug_DHCSR_C_HALT_Pos          1                                             /*!< CoreDebug DHCSR: C_HALT Position */

+#define CoreDebug_DHCSR_C_HALT_Msk         (1UL << CoreDebug_DHCSR_C_HALT_Pos)            /*!< CoreDebug DHCSR: C_HALT Mask */

+

+#define CoreDebug_DHCSR_C_DEBUGEN_Pos       0                                             /*!< CoreDebug DHCSR: C_DEBUGEN Position */

+#define CoreDebug_DHCSR_C_DEBUGEN_Msk      (1UL << CoreDebug_DHCSR_C_DEBUGEN_Pos)         /*!< CoreDebug DHCSR: C_DEBUGEN Mask */

+

+/* Debug Core Register Selector Register */

+#define CoreDebug_DCRSR_REGWnR_Pos         16                                             /*!< CoreDebug DCRSR: REGWnR Position */

+#define CoreDebug_DCRSR_REGWnR_Msk         (1UL << CoreDebug_DCRSR_REGWnR_Pos)            /*!< CoreDebug DCRSR: REGWnR Mask */

+

+#define CoreDebug_DCRSR_REGSEL_Pos          0                                             /*!< CoreDebug DCRSR: REGSEL Position */

+#define CoreDebug_DCRSR_REGSEL_Msk         (0x1FUL << CoreDebug_DCRSR_REGSEL_Pos)         /*!< CoreDebug DCRSR: REGSEL Mask */

+

+/* Debug Exception and Monitor Control Register */

+#define CoreDebug_DEMCR_TRCENA_Pos         24                                             /*!< CoreDebug DEMCR: TRCENA Position */

+#define CoreDebug_DEMCR_TRCENA_Msk         (1UL << CoreDebug_DEMCR_TRCENA_Pos)            /*!< CoreDebug DEMCR: TRCENA Mask */

+

+#define CoreDebug_DEMCR_MON_REQ_Pos        19                                             /*!< CoreDebug DEMCR: MON_REQ Position */

+#define CoreDebug_DEMCR_MON_REQ_Msk        (1UL << CoreDebug_DEMCR_MON_REQ_Pos)           /*!< CoreDebug DEMCR: MON_REQ Mask */

+

+#define CoreDebug_DEMCR_MON_STEP_Pos       18                                             /*!< CoreDebug DEMCR: MON_STEP Position */

+#define CoreDebug_DEMCR_MON_STEP_Msk       (1UL << CoreDebug_DEMCR_MON_STEP_Pos)          /*!< CoreDebug DEMCR: MON_STEP Mask */

+

+#define CoreDebug_DEMCR_MON_PEND_Pos       17                                             /*!< CoreDebug DEMCR: MON_PEND Position */

+#define CoreDebug_DEMCR_MON_PEND_Msk       (1UL << CoreDebug_DEMCR_MON_PEND_Pos)          /*!< CoreDebug DEMCR: MON_PEND Mask */

+

+#define CoreDebug_DEMCR_MON_EN_Pos         16                                             /*!< CoreDebug DEMCR: MON_EN Position */

+#define CoreDebug_DEMCR_MON_EN_Msk         (1UL << CoreDebug_DEMCR_MON_EN_Pos)            /*!< CoreDebug DEMCR: MON_EN Mask */

+

+#define CoreDebug_DEMCR_VC_HARDERR_Pos     10                                             /*!< CoreDebug DEMCR: VC_HARDERR Position */

+#define CoreDebug_DEMCR_VC_HARDERR_Msk     (1UL << CoreDebug_DEMCR_VC_HARDERR_Pos)        /*!< CoreDebug DEMCR: VC_HARDERR Mask */

+

+#define CoreDebug_DEMCR_VC_INTERR_Pos       9                                             /*!< CoreDebug DEMCR: VC_INTERR Position */

+#define CoreDebug_DEMCR_VC_INTERR_Msk      (1UL << CoreDebug_DEMCR_VC_INTERR_Pos)         /*!< CoreDebug DEMCR: VC_INTERR Mask */

+

+#define CoreDebug_DEMCR_VC_BUSERR_Pos       8                                             /*!< CoreDebug DEMCR: VC_BUSERR Position */

+#define CoreDebug_DEMCR_VC_BUSERR_Msk      (1UL << CoreDebug_DEMCR_VC_BUSERR_Pos)         /*!< CoreDebug DEMCR: VC_BUSERR Mask */

+

+#define CoreDebug_DEMCR_VC_STATERR_Pos      7                                             /*!< CoreDebug DEMCR: VC_STATERR Position */

+#define CoreDebug_DEMCR_VC_STATERR_Msk     (1UL << CoreDebug_DEMCR_VC_STATERR_Pos)        /*!< CoreDebug DEMCR: VC_STATERR Mask */

+

+#define CoreDebug_DEMCR_VC_CHKERR_Pos       6                                             /*!< CoreDebug DEMCR: VC_CHKERR Position */

+#define CoreDebug_DEMCR_VC_CHKERR_Msk      (1UL << CoreDebug_DEMCR_VC_CHKERR_Pos)         /*!< CoreDebug DEMCR: VC_CHKERR Mask */

+

+#define CoreDebug_DEMCR_VC_NOCPERR_Pos      5                                             /*!< CoreDebug DEMCR: VC_NOCPERR Position */

+#define CoreDebug_DEMCR_VC_NOCPERR_Msk     (1UL << CoreDebug_DEMCR_VC_NOCPERR_Pos)        /*!< CoreDebug DEMCR: VC_NOCPERR Mask */

+

+#define CoreDebug_DEMCR_VC_MMERR_Pos        4                                             /*!< CoreDebug DEMCR: VC_MMERR Position */

+#define CoreDebug_DEMCR_VC_MMERR_Msk       (1UL << CoreDebug_DEMCR_VC_MMERR_Pos)          /*!< CoreDebug DEMCR: VC_MMERR Mask */

+

+#define CoreDebug_DEMCR_VC_CORERESET_Pos    0                                             /*!< CoreDebug DEMCR: VC_CORERESET Position */

+#define CoreDebug_DEMCR_VC_CORERESET_Msk   (1UL << CoreDebug_DEMCR_VC_CORERESET_Pos)      /*!< CoreDebug DEMCR: VC_CORERESET Mask */

+

+/*@} end of group CMSIS_CoreDebug */

+

+

+/** \ingroup    CMSIS_core_register

+    \defgroup   CMSIS_core_base     Core Definitions

+    \brief      Definitions for base addresses, unions, and structures.

+  @{

+ */

+

+/* Memory mapping of Cortex-M4 Hardware */

+#define SCS_BASE            (0xE000E000UL)                            /*!< System Control Space Base Address  */

+#define ITM_BASE            (0xE0000000UL)                            /*!< ITM Base Address                   */

+#define DWT_BASE            (0xE0001000UL)                            /*!< DWT Base Address                   */

+#define TPI_BASE            (0xE0040000UL)                            /*!< TPI Base Address                   */

+#define CoreDebug_BASE      (0xE000EDF0UL)                            /*!< Core Debug Base Address            */

+#define SysTick_BASE        (SCS_BASE +  0x0010UL)                    /*!< SysTick Base Address               */

+#define NVIC_BASE           (SCS_BASE +  0x0100UL)                    /*!< NVIC Base Address                  */

+#define SCB_BASE            (SCS_BASE +  0x0D00UL)                    /*!< System Control Block Base Address  */

+

+#define SCnSCB              ((SCnSCB_Type    *)     SCS_BASE      )   /*!< System control Register not in SCB */

+#define SCB                 ((SCB_Type       *)     SCB_BASE      )   /*!< SCB configuration struct           */

+#define SysTick             ((SysTick_Type   *)     SysTick_BASE  )   /*!< SysTick configuration struct       */

+#define NVIC                ((NVIC_Type      *)     NVIC_BASE     )   /*!< NVIC configuration struct          */

+#define ITM                 ((ITM_Type       *)     ITM_BASE      )   /*!< ITM configuration struct           */

+#define DWT                 ((DWT_Type       *)     DWT_BASE      )   /*!< DWT configuration struct           */

+#define TPI                 ((TPI_Type       *)     TPI_BASE      )   /*!< TPI configuration struct           */

+#define CoreDebug           ((CoreDebug_Type *)     CoreDebug_BASE)   /*!< Core Debug configuration struct    */

+

+#if (__MPU_PRESENT == 1)

+  #define MPU_BASE          (SCS_BASE +  0x0D90UL)                    /*!< Memory Protection Unit             */

+  #define MPU               ((MPU_Type       *)     MPU_BASE      )   /*!< Memory Protection Unit             */

+#endif

+

+#if (__FPU_PRESENT == 1)

+  #define FPU_BASE          (SCS_BASE +  0x0F30UL)                    /*!< Floating Point Unit                */

+  #define FPU               ((FPU_Type       *)     FPU_BASE      )   /*!< Floating Point Unit                */

+#endif

+

+/*@} */

+

+

+

+/*******************************************************************************

+ *                Hardware Abstraction Layer

+  Core Function Interface contains:

+  - Core NVIC Functions

+  - Core SysTick Functions

+  - Core Debug Functions

+  - Core Register Access Functions

+ ******************************************************************************/

+/** \defgroup CMSIS_Core_FunctionInterface Functions and Instructions Reference

+*/

+

+

+

+/* ##########################   NVIC functions  #################################### */

+/** \ingroup  CMSIS_Core_FunctionInterface

+    \defgroup CMSIS_Core_NVICFunctions NVIC Functions

+    \brief      Functions that manage interrupts and exceptions via the NVIC.

+    @{

+ */

+

+/** \brief  Set Priority Grouping

+

+  The function sets the priority grouping field using the required unlock sequence.

+  The parameter PriorityGroup is assigned to the field SCB->AIRCR [10:8] PRIGROUP field.

+  Only values from 0..7 are used.

+  In case of a conflict between priority grouping and available

+  priority bits (__NVIC_PRIO_BITS), the smallest possible priority group is set.

+

+    \param [in]      PriorityGroup  Priority grouping field.

+ */

+__STATIC_INLINE void NVIC_SetPriorityGrouping(uint32_t PriorityGroup)

+{

+  uint32_t reg_value;

+  uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07);               /* only values 0..7 are used          */

+

+  reg_value  =  SCB->AIRCR;                                                   /* read old register configuration    */

+  reg_value &= ~(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk);             /* clear bits to change               */

+  reg_value  =  (reg_value                                 |

+                ((uint32_t)0x5FA << SCB_AIRCR_VECTKEY_Pos) |

+                (PriorityGroupTmp << 8));                                     /* Insert write key and priorty group */

+  SCB->AIRCR =  reg_value;

+}

+

+

+/** \brief  Get Priority Grouping

+

+  The function reads the priority grouping field from the NVIC Interrupt Controller.

+

+    \return                Priority grouping field (SCB->AIRCR [10:8] PRIGROUP field).

+ */

+__STATIC_INLINE uint32_t NVIC_GetPriorityGrouping(void)

+{

+  return ((SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) >> SCB_AIRCR_PRIGROUP_Pos);   /* read priority grouping field */

+}

+

+

+/** \brief  Enable External Interrupt

+

+    The function enables a device-specific interrupt in the NVIC interrupt controller.

+

+    \param [in]      IRQn  External interrupt number. Value cannot be negative.

+ */

+__STATIC_INLINE void NVIC_EnableIRQ(IRQn_Type IRQn)

+{

+/*  NVIC->ISER[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F));  enable interrupt */

+  NVIC->ISER[(uint32_t)((int32_t)IRQn) >> 5] = (uint32_t)(1 << ((uint32_t)((int32_t)IRQn) & (uint32_t)0x1F)); /* enable interrupt */

+}

+

+

+/** \brief  Disable External Interrupt

+

+    The function disables a device-specific interrupt in the NVIC interrupt controller.

+

+    \param [in]      IRQn  External interrupt number. Value cannot be negative.

+ */

+__STATIC_INLINE void NVIC_DisableIRQ(IRQn_Type IRQn)

+{

+  NVIC->ICER[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* disable interrupt */

+}

+

+

+/** \brief  Get Pending Interrupt

+

+    The function reads the pending register in the NVIC and returns the pending bit

+    for the specified interrupt.

+

+    \param [in]      IRQn  Interrupt number.

+

+    \return             0  Interrupt status is not pending.

+    \return             1  Interrupt status is pending.

+ */

+__STATIC_INLINE uint32_t NVIC_GetPendingIRQ(IRQn_Type IRQn)

+{

+  return((uint32_t) ((NVIC->ISPR[(uint32_t)(IRQn) >> 5] & (1 << ((uint32_t)(IRQn) & 0x1F)))?1:0)); /* Return 1 if pending else 0 */

+}

+

+

+/** \brief  Set Pending Interrupt

+

+    The function sets the pending bit of an external interrupt.

+

+    \param [in]      IRQn  Interrupt number. Value cannot be negative.

+ */

+__STATIC_INLINE void NVIC_SetPendingIRQ(IRQn_Type IRQn)

+{

+  NVIC->ISPR[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* set interrupt pending */

+}

+

+

+/** \brief  Clear Pending Interrupt

+

+    The function clears the pending bit of an external interrupt.

+

+    \param [in]      IRQn  External interrupt number. Value cannot be negative.

+ */

+__STATIC_INLINE void NVIC_ClearPendingIRQ(IRQn_Type IRQn)

+{

+  NVIC->ICPR[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* Clear pending interrupt */

+}

+

+

+/** \brief  Get Active Interrupt

+

+    The function reads the active register in NVIC and returns the active bit.

+

+    \param [in]      IRQn  Interrupt number.

+

+    \return             0  Interrupt status is not active.

+    \return             1  Interrupt status is active.

+ */

+__STATIC_INLINE uint32_t NVIC_GetActive(IRQn_Type IRQn)

+{

+  return((uint32_t)((NVIC->IABR[(uint32_t)(IRQn) >> 5] & (1 << ((uint32_t)(IRQn) & 0x1F)))?1:0)); /* Return 1 if active else 0 */

+}

+

+

+/** \brief  Set Interrupt Priority

+

+    The function sets the priority of an interrupt.

+

+    \note The priority cannot be set for every core interrupt.

+

+    \param [in]      IRQn  Interrupt number.

+    \param [in]  priority  Priority to set.

+ */

+__STATIC_INLINE void NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority)

+{

+  if(IRQn < 0) {

+    SCB->SHP[((uint32_t)(IRQn) & 0xF)-4] = ((priority << (8 - __NVIC_PRIO_BITS)) & 0xff); } /* set Priority for Cortex-M  System Interrupts */

+  else {

+    NVIC->IP[(uint32_t)(IRQn)] = ((priority << (8 - __NVIC_PRIO_BITS)) & 0xff);    }        /* set Priority for device specific Interrupts  */

+}

+

+

+/** \brief  Get Interrupt Priority

+

+    The function reads the priority of an interrupt. The interrupt

+    number can be positive to specify an external (device specific)

+    interrupt, or negative to specify an internal (core) interrupt.

+

+

+    \param [in]   IRQn  Interrupt number.

+    \return             Interrupt Priority. Value is aligned automatically to the implemented

+                        priority bits of the microcontroller.

+ */

+__STATIC_INLINE uint32_t NVIC_GetPriority(IRQn_Type IRQn)

+{

+

+  if(IRQn < 0) {

+    return((uint32_t)(SCB->SHP[((uint32_t)(IRQn) & 0xF)-4] >> (8 - __NVIC_PRIO_BITS)));  } /* get priority for Cortex-M  system interrupts */

+  else {

+    return((uint32_t)(NVIC->IP[(uint32_t)(IRQn)]           >> (8 - __NVIC_PRIO_BITS)));  } /* get priority for device specific interrupts  */

+}

+

+

+/** \brief  Encode Priority

+

+    The function encodes the priority for an interrupt with the given priority group,

+    preemptive priority value, and subpriority value.

+    In case of a conflict between priority grouping and available

+    priority bits (__NVIC_PRIO_BITS), the samllest possible priority group is set.

+

+    \param [in]     PriorityGroup  Used priority group.

+    \param [in]   PreemptPriority  Preemptive priority value (starting from 0).

+    \param [in]       SubPriority  Subpriority value (starting from 0).

+    \return                        Encoded priority. Value can be used in the function \ref NVIC_SetPriority().

+ */

+__STATIC_INLINE uint32_t NVIC_EncodePriority (uint32_t PriorityGroup, uint32_t PreemptPriority, uint32_t SubPriority)

+{

+  uint32_t PriorityGroupTmp = (PriorityGroup & 0x07);          /* only values 0..7 are used          */

+  uint32_t PreemptPriorityBits;

+  uint32_t SubPriorityBits;

+

+  PreemptPriorityBits = ((7 - PriorityGroupTmp) > __NVIC_PRIO_BITS) ? __NVIC_PRIO_BITS : 7 - PriorityGroupTmp;

+  SubPriorityBits     = ((PriorityGroupTmp + __NVIC_PRIO_BITS) < 7) ? 0 : PriorityGroupTmp - 7 + __NVIC_PRIO_BITS;

+

+  return (

+           ((PreemptPriority & ((1 << (PreemptPriorityBits)) - 1)) << SubPriorityBits) |

+           ((SubPriority     & ((1 << (SubPriorityBits    )) - 1)))

+         );

+}

+

+

+/** \brief  Decode Priority

+

+    The function decodes an interrupt priority value with a given priority group to

+    preemptive priority value and subpriority value.

+    In case of a conflict between priority grouping and available

+    priority bits (__NVIC_PRIO_BITS) the samllest possible priority group is set.

+

+    \param [in]         Priority   Priority value, which can be retrieved with the function \ref NVIC_GetPriority().

+    \param [in]     PriorityGroup  Used priority group.

+    \param [out] pPreemptPriority  Preemptive priority value (starting from 0).

+    \param [out]     pSubPriority  Subpriority value (starting from 0).

+ */

+__STATIC_INLINE void NVIC_DecodePriority (uint32_t Priority, uint32_t PriorityGroup, uint32_t* pPreemptPriority, uint32_t* pSubPriority)

+{

+  uint32_t PriorityGroupTmp = (PriorityGroup & 0x07);          /* only values 0..7 are used          */

+  uint32_t PreemptPriorityBits;

+  uint32_t SubPriorityBits;

+

+  PreemptPriorityBits = ((7 - PriorityGroupTmp) > __NVIC_PRIO_BITS) ? __NVIC_PRIO_BITS : 7 - PriorityGroupTmp;

+  SubPriorityBits     = ((PriorityGroupTmp + __NVIC_PRIO_BITS) < 7) ? 0 : PriorityGroupTmp - 7 + __NVIC_PRIO_BITS;

+

+  *pPreemptPriority = (Priority >> SubPriorityBits) & ((1 << (PreemptPriorityBits)) - 1);

+  *pSubPriority     = (Priority                   ) & ((1 << (SubPriorityBits    )) - 1);

+}

+

+

+/** \brief  System Reset

+

+    The function initiates a system reset request to reset the MCU.

+ */

+__STATIC_INLINE void NVIC_SystemReset(void)

+{

+  __DSB();                                                     /* Ensure all outstanding memory accesses included

+                                                                  buffered write are completed before reset */

+  SCB->AIRCR  = ((0x5FA << SCB_AIRCR_VECTKEY_Pos)      |

+                 (SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) |

+                 SCB_AIRCR_SYSRESETREQ_Msk);                   /* Keep priority group unchanged */

+  __DSB();                                                     /* Ensure completion of memory access */

+  while(1);                                                    /* wait until reset */

+}

+

+/*@} end of CMSIS_Core_NVICFunctions */

+

+

+

+/* ##################################    SysTick function  ############################################ */

+/** \ingroup  CMSIS_Core_FunctionInterface

+    \defgroup CMSIS_Core_SysTickFunctions SysTick Functions

+    \brief      Functions that configure the System.

+  @{

+ */

+

+#if (__Vendor_SysTickConfig == 0)

+

+/** \brief  System Tick Configuration

+

+    The function initializes the System Timer and its interrupt, and starts the System Tick Timer.

+    Counter is in free running mode to generate periodic interrupts.

+

+    \param [in]  ticks  Number of ticks between two interrupts.

+

+    \return          0  Function succeeded.

+    \return          1  Function failed.

+

+    \note     When the variable <b>__Vendor_SysTickConfig</b> is set to 1, then the

+    function <b>SysTick_Config</b> is not included. In this case, the file <b><i>device</i>.h</b>

+    must contain a vendor-specific implementation of this function.

+

+ */

+__STATIC_INLINE uint32_t SysTick_Config(uint32_t ticks)

+{

+  if (ticks > SysTick_LOAD_RELOAD_Msk)  return (1);            /* Reload value impossible */

+

+  SysTick->LOAD  = (ticks & SysTick_LOAD_RELOAD_Msk) - 1;      /* set reload register */

+  NVIC_SetPriority (SysTick_IRQn, (1<<__NVIC_PRIO_BITS) - 1);  /* set Priority for Systick Interrupt */

+  SysTick->VAL   = 0;                                          /* Load the SysTick Counter Value */

+  SysTick->CTRL  = SysTick_CTRL_CLKSOURCE_Msk |

+                   SysTick_CTRL_TICKINT_Msk   |

+                   SysTick_CTRL_ENABLE_Msk;                    /* Enable SysTick IRQ and SysTick Timer */

+  return (0);                                                  /* Function successful */

+}

+

+#endif

+

+/*@} end of CMSIS_Core_SysTickFunctions */

+

+

+

+/* ##################################### Debug In/Output function ########################################### */

+/** \ingroup  CMSIS_Core_FunctionInterface

+    \defgroup CMSIS_core_DebugFunctions ITM Functions

+    \brief   Functions that access the ITM debug interface.

+  @{

+ */

+

+extern volatile int32_t ITM_RxBuffer;                    /*!< External variable to receive characters.                         */

+#define                 ITM_RXBUFFER_EMPTY    0x5AA55AA5 /*!< Value identifying \ref ITM_RxBuffer is ready for next character. */

+

+

+/** \brief  ITM Send Character

+

+    The function transmits a character via the ITM channel 0, and

+    \li Just returns when no debugger is connected that has booked the output.

+    \li Is blocking when a debugger is connected, but the previous character sent has not been transmitted.

+

+    \param [in]     ch  Character to transmit.

+

+    \returns            Character to transmit.

+ */

+__STATIC_INLINE uint32_t ITM_SendChar (uint32_t ch)

+{

+  if ((ITM->TCR & ITM_TCR_ITMENA_Msk)                  &&      /* ITM enabled */

+      (ITM->TER & (1UL << 0)        )                    )     /* ITM Port #0 enabled */

+  {

+    while (ITM->PORT[0].u32 == 0);

+    ITM->PORT[0].u8 = (uint8_t) ch;

+  }

+  return (ch);

+}

+

+

+/** \brief  ITM Receive Character

+

+    The function inputs a character via the external variable \ref ITM_RxBuffer.

+

+    \return             Received character.

+    \return         -1  No character pending.

+ */

+__STATIC_INLINE int32_t ITM_ReceiveChar (void) {

+  int32_t ch = -1;                           /* no character available */

+

+  if (ITM_RxBuffer != ITM_RXBUFFER_EMPTY) {

+    ch = ITM_RxBuffer;

+    ITM_RxBuffer = ITM_RXBUFFER_EMPTY;       /* ready for next character */

+  }

+

+  return (ch);

+}

+

+

+/** \brief  ITM Check Character

+

+    The function checks whether a character is pending for reading in the variable \ref ITM_RxBuffer.

+

+    \return          0  No character available.

+    \return          1  Character available.

+ */

+__STATIC_INLINE int32_t ITM_CheckChar (void) {

+

+  if (ITM_RxBuffer == ITM_RXBUFFER_EMPTY) {

+    return (0);                                 /* no character available */

+  } else {

+    return (1);                                 /*    character available */

+  }

+}

+

+/*@} end of CMSIS_core_DebugFunctions */

+

+#endif /* __CORE_CM4_H_DEPENDANT */

+

+#endif /* __CMSIS_GENERIC */

+

+#ifdef __cplusplus

+}

+#endif

diff --git a/apps/mathlib/CMSIS/Include/core_cm4_simd.h b/apps/mathlib/CMSIS/Include/core_cm4_simd.h
new file mode 100644
index 000000000..b5140073f
--- /dev/null
+++ b/apps/mathlib/CMSIS/Include/core_cm4_simd.h
@@ -0,0 +1,649 @@
+/**************************************************************************//**

+ * @file     core_cm4_simd.h

+ * @brief    CMSIS Cortex-M4 SIMD Header File

+ * @version  V3.01

+ * @date     06. March 2012

+ *

+ * @note

+ * Copyright (C) 2010-2012 ARM Limited. All rights reserved.

+ *

+ * @par

+ * ARM Limited (ARM) is supplying this software for use with Cortex-M

+ * processor based microcontrollers.  This file can be freely distributed

+ * within development tools that are supporting such ARM based processors.

+ *

+ * @par

+ * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED

+ * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF

+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.

+ * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR

+ * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.

+ *

+ ******************************************************************************/

+

+#ifdef __cplusplus

+ extern "C" {

+#endif

+

+#ifndef __CORE_CM4_SIMD_H

+#define __CORE_CM4_SIMD_H

+

+

+/*******************************************************************************

+ *                Hardware Abstraction Layer

+ ******************************************************************************/

+

+

+/* ###################  Compiler specific Intrinsics  ########################### */

+/** \defgroup CMSIS_SIMD_intrinsics CMSIS SIMD Intrinsics

+  Access to dedicated SIMD instructions

+  @{

+*/

+

+#if   defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/

+/* ARM armcc specific functions */

+

+/*------ CM4 SIMD Intrinsics -----------------------------------------------------*/

+#define __SADD8                           __sadd8

+#define __QADD8                           __qadd8

+#define __SHADD8                          __shadd8

+#define __UADD8                           __uadd8

+#define __UQADD8                          __uqadd8

+#define __UHADD8                          __uhadd8

+#define __SSUB8                           __ssub8

+#define __QSUB8                           __qsub8

+#define __SHSUB8                          __shsub8

+#define __USUB8                           __usub8

+#define __UQSUB8                          __uqsub8

+#define __UHSUB8                          __uhsub8

+#define __SADD16                          __sadd16

+#define __QADD16                          __qadd16

+#define __SHADD16                         __shadd16

+#define __UADD16                          __uadd16

+#define __UQADD16                         __uqadd16

+#define __UHADD16                         __uhadd16

+#define __SSUB16                          __ssub16

+#define __QSUB16                          __qsub16

+#define __SHSUB16                         __shsub16

+#define __USUB16                          __usub16

+#define __UQSUB16                         __uqsub16

+#define __UHSUB16                         __uhsub16

+#define __SASX                            __sasx

+#define __QASX                            __qasx

+#define __SHASX                           __shasx

+#define __UASX                            __uasx

+#define __UQASX                           __uqasx

+#define __UHASX                           __uhasx

+#define __SSAX                            __ssax

+#define __QSAX                            __qsax

+#define __SHSAX                           __shsax

+#define __USAX                            __usax

+#define __UQSAX                           __uqsax

+#define __UHSAX                           __uhsax

+#define __USAD8                           __usad8

+#define __USADA8                          __usada8

+#define __SSAT16                          __ssat16

+#define __USAT16                          __usat16

+#define __UXTB16                          __uxtb16

+#define __UXTAB16                         __uxtab16

+#define __SXTB16                          __sxtb16

+#define __SXTAB16                         __sxtab16

+#define __SMUAD                           __smuad

+#define __SMUADX                          __smuadx

+#define __SMLAD                           __smlad

+#define __SMLADX                          __smladx

+#define __SMLALD                          __smlald

+#define __SMLALDX                         __smlaldx

+#define __SMUSD                           __smusd

+#define __SMUSDX                          __smusdx

+#define __SMLSD                           __smlsd

+#define __SMLSDX                          __smlsdx

+#define __SMLSLD                          __smlsld

+#define __SMLSLDX                         __smlsldx

+#define __SEL                             __sel

+#define __QADD                            __qadd

+#define __QSUB                            __qsub

+

+#define __PKHBT(ARG1,ARG2,ARG3)          ( ((((uint32_t)(ARG1))          ) & 0x0000FFFFUL) |  \

+                                           ((((uint32_t)(ARG2)) << (ARG3)) & 0xFFFF0000UL)  )

+

+#define __PKHTB(ARG1,ARG2,ARG3)          ( ((((uint32_t)(ARG1))          ) & 0xFFFF0000UL) |  \

+                                           ((((uint32_t)(ARG2)) >> (ARG3)) & 0x0000FFFFUL)  )

+

+

+/*-- End CM4 SIMD Intrinsics -----------------------------------------------------*/

+

+

+

+#elif defined ( __ICCARM__ ) /*------------------ ICC Compiler -------------------*/

+/* IAR iccarm specific functions */

+

+/*------ CM4 SIMD Intrinsics -----------------------------------------------------*/

+#include <cmsis_iar.h>

+

+/*-- End CM4 SIMD Intrinsics -----------------------------------------------------*/

+

+

+

+#elif defined ( __TMS470__ ) /*---------------- TI CCS Compiler ------------------*/

+/* TI CCS specific functions */

+

+/*------ CM4 SIMD Intrinsics -----------------------------------------------------*/

+#include <cmsis_ccs.h>

+

+/*-- End CM4 SIMD Intrinsics -----------------------------------------------------*/

+

+

+

+#elif defined ( __GNUC__ ) /*------------------ GNU Compiler ---------------------*/

+/* GNU gcc specific functions */

+

+/*------ CM4 SIMD Intrinsics -----------------------------------------------------*/

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SADD8(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("sadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __QADD8(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("qadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SHADD8(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("shadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UADD8(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("uadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UQADD8(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("uqadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UHADD8(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("uhadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SSUB8(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("ssub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __QSUB8(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("qsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SHSUB8(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("shsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __USUB8(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("usub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UQSUB8(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("uqsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UHSUB8(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("uhsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SADD16(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("sadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __QADD16(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("qadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SHADD16(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("shadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UADD16(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("uadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UQADD16(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("uqadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UHADD16(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("uhadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SSUB16(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("ssub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __QSUB16(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("qsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SHSUB16(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("shsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __USUB16(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("usub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UQSUB16(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("uqsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UHSUB16(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("uhsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SASX(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("sasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __QASX(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("qasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SHASX(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("shasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UASX(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("uasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UQASX(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("uqasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UHASX(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("uhasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SSAX(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("ssax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __QSAX(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("qsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SHSAX(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("shsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __USAX(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("usax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UQSAX(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("uqsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UHSAX(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("uhsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __USAD8(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("usad8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __USADA8(uint32_t op1, uint32_t op2, uint32_t op3)

+{

+  uint32_t result;

+

+  __ASM volatile ("usada8 %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );

+  return(result);

+}

+

+#define __SSAT16(ARG1,ARG2) \

+({                          \

+  uint32_t __RES, __ARG1 = (ARG1); \

+  __ASM ("ssat16 %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \

+  __RES; \

+ })

+

+#define __USAT16(ARG1,ARG2) \

+({                          \

+  uint32_t __RES, __ARG1 = (ARG1); \

+  __ASM ("usat16 %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \

+  __RES; \

+ })

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UXTB16(uint32_t op1)

+{

+  uint32_t result;

+

+  __ASM volatile ("uxtb16 %0, %1" : "=r" (result) : "r" (op1));

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UXTAB16(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("uxtab16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SXTB16(uint32_t op1)

+{

+  uint32_t result;

+

+  __ASM volatile ("sxtb16 %0, %1" : "=r" (result) : "r" (op1));

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SXTAB16(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("sxtab16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMUAD  (uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("smuad %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMUADX (uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("smuadx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMLAD (uint32_t op1, uint32_t op2, uint32_t op3)

+{

+  uint32_t result;

+

+  __ASM volatile ("smlad %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMLADX (uint32_t op1, uint32_t op2, uint32_t op3)

+{

+  uint32_t result;

+

+  __ASM volatile ("smladx %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );

+  return(result);

+}

+

+#define __SMLALD(ARG1,ARG2,ARG3) \

+({ \

+  uint32_t __ARG1 = (ARG1), __ARG2 = (ARG2), __ARG3_H = (uint32_t)((uint64_t)(ARG3) >> 32), __ARG3_L = (uint32_t)((uint64_t)(ARG3) & 0xFFFFFFFFUL); \

+  __ASM volatile ("smlald %0, %1, %2, %3" : "=r" (__ARG3_L), "=r" (__ARG3_H) : "r" (__ARG1), "r" (__ARG2), "0" (__ARG3_L), "1" (__ARG3_H) ); \

+  (uint64_t)(((uint64_t)__ARG3_H << 32) | __ARG3_L); \

+ })

+

+#define __SMLALDX(ARG1,ARG2,ARG3) \

+({ \

+  uint32_t __ARG1 = (ARG1), __ARG2 = (ARG2), __ARG3_H = (uint32_t)((uint64_t)(ARG3) >> 32), __ARG3_L = (uint32_t)((uint64_t)(ARG3) & 0xFFFFFFFFUL); \

+  __ASM volatile ("smlaldx %0, %1, %2, %3" : "=r" (__ARG3_L), "=r" (__ARG3_H) : "r" (__ARG1), "r" (__ARG2), "0" (__ARG3_L), "1" (__ARG3_H) ); \

+  (uint64_t)(((uint64_t)__ARG3_H << 32) | __ARG3_L); \

+ })

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMUSD  (uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("smusd %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMUSDX (uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("smusdx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMLSD (uint32_t op1, uint32_t op2, uint32_t op3)

+{

+  uint32_t result;

+

+  __ASM volatile ("smlsd %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMLSDX (uint32_t op1, uint32_t op2, uint32_t op3)

+{

+  uint32_t result;

+

+  __ASM volatile ("smlsdx %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );

+  return(result);

+}

+

+#define __SMLSLD(ARG1,ARG2,ARG3) \

+({ \

+  uint32_t __ARG1 = (ARG1), __ARG2 = (ARG2), __ARG3_H = (uint32_t)((ARG3) >> 32), __ARG3_L = (uint32_t)((ARG3) & 0xFFFFFFFFUL); \

+  __ASM volatile ("smlsld %0, %1, %2, %3" : "=r" (__ARG3_L), "=r" (__ARG3_H) : "r" (__ARG1), "r" (__ARG2), "0" (__ARG3_L), "1" (__ARG3_H) ); \

+  (uint64_t)(((uint64_t)__ARG3_H << 32) | __ARG3_L); \

+ })

+

+#define __SMLSLDX(ARG1,ARG2,ARG3) \

+({ \

+  uint32_t __ARG1 = (ARG1), __ARG2 = (ARG2), __ARG3_H = (uint32_t)((ARG3) >> 32), __ARG3_L = (uint32_t)((ARG3) & 0xFFFFFFFFUL); \

+  __ASM volatile ("smlsldx %0, %1, %2, %3" : "=r" (__ARG3_L), "=r" (__ARG3_H) : "r" (__ARG1), "r" (__ARG2), "0" (__ARG3_L), "1" (__ARG3_H) ); \

+  (uint64_t)(((uint64_t)__ARG3_H << 32) | __ARG3_L); \

+ })

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SEL  (uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("sel %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __QADD(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("qadd %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __QSUB(uint32_t op1, uint32_t op2)

+{

+  uint32_t result;

+

+  __ASM volatile ("qsub %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );

+  return(result);

+}

+

+#define __PKHBT(ARG1,ARG2,ARG3) \

+({                          \

+  uint32_t __RES, __ARG1 = (ARG1), __ARG2 = (ARG2); \

+  __ASM ("pkhbt %0, %1, %2, lsl %3" : "=r" (__RES) :  "r" (__ARG1), "r" (__ARG2), "I" (ARG3)  ); \

+  __RES; \

+ })

+

+#define __PKHTB(ARG1,ARG2,ARG3) \

+({                          \

+  uint32_t __RES, __ARG1 = (ARG1), __ARG2 = (ARG2); \

+  if (ARG3 == 0) \

+    __ASM ("pkhtb %0, %1, %2" : "=r" (__RES) :  "r" (__ARG1), "r" (__ARG2)  ); \

+  else \

+    __ASM ("pkhtb %0, %1, %2, asr %3" : "=r" (__RES) :  "r" (__ARG1), "r" (__ARG2), "I" (ARG3)  ); \

+  __RES; \

+ })

+

+/*-- End CM4 SIMD Intrinsics -----------------------------------------------------*/

+

+

+

+#elif defined ( __TASKING__ ) /*------------------ TASKING Compiler --------------*/

+/* TASKING carm specific functions */

+

+

+/*------ CM4 SIMD Intrinsics -----------------------------------------------------*/

+/* not yet supported */

+/*-- End CM4 SIMD Intrinsics -----------------------------------------------------*/

+

+

+#endif

+

+/*@} end of group CMSIS_SIMD_intrinsics */

+

+

+#endif /* __CORE_CM4_SIMD_H */

+

+#ifdef __cplusplus

+}

+#endif

diff --git a/apps/mathlib/CMSIS/Include/core_cmFunc.h b/apps/mathlib/CMSIS/Include/core_cmFunc.h
new file mode 100644
index 000000000..adb07b5d3
--- /dev/null
+++ b/apps/mathlib/CMSIS/Include/core_cmFunc.h
@@ -0,0 +1,616 @@
+/**************************************************************************//**

+ * @file     core_cmFunc.h

+ * @brief    CMSIS Cortex-M Core Function Access Header File

+ * @version  V3.01

+ * @date     06. March 2012

+ *

+ * @note

+ * Copyright (C) 2009-2012 ARM Limited. All rights reserved.

+ *

+ * @par

+ * ARM Limited (ARM) is supplying this software for use with Cortex-M

+ * processor based microcontrollers.  This file can be freely distributed

+ * within development tools that are supporting such ARM based processors.

+ *

+ * @par

+ * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED

+ * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF

+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.

+ * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR

+ * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.

+ *

+ ******************************************************************************/

+

+#ifndef __CORE_CMFUNC_H

+#define __CORE_CMFUNC_H

+

+

+/* ###########################  Core Function Access  ########################### */

+/** \ingroup  CMSIS_Core_FunctionInterface

+    \defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions

+  @{

+ */

+

+#if   defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/

+/* ARM armcc specific functions */

+

+#if (__ARMCC_VERSION < 400677)

+  #error "Please use ARM Compiler Toolchain V4.0.677 or later!"

+#endif

+

+/* intrinsic void __enable_irq();     */

+/* intrinsic void __disable_irq();    */

+

+/** \brief  Get Control Register

+

+    This function returns the content of the Control Register.

+

+    \return               Control Register value

+ */

+__STATIC_INLINE uint32_t __get_CONTROL(void)

+{

+  register uint32_t __regControl         __ASM("control");

+  return(__regControl);

+}

+

+

+/** \brief  Set Control Register

+

+    This function writes the given value to the Control Register.

+

+    \param [in]    control  Control Register value to set

+ */

+__STATIC_INLINE void __set_CONTROL(uint32_t control)

+{

+  register uint32_t __regControl         __ASM("control");

+  __regControl = control;

+}

+

+

+/** \brief  Get IPSR Register

+

+    This function returns the content of the IPSR Register.

+

+    \return               IPSR Register value

+ */

+__STATIC_INLINE uint32_t __get_IPSR(void)

+{

+  register uint32_t __regIPSR          __ASM("ipsr");

+  return(__regIPSR);

+}

+

+

+/** \brief  Get APSR Register

+

+    This function returns the content of the APSR Register.

+

+    \return               APSR Register value

+ */

+__STATIC_INLINE uint32_t __get_APSR(void)

+{

+  register uint32_t __regAPSR          __ASM("apsr");

+  return(__regAPSR);

+}

+

+

+/** \brief  Get xPSR Register

+

+    This function returns the content of the xPSR Register.

+

+    \return               xPSR Register value

+ */

+__STATIC_INLINE uint32_t __get_xPSR(void)

+{

+  register uint32_t __regXPSR          __ASM("xpsr");

+  return(__regXPSR);

+}

+

+

+/** \brief  Get Process Stack Pointer

+

+    This function returns the current value of the Process Stack Pointer (PSP).

+

+    \return               PSP Register value

+ */

+__STATIC_INLINE uint32_t __get_PSP(void)

+{

+  register uint32_t __regProcessStackPointer  __ASM("psp");

+  return(__regProcessStackPointer);

+}

+

+

+/** \brief  Set Process Stack Pointer

+

+    This function assigns the given value to the Process Stack Pointer (PSP).

+

+    \param [in]    topOfProcStack  Process Stack Pointer value to set

+ */

+__STATIC_INLINE void __set_PSP(uint32_t topOfProcStack)

+{

+  register uint32_t __regProcessStackPointer  __ASM("psp");

+  __regProcessStackPointer = topOfProcStack;

+}

+

+

+/** \brief  Get Main Stack Pointer

+

+    This function returns the current value of the Main Stack Pointer (MSP).

+

+    \return               MSP Register value

+ */

+__STATIC_INLINE uint32_t __get_MSP(void)

+{

+  register uint32_t __regMainStackPointer     __ASM("msp");

+  return(__regMainStackPointer);

+}

+

+

+/** \brief  Set Main Stack Pointer

+

+    This function assigns the given value to the Main Stack Pointer (MSP).

+

+    \param [in]    topOfMainStack  Main Stack Pointer value to set

+ */

+__STATIC_INLINE void __set_MSP(uint32_t topOfMainStack)

+{

+  register uint32_t __regMainStackPointer     __ASM("msp");

+  __regMainStackPointer = topOfMainStack;

+}

+

+

+/** \brief  Get Priority Mask

+

+    This function returns the current state of the priority mask bit from the Priority Mask Register.

+

+    \return               Priority Mask value

+ */

+__STATIC_INLINE uint32_t __get_PRIMASK(void)

+{

+  register uint32_t __regPriMask         __ASM("primask");

+  return(__regPriMask);

+}

+

+

+/** \brief  Set Priority Mask

+

+    This function assigns the given value to the Priority Mask Register.

+

+    \param [in]    priMask  Priority Mask

+ */

+__STATIC_INLINE void __set_PRIMASK(uint32_t priMask)

+{

+  register uint32_t __regPriMask         __ASM("primask");

+  __regPriMask = (priMask);

+}

+

+

+#if       (__CORTEX_M >= 0x03)

+

+/** \brief  Enable FIQ

+

+    This function enables FIQ interrupts by clearing the F-bit in the CPSR.

+    Can only be executed in Privileged modes.

+ */

+#define __enable_fault_irq                __enable_fiq

+

+

+/** \brief  Disable FIQ

+

+    This function disables FIQ interrupts by setting the F-bit in the CPSR.

+    Can only be executed in Privileged modes.

+ */

+#define __disable_fault_irq               __disable_fiq

+

+

+/** \brief  Get Base Priority

+

+    This function returns the current value of the Base Priority register.

+

+    \return               Base Priority register value

+ */

+__STATIC_INLINE uint32_t  __get_BASEPRI(void)

+{

+  register uint32_t __regBasePri         __ASM("basepri");

+  return(__regBasePri);

+}

+

+

+/** \brief  Set Base Priority

+

+    This function assigns the given value to the Base Priority register.

+

+    \param [in]    basePri  Base Priority value to set

+ */

+__STATIC_INLINE void __set_BASEPRI(uint32_t basePri)

+{

+  register uint32_t __regBasePri         __ASM("basepri");

+  __regBasePri = (basePri & 0xff);

+}

+

+

+/** \brief  Get Fault Mask

+

+    This function returns the current value of the Fault Mask register.

+

+    \return               Fault Mask register value

+ */

+__STATIC_INLINE uint32_t __get_FAULTMASK(void)

+{

+  register uint32_t __regFaultMask       __ASM("faultmask");

+  return(__regFaultMask);

+}

+

+

+/** \brief  Set Fault Mask

+

+    This function assigns the given value to the Fault Mask register.

+

+    \param [in]    faultMask  Fault Mask value to set

+ */

+__STATIC_INLINE void __set_FAULTMASK(uint32_t faultMask)

+{

+  register uint32_t __regFaultMask       __ASM("faultmask");

+  __regFaultMask = (faultMask & (uint32_t)1);

+}

+

+#endif /* (__CORTEX_M >= 0x03) */

+

+

+#if       (__CORTEX_M == 0x04)

+

+/** \brief  Get FPSCR

+

+    This function returns the current value of the Floating Point Status/Control register.

+

+    \return               Floating Point Status/Control register value

+ */

+__STATIC_INLINE uint32_t __get_FPSCR(void)

+{

+#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)

+  register uint32_t __regfpscr         __ASM("fpscr");

+  return(__regfpscr);

+#else

+   return(0);

+#endif

+}

+

+

+/** \brief  Set FPSCR

+

+    This function assigns the given value to the Floating Point Status/Control register.

+

+    \param [in]    fpscr  Floating Point Status/Control value to set

+ */

+__STATIC_INLINE void __set_FPSCR(uint32_t fpscr)

+{

+#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)

+  register uint32_t __regfpscr         __ASM("fpscr");

+  __regfpscr = (fpscr);

+#endif

+}

+

+#endif /* (__CORTEX_M == 0x04) */

+

+

+#elif defined ( __ICCARM__ ) /*------------------ ICC Compiler -------------------*/

+/* IAR iccarm specific functions */

+

+#include <cmsis_iar.h>

+

+

+#elif defined ( __TMS470__ ) /*---------------- TI CCS Compiler ------------------*/

+/* TI CCS specific functions */

+

+#include <cmsis_ccs.h>

+

+

+#elif defined ( __GNUC__ ) /*------------------ GNU Compiler ---------------------*/

+/* GNU gcc specific functions */

+

+/** \brief  Enable IRQ Interrupts

+

+  This function enables IRQ interrupts by clearing the I-bit in the CPSR.

+  Can only be executed in Privileged modes.

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE void __enable_irq(void)

+{

+  __ASM volatile ("cpsie i");

+}

+

+

+/** \brief  Disable IRQ Interrupts

+

+  This function disables IRQ interrupts by setting the I-bit in the CPSR.

+  Can only be executed in Privileged modes.

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE void __disable_irq(void)

+{

+  __ASM volatile ("cpsid i");

+}

+

+

+/** \brief  Get Control Register

+

+    This function returns the content of the Control Register.

+

+    \return               Control Register value

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_CONTROL(void)

+{

+  uint32_t result;

+

+  __ASM volatile ("MRS %0, control" : "=r" (result) );

+  return(result);

+}

+

+

+/** \brief  Set Control Register

+

+    This function writes the given value to the Control Register.

+

+    \param [in]    control  Control Register value to set

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_CONTROL(uint32_t control)

+{

+  __ASM volatile ("MSR control, %0" : : "r" (control) );

+}

+

+

+/** \brief  Get IPSR Register

+

+    This function returns the content of the IPSR Register.

+

+    \return               IPSR Register value

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_IPSR(void)

+{

+  uint32_t result;

+

+  __ASM volatile ("MRS %0, ipsr" : "=r" (result) );

+  return(result);

+}

+

+

+/** \brief  Get APSR Register

+

+    This function returns the content of the APSR Register.

+

+    \return               APSR Register value

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_APSR(void)

+{

+  uint32_t result;

+

+  __ASM volatile ("MRS %0, apsr" : "=r" (result) );

+  return(result);

+}

+

+

+/** \brief  Get xPSR Register

+

+    This function returns the content of the xPSR Register.

+

+    \return               xPSR Register value

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_xPSR(void)

+{

+  uint32_t result;

+

+  __ASM volatile ("MRS %0, xpsr" : "=r" (result) );

+  return(result);

+}

+

+

+/** \brief  Get Process Stack Pointer

+

+    This function returns the current value of the Process Stack Pointer (PSP).

+

+    \return               PSP Register value

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_PSP(void)

+{

+  register uint32_t result;

+

+  __ASM volatile ("MRS %0, psp\n"  : "=r" (result) );

+  return(result);

+}

+

+

+/** \brief  Set Process Stack Pointer

+

+    This function assigns the given value to the Process Stack Pointer (PSP).

+

+    \param [in]    topOfProcStack  Process Stack Pointer value to set

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_PSP(uint32_t topOfProcStack)

+{

+  __ASM volatile ("MSR psp, %0\n" : : "r" (topOfProcStack) );

+}

+

+

+/** \brief  Get Main Stack Pointer

+

+    This function returns the current value of the Main Stack Pointer (MSP).

+

+    \return               MSP Register value

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_MSP(void)

+{

+  register uint32_t result;

+

+  __ASM volatile ("MRS %0, msp\n" : "=r" (result) );

+  return(result);

+}

+

+

+/** \brief  Set Main Stack Pointer

+

+    This function assigns the given value to the Main Stack Pointer (MSP).

+

+    \param [in]    topOfMainStack  Main Stack Pointer value to set

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_MSP(uint32_t topOfMainStack)

+{

+  __ASM volatile ("MSR msp, %0\n" : : "r" (topOfMainStack) );

+}

+

+

+/** \brief  Get Priority Mask

+

+    This function returns the current state of the priority mask bit from the Priority Mask Register.

+

+    \return               Priority Mask value

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_PRIMASK(void)

+{

+  uint32_t result;

+

+  __ASM volatile ("MRS %0, primask" : "=r" (result) );

+  return(result);

+}

+

+

+/** \brief  Set Priority Mask

+

+    This function assigns the given value to the Priority Mask Register.

+

+    \param [in]    priMask  Priority Mask

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_PRIMASK(uint32_t priMask)

+{

+  __ASM volatile ("MSR primask, %0" : : "r" (priMask) );

+}

+

+

+#if       (__CORTEX_M >= 0x03)

+

+/** \brief  Enable FIQ

+

+    This function enables FIQ interrupts by clearing the F-bit in the CPSR.

+    Can only be executed in Privileged modes.

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE void __enable_fault_irq(void)

+{

+  __ASM volatile ("cpsie f");

+}

+

+

+/** \brief  Disable FIQ

+

+    This function disables FIQ interrupts by setting the F-bit in the CPSR.

+    Can only be executed in Privileged modes.

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE void __disable_fault_irq(void)

+{

+  __ASM volatile ("cpsid f");

+}

+

+

+/** \brief  Get Base Priority

+

+    This function returns the current value of the Base Priority register.

+

+    \return               Base Priority register value

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_BASEPRI(void)

+{

+  uint32_t result;

+

+  __ASM volatile ("MRS %0, basepri_max" : "=r" (result) );

+  return(result);

+}

+

+

+/** \brief  Set Base Priority

+

+    This function assigns the given value to the Base Priority register.

+

+    \param [in]    basePri  Base Priority value to set

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_BASEPRI(uint32_t value)

+{

+  __ASM volatile ("MSR basepri, %0" : : "r" (value) );

+}

+

+

+/** \brief  Get Fault Mask

+

+    This function returns the current value of the Fault Mask register.

+

+    \return               Fault Mask register value

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_FAULTMASK(void)

+{

+  uint32_t result;

+

+  __ASM volatile ("MRS %0, faultmask" : "=r" (result) );

+  return(result);

+}

+

+

+/** \brief  Set Fault Mask

+

+    This function assigns the given value to the Fault Mask register.

+

+    \param [in]    faultMask  Fault Mask value to set

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_FAULTMASK(uint32_t faultMask)

+{

+  __ASM volatile ("MSR faultmask, %0" : : "r" (faultMask) );

+}

+

+#endif /* (__CORTEX_M >= 0x03) */

+

+

+#if       (__CORTEX_M == 0x04)

+

+/** \brief  Get FPSCR

+

+    This function returns the current value of the Floating Point Status/Control register.

+

+    \return               Floating Point Status/Control register value

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_FPSCR(void)

+{

+#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)

+  uint32_t result;

+

+  __ASM volatile ("VMRS %0, fpscr" : "=r" (result) );

+  return(result);

+#else

+   return(0);

+#endif

+}

+

+

+/** \brief  Set FPSCR

+

+    This function assigns the given value to the Floating Point Status/Control register.

+

+    \param [in]    fpscr  Floating Point Status/Control value to set

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_FPSCR(uint32_t fpscr)

+{

+#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)

+  __ASM volatile ("VMSR fpscr, %0" : : "r" (fpscr) );

+#endif

+}

+

+#endif /* (__CORTEX_M == 0x04) */

+

+

+#elif defined ( __TASKING__ ) /*------------------ TASKING Compiler --------------*/

+/* TASKING carm specific functions */

+

+/*

+ * The CMSIS functions have been implemented as intrinsics in the compiler.

+ * Please use "carm -?i" to get an up to date list of all instrinsics,

+ * Including the CMSIS ones.

+ */

+

+#endif

+

+/*@} end of CMSIS_Core_RegAccFunctions */

+

+

+#endif /* __CORE_CMFUNC_H */

diff --git a/apps/mathlib/CMSIS/Include/core_cmInstr.h b/apps/mathlib/CMSIS/Include/core_cmInstr.h
new file mode 100644
index 000000000..624c175fd
--- /dev/null
+++ b/apps/mathlib/CMSIS/Include/core_cmInstr.h
@@ -0,0 +1,618 @@
+/**************************************************************************//**

+ * @file     core_cmInstr.h

+ * @brief    CMSIS Cortex-M Core Instruction Access Header File

+ * @version  V3.01

+ * @date     06. March 2012

+ *

+ * @note

+ * Copyright (C) 2009-2012 ARM Limited. All rights reserved.

+ *

+ * @par

+ * ARM Limited (ARM) is supplying this software for use with Cortex-M

+ * processor based microcontrollers.  This file can be freely distributed

+ * within development tools that are supporting such ARM based processors.

+ *

+ * @par

+ * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED

+ * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF

+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.

+ * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR

+ * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.

+ *

+ ******************************************************************************/

+

+#ifndef __CORE_CMINSTR_H

+#define __CORE_CMINSTR_H

+

+

+/* ##########################  Core Instruction Access  ######################### */

+/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface

+  Access to dedicated instructions

+  @{

+*/

+

+#if   defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/

+/* ARM armcc specific functions */

+

+#if (__ARMCC_VERSION < 400677)

+  #error "Please use ARM Compiler Toolchain V4.0.677 or later!"

+#endif

+

+

+/** \brief  No Operation

+

+    No Operation does nothing. This instruction can be used for code alignment purposes.

+ */

+#define __NOP                             __nop

+

+

+/** \brief  Wait For Interrupt

+

+    Wait For Interrupt is a hint instruction that suspends execution

+    until one of a number of events occurs.

+ */

+#define __WFI                             __wfi

+

+

+/** \brief  Wait For Event

+

+    Wait For Event is a hint instruction that permits the processor to enter

+    a low-power state until one of a number of events occurs.

+ */

+#define __WFE                             __wfe

+

+

+/** \brief  Send Event

+

+    Send Event is a hint instruction. It causes an event to be signaled to the CPU.

+ */

+#define __SEV                             __sev

+

+

+/** \brief  Instruction Synchronization Barrier

+

+    Instruction Synchronization Barrier flushes the pipeline in the processor,

+    so that all instructions following the ISB are fetched from cache or

+    memory, after the instruction has been completed.

+ */

+#define __ISB()                           __isb(0xF)

+

+

+/** \brief  Data Synchronization Barrier

+

+    This function acts as a special kind of Data Memory Barrier.

+    It completes when all explicit memory accesses before this instruction complete.

+ */

+#define __DSB()                           __dsb(0xF)

+

+

+/** \brief  Data Memory Barrier

+

+    This function ensures the apparent order of the explicit memory operations before

+    and after the instruction, without ensuring their completion.

+ */

+#define __DMB()                           __dmb(0xF)

+

+

+/** \brief  Reverse byte order (32 bit)

+

+    This function reverses the byte order in integer value.

+

+    \param [in]    value  Value to reverse

+    \return               Reversed value

+ */

+#define __REV                             __rev

+

+

+/** \brief  Reverse byte order (16 bit)

+

+    This function reverses the byte order in two unsigned short values.

+

+    \param [in]    value  Value to reverse

+    \return               Reversed value

+ */

+__attribute__((section(".rev16_text"))) __STATIC_INLINE __ASM uint32_t __REV16(uint32_t value)

+{

+  rev16 r0, r0

+  bx lr

+}

+

+

+/** \brief  Reverse byte order in signed short value

+

+    This function reverses the byte order in a signed short value with sign extension to integer.

+

+    \param [in]    value  Value to reverse

+    \return               Reversed value

+ */

+__attribute__((section(".revsh_text"))) __STATIC_INLINE __ASM int32_t __REVSH(int32_t value)

+{

+  revsh r0, r0

+  bx lr

+}

+

+

+/** \brief  Rotate Right in unsigned value (32 bit)

+

+    This function Rotate Right (immediate) provides the value of the contents of a register rotated by a variable number of bits.

+

+    \param [in]    value  Value to rotate

+    \param [in]    value  Number of Bits to rotate

+    \return               Rotated value

+ */

+#define __ROR                             __ror

+

+

+#if       (__CORTEX_M >= 0x03)

+

+/** \brief  Reverse bit order of value

+

+    This function reverses the bit order of the given value.

+

+    \param [in]    value  Value to reverse

+    \return               Reversed value

+ */

+#define __RBIT                            __rbit

+

+

+/** \brief  LDR Exclusive (8 bit)

+

+    This function performs a exclusive LDR command for 8 bit value.

+

+    \param [in]    ptr  Pointer to data

+    \return             value of type uint8_t at (*ptr)

+ */

+#define __LDREXB(ptr)                     ((uint8_t ) __ldrex(ptr))

+

+

+/** \brief  LDR Exclusive (16 bit)

+

+    This function performs a exclusive LDR command for 16 bit values.

+

+    \param [in]    ptr  Pointer to data

+    \return        value of type uint16_t at (*ptr)

+ */

+#define __LDREXH(ptr)                     ((uint16_t) __ldrex(ptr))

+

+

+/** \brief  LDR Exclusive (32 bit)

+

+    This function performs a exclusive LDR command for 32 bit values.

+

+    \param [in]    ptr  Pointer to data

+    \return        value of type uint32_t at (*ptr)

+ */

+#define __LDREXW(ptr)                     ((uint32_t ) __ldrex(ptr))

+

+

+/** \brief  STR Exclusive (8 bit)

+

+    This function performs a exclusive STR command for 8 bit values.

+

+    \param [in]  value  Value to store

+    \param [in]    ptr  Pointer to location

+    \return          0  Function succeeded

+    \return          1  Function failed

+ */

+#define __STREXB(value, ptr)              __strex(value, ptr)

+

+

+/** \brief  STR Exclusive (16 bit)

+

+    This function performs a exclusive STR command for 16 bit values.

+

+    \param [in]  value  Value to store

+    \param [in]    ptr  Pointer to location

+    \return          0  Function succeeded

+    \return          1  Function failed

+ */

+#define __STREXH(value, ptr)              __strex(value, ptr)

+

+

+/** \brief  STR Exclusive (32 bit)

+

+    This function performs a exclusive STR command for 32 bit values.

+

+    \param [in]  value  Value to store

+    \param [in]    ptr  Pointer to location

+    \return          0  Function succeeded

+    \return          1  Function failed

+ */

+#define __STREXW(value, ptr)              __strex(value, ptr)

+

+

+/** \brief  Remove the exclusive lock

+

+    This function removes the exclusive lock which is created by LDREX.

+

+ */

+#define __CLREX                           __clrex

+

+

+/** \brief  Signed Saturate

+

+    This function saturates a signed value.

+

+    \param [in]  value  Value to be saturated

+    \param [in]    sat  Bit position to saturate to (1..32)

+    \return             Saturated value

+ */

+#define __SSAT                            __ssat

+

+

+/** \brief  Unsigned Saturate

+

+    This function saturates an unsigned value.

+

+    \param [in]  value  Value to be saturated

+    \param [in]    sat  Bit position to saturate to (0..31)

+    \return             Saturated value

+ */

+#define __USAT                            __usat

+

+

+/** \brief  Count leading zeros

+

+    This function counts the number of leading zeros of a data value.

+

+    \param [in]  value  Value to count the leading zeros

+    \return             number of leading zeros in value

+ */

+#define __CLZ                             __clz

+

+#endif /* (__CORTEX_M >= 0x03) */

+

+

+

+#elif defined ( __ICCARM__ ) /*------------------ ICC Compiler -------------------*/

+/* IAR iccarm specific functions */

+

+#include <cmsis_iar.h>

+

+

+#elif defined ( __TMS470__ ) /*---------------- TI CCS Compiler ------------------*/

+/* TI CCS specific functions */

+

+#include <cmsis_ccs.h>

+

+

+#elif defined ( __GNUC__ ) /*------------------ GNU Compiler ---------------------*/

+/* GNU gcc specific functions */

+

+/** \brief  No Operation

+

+    No Operation does nothing. This instruction can be used for code alignment purposes.

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE void __NOP(void)

+{

+  __ASM volatile ("nop");

+}

+

+

+/** \brief  Wait For Interrupt

+

+    Wait For Interrupt is a hint instruction that suspends execution

+    until one of a number of events occurs.

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE void __WFI(void)

+{

+  __ASM volatile ("wfi");

+}

+

+

+/** \brief  Wait For Event

+

+    Wait For Event is a hint instruction that permits the processor to enter

+    a low-power state until one of a number of events occurs.

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE void __WFE(void)

+{

+  __ASM volatile ("wfe");

+}

+

+

+/** \brief  Send Event

+

+    Send Event is a hint instruction. It causes an event to be signaled to the CPU.

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE void __SEV(void)

+{

+  __ASM volatile ("sev");

+}

+

+

+/** \brief  Instruction Synchronization Barrier

+

+    Instruction Synchronization Barrier flushes the pipeline in the processor,

+    so that all instructions following the ISB are fetched from cache or

+    memory, after the instruction has been completed.

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE void __ISB(void)

+{

+  __ASM volatile ("isb");

+}

+

+

+/** \brief  Data Synchronization Barrier

+

+    This function acts as a special kind of Data Memory Barrier.

+    It completes when all explicit memory accesses before this instruction complete.

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE void __DSB(void)

+{

+  __ASM volatile ("dsb");

+}

+

+

+/** \brief  Data Memory Barrier

+

+    This function ensures the apparent order of the explicit memory operations before

+    and after the instruction, without ensuring their completion.

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE void __DMB(void)

+{

+  __ASM volatile ("dmb");

+}

+

+

+/** \brief  Reverse byte order (32 bit)

+

+    This function reverses the byte order in integer value.

+

+    \param [in]    value  Value to reverse

+    \return               Reversed value

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __REV(uint32_t value)

+{

+  uint32_t result;

+

+  __ASM volatile ("rev %0, %1" : "=r" (result) : "r" (value) );

+  return(result);

+}

+

+

+/** \brief  Reverse byte order (16 bit)

+

+    This function reverses the byte order in two unsigned short values.

+

+    \param [in]    value  Value to reverse

+    \return               Reversed value

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __REV16(uint32_t value)

+{

+  uint32_t result;

+

+  __ASM volatile ("rev16 %0, %1" : "=r" (result) : "r" (value) );

+  return(result);

+}

+

+

+/** \brief  Reverse byte order in signed short value

+

+    This function reverses the byte order in a signed short value with sign extension to integer.

+

+    \param [in]    value  Value to reverse

+    \return               Reversed value

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE int32_t __REVSH(int32_t value)

+{

+  uint32_t result;

+

+  __ASM volatile ("revsh %0, %1" : "=r" (result) : "r" (value) );

+  return(result);

+}

+

+

+/** \brief  Rotate Right in unsigned value (32 bit)

+

+    This function Rotate Right (immediate) provides the value of the contents of a register rotated by a variable number of bits.

+

+    \param [in]    value  Value to rotate

+    \param [in]    value  Number of Bits to rotate

+    \return               Rotated value

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __ROR(uint32_t op1, uint32_t op2)

+{

+

+  __ASM volatile ("ror %0, %0, %1" : "+r" (op1) : "r" (op2) );

+  return(op1);

+}

+

+

+#if       (__CORTEX_M >= 0x03)

+

+/** \brief  Reverse bit order of value

+

+    This function reverses the bit order of the given value.

+

+    \param [in]    value  Value to reverse

+    \return               Reversed value

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __RBIT(uint32_t value)

+{

+  uint32_t result;

+

+   __ASM volatile ("rbit %0, %1" : "=r" (result) : "r" (value) );

+   return(result);

+}

+

+

+/** \brief  LDR Exclusive (8 bit)

+

+    This function performs a exclusive LDR command for 8 bit value.

+

+    \param [in]    ptr  Pointer to data

+    \return             value of type uint8_t at (*ptr)

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint8_t __LDREXB(volatile uint8_t *addr)

+{

+    uint8_t result;

+

+   __ASM volatile ("ldrexb %0, [%1]" : "=r" (result) : "r" (addr) );

+   return(result);

+}

+

+

+/** \brief  LDR Exclusive (16 bit)

+

+    This function performs a exclusive LDR command for 16 bit values.

+

+    \param [in]    ptr  Pointer to data

+    \return        value of type uint16_t at (*ptr)

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint16_t __LDREXH(volatile uint16_t *addr)

+{

+    uint16_t result;

+

+   __ASM volatile ("ldrexh %0, [%1]" : "=r" (result) : "r" (addr) );

+   return(result);

+}

+

+

+/** \brief  LDR Exclusive (32 bit)

+

+    This function performs a exclusive LDR command for 32 bit values.

+

+    \param [in]    ptr  Pointer to data

+    \return        value of type uint32_t at (*ptr)

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __LDREXW(volatile uint32_t *addr)

+{

+    uint32_t result;

+

+   __ASM volatile ("ldrex %0, [%1]" : "=r" (result) : "r" (addr) );

+   return(result);

+}

+

+

+/** \brief  STR Exclusive (8 bit)

+

+    This function performs a exclusive STR command for 8 bit values.

+

+    \param [in]  value  Value to store

+    \param [in]    ptr  Pointer to location

+    \return          0  Function succeeded

+    \return          1  Function failed

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __STREXB(uint8_t value, volatile uint8_t *addr)

+{

+   uint32_t result;

+

+   __ASM volatile ("strexb %0, %2, [%1]" : "=&r" (result) : "r" (addr), "r" (value) );

+   return(result);

+}

+

+

+/** \brief  STR Exclusive (16 bit)

+

+    This function performs a exclusive STR command for 16 bit values.

+

+    \param [in]  value  Value to store

+    \param [in]    ptr  Pointer to location

+    \return          0  Function succeeded

+    \return          1  Function failed

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __STREXH(uint16_t value, volatile uint16_t *addr)

+{

+   uint32_t result;

+

+   __ASM volatile ("strexh %0, %2, [%1]" : "=&r" (result) : "r" (addr), "r" (value) );

+   return(result);

+}

+

+

+/** \brief  STR Exclusive (32 bit)

+

+    This function performs a exclusive STR command for 32 bit values.

+

+    \param [in]  value  Value to store

+    \param [in]    ptr  Pointer to location

+    \return          0  Function succeeded

+    \return          1  Function failed

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __STREXW(uint32_t value, volatile uint32_t *addr)

+{

+   uint32_t result;

+

+   __ASM volatile ("strex %0, %2, [%1]" : "=&r" (result) : "r" (addr), "r" (value) );

+   return(result);

+}

+

+

+/** \brief  Remove the exclusive lock

+

+    This function removes the exclusive lock which is created by LDREX.

+

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE void __CLREX(void)

+{

+  __ASM volatile ("clrex");

+}

+

+

+/** \brief  Signed Saturate

+

+    This function saturates a signed value.

+

+    \param [in]  value  Value to be saturated

+    \param [in]    sat  Bit position to saturate to (1..32)

+    \return             Saturated value

+ */

+#define __SSAT(ARG1,ARG2) \

+({                          \

+  uint32_t __RES, __ARG1 = (ARG1); \

+  __ASM ("ssat %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \

+  __RES; \

+ })

+

+

+/** \brief  Unsigned Saturate

+

+    This function saturates an unsigned value.

+

+    \param [in]  value  Value to be saturated

+    \param [in]    sat  Bit position to saturate to (0..31)

+    \return             Saturated value

+ */

+#define __USAT(ARG1,ARG2) \

+({                          \

+  uint32_t __RES, __ARG1 = (ARG1); \

+  __ASM ("usat %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \

+  __RES; \

+ })

+

+

+/** \brief  Count leading zeros

+

+    This function counts the number of leading zeros of a data value.

+

+    \param [in]  value  Value to count the leading zeros

+    \return             number of leading zeros in value

+ */

+__attribute__( ( always_inline ) ) __STATIC_INLINE uint8_t __CLZ(uint32_t value)

+{

+  uint8_t result;

+

+  __ASM volatile ("clz %0, %1" : "=r" (result) : "r" (value) );

+  return(result);

+}

+

+#endif /* (__CORTEX_M >= 0x03) */

+

+

+

+

+#elif defined ( __TASKING__ ) /*------------------ TASKING Compiler --------------*/

+/* TASKING carm specific functions */

+

+/*

+ * The CMSIS functions have been implemented as intrinsics in the compiler.

+ * Please use "carm -?i" to get an up to date list of all intrinsics,

+ * Including the CMSIS ones.

+ */

+

+#endif

+

+/*@}*/ /* end of group CMSIS_Core_InstructionInterface */

+

+#endif /* __CORE_CMINSTR_H */

diff --git a/apps/mathlib/CMSIS/Makefile b/apps/mathlib/CMSIS/Makefile
new file mode 100644
index 000000000..9e28518bc
--- /dev/null
+++ b/apps/mathlib/CMSIS/Makefile
@@ -0,0 +1,61 @@
+############################################################################
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. 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.
+# 3. Neither the name PX4 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.
+#
+############################################################################
+
+#
+# ARM CMSIS DSP library
+#
+
+#
+# Find sources
+#
+DSPLIB_SRCDIR		:= $(dir $(lastword $(MAKEFILE_LIST)))
+CSRCS			:= $(wildcard $(DSPLIB_SRCDIR)/DSP_Lib/Source/*/*.c)
+
+INCLUDES		+= $(DSPLIB_SRCDIR)/Include \
+			   $(DSPLIB_SRCDIR)/Device/ARM/ARMCM4/Include \
+			   $(DSPLIB_SRCDIR)/Device/ARM/ARMCM3/Include
+
+# Suppress some warnings that ARM should fix, but haven't.
+EXTRADEFINES		+= -Wno-unsuffixed-float-constants \
+			   -Wno-sign-compare \
+			   -Wno-shadow \
+			   -Wno-float-equal \
+			   -Wno-unused-variable
+
+#
+# Override the default visibility for symbols, since the CMSIS DSPLib doesn't
+# have anything we can use to mark exported symbols.
+#
+DEFAULT_VISIBILITY	 = YES
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/mathlib/Makefile b/apps/mathlib/Makefile
new file mode 100644
index 000000000..7eebd6ae0
--- /dev/null
+++ b/apps/mathlib/Makefile
@@ -0,0 +1,62 @@
+############################################################################
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. 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.
+# 3. Neither the name PX4 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.
+#
+############################################################################
+
+#
+# Math library
+#
+CXXSRCS		 = math/test/test.cpp \
+		   math/Vector.cpp \
+		   math/Vector3.cpp \
+		   math/EulerAngles.cpp \
+		   math/Quaternion.cpp \
+		   math/Dcm.cpp \
+		   math/Matrix.cpp
+
+#
+# In order to include .config we first have to save off the
+# current makefile name, since app.mk needs it.
+#
+APP_MAKEFILE	:= $(lastword $(MAKEFILE_LIST))
+-include $(TOPDIR)/.config
+
+ifeq ($(CONFIG_ARCH_CORTEXM4)$(CONFIG_ARCH_FPU),yy)
+INCLUDES	+= math/arm
+CXXSRCS		+= math/arm/Vector.cpp \
+		   math/arm/Matrix.cpp
+else
+INCLUDES	+= math/generic
+CXXSRCS		+= math/generic/Vector.cpp \
+		   math/generic/Matrix.cpp
+endif
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/mathlib/math/Dcm.cpp b/apps/mathlib/math/Dcm.cpp
new file mode 100644
index 000000000..df0f09b20
--- /dev/null
+++ b/apps/mathlib/math/Dcm.cpp
@@ -0,0 +1,165 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Dcm.cpp
+ *
+ * math direction cosine matrix
+ */
+
+#include "math/test/test.hpp"
+
+#include "Dcm.hpp"
+#include "Quaternion.hpp"
+#include "EulerAngles.hpp"
+#include "Vector3.hpp"
+
+namespace math
+{
+
+Dcm::Dcm() :
+	Matrix(Matrix::identity(3))
+{
+}
+
+Dcm::Dcm(float c00, float c01, float c02,
+	 float c10, float c11, float c12,
+	 float c20, float c21, float c22) :
+	Matrix(3, 3)
+{
+	Dcm &dcm = *this;
+	dcm(0, 0) = c00;
+	dcm(0, 1) = c01;
+	dcm(0, 2) = c02;
+	dcm(1, 0) = c10;
+	dcm(1, 1) = c11;
+	dcm(1, 2) = c12;
+	dcm(2, 0) = c20;
+	dcm(2, 1) = c21;
+	dcm(2, 2) = c22;
+}
+
+Dcm::Dcm(const float *data) :
+	Matrix(3, 3, data)
+{
+}
+
+Dcm::Dcm(const Quaternion &q) :
+	Matrix(3, 3)
+{
+	Dcm &dcm = *this;
+	double a = q.getA();
+	double b = q.getB();
+	double c = q.getC();
+	double d = q.getD();
+	double aSq = a * a;
+	double bSq = b * b;
+	double cSq = c * c;
+	double dSq = d * d;
+	dcm(0, 0) = aSq + bSq - cSq - dSq;
+	dcm(0, 1) = 2.0 * (b * c - a * d);
+	dcm(0, 2) = 2.0 * (a * c + b * d);
+	dcm(1, 0) = 2.0 * (b * c + a * d);
+	dcm(1, 1) = aSq - bSq + cSq - dSq;
+	dcm(1, 2) = 2.0 * (c * d - a * b);
+	dcm(2, 0) = 2.0 * (b * d - a * c);
+	dcm(2, 1) = 2.0 * (a * b + c * d);
+	dcm(2, 2) = aSq - bSq - cSq + dSq;
+}
+
+Dcm::Dcm(const EulerAngles &euler) :
+	Matrix(3, 3)
+{
+	Dcm &dcm = *this;
+	double cosPhi = cos(euler.getPhi());
+	double sinPhi = sin(euler.getPhi());
+	double cosThe = cos(euler.getTheta());
+	double sinThe = sin(euler.getTheta());
+	double cosPsi = cos(euler.getPsi());
+	double sinPsi = sin(euler.getPsi());
+
+	dcm(0, 0) = cosThe * cosPsi;
+	dcm(0, 1) = -cosPhi * sinPsi + sinPhi * sinThe * cosPsi;
+	dcm(0, 2) = sinPhi * sinPsi + cosPhi * sinThe * cosPsi;
+
+	dcm(1, 0) = cosThe * sinPsi;
+	dcm(1, 1) = cosPhi * cosPsi + sinPhi * sinThe * sinPsi;
+	dcm(1, 2) = -sinPhi * cosPsi + cosPhi * sinThe * sinPsi;
+
+	dcm(2, 0) = -sinThe;
+	dcm(2, 1) = sinPhi * cosThe;
+	dcm(2, 2) = cosPhi * cosThe;
+}
+
+Dcm::Dcm(const Dcm &right) :
+	Matrix(right)
+{
+}
+
+Dcm::~Dcm()
+{
+}
+
+int __EXPORT dcmTest()
+{
+	printf("Test DCM\t\t: ");
+	// default ctor
+	ASSERT(matrixEqual(Dcm(),
+			   Matrix::identity(3)));
+	// quaternion ctor
+	ASSERT(matrixEqual(
+		       Dcm(Quaternion(0.983347f, 0.034271f, 0.106021f, 0.143572f)),
+		       Dcm(0.9362934f, -0.2750958f,  0.2183507f,
+			   0.2896295f,  0.9564251f, -0.0369570f,
+			   -0.1986693f,  0.0978434f,  0.9751703f)));
+	// euler angle ctor
+	ASSERT(matrixEqual(
+		       Dcm(EulerAngles(0.1f, 0.2f, 0.3f)),
+		       Dcm(0.9362934f, -0.2750958f,  0.2183507f,
+			   0.2896295f,  0.9564251f, -0.0369570f,
+			   -0.1986693f,  0.0978434f,  0.9751703f)));
+	// rotations
+	Vector3 vB(1, 2, 3);
+	ASSERT(vectorEqual(Vector3(-2.0f, 1.0f, 3.0f),
+			   Dcm(EulerAngles(0.0f, 0.0f, M_PI_2_F))*vB));
+	ASSERT(vectorEqual(Vector3(3.0f, 2.0f, -1.0f),
+			   Dcm(EulerAngles(0.0f, M_PI_2_F, 0.0f))*vB));
+	ASSERT(vectorEqual(Vector3(1.0f, -3.0f, 2.0f),
+			   Dcm(EulerAngles(M_PI_2_F, 0.0f, 0.0f))*vB));
+	ASSERT(vectorEqual(Vector3(3.0f, 2.0f, -1.0f),
+			   Dcm(EulerAngles(
+				       M_PI_2_F, M_PI_2_F, M_PI_2_F))*vB));
+	printf("PASS\n");
+	return 0;
+}
+} // namespace math
diff --git a/apps/mathlib/math/Dcm.hpp b/apps/mathlib/math/Dcm.hpp
new file mode 100644
index 000000000..28d840b10
--- /dev/null
+++ b/apps/mathlib/math/Dcm.hpp
@@ -0,0 +1,103 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Dcm.hpp
+ *
+ * math direction cosine matrix
+ */
+
+//#pragma once
+
+#include "Vector.hpp"
+#include "Matrix.hpp"
+
+namespace math
+{
+
+class Quaternion;
+class EulerAngles;
+
+/**
+ * This is a Tait Bryan, Body 3-2-1 sequence.
+ * (yaw)-(pitch)-(roll)
+ * The Dcm transforms a vector in the body frame
+ * to the navigation frame, typically represented
+ * as C_nb. C_bn can be obtained through use
+ * of the transpose() method.
+ */
+class __EXPORT Dcm : public Matrix
+{
+public:
+	/**
+	 * default ctor
+	 */
+	Dcm();
+
+	/**
+	 * scalar ctor
+	 */
+	Dcm(float c00, float c01, float c02,
+	    float c10, float c11, float c12,
+	    float c20, float c21, float c22);
+
+	/**
+	 * data ctor
+	 */
+	Dcm(const float *data);
+
+	/**
+	 * quaternion ctor
+	 */
+	Dcm(const Quaternion &q);
+
+	/**
+	 * euler angles ctor
+	 */
+	Dcm(const EulerAngles &euler);
+
+	/**
+	 * copy ctor (deep)
+	 */
+	Dcm(const Dcm &right);
+
+	/**
+	 * dtor
+	 */
+	virtual ~Dcm();
+};
+
+int __EXPORT dcmTest();
+
+} // math
+
diff --git a/apps/mathlib/math/EulerAngles.cpp b/apps/mathlib/math/EulerAngles.cpp
new file mode 100644
index 000000000..2e96fef4c
--- /dev/null
+++ b/apps/mathlib/math/EulerAngles.cpp
@@ -0,0 +1,126 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Vector.cpp
+ *
+ * math vector
+ */
+
+#include "math/test/test.hpp"
+
+#include "EulerAngles.hpp"
+#include "Quaternion.hpp"
+#include "Dcm.hpp"
+#include "Vector3.hpp"
+
+namespace math
+{
+
+EulerAngles::EulerAngles() :
+	Vector(3)
+{
+	setPhi(0.0f);
+	setTheta(0.0f);
+	setPsi(0.0f);
+}
+
+EulerAngles::EulerAngles(float phi, float theta, float psi) :
+	Vector(3)
+{
+	setPhi(phi);
+	setTheta(theta);
+	setPsi(psi);
+}
+
+EulerAngles::EulerAngles(const Quaternion &q) :
+	Vector(3)
+{
+	(*this) = EulerAngles(Dcm(q));
+}
+
+EulerAngles::EulerAngles(const Dcm &dcm) :
+	Vector(3)
+{
+	setTheta(asinf(-dcm(2, 0)));
+
+	if (fabsf(getTheta() - M_PI_2_F) < 1.0e-3f) {
+		setPhi(0.0f);
+		setPsi(atan2f(dcm(1, 2) - dcm(0, 1),
+			      dcm(0, 2) + dcm(1, 1)) + getPhi());
+
+	} else if (fabsf(getTheta() + M_PI_2_F) < 1.0e-3f) {
+		setPhi(0.0f);
+		setPsi(atan2f(dcm(1, 2) - dcm(0, 1),
+			      dcm(0, 2) + dcm(1, 1)) - getPhi());
+
+	} else {
+		setPhi(atan2f(dcm(2, 1), dcm(2, 2)));
+		setPsi(atan2f(dcm(1, 0), dcm(0, 0)));
+	}
+}
+
+EulerAngles::~EulerAngles()
+{
+}
+
+int __EXPORT eulerAnglesTest()
+{
+	printf("Test EulerAngles\t: ");
+	EulerAngles euler(0.1f, 0.2f, 0.3f);
+
+	// test ctor
+	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
+	ASSERT(equal(euler.getPhi(), 0.1f));
+	ASSERT(equal(euler.getTheta(), 0.2f));
+	ASSERT(equal(euler.getPsi(), 0.3f));
+
+	// test dcm ctor
+	euler = Dcm(EulerAngles(0.1f, 0.2f, 0.3f));
+	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
+
+	// test quat ctor
+	euler = Quaternion(EulerAngles(0.1f, 0.2f, 0.3f));
+	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
+
+	// test assignment
+	euler.setPhi(0.4f);
+	euler.setTheta(0.5f);
+	euler.setPsi(0.6f);
+	ASSERT(vectorEqual(Vector3(0.4f, 0.5f, 0.6f), euler));
+
+	printf("PASS\n");
+	return 0;
+}
+
+} // namespace math
diff --git a/apps/mathlib/math/EulerAngles.hpp b/apps/mathlib/math/EulerAngles.hpp
new file mode 100644
index 000000000..399eecfa7
--- /dev/null
+++ b/apps/mathlib/math/EulerAngles.hpp
@@ -0,0 +1,74 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Vector.h
+ *
+ * math vector
+ */
+
+#pragma once
+
+#include "Vector.hpp"
+
+namespace math
+{
+
+class Quaternion;
+class Dcm;
+
+class __EXPORT EulerAngles : public Vector
+{
+public:
+	EulerAngles();
+	EulerAngles(float phi, float theta, float psi);
+	EulerAngles(const Quaternion &q);
+	EulerAngles(const Dcm &dcm);
+	virtual ~EulerAngles();
+
+	// alias
+	void setPhi(float phi) { (*this)(0) = phi; }
+	void setTheta(float theta) { (*this)(1) = theta; }
+	void setPsi(float psi) { (*this)(2) = psi; }
+
+	// const accessors
+	const float &getPhi() const { return (*this)(0); }
+	const float &getTheta() const { return (*this)(1); }
+	const float &getPsi() const { return (*this)(2); }
+
+};
+
+int __EXPORT eulerAnglesTest();
+
+} // math
+
diff --git a/apps/mathlib/math/Matrix.cpp b/apps/mathlib/math/Matrix.cpp
new file mode 100644
index 000000000..981732370
--- /dev/null
+++ b/apps/mathlib/math/Matrix.cpp
@@ -0,0 +1,193 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Matrix.cpp
+ *
+ * matrix code
+ */
+
+#include "math/test/test.hpp"
+#include <math.h>
+
+#include "Matrix.hpp"
+
+namespace math
+{
+
+static const float data_testA[] = {
+	1, 2, 3,
+	4, 5, 6
+};
+static Matrix testA(2, 3, data_testA);
+
+static const float data_testB[] = {
+	0, 1, 3,
+	7, -1, 2
+};
+static Matrix testB(2, 3, data_testB);
+
+static const float data_testC[] = {
+	0, 1,
+	2, 1,
+	3, 2
+};
+static Matrix testC(3, 2, data_testC);
+
+static const float data_testD[] = {
+	0, 1, 2,
+	2, 1, 4,
+	5, 2, 0
+};
+static Matrix testD(3, 3, data_testD);
+
+static const float data_testE[] = {
+	1, -1, 2,
+	0, 2, 3,
+	2, -1, 1
+};
+static Matrix testE(3, 3, data_testE);
+
+static const float data_testF[] = {
+	3.777e006f, 2.915e007f, 0.000e000f,
+	2.938e007f, 2.267e008f, 0.000e000f,
+	0.000e000f, 0.000e000f, 6.033e008f
+};
+static Matrix testF(3, 3, data_testF);
+
+int __EXPORT matrixTest()
+{
+	matrixAddTest();
+	matrixSubTest();
+	matrixMultTest();
+	matrixInvTest();
+	matrixDivTest();
+	return 0;
+}
+
+int matrixAddTest()
+{
+	printf("Test Matrix Add\t\t: ");
+	Matrix r = testA + testB;
+	float data_test[] = {
+		1.0f, 3.0f, 6.0f,
+		11.0f, 4.0f, 8.0f
+	};
+	ASSERT(matrixEqual(Matrix(2, 3, data_test), r));
+	printf("PASS\n");
+	return 0;
+}
+
+int matrixSubTest()
+{
+	printf("Test Matrix Sub\t\t: ");
+	Matrix r = testA - testB;
+	float data_test[] = {
+		1.0f, 1.0f, 0.0f,
+		-3.0f, 6.0f, 4.0f
+	};
+	ASSERT(matrixEqual(Matrix(2, 3, data_test), r));
+	printf("PASS\n");
+	return 0;
+}
+
+int matrixMultTest()
+{
+	printf("Test Matrix Mult\t: ");
+	Matrix r = testC * testB;
+	float data_test[] = {
+		7.0f, -1.0f,  2.0f,
+		7.0f,  1.0f,  8.0f,
+		14.0f,  1.0f, 13.0f
+	};
+	ASSERT(matrixEqual(Matrix(3, 3, data_test), r));
+	printf("PASS\n");
+	return 0;
+}
+
+int matrixInvTest()
+{
+	printf("Test Matrix Inv\t\t: ");
+	Matrix origF = testF;
+	Matrix r = testF.inverse();
+	float data_test[] = {
+		-0.0012518f,  0.0001610f, 0.0000000f,
+		0.0001622f, -0.0000209f, 0.0000000f,
+		0.0000000f,  0.0000000f, 1.6580e-9f
+	};
+	ASSERT(matrixEqual(Matrix(3, 3, data_test), r));
+	// make sure F in unchanged
+	ASSERT(matrixEqual(origF, testF));
+	printf("PASS\n");
+	return 0;
+}
+
+int matrixDivTest()
+{
+	printf("Test Matrix Div\t\t: ");
+	Matrix r = testD / testE;
+	float data_test[] = {
+		0.2222222f, 0.5555556f, -0.1111111f,
+		0.0f,       1.0f,         1.0,
+		-4.1111111f, 1.2222222f,  4.5555556f
+	};
+	ASSERT(matrixEqual(Matrix(3, 3, data_test), r));
+	printf("PASS\n");
+	return 0;
+}
+
+bool matrixEqual(const Matrix &a, const Matrix &b, float eps)
+{
+	if (a.getRows() != b.getRows()) {
+		printf("row number not equal a: %d, b:%d\n", a.getRows(), b.getRows());
+		return false;
+
+	} else if (a.getCols() != b.getCols()) {
+		printf("column number not equal a: %d, b:%d\n", a.getCols(), b.getCols());
+		return false;
+	}
+
+	bool ret = true;
+
+	for (size_t i = 0; i < a.getRows(); i++)
+		for (size_t j = 0; j < a.getCols(); j++) {
+			if (!equal(a(i, j), b(i, j), eps)) {
+				printf("element mismatch (%d, %d)\n", i, j);
+				ret = false;
+			}
+		}
+
+	return ret;
+}
+
+} // namespace math
diff --git a/apps/mathlib/math/Matrix.hpp b/apps/mathlib/math/Matrix.hpp
new file mode 100644
index 000000000..f19db15ec
--- /dev/null
+++ b/apps/mathlib/math/Matrix.hpp
@@ -0,0 +1,61 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Matrix.h
+ *
+ * matrix code
+ */
+
+#pragma once
+
+#include <nuttx/config.h>
+
+#if defined(CONFIG_ARCH_CORTEXM4) && defined(CONFIG_ARCH_FPU)
+#include "arm/Matrix.hpp"
+#else
+#include "generic/Matrix.hpp"
+#endif
+
+namespace math
+{
+class Matrix;
+int matrixTest();
+int matrixAddTest();
+int matrixSubTest();
+int matrixMultTest();
+int matrixInvTest();
+int matrixDivTest();
+int matrixArmTest();
+bool matrixEqual(const Matrix &a, const Matrix &b, float eps = 1.0e-5f);
+} // namespace math
diff --git a/apps/mathlib/math/Quaternion.cpp b/apps/mathlib/math/Quaternion.cpp
new file mode 100644
index 000000000..78481b286
--- /dev/null
+++ b/apps/mathlib/math/Quaternion.cpp
@@ -0,0 +1,174 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Quaternion.cpp
+ *
+ * math vector
+ */
+
+#include "math/test/test.hpp"
+
+
+#include "Quaternion.hpp"
+#include "Dcm.hpp"
+#include "EulerAngles.hpp"
+
+namespace math
+{
+
+Quaternion::Quaternion() :
+	Vector(4)
+{
+	setA(1.0f);
+	setB(0.0f);
+	setC(0.0f);
+	setD(0.0f);
+}
+
+Quaternion::Quaternion(float a, float b,
+		       float c, float d) :
+	Vector(4)
+{
+	setA(a);
+	setB(b);
+	setC(c);
+	setD(d);
+}
+
+Quaternion::Quaternion(const float *data) :
+	Vector(4, data)
+{
+}
+
+Quaternion::Quaternion(const Vector &v) :
+	Vector(v)
+{
+}
+
+Quaternion::Quaternion(const Dcm &dcm) :
+	Vector(4)
+{
+	// avoiding singularities by not using
+	// division equations
+	setA(0.5 * sqrt(1.0 +
+			double(dcm(0, 0) + dcm(1, 1) + dcm(2, 2))));
+	setB(0.5 * sqrt(1.0 +
+			double(dcm(0, 0) - dcm(1, 1) - dcm(2, 2))));
+	setC(0.5 * sqrt(1.0 +
+			double(-dcm(0, 0) + dcm(1, 1) - dcm(2, 2))));
+	setD(0.5 * sqrt(1.0 +
+			double(-dcm(0, 0) - dcm(1, 1) + dcm(2, 2))));
+}
+
+Quaternion::Quaternion(const EulerAngles &euler) :
+	Vector(4)
+{
+	double cosPhi_2 = cos(double(euler.getPhi()) / 2.0);
+	double sinPhi_2 = sin(double(euler.getPhi()) / 2.0);
+	double cosTheta_2 = cos(double(euler.getTheta()) / 2.0);
+	double sinTheta_2 = sin(double(euler.getTheta()) / 2.0);
+	double cosPsi_2 = cos(double(euler.getPsi()) / 2.0);
+	double sinPsi_2 = sin(double(euler.getPsi()) / 2.0);
+	setA(cosPhi_2 * cosTheta_2 * cosPsi_2 +
+	     sinPhi_2 * sinTheta_2 * sinPsi_2);
+	setB(sinPhi_2 * cosTheta_2 * cosPsi_2 -
+	     cosPhi_2 * sinTheta_2 * sinPsi_2);
+	setC(cosPhi_2 * sinTheta_2 * cosPsi_2 +
+	     sinPhi_2 * cosTheta_2 * sinPsi_2);
+	setD(cosPhi_2 * cosTheta_2 * sinPsi_2 -
+	     sinPhi_2 * sinTheta_2 * cosPsi_2);
+}
+
+Quaternion::Quaternion(const Quaternion &right) :
+	Vector(right)
+{
+}
+
+Quaternion::~Quaternion()
+{
+}
+
+Vector Quaternion::derivative(const Vector &w)
+{
+#ifdef QUATERNION_ASSERT
+	ASSERT(w.getRows() == 3);
+#endif
+	float dataQ[] = {
+		getA(), -getB(), -getC(), -getD(),
+		getB(),  getA(), -getD(),  getC(),
+		getC(),  getD(),  getA(), -getB(),
+		getD(), -getC(),  getB(),  getA()
+	};
+	Vector v(4);
+	v(0) = 0.0f;
+	v(1) = w(0);
+	v(2) = w(1);
+	v(3) = w(2);
+	Matrix Q(4, 4, dataQ);
+	return Q * v * 0.5f;
+}
+
+int __EXPORT quaternionTest()
+{
+	printf("Test Quaternion\t\t: ");
+	// test default ctor
+	Quaternion q;
+	ASSERT(equal(q.getA(), 1.0f));
+	ASSERT(equal(q.getB(), 0.0f));
+	ASSERT(equal(q.getC(), 0.0f));
+	ASSERT(equal(q.getD(), 0.0f));
+	// test float ctor
+	q = Quaternion(0.1825742f, 0.3651484f, 0.5477226f, 0.7302967f);
+	ASSERT(equal(q.getA(), 0.1825742f));
+	ASSERT(equal(q.getB(), 0.3651484f));
+	ASSERT(equal(q.getC(), 0.5477226f));
+	ASSERT(equal(q.getD(), 0.7302967f));
+	// test euler ctor
+	q = Quaternion(EulerAngles(0.1f, 0.2f, 0.3f));
+	ASSERT(vectorEqual(q, Quaternion(0.983347f, 0.034271f, 0.106021f, 0.143572f)));
+	// test dcm ctor
+	q = Quaternion(Dcm());
+	ASSERT(vectorEqual(q, Quaternion(1.0f, 0.0f, 0.0f, 0.0f)));
+	// TODO test derivative
+	// test accessors
+	q.setA(0.1f);
+	q.setB(0.2f);
+	q.setC(0.3f);
+	q.setD(0.4f);
+	ASSERT(vectorEqual(q, Quaternion(0.1f, 0.2f, 0.3f, 0.4f)));
+	printf("PASS\n");
+	return 0;
+}
+
+} // namespace math
diff --git a/apps/mathlib/math/Quaternion.hpp b/apps/mathlib/math/Quaternion.hpp
new file mode 100644
index 000000000..4b4e959d8
--- /dev/null
+++ b/apps/mathlib/math/Quaternion.hpp
@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Quaternion.hpp
+ *
+ * math quaternion lib
+ */
+
+//#pragma once
+
+#include "Vector.hpp"
+#include "Matrix.hpp"
+
+namespace math
+{
+
+class Dcm;
+class EulerAngles;
+
+class __EXPORT Quaternion : public Vector
+{
+public:
+
+	/**
+	 * default ctor
+	 */
+	Quaternion();
+
+	/**
+	 * ctor from floats
+	 */
+	Quaternion(float a, float b, float c, float d);
+
+	/**
+	 * ctor from data
+	 */
+	Quaternion(const float *data);
+
+	/**
+	 * ctor from Vector
+	 */
+	Quaternion(const Vector &v);
+
+	/**
+	 * ctor from EulerAngles
+	 */
+	Quaternion(const EulerAngles &euler);
+
+	/**
+	 * ctor from Dcm
+	 */
+	Quaternion(const Dcm &dcm);
+
+	/**
+	 * deep copy ctor
+	 */
+	Quaternion(const Quaternion &right);
+
+	/**
+	 * dtor
+	 */
+	virtual ~Quaternion();
+
+	/**
+	 * derivative
+	 */
+	Vector derivative(const Vector &w);
+
+	/**
+	 * accessors
+	 */
+	void setA(float a) { (*this)(0) = a; }
+	void setB(float b) { (*this)(1) = b; }
+	void setC(float c) { (*this)(2) = c; }
+	void setD(float d) { (*this)(3) = d; }
+	const float &getA() const { return (*this)(0); }
+	const float &getB() const { return (*this)(1); }
+	const float &getC() const { return (*this)(2); }
+	const float &getD() const { return (*this)(3); }
+};
+
+int __EXPORT quaternionTest();
+} // math
+
diff --git a/apps/mathlib/math/Vector.cpp b/apps/mathlib/math/Vector.cpp
new file mode 100644
index 000000000..d58e719db
--- /dev/null
+++ b/apps/mathlib/math/Vector.cpp
@@ -0,0 +1,100 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Vector.cpp
+ *
+ * math vector
+ */
+
+#include "math/test/test.hpp"
+
+#include "Vector.hpp"
+
+namespace math
+{
+
+static const float data_testA[] = {1, 3};
+static const float data_testB[] = {4, 1};
+
+static Vector testA(2, data_testA);
+static Vector testB(2, data_testB);
+
+int __EXPORT vectorTest()
+{
+	vectorAddTest();
+	vectorSubTest();
+	return 0;
+}
+
+int vectorAddTest()
+{
+	printf("Test Vector Add\t\t: ");
+	Vector r = testA + testB;
+	float data_test[] = {5.0f, 4.0f};
+	ASSERT(vectorEqual(Vector(2, data_test), r));
+	printf("PASS\n");
+	return 0;
+}
+
+int vectorSubTest()
+{
+	printf("Test Vector Sub\t\t: ");
+	Vector r(2);
+	r = testA - testB;
+	float data_test[] = { -3.0f, 2.0f};
+	ASSERT(vectorEqual(Vector(2, data_test), r));
+	printf("PASS\n");
+	return 0;
+}
+
+bool vectorEqual(const Vector &a, const Vector &b, float eps)
+{
+	if (a.getRows() != b.getRows()) {
+		printf("row number not equal a: %d, b:%d\n", a.getRows(), b.getRows());
+		return false;
+	}
+
+	bool ret = true;
+
+	for (size_t i = 0; i < a.getRows(); i++) {
+		if (!equal(a(i), b(i), eps)) {
+			printf("element mismatch (%d)\n", i);
+			ret = false;
+		}
+	}
+
+	return ret;
+}
+
+} // namespace math
diff --git a/apps/mathlib/math/Vector.hpp b/apps/mathlib/math/Vector.hpp
new file mode 100644
index 000000000..73de793d5
--- /dev/null
+++ b/apps/mathlib/math/Vector.hpp
@@ -0,0 +1,57 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Vector.h
+ *
+ * math vector
+ */
+
+#pragma once
+
+#include <nuttx/config.h>
+
+#if defined(CONFIG_ARCH_CORTEXM4) && defined(CONFIG_ARCH_FPU)
+#include "arm/Vector.hpp"
+#else
+#include "generic/Vector.hpp"
+#endif
+
+namespace math
+{
+class Vector;
+int __EXPORT vectorTest();
+int __EXPORT vectorAddTest();
+int __EXPORT vectorSubTest();
+bool vectorEqual(const Vector &a, const Vector &b, float eps = 1.0e-5f);
+} // math
diff --git a/apps/mathlib/math/Vector3.cpp b/apps/mathlib/math/Vector3.cpp
new file mode 100644
index 000000000..9c57506da
--- /dev/null
+++ b/apps/mathlib/math/Vector3.cpp
@@ -0,0 +1,99 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Vector3.cpp
+ *
+ * math vector
+ */
+
+#include "math/test/test.hpp"
+
+#include "Vector3.hpp"
+
+namespace math
+{
+
+Vector3::Vector3() :
+	Vector(3)
+{
+}
+
+Vector3::Vector3(const Vector &right) :
+	Vector(right)
+{
+#ifdef VECTOR_ASSERT
+	ASSERT(right.getRows() == 3);
+#endif
+}
+
+Vector3::Vector3(float x, float y, float z) :
+	Vector(3)
+{
+	setX(x);
+	setY(y);
+	setZ(z);
+}
+
+Vector3::Vector3(const float *data) :
+	Vector(3, data)
+{
+}
+
+Vector3::~Vector3()
+{
+}
+
+Vector3 Vector3::cross(const Vector3 &b)
+{
+	Vector3 &a = *this;
+	Vector3 result;
+	result(0) = a(1) * b(2) - a(2) * b(1);
+	result(1) = a(2) * b(0) - a(0) * b(2);
+	result(2) = a(0) * b(1) - a(1) * b(0);
+	return result;
+}
+
+int __EXPORT vector3Test()
+{
+	printf("Test Vector3\t\t: ");
+	// test float ctor
+	Vector3 v(1, 2, 3);
+	ASSERT(equal(v(0), 1));
+	ASSERT(equal(v(1), 2));
+	ASSERT(equal(v(2), 3));
+	printf("PASS\n");
+	return 0;
+}
+
+} // namespace math
diff --git a/apps/mathlib/math/Vector3.hpp b/apps/mathlib/math/Vector3.hpp
new file mode 100644
index 000000000..8c36ac134
--- /dev/null
+++ b/apps/mathlib/math/Vector3.hpp
@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Vector3.hpp
+ *
+ * math 3 vector
+ */
+
+#pragma once
+
+#include "Vector.hpp"
+
+namespace math
+{
+
+class __EXPORT Vector3 :
+	public Vector
+{
+public:
+	Vector3();
+	Vector3(const Vector &right);
+	Vector3(float x, float y, float z);
+	Vector3(const float *data);
+	virtual ~Vector3();
+	Vector3 cross(const Vector3 &b);
+
+	/**
+	 * accessors
+	 */
+	void setX(float x) { (*this)(0) = x; }
+	void setY(float y) { (*this)(1) = y; }
+	void setZ(float z) { (*this)(2) = z; }
+	const float &getX() const { return (*this)(0); }
+	const float &getY() const { return (*this)(1); }
+	const float &getZ() const { return (*this)(2); }
+};
+
+int __EXPORT vector3Test();
+} // math
+
diff --git a/apps/mathlib/math/arm/Matrix.cpp b/apps/mathlib/math/arm/Matrix.cpp
new file mode 100644
index 000000000..21661622a
--- /dev/null
+++ b/apps/mathlib/math/arm/Matrix.cpp
@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Matrix.cpp
+ *
+ * matrix code
+ */
+
+#include "Matrix.hpp"
diff --git a/apps/mathlib/math/arm/Matrix.hpp b/apps/mathlib/math/arm/Matrix.hpp
new file mode 100644
index 000000000..715fd3a5e
--- /dev/null
+++ b/apps/mathlib/math/arm/Matrix.hpp
@@ -0,0 +1,292 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Matrix.h
+ *
+ * matrix code
+ */
+
+#pragma once
+
+
+#include <inttypes.h>
+#include <assert.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdio.h>
+#include <math.h>
+
+#include "../Vector.hpp"
+#include "../Matrix.hpp"
+
+// arm specific
+#include "../../CMSIS/Include/arm_math.h"
+
+namespace math
+{
+
+class __EXPORT Matrix
+{
+public:
+	// constructor
+	Matrix(size_t rows, size_t cols) :
+		_matrix() {
+		arm_mat_init_f32(&_matrix,
+				 rows, cols,
+				 (float *)calloc(rows * cols, sizeof(float)));
+	}
+	Matrix(size_t rows, size_t cols, const float *data) :
+		_matrix() {
+		arm_mat_init_f32(&_matrix,
+				 rows, cols,
+				 (float *)malloc(rows * cols * sizeof(float)));
+		memcpy(getData(), data, getSize());
+	}
+	// deconstructor
+	virtual ~Matrix() {
+		delete [] _matrix.pData;
+	}
+	// copy constructor (deep)
+	Matrix(const Matrix &right) :
+		_matrix() {
+		arm_mat_init_f32(&_matrix,
+				 right.getRows(), right.getCols(),
+				 (float *)malloc(right.getRows()*
+						 right.getCols()*sizeof(float)));
+		memcpy(getData(), right.getData(),
+		       getSize());
+	}
+	// assignment
+	inline Matrix &operator=(const Matrix &right) {
+#ifdef MATRIX_ASSERT
+		ASSERT(getRows() == right.getRows());
+		ASSERT(getCols() == right.getCols());
+#endif
+
+		if (this != &right) {
+			memcpy(getData(), right.getData(),
+			       right.getSize());
+		}
+
+		return *this;
+	}
+	// element accessors
+	inline float &operator()(size_t i, size_t j) {
+#ifdef MATRIX_ASSERT
+		ASSERT(i < getRows());
+		ASSERT(j < getCols());
+#endif
+		return getData()[i * getCols() + j];
+	}
+	inline const float &operator()(size_t i, size_t j) const {
+#ifdef MATRIX_ASSERT
+		ASSERT(i < getRows());
+		ASSERT(j < getCols());
+#endif
+		return getData()[i * getCols() + j];
+	}
+	// output
+	inline void print() const {
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				float sig;
+				int exp;
+				float num = (*this)(i, j);
+				float2SigExp(num, sig, exp);
+				printf("%6.3fe%03.3d,", (double)sig, exp);
+			}
+
+			printf("\n");
+		}
+	}
+	// boolean ops
+	inline bool operator==(const Matrix &right) const {
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				if (fabsf((*this)(i, j) - right(i, j)) > 1e-30f)
+					return false;
+			}
+		}
+
+		return true;
+	}
+	// scalar ops
+	inline Matrix operator+(float right) const {
+		Matrix result(getRows(), getCols());
+		arm_offset_f32((float *)getData(), right,
+			       (float *)result.getData(), getRows()*getCols());
+		return result;
+	}
+	inline Matrix operator-(float right) const {
+		Matrix result(getRows(), getCols());
+		arm_offset_f32((float *)getData(), -right,
+			       (float *)result.getData(), getRows()*getCols());
+		return result;
+	}
+	inline Matrix operator*(float right) const {
+		Matrix result(getRows(), getCols());
+		arm_mat_scale_f32(&_matrix, right,
+				  &(result._matrix));
+		return result;
+	}
+	inline Matrix operator/(float right) const {
+		Matrix result(getRows(), getCols());
+		arm_mat_scale_f32(&_matrix, 1.0f / right,
+				  &(result._matrix));
+		return result;
+	}
+	// vector ops
+	inline Vector operator*(const Vector &right) const {
+#ifdef MATRIX_ASSERT
+		ASSERT(getCols() == right.getRows());
+#endif
+		Matrix resultMat = (*this) *
+				   Matrix(right.getRows(), 1, right.getData());
+		return Vector(getRows(), resultMat.getData());
+	}
+	// matrix ops
+	inline Matrix operator+(const Matrix &right) const {
+#ifdef MATRIX_ASSERT
+		ASSERT(getRows() == right.getRows());
+		ASSERT(getCols() == right.getCols());
+#endif
+		Matrix result(getRows(), getCols());
+		arm_mat_add_f32(&_matrix, &(right._matrix),
+				&(result._matrix));
+		return result;
+	}
+	inline Matrix operator-(const Matrix &right) const {
+#ifdef MATRIX_ASSERT
+		ASSERT(getRows() == right.getRows());
+		ASSERT(getCols() == right.getCols());
+#endif
+		Matrix result(getRows(), getCols());
+		arm_mat_sub_f32(&_matrix, &(right._matrix),
+				&(result._matrix));
+		return result;
+	}
+	inline Matrix operator*(const Matrix &right) const {
+#ifdef MATRIX_ASSERT
+		ASSERT(getCols() == right.getRows());
+#endif
+		Matrix result(getRows(), right.getCols());
+		arm_mat_mult_f32(&_matrix, &(right._matrix),
+				 &(result._matrix));
+		return result;
+	}
+	inline Matrix operator/(const Matrix &right) const {
+#ifdef MATRIX_ASSERT
+		ASSERT(right.getRows() == right.getCols());
+		ASSERT(getCols() == right.getCols());
+#endif
+		return (*this) * right.inverse();
+	}
+	// other functions
+	inline Matrix transpose() const {
+		Matrix result(getCols(), getRows());
+		arm_mat_trans_f32(&_matrix, &(result._matrix));
+		return result;
+	}
+	inline void swapRows(size_t a, size_t b) {
+		if (a == b) return;
+
+		for (size_t j = 0; j < getCols(); j++) {
+			float tmp = (*this)(a, j);
+			(*this)(a, j) = (*this)(b, j);
+			(*this)(b, j) = tmp;
+		}
+	}
+	inline void swapCols(size_t a, size_t b) {
+		if (a == b) return;
+
+		for (size_t i = 0; i < getRows(); i++) {
+			float tmp = (*this)(i, a);
+			(*this)(i, a) = (*this)(i, b);
+			(*this)(i, b) = tmp;
+		}
+	}
+	/**
+	 * inverse based on LU factorization with partial pivotting
+	 */
+	Matrix inverse() const {
+#ifdef MATRIX_ASSERT
+		ASSERT(getRows() == getCols());
+#endif
+		Matrix result(getRows(), getCols());
+		Matrix work = (*this);
+		arm_mat_inverse_f32(&(work._matrix),
+				    &(result._matrix));
+		return result;
+	}
+	inline void setAll(const float &val) {
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				(*this)(i, j) = val;
+			}
+		}
+	}
+	inline void set(const float *data) {
+		memcpy(getData(), data, getSize());
+	}
+	inline size_t getRows() const { return _matrix.numRows; }
+	inline size_t getCols() const { return _matrix.numCols; }
+	inline static Matrix identity(size_t size) {
+		Matrix result(size, size);
+
+		for (size_t i = 0; i < size; i++) {
+			result(i, i) = 1.0f;
+		}
+
+		return result;
+	}
+	inline static Matrix zero(size_t size) {
+		Matrix result(size, size);
+		result.setAll(0.0f);
+		return result;
+	}
+	inline static Matrix zero(size_t m, size_t n) {
+		Matrix result(m, n);
+		result.setAll(0.0f);
+		return result;
+	}
+protected:
+	inline size_t getSize() const { return sizeof(float) * getRows() * getCols(); }
+	inline float *getData() { return _matrix.pData; }
+	inline const float *getData() const { return _matrix.pData; }
+	inline void setData(float *data) { _matrix.pData = data; }
+private:
+	arm_matrix_instance_f32 _matrix;
+};
+
+} // namespace math
diff --git a/apps/mathlib/math/arm/Vector.cpp b/apps/mathlib/math/arm/Vector.cpp
new file mode 100644
index 000000000..7ea6496bb
--- /dev/null
+++ b/apps/mathlib/math/arm/Vector.cpp
@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Vector.cpp
+ *
+ * math vector
+ */
+
+#include "Vector.hpp"
diff --git a/apps/mathlib/math/arm/Vector.hpp b/apps/mathlib/math/arm/Vector.hpp
new file mode 100644
index 000000000..58d51107d
--- /dev/null
+++ b/apps/mathlib/math/arm/Vector.hpp
@@ -0,0 +1,220 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Vector.h
+ *
+ * math vector
+ */
+
+#pragma once
+
+#include <inttypes.h>
+#include <assert.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdio.h>
+#include <math.h>
+
+#include "../Vector.hpp"
+#include "../test/test.hpp"
+
+// arm specific
+#include "../../CMSIS/Include/arm_math.h"
+
+namespace math
+{
+
+class __EXPORT Vector
+{
+public:
+	// constructor
+	Vector(size_t rows) :
+		_rows(rows),
+		_data((float *)calloc(rows, sizeof(float))) {
+	}
+	Vector(size_t rows, const float *data) :
+		_rows(rows),
+		_data((float *)malloc(getSize())) {
+		memcpy(getData(), data, getSize());
+	}
+	// deconstructor
+	virtual ~Vector() {
+		delete [] getData();
+	}
+	// copy constructor (deep)
+	Vector(const Vector &right) :
+		_rows(right.getRows()),
+		_data((float *)malloc(getSize())) {
+		memcpy(getData(), right.getData(),
+		       right.getSize());
+	}
+	// assignment
+	inline Vector &operator=(const Vector &right) {
+#ifdef VECTOR_ASSERT
+		ASSERT(getRows() == right.getRows());
+#endif
+
+		if (this != &right) {
+			memcpy(getData(), right.getData(),
+			       right.getSize());
+		}
+
+		return *this;
+	}
+	// element accessors
+	inline float &operator()(size_t i) {
+#ifdef VECTOR_ASSERT
+		ASSERT(i < getRows());
+#endif
+		return getData()[i];
+	}
+	inline const float &operator()(size_t i) const {
+#ifdef VECTOR_ASSERT
+		ASSERT(i < getRows());
+#endif
+		return getData()[i];
+	}
+	// output
+	inline void print() const {
+		for (size_t i = 0; i < getRows(); i++) {
+			float sig;
+			int exp;
+			float num = (*this)(i);
+			float2SigExp(num, sig, exp);
+			printf("%6.3fe%03.3d,", (double)sig, exp);
+		}
+
+		printf("\n");
+	}
+	// boolean ops
+	inline bool operator==(const Vector &right) const {
+		for (size_t i = 0; i < getRows(); i++) {
+			if (fabsf(((*this)(i) - right(i))) > 1e-30f)
+				return false;
+		}
+
+		return true;
+	}
+	// scalar ops
+	inline Vector operator+(float right) const {
+		Vector result(getRows());
+		arm_offset_f32((float *)getData(),
+			       right, result.getData(),
+			       getRows());
+		return result;
+	}
+	inline Vector operator-(float right) const {
+		Vector result(getRows());
+		arm_offset_f32((float *)getData(),
+			       -right, result.getData(),
+			       getRows());
+		return result;
+	}
+	inline Vector operator*(float right) const {
+		Vector result(getRows());
+		arm_scale_f32((float *)getData(),
+			      right, result.getData(),
+			      getRows());
+		return result;
+	}
+	inline Vector operator/(float right) const {
+		Vector result(getRows());
+		arm_scale_f32((float *)getData(),
+			      1.0f / right, result.getData(),
+			      getRows());
+		return result;
+	}
+	// vector ops
+	inline Vector operator+(const Vector &right) const {
+#ifdef VECTOR_ASSERT
+		ASSERT(getRows() == right.getRows());
+#endif
+		Vector result(getRows());
+		arm_add_f32((float *)getData(),
+			    (float *)right.getData(),
+			    result.getData(),
+			    getRows());
+		return result;
+	}
+	inline Vector operator-(const Vector &right) const {
+#ifdef VECTOR_ASSERT
+		ASSERT(getRows() == right.getRows());
+#endif
+		Vector result(getRows());
+		arm_sub_f32((float *)getData(),
+			    (float *)right.getData(),
+			    result.getData(),
+			    getRows());
+		return result;
+	}
+	// other functions
+	inline float dot(const Vector &right) {
+		float result = 0;
+		arm_dot_prod_f32((float *)getData(),
+				 (float *)right.getData(),
+				 getRows(),
+				 &result);
+		return result;
+	}
+	inline float norm() {
+		return sqrtf(dot(*this));
+	}
+	inline Vector unit() {
+		return (*this) / norm();
+	}
+	inline static Vector zero(size_t rows) {
+		Vector result(rows);
+		// calloc returns zeroed memory
+		return result;
+	}
+	inline void setAll(const float &val) {
+		for (size_t i = 0; i < getRows(); i++) {
+			(*this)(i) = val;
+		}
+	}
+	inline void set(const float *data) {
+		memcpy(getData(), data, getSize());
+	}
+	inline size_t getRows() const { return _rows; }
+	inline const float *getData() const { return _data; }
+protected:
+	inline size_t getSize() const { return sizeof(float) * getRows(); }
+	inline float *getData() { return _data; }
+	inline void setData(float *data) { _data = data; }
+private:
+	size_t _rows;
+	float *_data;
+};
+
+} // math
diff --git a/apps/mathlib/math/generic/Matrix.cpp b/apps/mathlib/math/generic/Matrix.cpp
new file mode 100644
index 000000000..21661622a
--- /dev/null
+++ b/apps/mathlib/math/generic/Matrix.cpp
@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Matrix.cpp
+ *
+ * matrix code
+ */
+
+#include "Matrix.hpp"
diff --git a/apps/mathlib/math/generic/Matrix.hpp b/apps/mathlib/math/generic/Matrix.hpp
new file mode 100644
index 000000000..5601a3447
--- /dev/null
+++ b/apps/mathlib/math/generic/Matrix.hpp
@@ -0,0 +1,437 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Matrix.h
+ *
+ * matrix code
+ */
+
+#pragma once
+
+
+#include <inttypes.h>
+#include <assert.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdio.h>
+#include <math.h>
+
+#include "../Vector.hpp"
+#include "../Matrix.hpp"
+
+namespace math
+{
+
+class __EXPORT Matrix
+{
+public:
+	// constructor
+	Matrix(size_t rows, size_t cols) :
+		_rows(rows),
+		_cols(cols),
+		_data((float *)calloc(rows *cols, sizeof(float))) {
+	}
+	Matrix(size_t rows, size_t cols, const float *data) :
+		_rows(rows),
+		_cols(cols),
+		_data((float *)malloc(getSize())) {
+		memcpy(getData(), data, getSize());
+	}
+	// deconstructor
+	virtual ~Matrix() {
+		delete [] getData();
+	}
+	// copy constructor (deep)
+	Matrix(const Matrix &right) :
+		_rows(right.getRows()),
+		_cols(right.getCols()),
+		_data((float *)malloc(getSize())) {
+		memcpy(getData(), right.getData(),
+		       right.getSize());
+	}
+	// assignment
+	inline Matrix &operator=(const Matrix &right) {
+#ifdef MATRIX_ASSERT
+		ASSERT(getRows() == right.getRows());
+		ASSERT(getCols() == right.getCols());
+#endif
+
+		if (this != &right) {
+			memcpy(getData(), right.getData(),
+			       right.getSize());
+		}
+
+		return *this;
+	}
+	// element accessors
+	inline float &operator()(size_t i, size_t j) {
+#ifdef MATRIX_ASSERT
+		ASSERT(i < getRows());
+		ASSERT(j < getCols());
+#endif
+		return getData()[i * getCols() + j];
+	}
+	inline const float &operator()(size_t i, size_t j) const {
+#ifdef MATRIX_ASSERT
+		ASSERT(i < getRows());
+		ASSERT(j < getCols());
+#endif
+		return getData()[i * getCols() + j];
+	}
+	// output
+	inline void print() const {
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				float sig;
+				int exp;
+				float num = (*this)(i, j);
+				float2SigExp(num, sig, exp);
+				printf("%6.3fe%03.3d,", (double)sig, exp);
+			}
+
+			printf("\n");
+		}
+	}
+	// boolean ops
+	inline bool operator==(const Matrix &right) const {
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				if (fabsf((*this)(i, j) - right(i, j)) > 1e-30f)
+					return false;
+			}
+		}
+
+		return true;
+	}
+	// scalar ops
+	inline Matrix operator+(const float &right) const {
+		Matrix result(getRows(), getCols());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				result(i, j) = (*this)(i, j) + right;
+			}
+		}
+
+		return result;
+	}
+	inline Matrix operator-(const float &right) const {
+		Matrix result(getRows(), getCols());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				result(i, j) = (*this)(i, j) - right;
+			}
+		}
+
+		return result;
+	}
+	inline Matrix operator*(const float &right) const {
+		Matrix result(getRows(), getCols());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				result(i, j) = (*this)(i, j) * right;
+			}
+		}
+
+		return result;
+	}
+	inline Matrix operator/(const float &right) const {
+		Matrix result(getRows(), getCols());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				result(i, j) = (*this)(i, j) / right;
+			}
+		}
+
+		return result;
+	}
+	// vector ops
+	inline Vector operator*(const Vector &right) const {
+#ifdef MATRIX_ASSERT
+		ASSERT(getCols() == right.getRows());
+#endif
+		Vector result(getRows());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				result(i) += (*this)(i, j) * right(j);
+			}
+		}
+
+		return result;
+	}
+	// matrix ops
+	inline Matrix operator+(const Matrix &right) const {
+#ifdef MATRIX_ASSERT
+		ASSERT(getRows() == right.getRows());
+		ASSERT(getCols() == right.getCols());
+#endif
+		Matrix result(getRows(), getCols());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				result(i, j) = (*this)(i, j) + right(i, j);
+			}
+		}
+
+		return result;
+	}
+	inline Matrix operator-(const Matrix &right) const {
+#ifdef MATRIX_ASSERT
+		ASSERT(getRows() == right.getRows());
+		ASSERT(getCols() == right.getCols());
+#endif
+		Matrix result(getRows(), getCols());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				result(i, j) = (*this)(i, j) - right(i, j);
+			}
+		}
+
+		return result;
+	}
+	inline Matrix operator*(const Matrix &right) const {
+#ifdef MATRIX_ASSERT
+		ASSERT(getCols() == right.getRows());
+#endif
+		Matrix result(getRows(), right.getCols());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < right.getCols(); j++) {
+				for (size_t k = 0; k < right.getRows(); k++) {
+					result(i, j) += (*this)(i, k) * right(k, j);
+				}
+			}
+		}
+
+		return result;
+	}
+	inline Matrix operator/(const Matrix &right) const {
+#ifdef MATRIX_ASSERT
+		ASSERT(right.getRows() == right.getCols());
+		ASSERT(getCols() == right.getCols());
+#endif
+		return (*this) * right.inverse();
+	}
+	// other functions
+	inline Matrix transpose() const {
+		Matrix result(getCols(), getRows());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				result(j, i) = (*this)(i, j);
+			}
+		}
+
+		return result;
+	}
+	inline void swapRows(size_t a, size_t b) {
+		if (a == b) return;
+
+		for (size_t j = 0; j < getCols(); j++) {
+			float tmp = (*this)(a, j);
+			(*this)(a, j) = (*this)(b, j);
+			(*this)(b, j) = tmp;
+		}
+	}
+	inline void swapCols(size_t a, size_t b) {
+		if (a == b) return;
+
+		for (size_t i = 0; i < getRows(); i++) {
+			float tmp = (*this)(i, a);
+			(*this)(i, a) = (*this)(i, b);
+			(*this)(i, b) = tmp;
+		}
+	}
+	/**
+	 * inverse based on LU factorization with partial pivotting
+	 */
+	Matrix inverse() const {
+#ifdef MATRIX_ASSERT
+		ASSERT(getRows() == getCols());
+#endif
+		size_t N = getRows();
+		Matrix L = identity(N);
+		const Matrix &A = (*this);
+		Matrix U = A;
+		Matrix P = identity(N);
+
+		//printf("A:\n"); A.print();
+
+		// for all diagonal elements
+		for (size_t n = 0; n < N; n++) {
+
+			// if diagonal is zero, swap with row below
+			if (fabsf(U(n, n)) < 1e-8f) {
+				//printf("trying pivot for row %d\n",n);
+				for (size_t i = 0; i < N; i++) {
+					if (i == n) continue;
+
+					//printf("\ttrying row %d\n",i);
+					if (fabsf(U(i, n)) > 1e-8f) {
+						//printf("swapped %d\n",i);
+						U.swapRows(i, n);
+						P.swapRows(i, n);
+					}
+				}
+			}
+
+#ifdef MATRIX_ASSERT
+			//printf("A:\n"); A.print();
+			//printf("U:\n"); U.print();
+			//printf("P:\n"); P.print();
+			//fflush(stdout);
+			ASSERT(fabsf(U(n, n)) > 1e-8f);
+#endif
+
+			// failsafe, return zero matrix
+			if (fabsf(U(n, n)) < 1e-8f) {
+				return Matrix::zero(n);
+			}
+
+			// for all rows below diagonal
+			for (size_t i = (n + 1); i < N; i++) {
+				L(i, n) = U(i, n) / U(n, n);
+
+				// add i-th row and n-th row
+				// multiplied by: -a(i,n)/a(n,n)
+				for (size_t k = n; k < N; k++) {
+					U(i, k) -= L(i, n) * U(n, k);
+				}
+			}
+		}
+
+		//printf("L:\n"); L.print();
+		//printf("U:\n"); U.print();
+
+		// solve LY=P*I for Y by forward subst
+		Matrix Y = P;
+
+		// for all columns of Y
+		for (size_t c = 0; c < N; c++) {
+			// for all rows of L
+			for (size_t i = 0; i < N; i++) {
+				// for all columns of L
+				for (size_t j = 0; j < i; j++) {
+					// for all existing y
+					// subtract the component they
+					// contribute to the solution
+					Y(i, c) -= L(i, j) * Y(j, c);
+				}
+
+				// divide by the factor
+				// on current
+				// term to be solved
+				// Y(i,c) /= L(i,i);
+				// but L(i,i) = 1.0
+			}
+		}
+
+		//printf("Y:\n"); Y.print();
+
+		// solve Ux=y for x by back subst
+		Matrix X = Y;
+
+		// for all columns of X
+		for (size_t c = 0; c < N; c++) {
+			// for all rows of U
+			for (size_t k = 0; k < N; k++) {
+				// have to go in reverse order
+				size_t i = N - 1 - k;
+
+				// for all columns of U
+				for (size_t j = i + 1; j < N; j++) {
+					// for all existing x
+					// subtract the component they
+					// contribute to the solution
+					X(i, c) -= U(i, j) * X(j, c);
+				}
+
+				// divide by the factor
+				// on current
+				// term to be solved
+				X(i, c) /= U(i, i);
+			}
+		}
+
+		//printf("X:\n"); X.print();
+		return X;
+	}
+	inline void setAll(const float &val) {
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				(*this)(i, j) = val;
+			}
+		}
+	}
+	inline void set(const float *data) {
+		memcpy(getData(), data, getSize());
+	}
+	inline size_t getRows() const { return _rows; }
+	inline size_t getCols() const { return _cols; }
+	inline static Matrix identity(size_t size) {
+		Matrix result(size, size);
+
+		for (size_t i = 0; i < size; i++) {
+			result(i, i) = 1.0f;
+		}
+
+		return result;
+	}
+	inline static Matrix zero(size_t size) {
+		Matrix result(size, size);
+		result.setAll(0.0f);
+		return result;
+	}
+	inline static Matrix zero(size_t m, size_t n) {
+		Matrix result(m, n);
+		result.setAll(0.0f);
+		return result;
+	}
+protected:
+	inline size_t getSize() const { return sizeof(float) * getRows() * getCols(); }
+	inline float *getData() { return _data; }
+	inline const float *getData() const { return _data; }
+	inline void setData(float *data) { _data = data; }
+private:
+	size_t _rows;
+	size_t _cols;
+	float *_data;
+};
+
+} // namespace math
diff --git a/apps/mathlib/math/generic/Vector.cpp b/apps/mathlib/math/generic/Vector.cpp
new file mode 100644
index 000000000..7ea6496bb
--- /dev/null
+++ b/apps/mathlib/math/generic/Vector.cpp
@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Vector.cpp
+ *
+ * math vector
+ */
+
+#include "Vector.hpp"
diff --git a/apps/mathlib/math/generic/Vector.hpp b/apps/mathlib/math/generic/Vector.hpp
new file mode 100644
index 000000000..1a7363779
--- /dev/null
+++ b/apps/mathlib/math/generic/Vector.hpp
@@ -0,0 +1,227 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Vector.h
+ *
+ * math vector
+ */
+
+#pragma once
+
+#include <inttypes.h>
+#include <assert.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdio.h>
+#include <math.h>
+
+#include "../Vector.hpp"
+
+namespace math
+{
+
+class __EXPORT Vector
+{
+public:
+	// constructor
+	Vector(size_t rows) :
+		_rows(rows),
+		_data((float *)calloc(rows, sizeof(float))) {
+	}
+	Vector(size_t rows, const float *data) :
+		_rows(rows),
+		_data((float *)malloc(getSize())) {
+		memcpy(getData(), data, getSize());
+	}
+	// deconstructor
+	virtual ~Vector() {
+		delete [] getData();
+	}
+	// copy constructor (deep)
+	Vector(const Vector &right) :
+		_rows(right.getRows()),
+		_data((float *)malloc(getSize())) {
+		memcpy(getData(), right.getData(),
+		       right.getSize());
+	}
+	// assignment
+	inline Vector &operator=(const Vector &right) {
+#ifdef VECTOR_ASSERT
+		ASSERT(getRows() == right.getRows());
+#endif
+
+		if (this != &right) {
+			memcpy(getData(), right.getData(),
+			       right.getSize());
+		}
+
+		return *this;
+	}
+	// element accessors
+	inline float &operator()(size_t i) {
+#ifdef VECTOR_ASSERT
+		ASSERT(i < getRows());
+#endif
+		return getData()[i];
+	}
+	inline const float &operator()(size_t i) const {
+#ifdef VECTOR_ASSERT
+		ASSERT(i < getRows());
+#endif
+		return getData()[i];
+	}
+	// output
+	inline void print() const {
+		for (size_t i = 0; i < getRows(); i++) {
+			float sig;
+			int exp;
+			float num = (*this)(i);
+			float2SigExp(num, sig, exp);
+			printf("%6.3fe%03.3d,", (double)sig, exp);
+		}
+
+		printf("\n");
+	}
+	// boolean ops
+	inline bool operator==(const Vector &right) const {
+		for (size_t i = 0; i < getRows(); i++) {
+			if (fabsf(((*this)(i) - right(i))) > 1e-30f)
+				return false;
+		}
+
+		return true;
+	}
+	// scalar ops
+	inline Vector operator+(const float &right) const {
+		Vector result(getRows());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			result(i) = (*this)(i) + right;
+		}
+
+		return result;
+	}
+	inline Vector operator-(const float &right) const {
+		Vector result(getRows());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			result(i) = (*this)(i) - right;
+		}
+
+		return result;
+	}
+	inline Vector operator*(const float &right) const {
+		Vector result(getRows());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			result(i) = (*this)(i) * right;
+		}
+
+		return result;
+	}
+	inline Vector operator/(const float &right) const {
+		Vector result(getRows());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			result(i) = (*this)(i) / right;
+		}
+
+		return result;
+	}
+	// vector ops
+	inline Vector operator+(const Vector &right) const {
+#ifdef VECTOR_ASSERT
+		ASSERT(getRows() == right.getRows());
+#endif
+		Vector result(getRows());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			result(i) = (*this)(i) + right(i);
+		}
+
+		return result;
+	}
+	inline Vector operator-(const Vector &right) const {
+#ifdef VECTOR_ASSERT
+		ASSERT(getRows() == right.getRows());
+#endif
+		Vector result(getRows());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			result(i) = (*this)(i) - right(i);
+		}
+
+		return result;
+	}
+	// other functions
+	inline float dot(const Vector &right) {
+		float result = 0;
+
+		for (size_t i = 0; i < getRows(); i++) {
+			result += (*this)(i) * (*this)(i);
+		}
+
+		return result;
+	}
+	inline float norm() {
+		return sqrtf(dot(*this));
+	}
+	inline Vector unit() {
+		return (*this) / norm();
+	}
+	inline static Vector zero(size_t rows) {
+		Vector result(rows);
+		// calloc returns zeroed memory
+		return result;
+	}
+	inline void setAll(const float &val) {
+		for (size_t i = 0; i < getRows(); i++) {
+			(*this)(i) = val;
+		}
+	}
+	inline void set(const float *data) {
+		memcpy(getData(), data, getSize());
+	}
+	inline size_t getRows() const { return _rows; }
+protected:
+	inline size_t getSize() const { return sizeof(float) * getRows(); }
+	inline float *getData() { return _data; }
+	inline const float *getData() const { return _data; }
+	inline void setData(float *data) { _data = data; }
+private:
+	size_t _rows;
+	float *_data;
+};
+
+} // math
diff --git a/apps/mathlib/math/nasa_rotation_def.pdf b/apps/mathlib/math/nasa_rotation_def.pdf
new file mode 100644
index 000000000..eb67a4bfc
--- /dev/null
+++ b/apps/mathlib/math/nasa_rotation_def.pdf
diff --git a/apps/mathlib/math/test/test.cpp b/apps/mathlib/math/test/test.cpp
new file mode 100644
index 000000000..f5db76d70
--- /dev/null
+++ b/apps/mathlib/math/test/test.cpp
@@ -0,0 +1,93 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file test.cpp
+ *
+ * Test library code
+ */
+
+#include <stdio.h>
+#include <math.h>
+
+#include "test.hpp"
+
+bool __EXPORT equal(float a, float b, float epsilon)
+{
+	float diff = fabsf(a - b);
+
+	if (diff > epsilon) {
+		printf("not equal ->\n\ta: %12.8f\n\tb: %12.8f\n", double(a), double(b));
+		return false;
+
+	} else return true;
+}
+
+void __EXPORT float2SigExp(
+	const float &num,
+	float &sig,
+	int &exp)
+{
+	if (isnan(num) || isinf(num)) {
+		sig = 0.0f;
+		exp = -99;
+		return;
+	}
+
+	if (fabsf(num) < 1.0e-38f) {
+		sig = 0;
+		exp = 0;
+		return;
+	}
+
+	exp = log10f(fabsf(num));
+
+	if (exp > 0) {
+		exp = ceil(exp);
+
+	} else {
+		exp = floor(exp);
+	}
+
+	sig = num;
+
+	// cheap power since it is integer
+	if (exp > 0) {
+		for (int i = 0; i < abs(exp); i++) sig /= 10;
+
+	} else {
+		for (int i = 0; i < abs(exp); i++) sig *= 10;
+	}
+}
+
+
diff --git a/apps/mathlib/math/test/test.hpp b/apps/mathlib/math/test/test.hpp
new file mode 100644
index 000000000..841c42144
--- /dev/null
+++ b/apps/mathlib/math/test/test.hpp
@@ -0,0 +1,50 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file test.hpp
+ *
+ * Controller library code
+ */
+
+#pragma once
+
+#include <assert.h>
+#include <time.h>
+#include <stdlib.h>
+
+bool equal(float a, float b, float eps = 1e-5);
+void float2SigExp(
+	const float &num,
+	float &sig,
+	int &exp);
diff --git a/apps/mathlib/math/test_math.sce b/apps/mathlib/math/test_math.sce
new file mode 100644
index 000000000..c3fba4729
--- /dev/null
+++ b/apps/mathlib/math/test_math.sce
@@ -0,0 +1,63 @@
+clc
+clear
+function out = float_truncate(in, digits)
+    out = round(in*10^digits)
+    out = out/10^digits
+endfunction
+
+phi = 0.1
+theta = 0.2
+psi = 0.3
+
+cosPhi = cos(phi)
+cosPhi_2 = cos(phi/2)
+sinPhi = sin(phi)
+sinPhi_2 = sin(phi/2)
+
+cosTheta = cos(theta)
+cosTheta_2 = cos(theta/2)
+sinTheta = sin(theta)
+sinTheta_2 = sin(theta/2)
+
+cosPsi = cos(psi)
+cosPsi_2 = cos(psi/2)
+sinPsi = sin(psi)
+sinPsi_2 = sin(psi/2)
+
+C_nb = [cosTheta*cosPsi, -cosPhi*sinPsi + sinPhi*sinTheta*cosPsi, sinPhi*sinPsi + cosPhi*sinTheta*cosPsi;
+        cosTheta*sinPsi, cosPhi*cosPsi + sinPhi*sinTheta*sinPsi, -sinPhi*cosPsi + cosPhi*sinTheta*sinPsi;
+        -sinTheta, sinPhi*cosTheta, cosPhi*cosTheta]
+    
+disp(C_nb)
+//C_nb = float_truncate(C_nb,3)
+//disp(C_nb)
+
+theta = asin(-C_nb(3,1))
+phi = atan(C_nb(3,2), C_nb(3,3))
+psi = atan(C_nb(2,1), C_nb(1,1))
+printf('phi %f\n', phi)
+printf('theta %f\n', theta)
+printf('psi %f\n', psi)
+
+q = [cosPhi_2*cosTheta_2*cosPsi_2 + sinPhi_2*sinTheta_2*sinPsi_2;
+     sinPhi_2*cosTheta_2*cosPsi_2 - cosPhi_2*sinTheta_2*sinPsi_2;
+     cosPhi_2*sinTheta_2*cosPsi_2 + sinPhi_2*cosTheta_2*sinPsi_2;
+     cosPhi_2*cosTheta_2*sinPsi_2 - sinPhi_2*sinTheta_2*cosPsi_2]
+     
+//q = float_truncate(q,3)
+
+a = q(1)
+b = q(2)
+c = q(3)
+d = q(4)
+printf('q: %f %f %f %f\n', a, b, c, d)
+a2 = a*a
+b2 = b*b
+c2 = c*c
+d2 = d*d
+
+C2_nb = [a2 + b2 - c2 - d2, 2*(b*c - a*d), 2*(b*d + a*c);
+         2*(b*c + a*d), a2 - b2 + c2 - d2, 2*(c*d - a*b);
+         2*(b*d - a*c), 2*(c*d + a*b), a2 - b2 - c2 + d2]
+
+disp(C2_nb)
diff --git a/apps/mathlib/mathlib.h b/apps/mathlib/mathlib.h
new file mode 100644
index 000000000..b919d53db
--- /dev/null
+++ b/apps/mathlib/mathlib.h
@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mathlib.h
+ *
+ * Common header for mathlib exports.
+ */
+
+#ifdef __cplusplus
+
+#include "math/Dcm.hpp"
+#include "math/EulerAngles.hpp"
+#include "math/Matrix.hpp"
+#include "math/Quaternion.hpp"
+#include "math/Vector.hpp"
+#include "math/Vector3.hpp"
+
+#endif
+
+#ifdef CONFIG_ARCH_ARM
+
+#include "CMSIS/Include/arm_math.h"
+
+#endif
\ No newline at end of file
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index 81b907bcd..ceb7c2554 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -77,7 +77,7 @@
 /* define MAVLink specific parameters */
 PARAM_DEFINE_INT32(MAV_SYS_ID, 1);
 PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
-PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_QUADROTOR);
+PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING);
 
 __EXPORT int mavlink_main(int argc, char *argv[]);
 
@@ -98,7 +98,7 @@ static bool mavlink_link_termination_allowed = false;
 mavlink_system_t mavlink_system = {
 	100,
 	50,
-	MAV_TYPE_QUADROTOR,
+	MAV_TYPE_FIXED_WING,
 	0,
 	0,
 	0
@@ -148,6 +148,10 @@ set_hil_on_off(bool hil_enabled)
 		pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
 		pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
 
+		/* sensore level hil */
+		pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
+		pub_hil_gps = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
+
 		mavlink_hil_enabled = true;
 
 		/* ramp up some HIL-related subscriptions */
@@ -156,12 +160,15 @@ set_hil_on_off(bool hil_enabled)
 		if (baudrate < 19200) {
 			/* 10 Hz */
 			hil_rate_interval = 100;
+
 		} else if (baudrate < 38400) {
 			/* 10 Hz */
 			hil_rate_interval = 100;
+
 		} else if (baudrate < 115200) {
 			/* 20 Hz */
 			hil_rate_interval = 50;
+
 		} else {
 			/* 200 Hz */
 			hil_rate_interval = 5;
@@ -189,17 +196,38 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
 	*mavlink_mode = 0;
 
 	/* set mode flags independent of system state */
+
+	/* HIL */
+	if (v_status.flag_hil_enabled) {
+		*mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED;
+	}
+
+	/* manual input */
 	if (v_status.flag_control_manual_enabled) {
 		*mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
 	}
 
-	if (v_status.flag_hil_enabled) {
-		*mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED;
+	/* attitude or rate control */
+	if (v_status.flag_control_attitude_enabled ||
+	    v_status.flag_control_rates_enabled) {
+		*mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
+	}
+
+	/* vector control */
+	if (v_status.flag_control_velocity_enabled ||
+	    v_status.flag_control_position_enabled) {
+		*mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
+	}
+
+	/* autonomous mode */
+	if (v_status.state_machine == SYSTEM_STATE_AUTO) {
+		*mavlink_mode |= MAV_MODE_FLAG_AUTO_ENABLED;
 	}
 
 	/* set arming state */
 	if (armed.armed) {
 		*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
+
 	} else {
 		*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
 	}
@@ -210,9 +238,11 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
 		    v_status.flag_preflight_mag_calibration ||
 		    v_status.flag_preflight_accel_calibration) {
 			*mavlink_state = MAV_STATE_CALIBRATING;
+
 		} else {
 			*mavlink_state = MAV_STATE_UNINIT;
 		}
+
 		break;
 
 	case SYSTEM_STATE_STANDBY:
@@ -225,17 +255,14 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
 
 	case SYSTEM_STATE_MANUAL:
 		*mavlink_state = MAV_STATE_ACTIVE;
-		*mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
 		break;
 
 	case SYSTEM_STATE_STABILIZED:
 		*mavlink_state = MAV_STATE_ACTIVE;
-		*mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
 		break;
 
 	case SYSTEM_STATE_AUTO:
 		*mavlink_state = MAV_STATE_ACTIVE;
-		*mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
 		break;
 
 	case SYSTEM_STATE_MISSION_ABORT:
@@ -267,41 +294,48 @@ int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_m
 	int ret = OK;
 
 	switch (mavlink_msg_id) {
-		case MAVLINK_MSG_ID_SCALED_IMU:
-			/* sensor sub triggers scaled IMU */
-			orb_set_interval(subs->sensor_sub, min_interval);
-			break;
-		case MAVLINK_MSG_ID_HIGHRES_IMU:
-			/* sensor sub triggers highres IMU */
-			orb_set_interval(subs->sensor_sub, min_interval);
-			break;
-		case MAVLINK_MSG_ID_RAW_IMU:
-			/* sensor sub triggers RAW IMU */
-			orb_set_interval(subs->sensor_sub, min_interval);
-			break;
-		case MAVLINK_MSG_ID_ATTITUDE:
-			/* attitude sub triggers attitude */
-			orb_set_interval(subs->att_sub, min_interval);
-			break;
-		case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
-			/* actuator_outputs triggers this message */
-			orb_set_interval(subs->act_0_sub, min_interval);
-			orb_set_interval(subs->act_1_sub, min_interval);
-			orb_set_interval(subs->act_2_sub, min_interval);
-			orb_set_interval(subs->act_3_sub, min_interval);
-			orb_set_interval(subs->actuators_sub, min_interval);
-			break;
-		case MAVLINK_MSG_ID_MANUAL_CONTROL:
-			/* manual_control_setpoint triggers this message */
-			orb_set_interval(subs->man_control_sp_sub, min_interval);
-			break;
-		case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
-			orb_set_interval(subs->debug_key_value, min_interval);
-			break;
-		default:
-			/* not found */
-			ret = ERROR;
-			break;
+	case MAVLINK_MSG_ID_SCALED_IMU:
+		/* sensor sub triggers scaled IMU */
+		orb_set_interval(subs->sensor_sub, min_interval);
+		break;
+
+	case MAVLINK_MSG_ID_HIGHRES_IMU:
+		/* sensor sub triggers highres IMU */
+		orb_set_interval(subs->sensor_sub, min_interval);
+		break;
+
+	case MAVLINK_MSG_ID_RAW_IMU:
+		/* sensor sub triggers RAW IMU */
+		orb_set_interval(subs->sensor_sub, min_interval);
+		break;
+
+	case MAVLINK_MSG_ID_ATTITUDE:
+		/* attitude sub triggers attitude */
+		orb_set_interval(subs->att_sub, min_interval);
+		break;
+
+	case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
+		/* actuator_outputs triggers this message */
+		orb_set_interval(subs->act_0_sub, min_interval);
+		orb_set_interval(subs->act_1_sub, min_interval);
+		orb_set_interval(subs->act_2_sub, min_interval);
+		orb_set_interval(subs->act_3_sub, min_interval);
+		orb_set_interval(subs->actuators_sub, min_interval);
+		break;
+
+	case MAVLINK_MSG_ID_MANUAL_CONTROL:
+		/* manual_control_setpoint triggers this message */
+		orb_set_interval(subs->man_control_sp_sub, min_interval);
+		break;
+
+	case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
+		orb_set_interval(subs->debug_key_value, min_interval);
+		break;
+
+	default:
+		/* not found */
+		ret = ERROR;
+		break;
 	}
 
 	return ret;
@@ -443,7 +477,7 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
 	return uart;
 }
 
-void 
+void
 mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length)
 {
 	write(uart, ch, (size_t)(sizeof(uint8_t) * length));
@@ -452,7 +486,7 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length)
 /*
  * Internal function to give access to the channel status for each channel
  */
-mavlink_status_t* mavlink_get_channel_status(uint8_t channel)
+mavlink_status_t *mavlink_get_channel_status(uint8_t channel)
 {
 	static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
 	return &m_mavlink_status[channel];
@@ -461,7 +495,7 @@ mavlink_status_t* mavlink_get_channel_status(uint8_t channel)
 /*
  * Internal function to give access to the channel buffer for each channel
  */
-mavlink_message_t* mavlink_get_channel_buffer(uint8_t channel)
+mavlink_message_t *mavlink_get_channel_buffer(uint8_t channel)
 {
 	static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
 	return &m_mavlink_buffer[channel];
@@ -470,31 +504,35 @@ mavlink_message_t* mavlink_get_channel_buffer(uint8_t channel)
 void mavlink_update_system(void)
 {
 	static bool initialized = false;
-	param_t param_system_id;
-	param_t param_component_id;
-	param_t param_system_type;
+	static param_t param_system_id;
+	static param_t param_component_id;
+	static param_t param_system_type;
 
 	if (!initialized) {
 		param_system_id = param_find("MAV_SYS_ID");
 		param_component_id = param_find("MAV_COMP_ID");
 		param_system_type = param_find("MAV_TYPE");
+		initialized = true;
 	}
 
 	/* update system and component id */
 	int32_t system_id;
 	param_get(param_system_id, &system_id);
+
 	if (system_id > 0 && system_id < 255) {
 		mavlink_system.sysid = system_id;
 	}
 
 	int32_t component_id;
 	param_get(param_component_id, &component_id);
+
 	if (component_id > 0 && component_id < 255) {
 		mavlink_system.compid = component_id;
 	}
-	
+
 	int32_t system_type;
 	param_get(param_system_type, &system_type);
+
 	if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) {
 		mavlink_system.type = system_type;
 	}
@@ -520,8 +558,10 @@ int mavlink_thread_main(int argc, char *argv[])
 		switch (ch) {
 		case 'b':
 			baudrate = strtoul(optarg, NULL, 10);
+
 			if (baudrate == 0)
 				errx(1, "invalid baud rate '%s'", optarg);
+
 			break;
 
 		case 'd':
@@ -542,6 +582,7 @@ int mavlink_thread_main(int argc, char *argv[])
 	}
 
 	struct termios uart_config_original;
+
 	bool usb_uart;
 
 	/* print welcome text */
@@ -555,6 +596,7 @@ int mavlink_thread_main(int argc, char *argv[])
 
 	/* default values for arguments */
 	uart = mavlink_open_uart(baudrate, device_name, &uart_config_original, &usb_uart);
+
 	if (uart < 0)
 		err(1, "could not open %s", device_name);
 
@@ -585,6 +627,7 @@ int mavlink_thread_main(int argc, char *argv[])
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50);
 		/* 2 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100);
+
 	} else if (baudrate >= 115200) {
 		/* 20 Hz / 50 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 50);
@@ -595,6 +638,7 @@ int mavlink_thread_main(int argc, char *argv[])
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200);
 		/* 2 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
+
 	} else if (baudrate >= 57600) {
 		/* 10 Hz / 100 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 300);
@@ -607,6 +651,7 @@ int mavlink_thread_main(int argc, char *argv[])
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 500);
 		/* 2 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
+
 	} else {
 		/* very low baud rate, limit to 1 Hz / 1000 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 1000);
@@ -659,6 +704,7 @@ int mavlink_thread_main(int argc, char *argv[])
 						    v_status.errors_count4);
 			lowspeed_counter = 0;
 		}
+
 		lowspeed_counter++;
 
 		/* sleep quarter the time */
@@ -675,6 +721,7 @@ int mavlink_thread_main(int argc, char *argv[])
 
 		/* sleep quarter the time */
 		usleep(25000);
+
 		if (baudrate > 57600) {
 			mavlink_pm_queued_send();
 		}
@@ -686,6 +733,7 @@ int mavlink_thread_main(int argc, char *argv[])
 		if (!mavlink_logbuffer_is_empty(&lb)) {
 			struct mavlink_logmessage msg;
 			int lb_ret = mavlink_logbuffer_read(&lb, &msg);
+
 			if (lb_ret == OK) {
 				mavlink_missionlib_send_gcs_string(msg.text);
 			}
@@ -712,8 +760,8 @@ static void
 usage()
 {
 	fprintf(stderr, "usage: mavlink start [-d <devicename>] [-b <baud rate>]\n"
-			"       mavlink stop\n"
-			"       mavlink status\n");
+		"       mavlink stop\n"
+		"       mavlink status\n");
 	exit(1);
 }
 
@@ -737,15 +785,18 @@ int mavlink_main(int argc, char *argv[])
 					  SCHED_PRIORITY_DEFAULT,
 					  2048,
 					  mavlink_thread_main,
-					  (const char**)argv);
+					  (const char **)argv);
 		exit(0);
 	}
 
 	if (!strcmp(argv[1], "stop")) {
 		thread_should_exit = true;
+
 		while (thread_running) {
 			usleep(200000);
+			printf(".");
 		}
+
 		warnx("terminated.");
 		exit(0);
 	}
@@ -753,6 +804,7 @@ int mavlink_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
 			errx(0, "running");
+
 		} else {
 			errx(1, "not running");
 		}
diff --git a/apps/mavlink/mavlink_bridge_header.h b/apps/mavlink/mavlink_bridge_header.h
index bf7c5354c..270ec1727 100644
--- a/apps/mavlink/mavlink_bridge_header.h
+++ b/apps/mavlink/mavlink_bridge_header.h
@@ -75,7 +75,7 @@ extern mavlink_system_t mavlink_system;
  */
 extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, int length);
 
-mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
-mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan);
+mavlink_status_t *mavlink_get_channel_status(uint8_t chan);
+mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan);
 
 #endif /* MAVLINK_BRIDGE_HEADER_H */
diff --git a/apps/mavlink/mavlink_hil.h b/apps/mavlink/mavlink_hil.h
index 95790db93..8c7a5b514 100644
--- a/apps/mavlink/mavlink_hil.h
+++ b/apps/mavlink/mavlink_hil.h
@@ -43,15 +43,19 @@ extern bool mavlink_hil_enabled;
 
 extern struct vehicle_global_position_s hil_global_pos;
 extern struct vehicle_attitude_s hil_attitude;
+extern struct sensor_combined_s hil_sensors;
+extern struct vehicle_gps_position_s hil_gps;
 extern orb_advert_t pub_hil_global_pos;
 extern orb_advert_t pub_hil_attitude;
+extern orb_advert_t pub_hil_sensors;
+extern orb_advert_t pub_hil_gps;
 
 /**
  * Enable / disable Hardware in the Loop simulation mode.
  *
  * @param hil_enabled	The new HIL enable/disable state.
- * @return		OK if the HIL state changed, ERROR if the 
+ * @return		OK if the HIL state changed, ERROR if the
  *			requested change could not be made or was
  *			redundant.
  */
-extern int set_hil_on_off(bool hil_enabled);
\ No newline at end of file
+extern int set_hil_on_off(bool hil_enabled);
diff --git a/apps/mavlink/mavlink_log.c b/apps/mavlink/mavlink_log.c
index 660e282f8..ed65fb883 100644
--- a/apps/mavlink/mavlink_log.c
+++ b/apps/mavlink/mavlink_log.c
@@ -40,41 +40,50 @@
  */
 
 #include <string.h>
+#include <stdlib.h>
 
 #include "mavlink_log.h"
- 
-void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size) {
-    lb->size  = size;
-    lb->start = 0;
-    lb->count = 0;
-    lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage));
+
+void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size)
+{
+	lb->size  = size;
+	lb->start = 0;
+	lb->count = 0;
+	lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage));
 }
- 
-int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb) {
-    return lb->count == lb->size;
+
+int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb)
+{
+	return lb->count == (int)lb->size;
 }
- 
-int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb) {
-    return lb->count == 0;
+
+int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb)
+{
+	return lb->count == 0;
 }
- 
-void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_logmessage *elem) {
-    int end = (lb->start + lb->count) % lb->size;
-    memcpy(&(lb->elems[end]), elem, sizeof(struct mavlink_logmessage));
-    if (mavlink_logbuffer_is_full(lb)) {
-        lb->start = (lb->start + 1) % lb->size; /* full, overwrite */
-    } else {
-        ++lb->count;
-    }
+
+void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_logmessage *elem)
+{
+	int end = (lb->start + lb->count) % lb->size;
+	memcpy(&(lb->elems[end]), elem, sizeof(struct mavlink_logmessage));
+
+	if (mavlink_logbuffer_is_full(lb)) {
+		lb->start = (lb->start + 1) % lb->size; /* full, overwrite */
+
+	} else {
+		++lb->count;
+	}
+}
+
+int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem)
+{
+	if (!mavlink_logbuffer_is_empty(lb)) {
+		memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage));
+		lb->start = (lb->start + 1) % lb->size;
+		--lb->count;
+		return 0;
+
+	} else {
+		return 1;
+	}
 }
- 
-int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem) {
-    if (!mavlink_logbuffer_is_empty(lb)) {
-        memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage));
-        lb->start = (lb->start + 1) % lb->size;
-        --lb->count;
-        return 0;
-    } else {
-        return 1;
-    }
-}
\ No newline at end of file
diff --git a/apps/mavlink/mavlink_log.h b/apps/mavlink/mavlink_log.h
index cb6fd9d98..62e6f7ca0 100644
--- a/apps/mavlink/mavlink_log.h
+++ b/apps/mavlink/mavlink_log.h
@@ -82,26 +82,26 @@
 #define mavlink_log_info(_fd, _text)		ioctl(_fd, MAVLINK_IOC_SEND_TEXT_INFO, (unsigned long)_text);
 
 struct mavlink_logmessage {
-    char text[51];
-    unsigned char severity;
+	char text[51];
+	unsigned char severity;
 };
 
 struct mavlink_logbuffer {
-    unsigned int start;
-    // unsigned int end;
-    unsigned int size;
-    int count;
-    struct mavlink_logmessage *elems;
+	unsigned int start;
+	// unsigned int end;
+	unsigned int size;
+	int count;
+	struct mavlink_logmessage *elems;
 };
- 
+
 void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size);
- 
+
 int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb);
 
 int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb);
- 
+
 void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_logmessage *elem);
- 
+
 int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem);
 
 #endif
diff --git a/apps/mavlink/mavlink_parameters.c b/apps/mavlink/mavlink_parameters.c
index 9d9b9914a..819f3441b 100644
--- a/apps/mavlink/mavlink_parameters.c
+++ b/apps/mavlink/mavlink_parameters.c
@@ -75,7 +75,7 @@ void mavlink_pm_callback(void *arg, param_t param);
 void mavlink_pm_callback(void *arg, param_t param)
 {
 	mavlink_pm_send_param(param);
-	usleep(*(unsigned int*)arg);
+	usleep(*(unsigned int *)arg);
 }
 
 void mavlink_pm_send_all_params(unsigned int delay)
@@ -90,6 +90,7 @@ int mavlink_pm_queued_send()
 		mavlink_pm_send_param(param_for_index(mavlink_param_queue_index));
 		mavlink_param_queue_index++;
 		return 0;
+
 	} else {
 		return 1;
 	}
@@ -105,7 +106,7 @@ int mavlink_pm_send_param_for_index(uint16_t index)
 	return mavlink_pm_send_param(param_for_index(index));
 }
 
-int mavlink_pm_send_param_for_name(const char* name)
+int mavlink_pm_send_param_for_name(const char *name)
 {
 	return mavlink_pm_send_param(param_find(name));
 }
@@ -123,16 +124,19 @@ int mavlink_pm_send_param(param_t param)
 	param_type_t type = param_type(param);
 	/* copy parameter name */
 	strncpy((char *)name_buf, param_name(param), MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
-	
+
 	/*
 	 * Map onboard parameter type to MAVLink type,
 	 * endianess matches (both little endian)
 	 */
 	uint8_t mavlink_type;
+
 	if (type == PARAM_TYPE_INT32) {
 		mavlink_type = MAVLINK_TYPE_INT32_T;
+
 	} else if (type == PARAM_TYPE_FLOAT) {
 		mavlink_type = MAVLINK_TYPE_FLOAT;
+
 	} else {
 		mavlink_type = MAVLINK_TYPE_FLOAT;
 	}
@@ -143,7 +147,10 @@ int mavlink_pm_send_param(param_t param)
 	 */
 
 	int ret;
-	if ((ret = param_get(param, &val_buf)) != OK) return ret;
+
+	if ((ret = param_get(param, &val_buf)) != OK) {
+		return ret;
+	}
 
 	mavlink_msg_param_value_pack_chan(mavlink_system.sysid,
 					  mavlink_system.compid,
@@ -161,13 +168,13 @@ int mavlink_pm_send_param(param_t param)
 void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg)
 {
 	switch (msg->msgid) {
-		case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
+	case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
 			/* Start sending parameters */
 			mavlink_pm_start_queued_send();
 			mavlink_missionlib_send_gcs_string("[mavlink pm] sending list");
 		} break;
 
-		case MAVLINK_MSG_ID_PARAM_SET: {
+	case MAVLINK_MSG_ID_PARAM_SET: {
 
 			/* Handle parameter setting */
 
@@ -177,7 +184,7 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess
 
 				if (mavlink_param_set.target_system == mavlink_system.sysid && ((mavlink_param_set.target_component == mavlink_system.compid) || (mavlink_param_set.target_component == MAV_COMP_ID_ALL))) {
 					/* local name buffer to enforce null-terminated string */
-					char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN+1];
+					char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
 					strncpy(name, mavlink_param_set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
 					/* enforce null termination */
 					name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
@@ -188,6 +195,7 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess
 						char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
 						sprintf(buf, "[mavlink pm] unknown: %s", name);
 						mavlink_missionlib_send_gcs_string(buf);
+
 					} else {
 						/* set and send parameter */
 						param_set(param, &(mavlink_param_set.param_value));
@@ -197,25 +205,26 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess
 			}
 		} break;
 
-		case MAVLINK_MSG_ID_PARAM_REQUEST_READ: {
+	case MAVLINK_MSG_ID_PARAM_REQUEST_READ: {
 			mavlink_param_request_read_t mavlink_param_request_read;
 			mavlink_msg_param_request_read_decode(msg, &mavlink_param_request_read);
 
-				if (mavlink_param_request_read.target_system == mavlink_system.sysid && ((mavlink_param_request_read.target_component == mavlink_system.compid) || (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) {
-					/* when no index is given, loop through string ids and compare them */
-					if (mavlink_param_request_read.param_index == -1) {
-						/* local name buffer to enforce null-terminated string */
-						char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN+1];
-						strncpy(name, mavlink_param_request_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
-						/* enforce null termination */
-						name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
-						/* attempt to find parameter and send it */
-						mavlink_pm_send_param_for_name(name);
-					} else {
-						/* when index is >= 0, send this parameter again */
-						mavlink_pm_send_param_for_index(mavlink_param_request_read.param_index);
-					}
+			if (mavlink_param_request_read.target_system == mavlink_system.sysid && ((mavlink_param_request_read.target_component == mavlink_system.compid) || (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) {
+				/* when no index is given, loop through string ids and compare them */
+				if (mavlink_param_request_read.param_index == -1) {
+					/* local name buffer to enforce null-terminated string */
+					char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
+					strncpy(name, mavlink_param_request_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
+					/* enforce null termination */
+					name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
+					/* attempt to find parameter and send it */
+					mavlink_pm_send_param_for_name(name);
+
+				} else {
+					/* when index is >= 0, send this parameter again */
+					mavlink_pm_send_param_for_index(mavlink_param_request_read.param_index);
 				}
+			}
 
 		} break;
 	}
diff --git a/apps/mavlink/mavlink_parameters.h b/apps/mavlink/mavlink_parameters.h
index 146e9e15c..b1e38bcc8 100644
--- a/apps/mavlink/mavlink_parameters.h
+++ b/apps/mavlink/mavlink_parameters.h
@@ -48,7 +48,7 @@
 #include <systemlib/param/param.h>
 
 /**
- * Handle parameter related messages. 
+ * Handle parameter related messages.
  */
 void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg);
 
@@ -84,14 +84,14 @@ int mavlink_pm_send_param_for_index(uint16_t index);
  * @param name		The index of the parameter to send.
  * @return		zero on success, nonzero else.
  */
-int mavlink_pm_send_param_for_name(const char* name);
+int mavlink_pm_send_param_for_name(const char *name);
 
 /**
  * Send a queue of parameters, one parameter per function call.
  *
  * @return		zero on success, nonzero on failure
  */
- int mavlink_pm_queued_send(void);
+int mavlink_pm_queued_send(void);
 
 /**
  * Start sending the parameter queue.
diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c
index dd011aeed..9491ce7e3 100644
--- a/apps/mavlink/mavlink_receiver.c
+++ b/apps/mavlink/mavlink_receiver.c
@@ -86,8 +86,12 @@ static struct offboard_control_setpoint_s offboard_control_sp;
 
 struct vehicle_global_position_s hil_global_pos;
 struct vehicle_attitude_s hil_attitude;
+struct vehicle_gps_position_s hil_gps;
+struct sensor_combined_s hil_sensors;
 orb_advert_t pub_hil_global_pos = -1;
 orb_advert_t pub_hil_attitude = -1;
+orb_advert_t pub_hil_gps = -1;
+orb_advert_t pub_hil_sensors = -1;
 
 static orb_advert_t cmd_pub = -1;
 static orb_advert_t flow_pub = -1;
@@ -106,7 +110,7 @@ handle_message(mavlink_message_t *msg)
 		mavlink_msg_command_long_decode(msg, &cmd_mavlink);
 
 		if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid)
-			|| (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
+				|| (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
 			//check for MAVLINK terminate command
 			if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) {
 				/* This is the link shutdown command, terminate mavlink */
@@ -138,6 +142,7 @@ handle_message(mavlink_message_t *msg)
 				if (cmd_pub <= 0) {
 					cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
 				}
+
 				/* publish */
 				orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
 			}
@@ -162,6 +167,7 @@ handle_message(mavlink_message_t *msg)
 		/* check if topic is advertised */
 		if (flow_pub <= 0) {
 			flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
+
 		} else {
 			/* publish */
 			orb_publish(ORB_ID(optical_flow), flow_pub, &f);
@@ -191,6 +197,7 @@ handle_message(mavlink_message_t *msg)
 		/* check if topic is advertised */
 		if (cmd_pub <= 0) {
 			cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
+
 		} else {
 			/* create command */
 			orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
@@ -214,6 +221,7 @@ handle_message(mavlink_message_t *msg)
 
 		if (vicon_position_pub <= 0) {
 			vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position);
+
 		} else {
 			orb_publish(ORB_ID(vehicle_vicon_position), vicon_position_pub, &vicon_position);
 		}
@@ -230,7 +238,7 @@ handle_message(mavlink_message_t *msg)
 			/* switch to a receiving link mode */
 			gcs_link = false;
 
-			/* 
+			/*
 			 * rate control mode - defined by MAVLink
 			 */
 
@@ -238,33 +246,37 @@ handle_message(mavlink_message_t *msg)
 			bool ml_armed = false;
 
 			switch (quad_motors_setpoint.mode) {
-				case 0:
-					ml_armed = false;
-					break;
-				case 1:
-					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
-					ml_armed = true;
-
-					break;
-				case 2:
-					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
-					ml_armed = true;
-
-					break;
-				case 3:
-					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
-					break;
-				case 4:
-					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
-					break;
+			case 0:
+				ml_armed = false;
+				break;
+
+			case 1:
+				ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
+				ml_armed = true;
+
+				break;
+
+			case 2:
+				ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
+				ml_armed = true;
+
+				break;
+
+			case 3:
+				ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
+				break;
+
+			case 4:
+				ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
+				break;
 			}
 
-			offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid-1]   / (float)INT16_MAX;
-			offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid-1]  / (float)INT16_MAX;
-			offboard_control_sp.p3= (float)quad_motors_setpoint.yaw[mavlink_system.sysid-1]    / (float)INT16_MAX;
-			offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid-1]/(float)UINT16_MAX;
+			offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1]   / (float)INT16_MAX;
+			offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1]  / (float)INT16_MAX;
+			offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1]    / (float)INT16_MAX;
+			offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX;
 
-			if (quad_motors_setpoint.thrust[mavlink_system.sysid-1] == 0) {
+			if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 0) {
 				ml_armed = false;
 			}
 
@@ -276,6 +288,7 @@ handle_message(mavlink_message_t *msg)
 			/* check if topic has to be advertised */
 			if (offboard_control_sp_pub <= 0) {
 				offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
+
 			} else {
 				/* Publish */
 				orb_publish(ORB_ID(offboard_control_setpoint), offboard_control_sp_pub, &offboard_control_sp);
@@ -293,11 +306,191 @@ handle_message(mavlink_message_t *msg)
 
 	if (mavlink_hil_enabled) {
 
+		uint64_t timestamp = hrt_absolute_time();
+
+		if (msg->msgid == MAVLINK_MSG_ID_RAW_IMU) {
+
+			mavlink_raw_imu_t imu;
+			mavlink_msg_raw_imu_decode(msg, &imu);
+
+			/* packet counter */
+			static uint16_t hil_counter = 0;
+			static uint16_t hil_frames = 0;
+			static uint64_t old_timestamp = 0;
+
+			/* sensors general */
+			hil_sensors.timestamp = imu.time_usec;
+
+			/* hil gyro */
+			static const float mrad2rad = 1.0e-3f;
+			hil_sensors.gyro_counter = hil_counter;
+			hil_sensors.gyro_raw[0] = imu.xgyro;
+			hil_sensors.gyro_raw[1] = imu.ygyro;
+			hil_sensors.gyro_raw[2] = imu.zgyro;
+			hil_sensors.gyro_rad_s[0] = imu.xgyro * mrad2rad;
+			hil_sensors.gyro_rad_s[1] = imu.ygyro * mrad2rad;
+			hil_sensors.gyro_rad_s[2] = imu.zgyro * mrad2rad;
+
+			/* accelerometer */
+			hil_sensors.accelerometer_counter = hil_counter;
+			static const float mg2ms2 = 9.8f / 1000.0f;
+			hil_sensors.accelerometer_raw[0] = imu.xacc;
+			hil_sensors.accelerometer_raw[1] = imu.yacc;
+			hil_sensors.accelerometer_raw[2] = imu.zacc;
+			hil_sensors.accelerometer_m_s2[0] = mg2ms2 * imu.xacc;
+			hil_sensors.accelerometer_m_s2[1] = mg2ms2 * imu.yacc;
+			hil_sensors.accelerometer_m_s2[2] = mg2ms2 * imu.zacc;
+			hil_sensors.accelerometer_mode = 0; // TODO what is this?
+			hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16
+
+			/* adc */
+			hil_sensors.adc_voltage_v[0] = 0;
+			hil_sensors.adc_voltage_v[1] = 0;
+			hil_sensors.adc_voltage_v[2] = 0;
+
+			/* magnetometer */
+			float mga2ga = 1.0e-3f;
+			hil_sensors.magnetometer_counter = hil_counter;
+			hil_sensors.magnetometer_raw[0] = imu.xmag;
+			hil_sensors.magnetometer_raw[1] = imu.ymag;
+			hil_sensors.magnetometer_raw[2] = imu.zmag;
+			hil_sensors.magnetometer_ga[0] = imu.xmag * mga2ga;
+			hil_sensors.magnetometer_ga[1] = imu.ymag * mga2ga;
+			hil_sensors.magnetometer_ga[2] = imu.zmag * mga2ga;
+			hil_sensors.magnetometer_range_ga = 32.7f; // int16
+			hil_sensors.magnetometer_mode = 0; // TODO what is this
+			hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f;
+
+			/* publish */
+			orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
+
+			// increment counters
+			hil_counter += 1 ;
+			hil_frames += 1 ;
+
+			// output
+			if ((timestamp - old_timestamp) > 10000000) {
+				printf("receiving hil imu at %d hz\n", hil_frames/10);
+				old_timestamp = timestamp;
+				hil_frames = 0;
+			}
+		}
+
+		if (msg->msgid == MAVLINK_MSG_ID_GPS_RAW_INT) {
+
+			mavlink_gps_raw_int_t gps;
+			mavlink_msg_gps_raw_int_decode(msg, &gps);
+
+			/* packet counter */
+			static uint16_t hil_counter = 0;
+			static uint16_t hil_frames = 0;
+			static uint64_t old_timestamp = 0;
+
+			/* gps */
+			hil_gps.timestamp = gps.time_usec;
+			hil_gps.counter = hil_counter++;
+			hil_gps.time_gps_usec = gps.time_usec;
+			hil_gps.lat = gps.lat;
+			hil_gps.lon = gps.lon;
+			hil_gps.alt = gps.alt;
+			hil_gps.counter_pos_valid = hil_counter++;
+			hil_gps.eph = gps.eph;
+			hil_gps.epv = gps.epv;
+			hil_gps.s_variance = 100;
+			hil_gps.p_variance = 100;
+			hil_gps.vel = gps.vel;
+			hil_gps.vel_n = gps.vel / 100.0f * cosf(gps.cog / M_RAD_TO_DEG_F / 100.0f);
+			hil_gps.vel_e = gps.vel / 100.0f * sinf(gps.cog / M_RAD_TO_DEG_F / 100.0f);
+			hil_gps.vel_d = 0.0f;
+			hil_gps.cog = gps.cog;
+			hil_gps.fix_type = gps.fix_type;
+			hil_gps.satellites_visible = gps.satellites_visible;
+
+			/* publish */
+			orb_publish(ORB_ID(vehicle_gps_position), pub_hil_gps, &hil_gps);
+
+			// increment counters
+			hil_counter += 1 ;
+			hil_frames += 1 ;
+
+			// output
+			if ((timestamp - old_timestamp) > 10000000) {
+				printf("receiving hil gps at %d hz\n", hil_frames/10);
+				old_timestamp = timestamp;
+				hil_frames = 0;
+			}
+		}
+
+		if (msg->msgid == MAVLINK_MSG_ID_RAW_PRESSURE) {
+
+			mavlink_raw_pressure_t press;
+			mavlink_msg_raw_pressure_decode(msg, &press);
+
+			/* packet counter */
+			static uint16_t hil_counter = 0;
+			static uint16_t hil_frames = 0;
+			static uint64_t old_timestamp = 0;
+
+			/* sensors general */
+			hil_sensors.timestamp = press.time_usec;
+
+			/* baro */
+			/* TODO, set ground_press/ temp during calib */
+			static const float ground_press = 1013.25f; // mbar
+			static const float ground_tempC = 21.0f;
+			static const float ground_alt = 0.0f;
+			static const float T0 = 273.15;
+			static const float R = 287.05f;
+			static const float g = 9.806f;
+
+			float tempC =  press.temperature / 100.0f;
+			float tempAvgK = T0 + (tempC + ground_tempC) / 2.0f;
+			float h =  ground_alt + (R / g) * tempAvgK * logf(ground_press / press.press_abs);
+			hil_sensors.baro_counter = hil_counter;
+			hil_sensors.baro_pres_mbar = press.press_abs;
+			hil_sensors.baro_alt_meter = h;
+			hil_sensors.baro_temp_celcius = tempC;
+
+			/* publish */
+			orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
+
+			// increment counters
+			hil_counter += 1 ;
+			hil_frames += 1 ;
+
+			// output
+			if ((timestamp - old_timestamp) > 10000000) {
+				printf("receiving hil pressure at %d hz\n", hil_frames/10);
+				old_timestamp = timestamp;
+				hil_frames = 0;
+			}
+		}
+
 		if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE) {
 
 			mavlink_hil_state_t hil_state;
 			mavlink_msg_hil_state_decode(msg, &hil_state);
 
+			/* Calculate Rotation Matrix */
+			//TODO: better clarification which app does this, atm we have a ekf for quadrotors which does this, but there is no such thing if fly in fixed wing mode
+
+			if (mavlink_system.type == MAV_TYPE_FIXED_WING) {
+				//TODO: assuming low pitch and roll values for now
+				hil_attitude.R[0][0] = cosf(hil_state.yaw);
+				hil_attitude.R[0][1] = sinf(hil_state.yaw);
+				hil_attitude.R[0][2] = 0.0f;
+
+				hil_attitude.R[1][0] = -sinf(hil_state.yaw);
+				hil_attitude.R[1][1] = cosf(hil_state.yaw);
+				hil_attitude.R[1][2] = 0.0f;
+
+				hil_attitude.R[2][0] = 0.0f;
+				hil_attitude.R[2][1] = 0.0f;
+				hil_attitude.R[2][2] = 1.0f;
+
+				hil_attitude.R_valid = true;
+			}
+
 			hil_global_pos.lat = hil_state.lat;
 			hil_global_pos.lon = hil_state.lon;
 			hil_global_pos.alt = hil_state.alt / 1000.0f;
@@ -305,6 +498,7 @@ handle_message(mavlink_message_t *msg)
 			hil_global_pos.vy = hil_state.vy / 100.0f;
 			hil_global_pos.vz = hil_state.vz / 100.0f;
 
+
 			/* set timestamp and notify processes (broadcast) */
 			hil_global_pos.timestamp = hrt_absolute_time();
 			orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
@@ -357,12 +551,14 @@ handle_message(mavlink_message_t *msg)
 
 			if (rc_pub == 0) {
 				rc_pub = orb_advertise(ORB_ID(rc_channels), &rc_hil);
+
 			} else {
 				orb_publish(ORB_ID(rc_channels), rc_pub, &rc_hil);
 			}
 
 			if (mc_pub == 0) {
 				mc_pub = orb_advertise(ORB_ID(manual_control_setpoint), &mc);
+
 			} else {
 				orb_publish(ORB_ID(manual_control_setpoint), mc_pub, &mc);
 			}
@@ -377,10 +573,10 @@ handle_message(mavlink_message_t *msg)
 static void *
 receive_thread(void *arg)
 {
-	int uart_fd = *((int*)arg);
+	int uart_fd = *((int *)arg);
 
 	const int timeout = 1000;
-	uint8_t ch;
+	uint8_t buf[32];
 
 	mavlink_message_t msg;
 
@@ -391,13 +587,12 @@ receive_thread(void *arg)
 		struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
 
 		if (poll(fds, 1, timeout) > 0) {
-			/* non-blocking read until buffer is empty */
-			int nread = 0;
+			/* non-blocking read */
+			size_t nread = read(uart_fd, buf, sizeof(buf));
+			ASSERT(nread > 0)
 
-			do {
-				nread = read(uart_fd, &ch, 1);
-
-				if (mavlink_parse_char(chan, ch, &msg, &status)) { //parse the char
+			for (size_t i = 0; i < nread; i++) {
+				if (mavlink_parse_char(chan, buf[i], &msg, &status)) { //parse the char
 					/* handle generic messages and commands */
 					handle_message(&msg);
 
@@ -407,7 +602,7 @@ receive_thread(void *arg)
 					/* Handle packet with parameter component */
 					mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
 				}
-			} while (nread > 0);
+			}
 		}
 	}
 
@@ -420,9 +615,13 @@ receive_start(int uart)
 	pthread_attr_t receiveloop_attr;
 	pthread_attr_init(&receiveloop_attr);
 
+	// set to non-blocking read
+	int flags = fcntl(uart, F_GETFL, 0);
+	fcntl(uart, F_SETFL, flags | O_NONBLOCK);
+
 	struct sched_param param;
-  	param.sched_priority = SCHED_PRIORITY_MAX - 40;
-  	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
+	param.sched_priority = SCHED_PRIORITY_MAX - 40;
+	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
 
 	pthread_attr_setstacksize(&receiveloop_attr, 2048);
 
diff --git a/apps/mavlink/missionlib.c b/apps/mavlink/missionlib.c
index 50282a9e3..8064febc4 100644
--- a/apps/mavlink/missionlib.c
+++ b/apps/mavlink/missionlib.c
@@ -106,6 +106,7 @@ mavlink_missionlib_send_gcs_string(const char *string)
 
 		mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &statustext);
 		return mavlink_missionlib_send_message(&msg);
+
 	} else {
 		return 1;
 	}
@@ -144,12 +145,15 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
 		sp.altitude = param7_alt_z;
 		sp.altitude_is_relative = false;
 		sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
+
 		/* Initialize publication if necessary */
 		if (global_position_setpoint_pub < 0) {
 			global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp);
+
 		} else {
 			orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
 		}
+
 		sprintf(buf, "[mp] WP#%i lat: % 3.6f/lon % 3.6f/alt % 4.6f/hdg %3.4f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
 
 	} else if (frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) {
@@ -160,12 +164,15 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
 		sp.altitude = param7_alt_z;
 		sp.altitude_is_relative = true;
 		sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
+
 		/* Initialize publication if necessary */
 		if (global_position_setpoint_pub < 0) {
 			global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp);
+
 		} else {
 			orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
 		}
+
 		sprintf(buf, "[mp] WP#%i (lat: %f/lon %f/rel alt %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
 
 	} else if (frame == (int)MAV_FRAME_LOCAL_ENU || frame == (int)MAV_FRAME_LOCAL_NED) {
@@ -175,15 +182,18 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
 		sp.y = param6_lon_y;
 		sp.z = param7_alt_z;
 		sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
+
 		/* Initialize publication if necessary */
 		if (local_position_setpoint_pub < 0) {
 			local_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &sp);
+
 		} else {
 			orb_publish(ORB_ID(vehicle_local_position_setpoint), local_position_setpoint_pub, &sp);
 		}
+
 		sprintf(buf, "[mp] WP#%i (x: %f/y %f/z %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
 	}
-	
+
 	mavlink_missionlib_send_gcs_string(buf);
 	printf("%s\n", buf);
 	//printf("[mavlink mp] new setpoint\n");//: frame: %d, lat: %d, lon: %d, alt: %d, yaw: %d\n", frame, param5_lat_x*1000, param6_lon_y*1000, param7_alt_z*1000, param4*1000);
diff --git a/apps/mavlink/missionlib.h b/apps/mavlink/missionlib.h
index 3439c185d..c2ca735b3 100644
--- a/apps/mavlink/missionlib.h
+++ b/apps/mavlink/missionlib.h
@@ -48,5 +48,5 @@ extern int	mavlink_missionlib_send_message(mavlink_message_t *msg);
 extern int	mavlink_missionlib_send_gcs_string(const char *string);
 extern uint64_t	mavlink_missionlib_get_system_timestamp(void);
 extern void	mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
-			float param2, float param3, float param4, float param5_lat_x,
-			float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command);
+		float param2, float param3, float param4, float param5_lat_x,
+		float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command);
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c
index e6ec77bf6..ec5149745 100644
--- a/apps/mavlink/orb_listener.c
+++ b/apps/mavlink/orb_listener.c
@@ -90,9 +90,8 @@ static uint64_t last_sensor_timestamp;
 
 static void	*uorb_receive_thread(void *arg);
 
-struct listener
-{
-	void		(*callback)(struct listener *l);
+struct listener {
+	void	(*callback)(struct listener *l);
 	int		*subp;
 	uintptr_t	arg;
 };
@@ -115,6 +114,7 @@ static void	l_vehicle_attitude_controls(struct listener *l);
 static void	l_debug_key_value(struct listener *l);
 static void	l_optical_flow(struct listener *l);
 static void	l_vehicle_rates_setpoint(struct listener *l);
+static void	l_home(struct listener *l);
 
 struct listener listeners[] = {
 	{l_sensor_combined,		&mavlink_subs.sensor_sub,	0},
@@ -138,6 +138,7 @@ struct listener listeners[] = {
 	{l_debug_key_value,		&mavlink_subs.debug_key_value,	0},
 	{l_optical_flow,		&mavlink_subs.optical_flow,	0},
 	{l_vehicle_rates_setpoint,	&mavlink_subs.rates_setpoint_sub,	0},
+	{l_home,			&mavlink_subs.home_sub,		0},
 };
 
 static const unsigned n_listeners = sizeof(listeners) / sizeof(listeners[0]);
@@ -185,14 +186,14 @@ l_sensor_combined(struct listener *l)
 
 	if (gcs_link)
 		mavlink_msg_highres_imu_send(MAVLINK_COMM_0, last_sensor_timestamp,
-			raw.accelerometer_m_s2[0], raw.accelerometer_m_s2[1],
-			raw.accelerometer_m_s2[2], raw.gyro_rad_s[0],
-			raw.gyro_rad_s[1], raw.gyro_rad_s[2],
-			raw.magnetometer_ga[0],
-			raw.magnetometer_ga[1],raw.magnetometer_ga[2],
-			raw.baro_pres_mbar, 0 /* no diff pressure yet */,
-			raw.baro_alt_meter, raw.baro_temp_celcius,
-			fields_updated);
+					     raw.accelerometer_m_s2[0], raw.accelerometer_m_s2[1],
+					     raw.accelerometer_m_s2[2], raw.gyro_rad_s[0],
+					     raw.gyro_rad_s[1], raw.gyro_rad_s[2],
+					     raw.magnetometer_ga[0],
+					     raw.magnetometer_ga[1], raw.magnetometer_ga[2],
+					     raw.baro_pres_mbar, 0 /* no diff pressure yet */,
+					     raw.baro_alt_meter, raw.baro_temp_celcius,
+					     fields_updated);
 
 	sensors_raw_counter++;
 }
@@ -209,13 +210,13 @@ l_vehicle_attitude(struct listener *l)
 	if (gcs_link)
 		/* send sensor values */
 		mavlink_msg_attitude_send(MAVLINK_COMM_0,
-				  last_sensor_timestamp / 1000,
-				  att.roll,
-				  att.pitch,
-				  att.yaw,
-				  att.rollspeed,
-				  att.pitchspeed,
-				  att.yawspeed);
+					  last_sensor_timestamp / 1000,
+					  att.roll,
+					  att.pitch,
+					  att.yaw,
+					  att.rollspeed,
+					  att.pitchspeed,
+					  att.yawspeed);
 
 	attitude_counter++;
 }
@@ -291,21 +292,21 @@ l_input_rc(struct listener *l)
 {
 	/* copy rc channels into local buffer */
 	orb_copy(ORB_ID(input_rc), mavlink_subs.input_rc_sub, &rc_raw);
-	
+
 	if (gcs_link)
 		/* Channels are sent in MAVLink main loop at a fixed interval */
 		mavlink_msg_rc_channels_raw_send(chan,
-					 rc_raw.timestamp / 1000,
-					 0,
-					 (rc_raw.channel_count > 0) ? rc_raw.values[0] : UINT16_MAX,
-					 (rc_raw.channel_count > 1) ? rc_raw.values[1] : UINT16_MAX,
-					 (rc_raw.channel_count > 2) ? rc_raw.values[2] : UINT16_MAX,
-					 (rc_raw.channel_count > 3) ? rc_raw.values[3] : UINT16_MAX,
-					 (rc_raw.channel_count > 4) ? rc_raw.values[4] : UINT16_MAX,
-					 (rc_raw.channel_count > 5) ? rc_raw.values[5] : UINT16_MAX,
-					 (rc_raw.channel_count > 6) ? rc_raw.values[6] : UINT16_MAX,
-					 (rc_raw.channel_count > 7) ? rc_raw.values[7] : UINT16_MAX,
-					 255);
+						 rc_raw.timestamp / 1000,
+						 0,
+						 (rc_raw.channel_count > 0) ? rc_raw.values[0] : UINT16_MAX,
+						 (rc_raw.channel_count > 1) ? rc_raw.values[1] : UINT16_MAX,
+						 (rc_raw.channel_count > 2) ? rc_raw.values[2] : UINT16_MAX,
+						 (rc_raw.channel_count > 3) ? rc_raw.values[3] : UINT16_MAX,
+						 (rc_raw.channel_count > 4) ? rc_raw.values[4] : UINT16_MAX,
+						 (rc_raw.channel_count > 5) ? rc_raw.values[5] : UINT16_MAX,
+						 (rc_raw.channel_count > 6) ? rc_raw.values[6] : UINT16_MAX,
+						 (rc_raw.channel_count > 7) ? rc_raw.values[7] : UINT16_MAX,
+						 255);
 }
 
 void
@@ -317,7 +318,7 @@ l_global_position(struct listener *l)
 	uint64_t timestamp = global_pos.timestamp;
 	int32_t lat = global_pos.lat;
 	int32_t lon = global_pos.lon;
-	int32_t alt = (int32_t)(global_pos.alt*1000);
+	int32_t alt = (int32_t)(global_pos.alt * 1000);
 	int32_t relative_alt = (int32_t)(global_pos.relative_alt * 1000.0f);
 	int16_t vx = (int16_t)(global_pos.vx * 100.0f);
 	int16_t vy = (int16_t)(global_pos.vy * 100.0f);
@@ -343,16 +344,16 @@ l_local_position(struct listener *l)
 {
 	/* copy local position data into local buffer */
 	orb_copy(ORB_ID(vehicle_local_position), mavlink_subs.local_pos_sub, &local_pos);
-	
+
 	if (gcs_link)
 		mavlink_msg_local_position_ned_send(MAVLINK_COMM_0,
-					    local_pos.timestamp / 1000,
-					    local_pos.x,
-					    local_pos.y,
-					    local_pos.z,
-					    local_pos.vx,
-					    local_pos.vy,
-					    local_pos.vz);
+						    local_pos.timestamp / 1000,
+						    local_pos.x,
+						    local_pos.y,
+						    local_pos.z,
+						    local_pos.vx,
+						    local_pos.vy,
+						    local_pos.vz);
 }
 
 void
@@ -364,16 +365,17 @@ l_global_position_setpoint(struct listener *l)
 	orb_copy(ORB_ID(vehicle_global_position_setpoint), mavlink_subs.spg_sub, &global_sp);
 
 	uint8_t coordinate_frame = MAV_FRAME_GLOBAL;
+
 	if (global_sp.altitude_is_relative)
 		coordinate_frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
 
 	if (gcs_link)
 		mavlink_msg_global_position_setpoint_int_send(MAVLINK_COMM_0,
-						      coordinate_frame,
-						      global_sp.lat,
-						      global_sp.lon,
-						      global_sp.altitude,
-						      global_sp.yaw);
+				coordinate_frame,
+				global_sp.lat,
+				global_sp.lon,
+				global_sp.altitude,
+				global_sp.yaw);
 }
 
 void
@@ -386,11 +388,11 @@ l_local_position_setpoint(struct listener *l)
 
 	if (gcs_link)
 		mavlink_msg_local_position_setpoint_send(MAVLINK_COMM_0,
-						 MAV_FRAME_LOCAL_NED,
-						 local_sp.x,
-						 local_sp.y,
-						 local_sp.z,
-						 local_sp.yaw);
+				MAV_FRAME_LOCAL_NED,
+				local_sp.x,
+				local_sp.y,
+				local_sp.z,
+				local_sp.yaw);
 }
 
 void
@@ -403,11 +405,11 @@ l_attitude_setpoint(struct listener *l)
 
 	if (gcs_link)
 		mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(MAVLINK_COMM_0,
-							att_sp.timestamp/1000,
-							att_sp.roll_body,
-							att_sp.pitch_body,
-							att_sp.yaw_body,
-							att_sp.thrust);
+				att_sp.timestamp / 1000,
+				att_sp.roll_body,
+				att_sp.pitch_body,
+				att_sp.yaw_body,
+				att_sp.thrust);
 }
 
 void
@@ -420,11 +422,11 @@ l_vehicle_rates_setpoint(struct listener *l)
 
 	if (gcs_link)
 		mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(MAVLINK_COMM_0,
-							rates_sp.timestamp/1000,
-							rates_sp.roll,
-							rates_sp.pitch,
-							rates_sp.yaw,
-							rates_sp.thrust);
+				rates_sp.timestamp / 1000,
+				rates_sp.roll,
+				rates_sp.pitch,
+				rates_sp.yaw,
+				rates_sp.thrust);
 }
 
 void
@@ -444,18 +446,18 @@ l_actuator_outputs(struct listener *l)
 
 	if (gcs_link) {
 		mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000,
-					  l->arg /* port number */,
-					  act_outputs.output[0],
-					  act_outputs.output[1],
-					  act_outputs.output[2],
-					  act_outputs.output[3],
-					  act_outputs.output[4],
-					  act_outputs.output[5],
-					  act_outputs.output[6],
-					  act_outputs.output[7]);
+						  l->arg /* port number */,
+						  act_outputs.output[0],
+						  act_outputs.output[1],
+						  act_outputs.output[2],
+						  act_outputs.output[3],
+						  act_outputs.output[4],
+						  act_outputs.output[5],
+						  act_outputs.output[6],
+						  act_outputs.output[7]);
 
 		/* only send in HIL mode */
-		if (mavlink_hil_enabled) {
+		if (mavlink_hil_enabled && armed.armed) {
 
 			/* translate the current syste state to mavlink state and mode */
 			uint8_t mavlink_state = 0;
@@ -468,72 +470,75 @@ l_actuator_outputs(struct listener *l)
 
 			if (mavlink_system.type == MAV_TYPE_QUADROTOR) {
 				mavlink_msg_hil_controls_send(chan,
-					hrt_absolute_time(),
-					((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
-					-1,
-					-1,
-					-1,
-					-1,
-					mavlink_mode,
-					0);
+							      hrt_absolute_time(),
+							      ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
+							      -1,
+							      -1,
+							      -1,
+							      -1,
+							      mavlink_mode,
+							      0);
+
 			} else if (mavlink_system.type == MAV_TYPE_HEXAROTOR) {
 				mavlink_msg_hil_controls_send(chan,
-					hrt_absolute_time(),
-					((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f,
-					-1,
-					-1,
-					mavlink_mode,
-					0);
+							      hrt_absolute_time(),
+							      ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f,
+							      -1,
+							      -1,
+							      mavlink_mode,
+							      0);
+
 			} else if (mavlink_system.type == MAV_TYPE_OCTOROTOR) {
 				mavlink_msg_hil_controls_send(chan,
-					hrt_absolute_time(),
-					((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[6] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[7] - 900.0f) / 600.0f) / 2.0f,
-					mavlink_mode,
-					0);
+							      hrt_absolute_time(),
+							      ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[6] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[7] - 900.0f) / 600.0f) / 2.0f,
+							      mavlink_mode,
+							      0);
+
 			} else {
+
+				/*
+				 * Catch the case where no rudder is in use and throttle is not
+				 * on output four
+				 */
 				float rudder, throttle;
 
-				/* SCALING: PWM min: 900, PWM max: 2100, center: 1500 */
+				if (act_outputs.noutputs < 4) {
+					rudder = 0.0f;
+					throttle = (act_outputs.output[2] - 900.0f) / 1200.0f;
 
-				// XXX very ugly, needs rework
-				if (isfinite(act_outputs.output[3])
-					&& act_outputs.output[3] > 800 && act_outputs.output[3] < 2200) {
-					/* throttle is fourth output */
-					rudder = (act_outputs.output[2] - 1500.0f) / 600.0f;
-					throttle = (((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f);
 				} else {
-					/* only three outputs, put throttle on position 4 / index 3 */
-					rudder = 0;
-					throttle = (((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f);
+					rudder = (act_outputs.output[2] - 1500.0f) / 600.0f;
+					throttle = (act_outputs.output[3] - 900.0f) / 1200.0f;
 				}
 
 				mavlink_msg_hil_controls_send(chan,
-					hrt_absolute_time(),
-					(act_outputs.output[0] - 1500.0f) / 600.0f,
-					(act_outputs.output[1] - 1500.0f) / 600.0f,
-					rudder,
-					throttle,
-					(act_outputs.output[4] - 1500.0f) / 600.0f,
-					(act_outputs.output[5] - 1500.0f) / 600.0f,
-					(act_outputs.output[6] - 1500.0f) / 600.0f,
-					(act_outputs.output[7] - 1500.0f) / 600.0f,
-					mavlink_mode,
-					0);
+							      hrt_absolute_time(),
+							      (act_outputs.output[0] - 1500.0f) / 600.0f,
+							      (act_outputs.output[1] - 1500.0f) / 600.0f,
+							      rudder,
+							      throttle,
+							      (act_outputs.output[4] - 1500.0f) / 600.0f,
+							      (act_outputs.output[5] - 1500.0f) / 600.0f,
+							      (act_outputs.output[6] - 1500.0f) / 600.0f,
+							      (act_outputs.output[7] - 1500.0f) / 600.0f,
+							      mavlink_mode,
+							      0);
 			}
 		}
 	}
@@ -555,39 +560,39 @@ l_manual_control_setpoint(struct listener *l)
 
 	if (gcs_link)
 		mavlink_msg_manual_control_send(MAVLINK_COMM_0,
-					mavlink_system.sysid,
-					man_control.roll * 1000,
-					man_control.pitch * 1000,
-					man_control.yaw * 1000,
-					man_control.throttle * 1000,
-					0);
+						mavlink_system.sysid,
+						man_control.roll * 1000,
+						man_control.pitch * 1000,
+						man_control.yaw * 1000,
+						man_control.throttle * 1000,
+						0);
 }
 
 void
 l_vehicle_attitude_controls(struct listener *l)
 {
-	struct actuator_controls_s actuators;
+	struct actuator_controls_effective_s actuators;
 
-	orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, mavlink_subs.actuators_sub, &actuators);
+	orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, mavlink_subs.actuators_sub, &actuators);
 
 	if (gcs_link) {
 		/* send, add spaces so that string buffer is at least 10 chars long */
 		mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
 						   last_sensor_timestamp / 1000,
-						   "ctrl0       ",
-						   actuators.control[0]);
+						   "eff ctrl0    ",
+						   actuators.control_effective[0]);
 		mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
 						   last_sensor_timestamp / 1000,
-						   "ctrl1       ",
-						   actuators.control[1]);
+						   "eff ctrl1    ",
+						   actuators.control_effective[1]);
 		mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
 						   last_sensor_timestamp / 1000,
-						   "ctrl2       ",
-						   actuators.control[2]);
+						   "eff ctrl2     ",
+						   actuators.control_effective[2]);
 		mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
 						   last_sensor_timestamp / 1000,
-						   "ctrl3       ",
-						   actuators.control[3]);
+						   "eff ctrl3     ",
+						   actuators.control_effective[3]);
 	}
 }
 
@@ -615,7 +620,17 @@ l_optical_flow(struct listener *l)
 	orb_copy(ORB_ID(optical_flow), mavlink_subs.optical_flow, &flow);
 
 	mavlink_msg_optical_flow_send(MAVLINK_COMM_0, flow.timestamp, flow.sensor_id, flow.flow_raw_x, flow.flow_raw_y,
-		flow.flow_comp_x_m, flow.flow_comp_y_m, flow.quality, flow.ground_distance_m);
+				      flow.flow_comp_x_m, flow.flow_comp_y_m, flow.quality, flow.ground_distance_m);
+}
+
+void
+l_home(struct listener *l)
+{
+	struct home_position_s home;
+
+	orb_copy(ORB_ID(home_position), mavlink_subs.home_sub, &home);
+
+	mavlink_msg_gps_global_origin_send(MAVLINK_COMM_0, home.lat, home.lon, home.alt);
 }
 
 static void *
@@ -636,6 +651,7 @@ uorb_receive_thread(void *arg)
 	 * Might want to invoke each listener once to set initial state.
 	 */
 	struct pollfd fds[n_listeners];
+
 	for (unsigned i = 0; i < n_listeners; i++) {
 		fds[i].fd = *listeners[i].subp;
 		fds[i].events = POLLIN;
@@ -651,8 +667,10 @@ uorb_receive_thread(void *arg)
 		/* handle the poll result */
 		if (poll_ret == 0) {
 			mavlink_missionlib_send_gcs_string("[mavlink] No telemetry data for 1 s");
+
 		} else if (poll_ret < 0) {
 			mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data");
+
 		} else {
 
 			for (unsigned i = 0; i < n_listeners; i++) {
@@ -682,6 +700,10 @@ uorb_receive_start(void)
 	mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
 	orb_set_interval(mavlink_subs.gps_sub, 1000);	/* 1Hz updates */
 
+	/* --- HOME POSITION --- */
+	mavlink_subs.home_sub = orb_subscribe(ORB_ID(home_position));
+	orb_set_interval(mavlink_subs.home_sub, 1000);	/* 1Hz updates */
+
 	/* --- SYSTEM STATE --- */
 	status_sub = orb_subscribe(ORB_ID(vehicle_status));
 	orb_set_interval(status_sub, 300);		/* max 3.33 Hz updates */
@@ -696,7 +718,7 @@ uorb_receive_start(void)
 
 	/* --- GLOBAL POS VALUE --- */
 	mavlink_subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
-	orb_set_interval(mavlink_subs.global_pos_sub, 1000);	/* 1Hz active updates */
+	orb_set_interval(mavlink_subs.global_pos_sub, 100);	/* 10 Hz active updates */
 
 	/* --- LOCAL POS VALUE --- */
 	mavlink_subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
@@ -739,7 +761,7 @@ uorb_receive_start(void)
 	orb_set_interval(mavlink_subs.man_control_sp_sub, 100);	/* 10Hz updates */
 
 	/* --- ACTUATOR CONTROL VALUE --- */
-	mavlink_subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
+	mavlink_subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
 	orb_set_interval(mavlink_subs.actuators_sub, 100);	/* 10Hz updates */
 
 	/* --- DEBUG VALUE OUTPUT --- */
diff --git a/apps/mavlink/orb_topics.h b/apps/mavlink/orb_topics.h
index 4650c4991..d61cd43dc 100644
--- a/apps/mavlink/orb_topics.h
+++ b/apps/mavlink/orb_topics.h
@@ -45,6 +45,7 @@
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/home_position.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/offboard_control_setpoint.h>
 #include <uORB/topics/vehicle_command.h>
@@ -81,6 +82,7 @@ struct mavlink_subscriptions {
 	int input_rc_sub;
 	int optical_flow;
 	int rates_setpoint_sub;
+	int home_sub;
 };
 
 extern struct mavlink_subscriptions mavlink_subs;
diff --git a/apps/mavlink/waypoints.c b/apps/mavlink/waypoints.c
index 16759237e..a131b143b 100644
--- a/apps/mavlink/waypoints.c
+++ b/apps/mavlink/waypoints.c
@@ -379,6 +379,7 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
 			if (counter % 100 == 0)
 				printf("Setpoint reached: %0.4f, orbit: %.4f\n", dist, orbit);
 		}
+
 //		else
 //		{
 //			if(counter % 100 == 0)
@@ -407,9 +408,10 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
 					cur_wp->current = 0;
 
 					if (wpm->current_active_wp_id == wpm->size - 1 && wpm->size > 1) {
-						//the last waypoint was reached, if auto continue is
-						//activated restart the waypoint list from the beginning
-						wpm->current_active_wp_id = 1;
+						/* the last waypoint was reached, if auto continue is
+						 * activated restart the waypoint list from the beginning
+						 */
+						wpm->current_active_wp_id = 0;
 
 					} else {
 						if ((uint16_t)(wpm->current_active_wp_id + 1) < wpm->size)
diff --git a/apps/mavlink/waypoints.h b/apps/mavlink/waypoints.h
index 736d1f119..c32ab32e5 100644
--- a/apps/mavlink/waypoints.h
+++ b/apps/mavlink/waypoints.h
@@ -98,8 +98,8 @@ struct mavlink_wpm_storage {
 	uint16_t max_size;
 	uint16_t rcv_size;
 	enum MAVLINK_WPM_STATES current_state;
-	uint16_t current_wp_id;							///< Waypoint in current transmission
-	uint16_t current_active_wp_id;					///< Waypoint the system is currently heading towards
+	int16_t current_wp_id;							///< Waypoint in current transmission
+	int16_t current_active_wp_id;					///< Waypoint the system is currently heading towards
 	uint16_t current_count;
 	uint8_t current_partner_sysid;
 	uint8_t current_partner_compid;
diff --git a/apps/mk/app.mk b/apps/mk/app.mk
index 3948ef354..fa4a12cab 100644
--- a/apps/mk/app.mk
+++ b/apps/mk/app.mk
@@ -69,7 +69,7 @@
 #		  CONFIG_PTHREAD_STACK_DEFAULT)
 #
 # Symbols in the module are private to the module unless deliberately exported
-# using the __EXPORT tag.
+# using the __EXPORT tag, or DEFAULT_VISIBILITY is set
 #
 
 ############################################################################
@@ -81,7 +81,9 @@
 # Work out who included us so we can report decent errors
 #
 THIS_MAKEFILE	:= $(lastword $(MAKEFILE_LIST))
-PARENT_MAKEFILE	:= $(lastword $(filter-out $(THIS_MAKEFILE),$(MAKEFILE_LIST)))
+ifeq ($(APP_MAKEFILE),)
+APP_MAKEFILE	:= $(lastword $(filter-out $(THIS_MAKEFILE),$(MAKEFILE_LIST)))
+endif
 
 ############################################################################
 # Get configuration
@@ -93,7 +95,7 @@ include $(APPDIR)/Make.defs
 ############################################################################
 # Sanity-check the information we've been given and set any defaults
 #
-SRCDIR		?= $(dir $(PARENT_MAKEFILE))
+SRCDIR		?= $(dir $(APP_MAKEFILE))
 PRIORITY	?= SCHED_PRIORITY_DEFAULT
 STACKSIZE	?= CONFIG_PTHREAD_STACK_DEFAULT
 
@@ -101,7 +103,9 @@ INCLUDES	+= $(APPDIR)
 
 ASRCS		?= $(wildcard $(SRCDIR)/*.S)
 CSRCS		?= $(wildcard $(SRCDIR)/*.c)
+CHDRS		?= $(wildcard $(SRCDIR)/*.h)
 CXXSRCS		?= $(wildcard $(SRCDIR)/*.cpp)
+CXXHDRS		?= $(wildcard $(SRCDIR)/*.hpp)
 
 # if APPNAME is not set, this is a library
 ifeq ($(APPNAME),)
@@ -110,14 +114,14 @@ endif
 
 # there has to be a source file
 ifeq ($(ASRCS)$(CSRCS)$(CXXSRCS),)
-$(error $(realpath $(PARENT_MAKEFILE)): at least one of ASRCS, CSRCS or CXXSRCS must be set)
+$(error $(realpath $(APP_MAKEFILE)): at least one of ASRCS, CSRCS or CXXSRCS must be set)
 endif
 
 # check that C++ is configured if we have C++ source files and we are building
 ifneq ($(CXXSRCS),)
 ifneq ($(CONFIG_HAVE_CXX),y)
 ifeq ($(MAKECMDGOALS),build)
-$(error $(realpath $(PARENT_MAKEFILE)): cannot set CXXSRCS if CONFIG_HAVE_CXX not set in configuration)
+$(error $(realpath $(APP_MAKEFILE)): cannot set CXXSRCS if CONFIG_HAVE_CXX not set in configuration)
 endif
 endif
 endif
@@ -125,8 +129,15 @@ endif
 ############################################################################
 # Adjust compilation flags to implement EXPORT
 #
-CFLAGS		+= -fvisibility=hidden -include $(APPDIR)/systemlib/visibility.h
-CXXFLAGS	+= -fvisibility=hidden -include $(APPDIR)/systemlib/visibility.h
+
+ifeq ($(DEFAULT_VISIBILITY),)
+DEFAULT_VISIBILITY = hidden
+else
+DEFAULT_VISIBILITY = default
+endif
+
+CFLAGS		+= -fvisibility=$(DEFAULT_VISIBILITY) -include $(APPDIR)/systemlib/visibility.h
+CXXFLAGS	+= -fvisibility=$(DEFAULT_VISIBILITY) -include $(APPDIR)/systemlib/visibility.h
 
 ############################################################################
 # Add extra include directories
@@ -144,6 +155,11 @@ COBJS		 = $(patsubst %.c,%.o,$(CSRCS))
 CXXOBJS		 = $(patsubst %.cpp,%.o,$(CXXSRCS))
 OBJS		 = $(AOBJS) $(COBJS) $(CXXOBJS)
 
+# Automatic depdendency generation
+DEPS		 = $(OBJS:$(OBJEXT)=.d)
+CFLAGS		+= -MD
+CXXFLAGS	+= -MD
+
 # The prelinked object that we are ultimately going to build
 ifneq ($(APPNAME),)
 PRELINKOBJ	 = $(APPNAME).pre.o
@@ -151,7 +167,7 @@ else
 PRELINKOBJ	 = $(LIBNAME).pre.o
 endif
 
-# The archive that the object file will be placed in
+# The archive the prelinked object will be linked into
 # XXX does WINTOOL ever get set?
 ifeq ($(WINTOOL),y)
   INCDIROPT	= -w
@@ -177,11 +193,8 @@ all:		.built
 #
 # Source dependencies
 #
-depend:		.depend
-.depend:	$(MAKEFILE_LIST) $(SRCS)
-	@$(MKDEP) --dep-path . $(CC) -- $(CFLAGS) -- $(CSRCS) >Make.dep
-	@$(MKDEP) --dep-path . $(CXX) -- $(CXXFLAGS) -- $(CXXSRCS) >>Make.dep
-	@touch $@
+depend:
+	@exit 0
 
 ifneq ($(APPNAME),)
 #
@@ -193,6 +206,7 @@ context:	.context
 	@touch $@
 else
 context:
+	@exit 0
 endif
 
 #
@@ -201,23 +215,23 @@ endif
 $(PRELINKOBJ):	$(OBJS)
 	$(call PRELINK, $@, $(OBJS))
 
-$(AOBJS): %.o : %.S
+$(AOBJS): %.o : %.S $(MAKEFILE_LIST)
 	$(call ASSEMBLE, $<, $@)
 
-$(COBJS): %.o : %.c
+$(COBJS): %.o : %.c $(MAKEFILE_LIST)
 	$(call COMPILE, $<, $@)
 
-$(CXXOBJS): %.o : %.cpp
+$(CXXOBJS): %.o : %.cpp $(MAKEFILE_LIST)
 	$(call COMPILEXX, $<, $@)
 
 #
 # Tidying up
 #
 clean:
-	@rm -f $(OBJS) $(PRELINKOBJ) Make.dep .built
+	@rm -f $(OBJS) $(DEPS) $(PRELINKOBJ) .built
 	$(call CLEAN)
 
 distclean:	clean
 	@rm -f Make.dep .depend
 
--include Make.dep
+-include $(DEPS)
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index ce1e52c1b..d94c0a69c 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -116,7 +116,7 @@ mc_thread_main(int argc, char *argv[])
 	int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 	int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
 
-	/* 
+	/*
 	 * Do not rate-limit the loop to prevent aliasing
 	 * if rate-limiting would be desired later, the line below would
 	 * enable it.
@@ -125,9 +125,9 @@ mc_thread_main(int argc, char *argv[])
 	 * orb_set_interval(att_sub, 5);
 	 */
 	struct pollfd fds[2] = {
-					{ .fd = att_sub, .events = POLLIN },
-					{ .fd = param_sub, .events = POLLIN }
-				};
+		{ .fd = att_sub, .events = POLLIN },
+		{ .fd = param_sub, .events = POLLIN }
+	};
 
 	/* publish actuator controls */
 	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
@@ -171,6 +171,7 @@ mc_thread_main(int argc, char *argv[])
 		if (ret < 0) {
 			/* poll error, count it in perf */
 			perf_count(mc_err_perf);
+
 		} else if (ret == 0) {
 			/* no return value, ignore */
 		} else {
@@ -193,9 +194,11 @@ mc_thread_main(int argc, char *argv[])
 				/* get a local copy of system state */
 				bool updated;
 				orb_check(state_sub, &updated);
+
 				if (updated) {
 					orb_copy(ORB_ID(vehicle_status), state_sub, &state);
 				}
+
 				/* get a local copy of manual setpoint */
 				orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
 				/* get a local copy of attitude */
@@ -204,9 +207,11 @@ mc_thread_main(int argc, char *argv[])
 				orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp);
 				/* get a local copy of rates setpoint */
 				orb_check(setpoint_sub, &updated);
+
 				if (updated) {
 					orb_copy(ORB_ID(offboard_control_setpoint), setpoint_sub, &offboard_sp);
 				}
+
 				/* get a local copy of the current sensor values */
 				orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
 
@@ -222,6 +227,7 @@ mc_thread_main(int argc, char *argv[])
 //						printf("thrust_rate=%8.4f\n",offboard_sp.p4);
 						rates_sp.timestamp = hrt_absolute_time();
 						orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
+
 					} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
 						att_sp.roll_body = offboard_sp.p1;
 						att_sp.pitch_body = offboard_sp.p2;
@@ -232,38 +238,42 @@ mc_thread_main(int argc, char *argv[])
 						/* STEP 2: publish the result to the vehicle actuators */
 						orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
 					}
-					/* decide wether we want rate or position input */
-				}
-				else if (state.flag_control_manual_enabled) {
 
-					/* manual inputs, from RC control or joystick */
-					if (state.flag_control_rates_enabled && !state.flag_control_attitude_enabled) {
-						rates_sp.roll = manual.roll;
 
-						rates_sp.pitch = manual.pitch;
-						rates_sp.yaw = manual.yaw;
-						rates_sp.thrust = manual.throttle;
-						rates_sp.timestamp = hrt_absolute_time();
-					}
+				} else if (state.flag_control_manual_enabled) {
 
 					if (state.flag_control_attitude_enabled) {
 
 						/* initialize to current yaw if switching to manual or att control */
 						if (state.flag_control_attitude_enabled != flag_control_attitude_enabled ||
-					 	    state.flag_control_manual_enabled != flag_control_manual_enabled ||
-					 	    state.flag_system_armed != flag_system_armed) {
+						    state.flag_control_manual_enabled != flag_control_manual_enabled ||
+						    state.flag_system_armed != flag_system_armed) {
 							att_sp.yaw_body = att.yaw;
 						}
 
 						static bool rc_loss_first_time = true;
 
 						/* if the RC signal is lost, try to stay level and go slowly back down to ground */
-						if(state.rc_signal_lost) {
+						if (state.rc_signal_lost) {
 							/* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */
 							param_get(failsafe_throttle_handle, &failsafe_throttle);
 							att_sp.roll_body = 0.0f;
 							att_sp.pitch_body = 0.0f;
-							att_sp.thrust = failsafe_throttle;
+
+							/*
+							 * Only go to failsafe throttle if last known throttle was
+							 * high enough to create some lift to make hovering state likely.
+							 *
+							 * This is to prevent that someone landing, but not disarming his
+							 * multicopter (throttle = 0) does not make it jump up in the air
+							 * if shutting down his remote.
+							 */
+							if (isfinite(manual.throttle) && manual.throttle > 0.2f) {
+								att_sp.thrust = failsafe_throttle;
+
+							} else {
+								att_sp.thrust = 0.0f;
+							}
 
 							/* keep current yaw, do not attempt to go to north orientation,
 							 * since if the pilot regains RC control, he will be lost regarding
@@ -285,50 +295,78 @@ mc_thread_main(int argc, char *argv[])
 								att_sp.yaw_body = att.yaw;
 							}
 
-							/* only move setpoint if manual input is != 0 */
+							/* act if stabilization is active or if the (nonsense) direct pass through mode is set */
+							if (state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS ||
+							    state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
 
-							if(manual.mode == MANUAL_CONTROL_MODE_ATT_YAW_POS) {
-								if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
+								if (state.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE) {
 									rates_sp.yaw = manual.yaw;
 									control_yaw_position = false;
-									first_time_after_yaw_speed_control = true;
+
 								} else {
-									if (first_time_after_yaw_speed_control) {
-										att_sp.yaw_body = att.yaw;
-										first_time_after_yaw_speed_control = false;
+									/*
+									 * This mode SHOULD be the default mode, which is:
+									 * VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS
+									 *
+									 * However, we fall back to this setting for all other (nonsense)
+									 * settings as well.
+									 */
+
+									/* only move setpoint if manual input is != 0 */
+									if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
+										rates_sp.yaw = manual.yaw;
+										control_yaw_position = false;
+										first_time_after_yaw_speed_control = true;
+
+									} else {
+										if (first_time_after_yaw_speed_control) {
+											att_sp.yaw_body = att.yaw;
+											first_time_after_yaw_speed_control = false;
+										}
+
+										control_yaw_position = true;
 									}
-									control_yaw_position = true;
 								}
-							} else if (manual.mode == MANUAL_CONTROL_MODE_ATT_YAW_RATE) {
-								rates_sp.yaw = manual.yaw;
-								control_yaw_position = false;
 							}
 
 							att_sp.thrust = manual.throttle;
 							att_sp.timestamp = hrt_absolute_time();
 						}
-					}
-					/* STEP 2: publish the result to the vehicle actuators */
-					orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
-
-					if (motor_test_mode) {
-						printf("testmode");
-						att_sp.roll_body = 0.0f;
-						att_sp.pitch_body = 0.0f;
-						att_sp.yaw_body = 0.0f;
-						att_sp.thrust = 0.1f;
-						att_sp.timestamp = hrt_absolute_time();
-						/* STEP 2: publish the result to the vehicle actuators */
+
+						/* STEP 2: publish the controller output */
 						orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
+
+						if (motor_test_mode) {
+							printf("testmode");
+							att_sp.roll_body = 0.0f;
+							att_sp.pitch_body = 0.0f;
+							att_sp.yaw_body = 0.0f;
+							att_sp.thrust = 0.1f;
+							att_sp.timestamp = hrt_absolute_time();
+							/* STEP 2: publish the result to the vehicle actuators */
+							orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
+						}
+
+					} else {
+						/* manual rate inputs, from RC control or joystick */
+						if (state.flag_control_rates_enabled &&
+						    state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_RATES) {
+							rates_sp.roll = manual.roll;
+
+							rates_sp.pitch = manual.pitch;
+							rates_sp.yaw = manual.yaw;
+							rates_sp.thrust = manual.throttle;
+							rates_sp.timestamp = hrt_absolute_time();
+						}
 					}
 
 				}
 
 				/** STEP 3: Identify the controller setup to run and set up the inputs correctly */
 				if (state.flag_control_attitude_enabled) {
-				 	multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position);
+					multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position);
 
-				 	orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
+					orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
 				}
 
 				/* measure in what intervals the controller runs */
@@ -339,6 +377,7 @@ mc_thread_main(int argc, char *argv[])
 				/* get current rate setpoint */
 				bool rates_sp_valid = false;
 				orb_check(rates_sp_sub, &rates_sp_valid);
+
 				if (rates_sp_valid) {
 					orb_copy(ORB_ID(vehicle_rates_setpoint), rates_sp_sub, &rates_sp);
 				}
@@ -366,6 +405,7 @@ mc_thread_main(int argc, char *argv[])
 	/* kill all outputs */
 	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
 		actuators.control[i] = 0.0f;
+
 	orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
 
 
@@ -387,6 +427,7 @@ usage(const char *reason)
 {
 	if (reason)
 		fprintf(stderr, "%s\n", reason);
+
 	fprintf(stderr, "usage: multirotor_att_control [-m <mode>] [-t] {start|status|stop}\n");
 	fprintf(stderr, "    <mode> is 'rates' or 'attitude'\n");
 	fprintf(stderr, "    -t enables motor test mode with 10%% thrust\n");
@@ -404,22 +445,25 @@ int multirotor_att_control_main(int argc, char *argv[])
 			motor_test_mode = true;
 			optioncount += 1;
 			break;
+
 		case ':':
 			usage("missing parameter");
 			break;
+
 		default:
 			fprintf(stderr, "option: -%c\n", ch);
 			usage("unrecognized option");
 			break;
 		}
 	}
+
 	argc -= optioncount;
 	//argv += optioncount;
 
 	if (argc < 1)
 		usage("missing command");
 
-	if (!strcmp(argv[1+optioncount], "start")) {
+	if (!strcmp(argv[1 + optioncount], "start")) {
 
 		thread_should_exit = false;
 		mc_task = task_spawn("multirotor_att_control",
@@ -431,7 +475,7 @@ int multirotor_att_control_main(int argc, char *argv[])
 		exit(0);
 	}
 
-	if (!strcmp(argv[1+optioncount], "stop")) {
+	if (!strcmp(argv[1 + optioncount], "stop")) {
 		thread_should_exit = true;
 		exit(0);
 	}
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c
index e94d7c55d..76dbb36d3 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.c
+++ b/apps/multirotor_att_control/multirotor_attitude_control.c
@@ -158,16 +158,18 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc
 }
 
 void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
-		const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position)
+				 const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position)
 {
 	static uint64_t last_run = 0;
 	static uint64_t last_input = 0;
 	float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
 	float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
 	last_run = hrt_absolute_time();
+
 	if (last_input != att_sp->timestamp) {
 		last_input = att_sp->timestamp;
 	}
+
 	static int sensor_delay;
 	sensor_delay = hrt_absolute_time() - att->timestamp;
 
@@ -189,15 +191,15 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 		parameters_update(&h, &p);
 
 		pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f,
-				1000.0f, PID_MODE_DERIVATIV_SET);
+			 1000.0f, PID_MODE_DERIVATIV_SET);
 		pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f,
-				1000.0f, PID_MODE_DERIVATIV_SET);
+			 1000.0f, PID_MODE_DERIVATIV_SET);
 
 		initialized = true;
 	}
 
 	/* load new parameters with lower rate */
-	if (motor_skip_counter % 1000 == 0) {
+	if (motor_skip_counter % 500 == 0) {
 		/* update parameters from storage */
 		parameters_update(&h, &p);
 
@@ -206,17 +208,24 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 		pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
 	}
 
+	/* reset integral if on ground */
+	if (att_sp->thrust < 0.1f) {
+		pid_reset_integral(&pitch_controller);
+		pid_reset_integral(&roll_controller);
+	}
+
+
 	/* calculate current control outputs */
 
 	/* control pitch (forward) output */
 	rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body ,
-			att->pitch, att->pitchspeed, deltaT);
+					att->pitch, att->pitchspeed, deltaT);
 
 	/* control roll (left/right) output */
 	rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body ,
-			att->roll, att->rollspeed, deltaT);
+				       att->roll, att->rollspeed, deltaT);
 
-	if(control_yaw_position) {
+	if (control_yaw_position) {
 		/* control yaw rate */
 
 		/* positive error: rotate to right, negative error, rotate to left (NED frame) */
@@ -226,12 +235,14 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 
 		if (yaw_error > M_PI_F) {
 			yaw_error -= M_TWOPI_F;
+
 		} else if (yaw_error < -M_PI_F) {
 			yaw_error += M_TWOPI_F;
 		}
 
 		rates_sp->yaw = p.yaw_p * (yaw_error) - (p.yaw_d * att->yawspeed);
 	}
+
 	rates_sp->thrust = att_sp->thrust;
 
 	motor_skip_counter++;
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.h b/apps/multirotor_att_control/multirotor_attitude_control.h
index abc94d617..2cf83e443 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.h
+++ b/apps/multirotor_att_control/multirotor_attitude_control.h
@@ -52,6 +52,6 @@
 #include <uORB/topics/actuator_controls.h>
 
 void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
-	const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position);
+				 const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position);
 
 #endif /* MULTIROTOR_ATTITUDE_CONTROL_H_ */
diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c
index 93f7085ae..deba1ac03 100644
--- a/apps/multirotor_att_control/multirotor_rate_control.c
+++ b/apps/multirotor_att_control/multirotor_rate_control.c
@@ -148,7 +148,7 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
 }
 
 void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
-	const float rates[], struct actuator_controls_s *actuators)
+			      const float rates[], struct actuator_controls_s *actuators)
 {
 	static float roll_control_last  = 0;
 	static float pitch_control_last = 0;
@@ -157,6 +157,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	static uint64_t last_input = 0;
 
 	float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
+
 	if (last_input != rate_sp->timestamp) {
 		last_input = rate_sp->timestamp;
 	}
@@ -186,12 +187,14 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	}
 
 	/* calculate current control outputs */
-	
+
 	/* control pitch (forward) output */
 	float pitch_control = p.attrate_p * (rate_sp->pitch - rates[1]) - (p.attrate_d * pitch_control_last);
+
 	/* increase resilience to faulty control inputs */
 	if (isfinite(pitch_control)) {
 		pitch_control_last = pitch_control;
+
 	} else {
 		pitch_control = 0.0f;
 		warnx("rej. NaN ctrl pitch");
@@ -199,9 +202,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 
 	/* control roll (left/right) output */
 	float roll_control = p.attrate_p * (rate_sp->roll - rates[0]) - (p.attrate_d * roll_control_last);
+
 	/* increase resilience to faulty control inputs */
 	if (isfinite(roll_control)) {
 		roll_control_last = roll_control;
+
 	} else {
 		roll_control = 0.0f;
 		warnx("rej. NaN ctrl roll");
@@ -209,6 +214,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 
 	/* control yaw rate */
 	float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);
+
 	/* increase resilience to faulty control inputs */
 	if (!isfinite(yaw_rate_control)) {
 		yaw_rate_control = 0.0f;
diff --git a/apps/multirotor_att_control/multirotor_rate_control.h b/apps/multirotor_att_control/multirotor_rate_control.h
index 3c3c50801..03dec317a 100644
--- a/apps/multirotor_att_control/multirotor_rate_control.h
+++ b/apps/multirotor_att_control/multirotor_rate_control.h
@@ -51,6 +51,6 @@
 #include <uORB/topics/actuator_controls.h>
 
 void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
-	const float rates[], struct actuator_controls_s *actuators);
+			      const float rates[], struct actuator_controls_s *actuators);
 
 #endif /* MULTIROTOR_RATE_CONTROL_H_ */
diff --git a/apps/namedapp/Makefile b/apps/namedapp/Makefile
index 6b0fd6a05..a88c73567 100644
--- a/apps/namedapp/Makefile
+++ b/apps/namedapp/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # apps/nshlib/Makefile
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -54,10 +54,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -75,32 +79,32 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
-	@touch .built
+	$(call ARCHIVE, $(BIN), $(OBJS))
+	$(Q) touch .built
 
 .context:
 	@echo "/* List of application requirements, generated during make context. */" > namedapp_list.h
 	@echo "/* List of application entry points, generated during make context. */" > namedapp_proto.h
-	@touch $@
+	$(Q) touch $@
 
 context: .context
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
+	$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f .context Make.dep .depend
-	@rm -f namedapp_list.h
-	@rm -f namedapp_proto.h
+	$(call DELFILE, .context)
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
+	$(call DELFILE, namedapp_list.h)
+	$(call DELFILE, namedapp_proto.h)
 
 -include Make.dep
 
diff --git a/apps/nshlib/Kconfig b/apps/nshlib/Kconfig
index d12a32973..17b107b8f 100644
--- a/apps/nshlib/Kconfig
+++ b/apps/nshlib/Kconfig
@@ -23,122 +23,194 @@ config NSH_BUILTIN_APPS
 		(NAMEDAPP).
 
 menu "Disable Individual commands"
+
+config NSH_DISABLE_BASE64DEC
+	bool "Disable base64dec"
+	default n
+	depends on NETUTILS_CODECS && CODECS_BASE64
+
+config NSH_DISABLE_BASE64ENC
+	bool "Disable base64enc"
+	default n
+	depends on NETUTILS_CODECS && CODECS_BASE64
+
 config NSH_DISABLE_CAT
 	bool "Disable cat"
 	default n
+
 config NSH_DISABLE_CD
 	bool "Disable cd"
 	default n
+
 config NSH_DISABLE_CP
 	bool "Disable cp"
 	default n
+
 config NSH_DISABLE_DD
 	bool "Disable dd"
 	default n
+
 config NSH_DISABLE_ECHO
 	bool "Disable echo"
 	default n
+
 config NSH_DISABLE_EXEC
 	bool "Disable exec"
 	default n
+
 config NSH_DISABLE_EXIT
 	bool "Disable exit"
 	default n
+
 config NSH_DISABLE_FREE
 	bool "Disable free"
 	default n
+
 config NSH_DISABLE_GET
 	bool "Disable get"
 	default n
+
 config NSH_DISABLE_HELP
 	bool "Disable help"
 	default n
+
+config NSH_DISABLE_HEXDUMP
+	bool "Disable hexdump"
+	default n
+
 config NSH_DISABLE_IFCONFIG
 	bool "Disable ifconfig"
 	default n
+
 config NSH_DISABLE_KILL
 	bool "Disable kill"
 	default n
+
 config NSH_DISABLE_LOSETUP
 	bool "Disable losetup"
 	default n
+
 config NSH_DISABLE_LS
 	bool "Disable ls"
 	default n
+
 config NSH_DISABLE_MB
 	bool "Disable mb"
 	default n
+
+config NSH_DISABLE_MD5
+	bool "Disable md5"
+	default n
+	depends on NETUTILS_CODECS && CODECS_HASH_MD5
+
 config NSH_DISABLE_MKDIR
 	bool "Disable mkdir"
 	default n
+
 config NSH_DISABLE_MKFATFS
 	bool "Disable mkfatfs"
 	default n
+
 config NSH_DISABLE_MKFIFO
 	bool "Disable mkfifo"
 	default n
+
 config NSH_DISABLE_MKRD
 	bool "Disable mkrd"
 	default n
+
 config NSH_DISABLE_MH
 	bool "Disable mh"
 	default n
+
 config NSH_DISABLE_MOUNT
 	bool "Disable mount"
 	default n
+
 config NSH_DISABLE_MW
 	bool "Disable mw"
 	default n
+
 config NSH_DISABLE_NSFMOUNT
 	bool "Disable nfsmount"
 	default n
+
 config NSH_DISABLE_PS
 	bool "Disable ps"
 	default n
+
 config NSH_DISABLE_PING
 	bool "Disable ping"
 	default n
+
 config NSH_DISABLE_PUT
 	bool "Disable put"
 	default n
+
 config NSH_DISABLE_PWD
 	bool "Disable pwd"
 	default n
+
 config NSH_DISABLE_RM
 	bool "Disable rm"
 	default n
+
 config NSH_DISABLE_RMDIR
 	bool "Disable rmdir"
 	default n
+
 config NSH_DISABLE_SET
 	bool "Disable set"
 	default n
+
 config NSH_DISABLE_SH
 	bool "Disable sh"
 	default n
+
 config NSH_DISABLE_SLEEP
 	bool "Disable sleep"
 	default n
+
 config NSH_DISABLE_TEST
 	bool "Disable test"
 	default n
+
 config NSH_DISABLE_UMOUNT
 	bool "Disable umount"
 	default n
+
 config NSH_DISABLE_UNSET
 	bool "Disable unset"
 	default n
+
+config NSH_DISABLE_URLDECODE
+	bool "Disable urldecode"
+	default n
+	depends on NETUTILS_CODECS && CODECS_URLCODE
+
+config NSH_DISABLE_URLENCODE
+	bool "Disable urlencode"
+	default n
+	depends on NETUTILS_CODECS && CODECS_URLCODE
+
 config NSH_DISABLE_USLEEP
 	bool "Disable usleep"
 	default n
+
 config NSH_DISABLE_WGET
 	bool "Disable wget"
 	default n
+
 config NSH_DISABLE_XD
 	bool "Disable xd"
 	default n
+
 endmenu
 
+config NSH_CODECS_BUFSIZE
+	int "File buffer size used by CODEC commands"
+	default 128
+
 config NSH_FILEIOSIZE
 	int "NSH I/O buffer size"
 	default 1024
@@ -490,7 +562,7 @@ config NSH_DHCPC
 
 config NSH_IPADDR
 	hex "Target IP address"
-	default 0x10000002
+	default 0xa0000002
 	depends on NSH_LIBRARY && NET && !NSH_DHCPC
 	---help---
 		If NSH_DHCPC is NOT set, then the static IP address must be provided.
@@ -499,7 +571,7 @@ config NSH_IPADDR
 
 config NSH_DRIPADDR
 	hex "Router IP address"
-	default 0x10000001
+	default 0xa0000001
 	depends on NSH_LIBRARY && NET && !NSH_DHCPC
 	---help---
 		Default router IP address (aka, Gateway).  This is a 32-bit integer
@@ -513,6 +585,21 @@ config NSH_NETMASK
 		Network mask.  This is a 32-bit integer value in host order.  So, as
 		an example, 0xffffff00 would be 255.255.255.0.
 
+config NSH_DNS
+	bool "Use DNS"
+	default n
+	depends on NSH_LIBRARY && NET && NET_UDP && NET_BROADCAST
+	---help---
+		Configure to use a DNS.
+
+config NSH_DNSIPADDR
+	hex "DNS IP address"
+	default 0xa0000001
+	depends on NSH_DNS
+	---help---
+		Configure the DNS address.  This is a 32-bit integer value in host
+		order.  So, as an example, 0xa0000001 would be 10.0.0.1.
+
 config NSH_NOMAC
 	bool "Hardware has no MAC address"
 	default n
@@ -520,3 +607,12 @@ config NSH_NOMAC
 	---help---
 		Set if your ethernet hardware has no built-in MAC address.
 		If set, a bogus MAC will be assigned.
+
+config NSH_MAX_ROUNDTRIP
+	int "Max Ping Round-Trip (DSEC)"
+	default 20
+	depends on NSH_LIBRARY && NET && !NSH_DISABLE_PING
+	---help---
+		This is the maximum round trip for a response to a ICMP ECHO request.
+		It is in units of deciseconds.  The default is 20 (2 seconds).
+
diff --git a/apps/nshlib/Makefile b/apps/nshlib/Makefile
index f616374bf..73325e899 100644
--- a/apps/nshlib/Makefile
+++ b/apps/nshlib/Makefile
@@ -39,64 +39,72 @@ include $(APPDIR)/Make.defs
 
 # NSH Library
 
-ASRCS	=
-CSRCS	= nsh_init.c nsh_parse.c nsh_console.c nsh_fscmds.c nsh_ddcmd.c \
+ASRCS =
+CSRCS = nsh_init.c nsh_parse.c nsh_console.c nsh_fscmds.c nsh_ddcmd.c \
 		nsh_proccmds.c nsh_mmcmds.c nsh_envcmds.c nsh_dbgcmds.c
 
 ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
-CSRCS	+= nsh_apps.c
+CSRCS += nsh_apps.c
 endif
 
 ifeq ($(CONFIG_NSH_ROMFSETC),y)
-CSRCS	+= nsh_romfsetc.c
+CSRCS += nsh_romfsetc.c
 endif
 
 ifeq ($(CONFIG_NET),y)
-CSRCS	+= nsh_netinit.c nsh_netcmds.c
+CSRCS += nsh_netinit.c nsh_netcmds.c
 endif
 
 ifeq ($(CONFIG_RTC),y)
-CSRCS	+= nsh_timcmds.c
+CSRCS += nsh_timcmds.c
 endif
 
 ifneq ($(CONFIG_DISABLE_MOUNTPOINT),y)
-CSRCS	+= nsh_mntcmds.c
+CSRCS += nsh_mntcmds.c
 endif
 
 ifeq ($(CONFIG_NSH_CONSOLE),y)
-CSRCS	+= nsh_consolemain.c
+CSRCS += nsh_consolemain.c
 endif
 
 ifeq ($(CONFIG_NSH_TELNET),y)
-CSRCS	+= nsh_telnetd.c
+CSRCS += nsh_telnetd.c
 endif
 
 ifneq ($(CONFIG_NSH_DISABLESCRIPT),y)
-CSRCS	+= nsh_test.c
+CSRCS += nsh_test.c
 endif
 
 ifeq ($(CONFIG_USBDEV),y)
-CSRCS	+= nsh_usbdev.c
+CSRCS += nsh_usbdev.c
 endif
 
-AOBJS		= $(ASRCS:.S=$(OBJEXT))
-COBJS		= $(CSRCS:.c=$(OBJEXT))
+ifeq ($(CONFIG_NETUTILS_CODECS),y)
+CSRCS += nsh_codeccmd.c
+endif
+
+AOBJS = $(ASRCS:.S=$(OBJEXT))
+COBJS = $(CSRCS:.c=$(OBJEXT))
 
-SRCS		= $(ASRCS) $(CSRCS)
-OBJS		= $(AOBJS) $(COBJS)
+SRCS = $(ASRCS) $(CSRCS)
+OBJS = $(AOBJS) $(COBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../libapps$(LIBEXT)
+endif
 endif
 
-ROOTDEPPATH	= --dep-path .
-VPATH		= 
+ROOTDEPPATH = --dep-path .
+VPATH = 
 
 # Build targets
 
-all:	.built
+all: .built
 .PHONY: context .depend depend clean distclean
 
 $(AOBJS): %$(OBJEXT): %.S
@@ -106,26 +114,25 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
+	$(call ARCHIVE, $(BIN), $(OBJS))
 	@touch .built
 
 context:
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) \
-	  $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, .context)
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
 
diff --git a/apps/nshlib/README.txt b/apps/nshlib/README.txt
index 0f6aee759..bc626e699 100644
--- a/apps/nshlib/README.txt
+++ b/apps/nshlib/README.txt
@@ -235,6 +235,10 @@ o test <expression>
                       integer -gt integer | integer -le integer |
                       integer -lt integer | integer -ne integer
 
+o base64dec [-w] [-f] <string or filepath>
+
+o base64dec [-w] [-f] <string or filepath>
+
 o cat <path> [<path> [<path> ...]]
 
   This command copies and concatentates all of the files at <path>
@@ -381,7 +385,11 @@ o help [-v] [<cmd>]
   <cmd>
     Show full command usage only for this command
 
-o ifconfig
+o hexdump <file or device>
+
+  Dump data in hexadecimal format from a file or character device.
+
+o ifconfig [nic_name [<ip-address>|dhcp]] [dr|gw|gateway <dr-address>] [netmask <net-mask>] [dns <dns-address>] [hw <hw-mac>]
 
   Show the current configuration of the network, for example:
 
@@ -392,6 +400,22 @@ o ifconfig
   if uIP statistics are enabled (CONFIG_NET_STATISTICS), then
   this command will also show the detailed state of uIP.
 
+o ifdown <nic-name>
+
+  Take down the interface identified by the name <nic-name>.
+
+  Example:
+
+    ifdown eth0
+
+o ifup <nic-name>
+
+  Bring up down the interface identified by the name <nic-name>.
+
+  Example:
+
+    ifup eth0
+
 o kill -<signal> <pid>
 
   Send the <signal> to the task identified by <pid>.
@@ -449,6 +473,8 @@ o ls [-lRs] <dir-path>
      -l Show size and mode information along with the filenames
         in the listing.
 
+o md5 [-f] <string or filepath>
+
 o mb <hex-address>[=<hex-value>][ <hex-byte-count>]
 o mh <hex-address>[=<hex-value>][ <hex-byte-count>]
 o mw <hex-address>[=<hex-value>][ <hex-byte-count>]
@@ -781,6 +807,10 @@ o unset <name>
 
     nsh>
 
+ o urldecode [-f] <string or filepath>
+ 
+ o urlencode [-f] <string or filepath>
+
 o usleep <usec>
 
   Pause execution (sleep) of <usec> microseconds.
@@ -826,6 +856,8 @@ Command Dependencies on Configuration Settings
   Command    Depends on Configuration
   ---------- --------------------------
   [          !CONFIG_NSH_DISABLESCRIPT
+  base64dec  CONFIG_NETUTILS_CODECS && CONFIG_CODECS_BASE64
+  base64enc  CONFIG_NETUTILS_CODECS && CONFIG_CODECS_BASE64
   cat        CONFIG_NFILE_DESCRIPTORS > 0
   cd         !CONFIG_DISABLE_ENVIRON && CONFIG_NFILE_DESCRIPTORS > 0
   cp         CONFIG_NFILE_DESCRIPTORS > 0
@@ -837,10 +869,14 @@ Command Dependencies on Configuration Settings
   free       --
   get        CONFIG_NET && CONFIG_NET_UDP && CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NET_BUFSIZE >= 558  (see note 1)
   help       --
+  hexdump    CONFIG_NFILE_DESCRIPTORS > 0
   ifconfig   CONFIG_NET
+  ifdown     CONFIG_NET
+  ifup       CONFIG_NET
   kill       !CONFIG_DISABLE_SIGNALS
   losetup    !CONFIG_DISABLE_MOUNTPOINT && CONFIG_NFILE_DESCRIPTORS > 0
   ls         CONFIG_NFILE_DESCRIPTORS > 0
+  md5        CONFIG_NETUTILS_CODECS && CONFIG_CODECS_HASH_MD5
   mb,mh,mw   ---
   mkdir      !CONFIG_DISABLE_MOUNTPOINT && CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_FS_WRITABLE (see note 4)
   mkfatfs    !CONFIG_DISABLE_MOUNTPOINT && CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_FS_FAT
@@ -861,6 +897,8 @@ Command Dependencies on Configuration Settings
   test       !CONFIG_NSH_DISABLESCRIPT
   umount     !CONFIG_DISABLE_MOUNTPOINT && CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_FS_READABLE
   unset      !CONFIG_DISABLE_ENVIRON
+  urldecode  CONFIG_NETUTILS_CODECS && CONFIG_CODECS_URLCODE
+  urlencode  CONFIG_NETUTILS_CODECS && CONFIG_CODECS_URLCODE
   usleep     !CONFIG_DISABLE_SIGNALS
   get        CONFIG_NET && CONFIG_NET_TCP && CONFIG_NFILE_DESCRIPTORS > 0
   xd         ---
@@ -880,20 +918,22 @@ In addition, each NSH command can be individually disabled via one of the follow
 settings.  All of these settings make the configuration of NSH potentially complex but
 also allow it to squeeze into very small memory footprints.
 
-  CONFIG_NSH_DISABLE_CAT,      CONFIG_NSH_DISABLE_CD,       CONFIG_NSH_DISABLE_CP,
-  CONFIG_NSH_DISABLE_DD,       CONFIG_NSH_DISABLE_DF,       CONFIG_NSH_DISABLE_ECHO,
-  CONFIG_NSH_DISABLE_EXEC,     CONFIG_NSH_DISABLE_EXIT,     CONFIG_NSH_DISABLE_FREE,
-  CONFIG_NSH_DISABLE_GET,      CONFIG_NSH_DISABLE_HELP,     CONFIG_NSH_DISABLE_IFCONFIG,
-  CONFIG_NSH_DISABLE_KILL,     CONFIG_NSH_DISABLE_LOSETUP,  CONFIG_NSH_DISABLE_LS,
-  CONFIG_NSH_DISABLE_MB,       CONFIG_NSH_DISABLE_MKDIR,    CONFIG_NSH_DISABLE_MKFATFS,
-  CONFIG_NSH_DISABLE_MKFIFO,   CONFIG_NSH_DISABLE_MKRD,     CONFIG_NSH_DISABLE_MH,
-  CONFIG_NSH_DISABLE_MOUNT,    CONFIG_NSH_DISABLE_MW,       CONFIG_NSH_DISABLE_MV,
-  CONFIG_NSH_DISABLE_NFSMOUNT, CONFIG_NSH_DISABLE_PS,       CONFIG_NSH_DISABLE_PING,
-  CONFIG_NSH_DISABLE_PUT,      CONFIG_NSH_DISABLE_PWD,      CONFIG_NSH_DISABLE_RM,
-  CONFIG_NSH_DISABLE_RMDIR,    CONFIG_NSH_DISABLE_SET,      CONFIG_NSH_DISABLE_SH,
-  CONFIG_NSH_DISABLE_SLEEP,    CONFIG_NSH_DISABLE_TEST,     CONFIG_NSH_DISABLE_UMOUNT,
-  CONFIG_NSH_DISABLE_UNSET,    CONFIG_NSH_DISABLE_USLEEP,   CONFIG_NSH_DISABLE_WGET,
-  CONFIG_NSH_DISABLE_XD
+  CONFIG_NSH_DISABLE_BASE64DEC, CONFIG_NSH_DISABLE_BASE64ENC, CONFIG_NSH_DISABLE_CAT,
+  CONFIG_NSH_DISABLE_CD,        CONFIG_NSH_DISABLE_CP,        CONFIG_NSH_DISABLE_DD,
+  CONFIG_NSH_DISABLE_DF,        CONFIG_NSH_DISABLE_ECHO,      CONFIG_NSH_DISABLE_EXEC,
+  CONFIG_NSH_DISABLE_EXIT,      CONFIG_NSH_DISABLE_FREE,      CONFIG_NSH_DISABLE_GET,
+  CONFIG_NSH_DISABLE_HELP,      CONFIG_NSH_DISABLE_HEXDUMP,   CONFIG_NSH_DISABLE_IFCONFIG,
+  CONFIG_NSH_DISABLE_IFUPDOWN,  CONFIG_NSH_DISABLE_KILL,      CONFIG_NSH_DISABLE_LOSETUP,
+  CONFIG_NSH_DISABLE_LS,        CONFIG_NSH_DISABLE_MD5        CONFIG_NSH_DISABLE_MB,
+  CONFIG_NSH_DISABLE_MKDIR,     CONFIG_NSH_DISABLE_MKFATFS,   CONFIG_NSH_DISABLE_MKFIFO,
+  CONFIG_NSH_DISABLE_MKRD,      CONFIG_NSH_DISABLE_MH,        CONFIG_NSH_DISABLE_MOUNT,
+  CONFIG_NSH_DISABLE_MW,        CONFIG_NSH_DISABLE_MV,        CONFIG_NSH_DISABLE_NFSMOUNT,
+  CONFIG_NSH_DISABLE_PS,        CONFIG_NSH_DISABLE_PING,      CONFIG_NSH_DISABLE_PUT,
+  CONFIG_NSH_DISABLE_PWD,       CONFIG_NSH_DISABLE_RM,        CONFIG_NSH_DISABLE_RMDIR,
+  CONFIG_NSH_DISABLE_SET,       CONFIG_NSH_DISABLE_SH,        CONFIG_NSH_DISABLE_SLEEP,
+  CONFIG_NSH_DISABLE_TEST,      CONFIG_NSH_DISABLE_UMOUNT,    CONFIG_NSH_DISABLE_UNSET,
+  CONFIG_NSH_DISABLE_URLDECODE, CONFIG_NSH_DISABLE_URLENCODE, CONFIG_NSH_DISABLE_USLEEP,
+  CONFIG_NSH_DISABLE_WGET,      CONFIG_NSH_DISABLE_XD
 
 Verbose help output can be suppressed by defining CONFIG_NSH_HELP_TERSE.  In that
 case, the help command is still available but will be slightly smaller.
@@ -1084,6 +1124,10 @@ NSH-Specific Configuration Settings
       Set if your ethernet hardware has no built-in MAC address.
       If set, a bogus MAC will be assigned.
 
+  * CONFIG_NSH_MAX_ROUNDTRIP
+     This is the maximum round trip for a response to a ICMP ECHO request.
+    It is in units of deciseconds.  The default is 20 (2 seconds).
+
   If you use DHCPC, then some special configuration network options are
   required.  These include:
 
diff --git a/apps/nshlib/nsh.h b/apps/nshlib/nsh.h
index 7188477ce..a046a384f 100644
--- a/apps/nshlib/nsh.h
+++ b/apps/nshlib/nsh.h
@@ -47,6 +47,7 @@
 #include <stdio.h>
 #include <stdint.h>
 #include <stdbool.h>
+#include <unistd.h>
 #include <errno.h>
 
 #include <nuttx/usb/usbdev_trace.h>
@@ -215,6 +216,15 @@
 
 #endif /* CONFIG_NSH_TELNET_LOGIN */
 
+/* CONFIG_NSH_MAX_ROUNDTRIP - This is the maximum round trip for a response to
+ *   a ICMP ECHO request. It is in units of deciseconds.  The default is 20
+ *   (2 seconds).
+ */
+
+#ifndef CONFIG_NSH_MAX_ROUNDTRIP
+#  define CONFIG_NSH_MAX_ROUNDTRIP 20
+#endif
+
 /* Verify support for ROMFS /etc directory support options */
 
 #ifdef CONFIG_NSH_ROMFSETC
@@ -258,12 +268,36 @@
 #  undef CONFIG_NSH_ROMFSSECTSIZE
 #endif
 
-/* This is the maximum number of arguments that will be accepted for a command */
-#ifdef CONFIG_NSH_MAX_ARGUMENTS
-#  define NSH_MAX_ARGUMENTS CONFIG_NSH_MAX_ARGUMENTS
-#else
-#  define NSH_MAX_ARGUMENTS 10
+/* This is the maximum number of arguments that will be accepted for a
+ * command.  Here we attempt to select the smallest number possible depending
+ * upon the of commands that are available.  Most commands use six or fewer
+ * arguments, but there are a few that require more.
+ *
+ * This value is also configurable with CONFIG_NSH_MAXARGUMENTS.  This
+ * configurability is necessary since there may also be external, "built-in"
+ * commands that require more commands than NSH is aware of.
+ */
+
+#ifndef CONFIG_NSH_MAXARGUMENTS
+#  define CONFIG_NSH_MAXARGUMENTS 6
 #endif
+
+#if CONFIG_NSH_MAXARGUMENTS < 11
+#  if defined(CONFIG_NET) && !defined(CONFIG_NSH_DISABLE_IFCONFIG)
+#    undef CONFIG_NSH_MAXARGUMENTS
+#    define CONFIG_NSH_MAXARGUMENTS 11
+#  endif
+#endif
+
+#if CONFIG_NSH_MAXARGUMENTS < 7
+#  if defined(CONFIG_NET_UDP) && CONFIG_NFILE_DESCRIPTORS > 0
+#    if !defined(CONFIG_NSH_DISABLE_GET) || !defined(CONFIG_NSH_DISABLE_PUT)
+#      undef CONFIG_NSH_MAXARGUMENTS
+#      define CONFIG_NSH_MAXARGUMENTS 7
+#    endif
+# endif
+#endif
+
 /* strerror() produces much nicer output but is, however, quite large and
  * will only be used if CONFIG_NSH_STRERROR is defined.  Note that the strerror
  * interface must also have been enabled with CONFIG_LIBC_STRERROR.
@@ -507,7 +541,7 @@ void nsh_usbtrace(void);
 #ifndef CONFIG_NSH_DISABLE_XD
   int cmd_xd(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
 #endif
-
+  
 #if !defined(CONFIG_NSH_DISABLESCRIPT) && !defined(CONFIG_NSH_DISABLE_TEST)
   int cmd_test(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
   int cmd_lbracket(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
@@ -529,6 +563,9 @@ void nsh_usbtrace(void);
 #  ifndef CONFIG_NSH_DISABLE_DD
       int cmd_dd(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
 #  endif
+#  ifndef CONFIG_NSH_DISABLE_HEXDUMP
+      int cmd_hexdump(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
+#   endif
 #  ifndef CONFIG_NSH_DISABLE_LS
       int cmd_ls(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
 #  endif
@@ -595,6 +632,10 @@ void nsh_usbtrace(void);
 #  ifndef CONFIG_NSH_DISABLE_IFCONFIG
       int cmd_ifconfig(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
 #  endif
+#  ifndef CONFIG_NSH_DISABLE_IFUPDOWN
+      int cmd_ifup(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
+      int cmd_ifdown(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
+#  endif
 #if defined(CONFIG_NET_UDP) && CONFIG_NFILE_DESCRIPTORS > 0
 #  ifndef CONFIG_NSH_DISABLE_GET
       int cmd_get(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
@@ -643,4 +684,28 @@ void nsh_usbtrace(void);
 #  endif
 #endif /* CONFIG_DISABLE_SIGNALS */
 
+#if defined(CONFIG_NETUTILS_CODECS) && defined(CONFIG_CODECS_BASE64)
+#  ifndef CONFIG_NSH_DISABLE_BASE64DEC
+      int cmd_base64decode(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
+#  endif
+#  ifndef CONFIG_NSH_DISABLE_BASE64ENC
+      int cmd_base64encode(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
+#  endif
+#endif
+
+#if defined(CONFIG_NETUTILS_CODECS) && defined(CONFIG_CODECS_HASH_MD5)
+#  ifndef CONFIG_NSH_DISABLE_MD5
+      int cmd_md5(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
+#  endif
+#endif
+
+#if defined(CONFIG_NETUTILS_CODECS) && defined(CONFIG_CODECS_URLCODE)
+#  ifndef CONFIG_NSH_DISABLE_URLDECODE
+      int cmd_urlencode(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
+#  endif
+#  ifndef CONFIG_NSH_DISABLE_URLENCODE
+      int cmd_urldecode(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
+#  endif
+#endif
+
 #endif /* __APPS_NSHLIB_NSH_H */
diff --git a/apps/nshlib/nsh_apps.c b/apps/nshlib/nsh_apps.c
index e335c2e2c..7dbaf9ba8 100644
--- a/apps/nshlib/nsh_apps.c
+++ b/apps/nshlib/nsh_apps.c
@@ -122,13 +122,28 @@ int nsh_execapp(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
   ret = exec_namedapp(cmd, (FAR const char **)argv);
   if (ret >= 0)
     {
-      /* The application was successfully started (but still blocked because the
-       * scheduler is locked).  If the application was not backgrounded, then we
-       * need to wait here for the application to exit.
+      /* The application was successfully started (but still blocked because
+       * the scheduler is locked).  If the application was not backgrounded,
+       * then we need to wait here for the application to exit.  These really
+       * only works works with the following options:
+       *
+       * - CONFIG_NSH_DISABLEBG - Do not run commands in background
+       * - CONFIG_SCHED_WAITPID - Required to run external commands in
+       *     foreground
+       *
+       * These concepts do not apply cleanly to the external applications.
        */
 
 #ifdef CONFIG_SCHED_WAITPID
+
+      /* CONFIG_SCHED_WAITPID is selected, so we may run the command in
+       * foreground unless we were specifically requested to run the command
+       * in background (and running commands in background is enabled).
+       */
+
+#  ifndef CONFIG_NSH_DISABLEBG
       if (vtbl->np.np_bg == false)
+#  endif /* CONFIG_NSH_DISABLEBG */
         {
           int rc = 0;
 
@@ -155,8 +170,25 @@ int nsh_execapp(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
               */
             }
         }
+#  ifndef CONFIG_NSH_DISABLEBG
       else
-#endif
+#  endif /* CONFIG_NSH_DISABLEBG */
+#endif /* CONFIG_SCHED_WAITPID */
+
+      /* We get here if either:
+       *
+       * - CONFIG_SCHED_WAITPID is not selected meaning that all commands
+       *   have to be run in background, or
+       * - CONFIG_SCHED_WAITPID and CONFIG_NSH_DISABLEBG are both selected, but the
+       *   user requested to run the command in background.
+       *
+       * NOTE that the case of a) CONFIG_SCHED_WAITPID is not selected and
+       * b) CONFIG_NSH_DISABLEBG selected cannot be supported.  In that event, all
+       * commands will have to run in background.  The waitpid() API must be
+       * available to support running the command in foreground.
+       */
+
+#if !defined(CONFIG_SCHED_WAITPID) || !defined(CONFIG_NSH_DISABLEBG)
         {
           struct sched_param param;
           sched_getparam(0, &param);
@@ -168,6 +200,7 @@ int nsh_execapp(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
 
           ret = OK;
         }
+#endif /* !CONFIG_SCHED_WAITPID || !CONFIG_NSH_DISABLEBG */
     }
 
   sched_unlock();
diff --git a/apps/nshlib/nsh_consolemain.c b/apps/nshlib/nsh_consolemain.c
index 6b51be470..f05447a64 100644
--- a/apps/nshlib/nsh_consolemain.c
+++ b/apps/nshlib/nsh_consolemain.c
@@ -160,11 +160,11 @@ int nsh_consolemain(int argc, char *argv[])
         }
     }
 
-  /* Clean up */
+  /* Clean up.  We do not get here, but this is necessary to keep some
+   * compilers happy.  But others will complain that this code is not
+   * reachable.
+   */
 
   nsh_exit(&pstate->cn_vtbl, 0);
-
-  /* We do not get here, but this is necessary to keep some compilers happy */
-
   return OK;
 }
diff --git a/apps/nshlib/nsh_dbgcmds.c b/apps/nshlib/nsh_dbgcmds.c
index 384b377f3..85a4ccb9c 100644
--- a/apps/nshlib/nsh_dbgcmds.c
+++ b/apps/nshlib/nsh_dbgcmds.c
@@ -46,6 +46,10 @@
 #include <string.h>
 #include <errno.h>
 
+#if CONFIG_NFILE_DESCRIPTORS > 0
+# include <fcntl.h>
+#endif
+
 #include "nsh.h"
 #include "nsh_console.h"
 
@@ -99,7 +103,7 @@ int mem_parse(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv,
       pcvalue++;
 
       lvalue = (unsigned long)strtol(pcvalue, NULL, 16);
-      if (lvalue > 0xffffffff)
+      if (lvalue > 0xffffffffL)
         {
           return -EINVAL;
         }
@@ -127,6 +131,7 @@ int mem_parse(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv,
     {
       mem->dm_count = 1;
     }
+
   return OK;
 }
 
@@ -327,7 +332,7 @@ void nsh_dumpbuffer(FAR struct nsh_vtbl_s *vtbl, const char *msg,
 }
 
 /****************************************************************************
- * Name: cmd_xd
+ * Name: cmd_xd, hex dump of memory
  ****************************************************************************/
 
 #ifndef CONFIG_NSH_DISABLE_XD
@@ -353,3 +358,58 @@ int cmd_xd(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
   return OK;
 }
 #endif
+
+/****************************************************************************
+ * Name: cmd_hexdump, hex dump of files
+ ****************************************************************************/
+
+#if CONFIG_NFILE_DESCRIPTORS > 0
+#ifndef CONFIG_NSH_DISABLE_HEXDUMP
+int cmd_hexdump(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
+{
+  uint8_t buffer[IOBUFFERSIZE];
+  char msg[32];
+  int position;
+  int fd;
+  int ret = OK;
+  
+  /* Open the file for reading */
+
+  fd = open(argv[1], O_RDONLY);
+  if (fd < 0)
+    {
+      nsh_output(vtbl, g_fmtcmdfailed, "hexdump", "open", NSH_ERRNO);
+      return ERROR;
+    }
+  
+  position = 0;
+  for (;;)
+  {
+    int nbytesread = read(fd, buffer, IOBUFFERSIZE);
+
+    /* Check for read errors */
+
+    if (nbytesread < 0)
+      {
+        int errval = errno;
+        nsh_output(vtbl, g_fmtcmdfailed, "hexdump", "read", NSH_ERRNO_OF(errval));
+        ret = ERROR;
+        break;
+      }
+    else if (nbytesread > 0)
+      {
+        snprintf(msg, sizeof(msg), "%s at %08x", argv[1], position);
+        nsh_dumpbuffer(vtbl, msg, buffer, nbytesread);
+        position += nbytesread;
+      }
+    else
+      {
+        break; // EOF
+      }
+  }
+  
+  (void)close(fd);
+  return ret;
+}
+#endif
+#endif
diff --git a/apps/nshlib/nsh_netcmds.c b/apps/nshlib/nsh_netcmds.c
index cfea5a08a..371d30460 100644
--- a/apps/nshlib/nsh_netcmds.c
+++ b/apps/nshlib/nsh_netcmds.c
@@ -51,6 +51,7 @@
 #include <fcntl.h>       /* Needed for open */
 #include <libgen.h>      /* Needed for basename */
 #include <errno.h>
+#include <debug.h>
 
 #include <nuttx/net/net.h>
 #include <nuttx/clock.h>
@@ -80,6 +81,15 @@
 #  endif
 #endif
 
+#if defined(CONFIG_NSH_DHCPC) || defined(CONFIG_NSH_DNS)
+#  ifdef CONFIG_HAVE_GETHOSTBYNAME
+#    include <netdb.h>
+#  else
+#    include <apps/netutils/resolv.h>
+#  endif
+#  include <apps/netutils/dhcpc.h>
+#endif
+
 #include "nsh.h"
 #include "nsh_console.h"
 
@@ -87,8 +97,16 @@
  * Definitions
  ****************************************************************************/
 
+/* Size of the ECHO data */
+
 #define DEFAULT_PING_DATALEN 56
 
+/* Get the larger value */
+
+#ifndef MAX
+#  define MAX(a,b) (a > b ? a : b)
+#endif
+
 /****************************************************************************
  * Private Types
  ****************************************************************************/
@@ -262,14 +280,34 @@ int ifconfig_callback(FAR struct uip_driver_s *dev, void *arg)
 {
   struct nsh_vtbl_s *vtbl = (struct nsh_vtbl_s*)arg;
   struct in_addr addr;
+  bool is_running = false;
+  int ret;
+
+  ret = uip_getifstatus(dev->d_ifname,&is_running);
+  if (ret != OK)
+    {
+      nsh_output(vtbl, "\tGet %s interface flags error: %d\n",
+                 dev->d_ifname, ret);
+    }
+
+  nsh_output(vtbl, "%s\tHWaddr %s at %s\n",
+             dev->d_ifname, ether_ntoa(&dev->d_mac), (is_running)?"UP":"DOWN");
 
-  nsh_output(vtbl, "%s\tHWaddr %s\n", dev->d_ifname, ether_ntoa(&dev->d_mac));
   addr.s_addr = dev->d_ipaddr;
   nsh_output(vtbl, "\tIPaddr:%s ", inet_ntoa(addr));
+
   addr.s_addr = dev->d_draddr;
   nsh_output(vtbl, "DRaddr:%s ", inet_ntoa(addr));
+
   addr.s_addr = dev->d_netmask;
-  nsh_output(vtbl, "Mask:%s\n\n", inet_ntoa(addr));
+  nsh_output(vtbl, "Mask:%s\n", inet_ntoa(addr));
+
+#if defined(CONFIG_NSH_DHCPC) || defined(CONFIG_NSH_DNS)
+  resolv_getserver(&addr);
+  nsh_output(vtbl, "\tDNSaddr:%s\n", inet_ntoa(addr));
+#endif
+
+  nsh_output(vtbl, "\n");
   return OK;
 }
 
@@ -469,6 +507,54 @@ int cmd_get(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
 #endif
 
 /****************************************************************************
+ * Name: cmd_ifup
+ ****************************************************************************/
+
+#ifndef CONFIG_NSH_DISABLE_IFUPDOWN
+int cmd_ifup(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
+{
+  FAR char *intf = NULL;
+  int ret;
+
+  if (argc != 2)
+    {
+      nsh_output(vtbl, "Please select nic_name:\n");
+      netdev_foreach(ifconfig_callback, vtbl);
+      return OK;
+    }
+
+  intf = argv[1];
+  ret  = uip_ifup(intf);
+  nsh_output(vtbl, "ifup %s...%s\n", intf, (ret == OK) ? "OK" : "Failed");
+  return ret;
+}
+#endif
+
+/****************************************************************************
+ * Name: cmd_ifdown
+ ****************************************************************************/
+
+#ifndef CONFIG_NSH_DISABLE_IFUPDOWN
+int cmd_ifdown(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
+{
+  FAR char *intf = NULL;
+  int ret;
+
+  if (argc != 2)
+    {
+      nsh_output(vtbl, "Please select nic_name:\n");
+      netdev_foreach(ifconfig_callback, vtbl);
+      return OK;
+    }
+
+  intf = argv[1];
+  ret = uip_ifdown(intf);
+  nsh_output(vtbl, "ifdown %s...%s\n", intf, (ret == OK) ? "OK" : "Failed");
+  return ret;
+}
+#endif
+
+/****************************************************************************
  * Name: cmd_ifconfig
  ****************************************************************************/
 
@@ -476,7 +562,20 @@ int cmd_get(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
 int cmd_ifconfig(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
 {
   struct in_addr addr;
-  in_addr_t ip;
+  in_addr_t gip;
+  int i;
+  FAR char *intf = NULL;
+  FAR char *hostip = NULL;
+  FAR char *gwip = NULL;
+  FAR char *mask = NULL;
+  FAR char *tmp = NULL;
+  FAR char *hw = NULL;
+  FAR char *dns = NULL;
+  bool badarg = false;
+  uint8_t mac[IFHWADDRLEN];
+#if defined(CONFIG_NSH_DHCPC)
+  FAR void *handle;
+#endif
 
   /* With one or no arguments, ifconfig simply shows the status of ethernet
    * device:
@@ -498,24 +597,201 @@ int cmd_ifconfig(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
    *    ifconfig nic_name ip_address
    */
 
-  /* Set host ip address */
+  if (argc > 2)
+    {
+      for(i = 0; i < argc; i++)
+        {
+          if (i == 1)
+            {
+              intf = argv[i];
+            }
+          else if (i == 2)
+            {
+              hostip = argv[i];
+            }
+          else
+            {
+              tmp = argv[i];
+              if (!strcmp(tmp, "dr") || !strcmp(tmp, "gw") || !strcmp(tmp, "gateway"))
+                {
+                  if (argc-1 >= i+1)
+                    {
+                      gwip = argv[i+1];
+                      i++;
+                    }
+                  else
+                    {
+                      badarg = true;
+                    }
+                }
+              else if(!strcmp(tmp, "netmask"))
+                {
+                  if (argc-1 >= i+1)
+                    {
+                      mask = argv[i+1];
+                      i++;
+                    }
+                  else
+                    {
+                      badarg = true;
+                    }
+                }
+              else if(!strcmp(tmp, "hw"))
+                {
+                  if (argc-1>=i+1)
+                    {
+                      hw = argv[i+1];
+                      i++;
+                      badarg = !uiplib_hwmacconv(hw, mac);
+                    }
+                  else
+                    {
+                      badarg = true;
+                    }
+                }
+              else if(!strcmp(tmp, "dns"))
+                {
+                  if (argc-1 >= i+1)
+                    {
+                      dns = argv[i+1];
+                      i++;
+                    }
+                  else
+                    {
+                      badarg = true;
+                    }
+                }
+            }
+        }
+    }
+
+  if (badarg)
+    {
+      nsh_output(vtbl, g_fmtargrequired, argv[0]);
+      return ERROR;
+    }
+
+  /* Set Hardware ethernet MAC addr */
+
+  if (hw)
+    {
+      ndbg("HW MAC: %s\n", hw);
+      uip_setmacaddr(intf, mac);
+    }
+
+#if defined(CONFIG_NSH_DHCPC)
+  if (!strcmp(hostip, "dhcp"))
+    {
+      /* Set DHCP addr */
+
+      ndbg("DHCPC Mode\n");
+      gip = addr.s_addr = 0;
+    }
+  else
+#endif
+    {
+      /* Set host IP address */
+
+      ndbg("Host IP: %s\n", hostip);
+      gip = addr.s_addr = inet_addr(hostip);
+    }
 
-  ip = addr.s_addr = inet_addr(argv[2]);
-  uip_sethostaddr(argv[1], &addr);
+  uip_sethostaddr(intf, &addr);
 
   /* Set gateway */
 
-  ip = NTOHL(ip);
-  ip &= ~0x000000ff;
-  ip |= 0x00000001;
+  if (gwip)
+    {
+      ndbg("Gateway: %s\n", gwip);
+      gip = addr.s_addr = inet_addr(gwip);
+    }
+  else
+    {
+      if (gip)
+        {
+          ndbg("Gateway: default\n");
+          gip  = NTOHL(gip);
+          gip &= ~0x000000ff;
+          gip |= 0x00000001;
+          gip  = HTONL(gip);
+        }
+
+      addr.s_addr = gip;
+    }
+
+  uip_setdraddr(intf, &addr);
+
+  /* Set network mask */
+
+  if (mask)
+    {
+      ndbg("Netmask: %s\n",mask);
+      addr.s_addr = inet_addr(mask);
+    }
+  else
+    {
+      ndbg("Netmask: Default\n");
+      addr.s_addr = inet_addr("255.255.255.0");
+    }
+
+  uip_setnetmask(intf, &addr);
 
-  addr.s_addr = HTONL(ip);
-  uip_setdraddr(argv[1], &addr);
+#if defined(CONFIG_NSH_DHCPC) || defined(CONFIG_NSH_DNS)
+  if (dns)
+    {
+      ndbg("DNS: %s\n", dns);
+      addr.s_addr = inet_addr(dns);
+    }
+  else
+    {
+      ndbg("DNS: Default\n");
+      addr.s_addr = gip;
+    }
+
+  resolv_conf(&addr);
+#endif
+
+#if defined(CONFIG_NSH_DHCPC)
+  /* Get the MAC address of the NIC */
+
+  if (!gip)
+    {
+      uip_getmacaddr("eth0", mac);
+
+      /* Set up the DHCPC modules */
+
+      handle = dhcpc_open(&mac, IFHWADDRLEN);
+
+      /* Get an IP address.  Note that there is no logic for renewing the IP address in this
+       * example.  The address should be renewed in ds.lease_time/2 seconds.
+       */
+
+      if (handle)
+        {
+          struct dhcpc_state ds;
 
-  /* Set netmask */
+          (void)dhcpc_request(handle, &ds);
+          uip_sethostaddr("eth0", &ds.ipaddr);
 
-  addr.s_addr = inet_addr("255.255.255.0");
-  uip_setnetmask(argv[1], &addr);
+          if (ds.netmask.s_addr != 0)
+            {
+              uip_setnetmask("eth0", &ds.netmask);
+            }
+
+          if (ds.default_router.s_addr != 0)
+            {
+              uip_setdraddr("eth0", &ds.default_router);
+            }
+
+          if (ds.dnsaddr.s_addr != 0)
+            {
+              resolv_conf(&ds.dnsaddr);
+            }
+
+          dhcpc_close(handle);
+        }
+    }
+#endif
 
   return OK;
 }
@@ -536,6 +812,7 @@ int cmd_ping(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
   uint32_t start;
   uint32_t next;
   uint32_t dsec = 10;
+  uint32_t maxwait;
   uint16_t id;
   bool badarg = false;
   int count = 10;
@@ -599,7 +876,7 @@ int cmd_ping(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
   if (optind == argc-1)
     {
       staddr = argv[optind];
-      if (!uiplib_ipaddrconv(staddr, (FAR unsigned char*)&ipaddr))
+      if (dns_gethostip(staddr, &ipaddr) < 0)
         {
           goto errout;
         }
@@ -619,16 +896,26 @@ int cmd_ping(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
 
   id = ping_newid();
 
+  /* The maximum wait for a response will be the larger of the inter-ping time and
+   * the configured maximum round-trip time.
+   */
+
+  maxwait = MAX(dsec, CONFIG_NSH_MAX_ROUNDTRIP);
+
   /* Loop for the specified count */
 
-  nsh_output(vtbl, "PING %s %d bytes of data\n", staddr, DEFAULT_PING_DATALEN);
+  nsh_output(vtbl, "PING %d.%d.%d.%d %d bytes of data\n",
+            (ipaddr       ) & 0xff, (ipaddr >> 8  ) & 0xff,
+            (ipaddr >> 16 ) & 0xff, (ipaddr >> 24 ) & 0xff,
+            DEFAULT_PING_DATALEN);
+
   start = g_system_timer;
   for (i = 1; i <= count; i++)
     {
       /* Send the ECHO request and wait for the response */
 
       next  = g_system_timer;
-      seqno = uip_ping(ipaddr, id, i, DEFAULT_PING_DATALEN, dsec);
+      seqno = uip_ping(ipaddr, id, i, DEFAULT_PING_DATALEN, maxwait);
 
       /* Was any response returned? We can tell if a non-negative sequence
        * number was returned.
@@ -636,7 +923,7 @@ int cmd_ping(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
 
       if (seqno >= 0 && seqno <= i)
         {
-          /* Get the elpased time from the time that the request was
+          /* Get the elapsed time from the time that the request was
            * sent until the response was received.  If we got a response
            * to an earlier request, then fudge the elpased time.
            */
@@ -644,7 +931,7 @@ int cmd_ping(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
           elapsed = TICK2MSEC(g_system_timer - next);
           if (seqno < i)
             {
-              elapsed += 100*dsec*(i - seqno);
+              elapsed += 100 * dsec * (i - seqno);
             }
 
           /* Report the receipt of the reply */
@@ -662,7 +949,7 @@ int cmd_ping(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
       elapsed = TICK2DSEC(g_system_timer - next);
       if (elapsed < dsec)
         {
-          usleep(100000*dsec);
+          usleep(100000 * (dsec - elapsed));
         }
     }
 
diff --git a/apps/nshlib/nsh_netinit.c b/apps/nshlib/nsh_netinit.c
index bc845c4ed..58d238312 100644
--- a/apps/nshlib/nsh_netinit.c
+++ b/apps/nshlib/nsh_netinit.c
@@ -47,7 +47,7 @@
 #include <net/if.h>
 
 #include <apps/netutils/uiplib.h>
-#if defined(CONFIG_NSH_DHCPC)
+#if defined(CONFIG_NSH_DHCPC) || defined(CONFIG_NSH_DNS)
 #  include <apps/netutils/resolv.h>
 #  include <apps/netutils/dhcpc.h>
 #endif
@@ -60,6 +60,10 @@
  * Definitions
  ****************************************************************************/
 
+#if defined(CONFIG_NSH_DRIPADDR) && !defined(CONFIG_NSH_DNSIPADDR)
+#  define CONFIG_NSH_DNSIPADDR CONFIG_NSH_DRIPADDR
+#endif
+
 /****************************************************************************
  * Private Types
  ****************************************************************************/
@@ -125,10 +129,14 @@ int nsh_netinit(void)
   addr.s_addr = HTONL(CONFIG_NSH_NETMASK);
   uip_setnetmask("eth0", &addr);
 
-#if defined(CONFIG_NSH_DHCPC)
+#if defined(CONFIG_NSH_DHCPC) || defined(CONFIG_NSH_DNS)
   /* Set up the resolver */
 
   resolv_init();
+#if defined(CONFIG_NSH_DNS)
+  addr.s_addr = HTONL(CONFIG_NSH_DNSIPADDR);
+  resolv_conf(&addr);
+#endif
 #endif
 
 #if defined(CONFIG_NSH_DHCPC)
@@ -148,7 +156,7 @@ int nsh_netinit(void)
     {
         struct dhcpc_state ds;
         (void)dhcpc_request(handle, &ds);
-        uip_sethostaddr("eth1", &ds.ipaddr);
+        uip_sethostaddr("eth0", &ds.ipaddr);
         if (ds.netmask.s_addr != 0)
           {
             uip_setnetmask("eth0", &ds.netmask);
diff --git a/apps/nshlib/nsh_parse.c b/apps/nshlib/nsh_parse.c
index df2f7c3e3..27068acff 100644
--- a/apps/nshlib/nsh_parse.c
+++ b/apps/nshlib/nsh_parse.c
@@ -73,19 +73,19 @@
 /* Argument list size
  *
  *   argv[0]:      The command name. 
- *   argv[1]:      The beginning of argument (up to NSH_MAX_ARGUMENTS)
+ *   argv[1]:      The beginning of argument (up to CONFIG_NSH_MAXARGUMENTS)
  *   argv[argc-3]: Possibly '>' or '>>'
  *   argv[argc-2]: Possibly <file>
  *   argv[argc-1]: Possibly '&' (if pthreads are enabled)
  *   argv[argc]:   NULL terminating pointer
  *
- * Maximum size is NSH_MAX_ARGUMENTS+5
+ * Maximum size is CONFIG_NSH_MAXARGUMENTS+5
  */
 
 #ifndef CONFIG_NSH_DISABLEBG
-#  define MAX_ARGV_ENTRIES (NSH_MAX_ARGUMENTS+5)
+#  define MAX_ARGV_ENTRIES (CONFIG_NSH_MAXARGUMENTS+5)
 #else
-#  define MAX_ARGV_ENTRIES (NSH_MAX_ARGUMENTS+4)
+#  define MAX_ARGV_ENTRIES (CONFIG_NSH_MAXARGUMENTS+4)
 #endif
 
 /* Help command summary layout */
@@ -146,16 +146,25 @@ static const char g_failure[]    = "1";
 static const struct cmdmap_s g_cmdmap[] =
 {
 #if !defined(CONFIG_NSH_DISABLESCRIPT) && !defined(CONFIG_NSH_DISABLE_TEST)
-  { "[",        cmd_lbracket, 4, NSH_MAX_ARGUMENTS, "<expression> ]" },
+  { "[",        cmd_lbracket, 4, CONFIG_NSH_MAXARGUMENTS, "<expression> ]" },
 #endif
 
 #ifndef CONFIG_NSH_DISABLE_HELP
   { "?",        cmd_help,     1, 1, NULL },
 #endif
 
+#if defined(CONFIG_NETUTILS_CODECS) && defined(CONFIG_CODECS_BASE64)
+#  ifndef CONFIG_NSH_DISABLE_BASE64DEC
+  { "base64dec", cmd_base64decode, 2, 4, "[-w] [-f] <string or filepath>" },
+#  endif
+#  ifndef CONFIG_NSH_DISABLE_BASE64ENC
+  { "base64enc", cmd_base64encode, 2, 4, "[-w] [-f] <string or filepath>" },
+#  endif
+#endif
+
 #if CONFIG_NFILE_DESCRIPTORS > 0
 # ifndef CONFIG_NSH_DISABLE_CAT
-  { "cat",      cmd_cat,      2, NSH_MAX_ARGUMENTS, "<path> [<path> [<path> ...]]" },
+  { "cat",      cmd_cat,      2, CONFIG_NSH_MAXARGUMENTS, "<path> [<path> [<path> ...]]" },
 # endif
 #ifndef CONFIG_DISABLE_ENVIRON
 # ifndef CONFIG_NSH_DISABLE_CD
@@ -187,9 +196,9 @@ static const struct cmdmap_s g_cmdmap[] =
 
 #ifndef CONFIG_NSH_DISABLE_ECHO
 # ifndef CONFIG_DISABLE_ENVIRON
-  { "echo",     cmd_echo,     0, NSH_MAX_ARGUMENTS, "[<string|$name> [<string|$name>...]]" },
+  { "echo",     cmd_echo,     0, CONFIG_NSH_MAXARGUMENTS, "[<string|$name> [<string|$name>...]]" },
 # else
-  { "echo",     cmd_echo,     0, NSH_MAX_ARGUMENTS, "[<string> [<string>...]]" },
+  { "echo",     cmd_echo,     0, CONFIG_NSH_MAXARGUMENTS, "[<string> [<string>...]]" },
 # endif
 #endif
 
@@ -217,10 +226,20 @@ static const struct cmdmap_s g_cmdmap[] =
   { "help",     cmd_help,     1, 3, "[-v] [<cmd>]" },
 # endif
 #endif
+  
+#if CONFIG_NFILE_DESCRIPTORS > 0
+#ifndef CONFIG_NSH_DISABLE_HEXDUMP
+  { "hexdump",  cmd_hexdump,  2, 2, "<file or device>" },
+#endif
+#endif
 
 #ifdef CONFIG_NET
 # ifndef CONFIG_NSH_DISABLE_IFCONFIG
-  { "ifconfig", cmd_ifconfig, 1, 3, "[nic_name [ip]]" },
+  { "ifconfig", cmd_ifconfig, 1, 11, "[nic_name [<ip-address>|dhcp]] [dr|gw|gateway <dr-address>] [netmask <net-mask>] [dns <dns-address>] [hw <hw-mac>]" },
+# endif
+# ifndef CONFIG_NSH_DISABLE_IFUPDOWN
+  { "ifdown",   cmd_ifdown,   2, 2,  "<nic_name>" },
+  { "ifup",     cmd_ifup,     2, 2,  "<nic_name>" },
 # endif
 #endif
 
@@ -246,6 +265,12 @@ static const struct cmdmap_s g_cmdmap[] =
   { "mb",       cmd_mb,       2, 3, "<hex-address>[=<hex-value>][ <hex-byte-count>]" },
 #endif
 
+#if defined(CONFIG_NETUTILS_CODECS) && defined(CONFIG_CODECS_HASH_MD5)
+#  ifndef CONFIG_NSH_DISABLE_MD5
+  { "md5",      cmd_md5,      2, 3, "[-f] <string or filepath>" },
+#  endif
+#endif
+
 #if !defined(CONFIG_DISABLE_MOUNTPOINT) && CONFIG_NFILE_DESCRIPTORS > 0 && defined(CONFIG_FS_WRITABLE)
 # ifndef CONFIG_NSH_DISABLE_MKDIR
   { "mkdir",    cmd_mkdir,    2, 2, "<path>" },
@@ -348,7 +373,7 @@ static const struct cmdmap_s g_cmdmap[] =
 #endif
 
 #if !defined(CONFIG_NSH_DISABLESCRIPT) && !defined(CONFIG_NSH_DISABLE_TEST)
-  { "test",     cmd_test,     3, NSH_MAX_ARGUMENTS, "<expression>" },
+  { "test",     cmd_test,     3, CONFIG_NSH_MAXARGUMENTS, "<expression>" },
 #endif
 
 #if !defined(CONFIG_DISABLE_MOUNTPOINT) && CONFIG_NFILE_DESCRIPTORS > 0 && defined(CONFIG_FS_READABLE)
@@ -363,6 +388,15 @@ static const struct cmdmap_s g_cmdmap[] =
 # endif
 #endif
 
+#if defined(CONFIG_NETUTILS_CODECS) && defined(CONFIG_CODECS_URLCODE)
+#  ifndef CONFIG_NSH_DISABLE_URLDECODE
+  { "urldecode", cmd_urldecode, 2, 3, "[-f] <string or filepath>" },
+#  endif
+#  ifndef CONFIG_NSH_DISABLE_URLENCODE
+  { "urlencode", cmd_urlencode, 2, 3, "[-f] <string or filepath>" },
+#  endif
+#endif
+
 #ifndef CONFIG_DISABLE_SIGNALS
 # ifndef CONFIG_NSH_DISABLE_USLEEP
   { "usleep",   cmd_usleep,   2, 2, "<usec>" },
@@ -378,6 +412,7 @@ static const struct cmdmap_s g_cmdmap[] =
 #ifndef CONFIG_NSH_DISABLE_XD
   { "xd",       cmd_xd,       3, 3, "<hex-address> <byte-count>" },
 #endif
+
   { NULL,       NULL,         1, 1, NULL }
 };
 
@@ -711,7 +746,7 @@ static int nsh_execute(FAR struct nsh_vtbl_s *vtbl, int argc, char *argv[])
    *
    * argv[0]:      The command name.  This is argv[0] when the arguments
    *               are, finally, received by the command vtblr
-   * argv[1]:      The beginning of argument (up to NSH_MAX_ARGUMENTS)
+   * argv[1]:      The beginning of argument (up to CONFIG_NSH_MAXARGUMENTS)
    * argv[argc]:   NULL terminating pointer
    */
 
@@ -1318,13 +1353,13 @@ int nsh_parse(FAR struct nsh_vtbl_s *vtbl, char *cmdline)
    * of argv is:
    *
    *   argv[0]:      The command name. 
-   *   argv[1]:      The beginning of argument (up to NSH_MAX_ARGUMENTS)
+   *   argv[1]:      The beginning of argument (up to CONFIG_NSH_MAXARGUMENTS)
    *   argv[argc-3]: Possibly '>' or '>>'
    *   argv[argc-2]: Possibly <file>
    *   argv[argc-1]: Possibly '&'
    *   argv[argc]:   NULL terminating pointer
    *
-   * Maximum size is NSH_MAX_ARGUMENTS+5
+   * Maximum size is CONFIG_NSH_MAXARGUMENTS+5
    */
 
   argv[0] = cmd;
@@ -1398,7 +1433,7 @@ int nsh_parse(FAR struct nsh_vtbl_s *vtbl, char *cmdline)
 
   /* Check if the maximum number of arguments was exceeded */
 
-  if (argc > NSH_MAX_ARGUMENTS)
+  if (argc > CONFIG_NSH_MAXARGUMENTS)
     {
       nsh_output(vtbl, g_fmttoomanyargs, cmd);
     }
diff --git a/apps/px4/tests/test_adc.c b/apps/px4/tests/test_adc.c
index c5960e757..4c021303f 100644
--- a/apps/px4/tests/test_adc.c
+++ b/apps/px4/tests/test_adc.c
@@ -53,96 +53,40 @@
 #include "tests.h"
 
 #include <nuttx/analog/adc.h>
+#include <drivers/drv_adc.h>
+#include <systemlib/err.h>
 
 int test_adc(int argc, char *argv[])
 {
-	int		fd0 = 0;
-	int		ret = 0;
-
-	#pragma pack(push,1)
-	struct adc_msg4_s {
-		uint8_t      am_channel1;	/**< The 8-bit ADC Channel 1 */
-		int32_t      am_data1;		/**< ADC convert result 1 (4 bytes) */
-		uint8_t      am_channel2;	/**< The 8-bit ADC Channel 2 */
-		int32_t      am_data2;		/**< ADC convert result 2 (4 bytes) */
-		uint8_t      am_channel3;	/**< The 8-bit ADC Channel 3 */
-		int32_t      am_data3;		/**< ADC convert result 3 (4 bytes) */
-		uint8_t      am_channel4;	/**< The 8-bit ADC Channel 4 */
-		int32_t      am_data4;		/**< ADC convert result 4 (4 bytes) */
-	};
-	#pragma pack(pop)
-
-	struct adc_msg4_s sample1;
-
-	ssize_t nbytes;
-	int j;
-	int errval;
-
-	fd0 = open("/dev/adc0", O_RDONLY | O_NONBLOCK);
-
-	if (fd0 <= 0) {
-		message("/dev/adc0 open fail: %d\n", errno);
-		return ERROR;
-
-	} else {
-		message("opened /dev/adc0 successfully\n");
-	}
-	usleep(10000);
-
-	for (j = 0; j < 10; j++) {
+	int fd = open(ADC_DEVICE_PATH, O_RDONLY);
 
-		/* sleep 20 milliseconds */
-		usleep(20000);
-		nbytes = read(fd0, &sample1, sizeof(sample1));
+	if (fd < 0)
+		err(1, "can't open ADC device");
 
-		/* Handle unexpected return values */
+	for (unsigned i = 0; i < 5; i++) {
+		/* make space for a maximum of eight channels */
+		struct adc_msg_s data[8];
+		/* read all channels available */
+		ssize_t count = read(fd, data, sizeof(data));
 
-		if (nbytes < 0) {
-			errval = errno;
+		if (count < 0)
+			goto errout_with_dev;
 
-			if (errval != EINTR) {
-				message("reading /dev/adc0 failed: %d\n", errval);
-				errval = 3;
-				goto errout_with_dev;
-			}
+		unsigned channels = count / sizeof(data[0]);
 
-			message("\tinterrupted read..\n");
-
-		} else if (nbytes == 0) {
-			message("\tno data read, ignoring.\n");
-			ret = ERROR;
+		for (unsigned j = 0; j < channels; j++) {
+			printf("%d: %u  ", data[j].am_channel, data[j].am_data);
 		}
 
-		/* Print the sample data on successful return */
-
-		else {
-			if (nbytes != sizeof(sample1)) {
-				message("\tsample 1 size %d is not matching struct size %d, ignoring\n",
-					nbytes, sizeof(sample1));
-				ret = ERROR;
-
-			} else {
-
-				message("CYCLE %d:\n", j);
-
-				message("channel: %d value: %d\n",
-					(int)sample1.am_channel1, sample1.am_data1);
-				message("channel: %d value: %d\n",
-					(int)sample1.am_channel2, sample1.am_data2);
-				message("channel: %d value: %d\n",
-					(int)sample1.am_channel3, sample1.am_data3);
-				message("channel: %d value: %d\n",
-					(int)sample1.am_channel4, sample1.am_data4);
-			}
-		}
-		fflush(stdout);
+		printf("\n");
+		usleep(150000);
 	}
 
 	message("\t ADC test successful.\n");
 
 errout_with_dev:
 
-	if (fd0 != 0) close(fd0);
+	if (fd != 0) close(fd);
 
-	return ret;
+	return OK;
 }
diff --git a/apps/px4/tests/test_bson.c b/apps/px4/tests/test_bson.c
index e2a10ec29..a42c462ca 100644
--- a/apps/px4/tests/test_bson.c
+++ b/apps/px4/tests/test_bson.c
@@ -240,5 +240,5 @@ test_bson(int argc, char *argv[])
 	decode(&decoder);
 	free(buf);
 
-	exit(0);
+	return OK;
 }
\ No newline at end of file
diff --git a/apps/px4/tests/test_jig_voltages.c b/apps/px4/tests/test_jig_voltages.c
index 51f9b9a5b..10c93b264 100644
--- a/apps/px4/tests/test_jig_voltages.c
+++ b/apps/px4/tests/test_jig_voltages.c
@@ -52,7 +52,8 @@
 #include "tests.h"
 
 #include <nuttx/analog/adc.h>
-
+#include <drivers/drv_adc.h>
+#include <systemlib/err.h>
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -89,129 +90,79 @@
 
 int test_jig_voltages(int argc, char *argv[])
 {
-	int		fd0 = 0;
-	int		ret = OK;
-	const int nchannels = 4;
-
-	struct adc_msg4_s
-	{
-	  uint8_t      am_channel1;               /* The 8-bit ADC Channel */
-	  int32_t      am_data1;                  /* ADC convert result (4 bytes) */
-	  uint8_t      am_channel2;               /* The 8-bit ADC Channel */
-	  int32_t      am_data2;                  /* ADC convert result (4 bytes) */
-	  uint8_t      am_channel3;               /* The 8-bit ADC Channel */
-	  int32_t      am_data3;                  /* ADC convert result (4 bytes) */
-	  uint8_t      am_channel4;               /* The 8-bit ADC Channel */
-	  int32_t      am_data4;                  /* ADC convert result (4 bytes) */
-	}__attribute__((__packed__));;
-
-	struct adc_msg4_s sample1[4];
-
-	size_t readsize;
-	ssize_t nbytes;
-	int i = 0;
-	int j = 0;
-	int errval;
-
-	char name[11];
-	sprintf(name, "/dev/adc%d", j);
-	fd0 = open(name, O_RDONLY | O_NONBLOCK);
-	if (fd0 < 0)
-	{
-		printf("ADC: %s open fail\n", name);
-		return ERROR;
-	} else {
-		printf("Opened %s successfully\n", name);
+	int fd = open(ADC_DEVICE_PATH, O_RDONLY);
+	int ret = OK;
+
+	if (fd < 0) {
+		warnx("can't open ADC device");
+		return 1;
+	}
+
+	/* make space for a maximum of eight channels */
+	struct adc_msg_s data[8];
+	/* read all channels available */
+	ssize_t count = read(fd, data, sizeof(data));
+
+	if (count < 0) {
+		close(fd);
+		warnx("can't read from ADC driver. Forgot 'adc start' command?");
+		return 1;
+	}
+
+	unsigned channels = count / sizeof(data[0]);
+
+	for (unsigned j = 0; j < channels; j++) {
+		printf("%d: %u  ", data[j].am_channel, data[j].am_data);
 	}
 
+	printf("\n");
+
+	warnx("\t ADC operational.\n");
 
 	/* Expected values */
-	int16_t expected_min[] = {2700, 2700, 2200, 2000};
-	int16_t expected_max[] = {3000, 3000, 2500, 2200};
-	char* check_res[nchannels];
+	int16_t expected_min[] = {2800, 2800, 1800,  800};
+	int16_t expected_max[] = {3100, 3100, 2100, 1100};
+	char *check_res[channels];
 
-	/* first adc read round */
-	readsize = 4 * sizeof(struct adc_msg_s);
+	if (channels < 4) {
+		close(fd);
+		warnx("not all four test channels available, aborting.");
+		return 1;
 
-	/* Empty all buffers */
-	do {
-		nbytes = read(fd0, sample1, readsize);
+	} else {
+		/* Check values */
+		check_res[0] = (expected_min[0] < data[0].am_data && expected_max[0] > data[0].am_data) ? "OK" : "FAIL";
+		check_res[1] = (expected_min[1] < data[1].am_data && expected_max[1] > data[1].am_data) ? "OK" : "FAIL";
+		check_res[2] = (expected_min[2] < data[2].am_data && expected_max[2] > data[2].am_data) ? "OK" : "FAIL";
+		check_res[3] = (expected_min[3] < data[3].am_data && expected_max[3] > data[3].am_data) ? "OK" : "FAIL";
+
+		/* Accumulate result */
+		ret += (expected_min[0] > data[0].am_data || expected_max[0] < data[0].am_data) ? 1 : 0;
+		ret += (expected_min[1] > data[1].am_data || expected_max[1] < data[1].am_data) ? 1 : 0;
+		ret += (expected_min[2] > data[2].am_data || expected_max[2] < data[2].am_data) ? 1 : 0;
+		ret += (expected_min[3] > data[3].am_data || expected_max[3] < data[3].am_data) ? 1 : 0;
+
+		message("Sample:");
+		message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
+			data[0].am_channel, (int)(data[0].am_data), expected_min[0], expected_max[0], check_res[0]);
+		message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
+			data[1].am_channel, (int)(data[1].am_data), expected_min[1], expected_max[1], check_res[1]);
+		message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
+			data[2].am_channel, (int)(data[2].am_data), expected_min[2], expected_max[2], check_res[2]);
+		message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
+			data[3].am_channel, (int)(data[3].am_data), expected_min[3], expected_max[3], check_res[3]);
+
+		if (ret != OK) {
+			printf("\t JIG voltages test FAILED. Some channels where out of allowed range. Check supply voltages.\n");
+			goto errout_with_dev;
+		}
 	}
-	while (nbytes > 0);
-
-	up_udelay(20000);//microseconds
-	/* Take measurements */
-	nbytes = read(fd0, sample1, readsize);
-
-    /* Handle unexpected return values */
-
-    if (nbytes <= 0)
-      {
-        errval = errno;
-        if (errval != EINTR)
-          {
-            message("read %s failed: %d\n",
-                    name, errval);
-            errval = 3;
-            goto errout_with_dev;
-          }
-
-        message("\tInterrupted read...\n");
-      }
-    else if (nbytes == 0)
-      {
-        message("\tNo data read, Ignoring\n");
-      }
-
-    /* Print the sample data on successful return */
-
-    else
-    {
-    	int nsamples = nbytes / sizeof(struct adc_msg_s);
-    	if (nsamples * sizeof(struct adc_msg_s) != nbytes)
-    	{
-    		message("\tread size=%d is not a multiple of sample size=%d, Ignoring\n",
-    				nbytes, sizeof(struct adc_msg_s));
-    	}
-    	else
-    	{
-    		/* Check values */
-    		check_res[0] = (expected_min[0] < sample1[i].am_data1 && expected_max[0] > sample1[i].am_data1) ? "OK" : "FAIL";
-    		check_res[1] = (expected_min[1] < sample1[i].am_data2 && expected_max[1] > sample1[i].am_data2) ? "OK" : "FAIL";
-    		check_res[2] = (expected_min[2] < sample1[i].am_data3 && expected_max[2] > sample1[i].am_data3) ? "OK" : "FAIL";
-    		check_res[3] = (expected_min[3] < sample1[i].am_data4 && expected_max[3] > sample1[i].am_data4) ? "OK" : "FAIL";
-
-    		/* Accumulate result */
-    		ret += (expected_min[0] > sample1[i].am_data1 || expected_max[0] < sample1[i].am_data1) ? 1 : 0;
-    		// XXX Chan 11 not connected on test setup
-    		//ret += (expected_min[1] > sample1[i].am_data2 || expected_max[1] < sample1[i].am_data2) ? 1 : 0;
-    		ret += (expected_min[2] > sample1[i].am_data3 || expected_max[2] < sample1[i].am_data3) ? 1 : 0;
-    		ret += (expected_min[3] > sample1[i].am_data4 || expected_max[3] < sample1[i].am_data4) ? 1 : 0;
-
-    		message("Sample:");
-    		message("%d: channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
-    					i, sample1[i].am_channel1, sample1[i].am_data1, expected_min[0], expected_max[0], check_res[0]);
-        	message("Sample:");
-    		message("%d: channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
-						i, sample1[i].am_channel2, sample1[i].am_data2, expected_min[1], expected_max[1], check_res[1]);
-        	message("Sample:");
-    		message("%d: channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
-						i, sample1[i].am_channel3, sample1[i].am_data3, expected_min[2], expected_max[2], check_res[2]);
-        	message("Sample:");
-    		message("%d: channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
-						i, sample1[i].am_channel4, sample1[i].am_data4, expected_min[3], expected_max[3], check_res[3]);
-
-    		if (ret != OK) {
-    			printf("\t ADC test FAILED. Some channels where out of allowed range. Check supply voltages.\n");
-    		 	goto errout_with_dev;
-    		}
-    	}
-    }
-
-	printf("\t ADC test successful.\n");
-
-	errout_with_dev:
-	  if (fd0 != 0) close(fd0);
+
+	printf("\t JIG voltages test successful.\n");
+
+errout_with_dev:
+
+	if (fd != 0) close(fd);
 
 	return ret;
 }
diff --git a/apps/px4/tests/test_sleep.c b/apps/px4/tests/test_sleep.c
index c7b9d2833..ae682b542 100644
--- a/apps/px4/tests/test_sleep.c
+++ b/apps/px4/tests/test_sleep.c
@@ -90,9 +90,8 @@ int test_sleep(int argc, char *argv[])
 	printf("\t %d 100ms sleeps\n", nsleeps);
 	fflush(stdout);
 
-	for (int i = 0; i < nsleeps; i++) {
+	for (unsigned int i = 0; i < nsleeps; i++) {
 		usleep(100000);
-		//printf("\ttick\n");
 	}
 
 	printf("\t Sleep test successful.\n");
diff --git a/apps/px4/tests/test_time.c b/apps/px4/tests/test_time.c
index 25bf02c31..8a164f3fc 100644
--- a/apps/px4/tests/test_time.c
+++ b/apps/px4/tests/test_time.c
@@ -95,7 +95,7 @@ cycletime(void)
 
 	lasttime = cycles;
 
-	return (basetime + cycles) / 168;
+	return (basetime + cycles) / 168;	/* XXX magic number */
 }
 
 /****************************************************************************
@@ -133,9 +133,9 @@ int test_time(int argc, char *argv[])
 	lowdelta = abs(delta / 100);
 
 	/* loop checking the time */
-	for (unsigned i = 0; i < 100000; i++) {
+	for (unsigned i = 0; i < 100; i++) {
 
-		usleep(rand() * 10);
+		usleep(rand());
 
 		uint32_t flags = irqsave();
 
@@ -154,7 +154,7 @@ int test_time(int argc, char *argv[])
 			fprintf(stderr, "h %llu  c %llu  d %lld\n", h, c, delta - lowdelta);
 	}
 
-	printf("Maximum jitter %lld\n", maxdelta);
+	printf("Maximum jitter %lldus\n", maxdelta);
 
 	return 0;
 }
diff --git a/apps/px4/tests/tests_file.c b/apps/px4/tests/tests_file.c
index 697410cee..6f75b9812 100644
--- a/apps/px4/tests/tests_file.c
+++ b/apps/px4/tests/tests_file.c
@@ -37,6 +37,7 @@
  * File write test.
  */
 
+#include <sys/stat.h>
 #include <stdio.h>
 #include <unistd.h>
 #include <fcntl.h>
@@ -51,6 +52,13 @@
 int
 test_file(int argc, char *argv[])
 {
+	/* check if microSD card is mounted */
+	struct stat buffer;
+	if (stat("/fs/microsd/", &buffer)) {
+		warnx("no microSD card mounted, aborting file test");
+		return 1;
+	}
+
 	uint8_t buf[512];
 	hrt_abstime start, end;
 	perf_counter_t wperf = perf_alloc(PC_ELAPSED, "SD writes");
diff --git a/apps/px4/tests/tests_main.c b/apps/px4/tests/tests_main.c
index 26f7ef96b..5bedd257b 100644
--- a/apps/px4/tests/tests_main.c
+++ b/apps/px4/tests/tests_main.c
@@ -78,42 +78,43 @@ static int test_jig(int argc, char *argv[]);
  * Private Data
  ****************************************************************************/
 
-struct {
+const struct {
 	const char 	*name;
 	int	(* fn)(int argc, char *argv[]);
 	unsigned	options;
-	int			passed;
 #define OPT_NOHELP	(1<<0)
 #define OPT_NOALLTEST	(1<<1)
 #define OPT_NOJIGTEST	(1<<2)
 } tests[] = {
-	{"led",			test_led,	0, 0},
-	{"int",			test_int,	0, 0},
-	{"float",		test_float,	0, 0},
-	{"sensors",		test_sensors,	0, 0},
-	{"gpio",		test_gpio,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
-	{"hrt",			test_hrt,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
-	{"ppm",			test_ppm,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
-	{"servo",		test_servo,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
-	{"adc",			test_adc,	OPT_NOJIGTEST, 0},
-	{"jig_voltages",	test_jig_voltages,	OPT_NOALLTEST, 0},
-	{"uart_loopback",	test_uart_loopback,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
-	{"uart_baudchange",	test_uart_baudchange,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
-	{"uart_send",		test_uart_send,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
-	{"uart_console",	test_uart_console,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
-	{"tone",		test_tone,	0, 0},
-	{"sleep",		test_sleep,	OPT_NOJIGTEST, 0},
-	{"time",		test_time,	OPT_NOJIGTEST, 0},
-	{"perf",		test_perf,	OPT_NOJIGTEST, 0},
-	{"all",			test_all,	OPT_NOALLTEST | OPT_NOJIGTEST, 0},
-	{"jig",			test_jig,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
-	{"param",		test_param,	0, 0},
-	{"bson",		test_bson,	0, 0},
-	{"file",		test_file,	0, 0},
-	{"help",		test_help,	OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST, 0},
-	{NULL,			NULL, 		0, 0}
+	{"led",			test_led,	0},
+	{"int",			test_int,	0},
+	{"float",		test_float,	0},
+	{"sensors",		test_sensors,	0},
+	{"gpio",		test_gpio,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"hrt",			test_hrt,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"ppm",			test_ppm,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"servo",		test_servo,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"adc",			test_adc,	OPT_NOJIGTEST},
+	{"jig_voltages",	test_jig_voltages,	OPT_NOALLTEST},
+	{"uart_loopback",	test_uart_loopback,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"uart_baudchange",	test_uart_baudchange,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"uart_send",		test_uart_send,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"uart_console",	test_uart_console,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"tone",		test_tone,	0},
+	{"sleep",		test_sleep,	OPT_NOJIGTEST},
+	{"time",		test_time,	OPT_NOJIGTEST},
+	{"perf",		test_perf,	OPT_NOJIGTEST},
+	{"all",			test_all,	OPT_NOALLTEST | OPT_NOJIGTEST},
+	{"jig",			test_jig,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"param",		test_param,	0},
+	{"bson",		test_bson,	0},
+	{"file",		test_file,	0},
+	{"help",		test_help,	OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
+	{NULL,			NULL, 		0}
 };
 
+#define NTESTS (sizeof(tests) / sizeof(tests[0]))
+
 static int
 test_help(int argc, char *argv[])
 {
@@ -133,6 +134,7 @@ test_all(int argc, char *argv[])
 	unsigned	i;
 	char		*args[2] = {"all", NULL};
 	unsigned int failcount = 0;
+	bool		passed[NTESTS];
 
 	printf("\nRunning all tests...\n\n");
 
@@ -147,11 +149,11 @@ test_all(int argc, char *argv[])
 				fprintf(stderr, "  [%s] \t\t\tFAIL\n", tests[i].name);
 				fflush(stderr);
 				failcount++;
-
+				passed[i] = false;
 			} else {
-				tests[i].passed = 1;
 				printf("  [%s] \t\t\tPASS\n", tests[i].name);
 				fflush(stdout);
+				passed[i] = true;
 			}
 		}
 	}
@@ -195,7 +197,7 @@ test_all(int argc, char *argv[])
 	unsigned int k;
 
 	for (k = 0; k < i; k++) {
-		if ((tests[k].passed == 0) && !(tests[k].options & OPT_NOALLTEST)) {
+		if (!passed[k] && !(tests[k].options & OPT_NOALLTEST)) {
 			printf(" [%s] to obtain details, please re-run with\n\t nsh> tests %s\n\n", tests[k].name, tests[k].name);
 		}
 	}
@@ -242,6 +244,7 @@ int test_jig(int argc, char *argv[])
 	unsigned	i;
 	char		*args[2] = {"jig", NULL};
 	unsigned int failcount = 0;
+	bool		passed[NTESTS];
 
 	printf("\nRunning all tests...\n\n");
 	for (i = 0; tests[i].name; i++) {
@@ -254,10 +257,11 @@ int test_jig(int argc, char *argv[])
 				fprintf(stderr, "  [%s] \t\t\tFAIL\n", tests[i].name);
 				fflush(stderr);
 				failcount++;
+				passed[i] = false;
 			} else {
-				tests[i].passed = 1;
 				printf("  [%s] \t\t\tPASS\n", tests[i].name);
 				fflush(stdout);
+				passed[i] = true;
 			}
 		}
 	}
@@ -296,7 +300,7 @@ int test_jig(int argc, char *argv[])
 	unsigned int k;
 	for (k = 0; k < i; k++)
 	{
-		if ((tests[k].passed == 0) && !(tests[k].options & OPT_NOJIGTEST))
+		if (!passed[i] && !(tests[k].options & OPT_NOJIGTEST))
 		{
 			printf(" [%s] to obtain details, please re-run with\n\t nsh> tests %s\n\n", tests[k].name, tests[k].name);
 		}
diff --git a/apps/px4io/Makefile b/apps/px4io/Makefile
index 801695f84..d97f963ab 100644
--- a/apps/px4io/Makefile
+++ b/apps/px4io/Makefile
@@ -41,7 +41,9 @@
 #
 CSRCS		= $(wildcard *.c) \
 		  ../systemlib/hx_stream.c \
-		  ../systemlib/perf_counter.c
+		  ../systemlib/perf_counter.c \
+		  ../systemlib/up_cxxinitialize.c
+CXXSRCS		= $(wildcard *.cpp)
 
 INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
 
diff --git a/apps/px4io/adc.c b/apps/px4io/adc.c
new file mode 100644
index 000000000..e06b269dc
--- /dev/null
+++ b/apps/px4io/adc.c
@@ -0,0 +1,168 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file adc.c
+ *
+ * Simple ADC support for PX4IO on STM32.
+ */
+#include <nuttx/config.h>
+#include <stdint.h>
+
+#include <nuttx/arch.h>
+#include <arch/stm32/chip.h>
+#include <stm32_internal.h>
+
+#include <drivers/drv_hrt.h>
+#include <systemlib/perf_counter.h>
+
+#define DEBUG
+#include "px4io.h"
+
+/*
+ * Register accessors.
+ * For now, no reason not to just use ADC1.
+ */
+#define REG(_reg)	(*(volatile uint32_t *)(STM32_ADC1_BASE + _reg))
+
+#define rSR		REG(STM32_ADC_SR_OFFSET)
+#define rCR1		REG(STM32_ADC_CR1_OFFSET)
+#define rCR2		REG(STM32_ADC_CR2_OFFSET)
+#define rSMPR1		REG(STM32_ADC_SMPR1_OFFSET)
+#define rSMPR2		REG(STM32_ADC_SMPR2_OFFSET)
+#define rJOFR1		REG(STM32_ADC_JOFR1_OFFSET)
+#define rJOFR2		REG(STM32_ADC_JOFR2_OFFSET)
+#define rJOFR3		REG(STM32_ADC_JOFR3_OFFSET)
+#define rJOFR4		REG(STM32_ADC_JOFR4_OFFSET)
+#define rHTR		REG(STM32_ADC_HTR_OFFSET)
+#define rLTR		REG(STM32_ADC_LTR_OFFSET)
+#define rSQR1		REG(STM32_ADC_SQR1_OFFSET)
+#define rSQR2		REG(STM32_ADC_SQR2_OFFSET)
+#define rSQR3		REG(STM32_ADC_SQR3_OFFSET)
+#define rJSQR		REG(STM32_ADC_JSQR_OFFSET)
+#define rJDR1		REG(STM32_ADC_JDR1_OFFSET)
+#define rJDR2		REG(STM32_ADC_JDR2_OFFSET)
+#define rJDR3		REG(STM32_ADC_JDR3_OFFSET)
+#define rJDR4		REG(STM32_ADC_JDR4_OFFSET)
+#define rDR		REG(STM32_ADC_DR_OFFSET)
+
+perf_counter_t		adc_perf;
+
+int
+adc_init(void)
+{
+	adc_perf = perf_alloc(PC_ELAPSED, "adc");
+
+	/* do calibration if supported */
+#ifdef ADC_CR2_CAL
+	rCR2 |= ADC_CR2_RSTCAL;
+	up_udelay(1);
+
+	if (rCR2 & ADC_CR2_RSTCAL)
+		return -1;
+
+	rCR2 |= ADC_CR2_CAL;
+	up_udelay(100);
+
+	if (rCR2 & ADC_CR2_CAL)
+		return -1;
+
+#endif
+
+	/* arbitrarily configure all channels for 55 cycle sample time */
+	rSMPR1 = 0b00000011011011011011011011011011;
+	rSMPR2 = 0b00011011011011011011011011011011;
+
+	/* XXX for F2/4, might want to select 12-bit mode? */
+	rCR1 = 0;
+
+	/* enable the temperature sensor / Vrefint channel if supported*/
+	rCR2 =
+#ifdef ADC_CR2_TSVREFE
+		/* enable the temperature sensor in CR2 */
+		ADC_CR2_TSVREFE |
+#endif
+		0;
+
+#ifdef ADC_CCR_TSVREFE
+	/* enable temperature sensor in CCR */
+	rCCR = ADC_CCR_TSVREFE;
+#endif
+
+	/* configure for a single-channel sequence */
+	rSQR1 = 0;
+	rSQR2 = 0;
+	rSQR3 = 0;	/* will be updated with the channel each tick */
+
+	/* power-cycle the ADC and turn it on */
+	rCR2 &= ~ADC_CR2_ADON;
+	up_udelay(10);
+	rCR2 |= ADC_CR2_ADON;
+	up_udelay(10);
+	rCR2 |= ADC_CR2_ADON;
+	up_udelay(10);
+
+	return 0;
+}
+
+uint16_t
+adc_measure(unsigned channel)
+{
+	perf_begin(adc_perf);
+
+	/* clear any previous EOC */
+	if (rSR & ADC_SR_EOC)
+		rSR &= ~ADC_SR_EOC;
+
+	/* run a single conversion right now - should take about 60 cycles (a few microseconds) max */
+	rSQR3 = channel;
+	rCR2 |= ADC_CR2_ADON;
+
+	/* wait for the conversion to complete */
+	hrt_abstime now = hrt_absolute_time();
+
+	while (!(rSR & ADC_SR_EOC)) {
+
+		/* never spin forever - this will give a bogus result though */
+		if ((hrt_absolute_time() - now) > 1000) {
+			debug("adc timeout");
+			break;
+		}
+	}
+
+	/* read the result and clear EOC */
+	uint16_t result = rDR;
+
+	perf_end(adc_perf);
+	return result;
+}
\ No newline at end of file
diff --git a/apps/px4io/comms.c b/apps/px4io/comms.c
index 83a006d43..e51c2771a 100644
--- a/apps/px4io/comms.c
+++ b/apps/px4io/comms.c
@@ -52,6 +52,7 @@
 #include <nuttx/clock.h>
 
 #include <drivers/drv_hrt.h>
+#include <drivers/drv_pwm_output.h>
 #include <systemlib/hx_stream.h>
 #include <systemlib/perf_counter.h>
 
@@ -61,8 +62,7 @@
 #define FMU_MIN_REPORT_INTERVAL	  5000	/*  5ms */
 #define FMU_MAX_REPORT_INTERVAL	100000	/* 100ms */
 
-int frame_rx;
-int frame_bad;
+#define FMU_STATUS_INTERVAL	1000000	/* 100ms */
 
 static int			fmu_fd;
 static hx_stream_t		stream;
@@ -70,6 +70,8 @@ static struct px4io_report	report;
 
 static void			comms_handle_frame(void *arg, const void *buffer, size_t length);
 
+perf_counter_t			comms_rx_errors;
+
 static void
 comms_init(void)
 {
@@ -77,6 +79,9 @@ comms_init(void)
 	fmu_fd = open("/dev/ttyS1", O_RDWR);
 	stream = hx_stream_init(fmu_fd, comms_handle_frame, NULL);
 
+	comms_rx_errors = perf_alloc(PC_COUNT, "rx_err");
+	hx_stream_set_counters(stream, 0, 0, comms_rx_errors);
+
 	/* default state in the report to FMU */
 	report.i2f_magic = I2F_MAGIC;
 
@@ -87,6 +92,9 @@ comms_init(void)
 	cfsetspeed(&t, 115200);
 	t.c_cflag &= ~(CSTOPB | PARENB);
 	tcsetattr(fmu_fd, TCSANOW, &t);
+
+	/* init the ADC */
+	adc_init();
 }
 
 void
@@ -110,6 +118,7 @@ comms_main(void)
 		if (fds.revents & POLLIN) {
 			char buf[32];
 			ssize_t count = read(fmu_fd, buf, sizeof(buf));
+
 			for (int i = 0; i < count; i++)
 				hx_stream_rx(stream, buf[i]);
 		}
@@ -123,21 +132,70 @@ comms_main(void)
 		/* should we send a report to the FMU? */
 		now = hrt_absolute_time();
 		delta = now - last_report_time;
-		if ((delta > FMU_MIN_REPORT_INTERVAL) && 
+
+		if ((delta > FMU_MIN_REPORT_INTERVAL) &&
 		    (system_state.fmu_report_due || (delta > FMU_MAX_REPORT_INTERVAL))) {
 
 			system_state.fmu_report_due = false;
 			last_report_time = now;
 
 			/* populate the report */
-			for (unsigned i = 0; i < system_state.rc_channels; i++)
+			for (unsigned i = 0; i < system_state.rc_channels; i++) {
 				report.rc_channel[i] = system_state.rc_channel_data[i];
+			}
+
 			report.channel_count = system_state.rc_channels;
 			report.armed = system_state.armed;
 
+			report.battery_mv = system_state.battery_mv;
+			report.adc_in = system_state.adc_in5;
+			report.overcurrent = system_state.overcurrent;
+
 			/* and send it */
 			hx_stream_send(stream, &report, sizeof(report));
 		}
+
+		/*
+		 * Fetch ADC values, check overcurrent flags, etc.
+		 */
+		static hrt_abstime last_status_time;
+
+		if ((now - last_status_time) > FMU_STATUS_INTERVAL) {
+
+			/*
+			 * Coefficients here derived by measurement of the 5-16V
+			 * range on one unit:
+			 *
+			 * V   counts
+			 *  5  1001
+			 *  6  1219
+			 *  7  1436
+			 *  8  1653
+			 *  9  1870
+			 * 10  2086
+			 * 11  2303
+			 * 12  2522
+			 * 13  2738
+			 * 14  2956
+			 * 15  3172
+			 * 16  3389
+			 *
+			 * slope = 0.0046067
+			 * intercept = 0.3863
+			 *
+			 * Intercept corrected for best results @ 12V.
+			 */
+			unsigned counts = adc_measure(ADC_VBATT);
+			system_state.battery_mv = (4150 + (counts * 46)) / 10;
+
+			system_state.adc_in5 = adc_measure(ADC_IN5);
+
+			system_state.overcurrent =
+				(OVERCURRENT_SERVO ? (1 << 0) : 0) |
+				(OVERCURRENT_ACC   ? (1 << 1) : 0);
+
+			last_status_time = now;
+		}
 	}
 }
 
@@ -146,12 +204,22 @@ comms_handle_config(const void *buffer, size_t length)
 {
 	const struct px4io_config *cfg = (struct px4io_config *)buffer;
 
-	if (length != sizeof(*cfg)) {
-		frame_bad++;
+	if (length != sizeof(*cfg))
 		return;
+
+	/* fetch the rc mappings */
+	for (unsigned i = 0; i < 4; i++) {
+		system_state.rc_map[i] = cfg->rc_map[i];
 	}
 
-	frame_rx++;
+	/* fetch the rc channel attributes */
+	for (unsigned i = 0; i < 4; i++) {
+		system_state.rc_min[i]  = cfg->rc_min[i];
+		system_state.rc_trim[i] = cfg->rc_trim[i];
+		system_state.rc_max[i]  = cfg->rc_max[i];
+		system_state.rc_rev[i]  = cfg->rc_rev[i];
+		system_state.rc_dz[i]   = cfg->rc_dz[i];
+	}
 }
 
 static void
@@ -159,40 +227,79 @@ comms_handle_command(const void *buffer, size_t length)
 {
 	const struct px4io_command *cmd = (struct px4io_command *)buffer;
 
-	if (length != sizeof(*cmd)) {
-		frame_bad++;
+	if (length != sizeof(*cmd))
 		return;
-	}
 
-	frame_rx++;
 	irqstate_t flags = irqsave();
 
 	/* fetch new PWM output values */
-	for (unsigned i = 0; i < PX4IO_OUTPUT_CHANNELS; i++)
-		system_state.fmu_channel_data[i] = cmd->servo_command[i];
+	for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++)
+		system_state.fmu_channel_data[i] = cmd->output_control[i];
 
 	/* if the IO is armed and the FMU gets disarmed, the IO must also disarm */
-	if(system_state.arm_ok && !cmd->arm_ok) {
+	if (system_state.arm_ok && !cmd->arm_ok)
 		system_state.armed = false;
-	}
 
 	system_state.arm_ok = cmd->arm_ok;
-	system_state.mixer_use_fmu = true;
-	system_state.fmu_data_received = true;
+	system_state.vector_flight_mode_ok = cmd->vector_flight_mode_ok;
+	system_state.manual_override_ok = cmd->manual_override_ok;
+	system_state.mixer_fmu_available = true;
+	system_state.fmu_data_received_time = hrt_absolute_time();
+
+	/* set PWM update rate if changed (after limiting) */
+	uint16_t new_servo_rate = cmd->servo_rate;
+
+	/* reject faster than 500 Hz updates */
+	if (new_servo_rate > 500) {
+		new_servo_rate = 500;
+	}
 
+	/* reject slower than 50 Hz updates */
+	if (new_servo_rate < 50) {
+		new_servo_rate = 50;
+	}
+
+	if (system_state.servo_rate != new_servo_rate) {
+		up_pwm_servo_set_rate(new_servo_rate);
+		system_state.servo_rate = new_servo_rate;
+	}
 
-	/* handle changes signalled by FMU */
-//	if (!system_state.arm_ok && system_state.armed)
-//		system_state.armed = false;
+	/*
+	 * update servo values immediately.
+	 * the updates are done in addition also
+	 * in the mainloop, since this function will only
+	 * update with a connected FMU.
+	 */
+	mixer_tick();
+
+	/* handle relay state changes here */
+	for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++) {
+		if (system_state.relays[i] != cmd->relay_state[i]) {
+			switch (i) {
+			case 0:
+				POWER_ACC1(cmd->relay_state[i]);
+				break;
+
+			case 1:
+				POWER_ACC2(cmd->relay_state[i]);
+				break;
+
+			case 2:
+				POWER_RELAY1(cmd->relay_state[i]);
+				break;
+
+			case 3:
+				POWER_RELAY2(cmd->relay_state[i]);
+				break;
+			}
+		}
 
-	/* XXX do relay changes here */	
-	for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++)
 		system_state.relays[i] = cmd->relay_state[i];
+	}
 
 	irqrestore(flags);
 }
 
-
 static void
 comms_handle_frame(void *arg, const void *buffer, size_t length)
 {
@@ -205,11 +312,16 @@ comms_handle_frame(void *arg, const void *buffer, size_t length)
 		case F2I_MAGIC:
 			comms_handle_command(buffer, length);
 			break;
+
 		case F2I_CONFIG_MAGIC:
 			comms_handle_config(buffer, length);
 			break;
+
+		case F2I_MIXER_MAGIC:
+			mixer_handle_text(buffer, length);
+			break;
+
 		default:
-		    	frame_bad++;
 			break;
 		}
 	}
diff --git a/apps/px4io/controls.c b/apps/px4io/controls.c
index 3b3782918..169d5bb81 100644
--- a/apps/px4io/controls.c
+++ b/apps/px4io/controls.c
@@ -60,6 +60,10 @@
 #define DEBUG
 #include "px4io.h"
 
+#define RC_FAILSAFE_TIMEOUT		2000000		/**< two seconds failsafe timeout */
+#define RC_CHANNEL_HIGH_THRESH		1700
+#define RC_CHANNEL_LOW_THRESH		1300
+
 static void	ppm_input(void);
 
 void
@@ -88,8 +92,15 @@ controls_main(void)
 		 */
 		bool locked = false;
 
+		/*
+		 * Store RC channel count to detect switch to RC loss sooner
+		 * than just by timeout
+		 */
+		unsigned rc_channels = system_state.rc_channels;
+
 		if (fds[0].revents & POLLIN)
 			locked |= dsm_input();
+
 		if (fds[1].revents & POLLIN)
 			locked |= sbus_input();
 
@@ -106,22 +117,39 @@ controls_main(void)
 		if (!locked)
 			ppm_input();
 
+		/* check for manual override status */
+		if (system_state.rc_channel_data[4] > RC_CHANNEL_HIGH_THRESH) {
+			/* force manual input override */
+			system_state.mixer_manual_override = true;
+
+		} else {
+			/* override not engaged, use FMU */
+			system_state.mixer_manual_override = false;
+		}
+
 		/*
 		 * If we haven't seen any new control data in 200ms, assume we
 		 * have lost input and tell FMU.
 		 */
 		if ((hrt_absolute_time() - system_state.rc_channels_timestamp) > 200000) {
 
+			if (system_state.rc_channels > 0) {
+				/*
+				 * If the RC signal status (lost / present) has
+				 * just changed, request an update immediately.
+				 */
+				system_state.fmu_report_due = true;
+			}
+
 			/* set the number of channels to zero - no inputs */
 			system_state.rc_channels = 0;
-
-			/* trigger an immediate report to the FMU */
-			system_state.fmu_report_due = true;
 		}
 
-		/* XXX do bypass mode, etc. here */
-
-		/* do PWM output updates */
+		/*
+		 * PWM output updates are performed in addition on each comm update.
+		 * the updates here are required to ensure operation if FMU is not started
+		 * or stopped responding.
+		 */
 		mixer_tick();
 	}
 }
@@ -139,8 +167,10 @@ ppm_input(void)
 
 		/* PPM data exists, copy it */
 		system_state.rc_channels = ppm_decoded_channels;
-		for (unsigned i = 0; i < ppm_decoded_channels; i++)
+
+		for (unsigned i = 0; i < ppm_decoded_channels; i++) {
 			system_state.rc_channel_data[i] = ppm_buffer[i];
+		}
 
 		/* copy the timestamp and clear it */
 		system_state.rc_channels_timestamp = ppm_last_valid_decode;
@@ -150,5 +180,5 @@ ppm_input(void)
 
 		/* trigger an immediate report to the FMU */
 		system_state.fmu_report_due = true;
-	}	
+	}
 }
diff --git a/apps/px4io/dsm.c b/apps/px4io/dsm.c
index 2611f3a03..560ef47d9 100644
--- a/apps/px4io/dsm.c
+++ b/apps/px4io/dsm.c
@@ -47,7 +47,7 @@
 #include <termios.h>
 
 #include <systemlib/ppm_decode.h>
- 
+
 #include <drivers/drv_hrt.h>
 
 #define DEBUG
@@ -97,6 +97,7 @@ dsm_init(const char *device)
 		dsm_guess_format(true);
 
 		debug("DSM: ready");
+
 	} else {
 		debug("DSM: open failed");
 	}
@@ -118,7 +119,7 @@ dsm_input(void)
 	 * frame transmission time is ~1.4ms.
 	 *
 	 * We expect to only be called when bytes arrive for processing,
-	 * and if an interval of more than 5ms passes between calls, 
+	 * and if an interval of more than 5ms passes between calls,
 	 * the first byte we read will be the first byte of a frame.
 	 *
 	 * In the case where byte(s) are dropped from a frame, this also
@@ -126,6 +127,7 @@ dsm_input(void)
 	 * if we didn't drop bytes...
 	 */
 	now = hrt_absolute_time();
+
 	if ((now - last_rx_time) > 5000) {
 		if (partial_frame_count > 0) {
 			dsm_frame_drops++;
@@ -142,6 +144,7 @@ dsm_input(void)
 	/* if the read failed for any reason, just give up here */
 	if (ret < 1)
 		goto out;
+
 	last_rx_time = now;
 
 	/*
@@ -153,7 +156,7 @@ dsm_input(void)
 	 * If we don't have a full frame, return
 	 */
 	if (partial_frame_count < DSM_FRAME_SIZE)
-	 	goto out;
+		goto out;
 
 	/*
 	 * Great, it looks like we might have a frame.  Go ahead and
@@ -164,7 +167,7 @@ dsm_input(void)
 
 out:
 	/*
-	 * If we have seen a frame in the last 200ms, we consider ourselves 'locked' 
+	 * If we have seen a frame in the last 200ms, we consider ourselves 'locked'
 	 */
 	return (now - last_frame_time) < 200000;
 }
@@ -212,6 +215,7 @@ dsm_guess_format(bool reset)
 		/* if the channel decodes, remember the assigned number */
 		if (dsm_decode_channel(raw, 10, &channel, &value) && (channel < 31))
 			cs10 |= (1 << channel);
+
 		if (dsm_decode_channel(raw, 11, &channel, &value) && (channel < 31))
 			cs11 |= (1 << channel);
 
@@ -222,7 +226,7 @@ dsm_guess_format(bool reset)
 	if (samples++ < 5)
 		return;
 
-	/* 
+	/*
 	 * Iterate the set of sensible sniffed channel sets and see whether
 	 * decoding in 10 or 11-bit mode has yielded anything we recognise.
 	 *
@@ -233,7 +237,7 @@ dsm_guess_format(bool reset)
 	 *     See e.g. http://git.openpilot.org/cru/OPReview-116 for a discussion
 	 *     of this issue.
 	 */
-	static uint32_t masks[] = { 
+	static uint32_t masks[] = {
 		0x3f,	/* 6 channels (DX6) */
 		0x7f,	/* 7 channels (DX7) */
 		0xff,	/* 8 channels (DX8) */
@@ -247,14 +251,17 @@ dsm_guess_format(bool reset)
 
 		if (cs10 == masks[i])
 			votes10++;
+
 		if (cs11 == masks[i])
 			votes11++;
 	}
+
 	if ((votes11 == 1) && (votes10 == 0)) {
 		channel_shift = 11;
 		debug("DSM: detected 11-bit format");
 		return;
 	}
+
 	if ((votes10 == 1) && (votes11 == 0)) {
 		channel_shift = 10;
 		debug("DSM: detected 10-bit format");
@@ -270,13 +277,13 @@ static void
 dsm_decode(hrt_abstime frame_time)
 {
 
-/*
-	debug("DSM frame %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x",
-	      frame[0], frame[1], frame[2], frame[3], frame[4], frame[5], frame[6], frame[7],
-	      frame[8], frame[9], frame[10], frame[11], frame[12], frame[13], frame[14], frame[15]);
-*/
 	/*
-	 * If we have lost signal for at least a second, reset the 
+		debug("DSM frame %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x",
+		      frame[0], frame[1], frame[2], frame[3], frame[4], frame[5], frame[6], frame[7],
+		      frame[8], frame[9], frame[10], frame[11], frame[12], frame[13], frame[14], frame[15]);
+	*/
+	/*
+	 * If we have lost signal for at least a second, reset the
 	 * format guessing heuristic.
 	 */
 	if (((frame_time - last_frame_time) > 1000000) && (channel_shift != 0))
@@ -292,7 +299,7 @@ dsm_decode(hrt_abstime frame_time)
 	}
 
 	/*
-	 * The encoding of the first two bytes is uncertain, so we're 
+	 * The encoding of the first two bytes is uncertain, so we're
 	 * going to ignore them for now.
 	 *
 	 * Each channel is a 16-bit unsigned value containing either a 10-
@@ -322,9 +329,10 @@ dsm_decode(hrt_abstime frame_time)
 		/* convert 0-1024 / 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
 		if (channel_shift == 11)
 			value /= 2;
+
 		value += 998;
 
-		/* 
+		/*
 		 * Store the decoded channel into the R/C input buffer, taking into
 		 * account the different ideas about channel assignement that we have.
 		 *
@@ -335,14 +343,18 @@ dsm_decode(hrt_abstime frame_time)
 		case 0:
 			channel = 2;
 			break;
+
 		case 1:
 			channel = 0;
 			break;
+
 		case 2:
 			channel = 1;
+
 		default:
 			break;
 		}
+
 		system_state.rc_channel_data[channel] = value;
 	}
 
diff --git a/apps/px4io/mixer.c b/apps/px4io/mixer.c
deleted file mode 100644
index f02e98ae4..000000000
--- a/apps/px4io/mixer.c
+++ /dev/null
@@ -1,157 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. 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.
- * 3. Neither the name PX4 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.
- *
- ****************************************************************************/
-
-/**
- * @file mixer.c
- *
- * Control channel input/output mixer and failsafe.
- */
-
-#include <nuttx/config.h>
-#include <nuttx/arch.h>
-
-#include <sys/types.h>
-#include <stdbool.h>
-#include <string.h>
-#include <assert.h>
-#include <errno.h>
-#include <unistd.h>
-#include <fcntl.h>
-
-#include <drivers/drv_pwm_output.h>
-
-#include "px4io.h"
-
-/*
- * Count of periodic calls in which we have no FMU input.
- */
-static unsigned fmu_input_drops;
-#define FMU_INPUT_DROP_LIMIT	20
-
-/*
- * Update a mixer based on the current control signals.
- */
-static void	mixer_update(int mixer, uint16_t *inputs, int input_count);
-
-/* current servo arm/disarm state */
-bool mixer_servos_armed = false;
-
-/*
- * Each mixer consumes a set of inputs and produces a single output.
- */
-struct mixer {
-	uint16_t current_value;
-	/* XXX more config here */
-} mixers[IO_SERVO_COUNT];
-
-void
-mixer_tick(void)
-{
-	uint16_t *control_values;
-	int control_count;
-	int i;
-	bool should_arm;
-
-	/*
-	 * Decide which set of inputs we're using.
-	 */
-	if (system_state.mixer_use_fmu) {
-		/* we have recent control data from the FMU */
-		control_count = PX4IO_OUTPUT_CHANNELS;
-		control_values = &system_state.fmu_channel_data[0];
-
-		/* check that we are receiving fresh data from the FMU */
-		if (!system_state.fmu_data_received) {
-			fmu_input_drops++;
-
-			/* too many frames without FMU input, time to go to failsafe */
-			if (fmu_input_drops >= FMU_INPUT_DROP_LIMIT) {
-				system_state.mixer_use_fmu = false;
-			}
-		} else {
-			fmu_input_drops = 0;
-			system_state.fmu_data_received = false;
-		}
-
-	} else if (system_state.rc_channels > 0) {
-		/* we have control data from an R/C input */
-		control_count = system_state.rc_channels;
-		control_values = &system_state.rc_channel_data[0];
-
-	} else {
-		/* we have no control input */
-		/* XXX builtin failsafe would activate here */
-		control_count = 0;
-	}
-
-	/*
-	 * Tickle each mixer, if we have control data.
-	 */
-	if (control_count > 0) {
-		for (i = 0; i < IO_SERVO_COUNT; i++) {
-			mixer_update(i, control_values, control_count);
-
-			/*
-			 * If we are armed, update the servo output.
-			 */
-			if (system_state.armed && system_state.arm_ok)
-				up_pwm_servo_set(i, mixers[i].current_value);
-		}
-	}
-
-	/*
-	 * Decide whether the servos should be armed right now.
-	 */
-	should_arm = system_state.armed && system_state.arm_ok && (control_count > 0);
-	if (should_arm && !mixer_servos_armed) {
-		/* need to arm, but not armed */
-		up_pwm_servo_arm(true);
-		mixer_servos_armed = true;
-
-	} else if (!should_arm && mixer_servos_armed) {
-		/* armed but need to disarm */
-		up_pwm_servo_arm(false);
-		mixer_servos_armed = false;
-	}
-}
-
-static void
-mixer_update(int mixer, uint16_t *inputs, int input_count)
-{
-	/* simple passthrough for now */
-	if (mixer < input_count) {
-		mixers[mixer].current_value = inputs[mixer];
-	} else {
-		mixers[mixer].current_value = 0;
-	}
-}
diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp
new file mode 100644
index 000000000..c24cb8e52
--- /dev/null
+++ b/apps/px4io/mixer.cpp
@@ -0,0 +1,295 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mixer.cpp
+ *
+ * Control channel input/output mixer and failsafe.
+ */
+
+#include <nuttx/config.h>
+#include <nuttx/arch.h>
+
+#include <sys/types.h>
+#include <stdbool.h>
+#include <string.h>
+#include <assert.h>
+#include <errno.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <sched.h>
+
+#include <debug.h>
+
+#include <drivers/drv_pwm_output.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/device/device.h>
+
+#include <systemlib/mixer/mixer.h>
+
+extern "C" {
+//#define DEBUG
+#include "px4io.h"
+}
+
+/*
+ * Maximum interval in us before FMU signal is considered lost
+ */
+#define FMU_INPUT_DROP_LIMIT_US		200000
+
+/* XXX need to move the RC_CHANNEL_FUNCTION out of rc_channels.h and into systemlib */
+#define ROLL     0
+#define PITCH    1
+#define YAW      2
+#define THROTTLE 3
+#define OVERRIDE 4
+
+/* current servo arm/disarm state */
+bool mixer_servos_armed = false;
+
+/* selected control values and count for mixing */
+static uint16_t *control_values;
+static int control_count;
+
+static uint16_t rc_channel_data[PX4IO_INPUT_CHANNELS];
+
+static int	mixer_callback(uintptr_t handle,
+			       uint8_t control_group,
+			       uint8_t control_index,
+			       float &control);
+
+static MixerGroup mixer_group(mixer_callback, 0);
+
+void
+mixer_tick(void)
+{
+	bool should_arm;
+
+	/* check that we are receiving fresh data from the FMU */
+	if ((hrt_absolute_time() - system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) {
+		/* too many frames without FMU input, time to go to failsafe */
+		system_state.mixer_manual_override = true;
+		system_state.mixer_fmu_available = false;
+	}
+
+	/*
+	 * Decide which set of inputs we're using.
+	 */
+	 
+	/* this is for planes, where manual override makes sense */
+	if (system_state.manual_override_ok) {
+		/* if everything is ok */
+		if (!system_state.mixer_manual_override && system_state.mixer_fmu_available) {
+			/* we have recent control data from the FMU */
+			control_count = PX4IO_CONTROL_CHANNELS;
+			control_values = &system_state.fmu_channel_data[0];
+
+		} else if (system_state.rc_channels > 0) {
+			/* when override is on or the fmu is not available, but RC is present */
+			control_count = system_state.rc_channels;
+
+			sched_lock();
+
+			/* remap roll, pitch, yaw and throttle from RC specific to internal ordering */
+			rc_channel_data[ROLL]     = system_state.rc_channel_data[system_state.rc_map[ROLL] - 1];
+			rc_channel_data[PITCH]    = system_state.rc_channel_data[system_state.rc_map[PITCH] - 1];
+			rc_channel_data[YAW]      = system_state.rc_channel_data[system_state.rc_map[YAW] - 1];
+			rc_channel_data[THROTTLE] = system_state.rc_channel_data[system_state.rc_map[THROTTLE] - 1];
+			//rc_channel_data[OVERRIDE] = system_state.rc_channel_data[system_state.rc_map[OVERRIDE] - 1];
+
+			/* get the remaining channels, no remapping needed */
+			for (unsigned i = 4; i < system_state.rc_channels; i++) {
+				rc_channel_data[i] = system_state.rc_channel_data[i];
+			}
+
+			/* scale the control inputs */ 
+			rc_channel_data[THROTTLE] = ((float)(rc_channel_data[THROTTLE] - system_state.rc_min[THROTTLE]) / 
+				(float)(system_state.rc_max[THROTTLE] - system_state.rc_min[THROTTLE])) * 1000.0f + 1000;
+
+			if (rc_channel_data[THROTTLE] > 2000) {
+				rc_channel_data[THROTTLE] = 2000;
+			}
+
+			if (rc_channel_data[THROTTLE] < 1000) {
+				rc_channel_data[THROTTLE] = 1000;
+			}
+			
+			// lib_lowprintf("Tmin: %d Ttrim: %d Tmax: %d T: %d \n",
+			// 	(int)(system_state.rc_min[THROTTLE]), (int)(system_state.rc_trim[THROTTLE]),
+			// 	(int)(system_state.rc_max[THROTTLE]), (int)(rc_channel_data[THROTTLE]));
+
+			control_values = &rc_channel_data[0];
+			sched_unlock();
+		} else {
+			/* we have no control input (no FMU, no RC) */
+
+			// XXX builtin failsafe would activate here
+			control_count = 0;
+		}
+		//lib_lowprintf("R: %d P: %d Y: %d T: %d \n", control_values[0], control_values[1], control_values[2], control_values[3]);
+
+	/* this is for multicopters, etc. where manual override does not make sense */
+	} else {
+		/* if the fmu is available whe are good */
+		if (system_state.mixer_fmu_available) {
+			control_count = PX4IO_CONTROL_CHANNELS;
+			control_values = &system_state.fmu_channel_data[0];
+		/* we better shut everything off */
+		} else {
+			control_count = 0;
+		}
+	}
+
+	/*
+	 * Run the mixers if we have any control data at all.
+	 */
+	if (control_count > 0) {
+		float	outputs[IO_SERVO_COUNT];
+		unsigned mixed;
+
+		/* mix */
+		mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT);
+
+		/* scale to PWM and update the servo outputs as required */
+		for (unsigned i = 0; i < IO_SERVO_COUNT; i++) {
+			if (i < mixed) {
+				/* scale to servo output */
+				system_state.servos[i] = (outputs[i] * 500.0f) + 1500;
+
+			} else {
+				/* set to zero to inhibit PWM pulse output */
+				system_state.servos[i] = 0;
+			}
+
+			/*
+			 * If we are armed, update the servo output.
+			 */
+			if (system_state.armed && system_state.arm_ok) {
+				up_pwm_servo_set(i, system_state.servos[i]);
+			}
+		}
+	}
+
+	/*
+	 * Decide whether the servos should be armed right now.
+	 * A sufficient reason is armed state and either FMU or RC control inputs
+	 */
+
+	should_arm = system_state.armed && system_state.arm_ok && (control_count > 0);
+
+	if (should_arm && !mixer_servos_armed) {
+		/* need to arm, but not armed */
+		up_pwm_servo_arm(true);
+		mixer_servos_armed = true;
+
+	} else if (!should_arm && mixer_servos_armed) {
+		/* armed but need to disarm */
+		up_pwm_servo_arm(false);
+		mixer_servos_armed = false;
+	}
+}
+
+static int
+mixer_callback(uintptr_t handle,
+	       uint8_t control_group,
+	       uint8_t control_index,
+	       float &control)
+{
+	/* if the control index refers to an input that's not valid, we can't return it */
+	if (control_index >= control_count)
+		return -1;
+
+	/* scale from current PWM units (1000-2000) to mixer input values */
+	if (system_state.manual_override_ok && system_state.mixer_manual_override && control_index == 3) {
+		control = ((float)control_values[control_index] - 1000.0f) / 1000.0f;
+	} else {
+		control = ((float)control_values[control_index] - 1500.0f) / 500.0f;
+	}
+
+	return 0;
+}
+
+static char mixer_text[256];
+static unsigned mixer_text_length = 0;
+
+void
+mixer_handle_text(const void *buffer, size_t length)
+{
+
+	px4io_mixdata	*msg = (px4io_mixdata *)buffer;
+
+	debug("mixer text %u", length);
+
+	if (length < sizeof(px4io_mixdata))
+		return;
+
+	unsigned	text_length = length - sizeof(px4io_mixdata);
+
+	switch (msg->action) {
+	case F2I_MIXER_ACTION_RESET:
+		debug("reset");
+		mixer_group.reset();
+		mixer_text_length = 0;
+
+		/* FALLTHROUGH */
+	case F2I_MIXER_ACTION_APPEND:
+		debug("append %d", length);
+
+		/* check for overflow - this is really fatal */
+		if ((mixer_text_length + text_length + 1) > sizeof(mixer_text))
+			return;
+
+		/* append mixer text and nul-terminate */
+		memcpy(&mixer_text[mixer_text_length], msg->text, text_length);
+		mixer_text_length += text_length;
+		mixer_text[mixer_text_length] = '\0';
+		debug("buflen %u", mixer_text_length);
+
+		/* process the text buffer, adding new mixers as their descriptions can be parsed */
+		unsigned resid = mixer_text_length;
+		mixer_group.load_from_buf(&mixer_text[0], resid);
+
+		/* if anything was parsed */
+		if (resid != mixer_text_length) {
+			debug("used %u", mixer_text_length - resid);
+
+			/* copy any leftover text to the base of the buffer for re-use */
+			if (resid > 0)
+				memcpy(&mixer_text[0], &mixer_text[mixer_text_length - resid], resid);
+
+			mixer_text_length = resid;
+		}
+
+		break;
+	}
+}
diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h
index c704b1201..90236b40c 100644
--- a/apps/px4io/protocol.h
+++ b/apps/px4io/protocol.h
@@ -41,31 +41,30 @@
 
 #pragma once
 
-#define PX4IO_OUTPUT_CHANNELS	8
+#define PX4IO_CONTROL_CHANNELS	8
 #define PX4IO_INPUT_CHANNELS	12
 #define PX4IO_RELAY_CHANNELS	4
 
 #pragma pack(push, 1)
 
-/* command from FMU to IO */
+/**
+ * Periodic command from FMU to IO.
+ */
 struct px4io_command {
 	uint16_t	f2i_magic;
-#define F2I_MAGIC	0x636d
-
-	uint16_t	servo_command[PX4IO_OUTPUT_CHANNELS];
-	bool		relay_state[PX4IO_RELAY_CHANNELS];
-	bool		arm_ok;
-};
-
-/* config message from FMU to IO */
-struct px4io_config {
-	uint16_t f2i_config_magic;
-#define F2I_CONFIG_MAGIC 0x6366
+#define F2I_MAGIC		0x636d
 
-	/* XXX currently nothing here */
+	uint16_t	servo_rate;
+	uint16_t	output_control[PX4IO_CONTROL_CHANNELS]; /**< PWM output rate in Hz */
+	bool		relay_state[PX4IO_RELAY_CHANNELS];	/**< relay states as requested by FMU */
+	bool		arm_ok;					/**< FMU allows full arming */
+	bool		vector_flight_mode_ok;			/**< FMU aquired a valid position lock, ready for pos control */
+	bool		manual_override_ok;			/**< if true, IO performs a direct manual override */
 };
 
-/* report from IO to FMU */
+/**
+ * Periodic report from IO to FMU
+ */
 struct px4io_report {
 	uint16_t	i2f_magic;
 #define I2F_MAGIC		0x7570
@@ -73,6 +72,45 @@ struct px4io_report {
 	uint16_t	rc_channel[PX4IO_INPUT_CHANNELS];
 	bool		armed;
 	uint8_t		channel_count;
+
+	uint16_t	battery_mv;
+	uint16_t	adc_in;
+	uint8_t		overcurrent;
 };
 
+/**
+ * As-needed config message from FMU to IO
+ */
+struct px4io_config {
+	uint16_t	f2i_config_magic;
+#define F2I_CONFIG_MAGIC	 0x6366
+
+	uint8_t		rc_map[4];	/**< channel ordering of roll, pitch, yaw, throttle */
+	uint16_t	rc_min[4];	/**< min value for each channel */
+	uint16_t	rc_trim[4];	/**< trim value for each channel */
+	uint16_t	rc_max[4];	/**< max value for each channel */
+	int8_t		rc_rev[4];	/**< rev value for each channel */
+	uint16_t	rc_dz[4];	/**< dz value for each channel */
+};
+
+/**
+ * As-needed mixer data upload.
+ *
+ * This message adds text to the mixer text buffer; the text
+ * buffer is drained as the definitions are consumed.
+ */
+struct px4io_mixdata {
+	uint16_t	f2i_mixer_magic;
+#define F2I_MIXER_MAGIC		0x6d74
+
+	uint8_t		action;
+#define F2I_MIXER_ACTION_RESET		0
+#define F2I_MIXER_ACTION_APPEND		1
+
+	char		text[0];	/* actual text size may vary */
+};
+
+/* maximum size is limited by the HX frame size */
+#define F2I_MIXER_MAX_TEXT	(HX_STREAM_MAX_FRAME - sizeof(struct px4io_mixdata))
+
 #pragma pack(pop)
\ No newline at end of file
diff --git a/apps/px4io/px4io.c b/apps/px4io/px4io.c
index a3ac9e3e7..bea9d59bc 100644
--- a/apps/px4io/px4io.c
+++ b/apps/px4io/px4io.c
@@ -55,12 +55,19 @@
 
 __EXPORT int user_start(int argc, char *argv[]);
 
+extern void up_cxxinitialize(void);
+
 struct sys_state_s 	system_state;
 
 int user_start(int argc, char *argv[])
 {
+	/* run C++ ctors before we go any further */
+	up_cxxinitialize();
+
 	/* reset all to zero */
 	memset(&system_state, 0, sizeof(system_state));
+	/* default to 50 Hz PWM outputs */
+	system_state.servo_rate = 50;
 
 	/* configure the high-resolution time/callout interface */
 	hrt_init();
@@ -83,7 +90,7 @@ int user_start(int argc, char *argv[])
 	up_pwm_servo_init(0xff);
 
 	/* start the flight control signal handler */
-	task_create("FCon", 
+	task_create("FCon",
 		    SCHED_PRIORITY_DEFAULT,
 		    1024,
 		    (main_t)controls_main,
diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h
index 45b7cf847..e388f65e3 100644
--- a/apps/px4io/px4io.h
+++ b/apps/px4io/px4io.h
@@ -31,11 +31,11 @@
  *
  ****************************************************************************/
 
- /**
-  * @file px4io.h
-  *
-  * General defines and structures for the PX4IO module firmware.
-  */
+/**
+ * @file px4io.h
+ *
+ * General defines and structures for the PX4IO module firmware.
+ */
 
 #include <nuttx/config.h>
 
@@ -66,56 +66,114 @@
 /*
  * System state structure.
  */
-struct sys_state_s 
-{
+struct sys_state_s {
 
 	bool		armed;			/* IO armed */
 	bool		arm_ok;			/* FMU says OK to arm */
+	uint16_t	servo_rate;		/* output rate of servos in Hz */
 
-	/*
+	/**
+	 * Remote control input(s) channel mappings
+	 */
+	uint8_t		rc_map[4];
+
+	/**
+	 * Remote control channel attributes
+	 */
+	uint16_t	rc_min[4];
+	uint16_t	rc_trim[4];
+	uint16_t	rc_max[4];
+	int16_t		rc_rev[4];
+	uint16_t	rc_dz[4];
+
+	/**
 	 * Data from the remote control input(s)
 	 */
 	unsigned	rc_channels;
 	uint16_t	rc_channel_data[PX4IO_INPUT_CHANNELS];
 	uint64_t	rc_channels_timestamp;
 
-	/*
+	/**
 	 * Control signals from FMU.
 	 */
-	uint16_t	fmu_channel_data[PX4IO_OUTPUT_CHANNELS];
+	uint16_t	fmu_channel_data[PX4IO_CONTROL_CHANNELS];
 
-	/*
+	/**
+	 * Mixed servo outputs
+	 */
+	uint16_t	servos[IO_SERVO_COUNT];
+
+	/**
 	 * Relay controls
 	 */
 	bool		relays[PX4IO_RELAY_CHANNELS];
 
-	/*
-	 * If true, we are using the FMU controls.
+	/**
+	 * If true, we are using the FMU controls, else RC input if available.
 	 */
-	bool		mixer_use_fmu;
+	bool		mixer_manual_override;
 
-	/*
+	/**
+	 * If true, FMU input is available.
+	 */
+	bool		mixer_fmu_available;
+
+	/**
 	 * If true, state that should be reported to FMU has been updated.
 	 */
 	bool		fmu_report_due;
 
-	/*
-	 * If true, new control data from the FMU has been received.
+	/**
+	 * Last FMU receive time, in microseconds since system boot
 	 */
-	bool		fmu_data_received;
+	uint64_t	fmu_data_received_time;
 
-	/*
+	/**
 	 * Current serial interface mode, per the serial_rx_mode parameter
 	 * in the config packet.
 	 */
 	uint8_t		serial_rx_mode;
+
+	/**
+	 * If true, the RC signal has been lost for more than a timeout interval
+	 */
+	bool		rc_lost;
+
+	/**
+	 * If true, the connection to FMU has been lost for more than a timeout interval
+	 */
+	bool		fmu_lost;
+
+	/**
+	 * If true, FMU is ready for autonomous position control. Only used for LED indication
+	 */
+	bool vector_flight_mode_ok;
+
+	/**
+	 * If true, IO performs an on-board manual override with the RC channel values
+	 */
+	bool manual_override_ok;
+
+	/*
+	 * Measured battery voltage in mV
+	 */
+	uint16_t	battery_mv;
+
+	/*
+	 * ADC IN5 measurement
+	 */
+	uint16_t	adc_in5;
+
+	/*
+	 * Power supply overcurrent status bits.
+	 */
+	uint8_t		overcurrent;
+
 };
 
 extern struct sys_state_s system_state;
 
-extern int frame_rx;
-extern int frame_bad;
-
+#if 0
 /*
  * Software countdown timers.
  *
@@ -127,6 +185,7 @@ extern int frame_bad;
 #define TIMER_SANITY		7
 #define TIMER_NUM_TIMERS	8
 extern volatile int	timers[TIMER_NUM_TIMERS];
+#endif
 
 /*
  * GPIO handling.
@@ -136,19 +195,23 @@ extern volatile int	timers[TIMER_NUM_TIMERS];
 #define LED_SAFETY(_s)		stm32_gpiowrite(GPIO_LED3, !(_s))
 
 #define POWER_SERVO(_s)		stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s))
-#define POWER_ACC1(_s)		stm32_gpiowrite(GPIO_SERVO_ACC1_EN, (_s))
-#define POWER_ACC2(_s)		stm32_gpiowrite(GPIO_SERVO_ACC2_EN, (_s))
+#define POWER_ACC1(_s)		stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s))
+#define POWER_ACC2(_s)		stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s))
 #define POWER_RELAY1(_s)	stm32_gpiowrite(GPIO_RELAY1_EN, (_s))
 #define POWER_RELAY2(_s)	stm32_gpiowrite(GPIO_RELAY2_EN, (_s))
 
-#define OVERCURRENT_ACC		stm32_gpioread(GPIO_ACC_OC_DETECT)
-#define OVERCURRENT_SERVO	stm32_gpioread(GPIO_SERVO_OC_DETECT
+#define OVERCURRENT_ACC		(!stm32_gpioread(GPIO_ACC_OC_DETECT))
+#define OVERCURRENT_SERVO	(!stm32_gpioread(GPIO_SERVO_OC_DETECT))
 #define BUTTON_SAFETY		stm32_gpioread(GPIO_BTN_SAFETY)
 
+#define ADC_VBATT		4
+#define ADC_IN5			5
+
 /*
  * Mixer
  */
 extern void	mixer_tick(void);
+extern void	mixer_handle_text(const void *buffer, size_t length);
 
 /*
  * Safety switch/LED.
@@ -161,6 +224,12 @@ extern void	safety_init(void);
 extern void	comms_main(void) __attribute__((noreturn));
 
 /*
+ * Sensors/misc inputs
+ */
+extern int	adc_init(void);
+extern uint16_t	adc_measure(unsigned channel);
+
+/*
  * R/C receiver handling.
  */
 extern void	controls_main(void);
diff --git a/apps/px4io/safety.c b/apps/px4io/safety.c
index 60d20905a..0cae29ac9 100644
--- a/apps/px4io/safety.c
+++ b/apps/px4io/safety.c
@@ -31,9 +31,9 @@
  *
  ****************************************************************************/
 
- /**
-  * @file Safety button logic.
-  */
+/**
+ * @file Safety button logic.
+ */
 
 #include <nuttx/config.h>
 #include <stdio.h>
@@ -58,20 +58,27 @@ static struct hrt_call failsafe_call;
  * Count the number of times in a row that we see the arming button
  * held down.
  */
-static unsigned counter;
+static unsigned counter = 0;
 
 /*
  * Define the various LED flash sequences for each system state.
  */
-#define LED_PATTERN_SAFE 			0xffff		// always on
-#define LED_PATTERN_FMU_ARMED 		0x4444		// slow blinking
-#define LED_PATTERN_IO_ARMED 		0x5555		// fast blinking 
-#define LED_PATTERN_IO_FMU_ARMED 	0x5050		// long off then double blink
+#define LED_PATTERN_SAFE 			0xffff		/**< always on 				*/
+#define LED_PATTERN_VECTOR_FLIGHT_MODE_OK 	0xFFFE		/**< always on with short break 	*/
+#define LED_PATTERN_FMU_ARMED 			0x4444		/**< slow blinking			*/
+#define LED_PATTERN_IO_ARMED 			0x5555		/**< fast blinking 			*/
+#define LED_PATTERN_IO_FMU_ARMED 		0x5050		/**< long off then double blink 	*/
 
 static unsigned blink_counter = 0;
 
+/*
+ * IMPORTANT: The arming state machine critically
+ * 	      depends on using the same threshold
+ *            for arming and disarming. Since disarming
+ *            is quite deadly for the system, a similar
+ *            length can be justified.
+ */
 #define ARM_COUNTER_THRESHOLD	10
-#define DISARM_COUNTER_THRESHOLD	2
 
 static bool safety_button_pressed;
 
@@ -95,50 +102,66 @@ safety_init(void)
 static void
 safety_check_button(void *arg)
 {
-	/* 
+	/*
 	 * Debounce the safety button, change state if it has been held for long enough.
 	 *
 	 */
 	safety_button_pressed = BUTTON_SAFETY;
 
-	if(safety_button_pressed) {
-		//printf("Pressed, Arm counter: %d, Disarm counter: %d\n", arm_counter, disarm_counter);
-	}
-
-	/* Keep pressed for a while to arm */
+	/*
+	 * Keep pressed for a while to arm.
+	 *
+	 * Note that the counting sequence has to be same length
+	 * for arming / disarming in order to end up as proper
+	 * state machine, keep ARM_COUNTER_THRESHOLD the same
+	 * length in all cases of the if/else struct below.
+	 */
 	if (safety_button_pressed && !system_state.armed) {
+
 		if (counter < ARM_COUNTER_THRESHOLD) {
 			counter++;
+
 		} else if (counter == ARM_COUNTER_THRESHOLD) {
 			/* change to armed state and notify the FMU */
 			system_state.armed = true;
 			counter++;
 			system_state.fmu_report_due = true;
 		}
-	/* Disarm quickly */
+
+		/* Disarm quickly */
+
 	} else if (safety_button_pressed && system_state.armed) {
-		if (counter < DISARM_COUNTER_THRESHOLD) {
+
+		if (counter < ARM_COUNTER_THRESHOLD) {
 			counter++;
-		} else if (counter == DISARM_COUNTER_THRESHOLD) {
+
+		} else if (counter == ARM_COUNTER_THRESHOLD) {
 			/* change to disarmed state and notify the FMU */
 			system_state.armed = false;
 			counter++;
 			system_state.fmu_report_due = true;
 		}
+
 	} else {
 		counter = 0;
 	}
 
 	/* Select the appropriate LED flash pattern depending on the current IO/FMU arm state */
 	uint16_t pattern = LED_PATTERN_SAFE;
+
 	if (system_state.armed) {
 		if (system_state.arm_ok) {
 			pattern = LED_PATTERN_IO_FMU_ARMED;
+
 		} else {
 			pattern = LED_PATTERN_IO_ARMED;
 		}
+
 	} else if (system_state.arm_ok) {
 		pattern = LED_PATTERN_FMU_ARMED;
+
+	} else if (system_state.vector_flight_mode_ok) {
+		pattern = LED_PATTERN_VECTOR_FLIGHT_MODE_OK;
 	}
 
 	/* Turn the LED on if we have a 1 at the current bit position */
@@ -165,10 +188,12 @@ failsafe_blink(void *arg)
 	static bool failsafe = false;
 
 	/* blink the failsafe LED if we don't have FMU input */
-	if (!system_state.mixer_use_fmu) {
+	if (!system_state.mixer_fmu_available) {
 		failsafe = !failsafe;
+
 	} else {
 		failsafe = false;
 	}
+
 	LED_AMBER(failsafe);
 }
\ No newline at end of file
diff --git a/apps/px4io/sbus.c b/apps/px4io/sbus.c
index a8f628a84..568ef8091 100644
--- a/apps/px4io/sbus.c
+++ b/apps/px4io/sbus.c
@@ -53,7 +53,7 @@
 #include "debug.h"
 
 #define SBUS_FRAME_SIZE		25
-#define SBUS_INPUT_CHANNELS	16
+#define SBUS_INPUT_CHANNELS	18
 
 static int sbus_fd = -1;
 
@@ -87,9 +87,10 @@ sbus_init(const char *device)
 		partial_frame_count = 0;
 		last_rx_time = hrt_absolute_time();
 
-		debug("Sbus: ready");
+		debug("S.Bus: ready");
+
 	} else {
-		debug("Sbus: open failed");
+		debug("S.Bus: open failed");
 	}
 
 	return sbus_fd;
@@ -109,7 +110,7 @@ sbus_input(void)
 	 * frame transmission time is ~2ms.
 	 *
 	 * We expect to only be called when bytes arrive for processing,
-	 * and if an interval of more than 3ms passes between calls, 
+	 * and if an interval of more than 3ms passes between calls,
 	 * the first byte we read will be the first byte of a frame.
 	 *
 	 * In the case where byte(s) are dropped from a frame, this also
@@ -117,6 +118,7 @@ sbus_input(void)
 	 * if we didn't drop bytes...
 	 */
 	now = hrt_absolute_time();
+
 	if ((now - last_rx_time) > 3000) {
 		if (partial_frame_count > 0) {
 			sbus_frame_drops++;
@@ -133,6 +135,7 @@ sbus_input(void)
 	/* if the read failed for any reason, just give up here */
 	if (ret < 1)
 		goto out;
+
 	last_rx_time = now;
 
 	/*
@@ -144,7 +147,7 @@ sbus_input(void)
 	 * If we don't have a full frame, return
 	 */
 	if (partial_frame_count < SBUS_FRAME_SIZE)
-	 	goto out;
+		goto out;
 
 	/*
 	 * Great, it looks like we might have a frame.  Go ahead and
@@ -155,7 +158,7 @@ sbus_input(void)
 
 out:
 	/*
-	 * If we have seen a frame in the last 200ms, we consider ourselves 'locked' 
+	 * If we have seen a frame in the last 200ms, we consider ourselves 'locked'
 	 */
 	return (now - last_frame_time) < 200000;
 }
@@ -177,23 +180,23 @@ struct sbus_bit_pick {
 	uint8_t mask;
 	uint8_t lshift;
 };
-static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = {	
-/*  0 */ { { 0, 0, 0xff, 0},{ 1, 0, 0x07, 8},{ 0, 0, 0x00,  0} },
-/*  1 */ { { 1, 3, 0x1f, 0},{ 2, 0, 0x3f, 5},{ 0, 0, 0x00,  0} },
-/*  2 */ { { 2, 6, 0x03, 0},{ 3, 0, 0xff, 2},{ 4, 0, 0x01, 10} },
-/*  3 */ { { 4, 1, 0x7f, 0},{ 5, 0, 0x0f, 7},{ 0, 0, 0x00,  0} },
-/*  4 */ { { 5, 4, 0x0f, 0},{ 6, 0, 0x7f, 4},{ 0, 0, 0x00,  0} },
-/*  5 */ { { 6, 7, 0x01, 0},{ 7, 0, 0xff, 1},{ 8, 0, 0x03,  9} },
-/*  6 */ { { 8, 2, 0x3f, 0},{ 9, 0, 0x1f, 6},{ 0, 0, 0x00,  0} },
-/*  7 */ { { 9, 5, 0x07, 0},{10, 0, 0xff, 3},{ 0, 0, 0x00,  0} },
-/*  8 */ { {11, 0, 0xff, 0},{12, 0, 0x07, 8},{ 0, 0, 0x00,  0} },
-/*  9 */ { {12, 3, 0x1f, 0},{13, 0, 0x3f, 5},{ 0, 0, 0x00,  0} },
-/* 10 */ { {13, 6, 0x03, 0},{14, 0, 0xff, 2},{15, 0, 0x01, 10} },
-/* 11 */ { {15, 1, 0x7f, 0},{16, 0, 0x0f, 7},{ 0, 0, 0x00,  0} },
-/* 12 */ { {16, 4, 0x0f, 0},{17, 0, 0x7f, 4},{ 0, 0, 0x00,  0} },
-/* 13 */ { {17, 7, 0x01, 0},{18, 0, 0xff, 1},{19, 0, 0x03,  9} },
-/* 14 */ { {19, 2, 0x3f, 0},{20, 0, 0x1f, 6},{ 0, 0, 0x00,  0} },
-/* 15 */ { {20, 5, 0x07, 0},{21, 0, 0xff, 3},{ 0, 0, 0x00,  0} }
+static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = {
+	/*  0 */ { { 0, 0, 0xff, 0}, { 1, 0, 0x07, 8}, { 0, 0, 0x00,  0} },
+	/*  1 */ { { 1, 3, 0x1f, 0}, { 2, 0, 0x3f, 5}, { 0, 0, 0x00,  0} },
+	/*  2 */ { { 2, 6, 0x03, 0}, { 3, 0, 0xff, 2}, { 4, 0, 0x01, 10} },
+	/*  3 */ { { 4, 1, 0x7f, 0}, { 5, 0, 0x0f, 7}, { 0, 0, 0x00,  0} },
+	/*  4 */ { { 5, 4, 0x0f, 0}, { 6, 0, 0x7f, 4}, { 0, 0, 0x00,  0} },
+	/*  5 */ { { 6, 7, 0x01, 0}, { 7, 0, 0xff, 1}, { 8, 0, 0x03,  9} },
+	/*  6 */ { { 8, 2, 0x3f, 0}, { 9, 0, 0x1f, 6}, { 0, 0, 0x00,  0} },
+	/*  7 */ { { 9, 5, 0x07, 0}, {10, 0, 0xff, 3}, { 0, 0, 0x00,  0} },
+	/*  8 */ { {11, 0, 0xff, 0}, {12, 0, 0x07, 8}, { 0, 0, 0x00,  0} },
+	/*  9 */ { {12, 3, 0x1f, 0}, {13, 0, 0x3f, 5}, { 0, 0, 0x00,  0} },
+	/* 10 */ { {13, 6, 0x03, 0}, {14, 0, 0xff, 2}, {15, 0, 0x01, 10} },
+	/* 11 */ { {15, 1, 0x7f, 0}, {16, 0, 0x0f, 7}, { 0, 0, 0x00,  0} },
+	/* 12 */ { {16, 4, 0x0f, 0}, {17, 0, 0x7f, 4}, { 0, 0, 0x00,  0} },
+	/* 13 */ { {17, 7, 0x01, 0}, {18, 0, 0xff, 1}, {19, 0, 0x03,  9} },
+	/* 14 */ { {19, 2, 0x3f, 0}, {20, 0, 0x1f, 6}, { 0, 0, 0x00,  0} },
+	/* 15 */ { {20, 5, 0x07, 0}, {21, 0, 0xff, 3}, { 0, 0, 0x00,  0} }
 };
 
 static void
@@ -205,16 +208,20 @@ sbus_decode(hrt_abstime frame_time)
 		return;
 	}
 
-	/* if the failsafe bit is set, we consider the frame invalid */
-	if (frame[23] & (1 << 4)) {
-		return;
+	/* if the failsafe or connection lost bit is set, we consider the frame invalid */
+	if ((frame[23] & (1 << 2)) && /* signal lost */
+	    (frame[23] & (1 << 3))) { /* failsafe */
+
+		/* actively announce signal loss */
+		system_state.rc_channels = 0;
+		return 1;
 	}
 
 	/* we have received something we think is a frame */
 	last_frame_time = frame_time;
 
-	unsigned chancount = (PX4IO_INPUT_CHANNELS > SBUS_INPUT_CHANNELS) ? 
-		SBUS_INPUT_CHANNELS : PX4IO_INPUT_CHANNELS;
+	unsigned chancount = (PX4IO_INPUT_CHANNELS > SBUS_INPUT_CHANNELS) ?
+			     SBUS_INPUT_CHANNELS : PX4IO_INPUT_CHANNELS;
 
 	/* use the decoder matrix to extract channel data */
 	for (unsigned channel = 0; channel < chancount; channel++) {
@@ -232,20 +239,24 @@ sbus_decode(hrt_abstime frame_time)
 				value |= piece;
 			}
 		}
+
 		/* convert 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
 		system_state.rc_channel_data[channel] = (value / 2) + 998;
 	}
 
-	if (PX4IO_INPUT_CHANNELS >= 18) {
-		chancount = 18;
-		/* XXX decode the two switch channels */
+	/* decode switch channels if data fields are wide enough */
+	if (chancount > 17) {
+		/* channel 17 (index 16) */
+		system_state.rc_channel_data[16] = (frame[23] & (1 << 0)) * 1000 + 998;
+		/* channel 18 (index 17) */
+		system_state.rc_channel_data[17] = (frame[23] & (1 << 1)) * 1000 + 998;
 	}
 
 	/* note the number of channels decoded */
 	system_state.rc_channels = chancount;
 
 	/* and note that we have received data from the R/C controller */
-	system_state.rc_channels_timestamp = frame_time;	
+	system_state.rc_channels_timestamp = frame_time;
 
 	/* trigger an immediate report to the FMU */
 	system_state.fmu_report_due = true;
diff --git a/apps/sdlog/Makefile b/apps/sdlog/Makefile
index 61f224e99..225b14a32 100644
--- a/apps/sdlog/Makefile
+++ b/apps/sdlog/Makefile
@@ -36,7 +36,8 @@
 #
 
 APPNAME		 = sdlog
-PRIORITY	 = SCHED_PRIORITY_DEFAULT - 30
+# The main thread only buffers to RAM, needs a high priority
+PRIORITY	 = SCHED_PRIORITY_MAX - 30
 STACKSIZE	 = 2048
 
 include $(APPDIR)/mk/app.mk
diff --git a/apps/sdlog/sdlog.c b/apps/sdlog/sdlog.c
index d38bf9122..4fd5fea1b 100644
--- a/apps/sdlog/sdlog.c
+++ b/apps/sdlog/sdlog.c
@@ -36,12 +36,14 @@
  * @file sdlog.c
  * @author Lorenz Meier <lm@inf.ethz.ch>
  *
- * Simple SD logger for flight data
+ * Simple SD logger for flight data. Buffers new sensor values and
+ * does the heavy SD I/O in a low-priority worker thread.
  */
 
 #include <nuttx/config.h>
 #include <sys/types.h>
 #include <sys/stat.h>
+#include <sys/prctl.h>
 #include <fcntl.h>
 #include <errno.h>
 #include <unistd.h>
@@ -49,6 +51,7 @@
 #include <poll.h>
 #include <stdlib.h>
 #include <string.h>
+#include <ctype.h>
 #include <systemlib/err.h>
 #include <unistd.h>
 #include <drivers/drv_hrt.h>
@@ -66,9 +69,15 @@
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_vicon_position.h>
 #include <uORB/topics/optical_flow.h>
+#include <uORB/topics/battery_status.h>
+#include <uORB/topics/differential_pressure.h>
 
 #include <systemlib/systemlib.h>
 
+#include <mavlink/mavlink_log.h>
+
+#include "sdlog_ringbuffer.h"
+
 static bool thread_should_exit = false;		/**< Deamon exit flag */
 static bool thread_running = false;		/**< Deamon status flag */
 static int deamon_task;				/**< Handle of deamon task / thread */
@@ -76,6 +85,23 @@ static const int MAX_NO_LOGFOLDER = 999;	/**< Maximum number of log folders */
 
 static const char *mountpoint = "/fs/microsd";
 static const char *mfile_in = "/etc/logging/logconv.m";
+int sysvector_file = -1;
+int mavlink_fd = -1;
+struct sdlog_logbuffer lb;
+
+/* mutex / condition to synchronize threads */
+pthread_mutex_t sysvector_mutex;
+pthread_cond_t sysvector_cond;
+
+/**
+ * System state vector log buffer writing
+ */
+static void *sdlog_sysvector_write_thread(void *arg);
+
+/**
+ * Create the thread to write the system vector
+ */
+pthread_t sysvector_write_start(struct sdlog_logbuffer *logbuf);
 
 /**
  * SD log management function.
@@ -94,7 +120,9 @@ static void usage(const char *reason);
 
 static int file_exist(const char *filename);
 
-static int file_copy(const char* file_old, const char* file_new);
+static int file_copy(const char *file_old, const char *file_new);
+
+static void handle_command(struct vehicle_command_s *cmd);
 
 /**
  * Print the current status.
@@ -104,14 +132,15 @@ static void print_sdlog_status(void);
 /**
  * Create folder for current logging session.
  */
-static int create_logfolder(char* folder_path);
+static int create_logfolder(char *folder_path);
 
 static void
 usage(const char *reason)
 {
 	if (reason)
 		fprintf(stderr, "%s\n", reason);
-	errx(1, "usage: sdlog {start|stop|status} [-p <additional params>]\n\n");
+
+	errx(1, "usage: sdlog {start|stop|status} [-s <number of skipped lines>]\n\n");
 }
 
 // XXX turn this into a C++ class
@@ -122,11 +151,14 @@ unsigned sysvector_bytes = 0;
 unsigned blackbox_file_bytes = 0;
 uint64_t starttime = 0;
 
+/* logging on or off, default to true */
+bool logging_enabled = true;
+
 /**
  * The sd log deamon app only briefly exists to start
  * the background job. The stack size assigned in the
  * Makefile does only apply to this management task.
- * 
+ *
  * The actual stack size should be set in the call
  * to task_spawn().
  */
@@ -149,7 +181,7 @@ int sdlog_main(int argc, char *argv[])
 					 SCHED_PRIORITY_DEFAULT - 30,
 					 4096,
 					 sdlog_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					 (const char **)argv);
 		exit(0);
 	}
 
@@ -157,6 +189,7 @@ int sdlog_main(int argc, char *argv[])
 		if (!thread_running) {
 			printf("\tsdlog is not started\n");
 		}
+
 		thread_should_exit = true;
 		exit(0);
 	}
@@ -164,9 +197,11 @@ int sdlog_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
 			print_sdlog_status();
+
 		} else {
 			printf("\tsdlog not started\n");
 		}
+
 		exit(0);
 	}
 
@@ -174,7 +209,8 @@ int sdlog_main(int argc, char *argv[])
 	exit(1);
 }
 
-int create_logfolder(char* folder_path) {
+int create_logfolder(char *folder_path)
+{
 	/* make folder on sdcard */
 	uint16_t foldernumber = 1; // start with folder 0001
 	int mkdir_ret;
@@ -193,11 +229,14 @@ int create_logfolder(char* folder_path) {
 			char mfile_out[100];
 			sprintf(mfile_out, "%s/session%04u/run_to_plot_data.m", mountpoint, foldernumber);
 			int ret = file_copy(mfile_in, mfile_out);
+
 			if (!ret) {
 				warnx("copied m file to %s", mfile_out);
+
 			} else {
 				warnx("failed copying m file from %s to\n %s", mfile_in, mfile_out);
 			}
+
 			break;
 
 		} else if (mkdir_ret == -1) {
@@ -216,71 +255,169 @@ int create_logfolder(char* folder_path) {
 		warn("all %d possible folders exist already", MAX_NO_LOGFOLDER);
 		return -1;
 	}
+
 	return 0;
 }
 
 
-int sdlog_thread_main(int argc, char *argv[]) {
+static void *
+sdlog_sysvector_write_thread(void *arg)
+{
+	/* set name */
+	prctl(PR_SET_NAME, "sdlog microSD I/O", 0);
+
+	struct sdlog_logbuffer *logbuf = (struct sdlog_logbuffer *)arg;
+
+	int poll_count = 0;
+	struct sdlog_sysvector sysvect;
+	memset(&sysvect, 0, sizeof(sysvect));
+
+	while (!thread_should_exit) {
+		
+		/* make sure threads are synchronized */
+		pthread_mutex_lock(&sysvector_mutex);
+
+		/* only wait if no data is available to process */
+		if (sdlog_logbuffer_is_empty(logbuf)) {
+			/* blocking wait for new data at this line */
+			pthread_cond_wait(&sysvector_cond, &sysvector_mutex);
+		}
+
+		/* only quickly load data, do heavy I/O a few lines down */
+		int ret = sdlog_logbuffer_read(logbuf, &sysvect);
+		/* continue */
+		pthread_mutex_unlock(&sysvector_mutex);
+
+		if (ret == OK) {
+			sysvector_bytes += write(sysvector_file, (const char *)&sysvect, sizeof(sysvect));
+		}
+
+		if (poll_count % 100 == 0) {
+			fsync(sysvector_file);
+		}
+
+		poll_count++;
+	}
+
+	fsync(sysvector_file);
+
+	return OK;
+}
+
+pthread_t
+sysvector_write_start(struct sdlog_logbuffer *logbuf)
+{
+	pthread_attr_t receiveloop_attr;
+	pthread_attr_init(&receiveloop_attr);
+
+	struct sched_param param;
+	/* low priority, as this is expensive disk I/O */
+	param.sched_priority = SCHED_PRIORITY_DEFAULT - 40;
+	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
+
+	pthread_attr_setstacksize(&receiveloop_attr, 2048);
+
+	pthread_t thread;
+	pthread_create(&thread, &receiveloop_attr, sdlog_sysvector_write_thread, logbuf);
+	return thread;
+
+	// XXX we have to destroy the attr at some point
+}
+
+
+int sdlog_thread_main(int argc, char *argv[])
+{
+	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
+
+	if (mavlink_fd < 0) {
+		warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n");
+	}
+
+	/* log every n'th value (skip three per default) */
+	int skip_value = 3;
+
+	/* work around some stupidity in task_create's argv handling */
+	argc -= 2;
+	argv += 2;
+	int ch;
 
-	warnx("starting\n");
+	while ((ch = getopt(argc, argv, "s:r")) != EOF) {
+		switch (ch) {
+		case 's':
+			{
+			/* log only every n'th (gyro clocked) value */
+			unsigned s = strtoul(optarg, NULL, 10);
+
+			if (s < 1 || s > 250) {
+				errx(1, "Wrong skip value of %d, out of range (1..250)\n", s);
+			} else {
+				skip_value = s;
+			}
+			}
+			break;
+
+		case 'r':
+			/* log only on request, disable logging per default */
+			logging_enabled = false;
+			break;
+
+		case '?':
+			if (optopt == 'c') {
+				warnx("Option -%c requires an argument.\n", optopt);
+			} else if (isprint(optopt)) {
+				warnx("Unknown option `-%c'.\n", optopt);
+			} else {
+				warnx("Unknown option character `\\x%x'.\n", optopt);
+			}
+
+		default:
+			usage("unrecognized flag");
+			errx(1, "exiting.");
+		}
+	}
 
 	if (file_exist(mountpoint) != OK) {
 		errx(1, "logging mount point %s not present, exiting.", mountpoint);
 	}
 
 	char folder_path[64];
+
 	if (create_logfolder(folder_path))
 		errx(1, "unable to create logging folder, exiting.");
 
-	/* create sensorfile */
-	int sensorfile = -1;
-	int actuator_outputs_file = -1;
-	int actuator_controls_file = -1;
-	int sysvector_file = -1;
 	FILE *gpsfile;
 	FILE *blackbox_file;
-	// FILE *vehiclefile;
 
-	char path_buf[64] = ""; // string to hold the path to the sensorfile
+	/* string to hold the path to the sensorfile */
+	char path_buf[64] = "";
 
+	/* only print logging path, important to find log file later */
 	warnx("logging to directory %s\n", folder_path);
 
-	/* set up file path: e.g. /mnt/sdcard/session0001/sensor_combined.bin */
-	sprintf(path_buf, "%s/%s.bin", folder_path, "sensor_combined");
-	if (0 == (sensorfile = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
-		errx(1, "opening %s failed.\n", path_buf);
-	}
-
-	// /* set up file path: e.g. /mnt/sdcard/session0001/actuator_outputs0.bin */
-	// sprintf(path_buf, "%s/%s.bin", folder_path, "actuator_outputs0");
-	// if (0 == (actuator_outputs_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
-	// 	errx(1, "opening %s failed.\n", path_buf);
-	// }
-
 	/* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */
 	sprintf(path_buf, "%s/%s.bin", folder_path, "sysvector");
-	if (0 == (sysvector_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
-		errx(1, "opening %s failed.\n", path_buf);
-	}
 
-	/* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */
-	sprintf(path_buf, "%s/%s.bin", folder_path, "actuator_controls0");
-	if (0 == (actuator_controls_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
+	if (0 == (sysvector_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
 		errx(1, "opening %s failed.\n", path_buf);
 	}
 
 	/* set up file path: e.g. /mnt/sdcard/session0001/gps.txt */
 	sprintf(path_buf, "%s/%s.txt", folder_path, "gps");
+
 	if (NULL == (gpsfile = fopen(path_buf, "w"))) {
 		errx(1, "opening %s failed.\n", path_buf);
 	}
+
 	int gpsfile_no = fileno(gpsfile);
 
 	/* set up file path: e.g. /mnt/sdcard/session0001/blackbox.txt */
 	sprintf(path_buf, "%s/%s.txt", folder_path, "blackbox");
+
 	if (NULL == (blackbox_file = fopen(path_buf, "w"))) {
 		errx(1, "opening %s failed.\n", path_buf);
 	}
+
+	// XXX for fsync() calls
 	int blackbox_file_no = fileno(blackbox_file);
 
 	/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
@@ -305,6 +442,8 @@ int sdlog_thread_main(int argc, char *argv[]) {
 		struct vehicle_gps_position_s gps_pos;
 		struct vehicle_vicon_position_s vicon_pos;
 		struct optical_flow_s flow;
+		struct battery_status_s batt;
+		struct differential_pressure_s diff_pressure;
 	} buf;
 	memset(&buf, 0, sizeof(buf));
 
@@ -321,21 +460,29 @@ int sdlog_thread_main(int argc, char *argv[]) {
 		int gps_pos_sub;
 		int vicon_pos_sub;
 		int flow_sub;
+		int batt_sub;
+		int diff_pressure_sub;
 	} subs;
 
 	/* --- MANAGEMENT - LOGGING COMMAND --- */
-	/* subscribe to ORB for sensors raw */
+	/* subscribe to ORB for vehicle command */
 	subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
 	fds[fdsc_count].fd = subs.cmd_sub;
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
+	/* --- GPS POSITION --- */
+	/* subscribe to ORB for global position */
+	subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
+	fds[fdsc_count].fd = subs.gps_pos_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
 	/* --- SENSORS RAW VALUE --- */
 	/* subscribe to ORB for sensors raw */
 	subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
 	fds[fdsc_count].fd = subs.sensor_sub;
-	/* rate-limit raw data updates to 200Hz */
-	orb_set_interval(subs.sensor_sub, 5);
+	/* do not rate limit, instead use skip counter (aliasing on rate limit) */
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
@@ -388,13 +535,6 @@ int sdlog_thread_main(int argc, char *argv[]) {
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
-	/* --- GPS POSITION --- */
-	/* subscribe to ORB for global position */
-	subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
-	fds[fdsc_count].fd = subs.gps_pos_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
 	/* --- VICON POSITION --- */
 	/* subscribe to ORB for vicon position */
 	subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
@@ -409,6 +549,20 @@ int sdlog_thread_main(int argc, char *argv[]) {
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
+	/* --- BATTERY STATUS --- */
+	/* subscribe to ORB for flow measurements */
+	subs.batt_sub = orb_subscribe(ORB_ID(battery_status));
+	fds[fdsc_count].fd = subs.batt_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- DIFFERENTIAL PRESSURE --- */
+	/* subscribe to ORB for flow measurements */
+	subs.diff_pressure_sub = orb_subscribe(ORB_ID(differential_pressure));
+	fds[fdsc_count].fd = subs.diff_pressure_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
 	/* WARNING: If you get the error message below,
 	 * then the number of registered messages (fdsc)
 	 * differs from the number of messages in the above list.
@@ -426,160 +580,156 @@ int sdlog_thread_main(int argc, char *argv[]) {
 
 	thread_running = true;
 
-	int poll_count = 0;
+	/* initialize log buffer with a size of 10 */
+	sdlog_logbuffer_init(&lb, 10);
+
+	/* initialize thread synchronization */
+	pthread_mutex_init(&sysvector_mutex, NULL);
+  	pthread_cond_init(&sysvector_cond, NULL);
+
+	/* start logbuffer emptying thread */
+	pthread_t sysvector_pthread = sysvector_write_start(&lb);
 
 	starttime = hrt_absolute_time();
 
+	/* track skipping */
+	int skip_count = 0;
+
 	while (!thread_should_exit) {
 
-		// int poll_ret = poll(fds, fdsc_count, timeout);
-
-		// /* handle the poll result */
-		// if (poll_ret == 0) {
-		// 	/* XXX this means none of our providers is giving us data - might be an error? */
-		// } else if (poll_ret < 0) {
-		// 	/* XXX this is seriously bad - should be an emergency */
-		// } else {
-
-		// 	int ifds = 0;
-
-		// 	if (poll_count % 5000 == 0) {
-		// 		fsync(sensorfile);
-		// 		fsync(actuator_outputs_file);
-		// 		fsync(actuator_controls_file);
-		// 		fsync(blackbox_file_no);
-		// 	}
-
-			
-
-		// 	/* --- VEHICLE COMMAND VALUE --- */
-		// 	if (fds[ifds++].revents & POLLIN) {
-		// 		/* copy command into local buffer */
-		// 		orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
-		// 		blackbox_file_bytes += fprintf(blackbox_file, "[%10.4f\tVCMD] CMD #%d [%f\t%f\t%f\t%f\t%f\t%f\t%f]\n", hrt_absolute_time()/1000000.0d,
-		// 			buf.cmd.command, (double)buf.cmd.param1, (double)buf.cmd.param2, (double)buf.cmd.param3, (double)buf.cmd.param4,
-		// 			(double)buf.cmd.param5, (double)buf.cmd.param6, (double)buf.cmd.param7);
-		// 	}
-
-		// 	/* --- SENSORS RAW VALUE --- */
-		// 	if (fds[ifds++].revents & POLLIN) {
-
-		// 		/* copy sensors raw data into local buffer */
-		// 		orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
-		// 		/* write out */
-		// 		sensor_combined_bytes += write(sensorfile, (const char*)&(buf.raw), sizeof(buf.raw));
-		// 	}
-
-		// 	/* --- ATTITUDE VALUE --- */
-		// 	if (fds[ifds++].revents & POLLIN) {
-
-		// 		/* copy attitude data into local buffer */
-		// 		orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
-
-				
-		// 	}
-
-		// 	/* --- VEHICLE ATTITUDE SETPOINT --- */
-		// 	if (fds[ifds++].revents & POLLIN) {
-		// 		/* copy local position data into local buffer */
-		// 		orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp);
-				
-		// 	}
-
-		// 	/* --- ACTUATOR OUTPUTS 0 --- */
-		// 	if (fds[ifds++].revents & POLLIN) {
-		// 		/* copy actuator data into local buffer */
-		// 		orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
-		// 		/* write out */
-		// 		// actuator_outputs_bytes += write(actuator_outputs_file, (const char*)&buf.act_outputs, sizeof(buf.act_outputs));
-		// 	}
-
-		// 	/* --- ACTUATOR CONTROL --- */
-		// 	if (fds[ifds++].revents & POLLIN) {
-		// 		orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls0_sub, &buf.act_controls);
-		// 		/* write out */
-		// 		actuator_controls_bytes += write(actuator_controls_file, (const char*)&buf.act_controls, sizeof(buf.act_controls));
-		// 	}
-		// }
+		/* only poll for commands, gps and sensor_combined */
+		int poll_ret = poll(fds, 3, 1000);
 
-		if (poll_count % 100 == 0) {
-			fsync(sysvector_file);
-		}
+		/* handle the poll result */
+		if (poll_ret == 0) {
+			/* XXX this means none of our providers is giving us data - might be an error? */
+		} else if (poll_ret < 0) {
+			/* XXX this is seriously bad - should be an emergency */
+		} else {
 
-		poll_count++;
+			int ifds = 0;
 
+			/* --- VEHICLE COMMAND VALUE --- */
+			if (fds[ifds++].revents & POLLIN) {
+				/* copy command into local buffer */
+				orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
 
-		/* copy sensors raw data into local buffer */
-		orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
-		orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls_0_sub, &buf.act_controls);
-		orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.controls_effective_0_sub, &buf.act_controls_effective);
-		/* copy actuator data into local buffer */
-		orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
-		orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp);
-		orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
-		orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
-		orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
-		orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
-		orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos);
-		orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
-
-		#pragma pack(push, 1)
-		struct {
-			uint64_t timestamp; //[us]
-			float gyro[3]; //[rad/s]
-			float accel[3]; //[m/s^2]
-			float mag[3]; //[gauss]
-			float baro; //pressure [millibar]
-			float baro_alt; //altitude above MSL [meter]
-			float baro_temp; //[degree celcius]
-			float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
-			float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512)
-			float vbat; //battery voltage in [volt]
-			float adc[3]; //remaining auxiliary ADC ports [volt]
-			float local_position[3]; //tangent plane mapping into x,y,z [m]
-			int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]
-			float attitude[3]; //pitch, roll, yaw [rad]
-			float rotMatrix[9]; //unitvectors
-			float vicon[6];
-			float control_effective[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
-			float flow[6]; // flow raw x, y, flow metric x, y, flow ground dist, flow quality
-		} sysvector = {
-			.timestamp = buf.raw.timestamp,
-			.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
-			.accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]},
-			.mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]},
-			.baro = buf.raw.baro_pres_mbar,
-			.baro_alt = buf.raw.baro_alt_meter,
-			.baro_temp = buf.raw.baro_temp_celcius,
-			.control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]},
-			.actuators = {buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3],
-					buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]},
-			.vbat = buf.raw.battery_voltage_v,
-			.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2]},
-			.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
-			.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
-			.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw},
-			.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]},
-			.vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw},
-			.control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]},
-			.flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality}
-		};
-		#pragma pack(pop)
-
-		sysvector_bytes += write(sysvector_file, (const char*)&sysvector, sizeof(sysvector));
-
-		usleep(3500);   // roughly 150 Hz
-	}
+				/* always log to blackbox, even when logging disabled */
+				blackbox_file_bytes += fprintf(blackbox_file, "[%10.4f\tVCMD] CMD #%d [%f\t%f\t%f\t%f\t%f\t%f\t%f]\n", hrt_absolute_time()/1000000.0d,
+					buf.cmd.command, (double)buf.cmd.param1, (double)buf.cmd.param2, (double)buf.cmd.param3, (double)buf.cmd.param4,
+					(double)buf.cmd.param5, (double)buf.cmd.param6, (double)buf.cmd.param7);
 
-	fsync(sysvector_file);
+				handle_command(&buf.cmd);
+			}
+
+			/* --- VEHICLE GPS VALUE --- */
+			if (fds[ifds++].revents & POLLIN) {
+				/* copy gps position into local buffer */
+				orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
+
+				/* if logging disabled, continue */
+				if (logging_enabled) {
+
+				/* write KML line */
+				}
+			}
+
+			/* --- SENSORS RAW VALUE --- */
+			if (fds[ifds++].revents & POLLIN) {
+
+				// /* copy sensors raw data into local buffer */
+				// orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
+				// /* write out */
+				// sensor_combined_bytes += write(sensorfile, (const char*)&(buf.raw), sizeof(buf.raw));
+
+				/* always copy sensors raw data into local buffer, since poll flags won't clear else */
+				orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
+				orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls_0_sub, &buf.act_controls);
+				orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.controls_effective_0_sub, &buf.act_controls_effective);
+				orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
+				orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp);
+				orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
+				orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
+				orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
+				orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
+				orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos);
+				orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
+				orb_copy(ORB_ID(differential_pressure), subs.diff_pressure_sub, &buf.diff_pressure);
+				orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt);
+
+				/* if skipping is on or logging is disabled, ignore */
+				if (skip_count < skip_value || !logging_enabled) {
+					skip_count++;
+					/* do not log data */
+					continue;
+				} else {
+					/* log data, reset */
+					skip_count = 0;
+				}
+
+				struct sdlog_sysvector sysvect = {
+					.timestamp = buf.raw.timestamp,
+					.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
+					.accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]},
+					.mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]},
+					.baro = buf.raw.baro_pres_mbar,
+					.baro_alt = buf.raw.baro_alt_meter,
+					.baro_temp = buf.raw.baro_temp_celcius,
+					.control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]},
+					.actuators = {
+						buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3],
+						buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]
+					},
+					.vbat = buf.batt.voltage_v,
+					.bat_current = buf.batt.current_a,
+					.bat_discharged = buf.batt.discharged_mah,
+					.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2]},
+					.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
+					.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
+					.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw},
+					.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]},
+					.vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw},
+					.control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]},
+					.flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality},
+					.diff_pressure = buf.diff_pressure.differential_pressure_mbar,
+					.ind_airspeed = buf.diff_pressure.indicated_airspeed_m_s,
+					.true_airspeed = buf.diff_pressure.true_airspeed_m_s
+				};
+
+				/* put into buffer for later IO */
+				pthread_mutex_lock(&sysvector_mutex);
+				sdlog_logbuffer_write(&lb, &sysvect);
+				/* signal the other thread new data, but not yet unlock */
+				if ((unsigned)lb.count > (lb.size / 2)) {
+					/* only request write if several packets can be written at once */
+					pthread_cond_signal(&sysvector_cond);
+				}
+				/* unlock, now the writer thread may run */
+				pthread_mutex_unlock(&sysvector_mutex);
+			}
+
+		}
+
+	}
 
 	print_sdlog_status();
 
-	warnx("exiting.\n");
+	/* wake up write thread one last time */
+	pthread_mutex_lock(&sysvector_mutex);
+	pthread_cond_signal(&sysvector_cond);
+	/* unlock, now the writer thread may return */
+	pthread_mutex_unlock(&sysvector_mutex);
+
+	/* wait for write thread to return */
+	(void)pthread_join(sysvector_pthread, NULL);
+
+  	pthread_mutex_destroy(&sysvector_mutex);
+  	pthread_cond_destroy(&sysvector_cond);
 
-	close(sensorfile);
-	close(actuator_outputs_file);
-	close(actuator_controls_file);
+	warnx("exiting.\n\n");
+
+	/* finish KML file */
+	// XXX
 	fclose(gpsfile);
 	fclose(blackbox_file);
 
@@ -606,43 +756,74 @@ int file_exist(const char *filename)
 	return stat(filename, &buffer);
 }
 
-int file_copy(const char* file_old, const char* file_new)
+int file_copy(const char *file_old, const char *file_new)
 {
 	FILE *source, *target;
 	source = fopen(file_old, "r");
 	int ret = 0;
- 
-	if( source == NULL )
-	{
+
+	if (source == NULL) {
 		warnx("failed opening input file to copy");
 		return 1;
 	}
 
 	target = fopen(file_new, "w");
- 
-	if( target == NULL )
-	{
+
+	if (target == NULL) {
 		fclose(source);
 		warnx("failed to open output file to copy");
 		return 1;
 	}
- 
+
 	char buf[128];
 	int nread;
+
 	while ((nread = fread(buf, 1, sizeof(buf), source)) > 0) {
 		int ret = fwrite(buf, 1, nread, target);
+
 		if (ret <= 0) {
 			warnx("error writing file");
 			ret = 1;
 			break;
 		}
 	}
+
 	fsync(fileno(target));
 
 	fclose(source);
 	fclose(target);
 
-   return ret;
+	return ret;
 }
 
+void handle_command(struct vehicle_command_s *cmd)
+{
+	/* result of the command */
+	uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
+
+	/* request to set different system mode */
+	switch (cmd->command) {
 
+	case VEHICLE_CMD_PREFLIGHT_STORAGE:
+
+		if (((int)(cmd->param3)) == 1)	{
+
+			/* enable logging */
+			mavlink_log_info(mavlink_fd, "[log] file:");
+			mavlink_log_info(mavlink_fd, "logdir");
+			logging_enabled = true;
+		}
+		if (((int)(cmd->param3)) == 0)	{
+
+			/* disable logging */
+			mavlink_log_info(mavlink_fd, "[log] stopped.");
+			logging_enabled = false;
+		}
+		break;
+
+	default:
+		/* silently ignore */
+		break;
+	}
+
+}
diff --git a/apps/sdlog/sdlog_ringbuffer.c b/apps/sdlog/sdlog_ringbuffer.c
new file mode 100644
index 000000000..d7c8a4759
--- /dev/null
+++ b/apps/sdlog/sdlog_ringbuffer.c
@@ -0,0 +1,91 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sdlog_log.c
+ * MAVLink text logging.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#include <string.h>
+#include <stdlib.h>
+
+#include "sdlog_ringbuffer.h"
+
+void sdlog_logbuffer_init(struct sdlog_logbuffer *lb, int size)
+{
+	lb->size  = size;
+	lb->start = 0;
+	lb->count = 0;
+	lb->elems = (struct sdlog_sysvector *)calloc(lb->size, sizeof(struct sdlog_sysvector));
+}
+
+int sdlog_logbuffer_is_full(struct sdlog_logbuffer *lb)
+{
+	return lb->count == (int)lb->size;
+}
+
+int sdlog_logbuffer_is_empty(struct sdlog_logbuffer *lb)
+{
+	return lb->count == 0;
+}
+
+
+// XXX make these functions thread-safe
+void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvector *elem)
+{
+	int end = (lb->start + lb->count) % lb->size;
+	memcpy(&(lb->elems[end]), elem, sizeof(struct sdlog_sysvector));
+
+	if (sdlog_logbuffer_is_full(lb)) {
+		lb->start = (lb->start + 1) % lb->size; /* full, overwrite */
+
+	} else {
+		++lb->count;
+	}
+}
+
+int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem)
+{
+	if (!sdlog_logbuffer_is_empty(lb)) {
+		memcpy(elem, &(lb->elems[lb->start]), sizeof(struct sdlog_sysvector));
+		lb->start = (lb->start + 1) % lb->size;
+		--lb->count;
+		return 0;
+
+	} else {
+		return 1;
+	}
+}
diff --git a/apps/sdlog/sdlog_ringbuffer.h b/apps/sdlog/sdlog_ringbuffer.h
new file mode 100644
index 000000000..f7fc0d450
--- /dev/null
+++ b/apps/sdlog/sdlog_ringbuffer.h
@@ -0,0 +1,91 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sdlog_ringbuffer.h
+ * microSD logging
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#ifndef SDLOG_RINGBUFFER_H_
+#define SDLOG_RINGBUFFER_H_
+
+#pragma pack(push, 1)
+struct sdlog_sysvector {
+	uint64_t timestamp;		/**<  time [us] */
+	float gyro[3];			/**< [rad/s] */
+	float accel[3];			/**< [m/s^2] */
+	float mag[3];			/**< [gauss] */
+	float baro;			/**< pressure [millibar] */
+	float baro_alt;			/**< altitude above MSL [meter] */
+	float baro_temp;		/**< [degree celcius] */
+	float control[4];		/**< roll, pitch, yaw [-1..1], thrust [0..1] */
+	float actuators[8];		/**< motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512) */
+	float vbat;			/**< battery voltage in [volt] */
+	float bat_current;		/**< battery discharge current */
+	float bat_discharged;		/**< discharged energy in mAh */
+	float adc[3];			/**< remaining auxiliary ADC ports [volt] */
+	float local_position[3];	/**< tangent plane mapping into x,y,z [m] */
+	int32_t gps_raw_position[3];	/**< latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter] */
+	float attitude[3];		/**< roll, pitch, yaw [rad] */
+	float rotMatrix[9];		/**< unitvectors */
+	float vicon[6];			/**< Vicon ground truth x, y, z and roll, pitch, yaw */
+	float control_effective[4]; 	/**< roll, pitch, yaw [-1..1], thrust [0..1] */
+	float flow[6];			/**< flow raw x, y, flow metric x, y, flow ground dist, flow quality */
+	float diff_pressure;		/**< differential pressure */
+	float ind_airspeed;		/**< indicated airspeed */
+	float true_airspeed;		/**< true airspeed */
+};
+#pragma pack(pop)
+
+struct sdlog_logbuffer {
+	unsigned int start;
+	// unsigned int end;
+	unsigned int size;
+	int count;
+	struct sdlog_sysvector *elems;
+};
+
+void sdlog_logbuffer_init(struct sdlog_logbuffer *lb, int size);
+
+int sdlog_logbuffer_is_full(struct sdlog_logbuffer *lb);
+
+int sdlog_logbuffer_is_empty(struct sdlog_logbuffer *lb);
+
+void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvector *elem);
+
+int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem);
+
+#endif
\ No newline at end of file
diff --git a/apps/sensors/sensor_params.c b/apps/sensors/sensor_params.c
index cc74ae705..9f23ebbba 100644
--- a/apps/sensors/sensor_params.c
+++ b/apps/sensors/sensor_params.c
@@ -69,58 +69,86 @@ PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);
 PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f);
 PARAM_DEFINE_FLOAT(RC1_REV, 1.0f);
 PARAM_DEFINE_FLOAT(RC1_DZ, 0.0f);
-PARAM_DEFINE_FLOAT(RC1_EXP, 0.0f);
 
 PARAM_DEFINE_FLOAT(RC2_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC2_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC2_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC2_REV, 1.0f);
 PARAM_DEFINE_FLOAT(RC2_DZ, 0.0f);
-PARAM_DEFINE_FLOAT(RC2_EXP, 0.0f);
 
 PARAM_DEFINE_FLOAT(RC3_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC3_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC3_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC3_REV, 1.0f);
 PARAM_DEFINE_FLOAT(RC3_DZ, 0.0f);
-PARAM_DEFINE_FLOAT(RC3_EXP, 0.0f);
 
 PARAM_DEFINE_FLOAT(RC4_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC4_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC4_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC4_REV, 1.0f);
 PARAM_DEFINE_FLOAT(RC4_DZ, 0.0f);
-PARAM_DEFINE_FLOAT(RC4_EXP, 0.0f);
 
 PARAM_DEFINE_FLOAT(RC5_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC5_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC5_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC5_REV, 1.0f);
 PARAM_DEFINE_FLOAT(RC5_DZ,  0.0f);
-PARAM_DEFINE_FLOAT(RC5_EXP, 0.0f);
 
 PARAM_DEFINE_FLOAT(RC6_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC6_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC6_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC6_REV, 1.0f);
 PARAM_DEFINE_FLOAT(RC6_DZ, 0.0f);
-PARAM_DEFINE_FLOAT(RC6_EXP, 0.0f);
 
 PARAM_DEFINE_FLOAT(RC7_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC7_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC7_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC7_REV, 1.0f);
 PARAM_DEFINE_FLOAT(RC7_DZ, 0.0f);
-PARAM_DEFINE_FLOAT(RC7_EXP, 0.0f);
 
 PARAM_DEFINE_FLOAT(RC8_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC8_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC8_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC8_REV, 1.0f);
 PARAM_DEFINE_FLOAT(RC8_DZ, 0.0f);
-PARAM_DEFINE_FLOAT(RC8_EXP, 0.0f);
 
-PARAM_DEFINE_INT32(RC_TYPE, 1); // 1 = FUTABA
+PARAM_DEFINE_FLOAT(RC9_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC9_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC9_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC9_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC9_DZ, 0.0f);
+
+PARAM_DEFINE_FLOAT(RC10_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC10_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC10_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC10_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC10_DZ, 0.0f);
+
+PARAM_DEFINE_FLOAT(RC11_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC11_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC11_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC11_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC11_DZ, 0.0f);
+
+PARAM_DEFINE_FLOAT(RC12_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC12_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC12_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC12_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC12_DZ, 0.0f);
+
+PARAM_DEFINE_FLOAT(RC13_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC13_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC13_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC13_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC13_DZ, 0.0f);
+
+PARAM_DEFINE_FLOAT(RC14_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC14_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC14_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC14_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC14_DZ, 0.0f);
+
+PARAM_DEFINE_INT32(RC_TYPE, 1); /** 1 = FUTABA, 2 = Spektrum, 3 = Graupner HoTT, 4 = Turnigy 9x */
 
 /* default is conversion factor for the PX4IO / PX4IOAR board, the factor for PX4FMU standalone is different */
 PARAM_DEFINE_FLOAT(BAT_V_SCALING, (3.3f * 52.0f / 5.0f / 4095.0f));
@@ -129,12 +157,23 @@ PARAM_DEFINE_INT32(RC_MAP_ROLL, 1);
 PARAM_DEFINE_INT32(RC_MAP_PITCH, 2);
 PARAM_DEFINE_INT32(RC_MAP_THROTTLE, 3);
 PARAM_DEFINE_INT32(RC_MAP_YAW, 4);
-PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 5);
-PARAM_DEFINE_INT32(RC_MAP_AUX1, 6);
-PARAM_DEFINE_INT32(RC_MAP_AUX2, 7);
-PARAM_DEFINE_INT32(RC_MAP_AUX3, 8);
+
+PARAM_DEFINE_INT32(RC_MAP_OVER_SW, 5);
+PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 6);
+
+PARAM_DEFINE_INT32(RC_MAP_MAN_SW, 0);
+PARAM_DEFINE_INT32(RC_MAP_SAS_SW, 0);
+PARAM_DEFINE_INT32(RC_MAP_RTL_SW, 0);
+PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
+
+PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0);
+
+PARAM_DEFINE_INT32(RC_MAP_AUX1, 0);	/**< default function: camera yaw / azimuth */
+PARAM_DEFINE_INT32(RC_MAP_AUX2, 0);	/**< default function: camera pitch / tilt */
+PARAM_DEFINE_INT32(RC_MAP_AUX3, 0);	/**< default function: camera trigger */
+PARAM_DEFINE_INT32(RC_MAP_AUX4, 0);	/**< default function: camera roll */
+PARAM_DEFINE_INT32(RC_MAP_AUX5, 0);	/**< default function: payload drop */
 
 PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.4f);
 PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.4f);
-PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 3.0f);
-
+PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 1.0f);
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp
index 07a9015fe..2697cf3d9 100644
--- a/apps/sensors/sensors.cpp
+++ b/apps/sensors/sensors.cpp
@@ -43,7 +43,6 @@
 
 #include <fcntl.h>
 #include <poll.h>
-#include <nuttx/analog/adc.h>
 #include <unistd.h>
 #include <stdlib.h>
 #include <string.h>
@@ -52,13 +51,15 @@
 #include <errno.h>
 #include <math.h>
 
-#include <drivers/drv_hrt.h>
+#include <nuttx/analog/adc.h>
 
+#include <drivers/drv_hrt.h>
 #include <drivers/drv_accel.h>
 #include <drivers/drv_gyro.h>
 #include <drivers/drv_mag.h>
 #include <drivers/drv_baro.h>
 #include <drivers/drv_rc_input.h>
+#include <drivers/drv_adc.h>
 
 #include <systemlib/systemlib.h>
 #include <systemlib/param/param.h>
@@ -73,6 +74,7 @@
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/parameter_update.h>
+#include <uORB/topics/battery_status.h>
 
 #define GYRO_HEALTH_COUNTER_LIMIT_ERROR 20   /* 40 ms downtime at 500 Hz update rate   */
 #define ACC_HEALTH_COUNTER_LIMIT_ERROR  20   /* 40 ms downtime at 500 Hz update rate   */
@@ -86,7 +88,7 @@
 #define BARO_HEALTH_COUNTER_LIMIT_OK 5
 #define ADC_HEALTH_COUNTER_LIMIT_OK  5
 
-#define ADC_BATTERY_VOLATGE_CHANNEL  10
+#define ADC_BATTERY_VOLTAGE_CHANNEL  10
 
 #define BAT_VOL_INITIAL 12.f
 #define BAT_VOL_LOWPASS_1 0.99f
@@ -95,6 +97,8 @@
 
 #define PPM_INPUT_TIMEOUT_INTERVAL	50000 /**< 50 ms timeout / 20 Hz */
 
+#define limit_minus_one_to_one(arg) (arg < -1.0f) ? -1.0f : ((arg > 1.0f) ? 1.0f : arg)
+
 /**
  * Sensor app start / stop handling function
  *
@@ -105,8 +109,8 @@ extern "C" __EXPORT int sensors_main(int argc, char *argv[]);
 class Sensors
 {
 public:
-	/** 
-	 * Constructor 
+	/**
+	 * Constructor
 	 */
 	Sensors();
 
@@ -122,8 +126,8 @@ public:
 	 */
 	int		start();
 
-private:	
-	static const unsigned _rc_max_chan_count = 8;	/**< maximum number of r/c channels we handle */
+private:
+	static const unsigned _rc_max_chan_count = RC_CHANNELS_MAX;	/**< maximum number of r/c channels we handle */
 
 #if CONFIG_HRT_PPM
 	hrt_abstime	_ppm_last_valid;		/**< last time we got a valid ppm signal */
@@ -156,10 +160,12 @@ private:
 	orb_advert_t	_sensor_pub;			/**< combined sensor data topic */
 	orb_advert_t	_manual_control_pub;		/**< manual control signal topic */
 	orb_advert_t	_rc_pub;			/**< raw r/c control topic */
+	orb_advert_t	_battery_pub;			/**< battery status */
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 
 	struct rc_channels_s _rc;			/**< r/c channel data */
+	struct battery_status_s _battery_status;	/**< battery status */
 
 	struct {
 		float min[_rc_max_chan_count];
@@ -167,7 +173,7 @@ private:
 		float max[_rc_max_chan_count];
 		float rev[_rc_max_chan_count];
 		float dz[_rc_max_chan_count];
-		float ex[_rc_max_chan_count];
+		// float ex[_rc_max_chan_count];
 		float scaling_factor[_rc_max_chan_count];
 
 		float gyro_offset[3];
@@ -182,11 +188,27 @@ private:
 		int rc_map_pitch;
 		int rc_map_yaw;
 		int rc_map_throttle;
-		int rc_map_mode_sw;
+
+		int rc_map_manual_override_sw;
+		int rc_map_auto_mode_sw;
+
+		int rc_map_manual_mode_sw;
+		int rc_map_sas_mode_sw;
+		int rc_map_rtl_sw;
+		int rc_map_offboard_ctrl_mode_sw;
+
+		int rc_map_flaps;
+
+		int rc_map_aux1;
+		int rc_map_aux2;
+		int rc_map_aux3;
+		int rc_map_aux4;
+		int rc_map_aux5;
 
 		float rc_scale_roll;
 		float rc_scale_pitch;
 		float rc_scale_yaw;
+		float rc_scale_flaps;
 
 		float battery_voltage_scaling;
 	}		_parameters;			/**< local copies of interesting parameters */
@@ -197,9 +219,11 @@ private:
 		param_t max[_rc_max_chan_count];
 		param_t rev[_rc_max_chan_count];
 		param_t dz[_rc_max_chan_count];
-		param_t ex[_rc_max_chan_count];
+		// param_t ex[_rc_max_chan_count];
 		param_t rc_type;
 
+		param_t rc_demix;
+
 		param_t gyro_offset[3];
 		param_t accel_offset[3];
 		param_t accel_scale[3];
@@ -210,11 +234,27 @@ private:
 		param_t rc_map_pitch;
 		param_t rc_map_yaw;
 		param_t rc_map_throttle;
-		param_t rc_map_mode_sw;
+
+		param_t rc_map_manual_override_sw;
+		param_t rc_map_auto_mode_sw;
+
+		param_t rc_map_manual_mode_sw;
+		param_t rc_map_sas_mode_sw;
+		param_t rc_map_rtl_sw;
+		param_t rc_map_offboard_ctrl_mode_sw;
+
+		param_t rc_map_flaps;
+
+		param_t rc_map_aux1;
+		param_t rc_map_aux2;
+		param_t rc_map_aux3;
+		param_t rc_map_aux4;
+		param_t rc_map_aux5;
 
 		param_t rc_scale_roll;
 		param_t rc_scale_pitch;
 		param_t rc_scale_yaw;
+		param_t rc_scale_flaps;
 
 		param_t battery_voltage_scaling;
 	}		_parameter_handles;		/**< handles for interesting parameters */
@@ -334,7 +374,7 @@ Sensors::Sensors() :
 	_hil_enabled(false),
 	_publishing(true),
 
-	/* subscriptions */
+/* subscriptions */
 	_gyro_sub(-1),
 	_accel_sub(-1),
 	_mag_sub(-1),
@@ -344,12 +384,13 @@ Sensors::Sensors() :
 	_params_sub(-1),
 	_manual_control_sub(-1),
 
-	/* publications */
+/* publications */
 	_sensor_pub(-1),
 	_manual_control_pub(-1),
 	_rc_pub(-1),
+	_battery_pub(-1),
 
-	/* performance counters */
+/* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "sensor task update"))
 {
 
@@ -377,22 +418,38 @@ Sensors::Sensors() :
 		sprintf(nbuf, "RC%d_DZ", i + 1);
 		_parameter_handles.dz[i] = param_find(nbuf);
 
-		/* channel exponential gain */
-		sprintf(nbuf, "RC%d_EXP", i + 1);
-		_parameter_handles.ex[i] = param_find(nbuf);
 	}
 
 	_parameter_handles.rc_type = param_find("RC_TYPE");
 
+	/* mandatory input switched, mapped to channels 1-4 per default */
 	_parameter_handles.rc_map_roll 	= param_find("RC_MAP_ROLL");
 	_parameter_handles.rc_map_pitch = param_find("RC_MAP_PITCH");
 	_parameter_handles.rc_map_yaw 	= param_find("RC_MAP_YAW");
 	_parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE");
-	_parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW");
+
+	/* mandatory mode switches, mapped to channel 5 and 6 per default */
+	_parameter_handles.rc_map_manual_override_sw = param_find("RC_MAP_OVER_SW");
+	_parameter_handles.rc_map_auto_mode_sw = param_find("RC_MAP_MODE_SW");
+
+	_parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS");
+
+	/* optional mode switches, not mapped per default */
+	_parameter_handles.rc_map_manual_mode_sw = param_find("RC_MAP_MAN_SW");
+	_parameter_handles.rc_map_sas_mode_sw = param_find("RC_MAP_SAS_SW");
+	_parameter_handles.rc_map_rtl_sw = param_find("RC_MAP_RTL_SW");
+	_parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW");
+
+	_parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1");
+	_parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2");
+	_parameter_handles.rc_map_aux3 = param_find("RC_MAP_AUX3");
+	_parameter_handles.rc_map_aux4 = param_find("RC_MAP_AUX4");
+	_parameter_handles.rc_map_aux5 = param_find("RC_MAP_AUX5");
 
 	_parameter_handles.rc_scale_roll = param_find("RC_SCALE_ROLL");
 	_parameter_handles.rc_scale_pitch = param_find("RC_SCALE_PITCH");
 	_parameter_handles.rc_scale_yaw = param_find("RC_SCALE_YAW");
+	_parameter_handles.rc_scale_flaps = param_find("RC_SCALE_FLAPS");
 
 	/* gyro offsets */
 	_parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF");
@@ -431,6 +488,7 @@ Sensors::~Sensors()
 
 		/* wait for a second for the task to quit at our request */
 		unsigned i = 0;
+
 		do {
 			/* wait 20ms */
 			usleep(20000);
@@ -449,45 +507,48 @@ Sensors::~Sensors()
 int
 Sensors::parameters_update()
 {
-	const unsigned int nchans = 8;
+	bool rc_valid = true;
 
 	/* rc values */
-	for (unsigned int i = 0; i < nchans; i++) {
+	for (unsigned int i = 0; i < RC_CHANNELS_MAX; i++) {
 
 		if (param_get(_parameter_handles.min[i], &(_parameters.min[i])) != OK) {
 			warnx("Failed getting min for chan %d", i);
 		}
+
 		if (param_get(_parameter_handles.trim[i], &(_parameters.trim[i])) != OK) {
 			warnx("Failed getting trim for chan %d", i);
 		}
+
 		if (param_get(_parameter_handles.max[i], &(_parameters.max[i])) != OK) {
 			warnx("Failed getting max for chan %d", i);
 		}
+
 		if (param_get(_parameter_handles.rev[i], &(_parameters.rev[i])) != OK) {
 			warnx("Failed getting rev for chan %d", i);
 		}
+
 		if (param_get(_parameter_handles.dz[i], &(_parameters.dz[i])) != OK) {
 			warnx("Failed getting dead zone for chan %d", i);
 		}
-		if (param_get(_parameter_handles.ex[i], &(_parameters.ex[i])) != OK) {
-			warnx("Failed getting exponential gain for chan %d", i);
-		}
 
 		_parameters.scaling_factor[i] = (1.0f / ((_parameters.max[i] - _parameters.min[i]) / 2.0f) * _parameters.rev[i]);
 
 		/* handle blowup in the scaling factor calculation */
-		if (isnan(_parameters.scaling_factor[i]) || isinf(_parameters.scaling_factor[i])) {
+		if (!isfinite(_parameters.scaling_factor[i]) ||
+		    _parameters.scaling_factor[i] * _parameters.rev[i] < 0.000001f ||
+		    _parameters.scaling_factor[i] * _parameters.rev[i] > 0.2f) {
+
+			/* scaling factors do not make sense, lock them down */
 			_parameters.scaling_factor[i] = 0;
+			rc_valid = false;
 		}
 
 	}
 
-	/* update RC function mappings */
-	_rc.function[0] = _parameters.rc_map_throttle - 1;
-	_rc.function[1] = _parameters.rc_map_roll - 1;
-	_rc.function[2] = _parameters.rc_map_pitch - 1;
-	_rc.function[3] = _parameters.rc_map_yaw - 1;
-	_rc.function[4] = _parameters.rc_map_mode_sw - 1;
+	/* handle wrong values */
+	if (!rc_valid)
+		warnx("WARNING     WARNING     WARNING\n\nRC CALIBRATION NOT SANE!\n\n");
 
 	/* remote control type */
 	if (param_get(_parameter_handles.rc_type, &(_parameters.rc_type)) != OK) {
@@ -498,29 +559,105 @@ Sensors::parameters_update()
 	if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) {
 		warnx("Failed getting roll chan index");
 	}
+
 	if (param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch)) != OK) {
 		warnx("Failed getting pitch chan index");
 	}
+
 	if (param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw)) != OK) {
 		warnx("Failed getting yaw chan index");
 	}
+
 	if (param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle)) != OK) {
 		warnx("Failed getting throttle chan index");
 	}
-	if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
-		warnx("Failed getting mode sw chan index");
+
+	if (param_get(_parameter_handles.rc_map_manual_override_sw, &(_parameters.rc_map_manual_override_sw)) != OK) {
+		warnx("Failed getting override sw chan index");
+	}
+
+	if (param_get(_parameter_handles.rc_map_auto_mode_sw, &(_parameters.rc_map_auto_mode_sw)) != OK) {
+		warnx("Failed getting auto mode sw chan index");
+	}
+
+	if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
+		warnx("Failed getting flaps chan index");
+	}
+
+	if (param_get(_parameter_handles.rc_map_manual_mode_sw, &(_parameters.rc_map_manual_mode_sw)) != OK) {
+		warnx("Failed getting manual mode sw chan index");
+	}
+
+	if (param_get(_parameter_handles.rc_map_rtl_sw, &(_parameters.rc_map_rtl_sw)) != OK) {
+		warnx("Failed getting rtl sw chan index");
+	}
+
+	if (param_get(_parameter_handles.rc_map_sas_mode_sw, &(_parameters.rc_map_sas_mode_sw)) != OK) {
+		warnx("Failed getting sas mode sw chan index");
+	}
+
+	if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) {
+		warnx("Failed getting offboard control mode sw chan index");
+	}
+
+	if (param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1)) != OK) {
+		warnx("Failed getting mode aux 1 index");
+	}
+
+	if (param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2)) != OK) {
+		warnx("Failed getting mode aux 2 index");
+	}
+
+	if (param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3)) != OK) {
+		warnx("Failed getting mode aux 3 index");
+	}
+
+	if (param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4)) != OK) {
+		warnx("Failed getting mode aux 4 index");
+	}
+
+	if (param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5)) != OK) {
+		warnx("Failed getting mode aux 5 index");
 	}
 
 	if (param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll)) != OK) {
 		warnx("Failed getting rc scaling for roll");
 	}
+
 	if (param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch)) != OK) {
 		warnx("Failed getting rc scaling for pitch");
 	}
+
 	if (param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw)) != OK) {
 		warnx("Failed getting rc scaling for yaw");
 	}
 
+	if (param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps)) != OK) {
+		warnx("Failed getting rc scaling for flaps");
+	}
+
+	/* update RC function mappings */
+	_rc.function[THROTTLE] = _parameters.rc_map_throttle - 1;
+	_rc.function[ROLL] = _parameters.rc_map_roll - 1;
+	_rc.function[PITCH] = _parameters.rc_map_pitch - 1;
+	_rc.function[YAW] = _parameters.rc_map_yaw - 1;
+
+	_rc.function[OVERRIDE] = _parameters.rc_map_manual_override_sw - 1;
+	_rc.function[AUTO_MODE] = _parameters.rc_map_auto_mode_sw - 1;
+
+	_rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
+
+	_rc.function[MANUAL_MODE] = _parameters.rc_map_manual_mode_sw - 1;
+	_rc.function[RTL] = _parameters.rc_map_rtl_sw - 1;
+	_rc.function[SAS_MODE] = _parameters.rc_map_sas_mode_sw - 1;
+	_rc.function[OFFBOARD_MODE] = _parameters.rc_map_offboard_ctrl_mode_sw - 1;
+
+	_rc.function[AUX_1] = _parameters.rc_map_aux1 - 1;
+	_rc.function[AUX_2] = _parameters.rc_map_aux2 - 1;
+	_rc.function[AUX_3] = _parameters.rc_map_aux3 - 1;
+	_rc.function[AUX_4] = _parameters.rc_map_aux4 - 1;
+	_rc.function[AUX_5] = _parameters.rc_map_aux5 - 1;
+
 	/* gyro offsets */
 	param_get(_parameter_handles.gyro_offset[0], &(_parameters.gyro_offset[0]));
 	param_get(_parameter_handles.gyro_offset[1], &(_parameters.gyro_offset[1]));
@@ -557,9 +694,11 @@ Sensors::accel_init()
 	int	fd;
 
 	fd = open(ACCEL_DEVICE_PATH, 0);
+
 	if (fd < 0) {
 		warn("%s", ACCEL_DEVICE_PATH);
 		errx(1, "FATAL: no accelerometer found");
+
 	} else {
 		/* set the accel internal sampling rate up to at leat 500Hz */
 		ioctl(fd, ACCELIOCSSAMPLERATE, 500);
@@ -578,9 +717,11 @@ Sensors::gyro_init()
 	int	fd;
 
 	fd = open(GYRO_DEVICE_PATH, 0);
+
 	if (fd < 0) {
 		warn("%s", GYRO_DEVICE_PATH);
 		errx(1, "FATAL: no gyro found");
+
 	} else {
 		/* set the gyro internal sampling rate up to at leat 500Hz */
 		ioctl(fd, GYROIOCSSAMPLERATE, 500);
@@ -599,6 +740,7 @@ Sensors::mag_init()
 	int	fd;
 
 	fd = open(MAG_DEVICE_PATH, 0);
+
 	if (fd < 0) {
 		warn("%s", MAG_DEVICE_PATH);
 		errx(1, "FATAL: no magnetometer found");
@@ -619,6 +761,7 @@ Sensors::baro_init()
 	int	fd;
 
 	fd = open(BARO_DEVICE_PATH, 0);
+
 	if (fd < 0) {
 		warn("%s", BARO_DEVICE_PATH);
 		warnx("No barometer found, ignoring");
@@ -634,10 +777,11 @@ void
 Sensors::adc_init()
 {
 
-	_fd_adc = open("/dev/adc0", O_RDONLY | O_NONBLOCK);
+	_fd_adc = open(ADC_DEVICE_PATH, O_RDONLY | O_NONBLOCK);
+
 	if (_fd_adc < 0) {
-		warn("/dev/adc0");
-		errx(1, "FATAL: no ADC found");
+		warn(ADC_DEVICE_PATH);
+		warnx("FATAL: no ADC found");
 	}
 }
 
@@ -705,7 +849,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
 		raw.magnetometer_raw[0] = mag_report.x_raw;
 		raw.magnetometer_raw[1] = mag_report.y_raw;
 		raw.magnetometer_raw[2] = mag_report.z_raw;
-		
+
 		raw.magnetometer_counter++;
 	}
 }
@@ -737,6 +881,7 @@ Sensors::vehicle_status_poll()
 
 	/* Check HIL state if vehicle status has changed */
 	orb_check(_vstatus_sub, &vstatus_updated);
+
 	if (vstatus_updated) {
 
 		orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &vstatus);
@@ -764,8 +909,7 @@ Sensors::parameter_update_poll(bool forced)
 	/* Check if any parameter has changed */
 	orb_check(_params_sub, &param_updated);
 
-	if (param_updated || forced)
-	{
+	if (param_updated || forced) {
 		/* read from param to clear updated flag */
 		struct parameter_update_s update;
 		orb_copy(ORB_ID(parameter_update), _params_sub, &update);
@@ -775,7 +919,7 @@ Sensors::parameter_update_poll(bool forced)
 
 		/* update sensor offsets */
 		int fd = open(GYRO_DEVICE_PATH, 0);
-		struct gyro_scale gscale = { 
+		struct gyro_scale gscale = {
 			_parameters.gyro_offset[0],
 			1.0f,
 			_parameters.gyro_offset[1],
@@ -783,8 +927,10 @@ Sensors::parameter_update_poll(bool forced)
 			_parameters.gyro_offset[2],
 			1.0f,
 		};
+
 		if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))
 			warn("WARNING: failed to set scale / offsets for gyro");
+
 		close(fd);
 
 		fd = open(ACCEL_DEVICE_PATH, 0);
@@ -796,8 +942,10 @@ Sensors::parameter_update_poll(bool forced)
 			_parameters.accel_offset[2],
 			_parameters.accel_scale[2],
 		};
+
 		if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
 			warn("WARNING: failed to set scale / offsets for accel");
+
 		close(fd);
 
 		fd = open(MAG_DEVICE_PATH, 0);
@@ -809,54 +957,67 @@ Sensors::parameter_update_poll(bool forced)
 			_parameters.mag_offset[2],
 			_parameters.mag_scale[2],
 		};
+
 		if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
 			warn("WARNING: failed to set scale / offsets for mag");
+
 		close(fd);
 
 #if 0
-		printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n",  (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.chan[0].scaling_factor*10000), (int)(_rc.chan[0].mid), (int)_rc.function[0]);
-		printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n",  (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.chan[1].scaling_factor*10000), (int)(_rc.chan[1].mid), (int)_rc.function[1]);
-		printf("MAN: %d %d\n", (int)(_rc.chan[0].scaled*100), (int)(_rc.chan[1].scaled*100));
+		printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.chan[0].scaling_factor * 10000), (int)(_rc.chan[0].mid), (int)_rc.function[0]);
+		printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.chan[1].scaling_factor * 10000), (int)(_rc.chan[1].mid), (int)_rc.function[1]);
+		printf("MAN: %d %d\n", (int)(_rc.chan[0].scaled * 100), (int)(_rc.chan[1].scaled * 100));
 		fflush(stdout);
 		usleep(5000);
 #endif
-	}	
+	}
 }
 
 void
 Sensors::adc_poll(struct sensor_combined_s &raw)
 {
-	#pragma pack(push,1)
-	struct adc_msg4_s {
-		uint8_t      am_channel1;	/**< The 8-bit ADC Channel 1 */
-		int32_t      am_data1;		/**< ADC convert result 1 (4 bytes) */
-		uint8_t      am_channel2;	/**< The 8-bit ADC Channel 2 */
-		int32_t      am_data2;		/**< ADC convert result 2 (4 bytes) */
-		uint8_t      am_channel3;	/**< The 8-bit ADC Channel 3 */
-		int32_t      am_data3;		/**< ADC convert result 3 (4 bytes) */
-		uint8_t      am_channel4;	/**< The 8-bit ADC Channel 4 */
-		int32_t      am_data4;		/**< ADC convert result 4 (4 bytes) */
-	} buf_adc;
-	#pragma pack(pop)
 
+	/* rate limit to 100 Hz */
 	if (hrt_absolute_time() - _last_adc >= 10000) {
-		read(_fd_adc, &buf_adc, sizeof(buf_adc));
+		/* make space for a maximum of eight channels */
+		struct adc_msg_s buf_adc[8];
+		/* read all channels available */
+		int ret = read(_fd_adc, &buf_adc, sizeof(buf_adc));
 
-		if (ADC_BATTERY_VOLATGE_CHANNEL == buf_adc.am_channel1) {
-			/* Voltage in volts */
-			raw.battery_voltage_v = (BAT_VOL_LOWPASS_1 * (raw.battery_voltage_v + BAT_VOL_LOWPASS_2 * (buf_adc.am_data1 * _parameters.battery_voltage_scaling)));
+		/* look for battery channel */
 
-			if ((raw.battery_voltage_v) < VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS) {
-				raw.battery_voltage_valid = false;
-				raw.battery_voltage_v = 0.f;
+		for (unsigned i = 0; i < sizeof(buf_adc) / sizeof(buf_adc[0]); i++) {
 
-			} else {
-				raw.battery_voltage_valid = true;
-			}
+			if (ret >= sizeof(buf_adc[0]) && ADC_BATTERY_VOLTAGE_CHANNEL == buf_adc[i].am_channel) {
+				/* Voltage in volts */
+				float voltage = (buf_adc[i].am_data * _parameters.battery_voltage_scaling);
+
+				if (voltage > VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS) {
+
+					/* one-time initialization of low-pass value to avoid long init delays */
+					if (_battery_status.voltage_v < 3.0f) {
+						_battery_status.voltage_v = voltage;
+					}
 
-			raw.battery_voltage_counter++;
+					_battery_status.timestamp = hrt_absolute_time();
+					_battery_status.voltage_v = (BAT_VOL_LOWPASS_1 * (_battery_status.voltage_v + BAT_VOL_LOWPASS_2 * voltage));;
+					/* current and discharge are unknown */
+					_battery_status.current_a = -1.0f;
+					_battery_status.discharged_mah = -1.0f;
+
+					/* announce the battery voltage if needed, just publish else */
+					if (_battery_pub > 0) {
+						orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status);
+
+					} else {
+						_battery_pub = orb_advertise(ORB_ID(battery_status), &_battery_status);
+					}
+				}
+
+				_last_adc = hrt_absolute_time();
+				break;
+			}
 		}
-		_last_adc = hrt_absolute_time();
 	}
 }
 
@@ -879,7 +1040,7 @@ Sensors::ppm_poll()
 	 */
 	if (ppm_decoded_channels > 4 && hrt_absolute_time() - _ppm_last_valid < PPM_INPUT_TIMEOUT_INTERVAL) {
 
-		for (int i = 0; i < ppm_decoded_channels; i++) {
+		for (unsigned i = 0; i < ppm_decoded_channels; i++) {
 			raw.values[i] = ppm_buffer[i];
 		}
 
@@ -888,6 +1049,7 @@ Sensors::ppm_poll()
 		/* publish to object request broker */
 		if (rc_input_pub <= 0) {
 			rc_input_pub = orb_advertise(ORB_ID(input_rc), &raw);
+
 		} else {
 			orb_publish(ORB_ID(input_rc), rc_input_pub, &raw);
 		}
@@ -905,14 +1067,30 @@ Sensors::ppm_poll()
 
 		struct manual_control_setpoint_s manual_control;
 
-		/* get a copy first, to prevent altering values */
-		orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sub, &manual_control);
+		/* initialize to default values */
+		manual_control.roll = NAN;
+		manual_control.pitch = NAN;
+		manual_control.yaw = NAN;
+		manual_control.throttle = NAN;
+
+		manual_control.manual_mode_switch = NAN;
+		manual_control.manual_sas_switch = NAN;
+		manual_control.return_to_launch_switch = NAN;
+		manual_control.auto_offboard_input_switch = NAN;
+
+		manual_control.flaps = NAN;
+		manual_control.aux1 = NAN;
+		manual_control.aux2 = NAN;
+		manual_control.aux3 = NAN;
+		manual_control.aux4 = NAN;
+		manual_control.aux5 = NAN;
 
 		/* require at least four channels to consider the signal valid */
 		if (rc_input.channel_count < 4)
 			return;
 
 		unsigned channel_limit = rc_input.channel_count;
+
 		if (channel_limit > _rc_max_chan_count)
 			channel_limit = _rc_max_chan_count;
 
@@ -925,10 +1103,11 @@ Sensors::ppm_poll()
 			/* scale around the mid point differently for lower and upper range */
 			if (rc_input.values[i] > (_parameters.trim[i] + _parameters.dz[i])) {
 				_rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i]) / (float)(_parameters.max[i] - _parameters.trim[i]);
+
 			} else if (rc_input.values[i] < (_parameters.trim[i] - _parameters.dz[i])) {
 				/* division by zero impossible for trim == min (as for throttle), as this falls in the above if clause */
 				_rc.chan[i].scaled = -((_parameters.trim[i] - rc_input.values[i]) / (float)(_parameters.trim[i] - _parameters.min[i]));
-				
+
 			} else {
 				/* in the configured dead zone, output zero */
 				_rc.chan[i].scaled = 0.0f;
@@ -939,6 +1118,7 @@ Sensors::ppm_poll()
 				if ((int)_parameters.rev[i] == -1) {
 					_rc.chan[i].scaled = 1.0f + -1.0f * _rc.chan[i].scaled;
 				}
+
 			} else {
 				_rc.chan[i].scaled *= _parameters.rev[i];
 			}
@@ -954,44 +1134,103 @@ Sensors::ppm_poll()
 		manual_control.timestamp = rc_input.timestamp;
 
 		/* roll input - rolling right is stick-wise and rotation-wise positive */
-		manual_control.roll = _rc.chan[_rc.function[ROLL]].scaled;
-		if (manual_control.roll < -1.0f) manual_control.roll = -1.0f;
-		if (manual_control.roll >  1.0f) manual_control.roll =  1.0f;
-		if (!isnan(_parameters.rc_scale_roll) || !isinf(_parameters.rc_scale_roll)) {
-			manual_control.roll *= _parameters.rc_scale_roll;
-		}
-
+		manual_control.roll = limit_minus_one_to_one(_rc.chan[_rc.function[ROLL]].scaled);
 		/*
 		 * pitch input - stick down is negative, but stick down is pitching up (pos) in NED,
 		 * so reverse sign.
 		 */
-		manual_control.pitch = -1.0f * _rc.chan[_rc.function[PITCH]].scaled;
-		if (manual_control.pitch < -1.0f) manual_control.pitch = -1.0f;
-		if (manual_control.pitch >  1.0f) manual_control.pitch =  1.0f;
-		if (!isnan(_parameters.rc_scale_pitch) || !isinf(_parameters.rc_scale_pitch)) {
-			manual_control.pitch *= _parameters.rc_scale_pitch;
-		}
-
+		manual_control.pitch = limit_minus_one_to_one(-1.0f * _rc.chan[_rc.function[PITCH]].scaled);
 		/* yaw input - stick right is positive and positive rotation */
-		manual_control.yaw = _rc.chan[_rc.function[YAW]].scaled * _parameters.rc_scale_yaw;
-		if (manual_control.yaw < -1.0f) manual_control.yaw = -1.0f;
-		if (manual_control.yaw >  1.0f) manual_control.yaw =  1.0f;
-		if (!isnan(_parameters.rc_scale_yaw) || !isinf(_parameters.rc_scale_yaw)) {
-			manual_control.yaw *= _parameters.rc_scale_yaw;
-		}
-		
+		manual_control.yaw = limit_minus_one_to_one(_rc.chan[_rc.function[YAW]].scaled);
 		/* throttle input */
 		manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled;
+
 		if (manual_control.throttle < 0.0f) manual_control.throttle = 0.0f;
+
 		if (manual_control.throttle > 1.0f) manual_control.throttle = 1.0f;
 
+		/* scale output */
+		if (isfinite(_parameters.rc_scale_roll) && _parameters.rc_scale_roll > 0.0f) {
+			manual_control.roll *= _parameters.rc_scale_roll;
+		}
+
+		if (isfinite(_parameters.rc_scale_pitch) && _parameters.rc_scale_pitch > 0.0f) {
+			manual_control.pitch *= _parameters.rc_scale_pitch;
+		}
+
+		if (isfinite(_parameters.rc_scale_yaw) && _parameters.rc_scale_yaw > 0.0f) {
+			manual_control.yaw *= _parameters.rc_scale_yaw;
+		}
+
+		/* override switch input */
+		manual_control.manual_override_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OVERRIDE]].scaled);
+
 		/* mode switch input */
-		manual_control.override_mode_switch = _rc.chan[_rc.function[OVERRIDE]].scaled;
-		if (manual_control.override_mode_switch < -1.0f) manual_control.override_mode_switch = -1.0f;
-		if (manual_control.override_mode_switch >  1.0f) manual_control.override_mode_switch =  1.0f;
+		manual_control.auto_mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[AUTO_MODE]].scaled);
+
+		/* flaps */
+		if (_rc.function[FLAPS] >= 0) {
 
-		orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc);
-		orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual_control);
+			manual_control.flaps = limit_minus_one_to_one(_rc.chan[_rc.function[FLAPS]].scaled);
+
+			if (isfinite(_parameters.rc_scale_flaps) && _parameters.rc_scale_flaps > 0.0f) {
+				manual_control.flaps *= _parameters.rc_scale_flaps;
+			}
+		}
+
+		if (_rc.function[MANUAL_MODE] >= 0) {
+			manual_control.manual_mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MANUAL_MODE]].scaled);
+		}
+
+		if (_rc.function[SAS_MODE] >= 0) {
+			manual_control.manual_sas_switch = limit_minus_one_to_one(_rc.chan[_rc.function[SAS_MODE]].scaled);
+		}
+
+		if (_rc.function[RTL] >= 0) {
+			manual_control.return_to_launch_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RTL]].scaled);
+		}
+
+		if (_rc.function[OFFBOARD_MODE] >= 0) {
+			manual_control.auto_offboard_input_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled);
+		}
+
+		/* aux functions, only assign if valid mapping is present */
+		if (_rc.function[AUX_1] >= 0) {
+			manual_control.aux1 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_1]].scaled);
+		}
+
+		if (_rc.function[AUX_2] >= 0) {
+			manual_control.aux2 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_2]].scaled);
+		}
+
+		if (_rc.function[AUX_3] >= 0) {
+			manual_control.aux3 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_3]].scaled);
+		}
+
+		if (_rc.function[AUX_4] >= 0) {
+			manual_control.aux4 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_4]].scaled);
+		}
+
+		if (_rc.function[AUX_5] >= 0) {
+			manual_control.aux5 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_5]].scaled);
+		}
+
+		/* check if ready for publishing */
+		if (_rc_pub > 0) {
+			orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc);
+
+		} else {
+			/* advertise the rc topic */
+			_rc_pub = orb_advertise(ORB_ID(rc_channels), &_rc);
+		}
+
+		/* check if ready for publishing */
+		if (_manual_control_pub > 0) {
+			orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual_control);
+
+		} else {
+			_manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control);
+		}
 	}
 
 }
@@ -1039,12 +1278,13 @@ Sensors::task_main()
 	struct sensor_combined_s raw;
 	memset(&raw, 0, sizeof(raw));
 	raw.timestamp = hrt_absolute_time();
-	raw.battery_voltage_v = BAT_VOL_INITIAL;
-	raw.adc_voltage_v[0] = 0.9f;
+	raw.adc_voltage_v[0] = 0.0f;
 	raw.adc_voltage_v[1] = 0.0f;
 	raw.adc_voltage_v[2] = 0.0f;
-	raw.battery_voltage_counter = 0;
-	raw.battery_voltage_valid = false;
+	raw.adc_voltage_v[3] = 0.0f;
+
+	memset(&_battery_status, 0, sizeof(_battery_status));
+	_battery_status.voltage_v = BAT_VOL_INITIAL;
 
 	/* get a set of initial values */
 	accel_poll(raw);
@@ -1057,27 +1297,6 @@ Sensors::task_main()
 	/* advertise the sensor_combined topic and make the initial publication */
 	_sensor_pub = orb_advertise(ORB_ID(sensor_combined), &raw);
 
-	/* advertise the manual_control topic */
-	struct manual_control_setpoint_s manual_control;
-	manual_control.mode = MANUAL_CONTROL_MODE_ATT_YAW_POS;
-	manual_control.roll = 0.0f;
-	manual_control.pitch = 0.0f;
-	manual_control.yaw = 0.0f;
-	manual_control.throttle = 0.0f;
-	manual_control.aux1_cam_pan_flaps = 0.0f;
-	manual_control.aux2_cam_tilt = 0.0f;
-	manual_control.aux3_cam_zoom = 0.0f;
-	manual_control.aux4_cam_roll = 0.0f;
-
-	_manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control);
-
-	/* advertise the rc topic */
-	{
-		struct rc_channels_s rc;
-		memset(&rc, 0, sizeof(rc));
-		_rc_pub = orb_advertise(ORB_ID(rc_channels), &rc);
-	}
-
 	/* wakeup source(s) */
 	struct pollfd fds[1];
 
@@ -1086,7 +1305,7 @@ Sensors::task_main()
 	fds[0].events = POLLIN;
 
 	while (!_task_should_exit) {
-		
+
 		/* wait for up to 500ms for data */
 		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
 
@@ -1155,6 +1374,7 @@ Sensors::start()
 		warn("task start failed");
 		return -errno;
 	}
+
 	return OK;
 }
 
@@ -1169,6 +1389,7 @@ int sensors_main(int argc, char *argv[])
 			errx(1, "sensors task already running");
 
 		sensors::g_sensors = new Sensors;
+
 		if (sensors::g_sensors == nullptr)
 			errx(1, "sensors task alloc failed");
 
@@ -1177,12 +1398,14 @@ int sensors_main(int argc, char *argv[])
 			sensors::g_sensors = nullptr;
 			err(1, "sensors task start failed");
 		}
+
 		exit(0);
 	}
 
 	if (!strcmp(argv[1], "stop")) {
 		if (sensors::g_sensors == nullptr)
 			errx(1, "sensors task not running");
+
 		delete sensors::g_sensors;
 		sensors::g_sensors = nullptr;
 		exit(0);
@@ -1191,6 +1414,7 @@ int sensors_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "status")) {
 		if (sensors::g_sensors) {
 			errx(0, "task is running");
+
 		} else {
 			errx(1, "task is not running");
 		}
diff --git a/apps/system/Makefile b/apps/system/Makefile
index d64bb54c6..9955a6b2c 100644
--- a/apps/system/Makefile
+++ b/apps/system/Makefile
@@ -41,31 +41,36 @@ SUBDIRS = free i2c install readline poweroff ramtron sdcard sysinfo
 
 # Create the list of installed runtime modules (INSTALLED_DIRS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
 define ADD_DIRECTORY
-INSTALLED_DIRS  += ${shell if [ -r $1/Makefile ]; then echo "$1"; fi}
+  INSTALLED_DIRS  += $(if $(wildcard .\$1\Makefile),$1,)
 endef
+else
+define ADD_DIRECTORY
+  INSTALLED_DIRS  += $(if $(wildcard ./$1/Makefile),$1,)
+endef
+endif
 
 $(foreach DIR, $(SUBDIRS), $(eval $(call ADD_DIRECTORY,$(DIR))))
 
 all: nothing
 .PHONY: nothing context depend clean distclean
 
+define SDIR_template
+$(1)_$(2):
+	$(Q) $(MAKE) -C $(1) $(2) TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
+endef
+
+$(foreach SDIR, $(INSTALLED_DIRS), $(eval $(call SDIR_template,$(SDIR),depend)))
+$(foreach SDIR, $(INSTALLED_DIRS), $(eval $(call SDIR_template,$(SDIR),clean)))
+$(foreach SDIR, $(INSTALLED_DIRS), $(eval $(call SDIR_template,$(SDIR),distclean)))
+
 nothing:
 
 context:
 
-depend:
-	@for dir in $(INSTALLED_DIRS) ; do \
-		$(MAKE) -C $$dir depend TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
-	done
-
-clean:
-	@for dir in $(INSTALLED_DIRS) ; do \
-		$(MAKE) -C $$dir clean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
-	done
+depend: $(foreach SDIR, $(INSTALLED_DIRS), $(SDIR)_depend)
 
-distclean: clean
-	@for dir in $(INSTALLED_DIRS) ; do \
-		$(MAKE) -C $$dir distclean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
-	done
+clean: $(foreach SDIR, $(INSTALLED_DIRS), $(SDIR)_clean)
 
+distclean: clean $(foreach SDIR, $(INSTALLED_DIRS), $(SDIR)_distclean)
diff --git a/apps/system/free/Makefile b/apps/system/free/Makefile
index 7f911d81c..dada00d99 100644
--- a/apps/system/free/Makefile
+++ b/apps/system/free/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # apps/system/free/Makefile
 #
-#   Copyright (C) 2011 Uros Platise. All rights reserved.
+#   Copyright (C) 2011-2012 Uros Platise. All rights reserved.
 #   Author: Uros Platise <uros.platise@isotel.eu>
 #           Gregory Nutt <gnutt@nuttx.org>
 #
@@ -61,10 +61,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -83,32 +87,32 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
-	@touch .built
+	$(call ARCHIVE, $(BIN), $(OBJS))
+	$(Q) touch .built
 
 # Register application
 
 .context:
 	$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
-	@touch $@
+	$(Q) touch $@
 
 context: .context
 
 # Create dependencies
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
+	$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f .context Make.dep .depend
+	$(call DELFILE, .context)
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/apps/system/i2c/Makefile b/apps/system/i2c/Makefile
index 00db91bb7..029d2b6fe 100644
--- a/apps/system/i2c/Makefile
+++ b/apps/system/i2c/Makefile
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -73,30 +77,29 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
-	@touch .built
+	$(call ARCHIVE, $(BIN), $(OBJS))
+	$(Q) touch .built
 
 .context:
 	$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
-	@touch $@
+	$(Q) touch $@
 
 context: .context
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) \
-	  $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
+	$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, .context)
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
 
diff --git a/apps/system/install/Makefile b/apps/system/install/Makefile
index 71d82f34c..6a02d859f 100644
--- a/apps/system/install/Makefile
+++ b/apps/system/install/Makefile
@@ -2,6 +2,7 @@
 # apps/system/install/Makefile
 #
 #   Copyright (C) 2011 Uros Platise. All rights reserved.
+#   Copyright (C) 2012 Gregory Nutt. All rights reserved.
 #   Author: Uros Platise <uros.platise@isotel.eu>
 #           Gregory Nutt <gnutt@nuttx.org>
 #
@@ -61,10 +62,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -83,32 +88,32 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
-	@touch .built
+	$(call ARCHIVE, $(BIN), $(OBJS))
+	$(Q) touch .built
 
 # Register application
 
 .context:
 	$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
-	@touch $@
+	$(Q) touch $@
 
 context: .context
 
 # Create dependencies
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
+	$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f .context Make.dep .depend
+	$(call DELFILE, .context)
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/apps/system/readline/Makefile b/apps/system/readline/Makefile
index 34fab7e81..3a48d324e 100644
--- a/apps/system/readline/Makefile
+++ b/apps/system/readline/Makefile
@@ -52,10 +52,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\..\libapps$(LIBEXT)
+else
 ifeq ($(WINTOOL),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\\..\\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -74,10 +78,8 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
-	@touch .built
+	$(call ARCHIVE, $(BIN), $(OBJS))
+	$(Q) touch .built
 
 # Context build phase target
 
@@ -86,18 +88,20 @@ context:
 # Dependency build phase target
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
+	$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
 
 depend: .depend
 
 # Housekeeping targets
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f .context Make.dep .depend
+	$(call DELFILE, .context)
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/apps/systemcmds/eeprom/24xxxx_mtd.c b/apps/systemcmds/eeprom/24xxxx_mtd.c
index 781b01065..e34be44e3 100644
--- a/apps/systemcmds/eeprom/24xxxx_mtd.c
+++ b/apps/systemcmds/eeprom/24xxxx_mtd.c
@@ -163,6 +163,8 @@ static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock,
 			    size_t nblocks, FAR const uint8_t *buf);
 static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg);
 
+void at24c_test(void);
+
 /************************************************************************************
  * Private Data
  ************************************************************************************/
@@ -219,6 +221,31 @@ static int at24c_erase(FAR struct mtd_dev_s *dev, off_t startblock, size_t nbloc
 }
 
 /************************************************************************************
+ * Name: at24c_test
+ ************************************************************************************/
+
+void at24c_test(void)
+{
+	uint8_t buf[CONFIG_AT24XX_MTD_BLOCKSIZE];
+	unsigned count = 0;
+	unsigned errors = 0;
+
+	for (count = 0; count < 10000; count++) {
+		ssize_t result = at24c_bread(&g_at24c.mtd, 0, 1, buf);
+		if (result == ERROR) {
+			if (errors++ > 2) {
+				vdbg("too many errors\n");
+				return;
+			}
+		} else if (result != 1) {
+			vdbg("unexpected %u\n", result);
+		}
+		if ((count % 100) == 0)
+			vdbg("test %u errors %u\n", count, errors);
+	}
+}
+
+/************************************************************************************
  * Name: at24c_bread
  ************************************************************************************/
 
diff --git a/apps/systemcmds/eeprom/eeprom.c b/apps/systemcmds/eeprom/eeprom.c
index b4257cda9..49da51358 100644
--- a/apps/systemcmds/eeprom/eeprom.c
+++ b/apps/systemcmds/eeprom/eeprom.c
@@ -73,6 +73,7 @@ static void	eeprom_erase(void);
 static void	eeprom_ioctl(unsigned operation);
 static void	eeprom_save(const char *name);
 static void	eeprom_load(const char *name);
+static void	eeprom_test(void);
 
 static bool attached = false;
 static bool started = false;
@@ -93,6 +94,9 @@ int eeprom_main(int argc, char *argv[])
 		if (!strcmp(argv[1], "erase"))
 			eeprom_erase();
 
+		if (!strcmp(argv[1], "test"))
+			eeprom_test();
+
 		if (0) {	/* these actually require a file on the filesystem... */
 
 			if (!strcmp(argv[1], "reformat"))
@@ -250,3 +254,12 @@ eeprom_load(const char *name)
 
 	exit(0);
 }
+
+extern void at24c_test(void);
+
+static void
+eeprom_test(void)
+{
+	at24c_test();
+	exit(0);
+}
diff --git a/apps/systemcmds/mixer/mixer.c b/apps/systemcmds/mixer/mixer.c
index 3f52bdbf1..e2f7b5bd5 100644
--- a/apps/systemcmds/mixer/mixer.c
+++ b/apps/systemcmds/mixer/mixer.c
@@ -43,14 +43,17 @@
 #include <unistd.h>
 #include <fcntl.h>
 #include <errno.h>
+#include <ctype.h>
+#include <nuttx/compiler.h>
 
+#include <systemlib/err.h>
 #include <drivers/drv_mixer.h>
 #include <uORB/topics/actuator_controls.h>
 
 __EXPORT int mixer_main(int argc, char *argv[]);
 
-static void	usage(const char *reason);
-static void	load(const char *devname, const char *fname);
+static void	usage(const char *reason) noreturn_function;
+static void	load(const char *devname, const char *fname) noreturn_function;
 
 int
 mixer_main(int argc, char *argv[])
@@ -63,12 +66,9 @@ mixer_main(int argc, char *argv[])
 			usage("missing device or filename");
 
 		load(argv[2], argv[3]);
-
-	} else {
-		usage("unrecognised command");
 	}
 
-	return 0;
+	usage("unrecognised command");
 }
 
 static void
@@ -79,34 +79,58 @@ usage(const char *reason)
 
 	fprintf(stderr, "usage:\n");
 	fprintf(stderr, "  mixer load <device> <filename>\n");
-	/* XXX automatic setups for quad, etc. */
+	/* XXX other useful commands? */
 	exit(1);
 }
 
 static void
 load(const char *devname, const char *fname)
 {
-	int		dev = -1;
-	int		ret, result = 1;
+	int		dev;
+	FILE		*fp;
+	char		line[80];
+	char		buf[512];
 
 	/* open the device */
-	if ((dev = open(devname, 0)) < 0) {
-		fprintf(stderr, "can't open %s\n", devname);
-		goto out;
-	}
+	if ((dev = open(devname, 0)) < 0)
+		err(1, "can't open %s\n", devname);
 
-	/* tell it to load the file */
-	ret = ioctl(dev, MIXERIOCLOADFILE, (unsigned long)fname);
+	/* reset mixers on the device */
+	if (ioctl(dev, MIXERIOCRESET, 0))
+		err(1, "can't reset mixers on %s", devname);
 
-	if (ret != 0) {
-		fprintf(stderr, "failed loading %s\n", fname);
-	}
+	/* open the mixer definition file */
+	fp = fopen(fname, "r");
+	if (fp == NULL)
+		err(1, "can't open %s", fname);
+
+	/* read valid lines from the file into a buffer */
+	buf[0] = '\0';
+	for (;;) {
+
+		/* get a line, bail on error/EOF */
+		line[0] = '\0';
+		if (fgets(line, sizeof(line), fp) == NULL)
+			break;
 
-	result = 0;
-out:
+		/* if the line doesn't look like a mixer definition line, skip it */
+		if ((strlen(line) < 2) || !isupper(line[0]) || (line[1] != ':'))
+			continue;
+
+		/* XXX an optimisation here would be to strip extra whitespace */
+
+		/* if the line is too long to fit in the buffer, bail */
+		if ((strlen(line) + strlen(buf) + 1) >= sizeof(buf))
+			break;
+
+		/* add the line to the buffer */
+		strcat(buf, line);
+	}
 
-	if (dev != -1)
-		close(dev);
+	/* XXX pass the buffer to the device */
+	int ret = ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf);
 
-	exit(result);
+	if (ret < 0)
+		err(1, "error loading mixers from %s", fname);
+	exit(0);
 }
diff --git a/apps/systemlib/Makefile b/apps/systemlib/Makefile
index 5778c552e..942116faa 100644
--- a/apps/systemlib/Makefile
+++ b/apps/systemlib/Makefile
@@ -47,8 +47,6 @@ CSRCS		 = err.c \
 
 #		   ppm_decode.c \
 
-
-
 #
 # XXX this really should be a CONFIG_* test
 #
diff --git a/apps/systemlib/airspeed.c b/apps/systemlib/airspeed.c
new file mode 100644
index 000000000..e213b66c2
--- /dev/null
+++ b/apps/systemlib/airspeed.c
@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file airspeed.c
+ * Airspeed estimation
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ */
+
+#include "math.h"
+
+
+float calc_indicated_airspeed(float pressure_front, float pressure_ambient, float temperature)
+{
+	return sqrtf((2.0f*(pressure_front - pressure_ambient)) / air_density_sea_level);
+}
+ 
+/**
+ * Calculate true airspeed from indicated airspeed.
+ *
+ * Note that the true airspeed is NOT the groundspeed, because of the effects of wind
+ *
+ * @param speed current indicated airspeed
+ * @param pressure_ambient pressure at the side of the tube/airplane
+ * @param temperature air temperature in degrees celcius
+ * @return true airspeed in m/s
+ */
+float calc_true_airspeed_from_indicated(float speed, float pressure_ambient, float temperature)
+{
+	return speed * sqrtf(air_density_sea_level / get_air_density(pressure_ambient, temperature));
+}
+ 
+/**
+ * Directly calculate true airspeed
+ *
+ * Note that the true airspeed is NOT the groundspeed, because of the effects of wind
+ *
+ * @param pressure_front pressure inside the pitot/prandl tube
+ * @param pressure_ambient pressure at the side of the tube/airplane
+ * @param temperature air temperature in degrees celcius
+ * @return true airspeed in m/s
+ */
+float calc_true_airspeed(float pressure_front, float pressure_ambient, float temperature)
+{
+	return sqrtf((2.0f*(pressure_front - pressure_ambient)) / get_air_density(pressure_ambient, temperature));
+}
\ No newline at end of file
diff --git a/apps/systemlib/airspeed.h b/apps/systemlib/airspeed.h
new file mode 100644
index 000000000..62acfe2b0
--- /dev/null
+++ b/apps/systemlib/airspeed.h
@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file airspeed.c
+ * Airspeed estimation
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ */
+
+#include "math.h"
+#include "conversions.h"
+
+ __BEGIN_DECLS
+ 
+/**
+ * Calculate indicated airspeed.
+ *
+ * Note that the indicated airspeed is not the true airspeed because it
+ * lacks the air density compensation. Use the calc_true_airspeed functions to get
+ * the true airspeed.
+ *
+ * @param pressure_front pressure inside the pitot/prandl tube
+ * @param pressure_ambient pressure at the side of the tube/airplane
+ * @param temperature air temperature in degrees celcius
+ * @return indicated airspeed in m/s
+ */
+__EXPORT float calc_indicated_airspeed(float pressure_front, float pressure_ambient, float temperature);
+ 
+/**
+ * Calculate true airspeed from indicated airspeed.
+ *
+ * Note that the true airspeed is NOT the groundspeed, because of the effects of wind
+ *
+ * @param speed current indicated airspeed
+ * @param pressure_ambient pressure at the side of the tube/airplane
+ * @param temperature air temperature in degrees celcius
+ * @return true airspeed in m/s
+ */
+__EXPORT float calc_true_airspeed_from_indicated(float speed, float pressure_ambient, float temperature);
+ 
+/**
+ * Directly calculate true airspeed
+ *
+ * Note that the true airspeed is NOT the groundspeed, because of the effects of wind
+ *
+ * @param pressure_front pressure inside the pitot/prandl tube
+ * @param pressure_ambient pressure at the side of the tube/airplane
+ * @param temperature air temperature in degrees celcius
+ * @return true airspeed in m/s
+ */
+__EXPORT float calc_true_airspeed(float pressure_front, float pressure_ambient, float temperature);
+
+__END_DECLS
\ No newline at end of file
diff --git a/apps/systemlib/conversions.c b/apps/systemlib/conversions.c
index 9105d83cb..fed97f101 100644
--- a/apps/systemlib/conversions.c
+++ b/apps/systemlib/conversions.c
@@ -42,6 +42,10 @@
 
 #include "conversions.h"
 
+#define air_gas_constant 8.31432f
+#define air_density_sea_level 1.225f
+#define absolute_null_kelvin 273.15f
+
 int16_t
 int16_t_from_bytes(uint8_t bytes[])
 {
@@ -55,3 +59,100 @@ int16_t_from_bytes(uint8_t bytes[])
 
 	return u.w;
 }
+
+void rot2quat(const float R[9], float Q[4])
+{
+	float q0_2;
+	float q1_2;
+	float q2_2;
+	float q3_2;
+	int32_t idx;
+
+	/* conversion of rotation matrix to quaternion
+	 * choose the largest component to begin with */
+	q0_2 = (((1.0F + R[0]) + R[4]) + R[8]) / 4.0F;
+	q1_2 = (((1.0F + R[0]) - R[4]) - R[8]) / 4.0F;
+	q2_2 = (((1.0F - R[0]) + R[4]) - R[8]) / 4.0F;
+	q3_2 = (((1.0F - R[0]) - R[4]) + R[8]) / 4.0F;
+
+	idx = 0;
+
+	if (q0_2 < q1_2) {
+		q0_2 = q1_2;
+
+		idx = 1;
+	}
+
+	if (q0_2 < q2_2) {
+		q0_2 = q2_2;
+		idx = 2;
+	}
+
+	if (q0_2 < q3_2) {
+		q0_2 = q3_2;
+		idx = 3;
+	}
+
+	q0_2 = sqrtf(q0_2);
+
+	/* solve for the remaining three components */
+	if (idx == 0) {
+		q1_2 = q0_2;
+		q2_2 = (R[5] - R[7]) / 4.0F / q0_2;
+		q3_2 = (R[6] - R[2]) / 4.0F / q0_2;
+		q0_2 = (R[1] - R[3]) / 4.0F / q0_2;
+
+	} else if (idx == 1) {
+		q2_2 = q0_2;
+		q1_2 = (R[5] - R[7]) / 4.0F / q0_2;
+		q3_2 = (R[3] + R[1]) / 4.0F / q0_2;
+		q0_2 = (R[6] + R[2]) / 4.0F / q0_2;
+
+	} else if (idx == 2) {
+		q3_2 = q0_2;
+		q1_2 = (R[6] - R[2]) / 4.0F / q0_2;
+		q2_2 = (R[3] + R[1]) / 4.0F / q0_2;
+		q0_2 = (R[7] + R[5]) / 4.0F / q0_2;
+
+	} else {
+		q1_2 = (R[1] - R[3]) / 4.0F / q0_2;
+		q2_2 = (R[6] + R[2]) / 4.0F / q0_2;
+		q3_2 = (R[7] + R[5]) / 4.0F / q0_2;
+	}
+
+	/* return values */
+	Q[0] = q1_2;
+	Q[1] = q2_2;
+	Q[2] = q3_2;
+	Q[3] = q0_2;
+}
+
+void quat2rot(const float Q[4], float R[9])
+{
+	float q0_2;
+	float q1_2;
+	float q2_2;
+	float q3_2;
+
+	memset(&R[0], 0, 9U * sizeof(float));
+
+	q0_2 = Q[0] * Q[0];
+	q1_2 = Q[1] * Q[1];
+	q2_2 = Q[2] * Q[2];
+	q3_2 = Q[3] * Q[3];
+
+	R[0] = ((q0_2 + q1_2) - q2_2) - q3_2;
+	R[3] = 2.0F * (Q[1] * Q[2] - Q[0] * Q[3]);
+	R[6] = 2.0F * (Q[1] * Q[3] + Q[0] * Q[2]);
+	R[1] = 2.0F * (Q[1] * Q[2] + Q[0] * Q[3]);
+	R[4] = ((q0_2 + q2_2) - q1_2) - q3_2;
+	R[7] = 2.0F * (Q[2] * Q[3] - Q[0] * Q[1]);
+	R[2] = 2.0F * (Q[1] * Q[3] - Q[0] * Q[2]);
+	R[5] = 2.0F * (Q[2] * Q[3] + Q[0] * Q[1]);
+	R[8] = ((q0_2 + q3_2) - q1_2) - q2_2;
+}
+
+float get_air_density(float static_pressure, float temperature_celsius)
+{
+	return static_pressure / (air_gas_constant * (temperature_celsius + absolute_null_kelvin));
+}
diff --git a/apps/systemlib/conversions.h b/apps/systemlib/conversions.h
index dc383e770..4db6de772 100644
--- a/apps/systemlib/conversions.h
+++ b/apps/systemlib/conversions.h
@@ -44,6 +44,8 @@
 #include <float.h>
 #include <stdint.h>
 
+#define CONSTANTS_ONE_G		9.80665f
+
 __BEGIN_DECLS
 
 /**
@@ -56,6 +58,34 @@ __BEGIN_DECLS
  */
 __EXPORT int16_t int16_t_from_bytes(uint8_t bytes[]);
 
+/**
+ * Converts a 3 x 3 rotation matrix to an unit quaternion.
+ *
+ * All orientations are expressed in NED frame.
+ *
+ * @param R rotation matrix to convert
+ * @param Q quaternion to write back to
+ */
+__EXPORT void rot2quat(const float R[9], float Q[4]);
+
+/**
+ * Converts an unit quaternion to a 3 x 3 rotation matrix.
+ *
+ * All orientations are expressed in NED frame.
+ *
+ * @param Q quaternion to convert
+ * @param R rotation matrix to write back to
+ */
+__EXPORT void quat2rot(const float Q[4], float R[9]);
+
+/**
+ * Calculates air density.
+ *
+ * @param static_pressure ambient pressure in millibar
+ * @param temperature_celcius air / ambient temperature in celcius
+ */
+__EXPORT float get_air_density(float static_pressure, float temperature_celsius);
+
 __END_DECLS
 
 #endif /* CONVERSIONS_H_ */
diff --git a/apps/systemlib/mixer/mixer.cpp b/apps/systemlib/mixer/mixer.cpp
index 6c1bbe469..72f765d90 100644
--- a/apps/systemlib/mixer/mixer.cpp
+++ b/apps/systemlib/mixer/mixer.cpp
@@ -137,89 +137,15 @@ NullMixer::groups_required(uint32_t &groups)
 
 }
 
-/****************************************************************************/
-
-SimpleMixer::SimpleMixer(ControlCallback control_cb,
-			 uintptr_t cb_handle,
-			 mixer_simple_s *mixinfo) :
-	Mixer(control_cb, cb_handle),
-	_info(mixinfo)
-{
-}
-
-SimpleMixer::~SimpleMixer()
-{
-	if (_info != nullptr)
-		free(_info);
-}
-
-unsigned
-SimpleMixer::mix(float *outputs, unsigned space)
+NullMixer *
+NullMixer::from_text(const char *buf, unsigned &buflen)
 {
-	float		sum = 0.0f;
-
-	if (_info == nullptr)
-		return 0;
-
-	if (space < 1)
-		return 0;
-
-	for (unsigned i = 0; i < _info->control_count; i++) {
-		float input;
+	NullMixer *nm = nullptr;
 
-		_control_cb(_cb_handle,
-			    _info->controls[i].control_group,
-			    _info->controls[i].control_index,
-			    input);
-
-		sum += scale(_info->controls[i].scaler, input);
+	if ((buflen >= 2) && (buf[0] == 'Z') && (buf[1] == ':')) {
+		nm = new NullMixer;
+		buflen -= 2;
 	}
 
-	*outputs = scale(_info->output_scaler, sum);
-	return 1;
-}
-
-void
-SimpleMixer::groups_required(uint32_t &groups)
-{
-	for (unsigned i = 0; i < _info->control_count; i++)
-		groups |= 1 << _info->controls[i].control_group;
-}
-
-int
-SimpleMixer::check()
-{
-	int ret;
-	float junk;
-
-	/* sanity that presumes that a mixer includes a control no more than once */
-	/* max of 32 groups due to groups_required API */
-	if (_info->control_count > 32)
-		return -2;
-
-	/* validate the output scaler */
-	ret = scale_check(_info->output_scaler);
-
-	if (ret != 0)
-		return ret;
-
-	/* validate input scalers */
-	for (unsigned i = 0; i < _info->control_count; i++) {
-
-		/* verify that we can fetch the control */
-		if (_control_cb(_cb_handle,
-				_info->controls[i].control_group,
-				_info->controls[i].control_index,
-				junk) != 0) {
-			return -3;
-		}
-
-		/* validate the scaler */
-		ret = scale_check(_info->controls[i].scaler);
-
-		if (ret != 0)
-			return (10 * i + ret);
-	}
-
-	return 0;
+	return nm;
 }
diff --git a/apps/systemlib/mixer/mixer.h b/apps/systemlib/mixer/mixer.h
index 94c179eba..00ddf1581 100644
--- a/apps/systemlib/mixer/mixer.h
+++ b/apps/systemlib/mixer/mixer.h
@@ -234,50 +234,51 @@ public:
 	void				add_mixer(Mixer *mixer);
 
 	/**
-	 * Reads a mixer definition from a file and configures a corresponding
-	 * group.
-	 *
-	 * The mixer group must be empty when this function is called.
-	 *
-	 * A mixer definition is a text representation of the configuration of a
-	 * mixer. Definition lines begin with a capital letter followed by a colon.
+	 * Remove all the mixers from the group.
+	 */
+	void				reset();
+
+	/**
+	 * Adds mixers to the group based on a text description in a buffer.
 	 *
-	 * Null Mixer:
+	 * Mixer definitions begin with a single capital letter and a colon.
+	 * The actual format of the mixer definition varies with the individual
+	 * mixers; they are summarised here, but see ROMFS/mixers/README for
+	 * more details.
 	 *
-	 * Z:
+	 * Null Mixer
+	 * ..........
 	 *
-	 * This mixer generates a constant zero output, and is normally used to
-	 * skip over outputs that are not in use.
+	 * The null mixer definition has the form:
 	 *
-	 * Simple Mixer:
+	 *   Z:
 	 *
-	 * M: <scaler count>
-	 * S: <control group> <control index> <negative_scale*> <positive_scale*> <offset*> <lower_limit*> <upper_limit*>
-	 * S: ...
+	 * Simple Mixer
+	 * ............
 	 *
-	 * The definition consists of a single-line header indicating the
-	 * number of scalers and then one line defining each scaler.  The first
-	 * scaler in the file is always the output scaler, followed by the input
-	 * scalers.
+	 * A simple mixer definition begins with:
 	 *
-	 * The <control ...> values for the output scaler are ignored by the mixer.
+	 *   M: <control count>
+	 *   O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
 	 *
+	 * The definition continues with <control count> entries describing the control
+	 * inputs and their scaling, in the form:
 	 *
+	 *   S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
 	 *
-	 * Values marked * are integers representing floating point values; values are
-	 * scaled by 10000 on load/save.
+	 * Multirotor Mixer
+	 * ................
 	 *
-	 * Multiple mixer definitions may be stored in a single file; it is assumed that
-	 * the reader will know how many to expect and read accordingly.
+	 * The multirotor mixer definition is a single line of the form:
 	 *
-	 * A mixer entry with a scaler count of zero indicates a disabled mixer. This
-	 * will return NULL for the mixer when processed by this function, and will be
-	 * generated by passing NULL as the mixer to mixer_save.
+	 * R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
 	 *
-	 * @param path			The mixer configuration file to read.
+	 * @param buf			The mixer configuration buffer.
+	 * @param buflen		The length of the buffer, updated to reflect
+	 *				bytes as they are consumed.
 	 * @return			Zero on successful load, nonzero otherwise.
 	 */
-	int				load_from_file(const char *path);
+	int				load_from_buf(const char *buf, unsigned &buflen);
 
 private:
 	Mixer				*_first;	/**< linked list of mixers */
@@ -294,6 +295,21 @@ public:
 	NullMixer();
 	~NullMixer() {};
 
+	/**
+	 * Factory method.
+	 *
+	 * Given a pointer to a buffer containing a text description of the mixer,
+	 * returns a pointer to a new instance of the mixer.
+	 *
+	 * @param buf			Buffer containing a text description of
+	 *				the mixer.
+	 * @param buflen		Length of the buffer in bytes, adjusted
+	 *				to reflect the bytes consumed.
+	 * @return			A new NullMixer instance, or nullptr
+	 *				if the text format is bad.
+	 */
+	static NullMixer		*from_text(const char *buf, unsigned &buflen);
+
 	virtual unsigned		mix(float *outputs, unsigned space);
 	virtual void			groups_required(uint32_t &groups);
 };
@@ -318,6 +334,47 @@ public:
 		    mixer_simple_s *mixinfo);
 	~SimpleMixer();
 
+	/**
+	 * Factory method with full external configuration.
+	 *
+	 * Given a pointer to a buffer containing a text description of the mixer,
+	 * returns a pointer to a new instance of the mixer.
+	 *
+	 * @param control_cb		The callback to invoke when fetching a
+	 *				control value.
+	 * @param cb_handle		Handle passed to the control callback.
+	 * @param buf			Buffer containing a text description of
+	 *				the mixer.
+	 * @param buflen		Length of the buffer in bytes, adjusted
+	 *				to reflect the bytes consumed.
+	 * @return			A new SimpleMixer instance, or nullptr
+	 *				if the text format is bad.
+	 */
+	static SimpleMixer		*from_text(Mixer::ControlCallback control_cb,
+			uintptr_t cb_handle,
+			const char *buf,
+			unsigned &buflen);
+
+	/**
+	 * Factory method for PWM/PPM input to internal float representation.
+	 *
+	 * @param control_cb		The callback to invoke when fetching a
+	 *				control value.
+	 * @param cb_handle		Handle passed to the control callback.
+	 * @param input			The control index used when fetching the input.
+	 * @param min			The PWM/PPM value considered to be "minimum" (gives -1.0 out)
+	 * @param mid			The PWM/PPM value considered to be the midpoint (gives 0.0 out)
+	 * @param max			The PWM/PPM value considered to be "maximum" (gives 1.0 out)
+	 * @return			A new SimpleMixer instance, or nullptr if one could not be
+	 *				allocated.
+	 */
+	static SimpleMixer		*pwm_input(Mixer::ControlCallback control_cb,
+			uintptr_t cb_handle,
+			unsigned input,
+			uint16_t min,
+			uint16_t mid,
+			uint16_t max);
+
 	virtual unsigned		mix(float *outputs, unsigned space);
 	virtual void			groups_required(uint32_t &groups);
 
@@ -330,10 +387,18 @@ public:
 	 * @return			Zero if the mixer makes sense, nonzero otherwise.
 	 */
 	int				check();
+
 protected:
 
 private:
-	mixer_simple_s		*_info;
+	mixer_simple_s			*_info;
+
+	static int			parse_output_scaler(const char *buf, unsigned &buflen, mixer_scaler_s &scaler);
+	static int			parse_control_scaler(const char *buf,
+			unsigned &buflen,
+			mixer_scaler_s &scaler,
+			uint8_t &control_group,
+			uint8_t &control_index);
 };
 
 /**
@@ -395,6 +460,27 @@ public:
 			float deadband);
 	~MultirotorMixer();
 
+	/**
+	 * Factory method.
+	 *
+	 * Given a pointer to a buffer containing a text description of the mixer,
+	 * returns a pointer to a new instance of the mixer.
+	 *
+	 * @param control_cb		The callback to invoke when fetching a
+	 *				control value.
+	 * @param cb_handle		Handle passed to the control callback.
+	 * @param buf			Buffer containing a text description of
+	 *				the mixer.
+	 * @param buflen		Length of the buffer in bytes, adjusted
+	 *				to reflect the bytes consumed.
+	 * @return			A new MultirotorMixer instance, or nullptr
+	 *				if the text format is bad.
+	 */
+	static MultirotorMixer		*from_text(Mixer::ControlCallback control_cb,
+			uintptr_t cb_handle,
+			const char *buf,
+			unsigned &buflen);
+
 	virtual unsigned		mix(float *outputs, unsigned space);
 	virtual void			groups_required(uint32_t &groups);
 
diff --git a/apps/systemlib/mixer/mixer_group.cpp b/apps/systemlib/mixer/mixer_group.cpp
index 19ce25553..25d19f9ad 100644
--- a/apps/systemlib/mixer/mixer_group.cpp
+++ b/apps/systemlib/mixer/mixer_group.cpp
@@ -55,250 +55,8 @@
 
 #define debug(fmt, args...)	do { } while(0)
 //#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)
-
-namespace
-{
-
-/**
- * Effectively fdgets() with some extra smarts.
- */
-static int
-mixer_getline(int fd, char *line, unsigned maxlen)
-{
-	/* reduce line budget by 1 to account for terminal NUL */
-	maxlen--;
-
-	/* loop looking for a non-comment line */
-	for (;;) {
-		int	ret;
-		char	c;
-		char	*p = line;
-
-		/* loop reading characters for this line */
-		for (;;) {
-			ret = read(fd, &c, 1);
-
-			/* on error or EOF, return same */
-			if (ret <= 0) {
-				debug("read: EOF");
-				return ret;
-			}
-
-			/* ignore carriage returns */
-			if (c == '\r')
-				continue;
-
-			/* line termination */
-			if (c == '\n') {
-				/* ignore malformed lines */
-				if ((p - line) < 4)
-					break;
-
-				if (line[1] != ':')
-					break;
-
-				/* terminate line as string and return */
-				*p = '\0';
-				debug("read: '%s'", line);
-				return 1;
-			}
-
-			/* if we have space, accumulate the byte and go on */
-			if ((p - line) < maxlen)
-				*p++ = c;
-		}
-	}
-}
-
-/**
- * Parse an output scaler from the buffer.
- */
-static int
-mixer_parse_output_scaler(const char *buf, mixer_scaler_s &scaler)
-{
-	int s[5];
-
-	if (sscanf(buf, "O: %d %d %d %d %d",
-		   &s[0], &s[1], &s[2], &s[3], &s[4]) != 5) {
-		debug("scaler parse failed on '%s'", buf);
-		return -1;
-	}
-
-	scaler.negative_scale	= s[0] / 10000.0f;
-	scaler.positive_scale	= s[1] / 10000.0f;
-	scaler.offset		= s[2] / 10000.0f;
-	scaler.min_output	= s[3] / 10000.0f;
-	scaler.max_output	= s[4] / 10000.0f;
-
-	return 0;
-}
-
-/**
- * Parse a control scaler from the buffer.
- */
-static int
-mixer_parse_control_scaler(const char *buf, mixer_scaler_s &scaler, uint8_t &control_group, uint8_t &control_index)
-{
-	unsigned u[2];
-	int s[5];
-
-	if (sscanf(buf, "S: %u %u %d %d %d %d %d",
-		   &u[0], &u[1], &s[0], &s[1], &s[2], &s[3], &s[4]) != 7) {
-		debug("scaler parse failed on '%s'", buf);
-		return -1;
-	}
-
-	control_group	= u[0];
-	control_index	= u[1];
-	scaler.negative_scale	= s[0] / 10000.0f;
-	scaler.positive_scale	= s[1] / 10000.0f;
-	scaler.offset		= s[2] / 10000.0f;
-	scaler.min_output	= s[3] / 10000.0f;
-	scaler.max_output	= s[4] / 10000.0f;
-
-	return 0;
-}
-
-SimpleMixer *
-mixer_load_simple(Mixer::ControlCallback control_cb, uintptr_t cb_handle, int fd, unsigned inputs)
-{
-	mixer_simple_s	*mixinfo = nullptr;
-	char		buf[60];
-	int		ret;
-
-	/* let's assume we're going to read a simple mixer */
-	mixinfo = (mixer_simple_s *)malloc(MIXER_SIMPLE_SIZE(inputs));
-	mixinfo->control_count = inputs;
-
-	/* first, get the output scaler */
-	ret = mixer_getline(fd, buf, sizeof(buf));
-
-	if (ret < 1) {
-		debug("failed reading for output scaler");
-		goto fail;
-	}
-
-	if (mixer_parse_output_scaler(buf, mixinfo->output_scaler)) {
-		debug("failed parsing output scaler");
-		goto fail;
-	}
-
-	/* now get any inputs */
-	for (unsigned i = 0; i < inputs; i++) {
-		ret = mixer_getline(fd, buf, sizeof(buf));
-
-		if (ret < 1) {
-			debug("failed reading for control scaler");
-			goto fail;
-		}
-
-		if (mixer_parse_control_scaler(buf,
-					       mixinfo->controls[i].scaler,
-					       mixinfo->controls[i].control_group,
-					       mixinfo->controls[i].control_index)) {
-			debug("failed parsing control scaler");
-			goto fail;
-		}
-
-		debug("got control %d", i);
-	}
-
-	/* XXX should be a factory that validates the mixinfo ... */
-	return new SimpleMixer(control_cb, cb_handle, mixinfo);
-
-fail:
-	free(mixinfo);
-	return nullptr;
-}
-
-MultirotorMixer *
-mixer_load_multirotor(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf)
-{
-	MultirotorMixer::Geometry geometry;
-	char geomname[8];
-	int s[4];
-
-	if (sscanf(buf, "R: %s %d %d %d %d", geomname, &s[0], &s[1], &s[2], &s[3]) != 5) {
-		debug("multirotor parse failed on '%s'", buf);
-		return nullptr;
-	}
-
-	if (!strcmp(geomname, "4+")) {
-		geometry = MultirotorMixer::QUAD_PLUS;
-
-	} else if (!strcmp(geomname, "4x")) {
-		geometry = MultirotorMixer::QUAD_X;
-
-	} else if (!strcmp(geomname, "6+")) {
-		geometry = MultirotorMixer::HEX_PLUS;
-
-	} else if (!strcmp(geomname, "6x")) {
-		geometry = MultirotorMixer::HEX_X;
-
-	} else if (!strcmp(geomname, "8+")) {
-		geometry = MultirotorMixer::OCTA_PLUS;
-
-	} else if (!strcmp(geomname, "8x")) {
-		geometry = MultirotorMixer::OCTA_X;
-
-	} else {
-		debug("unrecognised geometry '%s'", geomname);
-		return nullptr;
-	}
-
-	return new MultirotorMixer(
-		       control_cb,
-		       cb_handle,
-		       geometry,
-		       s[0] / 10000.0f,
-		       s[1] / 10000.0f,
-		       s[2] / 10000.0f,
-		       s[3] / 10000.0f);
-}
-
-int
-mixer_load(Mixer::ControlCallback control_cb, uintptr_t cb_handle, int fd, Mixer *&mixer)
-{
-	int		ret;
-	char		buf[60];
-	unsigned	inputs;
-
-	ret = mixer_getline(fd, buf, sizeof(buf));
-
-	/* end of file or error ?*/
-	if (ret < 1) {
-		debug("getline %d", ret);
-		return ret;
-	}
-
-	/* slot is empty - allocate a null mixer */
-	if (buf[0] == 'Z') {
-		debug("got null mixer");
-		mixer = new NullMixer();
-		return 1;
-	}
-
-	/* is it a simple mixer? */
-	if (sscanf(buf, "M: %u", &inputs) == 1) {
-		debug("got simple mixer with %d inputs", inputs);
-		mixer = mixer_load_simple(control_cb, cb_handle, fd, inputs);
-		return (mixer == nullptr) ? -1 : 1;
-	}
-
-	/* is it a multirotor mixer? */
-	if (buf[0] == 'R') {
-		debug("got a multirotor mixer");
-		mixer = mixer_load_multirotor(control_cb, cb_handle, buf);
-		return (mixer == nullptr) ? -1 : 1;
-	}
-
-	/* we don't recognise the mixer type */
-	debug("unrecognized mixer type '%c'", buf[0]);
-	return -1;
-}
-
-
-} // namespace
+//#include <debug.h>
+//#define debug(fmt, args...)	lib_lowprintf(fmt "\n", ##args)
 
 MixerGroup::MixerGroup(ControlCallback control_cb, uintptr_t cb_handle) :
 	Mixer(control_cb, cb_handle),
@@ -308,14 +66,7 @@ MixerGroup::MixerGroup(ControlCallback control_cb, uintptr_t cb_handle) :
 
 MixerGroup::~MixerGroup()
 {
-	Mixer *mixer;
-
-	/* discard sub-mixers */
-	while (_first != nullptr) {
-		mixer = _first;
-		_first = mixer->_next;
-		delete mixer;
-	}
+	reset();
 }
 
 void
@@ -332,6 +83,19 @@ MixerGroup::add_mixer(Mixer *mixer)
 	mixer->_next = nullptr;
 }
 
+void
+MixerGroup::reset()
+{
+	Mixer *mixer;
+
+	/* discard sub-mixers */
+	while (_first != nullptr) {
+		mixer = _first;
+		_first = mixer->_next;
+		delete mixer;
+	}
+}
+
 unsigned
 MixerGroup::mix(float *outputs, unsigned space)
 {
@@ -358,44 +122,63 @@ MixerGroup::groups_required(uint32_t &groups)
 }
 
 int
-MixerGroup::load_from_file(const char *path)
+MixerGroup::load_from_buf(const char *buf, unsigned &buflen)
 {
-	if (_first != nullptr)
-		return -1;
+	int ret = -1;
+	const char *end = buf + buflen;
+
+	/*
+	 * Loop until either we have emptied the buffer, or we have failed to
+	 * allocate something when we expected to.
+	 */
+	while (buflen > 0) {
+		Mixer *m = nullptr;
+		const char *p = end - buflen;
+		unsigned resid = buflen;
+
+		/*
+		 * Use the next character as a hint to decide which mixer class to construct.
+		 */
+		switch (*p) {
+		case 'Z':
+			m = NullMixer::from_text(p, resid);
+			break;
 
-	int fd = open(path, O_RDONLY);
+		case 'M':
+			m = SimpleMixer::from_text(_control_cb, _cb_handle, p, resid);
+			break;
 
-	if (fd < 0) {
-		debug("failed to open %s", path);
-		return -1;
-	}
+		case 'R':
+			m = MultirotorMixer::from_text(_control_cb, _cb_handle, p, resid);
+			break;
+
+		default:
+			/* it's probably junk or whitespace, skip a byte and retry */
+			buflen--;
+			continue;
+		}
 
-	for (unsigned count = 0;; count++) {
-		int	result;
-		Mixer	*mixer;
+		/*
+		 * If we constructed something, add it to the group.
+		 */
+		if (m != nullptr) {
+			add_mixer(m);
 
-		result = mixer_load(_control_cb,
-				    _cb_handle,
-				    fd,
-				    mixer);
+			/* we constructed something */
+			ret = 0;
 
-		/* error? */
-		if (result < 0) {
-			debug("error");
-			return -1;
-		}
+			/* only adjust buflen if parsing was successful */
+			buflen = resid;
+		} else {
 
-		/* EOF or error */
-		if (result < 1) {
-			printf("[mixer] loaded %u mixers\n", count);
-			debug("EOF");
+			/*
+			 * There is data in the buffer that we expected to parse, but it didn't,
+			 * so give up for now.
+			 */
 			break;
 		}
-
-		debug("loaded mixer %p", mixer);
-		add_mixer(mixer);
 	}
 
-	close(fd);
-	return 0;
+	/* nothing more in the buffer for us now */
+	return ret;
 }
diff --git a/apps/systemlib/mixer/mixer_multirotor.cpp b/apps/systemlib/mixer/mixer_multirotor.cpp
index b5b25e532..f6e91b1bf 100644
--- a/apps/systemlib/mixer/mixer_multirotor.cpp
+++ b/apps/systemlib/mixer/mixer_multirotor.cpp
@@ -54,8 +54,15 @@
 
 #include "mixer.h"
 
-#define		CW		(-1.0f)
-#define		CCW		(1.0f)
+#define debug(fmt, args...)	do { } while(0)
+//#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)
+//#include <debug.h>
+//#define debug(fmt, args...)	lib_lowprintf(fmt "\n", ##args)
+
+/*
+ * Clockwise: 1
+ * Counter-clockwise: -1
+ */
 
 namespace
 {
@@ -64,52 +71,52 @@ namespace
  * These tables automatically generated by multi_tables - do not edit.
  */
 const MultirotorMixer::Rotor _config_quad_x[] = {
-	{ -0.707107,  0.707107, -1.00 },
-	{  0.707107, -0.707107, -1.00 },
-	{  0.707107,  0.707107,  1.00 },
-	{ -0.707107, -0.707107,  1.00 },
+	{ -0.707107,  0.707107,  1.00 },
+	{  0.707107, -0.707107,  1.00 },
+	{  0.707107,  0.707107, -1.00 },
+	{ -0.707107, -0.707107, -1.00 },
 };
 const MultirotorMixer::Rotor _config_quad_plus[] = {
-	{ -1.000000,  0.000000, -1.00 },
-	{  1.000000,  0.000000, -1.00 },
-	{  0.000000,  1.000000,  1.00 },
-	{ -0.000000, -1.000000,  1.00 },
+	{ -1.000000,  0.000000,  1.00 },
+	{  1.000000,  0.000000,  1.00 },
+	{  0.000000,  1.000000, -1.00 },
+	{ -0.000000, -1.000000, -1.00 },
 };
 const MultirotorMixer::Rotor _config_hex_x[] = {
-	{ -1.000000,  0.000000,  1.00 },
-	{  1.000000,  0.000000, -1.00 },
-	{  0.500000,  0.866025,  1.00 },
-	{ -0.500000, -0.866025, -1.00 },
-	{ -0.500000,  0.866025, -1.00 },
-	{  0.500000, -0.866025,  1.00 },
+	{ -1.000000,  0.000000, -1.00 },
+	{  1.000000,  0.000000,  1.00 },
+	{  0.500000,  0.866025, -1.00 },
+	{ -0.500000, -0.866025,  1.00 },
+	{ -0.500000,  0.866025,  1.00 },
+	{  0.500000, -0.866025, -1.00 },
 };
 const MultirotorMixer::Rotor _config_hex_plus[] = {
-	{  0.000000,  1.000000,  1.00 },
-	{ -0.000000, -1.000000, -1.00 },
-	{  0.866025, -0.500000,  1.00 },
-	{ -0.866025,  0.500000, -1.00 },
-	{  0.866025,  0.500000, -1.00 },
-	{ -0.866025, -0.500000,  1.00 },
+	{  0.000000,  1.000000, -1.00 },
+	{ -0.000000, -1.000000,  1.00 },
+	{  0.866025, -0.500000, -1.00 },
+	{ -0.866025,  0.500000,  1.00 },
+	{  0.866025,  0.500000,  1.00 },
+	{ -0.866025, -0.500000, -1.00 },
 };
 const MultirotorMixer::Rotor _config_octa_x[] = {
-	{ -0.382683,  0.923880,  1.00 },
-	{  0.382683, -0.923880,  1.00 },
-	{ -0.923880,  0.382683, -1.00 },
-	{ -0.382683, -0.923880, -1.00 },
-	{  0.382683,  0.923880, -1.00 },
-	{  0.923880, -0.382683, -1.00 },
-	{  0.923880,  0.382683,  1.00 },
-	{ -0.923880, -0.382683,  1.00 },
+	{ -0.382683,  0.923880, -1.00 },
+	{  0.382683, -0.923880, -1.00 },
+	{ -0.923880,  0.382683,  1.00 },
+	{ -0.382683, -0.923880,  1.00 },
+	{  0.382683,  0.923880,  1.00 },
+	{  0.923880, -0.382683,  1.00 },
+	{  0.923880,  0.382683, -1.00 },
+	{ -0.923880, -0.382683, -1.00 },
 };
 const MultirotorMixer::Rotor _config_octa_plus[] = {
-	{  0.000000,  1.000000,  1.00 },
-	{ -0.000000, -1.000000,  1.00 },
-	{ -0.707107,  0.707107, -1.00 },
-	{ -0.707107, -0.707107, -1.00 },
-	{  0.707107,  0.707107, -1.00 },
-	{  0.707107, -0.707107, -1.00 },
-	{  1.000000,  0.000000,  1.00 },
-	{ -1.000000,  0.000000,  1.00 },
+	{  0.000000,  1.000000, -1.00 },
+	{ -0.000000, -1.000000, -1.00 },
+	{ -0.707107,  0.707107,  1.00 },
+	{ -0.707107, -0.707107,  1.00 },
+	{  0.707107,  0.707107,  1.00 },
+	{  0.707107, -0.707107,  1.00 },
+	{  1.000000,  0.000000, -1.00 },
+	{ -1.000000,  0.000000, -1.00 },
 };
 const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
 	&_config_quad_x[0],
@@ -151,13 +158,70 @@ MultirotorMixer::~MultirotorMixer()
 {
 }
 
+MultirotorMixer *
+MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen)
+{
+	MultirotorMixer::Geometry geometry;
+	char geomname[8];
+	int s[4];
+	int used;
+
+	if (sscanf(buf, "R: %s %d %d %d %d%n", geomname, &s[0], &s[1], &s[2], &s[3], &used) != 5) {
+		debug("multirotor parse failed on '%s'", buf);
+		return nullptr;
+	}
+
+	if (used > (int)buflen) {
+		debug("multirotor spec used %d of %u", used, buflen);
+		return nullptr;
+	}
+
+	buflen -= used;
+
+	if (!strcmp(geomname, "4+")) {
+		geometry = MultirotorMixer::QUAD_PLUS;
+
+	} else if (!strcmp(geomname, "4x")) {
+		geometry = MultirotorMixer::QUAD_X;
+
+	} else if (!strcmp(geomname, "6+")) {
+		geometry = MultirotorMixer::HEX_PLUS;
+
+	} else if (!strcmp(geomname, "6x")) {
+		geometry = MultirotorMixer::HEX_X;
+
+	} else if (!strcmp(geomname, "8+")) {
+		geometry = MultirotorMixer::OCTA_PLUS;
+
+	} else if (!strcmp(geomname, "8x")) {
+		geometry = MultirotorMixer::OCTA_X;
+
+	} else {
+		debug("unrecognised geometry '%s'", geomname);
+		return nullptr;
+	}
+
+	debug("adding multirotor mixer '%s'", geomname);
+
+	return new MultirotorMixer(
+		       control_cb,
+		       cb_handle,
+		       geometry,
+		       s[0] / 10000.0f,
+		       s[1] / 10000.0f,
+		       s[2] / 10000.0f,
+		       s[3] / 10000.0f);
+}
+
 unsigned
 MultirotorMixer::mix(float *outputs, unsigned space)
 {
 	float		roll    = get_control(0, 0) * _roll_scale;
+	//lib_lowprintf("roll: %d, get_control0: %d, %d\n", (int)(roll), (int)(get_control(0, 0)), (int)(_roll_scale));
 	float		pitch   = get_control(0, 1) * _pitch_scale;
 	float		yaw     = get_control(0, 2) * _yaw_scale;
 	float		thrust  = get_control(0, 3);
+	//lib_lowprintf("thrust: %d, get_control3: %d\n", (int)(thrust), (int)(get_control(0, 3)));
 	float		max     = 0.0f;
 	float		fixup_scale;
 
@@ -170,10 +234,12 @@ MultirotorMixer::mix(float *outputs, unsigned space)
 	/* keep roll, pitch and yaw control to 0 below min thrust */
 	if (thrust <= min_thrust) {
 		output_factor = 0.0f;
-	/* linearly increase the output factor from 0 to 1 between min_thrust and startpoint_full_control */
+		/* linearly increase the output factor from 0 to 1 between min_thrust and startpoint_full_control */
+
 	} else if (thrust < startpoint_full_control && thrust > min_thrust) {
-		output_factor = (thrust/max_thrust)/(startpoint_full_control-min_thrust);
-	/* and then stay at full control */
+		output_factor = (thrust / max_thrust) / (startpoint_full_control - min_thrust);
+		/* and then stay at full control */
+
 	} else {
 		output_factor = max_thrust;
 	}
@@ -212,7 +278,7 @@ MultirotorMixer::mix(float *outputs, unsigned space)
 		if (outputs[i] < _deadband)
 			outputs[i] = _deadband;
 
-	return 0;
+	return _rotor_count;
 }
 
 void
diff --git a/apps/systemlib/mixer/mixer_simple.cpp b/apps/systemlib/mixer/mixer_simple.cpp
new file mode 100644
index 000000000..07dc5f37f
--- /dev/null
+++ b/apps/systemlib/mixer/mixer_simple.cpp
@@ -0,0 +1,334 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mixer_simple.cpp
+ *
+ * Simple summing mixer.
+ */
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <string.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <errno.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+#include <ctype.h>
+
+#include "mixer.h"
+
+#define debug(fmt, args...)	do { } while(0)
+//#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)
+
+SimpleMixer::SimpleMixer(ControlCallback control_cb,
+			 uintptr_t cb_handle,
+			 mixer_simple_s *mixinfo) :
+	Mixer(control_cb, cb_handle),
+	_info(mixinfo)
+{
+}
+
+SimpleMixer::~SimpleMixer()
+{
+	if (_info != nullptr)
+		free(_info);
+}
+
+static const char *
+findtag(const char *buf, unsigned &buflen, char tag)
+{
+	while (buflen >= 2) {
+		if ((buf[0] == tag) && (buf[1] == ':'))
+			return buf;
+		buf++;
+		buflen--;
+	}
+	return nullptr;
+}
+
+static void
+skipline(const char *buf, unsigned &buflen)
+{
+	const char *p;
+
+	/* if we can find a CR or NL in the buffer, skip up to it */
+	if ((p = (const char *)memchr(buf, '\r', buflen)) || (p = (const char *)memchr(buf, '\n', buflen)))
+		buflen -= (p - buf);
+}
+
+int
+SimpleMixer::parse_output_scaler(const char *buf, unsigned &buflen, mixer_scaler_s &scaler)
+{
+	int ret;
+	int s[5];
+	
+	buf = findtag(buf, buflen, 'O');
+	if ((buf == nullptr) || (buflen < 12))
+		return -1;
+
+	if ((ret = sscanf(buf, "O: %d %d %d %d %d",
+			  &s[0], &s[1], &s[2], &s[3], &s[4])) != 5) {
+		debug("scaler parse failed on '%s' (got %d)", buf, ret);
+		return -1;
+	}
+	skipline(buf, buflen);
+
+	scaler.negative_scale	= s[0] / 10000.0f;
+	scaler.positive_scale	= s[1] / 10000.0f;
+	scaler.offset		= s[2] / 10000.0f;
+	scaler.min_output	= s[3] / 10000.0f;
+	scaler.max_output	= s[4] / 10000.0f;
+
+	return 0;
+}
+
+int
+SimpleMixer::parse_control_scaler(const char *buf, unsigned &buflen, mixer_scaler_s &scaler, uint8_t &control_group, uint8_t &control_index)
+{
+	unsigned u[2];
+	int s[5];
+
+	buf = findtag(buf, buflen, 'S');
+	if ((buf == nullptr) || (buflen < 16))
+		return -1;
+
+	if (sscanf(buf, "S: %u %u %d %d %d %d %d",
+		   &u[0], &u[1], &s[0], &s[1], &s[2], &s[3], &s[4]) != 7) {
+		debug("control parse failed on '%s'", buf);
+		return -1;
+	}
+	skipline(buf, buflen);
+
+	control_group		= u[0];
+	control_index		= u[1];
+	scaler.negative_scale	= s[0] / 10000.0f;
+	scaler.positive_scale	= s[1] / 10000.0f;
+	scaler.offset		= s[2] / 10000.0f;
+	scaler.min_output	= s[3] / 10000.0f;
+	scaler.max_output	= s[4] / 10000.0f;
+
+	return 0;
+}
+
+SimpleMixer *
+SimpleMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen)
+{
+	SimpleMixer *sm = nullptr;
+	mixer_simple_s *mixinfo = nullptr;
+	unsigned inputs;
+	int used;
+	const char *end = buf + buflen;
+
+	/* get the base info for the mixer */
+	if (sscanf(buf, "M: %u%n", &inputs, &used) != 1) {
+		debug("simple parse failed on '%s'", buf);
+		goto out;
+	}
+
+	buflen -= used;
+
+	mixinfo = (mixer_simple_s *)malloc(MIXER_SIMPLE_SIZE(inputs));
+
+	if (mixinfo == nullptr) {
+		debug("could not allocate memory for mixer info");
+		goto out;
+	}
+
+	mixinfo->control_count = inputs;
+
+	if (parse_output_scaler(end - buflen, buflen, mixinfo->output_scaler))
+		goto out;
+
+	for (unsigned i = 0; i < inputs; i++) {
+		if (parse_control_scaler(end - buflen, buflen,
+					 mixinfo->controls[i].scaler,
+					 mixinfo->controls[i].control_group,
+					 mixinfo->controls[i].control_index))
+			goto out;
+	}
+
+	sm = new SimpleMixer(control_cb, cb_handle, mixinfo);
+
+	if (sm != nullptr) {
+		mixinfo = nullptr;
+		debug("loaded mixer with %d inputs", inputs);
+
+	} else {
+		debug("could not allocate memory for mixer");
+	}
+
+out:
+
+	if (mixinfo != nullptr)
+		free(mixinfo);
+
+	return sm;
+}
+
+SimpleMixer *
+SimpleMixer::pwm_input(Mixer::ControlCallback control_cb, uintptr_t cb_handle, unsigned input, uint16_t min, uint16_t mid, uint16_t max)
+{
+	SimpleMixer *sm = nullptr;
+	mixer_simple_s *mixinfo = nullptr;
+
+	mixinfo = (mixer_simple_s *)malloc(MIXER_SIMPLE_SIZE(1));
+
+	if (mixinfo == nullptr) {
+		debug("could not allocate memory for mixer info");
+		goto out;
+	}
+
+	mixinfo->control_count = 1;
+
+	/*
+	 * Always pull from group 0, with the input value giving the channel.
+	 */
+	mixinfo->controls[0].control_group = 0;
+	mixinfo->controls[0].control_index = input;
+
+	/*
+	 * Conversion uses both the input and output side of the mixer.
+	 *
+	 * The input side is used to slide the control value such that the min argument
+	 * results in a value of zero.
+	 *
+	 * The output side is used to apply the scaling for the min/max values so that
+	 * the resulting output is a -1.0 ... 1.0 value for the min...max range.
+	 */
+	mixinfo->controls[0].scaler.negative_scale = 1.0f;
+	mixinfo->controls[0].scaler.positive_scale = 1.0f;
+	mixinfo->controls[0].scaler.offset = -mid;
+	mixinfo->controls[0].scaler.min_output = -(mid - min);
+	mixinfo->controls[0].scaler.max_output = (max - mid);
+
+	mixinfo->output_scaler.negative_scale = 500.0f / (mid - min);
+	mixinfo->output_scaler.positive_scale = 500.0f / (max - mid);
+	mixinfo->output_scaler.offset = 0.0f;
+	mixinfo->output_scaler.min_output = -1.0f;
+	mixinfo->output_scaler.max_output = 1.0f;
+
+	sm = new SimpleMixer(control_cb, cb_handle, mixinfo);
+
+	if (sm != nullptr) {
+		mixinfo = nullptr;
+		debug("PWM input mixer for %d", input);
+
+	} else {
+		debug("could not allocate memory for PWM input mixer");
+	}
+
+out:
+
+	if (mixinfo != nullptr)
+		free(mixinfo);
+
+	return sm;
+}
+
+unsigned
+SimpleMixer::mix(float *outputs, unsigned space)
+{
+	float		sum = 0.0f;
+
+	if (_info == nullptr)
+		return 0;
+
+	if (space < 1)
+		return 0;
+
+	for (unsigned i = 0; i < _info->control_count; i++) {
+		float input;
+
+		_control_cb(_cb_handle,
+			    _info->controls[i].control_group,
+			    _info->controls[i].control_index,
+			    input);
+
+		sum += scale(_info->controls[i].scaler, input);
+	}
+
+	*outputs = scale(_info->output_scaler, sum);
+	return 1;
+}
+
+void
+SimpleMixer::groups_required(uint32_t &groups)
+{
+	for (unsigned i = 0; i < _info->control_count; i++)
+		groups |= 1 << _info->controls[i].control_group;
+}
+
+int
+SimpleMixer::check()
+{
+	int ret;
+	float junk;
+
+	/* sanity that presumes that a mixer includes a control no more than once */
+	/* max of 32 groups due to groups_required API */
+	if (_info->control_count > 32)
+		return -2;
+
+	/* validate the output scaler */
+	ret = scale_check(_info->output_scaler);
+
+	if (ret != 0)
+		return ret;
+
+	/* validate input scalers */
+	for (unsigned i = 0; i < _info->control_count; i++) {
+
+		/* verify that we can fetch the control */
+		if (_control_cb(_cb_handle,
+				_info->controls[i].control_group,
+				_info->controls[i].control_index,
+				junk) != 0) {
+			return -3;
+		}
+
+		/* validate the scaler */
+		ret = scale_check(_info->controls[i].scaler);
+
+		if (ret != 0)
+			return (10 * i + ret);
+	}
+
+	return 0;
+}
diff --git a/apps/systemlib/mixer/multi_tables b/apps/systemlib/mixer/multi_tables
index 2c4a5abed..f17ae30ca 100755
--- a/apps/systemlib/mixer/multi_tables
+++ b/apps/systemlib/mixer/multi_tables
@@ -70,9 +70,9 @@ foreach table $tables {
 	upvar #0 $table angles
 	foreach {angle dir} $angles {
 		if {$dir == "CW"} {
-			set dd -1.0
-		} else {
 			set dd 1.0
+		} else {
+			set dd -1.0
 		}
 		factors $angle $dd
 	}
diff --git a/apps/systemlib/pid/pid.c b/apps/systemlib/pid/pid.c
index 0358caa25..49315cdc9 100644
--- a/apps/systemlib/pid/pid.c
+++ b/apps/systemlib/pid/pid.c
@@ -183,3 +183,9 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
 
 	return pid->last_output;
 }
+
+
+__EXPORT void pid_reset_integral(PID_t *pid)
+{
+	pid->integral = 0;
+}
diff --git a/apps/systemlib/pid/pid.h b/apps/systemlib/pid/pid.h
index b51afef9e..64d668867 100644
--- a/apps/systemlib/pid/pid.h
+++ b/apps/systemlib/pid/pid.h
@@ -72,6 +72,7 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float
 //void pid_set(PID_t *pid, float sp);
 __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);
 
+__EXPORT void pid_reset_integral(PID_t *pid);
 
 
 #endif /* PID_H_ */
diff --git a/apps/systemlib/scheduling_priorities.h b/apps/systemlib/scheduling_priorities.h
new file mode 100644
index 000000000..be1dbfcd8
--- /dev/null
+++ b/apps/systemlib/scheduling_priorities.h
@@ -0,0 +1,48 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <nuttx/sched.h>
+
+/*      SCHED_PRIORITY_MAX    */
+#define SCHED_PRIORITY_FAST_DRIVER           SCHED_PRIORITY_MAX
+#define SCHED_PRIORITY_WATCHDOG             (SCHED_PRIORITY_MAX - 5)
+#define SCHED_PRIORITY_ACTUATOR_OUTPUTS     (SCHED_PRIORITY_MAX - 15)
+#define SCHED_PRIORITY_ATTITUDE_CONTROL     (SCHED_PRIORITY_MAX - 25)
+#define SCHED_PRIORITY_SLOW_DRIVER          (SCHED_PRIORITY_MAX - 35)
+#define SCHED_PRIORITY_POSITION_CONTROL     (SCHED_PRIORITY_MAX - 40)
+/*      SCHED_PRIORITY_DEFAULT    */
+#define SCHED_PRIORITY_LOGGING              (SCHED_PRIORITY_DEFAULT - 10)
+#define SCHED_PRIORITY_PARAMS               (SCHED_PRIORITY_DEFAULT - 15)
+/*      SCHED_PRIORITY_IDLE    */
diff --git a/apps/uORB/objects_common.cpp b/apps/uORB/objects_common.cpp
index dbee15050..3f3476f62 100644
--- a/apps/uORB/objects_common.cpp
+++ b/apps/uORB/objects_common.cpp
@@ -68,9 +68,15 @@ ORB_DEFINE(sensor_combined, struct sensor_combined_s);
 #include "topics/vehicle_gps_position.h"
 ORB_DEFINE(vehicle_gps_position, struct vehicle_gps_position_s);
 
+#include "topics/home_position.h"
+ORB_DEFINE(home_position, struct home_position_s);
+
 #include "topics/vehicle_status.h"
 ORB_DEFINE(vehicle_status, struct vehicle_status_s);
 
+#include "topics/battery_status.h"
+ORB_DEFINE(battery_status, struct battery_status_s);
+
 #include "topics/vehicle_global_position.h"
 ORB_DEFINE(vehicle_global_position, struct vehicle_global_position_s);
 
@@ -110,6 +116,12 @@ ORB_DEFINE(offboard_control_setpoint, struct offboard_control_setpoint_s);
 #include "topics/optical_flow.h"
 ORB_DEFINE(optical_flow, struct optical_flow_s);
 
+#include "topics/omnidirectional_flow.h"
+ORB_DEFINE(omnidirectional_flow, struct omnidirectional_flow_s);
+
+#include "topics/differential_pressure.h"
+ORB_DEFINE(differential_pressure, struct differential_pressure_s);
+
 #include "topics/subsystem_info.h"
 ORB_DEFINE(subsystem_info, struct subsystem_info_s);
 
diff --git a/apps/uORB/topics/actuator_controls_effective.h b/apps/uORB/topics/actuator_controls_effective.h
index aad2c4d9b..40278c56c 100644
--- a/apps/uORB/topics/actuator_controls_effective.h
+++ b/apps/uORB/topics/actuator_controls_effective.h
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file actuator_controls.h
+ * @file actuator_controls_effective.h
  *
  * Actuator control topics - mixer inputs.
  *
diff --git a/apps/uORB/topics/actuator_outputs.h b/apps/uORB/topics/actuator_outputs.h
index accd560af..bbe429073 100644
--- a/apps/uORB/topics/actuator_outputs.h
+++ b/apps/uORB/topics/actuator_outputs.h
@@ -53,8 +53,9 @@
 #define NUM_ACTUATOR_OUTPUT_GROUPS	4	/**< for sanity checking */
 
 struct actuator_outputs_s {
-	uint64_t timestamp;
-	float	output[NUM_ACTUATOR_OUTPUTS];
+	uint64_t timestamp;				/**< output timestamp in us since system boot */
+	float	output[NUM_ACTUATOR_OUTPUTS];		/**< output data, in natural output units */
+	int noutputs;					/**< valid outputs */
 };
 
 /* actuator output sets; this list can be expanded as more drivers emerge */
diff --git a/apps/uORB/topics/battery_status.h b/apps/uORB/topics/battery_status.h
new file mode 100644
index 000000000..c40d0d4e5
--- /dev/null
+++ b/apps/uORB/topics/battery_status.h
@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file battery_status.h
+ *
+ * Definition of the battery status uORB topic.
+ */
+
+#ifndef BATTERY_STATUS_H_
+#define BATTERY_STATUS_H_
+
+#include "../uORB.h"
+#include <stdint.h>
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Battery voltages and status
+ */
+struct battery_status_s {
+	uint64_t	timestamp;		/**< microseconds since system boot, needed to integrate */
+	float   	voltage_v;		/**< Battery voltage in volts, filtered           	 */
+	float		current_a;		/**< Battery current in amperes, filtered, -1 if unknown */
+	float		discharged_mah;		/**< Discharged amount in mAh, filtered, -1 if unknown	 */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(battery_status);
+
+#endif
\ No newline at end of file
diff --git a/apps/uORB/topics/differential_pressure.h b/apps/uORB/topics/differential_pressure.h
new file mode 100644
index 000000000..fd7670cbc
--- /dev/null
+++ b/apps/uORB/topics/differential_pressure.h
@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file differential_pressure.h
+ *
+ * Definition of differential pressure topic
+ */
+
+#ifndef TOPIC_DIFFERENTIAL_PRESSURE_H_
+#define TOPIC_DIFFERENTIAL_PRESSURE_H_
+
+#include "../uORB.h"
+#include <stdint.h>
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Battery voltages and status
+ */
+struct differential_pressure_s {
+	uint64_t	timestamp;			/**< microseconds since system boot, needed to integrate */
+	float   	static_pressure_mbar;		/**< Static / environment pressure */
+	float		differential_pressure_mbar;	/**< Differential pressure reading */
+	float		temperature_celcius;		/**< ambient temperature in celcius, -1 if unknown */
+	float		indicated_airspeed_m_s;		/**< indicated airspeed in meters per second, -1 if unknown	 */
+	float		true_airspeed_m_s;		/**< true airspeed in meters per second, -1 if unknown */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(differential_pressure);
+
+#endif
\ No newline at end of file
diff --git a/apps/uORB/topics/home_position.h b/apps/uORB/topics/home_position.h
new file mode 100644
index 000000000..dec34b6ab
--- /dev/null
+++ b/apps/uORB/topics/home_position.h
@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file home_position.h
+ * Definition of the GPS home position uORB topic.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#ifndef TOPIC_HOME_POSITION_H_
+#define TOPIC_HOME_POSITION_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * GPS home position in WGS84 coordinates.
+ */
+struct home_position_s
+{
+	uint64_t timestamp;             /**< Timestamp (microseconds since system boot)   */
+	uint64_t time_gps_usec;         /**< Timestamp (microseconds in GPS format), this is the timestamp from the gps module   */
+	
+	int32_t lat;                    /**< Latitude in 1E7 degrees */
+	int32_t lon;                    /**< Longitude in 1E7 degrees */
+	int32_t alt;                    /**< Altitude in 1E3 meters (millimeters) above MSL */
+	uint16_t eph;                   /**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */
+	uint16_t epv;                   /**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */
+	float s_variance;               /**< speed accuracy estimate cm/s */
+	float p_variance;               /**< position accuracy estimate cm */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(home_position);
+
+#endif
diff --git a/apps/uORB/topics/manual_control_setpoint.h b/apps/uORB/topics/manual_control_setpoint.h
index 1368cb716..261a8a4ad 100644
--- a/apps/uORB/topics/manual_control_setpoint.h
+++ b/apps/uORB/topics/manual_control_setpoint.h
@@ -48,29 +48,33 @@
  * @{
  */
 
-enum MANUAL_CONTROL_MODE
-{
-	MANUAL_CONTROL_MODE_DIRECT = 0,
-	MANUAL_CONTROL_MODE_ATT_YAW_RATE = 1,
-	MANUAL_CONTROL_MODE_ATT_YAW_POS = 2,
-	MANUAL_CONTROL_MODE_MULTIROTOR_SIMPLE = 3 /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
-};
-
 struct manual_control_setpoint_s {
 	uint64_t timestamp;
 
-	enum MANUAL_CONTROL_MODE mode;		 /**< The current control inputs mode */
-	float roll;			 /**< ailerons roll / roll rate input */
-	float pitch;     /**< elevator / pitch / pitch rate */
-	float yaw;       /**< rudder / yaw rate / yaw */
-	float throttle;  /**< throttle / collective thrust / altitude */
+	float roll;			 	/**< ailerons roll / roll rate input */
+	float pitch;				/**< elevator / pitch / pitch rate */
+	float yaw;				/**< rudder / yaw rate / yaw */
+	float throttle;				/**< throttle / collective thrust / altitude */
+
+	float manual_override_switch;		/**< manual override mode (mandatory) */
+	float auto_mode_switch;			/**< auto mode switch (mandatory) */
+
+	/**
+	 * Any of the channels below may not be available and be set to NaN
+	 * to indicate that it does not contain valid data.
+	 */
+	float manual_mode_switch;		/**< manual mode (man, sas, alt) switch (optional) */
+	float manual_sas_switch;		/**< sas mode (rates / attitude) switch (optional) */
+	float return_to_launch_switch;		/**< return to launch switch (0 = disabled, 1 = enabled) */
+	float auto_offboard_input_switch;	/**< controller setpoint source (0 = onboard, 1 = offboard) */
 
-	float override_mode_switch;
+	float flaps;				/**< flap position */
 
-	float aux1_cam_pan_flaps;
-	float aux2_cam_tilt;
-	float aux3_cam_zoom;
-	float aux4_cam_roll;
+	float aux1;				/**< default function: camera yaw / azimuth */
+	float aux2;				/**< default function: camera pitch / tilt */
+	float aux3;				/**< default function: camera trigger */
+	float aux4;				/**< default function: camera roll */
+	float aux5;				/**< default function: payload drop */
 
 }; /**< manual control inputs */
 
diff --git a/apps/uORB/topics/omnidirectional_flow.h b/apps/uORB/topics/omnidirectional_flow.h
new file mode 100644
index 000000000..8f4be3b3f
--- /dev/null
+++ b/apps/uORB/topics/omnidirectional_flow.h
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file optical_flow.h
+ * Definition of the optical flow uORB topic.
+ */
+
+#ifndef TOPIC_OMNIDIRECTIONAL_FLOW_H_
+#define TOPIC_OMNIDIRECTIONAL_FLOW_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ */
+
+/**
+ * Omnidirectional optical flow in NED body frame in SI units.
+ *
+ * @see http://en.wikipedia.org/wiki/International_System_of_Units
+ */
+struct omnidirectional_flow_s {
+
+	uint64_t timestamp;		/**< in microseconds since system start          */
+
+	uint16_t left[10];		/**< Left flow, in decipixels */
+	uint16_t right[10];		/**< Right flow, in decipixels */
+	float front_distance_m;		/**< Altitude / distance to object front in meters */
+	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
+	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(omnidirectional_flow);
+
+#endif
diff --git a/apps/uORB/topics/optical_flow.h b/apps/uORB/topics/optical_flow.h
index 24f842825..c854f0079 100644
--- a/apps/uORB/topics/optical_flow.h
+++ b/apps/uORB/topics/optical_flow.h
@@ -55,11 +55,6 @@
  */
 struct optical_flow_s {
 
-	/*
-	 * Actual data, this is specific to the type of data which is stored in this struct
-	 * A line containing L0GME will be added by the Python logging code generator to the
-	 * logged dataset.
-	 */
 	uint64_t timestamp;		/**< in microseconds since system start          */
 
 	uint16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
@@ -67,8 +62,8 @@ struct optical_flow_s {
 	float flow_comp_x_m;		/**< speed over ground in meters, rotation-compensated */
 	float flow_comp_y_m;		/**< speed over ground in meters, rotation-compensated */
 	float ground_distance_m;	/**< Altitude / distance to ground in meters */
-	uint8_t	quality;			/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
-	uint8_t sensor_id;			/**< id of the sensor emitting the flow value */
+	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
+	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
 
 };
 
diff --git a/apps/uORB/topics/rc_channels.h b/apps/uORB/topics/rc_channels.h
index fef6ef2b3..9dd54df91 100644
--- a/apps/uORB/topics/rc_channels.h
+++ b/apps/uORB/topics/rc_channels.h
@@ -50,6 +50,13 @@
  * @{
  */
 
+/**
+ * The number of RC channel inputs supported.
+ * Current (Q1/2013) radios support up to 18 channels,
+ * leaving at a sane value of 14.
+ */
+#define RC_CHANNELS_MAX   14
+
 /** 
  * This defines the mapping of the RC functions.
  * The value assigned to the specific function corresponds to the entry of
@@ -62,14 +69,18 @@ enum RC_CHANNELS_FUNCTION
   PITCH    = 2,
   YAW      = 3,
   OVERRIDE = 4,
-  FUNC_0   = 5,
-  FUNC_1   = 6,
-  FUNC_2   = 7,
-  FUNC_3   = 8,
-  FUNC_4   = 9,
-  FUNC_5   = 10,
-  FUNC_6   = 11,
-  RC_CHANNELS_FUNCTION_MAX = 12
+  AUTO_MODE = 5,
+  MANUAL_MODE = 6,
+  SAS_MODE = 7,
+  RTL = 8,
+  OFFBOARD_MODE = 9,
+  FLAPS   = 10,
+  AUX_1   = 11,
+  AUX_2   = 12,
+  AUX_3   = 13,
+  AUX_4   = 14,
+  AUX_5   = 15,
+  RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
 };
 
 struct rc_channels_s {
@@ -78,14 +89,13 @@ struct rc_channels_s {
   uint64_t timestamp_last_valid;      /**< timestamp of last valid RC signal. */
   struct {
     float scaled;                     /**< Scaled to -1..1 (throttle: 0..1) */
-  } chan[RC_CHANNELS_FUNCTION_MAX];
-  uint8_t chan_count;                 /**< maximum number of valid channels */
+  } chan[RC_CHANNELS_MAX];
+  uint8_t chan_count;                 /**< number of valid channels */
 
   /*String array to store the names of the functions*/
   char function_name[RC_CHANNELS_FUNCTION_MAX][20];
-  uint8_t function[RC_CHANNELS_FUNCTION_MAX];
+  int8_t function[RC_CHANNELS_FUNCTION_MAX];
   uint8_t rssi;                       /**< Overall receive signal strength */
-  bool is_valid;                      /**< Inputs are valid, no timeout */
 }; /**< radio control channels. */
 
 /**
diff --git a/apps/uORB/topics/sensor_combined.h b/apps/uORB/topics/sensor_combined.h
index 0324500ac..961ee8b4a 100644
--- a/apps/uORB/topics/sensor_combined.h
+++ b/apps/uORB/topics/sensor_combined.h
@@ -99,11 +99,9 @@ struct sensor_combined_s {
 	float baro_pres_mbar;			/**< Barometric pressure, already temp. comp.     */
 	float baro_alt_meter;			/**< Altitude, already temp. comp.                */
 	float baro_temp_celcius;		/**< Temperature in degrees celsius               */
-	float battery_voltage_v;		/**< Battery voltage in volts, filtered           */
-	float adc_voltage_v[3];			/**< ADC voltages of ADC Chan 11/12/13 or -1      */
+	float adc_voltage_v[4];			/**< ADC voltages of ADC Chan 10/11/12/13 or -1      */
+	float mcu_temp_celcius;			/**< Internal temperature measurement of MCU */
 	uint32_t baro_counter;			/**< Number of raw baro measurements taken        */
-	uint32_t battery_voltage_counter;	/**< Number of voltage measurements taken         */
-	bool battery_voltage_valid;		/**< True if battery voltage can be measured      */
 
 };
 
diff --git a/apps/uORB/topics/vehicle_command.h b/apps/uORB/topics/vehicle_command.h
index 3e220965d..fac571659 100644
--- a/apps/uORB/topics/vehicle_command.h
+++ b/apps/uORB/topics/vehicle_command.h
@@ -50,20 +50,77 @@
  * @{
  */
 
-enum PX4_CMD {
-	PX4_CMD_CONTROLLER_SELECTION = 1000,
+/**
+ * Commands for commander app.
+ *
+ * Should contain all commands from MAVLink's VEHICLE_CMD ENUM,
+ * but can contain additional ones.
+ */
+enum VEHICLE_CMD
+{
+	VEHICLE_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
+	VEHICLE_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|  */
+	VEHICLE_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|  */
+	VEHICLE_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed  (m/s, -1 indicates no change)| Throttle  ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_DO_SET_PARAMETER=180, /* Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */
+	VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
+	VEHICLE_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|  */
+	VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|  */
+	VEHICLE_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|  */
+	VEHICLE_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|  */
+	VEHICLE_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm|  */
+	VEHICLE_CMD_ENUM_END=401, /*  | */
 };
 
+/**
+ * Commands for commander app.
+ *
+ * Should contain all of MAVLink's VEHICLE_CMD_RESULT values
+ * but can contain additional ones.
+ */
+enum VEHICLE_CMD_RESULT
+{
+	VEHICLE_CMD_RESULT_ACCEPTED=0, /* Command ACCEPTED and EXECUTED | */
+	VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED=1, /* Command TEMPORARY REJECTED/DENIED | */
+	VEHICLE_CMD_RESULT_DENIED=2, /* Command PERMANENTLY DENIED | */
+	VEHICLE_CMD_RESULT_UNSUPPORTED=3, /* Command UNKNOWN/UNSUPPORTED | */
+	VEHICLE_CMD_RESULT_FAILED=4, /* Command executed, but failed | */
+	VEHICLE_CMD_RESULT_ENUM_END=5, /*  | */
+};
+
+
 struct vehicle_command_s
 {
-	float param1;			/**< Parameter 1, as defined by MAVLink MAV_CMD enum.   */
-	float param2;			/**< Parameter 2, as defined by MAVLink MAV_CMD enum.   */
-	float param3;			/**< Parameter 3, as defined by MAVLink MAV_CMD enum.   */
-	float param4;			/**< Parameter 4, as defined by MAVLink MAV_CMD enum.   */
-	float param5;			/**< Parameter 5, as defined by MAVLink MAV_CMD enum.   */
-	float param6;			/**< Parameter 6, as defined by MAVLink MAV_CMD enum.   */
-	float param7;			/**< Parameter 7, as defined by MAVLink MAV_CMD enum.   */
-	uint16_t command;		/**< Command ID, as defined MAVLink by MAV_CMD enum.   */
+	float param1;			/**< Parameter 1, as defined by MAVLink VEHICLE_CMD enum.   */
+	float param2;			/**< Parameter 2, as defined by MAVLink VEHICLE_CMD enum.   */
+	float param3;			/**< Parameter 3, as defined by MAVLink VEHICLE_CMD enum.   */
+	float param4;			/**< Parameter 4, as defined by MAVLink VEHICLE_CMD enum.   */
+	float param5;			/**< Parameter 5, as defined by MAVLink VEHICLE_CMD enum.   */
+	float param6;			/**< Parameter 6, as defined by MAVLink VEHICLE_CMD enum.   */
+	float param7;			/**< Parameter 7, as defined by MAVLink VEHICLE_CMD enum.   */
+	uint16_t command;		/**< Command ID, as defined MAVLink by VEHICLE_CMD enum.   */
 	uint8_t target_system;		/**< System which should execute the command  */
 	uint8_t target_component;	/**< Component which should execute the command, 0 for all components  */
 	uint8_t source_system;		/**< System sending the command  */
diff --git a/apps/uORB/topics/vehicle_gps_position.h b/apps/uORB/topics/vehicle_gps_position.h
index ebd83e1a9..db529da06 100644
--- a/apps/uORB/topics/vehicle_gps_position.h
+++ b/apps/uORB/topics/vehicle_gps_position.h
@@ -65,8 +65,8 @@ struct vehicle_gps_position_s
 	uint16_t counter_pos_valid;		/**< is only increased when new lat/lon/alt information was added   */
 	uint16_t eph;				/**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 //LOGME   */
 	uint16_t epv;				/**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535   */
-	float s_variance;			// XXX testing
-	float p_variance;			// XXX testing
+	float s_variance;			/**< speed accuracy estimate cm/s */
+	float p_variance;			/**< position accuracy estimate cm */
 	uint16_t vel;				/**< GPS ground speed (m/s * 100). If unknown, set to: 65535   */
 	float vel_n;				/**< GPS ground speed in m/s */
 	float vel_e;				/**< GPS ground speed in m/s */
@@ -84,7 +84,6 @@ struct vehicle_gps_position_s
 
 	/* flags */
 	float vel_ned_valid;			/**< Flag to indicate if NED speed is valid */
-
 };
 
 /**
diff --git a/apps/uORB/topics/vehicle_status.h b/apps/uORB/topics/vehicle_status.h
index 23172d7cf..06b4c5ca5 100644
--- a/apps/uORB/topics/vehicle_status.h
+++ b/apps/uORB/topics/vehicle_status.h
@@ -79,7 +79,7 @@ enum VEHICLE_MODE_FLAG {
 	VEHICLE_MODE_FLAG_SAFETY_ARMED = 128,
 	VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64,
 	VEHICLE_MODE_FLAG_HIL_ENABLED = 32,
-	VEHICLE_MODE_FLAG_STABILIZE_ENABLED = 16,
+	VEHICLE_MODE_FLAG_STABILIZED_ENABLED = 16,
 	VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8,
 	VEHICLE_MODE_FLAG_AUTO_ENABLED = 4,
 	VEHICLE_MODE_FLAG_TEST_ENABLED = 2,
@@ -87,18 +87,57 @@ enum VEHICLE_MODE_FLAG {
 }; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */
 
 enum VEHICLE_FLIGHT_MODE {
-	VEHICLE_FLIGHT_MODE_MANUAL = 0,	/**< direct manual control, same as VEHICLE_FLIGHT_MODE_ATTITUDE for multirotors */
-	VEHICLE_FLIGHT_MODE_ATTITUDE,	/**< attitude or rate stabilization, as defined by VEHICLE_ATTITUDE_MODE */
-	VEHICLE_FLIGHT_MODE_STABILIZED,	/**< attitude or rate stabilization plus velocity or position stabilization */
-	VEHICLE_FLIGHT_MODE_AUTO	/**< attitude or rate stabilization plus absolute position control and waypoints */
+	VEHICLE_FLIGHT_MODE_MANUAL = 0,		/**< direct manual control, exact mode determined by VEHICLE_MANUAL_CONTROL_MODE */
+	VEHICLE_FLIGHT_MODE_STAB,		/**< attitude or rate stabilization plus velocity or position stabilization */
+	VEHICLE_FLIGHT_MODE_HOLD,		/**< hold current position (hover or loiter around position when switched) */
+	VEHICLE_FLIGHT_MODE_AUTO		/**< attitude or rate stabilization plus absolute position control and waypoints */
 };
 
-enum VEHICLE_ATTITUDE_MODE {
-	VEHICLE_ATTITUDE_MODE_DIRECT,	/**< no attitude control, direct stick input mixing (only fixed wing) */
-	VEHICLE_ATTITUDE_MODE_RATES,	/**< body rates control mode */
-	VEHICLE_ATTITUDE_MODE_ATTITUDE	/**< tait-bryan attitude control mode */
+enum VEHICLE_MANUAL_CONTROL_MODE {
+	VEHICLE_MANUAL_CONTROL_MODE_DIRECT = 0,	/**< no attitude control, direct stick input mixing (only fixed wing) */
+	VEHICLE_MANUAL_CONTROL_MODE_RATES,	/**< body rates control mode */
+	VEHICLE_MANUAL_CONTROL_MODE_SAS		/**< stability augmented system (SAS) mode */
 };
 
+enum VEHICLE_MANUAL_SAS_MODE {
+	VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS = 0,	/**< roll, pitch and yaw absolute */
+	VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE,	/**< roll and pitch absolute, yaw rate */
+	VEHICLE_MANUAL_SAS_MODE_SIMPLE,				/**< simple mode (includes altitude hold) */
+	VEHICLE_MANUAL_SAS_MODE_ALTITUDE			/**< altitude hold */
+};
+
+/**
+ * Should match 1:1 MAVLink's MAV_TYPE ENUM
+ */
+enum VEHICLE_TYPE {
+	VEHICLE_TYPE_GENERIC=0, /* Generic micro air vehicle. | */
+	VEHICLE_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */
+	VEHICLE_TYPE_QUADROTOR=2, /* Quadrotor | */
+	VEHICLE_TYPE_COAXIAL=3, /* Coaxial helicopter | */
+	VEHICLE_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */
+	VEHICLE_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */
+	VEHICLE_TYPE_GCS=6, /* Operator control unit / ground control station | */
+	VEHICLE_TYPE_AIRSHIP=7, /* Airship, controlled | */
+	VEHICLE_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */
+	VEHICLE_TYPE_ROCKET=9, /* Rocket | */
+	VEHICLE_TYPE_GROUND_ROVER=10, /* Ground rover | */
+	VEHICLE_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */
+	VEHICLE_TYPE_SUBMARINE=12, /* Submarine | */
+	VEHICLE_TYPE_HEXAROTOR=13, /* Hexarotor | */
+	VEHICLE_TYPE_OCTOROTOR=14, /* Octorotor | */
+	VEHICLE_TYPE_TRICOPTER=15, /* Octorotor | */
+	VEHICLE_TYPE_FLAPPING_WING=16, /* Flapping wing | */
+	VEHICLE_TYPE_KITE=17, /* Kite | */
+	VEHICLE_TYPE_ENUM_END=18, /*  | */
+};
+
+enum VEHICLE_BATTERY_WARNING {
+    VEHICLE_BATTERY_WARNING_NONE = 0,    /**< no battery low voltage warning active */
+    VEHICLE_BATTERY_WARNING_WARNING,        /**< warning of low voltage 1. stage */
+    VEHICLE_BATTERY_WARNING_ALERT            /**< aleting of low voltage 2. stage */
+};
+
+
 /**
  * state machine / state of vehicle.
  *
@@ -115,10 +154,9 @@ struct vehicle_status_s
 
 	commander_state_machine_t state_machine;	/**< current flight state, main state machine */
 	enum VEHICLE_FLIGHT_MODE flight_mode;		/**< current flight mode, as defined by mode switch */
-	enum VEHICLE_ATTITUDE_MODE attitute_mode;	/**< current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */
-
-	// uint8_t mode;
-
+	enum VEHICLE_MANUAL_CONTROL_MODE manual_control_mode;	/**< current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */
+	enum VEHICLE_MANUAL_SAS_MODE	manual_sas_mode;	/**< current stabilization mode */
+	int32_t system_type;				/**< system type, inspired by MAVLinks VEHICLE_TYPE enum */
 
 	/* system flags - these represent the state predicates */
 
@@ -157,6 +195,7 @@ struct vehicle_status_s
 	float voltage_battery;
 	float current_battery;
 	float battery_remaining;
+	enum VEHICLE_BATTERY_WARNING battery_warning;    /**< current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum */
 	uint16_t drop_rate_comm;
 	uint16_t errors_comm;
 	uint16_t errors_count1;
@@ -164,9 +203,12 @@ struct vehicle_status_s
 	uint16_t errors_count3;
 	uint16_t errors_count4;
 
-//	bool remote_manual; /**< set to true by the commander when the manual-switch on the remote is set to manual */
-	bool gps_valid;     /**< set to true by the commander app if the quality of the gps signal is good enough to use it in the position estimator */
-
+	bool flag_global_position_valid;		/**< set to true by the commander app if the quality of the gps signal is good enough to use it in the position estimator */
+	bool flag_local_position_valid;
+	bool flag_vector_flight_mode_ok;		/**< position estimation, battery voltage and other critical subsystems are good for autonomous flight */
+	bool flag_auto_flight_mode_ok;			/**< conditions of vector flight mode apply plus a valid takeoff position lock has been aquired */
+	bool flag_external_manual_override_ok;		/**< external override non-fatal for system. Only true for fixed wing */
+	bool flag_valid_launch_position;		/**< indicates a valid launch position */
 };
 
 /**
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h b/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
index 754ca44e1..afc57c443 100644
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
+++ b/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
@@ -12,15 +12,15 @@ extern "C" {
 // MESSAGE LENGTHS AND CRCS
 
 #ifndef MAVLINK_MESSAGE_LENGTHS
-#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 254, 249, 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 33, 25, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 44, 3, 9, 22, 12, 18, 34, 66, 98, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
+#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 0, 0, 0, 254, 249, 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 33, 25, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 44, 3, 9, 22, 12, 18, 34, 66, 98, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 242, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 0, 0, 0, 0, 235, 93, 124, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 241, 15, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 111, 21, 21, 144, 1, 234, 73, 181, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
+#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 0, 0, 0, 235, 93, 124, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 241, 15, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 111, 21, 21, 144, 1, 234, 73, 181, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_INFO
-#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, 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MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE, MAVLINK_MESSAGE_INFO_MOUNT_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_STATUS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FENCE_POINT, MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT, MAVLINK_MESSAGE_INFO_FENCE_STATUS, MAVLINK_MESSAGE_INFO_AHRS, MAVLINK_MESSAGE_INFO_SIMSTATE, MAVLINK_MESSAGE_INFO_HWSTATUS, MAVLINK_MESSAGE_INFO_RADIO, MAVLINK_MESSAGE_INFO_LIMITS_STATUS, MAVLINK_MESSAGE_INFO_WIND, MAVLINK_MESSAGE_INFO_DATA16, MAVLINK_MESSAGE_INFO_DATA32, MAVLINK_MESSAGE_INFO_DATA64, MAVLINK_MESSAGE_INFO_DATA96, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, 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{"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}}
+#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE, MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE, MAVLINK_MESSAGE_INFO_MOUNT_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_STATUS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FENCE_POINT, MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT, MAVLINK_MESSAGE_INFO_FENCE_STATUS, MAVLINK_MESSAGE_INFO_AHRS, MAVLINK_MESSAGE_INFO_SIMSTATE, MAVLINK_MESSAGE_INFO_HWSTATUS, MAVLINK_MESSAGE_INFO_RADIO, MAVLINK_MESSAGE_INFO_LIMITS_STATUS, MAVLINK_MESSAGE_INFO_WIND, MAVLINK_MESSAGE_INFO_DATA16, MAVLINK_MESSAGE_INFO_DATA32, MAVLINK_MESSAGE_INFO_DATA64, MAVLINK_MESSAGE_INFO_DATA96, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}}
 #endif
 
 #include "../protocol.h"
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_wind.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_wind.h
index e0810a9d3..e7fa7d1ea 100644
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_wind.h
+++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_wind.h
@@ -4,7 +4,7 @@
 
 typedef struct __mavlink_wind_t
 {
- float direction; ///< wind direction (degrees)
+ float direction; ///< wind direction that wind is coming from (degrees)
  float speed; ///< wind speed in ground plane (m/s)
  float speed_z; ///< vertical wind speed (m/s)
 } mavlink_wind_t;
@@ -30,7 +30,7 @@ typedef struct __mavlink_wind_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param direction wind direction (degrees)
+ * @param direction wind direction that wind is coming from (degrees)
  * @param speed wind speed in ground plane (m/s)
  * @param speed_z vertical wind speed (m/s)
  * @return length of the message in bytes (excluding serial stream start sign)
@@ -64,7 +64,7 @@ static inline uint16_t mavlink_msg_wind_pack(uint8_t system_id, uint8_t componen
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param direction wind direction (degrees)
+ * @param direction wind direction that wind is coming from (degrees)
  * @param speed wind speed in ground plane (m/s)
  * @param speed_z vertical wind speed (m/s)
  * @return length of the message in bytes (excluding serial stream start sign)
@@ -110,7 +110,7 @@ static inline uint16_t mavlink_msg_wind_encode(uint8_t system_id, uint8_t compon
  * @brief Send a wind message
  * @param chan MAVLink channel to send the message
  *
- * @param direction wind direction (degrees)
+ * @param direction wind direction that wind is coming from (degrees)
  * @param speed wind speed in ground plane (m/s)
  * @param speed_z vertical wind speed (m/s)
  */
@@ -143,7 +143,7 @@ static inline void mavlink_msg_wind_send(mavlink_channel_t chan, float direction
 /**
  * @brief Get field direction from wind message
  *
- * @return wind direction (degrees)
+ * @return wind direction that wind is coming from (degrees)
  */
 static inline float mavlink_msg_wind_get_direction(const mavlink_message_t* msg)
 {
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/version.h b/mavlink/include/mavlink/v1.0/ardupilotmega/version.h
index 37d021095..ff24a2daa 100644
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/version.h
+++ b/mavlink/include/mavlink/v1.0/ardupilotmega/version.h
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Dec  1 02:05:58 2012"
+#define MAVLINK_BUILD_DATE "Wed Jan  9 16:17:57 2013"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
  
diff --git a/mavlink/include/mavlink/v1.0/checksum.h b/mavlink/include/mavlink/v1.0/checksum.h
index 4f4cce02f..948e080a1 100644
--- a/mavlink/include/mavlink/v1.0/checksum.h
+++ b/mavlink/include/mavlink/v1.0/checksum.h
@@ -15,6 +15,7 @@ extern "C" {
 #define X25_INIT_CRC 0xffff
 #define X25_VALIDATE_CRC 0xf0b8
 
+#ifndef HAVE_CRC_ACCUMULATE
 /**
  * @brief Accumulate the X.25 CRC by adding one char at a time.
  *
@@ -33,6 +34,7 @@ static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
         tmp ^= (tmp<<4);
         *crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4);
 }
+#endif
 
 /**
  * @brief Initiliaze the buffer for the X.25 CRC
diff --git a/mavlink/include/mavlink/v1.0/common/common.h b/mavlink/include/mavlink/v1.0/common/common.h
index 06f4ed711..d223fc6f5 100644
--- a/mavlink/include/mavlink/v1.0/common/common.h
+++ b/mavlink/include/mavlink/v1.0/common/common.h
@@ -12,15 +12,15 @@ extern "C" {
 // MESSAGE LENGTHS AND CRCS
 
 #ifndef MAVLINK_MESSAGE_LENGTHS
-#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 254, 249, 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 33, 25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
+#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 0, 0, 0, 254, 249, 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 33, 25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 242, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 0, 0, 0, 0, 235, 93, 124, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 241, 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
+#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 0, 0, 0, 235, 93, 124, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 241, 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_INFO
-#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}}
+#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}}
 #endif
 
 #include "../protocol.h"
@@ -484,6 +484,7 @@ enum MAV_SEVERITY
 #include "./mavlink_msg_vision_speed_estimate.h"
 #include "./mavlink_msg_vicon_position_estimate.h"
 #include "./mavlink_msg_highres_imu.h"
+#include "./mavlink_msg_omnidirectional_flow.h"
 #include "./mavlink_msg_file_transfer_start.h"
 #include "./mavlink_msg_file_transfer_dir_list.h"
 #include "./mavlink_msg_file_transfer_res.h"
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_6dof_setpoint.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_6dof_setpoint.h
new file mode 100644
index 000000000..0c4ab8c7d
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_6dof_setpoint.h
@@ -0,0 +1,276 @@
+// MESSAGE 6DOF_SETPOINT PACKING
+
+#define MAVLINK_MSG_ID_6DOF_SETPOINT 149
+
+typedef struct __mavlink_6dof_setpoint_t
+{
+ float trans_x; ///< Translational Component in x
+ float trans_y; ///< Translational Component in y
+ float trans_z; ///< Translational Component in z
+ float rot_x; ///< Rotational Component in x
+ float rot_y; ///< Rotational Component in y
+ float rot_z; ///< Rotational Component in z
+ uint8_t target_system; ///< System ID
+} mavlink_6dof_setpoint_t;
+
+#define MAVLINK_MSG_ID_6DOF_SETPOINT_LEN 25
+#define MAVLINK_MSG_ID_149_LEN 25
+
+
+
+#define MAVLINK_MESSAGE_INFO_6DOF_SETPOINT { \
+	"6DOF_SETPOINT", \
+	7, \
+	{  { "trans_x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_6dof_setpoint_t, trans_x) }, \
+         { "trans_y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_6dof_setpoint_t, trans_y) }, \
+         { "trans_z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_6dof_setpoint_t, trans_z) }, \
+         { "rot_x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_6dof_setpoint_t, rot_x) }, \
+         { "rot_y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_6dof_setpoint_t, rot_y) }, \
+         { "rot_z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_6dof_setpoint_t, rot_z) }, \
+         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_6dof_setpoint_t, target_system) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a 6dof_setpoint message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param target_system System ID
+ * @param trans_x Translational Component in x
+ * @param trans_y Translational Component in y
+ * @param trans_z Translational Component in z
+ * @param rot_x Rotational Component in x
+ * @param rot_y Rotational Component in y
+ * @param rot_z Rotational Component in z
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_6dof_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint8_t target_system, float trans_x, float trans_y, float trans_z, float rot_x, float rot_y, float rot_z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[25];
+	_mav_put_float(buf, 0, trans_x);
+	_mav_put_float(buf, 4, trans_y);
+	_mav_put_float(buf, 8, trans_z);
+	_mav_put_float(buf, 12, rot_x);
+	_mav_put_float(buf, 16, rot_y);
+	_mav_put_float(buf, 20, rot_z);
+	_mav_put_uint8_t(buf, 24, target_system);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 25);
+#else
+	mavlink_6dof_setpoint_t packet;
+	packet.trans_x = trans_x;
+	packet.trans_y = trans_y;
+	packet.trans_z = trans_z;
+	packet.rot_x = rot_x;
+	packet.rot_y = rot_y;
+	packet.rot_z = rot_z;
+	packet.target_system = target_system;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 25);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_6DOF_SETPOINT;
+	return mavlink_finalize_message(msg, system_id, component_id, 25, 144);
+}
+
+/**
+ * @brief Pack a 6dof_setpoint message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param trans_x Translational Component in x
+ * @param trans_y Translational Component in y
+ * @param trans_z Translational Component in z
+ * @param rot_x Rotational Component in x
+ * @param rot_y Rotational Component in y
+ * @param rot_z Rotational Component in z
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_6dof_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint8_t target_system,float trans_x,float trans_y,float trans_z,float rot_x,float rot_y,float rot_z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[25];
+	_mav_put_float(buf, 0, trans_x);
+	_mav_put_float(buf, 4, trans_y);
+	_mav_put_float(buf, 8, trans_z);
+	_mav_put_float(buf, 12, rot_x);
+	_mav_put_float(buf, 16, rot_y);
+	_mav_put_float(buf, 20, rot_z);
+	_mav_put_uint8_t(buf, 24, target_system);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 25);
+#else
+	mavlink_6dof_setpoint_t packet;
+	packet.trans_x = trans_x;
+	packet.trans_y = trans_y;
+	packet.trans_z = trans_z;
+	packet.rot_x = rot_x;
+	packet.rot_y = rot_y;
+	packet.rot_z = rot_z;
+	packet.target_system = target_system;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 25);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_6DOF_SETPOINT;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 25, 144);
+}
+
+/**
+ * @brief Encode a 6dof_setpoint struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param 6dof_setpoint C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_6dof_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_6dof_setpoint_t* 6dof_setpoint)
+{
+	return mavlink_msg_6dof_setpoint_pack(system_id, component_id, msg, 6dof_setpoint->target_system, 6dof_setpoint->trans_x, 6dof_setpoint->trans_y, 6dof_setpoint->trans_z, 6dof_setpoint->rot_x, 6dof_setpoint->rot_y, 6dof_setpoint->rot_z);
+}
+
+/**
+ * @brief Send a 6dof_setpoint message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param trans_x Translational Component in x
+ * @param trans_y Translational Component in y
+ * @param trans_z Translational Component in z
+ * @param rot_x Rotational Component in x
+ * @param rot_y Rotational Component in y
+ * @param rot_z Rotational Component in z
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_6dof_setpoint_send(mavlink_channel_t chan, uint8_t target_system, float trans_x, float trans_y, float trans_z, float rot_x, float rot_y, float rot_z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[25];
+	_mav_put_float(buf, 0, trans_x);
+	_mav_put_float(buf, 4, trans_y);
+	_mav_put_float(buf, 8, trans_z);
+	_mav_put_float(buf, 12, rot_x);
+	_mav_put_float(buf, 16, rot_y);
+	_mav_put_float(buf, 20, rot_z);
+	_mav_put_uint8_t(buf, 24, target_system);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_6DOF_SETPOINT, buf, 25, 144);
+#else
+	mavlink_6dof_setpoint_t packet;
+	packet.trans_x = trans_x;
+	packet.trans_y = trans_y;
+	packet.trans_z = trans_z;
+	packet.rot_x = rot_x;
+	packet.rot_y = rot_y;
+	packet.rot_z = rot_z;
+	packet.target_system = target_system;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_6DOF_SETPOINT, (const char *)&packet, 25, 144);
+#endif
+}
+
+#endif
+
+// MESSAGE 6DOF_SETPOINT UNPACKING
+
+
+/**
+ * @brief Get field target_system from 6dof_setpoint message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_6dof_setpoint_get_target_system(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  24);
+}
+
+/**
+ * @brief Get field trans_x from 6dof_setpoint message
+ *
+ * @return Translational Component in x
+ */
+static inline float mavlink_msg_6dof_setpoint_get_trans_x(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  0);
+}
+
+/**
+ * @brief Get field trans_y from 6dof_setpoint message
+ *
+ * @return Translational Component in y
+ */
+static inline float mavlink_msg_6dof_setpoint_get_trans_y(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  4);
+}
+
+/**
+ * @brief Get field trans_z from 6dof_setpoint message
+ *
+ * @return Translational Component in z
+ */
+static inline float mavlink_msg_6dof_setpoint_get_trans_z(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  8);
+}
+
+/**
+ * @brief Get field rot_x from 6dof_setpoint message
+ *
+ * @return Rotational Component in x
+ */
+static inline float mavlink_msg_6dof_setpoint_get_rot_x(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  12);
+}
+
+/**
+ * @brief Get field rot_y from 6dof_setpoint message
+ *
+ * @return Rotational Component in y
+ */
+static inline float mavlink_msg_6dof_setpoint_get_rot_y(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  16);
+}
+
+/**
+ * @brief Get field rot_z from 6dof_setpoint message
+ *
+ * @return Rotational Component in z
+ */
+static inline float mavlink_msg_6dof_setpoint_get_rot_z(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  20);
+}
+
+/**
+ * @brief Decode a 6dof_setpoint message into a struct
+ *
+ * @param msg The message to decode
+ * @param 6dof_setpoint C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_6dof_setpoint_decode(const mavlink_message_t* msg, mavlink_6dof_setpoint_t* 6dof_setpoint)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	6dof_setpoint->trans_x = mavlink_msg_6dof_setpoint_get_trans_x(msg);
+	6dof_setpoint->trans_y = mavlink_msg_6dof_setpoint_get_trans_y(msg);
+	6dof_setpoint->trans_z = mavlink_msg_6dof_setpoint_get_trans_z(msg);
+	6dof_setpoint->rot_x = mavlink_msg_6dof_setpoint_get_rot_x(msg);
+	6dof_setpoint->rot_y = mavlink_msg_6dof_setpoint_get_rot_y(msg);
+	6dof_setpoint->rot_z = mavlink_msg_6dof_setpoint_get_rot_z(msg);
+	6dof_setpoint->target_system = mavlink_msg_6dof_setpoint_get_target_system(msg);
+#else
+	memcpy(6dof_setpoint, _MAV_PAYLOAD(msg), 25);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_8dof_setpoint.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_8dof_setpoint.h
new file mode 100644
index 000000000..521d2fb66
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_8dof_setpoint.h
@@ -0,0 +1,320 @@
+// MESSAGE 8DOF_SETPOINT PACKING
+
+#define MAVLINK_MSG_ID_8DOF_SETPOINT 148
+
+typedef struct __mavlink_8dof_setpoint_t
+{
+ float val1; ///< Value 1
+ float val2; ///< Value 2
+ float val3; ///< Value 3
+ float val4; ///< Value 4
+ float val5; ///< Value 5
+ float val6; ///< Value 6
+ float val7; ///< Value 7
+ float val8; ///< Value 8
+ uint8_t target_system; ///< System ID
+} mavlink_8dof_setpoint_t;
+
+#define MAVLINK_MSG_ID_8DOF_SETPOINT_LEN 33
+#define MAVLINK_MSG_ID_148_LEN 33
+
+
+
+#define MAVLINK_MESSAGE_INFO_8DOF_SETPOINT { \
+	"8DOF_SETPOINT", \
+	9, \
+	{  { "val1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_8dof_setpoint_t, val1) }, \
+         { "val2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_8dof_setpoint_t, val2) }, \
+         { "val3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_8dof_setpoint_t, val3) }, \
+         { "val4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_8dof_setpoint_t, val4) }, \
+         { "val5", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_8dof_setpoint_t, val5) }, \
+         { "val6", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_8dof_setpoint_t, val6) }, \
+         { "val7", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_8dof_setpoint_t, val7) }, \
+         { "val8", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_8dof_setpoint_t, val8) }, \
+         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_8dof_setpoint_t, target_system) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a 8dof_setpoint message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param target_system System ID
+ * @param val1 Value 1
+ * @param val2 Value 2
+ * @param val3 Value 3
+ * @param val4 Value 4
+ * @param val5 Value 5
+ * @param val6 Value 6
+ * @param val7 Value 7
+ * @param val8 Value 8
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_8dof_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint8_t target_system, float val1, float val2, float val3, float val4, float val5, float val6, float val7, float val8)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[33];
+	_mav_put_float(buf, 0, val1);
+	_mav_put_float(buf, 4, val2);
+	_mav_put_float(buf, 8, val3);
+	_mav_put_float(buf, 12, val4);
+	_mav_put_float(buf, 16, val5);
+	_mav_put_float(buf, 20, val6);
+	_mav_put_float(buf, 24, val7);
+	_mav_put_float(buf, 28, val8);
+	_mav_put_uint8_t(buf, 32, target_system);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 33);
+#else
+	mavlink_8dof_setpoint_t packet;
+	packet.val1 = val1;
+	packet.val2 = val2;
+	packet.val3 = val3;
+	packet.val4 = val4;
+	packet.val5 = val5;
+	packet.val6 = val6;
+	packet.val7 = val7;
+	packet.val8 = val8;
+	packet.target_system = target_system;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 33);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_8DOF_SETPOINT;
+	return mavlink_finalize_message(msg, system_id, component_id, 33, 42);
+}
+
+/**
+ * @brief Pack a 8dof_setpoint message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param val1 Value 1
+ * @param val2 Value 2
+ * @param val3 Value 3
+ * @param val4 Value 4
+ * @param val5 Value 5
+ * @param val6 Value 6
+ * @param val7 Value 7
+ * @param val8 Value 8
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_8dof_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint8_t target_system,float val1,float val2,float val3,float val4,float val5,float val6,float val7,float val8)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[33];
+	_mav_put_float(buf, 0, val1);
+	_mav_put_float(buf, 4, val2);
+	_mav_put_float(buf, 8, val3);
+	_mav_put_float(buf, 12, val4);
+	_mav_put_float(buf, 16, val5);
+	_mav_put_float(buf, 20, val6);
+	_mav_put_float(buf, 24, val7);
+	_mav_put_float(buf, 28, val8);
+	_mav_put_uint8_t(buf, 32, target_system);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 33);
+#else
+	mavlink_8dof_setpoint_t packet;
+	packet.val1 = val1;
+	packet.val2 = val2;
+	packet.val3 = val3;
+	packet.val4 = val4;
+	packet.val5 = val5;
+	packet.val6 = val6;
+	packet.val7 = val7;
+	packet.val8 = val8;
+	packet.target_system = target_system;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 33);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_8DOF_SETPOINT;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 33, 42);
+}
+
+/**
+ * @brief Encode a 8dof_setpoint struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param 8dof_setpoint C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_8dof_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_8dof_setpoint_t* 8dof_setpoint)
+{
+	return mavlink_msg_8dof_setpoint_pack(system_id, component_id, msg, 8dof_setpoint->target_system, 8dof_setpoint->val1, 8dof_setpoint->val2, 8dof_setpoint->val3, 8dof_setpoint->val4, 8dof_setpoint->val5, 8dof_setpoint->val6, 8dof_setpoint->val7, 8dof_setpoint->val8);
+}
+
+/**
+ * @brief Send a 8dof_setpoint message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param val1 Value 1
+ * @param val2 Value 2
+ * @param val3 Value 3
+ * @param val4 Value 4
+ * @param val5 Value 5
+ * @param val6 Value 6
+ * @param val7 Value 7
+ * @param val8 Value 8
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_8dof_setpoint_send(mavlink_channel_t chan, uint8_t target_system, float val1, float val2, float val3, float val4, float val5, float val6, float val7, float val8)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[33];
+	_mav_put_float(buf, 0, val1);
+	_mav_put_float(buf, 4, val2);
+	_mav_put_float(buf, 8, val3);
+	_mav_put_float(buf, 12, val4);
+	_mav_put_float(buf, 16, val5);
+	_mav_put_float(buf, 20, val6);
+	_mav_put_float(buf, 24, val7);
+	_mav_put_float(buf, 28, val8);
+	_mav_put_uint8_t(buf, 32, target_system);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_8DOF_SETPOINT, buf, 33, 42);
+#else
+	mavlink_8dof_setpoint_t packet;
+	packet.val1 = val1;
+	packet.val2 = val2;
+	packet.val3 = val3;
+	packet.val4 = val4;
+	packet.val5 = val5;
+	packet.val6 = val6;
+	packet.val7 = val7;
+	packet.val8 = val8;
+	packet.target_system = target_system;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_8DOF_SETPOINT, (const char *)&packet, 33, 42);
+#endif
+}
+
+#endif
+
+// MESSAGE 8DOF_SETPOINT UNPACKING
+
+
+/**
+ * @brief Get field target_system from 8dof_setpoint message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_8dof_setpoint_get_target_system(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  32);
+}
+
+/**
+ * @brief Get field val1 from 8dof_setpoint message
+ *
+ * @return Value 1
+ */
+static inline float mavlink_msg_8dof_setpoint_get_val1(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  0);
+}
+
+/**
+ * @brief Get field val2 from 8dof_setpoint message
+ *
+ * @return Value 2
+ */
+static inline float mavlink_msg_8dof_setpoint_get_val2(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  4);
+}
+
+/**
+ * @brief Get field val3 from 8dof_setpoint message
+ *
+ * @return Value 3
+ */
+static inline float mavlink_msg_8dof_setpoint_get_val3(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  8);
+}
+
+/**
+ * @brief Get field val4 from 8dof_setpoint message
+ *
+ * @return Value 4
+ */
+static inline float mavlink_msg_8dof_setpoint_get_val4(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  12);
+}
+
+/**
+ * @brief Get field val5 from 8dof_setpoint message
+ *
+ * @return Value 5
+ */
+static inline float mavlink_msg_8dof_setpoint_get_val5(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  16);
+}
+
+/**
+ * @brief Get field val6 from 8dof_setpoint message
+ *
+ * @return Value 6
+ */
+static inline float mavlink_msg_8dof_setpoint_get_val6(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  20);
+}
+
+/**
+ * @brief Get field val7 from 8dof_setpoint message
+ *
+ * @return Value 7
+ */
+static inline float mavlink_msg_8dof_setpoint_get_val7(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  24);
+}
+
+/**
+ * @brief Get field val8 from 8dof_setpoint message
+ *
+ * @return Value 8
+ */
+static inline float mavlink_msg_8dof_setpoint_get_val8(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  28);
+}
+
+/**
+ * @brief Decode a 8dof_setpoint message into a struct
+ *
+ * @param msg The message to decode
+ * @param 8dof_setpoint C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_8dof_setpoint_decode(const mavlink_message_t* msg, mavlink_8dof_setpoint_t* 8dof_setpoint)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	8dof_setpoint->val1 = mavlink_msg_8dof_setpoint_get_val1(msg);
+	8dof_setpoint->val2 = mavlink_msg_8dof_setpoint_get_val2(msg);
+	8dof_setpoint->val3 = mavlink_msg_8dof_setpoint_get_val3(msg);
+	8dof_setpoint->val4 = mavlink_msg_8dof_setpoint_get_val4(msg);
+	8dof_setpoint->val5 = mavlink_msg_8dof_setpoint_get_val5(msg);
+	8dof_setpoint->val6 = mavlink_msg_8dof_setpoint_get_val6(msg);
+	8dof_setpoint->val7 = mavlink_msg_8dof_setpoint_get_val7(msg);
+	8dof_setpoint->val8 = mavlink_msg_8dof_setpoint_get_val8(msg);
+	8dof_setpoint->target_system = mavlink_msg_8dof_setpoint_get_target_system(msg);
+#else
+	memcpy(8dof_setpoint, _MAV_PAYLOAD(msg), 33);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_omnidirectional_flow.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_omnidirectional_flow.h
new file mode 100644
index 000000000..9bb1e3369
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_omnidirectional_flow.h
@@ -0,0 +1,249 @@
+// MESSAGE OMNIDIRECTIONAL_FLOW PACKING
+
+#define MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW 106
+
+typedef struct __mavlink_omnidirectional_flow_t
+{
+ uint64_t time_usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
+ float front_distance_m; ///< Front distance in meters. Positive value (including zero): distance known. Negative value: Unknown distance
+ int16_t left[10]; ///< Flow in deci pixels (1 = 0.1 pixel) on left hemisphere
+ int16_t right[10]; ///< Flow in deci pixels (1 = 0.1 pixel) on right hemisphere
+ uint8_t sensor_id; ///< Sensor ID
+ uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality
+} mavlink_omnidirectional_flow_t;
+
+#define MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN 54
+#define MAVLINK_MSG_ID_106_LEN 54
+
+#define MAVLINK_MSG_OMNIDIRECTIONAL_FLOW_FIELD_LEFT_LEN 10
+#define MAVLINK_MSG_OMNIDIRECTIONAL_FLOW_FIELD_RIGHT_LEN 10
+
+#define MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW { \
+	"OMNIDIRECTIONAL_FLOW", \
+	6, \
+	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_omnidirectional_flow_t, time_usec) }, \
+         { "front_distance_m", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_omnidirectional_flow_t, front_distance_m) }, \
+         { "left", NULL, MAVLINK_TYPE_INT16_T, 10, 12, offsetof(mavlink_omnidirectional_flow_t, left) }, \
+         { "right", NULL, MAVLINK_TYPE_INT16_T, 10, 32, offsetof(mavlink_omnidirectional_flow_t, right) }, \
+         { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 52, offsetof(mavlink_omnidirectional_flow_t, sensor_id) }, \
+         { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 53, offsetof(mavlink_omnidirectional_flow_t, quality) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a omnidirectional_flow message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
+ * @param sensor_id Sensor ID
+ * @param left Flow in deci pixels (1 = 0.1 pixel) on left hemisphere
+ * @param right Flow in deci pixels (1 = 0.1 pixel) on right hemisphere
+ * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
+ * @param front_distance_m Front distance in meters. Positive value (including zero): distance known. Negative value: Unknown distance
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_omnidirectional_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint64_t time_usec, uint8_t sensor_id, const int16_t *left, const int16_t *right, uint8_t quality, float front_distance_m)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[54];
+	_mav_put_uint64_t(buf, 0, time_usec);
+	_mav_put_float(buf, 8, front_distance_m);
+	_mav_put_uint8_t(buf, 52, sensor_id);
+	_mav_put_uint8_t(buf, 53, quality);
+	_mav_put_int16_t_array(buf, 12, left, 10);
+	_mav_put_int16_t_array(buf, 32, right, 10);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 54);
+#else
+	mavlink_omnidirectional_flow_t packet;
+	packet.time_usec = time_usec;
+	packet.front_distance_m = front_distance_m;
+	packet.sensor_id = sensor_id;
+	packet.quality = quality;
+	mav_array_memcpy(packet.left, left, sizeof(int16_t)*10);
+	mav_array_memcpy(packet.right, right, sizeof(int16_t)*10);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 54);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW;
+	return mavlink_finalize_message(msg, system_id, component_id, 54, 211);
+}
+
+/**
+ * @brief Pack a omnidirectional_flow message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
+ * @param sensor_id Sensor ID
+ * @param left Flow in deci pixels (1 = 0.1 pixel) on left hemisphere
+ * @param right Flow in deci pixels (1 = 0.1 pixel) on right hemisphere
+ * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
+ * @param front_distance_m Front distance in meters. Positive value (including zero): distance known. Negative value: Unknown distance
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_omnidirectional_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint64_t time_usec,uint8_t sensor_id,const int16_t *left,const int16_t *right,uint8_t quality,float front_distance_m)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[54];
+	_mav_put_uint64_t(buf, 0, time_usec);
+	_mav_put_float(buf, 8, front_distance_m);
+	_mav_put_uint8_t(buf, 52, sensor_id);
+	_mav_put_uint8_t(buf, 53, quality);
+	_mav_put_int16_t_array(buf, 12, left, 10);
+	_mav_put_int16_t_array(buf, 32, right, 10);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 54);
+#else
+	mavlink_omnidirectional_flow_t packet;
+	packet.time_usec = time_usec;
+	packet.front_distance_m = front_distance_m;
+	packet.sensor_id = sensor_id;
+	packet.quality = quality;
+	mav_array_memcpy(packet.left, left, sizeof(int16_t)*10);
+	mav_array_memcpy(packet.right, right, sizeof(int16_t)*10);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 54);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 54, 211);
+}
+
+/**
+ * @brief Encode a omnidirectional_flow struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param omnidirectional_flow C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_omnidirectional_flow_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_omnidirectional_flow_t* omnidirectional_flow)
+{
+	return mavlink_msg_omnidirectional_flow_pack(system_id, component_id, msg, omnidirectional_flow->time_usec, omnidirectional_flow->sensor_id, omnidirectional_flow->left, omnidirectional_flow->right, omnidirectional_flow->quality, omnidirectional_flow->front_distance_m);
+}
+
+/**
+ * @brief Send a omnidirectional_flow message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
+ * @param sensor_id Sensor ID
+ * @param left Flow in deci pixels (1 = 0.1 pixel) on left hemisphere
+ * @param right Flow in deci pixels (1 = 0.1 pixel) on right hemisphere
+ * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
+ * @param front_distance_m Front distance in meters. Positive value (including zero): distance known. Negative value: Unknown distance
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_omnidirectional_flow_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t sensor_id, const int16_t *left, const int16_t *right, uint8_t quality, float front_distance_m)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[54];
+	_mav_put_uint64_t(buf, 0, time_usec);
+	_mav_put_float(buf, 8, front_distance_m);
+	_mav_put_uint8_t(buf, 52, sensor_id);
+	_mav_put_uint8_t(buf, 53, quality);
+	_mav_put_int16_t_array(buf, 12, left, 10);
+	_mav_put_int16_t_array(buf, 32, right, 10);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW, buf, 54, 211);
+#else
+	mavlink_omnidirectional_flow_t packet;
+	packet.time_usec = time_usec;
+	packet.front_distance_m = front_distance_m;
+	packet.sensor_id = sensor_id;
+	packet.quality = quality;
+	mav_array_memcpy(packet.left, left, sizeof(int16_t)*10);
+	mav_array_memcpy(packet.right, right, sizeof(int16_t)*10);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW, (const char *)&packet, 54, 211);
+#endif
+}
+
+#endif
+
+// MESSAGE OMNIDIRECTIONAL_FLOW UNPACKING
+
+
+/**
+ * @brief Get field time_usec from omnidirectional_flow message
+ *
+ * @return Timestamp (microseconds, synced to UNIX time or since system boot)
+ */
+static inline uint64_t mavlink_msg_omnidirectional_flow_get_time_usec(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint64_t(msg,  0);
+}
+
+/**
+ * @brief Get field sensor_id from omnidirectional_flow message
+ *
+ * @return Sensor ID
+ */
+static inline uint8_t mavlink_msg_omnidirectional_flow_get_sensor_id(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  52);
+}
+
+/**
+ * @brief Get field left from omnidirectional_flow message
+ *
+ * @return Flow in deci pixels (1 = 0.1 pixel) on left hemisphere
+ */
+static inline uint16_t mavlink_msg_omnidirectional_flow_get_left(const mavlink_message_t* msg, int16_t *left)
+{
+	return _MAV_RETURN_int16_t_array(msg, left, 10,  12);
+}
+
+/**
+ * @brief Get field right from omnidirectional_flow message
+ *
+ * @return Flow in deci pixels (1 = 0.1 pixel) on right hemisphere
+ */
+static inline uint16_t mavlink_msg_omnidirectional_flow_get_right(const mavlink_message_t* msg, int16_t *right)
+{
+	return _MAV_RETURN_int16_t_array(msg, right, 10,  32);
+}
+
+/**
+ * @brief Get field quality from omnidirectional_flow message
+ *
+ * @return Optical flow quality / confidence. 0: bad, 255: maximum quality
+ */
+static inline uint8_t mavlink_msg_omnidirectional_flow_get_quality(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  53);
+}
+
+/**
+ * @brief Get field front_distance_m from omnidirectional_flow message
+ *
+ * @return Front distance in meters. Positive value (including zero): distance known. Negative value: Unknown distance
+ */
+static inline float mavlink_msg_omnidirectional_flow_get_front_distance_m(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  8);
+}
+
+/**
+ * @brief Decode a omnidirectional_flow message into a struct
+ *
+ * @param msg The message to decode
+ * @param omnidirectional_flow C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_omnidirectional_flow_decode(const mavlink_message_t* msg, mavlink_omnidirectional_flow_t* omnidirectional_flow)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	omnidirectional_flow->time_usec = mavlink_msg_omnidirectional_flow_get_time_usec(msg);
+	omnidirectional_flow->front_distance_m = mavlink_msg_omnidirectional_flow_get_front_distance_m(msg);
+	mavlink_msg_omnidirectional_flow_get_left(msg, omnidirectional_flow->left);
+	mavlink_msg_omnidirectional_flow_get_right(msg, omnidirectional_flow->right);
+	omnidirectional_flow->sensor_id = mavlink_msg_omnidirectional_flow_get_sensor_id(msg);
+	omnidirectional_flow->quality = mavlink_msg_omnidirectional_flow_get_quality(msg);
+#else
+	memcpy(omnidirectional_flow, _MAV_PAYLOAD(msg), 54);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_servo_output_raw.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_servo_output_raw.h
index dbf0b2035..45c94d8b9 100644
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_servo_output_raw.h
+++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_servo_output_raw.h
@@ -4,7 +4,7 @@
 
 typedef struct __mavlink_servo_output_raw_t
 {
- uint32_t time_boot_ms; ///< Timestamp (microseconds since system boot)
+ uint32_t time_usec; ///< Timestamp (microseconds since system boot)
  uint16_t servo1_raw; ///< Servo output 1 value, in microseconds
  uint16_t servo2_raw; ///< Servo output 2 value, in microseconds
  uint16_t servo3_raw; ///< Servo output 3 value, in microseconds
@@ -24,7 +24,7 @@ typedef struct __mavlink_servo_output_raw_t
 #define MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW { \
 	"SERVO_OUTPUT_RAW", \
 	10, \
-	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_servo_output_raw_t, time_boot_ms) }, \
+	{  { "time_usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_servo_output_raw_t, time_usec) }, \
          { "servo1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_servo_output_raw_t, servo1_raw) }, \
          { "servo2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_servo_output_raw_t, servo2_raw) }, \
          { "servo3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_servo_output_raw_t, servo3_raw) }, \
@@ -44,7 +44,7 @@ typedef struct __mavlink_servo_output_raw_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_boot_ms Timestamp (microseconds since system boot)
+ * @param time_usec Timestamp (microseconds since system boot)
  * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
  * @param servo1_raw Servo output 1 value, in microseconds
  * @param servo2_raw Servo output 2 value, in microseconds
@@ -57,11 +57,11 @@ typedef struct __mavlink_servo_output_raw_t
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint32_t time_boot_ms, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
+						       uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char buf[21];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
+	_mav_put_uint32_t(buf, 0, time_usec);
 	_mav_put_uint16_t(buf, 4, servo1_raw);
 	_mav_put_uint16_t(buf, 6, servo2_raw);
 	_mav_put_uint16_t(buf, 8, servo3_raw);
@@ -75,7 +75,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21);
 #else
 	mavlink_servo_output_raw_t packet;
-	packet.time_boot_ms = time_boot_ms;
+	packet.time_usec = time_usec;
 	packet.servo1_raw = servo1_raw;
 	packet.servo2_raw = servo2_raw;
 	packet.servo3_raw = servo3_raw;
@@ -90,7 +90,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
-	return mavlink_finalize_message(msg, system_id, component_id, 21, 242);
+	return mavlink_finalize_message(msg, system_id, component_id, 21, 222);
 }
 
 /**
@@ -99,7 +99,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (microseconds since system boot)
+ * @param time_usec Timestamp (microseconds since system boot)
  * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
  * @param servo1_raw Servo output 1 value, in microseconds
  * @param servo2_raw Servo output 2 value, in microseconds
@@ -113,11 +113,11 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint
  */
 static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 							   mavlink_message_t* msg,
-						           uint32_t time_boot_ms,uint8_t port,uint16_t servo1_raw,uint16_t servo2_raw,uint16_t servo3_raw,uint16_t servo4_raw,uint16_t servo5_raw,uint16_t servo6_raw,uint16_t servo7_raw,uint16_t servo8_raw)
+						           uint32_t time_usec,uint8_t port,uint16_t servo1_raw,uint16_t servo2_raw,uint16_t servo3_raw,uint16_t servo4_raw,uint16_t servo5_raw,uint16_t servo6_raw,uint16_t servo7_raw,uint16_t servo8_raw)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char buf[21];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
+	_mav_put_uint32_t(buf, 0, time_usec);
 	_mav_put_uint16_t(buf, 4, servo1_raw);
 	_mav_put_uint16_t(buf, 6, servo2_raw);
 	_mav_put_uint16_t(buf, 8, servo3_raw);
@@ -131,7 +131,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id,
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21);
 #else
 	mavlink_servo_output_raw_t packet;
-	packet.time_boot_ms = time_boot_ms;
+	packet.time_usec = time_usec;
 	packet.servo1_raw = servo1_raw;
 	packet.servo2_raw = servo2_raw;
 	packet.servo3_raw = servo3_raw;
@@ -146,7 +146,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id,
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21, 242);
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21, 222);
 }
 
 /**
@@ -159,14 +159,14 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id,
  */
 static inline uint16_t mavlink_msg_servo_output_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_servo_output_raw_t* servo_output_raw)
 {
-	return mavlink_msg_servo_output_raw_pack(system_id, component_id, msg, servo_output_raw->time_boot_ms, servo_output_raw->port, servo_output_raw->servo1_raw, servo_output_raw->servo2_raw, servo_output_raw->servo3_raw, servo_output_raw->servo4_raw, servo_output_raw->servo5_raw, servo_output_raw->servo6_raw, servo_output_raw->servo7_raw, servo_output_raw->servo8_raw);
+	return mavlink_msg_servo_output_raw_pack(system_id, component_id, msg, servo_output_raw->time_usec, servo_output_raw->port, servo_output_raw->servo1_raw, servo_output_raw->servo2_raw, servo_output_raw->servo3_raw, servo_output_raw->servo4_raw, servo_output_raw->servo5_raw, servo_output_raw->servo6_raw, servo_output_raw->servo7_raw, servo_output_raw->servo8_raw);
 }
 
 /**
  * @brief Send a servo_output_raw message
  * @param chan MAVLink channel to send the message
  *
- * @param time_boot_ms Timestamp (microseconds since system boot)
+ * @param time_usec Timestamp (microseconds since system boot)
  * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
  * @param servo1_raw Servo output 1 value, in microseconds
  * @param servo2_raw Servo output 2 value, in microseconds
@@ -179,11 +179,11 @@ static inline uint16_t mavlink_msg_servo_output_raw_encode(uint8_t system_id, ui
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
-static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
+static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char buf[21];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
+	_mav_put_uint32_t(buf, 0, time_usec);
 	_mav_put_uint16_t(buf, 4, servo1_raw);
 	_mav_put_uint16_t(buf, 6, servo2_raw);
 	_mav_put_uint16_t(buf, 8, servo3_raw);
@@ -194,10 +194,10 @@ static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uin
 	_mav_put_uint16_t(buf, 18, servo8_raw);
 	_mav_put_uint8_t(buf, 20, port);
 
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, 21, 242);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, 21, 222);
 #else
 	mavlink_servo_output_raw_t packet;
-	packet.time_boot_ms = time_boot_ms;
+	packet.time_usec = time_usec;
 	packet.servo1_raw = servo1_raw;
 	packet.servo2_raw = servo2_raw;
 	packet.servo3_raw = servo3_raw;
@@ -208,7 +208,7 @@ static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uin
 	packet.servo8_raw = servo8_raw;
 	packet.port = port;
 
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)&packet, 21, 242);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)&packet, 21, 222);
 #endif
 }
 
@@ -218,11 +218,11 @@ static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uin
 
 
 /**
- * @brief Get field time_boot_ms from servo_output_raw message
+ * @brief Get field time_usec from servo_output_raw message
  *
  * @return Timestamp (microseconds since system boot)
  */
-static inline uint32_t mavlink_msg_servo_output_raw_get_time_boot_ms(const mavlink_message_t* msg)
+static inline uint32_t mavlink_msg_servo_output_raw_get_time_usec(const mavlink_message_t* msg)
 {
 	return _MAV_RETURN_uint32_t(msg,  0);
 }
@@ -326,7 +326,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_get_servo8_raw(const mavlink
 static inline void mavlink_msg_servo_output_raw_decode(const mavlink_message_t* msg, mavlink_servo_output_raw_t* servo_output_raw)
 {
 #if MAVLINK_NEED_BYTE_SWAP
-	servo_output_raw->time_boot_ms = mavlink_msg_servo_output_raw_get_time_boot_ms(msg);
+	servo_output_raw->time_usec = mavlink_msg_servo_output_raw_get_time_usec(msg);
 	servo_output_raw->servo1_raw = mavlink_msg_servo_output_raw_get_servo1_raw(msg);
 	servo_output_raw->servo2_raw = mavlink_msg_servo_output_raw_get_servo2_raw(msg);
 	servo_output_raw->servo3_raw = mavlink_msg_servo_output_raw_get_servo3_raw(msg);
diff --git a/mavlink/include/mavlink/v1.0/common/testsuite.h b/mavlink/include/mavlink/v1.0/common/testsuite.h
index ef70550c0..0da36c7d8 100644
--- a/mavlink/include/mavlink/v1.0/common/testsuite.h
+++ b/mavlink/include/mavlink/v1.0/common/testsuite.h
@@ -1327,7 +1327,7 @@ static void mavlink_test_servo_output_raw(uint8_t system_id, uint8_t component_i
 	};
 	mavlink_servo_output_raw_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_boot_ms = packet_in.time_boot_ms;
+        	packet1.time_usec = packet_in.time_usec;
         	packet1.servo1_raw = packet_in.servo1_raw;
         	packet1.servo2_raw = packet_in.servo2_raw;
         	packet1.servo3_raw = packet_in.servo3_raw;
@@ -1346,12 +1346,12 @@ static void mavlink_test_servo_output_raw(uint8_t system_id, uint8_t component_i
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_servo_output_raw_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw );
+	mavlink_msg_servo_output_raw_pack(system_id, component_id, &msg , packet1.time_usec , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw );
 	mavlink_msg_servo_output_raw_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_servo_output_raw_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw );
+	mavlink_msg_servo_output_raw_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw );
 	mavlink_msg_servo_output_raw_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
@@ -1364,7 +1364,7 @@ static void mavlink_test_servo_output_raw(uint8_t system_id, uint8_t component_i
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
         
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_servo_output_raw_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw );
+	mavlink_msg_servo_output_raw_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw );
 	mavlink_msg_servo_output_raw_decode(last_msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
@@ -3886,6 +3886,59 @@ static void mavlink_test_highres_imu(uint8_t system_id, uint8_t component_id, ma
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
+static void mavlink_test_omnidirectional_flow(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_omnidirectional_flow_t packet_in = {
+		93372036854775807ULL,
+	73.0,
+	{ 17859, 17860, 17861, 17862, 17863, 17864, 17865, 17866, 17867, 17868 },
+	{ 18899, 18900, 18901, 18902, 18903, 18904, 18905, 18906, 18907, 18908 },
+	161,
+	228,
+	};
+	mavlink_omnidirectional_flow_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.time_usec = packet_in.time_usec;
+        	packet1.front_distance_m = packet_in.front_distance_m;
+        	packet1.sensor_id = packet_in.sensor_id;
+        	packet1.quality = packet_in.quality;
+        
+        	mav_array_memcpy(packet1.left, packet_in.left, sizeof(int16_t)*10);
+        	mav_array_memcpy(packet1.right, packet_in.right, sizeof(int16_t)*10);
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_omnidirectional_flow_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_omnidirectional_flow_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_omnidirectional_flow_pack(system_id, component_id, &msg , packet1.time_usec , packet1.sensor_id , packet1.left , packet1.right , packet1.quality , packet1.front_distance_m );
+	mavlink_msg_omnidirectional_flow_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_omnidirectional_flow_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.sensor_id , packet1.left , packet1.right , packet1.quality , packet1.front_distance_m );
+	mavlink_msg_omnidirectional_flow_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_omnidirectional_flow_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_omnidirectional_flow_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.sensor_id , packet1.left , packet1.right , packet1.quality , packet1.front_distance_m );
+	mavlink_msg_omnidirectional_flow_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
 static void mavlink_test_file_transfer_start(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
 	mavlink_message_t msg;
@@ -4562,6 +4615,7 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink
 	mavlink_test_vision_speed_estimate(system_id, component_id, last_msg);
 	mavlink_test_vicon_position_estimate(system_id, component_id, last_msg);
 	mavlink_test_highres_imu(system_id, component_id, last_msg);
+	mavlink_test_omnidirectional_flow(system_id, component_id, last_msg);
 	mavlink_test_file_transfer_start(system_id, component_id, last_msg);
 	mavlink_test_file_transfer_dir_list(system_id, component_id, last_msg);
 	mavlink_test_file_transfer_res(system_id, component_id, last_msg);
diff --git a/mavlink/include/mavlink/v1.0/common/version.h b/mavlink/include/mavlink/v1.0/common/version.h
index 41b9416ee..3080a214d 100644
--- a/mavlink/include/mavlink/v1.0/common/version.h
+++ b/mavlink/include/mavlink/v1.0/common/version.h
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Dec  1 02:07:06 2012"
+#define MAVLINK_BUILD_DATE "Wed Jan  9 16:19:41 2013"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
  
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h b/mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h
index d53b53319..6e342f237 100644
--- a/mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h
@@ -12,15 +12,15 @@ extern "C" {
 // MESSAGE LENGTHS AND CRCS
 
 #ifndef MAVLINK_MESSAGE_LENGTHS
-#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 254, 249, 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 33, 25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
+#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 0, 0, 0, 254, 249, 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 33, 25, 2, 6, 58, 6, 0, 53, 7, 3, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 63, 70, 10, 24, 20, 24, 28, 14, 17, 60, 110, 28, 16, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 242, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 0, 0, 0, 0, 235, 93, 124, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 241, 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
+#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 0, 0, 0, 235, 93, 124, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 241, 15, 181, 26, 101, 109, 0, 12, 218, 133, 208, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 150, 169, 191, 121, 54, 171, 142, 249, 123, 7, 222, 55, 154, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_INFO
-#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}}
+#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_SET, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_READ_REQ, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_BUFFER_FUNCTION, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_BUFFER_FUNCTION_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_DIRECTORY, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_DIRECTORY_ACK, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_COMMAND, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F2_A, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F2_B, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F4, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F5, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F6, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F7, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F8, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F13, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F14, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F15, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F16, MAVLINK_MESSAGE_INFO_ALTITUDES, MAVLINK_MESSAGE_INFO_AIRSPEEDS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}}
 #endif
 
 #include "../protocol.h"
@@ -30,6 +30,64 @@ extern "C" {
 // ENUM DEFINITIONS
 
 
+/** @brief Action required when performing CMD_PREFLIGHT_STORAGE */
+#ifndef HAVE_ENUM_MAV_PREFLIGHT_STORAGE_ACTION
+#define HAVE_ENUM_MAV_PREFLIGHT_STORAGE_ACTION
+enum MAV_PREFLIGHT_STORAGE_ACTION
+{
+	MAV_PFS_CMD_READ_ALL=0, /* Read all parameters from storage | */
+	MAV_PFS_CMD_WRITE_ALL=1, /* Write all parameters to storage | */
+	MAV_PFS_CMD_CLEAR_ALL=2, /* Clear all  parameters in storage | */
+	MAV_PFS_CMD_READ_SPECIFIC=3, /* Read specific parameters from storage | */
+	MAV_PFS_CMD_WRITE_SPECIFIC=4, /* Write specific parameters to storage | */
+	MAV_PFS_CMD_CLEAR_SPECIFIC=5, /* Clear specific parameters in storage | */
+	MAV_PFS_CMD_DO_NOTHING=6, /* do nothing | */
+	MAV_PREFLIGHT_STORAGE_ACTION_ENUM_END=7, /*  | */
+};
+#endif
+
+/** @brief  */
+#ifndef HAVE_ENUM_MAV_CMD
+#define HAVE_ENUM_MAV_CMD
+enum MAV_CMD
+{
+	MAV_CMD_PREFLIGHT_STORAGE_ADVANCED=0, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Storage action: Action defined by MAV_PREFLIGHT_STORAGE_ACTION_ADVANCED| Storage area as defined by parameter database| Storage flags as defined by parameter database| Empty| Empty| Empty| Empty|  */
+	MAV_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|  */
+	MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	MAV_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|  */
+	MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
+	MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|  */
+	MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|  */
+	MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|  */
+	MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|  */
+	MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed  (m/s, -1 indicates no change)| Throttle  ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|  */
+	MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|  */
+	MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|  */
+	MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|  */
+	MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|  */
+	MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|  */
+	MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
+	MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
+	MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */
+	MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
+	MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|  */
+	MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|  */
+	MAV_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|  */
+	MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|  */
+	MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm|  */
+	MAV_CMD_ENUM_END=401, /*  | */
+};
+#endif
 
 #include "../common/common.h"
 
@@ -45,7 +103,27 @@ extern "C" {
 #endif
 
 // MESSAGE DEFINITIONS
-
+#include "./mavlink_msg_flexifunction_set.h"
+#include "./mavlink_msg_flexifunction_read_req.h"
+#include "./mavlink_msg_flexifunction_buffer_function.h"
+#include "./mavlink_msg_flexifunction_buffer_function_ack.h"
+#include "./mavlink_msg_flexifunction_directory.h"
+#include "./mavlink_msg_flexifunction_directory_ack.h"
+#include "./mavlink_msg_flexifunction_command.h"
+#include "./mavlink_msg_flexifunction_command_ack.h"
+#include "./mavlink_msg_serial_udb_extra_f2_a.h"
+#include "./mavlink_msg_serial_udb_extra_f2_b.h"
+#include "./mavlink_msg_serial_udb_extra_f4.h"
+#include "./mavlink_msg_serial_udb_extra_f5.h"
+#include "./mavlink_msg_serial_udb_extra_f6.h"
+#include "./mavlink_msg_serial_udb_extra_f7.h"
+#include "./mavlink_msg_serial_udb_extra_f8.h"
+#include "./mavlink_msg_serial_udb_extra_f13.h"
+#include "./mavlink_msg_serial_udb_extra_f14.h"
+#include "./mavlink_msg_serial_udb_extra_f15.h"
+#include "./mavlink_msg_serial_udb_extra_f16.h"
+#include "./mavlink_msg_altitudes.h"
+#include "./mavlink_msg_airspeeds.h"
 
 #ifdef __cplusplus
 }
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_airspeeds.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_airspeeds.h
new file mode 100644
index 000000000..eceb61d51
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_airspeeds.h
@@ -0,0 +1,276 @@
+// MESSAGE AIRSPEEDS PACKING
+
+#define MAVLINK_MSG_ID_AIRSPEEDS 182
+
+typedef struct __mavlink_airspeeds_t
+{
+ uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
+ int16_t airspeed_imu; ///< Airspeed estimate from IMU, cm/s
+ int16_t airspeed_pitot; ///< Pitot measured forward airpseed, cm/s
+ int16_t airspeed_hot_wire; ///< Hot wire anenometer measured airspeed, cm/s
+ int16_t airspeed_ultrasonic; ///< Ultrasonic measured airspeed, cm/s
+ int16_t aoa; ///< Angle of attack sensor, degrees * 10
+ int16_t aoy; ///< Yaw angle sensor, degrees * 10
+} mavlink_airspeeds_t;
+
+#define MAVLINK_MSG_ID_AIRSPEEDS_LEN 16
+#define MAVLINK_MSG_ID_182_LEN 16
+
+
+
+#define MAVLINK_MESSAGE_INFO_AIRSPEEDS { \
+	"AIRSPEEDS", \
+	7, \
+	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_airspeeds_t, time_boot_ms) }, \
+         { "airspeed_imu", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_airspeeds_t, airspeed_imu) }, \
+         { "airspeed_pitot", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_airspeeds_t, airspeed_pitot) }, \
+         { "airspeed_hot_wire", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_airspeeds_t, airspeed_hot_wire) }, \
+         { "airspeed_ultrasonic", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_airspeeds_t, airspeed_ultrasonic) }, \
+         { "aoa", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_airspeeds_t, aoa) }, \
+         { "aoy", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_airspeeds_t, aoy) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a airspeeds message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param airspeed_imu Airspeed estimate from IMU, cm/s
+ * @param airspeed_pitot Pitot measured forward airpseed, cm/s
+ * @param airspeed_hot_wire Hot wire anenometer measured airspeed, cm/s
+ * @param airspeed_ultrasonic Ultrasonic measured airspeed, cm/s
+ * @param aoa Angle of attack sensor, degrees * 10
+ * @param aoy Yaw angle sensor, degrees * 10
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_airspeeds_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint32_t time_boot_ms, int16_t airspeed_imu, int16_t airspeed_pitot, int16_t airspeed_hot_wire, int16_t airspeed_ultrasonic, int16_t aoa, int16_t aoy)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[16];
+	_mav_put_uint32_t(buf, 0, time_boot_ms);
+	_mav_put_int16_t(buf, 4, airspeed_imu);
+	_mav_put_int16_t(buf, 6, airspeed_pitot);
+	_mav_put_int16_t(buf, 8, airspeed_hot_wire);
+	_mav_put_int16_t(buf, 10, airspeed_ultrasonic);
+	_mav_put_int16_t(buf, 12, aoa);
+	_mav_put_int16_t(buf, 14, aoy);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 16);
+#else
+	mavlink_airspeeds_t packet;
+	packet.time_boot_ms = time_boot_ms;
+	packet.airspeed_imu = airspeed_imu;
+	packet.airspeed_pitot = airspeed_pitot;
+	packet.airspeed_hot_wire = airspeed_hot_wire;
+	packet.airspeed_ultrasonic = airspeed_ultrasonic;
+	packet.aoa = aoa;
+	packet.aoy = aoy;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 16);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_AIRSPEEDS;
+	return mavlink_finalize_message(msg, system_id, component_id, 16, 154);
+}
+
+/**
+ * @brief Pack a airspeeds message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param airspeed_imu Airspeed estimate from IMU, cm/s
+ * @param airspeed_pitot Pitot measured forward airpseed, cm/s
+ * @param airspeed_hot_wire Hot wire anenometer measured airspeed, cm/s
+ * @param airspeed_ultrasonic Ultrasonic measured airspeed, cm/s
+ * @param aoa Angle of attack sensor, degrees * 10
+ * @param aoy Yaw angle sensor, degrees * 10
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_airspeeds_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint32_t time_boot_ms,int16_t airspeed_imu,int16_t airspeed_pitot,int16_t airspeed_hot_wire,int16_t airspeed_ultrasonic,int16_t aoa,int16_t aoy)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[16];
+	_mav_put_uint32_t(buf, 0, time_boot_ms);
+	_mav_put_int16_t(buf, 4, airspeed_imu);
+	_mav_put_int16_t(buf, 6, airspeed_pitot);
+	_mav_put_int16_t(buf, 8, airspeed_hot_wire);
+	_mav_put_int16_t(buf, 10, airspeed_ultrasonic);
+	_mav_put_int16_t(buf, 12, aoa);
+	_mav_put_int16_t(buf, 14, aoy);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 16);
+#else
+	mavlink_airspeeds_t packet;
+	packet.time_boot_ms = time_boot_ms;
+	packet.airspeed_imu = airspeed_imu;
+	packet.airspeed_pitot = airspeed_pitot;
+	packet.airspeed_hot_wire = airspeed_hot_wire;
+	packet.airspeed_ultrasonic = airspeed_ultrasonic;
+	packet.aoa = aoa;
+	packet.aoy = aoy;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 16);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_AIRSPEEDS;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16, 154);
+}
+
+/**
+ * @brief Encode a airspeeds struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param airspeeds C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_airspeeds_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_airspeeds_t* airspeeds)
+{
+	return mavlink_msg_airspeeds_pack(system_id, component_id, msg, airspeeds->time_boot_ms, airspeeds->airspeed_imu, airspeeds->airspeed_pitot, airspeeds->airspeed_hot_wire, airspeeds->airspeed_ultrasonic, airspeeds->aoa, airspeeds->aoy);
+}
+
+/**
+ * @brief Send a airspeeds message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param airspeed_imu Airspeed estimate from IMU, cm/s
+ * @param airspeed_pitot Pitot measured forward airpseed, cm/s
+ * @param airspeed_hot_wire Hot wire anenometer measured airspeed, cm/s
+ * @param airspeed_ultrasonic Ultrasonic measured airspeed, cm/s
+ * @param aoa Angle of attack sensor, degrees * 10
+ * @param aoy Yaw angle sensor, degrees * 10
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_airspeeds_send(mavlink_channel_t chan, uint32_t time_boot_ms, int16_t airspeed_imu, int16_t airspeed_pitot, int16_t airspeed_hot_wire, int16_t airspeed_ultrasonic, int16_t aoa, int16_t aoy)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[16];
+	_mav_put_uint32_t(buf, 0, time_boot_ms);
+	_mav_put_int16_t(buf, 4, airspeed_imu);
+	_mav_put_int16_t(buf, 6, airspeed_pitot);
+	_mav_put_int16_t(buf, 8, airspeed_hot_wire);
+	_mav_put_int16_t(buf, 10, airspeed_ultrasonic);
+	_mav_put_int16_t(buf, 12, aoa);
+	_mav_put_int16_t(buf, 14, aoy);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEEDS, buf, 16, 154);
+#else
+	mavlink_airspeeds_t packet;
+	packet.time_boot_ms = time_boot_ms;
+	packet.airspeed_imu = airspeed_imu;
+	packet.airspeed_pitot = airspeed_pitot;
+	packet.airspeed_hot_wire = airspeed_hot_wire;
+	packet.airspeed_ultrasonic = airspeed_ultrasonic;
+	packet.aoa = aoa;
+	packet.aoy = aoy;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEEDS, (const char *)&packet, 16, 154);
+#endif
+}
+
+#endif
+
+// MESSAGE AIRSPEEDS UNPACKING
+
+
+/**
+ * @brief Get field time_boot_ms from airspeeds message
+ *
+ * @return Timestamp (milliseconds since system boot)
+ */
+static inline uint32_t mavlink_msg_airspeeds_get_time_boot_ms(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint32_t(msg,  0);
+}
+
+/**
+ * @brief Get field airspeed_imu from airspeeds message
+ *
+ * @return Airspeed estimate from IMU, cm/s
+ */
+static inline int16_t mavlink_msg_airspeeds_get_airspeed_imu(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  4);
+}
+
+/**
+ * @brief Get field airspeed_pitot from airspeeds message
+ *
+ * @return Pitot measured forward airpseed, cm/s
+ */
+static inline int16_t mavlink_msg_airspeeds_get_airspeed_pitot(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  6);
+}
+
+/**
+ * @brief Get field airspeed_hot_wire from airspeeds message
+ *
+ * @return Hot wire anenometer measured airspeed, cm/s
+ */
+static inline int16_t mavlink_msg_airspeeds_get_airspeed_hot_wire(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  8);
+}
+
+/**
+ * @brief Get field airspeed_ultrasonic from airspeeds message
+ *
+ * @return Ultrasonic measured airspeed, cm/s
+ */
+static inline int16_t mavlink_msg_airspeeds_get_airspeed_ultrasonic(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  10);
+}
+
+/**
+ * @brief Get field aoa from airspeeds message
+ *
+ * @return Angle of attack sensor, degrees * 10
+ */
+static inline int16_t mavlink_msg_airspeeds_get_aoa(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  12);
+}
+
+/**
+ * @brief Get field aoy from airspeeds message
+ *
+ * @return Yaw angle sensor, degrees * 10
+ */
+static inline int16_t mavlink_msg_airspeeds_get_aoy(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  14);
+}
+
+/**
+ * @brief Decode a airspeeds message into a struct
+ *
+ * @param msg The message to decode
+ * @param airspeeds C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_airspeeds_decode(const mavlink_message_t* msg, mavlink_airspeeds_t* airspeeds)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	airspeeds->time_boot_ms = mavlink_msg_airspeeds_get_time_boot_ms(msg);
+	airspeeds->airspeed_imu = mavlink_msg_airspeeds_get_airspeed_imu(msg);
+	airspeeds->airspeed_pitot = mavlink_msg_airspeeds_get_airspeed_pitot(msg);
+	airspeeds->airspeed_hot_wire = mavlink_msg_airspeeds_get_airspeed_hot_wire(msg);
+	airspeeds->airspeed_ultrasonic = mavlink_msg_airspeeds_get_airspeed_ultrasonic(msg);
+	airspeeds->aoa = mavlink_msg_airspeeds_get_aoa(msg);
+	airspeeds->aoy = mavlink_msg_airspeeds_get_aoy(msg);
+#else
+	memcpy(airspeeds, _MAV_PAYLOAD(msg), 16);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_altitudes.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_altitudes.h
new file mode 100644
index 000000000..e77dcde49
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_altitudes.h
@@ -0,0 +1,276 @@
+// MESSAGE ALTITUDES PACKING
+
+#define MAVLINK_MSG_ID_ALTITUDES 181
+
+typedef struct __mavlink_altitudes_t
+{
+ uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
+ int32_t alt_gps; ///< GPS altitude in meters, expressed as * 1000 (millimeters), above MSL
+ int32_t alt_imu; ///< IMU altitude above ground in meters, expressed as * 1000 (millimeters)
+ int32_t alt_barometric; ///< barometeric altitude above ground in meters, expressed as * 1000 (millimeters)
+ int32_t alt_optical_flow; ///< Optical flow altitude above ground in meters, expressed as * 1000 (millimeters)
+ int32_t alt_range_finder; ///< Rangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)
+ int32_t alt_extra; ///< Extra altitude above ground in meters, expressed as * 1000 (millimeters)
+} mavlink_altitudes_t;
+
+#define MAVLINK_MSG_ID_ALTITUDES_LEN 28
+#define MAVLINK_MSG_ID_181_LEN 28
+
+
+
+#define MAVLINK_MESSAGE_INFO_ALTITUDES { \
+	"ALTITUDES", \
+	7, \
+	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_altitudes_t, time_boot_ms) }, \
+         { "alt_gps", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_altitudes_t, alt_gps) }, \
+         { "alt_imu", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_altitudes_t, alt_imu) }, \
+         { "alt_barometric", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_altitudes_t, alt_barometric) }, \
+         { "alt_optical_flow", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_altitudes_t, alt_optical_flow) }, \
+         { "alt_range_finder", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_altitudes_t, alt_range_finder) }, \
+         { "alt_extra", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_altitudes_t, alt_extra) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a altitudes message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param alt_gps GPS altitude in meters, expressed as * 1000 (millimeters), above MSL
+ * @param alt_imu IMU altitude above ground in meters, expressed as * 1000 (millimeters)
+ * @param alt_barometric barometeric altitude above ground in meters, expressed as * 1000 (millimeters)
+ * @param alt_optical_flow Optical flow altitude above ground in meters, expressed as * 1000 (millimeters)
+ * @param alt_range_finder Rangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)
+ * @param alt_extra Extra altitude above ground in meters, expressed as * 1000 (millimeters)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_altitudes_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint32_t time_boot_ms, int32_t alt_gps, int32_t alt_imu, int32_t alt_barometric, int32_t alt_optical_flow, int32_t alt_range_finder, int32_t alt_extra)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[28];
+	_mav_put_uint32_t(buf, 0, time_boot_ms);
+	_mav_put_int32_t(buf, 4, alt_gps);
+	_mav_put_int32_t(buf, 8, alt_imu);
+	_mav_put_int32_t(buf, 12, alt_barometric);
+	_mav_put_int32_t(buf, 16, alt_optical_flow);
+	_mav_put_int32_t(buf, 20, alt_range_finder);
+	_mav_put_int32_t(buf, 24, alt_extra);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
+#else
+	mavlink_altitudes_t packet;
+	packet.time_boot_ms = time_boot_ms;
+	packet.alt_gps = alt_gps;
+	packet.alt_imu = alt_imu;
+	packet.alt_barometric = alt_barometric;
+	packet.alt_optical_flow = alt_optical_flow;
+	packet.alt_range_finder = alt_range_finder;
+	packet.alt_extra = alt_extra;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_ALTITUDES;
+	return mavlink_finalize_message(msg, system_id, component_id, 28, 55);
+}
+
+/**
+ * @brief Pack a altitudes message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param alt_gps GPS altitude in meters, expressed as * 1000 (millimeters), above MSL
+ * @param alt_imu IMU altitude above ground in meters, expressed as * 1000 (millimeters)
+ * @param alt_barometric barometeric altitude above ground in meters, expressed as * 1000 (millimeters)
+ * @param alt_optical_flow Optical flow altitude above ground in meters, expressed as * 1000 (millimeters)
+ * @param alt_range_finder Rangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)
+ * @param alt_extra Extra altitude above ground in meters, expressed as * 1000 (millimeters)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_altitudes_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint32_t time_boot_ms,int32_t alt_gps,int32_t alt_imu,int32_t alt_barometric,int32_t alt_optical_flow,int32_t alt_range_finder,int32_t alt_extra)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[28];
+	_mav_put_uint32_t(buf, 0, time_boot_ms);
+	_mav_put_int32_t(buf, 4, alt_gps);
+	_mav_put_int32_t(buf, 8, alt_imu);
+	_mav_put_int32_t(buf, 12, alt_barometric);
+	_mav_put_int32_t(buf, 16, alt_optical_flow);
+	_mav_put_int32_t(buf, 20, alt_range_finder);
+	_mav_put_int32_t(buf, 24, alt_extra);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
+#else
+	mavlink_altitudes_t packet;
+	packet.time_boot_ms = time_boot_ms;
+	packet.alt_gps = alt_gps;
+	packet.alt_imu = alt_imu;
+	packet.alt_barometric = alt_barometric;
+	packet.alt_optical_flow = alt_optical_flow;
+	packet.alt_range_finder = alt_range_finder;
+	packet.alt_extra = alt_extra;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_ALTITUDES;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 55);
+}
+
+/**
+ * @brief Encode a altitudes struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param altitudes C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_altitudes_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_altitudes_t* altitudes)
+{
+	return mavlink_msg_altitudes_pack(system_id, component_id, msg, altitudes->time_boot_ms, altitudes->alt_gps, altitudes->alt_imu, altitudes->alt_barometric, altitudes->alt_optical_flow, altitudes->alt_range_finder, altitudes->alt_extra);
+}
+
+/**
+ * @brief Send a altitudes message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param alt_gps GPS altitude in meters, expressed as * 1000 (millimeters), above MSL
+ * @param alt_imu IMU altitude above ground in meters, expressed as * 1000 (millimeters)
+ * @param alt_barometric barometeric altitude above ground in meters, expressed as * 1000 (millimeters)
+ * @param alt_optical_flow Optical flow altitude above ground in meters, expressed as * 1000 (millimeters)
+ * @param alt_range_finder Rangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)
+ * @param alt_extra Extra altitude above ground in meters, expressed as * 1000 (millimeters)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_altitudes_send(mavlink_channel_t chan, uint32_t time_boot_ms, int32_t alt_gps, int32_t alt_imu, int32_t alt_barometric, int32_t alt_optical_flow, int32_t alt_range_finder, int32_t alt_extra)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[28];
+	_mav_put_uint32_t(buf, 0, time_boot_ms);
+	_mav_put_int32_t(buf, 4, alt_gps);
+	_mav_put_int32_t(buf, 8, alt_imu);
+	_mav_put_int32_t(buf, 12, alt_barometric);
+	_mav_put_int32_t(buf, 16, alt_optical_flow);
+	_mav_put_int32_t(buf, 20, alt_range_finder);
+	_mav_put_int32_t(buf, 24, alt_extra);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDES, buf, 28, 55);
+#else
+	mavlink_altitudes_t packet;
+	packet.time_boot_ms = time_boot_ms;
+	packet.alt_gps = alt_gps;
+	packet.alt_imu = alt_imu;
+	packet.alt_barometric = alt_barometric;
+	packet.alt_optical_flow = alt_optical_flow;
+	packet.alt_range_finder = alt_range_finder;
+	packet.alt_extra = alt_extra;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDES, (const char *)&packet, 28, 55);
+#endif
+}
+
+#endif
+
+// MESSAGE ALTITUDES UNPACKING
+
+
+/**
+ * @brief Get field time_boot_ms from altitudes message
+ *
+ * @return Timestamp (milliseconds since system boot)
+ */
+static inline uint32_t mavlink_msg_altitudes_get_time_boot_ms(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint32_t(msg,  0);
+}
+
+/**
+ * @brief Get field alt_gps from altitudes message
+ *
+ * @return GPS altitude in meters, expressed as * 1000 (millimeters), above MSL
+ */
+static inline int32_t mavlink_msg_altitudes_get_alt_gps(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  4);
+}
+
+/**
+ * @brief Get field alt_imu from altitudes message
+ *
+ * @return IMU altitude above ground in meters, expressed as * 1000 (millimeters)
+ */
+static inline int32_t mavlink_msg_altitudes_get_alt_imu(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  8);
+}
+
+/**
+ * @brief Get field alt_barometric from altitudes message
+ *
+ * @return barometeric altitude above ground in meters, expressed as * 1000 (millimeters)
+ */
+static inline int32_t mavlink_msg_altitudes_get_alt_barometric(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  12);
+}
+
+/**
+ * @brief Get field alt_optical_flow from altitudes message
+ *
+ * @return Optical flow altitude above ground in meters, expressed as * 1000 (millimeters)
+ */
+static inline int32_t mavlink_msg_altitudes_get_alt_optical_flow(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  16);
+}
+
+/**
+ * @brief Get field alt_range_finder from altitudes message
+ *
+ * @return Rangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)
+ */
+static inline int32_t mavlink_msg_altitudes_get_alt_range_finder(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  20);
+}
+
+/**
+ * @brief Get field alt_extra from altitudes message
+ *
+ * @return Extra altitude above ground in meters, expressed as * 1000 (millimeters)
+ */
+static inline int32_t mavlink_msg_altitudes_get_alt_extra(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  24);
+}
+
+/**
+ * @brief Decode a altitudes message into a struct
+ *
+ * @param msg The message to decode
+ * @param altitudes C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_altitudes_decode(const mavlink_message_t* msg, mavlink_altitudes_t* altitudes)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	altitudes->time_boot_ms = mavlink_msg_altitudes_get_time_boot_ms(msg);
+	altitudes->alt_gps = mavlink_msg_altitudes_get_alt_gps(msg);
+	altitudes->alt_imu = mavlink_msg_altitudes_get_alt_imu(msg);
+	altitudes->alt_barometric = mavlink_msg_altitudes_get_alt_barometric(msg);
+	altitudes->alt_optical_flow = mavlink_msg_altitudes_get_alt_optical_flow(msg);
+	altitudes->alt_range_finder = mavlink_msg_altitudes_get_alt_range_finder(msg);
+	altitudes->alt_extra = mavlink_msg_altitudes_get_alt_extra(msg);
+#else
+	memcpy(altitudes, _MAV_PAYLOAD(msg), 28);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_buffer_function.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_buffer_function.h
new file mode 100644
index 000000000..1f1d88fa7
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_buffer_function.h
@@ -0,0 +1,270 @@
+// MESSAGE FLEXIFUNCTION_BUFFER_FUNCTION PACKING
+
+#define MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION 152
+
+typedef struct __mavlink_flexifunction_buffer_function_t
+{
+ uint16_t func_index; ///< Function index
+ uint16_t func_count; ///< Total count of functions
+ uint16_t data_address; ///< Address in the flexifunction data, Set to 0xFFFF to use address in target memory
+ uint16_t data_size; ///< Size of the 
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+ int8_t data[48]; ///< Settings data
+} mavlink_flexifunction_buffer_function_t;
+
+#define MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_LEN 58
+#define MAVLINK_MSG_ID_152_LEN 58
+
+#define MAVLINK_MSG_FLEXIFUNCTION_BUFFER_FUNCTION_FIELD_DATA_LEN 48
+
+#define MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_BUFFER_FUNCTION { \
+	"FLEXIFUNCTION_BUFFER_FUNCTION", \
+	7, \
+	{  { "func_index", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_flexifunction_buffer_function_t, func_index) }, \
+         { "func_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_flexifunction_buffer_function_t, func_count) }, \
+         { "data_address", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_flexifunction_buffer_function_t, data_address) }, \
+         { "data_size", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_flexifunction_buffer_function_t, data_size) }, \
+         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_flexifunction_buffer_function_t, target_system) }, \
+         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_flexifunction_buffer_function_t, target_component) }, \
+         { "data", NULL, MAVLINK_TYPE_INT8_T, 48, 10, offsetof(mavlink_flexifunction_buffer_function_t, data) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a flexifunction_buffer_function message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param func_index Function index
+ * @param func_count Total count of functions
+ * @param data_address Address in the flexifunction data, Set to 0xFFFF to use address in target memory
+ * @param data_size Size of the 
+ * @param data Settings data
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_flexifunction_buffer_function_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint8_t target_system, uint8_t target_component, uint16_t func_index, uint16_t func_count, uint16_t data_address, uint16_t data_size, const int8_t *data)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[58];
+	_mav_put_uint16_t(buf, 0, func_index);
+	_mav_put_uint16_t(buf, 2, func_count);
+	_mav_put_uint16_t(buf, 4, data_address);
+	_mav_put_uint16_t(buf, 6, data_size);
+	_mav_put_uint8_t(buf, 8, target_system);
+	_mav_put_uint8_t(buf, 9, target_component);
+	_mav_put_int8_t_array(buf, 10, data, 48);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 58);
+#else
+	mavlink_flexifunction_buffer_function_t packet;
+	packet.func_index = func_index;
+	packet.func_count = func_count;
+	packet.data_address = data_address;
+	packet.data_size = data_size;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+	mav_array_memcpy(packet.data, data, sizeof(int8_t)*48);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 58);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION;
+	return mavlink_finalize_message(msg, system_id, component_id, 58, 101);
+}
+
+/**
+ * @brief Pack a flexifunction_buffer_function message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param func_index Function index
+ * @param func_count Total count of functions
+ * @param data_address Address in the flexifunction data, Set to 0xFFFF to use address in target memory
+ * @param data_size Size of the 
+ * @param data Settings data
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_flexifunction_buffer_function_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint8_t target_system,uint8_t target_component,uint16_t func_index,uint16_t func_count,uint16_t data_address,uint16_t data_size,const int8_t *data)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[58];
+	_mav_put_uint16_t(buf, 0, func_index);
+	_mav_put_uint16_t(buf, 2, func_count);
+	_mav_put_uint16_t(buf, 4, data_address);
+	_mav_put_uint16_t(buf, 6, data_size);
+	_mav_put_uint8_t(buf, 8, target_system);
+	_mav_put_uint8_t(buf, 9, target_component);
+	_mav_put_int8_t_array(buf, 10, data, 48);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 58);
+#else
+	mavlink_flexifunction_buffer_function_t packet;
+	packet.func_index = func_index;
+	packet.func_count = func_count;
+	packet.data_address = data_address;
+	packet.data_size = data_size;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+	mav_array_memcpy(packet.data, data, sizeof(int8_t)*48);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 58);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 58, 101);
+}
+
+/**
+ * @brief Encode a flexifunction_buffer_function struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param flexifunction_buffer_function C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_flexifunction_buffer_function_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_flexifunction_buffer_function_t* flexifunction_buffer_function)
+{
+	return mavlink_msg_flexifunction_buffer_function_pack(system_id, component_id, msg, flexifunction_buffer_function->target_system, flexifunction_buffer_function->target_component, flexifunction_buffer_function->func_index, flexifunction_buffer_function->func_count, flexifunction_buffer_function->data_address, flexifunction_buffer_function->data_size, flexifunction_buffer_function->data);
+}
+
+/**
+ * @brief Send a flexifunction_buffer_function message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param func_index Function index
+ * @param func_count Total count of functions
+ * @param data_address Address in the flexifunction data, Set to 0xFFFF to use address in target memory
+ * @param data_size Size of the 
+ * @param data Settings data
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_flexifunction_buffer_function_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t func_index, uint16_t func_count, uint16_t data_address, uint16_t data_size, const int8_t *data)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[58];
+	_mav_put_uint16_t(buf, 0, func_index);
+	_mav_put_uint16_t(buf, 2, func_count);
+	_mav_put_uint16_t(buf, 4, data_address);
+	_mav_put_uint16_t(buf, 6, data_size);
+	_mav_put_uint8_t(buf, 8, target_system);
+	_mav_put_uint8_t(buf, 9, target_component);
+	_mav_put_int8_t_array(buf, 10, data, 48);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION, buf, 58, 101);
+#else
+	mavlink_flexifunction_buffer_function_t packet;
+	packet.func_index = func_index;
+	packet.func_count = func_count;
+	packet.data_address = data_address;
+	packet.data_size = data_size;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+	mav_array_memcpy(packet.data, data, sizeof(int8_t)*48);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION, (const char *)&packet, 58, 101);
+#endif
+}
+
+#endif
+
+// MESSAGE FLEXIFUNCTION_BUFFER_FUNCTION UNPACKING
+
+
+/**
+ * @brief Get field target_system from flexifunction_buffer_function message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_flexifunction_buffer_function_get_target_system(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  8);
+}
+
+/**
+ * @brief Get field target_component from flexifunction_buffer_function message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_flexifunction_buffer_function_get_target_component(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  9);
+}
+
+/**
+ * @brief Get field func_index from flexifunction_buffer_function message
+ *
+ * @return Function index
+ */
+static inline uint16_t mavlink_msg_flexifunction_buffer_function_get_func_index(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  0);
+}
+
+/**
+ * @brief Get field func_count from flexifunction_buffer_function message
+ *
+ * @return Total count of functions
+ */
+static inline uint16_t mavlink_msg_flexifunction_buffer_function_get_func_count(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  2);
+}
+
+/**
+ * @brief Get field data_address from flexifunction_buffer_function message
+ *
+ * @return Address in the flexifunction data, Set to 0xFFFF to use address in target memory
+ */
+static inline uint16_t mavlink_msg_flexifunction_buffer_function_get_data_address(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  4);
+}
+
+/**
+ * @brief Get field data_size from flexifunction_buffer_function message
+ *
+ * @return Size of the 
+ */
+static inline uint16_t mavlink_msg_flexifunction_buffer_function_get_data_size(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  6);
+}
+
+/**
+ * @brief Get field data from flexifunction_buffer_function message
+ *
+ * @return Settings data
+ */
+static inline uint16_t mavlink_msg_flexifunction_buffer_function_get_data(const mavlink_message_t* msg, int8_t *data)
+{
+	return _MAV_RETURN_int8_t_array(msg, data, 48,  10);
+}
+
+/**
+ * @brief Decode a flexifunction_buffer_function message into a struct
+ *
+ * @param msg The message to decode
+ * @param flexifunction_buffer_function C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_flexifunction_buffer_function_decode(const mavlink_message_t* msg, mavlink_flexifunction_buffer_function_t* flexifunction_buffer_function)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	flexifunction_buffer_function->func_index = mavlink_msg_flexifunction_buffer_function_get_func_index(msg);
+	flexifunction_buffer_function->func_count = mavlink_msg_flexifunction_buffer_function_get_func_count(msg);
+	flexifunction_buffer_function->data_address = mavlink_msg_flexifunction_buffer_function_get_data_address(msg);
+	flexifunction_buffer_function->data_size = mavlink_msg_flexifunction_buffer_function_get_data_size(msg);
+	flexifunction_buffer_function->target_system = mavlink_msg_flexifunction_buffer_function_get_target_system(msg);
+	flexifunction_buffer_function->target_component = mavlink_msg_flexifunction_buffer_function_get_target_component(msg);
+	mavlink_msg_flexifunction_buffer_function_get_data(msg, flexifunction_buffer_function->data);
+#else
+	memcpy(flexifunction_buffer_function, _MAV_PAYLOAD(msg), 58);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_buffer_function_ack.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_buffer_function_ack.h
new file mode 100644
index 000000000..dfbcc1313
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_buffer_function_ack.h
@@ -0,0 +1,210 @@
+// MESSAGE FLEXIFUNCTION_BUFFER_FUNCTION_ACK PACKING
+
+#define MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK 153
+
+typedef struct __mavlink_flexifunction_buffer_function_ack_t
+{
+ uint16_t func_index; ///< Function index
+ uint16_t result; ///< result of acknowledge, 0=fail, 1=good
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+} mavlink_flexifunction_buffer_function_ack_t;
+
+#define MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_LEN 6
+#define MAVLINK_MSG_ID_153_LEN 6
+
+
+
+#define MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_BUFFER_FUNCTION_ACK { \
+	"FLEXIFUNCTION_BUFFER_FUNCTION_ACK", \
+	4, \
+	{  { "func_index", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_flexifunction_buffer_function_ack_t, func_index) }, \
+         { "result", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_flexifunction_buffer_function_ack_t, result) }, \
+         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_flexifunction_buffer_function_ack_t, target_system) }, \
+         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_flexifunction_buffer_function_ack_t, target_component) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a flexifunction_buffer_function_ack message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param func_index Function index
+ * @param result result of acknowledge, 0=fail, 1=good
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_flexifunction_buffer_function_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint8_t target_system, uint8_t target_component, uint16_t func_index, uint16_t result)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[6];
+	_mav_put_uint16_t(buf, 0, func_index);
+	_mav_put_uint16_t(buf, 2, result);
+	_mav_put_uint8_t(buf, 4, target_system);
+	_mav_put_uint8_t(buf, 5, target_component);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6);
+#else
+	mavlink_flexifunction_buffer_function_ack_t packet;
+	packet.func_index = func_index;
+	packet.result = result;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK;
+	return mavlink_finalize_message(msg, system_id, component_id, 6, 109);
+}
+
+/**
+ * @brief Pack a flexifunction_buffer_function_ack message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param func_index Function index
+ * @param result result of acknowledge, 0=fail, 1=good
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_flexifunction_buffer_function_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint8_t target_system,uint8_t target_component,uint16_t func_index,uint16_t result)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[6];
+	_mav_put_uint16_t(buf, 0, func_index);
+	_mav_put_uint16_t(buf, 2, result);
+	_mav_put_uint8_t(buf, 4, target_system);
+	_mav_put_uint8_t(buf, 5, target_component);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6);
+#else
+	mavlink_flexifunction_buffer_function_ack_t packet;
+	packet.func_index = func_index;
+	packet.result = result;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 6, 109);
+}
+
+/**
+ * @brief Encode a flexifunction_buffer_function_ack struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param flexifunction_buffer_function_ack C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_flexifunction_buffer_function_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_flexifunction_buffer_function_ack_t* flexifunction_buffer_function_ack)
+{
+	return mavlink_msg_flexifunction_buffer_function_ack_pack(system_id, component_id, msg, flexifunction_buffer_function_ack->target_system, flexifunction_buffer_function_ack->target_component, flexifunction_buffer_function_ack->func_index, flexifunction_buffer_function_ack->result);
+}
+
+/**
+ * @brief Send a flexifunction_buffer_function_ack message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param func_index Function index
+ * @param result result of acknowledge, 0=fail, 1=good
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_flexifunction_buffer_function_ack_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t func_index, uint16_t result)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[6];
+	_mav_put_uint16_t(buf, 0, func_index);
+	_mav_put_uint16_t(buf, 2, result);
+	_mav_put_uint8_t(buf, 4, target_system);
+	_mav_put_uint8_t(buf, 5, target_component);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK, buf, 6, 109);
+#else
+	mavlink_flexifunction_buffer_function_ack_t packet;
+	packet.func_index = func_index;
+	packet.result = result;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK, (const char *)&packet, 6, 109);
+#endif
+}
+
+#endif
+
+// MESSAGE FLEXIFUNCTION_BUFFER_FUNCTION_ACK UNPACKING
+
+
+/**
+ * @brief Get field target_system from flexifunction_buffer_function_ack message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_flexifunction_buffer_function_ack_get_target_system(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  4);
+}
+
+/**
+ * @brief Get field target_component from flexifunction_buffer_function_ack message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_flexifunction_buffer_function_ack_get_target_component(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  5);
+}
+
+/**
+ * @brief Get field func_index from flexifunction_buffer_function_ack message
+ *
+ * @return Function index
+ */
+static inline uint16_t mavlink_msg_flexifunction_buffer_function_ack_get_func_index(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  0);
+}
+
+/**
+ * @brief Get field result from flexifunction_buffer_function_ack message
+ *
+ * @return result of acknowledge, 0=fail, 1=good
+ */
+static inline uint16_t mavlink_msg_flexifunction_buffer_function_ack_get_result(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  2);
+}
+
+/**
+ * @brief Decode a flexifunction_buffer_function_ack message into a struct
+ *
+ * @param msg The message to decode
+ * @param flexifunction_buffer_function_ack C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_flexifunction_buffer_function_ack_decode(const mavlink_message_t* msg, mavlink_flexifunction_buffer_function_ack_t* flexifunction_buffer_function_ack)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	flexifunction_buffer_function_ack->func_index = mavlink_msg_flexifunction_buffer_function_ack_get_func_index(msg);
+	flexifunction_buffer_function_ack->result = mavlink_msg_flexifunction_buffer_function_ack_get_result(msg);
+	flexifunction_buffer_function_ack->target_system = mavlink_msg_flexifunction_buffer_function_ack_get_target_system(msg);
+	flexifunction_buffer_function_ack->target_component = mavlink_msg_flexifunction_buffer_function_ack_get_target_component(msg);
+#else
+	memcpy(flexifunction_buffer_function_ack, _MAV_PAYLOAD(msg), 6);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_command.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_command.h
new file mode 100644
index 000000000..f60f9f0c5
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_command.h
@@ -0,0 +1,188 @@
+// MESSAGE FLEXIFUNCTION_COMMAND PACKING
+
+#define MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND 157
+
+typedef struct __mavlink_flexifunction_command_t
+{
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+ uint8_t command_type; ///< Flexifunction command type
+} mavlink_flexifunction_command_t;
+
+#define MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_LEN 3
+#define MAVLINK_MSG_ID_157_LEN 3
+
+
+
+#define MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_COMMAND { \
+	"FLEXIFUNCTION_COMMAND", \
+	3, \
+	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_flexifunction_command_t, target_system) }, \
+         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_flexifunction_command_t, target_component) }, \
+         { "command_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_flexifunction_command_t, command_type) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a flexifunction_command message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param command_type Flexifunction command type
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_flexifunction_command_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint8_t target_system, uint8_t target_component, uint8_t command_type)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[3];
+	_mav_put_uint8_t(buf, 0, target_system);
+	_mav_put_uint8_t(buf, 1, target_component);
+	_mav_put_uint8_t(buf, 2, command_type);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3);
+#else
+	mavlink_flexifunction_command_t packet;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+	packet.command_type = command_type;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND;
+	return mavlink_finalize_message(msg, system_id, component_id, 3, 133);
+}
+
+/**
+ * @brief Pack a flexifunction_command message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param command_type Flexifunction command type
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_flexifunction_command_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint8_t target_system,uint8_t target_component,uint8_t command_type)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[3];
+	_mav_put_uint8_t(buf, 0, target_system);
+	_mav_put_uint8_t(buf, 1, target_component);
+	_mav_put_uint8_t(buf, 2, command_type);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3);
+#else
+	mavlink_flexifunction_command_t packet;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+	packet.command_type = command_type;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3, 133);
+}
+
+/**
+ * @brief Encode a flexifunction_command struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param flexifunction_command C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_flexifunction_command_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_flexifunction_command_t* flexifunction_command)
+{
+	return mavlink_msg_flexifunction_command_pack(system_id, component_id, msg, flexifunction_command->target_system, flexifunction_command->target_component, flexifunction_command->command_type);
+}
+
+/**
+ * @brief Send a flexifunction_command message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param command_type Flexifunction command type
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_flexifunction_command_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t command_type)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[3];
+	_mav_put_uint8_t(buf, 0, target_system);
+	_mav_put_uint8_t(buf, 1, target_component);
+	_mav_put_uint8_t(buf, 2, command_type);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND, buf, 3, 133);
+#else
+	mavlink_flexifunction_command_t packet;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+	packet.command_type = command_type;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND, (const char *)&packet, 3, 133);
+#endif
+}
+
+#endif
+
+// MESSAGE FLEXIFUNCTION_COMMAND UNPACKING
+
+
+/**
+ * @brief Get field target_system from flexifunction_command message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_flexifunction_command_get_target_system(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  0);
+}
+
+/**
+ * @brief Get field target_component from flexifunction_command message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_flexifunction_command_get_target_component(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  1);
+}
+
+/**
+ * @brief Get field command_type from flexifunction_command message
+ *
+ * @return Flexifunction command type
+ */
+static inline uint8_t mavlink_msg_flexifunction_command_get_command_type(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  2);
+}
+
+/**
+ * @brief Decode a flexifunction_command message into a struct
+ *
+ * @param msg The message to decode
+ * @param flexifunction_command C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_flexifunction_command_decode(const mavlink_message_t* msg, mavlink_flexifunction_command_t* flexifunction_command)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	flexifunction_command->target_system = mavlink_msg_flexifunction_command_get_target_system(msg);
+	flexifunction_command->target_component = mavlink_msg_flexifunction_command_get_target_component(msg);
+	flexifunction_command->command_type = mavlink_msg_flexifunction_command_get_command_type(msg);
+#else
+	memcpy(flexifunction_command, _MAV_PAYLOAD(msg), 3);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_command_ack.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_command_ack.h
new file mode 100644
index 000000000..97035de00
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_command_ack.h
@@ -0,0 +1,166 @@
+// MESSAGE FLEXIFUNCTION_COMMAND_ACK PACKING
+
+#define MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK 158
+
+typedef struct __mavlink_flexifunction_command_ack_t
+{
+ uint16_t command_type; ///< Command acknowledged
+ uint16_t result; ///< result of acknowledge
+} mavlink_flexifunction_command_ack_t;
+
+#define MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_LEN 4
+#define MAVLINK_MSG_ID_158_LEN 4
+
+
+
+#define MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_COMMAND_ACK { \
+	"FLEXIFUNCTION_COMMAND_ACK", \
+	2, \
+	{  { "command_type", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_flexifunction_command_ack_t, command_type) }, \
+         { "result", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_flexifunction_command_ack_t, result) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a flexifunction_command_ack message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param command_type Command acknowledged
+ * @param result result of acknowledge
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_flexifunction_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint16_t command_type, uint16_t result)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[4];
+	_mav_put_uint16_t(buf, 0, command_type);
+	_mav_put_uint16_t(buf, 2, result);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
+#else
+	mavlink_flexifunction_command_ack_t packet;
+	packet.command_type = command_type;
+	packet.result = result;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK;
+	return mavlink_finalize_message(msg, system_id, component_id, 4, 208);
+}
+
+/**
+ * @brief Pack a flexifunction_command_ack message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param command_type Command acknowledged
+ * @param result result of acknowledge
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_flexifunction_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint16_t command_type,uint16_t result)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[4];
+	_mav_put_uint16_t(buf, 0, command_type);
+	_mav_put_uint16_t(buf, 2, result);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
+#else
+	mavlink_flexifunction_command_ack_t packet;
+	packet.command_type = command_type;
+	packet.result = result;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 208);
+}
+
+/**
+ * @brief Encode a flexifunction_command_ack struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param flexifunction_command_ack C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_flexifunction_command_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_flexifunction_command_ack_t* flexifunction_command_ack)
+{
+	return mavlink_msg_flexifunction_command_ack_pack(system_id, component_id, msg, flexifunction_command_ack->command_type, flexifunction_command_ack->result);
+}
+
+/**
+ * @brief Send a flexifunction_command_ack message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param command_type Command acknowledged
+ * @param result result of acknowledge
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_flexifunction_command_ack_send(mavlink_channel_t chan, uint16_t command_type, uint16_t result)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[4];
+	_mav_put_uint16_t(buf, 0, command_type);
+	_mav_put_uint16_t(buf, 2, result);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK, buf, 4, 208);
+#else
+	mavlink_flexifunction_command_ack_t packet;
+	packet.command_type = command_type;
+	packet.result = result;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK, (const char *)&packet, 4, 208);
+#endif
+}
+
+#endif
+
+// MESSAGE FLEXIFUNCTION_COMMAND_ACK UNPACKING
+
+
+/**
+ * @brief Get field command_type from flexifunction_command_ack message
+ *
+ * @return Command acknowledged
+ */
+static inline uint16_t mavlink_msg_flexifunction_command_ack_get_command_type(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  0);
+}
+
+/**
+ * @brief Get field result from flexifunction_command_ack message
+ *
+ * @return result of acknowledge
+ */
+static inline uint16_t mavlink_msg_flexifunction_command_ack_get_result(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  2);
+}
+
+/**
+ * @brief Decode a flexifunction_command_ack message into a struct
+ *
+ * @param msg The message to decode
+ * @param flexifunction_command_ack C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_flexifunction_command_ack_decode(const mavlink_message_t* msg, mavlink_flexifunction_command_ack_t* flexifunction_command_ack)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	flexifunction_command_ack->command_type = mavlink_msg_flexifunction_command_ack_get_command_type(msg);
+	flexifunction_command_ack->result = mavlink_msg_flexifunction_command_ack_get_result(msg);
+#else
+	memcpy(flexifunction_command_ack, _MAV_PAYLOAD(msg), 4);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_directory.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_directory.h
new file mode 100644
index 000000000..0085b31ed
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_directory.h
@@ -0,0 +1,248 @@
+// MESSAGE FLEXIFUNCTION_DIRECTORY PACKING
+
+#define MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY 155
+
+typedef struct __mavlink_flexifunction_directory_t
+{
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+ uint8_t directory_type; ///< 0=inputs, 1=outputs
+ uint8_t start_index; ///< index of first directory entry to write
+ uint8_t count; ///< count of directory entries to write
+ int8_t directory_data[48]; ///< Settings data
+} mavlink_flexifunction_directory_t;
+
+#define MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_LEN 53
+#define MAVLINK_MSG_ID_155_LEN 53
+
+#define MAVLINK_MSG_FLEXIFUNCTION_DIRECTORY_FIELD_DIRECTORY_DATA_LEN 48
+
+#define MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_DIRECTORY { \
+	"FLEXIFUNCTION_DIRECTORY", \
+	6, \
+	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_flexifunction_directory_t, target_system) }, \
+         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_flexifunction_directory_t, target_component) }, \
+         { "directory_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_flexifunction_directory_t, directory_type) }, \
+         { "start_index", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_flexifunction_directory_t, start_index) }, \
+         { "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_flexifunction_directory_t, count) }, \
+         { "directory_data", NULL, MAVLINK_TYPE_INT8_T, 48, 5, offsetof(mavlink_flexifunction_directory_t, directory_data) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a flexifunction_directory message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param directory_type 0=inputs, 1=outputs
+ * @param start_index index of first directory entry to write
+ * @param count count of directory entries to write
+ * @param directory_data Settings data
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_flexifunction_directory_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint8_t target_system, uint8_t target_component, uint8_t directory_type, uint8_t start_index, uint8_t count, const int8_t *directory_data)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[53];
+	_mav_put_uint8_t(buf, 0, target_system);
+	_mav_put_uint8_t(buf, 1, target_component);
+	_mav_put_uint8_t(buf, 2, directory_type);
+	_mav_put_uint8_t(buf, 3, start_index);
+	_mav_put_uint8_t(buf, 4, count);
+	_mav_put_int8_t_array(buf, 5, directory_data, 48);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 53);
+#else
+	mavlink_flexifunction_directory_t packet;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+	packet.directory_type = directory_type;
+	packet.start_index = start_index;
+	packet.count = count;
+	mav_array_memcpy(packet.directory_data, directory_data, sizeof(int8_t)*48);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 53);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY;
+	return mavlink_finalize_message(msg, system_id, component_id, 53, 12);
+}
+
+/**
+ * @brief Pack a flexifunction_directory message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param directory_type 0=inputs, 1=outputs
+ * @param start_index index of first directory entry to write
+ * @param count count of directory entries to write
+ * @param directory_data Settings data
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_flexifunction_directory_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint8_t target_system,uint8_t target_component,uint8_t directory_type,uint8_t start_index,uint8_t count,const int8_t *directory_data)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[53];
+	_mav_put_uint8_t(buf, 0, target_system);
+	_mav_put_uint8_t(buf, 1, target_component);
+	_mav_put_uint8_t(buf, 2, directory_type);
+	_mav_put_uint8_t(buf, 3, start_index);
+	_mav_put_uint8_t(buf, 4, count);
+	_mav_put_int8_t_array(buf, 5, directory_data, 48);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 53);
+#else
+	mavlink_flexifunction_directory_t packet;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+	packet.directory_type = directory_type;
+	packet.start_index = start_index;
+	packet.count = count;
+	mav_array_memcpy(packet.directory_data, directory_data, sizeof(int8_t)*48);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 53);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 53, 12);
+}
+
+/**
+ * @brief Encode a flexifunction_directory struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param flexifunction_directory C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_flexifunction_directory_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_flexifunction_directory_t* flexifunction_directory)
+{
+	return mavlink_msg_flexifunction_directory_pack(system_id, component_id, msg, flexifunction_directory->target_system, flexifunction_directory->target_component, flexifunction_directory->directory_type, flexifunction_directory->start_index, flexifunction_directory->count, flexifunction_directory->directory_data);
+}
+
+/**
+ * @brief Send a flexifunction_directory message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param directory_type 0=inputs, 1=outputs
+ * @param start_index index of first directory entry to write
+ * @param count count of directory entries to write
+ * @param directory_data Settings data
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_flexifunction_directory_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t directory_type, uint8_t start_index, uint8_t count, const int8_t *directory_data)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[53];
+	_mav_put_uint8_t(buf, 0, target_system);
+	_mav_put_uint8_t(buf, 1, target_component);
+	_mav_put_uint8_t(buf, 2, directory_type);
+	_mav_put_uint8_t(buf, 3, start_index);
+	_mav_put_uint8_t(buf, 4, count);
+	_mav_put_int8_t_array(buf, 5, directory_data, 48);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY, buf, 53, 12);
+#else
+	mavlink_flexifunction_directory_t packet;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+	packet.directory_type = directory_type;
+	packet.start_index = start_index;
+	packet.count = count;
+	mav_array_memcpy(packet.directory_data, directory_data, sizeof(int8_t)*48);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY, (const char *)&packet, 53, 12);
+#endif
+}
+
+#endif
+
+// MESSAGE FLEXIFUNCTION_DIRECTORY UNPACKING
+
+
+/**
+ * @brief Get field target_system from flexifunction_directory message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_flexifunction_directory_get_target_system(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  0);
+}
+
+/**
+ * @brief Get field target_component from flexifunction_directory message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_flexifunction_directory_get_target_component(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  1);
+}
+
+/**
+ * @brief Get field directory_type from flexifunction_directory message
+ *
+ * @return 0=inputs, 1=outputs
+ */
+static inline uint8_t mavlink_msg_flexifunction_directory_get_directory_type(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  2);
+}
+
+/**
+ * @brief Get field start_index from flexifunction_directory message
+ *
+ * @return index of first directory entry to write
+ */
+static inline uint8_t mavlink_msg_flexifunction_directory_get_start_index(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  3);
+}
+
+/**
+ * @brief Get field count from flexifunction_directory message
+ *
+ * @return count of directory entries to write
+ */
+static inline uint8_t mavlink_msg_flexifunction_directory_get_count(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  4);
+}
+
+/**
+ * @brief Get field directory_data from flexifunction_directory message
+ *
+ * @return Settings data
+ */
+static inline uint16_t mavlink_msg_flexifunction_directory_get_directory_data(const mavlink_message_t* msg, int8_t *directory_data)
+{
+	return _MAV_RETURN_int8_t_array(msg, directory_data, 48,  5);
+}
+
+/**
+ * @brief Decode a flexifunction_directory message into a struct
+ *
+ * @param msg The message to decode
+ * @param flexifunction_directory C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_flexifunction_directory_decode(const mavlink_message_t* msg, mavlink_flexifunction_directory_t* flexifunction_directory)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	flexifunction_directory->target_system = mavlink_msg_flexifunction_directory_get_target_system(msg);
+	flexifunction_directory->target_component = mavlink_msg_flexifunction_directory_get_target_component(msg);
+	flexifunction_directory->directory_type = mavlink_msg_flexifunction_directory_get_directory_type(msg);
+	flexifunction_directory->start_index = mavlink_msg_flexifunction_directory_get_start_index(msg);
+	flexifunction_directory->count = mavlink_msg_flexifunction_directory_get_count(msg);
+	mavlink_msg_flexifunction_directory_get_directory_data(msg, flexifunction_directory->directory_data);
+#else
+	memcpy(flexifunction_directory, _MAV_PAYLOAD(msg), 53);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_directory_ack.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_directory_ack.h
new file mode 100644
index 000000000..5112aa067
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_directory_ack.h
@@ -0,0 +1,254 @@
+// MESSAGE FLEXIFUNCTION_DIRECTORY_ACK PACKING
+
+#define MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK 156
+
+typedef struct __mavlink_flexifunction_directory_ack_t
+{
+ uint16_t result; ///< result of acknowledge, 0=fail, 1=good
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+ uint8_t directory_type; ///< 0=inputs, 1=outputs
+ uint8_t start_index; ///< index of first directory entry to write
+ uint8_t count; ///< count of directory entries to write
+} mavlink_flexifunction_directory_ack_t;
+
+#define MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_LEN 7
+#define MAVLINK_MSG_ID_156_LEN 7
+
+
+
+#define MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_DIRECTORY_ACK { \
+	"FLEXIFUNCTION_DIRECTORY_ACK", \
+	6, \
+	{  { "result", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_flexifunction_directory_ack_t, result) }, \
+         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_flexifunction_directory_ack_t, target_system) }, \
+         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_flexifunction_directory_ack_t, target_component) }, \
+         { "directory_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_flexifunction_directory_ack_t, directory_type) }, \
+         { "start_index", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_flexifunction_directory_ack_t, start_index) }, \
+         { "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_flexifunction_directory_ack_t, count) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a flexifunction_directory_ack message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param directory_type 0=inputs, 1=outputs
+ * @param start_index index of first directory entry to write
+ * @param count count of directory entries to write
+ * @param result result of acknowledge, 0=fail, 1=good
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_flexifunction_directory_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint8_t target_system, uint8_t target_component, uint8_t directory_type, uint8_t start_index, uint8_t count, uint16_t result)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[7];
+	_mav_put_uint16_t(buf, 0, result);
+	_mav_put_uint8_t(buf, 2, target_system);
+	_mav_put_uint8_t(buf, 3, target_component);
+	_mav_put_uint8_t(buf, 4, directory_type);
+	_mav_put_uint8_t(buf, 5, start_index);
+	_mav_put_uint8_t(buf, 6, count);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 7);
+#else
+	mavlink_flexifunction_directory_ack_t packet;
+	packet.result = result;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+	packet.directory_type = directory_type;
+	packet.start_index = start_index;
+	packet.count = count;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 7);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK;
+	return mavlink_finalize_message(msg, system_id, component_id, 7, 218);
+}
+
+/**
+ * @brief Pack a flexifunction_directory_ack message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param directory_type 0=inputs, 1=outputs
+ * @param start_index index of first directory entry to write
+ * @param count count of directory entries to write
+ * @param result result of acknowledge, 0=fail, 1=good
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_flexifunction_directory_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint8_t target_system,uint8_t target_component,uint8_t directory_type,uint8_t start_index,uint8_t count,uint16_t result)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[7];
+	_mav_put_uint16_t(buf, 0, result);
+	_mav_put_uint8_t(buf, 2, target_system);
+	_mav_put_uint8_t(buf, 3, target_component);
+	_mav_put_uint8_t(buf, 4, directory_type);
+	_mav_put_uint8_t(buf, 5, start_index);
+	_mav_put_uint8_t(buf, 6, count);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 7);
+#else
+	mavlink_flexifunction_directory_ack_t packet;
+	packet.result = result;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+	packet.directory_type = directory_type;
+	packet.start_index = start_index;
+	packet.count = count;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 7);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 7, 218);
+}
+
+/**
+ * @brief Encode a flexifunction_directory_ack struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param flexifunction_directory_ack C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_flexifunction_directory_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_flexifunction_directory_ack_t* flexifunction_directory_ack)
+{
+	return mavlink_msg_flexifunction_directory_ack_pack(system_id, component_id, msg, flexifunction_directory_ack->target_system, flexifunction_directory_ack->target_component, flexifunction_directory_ack->directory_type, flexifunction_directory_ack->start_index, flexifunction_directory_ack->count, flexifunction_directory_ack->result);
+}
+
+/**
+ * @brief Send a flexifunction_directory_ack message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param directory_type 0=inputs, 1=outputs
+ * @param start_index index of first directory entry to write
+ * @param count count of directory entries to write
+ * @param result result of acknowledge, 0=fail, 1=good
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_flexifunction_directory_ack_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t directory_type, uint8_t start_index, uint8_t count, uint16_t result)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[7];
+	_mav_put_uint16_t(buf, 0, result);
+	_mav_put_uint8_t(buf, 2, target_system);
+	_mav_put_uint8_t(buf, 3, target_component);
+	_mav_put_uint8_t(buf, 4, directory_type);
+	_mav_put_uint8_t(buf, 5, start_index);
+	_mav_put_uint8_t(buf, 6, count);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK, buf, 7, 218);
+#else
+	mavlink_flexifunction_directory_ack_t packet;
+	packet.result = result;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+	packet.directory_type = directory_type;
+	packet.start_index = start_index;
+	packet.count = count;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK, (const char *)&packet, 7, 218);
+#endif
+}
+
+#endif
+
+// MESSAGE FLEXIFUNCTION_DIRECTORY_ACK UNPACKING
+
+
+/**
+ * @brief Get field target_system from flexifunction_directory_ack message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_flexifunction_directory_ack_get_target_system(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  2);
+}
+
+/**
+ * @brief Get field target_component from flexifunction_directory_ack message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_flexifunction_directory_ack_get_target_component(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  3);
+}
+
+/**
+ * @brief Get field directory_type from flexifunction_directory_ack message
+ *
+ * @return 0=inputs, 1=outputs
+ */
+static inline uint8_t mavlink_msg_flexifunction_directory_ack_get_directory_type(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  4);
+}
+
+/**
+ * @brief Get field start_index from flexifunction_directory_ack message
+ *
+ * @return index of first directory entry to write
+ */
+static inline uint8_t mavlink_msg_flexifunction_directory_ack_get_start_index(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  5);
+}
+
+/**
+ * @brief Get field count from flexifunction_directory_ack message
+ *
+ * @return count of directory entries to write
+ */
+static inline uint8_t mavlink_msg_flexifunction_directory_ack_get_count(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  6);
+}
+
+/**
+ * @brief Get field result from flexifunction_directory_ack message
+ *
+ * @return result of acknowledge, 0=fail, 1=good
+ */
+static inline uint16_t mavlink_msg_flexifunction_directory_ack_get_result(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  0);
+}
+
+/**
+ * @brief Decode a flexifunction_directory_ack message into a struct
+ *
+ * @param msg The message to decode
+ * @param flexifunction_directory_ack C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_flexifunction_directory_ack_decode(const mavlink_message_t* msg, mavlink_flexifunction_directory_ack_t* flexifunction_directory_ack)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	flexifunction_directory_ack->result = mavlink_msg_flexifunction_directory_ack_get_result(msg);
+	flexifunction_directory_ack->target_system = mavlink_msg_flexifunction_directory_ack_get_target_system(msg);
+	flexifunction_directory_ack->target_component = mavlink_msg_flexifunction_directory_ack_get_target_component(msg);
+	flexifunction_directory_ack->directory_type = mavlink_msg_flexifunction_directory_ack_get_directory_type(msg);
+	flexifunction_directory_ack->start_index = mavlink_msg_flexifunction_directory_ack_get_start_index(msg);
+	flexifunction_directory_ack->count = mavlink_msg_flexifunction_directory_ack_get_count(msg);
+#else
+	memcpy(flexifunction_directory_ack, _MAV_PAYLOAD(msg), 7);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_read_req.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_read_req.h
new file mode 100644
index 000000000..431282420
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_read_req.h
@@ -0,0 +1,210 @@
+// MESSAGE FLEXIFUNCTION_READ_REQ PACKING
+
+#define MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ 151
+
+typedef struct __mavlink_flexifunction_read_req_t
+{
+ int16_t read_req_type; ///< Type of flexifunction data requested
+ int16_t data_index; ///< index into data where needed
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+} mavlink_flexifunction_read_req_t;
+
+#define MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_LEN 6
+#define MAVLINK_MSG_ID_151_LEN 6
+
+
+
+#define MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_READ_REQ { \
+	"FLEXIFUNCTION_READ_REQ", \
+	4, \
+	{  { "read_req_type", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_flexifunction_read_req_t, read_req_type) }, \
+         { "data_index", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_flexifunction_read_req_t, data_index) }, \
+         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_flexifunction_read_req_t, target_system) }, \
+         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_flexifunction_read_req_t, target_component) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a flexifunction_read_req message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param read_req_type Type of flexifunction data requested
+ * @param data_index index into data where needed
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_flexifunction_read_req_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint8_t target_system, uint8_t target_component, int16_t read_req_type, int16_t data_index)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[6];
+	_mav_put_int16_t(buf, 0, read_req_type);
+	_mav_put_int16_t(buf, 2, data_index);
+	_mav_put_uint8_t(buf, 4, target_system);
+	_mav_put_uint8_t(buf, 5, target_component);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6);
+#else
+	mavlink_flexifunction_read_req_t packet;
+	packet.read_req_type = read_req_type;
+	packet.data_index = data_index;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ;
+	return mavlink_finalize_message(msg, system_id, component_id, 6, 26);
+}
+
+/**
+ * @brief Pack a flexifunction_read_req message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param read_req_type Type of flexifunction data requested
+ * @param data_index index into data where needed
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_flexifunction_read_req_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint8_t target_system,uint8_t target_component,int16_t read_req_type,int16_t data_index)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[6];
+	_mav_put_int16_t(buf, 0, read_req_type);
+	_mav_put_int16_t(buf, 2, data_index);
+	_mav_put_uint8_t(buf, 4, target_system);
+	_mav_put_uint8_t(buf, 5, target_component);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6);
+#else
+	mavlink_flexifunction_read_req_t packet;
+	packet.read_req_type = read_req_type;
+	packet.data_index = data_index;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 6, 26);
+}
+
+/**
+ * @brief Encode a flexifunction_read_req struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param flexifunction_read_req C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_flexifunction_read_req_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_flexifunction_read_req_t* flexifunction_read_req)
+{
+	return mavlink_msg_flexifunction_read_req_pack(system_id, component_id, msg, flexifunction_read_req->target_system, flexifunction_read_req->target_component, flexifunction_read_req->read_req_type, flexifunction_read_req->data_index);
+}
+
+/**
+ * @brief Send a flexifunction_read_req message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param read_req_type Type of flexifunction data requested
+ * @param data_index index into data where needed
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_flexifunction_read_req_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int16_t read_req_type, int16_t data_index)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[6];
+	_mav_put_int16_t(buf, 0, read_req_type);
+	_mav_put_int16_t(buf, 2, data_index);
+	_mav_put_uint8_t(buf, 4, target_system);
+	_mav_put_uint8_t(buf, 5, target_component);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ, buf, 6, 26);
+#else
+	mavlink_flexifunction_read_req_t packet;
+	packet.read_req_type = read_req_type;
+	packet.data_index = data_index;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ, (const char *)&packet, 6, 26);
+#endif
+}
+
+#endif
+
+// MESSAGE FLEXIFUNCTION_READ_REQ UNPACKING
+
+
+/**
+ * @brief Get field target_system from flexifunction_read_req message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_flexifunction_read_req_get_target_system(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  4);
+}
+
+/**
+ * @brief Get field target_component from flexifunction_read_req message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_flexifunction_read_req_get_target_component(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  5);
+}
+
+/**
+ * @brief Get field read_req_type from flexifunction_read_req message
+ *
+ * @return Type of flexifunction data requested
+ */
+static inline int16_t mavlink_msg_flexifunction_read_req_get_read_req_type(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  0);
+}
+
+/**
+ * @brief Get field data_index from flexifunction_read_req message
+ *
+ * @return index into data where needed
+ */
+static inline int16_t mavlink_msg_flexifunction_read_req_get_data_index(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  2);
+}
+
+/**
+ * @brief Decode a flexifunction_read_req message into a struct
+ *
+ * @param msg The message to decode
+ * @param flexifunction_read_req C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_flexifunction_read_req_decode(const mavlink_message_t* msg, mavlink_flexifunction_read_req_t* flexifunction_read_req)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	flexifunction_read_req->read_req_type = mavlink_msg_flexifunction_read_req_get_read_req_type(msg);
+	flexifunction_read_req->data_index = mavlink_msg_flexifunction_read_req_get_data_index(msg);
+	flexifunction_read_req->target_system = mavlink_msg_flexifunction_read_req_get_target_system(msg);
+	flexifunction_read_req->target_component = mavlink_msg_flexifunction_read_req_get_target_component(msg);
+#else
+	memcpy(flexifunction_read_req, _MAV_PAYLOAD(msg), 6);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_set.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_set.h
new file mode 100644
index 000000000..021fcd10f
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_set.h
@@ -0,0 +1,166 @@
+// MESSAGE FLEXIFUNCTION_SET PACKING
+
+#define MAVLINK_MSG_ID_FLEXIFUNCTION_SET 150
+
+typedef struct __mavlink_flexifunction_set_t
+{
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+} mavlink_flexifunction_set_t;
+
+#define MAVLINK_MSG_ID_FLEXIFUNCTION_SET_LEN 2
+#define MAVLINK_MSG_ID_150_LEN 2
+
+
+
+#define MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_SET { \
+	"FLEXIFUNCTION_SET", \
+	2, \
+	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_flexifunction_set_t, target_system) }, \
+         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_flexifunction_set_t, target_component) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a flexifunction_set message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_flexifunction_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint8_t target_system, uint8_t target_component)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[2];
+	_mav_put_uint8_t(buf, 0, target_system);
+	_mav_put_uint8_t(buf, 1, target_component);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2);
+#else
+	mavlink_flexifunction_set_t packet;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_SET;
+	return mavlink_finalize_message(msg, system_id, component_id, 2, 181);
+}
+
+/**
+ * @brief Pack a flexifunction_set message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_flexifunction_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint8_t target_system,uint8_t target_component)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[2];
+	_mav_put_uint8_t(buf, 0, target_system);
+	_mav_put_uint8_t(buf, 1, target_component);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2);
+#else
+	mavlink_flexifunction_set_t packet;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_SET;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2, 181);
+}
+
+/**
+ * @brief Encode a flexifunction_set struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param flexifunction_set C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_flexifunction_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_flexifunction_set_t* flexifunction_set)
+{
+	return mavlink_msg_flexifunction_set_pack(system_id, component_id, msg, flexifunction_set->target_system, flexifunction_set->target_component);
+}
+
+/**
+ * @brief Send a flexifunction_set message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_flexifunction_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[2];
+	_mav_put_uint8_t(buf, 0, target_system);
+	_mav_put_uint8_t(buf, 1, target_component);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_SET, buf, 2, 181);
+#else
+	mavlink_flexifunction_set_t packet;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_SET, (const char *)&packet, 2, 181);
+#endif
+}
+
+#endif
+
+// MESSAGE FLEXIFUNCTION_SET UNPACKING
+
+
+/**
+ * @brief Get field target_system from flexifunction_set message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_flexifunction_set_get_target_system(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  0);
+}
+
+/**
+ * @brief Get field target_component from flexifunction_set message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_flexifunction_set_get_target_component(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  1);
+}
+
+/**
+ * @brief Decode a flexifunction_set message into a struct
+ *
+ * @param msg The message to decode
+ * @param flexifunction_set C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_flexifunction_set_decode(const mavlink_message_t* msg, mavlink_flexifunction_set_t* flexifunction_set)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	flexifunction_set->target_system = mavlink_msg_flexifunction_set_get_target_system(msg);
+	flexifunction_set->target_component = mavlink_msg_flexifunction_set_get_target_component(msg);
+#else
+	memcpy(flexifunction_set, _MAV_PAYLOAD(msg), 2);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f13.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f13.h
new file mode 100644
index 000000000..c06d23ef8
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f13.h
@@ -0,0 +1,210 @@
+// MESSAGE SERIAL_UDB_EXTRA_F13 PACKING
+
+#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13 177
+
+typedef struct __mavlink_serial_udb_extra_f13_t
+{
+ int32_t sue_lat_origin; ///< Serial UDB Extra MP Origin Latitude
+ int32_t sue_lon_origin; ///< Serial UDB Extra MP Origin Longitude
+ int32_t sue_alt_origin; ///< Serial UDB Extra MP Origin Altitude Above Sea Level
+ int16_t sue_week_no; ///< Serial UDB Extra GPS Week Number
+} mavlink_serial_udb_extra_f13_t;
+
+#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_LEN 14
+#define MAVLINK_MSG_ID_177_LEN 14
+
+
+
+#define MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F13 { \
+	"SERIAL_UDB_EXTRA_F13", \
+	4, \
+	{  { "sue_lat_origin", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_serial_udb_extra_f13_t, sue_lat_origin) }, \
+         { "sue_lon_origin", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_serial_udb_extra_f13_t, sue_lon_origin) }, \
+         { "sue_alt_origin", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_serial_udb_extra_f13_t, sue_alt_origin) }, \
+         { "sue_week_no", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_serial_udb_extra_f13_t, sue_week_no) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a serial_udb_extra_f13 message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param sue_week_no Serial UDB Extra GPS Week Number
+ * @param sue_lat_origin Serial UDB Extra MP Origin Latitude
+ * @param sue_lon_origin Serial UDB Extra MP Origin Longitude
+ * @param sue_alt_origin Serial UDB Extra MP Origin Altitude Above Sea Level
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f13_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       int16_t sue_week_no, int32_t sue_lat_origin, int32_t sue_lon_origin, int32_t sue_alt_origin)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[14];
+	_mav_put_int32_t(buf, 0, sue_lat_origin);
+	_mav_put_int32_t(buf, 4, sue_lon_origin);
+	_mav_put_int32_t(buf, 8, sue_alt_origin);
+	_mav_put_int16_t(buf, 12, sue_week_no);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 14);
+#else
+	mavlink_serial_udb_extra_f13_t packet;
+	packet.sue_lat_origin = sue_lat_origin;
+	packet.sue_lon_origin = sue_lon_origin;
+	packet.sue_alt_origin = sue_alt_origin;
+	packet.sue_week_no = sue_week_no;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 14);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13;
+	return mavlink_finalize_message(msg, system_id, component_id, 14, 249);
+}
+
+/**
+ * @brief Pack a serial_udb_extra_f13 message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param sue_week_no Serial UDB Extra GPS Week Number
+ * @param sue_lat_origin Serial UDB Extra MP Origin Latitude
+ * @param sue_lon_origin Serial UDB Extra MP Origin Longitude
+ * @param sue_alt_origin Serial UDB Extra MP Origin Altitude Above Sea Level
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f13_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           int16_t sue_week_no,int32_t sue_lat_origin,int32_t sue_lon_origin,int32_t sue_alt_origin)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[14];
+	_mav_put_int32_t(buf, 0, sue_lat_origin);
+	_mav_put_int32_t(buf, 4, sue_lon_origin);
+	_mav_put_int32_t(buf, 8, sue_alt_origin);
+	_mav_put_int16_t(buf, 12, sue_week_no);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 14);
+#else
+	mavlink_serial_udb_extra_f13_t packet;
+	packet.sue_lat_origin = sue_lat_origin;
+	packet.sue_lon_origin = sue_lon_origin;
+	packet.sue_alt_origin = sue_alt_origin;
+	packet.sue_week_no = sue_week_no;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 14);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14, 249);
+}
+
+/**
+ * @brief Encode a serial_udb_extra_f13 struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param serial_udb_extra_f13 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f13_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_udb_extra_f13_t* serial_udb_extra_f13)
+{
+	return mavlink_msg_serial_udb_extra_f13_pack(system_id, component_id, msg, serial_udb_extra_f13->sue_week_no, serial_udb_extra_f13->sue_lat_origin, serial_udb_extra_f13->sue_lon_origin, serial_udb_extra_f13->sue_alt_origin);
+}
+
+/**
+ * @brief Send a serial_udb_extra_f13 message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param sue_week_no Serial UDB Extra GPS Week Number
+ * @param sue_lat_origin Serial UDB Extra MP Origin Latitude
+ * @param sue_lon_origin Serial UDB Extra MP Origin Longitude
+ * @param sue_alt_origin Serial UDB Extra MP Origin Altitude Above Sea Level
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_serial_udb_extra_f13_send(mavlink_channel_t chan, int16_t sue_week_no, int32_t sue_lat_origin, int32_t sue_lon_origin, int32_t sue_alt_origin)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[14];
+	_mav_put_int32_t(buf, 0, sue_lat_origin);
+	_mav_put_int32_t(buf, 4, sue_lon_origin);
+	_mav_put_int32_t(buf, 8, sue_alt_origin);
+	_mav_put_int16_t(buf, 12, sue_week_no);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13, buf, 14, 249);
+#else
+	mavlink_serial_udb_extra_f13_t packet;
+	packet.sue_lat_origin = sue_lat_origin;
+	packet.sue_lon_origin = sue_lon_origin;
+	packet.sue_alt_origin = sue_alt_origin;
+	packet.sue_week_no = sue_week_no;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13, (const char *)&packet, 14, 249);
+#endif
+}
+
+#endif
+
+// MESSAGE SERIAL_UDB_EXTRA_F13 UNPACKING
+
+
+/**
+ * @brief Get field sue_week_no from serial_udb_extra_f13 message
+ *
+ * @return Serial UDB Extra GPS Week Number
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f13_get_sue_week_no(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  12);
+}
+
+/**
+ * @brief Get field sue_lat_origin from serial_udb_extra_f13 message
+ *
+ * @return Serial UDB Extra MP Origin Latitude
+ */
+static inline int32_t mavlink_msg_serial_udb_extra_f13_get_sue_lat_origin(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  0);
+}
+
+/**
+ * @brief Get field sue_lon_origin from serial_udb_extra_f13 message
+ *
+ * @return Serial UDB Extra MP Origin Longitude
+ */
+static inline int32_t mavlink_msg_serial_udb_extra_f13_get_sue_lon_origin(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  4);
+}
+
+/**
+ * @brief Get field sue_alt_origin from serial_udb_extra_f13 message
+ *
+ * @return Serial UDB Extra MP Origin Altitude Above Sea Level
+ */
+static inline int32_t mavlink_msg_serial_udb_extra_f13_get_sue_alt_origin(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  8);
+}
+
+/**
+ * @brief Decode a serial_udb_extra_f13 message into a struct
+ *
+ * @param msg The message to decode
+ * @param serial_udb_extra_f13 C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_serial_udb_extra_f13_decode(const mavlink_message_t* msg, mavlink_serial_udb_extra_f13_t* serial_udb_extra_f13)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	serial_udb_extra_f13->sue_lat_origin = mavlink_msg_serial_udb_extra_f13_get_sue_lat_origin(msg);
+	serial_udb_extra_f13->sue_lon_origin = mavlink_msg_serial_udb_extra_f13_get_sue_lon_origin(msg);
+	serial_udb_extra_f13->sue_alt_origin = mavlink_msg_serial_udb_extra_f13_get_sue_alt_origin(msg);
+	serial_udb_extra_f13->sue_week_no = mavlink_msg_serial_udb_extra_f13_get_sue_week_no(msg);
+#else
+	memcpy(serial_udb_extra_f13, _MAV_PAYLOAD(msg), 14);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f14.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f14.h
new file mode 100644
index 000000000..4275b03d6
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f14.h
@@ -0,0 +1,364 @@
+// MESSAGE SERIAL_UDB_EXTRA_F14 PACKING
+
+#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14 178
+
+typedef struct __mavlink_serial_udb_extra_f14_t
+{
+ uint32_t sue_TRAP_SOURCE; ///< Serial UDB Extra Type Program Address of Last Trap
+ int16_t sue_RCON; ///< Serial UDB Extra Reboot Regitster of DSPIC
+ int16_t sue_TRAP_FLAGS; ///< Serial UDB Extra  Last dspic Trap Flags
+ int16_t sue_osc_fail_count; ///< Serial UDB Extra Number of Ocillator Failures
+ uint8_t sue_WIND_ESTIMATION; ///< Serial UDB Extra Wind Estimation Enabled
+ uint8_t sue_GPS_TYPE; ///< Serial UDB Extra Type of GPS Unit
+ uint8_t sue_DR; ///< Serial UDB Extra Dead Reckoning Enabled
+ uint8_t sue_BOARD_TYPE; ///< Serial UDB Extra Type of UDB Hardware
+ uint8_t sue_AIRFRAME; ///< Serial UDB Extra Type of Airframe
+ uint8_t sue_CLOCK_CONFIG; ///< Serial UDB Extra UDB Internal Clock Configuration
+ uint8_t sue_FLIGHT_PLAN_TYPE; ///< Serial UDB Extra Type of Flight Plan
+} mavlink_serial_udb_extra_f14_t;
+
+#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_LEN 17
+#define MAVLINK_MSG_ID_178_LEN 17
+
+
+
+#define MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F14 { \
+	"SERIAL_UDB_EXTRA_F14", \
+	11, \
+	{  { "sue_TRAP_SOURCE", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_serial_udb_extra_f14_t, sue_TRAP_SOURCE) }, \
+         { "sue_RCON", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_serial_udb_extra_f14_t, sue_RCON) }, \
+         { "sue_TRAP_FLAGS", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_serial_udb_extra_f14_t, sue_TRAP_FLAGS) }, \
+         { "sue_osc_fail_count", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_serial_udb_extra_f14_t, sue_osc_fail_count) }, \
+         { "sue_WIND_ESTIMATION", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_serial_udb_extra_f14_t, sue_WIND_ESTIMATION) }, \
+         { "sue_GPS_TYPE", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_serial_udb_extra_f14_t, sue_GPS_TYPE) }, \
+         { "sue_DR", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_serial_udb_extra_f14_t, sue_DR) }, \
+         { "sue_BOARD_TYPE", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_serial_udb_extra_f14_t, sue_BOARD_TYPE) }, \
+         { "sue_AIRFRAME", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_serial_udb_extra_f14_t, sue_AIRFRAME) }, \
+         { "sue_CLOCK_CONFIG", NULL, MAVLINK_TYPE_UINT8_T, 0, 15, offsetof(mavlink_serial_udb_extra_f14_t, sue_CLOCK_CONFIG) }, \
+         { "sue_FLIGHT_PLAN_TYPE", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_serial_udb_extra_f14_t, sue_FLIGHT_PLAN_TYPE) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a serial_udb_extra_f14 message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param sue_WIND_ESTIMATION Serial UDB Extra Wind Estimation Enabled
+ * @param sue_GPS_TYPE Serial UDB Extra Type of GPS Unit
+ * @param sue_DR Serial UDB Extra Dead Reckoning Enabled
+ * @param sue_BOARD_TYPE Serial UDB Extra Type of UDB Hardware
+ * @param sue_AIRFRAME Serial UDB Extra Type of Airframe
+ * @param sue_RCON Serial UDB Extra Reboot Regitster of DSPIC
+ * @param sue_TRAP_FLAGS Serial UDB Extra  Last dspic Trap Flags
+ * @param sue_TRAP_SOURCE Serial UDB Extra Type Program Address of Last Trap
+ * @param sue_osc_fail_count Serial UDB Extra Number of Ocillator Failures
+ * @param sue_CLOCK_CONFIG Serial UDB Extra UDB Internal Clock Configuration
+ * @param sue_FLIGHT_PLAN_TYPE Serial UDB Extra Type of Flight Plan
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f14_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint8_t sue_WIND_ESTIMATION, uint8_t sue_GPS_TYPE, uint8_t sue_DR, uint8_t sue_BOARD_TYPE, uint8_t sue_AIRFRAME, int16_t sue_RCON, int16_t sue_TRAP_FLAGS, uint32_t sue_TRAP_SOURCE, int16_t sue_osc_fail_count, uint8_t sue_CLOCK_CONFIG, uint8_t sue_FLIGHT_PLAN_TYPE)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[17];
+	_mav_put_uint32_t(buf, 0, sue_TRAP_SOURCE);
+	_mav_put_int16_t(buf, 4, sue_RCON);
+	_mav_put_int16_t(buf, 6, sue_TRAP_FLAGS);
+	_mav_put_int16_t(buf, 8, sue_osc_fail_count);
+	_mav_put_uint8_t(buf, 10, sue_WIND_ESTIMATION);
+	_mav_put_uint8_t(buf, 11, sue_GPS_TYPE);
+	_mav_put_uint8_t(buf, 12, sue_DR);
+	_mav_put_uint8_t(buf, 13, sue_BOARD_TYPE);
+	_mav_put_uint8_t(buf, 14, sue_AIRFRAME);
+	_mav_put_uint8_t(buf, 15, sue_CLOCK_CONFIG);
+	_mav_put_uint8_t(buf, 16, sue_FLIGHT_PLAN_TYPE);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 17);
+#else
+	mavlink_serial_udb_extra_f14_t packet;
+	packet.sue_TRAP_SOURCE = sue_TRAP_SOURCE;
+	packet.sue_RCON = sue_RCON;
+	packet.sue_TRAP_FLAGS = sue_TRAP_FLAGS;
+	packet.sue_osc_fail_count = sue_osc_fail_count;
+	packet.sue_WIND_ESTIMATION = sue_WIND_ESTIMATION;
+	packet.sue_GPS_TYPE = sue_GPS_TYPE;
+	packet.sue_DR = sue_DR;
+	packet.sue_BOARD_TYPE = sue_BOARD_TYPE;
+	packet.sue_AIRFRAME = sue_AIRFRAME;
+	packet.sue_CLOCK_CONFIG = sue_CLOCK_CONFIG;
+	packet.sue_FLIGHT_PLAN_TYPE = sue_FLIGHT_PLAN_TYPE;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 17);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14;
+	return mavlink_finalize_message(msg, system_id, component_id, 17, 123);
+}
+
+/**
+ * @brief Pack a serial_udb_extra_f14 message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param sue_WIND_ESTIMATION Serial UDB Extra Wind Estimation Enabled
+ * @param sue_GPS_TYPE Serial UDB Extra Type of GPS Unit
+ * @param sue_DR Serial UDB Extra Dead Reckoning Enabled
+ * @param sue_BOARD_TYPE Serial UDB Extra Type of UDB Hardware
+ * @param sue_AIRFRAME Serial UDB Extra Type of Airframe
+ * @param sue_RCON Serial UDB Extra Reboot Regitster of DSPIC
+ * @param sue_TRAP_FLAGS Serial UDB Extra  Last dspic Trap Flags
+ * @param sue_TRAP_SOURCE Serial UDB Extra Type Program Address of Last Trap
+ * @param sue_osc_fail_count Serial UDB Extra Number of Ocillator Failures
+ * @param sue_CLOCK_CONFIG Serial UDB Extra UDB Internal Clock Configuration
+ * @param sue_FLIGHT_PLAN_TYPE Serial UDB Extra Type of Flight Plan
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f14_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint8_t sue_WIND_ESTIMATION,uint8_t sue_GPS_TYPE,uint8_t sue_DR,uint8_t sue_BOARD_TYPE,uint8_t sue_AIRFRAME,int16_t sue_RCON,int16_t sue_TRAP_FLAGS,uint32_t sue_TRAP_SOURCE,int16_t sue_osc_fail_count,uint8_t sue_CLOCK_CONFIG,uint8_t sue_FLIGHT_PLAN_TYPE)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[17];
+	_mav_put_uint32_t(buf, 0, sue_TRAP_SOURCE);
+	_mav_put_int16_t(buf, 4, sue_RCON);
+	_mav_put_int16_t(buf, 6, sue_TRAP_FLAGS);
+	_mav_put_int16_t(buf, 8, sue_osc_fail_count);
+	_mav_put_uint8_t(buf, 10, sue_WIND_ESTIMATION);
+	_mav_put_uint8_t(buf, 11, sue_GPS_TYPE);
+	_mav_put_uint8_t(buf, 12, sue_DR);
+	_mav_put_uint8_t(buf, 13, sue_BOARD_TYPE);
+	_mav_put_uint8_t(buf, 14, sue_AIRFRAME);
+	_mav_put_uint8_t(buf, 15, sue_CLOCK_CONFIG);
+	_mav_put_uint8_t(buf, 16, sue_FLIGHT_PLAN_TYPE);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 17);
+#else
+	mavlink_serial_udb_extra_f14_t packet;
+	packet.sue_TRAP_SOURCE = sue_TRAP_SOURCE;
+	packet.sue_RCON = sue_RCON;
+	packet.sue_TRAP_FLAGS = sue_TRAP_FLAGS;
+	packet.sue_osc_fail_count = sue_osc_fail_count;
+	packet.sue_WIND_ESTIMATION = sue_WIND_ESTIMATION;
+	packet.sue_GPS_TYPE = sue_GPS_TYPE;
+	packet.sue_DR = sue_DR;
+	packet.sue_BOARD_TYPE = sue_BOARD_TYPE;
+	packet.sue_AIRFRAME = sue_AIRFRAME;
+	packet.sue_CLOCK_CONFIG = sue_CLOCK_CONFIG;
+	packet.sue_FLIGHT_PLAN_TYPE = sue_FLIGHT_PLAN_TYPE;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 17);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 17, 123);
+}
+
+/**
+ * @brief Encode a serial_udb_extra_f14 struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param serial_udb_extra_f14 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f14_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_udb_extra_f14_t* serial_udb_extra_f14)
+{
+	return mavlink_msg_serial_udb_extra_f14_pack(system_id, component_id, msg, serial_udb_extra_f14->sue_WIND_ESTIMATION, serial_udb_extra_f14->sue_GPS_TYPE, serial_udb_extra_f14->sue_DR, serial_udb_extra_f14->sue_BOARD_TYPE, serial_udb_extra_f14->sue_AIRFRAME, serial_udb_extra_f14->sue_RCON, serial_udb_extra_f14->sue_TRAP_FLAGS, serial_udb_extra_f14->sue_TRAP_SOURCE, serial_udb_extra_f14->sue_osc_fail_count, serial_udb_extra_f14->sue_CLOCK_CONFIG, serial_udb_extra_f14->sue_FLIGHT_PLAN_TYPE);
+}
+
+/**
+ * @brief Send a serial_udb_extra_f14 message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param sue_WIND_ESTIMATION Serial UDB Extra Wind Estimation Enabled
+ * @param sue_GPS_TYPE Serial UDB Extra Type of GPS Unit
+ * @param sue_DR Serial UDB Extra Dead Reckoning Enabled
+ * @param sue_BOARD_TYPE Serial UDB Extra Type of UDB Hardware
+ * @param sue_AIRFRAME Serial UDB Extra Type of Airframe
+ * @param sue_RCON Serial UDB Extra Reboot Regitster of DSPIC
+ * @param sue_TRAP_FLAGS Serial UDB Extra  Last dspic Trap Flags
+ * @param sue_TRAP_SOURCE Serial UDB Extra Type Program Address of Last Trap
+ * @param sue_osc_fail_count Serial UDB Extra Number of Ocillator Failures
+ * @param sue_CLOCK_CONFIG Serial UDB Extra UDB Internal Clock Configuration
+ * @param sue_FLIGHT_PLAN_TYPE Serial UDB Extra Type of Flight Plan
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_serial_udb_extra_f14_send(mavlink_channel_t chan, uint8_t sue_WIND_ESTIMATION, uint8_t sue_GPS_TYPE, uint8_t sue_DR, uint8_t sue_BOARD_TYPE, uint8_t sue_AIRFRAME, int16_t sue_RCON, int16_t sue_TRAP_FLAGS, uint32_t sue_TRAP_SOURCE, int16_t sue_osc_fail_count, uint8_t sue_CLOCK_CONFIG, uint8_t sue_FLIGHT_PLAN_TYPE)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[17];
+	_mav_put_uint32_t(buf, 0, sue_TRAP_SOURCE);
+	_mav_put_int16_t(buf, 4, sue_RCON);
+	_mav_put_int16_t(buf, 6, sue_TRAP_FLAGS);
+	_mav_put_int16_t(buf, 8, sue_osc_fail_count);
+	_mav_put_uint8_t(buf, 10, sue_WIND_ESTIMATION);
+	_mav_put_uint8_t(buf, 11, sue_GPS_TYPE);
+	_mav_put_uint8_t(buf, 12, sue_DR);
+	_mav_put_uint8_t(buf, 13, sue_BOARD_TYPE);
+	_mav_put_uint8_t(buf, 14, sue_AIRFRAME);
+	_mav_put_uint8_t(buf, 15, sue_CLOCK_CONFIG);
+	_mav_put_uint8_t(buf, 16, sue_FLIGHT_PLAN_TYPE);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14, buf, 17, 123);
+#else
+	mavlink_serial_udb_extra_f14_t packet;
+	packet.sue_TRAP_SOURCE = sue_TRAP_SOURCE;
+	packet.sue_RCON = sue_RCON;
+	packet.sue_TRAP_FLAGS = sue_TRAP_FLAGS;
+	packet.sue_osc_fail_count = sue_osc_fail_count;
+	packet.sue_WIND_ESTIMATION = sue_WIND_ESTIMATION;
+	packet.sue_GPS_TYPE = sue_GPS_TYPE;
+	packet.sue_DR = sue_DR;
+	packet.sue_BOARD_TYPE = sue_BOARD_TYPE;
+	packet.sue_AIRFRAME = sue_AIRFRAME;
+	packet.sue_CLOCK_CONFIG = sue_CLOCK_CONFIG;
+	packet.sue_FLIGHT_PLAN_TYPE = sue_FLIGHT_PLAN_TYPE;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14, (const char *)&packet, 17, 123);
+#endif
+}
+
+#endif
+
+// MESSAGE SERIAL_UDB_EXTRA_F14 UNPACKING
+
+
+/**
+ * @brief Get field sue_WIND_ESTIMATION from serial_udb_extra_f14 message
+ *
+ * @return Serial UDB Extra Wind Estimation Enabled
+ */
+static inline uint8_t mavlink_msg_serial_udb_extra_f14_get_sue_WIND_ESTIMATION(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  10);
+}
+
+/**
+ * @brief Get field sue_GPS_TYPE from serial_udb_extra_f14 message
+ *
+ * @return Serial UDB Extra Type of GPS Unit
+ */
+static inline uint8_t mavlink_msg_serial_udb_extra_f14_get_sue_GPS_TYPE(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  11);
+}
+
+/**
+ * @brief Get field sue_DR from serial_udb_extra_f14 message
+ *
+ * @return Serial UDB Extra Dead Reckoning Enabled
+ */
+static inline uint8_t mavlink_msg_serial_udb_extra_f14_get_sue_DR(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  12);
+}
+
+/**
+ * @brief Get field sue_BOARD_TYPE from serial_udb_extra_f14 message
+ *
+ * @return Serial UDB Extra Type of UDB Hardware
+ */
+static inline uint8_t mavlink_msg_serial_udb_extra_f14_get_sue_BOARD_TYPE(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  13);
+}
+
+/**
+ * @brief Get field sue_AIRFRAME from serial_udb_extra_f14 message
+ *
+ * @return Serial UDB Extra Type of Airframe
+ */
+static inline uint8_t mavlink_msg_serial_udb_extra_f14_get_sue_AIRFRAME(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  14);
+}
+
+/**
+ * @brief Get field sue_RCON from serial_udb_extra_f14 message
+ *
+ * @return Serial UDB Extra Reboot Regitster of DSPIC
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f14_get_sue_RCON(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  4);
+}
+
+/**
+ * @brief Get field sue_TRAP_FLAGS from serial_udb_extra_f14 message
+ *
+ * @return Serial UDB Extra  Last dspic Trap Flags
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f14_get_sue_TRAP_FLAGS(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  6);
+}
+
+/**
+ * @brief Get field sue_TRAP_SOURCE from serial_udb_extra_f14 message
+ *
+ * @return Serial UDB Extra Type Program Address of Last Trap
+ */
+static inline uint32_t mavlink_msg_serial_udb_extra_f14_get_sue_TRAP_SOURCE(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint32_t(msg,  0);
+}
+
+/**
+ * @brief Get field sue_osc_fail_count from serial_udb_extra_f14 message
+ *
+ * @return Serial UDB Extra Number of Ocillator Failures
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f14_get_sue_osc_fail_count(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  8);
+}
+
+/**
+ * @brief Get field sue_CLOCK_CONFIG from serial_udb_extra_f14 message
+ *
+ * @return Serial UDB Extra UDB Internal Clock Configuration
+ */
+static inline uint8_t mavlink_msg_serial_udb_extra_f14_get_sue_CLOCK_CONFIG(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  15);
+}
+
+/**
+ * @brief Get field sue_FLIGHT_PLAN_TYPE from serial_udb_extra_f14 message
+ *
+ * @return Serial UDB Extra Type of Flight Plan
+ */
+static inline uint8_t mavlink_msg_serial_udb_extra_f14_get_sue_FLIGHT_PLAN_TYPE(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  16);
+}
+
+/**
+ * @brief Decode a serial_udb_extra_f14 message into a struct
+ *
+ * @param msg The message to decode
+ * @param serial_udb_extra_f14 C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_serial_udb_extra_f14_decode(const mavlink_message_t* msg, mavlink_serial_udb_extra_f14_t* serial_udb_extra_f14)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	serial_udb_extra_f14->sue_TRAP_SOURCE = mavlink_msg_serial_udb_extra_f14_get_sue_TRAP_SOURCE(msg);
+	serial_udb_extra_f14->sue_RCON = mavlink_msg_serial_udb_extra_f14_get_sue_RCON(msg);
+	serial_udb_extra_f14->sue_TRAP_FLAGS = mavlink_msg_serial_udb_extra_f14_get_sue_TRAP_FLAGS(msg);
+	serial_udb_extra_f14->sue_osc_fail_count = mavlink_msg_serial_udb_extra_f14_get_sue_osc_fail_count(msg);
+	serial_udb_extra_f14->sue_WIND_ESTIMATION = mavlink_msg_serial_udb_extra_f14_get_sue_WIND_ESTIMATION(msg);
+	serial_udb_extra_f14->sue_GPS_TYPE = mavlink_msg_serial_udb_extra_f14_get_sue_GPS_TYPE(msg);
+	serial_udb_extra_f14->sue_DR = mavlink_msg_serial_udb_extra_f14_get_sue_DR(msg);
+	serial_udb_extra_f14->sue_BOARD_TYPE = mavlink_msg_serial_udb_extra_f14_get_sue_BOARD_TYPE(msg);
+	serial_udb_extra_f14->sue_AIRFRAME = mavlink_msg_serial_udb_extra_f14_get_sue_AIRFRAME(msg);
+	serial_udb_extra_f14->sue_CLOCK_CONFIG = mavlink_msg_serial_udb_extra_f14_get_sue_CLOCK_CONFIG(msg);
+	serial_udb_extra_f14->sue_FLIGHT_PLAN_TYPE = mavlink_msg_serial_udb_extra_f14_get_sue_FLIGHT_PLAN_TYPE(msg);
+#else
+	memcpy(serial_udb_extra_f14, _MAV_PAYLOAD(msg), 17);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f15.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f15.h
new file mode 100644
index 000000000..f4ada7838
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f15.h
@@ -0,0 +1,167 @@
+// MESSAGE SERIAL_UDB_EXTRA_F15 PACKING
+
+#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15 179
+
+typedef struct __mavlink_serial_udb_extra_f15_t
+{
+ uint8_t sue_ID_VEHICLE_MODEL_NAME[40]; ///< Serial UDB Extra Model Name Of Vehicle
+ uint8_t sue_ID_VEHICLE_REGISTRATION[20]; ///< Serial UDB Extra Registraton Number of Vehicle
+} mavlink_serial_udb_extra_f15_t;
+
+#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_LEN 60
+#define MAVLINK_MSG_ID_179_LEN 60
+
+#define MAVLINK_MSG_SERIAL_UDB_EXTRA_F15_FIELD_SUE_ID_VEHICLE_MODEL_NAME_LEN 40
+#define MAVLINK_MSG_SERIAL_UDB_EXTRA_F15_FIELD_SUE_ID_VEHICLE_REGISTRATION_LEN 20
+
+#define MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F15 { \
+	"SERIAL_UDB_EXTRA_F15", \
+	2, \
+	{  { "sue_ID_VEHICLE_MODEL_NAME", NULL, MAVLINK_TYPE_UINT8_T, 40, 0, offsetof(mavlink_serial_udb_extra_f15_t, sue_ID_VEHICLE_MODEL_NAME) }, \
+         { "sue_ID_VEHICLE_REGISTRATION", NULL, MAVLINK_TYPE_UINT8_T, 20, 40, offsetof(mavlink_serial_udb_extra_f15_t, sue_ID_VEHICLE_REGISTRATION) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a serial_udb_extra_f15 message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param sue_ID_VEHICLE_MODEL_NAME Serial UDB Extra Model Name Of Vehicle
+ * @param sue_ID_VEHICLE_REGISTRATION Serial UDB Extra Registraton Number of Vehicle
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f15_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       const uint8_t *sue_ID_VEHICLE_MODEL_NAME, const uint8_t *sue_ID_VEHICLE_REGISTRATION)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[60];
+
+	_mav_put_uint8_t_array(buf, 0, sue_ID_VEHICLE_MODEL_NAME, 40);
+	_mav_put_uint8_t_array(buf, 40, sue_ID_VEHICLE_REGISTRATION, 20);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 60);
+#else
+	mavlink_serial_udb_extra_f15_t packet;
+
+	mav_array_memcpy(packet.sue_ID_VEHICLE_MODEL_NAME, sue_ID_VEHICLE_MODEL_NAME, sizeof(uint8_t)*40);
+	mav_array_memcpy(packet.sue_ID_VEHICLE_REGISTRATION, sue_ID_VEHICLE_REGISTRATION, sizeof(uint8_t)*20);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 60);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15;
+	return mavlink_finalize_message(msg, system_id, component_id, 60, 7);
+}
+
+/**
+ * @brief Pack a serial_udb_extra_f15 message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param sue_ID_VEHICLE_MODEL_NAME Serial UDB Extra Model Name Of Vehicle
+ * @param sue_ID_VEHICLE_REGISTRATION Serial UDB Extra Registraton Number of Vehicle
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f15_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           const uint8_t *sue_ID_VEHICLE_MODEL_NAME,const uint8_t *sue_ID_VEHICLE_REGISTRATION)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[60];
+
+	_mav_put_uint8_t_array(buf, 0, sue_ID_VEHICLE_MODEL_NAME, 40);
+	_mav_put_uint8_t_array(buf, 40, sue_ID_VEHICLE_REGISTRATION, 20);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 60);
+#else
+	mavlink_serial_udb_extra_f15_t packet;
+
+	mav_array_memcpy(packet.sue_ID_VEHICLE_MODEL_NAME, sue_ID_VEHICLE_MODEL_NAME, sizeof(uint8_t)*40);
+	mav_array_memcpy(packet.sue_ID_VEHICLE_REGISTRATION, sue_ID_VEHICLE_REGISTRATION, sizeof(uint8_t)*20);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 60);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 60, 7);
+}
+
+/**
+ * @brief Encode a serial_udb_extra_f15 struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param serial_udb_extra_f15 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f15_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_udb_extra_f15_t* serial_udb_extra_f15)
+{
+	return mavlink_msg_serial_udb_extra_f15_pack(system_id, component_id, msg, serial_udb_extra_f15->sue_ID_VEHICLE_MODEL_NAME, serial_udb_extra_f15->sue_ID_VEHICLE_REGISTRATION);
+}
+
+/**
+ * @brief Send a serial_udb_extra_f15 message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param sue_ID_VEHICLE_MODEL_NAME Serial UDB Extra Model Name Of Vehicle
+ * @param sue_ID_VEHICLE_REGISTRATION Serial UDB Extra Registraton Number of Vehicle
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_serial_udb_extra_f15_send(mavlink_channel_t chan, const uint8_t *sue_ID_VEHICLE_MODEL_NAME, const uint8_t *sue_ID_VEHICLE_REGISTRATION)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[60];
+
+	_mav_put_uint8_t_array(buf, 0, sue_ID_VEHICLE_MODEL_NAME, 40);
+	_mav_put_uint8_t_array(buf, 40, sue_ID_VEHICLE_REGISTRATION, 20);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15, buf, 60, 7);
+#else
+	mavlink_serial_udb_extra_f15_t packet;
+
+	mav_array_memcpy(packet.sue_ID_VEHICLE_MODEL_NAME, sue_ID_VEHICLE_MODEL_NAME, sizeof(uint8_t)*40);
+	mav_array_memcpy(packet.sue_ID_VEHICLE_REGISTRATION, sue_ID_VEHICLE_REGISTRATION, sizeof(uint8_t)*20);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15, (const char *)&packet, 60, 7);
+#endif
+}
+
+#endif
+
+// MESSAGE SERIAL_UDB_EXTRA_F15 UNPACKING
+
+
+/**
+ * @brief Get field sue_ID_VEHICLE_MODEL_NAME from serial_udb_extra_f15 message
+ *
+ * @return Serial UDB Extra Model Name Of Vehicle
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f15_get_sue_ID_VEHICLE_MODEL_NAME(const mavlink_message_t* msg, uint8_t *sue_ID_VEHICLE_MODEL_NAME)
+{
+	return _MAV_RETURN_uint8_t_array(msg, sue_ID_VEHICLE_MODEL_NAME, 40,  0);
+}
+
+/**
+ * @brief Get field sue_ID_VEHICLE_REGISTRATION from serial_udb_extra_f15 message
+ *
+ * @return Serial UDB Extra Registraton Number of Vehicle
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f15_get_sue_ID_VEHICLE_REGISTRATION(const mavlink_message_t* msg, uint8_t *sue_ID_VEHICLE_REGISTRATION)
+{
+	return _MAV_RETURN_uint8_t_array(msg, sue_ID_VEHICLE_REGISTRATION, 20,  40);
+}
+
+/**
+ * @brief Decode a serial_udb_extra_f15 message into a struct
+ *
+ * @param msg The message to decode
+ * @param serial_udb_extra_f15 C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_serial_udb_extra_f15_decode(const mavlink_message_t* msg, mavlink_serial_udb_extra_f15_t* serial_udb_extra_f15)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	mavlink_msg_serial_udb_extra_f15_get_sue_ID_VEHICLE_MODEL_NAME(msg, serial_udb_extra_f15->sue_ID_VEHICLE_MODEL_NAME);
+	mavlink_msg_serial_udb_extra_f15_get_sue_ID_VEHICLE_REGISTRATION(msg, serial_udb_extra_f15->sue_ID_VEHICLE_REGISTRATION);
+#else
+	memcpy(serial_udb_extra_f15, _MAV_PAYLOAD(msg), 60);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f16.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f16.h
new file mode 100644
index 000000000..20cadbf27
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f16.h
@@ -0,0 +1,167 @@
+// MESSAGE SERIAL_UDB_EXTRA_F16 PACKING
+
+#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16 180
+
+typedef struct __mavlink_serial_udb_extra_f16_t
+{
+ uint8_t sue_ID_LEAD_PILOT[40]; ///< Serial UDB Extra Name of Expected Lead Pilot
+ uint8_t sue_ID_DIY_DRONES_URL[70]; ///< Serial UDB Extra URL of Lead Pilot or Team
+} mavlink_serial_udb_extra_f16_t;
+
+#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_LEN 110
+#define MAVLINK_MSG_ID_180_LEN 110
+
+#define MAVLINK_MSG_SERIAL_UDB_EXTRA_F16_FIELD_SUE_ID_LEAD_PILOT_LEN 40
+#define MAVLINK_MSG_SERIAL_UDB_EXTRA_F16_FIELD_SUE_ID_DIY_DRONES_URL_LEN 70
+
+#define MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F16 { \
+	"SERIAL_UDB_EXTRA_F16", \
+	2, \
+	{  { "sue_ID_LEAD_PILOT", NULL, MAVLINK_TYPE_UINT8_T, 40, 0, offsetof(mavlink_serial_udb_extra_f16_t, sue_ID_LEAD_PILOT) }, \
+         { "sue_ID_DIY_DRONES_URL", NULL, MAVLINK_TYPE_UINT8_T, 70, 40, offsetof(mavlink_serial_udb_extra_f16_t, sue_ID_DIY_DRONES_URL) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a serial_udb_extra_f16 message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param sue_ID_LEAD_PILOT Serial UDB Extra Name of Expected Lead Pilot
+ * @param sue_ID_DIY_DRONES_URL Serial UDB Extra URL of Lead Pilot or Team
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f16_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       const uint8_t *sue_ID_LEAD_PILOT, const uint8_t *sue_ID_DIY_DRONES_URL)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[110];
+
+	_mav_put_uint8_t_array(buf, 0, sue_ID_LEAD_PILOT, 40);
+	_mav_put_uint8_t_array(buf, 40, sue_ID_DIY_DRONES_URL, 70);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 110);
+#else
+	mavlink_serial_udb_extra_f16_t packet;
+
+	mav_array_memcpy(packet.sue_ID_LEAD_PILOT, sue_ID_LEAD_PILOT, sizeof(uint8_t)*40);
+	mav_array_memcpy(packet.sue_ID_DIY_DRONES_URL, sue_ID_DIY_DRONES_URL, sizeof(uint8_t)*70);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 110);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16;
+	return mavlink_finalize_message(msg, system_id, component_id, 110, 222);
+}
+
+/**
+ * @brief Pack a serial_udb_extra_f16 message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param sue_ID_LEAD_PILOT Serial UDB Extra Name of Expected Lead Pilot
+ * @param sue_ID_DIY_DRONES_URL Serial UDB Extra URL of Lead Pilot or Team
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f16_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           const uint8_t *sue_ID_LEAD_PILOT,const uint8_t *sue_ID_DIY_DRONES_URL)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[110];
+
+	_mav_put_uint8_t_array(buf, 0, sue_ID_LEAD_PILOT, 40);
+	_mav_put_uint8_t_array(buf, 40, sue_ID_DIY_DRONES_URL, 70);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 110);
+#else
+	mavlink_serial_udb_extra_f16_t packet;
+
+	mav_array_memcpy(packet.sue_ID_LEAD_PILOT, sue_ID_LEAD_PILOT, sizeof(uint8_t)*40);
+	mav_array_memcpy(packet.sue_ID_DIY_DRONES_URL, sue_ID_DIY_DRONES_URL, sizeof(uint8_t)*70);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 110);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 110, 222);
+}
+
+/**
+ * @brief Encode a serial_udb_extra_f16 struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param serial_udb_extra_f16 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f16_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_udb_extra_f16_t* serial_udb_extra_f16)
+{
+	return mavlink_msg_serial_udb_extra_f16_pack(system_id, component_id, msg, serial_udb_extra_f16->sue_ID_LEAD_PILOT, serial_udb_extra_f16->sue_ID_DIY_DRONES_URL);
+}
+
+/**
+ * @brief Send a serial_udb_extra_f16 message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param sue_ID_LEAD_PILOT Serial UDB Extra Name of Expected Lead Pilot
+ * @param sue_ID_DIY_DRONES_URL Serial UDB Extra URL of Lead Pilot or Team
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_serial_udb_extra_f16_send(mavlink_channel_t chan, const uint8_t *sue_ID_LEAD_PILOT, const uint8_t *sue_ID_DIY_DRONES_URL)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[110];
+
+	_mav_put_uint8_t_array(buf, 0, sue_ID_LEAD_PILOT, 40);
+	_mav_put_uint8_t_array(buf, 40, sue_ID_DIY_DRONES_URL, 70);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16, buf, 110, 222);
+#else
+	mavlink_serial_udb_extra_f16_t packet;
+
+	mav_array_memcpy(packet.sue_ID_LEAD_PILOT, sue_ID_LEAD_PILOT, sizeof(uint8_t)*40);
+	mav_array_memcpy(packet.sue_ID_DIY_DRONES_URL, sue_ID_DIY_DRONES_URL, sizeof(uint8_t)*70);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16, (const char *)&packet, 110, 222);
+#endif
+}
+
+#endif
+
+// MESSAGE SERIAL_UDB_EXTRA_F16 UNPACKING
+
+
+/**
+ * @brief Get field sue_ID_LEAD_PILOT from serial_udb_extra_f16 message
+ *
+ * @return Serial UDB Extra Name of Expected Lead Pilot
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f16_get_sue_ID_LEAD_PILOT(const mavlink_message_t* msg, uint8_t *sue_ID_LEAD_PILOT)
+{
+	return _MAV_RETURN_uint8_t_array(msg, sue_ID_LEAD_PILOT, 40,  0);
+}
+
+/**
+ * @brief Get field sue_ID_DIY_DRONES_URL from serial_udb_extra_f16 message
+ *
+ * @return Serial UDB Extra URL of Lead Pilot or Team
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f16_get_sue_ID_DIY_DRONES_URL(const mavlink_message_t* msg, uint8_t *sue_ID_DIY_DRONES_URL)
+{
+	return _MAV_RETURN_uint8_t_array(msg, sue_ID_DIY_DRONES_URL, 70,  40);
+}
+
+/**
+ * @brief Decode a serial_udb_extra_f16 message into a struct
+ *
+ * @param msg The message to decode
+ * @param serial_udb_extra_f16 C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_serial_udb_extra_f16_decode(const mavlink_message_t* msg, mavlink_serial_udb_extra_f16_t* serial_udb_extra_f16)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	mavlink_msg_serial_udb_extra_f16_get_sue_ID_LEAD_PILOT(msg, serial_udb_extra_f16->sue_ID_LEAD_PILOT);
+	mavlink_msg_serial_udb_extra_f16_get_sue_ID_DIY_DRONES_URL(msg, serial_udb_extra_f16->sue_ID_DIY_DRONES_URL);
+#else
+	memcpy(serial_udb_extra_f16, _MAV_PAYLOAD(msg), 110);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f2_a.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f2_a.h
new file mode 100644
index 000000000..30d0cb845
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f2_a.h
@@ -0,0 +1,738 @@
+// MESSAGE SERIAL_UDB_EXTRA_F2_A PACKING
+
+#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A 170
+
+typedef struct __mavlink_serial_udb_extra_f2_a_t
+{
+ uint32_t sue_time; ///< Serial UDB Extra Time
+ int32_t sue_latitude; ///< Serial UDB Extra Latitude
+ int32_t sue_longitude; ///< Serial UDB Extra Longitude
+ int32_t sue_altitude; ///< Serial UDB Extra Altitude
+ uint16_t sue_waypoint_index; ///< Serial UDB Extra Waypoint Index
+ int16_t sue_rmat0; ///< Serial UDB Extra Rmat 0
+ int16_t sue_rmat1; ///< Serial UDB Extra Rmat 1
+ int16_t sue_rmat2; ///< Serial UDB Extra Rmat 2
+ int16_t sue_rmat3; ///< Serial UDB Extra Rmat 3
+ int16_t sue_rmat4; ///< Serial UDB Extra Rmat 4
+ int16_t sue_rmat5; ///< Serial UDB Extra Rmat 5
+ int16_t sue_rmat6; ///< Serial UDB Extra Rmat 6
+ int16_t sue_rmat7; ///< Serial UDB Extra Rmat 7
+ int16_t sue_rmat8; ///< Serial UDB Extra Rmat 8
+ uint16_t sue_cog; ///< Serial UDB Extra GPS Course Over Ground
+ int16_t sue_sog; ///< Serial UDB Extra Speed Over Ground
+ uint16_t sue_cpu_load; ///< Serial UDB Extra CPU Load
+ int16_t sue_voltage_milis; ///< Serial UDB Extra Voltage in MilliVolts
+ uint16_t sue_air_speed_3DIMU; ///< Serial UDB Extra 3D IMU Air Speed
+ int16_t sue_estimated_wind_0; ///< Serial UDB Extra Estimated Wind 0
+ int16_t sue_estimated_wind_1; ///< Serial UDB Extra Estimated Wind 1
+ int16_t sue_estimated_wind_2; ///< Serial UDB Extra Estimated Wind 2
+ int16_t sue_magFieldEarth0; ///< Serial UDB Extra Magnetic Field Earth 0 
+ int16_t sue_magFieldEarth1; ///< Serial UDB Extra Magnetic Field Earth 1 
+ int16_t sue_magFieldEarth2; ///< Serial UDB Extra Magnetic Field Earth 2 
+ int16_t sue_svs; ///< Serial UDB Extra Number of Sattelites in View
+ int16_t sue_hdop; ///< Serial UDB Extra GPS Horizontal Dilution of Precision
+ uint8_t sue_status; ///< Serial UDB Extra Status
+} mavlink_serial_udb_extra_f2_a_t;
+
+#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_LEN 63
+#define MAVLINK_MSG_ID_170_LEN 63
+
+
+
+#define MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F2_A { \
+	"SERIAL_UDB_EXTRA_F2_A", \
+	28, \
+	{  { "sue_time", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_time) }, \
+         { "sue_latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_latitude) }, \
+         { "sue_longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_longitude) }, \
+         { "sue_altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_altitude) }, \
+         { "sue_waypoint_index", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_waypoint_index) }, \
+         { "sue_rmat0", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_rmat0) }, \
+         { "sue_rmat1", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_rmat1) }, \
+         { "sue_rmat2", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_rmat2) }, \
+         { "sue_rmat3", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_rmat3) }, \
+         { "sue_rmat4", NULL, MAVLINK_TYPE_INT16_T, 0, 26, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_rmat4) }, \
+         { "sue_rmat5", NULL, MAVLINK_TYPE_INT16_T, 0, 28, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_rmat5) }, \
+         { "sue_rmat6", NULL, MAVLINK_TYPE_INT16_T, 0, 30, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_rmat6) }, \
+         { "sue_rmat7", NULL, MAVLINK_TYPE_INT16_T, 0, 32, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_rmat7) }, \
+         { "sue_rmat8", NULL, MAVLINK_TYPE_INT16_T, 0, 34, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_rmat8) }, \
+         { "sue_cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 36, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_cog) }, \
+         { "sue_sog", NULL, MAVLINK_TYPE_INT16_T, 0, 38, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_sog) }, \
+         { "sue_cpu_load", NULL, MAVLINK_TYPE_UINT16_T, 0, 40, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_cpu_load) }, \
+         { "sue_voltage_milis", NULL, MAVLINK_TYPE_INT16_T, 0, 42, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_voltage_milis) }, \
+         { "sue_air_speed_3DIMU", NULL, MAVLINK_TYPE_UINT16_T, 0, 44, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_air_speed_3DIMU) }, \
+         { "sue_estimated_wind_0", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_estimated_wind_0) }, \
+         { "sue_estimated_wind_1", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_estimated_wind_1) }, \
+         { "sue_estimated_wind_2", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_estimated_wind_2) }, \
+         { "sue_magFieldEarth0", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_magFieldEarth0) }, \
+         { "sue_magFieldEarth1", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_magFieldEarth1) }, \
+         { "sue_magFieldEarth2", NULL, MAVLINK_TYPE_INT16_T, 0, 56, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_magFieldEarth2) }, \
+         { "sue_svs", NULL, MAVLINK_TYPE_INT16_T, 0, 58, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_svs) }, \
+         { "sue_hdop", NULL, MAVLINK_TYPE_INT16_T, 0, 60, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_hdop) }, \
+         { "sue_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 62, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_status) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a serial_udb_extra_f2_a message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param sue_time Serial UDB Extra Time
+ * @param sue_status Serial UDB Extra Status
+ * @param sue_latitude Serial UDB Extra Latitude
+ * @param sue_longitude Serial UDB Extra Longitude
+ * @param sue_altitude Serial UDB Extra Altitude
+ * @param sue_waypoint_index Serial UDB Extra Waypoint Index
+ * @param sue_rmat0 Serial UDB Extra Rmat 0
+ * @param sue_rmat1 Serial UDB Extra Rmat 1
+ * @param sue_rmat2 Serial UDB Extra Rmat 2
+ * @param sue_rmat3 Serial UDB Extra Rmat 3
+ * @param sue_rmat4 Serial UDB Extra Rmat 4
+ * @param sue_rmat5 Serial UDB Extra Rmat 5
+ * @param sue_rmat6 Serial UDB Extra Rmat 6
+ * @param sue_rmat7 Serial UDB Extra Rmat 7
+ * @param sue_rmat8 Serial UDB Extra Rmat 8
+ * @param sue_cog Serial UDB Extra GPS Course Over Ground
+ * @param sue_sog Serial UDB Extra Speed Over Ground
+ * @param sue_cpu_load Serial UDB Extra CPU Load
+ * @param sue_voltage_milis Serial UDB Extra Voltage in MilliVolts
+ * @param sue_air_speed_3DIMU Serial UDB Extra 3D IMU Air Speed
+ * @param sue_estimated_wind_0 Serial UDB Extra Estimated Wind 0
+ * @param sue_estimated_wind_1 Serial UDB Extra Estimated Wind 1
+ * @param sue_estimated_wind_2 Serial UDB Extra Estimated Wind 2
+ * @param sue_magFieldEarth0 Serial UDB Extra Magnetic Field Earth 0 
+ * @param sue_magFieldEarth1 Serial UDB Extra Magnetic Field Earth 1 
+ * @param sue_magFieldEarth2 Serial UDB Extra Magnetic Field Earth 2 
+ * @param sue_svs Serial UDB Extra Number of Sattelites in View
+ * @param sue_hdop Serial UDB Extra GPS Horizontal Dilution of Precision
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f2_a_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint32_t sue_time, uint8_t sue_status, int32_t sue_latitude, int32_t sue_longitude, int32_t sue_altitude, uint16_t sue_waypoint_index, int16_t sue_rmat0, int16_t sue_rmat1, int16_t sue_rmat2, int16_t sue_rmat3, int16_t sue_rmat4, int16_t sue_rmat5, int16_t sue_rmat6, int16_t sue_rmat7, int16_t sue_rmat8, uint16_t sue_cog, int16_t sue_sog, uint16_t sue_cpu_load, int16_t sue_voltage_milis, uint16_t sue_air_speed_3DIMU, int16_t sue_estimated_wind_0, int16_t sue_estimated_wind_1, int16_t sue_estimated_wind_2, int16_t sue_magFieldEarth0, int16_t sue_magFieldEarth1, int16_t sue_magFieldEarth2, int16_t sue_svs, int16_t sue_hdop)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[63];
+	_mav_put_uint32_t(buf, 0, sue_time);
+	_mav_put_int32_t(buf, 4, sue_latitude);
+	_mav_put_int32_t(buf, 8, sue_longitude);
+	_mav_put_int32_t(buf, 12, sue_altitude);
+	_mav_put_uint16_t(buf, 16, sue_waypoint_index);
+	_mav_put_int16_t(buf, 18, sue_rmat0);
+	_mav_put_int16_t(buf, 20, sue_rmat1);
+	_mav_put_int16_t(buf, 22, sue_rmat2);
+	_mav_put_int16_t(buf, 24, sue_rmat3);
+	_mav_put_int16_t(buf, 26, sue_rmat4);
+	_mav_put_int16_t(buf, 28, sue_rmat5);
+	_mav_put_int16_t(buf, 30, sue_rmat6);
+	_mav_put_int16_t(buf, 32, sue_rmat7);
+	_mav_put_int16_t(buf, 34, sue_rmat8);
+	_mav_put_uint16_t(buf, 36, sue_cog);
+	_mav_put_int16_t(buf, 38, sue_sog);
+	_mav_put_uint16_t(buf, 40, sue_cpu_load);
+	_mav_put_int16_t(buf, 42, sue_voltage_milis);
+	_mav_put_uint16_t(buf, 44, sue_air_speed_3DIMU);
+	_mav_put_int16_t(buf, 46, sue_estimated_wind_0);
+	_mav_put_int16_t(buf, 48, sue_estimated_wind_1);
+	_mav_put_int16_t(buf, 50, sue_estimated_wind_2);
+	_mav_put_int16_t(buf, 52, sue_magFieldEarth0);
+	_mav_put_int16_t(buf, 54, sue_magFieldEarth1);
+	_mav_put_int16_t(buf, 56, sue_magFieldEarth2);
+	_mav_put_int16_t(buf, 58, sue_svs);
+	_mav_put_int16_t(buf, 60, sue_hdop);
+	_mav_put_uint8_t(buf, 62, sue_status);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 63);
+#else
+	mavlink_serial_udb_extra_f2_a_t packet;
+	packet.sue_time = sue_time;
+	packet.sue_latitude = sue_latitude;
+	packet.sue_longitude = sue_longitude;
+	packet.sue_altitude = sue_altitude;
+	packet.sue_waypoint_index = sue_waypoint_index;
+	packet.sue_rmat0 = sue_rmat0;
+	packet.sue_rmat1 = sue_rmat1;
+	packet.sue_rmat2 = sue_rmat2;
+	packet.sue_rmat3 = sue_rmat3;
+	packet.sue_rmat4 = sue_rmat4;
+	packet.sue_rmat5 = sue_rmat5;
+	packet.sue_rmat6 = sue_rmat6;
+	packet.sue_rmat7 = sue_rmat7;
+	packet.sue_rmat8 = sue_rmat8;
+	packet.sue_cog = sue_cog;
+	packet.sue_sog = sue_sog;
+	packet.sue_cpu_load = sue_cpu_load;
+	packet.sue_voltage_milis = sue_voltage_milis;
+	packet.sue_air_speed_3DIMU = sue_air_speed_3DIMU;
+	packet.sue_estimated_wind_0 = sue_estimated_wind_0;
+	packet.sue_estimated_wind_1 = sue_estimated_wind_1;
+	packet.sue_estimated_wind_2 = sue_estimated_wind_2;
+	packet.sue_magFieldEarth0 = sue_magFieldEarth0;
+	packet.sue_magFieldEarth1 = sue_magFieldEarth1;
+	packet.sue_magFieldEarth2 = sue_magFieldEarth2;
+	packet.sue_svs = sue_svs;
+	packet.sue_hdop = sue_hdop;
+	packet.sue_status = sue_status;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 63);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A;
+	return mavlink_finalize_message(msg, system_id, component_id, 63, 150);
+}
+
+/**
+ * @brief Pack a serial_udb_extra_f2_a message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param sue_time Serial UDB Extra Time
+ * @param sue_status Serial UDB Extra Status
+ * @param sue_latitude Serial UDB Extra Latitude
+ * @param sue_longitude Serial UDB Extra Longitude
+ * @param sue_altitude Serial UDB Extra Altitude
+ * @param sue_waypoint_index Serial UDB Extra Waypoint Index
+ * @param sue_rmat0 Serial UDB Extra Rmat 0
+ * @param sue_rmat1 Serial UDB Extra Rmat 1
+ * @param sue_rmat2 Serial UDB Extra Rmat 2
+ * @param sue_rmat3 Serial UDB Extra Rmat 3
+ * @param sue_rmat4 Serial UDB Extra Rmat 4
+ * @param sue_rmat5 Serial UDB Extra Rmat 5
+ * @param sue_rmat6 Serial UDB Extra Rmat 6
+ * @param sue_rmat7 Serial UDB Extra Rmat 7
+ * @param sue_rmat8 Serial UDB Extra Rmat 8
+ * @param sue_cog Serial UDB Extra GPS Course Over Ground
+ * @param sue_sog Serial UDB Extra Speed Over Ground
+ * @param sue_cpu_load Serial UDB Extra CPU Load
+ * @param sue_voltage_milis Serial UDB Extra Voltage in MilliVolts
+ * @param sue_air_speed_3DIMU Serial UDB Extra 3D IMU Air Speed
+ * @param sue_estimated_wind_0 Serial UDB Extra Estimated Wind 0
+ * @param sue_estimated_wind_1 Serial UDB Extra Estimated Wind 1
+ * @param sue_estimated_wind_2 Serial UDB Extra Estimated Wind 2
+ * @param sue_magFieldEarth0 Serial UDB Extra Magnetic Field Earth 0 
+ * @param sue_magFieldEarth1 Serial UDB Extra Magnetic Field Earth 1 
+ * @param sue_magFieldEarth2 Serial UDB Extra Magnetic Field Earth 2 
+ * @param sue_svs Serial UDB Extra Number of Sattelites in View
+ * @param sue_hdop Serial UDB Extra GPS Horizontal Dilution of Precision
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f2_a_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint32_t sue_time,uint8_t sue_status,int32_t sue_latitude,int32_t sue_longitude,int32_t sue_altitude,uint16_t sue_waypoint_index,int16_t sue_rmat0,int16_t sue_rmat1,int16_t sue_rmat2,int16_t sue_rmat3,int16_t sue_rmat4,int16_t sue_rmat5,int16_t sue_rmat6,int16_t sue_rmat7,int16_t sue_rmat8,uint16_t sue_cog,int16_t sue_sog,uint16_t sue_cpu_load,int16_t sue_voltage_milis,uint16_t sue_air_speed_3DIMU,int16_t sue_estimated_wind_0,int16_t sue_estimated_wind_1,int16_t sue_estimated_wind_2,int16_t sue_magFieldEarth0,int16_t sue_magFieldEarth1,int16_t sue_magFieldEarth2,int16_t sue_svs,int16_t sue_hdop)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[63];
+	_mav_put_uint32_t(buf, 0, sue_time);
+	_mav_put_int32_t(buf, 4, sue_latitude);
+	_mav_put_int32_t(buf, 8, sue_longitude);
+	_mav_put_int32_t(buf, 12, sue_altitude);
+	_mav_put_uint16_t(buf, 16, sue_waypoint_index);
+	_mav_put_int16_t(buf, 18, sue_rmat0);
+	_mav_put_int16_t(buf, 20, sue_rmat1);
+	_mav_put_int16_t(buf, 22, sue_rmat2);
+	_mav_put_int16_t(buf, 24, sue_rmat3);
+	_mav_put_int16_t(buf, 26, sue_rmat4);
+	_mav_put_int16_t(buf, 28, sue_rmat5);
+	_mav_put_int16_t(buf, 30, sue_rmat6);
+	_mav_put_int16_t(buf, 32, sue_rmat7);
+	_mav_put_int16_t(buf, 34, sue_rmat8);
+	_mav_put_uint16_t(buf, 36, sue_cog);
+	_mav_put_int16_t(buf, 38, sue_sog);
+	_mav_put_uint16_t(buf, 40, sue_cpu_load);
+	_mav_put_int16_t(buf, 42, sue_voltage_milis);
+	_mav_put_uint16_t(buf, 44, sue_air_speed_3DIMU);
+	_mav_put_int16_t(buf, 46, sue_estimated_wind_0);
+	_mav_put_int16_t(buf, 48, sue_estimated_wind_1);
+	_mav_put_int16_t(buf, 50, sue_estimated_wind_2);
+	_mav_put_int16_t(buf, 52, sue_magFieldEarth0);
+	_mav_put_int16_t(buf, 54, sue_magFieldEarth1);
+	_mav_put_int16_t(buf, 56, sue_magFieldEarth2);
+	_mav_put_int16_t(buf, 58, sue_svs);
+	_mav_put_int16_t(buf, 60, sue_hdop);
+	_mav_put_uint8_t(buf, 62, sue_status);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 63);
+#else
+	mavlink_serial_udb_extra_f2_a_t packet;
+	packet.sue_time = sue_time;
+	packet.sue_latitude = sue_latitude;
+	packet.sue_longitude = sue_longitude;
+	packet.sue_altitude = sue_altitude;
+	packet.sue_waypoint_index = sue_waypoint_index;
+	packet.sue_rmat0 = sue_rmat0;
+	packet.sue_rmat1 = sue_rmat1;
+	packet.sue_rmat2 = sue_rmat2;
+	packet.sue_rmat3 = sue_rmat3;
+	packet.sue_rmat4 = sue_rmat4;
+	packet.sue_rmat5 = sue_rmat5;
+	packet.sue_rmat6 = sue_rmat6;
+	packet.sue_rmat7 = sue_rmat7;
+	packet.sue_rmat8 = sue_rmat8;
+	packet.sue_cog = sue_cog;
+	packet.sue_sog = sue_sog;
+	packet.sue_cpu_load = sue_cpu_load;
+	packet.sue_voltage_milis = sue_voltage_milis;
+	packet.sue_air_speed_3DIMU = sue_air_speed_3DIMU;
+	packet.sue_estimated_wind_0 = sue_estimated_wind_0;
+	packet.sue_estimated_wind_1 = sue_estimated_wind_1;
+	packet.sue_estimated_wind_2 = sue_estimated_wind_2;
+	packet.sue_magFieldEarth0 = sue_magFieldEarth0;
+	packet.sue_magFieldEarth1 = sue_magFieldEarth1;
+	packet.sue_magFieldEarth2 = sue_magFieldEarth2;
+	packet.sue_svs = sue_svs;
+	packet.sue_hdop = sue_hdop;
+	packet.sue_status = sue_status;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 63);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 63, 150);
+}
+
+/**
+ * @brief Encode a serial_udb_extra_f2_a struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param serial_udb_extra_f2_a C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f2_a_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_udb_extra_f2_a_t* serial_udb_extra_f2_a)
+{
+	return mavlink_msg_serial_udb_extra_f2_a_pack(system_id, component_id, msg, serial_udb_extra_f2_a->sue_time, serial_udb_extra_f2_a->sue_status, serial_udb_extra_f2_a->sue_latitude, serial_udb_extra_f2_a->sue_longitude, serial_udb_extra_f2_a->sue_altitude, serial_udb_extra_f2_a->sue_waypoint_index, serial_udb_extra_f2_a->sue_rmat0, serial_udb_extra_f2_a->sue_rmat1, serial_udb_extra_f2_a->sue_rmat2, serial_udb_extra_f2_a->sue_rmat3, serial_udb_extra_f2_a->sue_rmat4, serial_udb_extra_f2_a->sue_rmat5, serial_udb_extra_f2_a->sue_rmat6, serial_udb_extra_f2_a->sue_rmat7, serial_udb_extra_f2_a->sue_rmat8, serial_udb_extra_f2_a->sue_cog, serial_udb_extra_f2_a->sue_sog, serial_udb_extra_f2_a->sue_cpu_load, serial_udb_extra_f2_a->sue_voltage_milis, serial_udb_extra_f2_a->sue_air_speed_3DIMU, serial_udb_extra_f2_a->sue_estimated_wind_0, serial_udb_extra_f2_a->sue_estimated_wind_1, serial_udb_extra_f2_a->sue_estimated_wind_2, serial_udb_extra_f2_a->sue_magFieldEarth0, serial_udb_extra_f2_a->sue_magFieldEarth1, serial_udb_extra_f2_a->sue_magFieldEarth2, serial_udb_extra_f2_a->sue_svs, serial_udb_extra_f2_a->sue_hdop);
+}
+
+/**
+ * @brief Send a serial_udb_extra_f2_a message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param sue_time Serial UDB Extra Time
+ * @param sue_status Serial UDB Extra Status
+ * @param sue_latitude Serial UDB Extra Latitude
+ * @param sue_longitude Serial UDB Extra Longitude
+ * @param sue_altitude Serial UDB Extra Altitude
+ * @param sue_waypoint_index Serial UDB Extra Waypoint Index
+ * @param sue_rmat0 Serial UDB Extra Rmat 0
+ * @param sue_rmat1 Serial UDB Extra Rmat 1
+ * @param sue_rmat2 Serial UDB Extra Rmat 2
+ * @param sue_rmat3 Serial UDB Extra Rmat 3
+ * @param sue_rmat4 Serial UDB Extra Rmat 4
+ * @param sue_rmat5 Serial UDB Extra Rmat 5
+ * @param sue_rmat6 Serial UDB Extra Rmat 6
+ * @param sue_rmat7 Serial UDB Extra Rmat 7
+ * @param sue_rmat8 Serial UDB Extra Rmat 8
+ * @param sue_cog Serial UDB Extra GPS Course Over Ground
+ * @param sue_sog Serial UDB Extra Speed Over Ground
+ * @param sue_cpu_load Serial UDB Extra CPU Load
+ * @param sue_voltage_milis Serial UDB Extra Voltage in MilliVolts
+ * @param sue_air_speed_3DIMU Serial UDB Extra 3D IMU Air Speed
+ * @param sue_estimated_wind_0 Serial UDB Extra Estimated Wind 0
+ * @param sue_estimated_wind_1 Serial UDB Extra Estimated Wind 1
+ * @param sue_estimated_wind_2 Serial UDB Extra Estimated Wind 2
+ * @param sue_magFieldEarth0 Serial UDB Extra Magnetic Field Earth 0 
+ * @param sue_magFieldEarth1 Serial UDB Extra Magnetic Field Earth 1 
+ * @param sue_magFieldEarth2 Serial UDB Extra Magnetic Field Earth 2 
+ * @param sue_svs Serial UDB Extra Number of Sattelites in View
+ * @param sue_hdop Serial UDB Extra GPS Horizontal Dilution of Precision
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_serial_udb_extra_f2_a_send(mavlink_channel_t chan, uint32_t sue_time, uint8_t sue_status, int32_t sue_latitude, int32_t sue_longitude, int32_t sue_altitude, uint16_t sue_waypoint_index, int16_t sue_rmat0, int16_t sue_rmat1, int16_t sue_rmat2, int16_t sue_rmat3, int16_t sue_rmat4, int16_t sue_rmat5, int16_t sue_rmat6, int16_t sue_rmat7, int16_t sue_rmat8, uint16_t sue_cog, int16_t sue_sog, uint16_t sue_cpu_load, int16_t sue_voltage_milis, uint16_t sue_air_speed_3DIMU, int16_t sue_estimated_wind_0, int16_t sue_estimated_wind_1, int16_t sue_estimated_wind_2, int16_t sue_magFieldEarth0, int16_t sue_magFieldEarth1, int16_t sue_magFieldEarth2, int16_t sue_svs, int16_t sue_hdop)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[63];
+	_mav_put_uint32_t(buf, 0, sue_time);
+	_mav_put_int32_t(buf, 4, sue_latitude);
+	_mav_put_int32_t(buf, 8, sue_longitude);
+	_mav_put_int32_t(buf, 12, sue_altitude);
+	_mav_put_uint16_t(buf, 16, sue_waypoint_index);
+	_mav_put_int16_t(buf, 18, sue_rmat0);
+	_mav_put_int16_t(buf, 20, sue_rmat1);
+	_mav_put_int16_t(buf, 22, sue_rmat2);
+	_mav_put_int16_t(buf, 24, sue_rmat3);
+	_mav_put_int16_t(buf, 26, sue_rmat4);
+	_mav_put_int16_t(buf, 28, sue_rmat5);
+	_mav_put_int16_t(buf, 30, sue_rmat6);
+	_mav_put_int16_t(buf, 32, sue_rmat7);
+	_mav_put_int16_t(buf, 34, sue_rmat8);
+	_mav_put_uint16_t(buf, 36, sue_cog);
+	_mav_put_int16_t(buf, 38, sue_sog);
+	_mav_put_uint16_t(buf, 40, sue_cpu_load);
+	_mav_put_int16_t(buf, 42, sue_voltage_milis);
+	_mav_put_uint16_t(buf, 44, sue_air_speed_3DIMU);
+	_mav_put_int16_t(buf, 46, sue_estimated_wind_0);
+	_mav_put_int16_t(buf, 48, sue_estimated_wind_1);
+	_mav_put_int16_t(buf, 50, sue_estimated_wind_2);
+	_mav_put_int16_t(buf, 52, sue_magFieldEarth0);
+	_mav_put_int16_t(buf, 54, sue_magFieldEarth1);
+	_mav_put_int16_t(buf, 56, sue_magFieldEarth2);
+	_mav_put_int16_t(buf, 58, sue_svs);
+	_mav_put_int16_t(buf, 60, sue_hdop);
+	_mav_put_uint8_t(buf, 62, sue_status);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A, buf, 63, 150);
+#else
+	mavlink_serial_udb_extra_f2_a_t packet;
+	packet.sue_time = sue_time;
+	packet.sue_latitude = sue_latitude;
+	packet.sue_longitude = sue_longitude;
+	packet.sue_altitude = sue_altitude;
+	packet.sue_waypoint_index = sue_waypoint_index;
+	packet.sue_rmat0 = sue_rmat0;
+	packet.sue_rmat1 = sue_rmat1;
+	packet.sue_rmat2 = sue_rmat2;
+	packet.sue_rmat3 = sue_rmat3;
+	packet.sue_rmat4 = sue_rmat4;
+	packet.sue_rmat5 = sue_rmat5;
+	packet.sue_rmat6 = sue_rmat6;
+	packet.sue_rmat7 = sue_rmat7;
+	packet.sue_rmat8 = sue_rmat8;
+	packet.sue_cog = sue_cog;
+	packet.sue_sog = sue_sog;
+	packet.sue_cpu_load = sue_cpu_load;
+	packet.sue_voltage_milis = sue_voltage_milis;
+	packet.sue_air_speed_3DIMU = sue_air_speed_3DIMU;
+	packet.sue_estimated_wind_0 = sue_estimated_wind_0;
+	packet.sue_estimated_wind_1 = sue_estimated_wind_1;
+	packet.sue_estimated_wind_2 = sue_estimated_wind_2;
+	packet.sue_magFieldEarth0 = sue_magFieldEarth0;
+	packet.sue_magFieldEarth1 = sue_magFieldEarth1;
+	packet.sue_magFieldEarth2 = sue_magFieldEarth2;
+	packet.sue_svs = sue_svs;
+	packet.sue_hdop = sue_hdop;
+	packet.sue_status = sue_status;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A, (const char *)&packet, 63, 150);
+#endif
+}
+
+#endif
+
+// MESSAGE SERIAL_UDB_EXTRA_F2_A UNPACKING
+
+
+/**
+ * @brief Get field sue_time from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra Time
+ */
+static inline uint32_t mavlink_msg_serial_udb_extra_f2_a_get_sue_time(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint32_t(msg,  0);
+}
+
+/**
+ * @brief Get field sue_status from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra Status
+ */
+static inline uint8_t mavlink_msg_serial_udb_extra_f2_a_get_sue_status(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  62);
+}
+
+/**
+ * @brief Get field sue_latitude from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra Latitude
+ */
+static inline int32_t mavlink_msg_serial_udb_extra_f2_a_get_sue_latitude(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  4);
+}
+
+/**
+ * @brief Get field sue_longitude from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra Longitude
+ */
+static inline int32_t mavlink_msg_serial_udb_extra_f2_a_get_sue_longitude(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  8);
+}
+
+/**
+ * @brief Get field sue_altitude from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra Altitude
+ */
+static inline int32_t mavlink_msg_serial_udb_extra_f2_a_get_sue_altitude(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  12);
+}
+
+/**
+ * @brief Get field sue_waypoint_index from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra Waypoint Index
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_waypoint_index(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  16);
+}
+
+/**
+ * @brief Get field sue_rmat0 from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra Rmat 0
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat0(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  18);
+}
+
+/**
+ * @brief Get field sue_rmat1 from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra Rmat 1
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat1(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  20);
+}
+
+/**
+ * @brief Get field sue_rmat2 from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra Rmat 2
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat2(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  22);
+}
+
+/**
+ * @brief Get field sue_rmat3 from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra Rmat 3
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat3(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  24);
+}
+
+/**
+ * @brief Get field sue_rmat4 from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra Rmat 4
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat4(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  26);
+}
+
+/**
+ * @brief Get field sue_rmat5 from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra Rmat 5
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat5(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  28);
+}
+
+/**
+ * @brief Get field sue_rmat6 from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra Rmat 6
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat6(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  30);
+}
+
+/**
+ * @brief Get field sue_rmat7 from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra Rmat 7
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat7(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  32);
+}
+
+/**
+ * @brief Get field sue_rmat8 from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra Rmat 8
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat8(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  34);
+}
+
+/**
+ * @brief Get field sue_cog from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra GPS Course Over Ground
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_cog(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  36);
+}
+
+/**
+ * @brief Get field sue_sog from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra Speed Over Ground
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_sog(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  38);
+}
+
+/**
+ * @brief Get field sue_cpu_load from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra CPU Load
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_cpu_load(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  40);
+}
+
+/**
+ * @brief Get field sue_voltage_milis from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra Voltage in MilliVolts
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_voltage_milis(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  42);
+}
+
+/**
+ * @brief Get field sue_air_speed_3DIMU from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra 3D IMU Air Speed
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_air_speed_3DIMU(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  44);
+}
+
+/**
+ * @brief Get field sue_estimated_wind_0 from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra Estimated Wind 0
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_estimated_wind_0(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  46);
+}
+
+/**
+ * @brief Get field sue_estimated_wind_1 from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra Estimated Wind 1
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_estimated_wind_1(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  48);
+}
+
+/**
+ * @brief Get field sue_estimated_wind_2 from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra Estimated Wind 2
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_estimated_wind_2(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  50);
+}
+
+/**
+ * @brief Get field sue_magFieldEarth0 from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra Magnetic Field Earth 0 
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_magFieldEarth0(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  52);
+}
+
+/**
+ * @brief Get field sue_magFieldEarth1 from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra Magnetic Field Earth 1 
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_magFieldEarth1(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  54);
+}
+
+/**
+ * @brief Get field sue_magFieldEarth2 from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra Magnetic Field Earth 2 
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_magFieldEarth2(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  56);
+}
+
+/**
+ * @brief Get field sue_svs from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra Number of Sattelites in View
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_svs(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  58);
+}
+
+/**
+ * @brief Get field sue_hdop from serial_udb_extra_f2_a message
+ *
+ * @return Serial UDB Extra GPS Horizontal Dilution of Precision
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_hdop(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  60);
+}
+
+/**
+ * @brief Decode a serial_udb_extra_f2_a message into a struct
+ *
+ * @param msg The message to decode
+ * @param serial_udb_extra_f2_a C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_serial_udb_extra_f2_a_decode(const mavlink_message_t* msg, mavlink_serial_udb_extra_f2_a_t* serial_udb_extra_f2_a)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	serial_udb_extra_f2_a->sue_time = mavlink_msg_serial_udb_extra_f2_a_get_sue_time(msg);
+	serial_udb_extra_f2_a->sue_latitude = mavlink_msg_serial_udb_extra_f2_a_get_sue_latitude(msg);
+	serial_udb_extra_f2_a->sue_longitude = mavlink_msg_serial_udb_extra_f2_a_get_sue_longitude(msg);
+	serial_udb_extra_f2_a->sue_altitude = mavlink_msg_serial_udb_extra_f2_a_get_sue_altitude(msg);
+	serial_udb_extra_f2_a->sue_waypoint_index = mavlink_msg_serial_udb_extra_f2_a_get_sue_waypoint_index(msg);
+	serial_udb_extra_f2_a->sue_rmat0 = mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat0(msg);
+	serial_udb_extra_f2_a->sue_rmat1 = mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat1(msg);
+	serial_udb_extra_f2_a->sue_rmat2 = mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat2(msg);
+	serial_udb_extra_f2_a->sue_rmat3 = mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat3(msg);
+	serial_udb_extra_f2_a->sue_rmat4 = mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat4(msg);
+	serial_udb_extra_f2_a->sue_rmat5 = mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat5(msg);
+	serial_udb_extra_f2_a->sue_rmat6 = mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat6(msg);
+	serial_udb_extra_f2_a->sue_rmat7 = mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat7(msg);
+	serial_udb_extra_f2_a->sue_rmat8 = mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat8(msg);
+	serial_udb_extra_f2_a->sue_cog = mavlink_msg_serial_udb_extra_f2_a_get_sue_cog(msg);
+	serial_udb_extra_f2_a->sue_sog = mavlink_msg_serial_udb_extra_f2_a_get_sue_sog(msg);
+	serial_udb_extra_f2_a->sue_cpu_load = mavlink_msg_serial_udb_extra_f2_a_get_sue_cpu_load(msg);
+	serial_udb_extra_f2_a->sue_voltage_milis = mavlink_msg_serial_udb_extra_f2_a_get_sue_voltage_milis(msg);
+	serial_udb_extra_f2_a->sue_air_speed_3DIMU = mavlink_msg_serial_udb_extra_f2_a_get_sue_air_speed_3DIMU(msg);
+	serial_udb_extra_f2_a->sue_estimated_wind_0 = mavlink_msg_serial_udb_extra_f2_a_get_sue_estimated_wind_0(msg);
+	serial_udb_extra_f2_a->sue_estimated_wind_1 = mavlink_msg_serial_udb_extra_f2_a_get_sue_estimated_wind_1(msg);
+	serial_udb_extra_f2_a->sue_estimated_wind_2 = mavlink_msg_serial_udb_extra_f2_a_get_sue_estimated_wind_2(msg);
+	serial_udb_extra_f2_a->sue_magFieldEarth0 = mavlink_msg_serial_udb_extra_f2_a_get_sue_magFieldEarth0(msg);
+	serial_udb_extra_f2_a->sue_magFieldEarth1 = mavlink_msg_serial_udb_extra_f2_a_get_sue_magFieldEarth1(msg);
+	serial_udb_extra_f2_a->sue_magFieldEarth2 = mavlink_msg_serial_udb_extra_f2_a_get_sue_magFieldEarth2(msg);
+	serial_udb_extra_f2_a->sue_svs = mavlink_msg_serial_udb_extra_f2_a_get_sue_svs(msg);
+	serial_udb_extra_f2_a->sue_hdop = mavlink_msg_serial_udb_extra_f2_a_get_sue_hdop(msg);
+	serial_udb_extra_f2_a->sue_status = mavlink_msg_serial_udb_extra_f2_a_get_sue_status(msg);
+#else
+	memcpy(serial_udb_extra_f2_a, _MAV_PAYLOAD(msg), 63);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f2_b.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f2_b.h
new file mode 100644
index 000000000..7f0c8fe0a
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f2_b.h
@@ -0,0 +1,848 @@
+// MESSAGE SERIAL_UDB_EXTRA_F2_B PACKING
+
+#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B 171
+
+typedef struct __mavlink_serial_udb_extra_f2_b_t
+{
+ uint32_t sue_time; ///< Serial UDB Extra Time
+ uint32_t sue_flags; ///< Serial UDB Extra Status Flags
+ int16_t sue_pwm_input_1; ///< Serial UDB Extra PWM Input Channel 1
+ int16_t sue_pwm_input_2; ///< Serial UDB Extra PWM Input Channel 2
+ int16_t sue_pwm_input_3; ///< Serial UDB Extra PWM Input Channel 3
+ int16_t sue_pwm_input_4; ///< Serial UDB Extra PWM Input Channel 4
+ int16_t sue_pwm_input_5; ///< Serial UDB Extra PWM Input Channel 5
+ int16_t sue_pwm_input_6; ///< Serial UDB Extra PWM Input Channel 6
+ int16_t sue_pwm_input_7; ///< Serial UDB Extra PWM Input Channel 7
+ int16_t sue_pwm_input_8; ///< Serial UDB Extra PWM Input Channel 8
+ int16_t sue_pwm_input_9; ///< Serial UDB Extra PWM Input Channel 9
+ int16_t sue_pwm_input_10; ///< Serial UDB Extra PWM Input Channel 10
+ int16_t sue_pwm_output_1; ///< Serial UDB Extra PWM Output Channel 1
+ int16_t sue_pwm_output_2; ///< Serial UDB Extra PWM Output Channel 2
+ int16_t sue_pwm_output_3; ///< Serial UDB Extra PWM Output Channel 3
+ int16_t sue_pwm_output_4; ///< Serial UDB Extra PWM Output Channel 4
+ int16_t sue_pwm_output_5; ///< Serial UDB Extra PWM Output Channel 5
+ int16_t sue_pwm_output_6; ///< Serial UDB Extra PWM Output Channel 6
+ int16_t sue_pwm_output_7; ///< Serial UDB Extra PWM Output Channel 7
+ int16_t sue_pwm_output_8; ///< Serial UDB Extra PWM Output Channel 8
+ int16_t sue_pwm_output_9; ///< Serial UDB Extra PWM Output Channel 9
+ int16_t sue_pwm_output_10; ///< Serial UDB Extra PWM Output Channel 10
+ int16_t sue_imu_location_x; ///< Serial UDB Extra IMU Location X
+ int16_t sue_imu_location_y; ///< Serial UDB Extra IMU Location Y
+ int16_t sue_imu_location_z; ///< Serial UDB Extra IMU Location Z
+ int16_t sue_osc_fails; ///< Serial UDB Extra Oscillator Failure Count
+ int16_t sue_imu_velocity_x; ///< Serial UDB Extra IMU Velocity X
+ int16_t sue_imu_velocity_y; ///< Serial UDB Extra IMU Velocity Y
+ int16_t sue_imu_velocity_z; ///< Serial UDB Extra IMU Velocity Z
+ int16_t sue_waypoint_goal_x; ///< Serial UDB Extra Current Waypoint Goal X
+ int16_t sue_waypoint_goal_y; ///< Serial UDB Extra Current Waypoint Goal Y
+ int16_t sue_waypoint_goal_z; ///< Serial UDB Extra Current Waypoint Goal Z
+ int16_t sue_memory_stack_free; ///< Serial UDB Extra Stack Memory Free
+} mavlink_serial_udb_extra_f2_b_t;
+
+#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_LEN 70
+#define MAVLINK_MSG_ID_171_LEN 70
+
+
+
+#define MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F2_B { \
+	"SERIAL_UDB_EXTRA_F2_B", \
+	33, \
+	{  { "sue_time", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_time) }, \
+         { "sue_flags", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_flags) }, \
+         { "sue_pwm_input_1", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_input_1) }, \
+         { "sue_pwm_input_2", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_input_2) }, \
+         { "sue_pwm_input_3", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_input_3) }, \
+         { "sue_pwm_input_4", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_input_4) }, \
+         { "sue_pwm_input_5", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_input_5) }, \
+         { "sue_pwm_input_6", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_input_6) }, \
+         { "sue_pwm_input_7", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_input_7) }, \
+         { "sue_pwm_input_8", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_input_8) }, \
+         { "sue_pwm_input_9", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_input_9) }, \
+         { "sue_pwm_input_10", NULL, MAVLINK_TYPE_INT16_T, 0, 26, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_input_10) }, \
+         { "sue_pwm_output_1", NULL, MAVLINK_TYPE_INT16_T, 0, 28, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_output_1) }, \
+         { "sue_pwm_output_2", NULL, MAVLINK_TYPE_INT16_T, 0, 30, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_output_2) }, \
+         { "sue_pwm_output_3", NULL, MAVLINK_TYPE_INT16_T, 0, 32, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_output_3) }, \
+         { "sue_pwm_output_4", NULL, MAVLINK_TYPE_INT16_T, 0, 34, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_output_4) }, \
+         { "sue_pwm_output_5", NULL, MAVLINK_TYPE_INT16_T, 0, 36, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_output_5) }, \
+         { "sue_pwm_output_6", NULL, MAVLINK_TYPE_INT16_T, 0, 38, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_output_6) }, \
+         { "sue_pwm_output_7", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_output_7) }, \
+         { "sue_pwm_output_8", NULL, MAVLINK_TYPE_INT16_T, 0, 42, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_output_8) }, \
+         { "sue_pwm_output_9", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_output_9) }, \
+         { "sue_pwm_output_10", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_output_10) }, \
+         { "sue_imu_location_x", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_imu_location_x) }, \
+         { "sue_imu_location_y", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_imu_location_y) }, \
+         { "sue_imu_location_z", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_imu_location_z) }, \
+         { "sue_osc_fails", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_osc_fails) }, \
+         { "sue_imu_velocity_x", NULL, MAVLINK_TYPE_INT16_T, 0, 56, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_imu_velocity_x) }, \
+         { "sue_imu_velocity_y", NULL, MAVLINK_TYPE_INT16_T, 0, 58, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_imu_velocity_y) }, \
+         { "sue_imu_velocity_z", NULL, MAVLINK_TYPE_INT16_T, 0, 60, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_imu_velocity_z) }, \
+         { "sue_waypoint_goal_x", NULL, MAVLINK_TYPE_INT16_T, 0, 62, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_waypoint_goal_x) }, \
+         { "sue_waypoint_goal_y", NULL, MAVLINK_TYPE_INT16_T, 0, 64, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_waypoint_goal_y) }, \
+         { "sue_waypoint_goal_z", NULL, MAVLINK_TYPE_INT16_T, 0, 66, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_waypoint_goal_z) }, \
+         { "sue_memory_stack_free", NULL, MAVLINK_TYPE_INT16_T, 0, 68, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_memory_stack_free) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a serial_udb_extra_f2_b message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param sue_time Serial UDB Extra Time
+ * @param sue_pwm_input_1 Serial UDB Extra PWM Input Channel 1
+ * @param sue_pwm_input_2 Serial UDB Extra PWM Input Channel 2
+ * @param sue_pwm_input_3 Serial UDB Extra PWM Input Channel 3
+ * @param sue_pwm_input_4 Serial UDB Extra PWM Input Channel 4
+ * @param sue_pwm_input_5 Serial UDB Extra PWM Input Channel 5
+ * @param sue_pwm_input_6 Serial UDB Extra PWM Input Channel 6
+ * @param sue_pwm_input_7 Serial UDB Extra PWM Input Channel 7
+ * @param sue_pwm_input_8 Serial UDB Extra PWM Input Channel 8
+ * @param sue_pwm_input_9 Serial UDB Extra PWM Input Channel 9
+ * @param sue_pwm_input_10 Serial UDB Extra PWM Input Channel 10
+ * @param sue_pwm_output_1 Serial UDB Extra PWM Output Channel 1
+ * @param sue_pwm_output_2 Serial UDB Extra PWM Output Channel 2
+ * @param sue_pwm_output_3 Serial UDB Extra PWM Output Channel 3
+ * @param sue_pwm_output_4 Serial UDB Extra PWM Output Channel 4
+ * @param sue_pwm_output_5 Serial UDB Extra PWM Output Channel 5
+ * @param sue_pwm_output_6 Serial UDB Extra PWM Output Channel 6
+ * @param sue_pwm_output_7 Serial UDB Extra PWM Output Channel 7
+ * @param sue_pwm_output_8 Serial UDB Extra PWM Output Channel 8
+ * @param sue_pwm_output_9 Serial UDB Extra PWM Output Channel 9
+ * @param sue_pwm_output_10 Serial UDB Extra PWM Output Channel 10
+ * @param sue_imu_location_x Serial UDB Extra IMU Location X
+ * @param sue_imu_location_y Serial UDB Extra IMU Location Y
+ * @param sue_imu_location_z Serial UDB Extra IMU Location Z
+ * @param sue_flags Serial UDB Extra Status Flags
+ * @param sue_osc_fails Serial UDB Extra Oscillator Failure Count
+ * @param sue_imu_velocity_x Serial UDB Extra IMU Velocity X
+ * @param sue_imu_velocity_y Serial UDB Extra IMU Velocity Y
+ * @param sue_imu_velocity_z Serial UDB Extra IMU Velocity Z
+ * @param sue_waypoint_goal_x Serial UDB Extra Current Waypoint Goal X
+ * @param sue_waypoint_goal_y Serial UDB Extra Current Waypoint Goal Y
+ * @param sue_waypoint_goal_z Serial UDB Extra Current Waypoint Goal Z
+ * @param sue_memory_stack_free Serial UDB Extra Stack Memory Free
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f2_b_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint32_t sue_time, int16_t sue_pwm_input_1, int16_t sue_pwm_input_2, int16_t sue_pwm_input_3, int16_t sue_pwm_input_4, int16_t sue_pwm_input_5, int16_t sue_pwm_input_6, int16_t sue_pwm_input_7, int16_t sue_pwm_input_8, int16_t sue_pwm_input_9, int16_t sue_pwm_input_10, int16_t sue_pwm_output_1, int16_t sue_pwm_output_2, int16_t sue_pwm_output_3, int16_t sue_pwm_output_4, int16_t sue_pwm_output_5, int16_t sue_pwm_output_6, int16_t sue_pwm_output_7, int16_t sue_pwm_output_8, int16_t sue_pwm_output_9, int16_t sue_pwm_output_10, int16_t sue_imu_location_x, int16_t sue_imu_location_y, int16_t sue_imu_location_z, uint32_t sue_flags, int16_t sue_osc_fails, int16_t sue_imu_velocity_x, int16_t sue_imu_velocity_y, int16_t sue_imu_velocity_z, int16_t sue_waypoint_goal_x, int16_t sue_waypoint_goal_y, int16_t sue_waypoint_goal_z, int16_t sue_memory_stack_free)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[70];
+	_mav_put_uint32_t(buf, 0, sue_time);
+	_mav_put_uint32_t(buf, 4, sue_flags);
+	_mav_put_int16_t(buf, 8, sue_pwm_input_1);
+	_mav_put_int16_t(buf, 10, sue_pwm_input_2);
+	_mav_put_int16_t(buf, 12, sue_pwm_input_3);
+	_mav_put_int16_t(buf, 14, sue_pwm_input_4);
+	_mav_put_int16_t(buf, 16, sue_pwm_input_5);
+	_mav_put_int16_t(buf, 18, sue_pwm_input_6);
+	_mav_put_int16_t(buf, 20, sue_pwm_input_7);
+	_mav_put_int16_t(buf, 22, sue_pwm_input_8);
+	_mav_put_int16_t(buf, 24, sue_pwm_input_9);
+	_mav_put_int16_t(buf, 26, sue_pwm_input_10);
+	_mav_put_int16_t(buf, 28, sue_pwm_output_1);
+	_mav_put_int16_t(buf, 30, sue_pwm_output_2);
+	_mav_put_int16_t(buf, 32, sue_pwm_output_3);
+	_mav_put_int16_t(buf, 34, sue_pwm_output_4);
+	_mav_put_int16_t(buf, 36, sue_pwm_output_5);
+	_mav_put_int16_t(buf, 38, sue_pwm_output_6);
+	_mav_put_int16_t(buf, 40, sue_pwm_output_7);
+	_mav_put_int16_t(buf, 42, sue_pwm_output_8);
+	_mav_put_int16_t(buf, 44, sue_pwm_output_9);
+	_mav_put_int16_t(buf, 46, sue_pwm_output_10);
+	_mav_put_int16_t(buf, 48, sue_imu_location_x);
+	_mav_put_int16_t(buf, 50, sue_imu_location_y);
+	_mav_put_int16_t(buf, 52, sue_imu_location_z);
+	_mav_put_int16_t(buf, 54, sue_osc_fails);
+	_mav_put_int16_t(buf, 56, sue_imu_velocity_x);
+	_mav_put_int16_t(buf, 58, sue_imu_velocity_y);
+	_mav_put_int16_t(buf, 60, sue_imu_velocity_z);
+	_mav_put_int16_t(buf, 62, sue_waypoint_goal_x);
+	_mav_put_int16_t(buf, 64, sue_waypoint_goal_y);
+	_mav_put_int16_t(buf, 66, sue_waypoint_goal_z);
+	_mav_put_int16_t(buf, 68, sue_memory_stack_free);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 70);
+#else
+	mavlink_serial_udb_extra_f2_b_t packet;
+	packet.sue_time = sue_time;
+	packet.sue_flags = sue_flags;
+	packet.sue_pwm_input_1 = sue_pwm_input_1;
+	packet.sue_pwm_input_2 = sue_pwm_input_2;
+	packet.sue_pwm_input_3 = sue_pwm_input_3;
+	packet.sue_pwm_input_4 = sue_pwm_input_4;
+	packet.sue_pwm_input_5 = sue_pwm_input_5;
+	packet.sue_pwm_input_6 = sue_pwm_input_6;
+	packet.sue_pwm_input_7 = sue_pwm_input_7;
+	packet.sue_pwm_input_8 = sue_pwm_input_8;
+	packet.sue_pwm_input_9 = sue_pwm_input_9;
+	packet.sue_pwm_input_10 = sue_pwm_input_10;
+	packet.sue_pwm_output_1 = sue_pwm_output_1;
+	packet.sue_pwm_output_2 = sue_pwm_output_2;
+	packet.sue_pwm_output_3 = sue_pwm_output_3;
+	packet.sue_pwm_output_4 = sue_pwm_output_4;
+	packet.sue_pwm_output_5 = sue_pwm_output_5;
+	packet.sue_pwm_output_6 = sue_pwm_output_6;
+	packet.sue_pwm_output_7 = sue_pwm_output_7;
+	packet.sue_pwm_output_8 = sue_pwm_output_8;
+	packet.sue_pwm_output_9 = sue_pwm_output_9;
+	packet.sue_pwm_output_10 = sue_pwm_output_10;
+	packet.sue_imu_location_x = sue_imu_location_x;
+	packet.sue_imu_location_y = sue_imu_location_y;
+	packet.sue_imu_location_z = sue_imu_location_z;
+	packet.sue_osc_fails = sue_osc_fails;
+	packet.sue_imu_velocity_x = sue_imu_velocity_x;
+	packet.sue_imu_velocity_y = sue_imu_velocity_y;
+	packet.sue_imu_velocity_z = sue_imu_velocity_z;
+	packet.sue_waypoint_goal_x = sue_waypoint_goal_x;
+	packet.sue_waypoint_goal_y = sue_waypoint_goal_y;
+	packet.sue_waypoint_goal_z = sue_waypoint_goal_z;
+	packet.sue_memory_stack_free = sue_memory_stack_free;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 70);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B;
+	return mavlink_finalize_message(msg, system_id, component_id, 70, 169);
+}
+
+/**
+ * @brief Pack a serial_udb_extra_f2_b message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param sue_time Serial UDB Extra Time
+ * @param sue_pwm_input_1 Serial UDB Extra PWM Input Channel 1
+ * @param sue_pwm_input_2 Serial UDB Extra PWM Input Channel 2
+ * @param sue_pwm_input_3 Serial UDB Extra PWM Input Channel 3
+ * @param sue_pwm_input_4 Serial UDB Extra PWM Input Channel 4
+ * @param sue_pwm_input_5 Serial UDB Extra PWM Input Channel 5
+ * @param sue_pwm_input_6 Serial UDB Extra PWM Input Channel 6
+ * @param sue_pwm_input_7 Serial UDB Extra PWM Input Channel 7
+ * @param sue_pwm_input_8 Serial UDB Extra PWM Input Channel 8
+ * @param sue_pwm_input_9 Serial UDB Extra PWM Input Channel 9
+ * @param sue_pwm_input_10 Serial UDB Extra PWM Input Channel 10
+ * @param sue_pwm_output_1 Serial UDB Extra PWM Output Channel 1
+ * @param sue_pwm_output_2 Serial UDB Extra PWM Output Channel 2
+ * @param sue_pwm_output_3 Serial UDB Extra PWM Output Channel 3
+ * @param sue_pwm_output_4 Serial UDB Extra PWM Output Channel 4
+ * @param sue_pwm_output_5 Serial UDB Extra PWM Output Channel 5
+ * @param sue_pwm_output_6 Serial UDB Extra PWM Output Channel 6
+ * @param sue_pwm_output_7 Serial UDB Extra PWM Output Channel 7
+ * @param sue_pwm_output_8 Serial UDB Extra PWM Output Channel 8
+ * @param sue_pwm_output_9 Serial UDB Extra PWM Output Channel 9
+ * @param sue_pwm_output_10 Serial UDB Extra PWM Output Channel 10
+ * @param sue_imu_location_x Serial UDB Extra IMU Location X
+ * @param sue_imu_location_y Serial UDB Extra IMU Location Y
+ * @param sue_imu_location_z Serial UDB Extra IMU Location Z
+ * @param sue_flags Serial UDB Extra Status Flags
+ * @param sue_osc_fails Serial UDB Extra Oscillator Failure Count
+ * @param sue_imu_velocity_x Serial UDB Extra IMU Velocity X
+ * @param sue_imu_velocity_y Serial UDB Extra IMU Velocity Y
+ * @param sue_imu_velocity_z Serial UDB Extra IMU Velocity Z
+ * @param sue_waypoint_goal_x Serial UDB Extra Current Waypoint Goal X
+ * @param sue_waypoint_goal_y Serial UDB Extra Current Waypoint Goal Y
+ * @param sue_waypoint_goal_z Serial UDB Extra Current Waypoint Goal Z
+ * @param sue_memory_stack_free Serial UDB Extra Stack Memory Free
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f2_b_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint32_t sue_time,int16_t sue_pwm_input_1,int16_t sue_pwm_input_2,int16_t sue_pwm_input_3,int16_t sue_pwm_input_4,int16_t sue_pwm_input_5,int16_t sue_pwm_input_6,int16_t sue_pwm_input_7,int16_t sue_pwm_input_8,int16_t sue_pwm_input_9,int16_t sue_pwm_input_10,int16_t sue_pwm_output_1,int16_t sue_pwm_output_2,int16_t sue_pwm_output_3,int16_t sue_pwm_output_4,int16_t sue_pwm_output_5,int16_t sue_pwm_output_6,int16_t sue_pwm_output_7,int16_t sue_pwm_output_8,int16_t sue_pwm_output_9,int16_t sue_pwm_output_10,int16_t sue_imu_location_x,int16_t sue_imu_location_y,int16_t sue_imu_location_z,uint32_t sue_flags,int16_t sue_osc_fails,int16_t sue_imu_velocity_x,int16_t sue_imu_velocity_y,int16_t sue_imu_velocity_z,int16_t sue_waypoint_goal_x,int16_t sue_waypoint_goal_y,int16_t sue_waypoint_goal_z,int16_t sue_memory_stack_free)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[70];
+	_mav_put_uint32_t(buf, 0, sue_time);
+	_mav_put_uint32_t(buf, 4, sue_flags);
+	_mav_put_int16_t(buf, 8, sue_pwm_input_1);
+	_mav_put_int16_t(buf, 10, sue_pwm_input_2);
+	_mav_put_int16_t(buf, 12, sue_pwm_input_3);
+	_mav_put_int16_t(buf, 14, sue_pwm_input_4);
+	_mav_put_int16_t(buf, 16, sue_pwm_input_5);
+	_mav_put_int16_t(buf, 18, sue_pwm_input_6);
+	_mav_put_int16_t(buf, 20, sue_pwm_input_7);
+	_mav_put_int16_t(buf, 22, sue_pwm_input_8);
+	_mav_put_int16_t(buf, 24, sue_pwm_input_9);
+	_mav_put_int16_t(buf, 26, sue_pwm_input_10);
+	_mav_put_int16_t(buf, 28, sue_pwm_output_1);
+	_mav_put_int16_t(buf, 30, sue_pwm_output_2);
+	_mav_put_int16_t(buf, 32, sue_pwm_output_3);
+	_mav_put_int16_t(buf, 34, sue_pwm_output_4);
+	_mav_put_int16_t(buf, 36, sue_pwm_output_5);
+	_mav_put_int16_t(buf, 38, sue_pwm_output_6);
+	_mav_put_int16_t(buf, 40, sue_pwm_output_7);
+	_mav_put_int16_t(buf, 42, sue_pwm_output_8);
+	_mav_put_int16_t(buf, 44, sue_pwm_output_9);
+	_mav_put_int16_t(buf, 46, sue_pwm_output_10);
+	_mav_put_int16_t(buf, 48, sue_imu_location_x);
+	_mav_put_int16_t(buf, 50, sue_imu_location_y);
+	_mav_put_int16_t(buf, 52, sue_imu_location_z);
+	_mav_put_int16_t(buf, 54, sue_osc_fails);
+	_mav_put_int16_t(buf, 56, sue_imu_velocity_x);
+	_mav_put_int16_t(buf, 58, sue_imu_velocity_y);
+	_mav_put_int16_t(buf, 60, sue_imu_velocity_z);
+	_mav_put_int16_t(buf, 62, sue_waypoint_goal_x);
+	_mav_put_int16_t(buf, 64, sue_waypoint_goal_y);
+	_mav_put_int16_t(buf, 66, sue_waypoint_goal_z);
+	_mav_put_int16_t(buf, 68, sue_memory_stack_free);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 70);
+#else
+	mavlink_serial_udb_extra_f2_b_t packet;
+	packet.sue_time = sue_time;
+	packet.sue_flags = sue_flags;
+	packet.sue_pwm_input_1 = sue_pwm_input_1;
+	packet.sue_pwm_input_2 = sue_pwm_input_2;
+	packet.sue_pwm_input_3 = sue_pwm_input_3;
+	packet.sue_pwm_input_4 = sue_pwm_input_4;
+	packet.sue_pwm_input_5 = sue_pwm_input_5;
+	packet.sue_pwm_input_6 = sue_pwm_input_6;
+	packet.sue_pwm_input_7 = sue_pwm_input_7;
+	packet.sue_pwm_input_8 = sue_pwm_input_8;
+	packet.sue_pwm_input_9 = sue_pwm_input_9;
+	packet.sue_pwm_input_10 = sue_pwm_input_10;
+	packet.sue_pwm_output_1 = sue_pwm_output_1;
+	packet.sue_pwm_output_2 = sue_pwm_output_2;
+	packet.sue_pwm_output_3 = sue_pwm_output_3;
+	packet.sue_pwm_output_4 = sue_pwm_output_4;
+	packet.sue_pwm_output_5 = sue_pwm_output_5;
+	packet.sue_pwm_output_6 = sue_pwm_output_6;
+	packet.sue_pwm_output_7 = sue_pwm_output_7;
+	packet.sue_pwm_output_8 = sue_pwm_output_8;
+	packet.sue_pwm_output_9 = sue_pwm_output_9;
+	packet.sue_pwm_output_10 = sue_pwm_output_10;
+	packet.sue_imu_location_x = sue_imu_location_x;
+	packet.sue_imu_location_y = sue_imu_location_y;
+	packet.sue_imu_location_z = sue_imu_location_z;
+	packet.sue_osc_fails = sue_osc_fails;
+	packet.sue_imu_velocity_x = sue_imu_velocity_x;
+	packet.sue_imu_velocity_y = sue_imu_velocity_y;
+	packet.sue_imu_velocity_z = sue_imu_velocity_z;
+	packet.sue_waypoint_goal_x = sue_waypoint_goal_x;
+	packet.sue_waypoint_goal_y = sue_waypoint_goal_y;
+	packet.sue_waypoint_goal_z = sue_waypoint_goal_z;
+	packet.sue_memory_stack_free = sue_memory_stack_free;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 70);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 70, 169);
+}
+
+/**
+ * @brief Encode a serial_udb_extra_f2_b struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param serial_udb_extra_f2_b C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f2_b_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_udb_extra_f2_b_t* serial_udb_extra_f2_b)
+{
+	return mavlink_msg_serial_udb_extra_f2_b_pack(system_id, component_id, msg, serial_udb_extra_f2_b->sue_time, serial_udb_extra_f2_b->sue_pwm_input_1, serial_udb_extra_f2_b->sue_pwm_input_2, serial_udb_extra_f2_b->sue_pwm_input_3, serial_udb_extra_f2_b->sue_pwm_input_4, serial_udb_extra_f2_b->sue_pwm_input_5, serial_udb_extra_f2_b->sue_pwm_input_6, serial_udb_extra_f2_b->sue_pwm_input_7, serial_udb_extra_f2_b->sue_pwm_input_8, serial_udb_extra_f2_b->sue_pwm_input_9, serial_udb_extra_f2_b->sue_pwm_input_10, serial_udb_extra_f2_b->sue_pwm_output_1, serial_udb_extra_f2_b->sue_pwm_output_2, serial_udb_extra_f2_b->sue_pwm_output_3, serial_udb_extra_f2_b->sue_pwm_output_4, serial_udb_extra_f2_b->sue_pwm_output_5, serial_udb_extra_f2_b->sue_pwm_output_6, serial_udb_extra_f2_b->sue_pwm_output_7, serial_udb_extra_f2_b->sue_pwm_output_8, serial_udb_extra_f2_b->sue_pwm_output_9, serial_udb_extra_f2_b->sue_pwm_output_10, serial_udb_extra_f2_b->sue_imu_location_x, serial_udb_extra_f2_b->sue_imu_location_y, serial_udb_extra_f2_b->sue_imu_location_z, serial_udb_extra_f2_b->sue_flags, serial_udb_extra_f2_b->sue_osc_fails, serial_udb_extra_f2_b->sue_imu_velocity_x, serial_udb_extra_f2_b->sue_imu_velocity_y, serial_udb_extra_f2_b->sue_imu_velocity_z, serial_udb_extra_f2_b->sue_waypoint_goal_x, serial_udb_extra_f2_b->sue_waypoint_goal_y, serial_udb_extra_f2_b->sue_waypoint_goal_z, serial_udb_extra_f2_b->sue_memory_stack_free);
+}
+
+/**
+ * @brief Send a serial_udb_extra_f2_b message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param sue_time Serial UDB Extra Time
+ * @param sue_pwm_input_1 Serial UDB Extra PWM Input Channel 1
+ * @param sue_pwm_input_2 Serial UDB Extra PWM Input Channel 2
+ * @param sue_pwm_input_3 Serial UDB Extra PWM Input Channel 3
+ * @param sue_pwm_input_4 Serial UDB Extra PWM Input Channel 4
+ * @param sue_pwm_input_5 Serial UDB Extra PWM Input Channel 5
+ * @param sue_pwm_input_6 Serial UDB Extra PWM Input Channel 6
+ * @param sue_pwm_input_7 Serial UDB Extra PWM Input Channel 7
+ * @param sue_pwm_input_8 Serial UDB Extra PWM Input Channel 8
+ * @param sue_pwm_input_9 Serial UDB Extra PWM Input Channel 9
+ * @param sue_pwm_input_10 Serial UDB Extra PWM Input Channel 10
+ * @param sue_pwm_output_1 Serial UDB Extra PWM Output Channel 1
+ * @param sue_pwm_output_2 Serial UDB Extra PWM Output Channel 2
+ * @param sue_pwm_output_3 Serial UDB Extra PWM Output Channel 3
+ * @param sue_pwm_output_4 Serial UDB Extra PWM Output Channel 4
+ * @param sue_pwm_output_5 Serial UDB Extra PWM Output Channel 5
+ * @param sue_pwm_output_6 Serial UDB Extra PWM Output Channel 6
+ * @param sue_pwm_output_7 Serial UDB Extra PWM Output Channel 7
+ * @param sue_pwm_output_8 Serial UDB Extra PWM Output Channel 8
+ * @param sue_pwm_output_9 Serial UDB Extra PWM Output Channel 9
+ * @param sue_pwm_output_10 Serial UDB Extra PWM Output Channel 10
+ * @param sue_imu_location_x Serial UDB Extra IMU Location X
+ * @param sue_imu_location_y Serial UDB Extra IMU Location Y
+ * @param sue_imu_location_z Serial UDB Extra IMU Location Z
+ * @param sue_flags Serial UDB Extra Status Flags
+ * @param sue_osc_fails Serial UDB Extra Oscillator Failure Count
+ * @param sue_imu_velocity_x Serial UDB Extra IMU Velocity X
+ * @param sue_imu_velocity_y Serial UDB Extra IMU Velocity Y
+ * @param sue_imu_velocity_z Serial UDB Extra IMU Velocity Z
+ * @param sue_waypoint_goal_x Serial UDB Extra Current Waypoint Goal X
+ * @param sue_waypoint_goal_y Serial UDB Extra Current Waypoint Goal Y
+ * @param sue_waypoint_goal_z Serial UDB Extra Current Waypoint Goal Z
+ * @param sue_memory_stack_free Serial UDB Extra Stack Memory Free
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_serial_udb_extra_f2_b_send(mavlink_channel_t chan, uint32_t sue_time, int16_t sue_pwm_input_1, int16_t sue_pwm_input_2, int16_t sue_pwm_input_3, int16_t sue_pwm_input_4, int16_t sue_pwm_input_5, int16_t sue_pwm_input_6, int16_t sue_pwm_input_7, int16_t sue_pwm_input_8, int16_t sue_pwm_input_9, int16_t sue_pwm_input_10, int16_t sue_pwm_output_1, int16_t sue_pwm_output_2, int16_t sue_pwm_output_3, int16_t sue_pwm_output_4, int16_t sue_pwm_output_5, int16_t sue_pwm_output_6, int16_t sue_pwm_output_7, int16_t sue_pwm_output_8, int16_t sue_pwm_output_9, int16_t sue_pwm_output_10, int16_t sue_imu_location_x, int16_t sue_imu_location_y, int16_t sue_imu_location_z, uint32_t sue_flags, int16_t sue_osc_fails, int16_t sue_imu_velocity_x, int16_t sue_imu_velocity_y, int16_t sue_imu_velocity_z, int16_t sue_waypoint_goal_x, int16_t sue_waypoint_goal_y, int16_t sue_waypoint_goal_z, int16_t sue_memory_stack_free)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[70];
+	_mav_put_uint32_t(buf, 0, sue_time);
+	_mav_put_uint32_t(buf, 4, sue_flags);
+	_mav_put_int16_t(buf, 8, sue_pwm_input_1);
+	_mav_put_int16_t(buf, 10, sue_pwm_input_2);
+	_mav_put_int16_t(buf, 12, sue_pwm_input_3);
+	_mav_put_int16_t(buf, 14, sue_pwm_input_4);
+	_mav_put_int16_t(buf, 16, sue_pwm_input_5);
+	_mav_put_int16_t(buf, 18, sue_pwm_input_6);
+	_mav_put_int16_t(buf, 20, sue_pwm_input_7);
+	_mav_put_int16_t(buf, 22, sue_pwm_input_8);
+	_mav_put_int16_t(buf, 24, sue_pwm_input_9);
+	_mav_put_int16_t(buf, 26, sue_pwm_input_10);
+	_mav_put_int16_t(buf, 28, sue_pwm_output_1);
+	_mav_put_int16_t(buf, 30, sue_pwm_output_2);
+	_mav_put_int16_t(buf, 32, sue_pwm_output_3);
+	_mav_put_int16_t(buf, 34, sue_pwm_output_4);
+	_mav_put_int16_t(buf, 36, sue_pwm_output_5);
+	_mav_put_int16_t(buf, 38, sue_pwm_output_6);
+	_mav_put_int16_t(buf, 40, sue_pwm_output_7);
+	_mav_put_int16_t(buf, 42, sue_pwm_output_8);
+	_mav_put_int16_t(buf, 44, sue_pwm_output_9);
+	_mav_put_int16_t(buf, 46, sue_pwm_output_10);
+	_mav_put_int16_t(buf, 48, sue_imu_location_x);
+	_mav_put_int16_t(buf, 50, sue_imu_location_y);
+	_mav_put_int16_t(buf, 52, sue_imu_location_z);
+	_mav_put_int16_t(buf, 54, sue_osc_fails);
+	_mav_put_int16_t(buf, 56, sue_imu_velocity_x);
+	_mav_put_int16_t(buf, 58, sue_imu_velocity_y);
+	_mav_put_int16_t(buf, 60, sue_imu_velocity_z);
+	_mav_put_int16_t(buf, 62, sue_waypoint_goal_x);
+	_mav_put_int16_t(buf, 64, sue_waypoint_goal_y);
+	_mav_put_int16_t(buf, 66, sue_waypoint_goal_z);
+	_mav_put_int16_t(buf, 68, sue_memory_stack_free);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B, buf, 70, 169);
+#else
+	mavlink_serial_udb_extra_f2_b_t packet;
+	packet.sue_time = sue_time;
+	packet.sue_flags = sue_flags;
+	packet.sue_pwm_input_1 = sue_pwm_input_1;
+	packet.sue_pwm_input_2 = sue_pwm_input_2;
+	packet.sue_pwm_input_3 = sue_pwm_input_3;
+	packet.sue_pwm_input_4 = sue_pwm_input_4;
+	packet.sue_pwm_input_5 = sue_pwm_input_5;
+	packet.sue_pwm_input_6 = sue_pwm_input_6;
+	packet.sue_pwm_input_7 = sue_pwm_input_7;
+	packet.sue_pwm_input_8 = sue_pwm_input_8;
+	packet.sue_pwm_input_9 = sue_pwm_input_9;
+	packet.sue_pwm_input_10 = sue_pwm_input_10;
+	packet.sue_pwm_output_1 = sue_pwm_output_1;
+	packet.sue_pwm_output_2 = sue_pwm_output_2;
+	packet.sue_pwm_output_3 = sue_pwm_output_3;
+	packet.sue_pwm_output_4 = sue_pwm_output_4;
+	packet.sue_pwm_output_5 = sue_pwm_output_5;
+	packet.sue_pwm_output_6 = sue_pwm_output_6;
+	packet.sue_pwm_output_7 = sue_pwm_output_7;
+	packet.sue_pwm_output_8 = sue_pwm_output_8;
+	packet.sue_pwm_output_9 = sue_pwm_output_9;
+	packet.sue_pwm_output_10 = sue_pwm_output_10;
+	packet.sue_imu_location_x = sue_imu_location_x;
+	packet.sue_imu_location_y = sue_imu_location_y;
+	packet.sue_imu_location_z = sue_imu_location_z;
+	packet.sue_osc_fails = sue_osc_fails;
+	packet.sue_imu_velocity_x = sue_imu_velocity_x;
+	packet.sue_imu_velocity_y = sue_imu_velocity_y;
+	packet.sue_imu_velocity_z = sue_imu_velocity_z;
+	packet.sue_waypoint_goal_x = sue_waypoint_goal_x;
+	packet.sue_waypoint_goal_y = sue_waypoint_goal_y;
+	packet.sue_waypoint_goal_z = sue_waypoint_goal_z;
+	packet.sue_memory_stack_free = sue_memory_stack_free;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B, (const char *)&packet, 70, 169);
+#endif
+}
+
+#endif
+
+// MESSAGE SERIAL_UDB_EXTRA_F2_B UNPACKING
+
+
+/**
+ * @brief Get field sue_time from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra Time
+ */
+static inline uint32_t mavlink_msg_serial_udb_extra_f2_b_get_sue_time(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint32_t(msg,  0);
+}
+
+/**
+ * @brief Get field sue_pwm_input_1 from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra PWM Input Channel 1
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_1(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  8);
+}
+
+/**
+ * @brief Get field sue_pwm_input_2 from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra PWM Input Channel 2
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_2(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  10);
+}
+
+/**
+ * @brief Get field sue_pwm_input_3 from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra PWM Input Channel 3
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_3(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  12);
+}
+
+/**
+ * @brief Get field sue_pwm_input_4 from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra PWM Input Channel 4
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_4(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  14);
+}
+
+/**
+ * @brief Get field sue_pwm_input_5 from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra PWM Input Channel 5
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_5(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  16);
+}
+
+/**
+ * @brief Get field sue_pwm_input_6 from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra PWM Input Channel 6
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_6(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  18);
+}
+
+/**
+ * @brief Get field sue_pwm_input_7 from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra PWM Input Channel 7
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_7(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  20);
+}
+
+/**
+ * @brief Get field sue_pwm_input_8 from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra PWM Input Channel 8
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_8(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  22);
+}
+
+/**
+ * @brief Get field sue_pwm_input_9 from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra PWM Input Channel 9
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_9(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  24);
+}
+
+/**
+ * @brief Get field sue_pwm_input_10 from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra PWM Input Channel 10
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_10(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  26);
+}
+
+/**
+ * @brief Get field sue_pwm_output_1 from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra PWM Output Channel 1
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_1(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  28);
+}
+
+/**
+ * @brief Get field sue_pwm_output_2 from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra PWM Output Channel 2
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_2(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  30);
+}
+
+/**
+ * @brief Get field sue_pwm_output_3 from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra PWM Output Channel 3
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_3(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  32);
+}
+
+/**
+ * @brief Get field sue_pwm_output_4 from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra PWM Output Channel 4
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_4(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  34);
+}
+
+/**
+ * @brief Get field sue_pwm_output_5 from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra PWM Output Channel 5
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_5(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  36);
+}
+
+/**
+ * @brief Get field sue_pwm_output_6 from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra PWM Output Channel 6
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_6(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  38);
+}
+
+/**
+ * @brief Get field sue_pwm_output_7 from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra PWM Output Channel 7
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_7(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  40);
+}
+
+/**
+ * @brief Get field sue_pwm_output_8 from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra PWM Output Channel 8
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_8(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  42);
+}
+
+/**
+ * @brief Get field sue_pwm_output_9 from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra PWM Output Channel 9
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_9(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  44);
+}
+
+/**
+ * @brief Get field sue_pwm_output_10 from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra PWM Output Channel 10
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_10(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  46);
+}
+
+/**
+ * @brief Get field sue_imu_location_x from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra IMU Location X
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_imu_location_x(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  48);
+}
+
+/**
+ * @brief Get field sue_imu_location_y from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra IMU Location Y
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_imu_location_y(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  50);
+}
+
+/**
+ * @brief Get field sue_imu_location_z from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra IMU Location Z
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_imu_location_z(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  52);
+}
+
+/**
+ * @brief Get field sue_flags from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra Status Flags
+ */
+static inline uint32_t mavlink_msg_serial_udb_extra_f2_b_get_sue_flags(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint32_t(msg,  4);
+}
+
+/**
+ * @brief Get field sue_osc_fails from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra Oscillator Failure Count
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_osc_fails(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  54);
+}
+
+/**
+ * @brief Get field sue_imu_velocity_x from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra IMU Velocity X
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_imu_velocity_x(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  56);
+}
+
+/**
+ * @brief Get field sue_imu_velocity_y from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra IMU Velocity Y
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_imu_velocity_y(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  58);
+}
+
+/**
+ * @brief Get field sue_imu_velocity_z from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra IMU Velocity Z
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_imu_velocity_z(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  60);
+}
+
+/**
+ * @brief Get field sue_waypoint_goal_x from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra Current Waypoint Goal X
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_waypoint_goal_x(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  62);
+}
+
+/**
+ * @brief Get field sue_waypoint_goal_y from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra Current Waypoint Goal Y
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_waypoint_goal_y(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  64);
+}
+
+/**
+ * @brief Get field sue_waypoint_goal_z from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra Current Waypoint Goal Z
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_waypoint_goal_z(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  66);
+}
+
+/**
+ * @brief Get field sue_memory_stack_free from serial_udb_extra_f2_b message
+ *
+ * @return Serial UDB Extra Stack Memory Free
+ */
+static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_memory_stack_free(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  68);
+}
+
+/**
+ * @brief Decode a serial_udb_extra_f2_b message into a struct
+ *
+ * @param msg The message to decode
+ * @param serial_udb_extra_f2_b C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_serial_udb_extra_f2_b_decode(const mavlink_message_t* msg, mavlink_serial_udb_extra_f2_b_t* serial_udb_extra_f2_b)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	serial_udb_extra_f2_b->sue_time = mavlink_msg_serial_udb_extra_f2_b_get_sue_time(msg);
+	serial_udb_extra_f2_b->sue_flags = mavlink_msg_serial_udb_extra_f2_b_get_sue_flags(msg);
+	serial_udb_extra_f2_b->sue_pwm_input_1 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_1(msg);
+	serial_udb_extra_f2_b->sue_pwm_input_2 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_2(msg);
+	serial_udb_extra_f2_b->sue_pwm_input_3 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_3(msg);
+	serial_udb_extra_f2_b->sue_pwm_input_4 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_4(msg);
+	serial_udb_extra_f2_b->sue_pwm_input_5 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_5(msg);
+	serial_udb_extra_f2_b->sue_pwm_input_6 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_6(msg);
+	serial_udb_extra_f2_b->sue_pwm_input_7 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_7(msg);
+	serial_udb_extra_f2_b->sue_pwm_input_8 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_8(msg);
+	serial_udb_extra_f2_b->sue_pwm_input_9 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_9(msg);
+	serial_udb_extra_f2_b->sue_pwm_input_10 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_10(msg);
+	serial_udb_extra_f2_b->sue_pwm_output_1 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_1(msg);
+	serial_udb_extra_f2_b->sue_pwm_output_2 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_2(msg);
+	serial_udb_extra_f2_b->sue_pwm_output_3 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_3(msg);
+	serial_udb_extra_f2_b->sue_pwm_output_4 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_4(msg);
+	serial_udb_extra_f2_b->sue_pwm_output_5 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_5(msg);
+	serial_udb_extra_f2_b->sue_pwm_output_6 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_6(msg);
+	serial_udb_extra_f2_b->sue_pwm_output_7 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_7(msg);
+	serial_udb_extra_f2_b->sue_pwm_output_8 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_8(msg);
+	serial_udb_extra_f2_b->sue_pwm_output_9 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_9(msg);
+	serial_udb_extra_f2_b->sue_pwm_output_10 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_10(msg);
+	serial_udb_extra_f2_b->sue_imu_location_x = mavlink_msg_serial_udb_extra_f2_b_get_sue_imu_location_x(msg);
+	serial_udb_extra_f2_b->sue_imu_location_y = mavlink_msg_serial_udb_extra_f2_b_get_sue_imu_location_y(msg);
+	serial_udb_extra_f2_b->sue_imu_location_z = mavlink_msg_serial_udb_extra_f2_b_get_sue_imu_location_z(msg);
+	serial_udb_extra_f2_b->sue_osc_fails = mavlink_msg_serial_udb_extra_f2_b_get_sue_osc_fails(msg);
+	serial_udb_extra_f2_b->sue_imu_velocity_x = mavlink_msg_serial_udb_extra_f2_b_get_sue_imu_velocity_x(msg);
+	serial_udb_extra_f2_b->sue_imu_velocity_y = mavlink_msg_serial_udb_extra_f2_b_get_sue_imu_velocity_y(msg);
+	serial_udb_extra_f2_b->sue_imu_velocity_z = mavlink_msg_serial_udb_extra_f2_b_get_sue_imu_velocity_z(msg);
+	serial_udb_extra_f2_b->sue_waypoint_goal_x = mavlink_msg_serial_udb_extra_f2_b_get_sue_waypoint_goal_x(msg);
+	serial_udb_extra_f2_b->sue_waypoint_goal_y = mavlink_msg_serial_udb_extra_f2_b_get_sue_waypoint_goal_y(msg);
+	serial_udb_extra_f2_b->sue_waypoint_goal_z = mavlink_msg_serial_udb_extra_f2_b_get_sue_waypoint_goal_z(msg);
+	serial_udb_extra_f2_b->sue_memory_stack_free = mavlink_msg_serial_udb_extra_f2_b_get_sue_memory_stack_free(msg);
+#else
+	memcpy(serial_udb_extra_f2_b, _MAV_PAYLOAD(msg), 70);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f4.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f4.h
new file mode 100644
index 000000000..90c8e0428
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f4.h
@@ -0,0 +1,342 @@
+// MESSAGE SERIAL_UDB_EXTRA_F4 PACKING
+
+#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4 172
+
+typedef struct __mavlink_serial_udb_extra_f4_t
+{
+ uint8_t sue_ROLL_STABILIZATION_AILERONS; ///< Serial UDB Extra Roll Stabilization with Ailerons Enabled
+ uint8_t sue_ROLL_STABILIZATION_RUDDER; ///< Serial UDB Extra Roll Stabilization with Rudder Enabled
+ uint8_t sue_PITCH_STABILIZATION; ///< Serial UDB Extra Pitch Stabilization Enabled
+ uint8_t sue_YAW_STABILIZATION_RUDDER; ///< Serial UDB Extra Yaw Stabilization using Rudder Enabled
+ uint8_t sue_YAW_STABILIZATION_AILERON; ///< Serial UDB Extra Yaw Stabilization using Ailerons Enabled
+ uint8_t sue_AILERON_NAVIGATION; ///< Serial UDB Extra Navigation with Ailerons Enabled
+ uint8_t sue_RUDDER_NAVIGATION; ///< Serial UDB Extra Navigation with Rudder Enabled
+ uint8_t sue_ALTITUDEHOLD_STABILIZED; ///< Serial UDB Extra Type of Alitude Hold when in Stabilized Mode
+ uint8_t sue_ALTITUDEHOLD_WAYPOINT; ///< Serial UDB Extra Type of Alitude Hold when in Waypoint Mode
+ uint8_t sue_RACING_MODE; ///< Serial UDB Extra Firmware racing mode enabled
+} mavlink_serial_udb_extra_f4_t;
+
+#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_LEN 10
+#define MAVLINK_MSG_ID_172_LEN 10
+
+
+
+#define MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F4 { \
+	"SERIAL_UDB_EXTRA_F4", \
+	10, \
+	{  { "sue_ROLL_STABILIZATION_AILERONS", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_serial_udb_extra_f4_t, sue_ROLL_STABILIZATION_AILERONS) }, \
+         { "sue_ROLL_STABILIZATION_RUDDER", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_serial_udb_extra_f4_t, sue_ROLL_STABILIZATION_RUDDER) }, \
+         { "sue_PITCH_STABILIZATION", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_serial_udb_extra_f4_t, sue_PITCH_STABILIZATION) }, \
+         { "sue_YAW_STABILIZATION_RUDDER", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_serial_udb_extra_f4_t, sue_YAW_STABILIZATION_RUDDER) }, \
+         { "sue_YAW_STABILIZATION_AILERON", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_serial_udb_extra_f4_t, sue_YAW_STABILIZATION_AILERON) }, \
+         { "sue_AILERON_NAVIGATION", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_serial_udb_extra_f4_t, sue_AILERON_NAVIGATION) }, \
+         { "sue_RUDDER_NAVIGATION", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_serial_udb_extra_f4_t, sue_RUDDER_NAVIGATION) }, \
+         { "sue_ALTITUDEHOLD_STABILIZED", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_serial_udb_extra_f4_t, sue_ALTITUDEHOLD_STABILIZED) }, \
+         { "sue_ALTITUDEHOLD_WAYPOINT", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_serial_udb_extra_f4_t, sue_ALTITUDEHOLD_WAYPOINT) }, \
+         { "sue_RACING_MODE", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_serial_udb_extra_f4_t, sue_RACING_MODE) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a serial_udb_extra_f4 message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param sue_ROLL_STABILIZATION_AILERONS Serial UDB Extra Roll Stabilization with Ailerons Enabled
+ * @param sue_ROLL_STABILIZATION_RUDDER Serial UDB Extra Roll Stabilization with Rudder Enabled
+ * @param sue_PITCH_STABILIZATION Serial UDB Extra Pitch Stabilization Enabled
+ * @param sue_YAW_STABILIZATION_RUDDER Serial UDB Extra Yaw Stabilization using Rudder Enabled
+ * @param sue_YAW_STABILIZATION_AILERON Serial UDB Extra Yaw Stabilization using Ailerons Enabled
+ * @param sue_AILERON_NAVIGATION Serial UDB Extra Navigation with Ailerons Enabled
+ * @param sue_RUDDER_NAVIGATION Serial UDB Extra Navigation with Rudder Enabled
+ * @param sue_ALTITUDEHOLD_STABILIZED Serial UDB Extra Type of Alitude Hold when in Stabilized Mode
+ * @param sue_ALTITUDEHOLD_WAYPOINT Serial UDB Extra Type of Alitude Hold when in Waypoint Mode
+ * @param sue_RACING_MODE Serial UDB Extra Firmware racing mode enabled
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f4_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint8_t sue_ROLL_STABILIZATION_AILERONS, uint8_t sue_ROLL_STABILIZATION_RUDDER, uint8_t sue_PITCH_STABILIZATION, uint8_t sue_YAW_STABILIZATION_RUDDER, uint8_t sue_YAW_STABILIZATION_AILERON, uint8_t sue_AILERON_NAVIGATION, uint8_t sue_RUDDER_NAVIGATION, uint8_t sue_ALTITUDEHOLD_STABILIZED, uint8_t sue_ALTITUDEHOLD_WAYPOINT, uint8_t sue_RACING_MODE)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[10];
+	_mav_put_uint8_t(buf, 0, sue_ROLL_STABILIZATION_AILERONS);
+	_mav_put_uint8_t(buf, 1, sue_ROLL_STABILIZATION_RUDDER);
+	_mav_put_uint8_t(buf, 2, sue_PITCH_STABILIZATION);
+	_mav_put_uint8_t(buf, 3, sue_YAW_STABILIZATION_RUDDER);
+	_mav_put_uint8_t(buf, 4, sue_YAW_STABILIZATION_AILERON);
+	_mav_put_uint8_t(buf, 5, sue_AILERON_NAVIGATION);
+	_mav_put_uint8_t(buf, 6, sue_RUDDER_NAVIGATION);
+	_mav_put_uint8_t(buf, 7, sue_ALTITUDEHOLD_STABILIZED);
+	_mav_put_uint8_t(buf, 8, sue_ALTITUDEHOLD_WAYPOINT);
+	_mav_put_uint8_t(buf, 9, sue_RACING_MODE);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 10);
+#else
+	mavlink_serial_udb_extra_f4_t packet;
+	packet.sue_ROLL_STABILIZATION_AILERONS = sue_ROLL_STABILIZATION_AILERONS;
+	packet.sue_ROLL_STABILIZATION_RUDDER = sue_ROLL_STABILIZATION_RUDDER;
+	packet.sue_PITCH_STABILIZATION = sue_PITCH_STABILIZATION;
+	packet.sue_YAW_STABILIZATION_RUDDER = sue_YAW_STABILIZATION_RUDDER;
+	packet.sue_YAW_STABILIZATION_AILERON = sue_YAW_STABILIZATION_AILERON;
+	packet.sue_AILERON_NAVIGATION = sue_AILERON_NAVIGATION;
+	packet.sue_RUDDER_NAVIGATION = sue_RUDDER_NAVIGATION;
+	packet.sue_ALTITUDEHOLD_STABILIZED = sue_ALTITUDEHOLD_STABILIZED;
+	packet.sue_ALTITUDEHOLD_WAYPOINT = sue_ALTITUDEHOLD_WAYPOINT;
+	packet.sue_RACING_MODE = sue_RACING_MODE;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 10);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4;
+	return mavlink_finalize_message(msg, system_id, component_id, 10, 191);
+}
+
+/**
+ * @brief Pack a serial_udb_extra_f4 message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param sue_ROLL_STABILIZATION_AILERONS Serial UDB Extra Roll Stabilization with Ailerons Enabled
+ * @param sue_ROLL_STABILIZATION_RUDDER Serial UDB Extra Roll Stabilization with Rudder Enabled
+ * @param sue_PITCH_STABILIZATION Serial UDB Extra Pitch Stabilization Enabled
+ * @param sue_YAW_STABILIZATION_RUDDER Serial UDB Extra Yaw Stabilization using Rudder Enabled
+ * @param sue_YAW_STABILIZATION_AILERON Serial UDB Extra Yaw Stabilization using Ailerons Enabled
+ * @param sue_AILERON_NAVIGATION Serial UDB Extra Navigation with Ailerons Enabled
+ * @param sue_RUDDER_NAVIGATION Serial UDB Extra Navigation with Rudder Enabled
+ * @param sue_ALTITUDEHOLD_STABILIZED Serial UDB Extra Type of Alitude Hold when in Stabilized Mode
+ * @param sue_ALTITUDEHOLD_WAYPOINT Serial UDB Extra Type of Alitude Hold when in Waypoint Mode
+ * @param sue_RACING_MODE Serial UDB Extra Firmware racing mode enabled
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f4_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint8_t sue_ROLL_STABILIZATION_AILERONS,uint8_t sue_ROLL_STABILIZATION_RUDDER,uint8_t sue_PITCH_STABILIZATION,uint8_t sue_YAW_STABILIZATION_RUDDER,uint8_t sue_YAW_STABILIZATION_AILERON,uint8_t sue_AILERON_NAVIGATION,uint8_t sue_RUDDER_NAVIGATION,uint8_t sue_ALTITUDEHOLD_STABILIZED,uint8_t sue_ALTITUDEHOLD_WAYPOINT,uint8_t sue_RACING_MODE)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[10];
+	_mav_put_uint8_t(buf, 0, sue_ROLL_STABILIZATION_AILERONS);
+	_mav_put_uint8_t(buf, 1, sue_ROLL_STABILIZATION_RUDDER);
+	_mav_put_uint8_t(buf, 2, sue_PITCH_STABILIZATION);
+	_mav_put_uint8_t(buf, 3, sue_YAW_STABILIZATION_RUDDER);
+	_mav_put_uint8_t(buf, 4, sue_YAW_STABILIZATION_AILERON);
+	_mav_put_uint8_t(buf, 5, sue_AILERON_NAVIGATION);
+	_mav_put_uint8_t(buf, 6, sue_RUDDER_NAVIGATION);
+	_mav_put_uint8_t(buf, 7, sue_ALTITUDEHOLD_STABILIZED);
+	_mav_put_uint8_t(buf, 8, sue_ALTITUDEHOLD_WAYPOINT);
+	_mav_put_uint8_t(buf, 9, sue_RACING_MODE);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 10);
+#else
+	mavlink_serial_udb_extra_f4_t packet;
+	packet.sue_ROLL_STABILIZATION_AILERONS = sue_ROLL_STABILIZATION_AILERONS;
+	packet.sue_ROLL_STABILIZATION_RUDDER = sue_ROLL_STABILIZATION_RUDDER;
+	packet.sue_PITCH_STABILIZATION = sue_PITCH_STABILIZATION;
+	packet.sue_YAW_STABILIZATION_RUDDER = sue_YAW_STABILIZATION_RUDDER;
+	packet.sue_YAW_STABILIZATION_AILERON = sue_YAW_STABILIZATION_AILERON;
+	packet.sue_AILERON_NAVIGATION = sue_AILERON_NAVIGATION;
+	packet.sue_RUDDER_NAVIGATION = sue_RUDDER_NAVIGATION;
+	packet.sue_ALTITUDEHOLD_STABILIZED = sue_ALTITUDEHOLD_STABILIZED;
+	packet.sue_ALTITUDEHOLD_WAYPOINT = sue_ALTITUDEHOLD_WAYPOINT;
+	packet.sue_RACING_MODE = sue_RACING_MODE;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 10);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 10, 191);
+}
+
+/**
+ * @brief Encode a serial_udb_extra_f4 struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param serial_udb_extra_f4 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f4_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_udb_extra_f4_t* serial_udb_extra_f4)
+{
+	return mavlink_msg_serial_udb_extra_f4_pack(system_id, component_id, msg, serial_udb_extra_f4->sue_ROLL_STABILIZATION_AILERONS, serial_udb_extra_f4->sue_ROLL_STABILIZATION_RUDDER, serial_udb_extra_f4->sue_PITCH_STABILIZATION, serial_udb_extra_f4->sue_YAW_STABILIZATION_RUDDER, serial_udb_extra_f4->sue_YAW_STABILIZATION_AILERON, serial_udb_extra_f4->sue_AILERON_NAVIGATION, serial_udb_extra_f4->sue_RUDDER_NAVIGATION, serial_udb_extra_f4->sue_ALTITUDEHOLD_STABILIZED, serial_udb_extra_f4->sue_ALTITUDEHOLD_WAYPOINT, serial_udb_extra_f4->sue_RACING_MODE);
+}
+
+/**
+ * @brief Send a serial_udb_extra_f4 message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param sue_ROLL_STABILIZATION_AILERONS Serial UDB Extra Roll Stabilization with Ailerons Enabled
+ * @param sue_ROLL_STABILIZATION_RUDDER Serial UDB Extra Roll Stabilization with Rudder Enabled
+ * @param sue_PITCH_STABILIZATION Serial UDB Extra Pitch Stabilization Enabled
+ * @param sue_YAW_STABILIZATION_RUDDER Serial UDB Extra Yaw Stabilization using Rudder Enabled
+ * @param sue_YAW_STABILIZATION_AILERON Serial UDB Extra Yaw Stabilization using Ailerons Enabled
+ * @param sue_AILERON_NAVIGATION Serial UDB Extra Navigation with Ailerons Enabled
+ * @param sue_RUDDER_NAVIGATION Serial UDB Extra Navigation with Rudder Enabled
+ * @param sue_ALTITUDEHOLD_STABILIZED Serial UDB Extra Type of Alitude Hold when in Stabilized Mode
+ * @param sue_ALTITUDEHOLD_WAYPOINT Serial UDB Extra Type of Alitude Hold when in Waypoint Mode
+ * @param sue_RACING_MODE Serial UDB Extra Firmware racing mode enabled
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_serial_udb_extra_f4_send(mavlink_channel_t chan, uint8_t sue_ROLL_STABILIZATION_AILERONS, uint8_t sue_ROLL_STABILIZATION_RUDDER, uint8_t sue_PITCH_STABILIZATION, uint8_t sue_YAW_STABILIZATION_RUDDER, uint8_t sue_YAW_STABILIZATION_AILERON, uint8_t sue_AILERON_NAVIGATION, uint8_t sue_RUDDER_NAVIGATION, uint8_t sue_ALTITUDEHOLD_STABILIZED, uint8_t sue_ALTITUDEHOLD_WAYPOINT, uint8_t sue_RACING_MODE)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[10];
+	_mav_put_uint8_t(buf, 0, sue_ROLL_STABILIZATION_AILERONS);
+	_mav_put_uint8_t(buf, 1, sue_ROLL_STABILIZATION_RUDDER);
+	_mav_put_uint8_t(buf, 2, sue_PITCH_STABILIZATION);
+	_mav_put_uint8_t(buf, 3, sue_YAW_STABILIZATION_RUDDER);
+	_mav_put_uint8_t(buf, 4, sue_YAW_STABILIZATION_AILERON);
+	_mav_put_uint8_t(buf, 5, sue_AILERON_NAVIGATION);
+	_mav_put_uint8_t(buf, 6, sue_RUDDER_NAVIGATION);
+	_mav_put_uint8_t(buf, 7, sue_ALTITUDEHOLD_STABILIZED);
+	_mav_put_uint8_t(buf, 8, sue_ALTITUDEHOLD_WAYPOINT);
+	_mav_put_uint8_t(buf, 9, sue_RACING_MODE);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4, buf, 10, 191);
+#else
+	mavlink_serial_udb_extra_f4_t packet;
+	packet.sue_ROLL_STABILIZATION_AILERONS = sue_ROLL_STABILIZATION_AILERONS;
+	packet.sue_ROLL_STABILIZATION_RUDDER = sue_ROLL_STABILIZATION_RUDDER;
+	packet.sue_PITCH_STABILIZATION = sue_PITCH_STABILIZATION;
+	packet.sue_YAW_STABILIZATION_RUDDER = sue_YAW_STABILIZATION_RUDDER;
+	packet.sue_YAW_STABILIZATION_AILERON = sue_YAW_STABILIZATION_AILERON;
+	packet.sue_AILERON_NAVIGATION = sue_AILERON_NAVIGATION;
+	packet.sue_RUDDER_NAVIGATION = sue_RUDDER_NAVIGATION;
+	packet.sue_ALTITUDEHOLD_STABILIZED = sue_ALTITUDEHOLD_STABILIZED;
+	packet.sue_ALTITUDEHOLD_WAYPOINT = sue_ALTITUDEHOLD_WAYPOINT;
+	packet.sue_RACING_MODE = sue_RACING_MODE;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4, (const char *)&packet, 10, 191);
+#endif
+}
+
+#endif
+
+// MESSAGE SERIAL_UDB_EXTRA_F4 UNPACKING
+
+
+/**
+ * @brief Get field sue_ROLL_STABILIZATION_AILERONS from serial_udb_extra_f4 message
+ *
+ * @return Serial UDB Extra Roll Stabilization with Ailerons Enabled
+ */
+static inline uint8_t mavlink_msg_serial_udb_extra_f4_get_sue_ROLL_STABILIZATION_AILERONS(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  0);
+}
+
+/**
+ * @brief Get field sue_ROLL_STABILIZATION_RUDDER from serial_udb_extra_f4 message
+ *
+ * @return Serial UDB Extra Roll Stabilization with Rudder Enabled
+ */
+static inline uint8_t mavlink_msg_serial_udb_extra_f4_get_sue_ROLL_STABILIZATION_RUDDER(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  1);
+}
+
+/**
+ * @brief Get field sue_PITCH_STABILIZATION from serial_udb_extra_f4 message
+ *
+ * @return Serial UDB Extra Pitch Stabilization Enabled
+ */
+static inline uint8_t mavlink_msg_serial_udb_extra_f4_get_sue_PITCH_STABILIZATION(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  2);
+}
+
+/**
+ * @brief Get field sue_YAW_STABILIZATION_RUDDER from serial_udb_extra_f4 message
+ *
+ * @return Serial UDB Extra Yaw Stabilization using Rudder Enabled
+ */
+static inline uint8_t mavlink_msg_serial_udb_extra_f4_get_sue_YAW_STABILIZATION_RUDDER(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  3);
+}
+
+/**
+ * @brief Get field sue_YAW_STABILIZATION_AILERON from serial_udb_extra_f4 message
+ *
+ * @return Serial UDB Extra Yaw Stabilization using Ailerons Enabled
+ */
+static inline uint8_t mavlink_msg_serial_udb_extra_f4_get_sue_YAW_STABILIZATION_AILERON(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  4);
+}
+
+/**
+ * @brief Get field sue_AILERON_NAVIGATION from serial_udb_extra_f4 message
+ *
+ * @return Serial UDB Extra Navigation with Ailerons Enabled
+ */
+static inline uint8_t mavlink_msg_serial_udb_extra_f4_get_sue_AILERON_NAVIGATION(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  5);
+}
+
+/**
+ * @brief Get field sue_RUDDER_NAVIGATION from serial_udb_extra_f4 message
+ *
+ * @return Serial UDB Extra Navigation with Rudder Enabled
+ */
+static inline uint8_t mavlink_msg_serial_udb_extra_f4_get_sue_RUDDER_NAVIGATION(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  6);
+}
+
+/**
+ * @brief Get field sue_ALTITUDEHOLD_STABILIZED from serial_udb_extra_f4 message
+ *
+ * @return Serial UDB Extra Type of Alitude Hold when in Stabilized Mode
+ */
+static inline uint8_t mavlink_msg_serial_udb_extra_f4_get_sue_ALTITUDEHOLD_STABILIZED(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  7);
+}
+
+/**
+ * @brief Get field sue_ALTITUDEHOLD_WAYPOINT from serial_udb_extra_f4 message
+ *
+ * @return Serial UDB Extra Type of Alitude Hold when in Waypoint Mode
+ */
+static inline uint8_t mavlink_msg_serial_udb_extra_f4_get_sue_ALTITUDEHOLD_WAYPOINT(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  8);
+}
+
+/**
+ * @brief Get field sue_RACING_MODE from serial_udb_extra_f4 message
+ *
+ * @return Serial UDB Extra Firmware racing mode enabled
+ */
+static inline uint8_t mavlink_msg_serial_udb_extra_f4_get_sue_RACING_MODE(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  9);
+}
+
+/**
+ * @brief Decode a serial_udb_extra_f4 message into a struct
+ *
+ * @param msg The message to decode
+ * @param serial_udb_extra_f4 C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_serial_udb_extra_f4_decode(const mavlink_message_t* msg, mavlink_serial_udb_extra_f4_t* serial_udb_extra_f4)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	serial_udb_extra_f4->sue_ROLL_STABILIZATION_AILERONS = mavlink_msg_serial_udb_extra_f4_get_sue_ROLL_STABILIZATION_AILERONS(msg);
+	serial_udb_extra_f4->sue_ROLL_STABILIZATION_RUDDER = mavlink_msg_serial_udb_extra_f4_get_sue_ROLL_STABILIZATION_RUDDER(msg);
+	serial_udb_extra_f4->sue_PITCH_STABILIZATION = mavlink_msg_serial_udb_extra_f4_get_sue_PITCH_STABILIZATION(msg);
+	serial_udb_extra_f4->sue_YAW_STABILIZATION_RUDDER = mavlink_msg_serial_udb_extra_f4_get_sue_YAW_STABILIZATION_RUDDER(msg);
+	serial_udb_extra_f4->sue_YAW_STABILIZATION_AILERON = mavlink_msg_serial_udb_extra_f4_get_sue_YAW_STABILIZATION_AILERON(msg);
+	serial_udb_extra_f4->sue_AILERON_NAVIGATION = mavlink_msg_serial_udb_extra_f4_get_sue_AILERON_NAVIGATION(msg);
+	serial_udb_extra_f4->sue_RUDDER_NAVIGATION = mavlink_msg_serial_udb_extra_f4_get_sue_RUDDER_NAVIGATION(msg);
+	serial_udb_extra_f4->sue_ALTITUDEHOLD_STABILIZED = mavlink_msg_serial_udb_extra_f4_get_sue_ALTITUDEHOLD_STABILIZED(msg);
+	serial_udb_extra_f4->sue_ALTITUDEHOLD_WAYPOINT = mavlink_msg_serial_udb_extra_f4_get_sue_ALTITUDEHOLD_WAYPOINT(msg);
+	serial_udb_extra_f4->sue_RACING_MODE = mavlink_msg_serial_udb_extra_f4_get_sue_RACING_MODE(msg);
+#else
+	memcpy(serial_udb_extra_f4, _MAV_PAYLOAD(msg), 10);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f5.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f5.h
new file mode 100644
index 000000000..79db8f1d8
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f5.h
@@ -0,0 +1,254 @@
+// MESSAGE SERIAL_UDB_EXTRA_F5 PACKING
+
+#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5 173
+
+typedef struct __mavlink_serial_udb_extra_f5_t
+{
+ float sue_YAWKP_AILERON; ///< Serial UDB YAWKP_AILERON Gain for Proporional control of navigation
+ float sue_YAWKD_AILERON; ///< Serial UDB YAWKD_AILERON Gain for Rate control of navigation
+ float sue_ROLLKP; ///< Serial UDB Extra ROLLKP Gain for Proportional control of roll stabilization
+ float sue_ROLLKD; ///< Serial UDB Extra ROLLKD Gain for Rate control of roll stabilization
+ float sue_YAW_STABILIZATION_AILERON; ///< YAW_STABILIZATION_AILERON Proportional control
+ float sue_AILERON_BOOST; ///< Gain For Boosting Manual Aileron control When Plane Stabilized
+} mavlink_serial_udb_extra_f5_t;
+
+#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_LEN 24
+#define MAVLINK_MSG_ID_173_LEN 24
+
+
+
+#define MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F5 { \
+	"SERIAL_UDB_EXTRA_F5", \
+	6, \
+	{  { "sue_YAWKP_AILERON", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_serial_udb_extra_f5_t, sue_YAWKP_AILERON) }, \
+         { "sue_YAWKD_AILERON", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_serial_udb_extra_f5_t, sue_YAWKD_AILERON) }, \
+         { "sue_ROLLKP", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_serial_udb_extra_f5_t, sue_ROLLKP) }, \
+         { "sue_ROLLKD", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_serial_udb_extra_f5_t, sue_ROLLKD) }, \
+         { "sue_YAW_STABILIZATION_AILERON", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_serial_udb_extra_f5_t, sue_YAW_STABILIZATION_AILERON) }, \
+         { "sue_AILERON_BOOST", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_serial_udb_extra_f5_t, sue_AILERON_BOOST) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a serial_udb_extra_f5 message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param sue_YAWKP_AILERON Serial UDB YAWKP_AILERON Gain for Proporional control of navigation
+ * @param sue_YAWKD_AILERON Serial UDB YAWKD_AILERON Gain for Rate control of navigation
+ * @param sue_ROLLKP Serial UDB Extra ROLLKP Gain for Proportional control of roll stabilization
+ * @param sue_ROLLKD Serial UDB Extra ROLLKD Gain for Rate control of roll stabilization
+ * @param sue_YAW_STABILIZATION_AILERON YAW_STABILIZATION_AILERON Proportional control
+ * @param sue_AILERON_BOOST Gain For Boosting Manual Aileron control When Plane Stabilized
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f5_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       float sue_YAWKP_AILERON, float sue_YAWKD_AILERON, float sue_ROLLKP, float sue_ROLLKD, float sue_YAW_STABILIZATION_AILERON, float sue_AILERON_BOOST)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[24];
+	_mav_put_float(buf, 0, sue_YAWKP_AILERON);
+	_mav_put_float(buf, 4, sue_YAWKD_AILERON);
+	_mav_put_float(buf, 8, sue_ROLLKP);
+	_mav_put_float(buf, 12, sue_ROLLKD);
+	_mav_put_float(buf, 16, sue_YAW_STABILIZATION_AILERON);
+	_mav_put_float(buf, 20, sue_AILERON_BOOST);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24);
+#else
+	mavlink_serial_udb_extra_f5_t packet;
+	packet.sue_YAWKP_AILERON = sue_YAWKP_AILERON;
+	packet.sue_YAWKD_AILERON = sue_YAWKD_AILERON;
+	packet.sue_ROLLKP = sue_ROLLKP;
+	packet.sue_ROLLKD = sue_ROLLKD;
+	packet.sue_YAW_STABILIZATION_AILERON = sue_YAW_STABILIZATION_AILERON;
+	packet.sue_AILERON_BOOST = sue_AILERON_BOOST;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5;
+	return mavlink_finalize_message(msg, system_id, component_id, 24, 121);
+}
+
+/**
+ * @brief Pack a serial_udb_extra_f5 message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param sue_YAWKP_AILERON Serial UDB YAWKP_AILERON Gain for Proporional control of navigation
+ * @param sue_YAWKD_AILERON Serial UDB YAWKD_AILERON Gain for Rate control of navigation
+ * @param sue_ROLLKP Serial UDB Extra ROLLKP Gain for Proportional control of roll stabilization
+ * @param sue_ROLLKD Serial UDB Extra ROLLKD Gain for Rate control of roll stabilization
+ * @param sue_YAW_STABILIZATION_AILERON YAW_STABILIZATION_AILERON Proportional control
+ * @param sue_AILERON_BOOST Gain For Boosting Manual Aileron control When Plane Stabilized
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f5_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           float sue_YAWKP_AILERON,float sue_YAWKD_AILERON,float sue_ROLLKP,float sue_ROLLKD,float sue_YAW_STABILIZATION_AILERON,float sue_AILERON_BOOST)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[24];
+	_mav_put_float(buf, 0, sue_YAWKP_AILERON);
+	_mav_put_float(buf, 4, sue_YAWKD_AILERON);
+	_mav_put_float(buf, 8, sue_ROLLKP);
+	_mav_put_float(buf, 12, sue_ROLLKD);
+	_mav_put_float(buf, 16, sue_YAW_STABILIZATION_AILERON);
+	_mav_put_float(buf, 20, sue_AILERON_BOOST);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24);
+#else
+	mavlink_serial_udb_extra_f5_t packet;
+	packet.sue_YAWKP_AILERON = sue_YAWKP_AILERON;
+	packet.sue_YAWKD_AILERON = sue_YAWKD_AILERON;
+	packet.sue_ROLLKP = sue_ROLLKP;
+	packet.sue_ROLLKD = sue_ROLLKD;
+	packet.sue_YAW_STABILIZATION_AILERON = sue_YAW_STABILIZATION_AILERON;
+	packet.sue_AILERON_BOOST = sue_AILERON_BOOST;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 24, 121);
+}
+
+/**
+ * @brief Encode a serial_udb_extra_f5 struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param serial_udb_extra_f5 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f5_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_udb_extra_f5_t* serial_udb_extra_f5)
+{
+	return mavlink_msg_serial_udb_extra_f5_pack(system_id, component_id, msg, serial_udb_extra_f5->sue_YAWKP_AILERON, serial_udb_extra_f5->sue_YAWKD_AILERON, serial_udb_extra_f5->sue_ROLLKP, serial_udb_extra_f5->sue_ROLLKD, serial_udb_extra_f5->sue_YAW_STABILIZATION_AILERON, serial_udb_extra_f5->sue_AILERON_BOOST);
+}
+
+/**
+ * @brief Send a serial_udb_extra_f5 message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param sue_YAWKP_AILERON Serial UDB YAWKP_AILERON Gain for Proporional control of navigation
+ * @param sue_YAWKD_AILERON Serial UDB YAWKD_AILERON Gain for Rate control of navigation
+ * @param sue_ROLLKP Serial UDB Extra ROLLKP Gain for Proportional control of roll stabilization
+ * @param sue_ROLLKD Serial UDB Extra ROLLKD Gain for Rate control of roll stabilization
+ * @param sue_YAW_STABILIZATION_AILERON YAW_STABILIZATION_AILERON Proportional control
+ * @param sue_AILERON_BOOST Gain For Boosting Manual Aileron control When Plane Stabilized
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_serial_udb_extra_f5_send(mavlink_channel_t chan, float sue_YAWKP_AILERON, float sue_YAWKD_AILERON, float sue_ROLLKP, float sue_ROLLKD, float sue_YAW_STABILIZATION_AILERON, float sue_AILERON_BOOST)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[24];
+	_mav_put_float(buf, 0, sue_YAWKP_AILERON);
+	_mav_put_float(buf, 4, sue_YAWKD_AILERON);
+	_mav_put_float(buf, 8, sue_ROLLKP);
+	_mav_put_float(buf, 12, sue_ROLLKD);
+	_mav_put_float(buf, 16, sue_YAW_STABILIZATION_AILERON);
+	_mav_put_float(buf, 20, sue_AILERON_BOOST);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5, buf, 24, 121);
+#else
+	mavlink_serial_udb_extra_f5_t packet;
+	packet.sue_YAWKP_AILERON = sue_YAWKP_AILERON;
+	packet.sue_YAWKD_AILERON = sue_YAWKD_AILERON;
+	packet.sue_ROLLKP = sue_ROLLKP;
+	packet.sue_ROLLKD = sue_ROLLKD;
+	packet.sue_YAW_STABILIZATION_AILERON = sue_YAW_STABILIZATION_AILERON;
+	packet.sue_AILERON_BOOST = sue_AILERON_BOOST;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5, (const char *)&packet, 24, 121);
+#endif
+}
+
+#endif
+
+// MESSAGE SERIAL_UDB_EXTRA_F5 UNPACKING
+
+
+/**
+ * @brief Get field sue_YAWKP_AILERON from serial_udb_extra_f5 message
+ *
+ * @return Serial UDB YAWKP_AILERON Gain for Proporional control of navigation
+ */
+static inline float mavlink_msg_serial_udb_extra_f5_get_sue_YAWKP_AILERON(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  0);
+}
+
+/**
+ * @brief Get field sue_YAWKD_AILERON from serial_udb_extra_f5 message
+ *
+ * @return Serial UDB YAWKD_AILERON Gain for Rate control of navigation
+ */
+static inline float mavlink_msg_serial_udb_extra_f5_get_sue_YAWKD_AILERON(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  4);
+}
+
+/**
+ * @brief Get field sue_ROLLKP from serial_udb_extra_f5 message
+ *
+ * @return Serial UDB Extra ROLLKP Gain for Proportional control of roll stabilization
+ */
+static inline float mavlink_msg_serial_udb_extra_f5_get_sue_ROLLKP(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  8);
+}
+
+/**
+ * @brief Get field sue_ROLLKD from serial_udb_extra_f5 message
+ *
+ * @return Serial UDB Extra ROLLKD Gain for Rate control of roll stabilization
+ */
+static inline float mavlink_msg_serial_udb_extra_f5_get_sue_ROLLKD(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  12);
+}
+
+/**
+ * @brief Get field sue_YAW_STABILIZATION_AILERON from serial_udb_extra_f5 message
+ *
+ * @return YAW_STABILIZATION_AILERON Proportional control
+ */
+static inline float mavlink_msg_serial_udb_extra_f5_get_sue_YAW_STABILIZATION_AILERON(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  16);
+}
+
+/**
+ * @brief Get field sue_AILERON_BOOST from serial_udb_extra_f5 message
+ *
+ * @return Gain For Boosting Manual Aileron control When Plane Stabilized
+ */
+static inline float mavlink_msg_serial_udb_extra_f5_get_sue_AILERON_BOOST(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  20);
+}
+
+/**
+ * @brief Decode a serial_udb_extra_f5 message into a struct
+ *
+ * @param msg The message to decode
+ * @param serial_udb_extra_f5 C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_serial_udb_extra_f5_decode(const mavlink_message_t* msg, mavlink_serial_udb_extra_f5_t* serial_udb_extra_f5)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	serial_udb_extra_f5->sue_YAWKP_AILERON = mavlink_msg_serial_udb_extra_f5_get_sue_YAWKP_AILERON(msg);
+	serial_udb_extra_f5->sue_YAWKD_AILERON = mavlink_msg_serial_udb_extra_f5_get_sue_YAWKD_AILERON(msg);
+	serial_udb_extra_f5->sue_ROLLKP = mavlink_msg_serial_udb_extra_f5_get_sue_ROLLKP(msg);
+	serial_udb_extra_f5->sue_ROLLKD = mavlink_msg_serial_udb_extra_f5_get_sue_ROLLKD(msg);
+	serial_udb_extra_f5->sue_YAW_STABILIZATION_AILERON = mavlink_msg_serial_udb_extra_f5_get_sue_YAW_STABILIZATION_AILERON(msg);
+	serial_udb_extra_f5->sue_AILERON_BOOST = mavlink_msg_serial_udb_extra_f5_get_sue_AILERON_BOOST(msg);
+#else
+	memcpy(serial_udb_extra_f5, _MAV_PAYLOAD(msg), 24);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f6.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f6.h
new file mode 100644
index 000000000..744866aff
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f6.h
@@ -0,0 +1,232 @@
+// MESSAGE SERIAL_UDB_EXTRA_F6 PACKING
+
+#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6 174
+
+typedef struct __mavlink_serial_udb_extra_f6_t
+{
+ float sue_PITCHGAIN; ///< Serial UDB Extra PITCHGAIN Proportional Control
+ float sue_PITCHKD; ///< Serial UDB Extra Pitch Rate Control
+ float sue_RUDDER_ELEV_MIX; ///< Serial UDB Extra Rudder to Elevator Mix
+ float sue_ROLL_ELEV_MIX; ///< Serial UDB Extra Roll to Elevator Mix
+ float sue_ELEVATOR_BOOST; ///< Gain For Boosting Manual Elevator control When Plane Stabilized
+} mavlink_serial_udb_extra_f6_t;
+
+#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_LEN 20
+#define MAVLINK_MSG_ID_174_LEN 20
+
+
+
+#define MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F6 { \
+	"SERIAL_UDB_EXTRA_F6", \
+	5, \
+	{  { "sue_PITCHGAIN", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_serial_udb_extra_f6_t, sue_PITCHGAIN) }, \
+         { "sue_PITCHKD", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_serial_udb_extra_f6_t, sue_PITCHKD) }, \
+         { "sue_RUDDER_ELEV_MIX", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_serial_udb_extra_f6_t, sue_RUDDER_ELEV_MIX) }, \
+         { "sue_ROLL_ELEV_MIX", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_serial_udb_extra_f6_t, sue_ROLL_ELEV_MIX) }, \
+         { "sue_ELEVATOR_BOOST", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_serial_udb_extra_f6_t, sue_ELEVATOR_BOOST) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a serial_udb_extra_f6 message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param sue_PITCHGAIN Serial UDB Extra PITCHGAIN Proportional Control
+ * @param sue_PITCHKD Serial UDB Extra Pitch Rate Control
+ * @param sue_RUDDER_ELEV_MIX Serial UDB Extra Rudder to Elevator Mix
+ * @param sue_ROLL_ELEV_MIX Serial UDB Extra Roll to Elevator Mix
+ * @param sue_ELEVATOR_BOOST Gain For Boosting Manual Elevator control When Plane Stabilized
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f6_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       float sue_PITCHGAIN, float sue_PITCHKD, float sue_RUDDER_ELEV_MIX, float sue_ROLL_ELEV_MIX, float sue_ELEVATOR_BOOST)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[20];
+	_mav_put_float(buf, 0, sue_PITCHGAIN);
+	_mav_put_float(buf, 4, sue_PITCHKD);
+	_mav_put_float(buf, 8, sue_RUDDER_ELEV_MIX);
+	_mav_put_float(buf, 12, sue_ROLL_ELEV_MIX);
+	_mav_put_float(buf, 16, sue_ELEVATOR_BOOST);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
+#else
+	mavlink_serial_udb_extra_f6_t packet;
+	packet.sue_PITCHGAIN = sue_PITCHGAIN;
+	packet.sue_PITCHKD = sue_PITCHKD;
+	packet.sue_RUDDER_ELEV_MIX = sue_RUDDER_ELEV_MIX;
+	packet.sue_ROLL_ELEV_MIX = sue_ROLL_ELEV_MIX;
+	packet.sue_ELEVATOR_BOOST = sue_ELEVATOR_BOOST;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6;
+	return mavlink_finalize_message(msg, system_id, component_id, 20, 54);
+}
+
+/**
+ * @brief Pack a serial_udb_extra_f6 message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param sue_PITCHGAIN Serial UDB Extra PITCHGAIN Proportional Control
+ * @param sue_PITCHKD Serial UDB Extra Pitch Rate Control
+ * @param sue_RUDDER_ELEV_MIX Serial UDB Extra Rudder to Elevator Mix
+ * @param sue_ROLL_ELEV_MIX Serial UDB Extra Roll to Elevator Mix
+ * @param sue_ELEVATOR_BOOST Gain For Boosting Manual Elevator control When Plane Stabilized
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f6_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           float sue_PITCHGAIN,float sue_PITCHKD,float sue_RUDDER_ELEV_MIX,float sue_ROLL_ELEV_MIX,float sue_ELEVATOR_BOOST)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[20];
+	_mav_put_float(buf, 0, sue_PITCHGAIN);
+	_mav_put_float(buf, 4, sue_PITCHKD);
+	_mav_put_float(buf, 8, sue_RUDDER_ELEV_MIX);
+	_mav_put_float(buf, 12, sue_ROLL_ELEV_MIX);
+	_mav_put_float(buf, 16, sue_ELEVATOR_BOOST);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
+#else
+	mavlink_serial_udb_extra_f6_t packet;
+	packet.sue_PITCHGAIN = sue_PITCHGAIN;
+	packet.sue_PITCHKD = sue_PITCHKD;
+	packet.sue_RUDDER_ELEV_MIX = sue_RUDDER_ELEV_MIX;
+	packet.sue_ROLL_ELEV_MIX = sue_ROLL_ELEV_MIX;
+	packet.sue_ELEVATOR_BOOST = sue_ELEVATOR_BOOST;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20, 54);
+}
+
+/**
+ * @brief Encode a serial_udb_extra_f6 struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param serial_udb_extra_f6 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f6_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_udb_extra_f6_t* serial_udb_extra_f6)
+{
+	return mavlink_msg_serial_udb_extra_f6_pack(system_id, component_id, msg, serial_udb_extra_f6->sue_PITCHGAIN, serial_udb_extra_f6->sue_PITCHKD, serial_udb_extra_f6->sue_RUDDER_ELEV_MIX, serial_udb_extra_f6->sue_ROLL_ELEV_MIX, serial_udb_extra_f6->sue_ELEVATOR_BOOST);
+}
+
+/**
+ * @brief Send a serial_udb_extra_f6 message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param sue_PITCHGAIN Serial UDB Extra PITCHGAIN Proportional Control
+ * @param sue_PITCHKD Serial UDB Extra Pitch Rate Control
+ * @param sue_RUDDER_ELEV_MIX Serial UDB Extra Rudder to Elevator Mix
+ * @param sue_ROLL_ELEV_MIX Serial UDB Extra Roll to Elevator Mix
+ * @param sue_ELEVATOR_BOOST Gain For Boosting Manual Elevator control When Plane Stabilized
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_serial_udb_extra_f6_send(mavlink_channel_t chan, float sue_PITCHGAIN, float sue_PITCHKD, float sue_RUDDER_ELEV_MIX, float sue_ROLL_ELEV_MIX, float sue_ELEVATOR_BOOST)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[20];
+	_mav_put_float(buf, 0, sue_PITCHGAIN);
+	_mav_put_float(buf, 4, sue_PITCHKD);
+	_mav_put_float(buf, 8, sue_RUDDER_ELEV_MIX);
+	_mav_put_float(buf, 12, sue_ROLL_ELEV_MIX);
+	_mav_put_float(buf, 16, sue_ELEVATOR_BOOST);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6, buf, 20, 54);
+#else
+	mavlink_serial_udb_extra_f6_t packet;
+	packet.sue_PITCHGAIN = sue_PITCHGAIN;
+	packet.sue_PITCHKD = sue_PITCHKD;
+	packet.sue_RUDDER_ELEV_MIX = sue_RUDDER_ELEV_MIX;
+	packet.sue_ROLL_ELEV_MIX = sue_ROLL_ELEV_MIX;
+	packet.sue_ELEVATOR_BOOST = sue_ELEVATOR_BOOST;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6, (const char *)&packet, 20, 54);
+#endif
+}
+
+#endif
+
+// MESSAGE SERIAL_UDB_EXTRA_F6 UNPACKING
+
+
+/**
+ * @brief Get field sue_PITCHGAIN from serial_udb_extra_f6 message
+ *
+ * @return Serial UDB Extra PITCHGAIN Proportional Control
+ */
+static inline float mavlink_msg_serial_udb_extra_f6_get_sue_PITCHGAIN(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  0);
+}
+
+/**
+ * @brief Get field sue_PITCHKD from serial_udb_extra_f6 message
+ *
+ * @return Serial UDB Extra Pitch Rate Control
+ */
+static inline float mavlink_msg_serial_udb_extra_f6_get_sue_PITCHKD(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  4);
+}
+
+/**
+ * @brief Get field sue_RUDDER_ELEV_MIX from serial_udb_extra_f6 message
+ *
+ * @return Serial UDB Extra Rudder to Elevator Mix
+ */
+static inline float mavlink_msg_serial_udb_extra_f6_get_sue_RUDDER_ELEV_MIX(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  8);
+}
+
+/**
+ * @brief Get field sue_ROLL_ELEV_MIX from serial_udb_extra_f6 message
+ *
+ * @return Serial UDB Extra Roll to Elevator Mix
+ */
+static inline float mavlink_msg_serial_udb_extra_f6_get_sue_ROLL_ELEV_MIX(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  12);
+}
+
+/**
+ * @brief Get field sue_ELEVATOR_BOOST from serial_udb_extra_f6 message
+ *
+ * @return Gain For Boosting Manual Elevator control When Plane Stabilized
+ */
+static inline float mavlink_msg_serial_udb_extra_f6_get_sue_ELEVATOR_BOOST(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  16);
+}
+
+/**
+ * @brief Decode a serial_udb_extra_f6 message into a struct
+ *
+ * @param msg The message to decode
+ * @param serial_udb_extra_f6 C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_serial_udb_extra_f6_decode(const mavlink_message_t* msg, mavlink_serial_udb_extra_f6_t* serial_udb_extra_f6)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	serial_udb_extra_f6->sue_PITCHGAIN = mavlink_msg_serial_udb_extra_f6_get_sue_PITCHGAIN(msg);
+	serial_udb_extra_f6->sue_PITCHKD = mavlink_msg_serial_udb_extra_f6_get_sue_PITCHKD(msg);
+	serial_udb_extra_f6->sue_RUDDER_ELEV_MIX = mavlink_msg_serial_udb_extra_f6_get_sue_RUDDER_ELEV_MIX(msg);
+	serial_udb_extra_f6->sue_ROLL_ELEV_MIX = mavlink_msg_serial_udb_extra_f6_get_sue_ROLL_ELEV_MIX(msg);
+	serial_udb_extra_f6->sue_ELEVATOR_BOOST = mavlink_msg_serial_udb_extra_f6_get_sue_ELEVATOR_BOOST(msg);
+#else
+	memcpy(serial_udb_extra_f6, _MAV_PAYLOAD(msg), 20);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f7.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f7.h
new file mode 100644
index 000000000..744ce0db0
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f7.h
@@ -0,0 +1,254 @@
+// MESSAGE SERIAL_UDB_EXTRA_F7 PACKING
+
+#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7 175
+
+typedef struct __mavlink_serial_udb_extra_f7_t
+{
+ float sue_YAWKP_RUDDER; ///< Serial UDB YAWKP_RUDDER Gain for Proporional control of navigation
+ float sue_YAWKD_RUDDER; ///< Serial UDB YAWKD_RUDDER Gain for Rate control of navigation
+ float sue_ROLLKP_RUDDER; ///< Serial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization
+ float sue_ROLLKD_RUDDER; ///< Serial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization
+ float sue_RUDDER_BOOST; ///< SERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized
+ float sue_RTL_PITCH_DOWN; ///< Serial UDB Extra Return To Landing - Angle to Pitch Plane Down
+} mavlink_serial_udb_extra_f7_t;
+
+#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_LEN 24
+#define MAVLINK_MSG_ID_175_LEN 24
+
+
+
+#define MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F7 { \
+	"SERIAL_UDB_EXTRA_F7", \
+	6, \
+	{  { "sue_YAWKP_RUDDER", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_serial_udb_extra_f7_t, sue_YAWKP_RUDDER) }, \
+         { "sue_YAWKD_RUDDER", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_serial_udb_extra_f7_t, sue_YAWKD_RUDDER) }, \
+         { "sue_ROLLKP_RUDDER", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_serial_udb_extra_f7_t, sue_ROLLKP_RUDDER) }, \
+         { "sue_ROLLKD_RUDDER", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_serial_udb_extra_f7_t, sue_ROLLKD_RUDDER) }, \
+         { "sue_RUDDER_BOOST", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_serial_udb_extra_f7_t, sue_RUDDER_BOOST) }, \
+         { "sue_RTL_PITCH_DOWN", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_serial_udb_extra_f7_t, sue_RTL_PITCH_DOWN) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a serial_udb_extra_f7 message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param sue_YAWKP_RUDDER Serial UDB YAWKP_RUDDER Gain for Proporional control of navigation
+ * @param sue_YAWKD_RUDDER Serial UDB YAWKD_RUDDER Gain for Rate control of navigation
+ * @param sue_ROLLKP_RUDDER Serial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization
+ * @param sue_ROLLKD_RUDDER Serial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization
+ * @param sue_RUDDER_BOOST SERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized
+ * @param sue_RTL_PITCH_DOWN Serial UDB Extra Return To Landing - Angle to Pitch Plane Down
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f7_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       float sue_YAWKP_RUDDER, float sue_YAWKD_RUDDER, float sue_ROLLKP_RUDDER, float sue_ROLLKD_RUDDER, float sue_RUDDER_BOOST, float sue_RTL_PITCH_DOWN)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[24];
+	_mav_put_float(buf, 0, sue_YAWKP_RUDDER);
+	_mav_put_float(buf, 4, sue_YAWKD_RUDDER);
+	_mav_put_float(buf, 8, sue_ROLLKP_RUDDER);
+	_mav_put_float(buf, 12, sue_ROLLKD_RUDDER);
+	_mav_put_float(buf, 16, sue_RUDDER_BOOST);
+	_mav_put_float(buf, 20, sue_RTL_PITCH_DOWN);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24);
+#else
+	mavlink_serial_udb_extra_f7_t packet;
+	packet.sue_YAWKP_RUDDER = sue_YAWKP_RUDDER;
+	packet.sue_YAWKD_RUDDER = sue_YAWKD_RUDDER;
+	packet.sue_ROLLKP_RUDDER = sue_ROLLKP_RUDDER;
+	packet.sue_ROLLKD_RUDDER = sue_ROLLKD_RUDDER;
+	packet.sue_RUDDER_BOOST = sue_RUDDER_BOOST;
+	packet.sue_RTL_PITCH_DOWN = sue_RTL_PITCH_DOWN;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7;
+	return mavlink_finalize_message(msg, system_id, component_id, 24, 171);
+}
+
+/**
+ * @brief Pack a serial_udb_extra_f7 message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param sue_YAWKP_RUDDER Serial UDB YAWKP_RUDDER Gain for Proporional control of navigation
+ * @param sue_YAWKD_RUDDER Serial UDB YAWKD_RUDDER Gain for Rate control of navigation
+ * @param sue_ROLLKP_RUDDER Serial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization
+ * @param sue_ROLLKD_RUDDER Serial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization
+ * @param sue_RUDDER_BOOST SERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized
+ * @param sue_RTL_PITCH_DOWN Serial UDB Extra Return To Landing - Angle to Pitch Plane Down
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f7_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           float sue_YAWKP_RUDDER,float sue_YAWKD_RUDDER,float sue_ROLLKP_RUDDER,float sue_ROLLKD_RUDDER,float sue_RUDDER_BOOST,float sue_RTL_PITCH_DOWN)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[24];
+	_mav_put_float(buf, 0, sue_YAWKP_RUDDER);
+	_mav_put_float(buf, 4, sue_YAWKD_RUDDER);
+	_mav_put_float(buf, 8, sue_ROLLKP_RUDDER);
+	_mav_put_float(buf, 12, sue_ROLLKD_RUDDER);
+	_mav_put_float(buf, 16, sue_RUDDER_BOOST);
+	_mav_put_float(buf, 20, sue_RTL_PITCH_DOWN);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24);
+#else
+	mavlink_serial_udb_extra_f7_t packet;
+	packet.sue_YAWKP_RUDDER = sue_YAWKP_RUDDER;
+	packet.sue_YAWKD_RUDDER = sue_YAWKD_RUDDER;
+	packet.sue_ROLLKP_RUDDER = sue_ROLLKP_RUDDER;
+	packet.sue_ROLLKD_RUDDER = sue_ROLLKD_RUDDER;
+	packet.sue_RUDDER_BOOST = sue_RUDDER_BOOST;
+	packet.sue_RTL_PITCH_DOWN = sue_RTL_PITCH_DOWN;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 24, 171);
+}
+
+/**
+ * @brief Encode a serial_udb_extra_f7 struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param serial_udb_extra_f7 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f7_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_udb_extra_f7_t* serial_udb_extra_f7)
+{
+	return mavlink_msg_serial_udb_extra_f7_pack(system_id, component_id, msg, serial_udb_extra_f7->sue_YAWKP_RUDDER, serial_udb_extra_f7->sue_YAWKD_RUDDER, serial_udb_extra_f7->sue_ROLLKP_RUDDER, serial_udb_extra_f7->sue_ROLLKD_RUDDER, serial_udb_extra_f7->sue_RUDDER_BOOST, serial_udb_extra_f7->sue_RTL_PITCH_DOWN);
+}
+
+/**
+ * @brief Send a serial_udb_extra_f7 message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param sue_YAWKP_RUDDER Serial UDB YAWKP_RUDDER Gain for Proporional control of navigation
+ * @param sue_YAWKD_RUDDER Serial UDB YAWKD_RUDDER Gain for Rate control of navigation
+ * @param sue_ROLLKP_RUDDER Serial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization
+ * @param sue_ROLLKD_RUDDER Serial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization
+ * @param sue_RUDDER_BOOST SERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized
+ * @param sue_RTL_PITCH_DOWN Serial UDB Extra Return To Landing - Angle to Pitch Plane Down
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_serial_udb_extra_f7_send(mavlink_channel_t chan, float sue_YAWKP_RUDDER, float sue_YAWKD_RUDDER, float sue_ROLLKP_RUDDER, float sue_ROLLKD_RUDDER, float sue_RUDDER_BOOST, float sue_RTL_PITCH_DOWN)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[24];
+	_mav_put_float(buf, 0, sue_YAWKP_RUDDER);
+	_mav_put_float(buf, 4, sue_YAWKD_RUDDER);
+	_mav_put_float(buf, 8, sue_ROLLKP_RUDDER);
+	_mav_put_float(buf, 12, sue_ROLLKD_RUDDER);
+	_mav_put_float(buf, 16, sue_RUDDER_BOOST);
+	_mav_put_float(buf, 20, sue_RTL_PITCH_DOWN);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7, buf, 24, 171);
+#else
+	mavlink_serial_udb_extra_f7_t packet;
+	packet.sue_YAWKP_RUDDER = sue_YAWKP_RUDDER;
+	packet.sue_YAWKD_RUDDER = sue_YAWKD_RUDDER;
+	packet.sue_ROLLKP_RUDDER = sue_ROLLKP_RUDDER;
+	packet.sue_ROLLKD_RUDDER = sue_ROLLKD_RUDDER;
+	packet.sue_RUDDER_BOOST = sue_RUDDER_BOOST;
+	packet.sue_RTL_PITCH_DOWN = sue_RTL_PITCH_DOWN;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7, (const char *)&packet, 24, 171);
+#endif
+}
+
+#endif
+
+// MESSAGE SERIAL_UDB_EXTRA_F7 UNPACKING
+
+
+/**
+ * @brief Get field sue_YAWKP_RUDDER from serial_udb_extra_f7 message
+ *
+ * @return Serial UDB YAWKP_RUDDER Gain for Proporional control of navigation
+ */
+static inline float mavlink_msg_serial_udb_extra_f7_get_sue_YAWKP_RUDDER(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  0);
+}
+
+/**
+ * @brief Get field sue_YAWKD_RUDDER from serial_udb_extra_f7 message
+ *
+ * @return Serial UDB YAWKD_RUDDER Gain for Rate control of navigation
+ */
+static inline float mavlink_msg_serial_udb_extra_f7_get_sue_YAWKD_RUDDER(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  4);
+}
+
+/**
+ * @brief Get field sue_ROLLKP_RUDDER from serial_udb_extra_f7 message
+ *
+ * @return Serial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization
+ */
+static inline float mavlink_msg_serial_udb_extra_f7_get_sue_ROLLKP_RUDDER(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  8);
+}
+
+/**
+ * @brief Get field sue_ROLLKD_RUDDER from serial_udb_extra_f7 message
+ *
+ * @return Serial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization
+ */
+static inline float mavlink_msg_serial_udb_extra_f7_get_sue_ROLLKD_RUDDER(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  12);
+}
+
+/**
+ * @brief Get field sue_RUDDER_BOOST from serial_udb_extra_f7 message
+ *
+ * @return SERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized
+ */
+static inline float mavlink_msg_serial_udb_extra_f7_get_sue_RUDDER_BOOST(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  16);
+}
+
+/**
+ * @brief Get field sue_RTL_PITCH_DOWN from serial_udb_extra_f7 message
+ *
+ * @return Serial UDB Extra Return To Landing - Angle to Pitch Plane Down
+ */
+static inline float mavlink_msg_serial_udb_extra_f7_get_sue_RTL_PITCH_DOWN(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  20);
+}
+
+/**
+ * @brief Decode a serial_udb_extra_f7 message into a struct
+ *
+ * @param msg The message to decode
+ * @param serial_udb_extra_f7 C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_serial_udb_extra_f7_decode(const mavlink_message_t* msg, mavlink_serial_udb_extra_f7_t* serial_udb_extra_f7)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	serial_udb_extra_f7->sue_YAWKP_RUDDER = mavlink_msg_serial_udb_extra_f7_get_sue_YAWKP_RUDDER(msg);
+	serial_udb_extra_f7->sue_YAWKD_RUDDER = mavlink_msg_serial_udb_extra_f7_get_sue_YAWKD_RUDDER(msg);
+	serial_udb_extra_f7->sue_ROLLKP_RUDDER = mavlink_msg_serial_udb_extra_f7_get_sue_ROLLKP_RUDDER(msg);
+	serial_udb_extra_f7->sue_ROLLKD_RUDDER = mavlink_msg_serial_udb_extra_f7_get_sue_ROLLKD_RUDDER(msg);
+	serial_udb_extra_f7->sue_RUDDER_BOOST = mavlink_msg_serial_udb_extra_f7_get_sue_RUDDER_BOOST(msg);
+	serial_udb_extra_f7->sue_RTL_PITCH_DOWN = mavlink_msg_serial_udb_extra_f7_get_sue_RTL_PITCH_DOWN(msg);
+#else
+	memcpy(serial_udb_extra_f7, _MAV_PAYLOAD(msg), 24);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f8.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f8.h
new file mode 100644
index 000000000..c92630e03
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f8.h
@@ -0,0 +1,276 @@
+// MESSAGE SERIAL_UDB_EXTRA_F8 PACKING
+
+#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8 176
+
+typedef struct __mavlink_serial_udb_extra_f8_t
+{
+ float sue_HEIGHT_TARGET_MAX; ///< Serial UDB Extra HEIGHT_TARGET_MAX
+ float sue_HEIGHT_TARGET_MIN; ///< Serial UDB Extra HEIGHT_TARGET_MIN
+ float sue_ALT_HOLD_THROTTLE_MIN; ///< Serial UDB Extra ALT_HOLD_THROTTLE_MIN
+ float sue_ALT_HOLD_THROTTLE_MAX; ///< Serial UDB Extra ALT_HOLD_THROTTLE_MAX
+ float sue_ALT_HOLD_PITCH_MIN; ///< Serial UDB Extra ALT_HOLD_PITCH_MIN
+ float sue_ALT_HOLD_PITCH_MAX; ///< Serial UDB Extra ALT_HOLD_PITCH_MAX
+ float sue_ALT_HOLD_PITCH_HIGH; ///< Serial UDB Extra ALT_HOLD_PITCH_HIGH
+} mavlink_serial_udb_extra_f8_t;
+
+#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_LEN 28
+#define MAVLINK_MSG_ID_176_LEN 28
+
+
+
+#define MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F8 { \
+	"SERIAL_UDB_EXTRA_F8", \
+	7, \
+	{  { "sue_HEIGHT_TARGET_MAX", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_serial_udb_extra_f8_t, sue_HEIGHT_TARGET_MAX) }, \
+         { "sue_HEIGHT_TARGET_MIN", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_serial_udb_extra_f8_t, sue_HEIGHT_TARGET_MIN) }, \
+         { "sue_ALT_HOLD_THROTTLE_MIN", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_serial_udb_extra_f8_t, sue_ALT_HOLD_THROTTLE_MIN) }, \
+         { "sue_ALT_HOLD_THROTTLE_MAX", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_serial_udb_extra_f8_t, sue_ALT_HOLD_THROTTLE_MAX) }, \
+         { "sue_ALT_HOLD_PITCH_MIN", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_serial_udb_extra_f8_t, sue_ALT_HOLD_PITCH_MIN) }, \
+         { "sue_ALT_HOLD_PITCH_MAX", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_serial_udb_extra_f8_t, sue_ALT_HOLD_PITCH_MAX) }, \
+         { "sue_ALT_HOLD_PITCH_HIGH", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_serial_udb_extra_f8_t, sue_ALT_HOLD_PITCH_HIGH) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a serial_udb_extra_f8 message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param sue_HEIGHT_TARGET_MAX Serial UDB Extra HEIGHT_TARGET_MAX
+ * @param sue_HEIGHT_TARGET_MIN Serial UDB Extra HEIGHT_TARGET_MIN
+ * @param sue_ALT_HOLD_THROTTLE_MIN Serial UDB Extra ALT_HOLD_THROTTLE_MIN
+ * @param sue_ALT_HOLD_THROTTLE_MAX Serial UDB Extra ALT_HOLD_THROTTLE_MAX
+ * @param sue_ALT_HOLD_PITCH_MIN Serial UDB Extra ALT_HOLD_PITCH_MIN
+ * @param sue_ALT_HOLD_PITCH_MAX Serial UDB Extra ALT_HOLD_PITCH_MAX
+ * @param sue_ALT_HOLD_PITCH_HIGH Serial UDB Extra ALT_HOLD_PITCH_HIGH
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f8_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       float sue_HEIGHT_TARGET_MAX, float sue_HEIGHT_TARGET_MIN, float sue_ALT_HOLD_THROTTLE_MIN, float sue_ALT_HOLD_THROTTLE_MAX, float sue_ALT_HOLD_PITCH_MIN, float sue_ALT_HOLD_PITCH_MAX, float sue_ALT_HOLD_PITCH_HIGH)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[28];
+	_mav_put_float(buf, 0, sue_HEIGHT_TARGET_MAX);
+	_mav_put_float(buf, 4, sue_HEIGHT_TARGET_MIN);
+	_mav_put_float(buf, 8, sue_ALT_HOLD_THROTTLE_MIN);
+	_mav_put_float(buf, 12, sue_ALT_HOLD_THROTTLE_MAX);
+	_mav_put_float(buf, 16, sue_ALT_HOLD_PITCH_MIN);
+	_mav_put_float(buf, 20, sue_ALT_HOLD_PITCH_MAX);
+	_mav_put_float(buf, 24, sue_ALT_HOLD_PITCH_HIGH);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
+#else
+	mavlink_serial_udb_extra_f8_t packet;
+	packet.sue_HEIGHT_TARGET_MAX = sue_HEIGHT_TARGET_MAX;
+	packet.sue_HEIGHT_TARGET_MIN = sue_HEIGHT_TARGET_MIN;
+	packet.sue_ALT_HOLD_THROTTLE_MIN = sue_ALT_HOLD_THROTTLE_MIN;
+	packet.sue_ALT_HOLD_THROTTLE_MAX = sue_ALT_HOLD_THROTTLE_MAX;
+	packet.sue_ALT_HOLD_PITCH_MIN = sue_ALT_HOLD_PITCH_MIN;
+	packet.sue_ALT_HOLD_PITCH_MAX = sue_ALT_HOLD_PITCH_MAX;
+	packet.sue_ALT_HOLD_PITCH_HIGH = sue_ALT_HOLD_PITCH_HIGH;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8;
+	return mavlink_finalize_message(msg, system_id, component_id, 28, 142);
+}
+
+/**
+ * @brief Pack a serial_udb_extra_f8 message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param sue_HEIGHT_TARGET_MAX Serial UDB Extra HEIGHT_TARGET_MAX
+ * @param sue_HEIGHT_TARGET_MIN Serial UDB Extra HEIGHT_TARGET_MIN
+ * @param sue_ALT_HOLD_THROTTLE_MIN Serial UDB Extra ALT_HOLD_THROTTLE_MIN
+ * @param sue_ALT_HOLD_THROTTLE_MAX Serial UDB Extra ALT_HOLD_THROTTLE_MAX
+ * @param sue_ALT_HOLD_PITCH_MIN Serial UDB Extra ALT_HOLD_PITCH_MIN
+ * @param sue_ALT_HOLD_PITCH_MAX Serial UDB Extra ALT_HOLD_PITCH_MAX
+ * @param sue_ALT_HOLD_PITCH_HIGH Serial UDB Extra ALT_HOLD_PITCH_HIGH
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f8_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           float sue_HEIGHT_TARGET_MAX,float sue_HEIGHT_TARGET_MIN,float sue_ALT_HOLD_THROTTLE_MIN,float sue_ALT_HOLD_THROTTLE_MAX,float sue_ALT_HOLD_PITCH_MIN,float sue_ALT_HOLD_PITCH_MAX,float sue_ALT_HOLD_PITCH_HIGH)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[28];
+	_mav_put_float(buf, 0, sue_HEIGHT_TARGET_MAX);
+	_mav_put_float(buf, 4, sue_HEIGHT_TARGET_MIN);
+	_mav_put_float(buf, 8, sue_ALT_HOLD_THROTTLE_MIN);
+	_mav_put_float(buf, 12, sue_ALT_HOLD_THROTTLE_MAX);
+	_mav_put_float(buf, 16, sue_ALT_HOLD_PITCH_MIN);
+	_mav_put_float(buf, 20, sue_ALT_HOLD_PITCH_MAX);
+	_mav_put_float(buf, 24, sue_ALT_HOLD_PITCH_HIGH);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
+#else
+	mavlink_serial_udb_extra_f8_t packet;
+	packet.sue_HEIGHT_TARGET_MAX = sue_HEIGHT_TARGET_MAX;
+	packet.sue_HEIGHT_TARGET_MIN = sue_HEIGHT_TARGET_MIN;
+	packet.sue_ALT_HOLD_THROTTLE_MIN = sue_ALT_HOLD_THROTTLE_MIN;
+	packet.sue_ALT_HOLD_THROTTLE_MAX = sue_ALT_HOLD_THROTTLE_MAX;
+	packet.sue_ALT_HOLD_PITCH_MIN = sue_ALT_HOLD_PITCH_MIN;
+	packet.sue_ALT_HOLD_PITCH_MAX = sue_ALT_HOLD_PITCH_MAX;
+	packet.sue_ALT_HOLD_PITCH_HIGH = sue_ALT_HOLD_PITCH_HIGH;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 142);
+}
+
+/**
+ * @brief Encode a serial_udb_extra_f8 struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param serial_udb_extra_f8 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_serial_udb_extra_f8_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_udb_extra_f8_t* serial_udb_extra_f8)
+{
+	return mavlink_msg_serial_udb_extra_f8_pack(system_id, component_id, msg, serial_udb_extra_f8->sue_HEIGHT_TARGET_MAX, serial_udb_extra_f8->sue_HEIGHT_TARGET_MIN, serial_udb_extra_f8->sue_ALT_HOLD_THROTTLE_MIN, serial_udb_extra_f8->sue_ALT_HOLD_THROTTLE_MAX, serial_udb_extra_f8->sue_ALT_HOLD_PITCH_MIN, serial_udb_extra_f8->sue_ALT_HOLD_PITCH_MAX, serial_udb_extra_f8->sue_ALT_HOLD_PITCH_HIGH);
+}
+
+/**
+ * @brief Send a serial_udb_extra_f8 message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param sue_HEIGHT_TARGET_MAX Serial UDB Extra HEIGHT_TARGET_MAX
+ * @param sue_HEIGHT_TARGET_MIN Serial UDB Extra HEIGHT_TARGET_MIN
+ * @param sue_ALT_HOLD_THROTTLE_MIN Serial UDB Extra ALT_HOLD_THROTTLE_MIN
+ * @param sue_ALT_HOLD_THROTTLE_MAX Serial UDB Extra ALT_HOLD_THROTTLE_MAX
+ * @param sue_ALT_HOLD_PITCH_MIN Serial UDB Extra ALT_HOLD_PITCH_MIN
+ * @param sue_ALT_HOLD_PITCH_MAX Serial UDB Extra ALT_HOLD_PITCH_MAX
+ * @param sue_ALT_HOLD_PITCH_HIGH Serial UDB Extra ALT_HOLD_PITCH_HIGH
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_serial_udb_extra_f8_send(mavlink_channel_t chan, float sue_HEIGHT_TARGET_MAX, float sue_HEIGHT_TARGET_MIN, float sue_ALT_HOLD_THROTTLE_MIN, float sue_ALT_HOLD_THROTTLE_MAX, float sue_ALT_HOLD_PITCH_MIN, float sue_ALT_HOLD_PITCH_MAX, float sue_ALT_HOLD_PITCH_HIGH)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[28];
+	_mav_put_float(buf, 0, sue_HEIGHT_TARGET_MAX);
+	_mav_put_float(buf, 4, sue_HEIGHT_TARGET_MIN);
+	_mav_put_float(buf, 8, sue_ALT_HOLD_THROTTLE_MIN);
+	_mav_put_float(buf, 12, sue_ALT_HOLD_THROTTLE_MAX);
+	_mav_put_float(buf, 16, sue_ALT_HOLD_PITCH_MIN);
+	_mav_put_float(buf, 20, sue_ALT_HOLD_PITCH_MAX);
+	_mav_put_float(buf, 24, sue_ALT_HOLD_PITCH_HIGH);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8, buf, 28, 142);
+#else
+	mavlink_serial_udb_extra_f8_t packet;
+	packet.sue_HEIGHT_TARGET_MAX = sue_HEIGHT_TARGET_MAX;
+	packet.sue_HEIGHT_TARGET_MIN = sue_HEIGHT_TARGET_MIN;
+	packet.sue_ALT_HOLD_THROTTLE_MIN = sue_ALT_HOLD_THROTTLE_MIN;
+	packet.sue_ALT_HOLD_THROTTLE_MAX = sue_ALT_HOLD_THROTTLE_MAX;
+	packet.sue_ALT_HOLD_PITCH_MIN = sue_ALT_HOLD_PITCH_MIN;
+	packet.sue_ALT_HOLD_PITCH_MAX = sue_ALT_HOLD_PITCH_MAX;
+	packet.sue_ALT_HOLD_PITCH_HIGH = sue_ALT_HOLD_PITCH_HIGH;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8, (const char *)&packet, 28, 142);
+#endif
+}
+
+#endif
+
+// MESSAGE SERIAL_UDB_EXTRA_F8 UNPACKING
+
+
+/**
+ * @brief Get field sue_HEIGHT_TARGET_MAX from serial_udb_extra_f8 message
+ *
+ * @return Serial UDB Extra HEIGHT_TARGET_MAX
+ */
+static inline float mavlink_msg_serial_udb_extra_f8_get_sue_HEIGHT_TARGET_MAX(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  0);
+}
+
+/**
+ * @brief Get field sue_HEIGHT_TARGET_MIN from serial_udb_extra_f8 message
+ *
+ * @return Serial UDB Extra HEIGHT_TARGET_MIN
+ */
+static inline float mavlink_msg_serial_udb_extra_f8_get_sue_HEIGHT_TARGET_MIN(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  4);
+}
+
+/**
+ * @brief Get field sue_ALT_HOLD_THROTTLE_MIN from serial_udb_extra_f8 message
+ *
+ * @return Serial UDB Extra ALT_HOLD_THROTTLE_MIN
+ */
+static inline float mavlink_msg_serial_udb_extra_f8_get_sue_ALT_HOLD_THROTTLE_MIN(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  8);
+}
+
+/**
+ * @brief Get field sue_ALT_HOLD_THROTTLE_MAX from serial_udb_extra_f8 message
+ *
+ * @return Serial UDB Extra ALT_HOLD_THROTTLE_MAX
+ */
+static inline float mavlink_msg_serial_udb_extra_f8_get_sue_ALT_HOLD_THROTTLE_MAX(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  12);
+}
+
+/**
+ * @brief Get field sue_ALT_HOLD_PITCH_MIN from serial_udb_extra_f8 message
+ *
+ * @return Serial UDB Extra ALT_HOLD_PITCH_MIN
+ */
+static inline float mavlink_msg_serial_udb_extra_f8_get_sue_ALT_HOLD_PITCH_MIN(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  16);
+}
+
+/**
+ * @brief Get field sue_ALT_HOLD_PITCH_MAX from serial_udb_extra_f8 message
+ *
+ * @return Serial UDB Extra ALT_HOLD_PITCH_MAX
+ */
+static inline float mavlink_msg_serial_udb_extra_f8_get_sue_ALT_HOLD_PITCH_MAX(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  20);
+}
+
+/**
+ * @brief Get field sue_ALT_HOLD_PITCH_HIGH from serial_udb_extra_f8 message
+ *
+ * @return Serial UDB Extra ALT_HOLD_PITCH_HIGH
+ */
+static inline float mavlink_msg_serial_udb_extra_f8_get_sue_ALT_HOLD_PITCH_HIGH(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  24);
+}
+
+/**
+ * @brief Decode a serial_udb_extra_f8 message into a struct
+ *
+ * @param msg The message to decode
+ * @param serial_udb_extra_f8 C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_serial_udb_extra_f8_decode(const mavlink_message_t* msg, mavlink_serial_udb_extra_f8_t* serial_udb_extra_f8)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	serial_udb_extra_f8->sue_HEIGHT_TARGET_MAX = mavlink_msg_serial_udb_extra_f8_get_sue_HEIGHT_TARGET_MAX(msg);
+	serial_udb_extra_f8->sue_HEIGHT_TARGET_MIN = mavlink_msg_serial_udb_extra_f8_get_sue_HEIGHT_TARGET_MIN(msg);
+	serial_udb_extra_f8->sue_ALT_HOLD_THROTTLE_MIN = mavlink_msg_serial_udb_extra_f8_get_sue_ALT_HOLD_THROTTLE_MIN(msg);
+	serial_udb_extra_f8->sue_ALT_HOLD_THROTTLE_MAX = mavlink_msg_serial_udb_extra_f8_get_sue_ALT_HOLD_THROTTLE_MAX(msg);
+	serial_udb_extra_f8->sue_ALT_HOLD_PITCH_MIN = mavlink_msg_serial_udb_extra_f8_get_sue_ALT_HOLD_PITCH_MIN(msg);
+	serial_udb_extra_f8->sue_ALT_HOLD_PITCH_MAX = mavlink_msg_serial_udb_extra_f8_get_sue_ALT_HOLD_PITCH_MAX(msg);
+	serial_udb_extra_f8->sue_ALT_HOLD_PITCH_HIGH = mavlink_msg_serial_udb_extra_f8_get_sue_ALT_HOLD_PITCH_HIGH(msg);
+#else
+	memcpy(serial_udb_extra_f8, _MAV_PAYLOAD(msg), 28);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/testsuite.h b/mavlink/include/mavlink/v1.0/matrixpilot/testsuite.h
index 9032cd3dc..5ccef5390 100644
--- a/mavlink/include/mavlink/v1.0/matrixpilot/testsuite.h
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/testsuite.h
@@ -24,10 +24,1214 @@ static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_me
 #include "../common/testsuite.h"
 
 
+static void mavlink_test_flexifunction_set(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_flexifunction_set_t packet_in = {
+		5,
+	72,
+	};
+	mavlink_flexifunction_set_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.target_system = packet_in.target_system;
+        	packet1.target_component = packet_in.target_component;
+        
+        
 
-static void mavlink_test_matrixpilot(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_set_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_flexifunction_set_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_set_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component );
+	mavlink_msg_flexifunction_set_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_set_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component );
+	mavlink_msg_flexifunction_set_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_flexifunction_set_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_set_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component );
+	mavlink_msg_flexifunction_set_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_flexifunction_read_req(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_flexifunction_read_req_t packet_in = {
+		17235,
+	17339,
+	17,
+	84,
+	};
+	mavlink_flexifunction_read_req_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.read_req_type = packet_in.read_req_type;
+        	packet1.data_index = packet_in.data_index;
+        	packet1.target_system = packet_in.target_system;
+        	packet1.target_component = packet_in.target_component;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_read_req_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_flexifunction_read_req_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_read_req_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.read_req_type , packet1.data_index );
+	mavlink_msg_flexifunction_read_req_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_read_req_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.read_req_type , packet1.data_index );
+	mavlink_msg_flexifunction_read_req_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_flexifunction_read_req_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_read_req_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.read_req_type , packet1.data_index );
+	mavlink_msg_flexifunction_read_req_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_flexifunction_buffer_function(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_flexifunction_buffer_function_t packet_in = {
+		17235,
+	17339,
+	17443,
+	17547,
+	29,
+	96,
+	{ 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210 },
+	};
+	mavlink_flexifunction_buffer_function_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.func_index = packet_in.func_index;
+        	packet1.func_count = packet_in.func_count;
+        	packet1.data_address = packet_in.data_address;
+        	packet1.data_size = packet_in.data_size;
+        	packet1.target_system = packet_in.target_system;
+        	packet1.target_component = packet_in.target_component;
+        
+        	mav_array_memcpy(packet1.data, packet_in.data, sizeof(int8_t)*48);
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_buffer_function_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_flexifunction_buffer_function_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_buffer_function_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.func_index , packet1.func_count , packet1.data_address , packet1.data_size , packet1.data );
+	mavlink_msg_flexifunction_buffer_function_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_buffer_function_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.func_index , packet1.func_count , packet1.data_address , packet1.data_size , packet1.data );
+	mavlink_msg_flexifunction_buffer_function_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_flexifunction_buffer_function_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_buffer_function_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.func_index , packet1.func_count , packet1.data_address , packet1.data_size , packet1.data );
+	mavlink_msg_flexifunction_buffer_function_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_flexifunction_buffer_function_ack(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_flexifunction_buffer_function_ack_t packet_in = {
+		17235,
+	17339,
+	17,
+	84,
+	};
+	mavlink_flexifunction_buffer_function_ack_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.func_index = packet_in.func_index;
+        	packet1.result = packet_in.result;
+        	packet1.target_system = packet_in.target_system;
+        	packet1.target_component = packet_in.target_component;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_buffer_function_ack_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_flexifunction_buffer_function_ack_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_buffer_function_ack_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.func_index , packet1.result );
+	mavlink_msg_flexifunction_buffer_function_ack_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_buffer_function_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.func_index , packet1.result );
+	mavlink_msg_flexifunction_buffer_function_ack_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_flexifunction_buffer_function_ack_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_buffer_function_ack_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.func_index , packet1.result );
+	mavlink_msg_flexifunction_buffer_function_ack_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_flexifunction_directory(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_flexifunction_directory_t packet_in = {
+		5,
+	72,
+	139,
+	206,
+	17,
+	{ 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131 },
+	};
+	mavlink_flexifunction_directory_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.target_system = packet_in.target_system;
+        	packet1.target_component = packet_in.target_component;
+        	packet1.directory_type = packet_in.directory_type;
+        	packet1.start_index = packet_in.start_index;
+        	packet1.count = packet_in.count;
+        
+        	mav_array_memcpy(packet1.directory_data, packet_in.directory_data, sizeof(int8_t)*48);
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_directory_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_flexifunction_directory_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_directory_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.directory_type , packet1.start_index , packet1.count , packet1.directory_data );
+	mavlink_msg_flexifunction_directory_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_directory_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.directory_type , packet1.start_index , packet1.count , packet1.directory_data );
+	mavlink_msg_flexifunction_directory_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_flexifunction_directory_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_directory_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.directory_type , packet1.start_index , packet1.count , packet1.directory_data );
+	mavlink_msg_flexifunction_directory_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_flexifunction_directory_ack(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_flexifunction_directory_ack_t packet_in = {
+		17235,
+	139,
+	206,
+	17,
+	84,
+	151,
+	};
+	mavlink_flexifunction_directory_ack_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.result = packet_in.result;
+        	packet1.target_system = packet_in.target_system;
+        	packet1.target_component = packet_in.target_component;
+        	packet1.directory_type = packet_in.directory_type;
+        	packet1.start_index = packet_in.start_index;
+        	packet1.count = packet_in.count;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_directory_ack_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_flexifunction_directory_ack_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_directory_ack_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.directory_type , packet1.start_index , packet1.count , packet1.result );
+	mavlink_msg_flexifunction_directory_ack_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_directory_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.directory_type , packet1.start_index , packet1.count , packet1.result );
+	mavlink_msg_flexifunction_directory_ack_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_flexifunction_directory_ack_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_directory_ack_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.directory_type , packet1.start_index , packet1.count , packet1.result );
+	mavlink_msg_flexifunction_directory_ack_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_flexifunction_command(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_flexifunction_command_t packet_in = {
+		5,
+	72,
+	139,
+	};
+	mavlink_flexifunction_command_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.target_system = packet_in.target_system;
+        	packet1.target_component = packet_in.target_component;
+        	packet1.command_type = packet_in.command_type;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_command_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_flexifunction_command_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_command_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.command_type );
+	mavlink_msg_flexifunction_command_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_command_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.command_type );
+	mavlink_msg_flexifunction_command_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_flexifunction_command_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_command_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.command_type );
+	mavlink_msg_flexifunction_command_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_flexifunction_command_ack(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_flexifunction_command_ack_t packet_in = {
+		17235,
+	17339,
+	};
+	mavlink_flexifunction_command_ack_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.command_type = packet_in.command_type;
+        	packet1.result = packet_in.result;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_command_ack_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_flexifunction_command_ack_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_command_ack_pack(system_id, component_id, &msg , packet1.command_type , packet1.result );
+	mavlink_msg_flexifunction_command_ack_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_command_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.command_type , packet1.result );
+	mavlink_msg_flexifunction_command_ack_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_flexifunction_command_ack_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_flexifunction_command_ack_send(MAVLINK_COMM_1 , packet1.command_type , packet1.result );
+	mavlink_msg_flexifunction_command_ack_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_serial_udb_extra_f2_a(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_serial_udb_extra_f2_a_t packet_in = {
+		963497464,
+	963497672,
+	963497880,
+	963498088,
+	18067,
+	18171,
+	18275,
+	18379,
+	18483,
+	18587,
+	18691,
+	18795,
+	18899,
+	19003,
+	19107,
+	19211,
+	19315,
+	19419,
+	19523,
+	19627,
+	19731,
+	19835,
+	19939,
+	20043,
+	20147,
+	20251,
+	20355,
+	63,
+	};
+	mavlink_serial_udb_extra_f2_a_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.sue_time = packet_in.sue_time;
+        	packet1.sue_latitude = packet_in.sue_latitude;
+        	packet1.sue_longitude = packet_in.sue_longitude;
+        	packet1.sue_altitude = packet_in.sue_altitude;
+        	packet1.sue_waypoint_index = packet_in.sue_waypoint_index;
+        	packet1.sue_rmat0 = packet_in.sue_rmat0;
+        	packet1.sue_rmat1 = packet_in.sue_rmat1;
+        	packet1.sue_rmat2 = packet_in.sue_rmat2;
+        	packet1.sue_rmat3 = packet_in.sue_rmat3;
+        	packet1.sue_rmat4 = packet_in.sue_rmat4;
+        	packet1.sue_rmat5 = packet_in.sue_rmat5;
+        	packet1.sue_rmat6 = packet_in.sue_rmat6;
+        	packet1.sue_rmat7 = packet_in.sue_rmat7;
+        	packet1.sue_rmat8 = packet_in.sue_rmat8;
+        	packet1.sue_cog = packet_in.sue_cog;
+        	packet1.sue_sog = packet_in.sue_sog;
+        	packet1.sue_cpu_load = packet_in.sue_cpu_load;
+        	packet1.sue_voltage_milis = packet_in.sue_voltage_milis;
+        	packet1.sue_air_speed_3DIMU = packet_in.sue_air_speed_3DIMU;
+        	packet1.sue_estimated_wind_0 = packet_in.sue_estimated_wind_0;
+        	packet1.sue_estimated_wind_1 = packet_in.sue_estimated_wind_1;
+        	packet1.sue_estimated_wind_2 = packet_in.sue_estimated_wind_2;
+        	packet1.sue_magFieldEarth0 = packet_in.sue_magFieldEarth0;
+        	packet1.sue_magFieldEarth1 = packet_in.sue_magFieldEarth1;
+        	packet1.sue_magFieldEarth2 = packet_in.sue_magFieldEarth2;
+        	packet1.sue_svs = packet_in.sue_svs;
+        	packet1.sue_hdop = packet_in.sue_hdop;
+        	packet1.sue_status = packet_in.sue_status;
+        
+        
 
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f2_a_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_serial_udb_extra_f2_a_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f2_a_pack(system_id, component_id, &msg , packet1.sue_time , packet1.sue_status , packet1.sue_latitude , packet1.sue_longitude , packet1.sue_altitude , packet1.sue_waypoint_index , packet1.sue_rmat0 , packet1.sue_rmat1 , packet1.sue_rmat2 , packet1.sue_rmat3 , packet1.sue_rmat4 , packet1.sue_rmat5 , packet1.sue_rmat6 , packet1.sue_rmat7 , packet1.sue_rmat8 , packet1.sue_cog , packet1.sue_sog , packet1.sue_cpu_load , packet1.sue_voltage_milis , packet1.sue_air_speed_3DIMU , packet1.sue_estimated_wind_0 , packet1.sue_estimated_wind_1 , packet1.sue_estimated_wind_2 , packet1.sue_magFieldEarth0 , packet1.sue_magFieldEarth1 , packet1.sue_magFieldEarth2 , packet1.sue_svs , packet1.sue_hdop );
+	mavlink_msg_serial_udb_extra_f2_a_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f2_a_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sue_time , packet1.sue_status , packet1.sue_latitude , packet1.sue_longitude , packet1.sue_altitude , packet1.sue_waypoint_index , packet1.sue_rmat0 , packet1.sue_rmat1 , packet1.sue_rmat2 , packet1.sue_rmat3 , packet1.sue_rmat4 , packet1.sue_rmat5 , packet1.sue_rmat6 , packet1.sue_rmat7 , packet1.sue_rmat8 , packet1.sue_cog , packet1.sue_sog , packet1.sue_cpu_load , packet1.sue_voltage_milis , packet1.sue_air_speed_3DIMU , packet1.sue_estimated_wind_0 , packet1.sue_estimated_wind_1 , packet1.sue_estimated_wind_2 , packet1.sue_magFieldEarth0 , packet1.sue_magFieldEarth1 , packet1.sue_magFieldEarth2 , packet1.sue_svs , packet1.sue_hdop );
+	mavlink_msg_serial_udb_extra_f2_a_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_serial_udb_extra_f2_a_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f2_a_send(MAVLINK_COMM_1 , packet1.sue_time , packet1.sue_status , packet1.sue_latitude , packet1.sue_longitude , packet1.sue_altitude , packet1.sue_waypoint_index , packet1.sue_rmat0 , packet1.sue_rmat1 , packet1.sue_rmat2 , packet1.sue_rmat3 , packet1.sue_rmat4 , packet1.sue_rmat5 , packet1.sue_rmat6 , packet1.sue_rmat7 , packet1.sue_rmat8 , packet1.sue_cog , packet1.sue_sog , packet1.sue_cpu_load , packet1.sue_voltage_milis , packet1.sue_air_speed_3DIMU , packet1.sue_estimated_wind_0 , packet1.sue_estimated_wind_1 , packet1.sue_estimated_wind_2 , packet1.sue_magFieldEarth0 , packet1.sue_magFieldEarth1 , packet1.sue_magFieldEarth2 , packet1.sue_svs , packet1.sue_hdop );
+	mavlink_msg_serial_udb_extra_f2_a_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_serial_udb_extra_f2_b(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_serial_udb_extra_f2_b_t packet_in = {
+		963497464,
+	963497672,
+	17651,
+	17755,
+	17859,
+	17963,
+	18067,
+	18171,
+	18275,
+	18379,
+	18483,
+	18587,
+	18691,
+	18795,
+	18899,
+	19003,
+	19107,
+	19211,
+	19315,
+	19419,
+	19523,
+	19627,
+	19731,
+	19835,
+	19939,
+	20043,
+	20147,
+	20251,
+	20355,
+	20459,
+	20563,
+	20667,
+	20771,
+	};
+	mavlink_serial_udb_extra_f2_b_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.sue_time = packet_in.sue_time;
+        	packet1.sue_flags = packet_in.sue_flags;
+        	packet1.sue_pwm_input_1 = packet_in.sue_pwm_input_1;
+        	packet1.sue_pwm_input_2 = packet_in.sue_pwm_input_2;
+        	packet1.sue_pwm_input_3 = packet_in.sue_pwm_input_3;
+        	packet1.sue_pwm_input_4 = packet_in.sue_pwm_input_4;
+        	packet1.sue_pwm_input_5 = packet_in.sue_pwm_input_5;
+        	packet1.sue_pwm_input_6 = packet_in.sue_pwm_input_6;
+        	packet1.sue_pwm_input_7 = packet_in.sue_pwm_input_7;
+        	packet1.sue_pwm_input_8 = packet_in.sue_pwm_input_8;
+        	packet1.sue_pwm_input_9 = packet_in.sue_pwm_input_9;
+        	packet1.sue_pwm_input_10 = packet_in.sue_pwm_input_10;
+        	packet1.sue_pwm_output_1 = packet_in.sue_pwm_output_1;
+        	packet1.sue_pwm_output_2 = packet_in.sue_pwm_output_2;
+        	packet1.sue_pwm_output_3 = packet_in.sue_pwm_output_3;
+        	packet1.sue_pwm_output_4 = packet_in.sue_pwm_output_4;
+        	packet1.sue_pwm_output_5 = packet_in.sue_pwm_output_5;
+        	packet1.sue_pwm_output_6 = packet_in.sue_pwm_output_6;
+        	packet1.sue_pwm_output_7 = packet_in.sue_pwm_output_7;
+        	packet1.sue_pwm_output_8 = packet_in.sue_pwm_output_8;
+        	packet1.sue_pwm_output_9 = packet_in.sue_pwm_output_9;
+        	packet1.sue_pwm_output_10 = packet_in.sue_pwm_output_10;
+        	packet1.sue_imu_location_x = packet_in.sue_imu_location_x;
+        	packet1.sue_imu_location_y = packet_in.sue_imu_location_y;
+        	packet1.sue_imu_location_z = packet_in.sue_imu_location_z;
+        	packet1.sue_osc_fails = packet_in.sue_osc_fails;
+        	packet1.sue_imu_velocity_x = packet_in.sue_imu_velocity_x;
+        	packet1.sue_imu_velocity_y = packet_in.sue_imu_velocity_y;
+        	packet1.sue_imu_velocity_z = packet_in.sue_imu_velocity_z;
+        	packet1.sue_waypoint_goal_x = packet_in.sue_waypoint_goal_x;
+        	packet1.sue_waypoint_goal_y = packet_in.sue_waypoint_goal_y;
+        	packet1.sue_waypoint_goal_z = packet_in.sue_waypoint_goal_z;
+        	packet1.sue_memory_stack_free = packet_in.sue_memory_stack_free;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f2_b_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_serial_udb_extra_f2_b_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f2_b_pack(system_id, component_id, &msg , packet1.sue_time , packet1.sue_pwm_input_1 , packet1.sue_pwm_input_2 , packet1.sue_pwm_input_3 , packet1.sue_pwm_input_4 , packet1.sue_pwm_input_5 , packet1.sue_pwm_input_6 , packet1.sue_pwm_input_7 , packet1.sue_pwm_input_8 , packet1.sue_pwm_input_9 , packet1.sue_pwm_input_10 , packet1.sue_pwm_output_1 , packet1.sue_pwm_output_2 , packet1.sue_pwm_output_3 , packet1.sue_pwm_output_4 , packet1.sue_pwm_output_5 , packet1.sue_pwm_output_6 , packet1.sue_pwm_output_7 , packet1.sue_pwm_output_8 , packet1.sue_pwm_output_9 , packet1.sue_pwm_output_10 , packet1.sue_imu_location_x , packet1.sue_imu_location_y , packet1.sue_imu_location_z , packet1.sue_flags , packet1.sue_osc_fails , packet1.sue_imu_velocity_x , packet1.sue_imu_velocity_y , packet1.sue_imu_velocity_z , packet1.sue_waypoint_goal_x , packet1.sue_waypoint_goal_y , packet1.sue_waypoint_goal_z , packet1.sue_memory_stack_free );
+	mavlink_msg_serial_udb_extra_f2_b_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f2_b_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sue_time , packet1.sue_pwm_input_1 , packet1.sue_pwm_input_2 , packet1.sue_pwm_input_3 , packet1.sue_pwm_input_4 , packet1.sue_pwm_input_5 , packet1.sue_pwm_input_6 , packet1.sue_pwm_input_7 , packet1.sue_pwm_input_8 , packet1.sue_pwm_input_9 , packet1.sue_pwm_input_10 , packet1.sue_pwm_output_1 , packet1.sue_pwm_output_2 , packet1.sue_pwm_output_3 , packet1.sue_pwm_output_4 , packet1.sue_pwm_output_5 , packet1.sue_pwm_output_6 , packet1.sue_pwm_output_7 , packet1.sue_pwm_output_8 , packet1.sue_pwm_output_9 , packet1.sue_pwm_output_10 , packet1.sue_imu_location_x , packet1.sue_imu_location_y , packet1.sue_imu_location_z , packet1.sue_flags , packet1.sue_osc_fails , packet1.sue_imu_velocity_x , packet1.sue_imu_velocity_y , packet1.sue_imu_velocity_z , packet1.sue_waypoint_goal_x , packet1.sue_waypoint_goal_y , packet1.sue_waypoint_goal_z , packet1.sue_memory_stack_free );
+	mavlink_msg_serial_udb_extra_f2_b_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_serial_udb_extra_f2_b_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f2_b_send(MAVLINK_COMM_1 , packet1.sue_time , packet1.sue_pwm_input_1 , packet1.sue_pwm_input_2 , packet1.sue_pwm_input_3 , packet1.sue_pwm_input_4 , packet1.sue_pwm_input_5 , packet1.sue_pwm_input_6 , packet1.sue_pwm_input_7 , packet1.sue_pwm_input_8 , packet1.sue_pwm_input_9 , packet1.sue_pwm_input_10 , packet1.sue_pwm_output_1 , packet1.sue_pwm_output_2 , packet1.sue_pwm_output_3 , packet1.sue_pwm_output_4 , packet1.sue_pwm_output_5 , packet1.sue_pwm_output_6 , packet1.sue_pwm_output_7 , packet1.sue_pwm_output_8 , packet1.sue_pwm_output_9 , packet1.sue_pwm_output_10 , packet1.sue_imu_location_x , packet1.sue_imu_location_y , packet1.sue_imu_location_z , packet1.sue_flags , packet1.sue_osc_fails , packet1.sue_imu_velocity_x , packet1.sue_imu_velocity_y , packet1.sue_imu_velocity_z , packet1.sue_waypoint_goal_x , packet1.sue_waypoint_goal_y , packet1.sue_waypoint_goal_z , packet1.sue_memory_stack_free );
+	mavlink_msg_serial_udb_extra_f2_b_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_serial_udb_extra_f4(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_serial_udb_extra_f4_t packet_in = {
+		5,
+	72,
+	139,
+	206,
+	17,
+	84,
+	151,
+	218,
+	29,
+	96,
+	};
+	mavlink_serial_udb_extra_f4_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.sue_ROLL_STABILIZATION_AILERONS = packet_in.sue_ROLL_STABILIZATION_AILERONS;
+        	packet1.sue_ROLL_STABILIZATION_RUDDER = packet_in.sue_ROLL_STABILIZATION_RUDDER;
+        	packet1.sue_PITCH_STABILIZATION = packet_in.sue_PITCH_STABILIZATION;
+        	packet1.sue_YAW_STABILIZATION_RUDDER = packet_in.sue_YAW_STABILIZATION_RUDDER;
+        	packet1.sue_YAW_STABILIZATION_AILERON = packet_in.sue_YAW_STABILIZATION_AILERON;
+        	packet1.sue_AILERON_NAVIGATION = packet_in.sue_AILERON_NAVIGATION;
+        	packet1.sue_RUDDER_NAVIGATION = packet_in.sue_RUDDER_NAVIGATION;
+        	packet1.sue_ALTITUDEHOLD_STABILIZED = packet_in.sue_ALTITUDEHOLD_STABILIZED;
+        	packet1.sue_ALTITUDEHOLD_WAYPOINT = packet_in.sue_ALTITUDEHOLD_WAYPOINT;
+        	packet1.sue_RACING_MODE = packet_in.sue_RACING_MODE;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f4_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_serial_udb_extra_f4_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f4_pack(system_id, component_id, &msg , packet1.sue_ROLL_STABILIZATION_AILERONS , packet1.sue_ROLL_STABILIZATION_RUDDER , packet1.sue_PITCH_STABILIZATION , packet1.sue_YAW_STABILIZATION_RUDDER , packet1.sue_YAW_STABILIZATION_AILERON , packet1.sue_AILERON_NAVIGATION , packet1.sue_RUDDER_NAVIGATION , packet1.sue_ALTITUDEHOLD_STABILIZED , packet1.sue_ALTITUDEHOLD_WAYPOINT , packet1.sue_RACING_MODE );
+	mavlink_msg_serial_udb_extra_f4_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f4_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sue_ROLL_STABILIZATION_AILERONS , packet1.sue_ROLL_STABILIZATION_RUDDER , packet1.sue_PITCH_STABILIZATION , packet1.sue_YAW_STABILIZATION_RUDDER , packet1.sue_YAW_STABILIZATION_AILERON , packet1.sue_AILERON_NAVIGATION , packet1.sue_RUDDER_NAVIGATION , packet1.sue_ALTITUDEHOLD_STABILIZED , packet1.sue_ALTITUDEHOLD_WAYPOINT , packet1.sue_RACING_MODE );
+	mavlink_msg_serial_udb_extra_f4_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_serial_udb_extra_f4_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f4_send(MAVLINK_COMM_1 , packet1.sue_ROLL_STABILIZATION_AILERONS , packet1.sue_ROLL_STABILIZATION_RUDDER , packet1.sue_PITCH_STABILIZATION , packet1.sue_YAW_STABILIZATION_RUDDER , packet1.sue_YAW_STABILIZATION_AILERON , packet1.sue_AILERON_NAVIGATION , packet1.sue_RUDDER_NAVIGATION , packet1.sue_ALTITUDEHOLD_STABILIZED , packet1.sue_ALTITUDEHOLD_WAYPOINT , packet1.sue_RACING_MODE );
+	mavlink_msg_serial_udb_extra_f4_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_serial_udb_extra_f5(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_serial_udb_extra_f5_t packet_in = {
+		17.0,
+	45.0,
+	73.0,
+	101.0,
+	129.0,
+	157.0,
+	};
+	mavlink_serial_udb_extra_f5_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.sue_YAWKP_AILERON = packet_in.sue_YAWKP_AILERON;
+        	packet1.sue_YAWKD_AILERON = packet_in.sue_YAWKD_AILERON;
+        	packet1.sue_ROLLKP = packet_in.sue_ROLLKP;
+        	packet1.sue_ROLLKD = packet_in.sue_ROLLKD;
+        	packet1.sue_YAW_STABILIZATION_AILERON = packet_in.sue_YAW_STABILIZATION_AILERON;
+        	packet1.sue_AILERON_BOOST = packet_in.sue_AILERON_BOOST;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f5_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_serial_udb_extra_f5_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f5_pack(system_id, component_id, &msg , packet1.sue_YAWKP_AILERON , packet1.sue_YAWKD_AILERON , packet1.sue_ROLLKP , packet1.sue_ROLLKD , packet1.sue_YAW_STABILIZATION_AILERON , packet1.sue_AILERON_BOOST );
+	mavlink_msg_serial_udb_extra_f5_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f5_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sue_YAWKP_AILERON , packet1.sue_YAWKD_AILERON , packet1.sue_ROLLKP , packet1.sue_ROLLKD , packet1.sue_YAW_STABILIZATION_AILERON , packet1.sue_AILERON_BOOST );
+	mavlink_msg_serial_udb_extra_f5_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_serial_udb_extra_f5_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f5_send(MAVLINK_COMM_1 , packet1.sue_YAWKP_AILERON , packet1.sue_YAWKD_AILERON , packet1.sue_ROLLKP , packet1.sue_ROLLKD , packet1.sue_YAW_STABILIZATION_AILERON , packet1.sue_AILERON_BOOST );
+	mavlink_msg_serial_udb_extra_f5_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_serial_udb_extra_f6(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_serial_udb_extra_f6_t packet_in = {
+		17.0,
+	45.0,
+	73.0,
+	101.0,
+	129.0,
+	};
+	mavlink_serial_udb_extra_f6_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.sue_PITCHGAIN = packet_in.sue_PITCHGAIN;
+        	packet1.sue_PITCHKD = packet_in.sue_PITCHKD;
+        	packet1.sue_RUDDER_ELEV_MIX = packet_in.sue_RUDDER_ELEV_MIX;
+        	packet1.sue_ROLL_ELEV_MIX = packet_in.sue_ROLL_ELEV_MIX;
+        	packet1.sue_ELEVATOR_BOOST = packet_in.sue_ELEVATOR_BOOST;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f6_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_serial_udb_extra_f6_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f6_pack(system_id, component_id, &msg , packet1.sue_PITCHGAIN , packet1.sue_PITCHKD , packet1.sue_RUDDER_ELEV_MIX , packet1.sue_ROLL_ELEV_MIX , packet1.sue_ELEVATOR_BOOST );
+	mavlink_msg_serial_udb_extra_f6_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f6_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sue_PITCHGAIN , packet1.sue_PITCHKD , packet1.sue_RUDDER_ELEV_MIX , packet1.sue_ROLL_ELEV_MIX , packet1.sue_ELEVATOR_BOOST );
+	mavlink_msg_serial_udb_extra_f6_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_serial_udb_extra_f6_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f6_send(MAVLINK_COMM_1 , packet1.sue_PITCHGAIN , packet1.sue_PITCHKD , packet1.sue_RUDDER_ELEV_MIX , packet1.sue_ROLL_ELEV_MIX , packet1.sue_ELEVATOR_BOOST );
+	mavlink_msg_serial_udb_extra_f6_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_serial_udb_extra_f7(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_serial_udb_extra_f7_t packet_in = {
+		17.0,
+	45.0,
+	73.0,
+	101.0,
+	129.0,
+	157.0,
+	};
+	mavlink_serial_udb_extra_f7_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.sue_YAWKP_RUDDER = packet_in.sue_YAWKP_RUDDER;
+        	packet1.sue_YAWKD_RUDDER = packet_in.sue_YAWKD_RUDDER;
+        	packet1.sue_ROLLKP_RUDDER = packet_in.sue_ROLLKP_RUDDER;
+        	packet1.sue_ROLLKD_RUDDER = packet_in.sue_ROLLKD_RUDDER;
+        	packet1.sue_RUDDER_BOOST = packet_in.sue_RUDDER_BOOST;
+        	packet1.sue_RTL_PITCH_DOWN = packet_in.sue_RTL_PITCH_DOWN;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f7_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_serial_udb_extra_f7_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f7_pack(system_id, component_id, &msg , packet1.sue_YAWKP_RUDDER , packet1.sue_YAWKD_RUDDER , packet1.sue_ROLLKP_RUDDER , packet1.sue_ROLLKD_RUDDER , packet1.sue_RUDDER_BOOST , packet1.sue_RTL_PITCH_DOWN );
+	mavlink_msg_serial_udb_extra_f7_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f7_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sue_YAWKP_RUDDER , packet1.sue_YAWKD_RUDDER , packet1.sue_ROLLKP_RUDDER , packet1.sue_ROLLKD_RUDDER , packet1.sue_RUDDER_BOOST , packet1.sue_RTL_PITCH_DOWN );
+	mavlink_msg_serial_udb_extra_f7_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_serial_udb_extra_f7_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f7_send(MAVLINK_COMM_1 , packet1.sue_YAWKP_RUDDER , packet1.sue_YAWKD_RUDDER , packet1.sue_ROLLKP_RUDDER , packet1.sue_ROLLKD_RUDDER , packet1.sue_RUDDER_BOOST , packet1.sue_RTL_PITCH_DOWN );
+	mavlink_msg_serial_udb_extra_f7_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_serial_udb_extra_f8(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_serial_udb_extra_f8_t packet_in = {
+		17.0,
+	45.0,
+	73.0,
+	101.0,
+	129.0,
+	157.0,
+	185.0,
+	};
+	mavlink_serial_udb_extra_f8_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.sue_HEIGHT_TARGET_MAX = packet_in.sue_HEIGHT_TARGET_MAX;
+        	packet1.sue_HEIGHT_TARGET_MIN = packet_in.sue_HEIGHT_TARGET_MIN;
+        	packet1.sue_ALT_HOLD_THROTTLE_MIN = packet_in.sue_ALT_HOLD_THROTTLE_MIN;
+        	packet1.sue_ALT_HOLD_THROTTLE_MAX = packet_in.sue_ALT_HOLD_THROTTLE_MAX;
+        	packet1.sue_ALT_HOLD_PITCH_MIN = packet_in.sue_ALT_HOLD_PITCH_MIN;
+        	packet1.sue_ALT_HOLD_PITCH_MAX = packet_in.sue_ALT_HOLD_PITCH_MAX;
+        	packet1.sue_ALT_HOLD_PITCH_HIGH = packet_in.sue_ALT_HOLD_PITCH_HIGH;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f8_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_serial_udb_extra_f8_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f8_pack(system_id, component_id, &msg , packet1.sue_HEIGHT_TARGET_MAX , packet1.sue_HEIGHT_TARGET_MIN , packet1.sue_ALT_HOLD_THROTTLE_MIN , packet1.sue_ALT_HOLD_THROTTLE_MAX , packet1.sue_ALT_HOLD_PITCH_MIN , packet1.sue_ALT_HOLD_PITCH_MAX , packet1.sue_ALT_HOLD_PITCH_HIGH );
+	mavlink_msg_serial_udb_extra_f8_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f8_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sue_HEIGHT_TARGET_MAX , packet1.sue_HEIGHT_TARGET_MIN , packet1.sue_ALT_HOLD_THROTTLE_MIN , packet1.sue_ALT_HOLD_THROTTLE_MAX , packet1.sue_ALT_HOLD_PITCH_MIN , packet1.sue_ALT_HOLD_PITCH_MAX , packet1.sue_ALT_HOLD_PITCH_HIGH );
+	mavlink_msg_serial_udb_extra_f8_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_serial_udb_extra_f8_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f8_send(MAVLINK_COMM_1 , packet1.sue_HEIGHT_TARGET_MAX , packet1.sue_HEIGHT_TARGET_MIN , packet1.sue_ALT_HOLD_THROTTLE_MIN , packet1.sue_ALT_HOLD_THROTTLE_MAX , packet1.sue_ALT_HOLD_PITCH_MIN , packet1.sue_ALT_HOLD_PITCH_MAX , packet1.sue_ALT_HOLD_PITCH_HIGH );
+	mavlink_msg_serial_udb_extra_f8_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_serial_udb_extra_f13(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_serial_udb_extra_f13_t packet_in = {
+		963497464,
+	963497672,
+	963497880,
+	17859,
+	};
+	mavlink_serial_udb_extra_f13_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.sue_lat_origin = packet_in.sue_lat_origin;
+        	packet1.sue_lon_origin = packet_in.sue_lon_origin;
+        	packet1.sue_alt_origin = packet_in.sue_alt_origin;
+        	packet1.sue_week_no = packet_in.sue_week_no;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f13_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_serial_udb_extra_f13_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f13_pack(system_id, component_id, &msg , packet1.sue_week_no , packet1.sue_lat_origin , packet1.sue_lon_origin , packet1.sue_alt_origin );
+	mavlink_msg_serial_udb_extra_f13_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f13_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sue_week_no , packet1.sue_lat_origin , packet1.sue_lon_origin , packet1.sue_alt_origin );
+	mavlink_msg_serial_udb_extra_f13_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_serial_udb_extra_f13_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f13_send(MAVLINK_COMM_1 , packet1.sue_week_no , packet1.sue_lat_origin , packet1.sue_lon_origin , packet1.sue_alt_origin );
+	mavlink_msg_serial_udb_extra_f13_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_serial_udb_extra_f14(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_serial_udb_extra_f14_t packet_in = {
+		963497464,
+	17443,
+	17547,
+	17651,
+	163,
+	230,
+	41,
+	108,
+	175,
+	242,
+	53,
+	};
+	mavlink_serial_udb_extra_f14_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.sue_TRAP_SOURCE = packet_in.sue_TRAP_SOURCE;
+        	packet1.sue_RCON = packet_in.sue_RCON;
+        	packet1.sue_TRAP_FLAGS = packet_in.sue_TRAP_FLAGS;
+        	packet1.sue_osc_fail_count = packet_in.sue_osc_fail_count;
+        	packet1.sue_WIND_ESTIMATION = packet_in.sue_WIND_ESTIMATION;
+        	packet1.sue_GPS_TYPE = packet_in.sue_GPS_TYPE;
+        	packet1.sue_DR = packet_in.sue_DR;
+        	packet1.sue_BOARD_TYPE = packet_in.sue_BOARD_TYPE;
+        	packet1.sue_AIRFRAME = packet_in.sue_AIRFRAME;
+        	packet1.sue_CLOCK_CONFIG = packet_in.sue_CLOCK_CONFIG;
+        	packet1.sue_FLIGHT_PLAN_TYPE = packet_in.sue_FLIGHT_PLAN_TYPE;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f14_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_serial_udb_extra_f14_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f14_pack(system_id, component_id, &msg , packet1.sue_WIND_ESTIMATION , packet1.sue_GPS_TYPE , packet1.sue_DR , packet1.sue_BOARD_TYPE , packet1.sue_AIRFRAME , packet1.sue_RCON , packet1.sue_TRAP_FLAGS , packet1.sue_TRAP_SOURCE , packet1.sue_osc_fail_count , packet1.sue_CLOCK_CONFIG , packet1.sue_FLIGHT_PLAN_TYPE );
+	mavlink_msg_serial_udb_extra_f14_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f14_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sue_WIND_ESTIMATION , packet1.sue_GPS_TYPE , packet1.sue_DR , packet1.sue_BOARD_TYPE , packet1.sue_AIRFRAME , packet1.sue_RCON , packet1.sue_TRAP_FLAGS , packet1.sue_TRAP_SOURCE , packet1.sue_osc_fail_count , packet1.sue_CLOCK_CONFIG , packet1.sue_FLIGHT_PLAN_TYPE );
+	mavlink_msg_serial_udb_extra_f14_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_serial_udb_extra_f14_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f14_send(MAVLINK_COMM_1 , packet1.sue_WIND_ESTIMATION , packet1.sue_GPS_TYPE , packet1.sue_DR , packet1.sue_BOARD_TYPE , packet1.sue_AIRFRAME , packet1.sue_RCON , packet1.sue_TRAP_FLAGS , packet1.sue_TRAP_SOURCE , packet1.sue_osc_fail_count , packet1.sue_CLOCK_CONFIG , packet1.sue_FLIGHT_PLAN_TYPE );
+	mavlink_msg_serial_udb_extra_f14_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_serial_udb_extra_f15(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_serial_udb_extra_f15_t packet_in = {
+		{ 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44 },
+	{ 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144 },
+	};
+	mavlink_serial_udb_extra_f15_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        
+        	mav_array_memcpy(packet1.sue_ID_VEHICLE_MODEL_NAME, packet_in.sue_ID_VEHICLE_MODEL_NAME, sizeof(uint8_t)*40);
+        	mav_array_memcpy(packet1.sue_ID_VEHICLE_REGISTRATION, packet_in.sue_ID_VEHICLE_REGISTRATION, sizeof(uint8_t)*20);
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f15_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_serial_udb_extra_f15_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f15_pack(system_id, component_id, &msg , packet1.sue_ID_VEHICLE_MODEL_NAME , packet1.sue_ID_VEHICLE_REGISTRATION );
+	mavlink_msg_serial_udb_extra_f15_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f15_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sue_ID_VEHICLE_MODEL_NAME , packet1.sue_ID_VEHICLE_REGISTRATION );
+	mavlink_msg_serial_udb_extra_f15_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_serial_udb_extra_f15_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f15_send(MAVLINK_COMM_1 , packet1.sue_ID_VEHICLE_MODEL_NAME , packet1.sue_ID_VEHICLE_REGISTRATION );
+	mavlink_msg_serial_udb_extra_f15_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_serial_udb_extra_f16(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_serial_udb_extra_f16_t packet_in = {
+		{ 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44 },
+	{ 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194 },
+	};
+	mavlink_serial_udb_extra_f16_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        
+        	mav_array_memcpy(packet1.sue_ID_LEAD_PILOT, packet_in.sue_ID_LEAD_PILOT, sizeof(uint8_t)*40);
+        	mav_array_memcpy(packet1.sue_ID_DIY_DRONES_URL, packet_in.sue_ID_DIY_DRONES_URL, sizeof(uint8_t)*70);
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f16_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_serial_udb_extra_f16_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f16_pack(system_id, component_id, &msg , packet1.sue_ID_LEAD_PILOT , packet1.sue_ID_DIY_DRONES_URL );
+	mavlink_msg_serial_udb_extra_f16_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f16_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sue_ID_LEAD_PILOT , packet1.sue_ID_DIY_DRONES_URL );
+	mavlink_msg_serial_udb_extra_f16_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_serial_udb_extra_f16_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_serial_udb_extra_f16_send(MAVLINK_COMM_1 , packet1.sue_ID_LEAD_PILOT , packet1.sue_ID_DIY_DRONES_URL );
+	mavlink_msg_serial_udb_extra_f16_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_altitudes(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_altitudes_t packet_in = {
+		963497464,
+	963497672,
+	963497880,
+	963498088,
+	963498296,
+	963498504,
+	963498712,
+	};
+	mavlink_altitudes_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.time_boot_ms = packet_in.time_boot_ms;
+        	packet1.alt_gps = packet_in.alt_gps;
+        	packet1.alt_imu = packet_in.alt_imu;
+        	packet1.alt_barometric = packet_in.alt_barometric;
+        	packet1.alt_optical_flow = packet_in.alt_optical_flow;
+        	packet1.alt_range_finder = packet_in.alt_range_finder;
+        	packet1.alt_extra = packet_in.alt_extra;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_altitudes_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_altitudes_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_altitudes_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.alt_gps , packet1.alt_imu , packet1.alt_barometric , packet1.alt_optical_flow , packet1.alt_range_finder , packet1.alt_extra );
+	mavlink_msg_altitudes_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_altitudes_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.alt_gps , packet1.alt_imu , packet1.alt_barometric , packet1.alt_optical_flow , packet1.alt_range_finder , packet1.alt_extra );
+	mavlink_msg_altitudes_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_altitudes_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_altitudes_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.alt_gps , packet1.alt_imu , packet1.alt_barometric , packet1.alt_optical_flow , packet1.alt_range_finder , packet1.alt_extra );
+	mavlink_msg_altitudes_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_airspeeds(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_airspeeds_t packet_in = {
+		963497464,
+	17443,
+	17547,
+	17651,
+	17755,
+	17859,
+	17963,
+	};
+	mavlink_airspeeds_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.time_boot_ms = packet_in.time_boot_ms;
+        	packet1.airspeed_imu = packet_in.airspeed_imu;
+        	packet1.airspeed_pitot = packet_in.airspeed_pitot;
+        	packet1.airspeed_hot_wire = packet_in.airspeed_hot_wire;
+        	packet1.airspeed_ultrasonic = packet_in.airspeed_ultrasonic;
+        	packet1.aoa = packet_in.aoa;
+        	packet1.aoy = packet_in.aoy;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_airspeeds_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_airspeeds_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_airspeeds_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.airspeed_imu , packet1.airspeed_pitot , packet1.airspeed_hot_wire , packet1.airspeed_ultrasonic , packet1.aoa , packet1.aoy );
+	mavlink_msg_airspeeds_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_airspeeds_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.airspeed_imu , packet1.airspeed_pitot , packet1.airspeed_hot_wire , packet1.airspeed_ultrasonic , packet1.aoa , packet1.aoy );
+	mavlink_msg_airspeeds_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_airspeeds_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_airspeeds_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.airspeed_imu , packet1.airspeed_pitot , packet1.airspeed_hot_wire , packet1.airspeed_ultrasonic , packet1.aoa , packet1.aoy );
+	mavlink_msg_airspeeds_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_matrixpilot(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_test_flexifunction_set(system_id, component_id, last_msg);
+	mavlink_test_flexifunction_read_req(system_id, component_id, last_msg);
+	mavlink_test_flexifunction_buffer_function(system_id, component_id, last_msg);
+	mavlink_test_flexifunction_buffer_function_ack(system_id, component_id, last_msg);
+	mavlink_test_flexifunction_directory(system_id, component_id, last_msg);
+	mavlink_test_flexifunction_directory_ack(system_id, component_id, last_msg);
+	mavlink_test_flexifunction_command(system_id, component_id, last_msg);
+	mavlink_test_flexifunction_command_ack(system_id, component_id, last_msg);
+	mavlink_test_serial_udb_extra_f2_a(system_id, component_id, last_msg);
+	mavlink_test_serial_udb_extra_f2_b(system_id, component_id, last_msg);
+	mavlink_test_serial_udb_extra_f4(system_id, component_id, last_msg);
+	mavlink_test_serial_udb_extra_f5(system_id, component_id, last_msg);
+	mavlink_test_serial_udb_extra_f6(system_id, component_id, last_msg);
+	mavlink_test_serial_udb_extra_f7(system_id, component_id, last_msg);
+	mavlink_test_serial_udb_extra_f8(system_id, component_id, last_msg);
+	mavlink_test_serial_udb_extra_f13(system_id, component_id, last_msg);
+	mavlink_test_serial_udb_extra_f14(system_id, component_id, last_msg);
+	mavlink_test_serial_udb_extra_f15(system_id, component_id, last_msg);
+	mavlink_test_serial_udb_extra_f16(system_id, component_id, last_msg);
+	mavlink_test_altitudes(system_id, component_id, last_msg);
+	mavlink_test_airspeeds(system_id, component_id, last_msg);
 }
 
 #ifdef __cplusplus
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/version.h b/mavlink/include/mavlink/v1.0/matrixpilot/version.h
index a64a4fae7..7d9e1eafd 100644
--- a/mavlink/include/mavlink/v1.0/matrixpilot/version.h
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/version.h
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Dec  1 02:06:23 2012"
+#define MAVLINK_BUILD_DATE "Wed Jan  9 16:18:08 2013"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
  
diff --git a/mavlink/include/mavlink/v1.0/mavlink_helpers.h b/mavlink/include/mavlink/v1.0/mavlink_helpers.h
index f41b36883..f3e49e88a 100644
--- a/mavlink/include/mavlink/v1.0/mavlink_helpers.h
+++ b/mavlink/include/mavlink/v1.0/mavlink_helpers.h
@@ -550,7 +550,7 @@ MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf,
 #ifdef MAVLINK_SEND_UART_BYTES
 	/* this is the more efficient approach, if the platform
 	   defines it */
-	MAVLINK_SEND_UART_BYTES(chan, (uint8_t *)buf, len);
+	MAVLINK_SEND_UART_BYTES(chan, (const uint8_t *)buf, len);
 #else
 	/* fallback to one byte at a time */
 	uint16_t i;
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h b/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h
index 58ec25f1a..574b92d7a 100644
--- a/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h
+++ b/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h
@@ -12,15 +12,15 @@ extern "C" {
 // MESSAGE LENGTHS AND CRCS
 
 #ifndef MAVLINK_MESSAGE_LENGTHS
-#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 254, 249, 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 33, 25, 0, 11, 52, 1, 92, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 26, 16, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 0, 0, 0, 0, 0, 0, 106, 43, 55, 12, 255, 53, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
+#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 0, 0, 0, 254, 249, 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 33, 25, 0, 11, 52, 1, 92, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 26, 16, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 0, 0, 0, 0, 0, 0, 106, 43, 55, 12, 255, 53, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 242, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 0, 0, 0, 0, 235, 93, 124, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 241, 15, 0, 108, 86, 95, 224, 0, 0, 0, 0, 0, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 249, 182, 0, 0, 0, 0, 0, 0, 0, 153, 16, 29, 162, 0, 0, 0, 0, 0, 0, 90, 95, 36, 23, 223, 88, 0, 0, 0, 0, 254, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
+#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 0, 0, 0, 235, 93, 124, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 241, 15, 0, 108, 86, 95, 224, 0, 0, 0, 0, 0, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 249, 182, 0, 0, 0, 0, 0, 0, 0, 153, 16, 29, 162, 0, 0, 0, 0, 0, 0, 90, 95, 36, 23, 223, 88, 0, 0, 0, 0, 254, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_INFO
-#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_CAM_SHUTTER, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGERED, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGER_CONTROL, MAVLINK_MESSAGE_INFO_IMAGE_AVAILABLE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_POSITION_CONTROL_OFFSET, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT, MAVLINK_MESSAGE_INFO_MARKER, MAVLINK_MESSAGE_INFO_RAW_AUX, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_WATCHDOG_HEARTBEAT, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_INFO, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_STATUS, MAVLINK_MESSAGE_INFO_WATCHDOG_COMMAND, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PATTERN_DETECTED, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST_CONNECTION, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_BRIEF_FEATURE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ATTITUDE_CONTROL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}}
+#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_CAM_SHUTTER, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGERED, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGER_CONTROL, MAVLINK_MESSAGE_INFO_IMAGE_AVAILABLE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_POSITION_CONTROL_OFFSET, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT, MAVLINK_MESSAGE_INFO_MARKER, MAVLINK_MESSAGE_INFO_RAW_AUX, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_WATCHDOG_HEARTBEAT, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_INFO, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_STATUS, MAVLINK_MESSAGE_INFO_WATCHDOG_COMMAND, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PATTERN_DETECTED, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST_CONNECTION, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_BRIEF_FEATURE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ATTITUDE_CONTROL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}}
 #endif
 
 #include "../protocol.h"
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/version.h b/mavlink/include/mavlink/v1.0/pixhawk/version.h
index 6e63f4bc7..2ece89409 100644
--- a/mavlink/include/mavlink/v1.0/pixhawk/version.h
+++ b/mavlink/include/mavlink/v1.0/pixhawk/version.h
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Dec  1 02:06:36 2012"
+#define MAVLINK_BUILD_DATE "Wed Jan  9 16:18:21 2013"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_cmd_airspeed_ack.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_cmd_airspeed_ack.h
index 6dcab9fa8..74b55af30 100644
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_cmd_airspeed_ack.h
+++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_cmd_airspeed_ack.h
@@ -4,8 +4,12 @@
 
 typedef struct __mavlink_cmd_airspeed_ack_t
 {
- float spCmd; ///< commanded airspeed
- uint8_t ack; ///< 0:ack, 1:nack
+ float spCmd; ///< 
+                
+            
+ uint8_t ack; ///< 
+                
+            
 } mavlink_cmd_airspeed_ack_t;
 
 #define MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN 5
@@ -28,8 +32,12 @@ typedef struct __mavlink_cmd_airspeed_ack_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param spCmd commanded airspeed
- * @param ack 0:ack, 1:nack
+ * @param spCmd 
+                
+            
+ * @param ack 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_cmd_airspeed_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -59,8 +67,12 @@ static inline uint16_t mavlink_msg_cmd_airspeed_ack_pack(uint8_t system_id, uint
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param spCmd commanded airspeed
- * @param ack 0:ack, 1:nack
+ * @param spCmd 
+                
+            
+ * @param ack 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_cmd_airspeed_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -102,8 +114,12 @@ static inline uint16_t mavlink_msg_cmd_airspeed_ack_encode(uint8_t system_id, ui
  * @brief Send a cmd_airspeed_ack message
  * @param chan MAVLink channel to send the message
  *
- * @param spCmd commanded airspeed
- * @param ack 0:ack, 1:nack
+ * @param spCmd 
+                
+            
+ * @param ack 
+                
+            
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -132,7 +148,9 @@ static inline void mavlink_msg_cmd_airspeed_ack_send(mavlink_channel_t chan, flo
 /**
  * @brief Get field spCmd from cmd_airspeed_ack message
  *
- * @return commanded airspeed
+ * @return 
+                
+            
  */
 static inline float mavlink_msg_cmd_airspeed_ack_get_spCmd(const mavlink_message_t* msg)
 {
@@ -142,7 +160,9 @@ static inline float mavlink_msg_cmd_airspeed_ack_get_spCmd(const mavlink_message
 /**
  * @brief Get field ack from cmd_airspeed_ack message
  *
- * @return 0:ack, 1:nack
+ * @return 
+                
+            
  */
 static inline uint8_t mavlink_msg_cmd_airspeed_ack_get_ack(const mavlink_message_t* msg)
 {
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_cmd_airspeed_chng.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_cmd_airspeed_chng.h
index d5b21b8d7..2ac1b4eab 100644
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_cmd_airspeed_chng.h
+++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_cmd_airspeed_chng.h
@@ -4,8 +4,12 @@
 
 typedef struct __mavlink_cmd_airspeed_chng_t
 {
- float spCmd; ///< commanded airspeed
- uint8_t target; ///< Target ID
+ float spCmd; ///< 
+                
+            
+ uint8_t target; ///< 
+                
+            
 } mavlink_cmd_airspeed_chng_t;
 
 #define MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN 5
@@ -28,8 +32,12 @@ typedef struct __mavlink_cmd_airspeed_chng_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param target Target ID
- * @param spCmd commanded airspeed
+ * @param target 
+                
+            
+ * @param spCmd 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_cmd_airspeed_chng_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -59,8 +67,12 @@ static inline uint16_t mavlink_msg_cmd_airspeed_chng_pack(uint8_t system_id, uin
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param target Target ID
- * @param spCmd commanded airspeed
+ * @param target 
+                
+            
+ * @param spCmd 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_cmd_airspeed_chng_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -102,8 +114,12 @@ static inline uint16_t mavlink_msg_cmd_airspeed_chng_encode(uint8_t system_id, u
  * @brief Send a cmd_airspeed_chng message
  * @param chan MAVLink channel to send the message
  *
- * @param target Target ID
- * @param spCmd commanded airspeed
+ * @param target 
+                
+            
+ * @param spCmd 
+                
+            
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -132,7 +148,9 @@ static inline void mavlink_msg_cmd_airspeed_chng_send(mavlink_channel_t chan, ui
 /**
  * @brief Get field target from cmd_airspeed_chng message
  *
- * @return Target ID
+ * @return 
+                
+            
  */
 static inline uint8_t mavlink_msg_cmd_airspeed_chng_get_target(const mavlink_message_t* msg)
 {
@@ -142,7 +160,9 @@ static inline uint8_t mavlink_msg_cmd_airspeed_chng_get_target(const mavlink_mes
 /**
  * @brief Get field spCmd from cmd_airspeed_chng message
  *
- * @return commanded airspeed
+ * @return 
+                
+            
  */
 static inline float mavlink_msg_cmd_airspeed_chng_get_spCmd(const mavlink_message_t* msg)
 {
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_filt_rot_vel.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_filt_rot_vel.h
index f5fef06f0..32f46aadc 100644
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_filt_rot_vel.h
+++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_filt_rot_vel.h
@@ -4,7 +4,9 @@
 
 typedef struct __mavlink_filt_rot_vel_t
 {
- float rotVel[3]; ///< rotational velocity
+ float rotVel[3]; ///< 
+                
+            
 } mavlink_filt_rot_vel_t;
 
 #define MAVLINK_MSG_ID_FILT_ROT_VEL_LEN 12
@@ -26,7 +28,9 @@ typedef struct __mavlink_filt_rot_vel_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param rotVel rotational velocity
+ * @param rotVel 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_filt_rot_vel_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -54,7 +58,9 @@ static inline uint16_t mavlink_msg_filt_rot_vel_pack(uint8_t system_id, uint8_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param rotVel rotational velocity
+ * @param rotVel 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_filt_rot_vel_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -94,7 +100,9 @@ static inline uint16_t mavlink_msg_filt_rot_vel_encode(uint8_t system_id, uint8_
  * @brief Send a filt_rot_vel message
  * @param chan MAVLink channel to send the message
  *
- * @param rotVel rotational velocity
+ * @param rotVel 
+                
+            
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -121,7 +129,9 @@ static inline void mavlink_msg_filt_rot_vel_send(mavlink_channel_t chan, const f
 /**
  * @brief Get field rotVel from filt_rot_vel message
  *
- * @return rotational velocity
+ * @return 
+                
+            
  */
 static inline uint16_t mavlink_msg_filt_rot_vel_get_rotVel(const mavlink_message_t* msg, float *rotVel)
 {
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_llc_out.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_llc_out.h
index 5ee3d5a19..41a66adef 100644
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_llc_out.h
+++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_llc_out.h
@@ -4,8 +4,12 @@
 
 typedef struct __mavlink_llc_out_t
 {
- int16_t servoOut[4]; ///< Servo signal
- int16_t MotorOut[2]; ///< motor signal
+ int16_t servoOut[4]; ///< 
+                
+            
+ int16_t MotorOut[2]; ///< 
+                
+            
 } mavlink_llc_out_t;
 
 #define MAVLINK_MSG_ID_LLC_OUT_LEN 12
@@ -29,8 +33,12 @@ typedef struct __mavlink_llc_out_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param servoOut Servo signal
- * @param MotorOut motor signal
+ * @param servoOut 
+                
+            
+ * @param MotorOut 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_llc_out_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -60,8 +68,12 @@ static inline uint16_t mavlink_msg_llc_out_pack(uint8_t system_id, uint8_t compo
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param servoOut Servo signal
- * @param MotorOut motor signal
+ * @param servoOut 
+                
+            
+ * @param MotorOut 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_llc_out_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -103,8 +115,12 @@ static inline uint16_t mavlink_msg_llc_out_encode(uint8_t system_id, uint8_t com
  * @brief Send a llc_out message
  * @param chan MAVLink channel to send the message
  *
- * @param servoOut Servo signal
- * @param MotorOut motor signal
+ * @param servoOut 
+                
+            
+ * @param MotorOut 
+                
+            
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -133,7 +149,9 @@ static inline void mavlink_msg_llc_out_send(mavlink_channel_t chan, const int16_
 /**
  * @brief Get field servoOut from llc_out message
  *
- * @return Servo signal
+ * @return 
+                
+            
  */
 static inline uint16_t mavlink_msg_llc_out_get_servoOut(const mavlink_message_t* msg, int16_t *servoOut)
 {
@@ -143,7 +161,9 @@ static inline uint16_t mavlink_msg_llc_out_get_servoOut(const mavlink_message_t*
 /**
  * @brief Get field MotorOut from llc_out message
  *
- * @return motor signal
+ * @return 
+                
+            
  */
 static inline uint16_t mavlink_msg_llc_out_get_MotorOut(const mavlink_message_t* msg, int16_t *MotorOut)
 {
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_temp.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_temp.h
index 60cf01845..3e08b5842 100644
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_temp.h
+++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_temp.h
@@ -4,7 +4,9 @@
 
 typedef struct __mavlink_obs_air_temp_t
 {
- float airT; ///< Air Temperatur
+ float airT; ///< 
+                
+            
 } mavlink_obs_air_temp_t;
 
 #define MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN 4
@@ -26,7 +28,9 @@ typedef struct __mavlink_obs_air_temp_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param airT Air Temperatur
+ * @param airT 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_obs_air_temp_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -54,7 +58,9 @@ static inline uint16_t mavlink_msg_obs_air_temp_pack(uint8_t system_id, uint8_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param airT Air Temperatur
+ * @param airT 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_obs_air_temp_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -94,7 +100,9 @@ static inline uint16_t mavlink_msg_obs_air_temp_encode(uint8_t system_id, uint8_
  * @brief Send a obs_air_temp message
  * @param chan MAVLink channel to send the message
  *
- * @param airT Air Temperatur
+ * @param airT 
+                
+            
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -121,7 +129,9 @@ static inline void mavlink_msg_obs_air_temp_send(mavlink_channel_t chan, float a
 /**
  * @brief Get field airT from obs_air_temp message
  *
- * @return Air Temperatur
+ * @return 
+                
+            
  */
 static inline float mavlink_msg_obs_air_temp_get_airT(const mavlink_message_t* msg)
 {
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_velocity.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_velocity.h
index ef56c5c61..2f7c6f9e9 100644
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_velocity.h
+++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_velocity.h
@@ -4,9 +4,15 @@
 
 typedef struct __mavlink_obs_air_velocity_t
 {
- float magnitude; ///< Air speed
- float aoa; ///< angle of attack
- float slip; ///< slip angle
+ float magnitude; ///< 
+                
+            
+ float aoa; ///< 
+                
+            
+ float slip; ///< 
+                
+            
 } mavlink_obs_air_velocity_t;
 
 #define MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN 12
@@ -30,9 +36,15 @@ typedef struct __mavlink_obs_air_velocity_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param magnitude Air speed
- * @param aoa angle of attack
- * @param slip slip angle
+ * @param magnitude 
+                
+            
+ * @param aoa 
+                
+            
+ * @param slip 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_obs_air_velocity_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -64,9 +76,15 @@ static inline uint16_t mavlink_msg_obs_air_velocity_pack(uint8_t system_id, uint
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param magnitude Air speed
- * @param aoa angle of attack
- * @param slip slip angle
+ * @param magnitude 
+                
+            
+ * @param aoa 
+                
+            
+ * @param slip 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_obs_air_velocity_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -110,9 +128,15 @@ static inline uint16_t mavlink_msg_obs_air_velocity_encode(uint8_t system_id, ui
  * @brief Send a obs_air_velocity message
  * @param chan MAVLink channel to send the message
  *
- * @param magnitude Air speed
- * @param aoa angle of attack
- * @param slip slip angle
+ * @param magnitude 
+                
+            
+ * @param aoa 
+                
+            
+ * @param slip 
+                
+            
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -143,7 +167,9 @@ static inline void mavlink_msg_obs_air_velocity_send(mavlink_channel_t chan, flo
 /**
  * @brief Get field magnitude from obs_air_velocity message
  *
- * @return Air speed
+ * @return 
+                
+            
  */
 static inline float mavlink_msg_obs_air_velocity_get_magnitude(const mavlink_message_t* msg)
 {
@@ -153,7 +179,9 @@ static inline float mavlink_msg_obs_air_velocity_get_magnitude(const mavlink_mes
 /**
  * @brief Get field aoa from obs_air_velocity message
  *
- * @return angle of attack
+ * @return 
+                
+            
  */
 static inline float mavlink_msg_obs_air_velocity_get_aoa(const mavlink_message_t* msg)
 {
@@ -163,7 +191,9 @@ static inline float mavlink_msg_obs_air_velocity_get_aoa(const mavlink_message_t
 /**
  * @brief Get field slip from obs_air_velocity message
  *
- * @return slip angle
+ * @return 
+                
+            
  */
 static inline float mavlink_msg_obs_air_velocity_get_slip(const mavlink_message_t* msg)
 {
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_attitude.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_attitude.h
index 7a3e6d0ba..3247392f6 100644
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_attitude.h
+++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_attitude.h
@@ -4,7 +4,9 @@
 
 typedef struct __mavlink_obs_attitude_t
 {
- double quat[4]; ///< Quaternion re;im
+ double quat[4]; ///< 
+                
+            
 } mavlink_obs_attitude_t;
 
 #define MAVLINK_MSG_ID_OBS_ATTITUDE_LEN 32
@@ -26,7 +28,9 @@ typedef struct __mavlink_obs_attitude_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param quat Quaternion re;im
+ * @param quat 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_obs_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -54,7 +58,9 @@ static inline uint16_t mavlink_msg_obs_attitude_pack(uint8_t system_id, uint8_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param quat Quaternion re;im
+ * @param quat 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_obs_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -94,7 +100,9 @@ static inline uint16_t mavlink_msg_obs_attitude_encode(uint8_t system_id, uint8_
  * @brief Send a obs_attitude message
  * @param chan MAVLink channel to send the message
  *
- * @param quat Quaternion re;im
+ * @param quat 
+                
+            
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -121,7 +129,9 @@ static inline void mavlink_msg_obs_attitude_send(mavlink_channel_t chan, const d
 /**
  * @brief Get field quat from obs_attitude message
  *
- * @return Quaternion re;im
+ * @return 
+                
+            
  */
 static inline uint16_t mavlink_msg_obs_attitude_get_quat(const mavlink_message_t* msg, double *quat)
 {
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_bias.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_bias.h
index 565ab0cd8..2a0d49f34 100644
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_bias.h
+++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_bias.h
@@ -4,8 +4,12 @@
 
 typedef struct __mavlink_obs_bias_t
 {
- float accBias[3]; ///< accelerometer bias
- float gyroBias[3]; ///< gyroscope bias
+ float accBias[3]; ///< 
+                
+            
+ float gyroBias[3]; ///< 
+                
+            
 } mavlink_obs_bias_t;
 
 #define MAVLINK_MSG_ID_OBS_BIAS_LEN 24
@@ -29,8 +33,12 @@ typedef struct __mavlink_obs_bias_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param accBias accelerometer bias
- * @param gyroBias gyroscope bias
+ * @param accBias 
+                
+            
+ * @param gyroBias 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_obs_bias_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -60,8 +68,12 @@ static inline uint16_t mavlink_msg_obs_bias_pack(uint8_t system_id, uint8_t comp
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param accBias accelerometer bias
- * @param gyroBias gyroscope bias
+ * @param accBias 
+                
+            
+ * @param gyroBias 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_obs_bias_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -103,8 +115,12 @@ static inline uint16_t mavlink_msg_obs_bias_encode(uint8_t system_id, uint8_t co
  * @brief Send a obs_bias message
  * @param chan MAVLink channel to send the message
  *
- * @param accBias accelerometer bias
- * @param gyroBias gyroscope bias
+ * @param accBias 
+                
+            
+ * @param gyroBias 
+                
+            
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -133,7 +149,9 @@ static inline void mavlink_msg_obs_bias_send(mavlink_channel_t chan, const float
 /**
  * @brief Get field accBias from obs_bias message
  *
- * @return accelerometer bias
+ * @return 
+                
+            
  */
 static inline uint16_t mavlink_msg_obs_bias_get_accBias(const mavlink_message_t* msg, float *accBias)
 {
@@ -143,7 +161,9 @@ static inline uint16_t mavlink_msg_obs_bias_get_accBias(const mavlink_message_t*
 /**
  * @brief Get field gyroBias from obs_bias message
  *
- * @return gyroscope bias
+ * @return 
+                
+            
  */
 static inline uint16_t mavlink_msg_obs_bias_get_gyroBias(const mavlink_message_t* msg, float *gyroBias)
 {
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_position.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_position.h
index e886c8c24..0d89bcdb7 100644
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_position.h
+++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_position.h
@@ -4,9 +4,15 @@
 
 typedef struct __mavlink_obs_position_t
 {
- int32_t lon; ///< Longitude expressed in 1E7
- int32_t lat; ///< Latitude expressed in 1E7
- int32_t alt; ///< Altitude expressed in milimeters
+ int32_t lon; ///< 
+                
+            
+ int32_t lat; ///< 
+                
+            
+ int32_t alt; ///< 
+                
+            
 } mavlink_obs_position_t;
 
 #define MAVLINK_MSG_ID_OBS_POSITION_LEN 12
@@ -30,9 +36,15 @@ typedef struct __mavlink_obs_position_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param lon Longitude expressed in 1E7
- * @param lat Latitude expressed in 1E7
- * @param alt Altitude expressed in milimeters
+ * @param lon 
+                
+            
+ * @param lat 
+                
+            
+ * @param alt 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_obs_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -64,9 +76,15 @@ static inline uint16_t mavlink_msg_obs_position_pack(uint8_t system_id, uint8_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param lon Longitude expressed in 1E7
- * @param lat Latitude expressed in 1E7
- * @param alt Altitude expressed in milimeters
+ * @param lon 
+                
+            
+ * @param lat 
+                
+            
+ * @param alt 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_obs_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -110,9 +128,15 @@ static inline uint16_t mavlink_msg_obs_position_encode(uint8_t system_id, uint8_
  * @brief Send a obs_position message
  * @param chan MAVLink channel to send the message
  *
- * @param lon Longitude expressed in 1E7
- * @param lat Latitude expressed in 1E7
- * @param alt Altitude expressed in milimeters
+ * @param lon 
+                
+            
+ * @param lat 
+                
+            
+ * @param alt 
+                
+            
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -143,7 +167,9 @@ static inline void mavlink_msg_obs_position_send(mavlink_channel_t chan, int32_t
 /**
  * @brief Get field lon from obs_position message
  *
- * @return Longitude expressed in 1E7
+ * @return 
+                
+            
  */
 static inline int32_t mavlink_msg_obs_position_get_lon(const mavlink_message_t* msg)
 {
@@ -153,7 +179,9 @@ static inline int32_t mavlink_msg_obs_position_get_lon(const mavlink_message_t*
 /**
  * @brief Get field lat from obs_position message
  *
- * @return Latitude expressed in 1E7
+ * @return 
+                
+            
  */
 static inline int32_t mavlink_msg_obs_position_get_lat(const mavlink_message_t* msg)
 {
@@ -163,7 +191,9 @@ static inline int32_t mavlink_msg_obs_position_get_lat(const mavlink_message_t*
 /**
  * @brief Get field alt from obs_position message
  *
- * @return Altitude expressed in milimeters
+ * @return 
+                
+            
  */
 static inline int32_t mavlink_msg_obs_position_get_alt(const mavlink_message_t* msg)
 {
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_qff.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_qff.h
index 4ab10ca07..1f32eff40 100644
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_qff.h
+++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_qff.h
@@ -4,7 +4,9 @@
 
 typedef struct __mavlink_obs_qff_t
 {
- float qff; ///< Wind
+ float qff; ///< 
+                
+            
 } mavlink_obs_qff_t;
 
 #define MAVLINK_MSG_ID_OBS_QFF_LEN 4
@@ -26,7 +28,9 @@ typedef struct __mavlink_obs_qff_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param qff Wind
+ * @param qff 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_obs_qff_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -54,7 +58,9 @@ static inline uint16_t mavlink_msg_obs_qff_pack(uint8_t system_id, uint8_t compo
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param qff Wind
+ * @param qff 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_obs_qff_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -94,7 +100,9 @@ static inline uint16_t mavlink_msg_obs_qff_encode(uint8_t system_id, uint8_t com
  * @brief Send a obs_qff message
  * @param chan MAVLink channel to send the message
  *
- * @param qff Wind
+ * @param qff 
+                
+            
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -121,7 +129,9 @@ static inline void mavlink_msg_obs_qff_send(mavlink_channel_t chan, float qff)
 /**
  * @brief Get field qff from obs_qff message
  *
- * @return Wind
+ * @return 
+                
+            
  */
 static inline float mavlink_msg_obs_qff_get_qff(const mavlink_message_t* msg)
 {
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_velocity.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_velocity.h
index e5ace9f85..d0cc15e8b 100644
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_velocity.h
+++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_velocity.h
@@ -4,7 +4,9 @@
 
 typedef struct __mavlink_obs_velocity_t
 {
- float vel[3]; ///< Velocity
+ float vel[3]; ///< 
+                
+            
 } mavlink_obs_velocity_t;
 
 #define MAVLINK_MSG_ID_OBS_VELOCITY_LEN 12
@@ -26,7 +28,9 @@ typedef struct __mavlink_obs_velocity_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param vel Velocity
+ * @param vel 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_obs_velocity_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -54,7 +58,9 @@ static inline uint16_t mavlink_msg_obs_velocity_pack(uint8_t system_id, uint8_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param vel Velocity
+ * @param vel 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_obs_velocity_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -94,7 +100,9 @@ static inline uint16_t mavlink_msg_obs_velocity_encode(uint8_t system_id, uint8_
  * @brief Send a obs_velocity message
  * @param chan MAVLink channel to send the message
  *
- * @param vel Velocity
+ * @param vel 
+                
+            
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -121,7 +129,9 @@ static inline void mavlink_msg_obs_velocity_send(mavlink_channel_t chan, const f
 /**
  * @brief Get field vel from obs_velocity message
  *
- * @return Velocity
+ * @return 
+                
+            
  */
 static inline uint16_t mavlink_msg_obs_velocity_get_vel(const mavlink_message_t* msg, float *vel)
 {
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_wind.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_wind.h
index 6011a1caa..d08d41ae9 100644
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_wind.h
+++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_wind.h
@@ -4,7 +4,9 @@
 
 typedef struct __mavlink_obs_wind_t
 {
- float wind[3]; ///< Wind
+ float wind[3]; ///< 
+                
+            
 } mavlink_obs_wind_t;
 
 #define MAVLINK_MSG_ID_OBS_WIND_LEN 12
@@ -26,7 +28,9 @@ typedef struct __mavlink_obs_wind_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param wind Wind
+ * @param wind 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_obs_wind_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -54,7 +58,9 @@ static inline uint16_t mavlink_msg_obs_wind_pack(uint8_t system_id, uint8_t comp
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param wind Wind
+ * @param wind 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_obs_wind_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -94,7 +100,9 @@ static inline uint16_t mavlink_msg_obs_wind_encode(uint8_t system_id, uint8_t co
  * @brief Send a obs_wind message
  * @param chan MAVLink channel to send the message
  *
- * @param wind Wind
+ * @param wind 
+                
+            
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -121,7 +129,9 @@ static inline void mavlink_msg_obs_wind_send(mavlink_channel_t chan, const float
 /**
  * @brief Get field wind from obs_wind message
  *
- * @return Wind
+ * @return 
+                
+            
  */
 static inline uint16_t mavlink_msg_obs_wind_get_wind(const mavlink_message_t* msg, float *wind)
 {
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_pm_elec.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_pm_elec.h
index d194dae9b..5b7a4b2d6 100644
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_pm_elec.h
+++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_pm_elec.h
@@ -4,9 +4,15 @@
 
 typedef struct __mavlink_pm_elec_t
 {
- float PwCons; ///< current power consumption
- float BatStat; ///< battery status
- float PwGen[3]; ///< Power generation from each module
+ float PwCons; ///< 
+                
+            
+ float BatStat; ///< 
+                
+            
+ float PwGen[3]; ///< 
+                
+            
 } mavlink_pm_elec_t;
 
 #define MAVLINK_MSG_ID_PM_ELEC_LEN 20
@@ -30,9 +36,15 @@ typedef struct __mavlink_pm_elec_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param PwCons current power consumption
- * @param BatStat battery status
- * @param PwGen Power generation from each module
+ * @param PwCons 
+                
+            
+ * @param BatStat 
+                
+            
+ * @param PwGen 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_pm_elec_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -62,9 +74,15 @@ static inline uint16_t mavlink_msg_pm_elec_pack(uint8_t system_id, uint8_t compo
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param PwCons current power consumption
- * @param BatStat battery status
- * @param PwGen Power generation from each module
+ * @param PwCons 
+                
+            
+ * @param BatStat 
+                
+            
+ * @param PwGen 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_pm_elec_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -106,9 +124,15 @@ static inline uint16_t mavlink_msg_pm_elec_encode(uint8_t system_id, uint8_t com
  * @brief Send a pm_elec message
  * @param chan MAVLink channel to send the message
  *
- * @param PwCons current power consumption
- * @param BatStat battery status
- * @param PwGen Power generation from each module
+ * @param PwCons 
+                
+            
+ * @param BatStat 
+                
+            
+ * @param PwGen 
+                
+            
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -137,7 +161,9 @@ static inline void mavlink_msg_pm_elec_send(mavlink_channel_t chan, float PwCons
 /**
  * @brief Get field PwCons from pm_elec message
  *
- * @return current power consumption
+ * @return 
+                
+            
  */
 static inline float mavlink_msg_pm_elec_get_PwCons(const mavlink_message_t* msg)
 {
@@ -147,7 +173,9 @@ static inline float mavlink_msg_pm_elec_get_PwCons(const mavlink_message_t* msg)
 /**
  * @brief Get field BatStat from pm_elec message
  *
- * @return battery status
+ * @return 
+                
+            
  */
 static inline float mavlink_msg_pm_elec_get_BatStat(const mavlink_message_t* msg)
 {
@@ -157,7 +185,9 @@ static inline float mavlink_msg_pm_elec_get_BatStat(const mavlink_message_t* msg
 /**
  * @brief Get field PwGen from pm_elec message
  *
- * @return Power generation from each module
+ * @return 
+                
+            
  */
 static inline uint16_t mavlink_msg_pm_elec_get_PwGen(const mavlink_message_t* msg, float *PwGen)
 {
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_sys_stat.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_sys_stat.h
index 597fdf911..ab5d8f8a8 100644
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_sys_stat.h
+++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_sys_stat.h
@@ -4,10 +4,18 @@
 
 typedef struct __mavlink_sys_stat_t
 {
- uint8_t gps; ///< gps status
- uint8_t act; ///< actuator status
- uint8_t mod; ///< module status
- uint8_t commRssi; ///< module status
+ uint8_t gps; ///< 
+                
+            
+ uint8_t act; ///< 
+                
+            
+ uint8_t mod; ///< 
+                
+            
+ uint8_t commRssi; ///< 
+                
+            
 } mavlink_sys_stat_t;
 
 #define MAVLINK_MSG_ID_SYS_Stat_LEN 4
@@ -32,10 +40,18 @@ typedef struct __mavlink_sys_stat_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param gps gps status
- * @param act actuator status
- * @param mod module status
- * @param commRssi module status
+ * @param gps 
+                
+            
+ * @param act 
+                
+            
+ * @param mod 
+                
+            
+ * @param commRssi 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_sys_stat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -69,10 +85,18 @@ static inline uint16_t mavlink_msg_sys_stat_pack(uint8_t system_id, uint8_t comp
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param gps gps status
- * @param act actuator status
- * @param mod module status
- * @param commRssi module status
+ * @param gps 
+                
+            
+ * @param act 
+                
+            
+ * @param mod 
+                
+            
+ * @param commRssi 
+                
+            
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_sys_stat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -118,10 +142,18 @@ static inline uint16_t mavlink_msg_sys_stat_encode(uint8_t system_id, uint8_t co
  * @brief Send a sys_stat message
  * @param chan MAVLink channel to send the message
  *
- * @param gps gps status
- * @param act actuator status
- * @param mod module status
- * @param commRssi module status
+ * @param gps 
+                
+            
+ * @param act 
+                
+            
+ * @param mod 
+                
+            
+ * @param commRssi 
+                
+            
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -154,7 +186,9 @@ static inline void mavlink_msg_sys_stat_send(mavlink_channel_t chan, uint8_t gps
 /**
  * @brief Get field gps from sys_stat message
  *
- * @return gps status
+ * @return 
+                
+            
  */
 static inline uint8_t mavlink_msg_sys_stat_get_gps(const mavlink_message_t* msg)
 {
@@ -164,7 +198,9 @@ static inline uint8_t mavlink_msg_sys_stat_get_gps(const mavlink_message_t* msg)
 /**
  * @brief Get field act from sys_stat message
  *
- * @return actuator status
+ * @return 
+                
+            
  */
 static inline uint8_t mavlink_msg_sys_stat_get_act(const mavlink_message_t* msg)
 {
@@ -174,7 +210,9 @@ static inline uint8_t mavlink_msg_sys_stat_get_act(const mavlink_message_t* msg)
 /**
  * @brief Get field mod from sys_stat message
  *
- * @return module status
+ * @return 
+                
+            
  */
 static inline uint8_t mavlink_msg_sys_stat_get_mod(const mavlink_message_t* msg)
 {
@@ -184,7 +222,9 @@ static inline uint8_t mavlink_msg_sys_stat_get_mod(const mavlink_message_t* msg)
 /**
  * @brief Get field commRssi from sys_stat message
  *
- * @return module status
+ * @return 
+                
+            
  */
 static inline uint8_t mavlink_msg_sys_stat_get_commRssi(const mavlink_message_t* msg)
 {
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h b/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h
index 94270f757..84b296981 100644
--- a/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h
+++ b/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h
@@ -12,15 +12,15 @@ extern "C" {
 // MESSAGE LENGTHS AND CRCS
 
 #ifndef MAVLINK_MESSAGE_LENGTHS
-#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 254, 249, 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 33, 25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 12, 0, 12, 0, 32, 0, 12, 0, 12, 0, 24, 0, 4, 4, 12, 0, 12, 0, 20, 0, 4, 0, 5, 0, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
+#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 0, 0, 0, 254, 249, 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 33, 25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 12, 0, 12, 0, 32, 0, 12, 0, 12, 0, 24, 0, 4, 4, 12, 0, 12, 0, 20, 0, 4, 0, 5, 0, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 242, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 0, 0, 0, 0, 235, 93, 124, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 241, 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 15, 0, 108, 0, 146, 0, 16, 0, 32, 0, 159, 0, 24, 248, 79, 0, 5, 0, 170, 0, 157, 0, 209, 0, 243, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
+#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 0, 0, 0, 235, 93, 124, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 241, 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 15, 0, 108, 0, 146, 0, 16, 0, 32, 0, 159, 0, 24, 248, 79, 0, 5, 0, 170, 0, 157, 0, 209, 0, 243, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_INFO
-#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_POSITION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_VELOCITY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_ATTITUDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_WIND, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_AIR_VELOCITY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_BIAS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_QFF, MAVLINK_MESSAGE_INFO_OBS_AIR_TEMP, MAVLINK_MESSAGE_INFO_FILT_ROT_VEL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LLC_OUT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PM_ELEC, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SYS_Stat, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_CHNG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}}
+#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_POSITION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_VELOCITY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_ATTITUDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_WIND, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_AIR_VELOCITY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_BIAS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_QFF, MAVLINK_MESSAGE_INFO_OBS_AIR_TEMP, MAVLINK_MESSAGE_INFO_FILT_ROT_VEL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LLC_OUT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PM_ELEC, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SYS_Stat, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_CHNG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}}
 #endif
 
 #include "../protocol.h"
@@ -35,9 +35,9 @@ extern "C" {
 #define HAVE_ENUM_SENSESOAR_MODE
 enum SENSESOAR_MODE
 {
-	SENSESOAR_MODE_GLIDING=1, /*  | */
-	SENSESOAR_MODE_AUTONOMOUS=2, /*  | */
-	SENSESOAR_MODE_MANUAL=3, /*  | */
+	SENSESOAR_MODE_GLIDING=1, /* Gliding mode with motors off | */
+	SENSESOAR_MODE_AUTONOMOUS=2, /* Autonomous flight | */
+	SENSESOAR_MODE_MANUAL=3, /* RC controlled | */
 	SENSESOAR_MODE_ENUM_END=4, /*  | */
 };
 #endif
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/version.h b/mavlink/include/mavlink/v1.0/sensesoar/version.h
index 0d33c77b6..18eb38f00 100644
--- a/mavlink/include/mavlink/v1.0/sensesoar/version.h
+++ b/mavlink/include/mavlink/v1.0/sensesoar/version.h
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Dec  1 02:07:06 2012"
+#define MAVLINK_BUILD_DATE "Wed Jan  9 16:19:38 2013"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
  
diff --git a/nuttx/COPYING b/nuttx/COPYING
index 863b81a2f..b3655265d 100644
--- a/nuttx/COPYING
+++ b/nuttx/COPYING
@@ -163,6 +163,57 @@ dtoa():
   "This product includes software developed by the University of
    California, Berkeley and its contributors."
 
+libc/string/lib_vikmemcpy.c
+^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+  If you enable CONFIG_MEMCPY_VIK, then you will build with the optimized
+  version of memcpy from Daniel Vik.  Licensing information for that version
+  of memcpy() follows:
+
+  Copyright (C) 1999-2010 Daniel Vik
+
+  This software is provided 'as-is', without any express or implied
+  warranty. In no event will the authors be held liable for any
+  damages arising from the use of this software.
+  Permission is granted to anyone to use this software for any
+  purpose, including commercial applications, and to alter it and
+  redistribute it freely, subject to the following restrictions:
+ 
+  1. The origin of this software must not be misrepresented; you
+     must not claim that you wrote the original software. If you
+     use this software in a product, an acknowledgment in the
+     use this software in a product, an acknowledgment in the
+     product documentation would be appreciated but is not
+     required.
+ 
+  2. Altered source versions must be plainly marked as such, and
+     must not be misrepresented as being the original software.
+ 
+  3. This notice may not be removed or altered from any source
+     distribution.
+ 
+libc/math
+^^^^^^^^^
+
+  If you enable CONFIG_LIB, you will build the math library at libc/math.
+  This library was taken from the math library developed for the Rhombus
+  OS by Nick Johnson (https://github.com/nickbjohnson4224/rhombus).  This
+  port was contributed by Darcy Gong.  The Rhombus math library has this
+  compatible MIT license:
+
+    Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+  
+  Permission to use, copy, modify, and distribute this software for any
+  purpose with or without fee is hereby granted, provided that the above
+  copyright notice and this permission notice appear in all copies.
+ 
+  THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+  WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+  MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+  ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+  WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+  ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+
 Documents/rss.gif
 ^^^^^^^^^^^^^^^^^
 
diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog
index a8e045616..ed1cf39dc 100644
--- a/nuttx/ChangeLog
+++ b/nuttx/ChangeLog
@@ -3453,7 +3453,7 @@
 	* net/uip/uip_icmpping.c:  Fix problem that prevented ping from
 	  going outside of local network.  Submitted by Darcy Gong
 
-6.23 2012-09-29 Gregory Nutt <gnutt@nuttx.org>
+6.23 2012-11-05 Gregory Nutt <gnutt@nuttx.org>
 
 	* arch/arm/src/stm32/stm32_rng.c, chip/stm32_rng.h, and other files:
 	  Implementation of /dev/random using the STM32 Random Number
@@ -3470,4 +3470,334 @@
 	* configs/shenzhou/*/Make.defs:  Now uses the new buildroot 4.6.3
 	  EABI toolchain.
 	* lib/stdio/lib_libdtoa.c:  Another dtoa() fix from Mike Smith.
-
+	* configs/shenzhou/src/up_adc.c:  Add ADC support for the Shenzhou
+	  board (Darcy Gong).
+	* configs/shenzhou/thttpd:  Add a THTTPD configuration for the
+	  Shenzhou board (Darcy Gong).
+	* include/termios.h and lib/termios/libcf*speed.c: The non-standard,
+	  "hidden" c_speed cannot be type const or else static instantiations
+	  of termios will be required to initialize it (Mike Smith).
+	* drivers/input/max11802.c/h, and include/nuttx/input max11802.h:  Adds
+	  support for the Maxim MAX11802 touchscreen controller (contributed by
+	  Petteri Aimonen).
+	* graphics/nxtk/nxtk_events.c:  Missing implementation of the blocked
+	  method.  This is a critical bugfix for graphics support (contributed
+	  by Petteri Aimonen).
+	* drivers/usbdev/pl2303.c, drivers/usbdev/usbmsc.h, and
+	  include/nuttx/usb/cdcacm.h: USB_CONFIG_ATTR_SELFPOWER vs.
+	  USB_CONFIG_ATT_SELFPOWER (contributed by Petteri Aimonen).
+	* arch/arm/src/armv7-m/up_memcpy.S:  An optimized memcpy() function for
+	  the ARMv7-M family contributed by Mike Smith.
+	* lib/strings/lib_vikmemcpy.c:  As an option, the larger but faster
+	  implemementation of memcpy from Daniel Vik is now available (this is
+	  from http://www.danielvik.com/2010/02/fast-memcpy-in-c.html).
+	* lib/strings/lib_memset.c: CONFIG_MEMSET_OPTSPEED will select a
+	  version of memset() optimized for speed.  By default, memset() is
+	  optimized for size.
+	* lib/strings/lib_memset.c: CONFIG_MEMSET_64BIT will perform 64-bit
+	  aligned memset() operations.
+	* arch/arm/src/stm32/stm32_adc.c:  Need to put the ADC back into the
+	  initial reset in the open/setup logic.  Opening the ADC driver works
+	  the first time, but not the second because the device is left in a
+	  powered down state on the last close.
+	* configs/olimex-lpc1766stck/scripts:  Replace all of the identical
+	  ld.script files with the common one in this directory.
+	* configs/stm3220g-eval/scripts:  Replace all of the identical
+	  ld.script files with the common one in this directory.
+	* configs/hymini-stm32v/scripts:  Replace all of the identical
+	  ld.script files with the common one in this directory.
+	* configs/lpcxpresso-lpc1768/scripts:  Replace all of the identical
+	  ld.script files with the common one in this directory.
+	* binfmt/elf.c, binfmt/libelf, include/elf.h, include/nuttx/elf.h: Add
+	  basic framework for loadable ELF module support.  The initial check-
+	  in is non-functional and is simply the framework for ELF support.
+	* include/nuttx/binfmt.h, nxflat.h, elf.h, and symtab.h:  Moved to
+	  include/nuttx/binfmt/.
+	* arch/sim/src/up_elf.c and arch/x86/src/common/up_elf.c:  Add
+	  for ELF modules.
+	* arch/arm/include/elf.h:  Added ARM ELF header file.
+	* include/elf32.h:  Renamed elf.h to elf32.h.
+	* configs/stm32f4discovery/ostest:  Converted to use the new
+	  Kconfig-based configuration system.
+	* configs/stm32f4discovery/elf and configs/stm32f4discovery/scripts/gnu-elf.ld
+	  Add a configuration for testing the ARM ELF loader.
+	* binfmt/libelf:  Can't use fstat(). NuttX does not yet support it.  Damn!
+	* binfmt/libelf:  The basic ELF module execution appears fully functional.
+	* configs/shenzhou/src/up_relays.c:  Add support for relays from the
+	  Shenzhou board.  Contributed by Darcy Gong.
+	* lib/fixedmath: Moved the old lib/math to lib/fixedmath to make room for
+	  the math library from the Rhombus OS
+	* lib/math: Now contains the math library from the Rhombus OS by Nick Johnson
+	  (submitted by Darcy Gong).
+	* include/float.h:  Add a first cut at the float.h header file.  This
+	  really should be an architecture/toolchain-specific header file.  It
+	  is only used if CONFIG_ARCH_FLOAT_H is defined.
+	* lib/math: Files now conform to coding standards.  Separated float,
+	  double, and long double versions of code into separate files so that
+	  they don't draw in so much un-necessary code when doing a dumb link.
+	* binfmt/libelf:  The ELF loader is working correctly with C++ static
+	  constructors and destructors and all.
+	* Documentation/NuttXBinfmt.html:  Add documentation of the binary loader.
+	* configs/sim/ostest:  Converted to use the mconf configuration tool.
+	* configs/sim/cxxtest:  New test that will be used to verify the uClibc++
+	  port (eventually).
+	* include/nuttx/fs/fs.h, lib/stdio/lib_libfread.c, lib_ferror.c,
+	  lib_feof.c, and lib_clearerr.c:  Add support for ferror(), feof(),
+	  and clearerror().  ferror() support is bogus at the moment (it
+	  is equivalent to !feof()); the others should be good.
+	* configs/stm32f4discovery/include/board.h:  Correct timer 2-7
+	  base frequency (provided by Freddie Chopin).
+	* include/nuttx/sched.h, sched/atexit.c, and sched/task_deletehook.c:
+	  If both atexit() and on_exit() are enabled, then implement atexit()
+	  as just a special caseof on_exit().  This assumes that the ABI can
+	  handle receipt of more call parameters than the receiving function
+	  expects.  That is usually the case if parameters are passed in
+	  registers.
+	* libxx/libxx_cxa_atexit():  Implements __cxa_atexit()
+	* configs/stm32f4discovery/cxxtest:  New test that will be used to
+	  verify the uClibc++ port (eventually).  The sim platform turned not
+	  to be a good platform for testing uClibc++.  The sim example will not
+	  run because the simulator will attempt to execute the static
+	  constructors before main() starts. BUT... NuttX is not initialized
+	  and this results in a crash.  On the STM324Discovery, I will have
+	  better control over when the static constructors run.
+	* RGMP 4.0 updated from Qiany Yu.
+	* configs/*/Make.defs and configs/*/ld.script:  Massive clean-up
+	  and standardization of linker scripts from Freddie Chopin.
+	* net/netdev_ioctl.c:  Add interface state flags and ioctl calls
+	  to bring network interfaces up and down (from Darcy Gong).
+	* config/stm32f4discovery: Enable C++ exceptions.  Now the entire
+	  apps/examples/cxxtest works -- meaning the the uClibc++ is
+	  complete and verified for the STM32 platform.
+
+6.24 2012-12-20 Gregory Nutt <gnutt@nuttx.org>
+
+	* arch/arm/src/stm32:  Support for STM32F100 high density chips
+	  added by Freddie Chopin.
+	* configs/stm32f100_generic:  Support for generic STM32F100RC board
+	  contributed by Freddie Chopin.
+	* arch/arm/src/stm32_otgfsdev.c:  Partial fix from Petteri Aimonen.
+	* drivers/lcd/ug-2864ambag01.c and include/nuttx/lcd/ug_2864ambag01.h:
+	  LCD driver for the Univision OLED of the same name (untested on
+	  initial check-in).
+	* configs/stm32f4discovery/nxlines:  Configure to use mconf/Kconfig
+	  tool.
+	* configs/stm32f4discovery/src/up_ug2864ambag01.c:  Board-specific
+	  initialization for UG-2864AMBAG01 OLED connecte to STM32F4Disovery.
+	* libxx/libxx_stdthrow.cxx:  Exception stubs from Petteri Aimonen.
+	* configs/stm32f4discovery/src/up_ug2864ambag01.c: Driver has been
+	  verified on the STM32F4Discovery platform.  Some tuning of the
+	  configuration could improve the presentation.  Lower resolution displays
+	  are also more subject to the "fat, flat line bug" that I need to fix
+	  someday.  See http://www.nuttx.org/doku.php?id=wiki:graphics:nxgraphics
+	  for a description of the fat, flat line bug.
+	* libc:  Renamed nuttx/lib to nuttx/libc to make space for a true lib/
+	  directory that will be forthcoming.  Also rename libraries:  liblib.a -> libc.a,
+	  libulib.a -> libuc.a, libklib.a -> libkc.a, liblibxx.a ->libcxx.a.
+	  (I will probably, eventually rename libxx to libcxx for consistency)
+	* Makefile, lib/: A new, empty directory that will hold generated libraries.
+	  This simplifies the library patch calculations and lets me get rid of some
+	  bash logic.  The change is functional, but only partially complete;
+	  additional logic is needed in the arch/*/src/Makefile's as well.  Right
+	  now that logic generate multiple library paths, all pointing to the lib/
+	  directory.
+	* arch/*/src/Makefile:  Now uses only the libraries in lib/
+	  Replace bash fragments that test for board/Makefile.
+	* Makefile.win:  The beginnings of a Windows-native build.  This is just
+	  the beginning and not yet ready for prime time use.
+	* configs/stm32f4discovery/winbuild:  This is a version of the standard
+	  NuttX OS test, but configured to build natively on Windows.  Its only
+	  real purpose is to very the native Windows build logic.
+	* tools/mkdeps.bat and tools/mkdeps.c:  mkdeps.bat is a failed attempt
+	  to leverage mkdeps.sh to CMD.exe.  It fails because the are certain
+	  critical CFLAG values that cannot be passed on the CMD.exe command line
+	  (like '=').  mkdeps.c is a work in progress that will, hopefully,
+	  replace both mkdeps.sh and mkdeps.bat.
+	* tools/Config.mk:  Centralize the definition of the script that will be
+	  used to generated header file include paths for the compiler.  This
+	  needs to be centralized in order to support the Windows native build.
+	* tools/incdir.bat:  A replacement for tools/incdir.sh for use with the
+	  the Windows native build.
+	* Makefile.unix:  The existing top-level Makefile has been renamed
+	  Makefile.unix.
+	* Makefile:  This is a new top-level Makefile that just includes
+	  either Makefile.unix or Makefile.win
+	* configs/stm3240g-eval/src:  Qencoder fixes from Ryan Sundberg.
+	* arch/arm/src/stm32/stm32_qencoder.c: TIM3 bug fix from Ryan Sundberg.
+	* tools/mkromfsimg.sh: Correct typo in an error message (Ryan Sundberg)
+	* arch/*/src/Makefile:  Remove tftboot install and creation of System.map
+	  for Windows native build.  The first is a necessary change, the second
+	  just needs re-implemented.
+	* configs/mirtoo: Update Mirtoo pin definitions for Release 2.  Provided
+	  by Konstantin Dimitrov.
+	* Fixed an uninitialized variable in the file system that can cause 
+	  assertions if DEBUG on (contributed by Lorenz Meier).
+	* Config.mk:  Defined DELIM to be either / or \, depending upon
+	  CONFIG_WINDOWS_NATIVE.  This will allow me to eliminate a lot of
+	  conditional logic elsewhere.
+	* nuttx/graphics: One a mouse button is pressed, continue to report all
+	  mouse button events to the first window that received the the initial
+	  button down event, even if the mouse attempts to drag outside the
+	  window. From Petteri Aimonen.
+	* nuttx/graphics/nxmu/nx_block.c:  One more fix to the NX block message
+	  logic from Petteri Aimonen.
+	* include/nuttx/wqueue.h: Some basic definitions to support a user-
+	  space work queue (someday in the future).
+	* graphics/nxmu:  Add semaphores so buffers messages that send buffers
+	  will block until the buffer data has been acted upon.
+	* graphics/nxmw:  Extended the blocked messages to cover mouse movement
+	  and redraw events.  These will also cause problems if sent to a window
+	  while it is closing.
+	* arch/several:  Change UARTs are enabled for i.MX, LM3S, ez80, and M16C to
+	  match how they are enabled for other architectures.
+	* configs/ez80f910200kitg:  Convert to use mconf configuration.
+	* sched/pause.c:  Implements the POSIX pause() function.
+	* ez80: Lots of changes to ez80 configurations and build logic as I
+	  struggle to get a clean Windows build (still not working).
+	* configs/cloudctrl:   Darcy Gong's CloudController board.  This is a
+	  small network relay development board. Based on the Shenzhou IV development
+	  board design.  It is based on the STM32F107VC MCU.
+	* arch/arm/src/stm32_serial.c and stm32_lowputc.c:  Added optional RS-485
+	  direction bit control. From Freddie Chopin.
+	* Lots of build files:  ARMv7-M and MIPS32 Make.defs now include a common
+	  Toolchain.defs file that can be used to manage toolchains in a more
+	  configurable way.  Contributed by Mike Smith
+	* configs/stm32f4discovery/winbuild and configs/cloudctrl:  Adapted to use
+	  Mike's Toolchain.defs.
+	* tools/configure.sh:  Adapted to handle paths and setenv.bat files correctly
+	  for native Windows builds.
+	* More of build files:  AVR and AVR32 Make.defs now include a common
+	  Toolchain.defs file that can be used to manage toolchains in a more
+	  configurable way.  Contributed by Mike Smith
+	* tools/incdir.sh and incdir.bat: Add -s option to generate system header
+	  file paths.
+	* nuttx/arch/arm/src/arm/Toolchain.defs: Add support for more ARM toolchains
+	  (from Mike Smith).
+	* arch/arm/src/stm32/stm32f40xxx_rcc.c:  Enabled FLASH prefetch (from Petteri
+	  Aimonen).
+	* graphics/nxtk/nxtk_filltrapwindow.c:  Correct an offset problem (from
+	  Peterri Aimonen).
+	* graphics/nxglib/nxglib_splitline.c:  Fix error in drawing of near horizontal
+	  lines (from Peterri Aimonen).
+	* sched/task_exithook.c:  Missing right bracket with certain conditional
+	  compilation (thanks James Goppert).
+	* arch/arm/srch/stm32/stm32_otgfshost.c:  Replace timeout handling; use
+	  system tick instead of frame counter.  The frame counter gets reset to
+	  zero at 0x3fff making it error prone.
+	* arch/arm/src/stm32/stm32f20xx_rcc.c and stm32f40xx_rcc.c: Added option
+	  CONFIG_STM32_FLASH_PREFETCH.  FLASH prefetch will now only be enabled
+	  if this option is selected.
+	* confgs/ez80f910200zco/ostest:  Now uses Kconfig/mconf configuration
+	  tool. Updated to build in native Windows environment.  Other ez80f910200zco
+	  build scripts also updated.
+	* configs/z8f64200100kit/ostest: Update to same level as ez80 configurations.
+	* nuttx/configs/z8f64200100kit/scripts/setenv.bat: Add support for native
+	  Windows build.
+	* nuttx/arch/arm/src/lpc17xx/lpc17_i2c.c: Resources not being released when
+	  I2C is uninitialized.
+	* cloudctrl/src/up_chipid.c and shenzhou/src/up_chipid.c:  Add functions to
+	  get chip ID.  Contributed by Darcy Gong.  These should not be board-dependent,
+	  but should be in arch/arm/src/stm32 where they can be used from any board.
+	* sched/work_thread.c: Fix backward conditional compilation.  This might
+	  has caused a memory leak.  From Freddie Chopin.
+	* configs/<many>/Make.defs:  Fix typo -wstrict-prototypes should be
+	  -Wstrict-prototypes (From Denis Carilki).
+	* arch/arm/src/calapyso/calypso_keypad.c:  Add Calypso keypad driver.  From
+	  Denis Carilki.
+	* z8encore000zco/ostest and z8f64200100kit/ostest:  Converted to use Kconfig/
+	  mconf configuration tool.
+	* arch/arm/src/armv7-m/up_exception.S: missing curly braces for push/pop
+	  From Freddie Chopin.
+	* z8encore000zco/ostest and z8f64200100kit/ostest:  Can now be modified to
+	  support the Windows native builds (see corresponding README.txt files).
+	* configs/z16f2800100zcog - All configurations updated to use the ZDS-II
+	  5.0.1 toolchain.
+	* configs/z16f2800100zcog - All configurations updated to use Kconfig/mconf
+	  configuration tools.
+	* configs/z16f2800100zcog/ostest - Now supports a native Windows build
+	  (other ZNEO configs may also support the native build, but this has not
+	  been verfiied).
+	* include/nuttx/input/keypad.h, arch/arm/src/calypso/calypso_keypad.c, and
+	  configs/compal_e99/nsh_highram: First cut at a standard keypad interface
+	  definition.  Contributed by Denis Carikli.
+	* libc/stdlib/lib_rand.c:  Always add one to result congruential generators
+	  to avoid the value zero.  Suggested by Freddie Chopin.
+	* tools/b16.c:  Fixed precision math conversion utility.
+	* graphics/nxglib/nxglib_splitline.c:  Fix the "fat, flat line bug"
+	* arch/z80/src/*/Toolchain.defs:  Add dummy Toolchain.defs files for the
+	  z80 family.
+	* configs/z80sim/ostest:  Converted to build with the Kconfig/mconf tool.
+	  Current configuration failed to build for me (Ubuntu 12.10, SDCC 3.2.0
+	  pre-built for Linux) due to a glibc memory corruptionerror in SDCC.
+	* configs/z80sim/ostest: Default is now the Windows native build.  See
+	  configs/z80sim/README.txt for instructions to convert back to a Linux or
+	  or Cygwin build.
+	* arch/z80/src/Makefile.sdccw:  Renamed makefiles with extensions zdiil,
+	  zdiiw, sdccl, and sdccw for the ZDS-II vs SDCC compilers and for the
+	  POSIX vs Windows native builds.
+	* nuttx/drivers/mtd/ftl.c:  Fix for the flash translation layer. Short
+	  unaligned writes were buggy.  From Petteri Aimonen.
+	* nuttx/libc/math/lib_round*.c:  Add rounding functions to the math
+	  library.  Contributed by Petteri Aimonen.
+	* include/cxx/cstdlib:  Add stroul().  From Petteri Aimonen.
+	* arch/*/include/limits.h:  Change signed minimum values from, for example,
+	  (-128) to (-127 - 1) to avoid overflows under certain conditions.  From
+	  Peterri Aimonen.
+	* graphics/nxtk/nxtk_subwindowmove.c: Previously it was very difficult to
+	  do e.g. "scroll by dx, dy". When given the full window area, nxtk_subwindowmove
+	  would clip the offset always to 0,0. It makes more sense for it to clip the
+	  source area and not modify the offset.  From Petteri Aimonen.
+	* graphics/nxtk/nxtk_getwindow.c: Clipping would change the offset of returned
+	  data, and caller has no way to know what the new offset would be. This messes
+	  up font drawing when the text is partially out of window, e.g. when scrolling.
+	  Also from Petteri Aimonen.
+	* include/stdbool.h: Can now be disabled for C++ files if CONFIG_C99_BOOL8 is
+	  defined.  CONFIG_C99_BOOL8 indicates (1) that the sizeof(_Bool) is one in both
+	  C and C++, and (2) the the C compiler is C99 and supports the _Bool intrinsic
+	  type. Requested by Freddie Chopin.
+	* include/stdlib/lib_rand.c:  Various additional changes so that the integer
+	  value zero can be returned.  Requested by Freddie Chopin.
+	* arch/z80/src/Makefile.sdcc*, z80/up_mem.h:  Redesign Z80 build so that it
+	  no longer depends on Bash scripts.
+	* configs/z80sim/nsh and pashello:  Converted to (1) use the kconfig-frontends
+	  configuration tool, and (2) to build natively under Windows.  The NSH
+	  configuration is verified; the pashello configuration needs a more TLC.
+	* tools/copydir.sh:  Rename tools/winlink.sh to tools/copydir.sh
+	* tools/link.bat, unlink.bat, and copydir.bat:  Add Windows counterparts
+	  to the link.sh, unlink.sh, and copydir.sh Bash scripts.
+	* configs/z80sim/pashello:  Now builds correctly.
+	* configs/xtrs/ostest, nsh, and pashello:  Converted to (1) use the kconfig-
+	  frontends configuration tool, and (2) to build natively under Windows.
+	* drivers/serial/Kconfig and sched/Kconfig:  Two names for same configuration:
+	  CONFIG_LOWLEVEL_CONSOLE is bogus and CONFIG_DEV_LOWCONSOLE is in the wrong
+	  Kconfig file.  Moved to drivers/serial/Kconfig replacing CONFIG_LOWLEVEL_CONSOLE.
+	* arch/z80/include/z180:  Add header files for z180 chips.  Initial versions
+	  are just clones of z80 header files.
+	* arch/z80/src/z180:  Add source files for z180 chips.  Initial versions
+	  are just clones of z80 source files.
+	* include/nuttx/arch.h:  Add address environment control interfaces (for use
+	  with CPUs the provide MCUs and support process-like address environments).
+	* arch/z80/src/z180/z180_mmu.*:  Add MMU support for z180 tasks.
+	* configs/p112:  Add very basic board support and an examples/ostest
+	  configuration for the venerable P112 board.
+	* sched/os_bringup.c: If CONFIG_PATH_INITIAL is defined, then the initial
+	  environment of the task started by os_bringup() will have the PATH
+	  environment variable defined to be that string.
+	* binfmt/binfmt_exepath.c:  If CONFIG_BINFMT_EXEPATH is defined, then this
+	  file will be built.  It contains logic to search for regular files at
+	  the absolutes paths found in the current PATH environment variable
+	  setting.  This is untested and not yet hooked into the binfmt exec()
+	  logic on initial check-in
+	* binfmt/binfmt_loadmodule.c: load_module() will now traverse the PATH
+	  variable to locate files from their relative path.
+	* include/nuttx/arch.h and arch/z80/src/z180/z180_mmu.c:  Restructure the
+	  address environment interfaces so that they will better integrate with
+	  binfmt/.
+	* binfmt/libelf/*, binfmt/libnxflat/* and other files:  Integrate the
+	  address environment interfaces.  If CONFIG_ADDRENV=y, then binfmt/
+	  will now create an address environment for new tasks (instead of
+	  just malloc'ing the task memory).
+	* configs/stm32f4discovery/elf:  Enable support/test of the PATH
+	  to find executables using a relative path.
+
+6.25 2013-xx-xx Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/Kconfig b/nuttx/Kconfig
index 0fe6eb0f7..10d624efb 100644
--- a/nuttx/Kconfig
+++ b/nuttx/Kconfig
@@ -20,10 +20,75 @@ menu "Build Setup"
 config EXPERIMENTAL
 	bool "Prompt for development and/or incomplete code/drivers"
 
+choice
+	prompt "Build Host Platform"
+	default HOST_LINUX
+
+config HOST_LINUX
+	bool "Linux"
+
+config HOST_OSX
+	bool "OSX"
+
+config HOST_WINDOWS
+	bool "Windows"
+
+config HOST_OTHER
+	bool "Other"
+
+endchoice
+
+choice
+	prompt "Windows Build Environment"
+	default WINDOWS_CYGWIN
+	depends on HOST_WINDOWS
+
+config WINDOWS_NATIVE
+	bool "Windows Native"
+	---help---
+		Build natively in a CMD.exe environment with Windows style paths (like C:\cgywin\home)
+
+config WINDOWS_CYGWIN
+	bool "Cygwin"
+-	--help---
+		Build natively in a Cygwin environment with POSIX style paths (like /cygdrive/c/cgywin/home)
+
+config WINDOWS_MSYS
+	bool "MSYS"
+	---help---
+		Build natively in a Cygwin environment with POSIX style paths (like /cygdrive/c/cgywin/home)
+
+config WINDOWS_OTHER
+	bool "Windows POSIX-like environment"
+	---help---
+		Build natively in another POSIX-like environment.  Additional support may be necessary
+
+endchoice
+
+config WINDOWS_MKLINK
+	bool "Use mklink"
+	default n
+	depends on WINDOWS_NATIVE
+	---help---
+		Use the mklink command to set up symbolic links when NuttX is
+		configured.  Otherwise, configuration directories will be copied to
+		establish the configuration.
+
+		If directories are copied, then some confusion can result ("Which
+		version of the file did I modify?").  In that case, it is recommended
+		that you re-build using 'make clean_context all'.  That will cause the
+		configured directories to be recopied on each build.
+
+		NOTE: This option also (1) that you have administrator privileges, (2)
+		that you are using Windows 2000 or better, and (3) that you are using
+		the NTFS file system.  Select 'n' is that is not the case.
+
 menu "Build Configuration"
+
 config APPS_DIR
 	string "Application directory"
-	default "../apps"
+	default "../apps" if !WINDOWS_NATIVE
+	default "..\apps" if WINDOWS_NATIVE
 	---help---
 		Identifies the directory that builds the
 		application to link with NuttX.  Default: ../apps This symbol must be assigned
@@ -192,6 +257,17 @@ config ARCH_MATH_H
 		that don't select ARCH_MATH_H, the redirecting math.h header file
 		will stay out-of-the-way in include/nuttx/.
 
+config ARCH_FLOAT_H
+	bool "float.h"
+	default n
+	---help---
+		The float.h header file defines the properties of your floating
+		point implementation.  It would always be best to use your
+		toolchain's float.h header file but if none is avaiable, a default
+		float.h header file will provided if this option is selected.  However
+ 		there is no assurance that the settings in this float.h are actually
+		correct for your platform!
+
 config ARCH_STDARG_H
 	bool "stdarg.h"
 	default n
@@ -244,17 +320,24 @@ config DEBUG_ENABLE
 
 comment "Subsystem Debug Options"
 
+config DEBUG_MM
+	bool "Enable Memory Manager Debug Output"
+	default n
+	---help---
+		Enable memory management debug output (disabled by default)
+
 config DEBUG_SCHED
 	bool "Enable Scheduler Debug Output"
 	default n
 	---help---
 		Enable OS debug output (disabled by default)
 
-config DEBUG_MM
-	bool "Enable Memory Manager Debug Output"
+config DEBUG_PAGING
+	bool "Enable Demand Paging Debug Output"
 	default n
+	depends on PAGING
 	---help---
-		Enable memory management debug output (disabled by default)
+		Enable demand paging debug output (disabled by default)
 
 config DEBUG_NET
 	bool "Enable Network Debug Output"
@@ -311,6 +394,13 @@ config DEBUG_INPUT
 		Enable low level debug output from the input device drivers such as
  		mice and touchscreens (disabled by default)
 
+config DEBUG_ANALOG
+	bool "Enable Analog Device Debug Output"
+	default n
+	---help---
+		Enable low level debug output from the analog device drivers such as
+ 		A/D and D/A converters (disabled by default)
+
 config DEBUG_I2C
 	bool "Enable I2C Debug Output"
 	default n
@@ -325,12 +415,18 @@ config DEBUG_SPI
 	---help---
 		Enable I2C driver debug output (disabled by default)
 
+config DEBUG_DMA
+	bool "Enable DMA Debug Output"
+	default n
+	---help---
+		Enable DMA-releated debug output (disabled by default)
+
 config DEBUG_WATCHDOG
 	bool "Enable Watchdog Timer Debug Output"
 	default n
 	depends on WATCHDOG
 	---help---
-		Enable  watchdog timer debug output (disabled by default)
+		Enable watchdog timer debug output (disabled by default)
 
 endif
 
@@ -375,8 +471,12 @@ menu "Memory Management"
 source mm/Kconfig
 endmenu
 
+menu "Binary Formats"
+source binfmt/Kconfig
+endmenu
+
 menu "Library Routines"
-source lib/Kconfig
+source libc/Kconfig
 source libxx/Kconfig
 endmenu
 
diff --git a/nuttx/Makefile b/nuttx/Makefile
index 7a058d88e..cf7a57c83 100644
--- a/nuttx/Makefile
+++ b/nuttx/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # Makefile
 #
-#   Copyright (C) 2007-2012 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -33,619 +33,17 @@
 #
 ############################################################################
 
-TOPDIR		:= ${shell pwd | sed -e 's/ /\\ /g'}
--include ${TOPDIR}/.config
--include ${TOPDIR}/tools/Config.mk
--include ${TOPDIR}/Make.defs
-
-# Control build verbosity
-
-ifeq ($(V),1)
-export Q :=
-else
-export Q := @
-endif
-
-# Default tools
-
-ifeq ($(DIRLINK),)
-DIRLINK		= $(TOPDIR)/tools/link.sh
-DIRUNLINK	= $(TOPDIR)/tools/unlink.sh
-endif
-
-# This define is passed as EXTRADEFINES for kernel-mode builds.  It is also passed
-# during PASS1 (but not PASS2) context and depend targets.
-
-KDEFINE		= ${shell $(TOPDIR)/tools/define.sh $(CC) __KERNEL__}
-
-# Process architecture and board-specific directories
-
-ARCH_DIR	= arch/$(CONFIG_ARCH)
-ARCH_SRC	= $(ARCH_DIR)/src
-ARCH_INC	= $(ARCH_DIR)/include
-BOARD_DIR	= configs/$(CONFIG_ARCH_BOARD)
-
-# Add-on directories.  These may or may not be in place in the
-# NuttX source tree (they must be specifically installed)
+# This is a top-level "kludge" Makefile that just includes the correct
+# Makefile.  If you already know the Makefile that you want, you can skip
+# this nonsense using:
 #
-# CONFIG_APPS_DIR can be over-ridden from the command line or in the .config file.
-# The default value of CONFIG_APPS_DIR is ../apps.  Ultimately, the application
-# will be built if APPDIR is defined.  APPDIR will be defined if a directory containing
-# a Makefile is found at the path provided by CONFIG_APPS_DIR
-
-ifeq ($(CONFIG_APPS_DIR),)
-CONFIG_APPS_DIR	= ../apps
-endif
-APPDIR		:= ${shell if [ -r $(CONFIG_APPS_DIR)/Makefile ]; then echo "$(CONFIG_APPS_DIR)"; fi}
-
-# All add-on directories.
+#   make -f Makefile.unix, OR
+#   make -f Makefile.win
 #
-# NUTTX_ADDONS is the list of directories built into the NuttX kernel.
-# USER_ADDONS is the list of directories that will be built into the user application
 
-NUTTX_ADDONS	:= $(NX_DIR)
-USER_ADDONS		:=
-
-ifeq ($(CONFIG_NUTTX_KERNEL),y)
-USER_ADDONS	+= $(APPDIR)
+-include .config
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+include Makefile.win
 else
-NUTTX_ADDONS	+= $(APPDIR)
-endif
-
-# Lists of build directories.
-#
-# FSDIRS depend on file descriptor support; NONFSDIRS do not (except for parts
-#   of FSDIRS).  We will exclude FSDIRS from the build if file descriptor
-#   support is disabled
-# CONTEXTDIRS include directories that have special, one-time pre-build
-#   requirements.  Normally this includes things like auto-generation of
-#   configuration specific files or creation of configurable symbolic links
-# USERDIRS - When NuttX is build is a monolithic kernel, this provides the
-#   list of directories that must be built
-# OTHERDIRS - These are directories that are not built but probably should
-#   be cleaned to prevent garbarge from collecting in them when changing
-#   configurations.
-
-NONFSDIRS	= sched $(ARCH_SRC) $(NUTTX_ADDONS)
-FSDIRS		= fs drivers binfmt
-CONTEXTDIRS	= $(APPDIR)
-USERDIRS	=
-
-ifeq ($(CONFIG_NUTTX_KERNEL),y)
-
-NONFSDIRS	+= syscall
-CONTEXTDIRS	+= syscall
-USERDIRS	+= syscall lib mm $(USER_ADDONS)
-ifeq ($(CONFIG_HAVE_CXX),y)
-USERDIRS	+= libxx
-endif
-
-else
-
-NONFSDIRS	+= lib mm
-OTHERDIRS	+= syscall $(USER_ADDONS)
-ifeq ($(CONFIG_HAVE_CXX),y)
-NONFSDIRS	+= libxx
-else
-OTHERDIRS	+= libxx
-endif
-
-endif
-
-ifeq ($(CONFIG_NX),y)
-NONFSDIRS	+= graphics
-CONTEXTDIRS	+= graphics
-else
-OTHERDIRS	+= graphics
-endif
-
-# CLEANDIRS are the directories that will clean in.  These are
-#   all directories that we know about.
-# KERNDEPDIRS are the directories in which we will build target dependencies.
-#   If NuttX and applications are built separately (CONFIG_NUTTX_KERNEL),
-#   then this holds only the directories containing kernel files.
-# USERDEPDIRS. If NuttX and applications are built separately (CONFIG_NUTTX_KERNEL),
-#   then this holds only the directories containing user files.
-
-CLEANDIRS	= $(NONFSDIRS) $(FSDIRS) $(USERDIRS) $(OTHERDIRS)
-KERNDEPDIRS	= $(NONFSDIRS)
-USERDEPDIRS	= $(USERDIRS)
-
-# Add file system directories to KERNDEPDIRS (they are already in CLEANDIRS)
-
-ifeq ($(CONFIG_NFILE_DESCRIPTORS),0)
-ifeq ($(CONFIG_NET),y)
-ifneq ($(CONFIG_NSOCKET_DESCRIPTORS),0)
-KERNDEPDIRS	+= fs
-endif
-KERNDEPDIRS	+= drivers
-endif
-else
-KERNDEPDIRS	+= $(FSDIRS)
-endif
-
-# Add networking directories to KERNDEPDIRS and CLEANDIRS
-
-ifeq ($(CONFIG_NET),y)
-KERNDEPDIRS	+= net
-endif
-CLEANDIRS	+= net
-
-#
-# Extra objects used in the final link.
-#
-# Pass 1 1ncremental (relative) link objects should be put into the
-# processor-specific source directory (where other link objects will
-# be created).  If the pass1 obect is an archive, it could go anywhere.
-
-ifeq ($(CONFIG_BUILD_2PASS),y)
-EXTRA_OBJS	+= $(CONFIG_PASS1_OBJECT)
-endif
-
-# NUTTXLIBS is the list of NuttX libraries that is passed to the
-#   processor-specific Makefile to build the final NuttX target.
-#   Libraries in FSDIRS are excluded if file descriptor support
-#   is disabled.
-# USERLIBS is the list of libraries used to build the final user-space
-#   application
-
-NUTTXLIBS	= sched/libsched$(LIBEXT) $(ARCH_SRC)/libarch$(LIBEXT)
-USERLIBS	=
-
-# Add libraries for syscall support.  The C library will be needed by
-# both the kernel- and user-space builds.  For now, the memory manager (mm)
-# is placed in user space (only).
-
-ifeq ($(CONFIG_NUTTX_KERNEL),y)
-NUTTXLIBS	+= syscall/libstubs$(LIBEXT) lib/libklib$(LIBEXT)
-USERLIBS	+= syscall/libproxies$(LIBEXT) lib/libulib$(LIBEXT) mm/libmm$(LIBEXT)
-else
-NUTTXLIBS	+= mm/libmm$(LIBEXT) lib/liblib$(LIBEXT)
-endif
-
-# Add libraries for C++ support.  CXX, CXXFLAGS, and COMPILEXX must
-# be defined in Make.defs for this to work!
-
-ifeq ($(CONFIG_HAVE_CXX),y)
-ifeq ($(CONFIG_NUTTX_KERNEL),y)
-USERLIBS	+= libxx/liblibxx$(LIBEXT)
-else
-NUTTXLIBS	+= libxx/liblibxx$(LIBEXT)
-endif
-endif
-
-# Add library for application support.
-
-ifneq ($(APPDIR),)
-ifeq ($(CONFIG_NUTTX_KERNEL),y)
-USERLIBS	+= $(APPDIR)/libapps$(LIBEXT)
-else
-NUTTXLIBS	+= $(APPDIR)/libapps$(LIBEXT)
-endif
-endif
-
-# Add libraries for network support
-
-ifeq ($(CONFIG_NET),y)
-NUTTXLIBS	+= net/libnet$(LIBEXT)
-endif
-
-# Add libraries for file system support
-
-ifeq ($(CONFIG_NFILE_DESCRIPTORS),0)
-ifneq ($(CONFIG_NSOCKET_DESCRIPTORS),0)
-NUTTXLIBS	+= fs/libfs$(LIBEXT)
-endif
-ifeq ($(CONFIG_NET),y)
-NUTTXLIBS	+= drivers/libdrivers$(LIBEXT)
-endif
-else
-NUTTXLIBS	+= fs/libfs$(LIBEXT) drivers/libdrivers$(LIBEXT) binfmt/libbinfmt$(LIBEXT)
-endif
-
-# Add libraries for the NX graphics sub-system
-
-ifneq ($(NX_DIR),)
-NUTTXLIBS	+= $(NX_DIR)/libnx$(LIBEXT)
-endif
-
-ifeq ($(CONFIG_NX),y)
-NUTTXLIBS        += graphics/libgraphics$(LIBEXT)
-endif
-
-# This is the name of the final target (relative to the top level directorty)
-
-BIN		= nuttx$(EXEEXT)
-
-all: $(BIN)
-.PHONY: context clean_context check_context export subdir_clean clean subdir_distclean distclean apps_clean apps_distclean
-
-# Target used to copy include/nuttx/math.h.  If CONFIG_ARCH_MATH_H is
-# defined, then there is an architecture specific math.h header file
-# that will be included indirectly from include/math.h.  But first, we
-# have to copy math.h from include/nuttx/. to include/.
-
-ifeq ($(CONFIG_ARCH_MATH_H),y)
-include/math.h: include/nuttx/math.h
-	@cp -f include/nuttx/math.h include/math.h
-else
-include/math.h:
-endif
-
-# Target used to copy include/nuttx/stdarg.h.  If CONFIG_ARCH_STDARG_H is
-# defined, then there is an architecture specific stdarg.h header file
-# that will be included indirectly from include/stdarg.h.  But first, we
-# have to copy stdarg.h from include/nuttx/. to include/.
-
-ifeq ($(CONFIG_ARCH_STDARG_H),y)
-include/stdarg.h: include/nuttx/stdarg.h
-	@cp -f include/nuttx/stdarg.h include/stdarg.h
-else
-include/stdarg.h:
-endif
-
-# Targets used to build include/nuttx/version.h.  Creation of version.h is
-# part of the overall NuttX configuration sequence. Notice that the
-# tools/mkversion tool is built and used to create include/nuttx/version.h
-
-tools/mkversion:
-	@$(MAKE) -C tools -f Makefile.host TOPDIR="$(TOPDIR)"  mkversion
-
-$(TOPDIR)/.version:
-	@if [ ! -f .version ]; then \
-		echo "No .version file found, creating one"; \
-		tools/version.sh -v 0.0 -b 0 .version; \
-		chmod 755 .version; \
-	fi
-
-include/nuttx/version.h: $(TOPDIR)/.version tools/mkversion
-	@tools/mkversion $(TOPDIR) > include/nuttx/version.h
-
-# Targets used to build include/nuttx/config.h.  Creation of config.h is
-# part of the overall NuttX configuration sequence. Notice that the
-# tools/mkconfig tool is built and used to create include/nuttx/config.h
-
-tools/mkconfig:
-	@$(MAKE) -C tools -f Makefile.host TOPDIR="$(TOPDIR)"  mkconfig
-
-include/nuttx/config.h: $(TOPDIR)/.config tools/mkconfig
-	@tools/mkconfig $(TOPDIR) > include/nuttx/config.h
-
-# dirlinks, and helpers
-#
-# Directories links.  Most of establishing the NuttX configuration involves
-# setting up symbolic links with 'generic' directory names to specific,
-# configured directories.
-#
-# Link the apps/include directory to include/apps
-
-include/apps: Make.defs
-ifneq ($(APPDIR),)
-	@if [ -d $(TOPDIR)/$(APPDIR)/include ]; then \
-		$(DIRLINK) $(TOPDIR)/$(APPDIR)/include include/apps; \
-	fi
-endif
-
-# Link the arch/<arch-name>/include directory to include/arch
-
-include/arch: Make.defs
-	@$(DIRLINK) $(TOPDIR)/$(ARCH_DIR)/include include/arch
-
-# Link the configs/<board-name>/include directory to include/arch/board
-
-include/arch/board: include/arch Make.defs include/arch
-	@$(DIRLINK) $(TOPDIR)/$(BOARD_DIR)/include include/arch/board
-
-# Link the configs/<board-name>/src dir to arch/<arch-name>/src/board
-
-$(ARCH_SRC)/board: Make.defs
-	@$(DIRLINK) $(TOPDIR)/$(BOARD_DIR)/src $(ARCH_SRC)/board
-
-# Link arch/<arch-name>/include/<chip-name> to arch/<arch-name>/include/chip
-
-$(ARCH_SRC)/chip: Make.defs
-ifneq ($(CONFIG_ARCH_CHIP),)
-	@$(DIRLINK) $(TOPDIR)/$(ARCH_SRC)/$(CONFIG_ARCH_CHIP) $(ARCH_SRC)/chip
-endif
-
-# Link arch/<arch-name>/src/<chip-name> to arch/<arch-name>/src/chip
-
-include/arch/chip: include/arch Make.defs
-ifneq ($(CONFIG_ARCH_CHIP),)
-	@$(DIRLINK) $(TOPDIR)/$(ARCH_INC)/$(CONFIG_ARCH_CHIP) include/arch/chip
+include Makefile.unix
 endif
-
-dirlinks: include/arch include/arch/board include/arch/chip $(ARCH_SRC)/board $(ARCH_SRC)/chip include/apps
-
-# context
-#
-# The context target is invoked on each target build to assure that NuttX is
-# properly configured.  The basic configuration steps include creation of the
-# the config.h and version.h header files in the include/nuttx directory and
-# the establishment of symbolic links to configured directories.
-
-context: check_context include/nuttx/config.h include/nuttx/version.h include/math.h include/stdarg.h dirlinks
-	@for dir in $(CONTEXTDIRS) ; do \
-		$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" context; \
-	done
-
-# clean_context
-#
-# This is part of the distclean target.  It removes all of the header files
-# and symbolic links created by the context target.
-
-clean_context:
-	@rm -f include/nuttx/config.h
-	@rm -f include/nuttx/version.h
-	@rm -f include/math.h
-	@rm -f include/stdarg.h
-	@$(DIRUNLINK) include/arch/board
-	@$(DIRUNLINK) include/arch/chip
-	@$(DIRUNLINK) include/arch
-	@$(DIRUNLINK) $(ARCH_SRC)/board
-	@$(DIRUNLINK) $(ARCH_SRC)/chip
-	@$(DIRUNLINK) include/apps
-
-# check_context
-#
-# This target checks if NuttX has been configured.  NuttX is configured using
-# the script tools/configure.sh.  That script will install certain files in
-# the top-level NuttX build directory.  This target verifies that those
-# configuration files have been installed and that NuttX is ready to be built.
-
-check_context:
-	@if [ ! -e ${TOPDIR}/.config -o ! -e ${TOPDIR}/Make.defs ]; then \
-		echo "" ; echo "Nuttx has not been configured:" ; \
-		echo "  cd tools; ./configure.sh <target>" ; echo "" ; \
-		exit 1 ; \
-	fi
-
-# Archive targets.  The target build sequency will first create a series of
-# libraries, one per configured source file directory.  The final NuttX
-# execution will then be built from those libraries.  The following targets
-# built those libraries.
-#
-# Possible kernel-mode builds
-
-lib/libklib$(LIBEXT): context
-	@$(MAKE) -C lib TOPDIR="$(TOPDIR)" libklib$(LIBEXT) EXTRADEFINES=$(KDEFINE)
-
-sched/libsched$(LIBEXT): context
-	@$(MAKE) -C sched TOPDIR="$(TOPDIR)" libsched$(LIBEXT) EXTRADEFINES=$(KDEFINE)
-
-$(ARCH_SRC)/libarch$(LIBEXT): context
-	@$(MAKE) -C $(ARCH_SRC) TOPDIR="$(TOPDIR)" libarch$(LIBEXT) EXTRADEFINES=$(KDEFINE)
-
-net/libnet$(LIBEXT): context
-	@$(MAKE) -C net TOPDIR="$(TOPDIR)" libnet$(LIBEXT) EXTRADEFINES=$(KDEFINE)
-
-fs/libfs$(LIBEXT): context
-	@$(MAKE) -C fs TOPDIR="$(TOPDIR)" libfs$(LIBEXT) EXTRADEFINES=$(KDEFINE)
-
-drivers/libdrivers$(LIBEXT): context
-	@$(MAKE) -C drivers TOPDIR="$(TOPDIR)" libdrivers$(LIBEXT) EXTRADEFINES=$(KDEFINE)
-
-binfmt/libbinfmt$(LIBEXT): context
-	@$(MAKE) -C binfmt TOPDIR="$(TOPDIR)" libbinfmt$(LIBEXT) EXTRADEFINES=$(KDEFINE)
-
-graphics/libgraphics$(LIBEXT): context
-	@$(MAKE) -C graphics TOPDIR="$(TOPDIR)" libgraphics$(LIBEXT) EXTRADEFINES=$(KDEFINE)
-
-syscall/libstubs$(LIBEXT): context
-	@$(MAKE) -C syscall TOPDIR="$(TOPDIR)" libstubs$(LIBEXT) EXTRADEFINES=$(KDEFINE)
-
-# Possible user-mode builds
-
-lib/libulib$(LIBEXT): context
-	@$(MAKE) -C lib TOPDIR="$(TOPDIR)" libulib$(LIBEXT)
-
-libxx/liblibxx$(LIBEXT): context
-	@$(MAKE) -C libxx TOPDIR="$(TOPDIR)" liblibxx$(LIBEXT)
-
-mm/libmm$(LIBEXT): context
-	@$(MAKE) -C mm TOPDIR="$(TOPDIR)" libmm$(LIBEXT) EXTRADEFINES=$(KDEFINE)
-
-$(APPDIR)/libapps$(LIBEXT): context
-	@$(MAKE) -C $(APPDIR) TOPDIR="$(TOPDIR)" libapps$(LIBEXT)
-
-syscall/libproxies$(LIBEXT): context
-	@$(MAKE) -C syscall TOPDIR="$(TOPDIR)" libproxies$(LIBEXT)
-
-# Possible non-kernel builds
-
-lib/liblib$(LIBEXT): context
-	@$(MAKE) -C lib TOPDIR="$(TOPDIR)" liblib$(LIBEXT)
-
-# pass1 and pass2
-#
-# If the 2 pass build option is selected, then this pass1 target is
-# configured to built before the pass2 target.  This pass1 target may, as an
-# example, build an extra link object (CONFIG_PASS1_OBJECT) which may be an
-# incremental (relative) link object, but could be a static library (archive);
-# some modification to this Makefile would be required if CONFIG_PASS1_OBJECT
-# is an archive.  Exactly what is performed during pass1 or what it generates
-# is unknown to this makefule unless CONFIG_PASS1_OBJECT is defined.
-
-pass1deps: context pass1dep $(USERLIBS)
-
-pass1: pass1deps
-ifeq ($(CONFIG_BUILD_2PASS),y)
-	@if [ -z "$(CONFIG_PASS1_BUILDIR)" ]; then \
-		echo "ERROR: CONFIG_PASS1_BUILDIR not defined"; \
-		exit 1; \
-	fi
-	@if [ ! -d "$(CONFIG_PASS1_BUILDIR)" ]; then \
-		echo "ERROR: CONFIG_PASS1_BUILDIR does not exist"; \
-		exit 1; \
-	fi
-	@if [ ! -f "$(CONFIG_PASS1_BUILDIR)/Makefile" ]; then \
-		echo "ERROR: No Makefile in CONFIG_PASS1_BUILDIR"; \
-		exit 1; \
-	fi
-	@$(MAKE) -C $(CONFIG_PASS1_BUILDIR) TOPDIR="$(TOPDIR)" LINKLIBS="$(NUTTXLIBS)" USERLIBS="$(USERLIBS)" "$(CONFIG_PASS1_TARGET)"
-endif
-
-pass2deps: context pass2dep $(NUTTXLIBS)
-
-pass2: pass2deps
-	@$(MAKE) -C $(ARCH_SRC) TOPDIR="$(TOPDIR)" EXTRA_OBJS="$(EXTRA_OBJS)" LINKLIBS="$(NUTTXLIBS)" EXTRADEFINES=$(KDEFINE) $(BIN)
-	@if [ -w /tftpboot ] ; then \
-		cp -f $(BIN) /tftpboot/$(BIN).${CONFIG_ARCH}; \
-	fi
-ifeq ($(CONFIG_RRLOAD_BINARY),y)
-	@echo "MK: $(BIN).rr"
-	@$(TOPDIR)/tools/mkimage.sh --Prefix $(CROSSDEV) $(BIN) $(BIN).rr
-	@if [ -w /tftpboot ] ; then \
-		cp -f $(BIN).rr /tftpboot/$\(BIN).rr.$(CONFIG_ARCH); \
-	fi
-endif
-ifeq ($(CONFIG_INTELHEX_BINARY),y)
-	@echo "CP: $(BIN).hex"
-	@$(OBJCOPY) $(OBJCOPYARGS) -O ihex $(BIN) $(BIN).hex
-endif
-ifeq ($(CONFIG_MOTOROLA_SREC),y)
-	@echo "CP: $(BIN).srec"
-	@$(OBJCOPY) $(OBJCOPYARGS) -O srec $(BIN) $(BIN).srec
-endif
-ifeq ($(CONFIG_RAW_BINARY),y)
-	@echo "CP: $(BIN).bin"
-	@$(OBJCOPY) $(OBJCOPYARGS) -O binary $(BIN) $(BIN).bin
-endif
-
-# $(BIN)
-#
-# Create the final NuttX executable in a two pass build process.  In the
-# normal case, all pass1 and pass2 dependencies are created then pass1
-# and pass2 targets are built.  However, in some cases, you may need to build
-# pass1 depenencies and pass1 first, then build pass2 dependencies and pass2.
-# in that case, execute 'make pass1 pass2' from the command line.
-
-$(BIN): pass1deps pass2deps pass1 pass2
-
-# download
-#
-# This is a helper target that will rebuild NuttX and download it to the target
-# system in one step.  The operation of this target depends completely upon
-# implementation of the DOWNLOAD command in the user Make.defs file.  It will
-# generate an error an error if the DOWNLOAD command is not defined.
-
-download: $(BIN)
-	$(call DOWNLOAD, $<)
-
-# pass1dep: Create pass1 build dependencies
-# pass2dep: Create pass2 build dependencies
-
-pass1dep: context
-	@for dir in $(USERDEPDIRS) ; do \
-		$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" depend ; \
-	done
-
-pass2dep: context
-	@for dir in $(KERNDEPDIRS) ; do \
-		$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" EXTRADEFINES=$(KDEFINE) depend; \
-	done
-
-# Configuration targets
-#
-# These targets depend on the kconfig-frontends packages.  To use these, you
-# must first download and install the kconfig-frontends package from this
-# location: http://ymorin.is-a-geek.org/projects/kconfig-frontends.  See
-# misc/tools/README.txt for additional information.
-
-config:
-	@APPSDIR=${CONFIG_APPS_DIR} conf Kconfig
-
-oldconfig:
-	@APPSDIR=${CONFIG_APPS_DIR} conf --oldconfig Kconfig
-
-menuconfig:
-	@APPSDIR=${CONFIG_APPS_DIR} mconf Kconfig
-
-# export
-#
-# The export target will package the NuttX libraries and header files into
-# an exportable package.  Caveats: (1) These needs some extension for the KERNEL
-# build; it needs to receive USERLIBS and create a libuser.a). (2) The logic
-# in tools/mkexport.sh only supports GCC and, for example, explicitly assumes
-# that the archiver is 'ar'
-
-export: pass2deps
-	@tools/mkexport.sh -w$(WINTOOL) -t "$(TOPDIR)" -l "$(NUTTXLIBS)"
-
-# General housekeeping targets:  dependencies, cleaning, etc.
-#
-# depend:    Create both PASS1 and PASS2 dependencies
-# clean:     Removes derived object files, archives, executables, and
-#            temporary files, but retains the configuration and context
-#            files and directories.
-# distclean: Does 'clean' then also removes all configuration and context
-#            files.  This essentially restores the directory structure
-#            to its original, unconfigured stated.
-
-depend: pass1dep pass2dep
-
-subdir_clean:
-	@for dir in $(CLEANDIRS) ; do \
-		if [ -e $$dir/Makefile ]; then \
-			$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" clean ; \
-		fi \
-	done
-	@$(MAKE) -C tools -f Makefile.host TOPDIR="$(TOPDIR)" clean
-	@$(MAKE) -C mm -f Makefile.test TOPDIR="$(TOPDIR)" clean
-ifeq ($(CONFIG_BUILD_2PASS),y)
-	@$(MAKE) -C $(CONFIG_PASS1_BUILDIR) TOPDIR="$(TOPDIR)" clean
-endif
-
-clean: subdir_clean
-	@rm -f $(BIN) nuttx.* mm_test *.map _SAVED_APPS_config *~
-	@rm -f nuttx-export*
-
-subdir_distclean:
-	@for dir in $(CLEANDIRS) ; do \
-		if [ -e $$dir/Makefile ]; then \
-			$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" distclean ; \
-		fi \
-	done
-
-distclean: clean subdir_distclean clean_context
-ifeq ($(CONFIG_BUILD_2PASS),y)
-	@$(MAKE) -C $(CONFIG_PASS1_BUILDIR) TOPDIR="$(TOPDIR)" distclean
-endif
-	@rm -f Make.defs setenv.sh .config .config.old
-
-# Application housekeeping targets.  The APPDIR variable refers to the user
-# application directory.  A sample apps/ directory is included with NuttX,
-# however, this is not treated as part of NuttX and may be replaced with a
-# different application directory.  For the most part, the application
-# directory is treated like any other build directory in this script.  However,
-# as a convenience, the following targets are included to support housekeeping
-# functions in the user application directory from the NuttX build directory.
-#
-# apps_clean:     Perform the clean operation only in the user application
-#                 directory
-# apps_distclean: Perform the distclean operation only in the user application
-#                 directory.  Note that the apps/.config file (inf any) is
-#                 preserved so that this is not a "full" distclean but more of a
-#                 configuration "reset." (There willnot be an apps/.config
-#                 file if the configuration was generated via make menuconfig).
-
-apps_clean:
-ifneq ($(APPDIR),)
-	@$(MAKE) -C "$(TOPDIR)/$(APPDIR)" TOPDIR="$(TOPDIR)" clean
-endif
-
-apps_distclean:
-ifneq ($(APPDIR),)
-	@if [ -r "$(TOPDIR)/$(APPDIR)/.config" ]; then \
-		cp "$(TOPDIR)/$(APPDIR)/.config" _SAVED_APPS_config || \
-			{ echo "Copy of $(APPDIR)/.config failed" ; exit 1 ; } \
-	else \
-		rm -f _SAVED_APPS_config; \
-	fi
-	@$(MAKE) -C "$(TOPDIR)/$(APPDIR)" TOPDIR="$(TOPDIR)" distclean
-	@if [ -r _SAVED_APPS_config ]; then \
-		@mv _SAVED_APPS_config "$(TOPDIR)/$(APPDIR)/.config" || \
-			{ echo "Copy of _SAVED_APPS_config failed" ; exit 1 ; } \
-	fi
-endif
-
diff --git a/nuttx/Makefile.unix b/nuttx/Makefile.unix
new file mode 100644
index 000000000..d66c06bd8
--- /dev/null
+++ b/nuttx/Makefile.unix
@@ -0,0 +1,749 @@
+############################################################################
+# Makefile.unix
+#
+#   Copyright (C) 2007-2012 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. 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.
+# 3. Neither the name NuttX 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.
+#
+############################################################################
+
+TOPDIR := ${shell pwd | sed -e 's/ /\\ /g'}
+-include $(TOPDIR)/.config
+include $(TOPDIR)/tools/Config.mk
+-include $(TOPDIR)/Make.defs
+
+# Control build verbosity
+
+ifeq ($(V),1)
+export Q :=
+else
+export Q := @
+endif
+
+# Default tools
+
+ifeq ($(DIRLINK),)
+DIRLINK = $(TOPDIR)/tools/link.sh
+DIRUNLINK = $(TOPDIR)/tools/unlink.sh
+endif
+
+# This define is passed as EXTRADEFINES for kernel-mode builds.  It is also passed
+# during PASS1 (but not PASS2) context and depend targets.
+
+KDEFINE = ${shell $(TOPDIR)/tools/define.sh "$(CC)" __KERNEL__}
+
+# Process architecture and board-specific directories
+
+ARCH_DIR = arch/$(CONFIG_ARCH)
+ARCH_SRC = $(ARCH_DIR)/src
+ARCH_INC = $(ARCH_DIR)/include
+BOARD_DIR = configs/$(CONFIG_ARCH_BOARD)
+
+# Add-on directories.  These may or may not be in place in the
+# NuttX source tree (they must be specifically installed)
+#
+# CONFIG_APPS_DIR can be over-ridden from the command line or in the .config file.
+# The default value of CONFIG_APPS_DIR is ../apps.  Ultimately, the application
+# will be built if APPDIR is defined.  APPDIR will be defined if a directory containing
+# a Makefile is found at the path provided by CONFIG_APPS_DIR
+
+ifeq ($(CONFIG_APPS_DIR),)
+CONFIG_APPS_DIR = ../apps
+endif
+APPDIR := ${shell if [ -r $(CONFIG_APPS_DIR)/Makefile ]; then echo "$(CONFIG_APPS_DIR)"; fi}
+
+# All add-on directories.
+#
+# NUTTX_ADDONS is the list of directories built into the NuttX kernel.
+# USER_ADDONS is the list of directories that will be built into the user application
+
+NUTTX_ADDONS :=
+USER_ADDONS :=
+
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+USER_ADDONS += $(APPDIR)
+else
+NUTTX_ADDONS += $(APPDIR)
+endif
+
+# Lists of build directories.
+#
+# FSDIRS depend on file descriptor support; NONFSDIRS do not (except for parts
+#   of FSDIRS).  We will exclude FSDIRS from the build if file descriptor
+#   support is disabled
+# CONTEXTDIRS include directories that have special, one-time pre-build
+#   requirements.  Normally this includes things like auto-generation of
+#   configuration specific files or creation of configurable symbolic links
+# USERDIRS - When NuttX is build is a monolithic kernel, this provides the
+#   list of directories that must be built
+# OTHERDIRS - These are directories that are not built but probably should
+#   be cleaned to prevent garbarge from collecting in them when changing
+#   configurations.
+
+NONFSDIRS = sched $(ARCH_SRC) $(NUTTX_ADDONS)
+FSDIRS = fs drivers binfmt
+CONTEXTDIRS = $(APPDIR)
+USERDIRS =
+OTHERDIRS = lib
+
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+
+NONFSDIRS += syscall
+CONTEXTDIRS += syscall
+USERDIRS += syscall libc mm $(USER_ADDONS)
+ifeq ($(CONFIG_HAVE_CXX),y)
+USERDIRS += libxx
+endif
+
+else
+
+NONFSDIRS += libc mm
+OTHERDIRS += syscall $(USER_ADDONS)
+ifeq ($(CONFIG_HAVE_CXX),y)
+NONFSDIRS += libxx
+else
+OTHERDIRS += libxx
+endif
+
+endif
+
+ifeq ($(CONFIG_NX),y)
+NONFSDIRS += graphics
+CONTEXTDIRS += graphics
+else
+OTHERDIRS += graphics
+endif
+
+# CLEANDIRS are the directories that will clean in.  These are
+#   all directories that we know about.
+# KERNDEPDIRS are the directories in which we will build target dependencies.
+#   If NuttX and applications are built separately (CONFIG_NUTTX_KERNEL),
+#   then this holds only the directories containing kernel files.
+# USERDEPDIRS. If NuttX and applications are built separately (CONFIG_NUTTX_KERNEL),
+#   then this holds only the directories containing user files.
+
+CLEANDIRS = $(NONFSDIRS) $(FSDIRS) $(USERDIRS) $(OTHERDIRS)
+KERNDEPDIRS = $(NONFSDIRS)
+USERDEPDIRS = $(USERDIRS)
+
+# Add file system directories to KERNDEPDIRS (they are already in CLEANDIRS)
+
+ifeq ($(CONFIG_NFILE_DESCRIPTORS),0)
+ifeq ($(CONFIG_NET),y)
+ifneq ($(CONFIG_NSOCKET_DESCRIPTORS),0)
+KERNDEPDIRS += fs
+endif
+KERNDEPDIRS += drivers
+endif
+else
+KERNDEPDIRS += $(FSDIRS)
+endif
+
+# Add networking directories to KERNDEPDIRS and CLEANDIRS
+
+ifeq ($(CONFIG_NET),y)
+KERNDEPDIRS += net
+endif
+CLEANDIRS += net
+
+#
+# Extra objects used in the final link.
+#
+# Pass 1 1ncremental (relative) link objects should be put into the
+# processor-specific source directory (where other link objects will
+# be created).  If the pass1 obect is an archive, it could go anywhere.
+
+ifeq ($(CONFIG_BUILD_2PASS),y)
+EXTRA_OBJS += $(CONFIG_PASS1_OBJECT)
+endif
+
+# NUTTXLIBS is the list of NuttX libraries that is passed to the
+#   processor-specific Makefile to build the final NuttX target.
+#   Libraries in FSDIRS are excluded if file descriptor support
+#   is disabled.
+# USERLIBS is the list of libraries used to build the final user-space
+#   application
+
+NUTTXLIBS = lib/libsched$(LIBEXT) lib/libarch$(LIBEXT)
+USERLIBS =
+
+# Add libraries for syscall support.  The C library will be needed by
+# both the kernel- and user-space builds.  For now, the memory manager (mm)
+# is placed in user space (only).
+
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+NUTTXLIBS += lib/libstubs$(LIBEXT) lib/libkc$(LIBEXT)
+USERLIBS += lib/libproxies$(LIBEXT) lib/libuc$(LIBEXT) lib/libmm$(LIBEXT)
+else
+NUTTXLIBS += lib/libmm$(LIBEXT) lib/libc$(LIBEXT)
+endif
+
+# Add libraries for C++ support.  CXX, CXXFLAGS, and COMPILEXX must
+# be defined in Make.defs for this to work!
+
+ifeq ($(CONFIG_HAVE_CXX),y)
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+USERLIBS += lib/libcxx$(LIBEXT)
+else
+NUTTXLIBS += lib/libcxx$(LIBEXT)
+endif
+endif
+
+# Add library for application support.
+
+ifneq ($(APPDIR),)
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+USERLIBS += lib/libapps$(LIBEXT)
+else
+NUTTXLIBS += lib/libapps$(LIBEXT)
+endif
+endif
+
+# Add libraries for network support
+
+ifeq ($(CONFIG_NET),y)
+NUTTXLIBS += lib/libnet$(LIBEXT)
+endif
+
+# Add libraries for file system support
+
+ifeq ($(CONFIG_NFILE_DESCRIPTORS),0)
+ifneq ($(CONFIG_NSOCKET_DESCRIPTORS),0)
+NUTTXLIBS += lib/libfs$(LIBEXT)
+endif
+ifeq ($(CONFIG_NET),y)
+NUTTXLIBS += lib/libdrivers$(LIBEXT)
+endif
+else
+NUTTXLIBS += lib/libfs$(LIBEXT) lib/libdrivers$(LIBEXT) lib/libbinfmt$(LIBEXT)
+endif
+
+# Add libraries for the NX graphics sub-system
+
+ifeq ($(CONFIG_NX),y)
+NUTTXLIBS += lib/libgraphics$(LIBEXT)
+endif
+
+# LINKLIBS derives from NUTTXLIBS and is simply the same list with the subdirectory removed
+
+LINKLIBS = $(patsubst lib/%,%,$(NUTTXLIBS))
+
+# This is the name of the final target (relative to the top level directorty)
+
+BIN = nuttx$(EXEEXT)
+
+all: $(BIN)
+.PHONY: context clean_context check_context export subdir_clean clean subdir_distclean distclean apps_clean apps_distclean
+
+# Target used to copy include/nuttx/math.h.  If CONFIG_ARCH_MATH_H is
+# defined, then there is an architecture specific math.h header file
+# that will be included indirectly from include/math.h.  But first, we
+# have to copy math.h from include/nuttx/. to include/.  Logic within
+# include/nuttx/math.h will hand the redirection to the architecture-
+# specific math.h header file.
+#
+# If the CONFIG_LIBM is defined, the Rhombus libm will be built at libc/math.
+# Definitions and prototypes for the Rhombus libm are also contained in
+# include/nuttx/math.h and so the file must also be copied in that case.
+#
+# If neither CONFIG_ARCH_MATH_H nor CONFIG_LIBM is defined, then no math.h
+# header file will be provided.  You would want that behavior if (1) you
+# don't use libm, or (2) you want to use the math.h and libm provided
+# within your toolchain.
+
+ifeq ($(CONFIG_ARCH_MATH_H),y)
+NEED_MATH_H = y
+else
+ifeq ($(CONFIG_LIBM),y)
+NEED_MATH_H = y
+endif
+endif
+
+ifeq ($(NEED_MATH_H),y)
+include/math.h: include/nuttx/math.h
+	$(Q) cp -f include/nuttx/math.h include/math.h
+else
+include/math.h:
+endif
+
+# The float.h header file defines the properties of your floating point
+# implementation.  It would always be best to use your toolchain's float.h
+# header file but if none is avaiable, a default float.h header file will
+# provided if this option is selected.  However there is no assurance that
+# the settings in this float.h are actually correct for your platform!
+
+ifeq ($(CONFIG_ARCH_FLOAT_H),y)
+include/float.h: include/nuttx/float.h
+	$(Q) cp -f include/nuttx/float.h include/float.h
+else
+include/float.h:
+endif
+
+# Target used to copy include/nuttx/stdarg.h.  If CONFIG_ARCH_STDARG_H is
+# defined, then there is an architecture specific stdarg.h header file
+# that will be included indirectly from include/stdarg.h.  But first, we
+# have to copy stdarg.h from include/nuttx/. to include/.
+
+ifeq ($(CONFIG_ARCH_STDARG_H),y)
+include/stdarg.h: include/nuttx/stdarg.h
+	$(Q) cp -f include/nuttx/stdarg.h include/stdarg.h
+else
+include/stdarg.h:
+endif
+
+# Targets used to build include/nuttx/version.h.  Creation of version.h is
+# part of the overall NuttX configuration sequence. Notice that the
+# tools/mkversion tool is built and used to create include/nuttx/version.h
+
+tools/mkversion$(HOSTEXEEXT):
+	$(Q) $(MAKE) -C tools -f Makefile.host TOPDIR="$(TOPDIR)"  mkversion$(HOSTEXEEXT)
+
+$(TOPDIR)/.version:
+	$(Q) if [ ! -f .version ]; then \
+		echo "No .version file found, creating one"; \
+		tools/version.sh -v 0.0 -b 0 .version; \
+		chmod 755 .version; \
+	fi
+
+include/nuttx/version.h: $(TOPDIR)/.version tools/mkversion$(HOSTEXEEXT)
+	$(Q) tools/mkversion $(TOPDIR) > include/nuttx/version.h
+
+# Targets used to build include/nuttx/config.h.  Creation of config.h is
+# part of the overall NuttX configuration sequence. Notice that the
+# tools/mkconfig tool is built and used to create include/nuttx/config.h
+
+tools/mkconfig$(HOSTEXEEXT):
+	$(Q) $(MAKE) -C tools -f Makefile.host TOPDIR="$(TOPDIR)"  mkconfig$(HOSTEXEEXT)
+
+include/nuttx/config.h: $(TOPDIR)/.config tools/mkconfig$(HOSTEXEEXT)
+	$(Q) tools/mkconfig $(TOPDIR) > include/nuttx/config.h
+
+# Targets used to create dependencies
+
+tools/mkdeps$(HOSTEXEEXT):
+	$(Q) $(MAKE) -C tools -f Makefile.host TOPDIR="$(TOPDIR)"  mkdeps$(HOSTEXEEXT)
+
+# dirlinks, and helpers
+#
+# Directories links.  Most of establishing the NuttX configuration involves
+# setting up symbolic links with 'generic' directory names to specific,
+# configured directories.
+#
+# Link the apps/include directory to include/apps
+
+include/apps: Make.defs
+ifneq ($(APPDIR),)
+	@echo "LN: include/apps to $(APPDIR)/include"
+	$(Q) if [ -d $(TOPDIR)/$(APPDIR)/include ]; then \
+		$(DIRLINK) $(TOPDIR)/$(APPDIR)/include include/apps; \
+	fi
+endif
+
+# Link the arch/<arch-name>/include directory to include/arch
+
+include/arch: Make.defs
+	@echo "LN: include/arch to $(ARCH_DIR)/include"
+	$(Q) $(DIRLINK) $(TOPDIR)/$(ARCH_DIR)/include include/arch
+
+# Link the configs/<board-name>/include directory to include/arch/board
+
+include/arch/board: include/arch Make.defs include/arch
+	@echo "LN: include/arch/board to $(BOARD_DIR)/include"
+	$(Q) $(DIRLINK) $(TOPDIR)/$(BOARD_DIR)/include include/arch/board
+
+# Link the configs/<board-name>/src dir to arch/<arch-name>/src/board
+
+$(ARCH_SRC)/board: Make.defs
+	@echo "LN: $(ARCH_SRC)/board to $(BOARD_DIR)/src"
+	$(Q) $(DIRLINK) $(TOPDIR)/$(BOARD_DIR)/src $(ARCH_SRC)/board
+
+# Link arch/<arch-name>/include/<chip-name> to arch/<arch-name>/include/chip
+
+$(ARCH_SRC)/chip: Make.defs
+ifneq ($(CONFIG_ARCH_CHIP),)
+	@echo "LN: $(ARCH_SRC)/chip to $(ARCH_SRC)/$(CONFIG_ARCH_CHIP)"
+	$(Q) $(DIRLINK) $(TOPDIR)/$(ARCH_SRC)/$(CONFIG_ARCH_CHIP) $(ARCH_SRC)/chip
+endif
+
+# Link arch/<arch-name>/src/<chip-name> to arch/<arch-name>/src/chip
+
+include/arch/chip: include/arch Make.defs
+ifneq ($(CONFIG_ARCH_CHIP),)
+	@echo "LN: include/arch/chip to $(ARCH_INC)/$(CONFIG_ARCH_CHIP)"
+	$(Q) $(DIRLINK) $(TOPDIR)/$(ARCH_INC)/$(CONFIG_ARCH_CHIP) include/arch/chip
+endif
+
+dirlinks: include/arch include/arch/board include/arch/chip $(ARCH_SRC)/board $(ARCH_SRC)/chip include/apps
+
+# context
+#
+# The context target is invoked on each target build to assure that NuttX is
+# properly configured.  The basic configuration steps include creation of the
+# the config.h and version.h header files in the include/nuttx directory and
+# the establishment of symbolic links to configured directories.
+
+context: check_context include/nuttx/config.h include/nuttx/version.h include/math.h include/float.h include/stdarg.h dirlinks
+	$(Q) for dir in $(CONTEXTDIRS) ; do \
+		$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" context; \
+	done
+
+# clean_context
+#
+# This is part of the distclean target.  It removes all of the header files
+# and symbolic links created by the context target.
+
+clean_context:
+	$(call DELFILE, include/nuttx/config.h)
+	$(call DELFILE, include/nuttx/version.h)
+	$(call DELFILE, include/math.h)
+	$(call DELFILE, include/stdarg.h)
+	$(Q) $(DIRUNLINK) include/arch/board
+	$(Q) $(DIRUNLINK) include/arch/chip
+	$(Q) $(DIRUNLINK) include/arch
+	$(Q) $(DIRUNLINK) $(ARCH_SRC)/board
+	$(Q) $(DIRUNLINK) $(ARCH_SRC)/chip
+	$(Q) $(DIRUNLINK) include/apps
+
+# check_context
+#
+# This target checks if NuttX has been configured.  NuttX is configured using
+# the script tools/configure.sh.  That script will install certain files in
+# the top-level NuttX build directory.  This target verifies that those
+# configuration files have been installed and that NuttX is ready to be built.
+
+check_context:
+	$(Q) if [ ! -e ${TOPDIR}/.config -o ! -e ${TOPDIR}/Make.defs ]; then \
+		echo "" ; echo "Nuttx has not been configured:" ; \
+		echo "  cd tools; ./configure.sh <target>" ; echo "" ; \
+		exit 1 ; \
+	fi
+
+# Archive targets.  The target build sequency will first create a series of
+# libraries, one per configured source file directory.  The final NuttX
+# execution will then be built from those libraries.  The following targets
+# build those libraries.
+#
+# Possible kernel-mode builds
+
+libc/libkc$(LIBEXT): context
+	$(Q) $(MAKE) -C libc TOPDIR="$(TOPDIR)" libkc$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib/libkc$(LIBEXT): libc/libkc$(LIBEXT)
+	$(Q) install libc/libkc$(LIBEXT) lib/libkc$(LIBEXT)
+
+sched/libsched$(LIBEXT): context
+	$(Q) $(MAKE) -C sched TOPDIR="$(TOPDIR)" libsched$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib/libsched$(LIBEXT): sched/libsched$(LIBEXT)
+	$(Q) install sched/libsched$(LIBEXT) lib/libsched$(LIBEXT)
+
+$(ARCH_SRC)/libarch$(LIBEXT): context
+	$(Q) $(MAKE) -C $(ARCH_SRC) TOPDIR="$(TOPDIR)" libarch$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib/libarch$(LIBEXT): $(ARCH_SRC)/libarch$(LIBEXT)
+	$(Q) install $(ARCH_SRC)/libarch$(LIBEXT) lib/libarch$(LIBEXT)
+
+net/libnet$(LIBEXT): context
+	$(Q) $(MAKE) -C net TOPDIR="$(TOPDIR)" libnet$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib/libnet$(LIBEXT): net/libnet$(LIBEXT)
+	$(Q) install net/libnet$(LIBEXT) lib/libnet$(LIBEXT)
+
+fs/libfs$(LIBEXT): context
+	$(Q) $(MAKE) -C fs TOPDIR="$(TOPDIR)" libfs$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib/libfs$(LIBEXT): fs/libfs$(LIBEXT)
+	$(Q) install fs/libfs$(LIBEXT) lib/libfs$(LIBEXT)
+
+drivers/libdrivers$(LIBEXT): context
+	$(Q) $(MAKE) -C drivers TOPDIR="$(TOPDIR)" libdrivers$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib/libdrivers$(LIBEXT): drivers/libdrivers$(LIBEXT)
+	$(Q) install drivers/libdrivers$(LIBEXT) lib/libdrivers$(LIBEXT)
+
+binfmt/libbinfmt$(LIBEXT): context
+	$(Q) $(MAKE) -C binfmt TOPDIR="$(TOPDIR)" libbinfmt$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib/libbinfmt$(LIBEXT): binfmt/libbinfmt$(LIBEXT)
+	$(Q) install binfmt/libbinfmt$(LIBEXT) lib/libbinfmt$(LIBEXT)
+
+graphics/libgraphics$(LIBEXT): context
+	$(Q) $(MAKE) -C graphics TOPDIR="$(TOPDIR)" libgraphics$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib/libgraphics$(LIBEXT): graphics/libgraphics$(LIBEXT)
+	$(Q) install graphics/libgraphics$(LIBEXT) lib/libgraphics$(LIBEXT)
+
+syscall/libstubs$(LIBEXT): context
+	$(Q) $(MAKE) -C syscall TOPDIR="$(TOPDIR)" libstubs$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib/libstubs$(LIBEXT): syscall/libstubs$(LIBEXT)
+	$(Q) install syscall/libstubs$(LIBEXT) lib/libstubs$(LIBEXT)
+
+# Possible user-mode builds
+
+libc/libuc$(LIBEXT): context
+	$(Q) $(MAKE) -C libc TOPDIR="$(TOPDIR)" libuc$(LIBEXT)
+
+lib/libuc$(LIBEXT): libc/libuc$(LIBEXT)
+	$(Q) install libc/libuc$(LIBEXT) lib/libuc$(LIBEXT)
+
+libxx/libcxx$(LIBEXT): context
+	$(Q) $(MAKE) -C libxx TOPDIR="$(TOPDIR)" libcxx$(LIBEXT)
+
+lib/libcxx$(LIBEXT): libxx/libcxx$(LIBEXT)
+	$(Q) install libxx/libcxx$(LIBEXT) lib/libcxx$(LIBEXT)
+
+mm/libmm$(LIBEXT): context
+	$(Q) $(MAKE) -C mm TOPDIR="$(TOPDIR)" libmm$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib/libmm$(LIBEXT): mm/libmm$(LIBEXT)
+	$(Q) install mm/libmm$(LIBEXT) lib/libmm$(LIBEXT)
+
+$(APPDIR)/libapps$(LIBEXT): context
+	$(Q) $(MAKE) -C $(APPDIR) TOPDIR="$(TOPDIR)" libapps$(LIBEXT)
+
+lib/libapps$(LIBEXT): $(APPDIR)/libapps$(LIBEXT)
+	$(Q) install $(APPDIR)/libapps$(LIBEXT) lib/libapps$(LIBEXT)
+
+syscall/libproxies$(LIBEXT): context
+	$(Q) $(MAKE) -C syscall TOPDIR="$(TOPDIR)" libproxies$(LIBEXT)
+
+lib/libproxies$(LIBEXT): syscall/libproxies$(LIBEXT)
+	$(Q) install syscall/libproxies$(LIBEXT) lib/libproxies$(LIBEXT)
+
+# Possible non-kernel builds
+
+libc/libc$(LIBEXT): context
+	$(Q) $(MAKE) -C libc TOPDIR="$(TOPDIR)" libc$(LIBEXT)
+
+lib/libc$(LIBEXT): libc/libc$(LIBEXT)
+	$(Q) install libc/libc$(LIBEXT) lib/libc$(LIBEXT)
+
+# pass1 and pass2
+#
+# If the 2 pass build option is selected, then this pass1 target is
+# configured to built before the pass2 target.  This pass1 target may, as an
+# example, build an extra link object (CONFIG_PASS1_OBJECT) which may be an
+# incremental (relative) link object, but could be a static library (archive);
+# some modification to this Makefile would be required if CONFIG_PASS1_OBJECT
+# is an archive.  Exactly what is performed during pass1 or what it generates
+# is unknown to this makefule unless CONFIG_PASS1_OBJECT is defined.
+
+pass1deps: pass1dep $(USERLIBS)
+
+pass1: pass1deps
+ifeq ($(CONFIG_BUILD_2PASS),y)
+	$(Q) if [ -z "$(CONFIG_PASS1_BUILDIR)" ]; then \
+		echo "ERROR: CONFIG_PASS1_BUILDIR not defined"; \
+		exit 1; \
+	fi
+	$(Q) if [ ! -d "$(CONFIG_PASS1_BUILDIR)" ]; then \
+		echo "ERROR: CONFIG_PASS1_BUILDIR does not exist"; \
+		exit 1; \
+	fi
+	$(Q) if [ ! -f "$(CONFIG_PASS1_BUILDIR)/Makefile" ]; then \
+		echo "ERROR: No Makefile in CONFIG_PASS1_BUILDIR"; \
+		exit 1; \
+	fi
+	$(Q) $(MAKE) -C $(CONFIG_PASS1_BUILDIR) TOPDIR="$(TOPDIR)" LINKLIBS="$(LINKLIBS)" USERLIBS="$(USERLIBS)" "$(CONFIG_PASS1_TARGET)"
+endif
+
+pass2deps: pass2dep $(NUTTXLIBS)
+
+pass2: pass2deps
+	$(Q) $(MAKE) -C $(ARCH_SRC) TOPDIR="$(TOPDIR)" EXTRA_OBJS="$(EXTRA_OBJS)" LINKLIBS="$(LINKLIBS)" EXTRADEFINES=$(KDEFINE) $(BIN)
+	$(Q) if [ -w /tftpboot ] ; then \
+		cp -f $(BIN) /tftpboot/$(BIN).${CONFIG_ARCH}; \
+	fi
+ifeq ($(CONFIG_RRLOAD_BINARY),y)
+	@echo "MK: $(BIN).rr"
+	$(Q) $(TOPDIR)/tools/mkimage.sh --Prefix $(CROSSDEV) $(BIN) $(BIN).rr
+	$(Q) if [ -w /tftpboot ] ; then \
+		cp -f $(BIN).rr /tftpboot/$\(BIN).rr.$(CONFIG_ARCH); \
+	fi
+endif
+ifeq ($(CONFIG_INTELHEX_BINARY),y)
+	@echo "CP: $(BIN).hex"
+	$(Q) $(OBJCOPY) $(OBJCOPYARGS) -O ihex $(BIN) $(BIN).hex
+endif
+ifeq ($(CONFIG_MOTOROLA_SREC),y)
+	@echo "CP: $(BIN).srec"
+	$(Q) $(OBJCOPY) $(OBJCOPYARGS) -O srec $(BIN) $(BIN).srec
+endif
+ifeq ($(CONFIG_RAW_BINARY),y)
+	@echo "CP: $(BIN).bin"
+	$(Q) $(OBJCOPY) $(OBJCOPYARGS) -O binary $(BIN) $(BIN).bin
+endif
+
+# $(BIN)
+#
+# Create the final NuttX executable in a two pass build process.  In the
+# normal case, all pass1 and pass2 dependencies are created then pass1
+# and pass2 targets are built.  However, in some cases, you may need to build
+# pass1 depenencies and pass1 first, then build pass2 dependencies and pass2.
+# in that case, execute 'make pass1 pass2' from the command line.
+
+$(BIN): pass1deps pass2deps pass1 pass2
+
+# download
+#
+# This is a helper target that will rebuild NuttX and download it to the target
+# system in one step.  The operation of this target depends completely upon
+# implementation of the DOWNLOAD command in the user Make.defs file.  It will
+# generate an error an error if the DOWNLOAD command is not defined.
+
+download: $(BIN)
+	$(call DOWNLOAD, $<)
+
+# pass1dep: Create pass1 build dependencies
+# pass2dep: Create pass2 build dependencies
+
+pass1dep: context tools/mkdeps$(HOSTEXEEXT) 
+	$(Q) for dir in $(USERDEPDIRS) ; do \
+		$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" depend ; \
+	done
+
+pass2dep: context tools/mkdeps$(HOSTEXEEXT) 
+	$(Q) for dir in $(KERNDEPDIRS) ; do \
+		$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" EXTRADEFINES=$(KDEFINE) depend; \
+	done
+
+# Configuration targets
+#
+# These targets depend on the kconfig-frontends packages.  To use these, you
+# must first download and install the kconfig-frontends package from this
+# location: http://ymorin.is-a-geek.org/projects/kconfig-frontends.  See
+# misc/tools/README.txt for additional information.
+
+config:
+	$(Q) APPSDIR=${CONFIG_APPS_DIR} conf Kconfig
+
+oldconfig:
+	$(Q) APPSDIR=${CONFIG_APPS_DIR} conf --oldconfig Kconfig
+
+menuconfig:
+	$(Q) APPSDIR=${CONFIG_APPS_DIR} mconf Kconfig
+
+# export
+#
+# The export target will package the NuttX libraries and header files into
+# an exportable package.  Caveats: (1) These needs some extension for the KERNEL
+# build; it needs to receive USERLIBS and create a libuser.a). (2) The logic
+# in tools/mkexport.sh only supports GCC and, for example, explicitly assumes
+# that the archiver is 'ar'
+
+export: pass2deps
+	$(Q) tools/mkexport.sh -w$(WINTOOL) -t "$(TOPDIR)" -l "$(NUTTXLIBS)"
+
+# General housekeeping targets:  dependencies, cleaning, etc.
+#
+# depend:    Create both PASS1 and PASS2 dependencies
+# clean:     Removes derived object files, archives, executables, and
+#            temporary files, but retains the configuration and context
+#            files and directories.
+# distclean: Does 'clean' then also removes all configuration and context
+#            files.  This essentially restores the directory structure
+#            to its original, unconfigured stated.
+
+depend: pass1dep pass2dep
+
+subdir_clean:
+	$(Q) for dir in $(CLEANDIRS) ; do \
+		if [ -e $$dir/Makefile ]; then \
+			$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" clean ; \
+		fi \
+	done
+	$(Q) $(MAKE) -C tools -f Makefile.host TOPDIR="$(TOPDIR)" clean
+	$(Q) $(MAKE) -C mm -f Makefile.test TOPDIR="$(TOPDIR)" clean
+ifeq ($(CONFIG_BUILD_2PASS),y)
+	$(Q) $(MAKE) -C $(CONFIG_PASS1_BUILDIR) TOPDIR="$(TOPDIR)" clean
+endif
+
+clean: subdir_clean
+	$(call DELFILE, $(BIN))
+	$(call DELFILE, nuttx.*)
+	$(call DELFILE, mm_test)
+	$(call DELFILE, *.map)
+	$(call DELFILE, _SAVED_APPS_config)
+	$(call DELFILE, nuttx-export*)
+	$(call CLEAN)
+
+subdir_distclean:
+	$(Q) for dir in $(CLEANDIRS) ; do \
+		if [ -e $$dir/Makefile ]; then \
+			$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" distclean ; \
+		fi \
+	done
+
+distclean: clean subdir_distclean clean_context
+ifeq ($(CONFIG_BUILD_2PASS),y)
+	$(Q) $(MAKE) -C $(CONFIG_PASS1_BUILDIR) TOPDIR="$(TOPDIR)" distclean
+endif
+	$(call DELFILE, Make.defs)
+	$(call DELFILE, setenv.sh)
+	$(call DELFILE, setenv.bat)
+	$(call DELFILE, .config)
+	$(call DELFILE, .config.old)
+
+# Application housekeeping targets.  The APPDIR variable refers to the user
+# application directory.  A sample apps/ directory is included with NuttX,
+# however, this is not treated as part of NuttX and may be replaced with a
+# different application directory.  For the most part, the application
+# directory is treated like any other build directory in this script.  However,
+# as a convenience, the following targets are included to support housekeeping
+# functions in the user application directory from the NuttX build directory.
+#
+# apps_clean:     Perform the clean operation only in the user application
+#                 directory
+# apps_distclean: Perform the distclean operation only in the user application
+#                 directory.  Note that the apps/.config file (inf any) is
+#                 preserved so that this is not a "full" distclean but more of a
+#                 configuration "reset." (There willnot be an apps/.config
+#                 file if the configuration was generated via make menuconfig).
+
+apps_clean:
+ifneq ($(APPDIR),)
+	$(Q) $(MAKE) -C "$(TOPDIR)/$(APPDIR)" TOPDIR="$(TOPDIR)" clean
+endif
+
+apps_distclean:
+ifneq ($(APPDIR),)
+	$(Q) if [ -r "$(TOPDIR)/$(APPDIR)/.config" ]; then \
+		cp "$(TOPDIR)/$(APPDIR)/.config" _SAVED_APPS_config || \
+			{ echo "Copy of $(APPDIR)/.config failed" ; exit 1 ; } \
+	else \
+		rm -f _SAVED_APPS_config; \
+	fi
+	$(Q) $(MAKE) -C "$(TOPDIR)/$(APPDIR)" TOPDIR="$(TOPDIR)" distclean
+	$(Q) if [ -r _SAVED_APPS_config ]; then \
+		mv _SAVED_APPS_config "$(TOPDIR)/$(APPDIR)/.config" || \
+			{ echo "Copy of _SAVED_APPS_config failed" ; exit 1 ; } \
+	fi
+endif
+
diff --git a/nuttx/Makefile.win b/nuttx/Makefile.win
new file mode 100644
index 000000000..34da12ad0
--- /dev/null
+++ b/nuttx/Makefile.win
@@ -0,0 +1,740 @@
+############################################################################
+# Makefile.win
+#
+#   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. 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.
+# 3. Neither the name NuttX 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.
+#
+############################################################################
+
+TOPDIR := ${shell echo %CD%}
+-include $(TOPDIR)\.config
+-include $(TOPDIR)\tools\Config.mk
+-include $(TOPDIR)\Make.defs
+
+# Control build verbosity
+
+ifeq ($(V),1)
+export Q :=
+else
+export Q := @
+endif
+
+# This define is passed as EXTRADEFINES for kernel-mode builds.  It is also passed
+# during PASS1 (but not PASS2) context and depend targets.
+
+KDEFINE = ${shell $(TOPDIR)\tools\define.bat "$(CC)" __KERNEL__}
+
+# Process architecture and board-specific directories
+
+ARCH_DIR = arch\$(CONFIG_ARCH)
+ARCH_SRC = $(ARCH_DIR)\src
+ARCH_INC = $(ARCH_DIR)\include
+BOARD_DIR = configs\$(CONFIG_ARCH_BOARD)
+
+# Add-on directories.  These may or may not be in place in the
+# NuttX source tree (they must be specifically installed)
+#
+# CONFIG_APPS_DIR can be over-ridden from the command line or in the .config file.
+# The default value of CONFIG_APPS_DIR is ..\apps.  Ultimately, the application
+# will be built if APPDIR is defined.  APPDIR will be defined if a directory containing
+# a Makefile is found at the path provided by CONFIG_APPS_DIR
+
+ifeq ($(CONFIG_APPS_DIR),)
+CONFIG_APPS_DIR = ..\apps
+endif
+APPDIR := ${shell if exist "$(CONFIG_APPS_DIR)\Makefile" echo $(CONFIG_APPS_DIR)}
+
+# All add-on directories.
+#
+# NUTTX_ADDONS is the list of directories built into the NuttX kernel.
+# USER_ADDONS is the list of directories that will be built into the user application
+
+NUTTX_ADDONS :=
+USER_ADDONS :=
+
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+USER_ADDONS += $(APPDIR)
+else
+NUTTX_ADDONS += $(APPDIR)
+endif
+
+# Lists of build directories.
+#
+# FSDIRS depend on file descriptor support; NONFSDIRS do not (except for parts
+#   of FSDIRS).  We will exclude FSDIRS from the build if file descriptor
+#   support is disabled
+# CONTEXTDIRS include directories that have special, one-time pre-build
+#   requirements.  Normally this includes things like auto-generation of
+#   configuration specific files or creation of configurable symbolic links
+# USERDIRS - When NuttX is build is a monolithic kernel, this provides the
+#   list of directories that must be built
+# OTHERDIRS - These are directories that are not built but probably should
+#   be cleaned to prevent garbarge from collecting in them when changing
+#   configurations.
+
+NONFSDIRS = sched $(ARCH_SRC) $(NUTTX_ADDONS)
+FSDIRS = fs drivers binfmt
+CONTEXTDIRS = $(APPDIR)
+USERDIRS =
+OTHERDIRS = lib
+
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+
+NONFSDIRS += syscall
+CONTEXTDIRS += syscall
+USERDIRS += syscall libc mm $(USER_ADDONS)
+ifeq ($(CONFIG_HAVE_CXX),y)
+USERDIRS += libxx
+endif
+
+else
+
+NONFSDIRS += libc mm
+OTHERDIRS += syscall $(USER_ADDONS)
+ifeq ($(CONFIG_HAVE_CXX),y)
+NONFSDIRS += libxx
+else
+OTHERDIRS += libxx
+endif
+
+endif
+
+ifeq ($(CONFIG_NX),y)
+NONFSDIRS += graphics
+CONTEXTDIRS += graphics
+else
+OTHERDIRS += graphics
+endif
+
+# CLEANDIRS are the directories that will clean in.  These are
+#   all directories that we know about.
+# KERNDEPDIRS are the directories in which we will build target dependencies.
+#   If NuttX and applications are built separately (CONFIG_NUTTX_KERNEL),
+#   then this holds only the directories containing kernel files.
+# USERDEPDIRS. If NuttX and applications are built separately (CONFIG_NUTTX_KERNEL),
+#   then this holds only the directories containing user files.
+
+CLEANDIRS = $(NONFSDIRS) $(FSDIRS) $(USERDIRS) $(OTHERDIRS)
+KERNDEPDIRS = $(NONFSDIRS)
+USERDEPDIRS = $(USERDIRS)
+
+# Add file system directories to KERNDEPDIRS (they are already in CLEANDIRS)
+
+ifeq ($(CONFIG_NFILE_DESCRIPTORS),0)
+ifeq ($(CONFIG_NET),y)
+ifneq ($(CONFIG_NSOCKET_DESCRIPTORS),0)
+KERNDEPDIRS += fs
+endif
+KERNDEPDIRS += drivers
+endif
+else
+KERNDEPDIRS += $(FSDIRS)
+endif
+
+# Add networking directories to KERNDEPDIRS and CLEANDIRS
+
+ifeq ($(CONFIG_NET),y)
+KERNDEPDIRS += net
+endif
+CLEANDIRS += net
+
+#
+# Extra objects used in the final link.
+#
+# Pass 1 1ncremental (relative) link objects should be put into the
+# processor-specific source directory (where other link objects will
+# be created).  If the pass1 obect is an archive, it could go anywhere.
+
+ifeq ($(CONFIG_BUILD_2PASS),y)
+EXTRA_OBJS += $(CONFIG_PASS1_OBJECT)
+endif
+
+# NUTTXLIBS is the list of NuttX libraries that is passed to the
+#   processor-specific Makefile to build the final NuttX target.
+#   Libraries in FSDIRS are excluded if file descriptor support
+#   is disabled.
+# USERLIBS is the list of libraries used to build the final user-space
+#   application
+
+NUTTXLIBS = lib\libsched$(LIBEXT) lib\libarch$(LIBEXT)
+USERLIBS =
+
+# Add libraries for syscall support.  The C library will be needed by
+# both the kernel- and user-space builds.  For now, the memory manager (mm)
+# is placed in user space (only).
+
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+NUTTXLIBS += lib\libstubs$(LIBEXT) lib\libkc$(LIBEXT)
+USERLIBS += lib\libproxies$(LIBEXT) lib\libuc$(LIBEXT) lib\libmm$(LIBEXT)
+else
+NUTTXLIBS += lib\libmm$(LIBEXT) lib\libc$(LIBEXT)
+endif
+
+# Add libraries for C++ support.  CXX, CXXFLAGS, and COMPILEXX must
+# be defined in Make.defs for this to work!
+
+ifeq ($(CONFIG_HAVE_CXX),y)
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+USERLIBS += lib\libcxx$(LIBEXT)
+else
+NUTTXLIBS += lib\libcxx$(LIBEXT)
+endif
+endif
+
+# Add library for application support.
+
+ifneq ($(APPDIR),)
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+USERLIBS += lib\libapps$(LIBEXT)
+else
+NUTTXLIBS += lib\libapps$(LIBEXT)
+endif
+endif
+
+# Add libraries for network support
+
+ifeq ($(CONFIG_NET),y)
+NUTTXLIBS += lib\libnet$(LIBEXT)
+endif
+
+# Add libraries for file system support
+
+ifeq ($(CONFIG_NFILE_DESCRIPTORS),0)
+ifneq ($(CONFIG_NSOCKET_DESCRIPTORS),0)
+NUTTXLIBS += lib\libfs$(LIBEXT)
+endif
+ifeq ($(CONFIG_NET),y)
+NUTTXLIBS += lib\libdrivers$(LIBEXT)
+endif
+else
+NUTTXLIBS += lib\libfs$(LIBEXT) lib\libdrivers$(LIBEXT) lib\libbinfmt$(LIBEXT)
+endif
+
+# Add libraries for the NX graphics sub-system
+
+ifeq ($(CONFIG_NX),y)
+NUTTXLIBS += lib\libgraphics$(LIBEXT)
+endif
+
+# LINKLIBS derives from NUTTXLIBS and is simply the same list with the subdirectory removed
+
+LINKLIBS = $(patsubst lib\\%,%,$(NUTTXLIBS))
+
+# This is the name of the final target (relative to the top level directorty)
+
+BIN = nuttx$(EXEEXT)
+
+all: $(BIN)
+.PHONY: context clean_context check_context export subdir_clean clean subdir_distclean distclean apps_clean apps_distclean
+
+# Target used to copy include\nuttx\math.h.  If CONFIG_ARCH_MATH_H is
+# defined, then there is an architecture specific math.h header file
+# that will be included indirectly from include\math.h.  But first, we
+# have to copy math.h from include\nuttx\. to include\.  Logic within
+# include\nuttx\math.h will hand the redirection to the architecture-
+# specific math.h header file.
+#
+# If the CONFIG_LIBM is defined, the Rhombus libm will be built at libc\math.
+# Definitions and prototypes for the Rhombus libm are also contained in
+# include\nuttx\math.h and so the file must also be copied in that case.
+#
+# If neither CONFIG_ARCH_MATH_H nor CONFIG_LIBM is defined, then no math.h
+# header file will be provided.  You would want that behavior if (1) you
+# don't use libm, or (2) you want to use the math.h and libm provided
+# within your toolchain.
+
+ifeq ($(CONFIG_ARCH_MATH_H),y)
+NEED_MATH_H = y
+else
+ifeq ($(CONFIG_LIBM),y)
+NEED_MATH_H = y
+endif
+endif
+
+ifeq ($(NEED_MATH_H),y)
+include\math.h: include\nuttx\math.h
+	$(Q) cp -f include\nuttx\math.h include\math.h
+else
+include\math.h:
+endif
+
+# The float.h header file defines the properties of your floating point
+# implementation.  It would always be best to use your toolchain's float.h
+# header file but if none is avaiable, a default float.h header file will
+# provided if this option is selected.  However there is no assurance that
+# the settings in this float.h are actually correct for your platform!
+
+ifeq ($(CONFIG_ARCH_FLOAT_H),y)
+include\float.h: include\nuttx\float.h
+	$(Q) cp -f include\nuttx\float.h include\float.h
+else
+include\float.h:
+endif
+
+# Target used to copy include\nuttx\stdarg.h.  If CONFIG_ARCH_STDARG_H is
+# defined, then there is an architecture specific stdarg.h header file
+# that will be included indirectly from include\stdarg.h.  But first, we
+# have to copy stdarg.h from include\nuttx\. to include\.
+
+ifeq ($(CONFIG_ARCH_STDARG_H),y)
+include\stdarg.h: include\nuttx\stdarg.h
+	$(Q) cp -f include\nuttx\stdarg.h include\stdarg.h
+else
+include\stdarg.h:
+endif
+
+# Targets used to build include\nuttx\version.h.  Creation of version.h is
+# part of the overall NuttX configuration sequence. Notice that the
+# tools\mkversion tool is built and used to create include\nuttx\version.h
+
+tools\mkversion$(HOSTEXEEXT):
+	$(Q) $(MAKE) -C tools -f Makefile.host TOPDIR="$(TOPDIR)"  mkversion$(HOSTEXEEXT)
+
+$(TOPDIR)\.version:
+	$(Q) if [ ! -f .version ]; then \
+		echo "No .version file found, creating one"; \
+		tools\version.sh -v 0.0 -b 0 .version; \
+		chmod 755 .version; \
+	fi
+
+include\nuttx\version.h: $(TOPDIR)\.version tools\mkversion$(HOSTEXEEXT)
+	$(Q) tools\mkversion$(HOSTEXEEXT) $(TOPDIR) > include\nuttx\version.h
+
+# Targets used to build include\nuttx\config.h.  Creation of config.h is
+# part of the overall NuttX configuration sequence. Notice that the
+# tools\mkconfig tool is built and used to create include\nuttx\config.h
+
+tools\mkconfig$(HOSTEXEEXT):
+	$(Q) $(MAKE) -C tools -f Makefile.host TOPDIR="$(TOPDIR)"  mkconfig$(HOSTEXEEXT)
+
+include\nuttx\config.h: $(TOPDIR)\.config tools\mkconfig$(HOSTEXEEXT)
+	$(Q) tools\mkconfig$(HOSTEXEEXT) $(TOPDIR) > include\nuttx\config.h
+
+# Targets used to create dependencies
+
+tools\mkdeps$(HOSTEXEEXT):
+	$(Q) $(MAKE) -C tools -f Makefile.host TOPDIR="$(TOPDIR)"  mkdeps$(HOSTEXEEXT)
+
+# dirlinks, and helpers
+#
+# Directories links.  Most of establishing the NuttX configuration involves
+# setting up symbolic links with 'generic' directory names to specific,
+# configured directories.
+#
+# Link the apps\include directory to include\apps
+
+include\apps: Make.defs
+ifneq ($(APPDIR),)
+	@echo LN: include\apps $(APPDIR)\include
+ifeq ($(CONFIG_WINDOWS_MKLINK),y)
+	$(Q) /user:administrator mklink /d include\apps $(APPDIR)\include
+else
+	$(Q) xcopy $(APPDIR)\include include\apps /c /q /s /e /y /i
+	$(Q) echo FAKELNK > include\apps\.fakelnk
+endif
+endif
+
+# Link the arch\<arch-name>\include directory to include\arch
+
+include\arch: Make.defs
+	@echo LN: include\arch to $(ARCH_DIR)\include
+ifeq ($(CONFIG_WINDOWS_MKLINK),y)
+	$(Q) /user:administrator mklink /d include\arch $(TOPDIR)\$(ARCH_DIR)\include
+else
+	$(Q) xcopy $(TOPDIR)\$(ARCH_DIR)\include include\arch /c /q /s /e /y /i
+	$(Q) echo FAKELNK > include\arch\.fakelnk
+endif
+
+# Link the configs\<board-name>\include directory to include\arch\board
+
+include\arch\board: include\arch Make.defs include\arch
+	@echo LN: include\arch\board to $(BOARD_DIR)\include
+ifeq ($(CONFIG_WINDOWS_MKLINK),y)
+	$(Q) /user:administrator mklink /d include\arch\board $(TOPDIR)\$(BOARD_DIR)\include
+else
+	$(Q) xcopy $(TOPDIR)\$(BOARD_DIR)\include include\arch\board /c /q /s /e /y /i
+	$(Q) echo FAKELNK > include\arch\board\.fakelnk
+endif
+
+# Link the configs\<board-name>\src dir to arch\<arch-name>\src\board
+
+$(ARCH_SRC)\board: Make.defs
+	@echo LN: $(ARCH_SRC)\board to $(BOARD_DIR)\src
+ifeq ($(CONFIG_WINDOWS_MKLINK),y)
+	$(Q) /user:administrator mklink /d $(ARCH_SRC)\board $(TOPDIR)\$(BOARD_DIR)\src
+else
+	$(Q) xcopy $(TOPDIR)\$(BOARD_DIR)\src $(ARCH_SRC)\board /c /q /s /e /y /i
+	$(Q) echo FAKELNK > $(ARCH_SRC)\board\.fakelnk
+endif
+
+# Link arch\<arch-name>\include\<chip-name> to arch\<arch-name>\include\chip
+
+$(ARCH_SRC)\chip: Make.defs
+ifneq ($(CONFIG_ARCH_CHIP),)
+	@echo LN: $(ARCH_SRC)\chip to $(ARCH_SRC)\$(CONFIG_ARCH_CHIP)
+ifeq ($(CONFIG_WINDOWS_MKLINK),y)
+	$(Q) /user:administrator mklink /d $(ARCH_SRC)\chip $(TOPDIR)\$(ARCH_SRC)\$(CONFIG_ARCH_CHIP)
+else
+	$(Q) xcopy $(TOPDIR)\$(ARCH_SRC)\$(CONFIG_ARCH_CHIP) $(ARCH_SRC)\chip /c /q /s /e /y /i
+	$(Q) echo FAKELNK > $(ARCH_SRC)\chip\.fakelnk
+endif
+endif
+
+# Link arch\<arch-name>\src\<chip-name> to arch\<arch-name>\src\chip
+
+include\arch\chip: include\arch Make.defs
+ifneq ($(CONFIG_ARCH_CHIP),)
+	@echo LN: include\arch\chip to $(ARCH_INC)\$(CONFIG_ARCH_CHIP)
+ifeq ($(CONFIG_WINDOWS_MKLINK),y)
+	$(Q) /user:administrator mklink /d include\arch\chip $(TOPDIR)\$(ARCH_INC)\$(CONFIG_ARCH_CHIP)
+else
+	$(Q) xcopy $(TOPDIR)\$(ARCH_INC)\$(CONFIG_ARCH_CHIP) include\arch\chip /c /q /s /e /y /i
+	$(Q) echo FAKELNK > include\arch\chip\.fakelnk
+endif
+endif
+
+dirlinks: include\arch include\arch\board include\arch\chip $(ARCH_SRC)\board $(ARCH_SRC)\chip include\apps
+
+# context
+#
+# The context target is invoked on each target build to assure that NuttX is
+# properly configured.  The basic configuration steps include creation of the
+# the config.h and version.h header files in the include\nuttx directory and
+# the establishment of symbolic links to configured directories.
+
+context: check_context include\nuttx\config.h include\nuttx\version.h include\math.h include\float.h include\stdarg.h dirlinks
+	$(Q) for %%G in ($(CONTEXTDIRS)) do ( $(MAKE) -C %%G TOPDIR="$(TOPDIR)" context )
+
+# clean_context
+#
+# This is part of the distclean target.  It removes all of the header files
+# and symbolic links created by the context target.
+
+clean_context:
+	$(call DELFILE, include\nuttx\config.h)
+	$(call DELFILE, include\nuttx\version.h)
+	$(call DELFILE, include\math.h)
+	$(call DELFILE, include\stdarg.h)
+	$(call DELDIR, include\arch\board)
+	$(call DELDIR, include\arch\chip)
+	$(call DELDIR, include\arch)
+	$(call DELDIR, $(ARCH_SRC)\board)
+	$(call DELDIR, $(ARCH_SRC)\chip)
+	$(call DELDIR, include\apps)
+
+# check_context
+#
+# This target checks if NuttX has been configured.  NuttX is configured using
+# the script tools\configure.sh.  That script will install certain files in
+# the top-level NuttX build directory.  This target verifies that those
+# configuration files have been installed and that NuttX is ready to be built.
+
+check_context:
+	$(Q) if not exist $(TOPDIR)\.config echo "$(TOPDIR)\.config does not exist"
+	$(Q) if not exist $(TOPDIR)\Make.defs echo "$(TOPDIR)\Make.defs does not exist"
+
+# Archive targets.  The target build sequency will first create a series of
+# libraries, one per configured source file directory.  The final NuttX
+# execution will then be built from those libraries.  The following targets
+# build those libraries.
+#
+# Possible kernel-mode builds
+
+libc\libkc$(LIBEXT): context
+	$(Q) $(MAKE) -C libc TOPDIR="$(TOPDIR)" libkc$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib\libkc$(LIBEXT): libc\libkc$(LIBEXT)
+	$(Q) install libc\libkc$(LIBEXT) lib\libkc$(LIBEXT)
+
+sched\libsched$(LIBEXT): context
+	$(Q) $(MAKE) -C sched TOPDIR="$(TOPDIR)" libsched$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib\libsched$(LIBEXT): sched\libsched$(LIBEXT)
+	$(Q) install sched\libsched$(LIBEXT) lib\libsched$(LIBEXT)
+
+$(ARCH_SRC)\libarch$(LIBEXT): context
+	$(Q) $(MAKE) -C $(ARCH_SRC) TOPDIR="$(TOPDIR)" libarch$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib\libarch$(LIBEXT): $(ARCH_SRC)\libarch$(LIBEXT)
+	$(Q) install $(ARCH_SRC)\libarch$(LIBEXT) lib\libarch$(LIBEXT)
+
+net\libnet$(LIBEXT): context
+	$(Q) $(MAKE) -C net TOPDIR="$(TOPDIR)" libnet$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib\libnet$(LIBEXT): net\libnet$(LIBEXT)
+	$(Q) install net\libnet$(LIBEXT) lib\libnet$(LIBEXT)
+
+fs\libfs$(LIBEXT): context
+	$(Q) $(MAKE) -C fs TOPDIR="$(TOPDIR)" libfs$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib\libfs$(LIBEXT): fs\libfs$(LIBEXT)
+	$(Q) install fs\libfs$(LIBEXT) lib\libfs$(LIBEXT)
+
+drivers\libdrivers$(LIBEXT): context
+	$(Q) $(MAKE) -C drivers TOPDIR="$(TOPDIR)" libdrivers$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib\libdrivers$(LIBEXT): drivers\libdrivers$(LIBEXT)
+	$(Q) install drivers\libdrivers$(LIBEXT) lib\libdrivers$(LIBEXT)
+
+binfmt\libbinfmt$(LIBEXT): context
+	$(Q) $(MAKE) -C binfmt TOPDIR="$(TOPDIR)" libbinfmt$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib\libbinfmt$(LIBEXT): binfmt\libbinfmt$(LIBEXT)
+	$(Q) install binfmt\libbinfmt$(LIBEXT) lib\libbinfmt$(LIBEXT)
+
+graphics\libgraphics$(LIBEXT): context
+	$(Q) $(MAKE) -C graphics TOPDIR="$(TOPDIR)" libgraphics$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib\libgraphics$(LIBEXT): graphics\libgraphics$(LIBEXT)
+	$(Q) install graphics\libgraphics$(LIBEXT) lib\libgraphics$(LIBEXT)
+
+syscall\libstubs$(LIBEXT): context
+	$(Q) $(MAKE) -C syscall TOPDIR="$(TOPDIR)" libstubs$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib\libstubs$(LIBEXT): syscall\libstubs$(LIBEXT)
+	$(Q) install syscall\libstubs$(LIBEXT) lib\libstubs$(LIBEXT)
+
+# Possible user-mode builds
+
+libc\libuc$(LIBEXT): context
+	$(Q) $(MAKE) -C libc TOPDIR="$(TOPDIR)" libuc$(LIBEXT)
+
+lib\libuc$(LIBEXT): libc\libuc$(LIBEXT)
+	$(Q) install libc\libuc$(LIBEXT) lib\libuc$(LIBEXT)
+
+libxx\libcxx$(LIBEXT): context
+	$(Q) $(MAKE) -C libxx TOPDIR="$(TOPDIR)" libcxx$(LIBEXT)
+
+lib\libcxx$(LIBEXT): libxx\libcxx$(LIBEXT)
+	$(Q) install libxx\libcxx$(LIBEXT) lib\libcxx$(LIBEXT)
+
+mm\libmm$(LIBEXT): context
+	$(Q) $(MAKE) -C mm TOPDIR="$(TOPDIR)" libmm$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib\libmm$(LIBEXT): mm\libmm$(LIBEXT)
+	$(Q) install mm\libmm$(LIBEXT) lib\libmm$(LIBEXT)
+
+$(APPDIR)\libapps$(LIBEXT): context
+	$(Q) $(MAKE) -C $(APPDIR) TOPDIR="$(TOPDIR)" libapps$(LIBEXT)
+
+lib\libapps$(LIBEXT): $(APPDIR)\libapps$(LIBEXT)
+	$(Q) install $(APPDIR)\libapps$(LIBEXT) lib\libapps$(LIBEXT)
+
+syscall\libproxies$(LIBEXT): context
+	$(Q) $(MAKE) -C syscall TOPDIR="$(TOPDIR)" libproxies$(LIBEXT)
+
+lib\libproxies$(LIBEXT): syscall\libproxies$(LIBEXT)
+	$(Q) install syscall\libproxies$(LIBEXT) lib\libproxies$(LIBEXT)
+
+# Possible non-kernel builds
+
+libc\libc$(LIBEXT): context
+	$(Q) $(MAKE) -C libc TOPDIR="$(TOPDIR)" libc$(LIBEXT)
+
+lib\libc$(LIBEXT): libc\libc$(LIBEXT)
+	$(Q) install libc\libc$(LIBEXT) lib\libc$(LIBEXT)
+
+# pass1 and pass2
+#
+# If the 2 pass build option is selected, then this pass1 target is
+# configured to built before the pass2 target.  This pass1 target may, as an
+# example, build an extra link object (CONFIG_PASS1_OBJECT) which may be an
+# incremental (relative) link object, but could be a static library (archive);
+# some modification to this Makefile would be required if CONFIG_PASS1_OBJECT
+# is an archive.  Exactly what is performed during pass1 or what it generates
+# is unknown to this makefule unless CONFIG_PASS1_OBJECT is defined.
+
+pass1deps: pass1dep $(USERLIBS)
+
+pass1: pass1deps
+ifeq ($(CONFIG_BUILD_2PASS),y)
+	$(Q) if [ -z "$(CONFIG_PASS1_BUILDIR)" ]; then \
+		echo "ERROR: CONFIG_PASS1_BUILDIR not defined"; \
+		exit 1; \
+	fi
+	$(Q) if [ ! -d "$(CONFIG_PASS1_BUILDIR)" ]; then \
+		echo "ERROR: CONFIG_PASS1_BUILDIR does not exist"; \
+		exit 1; \
+	fi
+	$(Q) if [ ! -f "$(CONFIG_PASS1_BUILDIR)\Makefile" ]; then \
+		echo "ERROR: No Makefile in CONFIG_PASS1_BUILDIR"; \
+		exit 1; \
+	fi
+	$(Q) $(MAKE) -C $(CONFIG_PASS1_BUILDIR) TOPDIR="$(TOPDIR)" LINKLIBS="$(LINKLIBS)" USERLIBS="$(USERLIBS)" "$(CONFIG_PASS1_TARGET)"
+endif
+
+pass2deps: pass2dep $(NUTTXLIBS)
+
+pass2: pass2deps
+	$(Q) $(MAKE) -C $(ARCH_SRC) TOPDIR="$(TOPDIR)" EXTRA_OBJS="$(EXTRA_OBJS)" LINKLIBS="$(LINKLIBS)" EXTRADEFINES=$(KDEFINE) $(BIN)
+ifeq ($(CONFIG_RRLOAD_BINARY),y)
+	@echo "MK: $(BIN).rr"
+	$(Q) $(TOPDIR)\tools\mkimage.sh --Prefix $(CROSSDEV) $(BIN) $(BIN).rr
+endif
+ifeq ($(CONFIG_INTELHEX_BINARY),y)
+	@echo "CP: $(BIN).hex"
+	$(Q) $(OBJCOPY) $(OBJCOPYARGS) -O ihex $(BIN) $(BIN).hex
+endif
+ifeq ($(CONFIG_MOTOROLA_SREC),y)
+	@echo "CP: $(BIN).srec"
+	$(Q) $(OBJCOPY) $(OBJCOPYARGS) -O srec $(BIN) $(BIN).srec
+endif
+ifeq ($(CONFIG_RAW_BINARY),y)
+	@echo "CP: $(BIN).bin"
+	$(Q) $(OBJCOPY) $(OBJCOPYARGS) -O binary $(BIN) $(BIN).bin
+endif
+
+# $(BIN)
+#
+# Create the final NuttX executable in a two pass build process.  In the
+# normal case, all pass1 and pass2 dependencies are created then pass1
+# and pass2 targets are built.  However, in some cases, you may need to build
+# pass1 depenencies and pass1 first, then build pass2 dependencies and pass2.
+# in that case, execute 'make pass1 pass2' from the command line.
+
+$(BIN): pass1deps pass2deps pass1 pass2
+
+# download
+#
+# This is a helper target that will rebuild NuttX and download it to the target
+# system in one step.  The operation of this target depends completely upon
+# implementation of the DOWNLOAD command in the user Make.defs file.  It will
+# generate an error an error if the DOWNLOAD command is not defined.
+
+download: $(BIN)
+	$(call DOWNLOAD, $<)
+
+# pass1dep: Create pass1 build dependencies
+# pass2dep: Create pass2 build dependencies
+
+pass1dep: context tools\mkdeps$(HOSTEXEEXT)
+	$(Q) for %%G in ($(USERDEPDIRS)) do ( $(MAKE) -C %%G TOPDIR="$(TOPDIR)" depend )
+
+pass2dep: context tools\mkdeps$(HOSTEXEEXT)
+	$(Q) for %%G in ($(KERNDEPDIRS)) do ( $(MAKE) -C %%G TOPDIR="$(TOPDIR)" EXTRADEFINES=$(KDEFINE) depend )
+
+# Configuration targets
+#
+# These targets depend on the kconfig-frontends packages.  To use these, you
+# must first download and install the kconfig-frontends package from this
+# location: http://ymorin.is-a-geek.org/projects/kconfig-frontends.  See
+# misc\tools\README.txt for additional information.
+
+config:
+	$(Q) APPSDIR=${CONFIG_APPS_DIR} conf Kconfig
+
+oldconfig:
+	$(Q) APPSDIR=${CONFIG_APPS_DIR} conf --oldconfig Kconfig
+
+menuconfig:
+	$(Q) APPSDIR=${CONFIG_APPS_DIR} mconf Kconfig
+
+# export
+#
+# The export target will package the NuttX libraries and header files into
+# an exportable package.  Caveats: (1) These needs some extension for the KERNEL
+# build; it needs to receive USERLIBS and create a libuser.a). (2) The logic
+# in tools\mkexport.sh only supports GCC and, for example, explicitly assumes
+# that the archiver is 'ar'
+
+export: pass2deps
+	$(Q) tools\mkexport.sh -w$(WINTOOL) -t "$(TOPDIR)" -l "$(NUTTXLIBS)"
+
+# General housekeeping targets:  dependencies, cleaning, etc.
+#
+# depend:    Create both PASS1 and PASS2 dependencies
+# clean:     Removes derived object files, archives, executables, and
+#            temporary files, but retains the configuration and context
+#            files and directories.
+# distclean: Does 'clean' then also removes all configuration and context
+#            files.  This essentially restores the directory structure
+#            to its original, unconfigured stated.
+
+depend: pass1dep pass2dep
+
+subdir_clean:
+	$(Q) for %%G in ($(CLEANDIRS)) do ( if exist %%G\Makefile $(MAKE) -C %%G TOPDIR="$(TOPDIR)" clean )
+	$(Q) $(MAKE) -C tools -f Makefile.host TOPDIR="$(TOPDIR)" clean
+	$(Q) $(MAKE) -C mm -f Makefile.test TOPDIR="$(TOPDIR)" clean
+ifeq ($(CONFIG_BUILD_2PASS),y)
+	$(Q) $(MAKE) -C $(CONFIG_PASS1_BUILDIR) TOPDIR="$(TOPDIR)" clean
+endif
+
+clean: subdir_clean
+	$(call DELFILE, $(BIN))
+	$(call DELFILE, nuttx.*)
+	$(call DELFILE, mm_test)
+	$(call DELFILE, *.map)
+	$(call DELFILE, _SAVED_APPS_config)
+	$(call DELFILE, nuttx-export*)
+	$(call CLEAN)
+
+subdir_distclean:
+	$(Q) for %%G in ($(CLEANDIRS)) do ( if exist %%G\Makefile $(MAKE) -C %%G TOPDIR="$(TOPDIR)" distclean )
+
+distclean: clean subdir_distclean clean_context
+ifeq ($(CONFIG_BUILD_2PASS),y)
+	$(Q) $(MAKE) -C $(CONFIG_PASS1_BUILDIR) TOPDIR="$(TOPDIR)" distclean
+endif
+	$(call DELFILE, Make.defs)
+	$(call DELFILE, setenv.sh)
+	$(call DELFILE, setenv.bat)
+	$(call DELFILE, .config)
+	$(call DELFILE, .config.old)
+
+# Application housekeeping targets.  The APPDIR variable refers to the user
+# application directory.  A sample apps\ directory is included with NuttX,
+# however, this is not treated as part of NuttX and may be replaced with a
+# different application directory.  For the most part, the application
+# directory is treated like any other build directory in this script.  However,
+# as a convenience, the following targets are included to support housekeeping
+# functions in the user application directory from the NuttX build directory.
+#
+# apps_clean:     Perform the clean operation only in the user application
+#                 directory
+# apps_distclean: Perform the distclean operation only in the user application
+#                 directory.  Note that the apps\.config file (inf any) is
+#                 preserved so that this is not a "full" distclean but more of a
+#                 configuration "reset." (There willnot be an apps\.config
+#                 file if the configuration was generated via make menuconfig).
+
+apps_clean:
+ifneq ($(APPDIR),)
+	$(Q) $(MAKE) -C "$(TOPDIR)\$(APPDIR)" TOPDIR="$(TOPDIR)" clean
+endif
+
+apps_distclean:
+ifneq ($(APPDIR),)
+	$(call DELFILE, _SAVED_APPS_config
+	$(Q) if exist "$(TOPDIR)\$(APPDIR)\.config" ( cp "$(TOPDIR)\$(APPDIR)\.config" _SAVED_APPS_config )
+	$(Q) $(MAKE) -C "$(TOPDIR)\$(APPDIR)" TOPDIR="$(TOPDIR)" distclean
+	$(Q) if exist _SAVED_APPS_config ( mv _SAVED_APPS_config "$(TOPDIR)\$(APPDIR)\.config" )
+endif
+
diff --git a/nuttx/README.txt b/nuttx/README.txt
index d60da2d88..b9210277e 100644
--- a/nuttx/README.txt
+++ b/nuttx/README.txt
@@ -18,6 +18,8 @@ README
     - Building
     - Re-building 
     - Build Targets and Options
+    - Native Windows Build
+    - Installing GNUWin32
   o Cygwin Build Problems
     - Strange Path Problems
     - Window Native Toolchain Issues
@@ -154,9 +156,15 @@ Notes about Header Files
 
     Even though you should not use a foreign C-Library, you may still need
     to use other, external libraries with NuttX.  In particular, you may
-    need to use the math library, libm.a.  The math libary header file,
-    math.h, is a special case.  If you do nothing, the standard math.h
-    header file that is provided with your toolchain will be used.
+    need to use the math library, libm.a.  NuttX supports a generic, built-in
+    math library that can be enabled using CONFIG_LIBM=y.  However, you may
+    still want to use a higher performance external math library that has
+    been tuned for your CPU.  Sometimes such such tuned math libraries are
+    bundled with your toolchain.
+
+    The math libary header file, math.h, is a then special case.  If you do
+    nothing, the standard math.h header file that is provided with your
+    toolchain will be used.
 
     If you have a custom, architecture specific math.h header file, then
     that header file should be placed at arch/<cpu>/include/math.h.  There
@@ -171,6 +179,16 @@ Notes about Header Files
     than to include that archicture-specific math.h header file as the
     system math.h header file.
 
+  float.h
+
+    If you enable the generic, built-in math library, then that math library
+    will expect your toolchain to provide the standard float.h header file.
+    The float.h header file defines the properties of your floating point
+    implementation.  It would always be best to use your toolchain's float.h
+    header file but if none is avaiable, a default float.h header file will
+    provided if this option is selected.  However, there is no assurance that
+    the settings in this float.h are actually correct for your platform!
+
   stdarg.h
 
     In most cases, the correct version of stdarg.h is the version provided with your toolchain.  However, sometimes there are issues with with using your toolchains stdarg.h.  For example, it may attempt to draw in header files that do not exist in NuttX or perhaps the header files that is uses are not compatible with the NuttX header files.  In those cases, you can use an architecture-specific stdarg.h header file by defining CONFIG_ARCH_STDARG_H=y.
@@ -189,7 +207,8 @@ Instantiating "Canned" Configurations
 
 Where <board-name> is the name of your development board and <config-dir>.
 Configuring NuttX requires only copying three files from the <config-dir>
-to the directly where you installed NuttX (TOPDIR):
+to the directory where you installed NuttX (TOPDIR) (and sometimes one
+additional file to the directory the NuttX application package (APPSDIR)):
 
   Copy configs/<board-name>/<config-dir>/Make.def to ${TOPDIR}/Make.defs
 
@@ -211,6 +230,14 @@ to the directly where you installed NuttX (TOPDIR):
     included in the build and what is not.  This file is also used
     to generate a C configuration header at include/nuttx/config.h.
 
+  Copy configs/<board-name>/<config-dir>/appconfig to ${APPSDIR}/.config
+
+    The appconfig file describes the applications that need to be
+    built in the appliction directory (APPSDIR).  Not all configurations
+    have an appconfig file.  This file is deprecated and will not be
+    used with new defconfig files produced with the mconf configuration
+    tool.
+
 General information about configuring NuttX can be found in:
 
   ${TOPDIR}/configs/README.txt
@@ -468,6 +495,97 @@ Build Targets and Options
     useful when adding new boards or tracking down compile time errors and
     warnings (Contributed by Richard Cochran).
 
+Native Windows Build
+--------------------
+
+  The beginnings of a Windows native build are in place but still not full
+  usable as of this writing.  The windows native build logic initiatiated
+  if CONFIG_WINDOWS_NATIVE=y is defined in the NuttX configuration file:
+
+  This build:
+
+    - Uses all Windows style paths
+    - Uses primarily Windows batch commands from cmd.exe, with
+    - A few extensions from GNUWin32
+
+  In this build, you cannot use a Cygwin or MSYS shell. Rather the build must
+  be performed in a Windows CMD shell. Here is a better shell than than the
+  standard issue, CMD shell:  ConEmu which can be downloaded from:
+  http://code.google.com/p/conemu-maximus5/
+
+  Build Tools.  The build still relies on some Unix-like commands.  I use
+  the GNUWin32 tools that can be downloaded from http://gnuwin32.sourceforge.net/.
+
+  Host Compiler:  I use the MingGW compiler which can be downloaded from
+  http://www.mingw.org/.  If you are using GNUWin32, then it is recommended
+  the you not install the optional MSYS components as there may be conflicts.
+
+Installing GNUWin32
+-------------------
+
+The Windows native build will depend upon a few Unix-like tools that can be
+provided either by MSYS or GNUWin32.  The GNUWin32 are available from
+http://gnuwin32.sourceforge.net/.  GNUWin32 provides ports of tools with a
+GPL or similar open source license to modern MS-Windows (Microsoft Windows
+2000 / XP / 2003 / Vista / 2008 / 7).  See
+http://gnuwin32.sourceforge.net/packages.html for a list of all of the tools
+available in the GNUWin32 package.
+
+The SourceForge project is located here:
+http://sourceforge.net/projects/gnuwin32/.  The project is still being
+actively supported (although some of the Windows ports have gotten very old).
+
+Some commercial toolchains include a subset of the GNUWin32 tools in the
+installation.  My recommendation is that you download the GNUWin32 tools
+directly from the sourceforge.net website so that you will know what you are
+using and can reproduce your build environment.
+
+GNUWin32 Installation Steps:
+
+The following steps will download and execute the GNUWin32 installer.
+
+1. Download GetGNUWin32-x.x.x.exe from
+   http://sourceforge.net/projects/getgnuwin32/files/.  This is the
+   installer.  The current version as of this writing is 0.6.3.
+
+2. Run the installer.
+
+3. Accept the license.
+
+4. Select the installation directory.  My recommendation is the
+   directory that contains this README file (<this-directory>).
+
+5. After running GetGNUWin32-0.x.x.exe, you will have a new directory
+   <this-directory>/GetGNUWin32
+
+Note the the GNUWin32 installer didn't install GNUWin32.  Instead, it
+installed another, smarter downloader.  That downloader is the GNUWin32
+package management tool developed by the Open SSL project.
+
+The following steps probably should be performed from inside a DOS shell.
+
+6. Change to the directory created by GetGNUWin32-x.x.x.exe
+
+  cd GetGNUWin32
+
+7. Execute the download.bat script.  The download.bat script will download
+   about 446 packages!  Enough to have a very complete Linux-like environment
+   under the DOS shell.  This will take awhile.  This step only downloads
+   the packages and the next step will install the packages.
+
+   download
+
+8. This step will install the downloaded packages.  The argument of the
+   install.bat script is the installation location.  C:\gnuwin32 is the
+   standard install location:
+
+   install C:\gnuwin32
+
+NOTE:  This installation step will install *all* GNUWin32 packages... far
+more than you will ever need.  If disc space is a problem for you, you might
+need to perform a manual installation of the individual ZIP files that you
+will find in the <this directory>/GetGNUWin32/packages directory.
+
 CYGWIN BUILD PROBLEMS
 ^^^^^^^^^^^^^^^^^^^^^
 
@@ -523,18 +641,16 @@ Window Native Toolchain Issues
      is not a long as you might think because there is no dependency checking
      if you are using a native Windows toolchain.  That bring us to #3:
 
-  3. Dependencies are not made when using Windows versions of the GCC.  This is
-     because the dependencies are generated using Windows pathes which do not
-     work with the Cygwin make.
+  3. Dependencies are not made when using Windows versions of the GCC on a POSIX
+     platform (i.e., Cygwin).  This is because the dependencies are generated
+     using Windows paths which do not work with the Cygwin make.
 
-     Support has been added for making dependencies with the windows-native toolchains.
-     That support can be enabled by modifying your Make.defs file as follows:
+       MKDEP                = $(TOPDIR)/tools/mknulldeps.sh
 
-    -  MKDEP                = $(TOPDIR)/tools/mknulldeps.sh
-    +  MKDEP                = $(TOPDIR)/tools/mkdeps.sh --winpaths "$(TOPDIR)"
+     If you are building natively on Windows, then no such conflict exists
+     and the best selection is:
 
-     If you have problems with the dependency build (for example, if you are not
-     building on C:), then you may need to modify tools/mkdeps.sh
+       MKDEP                = $(TOPDIR)/tools/mkdeps.exe 
 
 General Pre-built Toolchain Issues
 
@@ -629,7 +745,8 @@ nuttx
  |   |       `-README.txt
  |   `- z80/
  |   |   `- src/
- |   |       `- z80/README.txt
+ |   |       |- z80/README.txt
+ |   |       `- z180/README.txt, z180_mmu.txt
  |   `- README.txt
  |- configs/
  |   |- amber/
@@ -728,6 +845,8 @@ nuttx
  |   |   |- include/README.txt
  |   |   |- src/README.txt
  |   |   `- README.txt
+ |   |- p112/
+ |   |   `- README.txt
  |   |- pcblogic-pic32mx/
  |   |   `- README.txt
  |   |- pic32-starterkit/
@@ -765,6 +884,8 @@ nuttx
  |   |   `- README.txt
  |   |- stm3240g-eval/
  |   |   `- README.txt
+ |   |- stm32f100rc_generic/
+ |   |   `- README.txt
  |   |- stm32f4discovery/
  |   |   `- README.txt
  |   |- sure-pic32mx/
@@ -817,6 +938,8 @@ nuttx
  |   `- README.txt
  |- lib/
  |   `- README.txt
+ |- libc/
+ |   `- README.txt
  |- libxx/
  |   `- README.txt
  |- mm/
@@ -828,6 +951,7 @@ nuttx
 
 apps
  |- examples/
+ |   |- json/README.txt
  |   |- pashello/README.txt
  |   `- README.txt
  |- graphics/
@@ -843,6 +967,8 @@ apps
  |   |  `- README.txt
  |   |- ftpc
  |   |  `- README.txt
+ |   |- json
+ |   |  `- README.txt
  |   |- telnetd
  |   |  `- README.txt
  |   `- README.txt
@@ -864,3 +990,12 @@ apps
  |   `- sysinfo
  |      `- README.txt
  `- README.txt
+
+ NxWidgets
+ |- Doxygen
+ |   `- README.txt
+ |- tools
+ |   `- README.txt
+ |- UnitTests
+ |   `- README.txt
+ `- README.txt
diff --git a/nuttx/ReleaseNotes b/nuttx/ReleaseNotes
index b1d5f6064..02cb8158d 100644
--- a/nuttx/ReleaseNotes
+++ b/nuttx/ReleaseNotes
@@ -3171,3 +3171,272 @@ Bugfixes (see the change log for details).  Some of these are very important
       Vainish). Fix some field-width handling issues in sscanf()
 
 As well as other, less critical bugs (see the ChangeLog for details)
+
+NuttX-6.23
+^^^^^^^^^^
+
+The 90th release of NuttX, Version 6.23, was made on November 5, 2012,
+and is available for download from the SourceForge website.  Note
+that release consists of two tarballs:  nuttx-6.23.tar.gz and
+apps-6.23.tar.gz.  Both may be needed (see the top-level nuttx/README.txt
+file for build information).
+
+This release corresponds with SVN release number: r5313
+
+Note that all SVN information has been stripped from the tarballs.  If you
+need the SVN configuration, you should check out directly from SVN.  Revision
+r5313 should equivalent to release 6.23 of NuttX 6.23:
+
+    svn checkout -r5313 svn://svn.code.sf.net/p/nuttx/code/trunk nuttx-code
+
+Or
+
+    svn checkout -r5313 http://svn.code.sf.net/p/nuttx/code/trunk nuttx-code
+
+Additional new features and extended functionality:
+
+    * RTOS:  If both atexit() and on_exit() are enabled, use on_exit() to
+      implement atexit().  Updates for RGMP 4.0.
+
+    * Binfmt:  Add support for loading and executing ELF binary modules from
+      a file system.
+
+    * Drivers:  Maxim MAX11802 touchscreen controller (Petteri Aimonen)
+
+    * STM32 Driver:  Implementation of /dev/random using the STM32 Random Number
+      Generator (RNG).
+
+    * STM32 Boards:  ADC support for the Shenzhou IV board.  Relay support for
+      the Shenzhou IV board.
+
+    * C Library:  Support is now included for the add-on uClibc++ C++
+      standard library support.  This includes support for iostreams, strings,
+      STL, RTTI, exceptions -- the complete C++ environment.  (uClibc++ is
+      provided as a separate add-on package due to licensing issues).
+
+      Optimized generic and ARM-specific memcpy() function.  Optimized
+      memset() function.
+
+      Add support for ferror(), feof(), and clearerror().   Add support for
+      __cxa_atexit().
+ 
+      Math Library:  Port of the math library from Rhombus OS by Nick Johnson
+      (Darcy Gong).
+
+    * Applications: New NSH commands:  ifup, ifdown, urlencode, urldecode,
+      base64enc, bas64dec, md5 (Darcy Gong).  Add support for NSH telnet login
+      (Darcy Gong).  Enancements to NSH ping command to support pinging hosts
+      with very long round-trip times.  Extensions to the ifconfig command 
+      Darcy Gong),
+      
+      Many extensions to the webclient/wget and DNS resolver logic from Darcy
+      Gong.  JSON, Base64, URL encoding, and MD5 libraries contributed by Darcy
+      Gong.
+
+      New examples: ELF loader, JSON, wgetjson, cxxtest, relays.
+
+Bugfixes (see the change log for details).  Some of these are very important
+(marked *critical*):
+
+    * Drivers: W25 SPI FLASH
+
+    * STM32 Drivers: ADC reset
+
+    * Graphics: Missing implementation of the blocked method (*critical*,
+      Petteri Aimonen).
+
+    * C Library: Floating point numbers in printf and related formatting functions
+     (Mike Smith), cf[get|set]speed() (Mike Smith)
+
+As well as other, less critical bugs (see the ChangeLog for details)
+
+NuttX-6.24
+^^^^^^^^^^
+
+The 91st release of NuttX, Version 6.24, was made on December 20, 2012,
+and is available for download from the SourceForge website.  Note
+that release consists of two tarballs:  nuttx-6.24.tar.gz and
+apps-6.24.tar.gz.  Both may be needed (see the top-level nuttx/README.txt
+file for build information).
+
+This release corresponds with SVN release number: r5447
+
+Note that all SVN information has been stripped from the tarballs.  If you
+need the SVN configuration information, you should check out directly from
+SVN.  Revision r5447 should equivalent to release 6.24 of NuttX 6.24:
+
+    svn checkout -r5447 svn://svn.code.sf.net/p/nuttx/code/trunk nuttx-code
+
+Or (HTTP):
+
+    svn checkout -r5447 http://svn.code.sf.net/p/nuttx/code/trunk nuttx-code
+
+Additional new features and extended functionality:
+
+  * RTOS:
+
+    - Implemented the POSIX pause() function (still has some compiance
+      issues).
+    - Tasking logic is extended to support the notion of address
+      environments.  An address environment is the key notion underlying
+      "process" vs. tasks.  If tasks are created with address environments
+      (by binfmt), the OS will propogate that environment to child threads
+      and will destroy the address environment when the "process" exists.
+    - If support for the PATH variable is enabled, the OS start up logic
+      will create an initial environment containing the default PATH
+      setting (CONFIG_PATH_INITIAL).  This initial PATH will then be
+      inherited by all tasks.
+
+  * Binfmt
+
+    - The NuttX binary loaders have been updated to support the PATH
+      environment variable.  Now, if the PATH is properly defined, programs
+      can be executed from mass storage using only the file name.  This
+      feature is added to support more standard behavior (eventually, NSH
+      will support execution of programs in file systems by just entering
+      the file name, perhaps in 6.25?).
+    - The NXFLAT and ELF binary loaders have been extended to create
+      address environments for any new tasks executed from the file system.
+      This feature requires that the architecture support a memory management
+      unit (MMU) and the address environment interfaces declared in
+      include/nuttx/arch.h (currently, this is only supported by the z180).
+
+    * Drivers: LCD driver for the Univision UG-2864AMBAG01 OLED
+
+    * STM32: Support for STM32F100 high density chips contributed by Freddie
+      Chopin.
+
+    * STM32 Drivers:  Added optional RS-485 direction bit control (from
+      Freddie Chopin).
+
+    * STM32 Boards:
+
+      - Support for generic STM32F100RC board contributed by Freddie Chopin.
+      - stm32f4discovery/nxlines: STM32F4Discovery support for the
+        UG-2864AMBAG01 OLED.
+      - stm32f4discovery/winbuild:  A version of the NuttX OS test
+        configured to build natively on Windows.
+      - stm32f4discovery/elf: Now uses the PATH variable to find ELF
+        executables.
+      - configs/cloudctrl: Added for Darcy Gong's CloudController board
+
+    * PIC32 Boards: Update the Mirtool configuration for Release 2 of the
+      Mirtoo module.
+
+    * Calypso: Add Calypso keypad driver.  From Denis Cariki.
+
+    * ZiLOG:
+
+      - Add support for the z180 chip family and, specifically, for
+        the P112 retro hardware (see http://p112.feedle.net/).
+      - All ZiLOG configurations updated to use the current ZDS-II
+        and/or SDCC toolchains.
+
+    * Graphics:
+
+      - Add a semaphore handshake so that operations on buffers from
+        the NXMU client will be blocked until the NX server operates on the
+        buffer data (from Petteri Aimonen).
+      - nxtk_subwindowmove() and nxtk_getwindow(): Improvements to clipping
+        logic from Petteri Aimonen.
+
+    * C Library: lib/ sub-directory renamed libc/ (there is a new lib/ sub-
+      directory that is used to hold all archives).
+
+    * C++: Exception stubs from Petteri Aimonen.
+
+    * Applications:
+
+      - Add NSH hexdump command to dump the contents of a file (or character
+        device) to the console (contributed by Petteri Aimonen).
+      - Extend the NSH ifconfig command plus various DHCPC improvements
+        (from Darcy Gong).
+
+    * apps/examples:
+
+      - ostest: Replace large tables with algorithmic prime number
+        generation.  This allows the roundrobin test to run on platforms
+        with minimal SRAM (Freddie Chopin).
+      - keypadtest:  A new keypad test example contributed by Denis Carikli.
+      - elf and nxflat:  If CONFIG_BINFMT_EXEPATH is defined, these examples
+        will now use a relative path to the program and expect the binfmt/
+        logic to find the absolute path to the program using the PATH
+        variable.
+
+    * Build system:
+
+      - New top-level Makefiles: Makefile.unix and Makefile.win (along with
+        numerous changes to other make-related files).  This adds basic
+        support for building NuttX natively under Windows from a CMD.exe
+        window (rather than in a POSIX-like environment). This build: (1)
+        Uses all Windows style paths, (2) Uses primarily Windows batch
+        commands from cmd.exe, with (3) a few extensions from GNUWin32.
+
+        This capability should still be considered a work in progress
+        because: (1) it has not been verfied on all targets and tools,
+        and (2) still lacks some of the creature-comforts of the more
+        mature environments (like a function configure.sh script and
+        'make menuconfig' support).
+
+      - Example Windows native builds for STM32F4Discovery, eZ80, z16f, z8,
+        Z80, and Z180.
+      - Several configurations have been converted to work the kconfig-
+        frontends mconf configuration tool: stm32f4discovery/nxlines, and
+        all eZ80, z16f, z8, Z80, and Z180 configurations.
+      - Architectures now include a common Toolchain.defs file that can be
+        used to manage toolchains in a more configurable way (most of this
+        contributed by Mike Smith).
+
+    * Build tools: 
+
+      - Renamed tools/winlink.sh to tools/copydir.sh.
+      - Several new tools/scripts to support the Windows native build:
+        tools/mkdeps.bat, tools/mkdeps.c, tools/link.bat, unlink.bat, and
+        copydir.bat.
+      - tools/incdir.sh and incdir.bat now support an -s option to generate
+        system header file paths.
+      - tools/b16.c: Fixed precision math conversion utility.
+
+Bugfixes (see the change log for details).  Some of these are very important
+(marked *critical*):
+
+    * RTOS: Fix some backward conditional compilation in the work queue
+      logic (Freddie Chopin).
+
+    * File System: Uninitialized variable caused assertions (from Lorenz
+      Meier).
+
+    * Drivers: Partial fix for STM32 OTGFS device drivers and fix for short,
+      unaligned writes in the flash translation layer (drivers/mtd/ftl.c),
+      both from Petteri Aimonen.
+
+    * STM32 Drivers:
+
+      - Qencoder driver and TIM3 driver fixes from Ryan Sundberg.
+      - Fix timeout delay calculation in the STM32 OTG FS host driver.
+
+    * LPC17xx Drivers:  Resources not being properly released when I2C
+      driver is un-initialized.
+
+    * Graphics:
+
+      - Fix logic when the mouse drags outside of the window; fix
+        another "blocked message" handling case (both from Petteri Aimonen).
+      - nxtk_filltrapwindow():  Correct an offset problem (also from Peterri
+        Aimonen).
+      - nxglib_splitline():  Correct the "fat flat line" bug.
+
+    * C Library:
+
+      - nrand() changes to prevent coefficients from becoming zero which
+        would "lock up" the random number generate.
+      - Add rounding functions to the math library (contributed by Petteri
+        Aimonen).
+
+    * Build system:  Changes to MIN definitions in all limit.h header files
+      to avoid integer overflows.  For example from (-128) to (-127 - 1)
+      (from Petteri Aimonen).
+
+    * Applications: Modbus fixes from Freddie Chopin.
+
+As well as other, less critical bugs (see the ChangeLog for details)
diff --git a/nuttx/TODO b/nuttx/TODO
index 906601192..6c28bfd43 100644
--- a/nuttx/TODO
+++ b/nuttx/TODO
@@ -1,4 +1,4 @@
-NuttX TODO List (Last updated September 16, 2012)
+NuttX TODO List (Last updated November 25, 2012)
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This file summarizes known NuttX bugs, limitations, inconsistencies with 
@@ -14,13 +14,13 @@ nuttx/
   (2)  C++ Support
   (6)  Binary loaders (binfmt/)
  (17)  Network (net/, drivers/net)
-  (3)  USB (drivers/usbdev, drivers/usbhost)
- (11)  Libraries (lib/)
+  (4)  USB (drivers/usbdev, drivers/usbhost)
+ (11)  Libraries (libc/, )
   (9)  File system/Generic drivers (fs/, drivers/)
   (5)  Graphics subystem (graphics/)
   (1)  Pascal add-on (pcode/)
   (1)  Documentation (Documentation/)
-  (6)  Build system / Toolchains
+  (8)  Build system / Toolchains
   (5)  Linux/Cywgin simulation (arch/sim)
   (6)  ARM (arch/arm/)
   (1)  ARM/C5471 (arch/arm/src/c5471/)
@@ -32,15 +32,15 @@ nuttx/
   (0)  ARM/LPC43x (arch/arm/src/lpc43xx/)
   (3)  ARM/STR71x (arch/arm/src/str71x/)
   (3)  ARM/LM3S6918 (arch/arm/src/lm3s/)
-  (7)  ARM/STM32 (arch/arm/src/stm32/)
+  (4)  ARM/STM32 (arch/arm/src/stm32/)
   (3)  AVR (arch/avr)
   (0)  Intel x86 (arch/x86)
-  (4)  8051 / MCS51 (arch/8051/)
+  (5)  8051 / MCS51 (arch/8051/)
   (3)  MIPS/PIC32 (arch/mips)
   (1)  Hitachi/Renesas SH-1 (arch/sh/src/sh1)
   (4)  Renesas M16C/26 (arch/sh/src/m16c)
  (10)  z80/z8/ez80 (arch/z80/)
-  (8)  z16 (arch/z16/)
+  (9)  z16 (arch/z16/)
   (1)  mc68hc1x (arch/hc)
 
 apps/
@@ -421,7 +421,7 @@ o Binary loaders (binfmt/)
                   .word   .LC3-(.LPIC4+4)
                   .word   .LC4-(.LPIC5+4)
 
-               This is good and bad.  This is good because it means that .rodata.str1.1 can not
+               This is good and bad.  This is good because it means that .rodata.str1.1 can now
                reside in FLASH with .text and can be accessed using PC-relative addressing. 
                That can be accomplished by simply moving the .rodata from the .data section to
                the .text section in the linker script.  (The NXFLAT linker script is located at
@@ -629,8 +629,13 @@ o USB (drivers/usbdev, drivers/usbhost)
                CDC/ACM serial driver might need the line coding data (that
                data is not used currenly, but it might be).
 
-o Libraries (lib/)
-  ^^^^^^^^^^^^^^^^
+  Title:       USB HUB SUPPORT
+  Description: Add support for USB hubs
+  Status:      Open
+  Priority:    Low/Unknown.  This is a feature enhancement.
+
+o Libraries (libc/)
+  ^^^^^^^^^^^^^^^^^
 
   Title:       ENVIRON
   Description: The definition of environ in stdlib.h is bogus and will not
@@ -643,7 +648,7 @@ o Libraries (lib/)
   Description: Need some minimal termios support... at a minimum, enough to
                switch between raw and "normal" modes to support behavior like
                that needed for readline().
-               UPDATE:  There is growing functionality in lib/termios/ and in the
+               UPDATE:  There is growing functionality in libc/termios/ and in the
                ioctl methods of several MCU serial drivers (stm32, lpc43, lpc17,
                pic32).  However, as phrased, this bug cannot yet be closed since
                this "growing functionality" does not address all termios.h
@@ -708,7 +713,7 @@ o Libraries (lib/)
   Priority:     
 
   Title:       OLD dtoa NEEDS TO BE UPDATED
-  Description: This implementation of dtoa in lib/stdio is old and will not
+  Description: This implementation of dtoa in libc/stdio is old and will not
                work with some newer compilers.  See 
                http://patrakov.blogspot.com/2009/03/dont-use-old-dtoac.html
   Status:      Open
@@ -716,7 +721,7 @@ o Libraries (lib/)
 
   Title:       SYSLOG INTEGRATION
   Description: There are the beginnings of some system logging capabilities (see
-               drivers/syslog, fs/fs_syslog.c, and lib/stdio/lib_librawprintf.c and
+               drivers/syslog, fs/fs_syslog.c, and libc/stdio/lib_librawprintf.c and
                lib_liblowprintf.c.  For NuttX, SYSLOG is a concept and includes,
                extends, and replaces the legacy NuttX debug ouput.  Some additional
                integration is required to formalized this.  For example:
@@ -890,23 +895,30 @@ o Build system
   Description: Need a NuttX configuration tool.  The number of configuration
                settings has become quite large and difficult to manage manually.
                Update:  This task is essentially completed.  But probably not for
-               all platforms and all features.  When do we know that the the
-               features is complete and that we can switch to exclusive use of
-               the tool?
+               all platforms and all features.  When do we know that the feature
+               is complete and that we can switch to exclusive use of the tool?
   Status:      Open
   Priority:    Medium-low
 
   Title:       NATIVE WINDOWS BUILD
-  Description: At present, NuttX builds only under Linux or Cygwin.
-               Investigate the possibility of a native Windows build using
-               something like the GNUWin32 tools (coreutils+make+grep+sed+uname).
+  Description: This effort is underway using MinGW-GCC and GNUWin32 tools
+               for (coreutils+make+grep+sed+uname).  Current status:
+
+               1. configs/stm32f4discovery/winbuild - builds okay natively
+               2. configs/ez80f910200kitg - Can be reconfigured to build natively.
+                  Requires some manual intervention to get a clean build.
+                  See configs/ez80f910200kitg/README.txt.
+
   Status:      Open
   Priority:    Low
 
   Title:       WINDOWS DEPENDENCY GENERATION
   Description: Dependency generation is currently disabled when a Windows native
-               toolchain is used.  I think that the only issue is that all of the
-               Windows dependencies needed to be quoted in the Make.dep files.
+               toolchain is used in a POSIX-like enviornment (like Cygwin).  The
+               issue is that the Windows tool generates dependencies use Windows
+               path formatting and this fails with the dependency file (Make.dep)
+               is include).  Perhaps the only issue is that all of the Windows
+               dependencies needed to be quoted in the Make.dep files.
   Status:      Open
   Priority:    Low -- unless some dependency-related build issues is discovered.
 
@@ -953,7 +965,7 @@ o Build system
                built configuration, only the multiple user mode can be supported
                with the NX server residing inside of the kernel space.  In
                this case, most of the user end functions in graphics/nxmu
-               must be moved to lib/nx and those functions must be built into
+               must be moved to libc/nx and those functions must be built into
                libuser.a to be linked with the user-space code.
                A similar issue exists in NSH that uses some internal OS
                interfaces that would not be available in a kernel build
@@ -962,6 +974,48 @@ o Build system
   Priority:    Low -- the kernel build configuration is not fully fielded
                yet.
 
+  Title:       mconf NOT AVAILABLE IN NATIVE WINDOWS BUILD
+  Description: NuttX is migrating to the use of the kconfig-frontends mconf
+               tool for all configurations.  In NuttX 6.24, support for native
+               Windows builds was added.  However, the mconf tool does not
+               build to run natively under Windows.
+
+               Some effort was spent trying to get a clean mconf build under
+               Windows.  This is documented in the message thread beginning
+               here: http://tech.groups.yahoo.com/group/nuttx/message/2900.
+               The build was successfully completed using:  MinGW-GCC, MSYS,
+               additional Windows libraries, and additional MSYS libraries
+               (MSYS is a variant of Cygwin so, presumeably, Cygwin could
+               have been used as well).  However, on final testing, it was
+               found that there are problems with text and numeric entry:
+               http://tech.groups.yahoo.com/group/nuttx/message/2953.  This
+               was considered a show stopper and the changs were not checked
+               in.
+
+               Options:  (1) Use conf (not mconf).  confis the text-only
+               configuration tool, (2) fix mconf, (3) write another variant
+               of the configuration tool for windows, or (4) do all configuration
+               under Cygwin or MSYS.  I am doing (4) now, but this is very
+               awkward because I have to set the apps path to ../apps (vs
+               ..\apps) and CONFIG_WINDOWS_NATIVE=n for the 'make menuconfig'
+               to run error free under windows.  Very awkward!
+  Status:      Open, there are some workarounds, but none are good.
+  Priority:    High
+
+  Title:       configure.sh NOT AVAILABLE IN NATIVE WINDOWS BUILD
+  Description: configure.sh is a Bash script and cannot be used from a Windows
+               CMD.exe window.  I started a configure.bat script, but I do
+               not have the batch file programming skills to duplicate some
+               of the more complex operations.
+
+               I also considered adding a configure.c file that could be 
+               compiled and then executed by configure.bat (and configure.sh?).
+               But I have not gone down that path yet.
+
+               The current work-around is to configure under Cygwin.
+  Status:      Open
+  Priority:    High
+
 o Linux/Cywgin simulation (arch/sim)
   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
@@ -1344,11 +1398,6 @@ o ARM/LM3S6918 (arch/arm/src/lm3s/)
 o ARM/STM32 (arch/arm/src/stm32/)
   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-  Title:       NOR FLASH DRIVER
-  Description: NOR Flash driver with FTL layer to support a file system.
-  Status:      Open
-  Priority:    Low
-
   Title:       USBSERIAL ISSUES
   Description  A USB device-side driver is in place but not well tested.  At
                present, the apps/examples/usbserial test sometimes fails.  The situation
@@ -1371,11 +1420,6 @@ o ARM/STM32 (arch/arm/src/stm32/)
   Status:      Open
   Priority:    Medium-High
   
-  Title:       FSMC EXTERNAL MEMORY UNTESTED
-  Description: FSMC external memory support is untested
-  Status:      Open
-  Priority:    Low
-
   Title:       DMA EXTENSIONS
   Description: DMA logic needs to be extended.  DMA2, Channel 5, will not work
                because the DMA2 channels 4 & 5 share the same interrupt.
@@ -1383,12 +1427,6 @@ o ARM/STM32 (arch/arm/src/stm32/)
   Priority:    Low until someone needs DMA1, Channel 5 (ADC3, UART4_TX, TIM5_CH1, or
                TIM8_CH2).
 
-  Title:       UNFINISHED DRIVERS
-  Description: The following drivers are incomplete:  DAC.  The following drivers
-               are untested:  DMA on the F4, CAN.
-  Status:      Open
-  Priority:    Medium
-
   Title:       F4 SDIO MULTI-BLOCK TRANSFER FAILURES
   Description: If you use a large I/O buffer to access the file system, then the
                MMCSD driver will perform multiple block SD transfers.  With DMA
@@ -1412,13 +1450,15 @@ o ARM/STM32 (arch/arm/src/stm32/)
   Status:      Open
   Priority:    Low (I am not even sure if this is a problem yet).
 
-  Status:      UNFINISHED STM32 F4 OTG FS HOST DRIVER
-  Description: A quick-n-dirty leverage of the the LPC17xx host driver was put into
-               the STM32 source to support development of the STM32 F4 OTG FS host
-               driver.  It is non-functional and still waiting for STM32 F4 logic
-               to be added.  Don't use it!
+  Title:       DMA FROM EXTERNAL, FSMC MEMORY
+  Description: I have seen a problem on F1 where all SDIO DMAs work exist for
+               write DMAs from FSMC memory (i.e., from FSMC memory to SDIO).
+               Read transfers work fine (SDIO to FSMC memory).  The failure is
+               a data underrun error with zero bytes of data transferred.  The
+               workaround for now is to use DMA buffers allocted from internal
+               SRAM.
   Status:      Open
-  Priority:    Low (unless you need a host driver).
+  Priority:    Low
 
 o AVR (arch/avr)
   ^^^^^^^^^^^^^^
@@ -1507,6 +1547,16 @@ o 8051 / MCS51 (arch/8051/)
   Status:      Open
   Priority:    Low -- only because there as so many other issues with 8051
 
+  Title:       8051 BUILD BROKEN
+  Description: The last time I tried to build the pjrc-8051 configurtion using
+               the SDCC 3.2.1 toolchain (for Windows).  I got compilation
+               errors in sched/os_bringup.c.  It complained about type
+               mis-matches.  What I gather from Googling, this is a problem
+               with the --stack-auto option.  At any rate, this problem will
+               need to be fixed if you want to resurrect the 8051 NuttX port.
+ Status:       Open
+ Priority:     Low -- I don't think anyone uses the 8051 port.
+
 o MIPS/PIC32(arch/mips)
   ^^^^^^^^^^^^^^^^^^^^^
 
@@ -1835,9 +1885,17 @@ o z16 (arch/z16)
                Internal Error(0503) On line 2504 of "MMCSD\MMCSD_SDIO.C"
                    File <c3>, Args(562,46)
 
-  Status:     Open.  Recommended workaround: remove mmcsd_sdio.c from
-              drivers/mmcsd/Make.defs.  There is no SDIO support for the Z16 anyway
-  Priority:   Low
+  Status:      Open.  Recommended workaround: remove mmcsd_sdio.c from
+               drivers/mmcsd/Make.defs.  There is no SDIO support for the Z16 anyway
+  Priority:    Low
+
+  Title:       NATIVE BUILD PROBLEMS
+  Description: When last tested (ca.12/12), there were some missing .obj files in
+               arch/z16/src. A little additional TLC will be needed to get a
+               reliable Windows native build.  As of this writing, the Cygwin
+               based build has not been re-verified.
+  Status:      Open
+  Priority:    Low -- I don't think anyone uses the Z16 port.  
 
 o mc68hc1x (arch/hc)
   ^^^^^^^^^^^^^^^^^^
diff --git a/nuttx/arch/Kconfig b/nuttx/arch/Kconfig
index bbe99c17c..f19228143 100644
--- a/nuttx/arch/Kconfig
+++ b/nuttx/arch/Kconfig
@@ -9,6 +9,7 @@ choice
 
 config ARCH_8051
 	bool "8051"
+	select CUSTOM_STACK
 	---help---
 		Intel 8051 architectures and derivaties
 
@@ -111,12 +112,30 @@ config ARCH_DMA
 	bool
 	default n
 
+config ARCH_IRQPRIO
+	bool
+	default n
+
+config CUSTOM_STACK
+	bool
+	default n
+
+config ADDRENV
+	bool
+	default n
+
 config ARCH_STACKDUMP
 	bool "Dump stack on assertions"
 	default n
 	---help---
 		Enable to do stack dumps after assertions
 
+config ENDIAN_BIG
+	bool "Big Endian Architecture"
+	default n
+	---help---
+		Select if architecture operates using big-endian byte ordering.
+
 comment "Board Settings"
 
 config BOARD_LOOPSPERMSEC
diff --git a/nuttx/arch/arm/Kconfig b/nuttx/arch/arm/Kconfig
index 2a7ea10b5..4fce8efbf 100644
--- a/nuttx/arch/arm/Kconfig
+++ b/nuttx/arch/arm/Kconfig
@@ -4,6 +4,8 @@
 #
 
 if ARCH_ARM
+comment "ARM Options"
+
 choice
 	prompt "ARM chip selection"
 	default ARCH_CHIP_STM32
@@ -44,6 +46,7 @@ config ARCH_CHIP_KINETIS
 	bool "Freescale Kinetis"
 	select ARCH_CORTEXM4
 	select ARCH_HAVE_MPU
+	select ARCH_IRQPRIO
 	---help---
 		Freescale Kinetis Architectures (ARM Cortex-M4)
 
@@ -51,6 +54,7 @@ config ARCH_CHIP_LM3S
 	bool "TI Stellaris"
 	select ARCH_CORTEXM3
 	select ARCH_HAVE_MPU
+	select ARCH_IRQPRIO
 	---help---
 		TI Stellaris LMS3 architecutres (ARM Cortex-M3)
 
@@ -58,6 +62,7 @@ config ARCH_CHIP_LPC17XX
 	bool "NXP LPC17xx"
 	select ARCH_CORTEXM3
 	select ARCH_HAVE_MPU
+	select ARCH_IRQPRIO
 	---help---
 		NXP LPC17xx architectures (ARM Cortex-M3)
 
@@ -89,6 +94,7 @@ config ARCH_CHIP_LPC43XX
 	select ARCH_HAVE_CMNVECTOR
 	select ARMV7M_CMNVECTOR
 	select ARCH_HAVE_MPU
+	select ARCH_IRQPRIO
 	---help---
 		NPX LPC43XX architectures (ARM Cortex-M4).
 
@@ -96,6 +102,7 @@ config ARCH_CHIP_SAM3U
 	bool "Atmel AT91SAM3U"
 	select ARCH_CORTEXM3
 	select ARCH_HAVE_MPU
+	select ARCH_IRQPRIO
 	---help---
 		Atmel AT91SAM3U architectures (ARM Cortex-M3)
 
@@ -104,6 +111,7 @@ config ARCH_CHIP_STM32
 	select ARCH_HAVE_CMNVECTOR
 	select ARCH_HAVE_MPU
 	select ARCH_HAVE_I2CRESET
+	select ARCH_IRQPRIO
 	---help---
 		STMicro STM32 architectures (ARM Cortex-M3/4).
 
@@ -153,6 +161,9 @@ config ARCH_CHIP
 	default "stm32"		if ARCH_CHIP_STM32
 	default "str71x"	if ARCH_CHIP_STR71X
 
+config ARCH_HAVE_CMNVECTOR
+	bool
+
 config ARMV7M_CMNVECTOR
 	bool "Use common ARMv7-M vectors"
 	default n
@@ -217,12 +228,6 @@ config PAGING
 		If set =y in your configation file, this setting will enable the on-demand
 		paging feature as described in http://www.nuttx.org/NuttXDemandPaging.html.
 
-config ARCH_IRQPRIO
-	bool "Interrupt priority"
-	default y		if ARCH_CORTEXM3 || ARCH_CORTEXM4
-	---help---
-		Select if your board supports interrupt prioritization.
-
 config BOARD_LOOPSPERMSEC
 	int "Delay loops per millisecond"
 	default 5000
@@ -239,6 +244,21 @@ config ARCH_CALIBRATION
 		watch to measure the 100 second delay then adjust BOARD_LOOPSPERMSEC until
 		the delay actually is 100 seconds.
 
+config DEBUG_HARDFAULT
+	bool "Verbose Hard-Fault Debug"
+	default n
+	depends on DEBUG && (ARCH_CORTEXM3 || ARCH_CORTEXM4)
+	---help---
+		Enables verbose debug output when a hard fault is occurs.  This verbose
+		output is sometimes helpful when debugging difficult hard fault problems,
+		but may be more than you typcially want to see.
+
+if ARCH_CORTEXM3 || ARCH_CORTEXM4
+source arch/arm/src/armv7-m/Kconfig
+endif
+if ARCH_ARM7TDMI || ARCH_ARM926EJS
+source arch/arm/src/arm/Kconfig
+endif
 if ARCH_CHIP_C5471
 source arch/arm/src/c5471/Kconfig
 endif
diff --git a/nuttx/arch/arm/include/elf.h b/nuttx/arch/arm/include/elf.h
new file mode 100644
index 000000000..21b2c1c2c
--- /dev/null
+++ b/nuttx/arch/arm/include/elf.h
@@ -0,0 +1,243 @@
+/****************************************************************************
+ * arch/arm/include/syscall.h
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Reference: "ELF for the ARM® Architecture," ARM IHI 0044D, current through
+ *   ABI release 2.08, October 28, 2009, ARM Limited.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ****************************************************************************/
+
+#ifndef __ARCH_ARM_INCLUDE_ELF_H
+#define __ARCH_ARM_INCLUDE_ELF_H
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* 4.3.1 ELF Identification.  Should have:
+ *
+ * e_machine         = EM_ARM
+ * e_ident[EI_CLASS] = ELFCLASS32
+ * e_ident[EI_DATA]  = ELFDATA2LSB (little endian) or ELFDATA2MSB (big endian)
+ */
+
+#if 0 /* Defined in include/elf32.h */
+#define EM_ARM                   40
+#endif
+
+/* Table 4-2, ARM-specific e_flags */
+
+#define EF_ARM_EABI_MASK         0xff000000
+#define EF_ARM_EABI_UNKNOWN      0x00000000
+#define EF_ARM_EABI_VER1         0x01000000
+#define EF_ARM_EABI_VER2         0x02000000
+#define EF_ARM_EABI_VER3         0x03000000
+#define EF_ARM_EABI_VER4         0x04000000
+#define EF_ARM_EABI_VER5         0x05000000
+
+#define EF_ARM_BE8               0x00800000 
+
+/* Table 4-4, Processor specific section types */
+
+#define SHT_ARM_EXIDX            0x70000001 /* Exception Index table */
+#define SHT_ARM_PREEMPTMAP       0x70000002 /* BPABI DLL dynamic linking pre-emption map */
+#define SHT_ARM_ATTRIBUTES       0x70000003 /* Object file compatibility attributes */
+#define SHT_ARM_DEBUGOVERLAY     0x70000004
+#define SHT_ARM_OVERLAYSECTION   0x70000005
+
+/* 4.7.1 Relocation codes
+ *
+ * S (when used on its own) is the address of the symbol.
+ * A is the addend for the relocation.
+ * P is the address of the place being relocated (derived from r_offset).
+ * Pa is the adjusted address of the place being relocated, defined as (P & 0xFFFFFFFC).
+ * T is 1 if the target symbol S has type STT_FUNC and the symbol addresses a Thumb instruction;
+ *   it is 0 otherwise.
+ * B(S) is the addressing origin of the output segment defining the symbol S.
+ * GOT_ORG is the addressing origin of the Global Offset Table
+ * GOT(S) is the address of the GOT entry for the symbol S.
+ */
+
+#define R_ARM_NONE               0             /* No relocation */
+#define R_ARM_PC24               1             /* ARM       ((S + A) | T) - P */
+#define R_ARM_ABS32              2             /* Data      (S + A) | T */
+#define R_ARM_REL32              3             /* Data      ((S + A) | T) - P */
+#define R_ARM_LDR_PC_G0          4             /* ARM       S + A - P */
+#define R_ARM_ABS16              5             /* Data      S + A */
+#define R_ARM_ABS12              6             /* ARM       S + A */
+#define R_ARM_THM_ABS5           7             /* Thumb16   S + A */
+#define R_ARM_ABS8               8             /* Data      S + A */
+#define R_ARM_SBREL32            9             /* Data      ((S + A) | T) - B(S) */
+#define R_ARM_THM_CALL           10            /* Thumb32   ((S + A) | T) - P */
+#define R_ARM_THM_PC8            11            /* Thumb16   S + A - Pa */
+#define R_ARM_BREL_ADJ           12            /* Data      ?B(S) + A */
+#define R_ARM_TLS_DESC           13            /* Data     */
+#define R_ARM_THM_SWI8           14            /* Obsolete */
+#define R_ARM_XPC25              15            /* Obsolete */
+#define R_ARM_THM_XPC22          16            /* Obsolete */
+#define R_ARM_TLS_DTPMOD32       17            /* Data      Module[S] */
+#define R_ARM_TLS_DTPOFF32       18            /* Data      S + A - TLS */
+#define R_ARM_TLS_TPOFF32        19            /* Data      S + A - tp */
+#define R_ARM_COPY               20            /* Miscellaneous */
+#define R_ARM_GLOB_DAT           21            /* Data      (S + A) | T */
+#define R_ARM_JUMP_SLOT          22            /* Data      (S + A) | T */
+#define R_ARM_RELATIVE           23            /* Data      B(S) + A */
+#define R_ARM_GOTOFF32           24            /* Data      ((S + A) | T) - GOT_ORG */
+#define R_ARM_BASE_PREL          25            /* Data      B(S) + A - P */
+#define R_ARM_GOT_BREL           26            /* Data      GOT(S) + A - GOT_ORG */
+#define R_ARM_PLT32              27            /* ARM       ((S + A) | T) - P */
+#define R_ARM_CALL               28            /* ARM       ((S + A) | T) - P */
+#define R_ARM_JUMP24             29            /* ARM       ((S + A) | T) - P */
+#define R_ARM_THM_JUMP24         30            /* Thumb32   ((S + A) | T) - P */
+#define R_ARM_BASE_ABS           31            /* Data      B(S) + A */
+#define R_ARM_ALU_PCREL_7_0      32            /* Obsolete */
+#define R_ARM_ALU_PCREL_15_8     33            /* Obsolete */
+#define R_ARM_ALU_PCREL_23_15    34            /* Obsolete */
+#define R_ARM_LDR_SBREL_11_0_NC  35            /* ARM       S + A - B(S) */
+#define R_ARM_ALU_SBREL_19_12_NC 36            /* ARM       S + A - B(S) */
+#define R_ARM_ALU_SBREL_27_20_CK 37            /* ARM       S + A - B(S) */
+#define R_ARM_TARGET1            38            /* Miscellaneous (S + A) | T or ((S + A) | T) - P */
+#define R_ARM_SBREL31            39            /* Data      ((S + A) | T) - B(S) */
+#define R_ARM_V4BX               40            /* Miscellaneous */
+#define R_ARM_TARGET2            41            /* Miscellaneous */
+#define R_ARM_PREL31             42            /* Data      ((S + A) | T) - P */
+#define R_ARM_MOVW_ABS_NC        43            /* ARM       (S + A) | T */
+#define R_ARM_MOVT_ABS           44            /* ARM       S + A */
+#define R_ARM_MOVW_PREL_NC       45            /* ARM       ((S + A) | T) - P */
+#define R_ARM_MOVT_PREL          46            /* ARM       S + A - P */
+#define R_ARM_THM_MOVW_ABS_NC    47            /* Thumb32   (S + A) | T */
+#define R_ARM_THM_MOVT_ABS       48            /* Thumb32   S + A */
+#define R_ARM_THM_MOVW_PREL_NC   49            /* Thumb32   ((S + A) | T) - P */
+#define R_ARM_THM_MOVT_PREL      50            /* Thumb32   S + A - P */
+#define R_ARM_THM_JUMP19         51            /* Thumb32   ((S + A) | T) - P */
+#define R_ARM_THM_JUMP6          52            /* Thumb16   S + A - P */
+#define R_ARM_THM_ALU_PREL_11_0  53            /* Thumb32   ((S + A) | T) - Pa */
+#define R_ARM_THM_PC12           54            /* Thumb32   S + A - Pa */
+#define R_ARM_ABS32_NOI          55            /* Data      S + A */
+#define R_ARM_REL32_NOI          56            /* Data      S + A - P */
+#define R_ARM_ALU_PC_G0_NC       57            /* ARM       ((S + A) | T) - P */
+#define R_ARM_ALU_PC_G0          58            /* ARM       ((S + A) | T) - P */
+#define R_ARM_ALU_PC_G1_NC       59            /* ARM       ((S + A) | T) - P */
+#define R_ARM_ALU_PC_G1          60            /* ARM       ((S + A) | T) - P */
+#define R_ARM_ALU_PC_G2          61            /* ARM       ((S + A) | T) - P */
+#define R_ARM_LDR_PC_G1          62            /* ARM       S + A - P */
+#define R_ARM_LDR_PC_G2          63            /* ARM       S + A - P */
+#define R_ARM_LDRS_PC_G0         64            /* ARM       S + A - P */
+#define R_ARM_LDRS_PC_G1         65            /* ARM       S + A - P */
+#define R_ARM_LDRS_PC_G2         66            /* ARM       S + A - P */
+#define R_ARM_LDC_PC_G0          67            /* ARM       S + A - P */
+#define R_ARM_LDC_PC_G1          68            /* ARM       S + A - P */
+#define R_ARM_LDC_PC_G2          69            /* ARM       S + A - P */
+#define R_ARM_ALU_SB_G0_NC       70            /* ARM       ((S + A) | T) - B(S) */
+#define R_ARM_ALU_SB_G0          71            /* ARM       ((S + A) | T) - B(S) */
+#define R_ARM_ALU_SB_G1_NC       72            /* ARM       ((S + A) | T) - B(S) */
+#define R_ARM_ALU_SB_G1          73            /* ARM       ((S + A) | T) - B(S) */
+#define R_ARM_ALU_SB_G2          74            /* ARM       ((S + A) | T) - B(S) */
+#define R_ARM_LDR_SB_G0          75            /* ARM       S + A - B(S) */
+#define R_ARM_LDR_SB_G1          76            /* ARM       S + A - B(S) */
+#define R_ARM_LDR_SB_G2          77            /* ARM       S + A - B(S) */
+#define R_ARM_LDRS_SB_G0         78            /* ARM       S + A - B(S) */
+#define R_ARM_LDRS_SB_G1         79            /* ARM       S + A - B(S) */
+#define R_ARM_LDRS_SB_G2         80            /* ARM       S + A - B(S) */
+#define R_ARM_LDC_SB_G0          81            /* ARM       S + A - B(S) */
+#define R_ARM_LDC_SB_G1          82            /* ARM       S + A - B(S) */
+#define R_ARM_LDC_SB_G2          83            /* ARM       S + A - B(S) */
+#define R_ARM_MOVW_BREL_NC       84            /* ARM       ((S + A) | T) - B(S) */
+#define R_ARM_MOVT_BREL          85            /* ARM       S + A - B(S) */
+#define R_ARM_MOVW_BREL          86            /* ARM       ((S + A) | T) - B(S) */
+#define R_ARM_THM_MOVW_BREL_NC   87            /* Thumb32   ((S + A) | T) - B(S) */
+#define R_ARM_THM_MOVT_BREL      88            /* Thumb32   S + A - B(S) */
+#define R_ARM_THM_MOVW_BREL      89            /* Thumb32   ((S + A) | T) - B(S) */
+#define R_ARM_TLS_GOTDESC        90            /* Data */
+#define R_ARM_TLS_CALL           91            /* ARM */
+#define R_ARM_TLS_DESCSEQ        92            /* ARM       TLS relaxation */
+#define R_ARM_THM_TLS_CALL       93            /* Thumb32 */
+#define R_ARM_PLT32_ABS          94            /* Data      PLT(S) + A */
+#define R_ARM_GOT_ABS            95            /* Data      GOT(S) + A */
+#define R_ARM_GOT_PREL           96            /* Data      GOT(S) + A - P */
+#define R_ARM_GOT_BREL12         97            /* ARM       GOT(S) + A - GOT_ORG */
+#define R_ARM_GOTOFF12           98            /* ARM       S + A - GOT_ORG */
+#define R_ARM_GOTRELAX           99            /* Miscellaneous */
+#define R_ARM_GNU_VTENTRY        100           /* Data */
+#define R_ARM_GNU_VTINHERIT      101           /* Data */
+#define R_ARM_THM_JUMP11         102           /* Thumb16   S + A - P */
+#define R_ARM_THM_JUMP8          103           /* Thumb16   S + A - P */
+#define R_ARM_TLS_GD32           104           /* Data      GOT(S) + A - P */
+#define R_ARM_TLS_LDM32          105           /* Data      GOT(S) + A - P */
+#define R_ARM_TLS_LDO32          106           /* Data      S + A - TLS */
+#define R_ARM_TLS_IE32           107           /* Data      GOT(S) + A - P */
+#define R_ARM_TLS_LE32           108           /* Data      S + A - tp */
+#define R_ARM_TLS_LDO12          109           /* ARM       S + A - TLS */
+#define R_ARM_TLS_LE12           110           /* ARM       S + A - tp */
+#define R_ARM_TLS_IE12GP         111           /* ARM       GOT(S) + A - GOT_ORG */
+#define R_ARM_ME_TOO             128           /* Obsolete */
+#define R_ARM_THM_TLS_DESCSEQ16  129           /* Thumb16 */
+#define R_ARM_THM_TLS_DESCSEQ32  130           /* Thumb32 */
+
+/* 5.2.1 Platform architecture compatibility data */
+
+#define PT_ARM_ARCHEXT_FMTMSK       0xff000000
+#define PT_ARM_ARCHEXT_PROFMSK      0x00ff0000
+#define PT_ARM_ARCHEXT_ARCHMSK      0x000000ff
+
+#define PT_ARM_ARCHEXT_FMT_OS       0x00000000
+#define PT_ARM_ARCHEXT_FMT_ABI      0x01000000
+
+#define PT_ARM_ARCHEXT_PROF_NONE    0x00000000
+#define PT_ARM_ARCHEXT_PROF_ARM     0x00410000
+#define PT_ARM_ARCHEXT_PROF_RT      0x00520000
+#define PT_ARM_ARCHEXT_PROF_MC      0x004d0000
+#define PT_ARM_ARCHEXT_PROF_CLASSIC 0x00530000
+
+#define PT_ARM_ARCHEXT_ARCH_UNKNOWN 0x00
+#define PT_ARM_ARCHEXT_ARCHv4       0x01
+#define PT_ARM_ARCHEXT_ARCHv4T      0x02
+#define PT_ARM_ARCHEXT_ARCHv5T      0x03
+#define PT_ARM_ARCHEXT_ARCHv5TE     0x04
+#define PT_ARM_ARCHEXT_ARCHv5TEJ    0x05
+#define PT_ARM_ARCHEXT_ARCHv6       0x06
+#define PT_ARM_ARCHEXT_ARCHv6KZ     0x07
+#define PT_ARM_ARCHEXT_ARCHv6T2     0x08
+#define PT_ARM_ARCHEXT_ARCHv6K      0x09
+#define PT_ARM_ARCHEXT_ARCHv7       0x0a
+#define PT_ARM_ARCHEXT_ARCHv6M      0x0b
+#define PT_ARM_ARCHEXT_ARCHv6SM     0x0c
+#define PT_ARM_ARCHEXT_ARCHv7EM     0x0d
+
+/* Table 5-6, ARM-specific dynamic array tags */
+
+#define DT_ARM_RESERVED1         0x70000000
+#define DT_ARM_SYMTABSZ          0x70000001
+#define DT_ARM_PREEMPTMAP        0x70000002
+#define DT_ARM_RESERVED2         0x70000003
+
+#endif /* __ARCH_ARM_INCLUDE_ELF_H */
diff --git a/nuttx/arch/arm/include/stm32/chip.h b/nuttx/arch/arm/include/stm32/chip.h
index d01929e1c..d34c2eb4f 100644
--- a/nuttx/arch/arm/include/stm32/chip.h
+++ b/nuttx/arch/arm/include/stm32/chip.h
@@ -59,12 +59,11 @@
 /* STM32 F100 Value Line ************************************************************/
 
 #if defined(CONFIG_ARCH_CHIP_STM32F100C8) || defined(CONFIG_ARCH_CHIP_STM32F100CB) \
- || defined(CONFIG_ARCH_CHIP_STM32F100R8) || defined(CONFIG_ARCH_CHIP_STM32F100RB) \
- || defined(CONFIG_ARCH_CHIP_STM32F100V8) || defined(CONFIG_ARCH_CHIP_STM32F100VB)
+ || defined(CONFIG_ARCH_CHIP_STM32F100R8) || defined(CONFIG_ARCH_CHIP_STM32F100RB)
 #  define CONFIG_STM32_STM32F10XX        1   /* STM32F10xxx family */
-#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F100x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
-#  define CONFIG_STM32_MEDIUMDENSITY     1   /* STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
-#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F101x  and STM32F103x w/ 256/512 Kbytes */
+#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
+#  define CONFIG_STM32_MEDIUMDENSITY     1   /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
+#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F100x, STM32F101x, and STM32F103x w/ 256/512 Kbytes */
 #  define CONFIG_STM32_VALUELINE         1   /* STM32F100x */
 #  undef  CONFIG_STM32_CONNECTIVITYLINE      /* STM32F105x and STM32F107x */
 #  undef  CONFIG_STM32_STM32F20XX            /* STM32F205x and STM32F207x */
@@ -72,10 +71,41 @@
 #  define STM32_NFSMC                    0   /* FSMC */
 #  define STM32_NATIM                    1   /* One advanced timer TIM1 */
 #  define STM32_NGTIM                    3   /* 16-bit general timers TIM2,3,4 with DMA */
-#  define STM32_NBTIM                    0   /* No basic timers */
-#  define STM32_NDMA                     2   /* DMA1-2 */
+#  define STM32_NBTIM                    2   /* 2 basic timers: TIM6, TIM7 */
+// TODO: there are also 3 additional timers (15-17) that don't fit any existing category
+#  define STM32_NDMA                     1   /* DMA1 */
 #  define STM32_NSPI                     2   /* SPI1-2 */
-#  define STM32_NI2S                     0   /* No I2S (?) */
+#  define STM32_NI2S                     0   /* No I2S */
+#  define STM32_NUSART                   3   /* USART1-3 */
+#  define STM32_NI2C                     2   /* I2C1-2 */
+#  define STM32_NCAN                     0   /* No CAN */
+#  define STM32_NSDIO                    0   /* No SDIO */
+#  define STM32_NUSBOTG                  0   /* No USB OTG FS/HS */
+#  define STM32_NGPIO                    64  /* GPIOA-D */
+#  define STM32_NADC                     1   /* ADC1 */
+#  define STM32_NDAC                     2   /* DAC 1-2 */
+#  define STM32_NCRC                     1   /* CRC1 */
+#  define STM32_NETHERNET                0   /* No ethernet */
+#  define STM32_NRNG                     0   /* No random number generator (RNG) */
+#  define STM32_NDCMI                    0   /* No digital camera interface (DCMI) */
+
+#elif defined(CONFIG_ARCH_CHIP_STM32F100V8) || defined(CONFIG_ARCH_CHIP_STM32F100VB)
+#  define CONFIG_STM32_STM32F10XX        1   /* STM32F10xxx family */
+#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
+#  define CONFIG_STM32_MEDIUMDENSITY     1   /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
+#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F100x, STM32F101x, and STM32F103x w/ 256/512 Kbytes */
+#  define CONFIG_STM32_VALUELINE         1   /* STM32F100x */
+#  undef  CONFIG_STM32_CONNECTIVITYLINE      /* STM32F105x and STM32F107x */
+#  undef  CONFIG_STM32_STM32F20XX            /* STM32F205x and STM32F207x */
+#  undef  CONFIG_STM32_STM32F40XX            /* STM32F405xx and STM32407xx families */
+#  define STM32_NFSMC                    0   /* FSMC */
+#  define STM32_NATIM                    1   /* One advanced timer TIM1 */
+#  define STM32_NGTIM                    3   /* 16-bit general timers TIM2,3,4 with DMA */
+#  define STM32_NBTIM                    2   /* 2 basic timers: TIM6, TIM7 */
+// TODO: there are also 3 additional timers (15-17) that don't fit any existing category
+#  define STM32_NDMA                     1   /* DMA1 */
+#  define STM32_NSPI                     2   /* SPI1-2 */
+#  define STM32_NI2S                     0   /* No I2S */
 #  define STM32_NUSART                   3   /* USART1-3 */
 #  define STM32_NI2C                     2   /* I2C1-2 */
 #  define STM32_NCAN                     0   /* No CAN */
@@ -89,6 +119,70 @@
 #  define STM32_NRNG                     0   /* No random number generator (RNG) */
 #  define STM32_NDCMI                    0   /* No digital camera interface (DCMI) */
 
+/* STM32 F100 High-density value Line ************************************************************/
+
+#elif defined(CONFIG_ARCH_CHIP_STM32F100RC) || defined(CONFIG_ARCH_CHIP_STM32F100RD) \
+ || defined(CONFIG_ARCH_CHIP_STM32F100RE)
+#  define CONFIG_STM32_STM32F10XX        1   /* STM32F10xxx family */
+#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
+#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
+#  define CONFIG_STM32_HIGHDENSITY       1   /* STM32F100x, STM32F101x, and STM32F103x w/ 256/512 Kbytes */
+#  define CONFIG_STM32_VALUELINE         1   /* STM32F100x */
+#  undef  CONFIG_STM32_CONNECTIVITYLINE      /* STM32F105x and STM32F107x */
+#  undef  CONFIG_STM32_STM32F20XX            /* STM32F205x and STM32F207x */
+#  undef  CONFIG_STM32_STM32F40XX            /* STM32F405xx and STM32407xx families */
+#  define STM32_NFSMC                    0   /* FSMC */
+#  define STM32_NATIM                    1   /* One advanced timer TIM1 */
+#  define STM32_NGTIM                    4   /* 16-bit general timers TIM2,3,4,5 with DMA */
+#  define STM32_NBTIM                    2   /* 2 basic timers: TIM6, TIM7 */
+// TODO: there are also 6 additional timers (12-17) that don't fit any existing category
+#  define STM32_NDMA                     2   /* DMA1-2 */
+#  define STM32_NSPI                     3   /* SPI1-3 */
+#  define STM32_NI2S                     0   /* No I2S */
+#  define STM32_NUSART                   5   /* USART1-5 */
+#  define STM32_NI2C                     2   /* I2C1-2 */
+#  define STM32_NCAN                     0   /* No CAN */
+#  define STM32_NSDIO                    0   /* No SDIO */
+#  define STM32_NUSBOTG                  0   /* No USB OTG FS/HS */
+#  define STM32_NGPIO                    64  /* GPIOA-D */
+#  define STM32_NADC                     1   /* ADC1 */
+#  define STM32_NDAC                     2   /* DAC 1-2 */
+#  define STM32_NCRC                     1   /* CRC1 */
+#  define STM32_NETHERNET                0   /* No ethernet */
+#  define STM32_NRNG                     0   /* No random number generator (RNG) */
+#  define STM32_NDCMI                    0   /* No digital camera interface (DCMI) */
+
+#elif defined(CONFIG_ARCH_CHIP_STM32F100VC) || defined(CONFIG_ARCH_CHIP_STM32F100VD) \
+ || defined(CONFIG_ARCH_CHIP_STM32F100VE)
+#  define CONFIG_STM32_STM32F10XX        1   /* STM32F10xxx family */
+#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
+#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
+#  define CONFIG_STM32_HIGHDENSITY       1   /* STM32F100x, STM32F101x, and STM32F103x w/ 256/512 Kbytes */
+#  define CONFIG_STM32_VALUELINE         1   /* STM32F100x */
+#  undef  CONFIG_STM32_CONNECTIVITYLINE      /* STM32F105x and STM32F107x */
+#  undef  CONFIG_STM32_STM32F20XX            /* STM32F205x and STM32F207x */
+#  undef  CONFIG_STM32_STM32F40XX            /* STM32F405xx and STM32407xx families */
+#  define STM32_NFSMC                    1   /* FSMC */
+#  define STM32_NATIM                    1   /* One advanced timer TIM1 */
+#  define STM32_NGTIM                    4   /* 16-bit general timers TIM2,3,4,5 with DMA */
+#  define STM32_NBTIM                    2   /* 2 basic timers: TIM6, TIM7 */
+// TODO: there are also 6 additional timers (12-17) that don't fit any existing category
+#  define STM32_NDMA                     2   /* DMA1-2 */
+#  define STM32_NSPI                     3   /* SPI1-3 */
+#  define STM32_NI2S                     0   /* No I2S */
+#  define STM32_NUSART                   5   /* USART1-5 */
+#  define STM32_NI2C                     2   /* I2C1-2 */
+#  define STM32_NCAN                     0   /* No CAN */
+#  define STM32_NSDIO                    0   /* No SDIO */
+#  define STM32_NUSBOTG                  0   /* No USB OTG FS/HS */
+#  define STM32_NGPIO                    80  /* GPIOA-E */
+#  define STM32_NADC                     1   /* ADC1 */
+#  define STM32_NDAC                     2   /* DAC 1-2 */
+#  define STM32_NCRC                     1   /* CRC1 */
+#  define STM32_NETHERNET                0   /* No ethernet */
+#  define STM32_NRNG                     0   /* No random number generator (RNG) */
+#  define STM32_NDCMI                    0   /* No digital camera interface (DCMI) */
+
 /* STM32 F103 High Density Family ***************************************************/
 /* STM32F103RC, STM32F103RD, and STM32F103RE are all provided in 64 pin packages and differ
  * only in the available FLASH and SRAM.
@@ -96,9 +190,9 @@
 
 #elif defined(CONFIG_ARCH_CHIP_STM32F103RET6)
 #  define CONFIG_STM32_STM32F10XX        1   /* STM32F10xxx family */
-#  undef CONFIG_STM32_LOWDENSITY             /* STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
-#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
-#  define CONFIG_STM32_HIGHDENSITY       1   /* STM32F101x  and STM32F103x w/ 256/512 Kbytes */
+#  undef CONFIG_STM32_LOWDENSITY             /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
+#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
+#  define CONFIG_STM32_HIGHDENSITY       1   /* STM32F100x, STM32F101x, and STM32F103x w/ 256/512 Kbytes */
 #  undef  CONFIG_STM32_VALUELINE             /* STM32F100x */
 #  undef  CONFIG_STM32_CONNECTIVITYLINE      /* STM32F105x and STM32F107x */
 #  undef  CONFIG_STM32_STM32F20XX            /* STM32F205x and STM32F207x */
@@ -129,9 +223,9 @@
 
 #elif defined(CONFIG_ARCH_CHIP_STM32F103VCT6) || defined(CONFIG_ARCH_CHIP_STM32F103VET6)
 #  define CONFIG_STM32_STM32F10XX        1   /* STM32F10xxx family */
-#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
-#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
-#  define CONFIG_STM32_HIGHDENSITY       1   /* STM32F101x  and STM32F103x w/ 256/512 Kbytes */
+#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
+#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
+#  define CONFIG_STM32_HIGHDENSITY       1   /* STM32F100x, STM32F101x, and STM32F103x w/ 256/512 Kbytes */
 #  undef  CONFIG_STM32_VALUELINE             /* STM32F100x */
 #  undef  CONFIG_STM32_CONNECTIVITYLINE      /* STM32F105x and STM32F107x */
 #  undef  CONFIG_STM32_STM32F20XX            /* STM32F205x and STM32F207x */
@@ -162,9 +256,9 @@
 
 #elif defined(CONFIG_ARCH_CHIP_STM32F103ZET6) 
 #  define CONFIG_STM32_STM32F10XX        1   /* STM32F10xxx family */
-#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
-#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
-#  define CONFIG_STM32_HIGHDENSITY       1   /* STM32F101x  and STM32F103x w/ 256/512 Kbytes */
+#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
+#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
+#  define CONFIG_STM32_HIGHDENSITY       1   /* STM32F100x, STM32F101x, and STM32F103x w/ 256/512 Kbytes */
 #  undef  CONFIG_STM32_VALUELINE             /* STM32F100x */
 #  undef  CONFIG_STM32_CONNECTIVITYLINE      /* STM32F105x and STM32F107x */
 #  undef  CONFIG_STM32_STM32F20XX            /* STM32F205x and STM32F207x */
@@ -192,9 +286,9 @@
 /* STM32 F105/F107 Connectivity Line *******************************************************/
 #elif defined(CONFIG_ARCH_CHIP_STM32F105VBT7)
 #  define CONFIG_STM32_STM32F10XX        1   /* STM32F10xxx family */
-#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
-#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
-#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F101x  and STM32F103x w/ 256/512 Kbytes */
+#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
+#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
+#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F100x, STM32F101x, and STM32F103x w/ 256/512 Kbytes */
 #  undef  CONFIG_STM32_VALUELINE             /* STM32F100x */
 #  define CONFIG_STM32_CONNECTIVITYLINE  1   /* STM32F105x and STM32F107x */
 #  undef  CONFIG_STM32_STM32F20XX            /* STM32F205x and STM32F207x */
@@ -221,9 +315,9 @@
 
 #elif defined(CONFIG_ARCH_CHIP_STM32F107VC)
 #  define CONFIG_STM32_STM32F10XX        1   /* STM32F10xxx family */
-#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
-#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
-#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F101x  and STM32F103x w/ 256/512 Kbytes */
+#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
+#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
+#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F100x, STM32F101x, and STM32F103x w/ 256/512 Kbytes */
 #  undef  CONFIG_STM32_VALUELINE             /* STM32F100x */
 #  define CONFIG_STM32_CONNECTIVITYLINE  1   /* STM32F105x and STM32F107x */
 #  undef  CONFIG_STM32_STM32F20XX            /* STM32F205x and STM32F207x */
@@ -251,9 +345,9 @@
 /* STM32 F2 Family ******************************************************************/
 #elif defined(CONFIG_ARCH_CHIP_STM32F207IG)  /* UFBGA-176 1024Kb FLASH 128Kb SRAM */
 #  undef  CONFIG_STM32_STM32F10XX            /* STM32F10xxx family */
-#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
-#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
-#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F101x  and STM32F103x w/ 256/512 Kbytes */
+#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
+#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
+#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F100x, STM32F101x, and STM32F103x w/ 256/512 Kbytes */
 #  undef  CONFIG_STM32_VALUELINE             /* STM32F100x */
 #  undef  CONFIG_STM32_CONNECTIVITYLINE      /* STM32F105x and STM32F107x */
 #  define CONFIG_STM32_STM32F20XX        1   /* STM32F205x and STM32F207x */
@@ -283,9 +377,9 @@
 /* STM23 F4 Family ******************************************************************/
 #elif defined(CONFIG_ARCH_CHIP_STM32F405RG)  /* LQFP 64 10x10x1.4 1024Kb FLASH 192Kb SRAM */
 #  undef  CONFIG_STM32_STM32F10XX            /* STM32F10xxx family */
-#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
-#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
-#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F101x  and STM32F103x w/ 256/512 Kbytes */
+#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
+#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
+#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F100x, STM32F101x, and STM32F103x w/ 256/512 Kbytes */
 #  undef  CONFIG_STM32_VALUELINE             /* STM32F100x */
 #  undef  CONFIG_STM32_CONNECTIVITYLINE      /* STM32F105x and STM32F107x */
 #  undef  CONFIG_STM32_STM32F20XX            /* STM32F205x and STM32F207x */
@@ -314,9 +408,9 @@
 
 #elif defined(CONFIG_ARCH_CHIP_STM32F405VG)  /* LQFP 100 14x14x1.4  1024Kb FLASH 192Kb SRAM */
 #  undef  CONFIG_STM32_STM32F10XX            /* STM32F10xxx family */
-#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
-#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
-#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F101x  and STM32F103x w/ 256/512 Kbytes */
+#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
+#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
+#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F100x, STM32F101x, and STM32F103x w/ 256/512 Kbytes */
 #  undef  CONFIG_STM32_VALUELINE             /* STM32F100x */
 #  undef  CONFIG_STM32_CONNECTIVITYLINE      /* STM32F105x and STM32F107x */
 #  undef  CONFIG_STM32_STM32F20XX            /* STM32F205x and STM32F207x */
@@ -345,9 +439,9 @@
 
 #elif defined(CONFIG_ARCH_CHIP_STM32F405ZG)  /* LQFP 144 20x20x1.4 1024Kb FLASH 192Kb SRAM */
 #  undef  CONFIG_STM32_STM32F10XX            /* STM32F10xxx family */
-#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
-#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
-#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F101x  and STM32F103x w/ 256/512 Kbytes */
+#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
+#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
+#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F100x, STM32F101x, and STM32F103x w/ 256/512 Kbytes */
 #  undef  CONFIG_STM32_VALUELINE             /* STM32F100x */
 #  undef  CONFIG_STM32_CONNECTIVITYLINE      /* STM32F105x and STM32F107x */
 #  undef  CONFIG_STM32_STM32F20XX            /* STM32F205x and STM32F207x */
@@ -376,9 +470,9 @@
 
 #elif defined(CONFIG_ARCH_CHIP_STM32F407VE)  /* LQFP-100 512Kb FLASH 192Kb SRAM */
 #  undef  CONFIG_STM32_STM32F10XX            /* STM32F10xxx family */
-#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
-#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
-#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F101x  and STM32F103x w/ 256/512 Kbytes */
+#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
+#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
+#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F100x, STM32F101x, and STM32F103x w/ 256/512 Kbytes */
 #  undef  CONFIG_STM32_VALUELINE             /* STM32F100x */
 #  undef  CONFIG_STM32_CONNECTIVITYLINE      /* STM32F105x and STM32F107x */
 #  undef  CONFIG_STM32_STM32F20XX            /* STM32F205x and STM32F207x */
@@ -407,9 +501,9 @@
 
 #elif defined(CONFIG_ARCH_CHIP_STM32F407VG)  /* LQFP-100 14x14x1.4 1024Kb FLASH 192Kb SRAM */
 #  undef  CONFIG_STM32_STM32F10XX            /* STM32F10xxx family */
-#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
-#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
-#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F101x  and STM32F103x w/ 256/512 Kbytes */
+#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
+#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
+#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F100x, STM32F101x, and STM32F103x w/ 256/512 Kbytes */
 #  undef  CONFIG_STM32_VALUELINE             /* STM32F100x */
 #  undef  CONFIG_STM32_CONNECTIVITYLINE      /* STM32F105x and STM32F107x */
 #  undef  CONFIG_STM32_STM32F20XX            /* STM32F205x and STM32F207x */
@@ -438,9 +532,9 @@
 
 #elif defined(CONFIG_ARCH_CHIP_STM32F407ZE)  /* LQFP-144 512Kb FLASH 192Kb SRAM */
 #  undef  CONFIG_STM32_STM32F10XX            /* STM32F10xxx family */
-#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
-#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
-#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F101x  and STM32F103x w/ 256/512 Kbytes */
+#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
+#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
+#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F100x, STM32F101x, and STM32F103x w/ 256/512 Kbytes */
 #  undef  CONFIG_STM32_VALUELINE             /* STM32F100x */
 #  undef  CONFIG_STM32_CONNECTIVITYLINE      /* STM32F105x and STM32F107x */
 #  undef  CONFIG_STM32_STM32F20XX            /* STM32F205x and STM32F207x */
@@ -469,9 +563,9 @@
 
 #elif defined(CONFIG_ARCH_CHIP_STM32F407ZG)  /* LQFP 144 20x20x1.4 1024Kb FLASH 192Kb SRAM */
 #  undef  CONFIG_STM32_STM32F10XX            /* STM32F10xxx family */
-#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
-#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
-#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F101x  and STM32F103x w/ 256/512 Kbytes */
+#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
+#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
+#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F100x, STM32F101x, and STM32F103x w/ 256/512 Kbytes */
 #  undef  CONFIG_STM32_VALUELINE             /* STM32F100x */
 #  undef  CONFIG_STM32_CONNECTIVITYLINE      /* STM32F105x and STM32F107x */
 #  undef  CONFIG_STM32_STM32F20XX            /* STM32F205x and STM32F207x */
@@ -500,9 +594,9 @@
 
 #elif defined(CONFIG_ARCH_CHIP_STM32F407IE)  /* LQFP 176 24x24x1.4 512Kb FLASH 192Kb SRAM */
 #  undef  CONFIG_STM32_STM32F10XX            /* STM32F10xxx family */
-#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
-#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
-#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F101x  and STM32F103x w/ 256/512 Kbytes */
+#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
+#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
+#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F100x, STM32F101x, and STM32F103x w/ 256/512 Kbytes */
 #  undef  CONFIG_STM32_VALUELINE             /* STM32F100x */
 #  undef  CONFIG_STM32_CONNECTIVITYLINE      /* STM32F105x and STM32F107x */
 #  undef  CONFIG_STM32_STM32F20XX            /* STM32F205x and STM32F207x */
@@ -531,9 +625,9 @@
 
 #elif defined(CONFIG_ARCH_CHIP_STM32F407IG)  /* BGA 176; LQFP 176 24x24x1.4 1024Kb FLASH 192Kb SRAM */
 #  undef  CONFIG_STM32_STM32F10XX            /* STM32F10xxx family */
-#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
-#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
-#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F101x  and STM32F103x w/ 256/512 Kbytes */
+#  undef  CONFIG_STM32_LOWDENSITY            /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
+#  undef  CONFIG_STM32_MEDIUMDENSITY         /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
+#  undef  CONFIG_STM32_HIGHDENSITY           /* STM32F100x, STM32F101x, and STM32F103x w/ 256/512 Kbytes */
 #  undef  CONFIG_STM32_VALUELINE             /* STM32F100x */
 #  undef  CONFIG_STM32_CONNECTIVITYLINE      /* STM32F105x and STM32F107x */
 #  undef  CONFIG_STM32_STM32F20XX            /* STM32F205x and STM32F207x */
diff --git a/nuttx/arch/arm/include/stm32/stm32f10xxx_irq.h b/nuttx/arch/arm/include/stm32/stm32f10xxx_irq.h
index 67f4ba436..7c3f7cf95 100644
--- a/nuttx/arch/arm/include/stm32/stm32f10xxx_irq.h
+++ b/nuttx/arch/arm/include/stm32/stm32f10xxx_irq.h
@@ -61,11 +61,13 @@
  * External interrupts (vectors >= 16)
  */
 
-#if defined(CONFIG_STM32_VALUELINE) && defined(CONFIG_STM32_MEDIUMDENSITY)
+ /* Value line devices */
+
+#if defined(CONFIG_STM32_VALUELINE)
 #  define STM32_IRQ_WWDG        (16) /* 0:  Window Watchdog interrupt */
 #  define STM32_IRQ_PVD         (17) /* 1:  PVD through EXTI Line detection interrupt */
 #  define STM32_IRQ_TAMPER      (18) /* 2:  Tamper interrupt */
-#  define STM32_IRQ_RTC         (19) /* 3:  RTC global interrupt */
+#  define STM32_IRQ_RTC         (19) /* 3:  RTC Wakeup through EXTI line interrupt */
 #  define STM32_IRQ_FLASH       (20) /* 4:  Flash global interrupt */
 #  define STM32_IRQ_RCC         (21) /* 5:  RCC global interrupt */
 #  define STM32_IRQ_EXTI0       (22) /* 6:  EXTI Line 0 interrupt */
@@ -80,12 +82,18 @@
 #  define STM32_IRQ_DMA1CH5     (31) /* 15: DMA1 Channel 5 global interrupt */
 #  define STM32_IRQ_DMA1CH6     (32) /* 16: DMA1 Channel 6 global interrupt */
 #  define STM32_IRQ_DMA1CH7     (33) /* 17: DMA1 Channel 7 global interrupt */
-#  define STM32_IRQ_ADC12       (34) /* 18: ADC1 and ADC2 global interrupt */
-                                     /* 19-22: reserved */
+#  define STM32_IRQ_ADC1        (34) /* 18: ADC1 global interrupt */
+#  define STM32_IRQ_RESERVED0   (35) /* 19: Reserved 0 */
+#  define STM32_IRQ_RESERVED1   (36) /* 20: Reserved 1 */
+#  define STM32_IRQ_RESERVED2   (37) /* 21: Reserved 2 */
+#  define STM32_IRQ_RESERVED3   (38) /* 22: Reserved 3 */
 #  define STM32_IRQ_EXTI95      (39) /* 23: EXTI Line[9:5] interrupts */
 #  define STM32_IRQ_TIM1BRK     (40) /* 24: TIM1 Break interrupt */
-#  define STM32_IRQ_TIM1UP      (41) /* 25: TIM1 Update interrupt (TIM16 global interrupt) */
-#  define STM32_IRQ_TIM1TRGCOM  (42) /* 26: TIM1 Trigger and Commutation interrupts (TIM17 global interrupt) */
+#  define STM32_IRQ_TIM15       (40) /*     TIM15 global interrupt */
+#  define STM32_IRQ_TIM1UP      (41) /* 25: TIM1 Update interrupt */
+#  define STM32_IRQ_TIM16       (41) /*     TIM16 global interrupt */
+#  define STM32_IRQ_TIM1TRGCOM  (42) /* 26: TIM1 Trigger and Commutation interrupts */
+#  define STM32_IRQ_TIM17       (42) /*     TIM17 global interrupt */
 #  define STM32_IRQ_TIM1CC      (43) /* 27: TIM1 Capture Compare interrupt */
 #  define STM32_IRQ_TIM2        (44) /* 28: TIM2 global interrupt */
 #  define STM32_IRQ_TIM3        (45) /* 29: TIM3 global interrupt */
@@ -100,29 +108,30 @@
 #  define STM32_IRQ_USART2      (54) /* 38: USART2 global interrupt */
 #  define STM32_IRQ_USART3      (55) /* 39: USART3 global interrupt */
 #  define STM32_IRQ_EXTI1510    (56) /* 40: EXTI Line[15:10] interrupts */
-#  define STM32_IRQ_RTCALR      (57) /* 41: RTC alarm through EXTI line interrupt */
+#  define STM32_IRQ_RTCALR      (57) /* 41: RTC alarms (A and B) through EXTI line interrupt */
 #  define STM32_IRQ_CEC         (58) /* 42: CEC global interrupt */
-#  if defined(CONFIG_STM32_HIGHDENSITY)
-#    define STM32_IRQ_TIM12     (59) /* 43: TIM12 global interrupt */
-#    define STM32_IRQ_TIM13     (60) /* 44: TIM13 global interrupt */
-#    define STM32_IRQ_TIM14     (61) /* 45: TIM14 global interrupt */
-                                     /* 46-47: reserved */
-#    define STM32_IRQ_FSMC      (64) /* 48: FSMC global interrupt */
-                                     /* 49: reserved */
-#    define STM32_IRQ_TIM5      (66) /* 50: TIM5 global interrupt */
-#    define STM32_IRQ_SPI3      (67) /* 51: SPI1 global interrupt */
-#    define STM32_IRQ_UART4     (68) /* 52: USART2 global interrupt */
-#    define STM32_IRQ_UART5     (69) /* 53: USART3 global interrupt */
-#  else
-                                     /* 43-53: reserved */
-#  endif
+#  define STM32_IRQ_TIM12       (59) /* 43: TIM12 global interrupt */
+#  define STM32_IRQ_TIM13       (60) /* 44: TIM13 global interrupt */
+#  define STM32_IRQ_TIM14       (61) /* 45: TIM14 global interrupt */
+#  define STM32_IRQ_RESERVED4   (62) /* 46: Reserved 4 */
+#  define STM32_IRQ_RESERVED5   (63) /* 47: Reserved 5 */
+#  define STM32_IRQ_FSMC        (64) /* 48: FSMC global interrupt */
+#  define STM32_IRQ_RESERVED6   (65) /* 49: Reserved 6 */
+#  define STM32_IRQ_TIM5        (66) /* 50: TIM5 global interrupt */
+#  define STM32_IRQ_SPI3        (67) /* 51: SPI3 global interrupt */
+#  define STM32_IRQ_UART4       (68) /* 52: USART2 global interrupt */
+#  define STM32_IRQ_UART5       (69) /* 53: USART5 global interrupt */
 #  define STM32_IRQ_TIM6        (70) /* 54: TIM6 global interrupt */
 #  define STM32_IRQ_TIM7        (71) /* 55: TIM7 global interrupt */
 #  define STM32_IRQ_DMA2CH1     (72) /* 56: DMA2 Channel 1 global interrupt */
 #  define STM32_IRQ_DMA2CH2     (73) /* 57: DMA2 Channel 2 global interrupt */
 #  define STM32_IRQ_DMA2CH3     (74) /* 58: DMA2 Channel 3 global interrupt */
-#  define STM32_IRQ_DMA2CH45    (75) /* 59: DMA2 Channel 4 global interrupt */
-#  define NR_IRQS               (76)
+#  define STM32_IRQ_DMA2CH45    (75) /* 59: DMA2 Channel 4 and 5 global interrupt */
+#  define STM32_IRQ_DMA2CH5     (76) /* 60: DMA2 Channel 5 global interrupt */
+#  define NR_IRQS               (77)
+
+/* Connectivity Line Devices */
+
 #elif defined(CONFIG_STM32_CONNECTIVITYLINE)
 #  define STM32_IRQ_WWDG        (16) /* 0:  Window Watchdog interrupt */
 #  define STM32_IRQ_PVD         (17) /* 1:  PVD through EXTI Line detection interrupt */
@@ -193,6 +202,9 @@
 #  define STM32_IRQ_CAN2SCE     (82) /* 66: CAN2 SCE interrupt */
 #  define STM32_IRQ_OTGFS       (83) /* 67: USB On The Go FS global interrupt */
 #  define NR_IRQS               (84)
+
+/* Medium and High Density Devices */
+
 #else
 #  define STM32_IRQ_WWDG        (16) /* 0:  Window Watchdog interrupt */
 #  define STM32_IRQ_PVD         (17) /* 1:  PVD through EXTI Line detection interrupt */
diff --git a/nuttx/arch/arm/src/Makefile b/nuttx/arch/arm/src/Makefile
index 74be6c18d..e44def30c 100644
--- a/nuttx/arch/arm/src/Makefile
+++ b/nuttx/arch/arm/src/Makefile
@@ -36,58 +36,90 @@
 -include $(TOPDIR)/Make.defs
 -include chip/Make.defs
 
-ARCH_SRCDIR	= $(TOPDIR)/arch/$(CONFIG_ARCH)/src
 ifeq ($(CONFIG_ARCH_CORTEXM3),y)   # Cortex-M3 is ARMv7-M
-ARCH_SUBDIR	= armv7-m
+ARCH_SUBDIR = armv7-m
 else
 ifeq ($(CONFIG_ARCH_CORTEXM4),y)   # Cortex-M4 is ARMv7E-M
-ARCH_SUBDIR	= armv7-m
+ARCH_SUBDIR = armv7-m
 else
-ARCH_SUBDIR	= arm
+ARCH_SUBDIR = arm
 endif
 endif
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  ARCH_SRCDIR = $(TOPDIR)\arch\$(CONFIG_ARCH)\src
+  NUTTX = "$(TOPDIR)\nuttx$(EXEEXT)"
+  CFLAGS += -I$(ARCH_SRCDIR)\chip
+  CFLAGS += -I$(ARCH_SRCDIR)\common
+  CFLAGS += -I$(ARCH_SRCDIR)\$(ARCH_SUBDIR)
+  CFLAGS += -I$(TOPDIR)\sched
+else
+  ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
 ifeq ($(WINTOOL),y)
-  NUTTX		= "${shell cygpath -w $(TOPDIR)/nuttx}"
-  CFLAGS	+= -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
-  		   -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
-		   -I "${shell cygpath -w $(ARCH_SRCDIR)/$(ARCH_SUBDIR)}" \
-		   -I "${shell cygpath -w $(TOPDIR)/sched}"
+  NUTTX = "${shell cygpath -w $(TOPDIR)/nuttx$(EXEEXT)}"
+  CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}"
+  CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/common}"
+  CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/$(ARCH_SUBDIR)}"
+  CFLAGS += -I "${shell cygpath -w $(TOPDIR)/sched}"
 else
-  NUTTX		= $(TOPDIR)/nuttx
-  CFLAGS	+= -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common \
-		   -I$(ARCH_SRCDIR)/$(ARCH_SUBDIR) -I$(TOPDIR)/sched
+  NUTTX = "$(TOPDIR)/nuttx$(EXEEXT)"
+  CFLAGS += -I$(ARCH_SRCDIR)/chip
+  CFLAGS += -I$(ARCH_SRCDIR)/common
+  CFLAGS += -I$(ARCH_SRCDIR)/$(ARCH_SUBDIR)
+  CFLAGS += -I$(TOPDIR)/sched
+endif
 endif
 
-HEAD_OBJ	= $(HEAD_ASRC:.S=$(OBJEXT))
+HEAD_OBJ = $(HEAD_ASRC:.S=$(OBJEXT))
+
+ASRCS = $(CHIP_ASRCS) $(CMN_ASRCS)
+AOBJS = $(ASRCS:.S=$(OBJEXT))
 
-ASRCS		= $(CHIP_ASRCS) $(CMN_ASRCS)
-AOBJS		= $(ASRCS:.S=$(OBJEXT))
+CSRCS = $(CHIP_CSRCS) $(CMN_CSRCS)
+COBJS = $(CSRCS:.c=$(OBJEXT))
 
-CSRCS		= $(CHIP_CSRCS) $(CMN_CSRCS)
-COBJS		= $(CSRCS:.c=$(OBJEXT))
+SRCS = $(ASRCS) $(CSRCS)
+OBJS = $(AOBJS) $(COBJS)
 
-SRCS		= $(ASRCS) $(CSRCS)
-OBJS		= $(AOBJS) $(COBJS)
+LDFLAGS += $(ARCHSCRIPT)
 
-LDFLAGS		= $(ARCHSCRIPT)
-EXTRA_LIBS	?=
+EXTRA_LIBS ?=
+EXTRA_LIBPATHS ?=
+LINKLIBS ?=
+
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BOARDMAKE = $(if $(wildcard .\board\Makefile),y,)
+  LIBPATHS += -L"$(TOPDIR)\lib"
+ifeq ($(BOARDMAKE),y)
+  LIBPATHS += -L"$(TOPDIR)\arch\$(CONFIG_ARCH)\src\board"
+endif
+
+else
+  BOARDMAKE = $(if $(wildcard ./board/Makefile),y,)
 
-LINKLIBS	=
 ifeq ($(WINTOOL),y)
-  LIBPATHS	= ${shell for path in $(LINKLIBS); do dir=`dirname $(TOPDIR)/$$path`;echo "-L\"`cygpath -w $$dir`\"";done}
-  LIBPATHS	+= -L"${shell cygpath -w $(BOARDDIR)}"
+  LIBPATHS += -L"${shell cygpath -w "$(TOPDIR)/lib"}"
+ifeq ($(BOARDMAKE),y)
+  LIBPATHS += -L"${shell cygpath -w "$(TOPDIR)/arch/$(CONFIG_ARCH)/src/board"}"
+endif
+
 else
-  LIBPATHS	= $(addprefix -L$(TOPDIR)/,$(dir $(LINKLIBS)))
-  LIBPATHS	+= -L"$(BOARDDIR)"
+  LIBPATHS += -L"$(TOPDIR)/lib"
+ifeq ($(BOARDMAKE),y)
+  LIBPATHS += -L"$(TOPDIR)/arch/$(CONFIG_ARCH)/src/board"
+endif
+endif
 endif
-LDLIBS		= $(patsubst lib%,-l%,$(basename $(notdir $(LINKLIBS))))
 
-BOARDDIR	= $(TOPDIR)/arch/$(CONFIG_ARCH)/src/board
+LDLIBS = $(patsubst %.a,%,$(patsubst lib%,-l%,$(LINKLIBS)))
+ifeq ($(BOARDMAKE),y)
+  LDLIBS += -lboard
+endif
 
-LIBGCC		= "${shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name}"
+LIBGCC = "${shell "$(CC)" $(ARCHCPUFLAGS) -print-libgcc-file-name}"
+GCC_LIBDIR := ${shell dirname $(LIBGCC)}
 
-VPATH		= chip:common:$(ARCH_SUBDIR)
+VPATH = chip:common:$(ARCH_SUBDIR)
 
 all: $(HEAD_OBJ) libarch$(LIBEXT)
 
@@ -100,20 +132,21 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 libarch$(LIBEXT): $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $@, $${obj}); \
-	done ; )
+	$(call ARCHIVE, $@, $(OBJS))
 
 board/libboard$(LIBEXT):
-	@$(MAKE) -C board TOPDIR="$(TOPDIR)" libboard$(LIBEXT) EXTRADEFINES=$(EXTRADEFINES)
-
-nuttx: $(HEAD_OBJ) board/libboard$(LIBEXT)
-	@echo "LD: nuttx"
-	@$(LD) --entry=__start $(LDFLAGS) $(LIBPATHS) -o $(NUTTX)$(EXEEXT) $(HEAD_OBJ) $(EXTRA_OBJS) \
-		--start-group $(LDLIBS) -lboard $(EXTRA_LIBS) $(LIBGCC) --end-group
-	@$(NM) $(NUTTX)$(EXEEXT) | \
+	$(Q) $(MAKE) -C board TOPDIR="$(TOPDIR)" libboard$(LIBEXT) EXTRADEFINES=$(EXTRADEFINES)
+
+nuttx$(EXEEXT): $(HEAD_OBJ) board/libboard$(LIBEXT)
+	$(Q) echo "LD: nuttx"
+	$(Q) $(LD) --entry=__start $(LDFLAGS) $(LIBPATHS) $(EXTRA_LIBPATHS) \
+		-o $(NUTTX)$(EXEEXT) $(HEAD_OBJ) $(EXTRA_OBJS) \
+		--start-group $(LDLIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group
+ifneq ($(CONFIG_WINDOWS_NATIVE),y)
+	$(Q) $(NM) $(NUTTX)$(EXEEXT) | \
 	grep -v '\(compiled\)\|\(\$(OBJEXT)$$\)\|\( [aUw] \)\|\(\.\.ng$$\)\|\(LASH[RL]DI\)' | \
 	sort > $(TOPDIR)/System.map
+endif
 
 # This is part of the top-level export target
 # Note that there may not be a head object if layout is handled
@@ -121,37 +154,38 @@ nuttx: $(HEAD_OBJ) board/libboard$(LIBEXT)
 
 export_head: board/libboard$(LIBEXT) $(HEAD_OBJ)
 ifneq ($(HEAD_OBJ),)
-	@if [ -d "$(EXPORT_DIR)/startup" ]; then \
+	$(Q) if [ -d "$(EXPORT_DIR)/startup" ]; then \
 		cp -f $(HEAD_OBJ) "$(EXPORT_DIR)/startup"; \
 	 else \
 		echo "$(EXPORT_DIR)/startup does not exist"; \
-		exit 1; \
-	 fi
+	exit 1; \
+	fi
 endif
 
 # Dependencies
 
 .depend: Makefile chip/Make.defs $(SRCS)
-	@if [ -e board/Makefile ]; then \
-		$(MAKE) -C board TOPDIR="$(TOPDIR)" depend ; \
-	fi
-	@$(MKDEP) --dep-path chip --dep-path common --dep-path $(ARCH_SUBDIR) \
-	 $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
+ifeq ($(BOARDMAKE),y)
+	$(Q) $(MAKE) -C board TOPDIR="$(TOPDIR)" depend
+endif
+	$(Q) $(MKDEP) --dep-path chip --dep-path common --dep-path $(ARCH_SUBDIR) \
+	 "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
 
 depend: .depend
 
 clean:
-	@if [ -e board/Makefile ]; then \
-		$(MAKE) -C board TOPDIR="$(TOPDIR)" clean ; \
-	fi
-	@rm -f libarch$(LIBEXT) *~ .*.swp
+ifeq ($(BOARDMAKE),y)
+	$(Q) $(MAKE) -C board TOPDIR="$(TOPDIR)" clean
+endif
+	$(call DELFILE, libarch$(LIBEXT))
 	$(call CLEAN)
 
 distclean: clean
-	@if [ -e board/Makefile ]; then \
-		$(MAKE) -C board TOPDIR="$(TOPDIR)" distclean ; \
-	fi
-	@rm -f Make.dep .depend
+ifeq ($(BOARDMAKE),y)
+	$(Q) $(MAKE) -C board TOPDIR="$(TOPDIR)" distclean
+endif
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/nuttx/arch/arm/src/armv7-m/Kconfig b/nuttx/arch/arm/src/armv7-m/Kconfig
new file mode 100644
index 000000000..dc5aa3915
--- /dev/null
+++ b/nuttx/arch/arm/src/armv7-m/Kconfig
@@ -0,0 +1,51 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+
+comment "ARMV7M Configuration Options"
+
+choice
+	prompt "Toolchain Selection"
+	default ARMV7M_TOOLCHAIN_CODESOURCERYW if HOST_WINDOWS
+	default ARMV7M_TOOLCHAIN_GNU_EABI if !HOST_WINDOWS
+
+config ARMV7M_TOOLCHAIN_ATOLLIC
+	bool "Atollic Lite/Pro for Windows"
+	depends on HOST_WINDOWS
+
+config ARMV7M_TOOLCHAIN_BUILDROOT
+	bool "Buildroot (Cygwin or Linux)"
+	depends on !WINDOWS_NATIVE
+
+config ARMV7M_TOOLCHAIN_CODEREDL
+	bool "CodeRed for Linux"
+	depends on HOST_LINUX
+
+config ARMV7M_TOOLCHAIN_CODEREDW
+	bool "CodeRed for Windows"
+	depends on HOST_WINDOWS
+
+config ARMV7M_TOOLCHAIN_CODESOURCERYL
+	bool "CodeSourcery GNU toolchain under Linux"
+	depends on HOST_LINUX
+
+config ARMV7M_TOOLCHAIN_CODESOURCERYW
+	bool "CodeSourcery GNU toolchain under Windows"
+	depends on HOST_WINDOWS
+
+config ARMV7M_TOOLCHAIN_DEVKITARM
+	bool "devkitARM GNU toolchain"
+	depends on HOST_WINDOWS
+
+config ARMV7M_TOOLCHAIN_GNU_EABI
+	bool "Generic GNU EABI toolchain"
+	---help---
+		This option should work for any modern GNU toolchain (GCC 4.5 or newer)
+		configured for arm-none-eabi.
+
+config ARMV7M_TOOLCHAIN_RAISONANCE
+	bool "STMicro Raisonance for Windows"
+	depends on HOST_WINDOWS
+
+endchoice
diff --git a/nuttx/arch/arm/src/armv7-m/Toolchain.defs b/nuttx/arch/arm/src/armv7-m/Toolchain.defs
new file mode 100644
index 000000000..e214ce8bd
--- /dev/null
+++ b/nuttx/arch/arm/src/armv7-m/Toolchain.defs
@@ -0,0 +1,266 @@
+############################################################################
+# arch/arm/src/armv7-m/Toolchain.defs
+#
+#   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. 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.
+# 3. Neither the name NuttX 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.
+#
+############################################################################
+
+# Setup for the selected toolchain
+
+#
+# Handle old-style chip-specific toolchain names in the absence of
+# a new-style toolchain specification, force the selection of a single
+# toolchain and allow the selected toolchain to be overridden by a
+# command-line selection.
+#
+
+ifeq ($(filter y, \
+      $(CONFIG_LPC43_ATOLLIC_LITE) \
+      $(CONFIG_STM32_ATOLLIC_LITE) \
+      $(CONFIG_LPC43_ATOLLIC_PRO) \
+      $(CONFIG_STM32_ATOLLIC_PRO) \
+      $(CONFIG_ARMV7M_TOOLCHAIN_ATOLLIC) \
+    ),y)
+  CONFIG_ARMV7M_TOOLCHAIN ?= ATOLLIC
+endif
+ifeq ($(filter y, \
+      $(CONFIG_KINETIS_BUILDROOT) \
+      $(CONFIG_LM3S_BUILDROOT) \
+      $(CONFIG_LPC17_BUILDROOT) \
+      $(CONFIG_LPC43_BUILDROOT) \
+      $(CONFIG_SAM3U_BUILDROOT) \
+      $(CONFIG_STM32_BUILDROOT) \
+      $(CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT) \
+    ),y)
+  CONFIG_ARMV7M_TOOLCHAIN ?= BUILDROOT
+endif
+ifeq ($(filter y, \
+      $(CONFIG_LPC17_CODEREDL) \
+      $(CONFIG_ARMV7M_TOOLCHAIN_CODEREDL) \
+    ),y)
+  CONFIG_ARMV7M_TOOLCHAIN ?= CODEREDL
+endif
+ifeq ($(filter y, \
+      $(CONFIG_LPC17_CODEREDW) \
+      $(CONFIG_LPC43_CODEREDW) \
+      $(CONFIG_ARMV7M_TOOLCHAIN_CODEREDW) \
+    ),y)
+  CONFIG_ARMV7M_TOOLCHAIN ?= CODEREDW
+endif
+ifeq ($(filter y, \
+      $(CONFIG_KINETIS_CODESOURCERYL) \
+      $(CONFIG_LM3S_CODESOURCERYL) \
+      $(CONFIG_LPC17_CODESOURCERYL) \
+      $(CONFIG_LPC43_CODESOURCERYL) \
+      $(CONFIG_SAM3U_CODESOURCERYL) \
+      $(CONFIG_STM32_CODESOURCERYL) \
+      $(CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL) \
+    ),y)
+  CONFIG_ARMV7M_TOOLCHAIN ?= CODESOURCERYL
+endif
+ifeq ($(filter y, \
+      $(CONFIG_KINETIS_CODESOURCERYW) \
+      $(CONFIG_LM3S_CODESOURCERYW) \
+      $(CONFIG_LPC17_CODESOURCERYW) \
+      $(CONFIG_LPC43_CODESOURCERYW) \
+      $(CONFIG_SAM3U_CODESOURCERYW) \
+      $(CONFIG_STM32_CODESOURCERYW) \
+      $(CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYW) \
+    ),y)
+  CONFIG_ARMV7M_TOOLCHAIN ?= CODESOURCERYW
+endif
+ifeq ($(filter y, \
+      $(CONFIG_KINETIS_DEVKITARM) \
+      $(CONFIG_LM3S_DEVKITARM) \
+      $(CONFIG_LPC17_DEVKITARM) \
+      $(CONFIG_LPC43_DEVKITARM) \
+      $(CONFIG_SAM3U_DEVKITARM) \
+      $(CONFIG_STM32_DEVKITARM) \
+      $(CONFIG_ARMV7M_TOOLCHAIN_DEVKITARM) \
+    ),y)
+  CONFIG_ARMV7M_TOOLCHAIN ?= DEVKITARM
+endif
+ifeq ($(filter y, \
+      $(CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI) \
+    ),y)
+  CONFIG_ARMV7M_TOOLCHAIN ?= GNU_EABI
+endif
+ifeq ($(filter y, \
+      $(CONFIG_STM32_RAISONANCE) \
+      $(CONFIG_ARMV7M_TOOLCHAIN_RAISONANCE) \
+    ),y)
+  CONFIG_ARMV7M_TOOLCHAIN ?= RAISONANCE
+endif
+
+#
+# Supported toolchains
+#
+# TODO - It's likely that all of these toolchains now support the
+#        CortexM4.  Since they are all GCC-based, we could almost
+#        certainly simplify this further.
+#
+# Each toolchain definition should set:
+#
+#  CROSSDEV         The GNU toolchain triple (command prefix)
+#  ARCROSSDEV       If required, an alternative prefix used when 
+#                   invoking ar and nm.
+#  ARCHCPUFLAGS     CPU-specific flags selecting the instruction set
+#                   FPU options, etc.
+#  MAXOPTIMIZATION  The maximum optimization level that results in
+#                   reliable code generation.
+#
+
+# Atollic toolchain under Windows
+
+ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),ATOLLIC)
+  CROSSDEV = arm-atollic-eabi-
+  ARCROSSDEV = arm-atollic-eabi-
+  ifneq ($(CONFIG_WINDOWS_NATIVE),y)
+    WINTOOL = y
+  endif
+  ifeq ($(CONFIG_ARCH_CORTEXM4),y)
+    ifeq ($(CONFIG_ARCH_FPU),y)
+      ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
+    else
+      ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfloat-abi=soft
+    endif
+  else ifeq ($(CONFIG_ARCH_CORTEXM3),y)
+    ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
+  endif
+endif
+
+# NuttX buildroot under Linux or Cygwin
+
+ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),BUILDROOT)
+  # OABI
+  # CROSSDEV = arm-nuttx-elf-
+  # ARCROSSDEV = arm-nuttx-elf-
+  # ARCHCPUFLAGS = -mtune=cortex-m3 -march=armv7-m -mfloat-abi=soft
+  # EABI
+  CROSSDEV = arm-nuttx-eabi-
+  ARCROSSDEV = arm-nuttx-eabi-
+  ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
+  MAXOPTIMIZATION = -Os
+endif
+
+# Code Red RedSuite under Linux
+
+ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),CODEREDL)
+  CROSSDEV = arm-none-eabi-
+  ARCROSSDEV = arm-none-eabi-
+  ifeq ($(CONFIG_ARCH_CORTEXM4),y)
+    ifeq ($(CONFIG_ARCH_FPU),y)
+      ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
+    else
+      ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfloat-abi=soft
+    endif
+  else ifeq ($(CONFIG_ARCH_CORTEXM3),y)
+    ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
+  endif
+endif
+
+# Code Red RedSuite under Windows
+
+ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),CODEREDW)
+  CROSSDEV = arm-none-eabi-
+  ARCROSSDEV = arm-none-eabi-
+  ifneq ($(CONFIG_WINDOWS_NATIVE),y)
+    WINTOOL = y
+  endif
+  ifeq ($(CONFIG_ARCH_CORTEXM4),y)
+    ifeq ($(CONFIG_ARCH_FPU),y)
+      ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
+    else
+      ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfloat-abi=soft
+    endif
+  else ifeq ($(CONFIG_ARCH_CORTEXM3),y)
+    ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
+  endif
+endif
+
+# CodeSourcery under Linux
+
+ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),CODESOURCERYL)
+  CROSSDEV = arm-none-eabi-
+  ARCROSSDEV = arm-none-eabi-
+  ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
+  MAXOPTIMIZATION = -O2
+endif
+
+# CodeSourcery under Windows
+
+ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),CODESOURCERYW)
+  CROSSDEV = arm-none-eabi-
+  ARCROSSDEV = arm-none-eabi-
+  ifneq ($(CONFIG_WINDOWS_NATIVE),y)
+    WINTOOL = y
+  endif
+  ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
+endif
+
+# devkitARM under Windows
+
+ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),DEVKITARM)
+  CROSSDEV = arm-eabi-
+  ARCROSSDEV = arm-eabi-
+  ifneq ($(CONFIG_WINDOWS_NATIVE),y)
+    WINTOOL = y
+  endif
+  ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
+endif
+
+# Generic GNU EABI toolchain on OS X, Linux or any typical Posix system
+
+ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),GNU_EABI)
+  CROSSDEV = arm-none-eabi-
+  ARCROSSDEV = arm-none-eabi-
+  MAXOPTIMIZATION = -O3
+  ifeq ($(CONFIG_ARCH_CORTEXM4),y)
+    ifeq ($(CONFIG_ARCH_FPU),y)
+      ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
+    else
+      ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfloat-abi=soft
+    endif
+  else ifeq ($(CONFIG_ARCH_CORTEXM3),y)
+    ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
+  endif
+endif  
+
+# Raisonance RIDE7 under Windows
+
+ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),RAISONANCE)
+  CROSSDEV = arm-none-eabi-
+  ARCROSSDEV = arm-none-eabi-
+  ifneq ($(CONFIG_WINDOWS_NATIVE),y)
+    WINTOOL = y
+  endif
+  ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
+endif
diff --git a/nuttx/arch/arm/src/armv7-m/memcpy.S b/nuttx/arch/arm/src/armv7-m/memcpy.S
deleted file mode 100644
index c6d3ff649..000000000
--- a/nuttx/arch/arm/src/armv7-m/memcpy.S
+++ /dev/null
@@ -1,351 +0,0 @@
-@
-@ armv7m-optimised memcpy, apparently in the public domain
-@
-@ Obtained via a posting on the Stellaris forum:
-@	http://e2e.ti.com/support/microcontrollers/stellaris_arm_cortex-m3_microcontroller/f/473/t/44360.aspx
-@
-@ Posted by rocksoft on Jul 24, 2008 10:19 AM
-@ 
-@ Hi, 
-@ 
-@ I recently finished a "memcpy" replacement and thought it might be useful for others...
-@ 
-@ I've put some instructions and the code here:
-@ 
-@ http://www.rock-software.net/downloads/memcpy/
-@ 
-@ Hope it works for you as well as it did for me.
-@ 
-@ Liam.
-@ @	
-@ ---------------------------------------------------------------------------- 
-
-.syntax unified
-
-.thumb
-
-.cpu cortex-m3
-
-@ ---------------------------------------------------------------------------- 
-
- .global memcpy
- 
-
-@ ---------------------------------------------------------------------------- 
-@ Optimised "general" copy routine
-
-.text
-
-@ We have 16 possible alignment combinations of src and dst, this jump table directs the copy operation
-@ Bits:  Src=00, Dst=00 - Long to Long copy
-@ Bits:  Src=00, Dst=01 - Long to Byte before half word
-@ Bits:  Src=00, Dst=10 - Long to Half word
-@ Bits:  Src=00, Dst=11 - Long to Byte before long word
-@ Bits:  Src=01, Dst=00 - Byte before half word to long
-@ Bits:  Src=01, Dst=01 - Byte before half word to byte before half word - Same alignment
-@ Bits:  Src=01, Dst=10 - Byte before half word to half word
-@ Bits:  Src=01, Dst=11 - Byte before half word to byte before long word
-@ Bits:  Src=10, Dst=00 - Half word to long word
-@ Bits:  Src=10, Dst=01 - Half word to byte before half word
-@ Bits:  Src=10, Dst=10 - Half word to half word - Same Alignment
-@ Bits:  Src=10, Dst=11 - Half word to byte before long word
-@ Bits:  Src=11, Dst=00 - Byte before long word to long word
-@ Bits:  Src=11, Dst=01 - Byte before long word to byte before half word
-@ Bits:  Src=11, Dst=11 - Byte before long word to half word
-@ Bits:  Src=11, Dst=11 - Byte before long word to Byte before long word - Same alignment
-
-MEM_DataCopyTable:
-  .byte (MEM_DataCopy0 - MEM_DataCopyJump) >> 1      
-  .byte (MEM_DataCopy1 - MEM_DataCopyJump) >> 1      
-  .byte (MEM_DataCopy2 - MEM_DataCopyJump) >> 1
-  .byte (MEM_DataCopy3 - MEM_DataCopyJump) >> 1
-  .byte (MEM_DataCopy4 - MEM_DataCopyJump) >> 1
-  .byte (MEM_DataCopy5 - MEM_DataCopyJump) >> 1
-  .byte (MEM_DataCopy6 - MEM_DataCopyJump) >> 1
-  .byte (MEM_DataCopy7 - MEM_DataCopyJump) >> 1
-  .byte (MEM_DataCopy8 - MEM_DataCopyJump) >> 1
-  .byte (MEM_DataCopy9 - MEM_DataCopyJump) >> 1
-  .byte (MEM_DataCopy10 - MEM_DataCopyJump) >> 1
-  .byte (MEM_DataCopy11 - MEM_DataCopyJump) >> 1
-  .byte (MEM_DataCopy12 - MEM_DataCopyJump) >> 1
-  .byte (MEM_DataCopy13 - MEM_DataCopyJump) >> 1
-  .byte (MEM_DataCopy14 - MEM_DataCopyJump) >> 1
-  .byte (MEM_DataCopy15 - MEM_DataCopyJump) >> 1
-
-  .align 2
-
-@ ---------------------------------------------------------------------------- 
-
-//#define 10 10
-
-MEM_LongCopyTable:
-  .byte (MEM_LongCopyEnd - MEM_LongCopyJump) >> 1 @ 0 bytes left
-  .byte 0                    @ 4 bytes left  
-  .byte (1 * 10) >> 1   @ 8 bytes left
-  .byte (2 * 10) >> 1   @ 12 bytes left
-  .byte (3 * 10) >> 1   @ 16 bytes left
-  .byte (4 * 10) >> 1   @ 20 bytes left
-  .byte (5 * 10) >> 1   @ 24 bytes left  
-  .byte (6 * 10) >> 1   @ 28 bytes left
-  .byte (7 * 10) >> 1   @ 32 bytes left
-  .byte (8 * 10) >> 1   @ 36 bytes left
-
-  .align 2
-
-@ ---------------------------------------------------------------------------- 
-@ r0 = destination, r1 = source, r2 = length
-
-.thumb_func
-
-memcpy:
-  push {r14}
-  
-  @ This allows the inner workings to "assume" a minimum amount of bytes
-  cmp r2, #4
-  blt MEM_DataCopyBytes
-    
-  and r14, r0, #3             @ Get destination alignment bits
-  bfi r14, r1, #2, #2         @ Get source alignment bits
-  ldr r3, =MEM_DataCopyTable  @ Jump table base  
-  tbb [r3, r14]               @ Perform jump on src/dst alignment bits
-MEM_DataCopyJump:
-
- .align 4
-
-@ ---------------------------------------------------------------------------- 
-@ Bits:  Src=01, Dst=01 - Byte before half word to byte before half word - Same alignment
-@ 3 bytes to read for long word aligning
-
-MEM_DataCopy5:
-  ldrb r3, [r1], #0x01
-  strb r3, [r0], #0x01
-  sub r2, r2, #0x01
-
-@ ---------------------------------------------------------------------------- 
-@ Bits:  Src=10, Dst=10 - Half word to half word - Same Alignment
-@ 2 bytes to read for long word aligning
-
-MEM_DataCopy10:
-  ldrb r3, [r1], #0x01
-  strb r3, [r0], #0x01
-  sub r2, r2, #0x01
-
-@ ---------------------------------------------------------------------------- 
-@ Bits:  Src=11, Dst=11 - Byte before long word to Byte before long word - Same alignment
-@ 1 bytes to read for long word aligning
-
-MEM_DataCopy15:
-  ldrb r3, [r1], #0x01
-  strb r3, [r0], #0x01
-  sub r2, r2, #0x01
-
-@ ---------------------------------------------------------------------------- 
-@ Bits:  Src=00, Dst=00 - Long to Long copy
-
-MEM_DataCopy0:
-  @ Save regs
-  push {r4-r12}
-
-  cmp r2, #0x28
-  blt MEM_DataCopy0_2
-  
-MEM_DataCopy0_1:
-  ldmia r1!, {r3-r12}
-  stmia r0!, {r3-r12}
-  sub r2, r2, #0x28    
-  cmp r2, #0x28
-  bge MEM_DataCopy0_1
-
-MEM_DataCopy0_2:
-  @ Copy remaining long words
-  ldr r14, =MEM_LongCopyTable
-  lsr r11, r2, #0x02
-  tbb [r14, r11]
-
-MEM_LongCopyJump:
-  ldr.w r3, [r1], #0x04   @ 4 bytes remain 
-  str.w r3, [r0], #0x04
-  b MEM_LongCopyEnd
-  ldmia.w r1!, {r3-r4}    @ 8 bytes remain 
-  stmia.w r0!, {r3-r4}
-  b MEM_LongCopyEnd
-  ldmia.w r1!, {r3-r5}    @ 12 bytes remain
-  stmia.w r0!, {r3-r5}
-  b MEM_LongCopyEnd
-  ldmia.w r1!, {r3-r6}    @ 16 bytes remain
-  stmia.w r0!, {r3-r6}
-  b MEM_LongCopyEnd
-  ldmia.w r1!, {r3-r7}    @ 20 bytes remain
-  stmia.w r0!, {r3-r7}
-  b MEM_LongCopyEnd
-  ldmia.w r1!, {r3-r8}    @ 24 bytes remain
-  stmia.w r0!, {r3-r8}
-  b MEM_LongCopyEnd
-  ldmia.w r1!, {r3-r9}    @ 28 bytes remain
-  stmia.w r0!, {r3-r9}
-  b MEM_LongCopyEnd
-  ldmia.w r1!, {r3-r10}   @ 32 bytes remain
-  stmia.w r0!, {r3-r10}
-  b MEM_LongCopyEnd
-  ldmia.w r1!, {r3-r11}   @ 36 bytes remain
-  stmia.w r0!, {r3-r11}
-  
-MEM_LongCopyEnd:  
-  pop {r4-r12}
-  and r2, r2, #0x03    @ All the longs have been copied
-  
-@ ----------------------------------------------------------------------------   
-
-MEM_DataCopyBytes:
-  @ Deal with up to 3 remaining bytes
-  cmp r2, #0x00
-  it eq
-  popeq {pc}
-  ldrb r3, [r1], #0x01
-  strb r3, [r0], #0x01
-  subs r2, r2, #0x01
-  it eq
-  popeq {pc}
-  ldrb r3, [r1], #0x01
-  strb r3, [r0], #0x01
-  subs r2, r2, #0x01
-  it eq
-  popeq {pc}
-  ldrb r3, [r1], #0x01
-  strb r3, [r0], #0x01
-  pop {pc}
-
- .align 4
-
-@ ---------------------------------------------------------------------------- 
-@ Bits:  Src=01, Dst=11 - Byte before half word to byte before long word
-@ 3 bytes to read for long word aligning the source
-
-MEM_DataCopy7:
-  ldrb r3, [r1], #0x01
-  strb r3, [r0], #0x01
-  sub r2, r2, #0x01
-  
-@ ----------------------------------------------------------------------------   
-@ Bits:  Src=10, Dst=00 - Half word to long word
-@ 2 bytes to read for long word aligning the source
-
-MEM_DataCopy8: 
-  ldrb r3, [r1], #0x01
-  strb r3, [r0], #0x01
-  sub r2, r2, #0x01
-
-@ ---------------------------------------------------------------------------- 
-@ Bits:  Src=11, Dst=01 - Byte before long word to byte before half word
-@ 1 byte to read for long word aligning the source
-
-MEM_DataCopy13:
-  ldrb r3, [r1], #0x01
-  strb r3, [r0], #0x01
-  sub r2, r2, #0x01
-
-@ ---------------------------------------------------------------------------- 
-@ Bits:  Src=00, Dst=10 - Long to Half word
-
-MEM_DataCopy2: 
-  cmp r2, #0x28
-  blt MEM_DataCopy2_1
-
-  @ Save regs
-  push {r4-r12}
-MEM_DataCopy2_2:
-  ldmia r1!, {r3-r12}
-
-  strh r3, [r0], #0x02
-
-  lsr r3, r3, #0x10  
-  bfi r3, r4, #0x10, #0x10  
-  lsr r4, r4, #0x10  
-  bfi r4, r5, #0x10, #0x10  
-  lsr r5, r5, #0x10  
-  bfi r5, r6, #0x10, #0x10  
-  lsr r6, r6, #0x10  
-  bfi r6, r7, #0x10, #0x10  
-  lsr r7, r7, #0x10  
-  bfi r7, r8, #0x10, #0x10  
-  lsr r8, r8, #0x10  
-  bfi r8, r9, #0x10, #0x10  
-  lsr r9, r9, #0x10  
-  bfi r9, r10, #0x10, #0x10  
-  lsr r10, r10, #0x10  
-  bfi r10, r11, #0x10, #0x10  
-  lsr r11, r11, #0x10  
-  bfi r11, r12, #0x10, #0x10  
-  stmia r0!, {r3-r11}
-  lsr r12, r12, #0x10  
-  strh r12, [r0], #0x02
-
-  sub r2, r2, #0x28    
-  cmp r2, #0x28
-  bge MEM_DataCopy2_2
-  pop {r4-r12}
-
-MEM_DataCopy2_1: @ Read longs and write 2 x half words
-  cmp r2, #4
-  blt MEM_DataCopyBytes
-  ldr r3, [r1], #0x04
-  strh r3, [r0], #0x02
-  lsr r3, r3, #0x10
-  strh r3, [r0], #0x02
-  sub r2, r2, #0x04
-  b MEM_DataCopy2
-
-@ ---------------------------------------------------------------------------- 
-@ Bits:  Src=01, Dst=00 - Byte before half word to long
-@ Bits:  Src=01, Dst=10 - Byte before half word to half word
-@ 3 bytes to read for long word aligning the source
-
-MEM_DataCopy4: 
-MEM_DataCopy6:  
-  @ Read B and write B
-  ldrb r3, [r1], #0x01
-  strb r3, [r0], #0x01
-  sub r2, r2, #0x01
-
-@ ---------------------------------------------------------------------------- 
-@ Bits:  Src=10, Dst=01 - Half word to byte before half word
-@ Bits:  Src=10, Dst=11 - Half word to byte before long word
-@ 2 bytes to read for long word aligning the source
-
-MEM_DataCopy9:
-MEM_DataCopy11:
-  ldrb r3, [r1], #0x01
-  strb r3, [r0], #0x01
-  sub r2, r2, #0x01
-
-@ ---------------------------------------------------------------------------- 
-@ Bits:  Src=11, Dst=00 - Byte before long word to long word
-@ Bits:  Src=11, Dst=11 - Byte before long word to half word
-@ 1 byte to read for long word aligning the source
-
-MEM_DataCopy12:
-MEM_DataCopy14:
-  @ Read B and write B
-  ldrb r3, [r1], #0x01
-  strb r3, [r0], #0x01
-  sub r2, r2, #0x01
-
-@ ---------------------------------------------------------------------------- 
-@ Bits:  Src=00, Dst=01 - Long to Byte before half word
-@ Bits:  Src=00, Dst=11 - Long to Byte before long word
-
-MEM_DataCopy1: @ Read longs, write B->H->B
-MEM_DataCopy3: 
-  cmp r2, #4
-  blt MEM_DataCopyBytes
-  ldr r3, [r1], #0x04
-  strb r3, [r0], #0x01
-  lsr r3, r3, #0x08
-  strh r3, [r0], #0x02
-  lsr r3, r3, #0x10
-  strb r3, [r0], #0x01
-  sub r2, r2, #0x04  
-  b MEM_DataCopy3
-
-@ ---------------------------------------------------------------------------- 
-
diff --git a/nuttx/arch/arm/src/armv7-m/up_elf.c b/nuttx/arch/arm/src/armv7-m/up_elf.c
new file mode 100644
index 000000000..b838a6905
--- /dev/null
+++ b/nuttx/arch/arm/src/armv7-m/up_elf.c
@@ -0,0 +1,450 @@
+/****************************************************************************
+ * arch/arm/src/armv7-m/up_elf.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdlib.h>
+#include <elf32.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <arch/elf.h>
+#include <nuttx/arch.h>
+#include <nuttx/binfmt/elf.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: arch_checkarch
+ *
+ * Description:
+ *   Given the ELF header in 'hdr', verify that the ELF file is appropriate
+ *   for the current, configured architecture.  Every architecture that uses
+ *   the ELF loader must provide this function.
+ *
+ * Input Parameters:
+ *   hdr - The ELF header read from the ELF file.
+ *
+ * Returned Value:
+ *   True if the architecture supports this ELF file.
+ *
+ ****************************************************************************/
+
+bool arch_checkarch(FAR const Elf32_Ehdr *ehdr)
+{
+  /* Make sure it's an ARM executable */
+
+  if (ehdr->e_machine != EM_ARM)
+    {
+      bdbg("Not for ARM: e_machine=%04x\n", ehdr->e_machine);
+      return -ENOEXEC;
+    }
+
+  /* Make sure that 32-bit objects are supported */
+
+  if (ehdr->e_ident[EI_CLASS] != ELFCLASS32)
+    {
+      bdbg("Need 32-bit objects: e_ident[EI_CLASS]=%02x\n", ehdr->e_ident[EI_CLASS]);
+      return -ENOEXEC;
+    }
+
+  /* Verify endian-ness */
+
+#ifdef CONFIG_ENDIAN_BIG
+  if (ehdr->e_ident[EI_DATA] != ELFDATA2MSB)
+#else
+  if (ehdr->e_ident[EI_DATA] != ELFDATA2LSB)
+#endif
+    {
+      bdbg("Wrong endian-ness: e_ident[EI_DATA]=%02x\n", ehdr->e_ident[EI_DATA]);
+      return -ENOEXEC;
+    }
+
+  /* TODO:  Check ABI here. */
+  return OK;
+}
+
+/****************************************************************************
+ * Name: arch_relocate and arch_relocateadd
+ *
+ * Description:
+ *   Perform on architecture-specific ELF relocation.  Every architecture
+ *   that uses the ELF loader must provide this function.
+ *
+ * Input Parameters:
+ *   rel - The relocation type
+ *   sym - The ELF symbol structure containing the fully resolved value.
+ *   addr - The address that requires the relocation.
+ *
+ * Returned Value:
+ *   Zero (OK) if the relocation was successful.  Otherwise, a negated errno
+ *   value indicating the cause of the relocation failure.
+ *
+ ****************************************************************************/
+
+int arch_relocate(FAR const Elf32_Rel *rel, FAR const Elf32_Sym *sym,
+                  uintptr_t addr)
+{
+  int32_t offset;
+  uint32_t upper_insn;
+  uint32_t lower_insn;
+
+  switch (ELF32_R_TYPE(rel->r_info))
+    {
+    case R_ARM_NONE:
+      {
+        /* No relocation */
+      }
+      break;
+
+    case R_ARM_PC24:
+    case R_ARM_CALL:
+    case R_ARM_JUMP24:
+      {
+        bvdbg("Performing PC24 [%d] link at addr %08lx [%08lx] to sym '%s' st_value=%08lx\n",
+              ELF32_R_TYPE(rel->r_info), (long)addr, (long)(*(uint32_t*)addr),
+              sym, (long)sym->st_value);
+
+        offset = (*(uint32_t*)addr & 0x00ffffff) << 2;
+        if (offset & 0x02000000)
+          {
+            offset -= 0x04000000;
+          }
+
+        offset += sym->st_value - addr;
+        if (offset & 3 || offset <= (int32_t) 0xfe000000 || offset >= (int32_t) 0x02000000)
+          {
+            bdbg("  ERROR: PC24 [%d] relocation out of range, offset=%08lx\n",
+                 ELF32_R_TYPE(rel->r_info), offset);
+
+            return -EINVAL;
+          }
+
+        offset >>= 2;
+
+        *(uint32_t*)addr &= 0xff000000;
+        *(uint32_t*)addr |= offset & 0x00ffffff;
+      }
+      break;
+
+    case R_ARM_ABS32:
+    case R_ARM_TARGET1:  /* New ABI:  TARGET1 always treated as ABS32 */
+      {
+        bvdbg("Performing ABS32 link at addr=%08lx [%08lx] to sym=%p st_value=%08lx\n",
+              (long)addr, (long)(*(uint32_t*)addr), sym, (long)sym->st_value);
+
+        *(uint32_t*)addr += sym->st_value;
+      }
+      break;
+
+    case R_ARM_THM_CALL:
+    case R_ARM_THM_JUMP24:
+      {
+        uint32_t S;
+        uint32_t J1;
+        uint32_t J2;
+
+        /* Thumb BL and B.W instructions. Encoding:
+         *
+         * upper_insn:
+         *
+         *  1   1   1   1   1   1
+         *  5   4   3   2   1   0   9   8   7   6   5   4   3   2   1   0
+         * +----------+---+-------------------------------+--------------+
+         * |1   1   1 |OP1|     OP2                       |              | 32-Bit Instructions
+         * +----------+---+--+-----+----------------------+--------------+
+         * |1   1   1 | 1   0|  S  |              imm10                  | BL Instruction
+         * +----------+------+-----+-------------------------------------+
+         *
+         * lower_insn:
+         *
+         *  1   1   1   1   1   1
+         *  5   4   3   2   1   0   9   8   7   6   5   4   3   2   1   0
+         * +---+---------------------------------------------------------+
+         * |OP |                                                         | 32-Bit Instructions
+         * +---+--+---+---+---+------------------------------------------+
+         * |1   1 |J1 | 1 |J2 |                 imm11                    | BL Instruction
+         * +------+---+---+---+------------------------------------------+
+         *
+         * The branch target is encoded in these bits:
+         *
+         *   S     = upper_insn[10]
+         *   imm10 = upper_insn[0:9]
+         *   imm11 = lower_insn[0:10]
+         *   J1    = lower_insn[13]
+         *   J2    = lower_insn[11]
+         */
+
+        upper_insn = (uint32_t)(*(uint16_t*)addr);
+        lower_insn = (uint32_t)(*(uint16_t*)(addr + 2));
+
+        bvdbg("Performing THM_JUMP24 [%d] link at addr=%08lx [%04x %04x] to sym=%p st_value=%08lx\n",
+              ELF32_R_TYPE(rel->r_info), (long)addr, (int)upper_insn, (int)lower_insn,
+              sym, (long)sym->st_value);
+
+        /* Extract the 25-bit offset from the 32-bit instruction:
+         *
+         *   offset[24]    = S
+         *   offset[23]    = ~(J1 ^ S)
+         *   offset[22]    = ~(J2 ^ S)]
+         *   offset[12:21] = imm10
+         *   offset[1:11]  = imm11
+         *   offset[0]     = 0
+         */
+
+        S   = (upper_insn >> 10) & 1;
+        J1  = (lower_insn >> 13) & 1;
+        J2  = (lower_insn >> 11) & 1;
+
+        offset = (S << 24) |                       /* S -   > offset[24] */
+                 ((~(J1 ^ S) & 1) << 23) |         /* J1    -> offset[23] */
+                 ((~(J2 ^ S) & 1) << 22) |         /* J2    -> offset[22] */
+                 ((upper_insn & 0x03ff) << 12) |   /* imm10 -> offset[12:21] */
+                 ((lower_insn & 0x07ff) << 1);     /* imm11 -> offset[1:11] */
+                                                   /* 0     -> offset[0] */
+
+        /* Sign extend */
+
+        if (offset & 0x01000000)
+          {
+            offset -= 0x02000000;
+          }
+
+        /* And perform the relocation */
+
+        bvdbg("  S=%d J1=%d J2=%d offset=%08lx branch target=%08lx\n",
+              S, J1, J2, (long)offset, offset + sym->st_value - addr);
+
+        offset += sym->st_value - addr;
+
+        /* Is this a function symbol?  If so, then the branch target must be
+         * an odd Thumb address
+         */
+
+        if (ELF32_ST_TYPE(sym->st_info) == STT_FUNC && (offset & 1) == 0)
+          {
+            bdbg("  ERROR: JUMP24 [%d] requires odd offset, offset=%08lx\n",
+                 ELF32_R_TYPE(rel->r_info), offset);
+
+            return -EINVAL;
+          }
+
+        /* Check the range of the offset */
+
+        if (offset <= (int32_t)0xff000000 || offset >= (int32_t)0x01000000)
+          {
+            bdbg("  ERROR: JUMP24 [%d] relocation out of range, branch taget=%08lx\n",
+                 ELF32_R_TYPE(rel->r_info), offset);
+
+            return -EINVAL;
+          }
+
+        /* Now, reconstruct the 32-bit instruction using the new, relocated
+         * branch target.
+         */
+
+        S  = (offset >> 24) & 1;
+        J1 = S ^ (~(offset >> 23) & 1);
+        J2 = S ^ (~(offset >> 22) & 1);
+ 
+        upper_insn = ((upper_insn & 0xf800) | (S << 10) | ((offset >> 12) & 0x03ff));
+        *(uint16_t*)addr = (uint16_t)upper_insn;
+
+        lower_insn = ((lower_insn & 0xd000) | (J1 << 13) | (J2 << 11) | ((offset >> 1) & 0x07ff));
+        *(uint16_t*)(addr + 2) = (uint16_t)lower_insn;
+
+        bvdbg("  S=%d J1=%d J2=%d insn [%04x %04x]\n",
+              S, J1, J2, (int)upper_insn, (int)lower_insn);
+      }
+      break;
+
+    case R_ARM_V4BX:
+      {
+        bvdbg("Performing V4BX link at addr=%08lx [%08lx]\n",
+              (long)addr, (long)(*(uint32_t*)addr));
+
+         /* Preserve only Rm and the condition code */
+
+        *(uint32_t*)addr &= 0xf000000f;
+
+        /* Change instruction to 'mov pc, Rm' */
+
+        *(uint32_t*)addr |= 0x01a0f000;
+      }
+      break;
+
+    case R_ARM_PREL31:
+      {
+        bvdbg("Performing PREL31 link at addr=%08lx [%08lx] to sym=%p st_value=%08lx\n",
+              (long)addr, (long)(*(uint32_t*)addr), sym, (long)sym->st_value);
+
+        offset           = *(uint32_t*)addr + sym->st_value - addr;
+        *(uint32_t*)addr = offset & 0x7fffffff;
+      }
+      break;
+
+    case R_ARM_MOVW_ABS_NC:
+    case R_ARM_MOVT_ABS:
+      {
+        bvdbg("Performing MOVx_ABS [%d] link at addr=%08lx [%08lx] to sym=%p st_value=%08lx\n",
+              ELF32_R_TYPE(rel->r_info), (long)addr, (long)(*(uint32_t*)addr),
+              sym, (long)sym->st_value);
+
+        offset = *(uint32_t*)addr;
+        offset = ((offset & 0xf0000) >> 4) | (offset & 0xfff);
+        offset = (offset ^ 0x8000) - 0x8000;
+
+        offset += sym->st_value;
+        if (ELF32_R_TYPE(rel->r_info) == R_ARM_MOVT_ABS)
+          {
+            offset >>= 16;
+          }
+
+        *(uint32_t*)addr &= 0xfff0f000;
+        *(uint32_t*)addr |= ((offset & 0xf000) << 4) | (offset & 0x0fff);
+      }
+      break;
+
+    case R_ARM_THM_MOVW_ABS_NC:
+    case R_ARM_THM_MOVT_ABS:
+      {
+        /* Thumb BL and B.W instructions. Encoding:
+         *
+         * upper_insn:
+         *
+         *  1   1   1   1   1   1
+         *  5   4   3   2   1   0   9   8   7   6   5   4   3   2   1   0
+         * +----------+---+-------------------------------+--------------+
+         * |1   1   1 |OP1|     OP2                       |              | 32-Bit Instructions
+         * +----------+---+--+-----+----------------------+--------------+
+         * |1   1   1 | 1   0|  i  | 1  0   1   1   0   0 |    imm4      | MOVT Instruction
+         * +----------+------+-----+----------------------+--------------+
+         *
+         * lower_insn:
+         *
+         *  1   1   1   1   1   1
+         *  5   4   3   2   1   0   9   8   7   6   5   4   3   2   1   0
+         * +---+---------------------------------------------------------+
+         * |OP |                                                         | 32-Bit Instructions
+         * +---+----------+--------------+-------------------------------+
+         * |0  |   imm3   |      Rd      |            imm8               | MOVT Instruction
+         * +---+----------+--------------+-------------------------------+
+         *
+         * The 16-bit immediate value is encoded in these bits:
+         *
+         *   i    = imm16[11]    = upper_insn[10]
+         *   imm4 = imm16[12:15] = upper_insn[3:0]
+         *   imm3 = imm16[8:10]  = lower_insn[14:12]
+         *   imm8 = imm16[0:7]   = lower_insn[7:0]
+         */
+
+        upper_insn = (uint32_t)(*(uint16_t*)addr);
+        lower_insn = (uint32_t)(*(uint16_t*)(addr + 2));
+
+        bvdbg("Performing THM_MOVx [%d] link at addr=%08lx [%04x %04x] to sym=%p st_value=%08lx\n",
+              ELF32_R_TYPE(rel->r_info), (long)addr, (int)upper_insn, (int)lower_insn,
+              sym, (long)sym->st_value);
+
+        /* Extract the 16-bit offset from the 32-bit instruction */
+
+        offset = ((upper_insn & 0x000f) << 12) | /* imm4 -> imm16[8:10] */
+                 ((upper_insn & 0x0400) << 1) |  /* i    -> imm16[11] */
+                 ((lower_insn & 0x7000) >> 4) |  /* imm3 -> imm16[8:10] */
+                  (lower_insn & 0x00ff);         /* imm8 -> imm16[0:7] */
+
+        /* Sign extend */
+
+        offset = (offset ^ 0x8000) - 0x8000;
+
+        /* And perform the relocation */
+
+        bvdbg("  offset=%08lx branch target=%08lx\n",
+              (long)offset, offset + sym->st_value);
+
+        offset += sym->st_value;
+
+        /* Update the immediate value in the instruction.  For MOVW we want the bottom
+         * 16-bits; for MOVT we want the top 16-bits.
+         */
+
+        if (ELF32_R_TYPE(rel->r_info) == R_ARM_THM_MOVT_ABS)
+          {
+            offset >>= 16;
+          }
+
+        upper_insn = ((upper_insn & 0xfbf0) | ((offset & 0xf000) >> 12) | ((offset & 0x0800) >> 1));
+        *(uint16_t*)addr = (uint16_t)upper_insn;
+
+        lower_insn = ((lower_insn & 0x8f00) | ((offset & 0x0700) << 4) | (offset & 0x00ff));
+        *(uint16_t*)(addr + 2) = (uint16_t)lower_insn;
+
+        bvdbg("  insn [%04x %04x]\n",
+             (int)upper_insn, (int)lower_insn);
+      }
+      break;
+
+    default:
+      bdbg("Unsupported relocation: %d\n", ELF32_R_TYPE(rel->r_info));
+      return -EINVAL;
+    }
+
+  return OK;
+}
+
+int arch_relocateadd(FAR const Elf32_Rela *rel, FAR const Elf32_Sym *sym,
+                     uintptr_t addr)
+{
+  bdbg("RELA relocation not supported\n");
+  return -ENOSYS;
+}
+
diff --git a/nuttx/arch/arm/src/armv7-m/up_exception.S b/nuttx/arch/arm/src/armv7-m/up_exception.S
index 31d8dbb0c..c9f216027 100644
--- a/nuttx/arch/arm/src/armv7-m/up_exception.S
+++ b/nuttx/arch/arm/src/armv7-m/up_exception.S
@@ -134,9 +134,9 @@ exception_common:
 
 #if CONFIG_ARCH_INTERRUPTSTACK > 3
 	ldr		sp, =g_intstackbase
-	push	r1						/* Save the MSP on the interrupt stack */
+	push	{r1}					/* Save the MSP on the interrupt stack */
 	bl		up_doirq				/* R0=IRQ, R1=register save area on stack */
-	pop		r1						/* Recover R1=main stack pointer */
+	pop		{r1}					/* Recover R1=main stack pointer */
 #else
 	msr	 msp, r1					/* We are using the main stack pointer */
 	bl		up_doirq				/* R0=IRQ, R1=register save area on stack */
diff --git a/nuttx/arch/arm/src/armv7-m/up_hardfault.c b/nuttx/arch/arm/src/armv7-m/up_hardfault.c
index cb3ce9e8a..c30015ad2 100644
--- a/nuttx/arch/arm/src/armv7-m/up_hardfault.c
+++ b/nuttx/arch/arm/src/armv7-m/up_hardfault.c
@@ -57,9 +57,7 @@
 
 /* Debug output from this file may interfere with context switching! */
 
-#undef DEBUG_HARDFAULTS         /* Define to debug hard faults */
-
-#ifdef DEBUG_HARDFAULTS
+#ifdef CONFIG_DEBUG_HARDFAULT
 # define hfdbg(format, arg...) lldbg(format, ##arg)
 #else
 # define hfdbg(x...)
diff --git a/nuttx/arch/arm/src/armv7-m/up_memcpy.S b/nuttx/arch/arm/src/armv7-m/up_memcpy.S
new file mode 100644
index 000000000..a154cab61
--- /dev/null
+++ b/nuttx/arch/arm/src/armv7-m/up_memcpy.S
@@ -0,0 +1,416 @@
+/************************************************************************************
+ * nuttx/arch/arm/src/armv7-m/up_memcpy.S
+ *
+ * armv7m-optimised memcpy, contributed by Mike Smith.  Apparently in the public
+ * domain and is re-released here under the modified BSD license:
+ *
+ * Obtained via a posting on the Stellaris forum:
+ *  http://e2e.ti.com/support/microcontrollers/\
+ *       stellaris_arm_cortex-m3_microcontroller/f/473/t/44360.aspx
+ *
+ * Posted by rocksoft on Jul 24, 2008 10:19 AM
+ *
+ *   Hi,
+ *
+ *   I recently finished a "memcpy" replacement and thought it might be useful for
+ *   others...
+ *
+ *   I've put some instructions and the code here:
+ *
+ *   http://www.rock-software.net/downloads/memcpy/
+ *
+ *   Hope it works for you as well as it did for me.
+ *
+ *   Liam.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ************************************************************************************/
+
+/************************************************************************************
+ * Global Symbols
+ ************************************************************************************/
+
+	.global		memcpy
+
+	.syntax		unified
+	.thumb
+	.cpu		cortex-m3
+	.file		"up_memcpy.S"
+
+/************************************************************************************
+ * .text
+ ************************************************************************************/
+
+	.text
+
+/************************************************************************************
+ * Private Constant Data
+ ************************************************************************************/
+
+/* We have 16 possible alignment combinations of src and dst, this jump table
+ * directs the copy operation
+ *
+ * Bits:  Src=00, Dst=00 - Long to Long copy
+ * Bits:  Src=00, Dst=01 - Long to Byte before half word
+ * Bits:  Src=00, Dst=10 - Long to Half word
+ * Bits:  Src=00, Dst=11 - Long to Byte before long word
+ * Bits:  Src=01, Dst=00 - Byte before half word to long
+ * Bits:  Src=01, Dst=01 - Byte before half word to byte before half word -
+ *                         Same alignment
+ * Bits:  Src=01, Dst=10 - Byte before half word to half word
+ * Bits:  Src=01, Dst=11 - Byte before half word to byte before long word
+ * Bits:  Src=10, Dst=00 - Half word to long word
+ * Bits:  Src=10, Dst=01 - Half word to byte before half word
+ * Bits:  Src=10, Dst=10 - Half word to half word - Same Alignment
+ * Bits:  Src=10, Dst=11 - Half word to byte before long word
+ * Bits:  Src=11, Dst=00 - Byte before long word to long word
+ * Bits:  Src=11, Dst=01 - Byte before long word to byte before half word
+ * Bits:  Src=11, Dst=11 - Byte before long word to half word
+ * Bits:  Src=11, Dst=11 - Byte before long word to Byte before long word -
+ *                         Same alignment
+ */
+
+MEM_DataCopyTable:
+	.byte	(MEM_DataCopy0 - MEM_DataCopyJump) >> 1
+	.byte	(MEM_DataCopy1 - MEM_DataCopyJump) >> 1
+	.byte	(MEM_DataCopy2 - MEM_DataCopyJump) >> 1
+	.byte	(MEM_DataCopy3 - MEM_DataCopyJump) >> 1
+	.byte	(MEM_DataCopy4 - MEM_DataCopyJump) >> 1
+	.byte	(MEM_DataCopy5 - MEM_DataCopyJump) >> 1
+	.byte	(MEM_DataCopy6 - MEM_DataCopyJump) >> 1
+	.byte	(MEM_DataCopy7 - MEM_DataCopyJump) >> 1
+	.byte	(MEM_DataCopy8 - MEM_DataCopyJump) >> 1
+	.byte	(MEM_DataCopy9 - MEM_DataCopyJump) >> 1
+	.byte	(MEM_DataCopy10 - MEM_DataCopyJump) >> 1
+	.byte	(MEM_DataCopy11 - MEM_DataCopyJump) >> 1
+	.byte	(MEM_DataCopy12 - MEM_DataCopyJump) >> 1
+	.byte	(MEM_DataCopy13 - MEM_DataCopyJump) >> 1
+	.byte	(MEM_DataCopy14 - MEM_DataCopyJump) >> 1
+	.byte	(MEM_DataCopy15 - MEM_DataCopyJump) >> 1
+
+	.align 2
+
+MEM_LongCopyTable:
+	.byte	(MEM_LongCopyEnd - MEM_LongCopyJump) >> 1	/* 0 bytes left */
+	.byte	0					/* 4 bytes left */
+	.byte	(1 * 10) >> 1		/* 8 bytes left */
+	.byte	(2 * 10) >> 1		/* 12 bytes left */
+	.byte	(3 * 10) >> 1		/* 16 bytes left */
+	.byte	(4 * 10) >> 1		/* 20 bytes left */
+	.byte	(5 * 10) >> 1		/* 24 bytes left */
+	.byte	(6 * 10) >> 1		/* 28 bytes left */
+	.byte	(7 * 10) >> 1		/* 32 bytes left */
+	.byte	(8 * 10) >> 1		/* 36 bytes left */
+
+	.align 2
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+/************************************************************************************
+ * Name: memcpy
+ *
+ * Description:
+ *   Optimised "general" copy routine
+ *
+ * Input Parameters:
+ *   r0 = destination, r1 = source, r2 = length
+ *
+ ************************************************************************************/
+
+	.thumb_func
+memcpy:
+	push	{r14}
+
+	/* This allows the inner workings to "assume" a minimum amount of bytes */
+	/* Quickly check for very short copies */
+
+	cmp		r2, #4
+	blt		MEM_DataCopyBytes
+
+	and		r14, r0, #3		 		/* Get destination alignment bits */
+	bfi		r14, r1, #2, #2	 		/* Get source alignment bits */
+	ldr		r3, =MEM_DataCopyTable	/* Jump table base */
+	tbb		[r3, r14]		   		/* Perform jump on src/dst alignment bits */
+MEM_DataCopyJump:
+
+	.align 4
+
+/* Bits:  Src=01, Dst=01 - Byte before half word to byte before half word - Same alignment
+ * 3 bytes to read for long word aligning
+ */
+
+MEM_DataCopy5:
+	ldrb	r3, [r1], #0x01
+	strb	r3, [r0], #0x01
+	sub		r2, r2, #0x01
+
+/* Bits:  Src=10, Dst=10 - Half word to half word - Same Alignment
+ * 2 bytes to read for long word aligning
+ */
+
+MEM_DataCopy10:
+	ldrb	r3, [r1], #0x01
+	strb	r3, [r0], #0x01
+	sub		r2, r2, #0x01
+
+/* Bits:  Src=11, Dst=11 - Byte before long word to Byte before long word - Same alignment
+ * 1 bytes to read for long word aligning
+ */
+
+MEM_DataCopy15:
+	ldrb	r3, [r1], #0x01
+	strb	r3, [r0], #0x01
+	sub		r2, r2, #0x01
+
+/* Bits:  Src=00, Dst=00 - Long to Long copy */
+
+MEM_DataCopy0:
+	/* Save regs that may be used by memcpy */
+
+	push	{r4-r12}
+
+	/* Check for short word-aligned copy */
+
+	cmp		r2, #0x28
+	blt		MEM_DataCopy0_2
+
+	/* Bulk copy loop */
+
+MEM_DataCopy0_1:
+	ldmia	r1!, {r3-r12}
+	stmia	r0!, {r3-r12}
+	sub		r2, r2, #0x28
+	cmp		r2, #0x28
+	bge		MEM_DataCopy0_1
+
+	/* Copy remaining long words */
+
+MEM_DataCopy0_2:
+	/* Copy remaining long words */
+
+	ldr		r14, =MEM_LongCopyTable
+	lsr		r11, r2, #0x02
+	tbb		[r14, r11]
+
+	/* longword copy branch table anchor */
+
+MEM_LongCopyJump:
+	ldr.w	r3, [r1], #0x04		/* 4 bytes remain */
+	str.w	r3, [r0], #0x04
+	b		MEM_LongCopyEnd
+	ldmia.w	r1!, {r3-r4}		/* 8 bytes remain */
+	stmia.w	r0!, {r3-r4}
+	b		MEM_LongCopyEnd
+	ldmia.w	r1!, {r3-r5}		/* 12 bytes remain */
+	stmia.w	r0!, {r3-r5}
+	b		MEM_LongCopyEnd
+	ldmia.w	r1!, {r3-r6}		/* 16 bytes remain */
+	stmia.w	r0!, {r3-r6}
+	b		MEM_LongCopyEnd
+	ldmia.w	r1!, {r3-r7}		/* 20 bytes remain */
+	stmia.w	r0!, {r3-r7}
+	b		MEM_LongCopyEnd
+	ldmia.w	r1!, {r3-r8}		/* 24 bytes remain */
+	stmia.w	r0!, {r3-r8}
+	b		MEM_LongCopyEnd
+	ldmia.w	r1!, {r3-r9}		/* 28 bytes remain */
+	stmia.w	r0!, {r3-r9}
+	b		MEM_LongCopyEnd
+	ldmia.w	r1!, {r3-r10}		/* 32 bytes remain */
+	stmia.w	r0!, {r3-r10}
+	b		MEM_LongCopyEnd
+	ldmia.w	r1!, {r3-r11}		/* 36 bytes remain */
+	stmia.w	r0!, {r3-r11}
+
+MEM_LongCopyEnd:
+	pop		{r4-r12}
+	and		r2, r2, #0x03		/* All the longs have been copied */
+
+	/* Deal with up to 3 remaining bytes */
+
+MEM_DataCopyBytes:
+	/* Deal with up to 3 remaining bytes */
+
+	cmp		r2, #0x00
+	it		eq
+	popeq	{pc}
+	ldrb	r3, [r1], #0x01
+	strb	r3, [r0], #0x01
+	subs	r2, r2, #0x01
+	it		eq
+	popeq	{pc}
+	ldrb	r3, [r1], #0x01
+	strb	r3, [r0], #0x01
+	subs	r2, r2, #0x01
+	it		eq
+	popeq	{pc}
+	ldrb	r3, [r1], #0x01
+	strb	r3, [r0], #0x01
+	pop		{pc}
+
+ .align 4
+
+/* Bits:  Src=01, Dst=11 - Byte before half word to byte before long word
+ * 3 bytes to read for long word aligning the source
+ */
+
+MEM_DataCopy7:
+	ldrb	r3, [r1], #0x01
+	strb	r3, [r0], #0x01
+	sub		r2, r2, #0x01
+
+/* Bits:  Src=10, Dst=00 - Half word to long word
+ * 2 bytes to read for long word aligning the source
+ */
+
+MEM_DataCopy8:
+	ldrb	r3, [r1], #0x01
+	strb	r3, [r0], #0x01
+	sub		r2, r2, #0x01
+
+/* Bits:  Src=11, Dst=01 - Byte before long word to byte before half word
+ * 1 byte to read for long word aligning the source
+ */
+
+MEM_DataCopy13:
+	ldrb	r3, [r1], #0x01
+	strb	r3, [r0], #0x01
+	sub		r2, r2, #0x01
+
+/* Bits:  Src=00, Dst=10 - Long to Half word */
+
+MEM_DataCopy2:
+	cmp		r2, #0x28
+	blt		MEM_DataCopy2_1
+
+	/* Save regs */
+
+	push	{r4-r12}
+
+	/* Bulk copy loop */
+
+MEM_DataCopy2_2:
+	ldmia	r1!, {r3-r12}
+
+	strh	r3, [r0], #0x02
+
+	lsr		r3, r3, #0x10
+	bfi		r3, r4, #0x10, #0x10
+	lsr		r4, r4, #0x10
+	bfi		r4, r5, #0x10, #0x10
+	lsr		r5, r5, #0x10
+	bfi		r5, r6, #0x10, #0x10
+	lsr		r6, r6, #0x10
+	bfi		r6, r7, #0x10, #0x10
+	lsr		r7, r7, #0x10
+	bfi		r7, r8, #0x10, #0x10
+	lsr		r8, r8, #0x10
+	bfi		r8, r9, #0x10, #0x10
+	lsr		r9, r9, #0x10
+	bfi		r9, r10, #0x10, #0x10
+	lsr		r10, r10, #0x10
+	bfi		r10, r11, #0x10, #0x10
+	lsr		r11, r11, #0x10
+	bfi		r11, r12, #0x10, #0x10
+	stmia	r0!, {r3-r11}
+	lsr		r12, r12, #0x10
+	strh	r12, [r0], #0x02
+
+	sub		r2, r2, #0x28
+	cmp		r2, #0x28
+	bge		MEM_DataCopy2_2
+	pop		{r4-r12}
+
+MEM_DataCopy2_1: /* Read longs and write 2 x half words */
+	cmp		r2, #4
+	blt		MEM_DataCopyBytes
+	ldr		r3, [r1], #0x04
+	strh	r3, [r0], #0x02
+	lsr		r3, r3, #0x10
+	strh	r3, [r0], #0x02
+	sub		r2, r2, #0x04
+	b		MEM_DataCopy2
+
+/* Bits:  Src=01, Dst=00 - Byte before half word to long
+ * Bits:  Src=01, Dst=10 - Byte before half word to half word
+ * 3 bytes to read for long word aligning the source
+ */
+
+MEM_DataCopy4:
+MEM_DataCopy6:
+	/* Read B and write B */
+
+	ldrb	r3, [r1], #0x01
+	strb	r3, [r0], #0x01
+	sub		r2, r2, #0x01
+
+/* Bits:  Src=10, Dst=01 - Half word to byte before half word
+ * Bits:  Src=10, Dst=11 - Half word to byte before long word
+ * 2 bytes to read for long word aligning the source
+ */
+
+MEM_DataCopy9:
+MEM_DataCopy11:
+	ldrb	r3, [r1], #0x01
+	strb	r3, [r0], #0x01
+	sub		r2, r2, #0x01
+
+/* Bits:  Src=11, Dst=00 -chm Byte before long word to long word
+ * Bits:  Src=11, Dst=11 - Byte before long word to half word
+ * 1 byte to read for long word aligning the source
+ */
+
+MEM_DataCopy12:
+MEM_DataCopy14:
+	/* Read B and write B */
+
+	ldrb	r3, [r1], #0x01
+	strb	r3, [r0], #0x01
+	sub		r2, r2, #0x01
+
+/* Bits:  Src=00, Dst=01 - Long to Byte before half word
+ * Bits:  Src=00, Dst=11 - Long to Byte before long word
+ */
+
+MEM_DataCopy1: /* Read longs, write B->H->B */
+MEM_DataCopy3:
+	cmp		r2, #4
+	blt		MEM_DataCopyBytes
+	ldr		r3, [r1], #0x04
+	strb	r3, [r0], #0x01
+	lsr		r3, r3, #0x08
+	strh	r3, [r0], #0x02
+	lsr		r3, r3, #0x10
+	strb	r3, [r0], #0x01
+	sub		r2, r2, #0x04
+	b		MEM_DataCopy3
+
+	.size	memcpy, .-memcpy
+	.end
diff --git a/nuttx/lib/string/lib_memset.c b/nuttx/arch/arm/src/common/arm-elf.h
index 916351b97..fac387b11 100644
--- a/nuttx/lib/string/lib_memset.c
+++ b/nuttx/arch/arm/src/common/arm-elf.h
@@ -1,7 +1,7 @@
-/************************************************************
- * lib/string/lib_memset.c
+/****************************************************************************
+ * arch/arm/src/common/arm-elf.h
  *
- *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -31,29 +31,23 @@
  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  * POSSIBILITY OF SUCH DAMAGE.
  *
- ************************************************************/
+ ****************************************************************************/
 
-/************************************************************
- * Compilation Switches
- ************************************************************/
+#ifndef __ARCH_ARM_SRC_ARM_ELF_H
+#define __ARCH_ARM_SRC_ARM_ELF_H
 
-/************************************************************
+/****************************************************************************
  * Included Files
- ************************************************************/
+ ****************************************************************************/
 
 #include <nuttx/config.h>
-#include <sys/types.h>
-#include <string.h>
 
-/************************************************************
- * Global Functions
- ************************************************************/
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
 
-#ifndef CONFIG_ARCH_MEMSET
-void *memset(void *s, int c, size_t n)
-{
-  unsigned char *p = (unsigned char*)s;
-  while (n-- > 0) *p++ = c;
-  return s;
-}
-#endif
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+#endif /* __ARCH_ARM_SRC_ARM_ELF_H */
diff --git a/nuttx/arch/arm/src/stm32/Kconfig b/nuttx/arch/arm/src/stm32/Kconfig
index 2f9100236..99dde3209 100644
--- a/nuttx/arch/arm/src/stm32/Kconfig
+++ b/nuttx/arch/arm/src/stm32/Kconfig
@@ -34,6 +34,27 @@ config ARCH_CHIP_STM32F100RB
 	select STM32_STM32F10XX
 	select STM32_VALUELINE
 
+config ARCH_CHIP_STM32F100RC
+	bool "STM32F100RC"
+	select ARCH_CORTEXM3
+	select STM32_STM32F10XX
+	select STM32_VALUELINE
+	select STM32_HIGHDENSITY
+
+config ARCH_CHIP_STM32F100RD
+	bool "STM32F100RD"
+	select ARCH_CORTEXM3
+	select STM32_STM32F10XX
+	select STM32_VALUELINE
+	select STM32_HIGHDENSITY
+
+config ARCH_CHIP_STM32F100RE
+	bool "STM32F100RE"
+	select ARCH_CORTEXM3
+	select STM32_STM32F10XX
+	select STM32_VALUELINE
+	select STM32_HIGHDENSITY
+
 config ARCH_CHIP_STM32F100V8
 	bool "STM32F100V8"
 	select ARCH_CORTEXM3
@@ -46,6 +67,27 @@ config ARCH_CHIP_STM32F100VB
 	select STM32_STM32F10XX
 	select STM32_VALUELINE
 
+config ARCH_CHIP_STM32F100VC
+	bool "STM32F100VC"
+	select ARCH_CORTEXM3
+	select STM32_STM32F10XX
+	select STM32_VALUELINE
+	select STM32_HIGHDENSITY
+
+config ARCH_CHIP_STM32F100VD
+	bool "STM32F100VD"
+	select ARCH_CORTEXM3
+	select STM32_STM32F10XX
+	select STM32_VALUELINE
+	select STM32_HIGHDENSITY
+
+config ARCH_CHIP_STM32F100VE
+	bool "STM32F100VE"
+	select ARCH_CORTEXM3
+	select STM32_STM32F10XX
+	select STM32_VALUELINE
+	select STM32_HIGHDENSITY
+
 config ARCH_CHIP_STM32F103RET6
 	bool "STM32F103RET6"
 	select ARCH_CORTEXM3
@@ -108,7 +150,7 @@ config ARCH_CHIP_STM32F407VE
 
 config ARCH_CHIP_STM32F407VG
 	bool "STM32F407VG"
-	select ARCH_CORTEXM3
+	select ARCH_CORTEXM4
 	select STM32_STM32F40XX
 
 config ARCH_CHIP_STM32F407ZE
@@ -151,37 +193,10 @@ config STM32_STM32F20XX
 config STM32_STM32F40XX
 	bool
 
-choice
-	prompt "Toolchain Selection"
-	default STM32_CODESOURCERYW
-	depends on ARCH_CHIP_STM32
-
-config STM32_CODESOURCERYW
-	bool "CodeSourcery for Windows"
-
-config STM32_CODESOURCERYL
-	bool "CodeSourcery for Linux"
-
-config STM32_ATOLLIC_LITE
-	bool "Atollic Lite for Windows"
-
-config STM32_ATOLLIC_PRO
-	bool "Atollic Pro for Windows"
-
-config STM32_DEVKITARM
-	bool "DevkitARM (Windows)"
-
-config STM32_RAISONANCE
-	bool "STMicro Raisonance for Windows"
-
-config STM32_BUILDROOT
-	bool "NuttX buildroot (Cygwin or Linux)"
-
-endchoice
-
 config STM32_DFU
 	bool "DFU bootloader"
 	default n
+	depends on !STM32_VALUELINE
 	---help---
 		Configure and position code for use with the STMicro DFU bootloader.  Do
 		not select this option if you will load code using JTAG/SWM.
@@ -197,25 +212,13 @@ config STM32_ADC2
 	bool "ADC2"
 	default n
 	select STM32_ADC
+	depends on !STM32_VALUELINE
 
 config STM32_ADC3
 	bool "ADC3"
 	default n
 	select STM32_ADC
-
-config STM32_CRC
-	bool "CRC"
-	default n
-
-config STM32_DMA1
-	bool "DMA1"
-	default n
-	select ARCH_DMA
-
-config STM32_DMA2
-	bool "DMA2"
-	default n
-	select ARCH_DMA
+	depends on !STM32_VALUELINE
 
 config STM32_BKP
 	bool "BKP"
@@ -232,6 +235,7 @@ config STM32_CAN1
 	default n
 	select CAN
 	select STM32_CAN
+	depends on !STM32_VALUELINE
 
 config STM32_CAN2
 	bool "CAN2"
@@ -245,11 +249,31 @@ config STM32_CCMDATARAM
 	default n
 	depends on STM32_STM32F40XX
 
+config STM32_CEC
+	bool "CEC"
+	default n
+	depends on STM32_VALUELINE
+
+config STM32_CRC
+	bool "CRC"
+	default n
+
 config STM32_CRYP
 	bool "CRYP"
 	default n
 	depends on STM32_STM32F20XX || STM32_STM32F40XX
 
+config STM32_DMA1
+	bool "DMA1"
+	default n
+	select ARCH_DMA
+
+config STM32_DMA2
+	bool "DMA2"
+	default n
+	select ARCH_DMA
+	depends on !STM32_VALUELINE || (STM32_VALUELINE && STM32_HIGHDENSITY)
+
 config STM32_DAC1
 	bool "DAC1"
 	default n
@@ -274,7 +298,7 @@ config STM32_ETHMAC
 config STM32_FSMC
 	bool "FSMC"
 	default n
-	depends on !STM32_CONNECTIVITYLINE
+	depends on !STM32_CONNECTIVITYLINE && (STM32_HIGHDENSITY || STM32_STM32F20XX || STM32_STM32F40XX)
 
 config STM32_HASH
 	bool "HASH"
@@ -325,7 +349,7 @@ config STM32_RNG
 config STM32_SDIO
 	bool "SDIO"
 	default n
-	depends on !STM32_CONNECTIVITYLINE
+	depends on !STM32_CONNECTIVITYLINE && !STM32_VALUELINE
 
 config STM32_SPI1
 	bool "SPI1"
@@ -342,7 +366,7 @@ config STM32_SPI2
 config STM32_SPI3
 	bool "SPI3"
 	default n
-	depends on STM32_CONNECTIVITYLINE || STM32_STM32F20XX || STM32_STM32F40XX
+	depends on STM32_CONNECTIVITYLINE || STM32_STM32F20XX || STM32_STM32F40XX || (STM32_VALUELINE && STM32_HIGHDENSITY)
 	select SPI
 	select STM32_SPI
 
@@ -382,6 +406,7 @@ config STM32_TIM7
 config STM32_TIM8
 	bool "TIM8"
 	default n
+	depends on !STM32_VALUELINE
 
 config STM32_TIM9
 	bool "TIM9"
@@ -401,17 +426,32 @@ config STM32_TIM11
 config STM32_TIM12
 	bool "TIM12"
 	default n
-	depends on STM32_STM32F20XX || STM32_STM32F40XX
+	depends on STM32_STM32F20XX || STM32_STM32F40XX || STM32_VALUELINE
 
 config STM32_TIM13
 	bool "TIM13"
 	default n
-	depends on STM32_STM32F20XX || STM32_STM32F40XX
+	depends on STM32_STM32F20XX || STM32_STM32F40XX || STM32_VALUELINE
 
 config STM32_TIM14
 	bool "TIM14"
 	default n
-	depends on STM32_STM32F20XX || STM32_STM32F40XX
+	depends on STM32_STM32F20XX || STM32_STM32F40XX || STM32_VALUELINE
+
+config STM32_TIM15
+	bool "TIM15"
+	default n
+	depends on STM32_VALUELINE
+
+config STM32_TIM16
+	bool "TIM16"
+	default n
+	depends on STM32_VALUELINE
+
+config STM32_TIM17
+	bool "TIM17"
+	default n
+	depends on STM32_VALUELINE
 
 config STM32_USART1
 	bool "USART1"
@@ -447,7 +487,7 @@ config STM32_USART6
 config STM32_USB
 	bool "USB Device"
 	default n
-	depends on STM32_STM32F10XX
+	depends on STM32_STM32F10XX && !STM32_VALUELINE
 	select USBDEV
 
 config STM32_WWDG
@@ -475,6 +515,52 @@ config STM32_CAN
 menu "Alternate Pin Mapping"
 
 choice
+	prompt "CAN1 Alternate Pin Mappings"
+	depends on STM32_STM32F10XX && STM32_CAN1
+	default STM32_CAN1_NO_REMAP
+
+config STM32_CAN1_NO_REMAP
+	bool "No pin remapping"
+
+config STM32_CAN1_REMAP1
+	bool "CAN1 alternate pin remapping #1"
+
+config STM32_CAN1_REMAP2
+	bool "CAN1 alternate pin remapping #2"
+
+endchoice
+
+config STM32_CAN2_REMAP
+	bool "CAN2 Alternate Pin Mapping"
+	default n
+	depends on STM32_CONNECTIVITYLINE && STM32_CAN2
+
+config STM32_CEC_REMAP
+	bool "CEC Alternate Pin Mapping"
+	default n
+	depends on STM32_STM32F10XX && STM32_CEC
+
+config STM32_ETH_REMAP
+	bool "Ethernet Alternate Pin Mapping"
+	default n
+	depends on STM32_CONNECTIVITYLINE && STM32_ETHMAC
+
+config STM32_I2C1_REMAP
+	bool "I2C1 Alternate Pin Mapping"
+	default n
+	depends on STM32_STM32F10XX && STM32_I2C1
+
+config STM32_SPI1_REMAP
+	bool "SPI1 Alternate Pin Mapping"
+	default n
+	depends on STM32_STM32F10XX && STM32_SPI1
+
+config STM32_SPI3_REMAP
+	bool "SPI3 Alternate Pin Mapping"
+	default n
+	depends on STM32_STM32F10XX && STM32_SPI3 && !STM32_VALUELINE
+
+choice
 	prompt "TIM1 Alternate Pin Mappings"
 	depends on STM32_STM32F10XX && STM32_TIM1
 	default STM32_TIM1_NO_REMAP
@@ -530,6 +616,51 @@ config STM32_TIM4_REMAP
 	default n
 	depends on STM32_STM32F10XX && STM32_TIM4
 
+config STM32_TIM9_REMAP
+	bool "TIM9 Alternate Pin Mapping"
+	default n
+	depends on STM32_STM32F10XX && STM32_TIM9
+
+config STM32_TIM10_REMAP
+	bool "TIM10 Alternate Pin Mapping"
+	default n
+	depends on STM32_STM32F10XX && STM32_TIM10
+
+config STM32_TIM11_REMAP
+	bool "TIM11 Alternate Pin Mapping"
+	default n
+	depends on STM32_STM32F10XX && STM32_TIM11
+
+config STM32_TIM12_REMAP
+	bool "TIM12 Alternate Pin Mapping"
+	default n
+	depends on STM32_STM32F10XX && STM32_TIM12
+
+config STM32_TIM13_REMAP
+	bool "TIM13 Alternate Pin Mapping"
+	default n
+	depends on STM32_STM32F10XX && STM32_TIM13
+
+config STM32_TIM14_REMAP
+	bool "TIM14 Alternate Pin Mapping"
+	default n
+	depends on STM32_STM32F10XX && STM32_TIM14
+
+config STM32_TIM15_REMAP
+	bool "TIM15 Alternate Pin Mapping"
+	default n
+	depends on STM32_STM32F10XX && STM32_TIM15
+
+config STM32_TIM16_REMAP
+	bool "TIM16 Alternate Pin Mapping"
+	default n
+	depends on STM32_STM32F10XX && STM32_TIM16
+
+config STM32_TIM17_REMAP
+	bool "TIM17 Alternate Pin Mapping"
+	default n
+	depends on STM32_STM32F10XX && STM32_TIM17
+
 config STM32_USART1_REMAP
 	bool "USART1 Alternate Pin Mapping"
 	default n
@@ -556,48 +687,16 @@ config STM32_USART3_PARTIAL_REMAP
 
 endchoice
 
-config STM32_SPI1_REMAP
-	bool "SPI1 Alternate Pin Mapping"
-	default n
-	depends on STM32_STM32F10XX && STM32_SPI1
-
-config STM32_SPI3_REMAP
-	bool "SPI3 Alternate Pin Mapping"
-	default n
-	depends on STM32_STM32F10XX && STM32_SPI3
-
-config STM32_I2C1_REMAP
-	bool "I2C1 Alternate Pin Mapping"
-	default n
-	depends on STM32_STM32F10XX && STM32_I2C1
-
-choice
-	prompt "CAN1 Alternate Pin Mappings"
-	depends on STM32_STM32F10XX && STM32_CAN1
-	default STM32_CAN1_NO_REMAP
-
-config STM32_CAN1_NO_REMAP
-	bool "No pin remapping"
-
-config STM32_CAN1_REMAP1
-	bool "CAN1 alternate pin remapping #1"
-
-config STM32_CAN1_REMAP2
-	bool "CAN1 alternate pin remapping #2"
-
-endchoice
-
-config STM32_CAN2_REMAP
-	bool "CAN2 Alternate Pin Mapping"
-	default n
-	depends on STM32_CONNECTIVITYLINE && STM32_CAN2
+endmenu
 
-config STM32_ETH_REMAP
-	bool "Ethernet Alternate Pin Mapping"
+config STM32_FLASH_PREFETCH
+	bool "Enable FLASH Pre-fetch"
+	depends on STM32_STM32F20XX || STM32_STM32F40XX
 	default n
-	depends on STM32_CONNECTIVITYLINE && STM32_ETHMAC
-
-endmenu
+	---help---
+	Enable FLASH prefetch and F2 and F4 parts (FLASH pre-fetch is always enabled
+	on F1 parts).  Some early revisions of F4 parts do not support FLASH pre-fetch
+	properly and enabling this option may interfere with ADC accuracy.
 
 choice
 	prompt "JTAG Configuration"
@@ -636,9 +735,11 @@ config ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG
 config STM32_CCMEXCLUDE
 	bool "Exclude CCM SRAM from the heap"
 	depends on STM32_STM32F20XX || STM32_STM32F40XX
-	default y if  ARCH_DMA
+	default y if  ARCH_DMA || ELF
 	---help---
-		Exclude CCM SRAM from the HEAP because it cannot be used for DMA.
+		Exclude CCM SRAM from the HEAP because (1) it cannot be used for DMA
+		and (2) it appears to be impossible to execute ELF modules from CCM
+		RAM.
 
 config STM32_FSMC_SRAM
 	bool "External SRAM on FSMC"
@@ -663,6 +764,7 @@ config STM32_TIM1_PWM
 config STM32_TIM1_CHANNEL
 	int "TIM1 PWM Output Channel"
 	default 1
+	range 1 4
 	depends on STM32_TIM1_PWM
 	---help---
 		If TIM1 is enabled for PWM usage, you also need specifies the timer output
@@ -673,7 +775,7 @@ config STM32_TIM2_PWM
 	default n
 	depends on STM32_TIM2
 	---help---
-		Reserve timer 1 for use by PWM
+		Reserve timer 2 for use by PWM
 
 		Timer devices may be used for different purposes.  One special purpose is
 		to generate modulated outputs for such things as motor control.  If STM32_TIM2
@@ -683,6 +785,7 @@ config STM32_TIM2_PWM
 config STM32_TIM2_CHANNEL
 	int "TIM2 PWM Output Channel"
 	default 1
+	range 1 4
 	depends on STM32_TIM2_PWM
 	---help---
 		If TIM2 is enabled for PWM usage, you also need specifies the timer output
@@ -693,7 +796,7 @@ config STM32_TIM3_PWM
 	default n
 	depends on STM32_TIM3
 	---help---
-		Reserve timer 1 for use by PWM
+		Reserve timer 3 for use by PWM
 
 		Timer devices may be used for different purposes.  One special purpose is
 		to generate modulated outputs for such things as motor control.  If STM32_TIM3
@@ -703,6 +806,7 @@ config STM32_TIM3_PWM
 config STM32_TIM3_CHANNEL
 	int "TIM3 PWM Output Channel"
 	default 1
+	range 1 4
 	depends on STM32_TIM3_PWM
 	---help---
 		If TIM3 is enabled for PWM usage, you also need specifies the timer output
@@ -713,7 +817,7 @@ config STM32_TIM4_PWM
 	default n
 	depends on STM32_TIM4
 	---help---
-		Reserve timer 1 for use by PWM
+		Reserve timer 4 for use by PWM
 
 		Timer devices may be used for different purposes.  One special purpose is
 		to generate modulated outputs for such things as motor control.  If STM32_TIM4
@@ -723,6 +827,7 @@ config STM32_TIM4_PWM
 config STM32_TIM4_CHANNEL
 	int "TIM4 PWM Output Channel"
 	default 1
+	range 1 4
 	depends on STM32_TIM4_PWM
 	---help---
 		If TIM4 is enabled for PWM usage, you also need specifies the timer output
@@ -733,7 +838,7 @@ config STM32_TIM5_PWM
 	default n
 	depends on STM32_TIM5
 	---help---
-		Reserve timer 1 for use by PWM
+		Reserve timer 5 for use by PWM
 
 		Timer devices may be used for different purposes.  One special purpose is
 		to generate modulated outputs for such things as motor control.  If STM32_TIM5
@@ -743,6 +848,7 @@ config STM32_TIM5_PWM
 config STM32_TIM5_CHANNEL
 	int "TIM5 PWM Output Channel"
 	default 1
+	range 1 4
 	depends on STM32_TIM5_PWM
 	---help---
 		If TIM5 is enabled for PWM usage, you also need specifies the timer output
@@ -753,7 +859,7 @@ config STM32_TIM8_PWM
 	default n
 	depends on STM32_TIM8
 	---help---
-		Reserve timer 1 for use by PWM
+		Reserve timer 8 for use by PWM
 
 		Timer devices may be used for different purposes.  One special purpose is
 		to generate modulated outputs for such things as motor control.  If STM32_TIM8
@@ -763,6 +869,7 @@ config STM32_TIM8_PWM
 config STM32_TIM8_CHANNEL
 	int "TIM8 PWM Output Channel"
 	default 1
+	range 1 4
 	depends on STM32_TIM8_PWM
 	---help---
 		If TIM8 is enabled for PWM usage, you also need specifies the timer output
@@ -773,7 +880,7 @@ config STM32_TIM9_PWM
 	default n
 	depends on STM32_TIM9
 	---help---
-		Reserve timer 1 for use by PWM
+		Reserve timer 9 for use by PWM
 
 		Timer devices may be used for different purposes.  One special purpose is
 		to generate modulated outputs for such things as motor control.  If STM32_TIM9
@@ -783,6 +890,7 @@ config STM32_TIM9_PWM
 config STM32_TIM9_CHANNEL
 	int "TIM9 PWM Output Channel"
 	default 1
+	range 1 4
 	depends on STM32_TIM9_PWM
 	---help---
 		If TIM9 is enabled for PWM usage, you also need specifies the timer output
@@ -793,7 +901,7 @@ config STM32_TIM10_PWM
 	default n
 	depends on STM32_TIM10
 	---help---
-		Reserve timer 1 for use by PWM
+		Reserve timer 10 for use by PWM
 
 		Timer devices may be used for different purposes.  One special purpose is
 		to generate modulated outputs for such things as motor control.  If STM32_TIM10
@@ -803,6 +911,7 @@ config STM32_TIM10_PWM
 config STM32_TIM10_CHANNEL
 	int "TIM10 PWM Output Channel"
 	default 1
+	range 1 4
 	depends on STM32_TIM10_PWM
 	---help---
 		If TIM10 is enabled for PWM usage, you also need specifies the timer output
@@ -813,7 +922,7 @@ config STM32_TIM11_PWM
 	default n
 	depends on STM32_TIM11
 	---help---
-		Reserve timer 1 for use by PWM
+		Reserve timer 11 for use by PWM
 
 		Timer devices may be used for different purposes.  One special purpose is
 		to generate modulated outputs for such things as motor control.  If STM32_TIM11
@@ -823,6 +932,7 @@ config STM32_TIM11_PWM
 config STM32_TIM11_CHANNEL
 	int "TIM11 PWM Output Channel"
 	default 1
+	range 1 4
 	depends on STM32_TIM11_PWM
 	---help---
 		If TIM11 is enabled for PWM usage, you also need specifies the timer output
@@ -833,7 +943,7 @@ config STM32_TIM12_PWM
 	default n
 	depends on STM32_TIM12
 	---help---
-		Reserve timer 1 for use by PWM
+		Reserve timer 12 for use by PWM
 
 		Timer devices may be used for different purposes.  One special purpose is
 		to generate modulated outputs for such things as motor control.  If STM32_TIM12
@@ -843,6 +953,7 @@ config STM32_TIM12_PWM
 config STM32_TIM12_CHANNEL
 	int "TIM12 PWM Output Channel"
 	default 1
+	range 1 4
 	depends on STM32_TIM12_PWM
 	---help---
 		If TIM12 is enabled for PWM usage, you also need specifies the timer output
@@ -853,7 +964,7 @@ config STM32_TIM13_PWM
 	default n
 	depends on STM32_TIM13
 	---help---
-		Reserve timer 1 for use by PWM
+		Reserve timer 13 for use by PWM
 
 		Timer devices may be used for different purposes.  One special purpose is
 		to generate modulated outputs for such things as motor control.  If STM32_TIM13
@@ -863,6 +974,7 @@ config STM32_TIM13_PWM
 config STM32_TIM13_CHANNEL
 	int "TIM13 PWM Output Channel"
 	default 1
+	range 1 4
 	depends on STM32_TIM13_PWM
 	---help---
 		If TIM13 is enabled for PWM usage, you also need specifies the timer output
@@ -873,7 +985,7 @@ config STM32_TIM14_PWM
 	default n
 	depends on STM32_TIM14
 	---help---
-		Reserve timer 1 for use by PWM
+		Reserve timer 14 for use by PWM
 
 		Timer devices may be used for different purposes.  One special purpose is
 		to generate modulated outputs for such things as motor control.  If STM32_TIM14
@@ -883,11 +995,75 @@ config STM32_TIM14_PWM
 config STM32_TIM14_CHANNEL
 	int "TIM14 PWM Output Channel"
 	default 1
+	range 1 4
 	depends on STM32_TIM14_PWM
 	---help---
 		If TIM14 is enabled for PWM usage, you also need specifies the timer output
 		channel {1,..,4}
 
+config STM32_TIM15_PWM
+	bool "TIM15 PWM"
+	default n
+	depends on STM32_TIM15
+	---help---
+		Reserve timer 15 for use by PWM
+
+		Timer devices may be used for different purposes.  One special purpose is
+		to generate modulated outputs for such things as motor control.  If STM32_TIM15
+		is defined then THIS following may also be defined to indicate that
+		the timer is intended to be used for pulsed output modulation.
+
+config STM32_TIM15_CHANNEL
+	int "TIM15 PWM Output Channel"
+	default 1
+	range 1 2
+	depends on STM32_TIM15_PWM
+	---help---
+		If TIM15 is enabled for PWM usage, you also need specifies the timer output
+		channel {1,2}
+
+config STM32_TIM16_PWM
+	bool "TIM16 PWM"
+	default n
+	depends on STM32_TIM16
+	---help---
+		Reserve timer 16 for use by PWM
+
+		Timer devices may be used for different purposes.  One special purpose is
+		to generate modulated outputs for such things as motor control.  If STM32_TIM16
+		is defined then THIS following may also be defined to indicate that
+		the timer is intended to be used for pulsed output modulation.
+
+config STM32_TIM16_CHANNEL
+	int "TIM16 PWM Output Channel"
+	default 1
+	range 1 1
+	depends on STM32_TIM16_PWM
+	---help---
+		If TIM16 is enabled for PWM usage, you also need specifies the timer output
+		channel {1}
+
+config STM32_TIM17_PWM
+	bool "TIM17 PWM"
+	default n
+	depends on STM32_TIM17
+	---help---
+		Reserve timer 17 for use by PWM
+
+		Timer devices may be used for different purposes.  One special purpose is
+		to generate modulated outputs for such things as motor control.  If STM32_TIM17
+		is defined then THIS following may also be defined to indicate that
+		the timer is intended to be used for pulsed output modulation.
+
+config STM32_TIM17_CHANNEL
+	int "TIM17 PWM Output Channel"
+	default 1
+	range 1 1
+	depends on STM32_TIM17_PWM
+	---help---
+		If TIM17 is enabled for PWM usage, you also need specifies the timer output
+		channel {1}
+
 config STM32_TIM1_ADC
 	bool "TIM1 ADC"
 	default n
@@ -909,16 +1085,22 @@ choice
 
 config STM32_TIM1_ADC1
 	bool "TIM1 ADC channel 1"
+	depends on STM32_ADC1
+	select HAVE_ADC1_TIMER
 	---help---
 		Reserve TIM1 to trigger ADC1
 
 config STM32_TIM1_ADC2
 	bool "TIM1 ADC channel 2"
+	depends on STM32_ADC2
+	select HAVE_ADC2_TIMER
 	---help---
 		Reserve TIM1 to trigger ADC2
 
 config STM32_TIM1_ADC3
 	bool "TIM1 ADC channel 3"
+	depends on STM32_ADC3
+	select HAVE_ADC3_TIMER
 	---help---
 		Reserve TIM1 to trigger ADC3
 
@@ -945,16 +1127,22 @@ choice
 
 config STM32_TIM2_ADC1
 	bool "TIM2 ADC channel 1"
+	depends on STM32_ADC1
+	select HAVE_ADC1_TIMER
 	---help---
 		Reserve TIM2 to trigger ADC1
 
 config STM32_TIM2_ADC2
 	bool "TIM2 ADC channel 2"
+	depends on STM32_ADC2
+	select HAVE_ADC2_TIMER
 	---help---
 		Reserve TIM2 to trigger ADC2
 
 config STM32_TIM2_ADC3
 	bool "TIM2 ADC channel 3"
+	depends on STM32_ADC3
+	select HAVE_ADC3_TIMER
 	---help---
 		Reserve TIM2 to trigger ADC3
 
@@ -981,16 +1169,22 @@ choice
 
 config STM32_TIM3_ADC1
 	bool "TIM3 ADC channel 1"
+	depends on STM32_ADC1
+	select HAVE_ADC1_TIMER
 	---help---
 		Reserve TIM3 to trigger ADC1
 
 config STM32_TIM3_ADC2
 	bool "TIM3 ADC channel 2"
+	depends on STM32_ADC2
+	select HAVE_ADC2_TIMER
 	---help---
 		Reserve TIM3 to trigger ADC2
 
 config STM32_TIM3_ADC3
 	bool "TIM3 ADC channel 3"
+	depends on STM32_ADC3
+	select HAVE_ADC3_TIMER
 	---help---
 		Reserve TIM3 to trigger ADC3
 
@@ -1017,16 +1211,22 @@ choice
 
 config STM32_TIM4_ADC1
 	bool "TIM4 ADC channel 1"
+	depends on STM32_ADC1
+	select HAVE_ADC1_TIMER
 	---help---
 		Reserve TIM4 to trigger ADC1
 
 config STM32_TIM4_ADC2
 	bool "TIM4 ADC channel 2"
+	depends on STM32_ADC2
+	select HAVE_ADC2_TIMER
 	---help---
 		Reserve TIM4 to trigger ADC2
 
 config STM32_TIM4_ADC3
 	bool "TIM4 ADC channel 3"
+	depends on STM32_ADC3
+	select HAVE_ADC3_TIMER
 	---help---
 		Reserve TIM4 to trigger ADC3
 
@@ -1053,16 +1253,22 @@ choice
 
 config STM32_TIM5_ADC1
 	bool "TIM5 ADC channel 1"
+	depends on STM32_ADC1
+	select HAVE_ADC1_TIMER
 	---help---
 		Reserve TIM5 to trigger ADC1
 
 config STM32_TIM5_ADC2
 	bool "TIM5 ADC channel 2"
+	depends on STM32_ADC2
+	select HAVE_ADC2_TIMER
 	---help---
 		Reserve TIM5 to trigger ADC2
 
 config STM32_TIM5_ADC3
 	bool "TIM5 ADC channel 3"
+	depends on STM32_ADC3
+	select HAVE_ADC3_TIMER
 	---help---
 		Reserve TIM5 to trigger ADC3
 
@@ -1089,21 +1295,81 @@ choice
 
 config STM32_TIM8_ADC1
 	bool "TIM8 ADC channel 1"
+	depends on STM32_ADC1
+	select HAVE_ADC1_TIMER
 	---help---
 		Reserve TIM8 to trigger ADC1
 
 config STM32_TIM8_ADC2
 	bool "TIM8 ADC channel 2"
+	depends on STM32_ADC2
+	select HAVE_ADC2_TIMER
 	---help---
 		Reserve TIM8 to trigger ADC2
 
 config STM32_TIM8_ADC3
 	bool "TIM8 ADC channel 3"
+	depends on STM32_ADC3
+	select HAVE_ADC3_TIMER
 	---help---
 		Reserve TIM8 to trigger ADC3
 
 endchoice
 
+config HAVE_ADC1_TIMER
+	bool
+
+config HAVE_ADC2_TIMER
+	bool
+
+config HAVE_ADC3_TIMER
+	bool
+
+config STM32_ADC1_SAMPLE_FREQUENCY
+	int "ADC1 Sampling Frequency"
+	default 100
+	depends on HAVE_ADC1_TIMER
+	---help---
+		ADC1 sampling frequency.  Default:  100Hz
+
+config STM32_ADC1_TIMTRIG
+	int "ADC1 Timer Trigger"
+	default 0
+	range 0 4
+	depends on HAVE_ADC1_TIMER
+	---help---
+		Values 0:CC1 1:CC2 2:CC3 3:CC4 4:TRGO
+
+config STM32_ADC2_SAMPLE_FREQUENCY
+	int "ADC2 Sampling Frequency"
+	default 100
+	depends on HAVE_ADC2_TIMER
+	---help---
+		ADC2 sampling frequency.  Default:  100Hz
+
+config STM32_ADC2_TIMTRIG
+	int "ADC2 Timer Trigger"
+	default 0
+	range 0 4
+	depends on HAVE_ADC2_TIMER
+	---help---
+		Values 0:CC1 1:CC2 2:CC3 3:CC4 4:TRGO
+
+config STM32_ADC3_SAMPLE_FREQUENCY
+	int "ADC3 Sampling Frequency"
+	default 100
+	depends on HAVE_ADC3_TIMER
+	---help---
+		ADC3 sampling frequency.  Default:  100Hz
+
+config STM32_ADC3_TIMTRIG
+	int "ADC3 Timer Trigger"
+	default 0
+	range 0 4
+	depends on HAVE_ADC3_TIMER
+	---help---
+		Values 0:CC1 1:CC2 2:CC3 3:CC4 4:TRGO
+
 config STM32_TIM1_DAC
 	bool "TIM1 DAC"
 	default n
@@ -1140,7 +1406,7 @@ config STM32_TIM2_DAC
 	default n
 	depends on STM32_TIM2 && STM32_DAC
 	---help---
-		Reserve timer 1 for use by DAC
+		Reserve timer 2 for use by DAC
 
 		Timer devices may be used for different purposes.  If STM32_TIM2 is
 		defined then the following may also be defined to indicate that the
@@ -1171,7 +1437,7 @@ config STM32_TIM3_DAC
 	default n
 	depends on STM32_TIM3 && STM32_DAC
 	---help---
-		Reserve timer 1 for use by DAC
+		Reserve timer 3 for use by DAC
 
 		Timer devices may be used for different purposes.  If STM32_TIM3 is
 		defined then the following may also be defined to indicate that the
@@ -1202,7 +1468,7 @@ config STM32_TIM4_DAC
 	default n
 	depends on STM32_TIM4 && STM32_DAC
 	---help---
-		Reserve timer 1 for use by DAC
+		Reserve timer 4 for use by DAC
 
 		Timer devices may be used for different purposes.  If STM32_TIM4 is
 		defined then the following may also be defined to indicate that the
@@ -1233,7 +1499,7 @@ config STM32_TIM5_DAC
 	default n
 	depends on STM32_TIM5 && STM32_DAC
 	---help---
-		Reserve timer 1 for use by DAC
+		Reserve timer 5 for use by DAC
 
 		Timer devices may be used for different purposes.  If STM32_TIM5 is
 		defined then the following may also be defined to indicate that the
@@ -1264,7 +1530,7 @@ config STM32_TIM6_DAC
 	default n
 	depends on STM32_TIM6 && STM32_DAC
 	---help---
-		Reserve timer 1 for use by DAC
+		Reserve timer 6 for use by DAC
 
 		Timer devices may be used for different purposes.  If STM32_TIM6 is
 		defined then the following may also be defined to indicate that the
@@ -1295,7 +1561,7 @@ config STM32_TIM7_DAC
 	default n
 	depends on STM32_TIM7 && STM32_DAC
 	---help---
-		Reserve timer 1 for use by DAC
+		Reserve timer 7 for use by DAC
 
 		Timer devices may be used for different purposes.  If STM32_TIM7 is
 		defined then the following may also be defined to indicate that the
@@ -1326,7 +1592,7 @@ config STM32_TIM8_DAC
 	default n
 	depends on STM32_TIM8 && STM32_DAC
 	---help---
-		Reserve timer 1 for use by DAC
+		Reserve timer 8 for use by DAC
 
 		Timer devices may be used for different purposes.  If STM32_TIM8 is
 		defined then the following may also be defined to indicate that the
@@ -1357,7 +1623,7 @@ config STM32_TIM9_DAC
 	default n
 	depends on STM32_TIM9 && STM32_DAC
 	---help---
-		Reserve timer 1 for use by DAC
+		Reserve timer 9 for use by DAC
 
 		Timer devices may be used for different purposes.  If STM32_TIM9 is
 		defined then the following may also be defined to indicate that the
@@ -1388,7 +1654,7 @@ config STM32_TIM10_DAC
 	default n
 	depends on STM32_TIM10 && STM32_DAC
 	---help---
-		Reserve timer 1 for use by DAC
+		Reserve timer 10 for use by DAC
 
 		Timer devices may be used for different purposes.  If STM32_TIM10 is
 		defined then the following may also be defined to indicate that the
@@ -1419,7 +1685,7 @@ config STM32_TIM11_DAC
 	default n
 	depends on STM32_TIM11 && STM32_DAC
 	---help---
-		Reserve timer 1 for use by DAC
+		Reserve timer 11 for use by DAC
 
 		Timer devices may be used for different purposes.  If STM32_TIM11 is
 		defined then the following may also be defined to indicate that the
@@ -1450,7 +1716,7 @@ config STM32_TIM12_DAC
 	default n
 	depends on STM32_TIM12 && STM32_DAC
 	---help---
-		Reserve timer 1 for use by DAC
+		Reserve timer 12 for use by DAC
 
 		Timer devices may be used for different purposes.  If STM32_TIM12 is
 		defined then the following may also be defined to indicate that the
@@ -1481,7 +1747,7 @@ config STM32_TIM13_DAC
 	default n
 	depends on STM32_TIM13 && STM32_DAC
 	---help---
-		Reserve timer 1 for use by DAC
+		Reserve timer 13 for use by DAC
 
 		Timer devices may be used for different purposes.  If STM32_TIM13 is
 		defined then the following may also be defined to indicate that the
@@ -1512,7 +1778,7 @@ config STM32_TIM14_DAC
 	default n
 	depends on STM32_TIM14 && STM32_DAC
 	---help---
-		Reserve timer 1 for use by DAC
+		Reserve timer 14 for use by DAC
 
 		Timer devices may be used for different purposes.  If STM32_TIM14 is
 		defined then the following may also be defined to indicate that the
@@ -1538,6 +1804,27 @@ config STM32_TIM14_DAC2
 
 endchoice
 
+menu "U[S]ART Configuration"
+	depends on STM32_USART1 || STM32_USART2 || STM32_USART3 || STM32_USART4 || STM32_USART5 || STM32_USART6
+
+config USART1_RS485
+	bool "RS-485 on USART1"
+	default n
+	depends on STM32_USART1
+	---help---
+		Enable RS-485 interface on USART1. Your board config will have to
+		provide GPIO_USART1_RS485_DIR pin definition. Currently it cannot be
+		used with USART1_RXDMA.
+
+config USART1_RS485_DIR_POLARITY
+	int "USART1 RS-485 DIR pin polarity"
+	default 1
+	range 0 1
+	depends on USART1_RS485
+	---help---
+		Polarity of DIR pin for RS-485 on USART1. Set to state on DIR pin which
+		enables TX (0 - low / nTXEN, 1 - high / TXEN).		
+
 config USART1_RXDMA
 	bool "USART1 Rx DMA"
 	default n
@@ -1545,6 +1832,24 @@ config USART1_RXDMA
 	---help---
 		In high data rate usage, Rx DMA may eliminate Rx overrun errors
 
+config USART2_RS485
+	bool "RS-485 on USART2"
+	default n
+	depends on STM32_USART2
+	---help---
+		Enable RS-485 interface on USART2. Your board config will have to
+		provide GPIO_USART2_RS485_DIR pin definition. Currently it cannot be
+		used with USART2_RXDMA.
+
+config USART2_RS485_DIR_POLARITY
+	int "USART2 RS-485 DIR pin polarity"
+	default 1
+	range 0 1
+	depends on USART2_RS485
+	---help---
+		Polarity of DIR pin for RS-485 on USART2. Set to state on DIR pin which
+		enables TX (0 - low / nTXEN, 1 - high / TXEN).
+
 config USART2_RXDMA
 	bool "USART2 Rx DMA"
 	default n
@@ -1552,6 +1857,24 @@ config USART2_RXDMA
 	---help---
 		In high data rate usage, Rx DMA may eliminate Rx overrun errors
 
+config USART3_RS485
+	bool "RS-485 on USART3"
+	default n
+	depends on STM32_USART3
+	---help---
+		Enable RS-485 interface on USART3. Your board config will have to
+		provide GPIO_USART3_RS485_DIR pin definition. Currently it cannot be
+		used with USART3_RXDMA.
+
+config USART3_RS485_DIR_POLARITY
+	int "USART3 RS-485 DIR pin polarity"
+	default 1
+	range 0 1
+	depends on USART3_RS485
+	---help---
+		Polarity of DIR pin for RS-485 on USART3. Set to state on DIR pin which
+		enables TX (0 - low / nTXEN, 1 - high / TXEN).
+
 config USART3_RXDMA
 	bool "USART3 Rx DMA"
 	default n
@@ -1559,6 +1882,24 @@ config USART3_RXDMA
 	---help---
 		In high data rate usage, Rx DMA may eliminate Rx overrun errors
 
+config UART4_RS485
+	bool "RS-485 on UART4"
+	default n
+	depends on STM32_UART4
+	---help---
+		Enable RS-485 interface on UART4. Your board config will have to
+		provide GPIO_UART4_RS485_DIR pin definition. Currently it cannot be
+		used with UART4_RXDMA.
+
+config UART4_RS485_DIR_POLARITY
+	int "UART4 RS-485 DIR pin polarity"
+	default 1
+	range 0 1
+	depends on UART4_RS485
+	---help---
+		Polarity of DIR pin for RS-485 on UART4. Set to state on DIR pin which
+		enables TX (0 - low / nTXEN, 1 - high / TXEN).
+
 config UART4_RXDMA
 	bool "UART4 Rx DMA"
 	default n
@@ -1566,6 +1907,24 @@ config UART4_RXDMA
 	---help---
 		In high data rate usage, Rx DMA may eliminate Rx overrun errors
 
+config UART5_RS485
+	bool "RS-485 on UART5"
+	default n
+	depends on STM32_UART5
+	---help---
+		Enable RS-485 interface on UART5. Your board config will have to
+		provide GPIO_UART5_RS485_DIR pin definition. Currently it cannot be
+		used with UART5_RXDMA.
+
+config UART5_RS485_DIR_POLARITY
+	int "UART5 RS-485 DIR pin polarity"
+	default 1
+	range 0 1
+	depends on UART5_RS485
+	---help---
+		Polarity of DIR pin for RS-485 on UART5. Set to state on DIR pin which
+		enables TX (0 - low / nTXEN, 1 - high / TXEN).
+
 config UART5_RXDMA
 	bool "UART5 Rx DMA"
 	default n
@@ -1573,6 +1932,24 @@ config UART5_RXDMA
 	---help---
 		In high data rate usage, Rx DMA may eliminate Rx overrun errors
 
+config USART6_RS485
+	bool "RS-485 on USART6"
+	default n
+	depends on STM32_USART6
+	---help---
+		Enable RS-485 interface on USART6. Your board config will have to
+		provide GPIO_USART6_RS485_DIR pin definition. Currently it cannot be
+		used with USART6_RXDMA.
+
+config USART6_RS485_DIR_POLARITY
+	int "USART6 RS-485 DIR pin polarity"
+	default 1
+	range 0 1
+	depends on USART6_RS485
+	---help---
+		Polarity of DIR pin for RS-485 on USART6. Set to state on DIR pin which
+		enables TX (0 - low / nTXEN, 1 - high / TXEN).
+
 config USART6_RXDMA
 	bool "USART6 Rx DMA"
 	default n
@@ -1589,6 +1966,8 @@ config SERIAL_TERMIOS
 		If this is not defined, then the terminal settings (baud, parity, etc).
 		are not configurable at runtime; serial streams cannot be flushed, etc..
 
+endmenu
+
 menu "SPI Configuration"
 	depends on STM32_SPI
 
@@ -1688,6 +2067,16 @@ config STM32_PHYADDR
 	---help---
 		The 5-bit address of the PHY on the board.  Default: 1
 
+config STM32_PHYINIT
+	bool "Board-specific PHY Initialization"
+	default n
+	---help---
+		Some boards require specialized initialization of the PHY before it can be used.
+		This may include such things as configuring GPIOs, resetting the PHY, etc.  If
+		STM32_PHYINIT is defined in the configuration then the board specific logic must
+		provide stm32_phyinitialize();  The STM32 Ethernet driver will call this function
+		one time before it first uses the PHY.
+
 config STM32_MII
 	bool "Use MII interface"
 	default n
@@ -1899,14 +2288,14 @@ config STM32_OTGFS_NPTXFIFO_SIZE
 	depends on USBHOST && STM32_OTGFS
 	---help---
 		Size of the non-periodic Tx FIFO in 32-bit words.  Default 96 (384 bytes)
- 
+
 config STM32_OTGFS_PTXFIFO_SIZE
 	int "Periodic Tx FIFO size"
 	default 128
 	depends on USBHOST && STM32_OTGFS
 	---help---
 		Size of the periodic Tx FIFO in 32-bit words.  Default 96 (384 bytes)
- 
+
 config STM32_OTGFS_DESCSIZE
 	int "Descriptor Size"
 	default 128
@@ -1920,14 +2309,14 @@ config STM32_OTGFS_SOFINTR
 	depends on USBHOST && STM32_OTGFS
 	---help---
 		Enable SOF interrupts.  Why would you ever want to do that?
- 
+
 config STM32_USBHOST_REGDEBUG
 	bool "Register-Level Debug"
 	default n
 	depends on USBHOST && STM32_OTGFS
 	---help---
 		Enable very low-level register access debug.  Depends on DEBUG.
- 
+
 config STM32_USBHOST_PKTDUMP
 	bool "Packet Dump Debug"
 	default n
diff --git a/nuttx/arch/arm/src/stm32/Make.defs b/nuttx/arch/arm/src/stm32/Make.defs
index 54067a168..baa751c7d 100644
--- a/nuttx/arch/arm/src/stm32/Make.defs
+++ b/nuttx/arch/arm/src/stm32/Make.defs
@@ -41,36 +41,40 @@ endif
 
 CMN_ASRCS	= up_saveusercontext.S up_fullcontextrestore.S up_switchcontext.S
 CMN_CSRCS	= up_assert.c up_blocktask.c up_copystate.c \
-		  up_createstack.c up_mdelay.c up_udelay.c up_exit.c \
-		  up_initialize.c up_initialstate.c up_interruptcontext.c \
-		  up_memfault.c up_modifyreg8.c up_modifyreg16.c up_modifyreg32.c \
-		  up_releasepending.c up_releasestack.c up_reprioritizertr.c \
-		  up_schedulesigaction.c up_sigdeliver.c up_systemreset.c \
-		  up_unblocktask.c up_usestack.c up_doirq.c up_hardfault.c up_svcall.c \
-		  up_stackcheck.c
+			  up_createstack.c up_mdelay.c up_udelay.c up_exit.c \
+			  up_initialize.c up_initialstate.c up_interruptcontext.c \
+			  up_memfault.c up_modifyreg8.c up_modifyreg16.c up_modifyreg32.c \
+			  up_releasepending.c up_releasestack.c up_reprioritizertr.c \
+			  up_schedulesigaction.c up_sigdeliver.c up_systemreset.c \
+			  up_unblocktask.c up_usestack.c up_doirq.c up_hardfault.c up_svcall.c \
+			  up_stackcheck.c
 
 ifeq ($(CONFIG_ARMV7M_CMNVECTOR),y)
 CMN_ASRCS	+= up_exception.S
 CMN_CSRCS	+= up_vectors.c
 endif
 
+ifeq ($(CONFIG_ARCH_MEMCPY),y)
+CMN_ASRCS	+= up_memcpy.S
+endif
+
 ifeq ($(CONFIG_DEBUG_STACK),y)
 CMN_CSRCS	+= up_checkstack.c
 endif
 
-ifeq ($(CONFIG_ARCH_FPU),y)
-CMN_ASRCS	+= up_fpu.S
+ifeq ($(CONFIG_ELF),y)
+CMN_CSRCS += up_elf.c
 endif
 
-ifeq ($(CONFIG_ARCH_MEMCPY),y)
-CMN_ASRCS	+= memcpy.S
+ifeq ($(CONFIG_ARCH_FPU),y)
+CMN_ASRCS	+= up_fpu.S
 endif
 
 CHIP_ASRCS	= 
 CHIP_CSRCS	= stm32_allocateheap.c stm32_start.c stm32_rcc.c stm32_lse.c \
-		  stm32_lsi.c stm32_gpio.c stm32_exti_gpio.c stm32_flash.c stm32_irq.c \
-		  stm32_timerisr.c stm32_dma.c stm32_lowputc.c stm32_serial.c \
-		  stm32_spi.c stm32_sdio.c stm32_tim.c stm32_i2c.c stm32_waste.c
+			  stm32_lsi.c stm32_gpio.c stm32_exti_gpio.c stm32_flash.c stm32_irq.c \
+			  stm32_timerisr.c stm32_dma.c stm32_lowputc.c stm32_serial.c \
+			  stm32_spi.c stm32_sdio.c stm32_tim.c stm32_i2c.c stm32_waste.c
 
 ifeq ($(CONFIG_USBDEV),y)
 ifeq ($(CONFIG_STM32_USB),y)
diff --git a/nuttx/arch/arm/src/stm32/chip/stm32_eth.h b/nuttx/arch/arm/src/stm32/chip/stm32_eth.h
index a4a109d01..92a229ccc 100644
--- a/nuttx/arch/arm/src/stm32/chip/stm32_eth.h
+++ b/nuttx/arch/arm/src/stm32/chip/stm32_eth.h
@@ -835,14 +835,6 @@ struct eth_rxdesc_s
  * Public Functions
  ****************************************************************************************************/
 
-#undef EXTERN
-#if defined(__cplusplus)
-#define EXTERN extern "C"
-extern "C" {
-#else
-#define EXTERN extern
-#endif
-
 #endif /* __ASSEMBLY__ */
 #endif /* STM32_NETHERNET > 0 */
 #endif /* __ARCH_ARM_SRC_STM32_CHIP_STM32_ETH_H */
diff --git a/nuttx/arch/arm/src/stm32/chip/stm32_flash.h b/nuttx/arch/arm/src/stm32/chip/stm32_flash.h
index c2e440923..d6fcecc11 100644
--- a/nuttx/arch/arm/src/stm32/chip/stm32_flash.h
+++ b/nuttx/arch/arm/src/stm32/chip/stm32_flash.h
@@ -110,6 +110,7 @@
 #  define FLASH_ACR_HLFCYA          (1 << 3)                /* FLASH half cycle access */
 #  define FLASH_ACR_PRTFBE          (1 << 4)                /* FLASH prefetch enable */
 #elif defined(CONFIG_STM32_STM32F20XX) || defined(CONFIG_STM32_STM32F40XX)
+#  define FLASH_ACR_PRFTEN          (1 << 8)                /* FLASH prefetch enable */
 #  define FLASH_ACR_ICEN            (1 << 9)                /* Bit 9: Instruction cache enable */
 #  define FLASH_ACR_DCEN            (1 << 10)               /* Bit 10: Data cache enable */
 #  define FLASH_ACR_ICRST           (1 << 11)               /* Bit 11: Instruction cache reset */
diff --git a/nuttx/arch/arm/src/stm32/chip/stm32f100_pinmap.h b/nuttx/arch/arm/src/stm32/chip/stm32f100_pinmap.h
index 01d6e1ce0..addef0265 100644
--- a/nuttx/arch/arm/src/stm32/chip/stm32f100_pinmap.h
+++ b/nuttx/arch/arm/src/stm32/chip/stm32f100_pinmap.h
@@ -6,6 +6,8 @@
  *   Copyright (C) 2012 Michael Smith. All Rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *           Uros Platise <uros.platise@isotel.eu>
+ *           Michael Smith
+ *           Freddie Chopin <freddie_chopin@op.pl>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -49,6 +51,87 @@
  * Pre-processor Definitions
  ************************************************************************************/
 
+/* Alternate Pin Functions: */
+
+/* ADC */
+
+#define GPIO_ADC1_IN0       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_ADC1_IN1       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_ADC1_IN2       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN2)
+#define GPIO_ADC1_IN3       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN3)
+#define GPIO_ADC1_IN4       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
+#define GPIO_ADC1_IN5       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
+#define GPIO_ADC1_IN6       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN6)
+#define GPIO_ADC1_IN7       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN7)
+#define GPIO_ADC1_IN8       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_ADC1_IN9       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_ADC1_IN10      (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN0)
+#define GPIO_ADC1_IN11      (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN1)
+#define GPIO_ADC1_IN12      (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN2)
+#define GPIO_ADC1_IN13      (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN3)
+#define GPIO_ADC1_IN14      (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN4)
+#define GPIO_ADC1_IN15      (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN5)
+
+/* CEC */
+#if defined(CONFIG_STM32_CEC_REMAP)
+#  define GPIO_CEC          (GPIO_ALT|GPIO_CNF_AFOD|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN10)
+#else
+#  define GPIO_CEC          (GPIO_ALT|GPIO_CNF_AFOD|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN8)
+#endif
+
+/* DAC
+ * Note from RM0041, 11.2: "Once the DAC channelx is enabled, the corresponding
+ * GPIO pin (PA4 or PA5) is automatically connected to the analog converter
+ * output (DAC_OUTx). In order to avoid parasitic consumption, the PA4 or PA5
+ * pin should first be configured to analog (AIN)."
+ */
+
+#define GPIO_DAC_OUT1       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
+#define GPIO_DAC_OUT2       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
+
+/* FSMC */
+
+/* TODO - VL devices in 100- and 144-pin packages have FSMC */
+
+/* I2C */
+
+#if defined(CONFIG_STM32_I2C1_REMAP)
+#  define GPIO_I2C1_SCL     (GPIO_ALT|GPIO_CNF_AFOD|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN8)
+#  define GPIO_I2C1_SDA     (GPIO_ALT|GPIO_CNF_AFOD|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN9)
+#else
+#  define GPIO_I2C1_SCL     (GPIO_ALT|GPIO_CNF_AFOD|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN6)
+#  define GPIO_I2C1_SDA     (GPIO_ALT|GPIO_CNF_AFOD|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN7)
+#endif
+#define GPIO_I2C1_SMBA      (GPIO_ALT|GPIO_CNF_INFLOAT|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN5)
+
+#define GPIO_I2C2_SCL       (GPIO_ALT|GPIO_CNF_AFOD|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_I2C2_SDA       (GPIO_ALT|GPIO_CNF_AFOD|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN11)
+#define GPIO_I2C2_SMBA      (GPIO_ALT|GPIO_CNF_INFLOAT|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN12)
+
+/* SPI */
+
+#if defined(CONFIG_STM32_SPI1_REMAP)
+#  define GPIO_SPI1_NSS     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN15)
+#  define GPIO_SPI1_SCK     (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN3)
+#  define GPIO_SPI1_MISO    (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN4)
+#  define GPIO_SPI1_MOSI    (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN5)
+#else
+#  define GPIO_SPI1_NSS     (GPIO_INPUT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTA|GPIO_PIN4)
+#  define GPIO_SPI1_SCK     (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTA|GPIO_PIN5)
+#  define GPIO_SPI1_MISO    (GPIO_INPUT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTA|GPIO_PIN6)
+#  define GPIO_SPI1_MOSI    (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTA|GPIO_PIN7)
+#endif
+
+#define GPIO_SPI2_NSS       (GPIO_INPUT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN12)
+#define GPIO_SPI2_SCK       (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN13)
+#define GPIO_SPI2_MISO      (GPIO_INPUT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN14)
+#define GPIO_SPI2_MOSI      (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN15)
+
+#define GPIO_SPI3_NSS       (GPIO_INPUT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTA|GPIO_PIN15)
+#define GPIO_SPI3_SCK       (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN3)
+#define GPIO_SPI3_MISO      (GPIO_INPUT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN4)
+#define GPIO_SPI3_MOSI      (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN5)
+
 /* TIMERS */
 
 #if defined(CONFIG_STM32_TIM1_FULL_REMAP)
@@ -186,6 +269,77 @@
 #  define GPIO_TIM4_CH4OUT  (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN9)
 #endif
 
+#define GPIO_TIM5_CH1IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_TIM5_CH1OUT    (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_TIM5_CH2IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_TIM5_CH2OUT    (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_TIM5_CH3IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN2)
+#define GPIO_TIM5_CH3OUT    (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTA|GPIO_PIN2)
+#define GPIO_TIM5_CH4IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN3)
+#define GPIO_TIM5_CH4OUT    (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTA|GPIO_PIN3)
+
+#if defined(CONFIG_STM32_TIM12_REMAP)
+#  define GPIO_TIM12_CH1IN  (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN12)
+#  define GPIO_TIM12_CH1OUT (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN12)
+#  define GPIO_TIM12_CH2IN  (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN13)
+#  define GPIO_TIM12_CH2OUT (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN13)
+#else
+#  define GPIO_TIM12_CH1IN  (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN4)
+#  define GPIO_TIM12_CH1OUT (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTC|GPIO_PIN4)
+#  define GPIO_TIM12_CH2IN  (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN5)
+#  define GPIO_TIM12_CH2OUT (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTC|GPIO_PIN5)
+#endif
+
+#if defined(CONFIG_STM32_TIM13_REMAP)
+#  define GPIO_TIM13_CH1IN  (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN0)
+#  define GPIO_TIM13_CH1OUT (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN0)
+#else
+#  define GPIO_TIM13_CH1IN  (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN8)
+#  define GPIO_TIM13_CH1OUT (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTC|GPIO_PIN8)
+#endif
+
+#if defined(CONFIG_STM32_TIM14_REMAP)
+#  define GPIO_TIM14_CH1IN  (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN1)
+#  define GPIO_TIM14_CH1OUT (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN1)
+#else
+#  define GPIO_TIM14_CH1IN  (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN9)
+#  define GPIO_TIM14_CH1OUT (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTC|GPIO_PIN9)
+#endif
+
+#if defined(CONFIG_STM32_TIM15_REMAP)
+#  define GPIO_TIM15_CH1IN  (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN14)
+#  define GPIO_TIM15_CH1OUT (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN14)
+#  define GPIO_TIM15_CH2IN  (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN15)
+#  define GPIO_TIM15_CH2OUT (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN15)
+#else
+#  define GPIO_TIM15_CH1IN  (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN2)
+#  define GPIO_TIM15_CH1OUT (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTA|GPIO_PIN2)
+#  define GPIO_TIM15_CH2IN  (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN3)
+#  define GPIO_TIM15_CH2OUT (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTA|GPIO_PIN3)
+#endif
+#define GPIO_TIM15_BKIN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN9)
+#define GPIO_TIM15_CH1N     (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN15)
+
+#if defined(CONFIG_STM32_TIM16_REMAP)
+#  define GPIO_TIM16_CH1IN  (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN6)
+#  define GPIO_TIM16_CH1OUT (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTA|GPIO_PIN6)
+#else
+#  define GPIO_TIM16_CH1IN  (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN8)
+#  define GPIO_TIM16_CH1OUT (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN8)
+#endif
+#define GPIO_TIM16_BKIN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5)
+#define GPIO_TIM16_CH1N     (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN6)
+
+#if defined(CONFIG_STM32_TIM17_REMAP)
+#  define GPIO_TIM17_CH1IN  (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN7)
+#  define GPIO_TIM17_CH1OUT (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTA|GPIO_PIN7)
+#else
+#  define GPIO_TIM17_CH1IN  (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN9)
+#  define GPIO_TIM17_CH1OUT (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN9)
+#endif
+#define GPIO_TIM17_BKIN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN10)
+#define GPIO_TIM17_CH1N     (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN7)
+
 /* USART */
 
 #if defined(CONFIG_STM32_USART1_REMAP)
@@ -230,38 +384,10 @@
 #  define GPIO_USART3_RTS   (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN14)
 #endif
 
-/* SPI */
-
-#if defined(CONFIG_STM32_SPI1_REMAP)
-#  define GPIO_SPI1_NSS     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN15)
-#  define GPIO_SPI1_SCK     (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN3)
-#  define GPIO_SPI1_MISO    (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN4)
-#  define GPIO_SPI1_MOSI    (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN5)
-#else
-#  define GPIO_SPI1_NSS     (GPIO_INPUT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTA|GPIO_PIN4)
-#  define GPIO_SPI1_SCK     (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTA|GPIO_PIN5)
-#  define GPIO_SPI1_MISO    (GPIO_INPUT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTA|GPIO_PIN6)
-#  define GPIO_SPI1_MOSI    (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTA|GPIO_PIN7)
-#endif
-
-#define GPIO_SPI2_NSS       (GPIO_INPUT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN12)
-#define GPIO_SPI2_SCK       (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN13)
-#define GPIO_SPI2_MISO      (GPIO_INPUT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN14)
-#define GPIO_SPI2_MOSI      (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN15)
-
-/* I2C */
-
-#if defined(CONFIG_STM32_I2C1_REMAP)
-#  define GPIO_I2C1_SCL     (GPIO_ALT|GPIO_CNF_AFOD|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN8)
-#  define GPIO_I2C1_SDA     (GPIO_ALT|GPIO_CNF_AFOD|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN9)
-#else
-#  define GPIO_I2C1_SCL     (GPIO_ALT|GPIO_CNF_AFOD|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN6)
-#  define GPIO_I2C1_SDA     (GPIO_ALT|GPIO_CNF_AFOD|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN7)
-#endif
-#define GPIO_I2C1_SMBA    (GPIO_ALT|GPIO_CNF_INFLOAT|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN5)
+#define GPIO_UART4_TX       (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTC|GPIO_PIN10)
+#define GPIO_UART4_RX       (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN11)
 
-#define GPIO_I2C2_SCL     (GPIO_ALT|GPIO_CNF_AFOD|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN10)
-#define GPIO_I2C2_SDA     (GPIO_ALT|GPIO_CNF_AFOD|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN11)
-#define GPIO_I2C2_SMBA    (GPIO_ALT|GPIO_CNF_INFLOAT|GPIO_MODE_50MHz|GPIO_PORTB|GPIO_PIN12)
+#define GPIO_UART5_TX       (GPIO_ALT|GPIO_CNF_AFPP|GPIO_MODE_50MHz|GPIO_PORTC|GPIO_PIN12)
+#define GPIO_UART5_RX       (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTD|GPIO_PIN2)
 
 #endif /* __ARCH_ARM_SRC_STM32_CHIP_STM32F100_PINMAP_H */
diff --git a/nuttx/arch/arm/src/stm32/chip/stm32f103vc_pinmap.h b/nuttx/arch/arm/src/stm32/chip/stm32f103vc_pinmap.h
index 160676802..52a513215 100644
--- a/nuttx/arch/arm/src/stm32/chip/stm32f103vc_pinmap.h
+++ b/nuttx/arch/arm/src/stm32/chip/stm32f103vc_pinmap.h
@@ -129,7 +129,7 @@
 
 
 #if 0 /* Needs further investigation */
-#define GPIO_DAC_OUT1           (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUTz|GPIO_PORTA|GPIO_PIN4)
+#define GPIO_DAC_OUT1           (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
 #define GPIO_DAC_OUT2           (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
 #endif
 
diff --git a/nuttx/arch/arm/src/stm32/chip/stm32f103ze_pinmap.h b/nuttx/arch/arm/src/stm32/chip/stm32f103ze_pinmap.h
index 9bcee49f5..581b026a0 100644
--- a/nuttx/arch/arm/src/stm32/chip/stm32f103ze_pinmap.h
+++ b/nuttx/arch/arm/src/stm32/chip/stm32f103ze_pinmap.h
@@ -50,53 +50,53 @@
 
 /* ADC */
 
-#define GPIO_ADC1_IN0       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN0)
-#define GPIO_ADC1_IN1       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN1)
-#define GPIO_ADC1_IN2       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN2)
-#define GPIO_ADC1_IN3       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN3)
-#define GPIO_ADC1_IN4       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
-#define GPIO_ADC1_IN5       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
-#define GPIO_ADC1_IN6       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN6)
-#define GPIO_ADC1_IN7       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN7)
-#define GPIO_ADC1_IN8       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN0)
-#define GPIO_ADC1_IN9       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN1)
-#define GPIO_ADC1_IN10      (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN0)
-#define GPIO_ADC1_IN11      (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN1)
-#define GPIO_ADC1_IN12      (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN2)
-#define GPIO_ADC1_IN13      (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN3)
-#define GPIO_ADC1_IN14      (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN4)
-#define GPIO_ADC1_IN15      (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN5)
-
-#define GPIO_ADC2_IN0       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN0)
-#define GPIO_ADC2_IN1       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN1)
-#define GPIO_ADC2_IN2       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN2)
-#define GPIO_ADC2_IN3       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN3)
-#define GPIO_ADC2_IN4       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
-#define GPIO_ADC2_IN5       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
-#define GPIO_ADC2_IN6       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN6)
-#define GPIO_ADC2_IN7       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN7)
-#define GPIO_ADC2_IN8       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN0)
-#define GPIO_ADC2_IN9       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN1)
-#define GPIO_ADC2_IN10      (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN0)
-#define GPIO_ADC2_IN11      (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN1)
-#define GPIO_ADC2_IN12      (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN2)
-#define GPIO_ADC2_IN13      (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN3)
-#define GPIO_ADC2_IN14      (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN4)
-#define GPIO_ADC2_IN15      (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN5)
-
-#define GPIO_ADC3_IN0       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN0)
-#define GPIO_ADC3_IN1       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN1)
-#define GPIO_ADC3_IN2       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN2)
-#define GPIO_ADC3_IN3       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN3)
-#define GPIO_ADC3_IN4       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTF|GPIO_PIN6)
-#define GPIO_ADC3_IN5       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTF|GPIO_PIN7)
-#define GPIO_ADC3_IN6       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTF|GPIO_PIN8)
-#define GPIO_ADC3_IN7       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTF|GPIO_PIN9)
-#define GPIO_ADC3_IN8       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTF|GPIO_PIN10)
-#define GPIO_ADC3_IN10      (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN0)
-#define GPIO_ADC3_IN11      (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN1)
-#define GPIO_ADC3_IN12      (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN2)
-#define GPIO_ADC3_IN13      (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN3)
+#define GPIO_ADC1_IN0       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_ADC1_IN1       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_ADC1_IN2       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN2)
+#define GPIO_ADC1_IN3       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN3)
+#define GPIO_ADC1_IN4       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
+#define GPIO_ADC1_IN5       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
+#define GPIO_ADC1_IN6       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN6)
+#define GPIO_ADC1_IN7       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN7)
+#define GPIO_ADC1_IN8       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_ADC1_IN9       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_ADC1_IN10      (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN0)
+#define GPIO_ADC1_IN11      (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN1)
+#define GPIO_ADC1_IN12      (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN2)
+#define GPIO_ADC1_IN13      (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN3)
+#define GPIO_ADC1_IN14      (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN4)
+#define GPIO_ADC1_IN15      (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN5)
+
+#define GPIO_ADC2_IN0       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_ADC2_IN1       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_ADC2_IN2       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN2)
+#define GPIO_ADC2_IN3       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN3)
+#define GPIO_ADC2_IN4       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
+#define GPIO_ADC2_IN5       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
+#define GPIO_ADC2_IN6       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN6)
+#define GPIO_ADC2_IN7       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN7)
+#define GPIO_ADC2_IN8       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_ADC2_IN9       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_ADC2_IN10      (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN0)
+#define GPIO_ADC2_IN11      (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN1)
+#define GPIO_ADC2_IN12      (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN2)
+#define GPIO_ADC2_IN13      (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN3)
+#define GPIO_ADC2_IN14      (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN4)
+#define GPIO_ADC2_IN15      (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN5)
+
+#define GPIO_ADC3_IN0       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_ADC3_IN1       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_ADC3_IN2       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN2)
+#define GPIO_ADC3_IN3       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN3)
+#define GPIO_ADC3_IN4       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTF|GPIO_PIN6)
+#define GPIO_ADC3_IN5       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTF|GPIO_PIN7)
+#define GPIO_ADC3_IN6       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTF|GPIO_PIN8)
+#define GPIO_ADC3_IN7       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTF|GPIO_PIN9)
+#define GPIO_ADC3_IN8       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTF|GPIO_PIN10)
+#define GPIO_ADC3_IN10      (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN0)
+#define GPIO_ADC3_IN11      (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN1)
+#define GPIO_ADC3_IN12      (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN2)
+#define GPIO_ADC3_IN13      (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN3)
 
 /* DAC - "Once the DAC channelx is enabled, the corresponding GPIO pin
  * (PA4 or PA5) is automatically connected to the analog converter output
@@ -104,8 +104,8 @@
  * should first be configured to analog (AIN)."
  */
 
-#define GPIO_DAC_OUT1       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTF|GPIO_PIN10)
-#define GPIO_DAC_OUT2       (GPIO_ALT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PIN10)
+#define GPIO_DAC_OUT1       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
+#define GPIO_DAC_OUT2       (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
 
 /* TIMERS */
 
diff --git a/nuttx/arch/arm/src/stm32/chip/stm32f105vb_pinmap.h b/nuttx/arch/arm/src/stm32/chip/stm32f105vb_pinmap.h
index 7a5ec3381..054a7337d 100644
--- a/nuttx/arch/arm/src/stm32/chip/stm32f105vb_pinmap.h
+++ b/nuttx/arch/arm/src/stm32/chip/stm32f105vb_pinmap.h
@@ -85,7 +85,7 @@
 #endif
 
 #if 0 /* Needs further investigation */
-#define GPIO_DAC_OUT1           (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUTz|GPIO_PORTA|GPIO_PIN4)
+#define GPIO_DAC_OUT1           (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
 #define GPIO_DAC_OUT2           (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
 #endif
 
diff --git a/nuttx/arch/arm/src/stm32/chip/stm32f107vc_pinmap.h b/nuttx/arch/arm/src/stm32/chip/stm32f107vc_pinmap.h
index 9bbc21479..2419620fc 100644
--- a/nuttx/arch/arm/src/stm32/chip/stm32f107vc_pinmap.h
+++ b/nuttx/arch/arm/src/stm32/chip/stm32f107vc_pinmap.h
@@ -85,7 +85,7 @@
 #endif
 
 #if 0 /* Needs further investigation */
-#define GPIO_DAC_OUT1           (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUTz|GPIO_PORTA|GPIO_PIN4)
+#define GPIO_DAC_OUT1           (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
 #define GPIO_DAC_OUT2           (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
 #endif
 
diff --git a/nuttx/arch/arm/src/stm32/chip/stm32f10xxx_gpio.h b/nuttx/arch/arm/src/stm32/chip/stm32f10xxx_gpio.h
index a95d13100..d339fc15e 100644
--- a/nuttx/arch/arm/src/stm32/chip/stm32f10xxx_gpio.h
+++ b/nuttx/arch/arm/src/stm32/chip/stm32f10xxx_gpio.h
@@ -59,6 +59,7 @@
 #define STM32_AFIO_EXTICR2_OFFSET    0x000c  /* External interrupt configuration register 2 */
 #define STM32_AFIO_EXTICR3_OFFSET    0x0010  /* External interrupt configuration register 3 */
 #define STM32_AFIO_EXTICR4_OFFSET    0x0014  /* External interrupt configuration register 4 */
+#define STM32_AFIO_MAPR2_OFFSET      0x001c  /* AF remap and debug I/O configuration register 2 */
 
 /* Register Addresses ***************************************************************/
 
@@ -373,5 +374,27 @@
 #define AFIO_EXTICR4_EXTI15_SHIFT    (12)      /* Bits 15-12: EXTI 15 configuration */
 #define AFIO_EXTICR4_EXTI15_MASK     (AFIO_EXTICR_PORT_MASK << AFIO_EXTICR4_EXTI15_SHIFT)
 
+/* AF remap and debug I/O configuration register 2 */
+
+#ifdef CONFIG_STM32_VALUELINE
+#  define AFIO_MAPR2_TIM15_REMAP         (1 << 0)   /* Bit 0: TIM15 remapping */
+#  define AFIO_MAPR2_TIM16_REMAP         (1 << 1)   /* Bit 1: TIM16 remapping */
+#  define AFIO_MAPR2_TIM17_REMAP         (1 << 2)   /* Bit 2: TIM17 remapping */
+#  define AFIO_MAPR2_CEC_REMAP           (1 << 3)   /* Bit 3: CEC remapping */
+#  define AFIO_MAPR2_TIM1_DMA_REMAP      (1 << 4)   /* Bit 4: TIM1 DMA remapping */
+#else
+#  define AFIO_MAPR2_TIM9_REMAP          (1 << 5)   /* Bit 5: TIM9 remapping */
+#  define AFIO_MAPR2_TIM10_REMAP         (1 << 6)   /* Bit 6: TIM10 remapping */
+#  define AFIO_MAPR2_TIM11_REMAP         (1 << 7)   /* Bit 7: TIM11 remapping */
+#endif
+#define AFIO_MAPR2_TIM13_REMAP           (1 << 8)   /* Bit 8: TIM13 remapping */
+#define AFIO_MAPR2_TIM14_REMAP           (1 << 9)   /* Bit 9: TIM14 remapping */
+#define AFIO_MAPR2_FSMC_NADV             (1 << 10)  /* Bit 10: NADV connect/disconnect */
+#ifdef CONFIG_STM32_VALUELINE
+#  define AFIO_MAPR2_TIM67_DAC_DMA_REMAP (1 << 11)  /* Bit 11: TIM67_DAC DMA remapping */
+#  define AFIO_MAPR2_TIM12_REMAP         (1 << 12)  /* Bit 12: TIM12 remapping */
+#  define AFIO_MAPR2_MISC_REMAP          (1 << 13)  /* Bit 13: Miscellaneous features remapping */
+#endif
+
 #endif /* __ARCH_ARM_SRC_STM32_CHIP_STM32F10XXX_GPIO_H */
 
diff --git a/nuttx/arch/arm/src/stm32/chip/stm32f10xxx_memorymap.h b/nuttx/arch/arm/src/stm32/chip/stm32f10xxx_memorymap.h
index ed1bc2625..a1d2e26d3 100644
--- a/nuttx/arch/arm/src/stm32/chip/stm32f10xxx_memorymap.h
+++ b/nuttx/arch/arm/src/stm32/chip/stm32f10xxx_memorymap.h
@@ -60,7 +60,9 @@
 #define STM32_TIM5_BASE      0x40000c00     /* 0x40000c00 - 0x40000fff: TIM5 timer */
 #define STM32_TIM6_BASE      0x40001000     /* 0x40001000 - 0x400013ff: TIM6 timer */
 #define STM32_TIM7_BASE      0x40001400     /* 0x40001400 - 0x400007ff: TIM7 timer */
-                                            /* 0x40001800 - 0x40000fff: Reserved */
+#define STM32_TIM12_BASE     0x40001800     /* 0x40001800 - 0x40001bff: TIM12 timer */
+#define STM32_TIM13_BASE     0x40001c00     /* 0x40001c00 - 0x40001fff: TIM13 timer */
+#define STM32_TIM14_BASE     0x40002000     /* 0x40002000 - 0x400023ff: TIM14 timer */
 #define STM32_RTC_BASE       0x40002800     /* 0x40002800 - 0x40002bff: RTC */
 #define STM32_WWDG_BASE      0x40002c00     /* 0x40002C00 - 0x40002fff: Window watchdog (WWDG) */
 #define STM32_IWDG_BASE      0x40003000     /* 0x40003000 - 0x400033ff: Independent watchdog (IWDG) */
@@ -83,8 +85,8 @@
 #define STM32_BKP_BASE       0x40006c00     /* 0x40006c00 - 0x40006fff: Backup registers (BKP) */
 #define STM32_PWR_BASE       0x40007000     /* 0x40007000 - 0x400073ff: Power control PWR */
 #define STM32_DAC_BASE       0x40007400     /* 0x40007400 - 0x400077ff: DAC */
-                                            /* 0x40007800 - 0x4000ffff: Reserved */
-
+#define STM32_CEC_BASE       0x40007800     /* 0x40007800 - 0x40007bff: CEC */
+                                            /* 0x40007c00 - 0x4000ffff: Reserved */
 /* APB2 bus */
 
 #define STM32_AFIO_BASE      0x40010000     /* 0x40010000 - 0x400103ff: AFIO */
@@ -102,44 +104,49 @@
 #define STM32_SPI1_BASE      0x40013000     /* 0x40013000 - 0x400133ff: SPI1 */
 #define STM32_TIM8_BASE      0x40013400     /* 0x40013400 - 0x400137ff: TIM8 timer */
 #define STM32_USART1_BASE    0x40013800     /* 0x40013800 - 0x40013bff: USART1 */
-#define STM32_ADC3_BASE      0x40012800     /* 0x40012800 - 0x40013fff: ADC3 */
-                                            /* 0x40014000 - 0x40017fff: Reserved */
+#define STM32_ADC3_BASE      0x40012800     /* 0x40012800 - 0x40013c00: ADC3 */
+                                            /* 0x40013c00 - 0x40013fff: Reserved */
+#define STM32_TIM15_BASE     0x40014400     /* 0x40014400 - 0x400147ff: TIM15 */
+#define STM32_TIM16_BASE     0x40014400     /* 0x40014400 - 0x400147ff: TIM16 */
+#define STM32_TIM17_BASE     0x40014800     /* 0x40014800 - 0x40014bff: TIM17 */
+                                            /* 0x40014c00 - 0x4001ffff: Reserved */
+
 /* AHB bus */
 
-#define STM32_SDIO_BASE     0x40018000     /* 0x40018000 - 0x400183ff: SDIO  */
-                                           /* 0x40018400 - 0x40017fff: Reserved */
-#define STM32_DMA1_BASE     0x40020000     /* 0x40020000 - 0x400203ff: DMA1  */
-#define STM32_DMA2_BASE     0x40020400     /* 0x40020000 - 0x400207ff: DMA2  */
-                                           /* 0x40020800 - 0x40020fff: Reserved */
-#define STM32_RCC_BASE      0x40021000     /* 0x40021000 - 0x400213ff: Reset and Clock control RCC */
-                                           /* 0x40021400 - 0x40021fff:  Reserved */
-#define STM32_OTGFS_BASE    0x50000000     /* 0x50000000 - 0x500003ff: USB OTG FS */
-#define STM32_FLASHIF_BASE  0x40022000     /* 0x40022000 - 0x400223ff: Flash memory interface */
-#define STM32_CRC_BASE      0x40028000     /* 0x40023000 - 0x400233ff: CRC */
-                                           /* 0x40023400 - 0x40027fff: Reserved */
-#define STM32_ETHERNET_BASE 0x40028000     /* 0x40028000 - 0x40029fff: Ethernet */
-                                           /* 0x40030000 - 0x4fffffff: Reserved */
+#define STM32_SDIO_BASE      0x40018000     /* 0x40018000 - 0x400183ff: SDIO  */
+                                            /* 0x40018400 - 0x40017fff: Reserved */
+#define STM32_DMA1_BASE      0x40020000     /* 0x40020000 - 0x400203ff: DMA1  */
+#define STM32_DMA2_BASE      0x40020400     /* 0x40020000 - 0x400207ff: DMA2  */
+                                            /* 0x40020800 - 0x40020fff: Reserved */
+#define STM32_RCC_BASE       0x40021000     /* 0x40021000 - 0x400213ff: Reset and Clock control RCC */
+                                            /* 0x40021400 - 0x40021fff:  Reserved */
+#define STM32_OTGFS_BASE     0x50000000     /* 0x50000000 - 0x500003ff: USB OTG FS */
+#define STM32_FLASHIF_BASE   0x40022000     /* 0x40022000 - 0x400223ff: Flash memory interface */
+#define STM32_CRC_BASE       0x40028000     /* 0x40023000 - 0x400233ff: CRC */
+                                            /* 0x40023400 - 0x40027fff: Reserved */
+#define STM32_ETHERNET_BASE  0x40028000     /* 0x40028000 - 0x40029fff: Ethernet */
+                                            /* 0x40030000 - 0x4fffffff: Reserved */
 
 /* Peripheral BB base */
 
-#define STM32_PERIPHBB_BASE 0x42000000
+#define STM32_PERIPHBB_BASE  0x42000000
 
 /* Flexible SRAM controller (FSMC) */
 
-#define STM32_FSMC_BANK1    0x60000000     /* 0x60000000-0x6fffffff: 256Mb NOR/SRAM */
-#define STM32_FSMC_BANK2    0x70000000     /* 0x70000000-0x7fffffff: 256Mb NAND FLASH */
-#define STM32_FSMC_BANK3    0x80000000     /* 0x80000000-0x8fffffff: 256Mb  NAND FLASH */
-#define STM32_FSMC_BANK4    0x90000000     /* 0x90000000-0x9fffffff: 256Mb PC CARD*/
-#define STM32_IS_EXTSRAM(a) ((((uint32_t)(a)) & STM32_REGION_MASK) == STM32_FSMC_BANK1)
+#define STM32_FSMC_BANK1     0x60000000     /* 0x60000000-0x6fffffff: 256Mb NOR/SRAM */
+#define STM32_FSMC_BANK2     0x70000000     /* 0x70000000-0x7fffffff: 256Mb NAND FLASH */
+#define STM32_FSMC_BANK3     0x80000000     /* 0x80000000-0x8fffffff: 256Mb  NAND FLASH */
+#define STM32_FSMC_BANK4     0x90000000     /* 0x90000000-0x9fffffff: 256Mb PC CARD*/
+#define STM32_IS_EXTSRAM(a)  ((((uint32_t)(a)) & STM32_REGION_MASK) == STM32_FSMC_BANK1)
 
-#define STM32_FSMC_BASE     0xa0000000     /* 0xa0000000-0xbfffffff: 512Mb FSMC register block */
+#define STM32_FSMC_BASE      0xa0000000     /* 0xa0000000-0xbfffffff: 512Mb FSMC register block */
 
 /* Other registers -- see armv7-m/nvic.h for standard Cortex-M3 registers in this
  * address range
  */
 
-#define STM32_SCS_BASE      0xe000e000
-#define STM32_DEBUGMCU_BASE 0xe0042000
+#define STM32_SCS_BASE       0xe000e000
+#define STM32_DEBUGMCU_BASE  0xe0042000
 
 #endif /* __ARCH_ARM_SRC_STM32_CHIP_STM32F10XXX_MEMORYMAP_H */
 
diff --git a/nuttx/arch/arm/src/stm32/chip/stm32f10xxx_rcc.h b/nuttx/arch/arm/src/stm32/chip/stm32f10xxx_rcc.h
index 60365b921..1a792b7eb 100644
--- a/nuttx/arch/arm/src/stm32/chip/stm32f10xxx_rcc.h
+++ b/nuttx/arch/arm/src/stm32/chip/stm32f10xxx_rcc.h
@@ -163,7 +163,9 @@
 #  define RCC_CFGR_PLLMUL_CLKx14    (12 << RCC_CFGR_PLLMUL_SHIFT) /* 1100: PLL input clock x 14 */
 #  define RCC_CFGR_PLLMUL_CLKx15    (13 << RCC_CFGR_PLLMUL_SHIFT) /* 1101: PLL input clock x 15 */
 #  define RCC_CFGR_PLLMUL_CLKx16    (14 << RCC_CFGR_PLLMUL_SHIFT) /* 111x: PLL input clock x 16 */
-#define RCC_CFGR_USBPRE             (1 << 22) /* Bit 22: USB prescaler */
+#ifndef CONFIG_STM32_VALUELINE
+#  define RCC_CFGR_USBPRE           (1 << 22) /* Bit 22: USB prescaler */
+#endif
 #define RCC_CFGR_MCO_SHIFT          (24)      /* Bits 26-24: Microcontroller Clock Output */
 #define RCC_CFGR_MCO_MASK           (0x0f << RCC_CFGR_MCO_SHIFT)
 #  define RCC_CFGR_NOCLK            (0 << RCC_CFGR_MCO_SHIFT)  /* 0xx: No clock */
@@ -207,12 +209,22 @@
 #define TCC_APB2RSTR_IOPFRST        (1 << 7)  /* Bit 7: IO port F reset */
 #define TCC_APB2RSTR_IOPGRST        (1 << 8)  /* Bit 8: IO port G reset */
 #define RCC_APB2RSTR_ADC1RST        (1 << 9)  /* Bit 9: ADC 1 interface reset */
-#define RCC_APB2RSTR_ADC2RST        (1 << 10) /* Bit 10: ADC 2 interface reset */
+#ifndef CONFIG_STM32_VALUELINE
+#  define RCC_APB2RSTR_ADC2RST      (1 << 10) /* Bit 10: ADC 2 interface reset */
+#endif
 #define RCC_APB2RSTR_TIM1RST        (1 << 11) /* Bit 11: TIM1 Timer reset */
 #define RCC_APB2RSTR_SPI1RST        (1 << 12) /* Bit 12: SPI 1 reset */
-#define RCC_APB2RSTR_TIM8RST        (1 << 13) /* Bit 13: TIM8 Timer reset */
+#ifndef CONFIG_STM32_VALUELINE
+#  define RCC_APB2RSTR_TIM8RST      (1 << 13) /* Bit 13: TIM8 Timer reset */
+#endif
 #define RCC_APB2RSTR_USART1RST      (1 << 14) /* Bit 14: USART1 reset */
-#define RCC_APB2RSTR_ADC3RST        (1 << 15) /* Bit 15: ADC3 interface reset */
+#ifndef CONFIG_STM32_VALUELINE
+#  define RCC_APB2RSTR_ADC3RST      (1 << 15) /* Bit 15: ADC3 interface reset */
+#else
+#  define RCC_APB2RSTR_TIM15RST     (1 << 16) /* Bit 16: TIM15 reset */
+#  define RCC_APB2RSTR_TIM16RST     (1 << 17) /* Bit 17: TIM16 reset */
+#  define RCC_APB2RSTR_TIM17RST     (1 << 18) /* Bit 18: TIM17 reset */
+#endif
 
 /* APB1 Peripheral reset register */
 
@@ -222,6 +234,11 @@
 #define RCC_APB1RSTR_TIM5RST        (1 << 3)  /* Bit 3: Timer 5 reset */
 #define RCC_APB1RSTR_TIM6RST        (1 << 4)  /* Bit 4: Timer 6 reset */
 #define RCC_APB1RSTR_TIM7RST        (1 << 5)  /* Bit 5: Timer 7 reset */
+#ifdef CONFIG_STM32_VALUELINE
+#  define RCC_APB1RSTR_TIM12RST     (1 << 6) /* Bit 6: TIM12 reset */
+#  define RCC_APB1RSTR_TIM13RST     (1 << 7) /* Bit 7: TIM13 reset */
+#  define RCC_APB1RSTR_TIM14RST     (1 << 8) /* Bit 8: TIM14 reset */
+#endif
 #define RCC_APB1RSTR_WWDGRST        (1 << 11) /* Bit 11: Window Watchdog reset */
 #define RCC_APB1RSTR_SPI2RST        (1 << 14) /* Bit 14: SPI 2 reset */
 #define RCC_APB1RSTR_SPI3RST        (1 << 15) /* Bit 15: SPI 3 reset */
@@ -231,12 +248,17 @@
 #define RCC_APB1RSTR_UART5RST       (1 << 20) /* Bit 18: UART 5 reset */
 #define RCC_APB1RSTR_I2C1RST        (1 << 21) /* Bit 21: I2C 1 reset */
 #define RCC_APB1RSTR_I2C2RST        (1 << 22) /* Bit 22: I2C 2 reset */
-#define RCC_APB1RSTR_USBRST         (1 << 23) /* Bit 23: USB reset */
-#define RCC_APB1RSTR_CAN1RST        (1 << 25) /* Bit 25: CAN1 reset */
-#define RCC_APB1RSTR_CAN2RST        (1 << 26) /* Bit 26: CAN2 reset */
+#ifndef CONFIG_STM32_VALUELINE
+#  define RCC_APB1RSTR_USBRST       (1 << 23) /* Bit 23: USB reset */
+#  define RCC_APB1RSTR_CAN1RST      (1 << 25) /* Bit 25: CAN1 reset */
+#  define RCC_APB1RSTR_CAN2RST      (1 << 26) /* Bit 26: CAN2 reset */
+#endif
 #define RCC_APB1RSTR_BKPRST         (1 << 27) /* Bit 27: Backup interface reset */
 #define RCC_APB1RSTR_PWRRST         (1 << 28) /* Bit 28: Power interface reset */
 #define RCC_APB1RSTR_DACRST         (1 << 29) /* Bit 29: DAC interface reset */
+#ifdef CONFIG_STM32_VALUELINE
+#  define RCC_APB1RSTR_CECRST       (1 << 30) /* Bit 30: CEC reset */
+#endif
 
 /* AHB Peripheral Clock enable register */
 
@@ -246,7 +268,9 @@
 #define RCC_AHBENR_FLITFEN          (1 << 4)  /* Bit 4: FLITF clock enable */
 #define RCC_AHBENR_CRCEN            (1 << 6)  /* Bit 6: CRC clock enable */
 #define RCC_AHBENR_FSMCEN           (1 << 8)  /* Bit 8: FSMC clock enable */
-#define RCC_AHBENR_SDIOEN           (1 << 10) /* Bit 10: SDIO clock enable */
+#ifndef CONFIG_STM32_VALUELINE
+#  define RCC_AHBENR_SDIOEN         (1 << 10) /* Bit 10: SDIO clock enable */
+#endif
 #ifdef CONFIG_STM32_CONNECTIVITYLINE
 #  define RCC_AHBENR_ETHMACEN       (1 << 14) /* Bit 14: Ethernet MAC clock enable */
 #  define RCC_AHBENR_ETHMACTXEN     (1 << 15) /* Bit 15: Ethernet MAC TX clock enable */
@@ -272,12 +296,22 @@
 #define RCC_APB2ENR_IOPFEN          (1 << 7)  /* Bit 7: I/O port F clock enable */
 #define RCC_APB2ENR_IOPGEN          (1 << 8)  /* Bit 8: I/O port G clock enable */
 #define RCC_APB2ENR_ADC1EN          (1 << 9)  /* Bit 9: ADC 1 interface clock enable */
-#define RCC_APB2ENR_ADC2EN          (1 << 10) /* Bit 10: ADC 2 interface clock enable */
+#ifndef CONFIG_STM32_VALUELINE
+#  define RCC_APB2ENR_ADC2EN        (1 << 10) /* Bit 10: ADC 2 interface clock enable */
+#endif
 #define RCC_APB2ENR_TIM1EN          (1 << 11) /* Bit 11: TIM1 Timer clock enable */
 #define RCC_APB2ENR_SPI1EN          (1 << 12) /* Bit 12: SPI 1 clock enable */
-#define RCC_APB2ENR_TIM8EN          (1 << 13) /* Bit 13: TIM8 Timer clock enable */
+#ifndef CONFIG_STM32_VALUELINE
+#  define RCC_APB2ENR_TIM8EN        (1 << 13) /* Bit 13: TIM8 Timer clock enable */
+#endif
 #define RCC_APB2ENR_USART1EN        (1 << 14) /* Bit 14: USART1 clock enable */
-#define RCC_APB2ENR_ADC3EN          (1 << 15) /* Bit 14: ADC3 interface clock enable */
+#ifndef CONFIG_STM32_VALUELINE
+#  define RCC_APB2ENR_ADC3EN        (1 << 15) /* Bit 14: ADC3 interface clock enable */
+#else
+#  define RCC_APB2ENR_TIM15EN       (1 << 16) /* Bit 16: TIM15 clock enable */
+#  define RCC_APB2ENR_TIM16EN       (1 << 17) /* Bit 17: TIM16 clock enable */
+#  define RCC_APB2ENR_TIM17EN       (1 << 18) /* Bit 18: TIM17 clock enable */
+#endif
 
 /* APB1 Peripheral Clock enable register */
 
@@ -287,6 +321,11 @@
 #define RCC_APB1ENR_TIM5EN          (1 << 3)  /* Bit 3: Timer 5 clock enable */
 #define RCC_APB1ENR_TIM6EN          (1 << 4)  /* Bit 4: Timer 6 clock enable */
 #define RCC_APB1ENR_TIM7EN          (1 << 5)  /* Bit 5: Timer 7 clock enable */
+#ifdef CONFIG_STM32_VALUELINE
+#  define RCC_APB1ENR_TIM12EN       (1 << 6)  /* Bit 6: Timer 12 clock enable */
+#  define RCC_APB1ENR_TIM13EN       (1 << 7)  /* Bit 7: Timer 13 clock enable */
+#  define RCC_APB1ENR_TIM14EN       (1 << 8)  /* Bit 8: Timer 14 clock enable */
+#endif
 #define RCC_APB1ENR_WWDGEN          (1 << 11) /* Bit 11: Window Watchdog clock enable */
 #define RCC_APB1ENR_SPI2EN          (1 << 14) /* Bit 14: SPI 2 clock enable */
 #define RCC_APB1ENR_SPI3EN          (1 << 15) /* Bit 15: SPI 3 clock enable */
@@ -296,12 +335,17 @@
 #define RCC_APB1ENR_UART5EN         (1 << 20) /* Bit 20: UART 5 clock enable */
 #define RCC_APB1ENR_I2C1EN          (1 << 21) /* Bit 21: I2C 1 clock enable */
 #define RCC_APB1ENR_I2C2EN          (1 << 22) /* Bit 22: I2C 2 clock enable */
-#define RCC_APB1ENR_USBEN           (1 << 23) /* Bit 23: USB clock enable */
-#define RCC_APB1ENR_CAN1EN          (1 << 25) /* Bit 25: CAN1 clock enable */
-#define RCC_APB1ENR_CAN2EN          (1 << 26) /* Bit 25: CAN2 clock enable */
+#ifndef CONFIG_STM32_VALUELINE
+#  define RCC_APB1ENR_USBEN         (1 << 23) /* Bit 23: USB clock enable */
+#  define RCC_APB1ENR_CAN1EN        (1 << 25) /* Bit 25: CAN1 clock enable */
+#  define RCC_APB1ENR_CAN2EN        (1 << 26) /* Bit 25: CAN2 clock enable */
+#endif
 #define RCC_APB1ENR_BKPEN           (1 << 27) /* Bit 27: Backup interface clock enable */
 #define RCC_APB1ENR_PWREN           (1 << 28) /* Bit 28: Power interface clock enable */
 #define RCC_APB1ENR_DACEN           (1 << 29) /* Bit 29: DAC interface clock enable */
+#ifdef CONFIG_STM32_VALUELINE
+#  define RCC_APB1ENR_CECEN         (1 << 30) /* Bit 30: CEC clock enable */
+#endif
 
 /* Backup domain control register */
 
@@ -331,7 +375,7 @@
 
 #if defined(CONFIG_STM32_VALUELINE) || defined(CONFIG_STM32_CONNECTIVITYLINE)
 
-/* Clock configuration register 2 (For connectivity line only) */
+/* Clock configuration register 2 (For value line and connectivity line only) */
 
 #define RCC_CFGR2_PREDIV1_SHIFT     (0)
 #define RCC_CFGR2_PREDIV1_MASK      (0x0f << RCC_CFGR2_PREDIV1_SHIFT)
@@ -352,6 +396,10 @@
 #  define RCC_CFGR2_PREDIV1d15      (14 << RCC_CFGR2_PREDIV1_SHIFT)
 #  define RCC_CFGR2_PREDIV1d16      (15 << RCC_CFGR2_PREDIV1_SHIFT)
 
+#endif
+
+#ifdef CONFIG_STM32_CONNECTIVITYLINE
+
 #define RCC_CFGR2_PREDIV2_SHIFT     (4)
 #define RCC_CFGR2_PREDIV2_MASK      (0x0f << RCC_CFGR2_PREDIV2_SHIFT)
 #  define RCC_CFGR2_PREDIV2d1       (0 << RCC_CFGR2_PREDIV2_SHIFT)
diff --git a/nuttx/arch/arm/src/stm32/chip/stm32f10xxx_vectors.h b/nuttx/arch/arm/src/stm32/chip/stm32f10xxx_vectors.h
index b8d71799f..24822c37d 100644
--- a/nuttx/arch/arm/src/stm32/chip/stm32f10xxx_vectors.h
+++ b/nuttx/arch/arm/src/stm32/chip/stm32f10xxx_vectors.h
@@ -49,15 +49,77 @@
  * definition that provides the number of supported vectors.
  */
 
-#ifdef CONFIG_ARMV7M_CMNVECTOR
+#  ifdef CONFIG_ARMV7M_CMNVECTOR
 
-/* Reserve 60 interrupt table entries for I/O interrupts. */
+/* Reserve 61 interrupt table entries for I/O interrupts. */
 
-#  define ARMV7M_PERIPHERAL_INTERRUPTS 60
+#    define ARMV7M_PERIPHERAL_INTERRUPTS 61
 
 #else
-#  error This target requires CONFIG_ARMV7M_CMNVECTOR
-#endif /* CONFIG_ARMV7M_CMNVECTOR */
+
+VECTOR(stm32_wwdg, STM32_IRQ_WWDG)                /* Vector 16+0:  Window Watchdog interrupt */
+VECTOR(stm32_pvd, STM32_IRQ_PVD)                  /* Vector 16+1:  PVD through EXTI Line detection interrupt */
+VECTOR(stm32_tamper, STM32_IRQ_TAMPER)            /* Vector 16+2:  Tamper interrupt */
+VECTOR(stm32_rtc, STM32_IRQ_RTC)                  /* Vector 16+3:  RTC Wakeup through EXTI line interrupt */
+VECTOR(stm32_flash, STM32_IRQ_FLASH)              /* Vector 16+4:  Flash global interrupt */
+VECTOR(stm32_rcc, STM32_IRQ_RCC)                  /* Vector 16+5:  RCC global interrupt */
+VECTOR(stm32_exti0, STM32_IRQ_EXTI0)              /* Vector 16+6:  EXTI Line 0 interrupt */
+VECTOR(stm32_exti1, STM32_IRQ_EXTI1)              /* Vector 16+7:  EXTI Line 1 interrupt */
+VECTOR(stm32_exti2, STM32_IRQ_EXTI2)              /* Vector 16+8:  EXTI Line 2 interrupt */
+VECTOR(stm32_exti3, STM32_IRQ_EXTI3)              /* Vector 16+9:  EXTI Line 3 interrupt */
+VECTOR(stm32_exti4, STM32_IRQ_EXTI4)              /* Vector 16+10: EXTI Line 4 interrupt */
+VECTOR(stm32_dma1ch1, STM32_IRQ_DMA1CH1)          /* Vector 16+11: DMA1 Channel 1 global interrupt */
+VECTOR(stm32_dma1ch2, STM32_IRQ_DMA1CH2)          /* Vector 16+12: DMA1 Channel 2 global interrupt */
+VECTOR(stm32_dma1ch3, STM32_IRQ_DMA1CH3)          /* Vector 16+13: DMA1 Channel 3 global interrupt */
+VECTOR(stm32_dma1ch4, STM32_IRQ_DMA1CH4)          /* Vector 16+14: DMA1 Channel 4 global interrupt */
+VECTOR(stm32_dma1ch5, STM32_IRQ_DMA1CH5)          /* Vector 16+15: DMA1 Channel 5 global interrupt */
+VECTOR(stm32_dma1ch6, STM32_IRQ_DMA1CH6)          /* Vector 16+16: DMA1 Channel 6 global interrupt */
+VECTOR(stm32_dma1ch7, STM32_IRQ_DMA1CH7)          /* Vector 16+17: DMA1 Channel 7 global interrupt */
+VECTOR(stm32_adc1, STM32_IRQ_ADC1)                /* Vector 16+18: ADC1 global interrupt */
+UNUSED(STM32_IRQ_RESERVED0)                       /* Vector 16+19: Reserved 0 */
+UNUSED(STM32_IRQ_RESERVED1)                       /* Vector 16+20: Reserved 1 */
+UNUSED(STM32_IRQ_RESERVED2)                       /* Vector 16+21: Reserved 2 */
+UNUSED(STM32_IRQ_RESERVED3)                       /* Vector 16+22: Reserved 3 */
+VECTOR(stm32_exti95, STM32_IRQ_EXTI95)            /* Vector 16+23: EXTI Line[9:5] interrupts */
+VECTOR(stm32_tim1brk, STM32_IRQ_TIM1BRK)          /* Vector 16+24: TIM1 Break interrupt; TIM15 global interrupt */
+VECTOR(stm32_tim1up, STM32_IRQ_TIM1UP)            /* Vector 16+25: TIM1 Update interrupt; TIM16 global interrupt */
+VECTOR(stm32_tim1trgcom, STM32_IRQ_TIM1TRGCOM)    /* Vector 16+26: TIM1 Trigger and Commutation interrupts; TIM17 global interrupt */
+VECTOR(stm32_tim1cc, STM32_IRQ_TIM1CC)            /* Vector 16+27: TIM1 Capture Compare interrupt */
+VECTOR(stm32_tim2, STM32_IRQ_TIM2)                /* Vector 16+28: TIM2 global interrupt */
+VECTOR(stm32_tim3, STM32_IRQ_TIM3)                /* Vector 16+29: TIM3 global interrupt */
+VECTOR(stm32_tim4, STM32_IRQ_TIM4)                /* Vector 16+30: TIM4 global interrupt */
+VECTOR(stm32_i2c1ev, STM32_IRQ_I2C1EV)            /* Vector 16+31: I2C1 event interrupt */
+VECTOR(stm32_i2c1er, STM32_IRQ_I2C1ER)            /* Vector 16+32: I2C1 error interrupt */
+VECTOR(stm32_i2c2ev, STM32_IRQ_I2C2EV)            /* Vector 16+33: I2C2 event interrupt */
+VECTOR(stm32_i2c2er, STM32_IRQ_I2C2ER)            /* Vector 16+34: I2C2 error interrupt */
+VECTOR(stm32_spi1, STM32_IRQ_SPI1)                /* Vector 16+35: SPI1 global interrupt */
+VECTOR(stm32_spi2, STM32_IRQ_SPI2)                /* Vector 16+36: SPI2 global interrupt */
+VECTOR(stm32_usart1, STM32_IRQ_USART1)            /* Vector 16+37: USART1 global interrupt */
+VECTOR(stm32_usart2, STM32_IRQ_USART2)            /* Vector 16+38: USART2 global interrupt */
+VECTOR(stm32_usart3, STM32_IRQ_USART3)            /* Vector 16+39: USART3 global interrupt */
+VECTOR(stm32_exti1510, STM32_IRQ_EXTI1510)        /* Vector 16+40: EXTI Line[15:10] interrupts */
+VECTOR(stm32_rtcalr, STM32_IRQ_RTCALR)            /* Vector 16+41: RTC alarms (A and B) through EXTI line interrupt */
+VECTOR(stm32_cec, STM32_IRQ_CEC)                  /* Vector 16+42: CEC global interrupt */
+VECTOR(stm32_tim12, STM32_IRQ_TIM12)              /* Vector 16+43: TIM12 global interrupt */
+VECTOR(stm32_tim13, STM32_IRQ_TIM13)              /* Vector 16+44: TIM13 global interrupt */
+VECTOR(stm32_tim14, STM32_IRQ_TIM14)              /* Vector 16+45: TIM14 global interrupt */
+UNUSED(STM32_IRQ_RESERVED4)                       /* Vector 16+46: Reserved 4 */
+UNUSED(STM32_IRQ_RESERVED5)                       /* Vector 16+47: Reserved 5 */
+VECTOR(stm32_fsmc, STM32_IRQ_FSMC)                /* Vector 16+48: FSMC global interrupt */
+UNUSED(STM32_IRQ_RESERVED6)                       /* Vector 16+49: Reserved 6 */
+VECTOR(stm32_tim5, STM32_IRQ_TIM5)                /* Vector 16+50: TIM5 global interrupt */
+VECTOR(stm32_spi3, STM32_IRQ_SPI3)                /* Vector 16+51: SPI3 global interrupt */
+VECTOR(stm32_uart4, STM32_IRQ_UART4)              /* Vector 16+52: USART2 global interrupt */
+VECTOR(stm32_uart5, STM32_IRQ_UART5)              /* Vector 16+53: USART5 global interrupt */
+VECTOR(stm32_tim6, STM32_IRQ_TIM6)                /* Vector 16+54: TIM6 global interrupt */
+VECTOR(stm32_tim7, STM32_IRQ_TIM7)                /* Vector 16+55: TIM7 global interrupt */
+VECTOR(stm32_dma2ch1, STM32_IRQ_DMA2CH1)          /* Vector 16+56: DMA2 Channel 1 global interrupt */
+VECTOR(stm32_dma2ch2, STM32_IRQ_DMA2CH2)          /* Vector 16+57: DMA2 Channel 2 global interrupt */
+VECTOR(stm32_dma2ch3, STM32_IRQ_DMA2CH3)          /* Vector 16+58: DMA2 Channel 3 global interrupt */
+VECTOR(stm32_dma2ch45, STM32_IRQ_DMA2CH45)        /* Vector 16+59: DMA2 Channel 4 and 5 global interrupt */
+VECTOR(stm32_dma2ch5, STM32_IRQ_DMA2CH5)          /* Vector 16+60: DMA2 Channel 5 global interrupt */
+
+#  endif /* CONFIG_ARMV7M_CMNVECTOR */
 
 #elif defined(CONFIG_STM32_CONNECTIVITYLINE)
 
diff --git a/nuttx/arch/arm/src/stm32/chip/stm32f20xxx_pinmap.h b/nuttx/arch/arm/src/stm32/chip/stm32f20xxx_pinmap.h
index 817e747f7..699ca4fdc 100644
--- a/nuttx/arch/arm/src/stm32/chip/stm32f20xxx_pinmap.h
+++ b/nuttx/arch/arm/src/stm32/chip/stm32f20xxx_pinmap.h
@@ -222,7 +222,7 @@
 #define GPIO_ETH_MII_TX_EN_2  (GPIO_ALT|GPIO_AF11|GPIO_SPEED_100MHz|GPIO_PUSHPULL|GPIO_PORTG|GPIO_PIN11)
 #define GPIO_ETH_PPS_OUT_1    (GPIO_ALT|GPIO_AF11|GPIO_SPEED_100MHz|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN5)
 #define GPIO_ETH_PPS_OUT_2    (GPIO_ALT|GPIO_AF11|GPIO_SPEED_100MHz|GPIO_PUSHPULL|GPIO_PORTG|GPIO_PIN8)
-#define GPIO_ETH_RMII_CRS_DV  (GPIO_ALT|GPIO_AF11|GPIO_SPEED_100MHz|GPIO_PUSHPULLGPIO_PORTA|GPIO_PIN7)
+#define GPIO_ETH_RMII_CRS_DV  (GPIO_ALT|GPIO_AF11|GPIO_SPEED_100MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN7)
 #define GPIO_ETH_RMII_REF_CLK (GPIO_ALT|GPIO_AF11|GPIO_SPEED_100MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN1)
 #define GPIO_ETH_RMII_RXD0    (GPIO_ALT|GPIO_AF11|GPIO_SPEED_100MHz|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN4)
 #define GPIO_ETH_RMII_RXD1    (GPIO_ALT|GPIO_AF11|GPIO_SPEED_100MHz|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN5)
diff --git a/nuttx/arch/arm/src/stm32/chip/stm32f40xxx_pinmap.h b/nuttx/arch/arm/src/stm32/chip/stm32f40xxx_pinmap.h
index ae2436a70..31e51caf0 100644
--- a/nuttx/arch/arm/src/stm32/chip/stm32f40xxx_pinmap.h
+++ b/nuttx/arch/arm/src/stm32/chip/stm32f40xxx_pinmap.h
@@ -222,7 +222,7 @@
 #define GPIO_ETH_MII_TX_EN_2  (GPIO_ALT|GPIO_AF11|GPIO_SPEED_100MHz|GPIO_PUSHPULL|GPIO_PORTG|GPIO_PIN11)
 #define GPIO_ETH_PPS_OUT_1    (GPIO_ALT|GPIO_AF11|GPIO_SPEED_100MHz|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN5)
 #define GPIO_ETH_PPS_OUT_2    (GPIO_ALT|GPIO_AF11|GPIO_SPEED_100MHz|GPIO_PUSHPULL|GPIO_PORTG|GPIO_PIN8)
-#define GPIO_ETH_RMII_CRS_DV  (GPIO_ALT|GPIO_AF11|GPIO_SPEED_100MHz|GPIO_PUSHPULLGPIO_PORTA|GPIO_PIN7)
+#define GPIO_ETH_RMII_CRS_DV  (GPIO_ALT|GPIO_AF11|GPIO_SPEED_100MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN7)
 #define GPIO_ETH_RMII_REF_CLK (GPIO_ALT|GPIO_AF11|GPIO_SPEED_100MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN1)
 #define GPIO_ETH_RMII_RXD0    (GPIO_ALT|GPIO_AF11|GPIO_SPEED_100MHz|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN4)
 #define GPIO_ETH_RMII_RXD1    (GPIO_ALT|GPIO_AF11|GPIO_SPEED_100MHz|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN5)
diff --git a/nuttx/arch/arm/src/stm32/stm32_adc.h b/nuttx/arch/arm/src/stm32/stm32_adc.h
index c25da3830..7b6c13b33 100644
--- a/nuttx/arch/arm/src/stm32/stm32_adc.h
+++ b/nuttx/arch/arm/src/stm32/stm32_adc.h
@@ -281,7 +281,7 @@
 
 #if defined(ADC1_HAVE_TIMER) || defined(ADC2_HAVE_TIMER) || defined(ADC3_HAVE_TIMER)
 #  define ADC_HAVE_TIMER 1
-#  if defined(CONFIG_STM32_STM32F10XX) && defined(CONFIG_STM32_FORCEPOWER)
+#  if defined(CONFIG_STM32_STM32F10XX) && !defined(CONFIG_STM32_FORCEPOWER)
 #    warning "CONFIG_STM32_FORCEPOWER must be defined to enable the timer(s)"
 #  endif
 #else
diff --git a/nuttx/arch/arm/src/stm32/stm32_eth.c b/nuttx/arch/arm/src/stm32/stm32_eth.c
index 3054142ce..006f67142 100644
--- a/nuttx/arch/arm/src/stm32/stm32_eth.c
+++ b/nuttx/arch/arm/src/stm32/stm32_eth.c
@@ -2594,6 +2594,17 @@ static int stm32_phyinit(FAR struct stm32_ethmac_s *priv)
     }
   up_mdelay(PHY_RESET_DELAY);
 
+  /* Perform any necessary, board-specific PHY initialization */
+
+#ifdef CONFIG_STM32_PHYINIT
+  ret = stm32_phy_boardinitialize(0);
+  if (ret < 0)
+    {
+      ndbg("Failed to initialize the PHY: %d\n", ret);
+      return ret;
+    }
+#endif
+
   /* Special workaround for the Davicom DM9161 PHY is required. */
 
 #ifdef CONFIG_PHY_DM9161
diff --git a/nuttx/arch/arm/src/stm32/stm32_eth.h b/nuttx/arch/arm/src/stm32/stm32_eth.h
index f0c14b5b1..4501712b1 100644
--- a/nuttx/arch/arm/src/stm32/stm32_eth.h
+++ b/nuttx/arch/arm/src/stm32/stm32_eth.h
@@ -66,14 +66,13 @@ extern "C" {
  * Function: stm32_ethinitialize
  *
  * Description:
- *   Initialize the Ethernet driver for one interface.  If the STM32 chip
- *   supports multiple Ethernet controllers, then board specific logic
- *   must implement up_netinitialize() and call this function to initialize
- *   the desired interfaces.
+ *   Initialize the Ethernet driver for one interface.  If the STM32 chip supports
+ *   multiple Ethernet controllers, then board specific logic must implement
+ *   up_netinitialize() and call this function to initialize the desired interfaces.
  *
  * Parameters:
- *   intf - In the case where there are multiple EMACs, this value
- *          identifies which EMAC is to be initialized.
+ *   intf - In the case where there are multiple EMACs, this value identifies which
+ *   EMAC is to be initialized.
  *
  * Returned Value:
  *   OK on success; Negated errno on failure.
@@ -86,6 +85,30 @@ extern "C" {
 EXTERN int stm32_ethinitialize(int intf);
 #endif
 
+/************************************************************************************
+ * Function: stm32_phy_boardinitialize
+ *
+ * Description:
+ *   Some boards require specialized initialization of the PHY before it can be used.
+ *   This may include such things as configuring GPIOs, resetting the PHY, etc.  If
+ *   CONFIG_STM32_PHYINIT is defined in the configuration then the board specific
+ *   logic must provide stm32_phyinitialize();  The STM32 Ethernet driver will call
+ *   this function one time before it first uses the PHY.
+ *
+ * Parameters:
+ *   intf - Always zero for now.
+ *
+ * Returned Value:
+ *   OK on success; Negated errno on failure.
+ *
+ * Assumptions:
+ *
+ ************************************************************************************/
+
+#ifdef CONFIG_STM32_PHYINIT
+EXTERN int stm32_phy_boardinitialize(int intf);
+#endif
+
 #undef EXTERN
 #if defined(__cplusplus)
 }
diff --git a/nuttx/arch/arm/src/stm32/stm32_lowputc.c b/nuttx/arch/arm/src/stm32/stm32_lowputc.c
index 7f7205672..6cb07dad9 100644
--- a/nuttx/arch/arm/src/stm32/stm32_lowputc.c
+++ b/nuttx/arch/arm/src/stm32/stm32_lowputc.c
@@ -67,6 +67,14 @@
 #  define STM32_CONSOLE_2STOP    CONFIG_USART1_2STOP
 #  define STM32_CONSOLE_TX       GPIO_USART1_TX
 #  define STM32_CONSOLE_RX       GPIO_USART1_RX
+#  ifdef CONFIG_USART1_RS485
+#    define STM32_CONSOLE_RS485_DIR GPIO_USART1_RS485_DIR
+#    if (CONFIG_USART1_RS485_DIR_POLARITY == 0)
+#      define STM32_CONSOLE_RS485_DIR_POLARITY false
+#    else
+#      define STM32_CONSOLE_RS485_DIR_POLARITY true
+#    endif
+#  endif
 #elif defined(CONFIG_USART2_SERIAL_CONSOLE)
 #  define STM32_CONSOLE_BASE     STM32_USART2_BASE
 #  define STM32_APBCLOCK         STM32_PCLK1_FREQUENCY
@@ -76,6 +84,14 @@
 #  define STM32_CONSOLE_2STOP    CONFIG_USART2_2STOP
 #  define STM32_CONSOLE_TX       GPIO_USART2_TX
 #  define STM32_CONSOLE_RX       GPIO_USART2_RX
+#  ifdef CONFIG_USART2_RS485
+#    define STM32_CONSOLE_RS485_DIR GPIO_USART2_RS485_DIR
+#    if (CONFIG_USART2_RS485_DIR_POLARITY == 0)
+#      define STM32_CONSOLE_RS485_DIR_POLARITY false
+#    else
+#      define STM32_CONSOLE_RS485_DIR_POLARITY true
+#    endif
+#  endif
 #elif defined(CONFIG_USART3_SERIAL_CONSOLE)
 #  define STM32_CONSOLE_BASE     STM32_USART3_BASE
 #  define STM32_APBCLOCK         STM32_PCLK1_FREQUENCY
@@ -85,6 +101,14 @@
 #  define STM32_CONSOLE_2STOP    CONFIG_USART3_2STOP
 #  define STM32_CONSOLE_TX       GPIO_USART3_TX
 #  define STM32_CONSOLE_RX       GPIO_USART3_RX
+#  ifdef CONFIG_USART3_RS485
+#    define STM32_CONSOLE_RS485_DIR GPIO_USART3_RS485_DIR
+#    if (CONFIG_USART3_RS485_DIR_POLARITY == 0)
+#      define STM32_CONSOLE_RS485_DIR_POLARITY false
+#    else
+#      define STM32_CONSOLE_RS485_DIR_POLARITY true
+#    endif
+#  endif
 #elif defined(CONFIG_UART4_SERIAL_CONSOLE)
 #  define STM32_CONSOLE_BASE     STM32_UART4_BASE
 #  define STM32_APBCLOCK         STM32_PCLK1_FREQUENCY
@@ -94,6 +118,14 @@
 #  define STM32_CONSOLE_2STOP    CONFIG_UART4_2STOP
 #  define STM32_CONSOLE_TX       GPIO_UART4_TX
 #  define STM32_CONSOLE_RX       GPIO_UART4_RX
+#  ifdef CONFIG_UART4_RS485
+#    define STM32_CONSOLE_RS485_DIR GPIO_UART4_RS485_DIR
+#    if (CONFIG_UART4_RS485_DIR_POLARITY == 0)
+#      define STM32_CONSOLE_RS485_DIR_POLARITY false
+#    else
+#      define STM32_CONSOLE_RS485_DIR_POLARITY true
+#    endif
+#  endif
 #elif defined(CONFIG_UART5_SERIAL_CONSOLE)
 #  define STM32_CONSOLE_BASE     STM32_UART5_BASE
 #  define STM32_APBCLOCK         STM32_PCLK1_FREQUENCY
@@ -103,6 +135,14 @@
 #  define STM32_CONSOLE_2STOP    CONFIG_UART5_2STOP
 #  define STM32_CONSOLE_TX       GPIO_UART5_TX
 #  define STM32_CONSOLE_RX       GPIO_UART5_RX
+#  ifdef CONFIG_UART5_RS485
+#    define STM32_CONSOLE_RS485_DIR GPIO_UART5_RS485_DIR
+#    if (CONFIG_UART5_RS485_DIR_POLARITY == 0)
+#      define STM32_CONSOLE_RS485_DIR_POLARITY false
+#    else
+#      define STM32_CONSOLE_RS485_DIR_POLARITY true
+#    endif
+#  endif
 #elif defined(CONFIG_USART6_SERIAL_CONSOLE)
 #  define STM32_CONSOLE_BASE     STM32_USART6_BASE
 #  define STM32_APBCLOCK         STM32_PCLK2_FREQUENCY
@@ -112,6 +152,14 @@
 #  define STM32_CONSOLE_2STOP    CONFIG_USART6_2STOP
 #  define STM32_CONSOLE_TX       GPIO_USART6_TX
 #  define STM32_CONSOLE_RX       GPIO_USART6_RX
+#  ifdef CONFIG_USART6_RS485
+#    define STM32_CONSOLE_RS485_DIR GPIO_USART6_RS485_DIR
+#    if (CONFIG_USART6_RS485_DIR_POLARITY == 0)
+#      define STM32_CONSOLE_RS485_DIR_POLARITY false
+#    else
+#      define STM32_CONSOLE_RS485_DIR_POLARITY true
+#    endif
+#  endif
 #endif
 
 /* CR1 settings */
@@ -230,10 +278,19 @@ void up_lowputc(char ch)
   /* Wait until the TX data register is empty */
 
   while ((getreg32(STM32_CONSOLE_BASE + STM32_USART_SR_OFFSET) & USART_SR_TXE) == 0);
+#if STM32_CONSOLE_RS485_DIR
+  stm32_gpiowrite(STM32_CONSOLE_RS485_DIR, STM32_CONSOLE_RS485_DIR_POLARITY);
+#endif
 
   /* Then send the character */
 
   putreg32((uint32_t)ch, STM32_CONSOLE_BASE + STM32_USART_DR_OFFSET);
+
+#if STM32_CONSOLE_RS485_DIR
+  while ((getreg32(STM32_CONSOLE_BASE + STM32_USART_SR_OFFSET) & USART_SR_TC) == 0);
+  stm32_gpiowrite(STM32_CONSOLE_RS485_DIR, !STM32_CONSOLE_RS485_DIR_POLARITY);
+#endif
+
 #endif
 }
 
@@ -328,7 +385,14 @@ void stm32_lowsetup(void)
 
 #ifdef STM32_CONSOLE_TX
   stm32_configgpio(STM32_CONSOLE_TX);
-  stm32_configgpio(STM32_CONSOLE_TX);
+#endif
+#ifdef STM32_CONSOLE_RX
+  stm32_configgpio(STM32_CONSOLE_RX);
+#endif
+
+#if STM32_CONSOLE_RS485_DIR
+  stm32_configgpio(STM32_CONSOLE_RS485_DIR);
+  stm32_gpiowrite(STM32_CONSOLE_RS485_DIR, !STM32_CONSOLE_RS485_DIR_POLARITY);
 #endif
 
   /* Enable and configure the selected console device */
@@ -382,7 +446,14 @@ void stm32_lowsetup(void)
 
 #ifdef STM32_CONSOLE_TX
   stm32_configgpio(STM32_CONSOLE_TX);
-  stm32_configgpio(STM32_CONSOLE_TX);
+#endif
+#ifdef STM32_CONSOLE_RX
+  stm32_configgpio(STM32_CONSOLE_RX);
+#endif
+
+#if STM32_CONSOLE_RS485_DIR
+  stm32_configgpio(STM32_CONSOLE_RS485_DIR);
+  stm32_gpiowrite(STM32_CONSOLE_RS485_DIR, !STM32_CONSOLE_RS485_DIR_POLARITY);
 #endif
 
   /* Enable and configure the selected console device */
diff --git a/nuttx/arch/arm/src/stm32/stm32_otgfsdev.c b/nuttx/arch/arm/src/stm32/stm32_otgfsdev.c
index 461d500ad..94772b693 100644
--- a/nuttx/arch/arm/src/stm32/stm32_otgfsdev.c
+++ b/nuttx/arch/arm/src/stm32/stm32_otgfsdev.c
@@ -3651,10 +3651,14 @@ static int stm32_epout_configure(FAR struct stm32_ep_s *privep, uint8_t eptype,
   regval  = stm32_getreg(regaddr);
   if ((regval & OTGFS_DOEPCTL_USBAEP) == 0)
     {
-      regval &= ~(OTGFS_DOEPCTL_MPSIZ_MASK | OTGFS_DIEPCTL_EPTYP_MASK | OTGFS_DIEPCTL_TXFNUM_MASK);
+      if (regval & OTGFS_DOEPCTL_NAKSTS)
+        {
+          regval |= OTGFS_DOEPCTL_CNAK;
+        }
+      
+      regval &= ~(OTGFS_DOEPCTL_MPSIZ_MASK | OTGFS_DOEPCTL_EPTYP_MASK);
       regval |= mpsiz;
       regval |= (eptype << OTGFS_DOEPCTL_EPTYP_SHIFT);
-      regval |= (eptype << OTGFS_DIEPCTL_TXFNUM_SHIFT);
       regval |= (OTGFS_DOEPCTL_SD0PID | OTGFS_DOEPCTL_USBAEP);
       stm32_putreg(regval, regaddr);
 
@@ -3743,6 +3747,11 @@ static int stm32_epin_configure(FAR struct stm32_ep_s *privep, uint8_t eptype,
   regval  = stm32_getreg(regaddr);
   if ((regval & OTGFS_DIEPCTL_USBAEP) == 0)
     {
+      if (regval & OTGFS_DIEPCTL_NAKSTS)
+        {
+          regval |= OTGFS_DIEPCTL_CNAK;
+        }
+      
       regval &= ~(OTGFS_DIEPCTL_MPSIZ_MASK | OTGFS_DIEPCTL_EPTYP_MASK | OTGFS_DIEPCTL_TXFNUM_MASK);
       regval |= mpsiz;
       regval |= (eptype << OTGFS_DIEPCTL_EPTYP_SHIFT);
@@ -3900,7 +3909,7 @@ static void stm32_epout_disable(FAR struct stm32_ep_s *privep)
  * Name: stm32_epin_disable
  *
  * Description:
- *   Diable an IN endpoint will no longer be used
+ *   Disable an IN endpoint when it will no longer be used
  *
  *******************************************************************************/
 
@@ -3912,6 +3921,17 @@ static void stm32_epin_disable(FAR struct stm32_ep_s *privep)
 
   usbtrace(TRACE_EPDISABLE, privep->epphy);
 
+  /* After USB reset, the endpoint will already be deactivated by the
+   * hardware. Trying to disable again will just hang in the wait.
+   */
+
+  regaddr = STM32_OTGFS_DIEPCTL(privep->epphy);
+  regval  = stm32_getreg(regaddr);
+  if ((regval & OTGFS_DIEPCTL_USBAEP) == 0)
+    {
+      return;
+    }
+
   /* Make sure that there is no pending IPEPNE interrupt (because we are
    * to poll this bit below).
    */
diff --git a/nuttx/arch/arm/src/stm32/stm32_otgfshost.c b/nuttx/arch/arm/src/stm32/stm32_otgfshost.c
index 02b12ec87..80a9392dc 100644
--- a/nuttx/arch/arm/src/stm32/stm32_otgfshost.c
+++ b/nuttx/arch/arm/src/stm32/stm32_otgfshost.c
@@ -51,6 +51,7 @@
 
 #include <nuttx/arch.h>
 #include <nuttx/kmalloc.h>
+#include <nuttx/clock.h>
 #include <nuttx/usb/usb.h>
 #include <nuttx/usb/usbhost.h>
 
@@ -149,8 +150,8 @@
 
 #define STM32_READY_DELAY         200000 /* In loop counts */
 #define STM32_FLUSH_DELAY         200000 /* In loop counts */
-#define STM32_SETUP_DELAY         5000   /* In frames */
-#define STM32_DATANAK_DELAY       5000   /* In frames */
+#define STM32_SETUP_DELAY         (5000 / MSEC_PER_TICK) /* 5 seconds in system ticks */
+#define STM32_DATANAK_DELAY       (5000 / MSEC_PER_TICK) /* 5 seconds in system ticks */
 
 /* Ever-present MIN/MAX macros */
 
@@ -305,7 +306,9 @@ static void stm32_chan_wakeup(FAR struct stm32_usbhost_s *priv,
 /* Control/data transfer logic *************************************************/
 
 static void stm32_transfer_start(FAR struct stm32_usbhost_s *priv, int chidx);
+#if 0 /* Not used */
 static inline uint16_t stm32_getframe(void);
+#endif
 static int stm32_ctrl_sendsetup(FAR struct stm32_usbhost_s *priv,
                                 FAR const struct usb_ctrlreq_s *req);
 static int stm32_ctrl_senddata(FAR struct stm32_usbhost_s *priv,
@@ -1182,14 +1185,18 @@ static void stm32_transfer_start(FAR struct stm32_usbhost_s *priv, int chidx)
  * Name: stm32_getframe
  *
  * Description:
- *   Get the current frame number.
+ *   Get the current frame number.  The frame number (FRNUM) field increments
+ *   when a new SOF is transmitted on the USB, and is cleared to 0 when it
+ *   reaches 0x3fff.
  *
  *******************************************************************************/
 
+#if 0 /* Not used */
 static inline uint16_t stm32_getframe(void)
 {
   return (uint16_t)(stm32_getreg(STM32_OTGFS_HFNUM) & OTGFS_HFNUM_FRNUM_MASK);
 }
+#endif
 
 /*******************************************************************************
  * Name: stm32_ctrl_sendsetup
@@ -1203,14 +1210,14 @@ static int stm32_ctrl_sendsetup(FAR struct stm32_usbhost_s *priv,
                                 FAR const struct usb_ctrlreq_s *req)
 {
   FAR struct stm32_chan_s *chan;
-  uint16_t start;
-  uint16_t elapsed;
+  uint32_t start;
+  uint32_t elapsed;
   int ret;
 
   /* Loop while the device reports NAK (and a timeout is not exceeded */
 
   chan  = &priv->chan[priv->ep0out];
-  start = stm32_getframe();
+  start = clock_systimer();
 
   do
     {
@@ -1258,7 +1265,7 @@ static int stm32_ctrl_sendsetup(FAR struct stm32_usbhost_s *priv,
 
      /* Get the elapsed time (in frames) */
 
-     elapsed = stm32_getframe() - start;
+     elapsed = clock_systimer() - start;
     }
   while (elapsed < STM32_SETUP_DELAY);
 
@@ -1367,8 +1374,8 @@ static int stm32_in_transfer(FAR struct stm32_usbhost_s *priv, int chidx,
                              FAR uint8_t *buffer, size_t buflen)
 {
   FAR struct stm32_chan_s *chan;
-  uint16_t start;
-  uint16_t elapsed;
+  uint32_t start;
+  uint32_t elapsed;
   int ret = OK;
 
   /* Loop until the transfer completes (i.e., buflen is decremented to zero)
@@ -1379,7 +1386,7 @@ static int stm32_in_transfer(FAR struct stm32_usbhost_s *priv, int chidx,
   chan->buffer = buffer;
   chan->buflen = buflen;
 
-  start = stm32_getframe();
+  start = clock_systimer();
   while (chan->buflen > 0)
     {
       /* Set up for the wait BEFORE starting the transfer */
@@ -1447,7 +1454,7 @@ static int stm32_in_transfer(FAR struct stm32_usbhost_s *priv, int chidx,
            * buffer pointer and buffer size will be unaltered.
            */
 
-          elapsed = stm32_getframe() - start;
+          elapsed = clock_systimer() - start;
           if (ret != -EAGAIN ||                       /* Not a NAK condition OR */
               elapsed >= STM32_DATANAK_DELAY ||       /* Timeout has elapsed OR */
               chan->buflen != buflen)                 /* Data has been partially transferred */
@@ -1474,8 +1481,8 @@ static int stm32_out_transfer(FAR struct stm32_usbhost_s *priv, int chidx,
                               FAR uint8_t *buffer, size_t buflen)
 {
   FAR struct stm32_chan_s *chan;
-  uint16_t start;
-  uint16_t elapsed;
+  uint32_t start;
+  uint32_t elapsed;
   size_t xfrlen;
   int ret = OK;
 
@@ -1484,7 +1491,7 @@ static int stm32_out_transfer(FAR struct stm32_usbhost_s *priv, int chidx,
    */
 
   chan         = &priv->chan[chidx];
-  start        = stm32_getframe();
+  start        = clock_systimer();
 
   while (buflen > 0)
     {
@@ -1569,7 +1576,7 @@ static int stm32_out_transfer(FAR struct stm32_usbhost_s *priv, int chidx,
            * buffer pointer and buffer size will be unaltered.
            */
 
-          elapsed = stm32_getframe() - start;
+          elapsed = clock_systimer() - start;
           if (ret != -EAGAIN ||                       /* Not a NAK condition OR */
               elapsed >= STM32_DATANAK_DELAY ||       /* Timeout has elapsed OR */
               chan->buflen != xfrlen)                 /* Data has been partially transferred */
@@ -3540,8 +3547,8 @@ static int stm32_ctrlin(FAR struct usbhost_driver_s *drvr,
 {
   struct stm32_usbhost_s *priv = (struct stm32_usbhost_s *)drvr;
   uint16_t buflen;
-  uint16_t start;
-  uint16_t elapsed;
+  uint32_t start;
+  uint32_t elapsed;
   int retries;
   int ret;
 
@@ -3573,7 +3580,7 @@ static int stm32_ctrlin(FAR struct usbhost_driver_s *drvr,
 
       /* Get the start time.  Loop again until the timeout expires */
 
-      start = stm32_getframe();
+      start = clock_systimer();
       do
         {
           /* Handle the IN data phase (if any) */
@@ -3606,7 +3613,7 @@ static int stm32_ctrlin(FAR struct usbhost_driver_s *drvr,
 
           /* Get the elapsed time (in frames) */
 
-          elapsed = stm32_getframe() - start;
+          elapsed = clock_systimer() - start;
         }
       while (elapsed < STM32_DATANAK_DELAY);
     }
@@ -3623,8 +3630,8 @@ static int stm32_ctrlout(FAR struct usbhost_driver_s *drvr,
 {
   struct stm32_usbhost_s *priv = (struct stm32_usbhost_s *)drvr;
   uint16_t buflen;
-  uint16_t start;
-  uint16_t elapsed;
+  uint32_t start;
+  uint32_t elapsed;
   int retries;
   int ret;
 
@@ -3658,7 +3665,7 @@ static int stm32_ctrlout(FAR struct usbhost_driver_s *drvr,
 
       /* Get the start time.  Loop again until the timeout expires */
 
-      start = stm32_getframe();
+      start = clock_systimer();
       do
         {
           /* Handle the data OUT phase (if any) */
@@ -3693,7 +3700,7 @@ static int stm32_ctrlout(FAR struct usbhost_driver_s *drvr,
 
           /* Get the elapsed time (in frames) */
 
-          elapsed = stm32_getframe() - start;
+          elapsed = clock_systimer() - start;
         }
       while (elapsed < STM32_DATANAK_DELAY);
     }
diff --git a/nuttx/arch/arm/src/stm32/stm32_qencoder.c b/nuttx/arch/arm/src/stm32/stm32_qencoder.c
index 8553296f9..d37614c03 100644
--- a/nuttx/arch/arm/src/stm32/stm32_qencoder.c
+++ b/nuttx/arch/arm/src/stm32/stm32_qencoder.c
@@ -607,6 +607,7 @@ static FAR struct stm32_lowerhalf_s *stm32_tim2lower(int tim)
 #endif
 #ifdef CONFIG_STM32_TIM3_QE
     case 3:
+      return &g_tim3lower;
 #endif
 #ifdef CONFIG_STM32_TIM4_QE
     case 4:
diff --git a/nuttx/arch/arm/src/stm32/stm32_serial.c b/nuttx/arch/arm/src/stm32/stm32_serial.c
index 0868c3cd3..aa46a8987 100644
--- a/nuttx/arch/arm/src/stm32/stm32_serial.c
+++ b/nuttx/arch/arm/src/stm32/stm32_serial.c
@@ -96,6 +96,19 @@
 #    endif
 #  endif
 
+/* Currently RS-485 support cannot be enabled when RXDMA is in use due to lack
+ * of testing - RS-485 support was developed on STM32F1x
+ */
+
+#  if (defined(CONFIG_USART1_RXDMA) && defined(CONFIG_USART1_RS485)) || \
+      (defined(CONFIG_USART2_RXDMA) && defined(CONFIG_USART2_RS485)) || \
+      (defined(CONFIG_USART3_RXDMA) && defined(CONFIG_USART3_RS485)) || \
+      (defined(CONFIG_UART4_RXDMA) && defined(CONFIG_UART4_RS485)) || \
+      (defined(CONFIG_UART5_RXDMA) && defined(CONFIG_UART5_RS485)) || \
+      (defined(CONFIG_USART6_RXDMA) && defined(CONFIG_USART6_RS485))
+#    error "RXDMA and RS-485 cannot be enabled at the same time for the same U[S]ART"
+#  endif
+
 /* For the F4, there are alternate DMA channels for USART1 and 6.
  * Logic in the board.h file make the DMA channel selection by defining
  * the following in the board.h file.
@@ -219,6 +232,11 @@ struct up_dev_s
   uint32_t          rxdmanext; /* Next byte in the DMA buffer to be read */
   char       *const rxfifo;    /* Receive DMA buffer */
 #endif
+
+#ifdef HAVE_RS485
+  const uint32_t    rs485_dir_gpio; /* U[S]ART RS-485 DIR GPIO pin configuration */
+  const bool        rs485_dir_polarity; /* U[S]ART RS-485 DIR pin state for TX enabled */
+#endif
 };
 
 /****************************************************************************
@@ -415,6 +433,15 @@ static struct up_dev_s g_usart1priv =
   .rxfifo        = g_usart1rxfifo,
 #endif
   .vector        = up_interrupt_usart1,
+
+#ifdef CONFIG_USART1_RS485
+  .rs485_dir_gpio = GPIO_USART1_RS485_DIR,
+#  if (CONFIG_USART1_RS485_DIR_POLARITY == 0)
+  .rs485_dir_polarity = false,
+#  else
+  .rs485_dir_polarity = true,
+#  endif
+#endif
 };
 #endif
 
@@ -468,6 +495,15 @@ static struct up_dev_s g_usart2priv =
   .rxfifo        = g_usart2rxfifo,
 #endif
   .vector        = up_interrupt_usart2,
+
+#ifdef CONFIG_USART2_RS485
+  .rs485_dir_gpio = GPIO_USART2_RS485_DIR,
+#  if (CONFIG_USART2_RS485_DIR_POLARITY == 0)
+  .rs485_dir_polarity = false,
+#  else
+  .rs485_dir_polarity = true,
+#  endif
+#endif
 };
 #endif
 
@@ -521,6 +557,15 @@ static struct up_dev_s g_usart3priv =
   .rxfifo        = g_usart3rxfifo,
 #endif
   .vector        = up_interrupt_usart3,
+
+#ifdef CONFIG_USART3_RS485
+  .rs485_dir_gpio = GPIO_USART3_RS485_DIR,
+#  if (CONFIG_USART3_RS485_DIR_POLARITY == 0)
+  .rs485_dir_polarity = false,
+#  else
+  .rs485_dir_polarity = true,
+#  endif
+#endif
 };
 #endif
 
@@ -570,6 +615,15 @@ static struct up_dev_s g_uart4priv =
   .rxfifo        = g_uart4rxfifo,
 #endif
   .vector        = up_interrupt_uart4,
+
+#ifdef CONFIG_UART4_RS485
+  .rs485_dir_gpio = GPIO_UART4_RS485_DIR,
+#  if (CONFIG_UART4_RS485_DIR_POLARITY == 0)
+  .rs485_dir_polarity = false,
+#  else
+  .rs485_dir_polarity = true,
+#  endif
+#endif
 };
 #endif
 
@@ -619,6 +673,15 @@ static struct up_dev_s g_uart5priv =
   .rxfifo        = g_uart5rxfifo,
 #endif
   .vector         = up_interrupt_uart5,
+
+#ifdef CONFIG_UART5_RS485
+  .rs485_dir_gpio = GPIO_UART5_RS485_DIR,
+#  if (CONFIG_UART5_RS485_DIR_POLARITY == 0)
+  .rs485_dir_polarity = false,
+#  else
+  .rs485_dir_polarity = true,
+#  endif
+#endif
 };
 #endif
 
@@ -672,6 +735,15 @@ static struct up_dev_s g_usart6priv =
   .rxfifo        = g_usart6rxfifo,
 #endif
   .vector         = up_interrupt_usart6,
+
+#ifdef CONFIG_USART6_RS485
+  .rs485_dir_gpio = GPIO_USART6_RS485_DIR,
+#  if (CONFIG_USART6_RS485_DIR_POLARITY == 0)
+  .rs485_dir_polarity = false,
+#  else
+  .rs485_dir_polarity = true,
+#  endif
+#endif
 };
 #endif
 
@@ -744,8 +816,8 @@ static void up_restoreusartint(struct up_dev_s *priv, uint16_t ie)
   /* And restore the interrupt state (see the interrupt enable/usage table above) */
 
   cr = up_serialin(priv, STM32_USART_CR1_OFFSET);
-  cr &= ~(USART_CR1_RXNEIE|USART_CR1_TXEIE|USART_CR1_PEIE);
-  cr |= (ie & (USART_CR1_RXNEIE|USART_CR1_TXEIE|USART_CR1_PEIE));
+  cr &= ~(USART_CR1_USED_INTS);
+  cr |= (ie & (USART_CR1_USED_INTS));
   up_serialout(priv, STM32_USART_CR1_OFFSET, cr);
 
   cr = up_serialin(priv, STM32_USART_CR3_OFFSET);
@@ -772,7 +844,7 @@ static inline void up_disableusartint(struct up_dev_s *priv, uint16_t *ie)
        * USART_CR1_IDLEIE    4  USART_SR_IDLE   Idle Line Detected             (not used)
        * USART_CR1_RXNEIE    5  USART_SR_RXNE   Received Data Ready to be Read
        * "              "       USART_SR_ORE    Overrun Error Detected
-       * USART_CR1_TCIE      6  USART_SR_TC     Transmission Complete          (not used)
+       * USART_CR1_TCIE      6  USART_SR_TC     Transmission Complete          (used only for RS-485)
        * USART_CR1_TXEIE     7  USART_SR_TXE    Transmit Data Register Empty
        * USART_CR1_PEIE      8  USART_SR_PE     Parity Error
        *
@@ -791,7 +863,7 @@ static inline void up_disableusartint(struct up_dev_s *priv, uint16_t *ie)
        * overlap.  This logic would fail if we needed the break interrupt!
        */
 
-      *ie = (cr1 & (USART_CR1_RXNEIE|USART_CR1_TXEIE|USART_CR1_PEIE)) | (cr3 & USART_CR3_EIE);
+      *ie = (cr1 & (USART_CR1_USED_INTS)) | (cr3 & USART_CR3_EIE);
     }
 
   /* Disable all interrupts */
@@ -853,18 +925,18 @@ static void up_set_format(struct uart_dev_s *dev)
    *   usartdiv32 = 32 * usartdiv = fCK / (baud/2)
    */
 
-  usartdiv32 = priv->apbclock / (priv->baud >> 1);
+   usartdiv32 = priv->apbclock / (priv->baud >> 1);
 
-  /* The mantissa part is then */
+   /* The mantissa part is then */
 
-  mantissa   = usartdiv32 >> 5;
-  brr        = mantissa << USART_BRR_MANT_SHIFT;
+   mantissa   = usartdiv32 >> 5;
+   brr        = mantissa << USART_BRR_MANT_SHIFT;
 
-  /* The fractional remainder (with rounding) */
+   /* The fractional remainder (with rounding) */
 
-  fraction   = (usartdiv32 - (mantissa << 5) + 1) >> 1;
-  brr       |= fraction << USART_BRR_FRAC_SHIFT;
-  up_serialout(priv, STM32_USART_BRR_OFFSET, brr);
+   fraction   = (usartdiv32 - (mantissa << 5) + 1) >> 1;
+   brr       |= fraction << USART_BRR_FRAC_SHIFT;
+   up_serialout(priv, STM32_USART_BRR_OFFSET, brr);
 
   /* Configure parity mode */
 
@@ -946,6 +1018,14 @@ static int up_setup(struct uart_dev_s *dev)
       stm32_configgpio(priv->rts_gpio);
     }
 
+#if HAVE_RS485
+  if (priv->rs485_dir_gpio != 0)
+    {
+      stm32_configgpio(priv->rs485_dir_gpio);
+      stm32_gpiowrite(priv->rs485_dir_gpio, !priv->rs485_dir_polarity);
+    }
+#endif
+
   /* Configure CR2 */
   /* Clear CLKEN, CPOL, CPHA, LBCL, and interrupt enable bits */
 
@@ -990,13 +1070,11 @@ static int up_setup(struct uart_dev_s *dev)
   regval      = up_serialin(priv, STM32_USART_CR1_OFFSET);
   regval     |= (USART_CR1_UE|USART_CR1_TE|USART_CR1_RE);
   up_serialout(priv, STM32_USART_CR1_OFFSET, regval);
-
-#endif /* CONFIG_SUPPRESS_UART_CONFIG */
+#endif
 
   /* Set up the cached interrupt enables value */
 
-  up_restoreusartint(priv, 0);
-
+  priv->ie    = 0;
   return OK;
 }
 
@@ -1217,7 +1295,7 @@ static int up_interrupt_common(struct up_dev_s *priv)
        * USART_CR1_IDLEIE    4  USART_SR_IDLE   Idle Line Detected              (not used)
        * USART_CR1_RXNEIE    5  USART_SR_RXNE   Received Data Ready to be Read
        * "              "       USART_SR_ORE    Overrun Error Detected
-       * USART_CR1_TCIE      6  USART_SR_TC     Transmission Complete           (not used)
+       * USART_CR1_TCIE      6  USART_SR_TC     Transmission Complete           (used only for RS-485)
        * USART_CR1_TXEIE     7  USART_SR_TXE    Transmit Data Register Empty
        * USART_CR1_PEIE      8  USART_SR_PE     Parity Error
        *
@@ -1232,6 +1310,21 @@ static int up_interrupt_common(struct up_dev_s *priv)
        * being used.
        */
 
+#ifdef HAVE_RS485
+      /* Transmission of whole buffer is over - TC is set, TXEIE is cleared.
+       * Note - this should be first, to have the most recent TC bit value from
+       * SR register - sending data affects TC, but without refresh we will not
+       * know that...
+       */
+
+      if ((priv->sr & USART_SR_TC) != 0 && (priv->ie & USART_CR1_TCIE) != 0 &&
+          (priv->ie & USART_CR1_TXEIE) == 0)
+        {
+          stm32_gpiowrite(priv->rs485_dir_gpio, !priv->rs485_dir_polarity);
+          up_restoreusartint(priv, priv->ie & ~USART_CR1_TCIE);
+        }
+#endif
+
       /* Handle incoming, receive bytes. */
 
       if ((priv->sr & USART_SR_RXNE) != 0 && (priv->ie & USART_CR1_RXNEIE) != 0)
@@ -1265,13 +1358,14 @@ static int up_interrupt_common(struct up_dev_s *priv)
 
       if ((priv->sr & USART_SR_TXE) != 0 && (priv->ie & USART_CR1_TXEIE) != 0)
         {
-           /* Transmit data regiser empty ... process outgoing bytes */
+           /* Transmit data register empty ... process outgoing bytes */
 
            uart_xmitchars(&priv->dev);
            handled = true;
         }
     }
-    return OK;
+
+  return OK;
 }
 
 /****************************************************************************
@@ -1611,6 +1705,10 @@ static bool up_dma_rxavailable(struct uart_dev_s *dev)
 static void up_send(struct uart_dev_s *dev, int ch)
 {
   struct up_dev_s *priv = (struct up_dev_s*)dev->priv;
+#ifdef HAVE_RS485
+  if (priv->rs485_dir_gpio != 0)
+    stm32_gpiowrite(priv->rs485_dir_gpio, priv->rs485_dir_polarity);
+#endif
   up_serialout(priv, STM32_USART_DR_OFFSET, (uint32_t)ch);
 }
 
@@ -1631,7 +1729,7 @@ static void up_txint(struct uart_dev_s *dev, bool enable)
    *
    * Enable             Bit Status          Meaning                      Usage
    * ------------------ --- --------------- ---------------------------- ----------
-   * USART_CR1_TCIE      6  USART_SR_TC     Transmission Complete        (not used)
+   * USART_CR1_TCIE      6  USART_SR_TC     Transmission Complete        (used only for RS-485)
    * USART_CR1_TXEIE     7  USART_SR_TXE    Transmit Data Register Empty
    * USART_CR3_CTSIE    10  USART_SR_CTS    CTS flag                     (not used)
    */
@@ -1642,7 +1740,20 @@ static void up_txint(struct uart_dev_s *dev, bool enable)
       /* Set to receive an interrupt when the TX data register is empty */
 
 #ifndef CONFIG_SUPPRESS_SERIAL_INTS
-      up_restoreusartint(priv, priv->ie | USART_CR1_TXEIE);
+      uint16_t ie = priv->ie | USART_CR1_TXEIE;
+
+      /* If RS-485 is supported on this U[S]ART, then also enable the
+       * transmission complete interrupt.
+       */
+
+#  ifdef HAVE_RS485
+      if (priv->rs485_dir_gpio != 0)
+        {
+          ie |= USART_CR1_TCIE;
+        }
+#  endif
+
+      up_restoreusartint(priv, ie);
 
       /* Fake a TX interrupt here by just calling uart_xmitchars() with
        * interrupts disabled (note this may recurse).
@@ -1657,6 +1768,7 @@ static void up_txint(struct uart_dev_s *dev, bool enable)
 
       up_restoreusartint(priv, priv->ie & ~USART_CR1_TXEIE);
     }
+
   irqrestore(flags);
 }
 
diff --git a/nuttx/arch/arm/src/stm32/stm32_uart.h b/nuttx/arch/arm/src/stm32/stm32_uart.h
index a70923cbf..8ff6a9975 100644
--- a/nuttx/arch/arm/src/stm32/stm32_uart.h
+++ b/nuttx/arch/arm/src/stm32/stm32_uart.h
@@ -223,6 +223,20 @@
 #  undef SERIAL_HAVE_ONLY_DMA
 #endif
 
+/* Is RS-485 used? */
+
+#if defined(CONFIG_USART1_RS485) || defined(CONFIG_USART2_RS485) || \
+    defined(CONFIG_USART3_RS485) || defined(CONFIG_UART4_RS485)  || \
+    defined(CONFIG_UART5_RS485) || defined(CONFIG_USART6_RS485)
+#  define HAVE_RS485 1
+#endif
+
+#ifdef HAVE_RS485
+#  define USART_CR1_USED_INTS    (USART_CR1_RXNEIE | USART_CR1_TXEIE | USART_CR1_PEIE | USART_CR1_TCIE)
+#else
+#  define USART_CR1_USED_INTS    (USART_CR1_RXNEIE | USART_CR1_TXEIE | USART_CR1_PEIE)
+#endif
+
 /************************************************************************************
  * Public Types
  ************************************************************************************/
diff --git a/nuttx/arch/arm/src/stm32/stm32f10xxx_rcc.c b/nuttx/arch/arm/src/stm32/stm32f10xxx_rcc.c
index 47ed5e016..ae3fa516e 100644
--- a/nuttx/arch/arm/src/stm32/stm32f10xxx_rcc.c
+++ b/nuttx/arch/arm/src/stm32/stm32f10xxx_rcc.c
@@ -92,7 +92,11 @@ static inline void rcc_reset(void)
   putreg32(regval, STM32_RCC_CR);
 
   regval  = getreg32(STM32_RCC_CFGR);       /* Reset PLLSRC, PLLXTPRE, PLLMUL and USBPRE bits */
-  regval &= ~(RCC_CFGR_PLLSRC|RCC_CFGR_PLLXTPRE|RCC_CFGR_PLLMUL_MASK|RCC_CFGR_USBPRE);
+  regval &= ~(RCC_CFGR_PLLSRC|RCC_CFGR_PLLXTPRE|RCC_CFGR_PLLMUL_MASK
+#ifndef CONFIG_STM32_VALUELINE
+              |RCC_CFGR_USBPRE
+#endif
+              );
   putreg32(regval, STM32_RCC_CFGR);
 
   putreg32(0, STM32_RCC_CIR);               /* Disable all interrupts */
@@ -224,6 +228,27 @@ static inline void rcc_enableapb1(void)
 #endif
 #endif
 
+#ifdef CONFIG_STM32_TIM12
+  /* Timer 12 clock enable */
+#ifdef CONFIG_STM32_FORCEPOWER
+  regval |= RCC_APB1ENR_TIM12EN;
+#endif
+#endif
+
+#ifdef CONFIG_STM32_TIM13
+  /* Timer 13 clock enable */
+#ifdef CONFIG_STM32_FORCEPOWER
+  regval |= RCC_APB1ENR_TIM13EN;
+#endif
+#endif
+
+#ifdef CONFIG_STM32_TIM14
+  /* Timer 14 clock enable */
+#ifdef CONFIG_STM32_FORCEPOWER
+  regval |= RCC_APB1ENR_TIM14EN;
+#endif
+#endif
+
 #ifdef CONFIG_STM32_WWDG
   /* Window Watchdog clock enable */
 
@@ -315,6 +340,13 @@ static inline void rcc_enableapb1(void)
 
   regval |= RCC_APB1ENR_DACEN;
 #endif
+
+#ifdef CONFIG_STM32_CEC
+  /* CEC clock enable */
+
+  regval |= RCC_APB1ENR_CECEN;
+#endif
+
   putreg32(regval, STM32_RCC_APB1ENR);
 }
 
@@ -404,6 +436,28 @@ static inline void rcc_enableapb2(void)
 
   regval |= RCC_APB2ENR_ADC3EN;
 #endif
+
+#ifdef CONFIG_STM32_TIM15
+  /* TIM15 Timer clock enable */
+#ifdef CONFIG_STM32_FORCEPOWER
+  regval |= RCC_APB2ENR_TIM15EN;
+#endif
+#endif
+
+#ifdef CONFIG_STM32_TIM16
+  /* TIM16 Timer clock enable */
+#ifdef CONFIG_STM32_FORCEPOWER
+  regval |= RCC_APB2ENR_TIM16EN;
+#endif
+#endif
+
+#ifdef CONFIG_STM32_TIM17
+  /* TIM17 Timer clock enable */
+#ifdef CONFIG_STM32_FORCEPOWER
+  regval |= RCC_APB2ENR_TIM17EN;
+#endif
+#endif
+
   putreg32(regval, STM32_RCC_APB2ENR);
 }
 
diff --git a/nuttx/arch/arm/src/stm32/stm32f20xxx_rcc.c b/nuttx/arch/arm/src/stm32/stm32f20xxx_rcc.c
index 335992524..ac72fb60b 100644
--- a/nuttx/arch/arm/src/stm32/stm32f20xxx_rcc.c
+++ b/nuttx/arch/arm/src/stm32/stm32f20xxx_rcc.c
@@ -631,7 +631,11 @@ static void stm32_stdclockconfig(void)
 
       /* Enable FLASH prefetch, instruction cache, data cache, and 5 wait states */
 
+#ifdef STM32_FLASH_PREFETCH
+      regval = (FLASH_ACR_LATENCY_5 | FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_PRFTEN);
+#else
       regval = (FLASH_ACR_LATENCY_5 | FLASH_ACR_ICEN | FLASH_ACR_DCEN);
+#endif
       putreg32(regval, STM32_FLASH_ACR);
 
       /* Select the main PLL as system clock source */
diff --git a/nuttx/arch/arm/src/stm32/stm32f40xxx_rcc.c b/nuttx/arch/arm/src/stm32/stm32f40xxx_rcc.c
index 45980f288..c6c0b2382 100644
--- a/nuttx/arch/arm/src/stm32/stm32f40xxx_rcc.c
+++ b/nuttx/arch/arm/src/stm32/stm32f40xxx_rcc.c
@@ -633,7 +633,11 @@ static void stm32_stdclockconfig(void)
  
       /* Enable FLASH prefetch, instruction cache, data cache, and 5 wait states */
 
+#ifdef STM32_FLASH_PREFETCH
+      regval = (FLASH_ACR_LATENCY_5 | FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_PRFTEN);
+#else
       regval = (FLASH_ACR_LATENCY_5 | FLASH_ACR_ICEN | FLASH_ACR_DCEN);
+#endif
       putreg32(regval, STM32_FLASH_ACR);
 
       /* Select the main PLL as system clock source */
diff --git a/nuttx/binfmt/Kconfig b/nuttx/binfmt/Kconfig
index ae2bf3130..495bd050f 100644
--- a/nuttx/binfmt/Kconfig
+++ b/nuttx/binfmt/Kconfig
@@ -2,3 +2,66 @@
 # For a description of the syntax of this configuration file,
 # see misc/tools/kconfig-language.txt.
 #
+
+config BINFMT_DISABLE
+	bool "Disble BINFMT support"
+	default n
+	---help---
+		By default, support for loadable binary formats is built.  This logic
+		may be suppressed be defining this setting.
+
+if !BINFMT_DISABLE
+
+config BINFMT_EXEPATH
+	bool "Support PATH variable"
+	default n
+	depends on !DISABLE_ENVIRON
+	---help---
+		Use the contents of the PATH environment variable to locate executable
+		files.  Default: n
+
+config PATH_INITIAL
+	string "Initial PATH Value"
+	default ""
+	depends on BINFMT_EXEPATH
+	---help---
+		The initial value of the PATH variable.  This is the colon-separated
+		list of absolute paths.  E.g., "/bin:/usr/bin:/sbin"
+
+config NXFLAT
+	bool "Enable the NXFLAT Binary Format"
+	default n
+	select PIC
+	---help---
+		Enable support for the NXFLAT binary format.  Default: n
+
+if NXFLAT
+source binfmt/libnxflat/Kconfig
+endif
+
+config ELF
+	bool "Enable the ELF Binary Format"
+	default n
+	---help---
+		Enable support for the ELF binary format.  Default: n
+
+if ELF
+source binfmt/libelf/Kconfig
+endif
+
+endif
+
+config PIC
+	bool
+	default n
+
+config BINFMT_CONSTRUCTORS
+	bool "C++ Static Constructor Support"
+	default n
+	depends on HAVE_CXX && ELF # FIX ME: Currently only supported for ELF
+	---help---
+		Build in support for C++ constructors in loaded modules.
+
+config SYMTAB_ORDEREDBYNAME
+	bool "Symbol Tables Ordered by Name"
+	default n
diff --git a/nuttx/binfmt/Makefile b/nuttx/binfmt/Makefile
index b3a9269b3..8ec0d877c 100644
--- a/nuttx/binfmt/Makefile
+++ b/nuttx/binfmt/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # nxflat/Makefile
 #
-#   Copyright (C) 2007-2009 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2007-2009, 2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -34,69 +34,69 @@
 ############################################################################
 
 -include $(TOPDIR)/Make.defs
+DELIM ?= $(strip /)
 
 ifeq ($(WINTOOL),y)
-INCDIROPT	= -w
+INCDIROPT = -w
 endif
-CFLAGS		+= ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/sched}
+CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" "$(TOPDIR)$(DELIM)sched"}
 
-ifeq ($(CONFIG_NXFLAT),y)
-include libnxflat/Make.defs
-LIBNXFLAT_CSRCS	+= nxflat.c 
+# Basic BINFMT source files 
+
+BINFMT_ASRCS  =
+BINFMT_CSRCS  = binfmt_globals.c binfmt_register.c binfmt_unregister.c
+BINFMT_CSRCS += binfmt_loadmodule.c binfmt_unloadmodule.c binfmt_execmodule.c
+BINFMT_CSRCS += binfmt_exec.c binfmt_dumpmodule.c
+
+ifeq ($(CONFIG_BINFMT_EXEPATH),y)
+BINFMT_CSRCS += binfmt_exepath.c
 endif
 
-BINFMT_ASRCS	=
-BINFMT_CSRCS	= binfmt_globals.c binfmt_register.c binfmt_unregister.c \
-		  binfmt_loadmodule.c binfmt_unloadmodule.c binfmt_execmodule.c \
-		  binfmt_exec.c binfmt_dumpmodule.c
+# Symbol table source files
 
-SYMTAB_ASRCS	=
-SYMTAB_CSRCS	= symtab_findbyname.c symtab_findbyvalue.c \
-		  symtab_findorderedbyname.c symtab_findorderedbyvalue.c
+BINFMT_CSRCS += symtab_findbyname.c symtab_findbyvalue.c
+BINFMT_CSRCS += symtab_findorderedbyname.c symtab_findorderedbyvalue.c
 
-SUBDIRS		= libnxflat
+# Add configured binary modules
 
-ASRCS		= $(BINFMT_ASRCS) $(SYMTAB_ASRCS) $(LIBNXFLAT_ASRCS)
-AOBJS		= $(ASRCS:.S=$(OBJEXT))
+VPATH = 
+SUBDIRS =
+DEPPATH = --dep-path .
 
-CSRCS		= $(BINFMT_CSRCS) $(SYMTAB_CSRCS) $(LIBNXFLAT_CSRCS)
-COBJS		= $(CSRCS:.c=$(OBJEXT))
+include libnxflat$(DELIM)Make.defs
+include libelf$(DELIM)Make.defs
 
-SRCS		= $(ASRCS) $(CSRCS)
-OBJS		= $(AOBJS) $(COBJS)
+BINFMT_AOBJS = $(BINFMT_ASRCS:.S=$(OBJEXT))
+BINFMT_COBJS = $(BINFMT_CSRCS:.c=$(OBJEXT))
 
-BIN		= libbinfmt$(LIBEXT)
+BINFMT_SRCS = $(BINFMT_ASRCS) $(BINFMT_CSRCS)
+BINFMT_OBJS = $(BINFMT_AOBJS) $(BINFMT_COBJS)
 
-VPATH		= libnxflat
+BIN = libbinfmt$(LIBEXT)
 
-all:	$(BIN)
+all: $(BIN)
 
-$(AOBJS): %$(OBJEXT): %.S
+$(BINFMT_AOBJS): %$(OBJEXT): %.S
 	$(call ASSEMBLE, $<, $@)
 
-$(COBJS): %$(OBJEXT): %.c
+$(BINFMT_COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
-$(BIN): $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $@, $${obj}); \
-	done ; )
+$(BIN): $(BINFMT_OBJS)
+	$(call ARCHIVE, $@, $(BINFMT_OBJS))
 
-.depend: Makefile $(SRCS)
-	@$(MKDEP) --dep-path . --dep-path libnxflat \
-		$(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
+.depend: Makefile $(BINFMT_SRCS)
+	$(Q) $(MKDEP) $(DEPPATH) "$(CC)" -- $(CFLAGS) -- $(BINFMT_SRCS) >Make.dep
+	$(Q) touch $@
 
 depend: .depend
 
 clean:
-	@rm -f $(BIN) *~ .*.swp
+	$(call DELFILE, $(BIN))
 	$(call CLEAN)
-	@( for dir in $(SUBDIRS); do \
-		rm -f $${dir}/*~ $${dir}/.*.swp; \
-	done ; )
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/nuttx/binfmt/binfmt_dumpmodule.c b/nuttx/binfmt/binfmt_dumpmodule.c
index 32a3fef3e..d320bc830 100644
--- a/nuttx/binfmt/binfmt_dumpmodule.c
+++ b/nuttx/binfmt/binfmt_dumpmodule.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * binfmt/binfmt_dumpmodule.c
  *
- *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2009, 2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -43,7 +43,7 @@
 #include <debug.h>
 #include <errno.h>
 
-#include <nuttx/binfmt.h>
+#include <nuttx/binfmt/binfmt.h>
 
 #include "binfmt_internal.h"
 
@@ -70,7 +70,7 @@
  ***********************************************************************/
 
 /***********************************************************************
- * Name: load_module
+ * Name: dump_module
  *
  * Description:
  *   Load a module into memory and prep it for execution.
@@ -90,8 +90,15 @@ int dump_module(FAR const struct binary_s *bin)
       bdbg("  filename:  %s\n", bin->filename);
       bdbg("  argv:      %p\n", bin->argv);
       bdbg("  entrypt:   %p\n", bin->entrypt);
-      bdbg("  ispace:    %p size=%d\n", bin->ispace, bin->isize);
-      bdbg("  dspace:    %p\n", bin->dspace);
+      bdbg("  mapped:    %p size=%d\n", bin->mapped, bin->mapsize);
+      bdbg("  alloc:     %p %p %p\n", bin->alloc[0], bin->alloc[1], bin->alloc[2]);
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+      bdbg("  ctors:     %p nctors=%d\n", bin->ctors, bin->nctors);
+      bdbg("  dtors:     %p ndtors=%d\n", bin->dtors, bin->ndtors);
+#endif
+#ifdef CONFIG_ADDRENV
+      bdbg("  addrenv:   %p\n", bin->addrenv);
+#endif
       bdbg("  stacksize: %d\n", bin->stacksize);
     }
   return OK;
diff --git a/nuttx/binfmt/binfmt_exec.c b/nuttx/binfmt/binfmt_exec.c
index c070324c3..60e8d8efd 100644
--- a/nuttx/binfmt/binfmt_exec.c
+++ b/nuttx/binfmt/binfmt_exec.c
@@ -44,7 +44,7 @@
 #include <debug.h>
 #include <errno.h>
 
-#include <nuttx/binfmt.h>
+#include <nuttx/binfmt/binfmt.h>
 
 #include "binfmt_internal.h"
 
diff --git a/nuttx/binfmt/binfmt_execmodule.c b/nuttx/binfmt/binfmt_execmodule.c
index 1b511b0cb..400451c40 100644
--- a/nuttx/binfmt/binfmt_execmodule.c
+++ b/nuttx/binfmt/binfmt_execmodule.c
@@ -47,7 +47,7 @@
 #include <errno.h>
 
 #include <nuttx/arch.h>
-#include <nuttx/binfmt.h>
+#include <nuttx/binfmt/binfmt.h>
 
 #include "os_internal.h"
 #include "binfmt_internal.h"
@@ -71,6 +71,62 @@
  ****************************************************************************/
 
 /****************************************************************************
+ * Name: exec_ctors
+ *
+ * Description:
+ *   Execute C++ static constructors.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+static inline int exec_ctors(FAR const struct binary_s *binp)
+{
+  binfmt_ctor_t *ctor = binp->ctors;
+#ifdef CONFIG_ADDRENV
+  hw_addrenv_t oldenv;
+  int ret;
+#endif
+  int i;
+
+  /* Instantiate the address enviroment containing the constructors */
+
+#ifdef CONFIG_ADDRENV
+  ret = up_addrenv_select(binp->addrenv, &oldenv);
+  if (ret < 0)
+    {
+      bdbg("up_addrenv_select() failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
+  /* Execute each constructor */
+
+  for (i = 0; i < binp->nctors; i++)
+    {
+      bvdbg("Calling ctor %d at %p\n", i, (FAR void *)ctor);
+
+      (*ctor)();
+      ctor++;
+    }
+
+  /* Restore the address enviroment */
+
+#ifdef CONFIG_ADDRENV
+  return up_addrenv_restore(oldenv);
+#else
+  return OK;
+#endif
+}
+#endif
+
+/****************************************************************************
  * Public Functions
  ****************************************************************************/
 
@@ -87,7 +143,7 @@
  *
  ****************************************************************************/
 
-int exec_module(FAR const struct binary_s *bin, int priority)
+int exec_module(FAR const struct binary_s *binp, int priority)
 {
   FAR _TCB     *tcb;
 #ifndef CONFIG_CUSTOM_STACK
@@ -100,14 +156,14 @@ int exec_module(FAR const struct binary_s *bin, int priority)
   /* Sanity checking */
 
 #ifdef CONFIG_DEBUG
-  if (!bin || !bin->ispace || !bin->entrypt || bin->stacksize <= 0)
+  if (!binp || !binp->entrypt || binp->stacksize <= 0)
     {
       err = EINVAL;
       goto errout;
     }
 #endif
 
-  bdbg("Executing %s\n", bin->filename);
+  bdbg("Executing %s\n", binp->filename);
 
   /* Allocate a TCB for the new task. */
 
@@ -121,7 +177,7 @@ int exec_module(FAR const struct binary_s *bin, int priority)
   /* Allocate the stack for the new task */
 
 #ifndef CONFIG_CUSTOM_STACK
-  stack = (FAR uint32_t*)malloc(bin->stacksize);
+  stack = (FAR uint32_t*)malloc(binp->stacksize);
   if (!tcb)
     {
       err = ENOMEM;
@@ -130,11 +186,13 @@ int exec_module(FAR const struct binary_s *bin, int priority)
 
   /* Initialize the task */
 
-  ret = task_init(tcb, bin->filename, priority, stack, bin->stacksize, bin->entrypt, bin->argv);
+  ret = task_init(tcb, binp->filename, priority, stack,
+                  binp->stacksize, binp->entrypt, binp->argv);
 #else
   /* Initialize the task */
 
-  ret = task_init(tcb, bin->filename, priority, stack, bin->entrypt, bin->argv);
+  ret = task_init(tcb, binp->filename, priority, stack,
+                  binp->entrypt, binp->argv);
 #endif
   if (ret < 0)
     {
@@ -143,20 +201,46 @@ int exec_module(FAR const struct binary_s *bin, int priority)
       goto errout_with_stack;
     }
 
-  /* Add the DSpace address as the PIC base address */
+  /* Add the D-Space address as the PIC base address.  By convention, this
+   * must be the first allocated address space.
+   */
 
 #ifdef CONFIG_PIC
-  tcb->dspace = bin->dspace;
+  tcb->dspace = binp->alloc[0];
 
   /* Re-initialize the task's initial state to account for the new PIC base */
 
   up_initial_state(tcb);
 #endif
 
+  /* Assign the address environment to the task */
+
+#ifdef CONFIG_ADDRENV
+  ret = up_addrenv_assign(binp->addrenv, tcb);
+  if (ret < 0)
+    {
+      err = -ret;
+      bdbg("up_addrenv_assign() failed: %d\n", ret);
+      goto errout_with_stack;
+    }
+#endif
+
   /* Get the assigned pid before we start the task */
 
   pid = tcb->pid;
 
+  /* Execute all of the C++ static constructors */
+
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+  ret = exec_ctors(binp);
+  if (ret < 0)
+    {
+      err = -ret;
+      bdbg("exec_ctors() failed: %d\n", ret);
+      goto errout_with_stack;
+    }
+#endif
+
   /* Then activate the task at the provided priority */
 
   ret = task_activate(tcb);
@@ -166,6 +250,7 @@ int exec_module(FAR const struct binary_s *bin, int priority)
       bdbg("task_activate() failed: %d\n", err);
       goto errout_with_stack;
     }
+
   return (int)pid;
 
 errout_with_stack:
diff --git a/nuttx/binfmt/binfmt_exepath.c b/nuttx/binfmt/binfmt_exepath.c
new file mode 100644
index 000000000..4fd7ad918
--- /dev/null
+++ b/nuttx/binfmt/binfmt_exepath.c
@@ -0,0 +1,286 @@
+/****************************************************************************
+ * binfmt/binfmt_exepath.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <sys/stat.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <assert.h>
+
+#include <nuttx/kmalloc.h>
+#include <nuttx/binfmt/binfmt.h>
+
+#if !defined(CONFIG_BINFMT_DISABLE) && defined(CONFIG_BINFMT_EXEPATH)
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct exepath_s
+{
+  FAR char *next; /* Pointer to the next (unterminated) value in the PATH variable */
+  char path[1];
+};
+#define SIZEOF_EXEPATH_S(n) (sizeof(struct exepath_s) + (n) - 1)
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: exepath_init
+ *
+ * Description:
+ *   Initialize for the traversal of each value in the PATH variable.  The
+ *   usage is sequence is as follows:
+ *
+ *   1) Call exepath_init() to initialize for the traversal.  exepath_init()
+ *      will return an opaque handle that can then be provided to
+ *      exepath_next() and exepath_release().
+ *   2) Call exepath_next() repeatedly to examine every file that lies
+ *      in the directories of the PATH variable
+ *   3) Call exepath_release() to free resources set aside by exepath_init().
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   On success, exepath_init() return a non-NULL, opaque handle that may
+ *   subsequently be used in calls to exepath_next() and exepath_release().
+ *   On error, a NULL handle value will be returned.  The most likely cause
+ *   of an error would be that the there is no value associated with the
+ *   PATH variable.
+ *
+ ****************************************************************************/
+
+EXEPATH_HANDLE exepath_init(void)
+{
+  FAR struct exepath_s *exepath;
+  FAR char *path;
+
+  /* Get the value of the PATH variable */
+
+  path = getenv("PATH");
+  if (!path)
+    {
+      /* getenv() will return a NULL value if the PATH variable does not
+       * exist in the environment.
+       */
+
+      return (EXEPATH_HANDLE)NULL;
+    }
+
+  /* Allocate a container for the PATH variable contents */
+
+  exepath = (FAR struct exepath_s *)kmalloc(SIZEOF_EXEPATH_S(strlen(path) + 1));
+  if (!exepath)
+    {
+      /* Ooops.. we are out of memory */
+
+      return (EXEPATH_HANDLE)NULL;
+    }
+
+  /* Populate the container */
+
+  strcpy(exepath->path, path);
+  exepath->next = exepath->path;
+
+  /* And return the containing cast to an opaque handle */
+
+  return (EXEPATH_HANDLE)exepath;
+}
+
+ /****************************************************************************
+ * Name: exepath_next
+ *
+ * Description:
+ *   Traverse all possible values in the PATH variable in attempt to find
+ *   the full path to an executable file when only a relative path is
+ *   provided.
+ *
+ * Input Parameters:
+ *   handle - The handle value returned by exepath_init
+ *   relpath - The relative path to the file to be found. 
+ *
+ * Returned Value:
+ *   On success, a non-NULL pointer to a null-terminated string is provided.
+ *   This is the full path to a file that exists in the file system.  This
+ *   function will verify that the file exists (but will not verify that it
+ *   is marked executable).
+ *
+ *   NOTE: The string pointer return in the success case points to allocated
+ *   memory.  This memory must be freed by the called by calling kfree().
+ *
+ *   NULL is returned if no path is found to any file with the provided
+ *   'relpath' from any absolute path in the PATH variable.  In this case,
+ *   there is no point in calling exepath_next() further; exepath_release()
+ *   must be called to release resources set aside by expath_init().
+ *
+ ****************************************************************************/
+
+FAR char *exepath_next(EXEPATH_HANDLE handle, FAR const char *relpath)
+{
+  FAR struct exepath_s *exepath = (FAR struct exepath_s *)handle;
+  struct stat buf;
+  FAR char *endptr;
+  FAR char *path;
+  FAR char *fullpath;
+  int pathlen;
+  int ret;
+
+  /* Verify that a value handle and relative path were provided */
+
+  DEBUGASSERT(exepath && relpath);
+  DEBUGASSERT(relpath[0] != '\0' && relpath[0] != '/');
+
+  /* Loop until (1) we find a file with this relative path from one of the
+   * absolute paths in the PATH variable, or (2) all of the absolute paths
+   * in the PATH variable have been considered.
+   */
+
+  for (;;)
+    {
+      /* Make sure that exepath->next points to the beginning of a string */
+
+      path = exepath->next;
+      if (*path == '\0')
+       {
+          /* If it points to a NULL it means that either (1) the PATH varialbe
+           * is empty, or (2) we have already examined all of the paths in the
+           * path variable.
+           */
+
+          return (FAR char *)NULL;
+       }
+
+      /* Okay... 'path' points to the beginning of the string.  The string may
+       * be termined either with (1) ':' which separates the path from the
+       * next path in the list, or (2) NUL which marks the end of the list.
+       */
+
+      endptr = strchr(path, ':');
+      if (!endptr)
+        {
+          /* If strchr returns NUL it means that ':' does not appear in the
+           * string.  Therefore, this must be the final path in the PATH
+           * variable content.
+           */
+
+          endptr = &path[strlen(path)];
+          exepath->next = endptr;
+          DEBUGASSERT(*endptr == '\0');
+        }
+      else
+        {
+          DEBUGASSERT(*endptr == ':');
+          exepath->next = endptr + 1;
+          *endptr = '\0';
+        }
+
+      pathlen  = strlen(path) + strlen(relpath) + 2;
+      fullpath = (FAR char *)kmalloc(pathlen);
+      if (!fullpath)
+        {
+          /* Failed to allocate memory */
+
+          return (FAR char *)NULL;
+        }
+
+      /* Construct the full path */
+
+      sprintf(fullpath, "%s/%s", path, relpath);
+
+      /* Verify that a regular file exists at this path */
+
+      ret = stat(fullpath, &buf);;
+      if (ret == OK && S_ISREG(buf.st_mode))
+        {
+          return fullpath;
+        }
+
+      /* Failed to stat the file.  Just free the allocated memory and
+       * continue to try the next path.
+       */
+
+       kfree(fullpath);
+    }
+
+  /* We will not get here */
+}
+
+/****************************************************************************
+ * Name: exepath_release
+ *
+ * Description:
+ *   Release all resources set aside by exepath_init() when the handle value
+ *   was created.  The handle value is invalid on return from this function.
+ *   Attempts to all exepath_next() or exepath_release() with such a 'stale'
+ *   handle will result in undefined (i.e., not good) behavior.
+ *
+ * Input Parameters:
+ *   handle - The handle value returned by exepath_init
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+void exepath_release(EXEPATH_HANDLE handle)
+{
+  kfree(handle);
+}
+
+#endif /* !CONFIG_BINFMT_DISABLE && CONFIG_BINFMT_EXEPATH */
+
diff --git a/nuttx/binfmt/binfmt_globals.c b/nuttx/binfmt/binfmt_globals.c
index 069d3a2aa..d3246bd50 100644
--- a/nuttx/binfmt/binfmt_globals.c
+++ b/nuttx/binfmt/binfmt_globals.c
@@ -39,7 +39,7 @@
 
 #include <nuttx/config.h>
 
-#include <nuttx/binfmt.h>
+#include <nuttx/binfmt/binfmt.h>
 
 #ifndef CONFIG_BINFMT_DISABLE
 
diff --git a/nuttx/binfmt/binfmt_internal.h b/nuttx/binfmt/binfmt_internal.h
index da67f5350..4fab9724d 100644
--- a/nuttx/binfmt/binfmt_internal.h
+++ b/nuttx/binfmt/binfmt_internal.h
@@ -42,7 +42,7 @@
 
 #include <nuttx/config.h>
 
-#include <nuttx/binfmt.h>
+#include <nuttx/binfmt/binfmt.h>
 
 /****************************************************************************
  * Pre-processor Definitions
diff --git a/nuttx/binfmt/binfmt_loadmodule.c b/nuttx/binfmt/binfmt_loadmodule.c
index 01ab8cc88..112a6b35b 100644
--- a/nuttx/binfmt/binfmt_loadmodule.c
+++ b/nuttx/binfmt/binfmt_loadmodule.c
@@ -43,7 +43,8 @@
 #include <debug.h>
 #include <errno.h>
 
-#include <nuttx/binfmt.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/binfmt/binfmt.h>
 
 #include "binfmt_internal.h"
 
@@ -66,6 +67,57 @@
  ****************************************************************************/
 
 /****************************************************************************
+ * Name: load_absmodule
+ *
+ * Description:
+ *   Load a module into memory, bind it to an exported symbol take, and
+ *   prep the module for execution.  bin->filename is known to be an absolute
+ *   path to the file to be loaded.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+static int load_absmodule(FAR struct binary_s *bin)
+{
+  FAR struct binfmt_s *binfmt;
+  int ret = -ENOENT;
+
+  bdbg("Loading %s\n", bin->filename);
+
+  /* Disabling pre-emption should be sufficient protection while accessing
+   * the list of registered binary format handlers.
+   */
+
+  sched_lock();
+
+  /* Traverse the list of registered binary format handlers.  Stop
+   * when either (1) a handler recognized and loads the format, or
+   * (2) no handler recognizes the format.
+   */
+
+  for (binfmt = g_binfmts; binfmt; binfmt = binfmt->next)
+    {
+      /* Use this handler to try to load the format */
+
+      ret = binfmt->load(bin);
+      if (ret == OK)
+        {
+          /* Successfully loaded -- break out with ret == 0 */
+
+          bvdbg("Successfully loaded module %s\n", bin->filename);
+          dump_module(bin);
+          break;
+        }
+    }
+
+  sched_unlock();
+  return ret;
+}
+
+/****************************************************************************
  * Public Functions
  ****************************************************************************/
 
@@ -85,42 +137,72 @@
 
 int load_module(FAR struct binary_s *bin)
 {
-  FAR struct binfmt_s *binfmt;
-  int ret = -ENOENT;
+  int ret = -EINVAL;
+
+  /* Verify that we were provided something to work with */
 
 #ifdef CONFIG_DEBUG
   if (bin && bin->filename)
 #endif
     {
-      bdbg("Loading %s\n", bin->filename);
-
-      /* Disabling pre-emption should be sufficient protection while
-       * accessing the list of registered binary format handlers.
+      /* Were we given a relative path?  Or an absolute path to the file to
+       * be loaded?  Absolute paths start with '/'.
        */
 
-      sched_lock();
+#ifdef CONFIG_BINFMT_EXEPATH
+      if (bin->filename[0] != '/')
+        {
+          FAR const char *relpath;
+          FAR char *fullpath;
+          EXEPATH_HANDLE handle;
 
-      /* Traverse the list of registered binary format handlers.  Stop
-       * when either (1) a handler recognized and loads the format, or
-       * (2) no handler recognizes the format.
-       */
+          /* Set aside the relative path */
 
-      for (binfmt = g_binfmts; binfmt; binfmt = binfmt->next)
-        {
-          /* Use this handler to try to load the format */
+          relpath = bin->filename;
+          ret     = -ENOENT;
+
+          /* Initialize to traverse the PATH variable */
 
-          ret = binfmt->load(bin);
-          if (ret == OK)
+          handle = exepath_init();
+          if (handle)
             {
-              /* Successfully loaded -- break out with ret == 0 */
+              /* Get the next absolute file path */
 
-              bvdbg("Successfully loaded module %s\n", bin->filename);
-              dump_module(bin);
-              break;
+              while ((fullpath = exepath_next(handle, relpath)) != NULL)
+                {
+                  /* Try to load the file at this path */
+
+                  bin->filename = fullpath;
+                  ret = load_absmodule(bin);
+
+                  /* Free the allocated fullpath */
+
+                  kfree(fullpath);
+
+                  /* Break out of the loop with ret == OK on success */
+
+                  if (ret == OK)
+                    {
+                      break;
+                    }
+                }
             }
+
+          /* Restore the relative path.  This is not needed for anything
+           * but debug output after the file has been loaded.
+           */
+
+          bin->filename = relpath;
         }
+      else
+#endif
+        {
+          /* We already have the one and only absolute path to the file to
+           * be loaded.
+           */
 
-      sched_unlock();
+          ret = load_absmodule(bin);
+        }
     }
 
   /* This is an end-user function.  Return failures via errno */
@@ -131,6 +213,7 @@ int load_module(FAR struct binary_s *bin)
       errno = -ret;
       return ERROR;
     }
+
   return OK;
 }
 
diff --git a/nuttx/binfmt/binfmt_register.c b/nuttx/binfmt/binfmt_register.c
index 7f6eef671..925f29353 100644
--- a/nuttx/binfmt/binfmt_register.c
+++ b/nuttx/binfmt/binfmt_register.c
@@ -44,7 +44,7 @@
 #include <debug.h>
 #include <errno.h>
 
-#include <nuttx/binfmt.h>
+#include <nuttx/binfmt/binfmt.h>
 
 #include "binfmt_internal.h"
 
diff --git a/nuttx/binfmt/binfmt_unloadmodule.c b/nuttx/binfmt/binfmt_unloadmodule.c
index 04859a291..365f26a34 100644
--- a/nuttx/binfmt/binfmt_unloadmodule.c
+++ b/nuttx/binfmt/binfmt_unloadmodule.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * binfmt/binfmt_loadmodule.c
  *
- *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2009, 2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -45,7 +45,7 @@
 #include <debug.h>
 #include <errno.h>
 
-#include <nuttx/binfmt.h>
+#include <nuttx/binfmt/binfmt.h>
 
 #include "binfmt_internal.h"
 
@@ -68,6 +68,62 @@
  ****************************************************************************/
 
 /****************************************************************************
+ * Name: exec_dtors
+ *
+ * Description:
+ *   Execute C++ static constructors.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+static inline int exec_dtors(FAR const struct binary_s *binp)
+{
+  binfmt_dtor_t *dtor = binp->dtors;
+#ifdef CONFIG_ADDRENV
+  hw_addrenv_t oldenv;
+  int ret;
+#endif
+  int i;
+
+  /* Instantiate the address enviroment containing the destructors */
+
+#ifdef CONFIG_ADDRENV
+  ret = up_addrenv_select(binp->addrenv, &oldenv);
+  if (ret < 0)
+    {
+      bdbg("up_addrenv_select() failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
+  /* Execute each destructor */
+
+  for (i = 0; i < binp->ndtors; i++)
+    {
+      bvdbg("Calling dtor %d at %p\n", i, (FAR void *)dtor);
+
+      (*dtor)();
+      dtor++;
+    }
+
+  /* Restore the address enviroment */
+
+#ifdef CONFIG_ADDRENV
+  return up_addrenv_restore(oldenv);
+#else
+  return OK;
+#endif
+}
+#endif
+
+/****************************************************************************
  * Public Functions
  ****************************************************************************/
 
@@ -76,7 +132,12 @@
  *
  * Description:
  *   Unload a (non-executing) module from memory.  If the module has
- *   been started (via exec_module), calling this will be fatal.
+ *   been started (via exec_module) and has not exited, calling this will
+ *   be fatal.
+ *
+ *   However, this function must be called after the module exist.  How
+ *   this is done is up to your logic.  Perhaps you register it to be
+ *   called by on_exit()?
  *
  * Returned Value:
  *   This is a NuttX internal function so it follows the convention that
@@ -85,22 +146,52 @@
  *
  ****************************************************************************/
 
-int unload_module(FAR const struct binary_s *bin)
+int unload_module(FAR const struct binary_s *binp)
 {
-  if (bin)
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+  int ret;
+#endif
+  int i;
+ 
+  if (binp)
     {
-      if (bin->ispace)
+      /* Execute C++ desctructors */
+
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+      ret = exec_dtors(binp);
+      if (ret < 0)
         {
-          bvdbg("Unmapping ISpace: %p\n", bin->ispace);
-          munmap(bin->ispace, bin->isize);
+          bdbg("exec_ctors() failed: %d\n", ret);
+          set_errno(-ret);
+          return ERROR;
         }
+#endif
 
-      if (bin->dspace)
+      /* Unmap mapped address spaces */
+
+      if (binp->mapped)
+        {
+          bvdbg("Unmapping address space: %p\n", binp->mapped);
+
+          munmap(binp->mapped, binp->mapsize);
+        }
+
+      /* Free allocated address spaces */
+
+      for (i = 0; i < BINFMT_NALLOC; i++)
         {
-          bvdbg("Freeing DSpace: %p\n", bin->dspace);
-          free(bin->dspace);
+          if (binp->alloc[i])
+            {
+              bvdbg("Freeing alloc[%d]: %p\n", i, binp->alloc[i]);
+              free((FAR void *)binp->alloc[i]);
+            }
         }
+
+      /* Notice that the address environment is not destroyed.  This should
+       * happen automatically when the task exits.
+       */
     }
+
   return OK;
 }
 
diff --git a/nuttx/binfmt/binfmt_unregister.c b/nuttx/binfmt/binfmt_unregister.c
index b97b9b67d..f895e354d 100644
--- a/nuttx/binfmt/binfmt_unregister.c
+++ b/nuttx/binfmt/binfmt_unregister.c
@@ -44,7 +44,7 @@
 #include <debug.h>
 #include <errno.h>
 
-#include <nuttx/binfmt.h>
+#include <nuttx/binfmt/binfmt.h>
 
 #include "binfmt_internal.h"
 
diff --git a/nuttx/binfmt/elf.c b/nuttx/binfmt/elf.c
new file mode 100644
index 000000000..bcebf13ca
--- /dev/null
+++ b/nuttx/binfmt/elf.c
@@ -0,0 +1,323 @@
+/****************************************************************************
+ * binfmt/elf.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <string.h>
+#include <elf32.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <arpa/inet.h>
+#include <nuttx/binfmt/binfmt.h>
+#include <nuttx/binfmt/elf.h>
+
+#ifdef CONFIG_ELF
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* CONFIG_DEBUG, CONFIG_DEBUG_VERBOSE, and CONFIG_DEBUG_BINFMT have to be
+ * defined or CONFIG_ELF_DUMPBUFFER does nothing.
+ */
+
+#if !defined(CONFIG_DEBUG_VERBOSE) || !defined (CONFIG_DEBUG_BINFMT)
+#  undef CONFIG_ELF_DUMPBUFFER
+#endif
+
+#ifndef CONFIG_ELF_STACKSIZE
+#  define CONFIG_ELF_STACKSIZE 2048
+#endif
+
+#ifdef CONFIG_ELF_DUMPBUFFER
+# define elf_dumpbuffer(m,b,n) bvdbgdumpbuffer(m,b,n)
+#else
+# define elf_dumpbuffer(m,b,n)
+#endif
+
+#ifndef MIN
+#  define MIN(a,b) (a < b ? a : b)
+#endif
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static int elf_loadbinary(FAR struct binary_s *binp);
+#if defined(CONFIG_DEBUG) && defined(CONFIG_DEBUG_BINFMT)
+static void elf_dumploadinfo(FAR struct elf_loadinfo_s *loadinfo);
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static struct binfmt_s g_elfbinfmt =
+{
+  NULL,             /* next */
+  elf_loadbinary,   /* load */
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: elf_dumploadinfo
+ ****************************************************************************/
+
+#if defined(CONFIG_DEBUG) && defined(CONFIG_DEBUG_BINFMT)
+static void elf_dumploadinfo(FAR struct elf_loadinfo_s *loadinfo)
+{
+  int i;
+
+  bdbg("LOAD_INFO:\n");
+  bdbg("  elfalloc:     %08lx\n", (long)loadinfo->elfalloc);
+  bdbg("  elfsize:      %ld\n",   (long)loadinfo->elfsize);
+  bdbg("  filelen:      %ld\n",   (long)loadinfo->filelen);
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+  bdbg("  ctoralloc:    %08lx\n", (long)loadinfo->ctoralloc);
+  bdbg("  ctors:        %08lx\n", (long)loadinfo->ctors);
+  bdbg("  nctors:       %d\n",    loadinfo->nctors);
+  bdbg("  dtoralloc:    %08lx\n", (long)loadinfo->dtoralloc);
+  bdbg("  dtors:        %08lx\n", (long)loadinfo->dtors);
+  bdbg("  ndtors:       %d\n",    loadinfo->ndtors);
+#endif
+  bdbg("  filfd:        %d\n",    loadinfo->filfd);
+  bdbg("  symtabidx:    %d\n",    loadinfo->symtabidx);
+  bdbg("  strtabidx:    %d\n",    loadinfo->strtabidx);
+
+  bdbg("ELF Header:\n");
+  bdbg("  e_ident:      %02x %02x %02x %02x\n",
+    loadinfo->ehdr.e_ident[0], loadinfo->ehdr.e_ident[1],
+    loadinfo->ehdr.e_ident[2], loadinfo->ehdr.e_ident[3]);
+  bdbg("  e_type:       %04x\n",  loadinfo->ehdr.e_type);
+  bdbg("  e_machine:    %04x\n",  loadinfo->ehdr.e_machine);
+  bdbg("  e_version:    %08x\n",  loadinfo->ehdr.e_version);
+  bdbg("  e_entry:      %08lx\n", (long)loadinfo->ehdr.e_entry);
+  bdbg("  e_phoff:      %d\n",    loadinfo->ehdr.e_phoff);
+  bdbg("  e_shoff:      %d\n",    loadinfo->ehdr.e_shoff);
+  bdbg("  e_flags:      %08x\n" , loadinfo->ehdr.e_flags);
+  bdbg("  e_ehsize:     %d\n",    loadinfo->ehdr.e_ehsize);
+  bdbg("  e_phentsize:  %d\n",    loadinfo->ehdr.e_phentsize);
+  bdbg("  e_phnum:      %d\n",    loadinfo->ehdr.e_phnum);
+  bdbg("  e_shentsize:  %d\n",    loadinfo->ehdr.e_shentsize);
+  bdbg("  e_shnum:      %d\n",    loadinfo->ehdr.e_shnum);
+  bdbg("  e_shstrndx:   %d\n",    loadinfo->ehdr.e_shstrndx);
+
+  if (loadinfo->shdr && loadinfo->ehdr.e_shnum > 0)
+    {
+      for (i = 0; i < loadinfo->ehdr.e_shnum; i++)
+        {
+          FAR Elf32_Shdr *shdr = &loadinfo->shdr[i];
+          bdbg("Sections %d:\n", i);
+          bdbg("  sh_name:      %08x\n", shdr->sh_name);
+          bdbg("  sh_type:      %08x\n", shdr->sh_type);
+          bdbg("  sh_flags:     %08x\n", shdr->sh_flags);
+          bdbg("  sh_addr:      %08x\n", shdr->sh_addr);
+          bdbg("  sh_offset:    %d\n",   shdr->sh_offset);
+          bdbg("  sh_size:      %d\n",   shdr->sh_size);
+          bdbg("  sh_link:      %d\n",   shdr->sh_link);
+          bdbg("  sh_info:      %d\n",   shdr->sh_info);
+          bdbg("  sh_addralign: %d\n",   shdr->sh_addralign);
+          bdbg("  sh_entsize:   %d\n",   shdr->sh_entsize);
+        }
+    }
+}
+#else
+# define elf_dumploadinfo(i)
+#endif
+
+/****************************************************************************
+ * Name: elf_loadbinary
+ *
+ * Description:
+ *   Verify that the file is an ELF binary and, if so, load the ELF
+ *   binary into memory
+ *
+ ****************************************************************************/
+
+static int elf_loadbinary(struct binary_s *binp)
+{
+  struct elf_loadinfo_s loadinfo;  /* Contains globals for libelf */
+  int                   ret;
+
+  bvdbg("Loading file: %s\n", binp->filename);
+
+  /* Initialize the xflat library to load the program binary. */
+
+  ret = elf_init(binp->filename, &loadinfo);
+  elf_dumploadinfo(&loadinfo);
+  if (ret != 0)
+    {
+      bdbg("Failed to initialize for load of ELF program: %d\n", ret);
+      goto errout;
+    }
+
+  /* Load the program binary */
+
+  ret = elf_load(&loadinfo);
+  elf_dumploadinfo(&loadinfo);
+  if (ret != 0)
+    {
+      bdbg("Failed to load ELF program binary: %d\n", ret);
+      goto errout_with_init;
+    }
+
+  /* Bind the program to the exported symbol table */
+
+  ret = elf_bind(&loadinfo, binp->exports, binp->nexports);
+  if (ret != 0)
+    {
+      bdbg("Failed to bind symbols program binary: %d\n", ret);
+      goto errout_with_load;
+    }
+
+  /* Return the load information */
+
+  binp->entrypt   = (main_t)(loadinfo.elfalloc + loadinfo.ehdr.e_entry);
+  binp->stacksize = CONFIG_ELF_STACKSIZE;
+
+  /* Add the ELF allocation to the alloc[] only if there is no address
+   * enironment.  If there is an address environment, it will automatically
+   * be freed when the function exits
+   *
+   * REVISIT:  If the module is loaded then unloaded, wouldn't this cause
+   * a memory leak?
+   */
+
+#ifdef CONFIG_ADDRENV
+#  warning "REVISIT"
+#else
+  binp->alloc[0]  = (FAR void *)loadinfo.elfalloc;
+#endif
+
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+  /* Save information about constructors.  NOTE:  desctructors are not
+   * yet supported.
+   */
+
+  binp->alloc[1]  = loadinfo.ctoralloc;
+  binp->ctors     = loadinfo.ctors;
+  binp->nctors    = loadinfo.nctors;
+
+  binp->alloc[2]  = loadinfo.dtoralloc;
+  binp->dtors     = loadinfo.dtors;
+  binp->ndtors    = loadinfo.ndtors;
+#endif
+
+#ifdef CONFIG_ADDRENV
+  /* Save the address environment.  This will be needed when the module is
+   * executed for the up_addrenv_assign() call.
+   */
+
+  binp->addrenv   = loadinfo.addrenv;
+#endif
+
+  elf_dumpbuffer("Entry code", (FAR const uint8_t*)binp->entrypt,
+                 MIN(loadinfo.allocsize - loadinfo.ehdr.e_entry, 512));
+
+  elf_uninit(&loadinfo);
+  return OK;
+
+errout_with_load:
+  elf_unload(&loadinfo);
+errout_with_init:
+  elf_uninit(&loadinfo);
+errout:
+  return ret;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: elf_initialize
+ *
+ * Description:
+ *   ELF support is built unconditionally.  However, it order to
+ *   use this binary format, this function must be called during system
+ *   format in order to register the ELF binary format.
+ *
+ * Returned Value:
+ *   This is a NuttX internal function so it follows the convention that
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_initialize(void)
+{
+  int ret;
+
+  /* Register ourselves as a binfmt loader */
+
+  bvdbg("Registering ELF\n");
+
+  ret = register_binfmt(&g_elfbinfmt);
+  if (ret != 0)
+    {
+      bdbg("Failed to register binfmt: %d\n", ret);
+    }
+
+  return ret;
+}
+
+/****************************************************************************
+ * Name: elf_uninitialize
+ *
+ * Description:
+ *   Unregister the ELF binary loader
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+void elf_uninitialize(void)
+{
+  unregister_binfmt(&g_elfbinfmt);
+}
+
+#endif /* CONFIG_ELF */
+
diff --git a/nuttx/binfmt/libelf/Make.defs b/nuttx/binfmt/libelf/Make.defs
new file mode 100644
index 000000000..93d95a23c
--- /dev/null
+++ b/nuttx/binfmt/libelf/Make.defs
@@ -0,0 +1,58 @@
+############################################################################
+# binfmt/libelf/Make.defs
+#
+#   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. 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.
+# 3. Neither the name NuttX 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.
+#
+############################################################################
+
+ifeq ($(CONFIG_ELF),y)
+
+# ELF application interfaces
+
+BINFMT_CSRCS += elf.c
+
+# ELF library
+
+BINFMT_CSRCS += libelf_bind.c libelf_init.c libelf_addrenv.c libelf_iobuffer.c 
+BINFMT_CSRCS += libelf_load.c libelf_read.c libelf_sections.c libelf_symbols.c
+BINFMT_CSRCS += libelf_uninit.c libelf_unload.c libelf_verify.c
+
+ifeq ($(CONFIG_BINFMT_CONSTRUCTORS),y)
+BINFMT_CSRCS += libelf_ctors.c libelf_dtors.c
+endif
+
+# Hook the libelf subdirectory into the build
+
+VPATH += libelf
+SUBDIRS += libelf
+DEPPATH += --dep-path libelf
+
+endif
diff --git a/nuttx/binfmt/libelf/libelf.h b/nuttx/binfmt/libelf/libelf.h
new file mode 100644
index 000000000..04c9144f6
--- /dev/null
+++ b/nuttx/binfmt/libelf/libelf.h
@@ -0,0 +1,341 @@
+/****************************************************************************
+ * binfmt/libelf/libelf.h
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ****************************************************************************/
+
+#ifndef __BINFMT_LIBELF_LIBELF_H
+#define __BINFMT_LIBELF_LIBELF_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <elf32.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/binfmt/elf.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: elf_verifyheader
+ *
+ * Description:
+ *   Given the header from a possible ELF executable, verify that it is
+ *   an ELF executable.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_verifyheader(FAR const Elf32_Ehdr *header);
+
+/****************************************************************************
+ * Name: elf_read
+ *
+ * Description:
+ *   Read 'readsize' bytes from the object file at 'offset'.  The data is
+ *   read into 'buffer.' If 'buffer' is part of the ELF address environment,
+ *   then the caller is responsibile for assuring that that address
+ *   environment is in place before calling this function (i.e., that
+ *   elf_addrenv_select() has been called if CONFIG_ADDRENV=y).
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_read(FAR struct elf_loadinfo_s *loadinfo, FAR uint8_t *buffer,
+             size_t readsize, off_t offset);
+
+/****************************************************************************
+ * Name: elf_loadshdrs
+ *
+ * Description:
+ *   Loads section headers into memory.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_loadshdrs(FAR struct elf_loadinfo_s *loadinfo);
+
+/****************************************************************************
+ * Name: elf_findsection
+ *
+ * Description:
+ *   A section by its name.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *   sectname - Name of the section to find
+ *
+ * Returned Value:
+ *   On success, the index to the section is returned; A negated errno value
+ *   is returned on failure.
+ *
+ ****************************************************************************/
+
+int elf_findsection(FAR struct elf_loadinfo_s *loadinfo,
+                    FAR const char *sectname);
+
+/****************************************************************************
+ * Name: elf_findsymtab
+ *
+ * Description:
+ *   Find the symbol table section.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_findsymtab(FAR struct elf_loadinfo_s *loadinfo);
+
+/****************************************************************************
+ * Name: elf_readsym
+ *
+ * Description:
+ *   Read the ELFT symbol structure at the specfied index into memory.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *   index    - Symbol table index
+ *   sym      - Location to return the table entry
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_readsym(FAR struct elf_loadinfo_s *loadinfo, int index,
+                FAR Elf32_Sym *sym);
+
+/****************************************************************************
+ * Name: elf_symvalue
+ *
+ * Description:
+ *   Get the value of a symbol.  The updated value of the symbol is returned
+ *   in the st_value field of the symbol table entry.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *   sym      - Symbol table entry (value might be undefined)
+ *   exports  - The symbol table to use for resolving undefined symbols.
+ *   nexports - Number of symbols in the symbol table.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_symvalue(FAR struct elf_loadinfo_s *loadinfo, FAR Elf32_Sym *sym,
+                 FAR const struct symtab_s *exports, int nexports);
+
+/****************************************************************************
+ * Name: elf_freebuffers
+ *
+ * Description:
+ *  Release all working buffers.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_freebuffers(FAR struct elf_loadinfo_s *loadinfo);
+
+/****************************************************************************
+ * Name: elf_allocbuffer
+ *
+ * Description:
+ *   Perform the initial allocation of the I/O buffer, if it has not already
+ *   been allocated.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_allocbuffer(FAR struct elf_loadinfo_s *loadinfo);
+
+/****************************************************************************
+ * Name: elf_reallocbuffer
+ *
+ * Description:
+ *   Increase the size of I/O buffer by the specified buffer increment.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_reallocbuffer(FAR struct elf_loadinfo_s *loadinfo, size_t increment);
+
+/****************************************************************************
+ * Name: elf_findctors
+ *
+ * Description:
+ *   Find C++ static constructors.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+int elf_loadctors(FAR struct elf_loadinfo_s *loadinfo);
+#endif
+
+/****************************************************************************
+ * Name: elf_loaddtors
+ *
+ * Description:
+ *  Load pointers to static destructors into an in-memory array.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+int elf_loaddtors(FAR struct elf_loadinfo_s *loadinfo);
+#endif
+
+/****************************************************************************
+ * Name: elf_addrenv_alloc
+ *
+ * Description:
+ *   Allocate memory for the ELF image (elfalloc). If CONFIG_ADDRENV=n,
+ *   elfalloc will be allocated using kzalloc().  If CONFIG_ADDRENV-y, then
+ *   elfalloc will be allocated using up_addrenv_create().  In either case,
+ *   there will be a unique instance of elfalloc (and stack) for each
+ *   instance of a process.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *   envsize - The size (in bytes) of the address environment needed for the
+ *     ELF image.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int elf_addrenv_alloc(FAR struct elf_loadinfo_s *loadinfo, size_t envsize);
+
+/****************************************************************************
+ * Name: elf_addrenv_select
+ *
+ * Description:
+ *   Temporarity select the task's address environemnt.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ADDRENV
+#  define elf_addrenv_select(l) up_addrenv_select((l)->addrenv, &(l)->oldenv)
+#endif
+
+/****************************************************************************
+ * Name: elf_addrenv_restore
+ *
+ * Description:
+ *   Restore the address environment before elf_addrenv_select() was called..
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ADDRENV
+#  define elf_addrenv_restore(l) up_addrenv_restore((l)->oldenv)
+#endif
+
+/****************************************************************************
+ * Name: elf_addrenv_free
+ *
+ * Description:
+ *   Release the address environment previously created by
+ *   elf_addrenv_alloc().  This function  is called only under certain error
+ *   conditions after the the module has been loaded but not yet started.
+ *   After the module has been started, the address environment will
+ *   automatically be freed when the module exits.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *
+ * Returned Value:
+ *   None.
+ *
+ ****************************************************************************/
+
+void elf_addrenv_free(FAR struct elf_loadinfo_s *loadinfo);
+
+#endif /* __BINFMT_LIBELF_LIBELF_H */
diff --git a/nuttx/binfmt/libelf/libelf_addrenv.c b/nuttx/binfmt/libelf/libelf_addrenv.c
new file mode 100644
index 000000000..193062a54
--- /dev/null
+++ b/nuttx/binfmt/libelf/libelf_addrenv.c
@@ -0,0 +1,176 @@
+/****************************************************************************
+ * binfmt/libelf/libelf_addrenv.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/kmalloc.h>
+
+#include "libelf.h"
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Constant Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: elf_addrenv_alloc
+ *
+ * Description:
+ *   Allocate memory for the ELF image (elfalloc). If CONFIG_ADDRENV=n,
+ *   elfalloc will be allocated using kzalloc().  If CONFIG_ADDRENV-y, then
+ *   elfalloc will be allocated using up_addrenv_create().  In either case,
+ *   there will be a unique instance of elfalloc (and stack) for each
+ *   instance of a process.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *   envsize - The size (in bytes) of the address environment needed for the
+ *     ELF image.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int elf_addrenv_alloc(FAR struct elf_loadinfo_s *loadinfo, size_t envsize)
+{
+#ifdef CONFIG_ADDRENV
+  FAR void *vaddr;
+  int ret;
+
+  /* Create an address environment for the new ELF task */
+
+  ret = up_addrenv_create(envsize, &loadinfo->addrenv);
+  if (ret < 0)
+    {
+      bdbg("ERROR: up_addrenv_create failed: %d\n", ret);
+      return ret;
+    }
+
+  /* Get the virtual address associated with the start of the address
+   * environment.  This is the base address that we will need to use to
+   * access the ELF image (but only if the address environment has been
+   * selected.
+   */
+
+  ret = up_addrenv_vaddr(loadinfo->addrenv, &vaddr);
+  if (ret < 0)
+    {
+      bdbg("ERROR: up_addrenv_vaddr failed: %d\n", ret);
+      return ret;
+    }
+
+  loadinfo->elfalloc = (uintptr_t)vaddr;
+  return OK;
+#else
+  /* Allocate memory to hold the ELF image */
+
+  loadinfo->elfalloc = (uintptr_t)kzalloc(envsize);
+  if (!loadinfo->elfalloc)
+    {
+      return -ENOMEM;
+    }
+
+  return OK;
+#endif
+}
+
+/****************************************************************************
+ * Name: elf_addrenv_free
+ *
+ * Description:
+ *   Release the address environment previously created by
+ *   elf_addrenv_create().  This function  is called only under certain error
+ *   conditions after the the module has been loaded but not yet started.
+ *   After the module has been started, the address environment will
+ *   automatically be freed when the module exits.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *
+ * Returned Value:
+ *   None.
+ *
+ ****************************************************************************/
+
+void elf_addrenv_free(FAR struct elf_loadinfo_s *loadinfo)
+{
+#ifdef CONFIG_ADDRENV
+  int ret;
+
+  /* Free the address environemnt */
+
+  ret = up_addrenv_destroy(loadinfo->addrenv);
+  if (ret < 0)
+    {
+      bdbg("ERROR: up_addrenv_destroy failed: %d\n", ret);
+    }
+
+  /* Clear out all indications of the allocated address environment */
+
+  loadinfo->elfalloc = 0;
+  loadinfo->elfsize  = 0;
+  loadinfo->addrenv  = 0;
+#else
+  /* If there is an allocation for the ELF image, free it */
+
+  if (loadinfo->elfalloc != 0)
+    {
+      kfree((FAR void *)loadinfo->elfalloc);
+      loadinfo->elfalloc = 0;
+    }
+
+   loadinfo->elfsize = 0;
+#endif
+}
diff --git a/nuttx/binfmt/libelf/libelf_bind.c b/nuttx/binfmt/libelf/libelf_bind.c
new file mode 100644
index 000000000..ccdb5108e
--- /dev/null
+++ b/nuttx/binfmt/libelf/libelf_bind.c
@@ -0,0 +1,334 @@
+/****************************************************************************
+ * binfmt/libelf/libelf_bind.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <string.h>
+#include <elf32.h>
+#include <errno.h>
+#include <assert.h>
+#include <debug.h>
+
+#include <nuttx/binfmt/elf.h>
+#include <nuttx/binfmt/symtab.h>
+
+#include "libelf.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* CONFIG_DEBUG, CONFIG_DEBUG_VERBOSE, and CONFIG_DEBUG_BINFMT have to be
+ * defined or CONFIG_ELF_DUMPBUFFER does nothing.
+ */
+
+#if !defined(CONFIG_DEBUG_VERBOSE) || !defined (CONFIG_DEBUG_BINFMT)
+#  undef CONFIG_ELF_DUMPBUFFER
+#endif
+
+#ifndef CONFIG_ELF_BUFFERSIZE
+#  define CONFIG_ELF_BUFFERSIZE 128
+#endif
+
+#ifdef CONFIG_ELF_DUMPBUFFER
+# define elf_dumpbuffer(m,b,n) bvdbgdumpbuffer(m,b,n)
+#else
+# define elf_dumpbuffer(m,b,n)
+#endif
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: elf_readrel
+ *
+ * Description:
+ *   Read the ELF32_Rel structure into memory.
+ *
+ ****************************************************************************/
+
+static inline int elf_readrel(FAR struct elf_loadinfo_s *loadinfo,
+                              FAR const Elf32_Shdr *relsec,
+                              int index, FAR Elf32_Rel *rel)
+{
+  off_t offset;
+
+  /* Verify that the symbol table index lies within symbol table */
+
+  if (index < 0 || index > (relsec->sh_size / sizeof(Elf32_Rel)))
+    {
+      bdbg("Bad relocation symbol index: %d\n", index);
+      return -EINVAL;
+    }
+
+  /* Get the file offset to the symbol table entry */
+
+  offset = relsec->sh_offset + sizeof(Elf32_Rel) * index;
+
+  /* And, finally, read the symbol table entry into memory */
+
+  return elf_read(loadinfo, (FAR uint8_t*)rel, sizeof(Elf32_Rel), offset);
+}
+
+/****************************************************************************
+ * Name: elf_relocate and elf_relocateadd
+ *
+ * Description:
+ *   Perform all relocations associated with a section.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+static int elf_relocate(FAR struct elf_loadinfo_s *loadinfo, int relidx,
+                        FAR const struct symtab_s *exports, int nexports)
+
+{
+  FAR Elf32_Shdr *relsec = &loadinfo->shdr[relidx];
+  FAR Elf32_Shdr *dstsec = &loadinfo->shdr[relsec->sh_info];
+  Elf32_Rel       rel;
+  Elf32_Sym       sym;
+  uintptr_t       addr;
+  int             symidx;
+  int             ret;
+  int             i;
+
+  /* Examine each relocation in the section.  'relsec' is the section
+   * containing the relations.  'dstsec' is the section containing the data
+   * to be relocated.
+   */
+
+  for (i = 0; i < relsec->sh_size / sizeof(Elf32_Rel); i++)
+    {
+      /* Read the relocation entry into memory */
+
+      ret = elf_readrel(loadinfo, relsec, i, &rel);
+      if (ret < 0)
+        {
+          bdbg("Section %d reloc %d: Failed to read relocation entry: %d\n",
+               relidx, i, ret);
+          return ret;
+        }
+
+      /* Get the symbol table index for the relocation.  This is contained
+       * in a bit-field within the r_info element.
+       */
+
+      symidx = ELF32_R_SYM(rel.r_info);
+
+      /* Read the symbol table entry into memory */
+
+      ret = elf_readsym(loadinfo, symidx, &sym);
+      if (ret < 0)
+        {
+          bdbg("Section %d reloc %d: Failed to read symbol[%d]: %d\n",
+               relidx, i, symidx, ret);
+          return ret;
+        }
+
+      /* Get the value of the symbol (in sym.st_value) */
+
+      ret = elf_symvalue(loadinfo, &sym, exports, nexports);
+      if (ret < 0)
+        {
+          bdbg("Section %d reloc %d: Failed to get value of symbol[%d]: %d\n",
+               relidx, i, symidx, ret);
+          return ret;
+        }
+
+      /* Calculate the relocation address. */
+
+      if (rel.r_offset < 0 || rel.r_offset > dstsec->sh_size - sizeof(uint32_t))
+        {
+          bdbg("Section %d reloc %d: Relocation address out of range, offset %d size %d\n",
+               relidx, i, rel.r_offset, dstsec->sh_size);
+          return -EINVAL;
+        }
+
+      addr = dstsec->sh_addr + rel.r_offset;
+
+      /* If CONFIG_ADDRENV=y, then 'addr' lies in a virtual address space that
+       * may not be in place now.  elf_addrenv_select() will temporarily
+       * instantiate that address space.
+       */
+
+#ifdef CONFIG_ADDRENV
+      ret = elf_addrenv_select(loadinfo);
+      if (ret < 0)
+        {
+          bdbg("ERROR: elf_addrenv_select() failed: %d\n", ret);
+          return ret;
+        }
+#endif
+
+      /* Now perform the architecture-specific relocation */
+
+      ret = arch_relocate(&rel, &sym, addr);
+      if (ret < 0)
+        {
+#ifdef CONFIG_ADDRENV
+          (void)elf_addrenv_restore(loadinfo);
+#endif
+          bdbg("ERROR: Section %d reloc %d: Relocation failed: %d\n", ret);
+          return ret;
+        }
+
+      /* Restore the original address environment */
+
+#ifdef CONFIG_ADDRENV
+      ret = elf_addrenv_restore(loadinfo);
+      if (ret < 0)
+        {
+          bdbg("ERROR: elf_addrenv_restore() failed: %d\n", ret);
+          return ret;
+        }
+#endif
+    }
+
+  return OK;
+}
+
+static int elf_relocateadd(FAR struct elf_loadinfo_s *loadinfo, int relidx,
+                           FAR const struct symtab_s *exports, int nexports)
+{
+  bdbg("Not implemented\n");
+  return -ENOSYS;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: elf_bind
+ *
+ * Description:
+ *   Bind the imported symbol names in the loaded module described by
+ *   'loadinfo' using the exported symbol values provided by 'symtab'.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_bind(FAR struct elf_loadinfo_s *loadinfo,
+             FAR const struct symtab_s *exports, int nexports)
+{
+  int ret;
+  int i;
+
+  /* Find the symbol and string tables */
+
+  ret = elf_findsymtab(loadinfo);
+  if (ret < 0)
+    {
+      return ret;
+    }
+
+  /* Allocate an I/O buffer.  This buffer is used by elf_symname() to
+   * accumulate the variable length symbol name.
+   */
+
+  ret = elf_allocbuffer(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("elf_allocbuffer failed: %d\n", ret);
+      return -ENOMEM;
+    }
+
+  /* Process relocations in every allocated section */
+
+  for (i = 1; i < loadinfo->ehdr.e_shnum; i++)
+    {
+      /* Get the index to the relocation section */
+      
+      int infosec = loadinfo->shdr[i].sh_info;
+      if (infosec >= loadinfo->ehdr.e_shnum)
+        {
+          continue;
+        }
+
+      /* Make sure that the section is allocated.  We can't relocated
+       * sections that were not loaded into memory.
+       */
+
+      if ((loadinfo->shdr[infosec].sh_flags & SHF_ALLOC) == 0)
+        {
+          continue;
+        }
+
+      /* Process the relocations by type */
+
+      if (loadinfo->shdr[i].sh_type == SHT_REL)
+        {
+          ret = elf_relocate(loadinfo, i, exports, nexports);
+        }
+      else if (loadinfo->shdr[i].sh_type == SHT_RELA)
+        {
+          ret = elf_relocateadd(loadinfo, i, exports, nexports);
+        }
+
+      if (ret < 0)
+        {
+          break;
+        }
+    }
+
+  /* Flush the instruction cache before starting the newly loaded module */
+
+#ifdef CONFIG_ELF_ICACHE
+  arch_flushicache((FAR void*)loadinfo->elfalloc, loadinfo->elfsize);
+#endif
+
+  return ret;
+}
+
diff --git a/nuttx/binfmt/libelf/libelf_load.c b/nuttx/binfmt/libelf/libelf_load.c
new file mode 100644
index 000000000..0e4ad9798
--- /dev/null
+++ b/nuttx/binfmt/libelf/libelf_load.c
@@ -0,0 +1,288 @@
+/****************************************************************************
+ * binfmt/libelf/libelf_load.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <elf32.h>
+#include <assert.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/binfmt/elf.h>
+
+#include "libelf.h"
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+#define ELF_ALIGN_MASK   ((1 << CONFIG_ELF_ALIGN_LOG2) - 1)
+#define ELF_ALIGNUP(a)   (((unsigned long)(a) + ELF_ALIGN_MASK) & ~ELF_ALIGN_MASK)
+#define ELF_ALIGNDOWN(a) ((unsigned long)(a) & ~ELF_ALIGN_MASK)
+
+
+#ifndef MAX
+#define MAX(x,y) ((x) > (y) ? (x) : (y))
+#endif
+
+/****************************************************************************
+ * Private Constant Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: elf_elfsize
+ *
+ * Description:
+ *   Calculate total memory allocation for the ELF file.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+static void elf_elfsize(struct elf_loadinfo_s *loadinfo)
+{
+  size_t elfsize;
+  int i;
+
+  /* Accumulate the size each section into memory that is marked SHF_ALLOC */
+
+  elfsize = 0;
+  for (i = 0; i < loadinfo->ehdr.e_shnum; i++)
+    {
+      FAR Elf32_Shdr *shdr = &loadinfo->shdr[i];
+
+      /* SHF_ALLOC indicates that the section requires memory during
+       * execution.
+       */
+
+      if ((shdr->sh_flags & SHF_ALLOC) != 0)
+        {
+          elfsize += ELF_ALIGNUP(shdr->sh_size);
+        }
+    }
+
+  /* Save the allocation size */
+
+  loadinfo->elfsize = elfsize;
+}
+
+/****************************************************************************
+ * Name: elf_loadfile
+ *
+ * Description:
+ *   Allocate memory for the file and read the section data into the
+ *   allocated memory.  Section addresses in the shdr[] are updated to point
+ *   to the corresponding position in the allocated memory.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+static inline int elf_loadfile(FAR struct elf_loadinfo_s *loadinfo)
+{
+  FAR uint8_t *dest;
+  int ret;
+  int i;
+
+  /* Allocate (and zero) memory for the ELF file. */
+
+  ret = elf_addrenv_alloc(loadinfo, loadinfo->elfsize);
+  if (ret < 0)
+    {
+      bdbg("ERROR: elf_addrenv_alloc() failed: %d\n", ret);
+      return ret;
+    }
+
+  /* Read each section into memory that is marked SHF_ALLOC + SHT_NOBITS */
+
+  bvdbg("Loaded sections:\n");
+  dest = (FAR uint8_t*)loadinfo->elfalloc;
+
+  for (i = 0; i < loadinfo->ehdr.e_shnum; i++)
+    {
+      FAR Elf32_Shdr *shdr = &loadinfo->shdr[i];
+
+      /* SHF_ALLOC indicates that the section requires memory during
+       * execution */
+
+      if ((shdr->sh_flags & SHF_ALLOC) == 0)
+        {
+          continue;
+        }
+
+      /* SHT_NOBITS indicates that there is no data in the file for the
+       * section.
+       */
+
+      if (shdr->sh_type != SHT_NOBITS)
+        {
+          /* If CONFIG_ADDRENV=y, then 'dest' lies in a virtual address space
+           * that may not be in place now.  elf_addrenv_select() will
+           * temporarily instantiate that address space.
+           */
+
+#ifdef CONFIG_ADDRENV
+          ret = elf_addrenv_select(loadinfo);
+          if (ret < 0)
+            {
+              bdbg("ERROR: elf_addrenv_select() failed: %d\n", ret);
+              return ret;
+            }
+#endif
+
+          /* Read the section data from sh_offset to dest */
+
+          ret = elf_read(loadinfo, dest, shdr->sh_size, shdr->sh_offset);
+          if (ret < 0)
+            {
+              bdbg("Failed to read section %d: %d\n", i, ret);
+              return ret;
+            }
+
+          /* Restore the original address environment */
+
+#ifdef CONFIG_ADDRENV
+          ret = elf_addrenv_restore(loadinfo);
+          if (ret < 0)
+            {
+              bdbg("ERROR: elf_addrenv_restore() failed: %d\n", ret);
+             return ret;
+            }
+#endif
+        }
+
+      /* Update sh_addr to point to copy in memory */
+
+      bvdbg("%d. %08x->%08x\n", i, (long)shdr->sh_addr, (long)dest);
+      shdr->sh_addr = (uintptr_t)dest;
+
+      /* Setup the memory pointer for the next time through the loop */
+
+      dest += ELF_ALIGNUP(shdr->sh_size);
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: elf_load
+ *
+ * Description:
+ *   Loads the binary into memory, allocating memory, performing relocations
+ *   and inializing the data and bss segments.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_load(FAR struct elf_loadinfo_s *loadinfo)
+{
+  int ret;
+
+  bvdbg("loadinfo: %p\n", loadinfo);
+  DEBUGASSERT(loadinfo && loadinfo->filfd >= 0);
+
+  /* Load section headers into memory */
+
+  ret = elf_loadshdrs(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("elf_loadshdrs failed: %d\n", ret);
+      goto errout_with_buffers;
+    }
+
+  /* Determine total size to allocate */
+
+  elf_elfsize(loadinfo);
+
+  /* Allocate memory and load sections into memory */
+
+  ret = elf_loadfile(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("elf_loadfile failed: %d\n", ret);
+      goto errout_with_buffers;
+    }
+
+  /* Load static constructors and destructors. */
+
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+  ret = elf_loadctors(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("elf_loadctors failed: %d\n", ret);
+      goto errout_with_buffers;
+    }
+
+  ret = elf_loaddtors(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("elf_loaddtors failed: %d\n", ret);
+      goto errout_with_buffers;
+    }
+#endif
+
+  return OK;
+
+  /* Error exits */
+
+errout_with_buffers:
+  elf_unload(loadinfo);
+  return ret;
+}
+
diff --git a/nuttx/binfmt/libelf/libelf_read.c b/nuttx/binfmt/libelf/libelf_read.c
new file mode 100644
index 000000000..f4b725183
--- /dev/null
+++ b/nuttx/binfmt/libelf/libelf_read.c
@@ -0,0 +1,165 @@
+/****************************************************************************
+ * binfmt/libelf/libelf_read.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <unistd.h>
+#include <string.h>
+#include <elf32.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/binfmt/elf.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+#undef ELF_DUMP_READDATA       /* Define to dump all file data read */
+#define DUMPER lib_rawprintf   /* If ELF_DUMP_READDATA is defined, this
+                                * is the API used to dump data */
+
+/****************************************************************************
+ * Private Constant Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: elf_dumpreaddata
+ ****************************************************************************/
+
+#if defined(ELF_DUMP_READDATA)
+static inline void elf_dumpreaddata(char *buffer, int buflen)
+{
+  uint32_t *buf32 = (uint32_t*)buffer;
+  int i;
+  int j;
+
+  for (i = 0; i < buflen; i += 32)
+    {
+      DUMPER("%04x:", i);
+      for (j = 0; j < 32; j += sizeof(uint32_t))
+        {
+          DUMPER("  %08x", *buf32++);
+        }
+      DUMPER("\n");
+    }
+}
+#else
+#  define elf_dumpreaddata(b,n)
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: elf_read
+ *
+ * Description:
+ *   Read 'readsize' bytes from the object file at 'offset'.  The data is
+ *   read into 'buffer.' If 'buffer' is part of the ELF address environment,
+ *   then the caller is responsibile for assuring that that address
+ *   environment is in place before calling this function (i.e., that
+ *   elf_addrenv_select() has been called if CONFIG_ADDRENV=y).
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_read(FAR struct elf_loadinfo_s *loadinfo, FAR uint8_t *buffer,
+             size_t readsize, off_t offset)
+{
+  ssize_t nbytes;      /* Number of bytes read */
+  off_t   rpos;        /* Position returned by lseek */
+
+  bvdbg("Read %ld bytes from offset %ld\n", (long)readsize, (long)offset);
+
+  /* Loop until all of the requested data has been read. */
+
+  while (readsize > 0)
+    {
+      /* Seek to the next read position */
+
+      rpos = lseek(loadinfo->filfd, offset, SEEK_SET);
+      if (rpos != offset)
+        {
+          int errval = errno;
+          bdbg("Failed to seek to position %ld: %d\n", (long)offset, errval);
+          return -errval;
+        }
+
+      /* Read the file data at offset into the user buffer */
+
+       nbytes = read(loadinfo->filfd, buffer, readsize);
+       if (nbytes < 0)
+         {
+           int errval = errno;
+
+           /* EINTR just means that we received a signal */
+
+           if (errval != EINTR)
+             {
+               bdbg("Read of .data failed: %d\n", errval);
+               return -errval;
+             }
+         }
+       else if (nbytes == 0)
+         {
+           bdbg("Unexpected end of file\n");
+           return -ENODATA;
+         }
+       else
+         {
+           readsize -= nbytes;
+           buffer   += nbytes;
+           offset   += nbytes;
+         }
+    }
+
+  elf_dumpreaddata(buffer, readsize);
+  return OK;
+}
diff --git a/apps/drivers/boards/px4fmu/px4fmu_adc.c b/nuttx/binfmt/libelf/libelf_unload.c
index 987894163..539e5faf7 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_adc.c
+++ b/nuttx/binfmt/libelf/libelf_unload.c
@@ -1,6 +1,8 @@
 /****************************************************************************
+ * binfmt/libelf/libelf_unload.c
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -12,7 +14,7 @@
  *    notice, this list of conditions and the following disclaimer in
  *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
+ * 3. Neither the name NuttX nor the names of its contributors may be
  *    used to endorse or promote products derived from this software
  *    without specific prior written permission.
  *
@@ -31,109 +33,82 @@
  *
  ****************************************************************************/
 
-/**
- * @file px4fmu_adc.c
- *
- * Board-specific ADC functions.
- */
-
-/************************************************************************************
+/****************************************************************************
  * Included Files
- ************************************************************************************/
+ ****************************************************************************/
 
 #include <nuttx/config.h>
 
-#include <errno.h>
+#include <stdlib.h>
 #include <debug.h>
-#include <stdio.h>
-
-#include <nuttx/analog/adc.h>
-#include <arch/board/board.h>
-
-#include "chip.h"
-#include "up_arch.h"
-
-#include "stm32_adc.h"
-#include "px4fmu_internal.h"
 
-#define ADC3_NCHANNELS 4
+#include <nuttx/kmalloc.h>
+#include <nuttx/binfmt/elf.h>
 
-/************************************************************************************
- * Private Data
- ************************************************************************************/
-/* The PX4FMU board has four ADC channels: ADC323 IN10-13
- */
+#include "libelf.h"
 
-/* Identifying number of each ADC channel: Variable Resistor. */
-
-#ifdef CONFIG_STM32_ADC3
-static const uint8_t  g_chanlist[ADC3_NCHANNELS] = {10, 11};// , 12, 13}; ADC12 and 13 are used by MPU on v1.5 boards
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
 
-/* Configurations of pins used byte each ADC channels */
-static const uint32_t g_pinlist[ADC3_NCHANNELS]  = {GPIO_ADC3_IN10, GPIO_ADC3_IN11}; // ADC12 and 13 are used by MPU on v1.5 boards, GPIO_ADC3_IN12, GPIO_ADC3_IN13};
-#endif
+/****************************************************************************
+ * Private Constant Data
+ ****************************************************************************/
 
-/************************************************************************************
+/****************************************************************************
  * Private Functions
- ************************************************************************************/
+ ****************************************************************************/
 
-/************************************************************************************
+/****************************************************************************
  * Public Functions
- ************************************************************************************/
+ ****************************************************************************/
 
-/************************************************************************************
- * Name: adc_devinit
+/****************************************************************************
+ * Name: elf_unload
  *
  * Description:
- *   All STM32 architectures must provide the following interface to work with
- *   examples/adc.
+ *   This function unloads the object from memory. This essentially undoes
+ *   the actions of elf_load.  It is called only under certain error
+ *   conditions after the the module has been loaded but not yet started.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
  *
- ************************************************************************************/
+ ****************************************************************************/
 
-int adc_devinit(void)
+int elf_unload(struct elf_loadinfo_s *loadinfo)
 {
-	static bool initialized = false;
-	struct adc_dev_s *adc[ADC3_NCHANNELS];
-	int ret;
-	int i;
+  /* Free all working buffers */
 
-	/* Check if we have already initialized */
+  elf_freebuffers(loadinfo);
 
-	if (!initialized) {
-		char name[11];
+  /* Release memory holding the relocated ELF image */
 
-		for (i = 0; i < ADC3_NCHANNELS; i++) {
-			stm32_configgpio(g_pinlist[i]);
-		}
+  elf_addrenv_free(loadinfo);
+ 
+   /* Release memory used to hold static constructors and destructors */
 
-		for (i = 0; i < 1; i++) {
-			/* Configure the pins as analog inputs for the selected channels */
-			//stm32_configgpio(g_pinlist[i]);
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+  if (loadinfo->ctoralloc != 0)
+    {
+      kfree(loadinfo->ctoralloc);
+      loadinfo->ctoralloc = NULL;
+    }
 
-			/* Call stm32_adcinitialize() to get an instance of the ADC interface */
-			//multiple channels only supported with dma!
-			adc[i] = stm32_adcinitialize(3, (g_chanlist), 4);
+   loadinfo->ctors   = NULL;
+   loadinfo->nctors  = 0;
 
-			if (adc == NULL) {
-				adbg("ERROR: Failed to get ADC interface\n");
-				return -ENODEV;
-			}
+  if (loadinfo->dtoralloc != 0)
+    {
+      kfree(loadinfo->dtoralloc);
+      loadinfo->dtoralloc = NULL;
+    }
 
+   loadinfo->dtors   = NULL;
+   loadinfo->ndtors  = 0;
+#endif
 
-			/* Register the ADC driver at "/dev/adc0" */
-			sprintf(name, "/dev/adc%d", i);
-			ret = adc_register(name, adc[i]);
-
-			if (ret < 0) {
-				adbg("adc_register failed for adc %s: %d\n", name, ret);
-				return ret;
-			}
-		}
-
-		/* Now we are initialized */
-
-		initialized = true;
-	}
-
-	return OK;
+  return OK;
 }
+
diff --git a/nuttx/binfmt/libnxflat/Kconfig b/nuttx/binfmt/libnxflat/Kconfig
index ae2bf3130..fdb270cfb 100644
--- a/nuttx/binfmt/libnxflat/Kconfig
+++ b/nuttx/binfmt/libnxflat/Kconfig
@@ -2,3 +2,8 @@
 # For a description of the syntax of this configuration file,
 # see misc/tools/kconfig-language.txt.
 #
+
+config NXFLAT_DUMPBUFFER
+	bool "Dump NXFLAT buffers"
+	default n
+	depends on DEBUG && DEBUG_VERBOSE
diff --git a/nuttx/binfmt/libnxflat/Make.defs b/nuttx/binfmt/libnxflat/Make.defs
index f979741e5..6a0bf1873 100644
--- a/nuttx/binfmt/libnxflat/Make.defs
+++ b/nuttx/binfmt/libnxflat/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# nxflat/lib/Make.defs
+# binfmt/libnxflat/Make.defs
 #
 #   Copyright (C) 2009 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -33,7 +33,22 @@
 #
 ############################################################################
 
-LIBNXFLAT_ASRCS =
-LIBNXFLAT_CSRCS = libnxflat_init.c libnxflat_uninit.c libnxflat_load.c \
-		  libnxflat_unload.c libnxflat_verify.c libnxflat_read.c \
-		  libnxflat_bind.c
+ifeq ($(CONFIG_NXFLAT),y)
+
+# NXFLAT application interfaces
+
+BINFMT_CSRCS += nxflat.c
+
+# NXFLAT library
+
+BINFMT_CSRCS += libnxflat_init.c libnxflat_uninit.c libnxflat_addrenv.c
+BINFMT_CSRCS += libnxflat_load.c libnxflat_unload.c libnxflat_verify.c
+BINFMT_CSRCS += libnxflat_read.c libnxflat_bind.c
+
+# Hook the libnxflat subdirectory into the build
+
+VPATH += libnxflat
+SUBDIRS += libnxflat
+DEPPATH += --dep-path libnxflat
+
+endif
diff --git a/nuttx/binfmt/libnxflat/libnxflat.h b/nuttx/binfmt/libnxflat/libnxflat.h
new file mode 100644
index 000000000..cb1cb7057
--- /dev/null
+++ b/nuttx/binfmt/libnxflat/libnxflat.h
@@ -0,0 +1,136 @@
+/****************************************************************************
+ * binfmt/libnxflat/libnxflat.h
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ****************************************************************************/
+
+#ifndef __BINFMT_LIBNXFLAT_LIBNXFLAT_H
+#define __BINFMT_LIBNXFLAT_LIBNXFLAT_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/binfmt/nxflat.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: nxflat_addrenv_alloc
+ *
+ * Description:
+ *   Allocate memory for the ELF image (elfalloc). If CONFIG_ADDRENV=n,
+ *   elfalloc will be allocated using kzalloc().  If CONFIG_ADDRENV-y, then
+ *   elfalloc will be allocated using up_addrenv_create().  In either case,
+ *   there will be a unique instance of elfalloc (and stack) for each
+ *   instance of a process.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *   envsize - The size (in bytes) of the address environment needed for the
+ *     ELF image.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int nxflat_addrenv_alloc(FAR struct nxflat_loadinfo_s *loadinfo, size_t envsize);
+
+/****************************************************************************
+ * Name: nxflat_addrenv_select
+ *
+ * Description:
+ *   Temporarity select the task's address environemnt.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ADDRENV
+#  define nxflat_addrenv_select(l) up_addrenv_select((l)->addrenv, &(l)->oldenv)
+#endif
+
+/****************************************************************************
+ * Name: nxflat_addrenv_restore
+ *
+ * Description:
+ *   Restore the address environment before nxflat_addrenv_select() was called..
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ADDRENV
+#  define nxflat_addrenv_restore(l) up_addrenv_restore((l)->oldenv)
+#endif
+
+/****************************************************************************
+ * Name: nxflat_addrenv_free
+ *
+ * Description:
+ *   Release the address environment previously created by
+ *   nxflat_addrenv_create().  This function  is called only under certain
+ *   error conditions after the the module has been loaded but not yet
+ *   started. After the module has been started, the address environment
+ *   will automatically be freed when the module exits.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *
+ * Returned Value:
+ *   None.
+ *
+ ****************************************************************************/
+
+void nxflat_addrenv_free(FAR struct nxflat_loadinfo_s *loadinfo);
+
+#endif /* __BINFMT_LIBNXFLAT_LIBNXFLAT_H */
diff --git a/nuttx/binfmt/libnxflat/libnxflat_addrenv.c b/nuttx/binfmt/libnxflat/libnxflat_addrenv.c
new file mode 100644
index 000000000..2d9255b28
--- /dev/null
+++ b/nuttx/binfmt/libnxflat/libnxflat_addrenv.c
@@ -0,0 +1,235 @@
+/****************************************************************************
+ * binfmt/libnxflat/libnxflat_addrenv.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <string.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/kmalloc.h>
+
+#include "libnxflat.h"
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Constant Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: nxflat_addrenv_alloc
+ *
+ * Description:
+ *   Allocate memory for the ELF image (elfalloc). If CONFIG_ADDRENV=n,
+ *   elfalloc will be allocated using kzalloc().  If CONFIG_ADDRENV-y, then
+ *   elfalloc will be allocated using up_addrenv_create().  In either case,
+ *   there will be a unique instance of elfalloc (and stack) for each
+ *   instance of a process.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *   envsize - The size (in bytes) of the address environment needed for the
+ *     ELF image.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int nxflat_addrenv_alloc(FAR struct nxflat_loadinfo_s *loadinfo, size_t envsize)
+{
+  FAR struct dspace_s *dspace;
+#ifdef CONFIG_ADDRENV
+  FAR void *vaddr;
+  hw_addrenv_t oldenv;
+  int ret;
+#endif
+
+  DEBUGASSERT(!loadinfo->dspace);
+
+  /* Allocate the struct dspace_s container for the D-Space allocation */
+
+  dspace = (FAR struct dspace_s *)kmalloc(sizeof(struct dspace_s));
+  if (dspace == 0)
+    {
+      bdbg("ERROR: Failed to allocate DSpace\n");
+      return -ENOMEM;
+    }
+
+#ifdef CONFIG_ADDRENV
+  /* Create a D-Space address environment for the new NXFLAT task */
+
+  ret = up_addrenv_create(envsize, &loadinfo->addrenv);
+  if (ret < 0)
+    {
+      bdbg("ERROR: up_addrenv_create failed: %d\n", ret);
+      goto errout_with_dspace;
+    }
+
+  /* Get the virtual address associated with the start of the address
+   * environment.  This is the base address that we will need to use to
+   * access the D-Space region (but only if the address environment has been
+   * selected.
+   */
+
+  ret = up_addrenv_vaddr(loadinfo->addrenv, &vaddr);
+  if (ret < 0)
+    {
+      bdbg("ERROR: up_addrenv_vaddr failed: %d\n", ret);
+      goto errout_with_addrenv;
+    }
+
+  /* Clear all of the allocated D-Space memory.  We have to temporarily
+   * selected the D-Space address environment to do this.
+   */
+
+  ret = up_addrenv_select(loadinfo->addrenv, &oldenv);
+  if (ret < 0)
+    {
+      bdbg("ERROR: up_addrenv_select failed: %d\n", ret);
+      goto errout_with_addrenv;
+    }
+
+  memset(vaddr, 0, envsize);
+
+  ret = up_addrenv_restore(oldenv);
+  if (ret < 0)
+    {
+      bdbg("ERROR: up_addrenv_restore failed: %d\n", ret);
+      goto errout_with_addrenv;
+    }
+
+  /* Success... save the fruits of our labor */
+
+  loadinfo->dspace = dspace;
+  dspace->crefs    = 1;  
+  dspace->region   = (FAR uint8_t *)vaddr;
+  return OK;
+
+errout_with_addrenv:
+  (void)up_addrenv_destroy(loadinfo->addrenv);
+  loadinfo->addrenv = 0;
+
+errout_with_dspace:
+  kfree(dspace);
+  return ret;
+#else
+  /* Allocate (and zero) memory to hold the ELF image */
+
+  dspace->region = (FAR uint8_t *)kzalloc(envsize);
+  if (!dspace->region)
+    {
+      kfree(dspace);
+      return -ENOMEM;
+    }
+
+  loadinfo->dspace = dspace;
+  dspace->crefs    = 1;  
+  return OK;
+#endif
+}
+
+/****************************************************************************
+ * Name: nxflat_addrenv_free
+ *
+ * Description:
+ *   Release the address environment previously created by
+ *   nxflat_addrenv_create().  This function  is called only under certain
+ *   error conditions after the the module has been loaded but not yet
+ *   started. After the module has been started, the address environment
+ *   will automatically be freed when the module exits.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *
+ * Returned Value:
+ *   None.
+ *
+ ****************************************************************************/
+
+void nxflat_addrenv_free(FAR struct nxflat_loadinfo_s *loadinfo)
+{
+  FAR struct dspace_s *dspace;
+#ifdef CONFIG_ADDRENV
+  int ret;
+#endif
+
+  DEBUGASSERT(loadinfo);
+  dspace = loadinfo->dspace;
+
+  if (dspace)
+    {
+#ifdef CONFIG_ADDRENV
+      /* Destroy the address environment */
+
+      ret = up_addrenv_destroy(loadinfo->addrenv);
+      if (ret < 0)
+        {
+          bdbg("ERROR: up_addrenv_destroy failed: %d\n", ret);
+        }
+
+      loadinfo->addrenv = 0;
+#else
+      /* Free the allocated D-Space region */
+
+      if (dspace->region)
+        {
+          kfree(dspace->region);
+        }
+#endif
+
+      /* Now destroy the D-Space container */
+
+      DEBUGASSERT(dspace->crefs == 1);
+      kfree(dspace);
+      loadinfo->dspace = NULL;
+    }
+}
diff --git a/nuttx/binfmt/libnxflat/libnxflat_bind.c b/nuttx/binfmt/libnxflat/libnxflat_bind.c
index ca348178d..816810a46 100644
--- a/nuttx/binfmt/libnxflat/libnxflat_bind.c
+++ b/nuttx/binfmt/libnxflat/libnxflat_bind.c
@@ -38,6 +38,7 @@
  ****************************************************************************/
 
 #include <nuttx/config.h>
+#include <nuttx/compiler.h>
 
 #include <stdint.h>
 #include <string.h>
@@ -47,8 +48,11 @@
 #include <debug.h>
 
 #include <arpa/inet.h>
-#include <nuttx/nxflat.h>
-#include <nuttx/symtab.h>
+
+#include <nuttx/binfmt/nxflat.h>
+#include <nuttx/binfmt/symtab.h>
+
+#include "libnxflat.h"
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -229,8 +233,6 @@ static inline int nxflat_gotrelocs(FAR struct nxflat_loadinfo_s *loadinfo)
 
   hdr = (FAR struct nxflat_hdr_s*)loadinfo->ispace;
 
-  /* From this, we can get the list of relocation entries. */
-
   /* From this, we can get the offset to the list of relocation entries */
 
   offset  = ntohl(hdr->h_relocstart);
@@ -247,11 +249,27 @@ static inline int nxflat_gotrelocs(FAR struct nxflat_loadinfo_s *loadinfo)
   DEBUGASSERT(offset + nrelocs * sizeof(struct nxflat_reloc_s)
               <= (loadinfo->isize + loadinfo->dsize));
 
-  relocs = (FAR struct nxflat_reloc_s*)
+  relocs = (FAR struct nxflat_reloc_s *)
         (offset - loadinfo->isize + loadinfo->dspace->region);
   bvdbg("isize: %08lx dpsace: %p relocs: %p\n", 
         (long)loadinfo->isize, loadinfo->dspace->region, relocs);
 
+  /* All relocations are performed within the D-Space allocation.  If
+   * CONFIG_ADDRENV=y, then that D-Space allocation lies in an address
+   * environment that may not be in place.  So, in that case, we must call
+   * nxflat_addrenv_select to temporarily instantiate that address space
+   * before the relocations can be performed.
+   */
+
+#ifdef CONFIG_ADDRENV
+  ret = nxflat_addrenv_select(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("ERROR: nxflat_addrenv_select() failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
   /* Now, traverse the relocation list of and bind each GOT relocation. */
 
   ret = OK; /* Assume success */
@@ -259,11 +277,16 @@ static inline int nxflat_gotrelocs(FAR struct nxflat_loadinfo_s *loadinfo)
     {
       /* Handle the relocation by the relocation type */
 
+#ifdef CONFIG_CAN_PASS_STRUCTS
       reloc = *relocs++;
+#else
+      memcpy(&reloc, relocs, sizeof(struct nxflat_reloc_s));
+      relocs++;
+#endif
+
       result = OK;
       switch (NXFLAT_RELOC_TYPE(reloc.r_info))
         {
-
         /* NXFLAT_RELOC_TYPE_REL32I  Meaning: Object file contains a 32-bit offset
          *                                    into I-Space at the offset.
          *                           Fixup:   Add mapped I-Space address to the offset.
@@ -329,6 +352,17 @@ static inline int nxflat_gotrelocs(FAR struct nxflat_loadinfo_s *loadinfo)
       nxflat_dumpbuffer("GOT", (FAR const uint8_t*)relocs, nrelocs * sizeof(struct nxflat_reloc_s));
     }
 #endif
+
+  /* Restore the original address environment */
+
+#ifdef CONFIG_ADDRENV
+  ret = nxflat_addrenv_restore(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("ERROR: nxflat_addrenv_restore() failed: %d\n", ret);
+    }
+#endif
+
   return ret;
 }
 
@@ -346,16 +380,19 @@ static inline int nxflat_gotrelocs(FAR struct nxflat_loadinfo_s *loadinfo)
  ****************************************************************************/
 
 static inline int nxflat_bindimports(FAR struct nxflat_loadinfo_s *loadinfo,
-                                       FAR const struct symtab_s *exports,
-                                       int nexports)
+                                     FAR const struct symtab_s *exports,
+                                     int nexports)
 {
   FAR struct nxflat_import_s *imports;
   FAR struct nxflat_hdr_s    *hdr;
-  FAR const struct symtab_s *symbol;
+  FAR const struct symtab_s  *symbol;
 
   char    *symname;
   uint32_t offset;
   uint16_t nimports;
+#ifdef CONFIG_ADDRENV
+  int      ret;
+#endif
   int      i;
 
   /* The NXFLAT header is the first thing at the beginning of the ISpace. */
@@ -370,6 +407,22 @@ static inline int nxflat_bindimports(FAR struct nxflat_loadinfo_s *loadinfo,
   nimports = ntohs(hdr->h_importcount);
   bvdbg("Imports offset: %08x nimports: %d\n", offset, nimports);
 
+  /* The import[] table resides within the D-Space allocation.  If
+   * CONFIG_ADDRENV=y, then that D-Space allocation lies in an address
+   * environment that may not be in place.  So, in that case, we must call
+   * nxflat_addrenv_select to temporarily instantiate that address space
+   * before the import[] table can be modified.
+   */
+
+#ifdef CONFIG_ADDRENV
+  ret = nxflat_addrenv_select(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("ERROR: nxflat_addrenv_select() failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
   /* Verify that this module requires imported symbols */
 
   if (offset != 0 && nimports > 0)
@@ -388,7 +441,7 @@ static inline int nxflat_bindimports(FAR struct nxflat_loadinfo_s *loadinfo,
                   offset < loadinfo->isize + loadinfo->dsize);
 
       imports = (struct nxflat_import_s*)
-	(offset - loadinfo->isize + loadinfo->dspace->region);
+        (offset - loadinfo->isize + loadinfo->dspace->region);
 
       /* Now, traverse the list of imported symbols and attempt to bind
        * each symbol to the value exported by from the exported symbol
@@ -396,41 +449,44 @@ static inline int nxflat_bindimports(FAR struct nxflat_loadinfo_s *loadinfo,
        */
 
       for (i = 0; i < nimports; i++)
-	{
-	  bvdbg("Import[%d] (%08p) offset: %08x func: %08x\n",
-	        i, &imports[i], imports[i].i_funcname, imports[i].i_funcaddress);
+        {
+          bvdbg("Import[%d] (%08p) offset: %08x func: %08x\n",
+                i, &imports[i], imports[i].i_funcname, imports[i].i_funcaddress);
 
-	  /* Get a pointer to the imported symbol name.  The name itself
-	   * lies in the TEXT segment.  But the reference to the name
-	   * lies in DATA segment.  Therefore, the name reference should
-	   * have been relocated when the module was loaded.
-	   */
+          /* Get a pointer to the imported symbol name.  The name itself
+           * lies in the TEXT segment.  But the reference to the name
+           * lies in DATA segment.  Therefore, the name reference should
+           * have been relocated when the module was loaded.
+           */
 
           offset = imports[i].i_funcname;
           DEBUGASSERT(offset < loadinfo->isize);
 
-	  symname = (char*)(offset + loadinfo->ispace + sizeof(struct nxflat_hdr_s));
+          symname = (char*)(offset + loadinfo->ispace + sizeof(struct nxflat_hdr_s));
 
-	  /* Find the exported symbol value for this this symbol name. */
+          /* Find the exported symbol value for this this symbol name. */
 
 #ifdef CONFIG_SYMTAB_ORDEREDBYNAME
           symbol = symtab_findorderedbyname(exports, symname, nexports);
 #else
           symbol = symtab_findbyname(exports, symname, nexports);
 #endif
-	  if (!symbol)
-	    {
-	      bdbg("Exported symbol \"%s\" not found\n", symname);
+          if (!symbol)
+            {
+              bdbg("Exported symbol \"%s\" not found\n", symname);
+#ifdef CONFIG_ADDRENV
+              (void)nxflat_addrenv_restore(loadinfo);
+#endif
               return -ENOENT;
-	    }
+            }
 
-	  /* And put this into the module's import structure. */
+          /* And put this into the module's import structure. */
 
-	  imports[i].i_funcaddress =  (uint32_t)symbol->sym_value;
+          imports[i].i_funcaddress =  (uint32_t)symbol->sym_value;
 
-	  bvdbg("Bound import[%d] (%08p) to export '%s' (%08x)\n",
-	        i, &imports[i], symname, imports[i].i_funcaddress);
-	}
+          bvdbg("Bound import[%d] (%08p) to export '%s' (%08x)\n",
+                i, &imports[i], symname, imports[i].i_funcaddress);
+        }
     }
 
   /* Dump the relocation import table */
@@ -441,7 +497,74 @@ static inline int nxflat_bindimports(FAR struct nxflat_loadinfo_s *loadinfo,
       nxflat_dumpbuffer("Imports", (FAR const uint8_t*)imports, nimports * sizeof(struct nxflat_import_s));
     }
 #endif
+
+  /* Restore the original address environment */
+
+#ifdef CONFIG_ADDRENV
+  ret = nxflat_addrenv_restore(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("ERROR: nxflat_addrenv_restore() failed: %d\n", ret);
+    }
+
+  return ret;
+#else
+  return OK;
+#endif
+}
+
+/****************************************************************************
+ * Name: nxflat_clearbss
+ *
+ * Description:
+ *   Clear uninitialized .bss memory
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+static inline int nxflat_clearbss(FAR struct nxflat_loadinfo_s *loadinfo)
+{
+#ifdef CONFIG_ADDRENV
+  int ret;
+#endif
+
+  /* .bss resides within the D-Space allocation.  If CONFIG_ADDRENV=y, then
+   * that D-Space allocation lies in an address environment that may not be
+   * in place.  So, in that case, we must call nxflat_addrenv_select to
+   * temporarily instantiate that address space before the .bss can be
+   * accessed.
+   */
+
+#ifdef CONFIG_ADDRENV
+  ret = nxflat_addrenv_select(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("ERROR: nxflat_addrenv_select() failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
+  /* Zero the BSS area */
+
+   memset((void*)(loadinfo->dspace->region + loadinfo->datasize), 0,
+          loadinfo->bsssize);
+
+  /* Restore the original address environment */
+
+#ifdef CONFIG_ADDRENV
+  ret = nxflat_addrenv_restore(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("ERROR: nxflat_addrenv_restore() failed: %d\n", ret);
+    }
+
+  return ret;
+#else
   return OK;
+#endif
 }
 
 /****************************************************************************
@@ -483,10 +606,10 @@ int nxflat_bind(FAR struct nxflat_loadinfo_s *loadinfo,
            * space in the loaded file.
            */
 
-          memset((void*)(loadinfo->dspace->region + loadinfo->datasize),
-	                  0, loadinfo->bsssize);
+          ret = nxflat_clearbss(loadinfo);
         }
     }
+
   return ret;
 }
 
diff --git a/nuttx/binfmt/libnxflat/libnxflat_init.c b/nuttx/binfmt/libnxflat/libnxflat_init.c
index 5b6375ff1..b7cac8d86 100644
--- a/nuttx/binfmt/libnxflat/libnxflat_init.c
+++ b/nuttx/binfmt/libnxflat/libnxflat_init.c
@@ -48,7 +48,7 @@
 #include <errno.h>
 
 #include <arpa/inet.h>
-#include <nuttx/nxflat.h>
+#include <nuttx/binfmt/nxflat.h>
 
 /****************************************************************************
  * Pre-Processor Definitions
@@ -112,8 +112,9 @@ int nxflat_init(const char *filename, struct nxflat_loadinfo_s *loadinfo)
   loadinfo->filfd = open(filename, O_RDONLY);
   if (loadinfo->filfd < 0)
     {
-      bdbg("Failed to open NXFLAT binary %s: %d\n", filename, ret);
-      return -errno;      
+      int errval = errno;
+      bdbg("Failed to open NXFLAT binary %s: %d\n", filename, errval);
+      return -errval;      
     }
 
   /* Read the NXFLAT header from offset 0 */
diff --git a/nuttx/binfmt/libnxflat/libnxflat_load.c b/nuttx/binfmt/libnxflat/libnxflat_load.c
index 0991d0c2d..5f13b577a 100644
--- a/nuttx/binfmt/libnxflat/libnxflat_load.c
+++ b/nuttx/binfmt/libnxflat/libnxflat_load.c
@@ -41,6 +41,7 @@
 
 #include <sys/types.h>
 #include <sys/mman.h>
+
 #include <stdint.h>
 #include <stdlib.h>
 #include <nxflat.h>
@@ -48,7 +49,10 @@
 #include <errno.h>
 
 #include <arpa/inet.h>
-#include <nuttx/nxflat.h>
+
+#include <nuttx/binfmt/nxflat.h>
+
+#include "libnxflat.h"
 
 /****************************************************************************
  * Pre-Processor Definitions
@@ -62,24 +66,6 @@
  * Private Constant Data
  ****************************************************************************/
 
-#if defined(CONFIG_DEBUG_VERBOSE) && defined(CONFIG_DEBUG_BINFMT)
-static const char g_relocrel32i[]  = "RELOC_REL32I";
-static const char g_relocrel32d[]  = "RELOC_REL32D";
-static const char g_relocabs32[]   = "RELOC_AB32";
-static const char g_undefined[]    = "UNDEFINED";
-
-static const char *g_reloctype[] =
-{
-  g_relocrel32i,
-  g_relocrel32d,
-  g_relocabs32,
-  g_undefined
-};
-#  define RELONAME(rl) g_reloctype[NXFLAT_RELOC_TYPE(rl)]
-#else
-#  define RELONAME(rl) "(no name)"
-#endif
-
 /****************************************************************************
  * Private Functions
  ****************************************************************************/
@@ -161,7 +147,7 @@ int nxflat_load(struct nxflat_loadinfo_s *loadinfo)
    */
 
   loadinfo->ispace = (uint32_t)mmap(NULL, loadinfo->isize, PROT_READ,
-                                  MAP_SHARED|MAP_FILE, loadinfo->filfd, 0);
+                                    MAP_SHARED|MAP_FILE, loadinfo->filfd, 0);
   if (loadinfo->ispace == (uint32_t)MAP_FAILED)
     {
       bdbg("Failed to map NXFLAT ISpace: %d\n", errno);
@@ -170,23 +156,37 @@ int nxflat_load(struct nxflat_loadinfo_s *loadinfo)
 
   bvdbg("Mapped ISpace (%d bytes) at %08x\n", loadinfo->isize, loadinfo->ispace);
 
-  /* The following call will give a pointer to the allocated but
-   * uninitialized ISpace memory.
+  /* The following call allocate D-Space memory and will provide a pointer
+   * to the allocated (but still uninitialized) D-Space memory.
    */
 
-  loadinfo->dspace = (struct dspace_s *)malloc(SIZEOF_DSPACE_S(loadinfo->dsize));
-  if (loadinfo->dspace == 0)
+  ret = nxflat_addrenv_alloc(loadinfo, loadinfo->dsize);
+  if (ret < 0)
     {
-      bdbg("Failed to allocate DSpace\n");
-      ret = -ENOMEM;
-      goto errout;
+      bdbg("ERROR: nxflat_addrenv_alloc() failed: %d\n", ret);
+      return ret;
     }
-  loadinfo->dspace->crefs = 1;
 
-  bvdbg("Allocated DSpace (%d bytes) at %p\n", loadinfo->dsize, loadinfo->dspace->region);
+  bvdbg("Allocated DSpace (%d bytes) at %p\n",
+        loadinfo->dsize, loadinfo->dspace->region);
 
-  /* Now, read the data into allocated DSpace at doffset into the
-   * allocated DSpace memory.
+  /* If CONFIG_ADDRENV=y, then the D-Space allocation lies in an address
+   * environment that may not be in place.  So, in that case, we must call
+   * nxflat_addrenv_select to temporarily instantiate that address space
+   * it can be initialized.
+   */
+
+#ifdef CONFIG_ADDRENV
+  ret = nxflat_addrenv_select(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("ERROR: nxflat_addrenv_select() failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
+  /* Now, read the data into allocated DSpace at doffset into the allocated
+   * DSpace memory.
    */
 
   ret = nxflat_read(loadinfo, (char*)loadinfo->dspace->region, dreadsize, doffset);
@@ -199,9 +199,23 @@ int nxflat_load(struct nxflat_loadinfo_s *loadinfo)
   bvdbg("TEXT: %08x Entry point offset: %08x Data offset: %08x\n",
       loadinfo->ispace, loadinfo->entryoffs, doffset);
 
+  /* Restore the original address environment */
+
+#ifdef CONFIG_ADDRENV
+  ret = nxflat_addrenv_restore(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("ERROR: nxflat_addrenv_restore() failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
   return OK;
 
 errout:
+#ifdef CONFIG_ADDRENV
+  (void)nxflat_addrenv_restore(loadinfo);
+#endif
   (void)nxflat_unload(loadinfo);
   return ret;
 }
diff --git a/nuttx/binfmt/libnxflat/libnxflat_read.c b/nuttx/binfmt/libnxflat/libnxflat_read.c
index dbcd54279..8deeb0805 100644
--- a/nuttx/binfmt/libnxflat/libnxflat_read.c
+++ b/nuttx/binfmt/libnxflat/libnxflat_read.c
@@ -48,7 +48,7 @@
 #include <errno.h>
 
 #include <arpa/inet.h>
-#include <nuttx/nxflat.h>
+#include <nuttx/binfmt/nxflat.h>
 
 /****************************************************************************
  * Pre-Processor Definitions
@@ -129,8 +129,9 @@ int nxflat_read(struct nxflat_loadinfo_s *loadinfo, char *buffer, int readsize,
       rpos = lseek(loadinfo->filfd, offset, SEEK_SET);
       if (rpos != offset)
         {
-          bdbg("Failed to seek to position %d: %d\n", offset, errno);
-          return -errno;
+          int errval = errno;
+          bdbg("Failed to seek to position %d: %d\n", offset, errval);
+          return -errval;
         }
 
       /* Read the file data at offset into the user buffer */
@@ -138,10 +139,11 @@ int nxflat_read(struct nxflat_loadinfo_s *loadinfo, char *buffer, int readsize,
        nbytes = read(loadinfo->filfd, bufptr, bytesleft);
        if (nbytes < 0)
          {
-           if (errno != EINTR)
+           int errval = errno;
+           if (errval != EINTR)
              {
-               bdbg("Read of .data failed: %d\n", errno);
-               return -errno;
+               bdbg("Read of .data failed: %d\n", errval);
+               return -errval;
              }
          }
        else if (nbytes == 0)
diff --git a/nuttx/binfmt/libnxflat/libnxflat_uninit.c b/nuttx/binfmt/libnxflat/libnxflat_uninit.c
index 5d06296c7..b9715196b 100644
--- a/nuttx/binfmt/libnxflat/libnxflat_uninit.c
+++ b/nuttx/binfmt/libnxflat/libnxflat_uninit.c
@@ -42,7 +42,8 @@
 #include <unistd.h>
 #include <debug.h>
 #include <errno.h>
-#include <nuttx/nxflat.h>
+
+#include <nuttx/binfmt/nxflat.h>
 
 /****************************************************************************
  * Pre-Processor Definitions
@@ -57,10 +58,6 @@
  ****************************************************************************/
 
 /****************************************************************************
- * Name: nxflat_swap32
- ****************************************************************************/
-
-/****************************************************************************
  * Public Functions
  ****************************************************************************/
 
diff --git a/nuttx/binfmt/libnxflat/libnxflat_unload.c b/nuttx/binfmt/libnxflat/libnxflat_unload.c
index 55a2e45e6..eb1aa0343 100644
--- a/nuttx/binfmt/libnxflat/libnxflat_unload.c
+++ b/nuttx/binfmt/libnxflat/libnxflat_unload.c
@@ -40,10 +40,14 @@
 #include <nuttx/config.h>
 
 #include <sys/mman.h>
+
 #include <stdlib.h>
 #include <debug.h>
 
-#include <nuttx/nxflat.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/binfmt/nxflat.h>
+
+#include "libnxflat.h"
 
 /****************************************************************************
  * Pre-Processor Definitions
@@ -65,8 +69,9 @@
  * Name: nxflat_unload
  *
  * Description:
- *   This function unloads the object from memory. This essentially
- *   undoes the actions of nxflat_load.
+ *   This function unloads the object from memory. This essentially undoes
+ *   the actions of nxflat_load.  It is called only under certain error
+ *   conditions after the the module has been loaded but not yet started.
  *
  * Returned Value:
  *   0 (OK) is returned on success and a negated errno is returned on
@@ -76,9 +81,8 @@
 
 int nxflat_unload(struct nxflat_loadinfo_s *loadinfo)
 {
-  /* Reset the contents of the info structure. */
-
   /* Release the memory segments */
+  /* Release the I-Space mmap'ed file */
 
   if (loadinfo->ispace)
     {
@@ -86,12 +90,8 @@ int nxflat_unload(struct nxflat_loadinfo_s *loadinfo)
       loadinfo->ispace = 0;
     }
 
-  if (loadinfo->dspace)
-    {
-      free((void*)loadinfo->dspace);
-      loadinfo->dspace = 0;
-    }
+  /* Release the D-Space address environment */
 
+  nxflat_addrenv_free(loadinfo);
   return OK;
 }
-
diff --git a/nuttx/binfmt/libnxflat/libnxflat_verify.c b/nuttx/binfmt/libnxflat/libnxflat_verify.c
index f799aca4f..20af5d2f7 100644
--- a/nuttx/binfmt/libnxflat/libnxflat_verify.c
+++ b/nuttx/binfmt/libnxflat/libnxflat_verify.c
@@ -42,8 +42,9 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
+
 #include <arpa/inet.h>
-#include <nuttx/nxflat.h>
+#include <nuttx/binfmt/nxflat.h>
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -91,10 +92,10 @@ int nxflat_verifyheader(const struct nxflat_hdr_s *header)
   if (strncmp(header->h_magic, NXFLAT_MAGIC, 4) != 0)
     {
       bdbg("Unrecognized magic=\"%c%c%c%c\"\n",
-	  header->h_magic[0], header->h_magic[1],
-	  header->h_magic[2], header->h_magic[3]);
+      header->h_magic[0], header->h_magic[1],
+      header->h_magic[2], header->h_magic[3]);
       return -ENOEXEC;
     }
+
   return OK;
 }
-
diff --git a/nuttx/binfmt/nxflat.c b/nuttx/binfmt/nxflat.c
index 4f5869bd9..db29941ca 100644
--- a/nuttx/binfmt/nxflat.c
+++ b/nuttx/binfmt/nxflat.c
@@ -47,8 +47,8 @@
 #include <errno.h>
 
 #include <arpa/inet.h>
-#include <nuttx/binfmt.h>
-#include <nuttx/nxflat.h>
+#include <nuttx/binfmt/binfmt.h>
+#include <nuttx/binfmt/nxflat.h>
 
 #ifdef CONFIG_NXFLAT
 
@@ -158,7 +158,7 @@ static int nxflat_loadbinary(struct binary_s *binp)
   nxflat_dumploadinfo(&loadinfo);
   if (ret != 0)
     {
-      bdbg("Failed to initialize for load of NXFLT program: %d\n", ret);
+      bdbg("Failed to initialize for load of NXFLAT program: %d\n", ret);
       goto errout;
     }
 
@@ -168,7 +168,7 @@ static int nxflat_loadbinary(struct binary_s *binp)
   nxflat_dumploadinfo(&loadinfo);
   if (ret != 0)
     {
-      bdbg("Failed to load NXFLT program binary: %d\n", ret);
+      bdbg("Failed to load NXFLAT program binary: %d\n", ret);
       goto errout_with_init;
     }
 
@@ -181,16 +181,39 @@ static int nxflat_loadbinary(struct binary_s *binp)
       goto errout_with_load;
     }
 
-  /* Return the load information */
+  /* Return the load information.  By convention, D-space address
+   * space is stored as the first allocated memory.
+   */
 
   binp->entrypt   = (main_t)(loadinfo.ispace + loadinfo.entryoffs);
-  binp->ispace    = (void*)loadinfo.ispace;
-  binp->dspace    = (void*)loadinfo.dspace;
-  binp->isize     = loadinfo.isize;
+  binp->mapped    = (void*)loadinfo.ispace;
+  binp->mapsize   = loadinfo.isize;
   binp->stacksize = loadinfo.stacksize;
 
+  /* Add the ELF allocation to the alloc[] only if there is no address
+   * enironment.  If there is an address environment, it will automatically
+   * be freed when the function exits
+   *
+   * REVISIT:  If the module is loaded then unloaded, wouldn't this cause
+   * a memory leak?
+   */
+
+#ifdef CONFIG_ADDRENV
+#  warning "REVISIT"
+#else
+  binp->alloc[0]  = (void*)loadinfo.dspace;
+#endif
+
+#ifdef CONFIG_ADDRENV
+  /* Save the address environment.  This will be needed when the module is
+   * executed for the up_addrenv_assign() call.
+   */
+
+  binp->addrenv   = loadinfo.addrenv;
+#endif
+
   nxflat_dumpbuffer("Entry code", (FAR const uint8_t*)binp->entrypt,
-                    MIN(binp->isize - loadinfo.entryoffs,512));
+                    MIN(loadinfo.isize - loadinfo.entryoffs, 512));
 
   nxflat_uninit(&loadinfo);
   return OK;
diff --git a/nuttx/binfmt/symtab_findbyname.c b/nuttx/binfmt/symtab_findbyname.c
index 201d7ba07..c0343e270 100644
--- a/nuttx/binfmt/symtab_findbyname.c
+++ b/nuttx/binfmt/symtab_findbyname.c
@@ -44,7 +44,7 @@
 #include <assert.h>
 #include <errno.h>
 
-#include <nuttx/symtab.h>
+#include <nuttx/binfmt/symtab.h>
 
 /****************************************************************************
  * Pre-processor Definitions
diff --git a/nuttx/binfmt/symtab_findbyvalue.c b/nuttx/binfmt/symtab_findbyvalue.c
index 4382ed5d8..c47d5c751 100644
--- a/nuttx/binfmt/symtab_findbyvalue.c
+++ b/nuttx/binfmt/symtab_findbyvalue.c
@@ -44,7 +44,7 @@
 #include <assert.h>
 #include <errno.h>
 
-#include <nuttx/symtab.h>
+#include <nuttx/binfmt/symtab.h>
 
 /****************************************************************************
  * Pre-processor Definitions
diff --git a/nuttx/binfmt/symtab_findorderedbyname.c b/nuttx/binfmt/symtab_findorderedbyname.c
index 61decf49a..a678788e7 100644
--- a/nuttx/binfmt/symtab_findorderedbyname.c
+++ b/nuttx/binfmt/symtab_findorderedbyname.c
@@ -44,7 +44,7 @@
 #include <assert.h>
 #include <errno.h>
 
-#include <nuttx/symtab.h>
+#include <nuttx/binfmt/symtab.h>
 
 /****************************************************************************
  * Pre-processor Definitions
diff --git a/nuttx/binfmt/symtab_findorderedbyvalue.c b/nuttx/binfmt/symtab_findorderedbyvalue.c
index 92b107856..bad4bf8cd 100644
--- a/nuttx/binfmt/symtab_findorderedbyvalue.c
+++ b/nuttx/binfmt/symtab_findorderedbyvalue.c
@@ -44,7 +44,7 @@
 #include <assert.h>
 #include <errno.h>
 
-#include <nuttx/symtab.h>
+#include <nuttx/binfmt/symtab.h>
 
 /****************************************************************************
  * Pre-processor Definitions
diff --git a/nuttx/configs/README.txt b/nuttx/configs/README.txt
index e6bde645d..21aace2af 100644
--- a/nuttx/configs/README.txt
+++ b/nuttx/configs/README.txt
@@ -103,14 +103,23 @@ Make.defs -- This makefile fragment provides architecture and
 
     Tools: CC, LD, AR, NM, OBJCOPY, OBJDUMP
     Tool options: CFLAGS, LDFLAGS
-    COMPILE, ASSEMBLE, ARCHIVE, CLEAN, and MKDEP macros
 
   When this makefile fragment runs, it will be passed TOPDIR which
   is the path to the root directory of the build.  This makefile
-  fragment may include ${TOPDIR}/.config to perform configuration
-  specific settings.  For example, the CFLAGS will most likely be
+  fragment should include:
+
+    $(TOPDIR)/.config          : Nuttx configuration
+    $(TOPDIR)/tools/Config.mk  : Common definitions
+
+  Definitions in the Make.defs file probably depend on some of the
+  settings in the .config file.  For example, the CFLAGS will most likely be
   different if CONFIG_DEBUG=y.
 
+  The included tools/Config.mk file contains additional definitions that may
+  be overriden in the architecture-specific Make.defs file as necessary:
+
+    COMPILE, ASSEMBLE, ARCHIVE, CLEAN, and MKDEP macros
+
 defconfig -- This is a configuration file similar to the Linux
   configuration file.  In contains variable/value pairs like:
 
@@ -151,6 +160,9 @@ defconfig -- This is a configuration file similar to the Linux
     CONFIG_ARCH_IRQPRIO
       Define if the architecture suports prioritizaton of interrupts
       and the up_prioritize_irq() API.
+    CONFIG_ADDRENV
+      The CPU supports an MMU and CPU port supports provision of address
+      environments for tasks (making the, perhaps, processes).
 
   Some architectures require a description of the RAM configuration:
 
@@ -171,7 +183,6 @@ defconfig -- This is a configuration file similar to the Linux
     CONFIG_RAW_BINARY - make a raw binary format file used with many
       different loaders using the GNU objcopy program.  This option
       should not be selected if you are not using the GNU toolchain.
-    CONFIG_HAVE_LIBM - toolchain supports libm.a
     CONFIG_HAVE_CXX - toolchain supports C++ and CXX, CXXFLAGS, and
       COMPILEXX have been defined in the configurations Make.defs
       file.
@@ -318,7 +329,7 @@ defconfig -- This is a configuration file similar to the Linux
     CONFIG_RR_INTERVAL - The round robin timeslice will be set
       this number of milliseconds;  Round robin scheduling can
       be disabled by setting this value to zero.
-    CONFIG_SCHED_INSTRUMENTATION - enables instrumentation in 
+    CONFIG_SCHED_INSTRUMENTATION - enables instrumentation in
       scheduler to monitor system performance
     CONFIG_TASK_NAME_SIZE - Specifies that maximum size of a
       task name to save in the TCB.  Useful if scheduler
@@ -346,7 +357,7 @@ defconfig -- This is a configuration file similar to the Linux
     CONFIG_SEM_PREALLOCHOLDERS: This setting is only used if priority
       inheritance is enabled.  It defines the maximum number of
       different threads (minus one) that can take counts on a
-      semaphore with priority inheritance support.  This may be 
+      semaphore with priority inheritance support.  This may be
       set to zero if priority inheritance is disabled OR if you
       are only using semaphores as mutexes (only one holder) OR
       if no more than two threads participate using a counting
@@ -372,9 +383,6 @@ defconfig -- This is a configuration file similar to the Linux
     CONFIG_SDCLONE_DISABLE. Disable cloning of all socket
       desciptors by task_create() when a new task is started. If
       set, all sockets will appear to be closed in the new task.
-    CONFIG_NXFLAT. Enable support for the NXFLAT binary format.
-      This format will support execution of NuttX binaries located
-      in a ROMFS filesystem (see examples/nxflat).
     CONFIG_SCHED_WORKQUEUE.  Create a dedicated "worker" thread to
       handle delayed processing from interrupt handlers.  This feature
       is required for some drivers but, if there are not complaints,
@@ -418,6 +426,39 @@ defconfig -- This is a configuration file similar to the Linux
       where 'app' is the application name. If not defined, CONFIG_USER_ENTRYPOINT
       defaults to user_start.
 
+  Binary Loaders:
+    CONFIG_BINFMT_DISABLE - By default, support for loadable binary formats
+      is built.
+    This logic may be suppressed be defining this setting.
+    CONFIG_BINFMT_CONSTRUCTORS - Build in support for C++ constructors in
+      loaded modules.
+    CONFIG_SYMTAB_ORDEREDBYNAME - Symbol tables are order by name (rather
+      than value).
+    CONFIG_NXFLAT. Enable support for the NXFLAT binary format. This format
+      will support execution of NuttX binaries located in a ROMFS filesystem
+      (see apps/examples/nxflat).
+    CONFIG_ELF - Enable support for the ELF binary format. This format will
+      support execution of ELF binaries copied from a file system and
+      relocated into RAM (see apps/examples/elf).
+
+    If CONFIG_ELF is selected, then these additional options are available:
+
+    CONFIG_ELF_ALIGN_LOG2 - Align all sections to this Log2 value:  0->1,
+      1->2, 2->4, etc.
+    CONFIG_ELF_STACKSIZE - This is the default stack size that will will
+      be used when starting ELF binaries.
+    CONFIG_ELF_BUFFERSIZE - This is an I/O buffer that is used to access
+      the ELF file.  Variable length items will need to be read (such as
+      symbol names).  This is really just this initial size of the buffer;
+      it will be reallocated as necessary to hold large symbol names).
+      Default: 128
+    CONFIG_ELF_BUFFERINCR - This is an I/O buffer that is used to access
+      the ELF file.  Variable length items will need to be read (such as
+      symbol names). This value specifies the size increment to use each
+      time the buffer is reallocated. Default: 32
+    CONFIG_ELF_DUMPBUFFER - Dump various ELF buffers for debug purposes.
+      This option requires CONFIG_DEBUG and CONFIG_DEBUG_VERBOSE.
+
   System Logging:
     CONFIG_SYSLOG enables general system logging support.
     CONFIG_SYSLOG_DEVPATH - The full path to the system logging device.  Default
@@ -503,7 +544,7 @@ defconfig -- This is a configuration file similar to the Linux
       from the end of RAM for page tables or other system usage.  The
       configuration settings and linker directives must be cognizant of that:
       CONFIG_PAGING_NDATA should be defined to prevent the data region from
-      extending all the way to the end of memory. 
+      extending all the way to the end of memory.
     CONFIG_PAGING_DEFPRIO - The default, minimum priority of the page fill
       worker thread.  The priority of the page fill work thread will be boosted
       boosted dynmically so that it matches the priority of the task on behalf
@@ -517,7 +558,7 @@ defconfig -- This is a configuration file similar to the Linux
       transfer is completed. Default:  Undefined (non-blocking).
     CONFIG_PAGING_WORKPERIOD - The page fill worker thread will wake periodically
       even if there is no mapping to do.  This selection controls that wake-up
-      period (in microseconds).  This wake-up a failsafe that will handle any 
+      period (in microseconds).  This wake-up a failsafe that will handle any
       cases where a single is lost (that would really be a bug and shouldn't
       happen!) and also supports timeouts for case of non-blocking, asynchronous
       fills (see CONFIG_PAGING_TIMEOUT_TICKS).
@@ -529,7 +570,7 @@ defconfig -- This is a configuration file similar to the Linux
     Some architecture-specific settings.  Defaults are architecture specific.
     If you don't know what you are doing, it is best to leave these undefined
     and try the system defaults:
- 
+
     CONFIG_PAGING_VECPPAGE - This the physical address of the page in
       memory to be mapped to the vector address.
     CONFIG_PAGING_VECL2PADDR - This is the physical address of the L2
@@ -552,7 +593,7 @@ defconfig -- This is a configuration file similar to the Linux
       devices. CONFIG_PAGING_SDSLOT identifies the slot number of the SD
       device to initialize. This must be undefined if SD is not being used.
       This should be defined to be zero for the typical device that has
-      only a single slot (See CONFIG_MMCSD_NSLOTS). If defined, 
+      only a single slot (See CONFIG_MMCSD_NSLOTS). If defined,
       CONFIG_PAGING_SDSLOT will instruct certain board-specific logic to
       initialize the media in this SD slot.
     CONFIG_PAGING_M25PX - Use the m25px.c FLASH driver.  If this is selected,
@@ -621,6 +662,37 @@ defconfig -- This is a configuration file similar to the Linux
       CONFIG_ARCH_STRNCPY, CONFIG_ARCH_STRLEN, CONFIG_ARCH_STRNLEN
       CONFIG_ARCH_BZERO
 
+  If CONFIG_ARCH_MEMCPY is not selected, then you make also select Daniel
+  Vik's optimized implementation of memcpy():
+
+    CONFIG_MEMCPY_VIK - Select this option to use the optimized memcpy()
+      function by Daniel Vik.  Select this option for improved performance
+      at the expense of increased size. See licensing information in the
+      top-level COPYING file.  Default: n
+
+  And if CONFIG_MEMCPY_VIK is selected, the following tuning options are available:
+
+    CONFIG_MEMCPY_PRE_INC_PTRS - Use pre-increment of pointers. Default is
+      post increment of pointers.
+
+    CONFIG_MEMCPY_INDEXED_COPY - Copying data using array indexing. Using
+      this option, disables the CONFIG_MEMCPY_PRE_INC_PTRS option.
+
+    CONFIG_MEMCPY_64BIT - Compiles memcpy for architectures that suppport
+      64-bit operations efficiently.
+
+  If CONFIG_ARCH_MEMSET is not selected, then the following option is
+  also available:
+
+    CONFIG_MEMSET_OPTSPEED - Select this option to use a version of memcpy()
+      optimized for speed. Default: memcpy() is optimized for size.
+
+  And if CONFIG_MEMSET_OPTSPEED is selected, the following tuning option is
+  available:
+
+    CONFIG_MEMSET_64BIT - Compiles memset() for architectures that suppport
+      64-bit operations efficiently.
+
   The architecture may provide custom versions of certain standard header
   files:
 
@@ -663,6 +735,15 @@ defconfig -- This is a configuration file similar to the Linux
       don't select CONFIG_ARCH_MATH_H, the redirecting math.h header file will
       stay out-of-the-way in include/nuttx/.
 
+    CONFIG_ARCH_FLOAT_H
+      If you enable the generic, built-in math library, then that math library
+      will expect your toolchain to provide the standard float.h header file.
+      The float.h header file defines the properties of your floating point
+      implementation.  It would always be best to use your toolchain's float.h
+      header file but if none is avaiable, a default float.h header file will
+      provided if this option is selected.  However, there is no assurance that
+      the settings in this float.h are actually correct for your platform!
+
     CONFIG_ARCH_STDARG_H - There is also a redirecting version of stdarg.h in
       the source tree as well. It also resides out-of-the-way at include/nuttx/stdarg.h.
       This is because you should normally use your toolchain's stdarg.h file. But
@@ -693,7 +774,7 @@ defconfig -- This is a configuration file similar to the Linux
       If CONFIG_ARCH_ROMGETC is defined, then the architecture logic
       must export the function up_romgetc().  up_romgetc() will simply
       read one byte of data from the instruction space.
- 
+
       If CONFIG_ARCH_ROMGETC, certain C stdio functions are effected:
       (1) All format strings in printf, fprintf, sprintf, etc. are
       assumed to lie in FLASH (string arguments for %s are still assumed
@@ -763,7 +844,7 @@ defconfig -- This is a configuration file similar to the Linux
       much sense in supporting FAT date and time unless you have a
       hardware RTC or other way to get the time and date.
     CONFIG_FS_NXFFS: Enable NuttX FLASH file system (NXFF) support.
-    CONFIG_NXFFS_ERASEDSTATE: The erased state of FLASH. 
+    CONFIG_NXFFS_ERASEDSTATE: The erased state of FLASH.
       This must have one of the values of 0xff or 0x00.
       Default: 0xff.
     CONFIG_NXFFS_PACKTHRESHOLD: When packing flash file data,
@@ -917,7 +998,7 @@ defconfig -- This is a configuration file similar to the Linux
 
     CONFIG_INPUT
       Enables general support for input devices
- 
+
     CONFIG_INPUT_TSC2007
       If CONFIG_INPUT is selected, then this setting will enable building
       of the TI TSC2007 touchscreen driver.
@@ -932,14 +1013,14 @@ defconfig -- This is a configuration file similar to the Linux
       Enables support for the SPI interface (not currenly supported)
     CONFIG_STMPE811_I2C
       Enables support for the I2C interface
-    CONFIG_STMPE811_MULTIPLE 
+    CONFIG_STMPE811_MULTIPLE
       Can be defined to support multiple STMPE811 devices on board.
     CONFIG_STMPE811_ACTIVELOW
       Interrupt is generated by an active low signal (or falling edge).
     CONFIG_STMPE811_EDGE
       Interrupt is generated on an edge (vs. on the active level)
     CONFIG_STMPE811_NPOLLWAITERS
-      Maximum number of threads that can be waiting on poll() (ignored if 
+      Maximum number of threads that can be waiting on poll() (ignored if
       CONFIG_DISABLE_POLL is set).
     CONFIG_STMPE811_TSC_DISABLE
       Disable driver touchscreen functionality.
@@ -1048,21 +1129,21 @@ defconfig -- This is a configuration file similar to the Linux
     port.  The default data link layer for uIP is Ethernet. If CONFIG_NET_SLIP
     is defined in the NuttX configuration file, then SLIP will be supported.
     The basic differences between the SLIP and Ethernet configurations is that
-    when SLIP is selected: 
+    when SLIP is selected:
 
-    * The link level header (that comes before the IP header) is omitted. 
-    * All MAC address processing is suppressed. 
+    * The link level header (that comes before the IP header) is omitted.
+    * All MAC address processing is suppressed.
     * ARP is disabled.
 
     If CONFIG_NET_SLIP is not selected, then Ethernet will be used (there is
     no need to define anything special in the configuration file to use
-    Ethernet -- it is the default). 
+    Ethernet -- it is the default).
 
     CONFIG_NET_SLIP -- Enables building of the SLIP driver. SLIP requires
       at least one IP protocols selected and the following additional
       network settings: CONFIG_NET_NOINTS and CONFIG_NET_MULTIBUFFER.
       CONFIG_NET_BUFSIZE *must* be set to 296.  Other optional configuration
-      settings that affect the SLIP driver: CONFIG_NET_STATISTICS. 
+      settings that affect the SLIP driver: CONFIG_NET_STATISTICS.
       Default: Ethernet
 
     If SLIP is selected, then the following SLIP options are available:
@@ -1078,6 +1159,10 @@ defconfig -- This is a configuration file similar to the Linux
 
     CONFIG_NET_DHCP_LIGHT - Reduces size of DHCP
     CONFIG_NET_RESOLV_ENTRIES - Number of resolver entries
+    CONFIG_NET_RESOLV_MAXRESPONSE - This setting determines the maximum
+      size of response message that can be received by the DNS resolver.
+      The default is 96 but may need to be larger on enterprise networks
+      (perhaps 176).
 
   THTTPD
 
@@ -1099,7 +1184,7 @@ defconfig -- This is a configuration file similar to the Linux
       to run before killing them.
     CONFIG_THTTPD_CHARSET- The default character set name to use with
       text MIME types.
-    CONFIG_THTTPD_IOBUFFERSIZE - 
+    CONFIG_THTTPD_IOBUFFERSIZE -
     CONFIG_THTTPD_INDEX_NAMES - A list of index filenames to check. The
       files are searched for in this order.
     CONFIG_AUTH_FILE - The file to use for authentication. If this is
@@ -1131,7 +1216,7 @@ defconfig -- This is a configuration file similar to the Linux
       You can also leave both options undefined, and thttpd will not do
       anything special about tildes. Enabling both options is an error.
       Typical values, if they're defined, are "users" for
-      CONFIG_THTTPD_TILDE_MAP1 and "public_html"forCONFIG_THTTPD_TILDE_MAP2. 
+      CONFIG_THTTPD_TILDE_MAP1 and "public_html"forCONFIG_THTTPD_TILDE_MAP2.
     CONFIG_THTTPD_GENERATE_INDICES
     CONFIG_THTTPD_URLPATTERN - If defined, then it will be used to match
       and verify referrers.
@@ -1189,7 +1274,7 @@ defconfig -- This is a configuration file similar to the Linux
   USB host HID class driver. Requires CONFIG_USBHOST=y,
     CONFIG_USBHOST_INT_DISABLE=n, CONFIG_NFILE_DESCRIPTORS > 0,
     CONFIG_SCHED_WORKQUEUE=y, and CONFIG_DISABLE_SIGNALS=n.
- 
+
     CONFIG_HIDKBD_POLLUSEC
       Device poll rate in microseconds. Default: 100 milliseconds.
     CONFIG_HIDKBD_DEFPRIO
@@ -1208,7 +1293,7 @@ defconfig -- This is a configuration file similar to the Linux
       If set to y all 231 possible scancodes will be converted to
       something.  Default:  104 key US keyboard.
     CONFIG_HIDKBD_NODEBOUNCE
-      If set to y normal debouncing is disabled.  Default: 
+      If set to y normal debouncing is disabled.  Default:
       Debounce enabled (No repeat keys).
 
   USB host mass storage class driver. Requires CONFIG_USBHOST=y,
@@ -1245,12 +1330,12 @@ defconfig -- This is a configuration file similar to the Linux
       Configure the CDC serial driver as part of a composite driver
       (only if CONFIG_USBDEV_COMPOSITE is also defined)
     CONFIG_CDCACM_IFNOBASE
-       If the CDC driver is part of a composite device, then this may need to 
+       If the CDC driver is part of a composite device, then this may need to
       be defined to offset the CDC/ACM interface numbers so that they are
       unique and contiguous.  When used with the Mass Storage driver, the
       correct value for this offset is zero.
     CONFIG_CDCACM_STRBASE
-      If the CDC driver is part of a composite device, then this may need to 
+      If the CDC driver is part of a composite device, then this may need to
       be defined to offset the CDC/ACM string numbers so that they are
       unique and contiguous.  When used with the Mass Storage driver, the
       correct value for this offset is four (this value actuallly only needs
@@ -1309,13 +1394,13 @@ defconfig -- This is a configuration file similar to the Linux
       Configure the mass storage driver as part of a composite driver
       (only if CONFIG_USBDEV_COMPOSITE is also defined)
     CONFIG_USBMSC_IFNOBASE
-      If the CDC driver is part of a composite device, then this may need to 
+      If the CDC driver is part of a composite device, then this may need to
       be defined to offset the mass storage interface number so that it is
       unique and contiguous.  When used with the CDC/ACM driver, the
       correct value for this offset is two (because of the two CDC/ACM
       interfaces that will precede it).
     CONFIG_USBMSC_STRBASE
-      If the CDC driver is part of a composite device, then this may need to 
+      If the CDC driver is part of a composite device, then this may need to
       be defined to offset the mass storage string numbers so that they are
       unique and contiguous.  When used with the CDC/ACM driver, the
       correct value for this offset is four (or perhaps 5 or 6, depending
@@ -1523,10 +1608,15 @@ configs/avr32dev1
 configs/c5471evm
   This is a port to the Spectrum Digital C5471 evaluation board.  The
   TMS320C5471 is a dual core processor from TI with an ARM7TDMI general
-  purpose processor and a c54 DSP.  It is also known as TMS320DA180 or just DA180. 
+  purpose processor and a c54 DSP.  It is also known as TMS320DA180 or just DA180.
   NuttX runs on the ARM core and is built with a GNU arm-nuttx-elf toolchain*.
   This port is complete and verified.
 
+configs/cloudctrl
+  Darcy's CloudController board.  This is a small network relay development
+  board. Based on the Shenzhou IV development board design.  It is based on
+  the STM32F107VC MCU.
+
 configs/compal_e88 and compal_e99
   These directories contain the board support for compal e88 and e99 phones.
   These ports are based on patches contributed by Denis Carikli for both the
@@ -1539,23 +1629,23 @@ configs/demo9s12ne64
   is code complete but has not yet been verified.
 
 configs/ea3131
-  Embedded Artists EA3131 Development board.  This board is based on the 
+  Embedded Artists EA3131 Development board.  This board is based on the
   an NXP LPC3131 MCU. This OS is built with the arm-nuttx-elf toolchain*.
   STATUS:  This port is complete and mature.
 
 configs/ea3152
-  Embedded Artists EA3152 Development board.  This board is based on the 
+  Embedded Artists EA3152 Development board.  This board is based on the
   an NXP LPC3152 MCU. This OS is built with the arm-nuttx-elf toolchain*.
   STATUS:  This port is has not be exercised well, but since it is
   a simple derivative of the ea3131, it should be fully functional.
 
 configs/eagle100
-  Micromint Eagle-100 Development board.  This board is based on the 
+  Micromint Eagle-100 Development board.  This board is based on the
   an ARM Cortex-M3 MCU, the Luminary LM3S6918. This OS is built with the
   arm-nuttx-elf toolchain*.  STATUS:  This port is complete and mature.
 
 configs/ekk-lm3s9b96
-  TI/Stellaris EKK-LM3S9B96 board.  This board is based on the 
+  TI/Stellaris EKK-LM3S9B96 board.  This board is based on the
   an EKK-LM3S9B96 which is a Cortex-M3.
 
 configs/ez80f0910200kitg
@@ -1583,13 +1673,13 @@ configs/kwikstik-k40.
 
 configs/lincoln60
    NuttX port to the Micromint Lincoln 60 board.
-  
+
 configs/lm3s6432-s2e
   Stellaris RDK-S2E Reference Design Kit and the MDL-S2E Ethernet to
   Serial module.
 
 configs/lm3s6965-ek
-  Stellaris LM3S6965 Evaluation Kit.  This board is based on the 
+  Stellaris LM3S6965 Evaluation Kit.  This board is based on the
   an ARM Cortex-M3 MCU, the Luminary/TI LM3S6965. This OS is built with the
   arm-nuttx-elf toolchain*.  STATUS:  This port is complete and mature.
 
@@ -1646,7 +1736,7 @@ configs/ntosd-dm320
   toolchain*: see
 
     http://wiki.neurostechnology.com/index.php/OSD_1.0_Developer_Home
- 
+
   There are some differences between the Dev Board and the currently
   available commercial v1.0 Boards.  See
 
@@ -1690,33 +1780,53 @@ configs/pcblogic-pic32mx
   STATUS:  Code complete but testing has been stalled due to tool related problems
   (PICkit 2 does not work with the PIC32).
 
-configs/pic32-starterkit
+configs/p112
+  The P112 is notable because it was the first of the hobbyist single board
+  computers to reach the production stage. The P112 hobbyist computers
+  were relatively widespread and inspired other hobbyist centered home brew
+  computing projects such as N8VEM home brew computing project. The P112
+  project still maintains many devoted enthusiasts and has an online
+  repository of software and other information.
+
+  The P112 computer originated as a commercial product of "D-X Designs Pty
+  Ltd" of Australia. They describe the computer as "The P112 is a stand-alone
+  8-bit CPU board. Typically running CP/M (tm) or a similar operating system,
+  it provides a Z80182 (Z-80 upgrade) CPU with up to 1MB of memory, serial,
+  parallel and diskette IO, and realtime clock, in a 3.5-inch drive form factor.
+  Powered solely from 5V, it draws 150mA (nominal: not including disk drives)
+  with a 16MHz CPU clock. Clock speeds up to 24.576MHz are possible."
+
+  The P112 board was last available new in 1996 by Dave Brooks. In late 2004
+  on the Usenet Newsgroup comp.os.cpm, talk about making another run of P112
+  boards was discussed. David Griffith decided to produce additional P112 kits
+  with Dave Brooks blessing and the assistance of others. In addition Terry
+  Gulczynski makes additional P112 derivative hobbyist home brew computers.
+  Hal Bower was very active in the mid 1990's on the P112 project and ported
+  the "Banked/Portable BIOS".
+
+  Dave Brooks was successfully funded through Kickstarter for and another
+  run of P112 boards in November of 2012.
 
+configs/pic32-starterkit
   This directory contains the port of NuttX to the Microchip PIC32 Ethernet
   Starter Kit (DM320004) with the Multimedia Expansion Board (MEB, DM320005).
   See www.microchip.com for further information.
 
 configs/pic32mx7mmb
-
   This directory will (eventually) contain the port of NuttX to the
   Mikroelektronika PIC32MX7 Multimedia Board (MMB).  See
   http://www.mikroe.com/ for further information.
 
-  STATUS:  Basic OS test configuration is in place, but the board does not boot.
-  It looks like I will need an ICD3 in order to debug the code (PICkit3
-  doesn't work for debug with this board).  This effort is temporarily stalled.
-
 configs/pjrc-8051
   8051 Microcontroller.  This port uses the PJRC 87C52 development system
   and the SDCC toolchain.   This port is not quite ready for prime time.
 
 configs/qemu-i486
-
   Port of NuttX to QEMU in i486 mode.  This port will also run on real i486
   hardwared (Google the Bifferboard).
 
 configs/rgmp
-  RGMP stands for RTOS and GPOS on Multi-Processor.  RGMP is a project for 
+  RGMP stands for RTOS and GPOS on Multi-Processor.  RGMP is a project for
   running GPOS and RTOS simultaneously on multi-processor platforms. You can
   port your favorite RTOS to RGMP together with an unmodified Linux to form a
   hybrid operating system. This makes your application able to use both RTOS
@@ -1757,8 +1867,14 @@ configs/stm3240g-eval
   microcontroller (ARM Cortex-M4 with FPU).  This port uses a GNU Cortex-M4
   toolchain (such as CodeSourcery).
 
+configs/stm32f100rc_generic
+  STMicro STM32F100RC generic board based on STM32F100RC high-density value line
+  chip. This "generic" configuration is not very usable out-of-box, but can be
+  used as a starting point to creating new configs with similar STM32
+  high-density value line chips.
+  
 configs/stm32f4discovery
-  STMicro STM32F4-Discovery board boased on the STMIcro STM32F407VGT6 MCU.
+  STMicro STM32F4-Discovery board based on the STMIcro STM32F407VGT6 MCU.
 
 configs/sure-pic32mx
   The "Advanced USB Storage Demo Board," Model DB-DP11215, from Sure
@@ -1795,7 +1911,7 @@ configs/vsn
 
 configs/xtrs
   TRS80 Model 3.  This port uses a vintage computer based on the Z80.
-  An emulator for this computer is available to run TRS80 programs on a 
+  An emulator for this computer is available to run TRS80 programs on a
   linux platform (http://www.tim-mann.org/xtrs.html).
 
 configs/z16f2800100zcog
@@ -1846,7 +1962,7 @@ And if configs/<board-name>/<config-dir>/appconfig exists and your
 application directory is not in the standard loction (../apps), then
 you should also specify the location of the application directory on the
 command line like:
-  
+
   cd tools
   ./configure.sh -a <app-dir> <board-name>/<config-dir>
 
diff --git a/nuttx/configs/px4fmu/common/Make.defs b/nuttx/configs/px4fmu/common/Make.defs
index ff2e4c5fa..756286ccb 100644
--- a/nuttx/configs/px4fmu/common/Make.defs
+++ b/nuttx/configs/px4fmu/common/Make.defs
@@ -39,12 +39,15 @@
 # Make.defs in the per-config directories.
 #
 
+include ${TOPDIR}/tools/Config.mk
+
 #
 # We only support building with the ARM bare-metal toolchain from
 # https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
 #
+CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI
 
-CROSSDEV		 = arm-none-eabi-
+include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
 
 CC			 = $(CROSSDEV)gcc
 CXX			 = $(CROSSDEV)g++
@@ -76,7 +79,7 @@ LDSCRIPT		 = ld.script
 
 ifeq ($(WINTOOL),y)
   # Windows-native toolchains
-  DIRLINK		 = $(TOPDIR)/tools/winlink.sh
+  DIRLINK		 = $(TOPDIR)/tools/copydir.sh
   DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
   MKDEP			 = $(TOPDIR)/tools/mknulldeps.sh
   ARCHINCLUDES		 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
@@ -85,7 +88,7 @@ ifeq ($(WINTOOL),y)
 else
   ifeq ($(PX4_WINTOOL),y)
     # Windows-native toolchains (MSYS)
-    DIRLINK		 = $(TOPDIR)/tools/winlink.sh
+    DIRLINK		 = $(TOPDIR)/tools/copydir.sh
     DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
     MKDEP		 = $(TOPDIR)/tools/mknulldeps.sh
     ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
@@ -143,8 +146,9 @@ ARCHCWARNINGS		 = $(ARCHWARNINGS) \
 			   -Wmissing-prototypes \
 			   -Wnested-externs \
 			   -Wunsuffixed-float-constants
-ARCHWARNINGSXX		 = $(ARCHWARNINGS)
-ARCHDEFINES		 = 
+ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
+			   -Wno-psabi
+ARCHDEFINES		 =
 ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
 
 # this seems to be the only way to add linker flags
@@ -166,39 +170,11 @@ OBJEXT			 = .o
 LIBEXT			 = .a
 EXEEXT			 =
 
-define PREPROCESS
-	@echo "CPP: $1->$2"
-	@$(CPP) $(CPPFLAGS) $(abspath $1) -o $2
-endef
-
-define COMPILE
-	@echo "CC: $1"
-	$(Q)$(CC) -c $(CFLAGS) $(abspath $1) -o $2
-endef
-
-define COMPILEXX
-	@echo "CXX: $1"
-	$(Q)$(CXX) -c $(CXXFLAGS) $(abspath $1) -o $2
-endef
-
-define ASSEMBLE
-	@echo "AS: $1"
-	$(Q)$(CC) -c $(AFLAGS) $(abspath $1) -o $2
-endef
 
 # produce partially-linked $1 from files in $2
 define PRELINK
 	@echo "PRELINK: $1"
-	@$(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
-endef
-
-define ARCHIVE
-	echo "AR: $2"; \
-	$(AR) $1 $2 || { echo "$(AR) $1 $2 FAILED!" ; exit 1 ; }
-endef
-
-define CLEAN
-	@rm -f *.o *.a
+	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
 endef
 
 HOSTCC			 = gcc
diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig
index 0959687de..fcdf689aa 100644
--- a/nuttx/configs/px4fmu/nsh/appconfig
+++ b/nuttx/configs/px4fmu/nsh/appconfig
@@ -45,6 +45,16 @@ CONFIGURED_APPS += system/readline
 CONFIGURED_APPS += systemlib
 CONFIGURED_APPS += systemlib/mixer
 
+# Math library
+CONFIGURED_APPS += mathlib
+CONFIGURED_APPS += mathlib/CMSIS
+CONFIGURED_APPS += examples/math_demo
+
+# Control library
+CONFIGURED_APPS	+= controllib
+CONFIGURED_APPS += examples/control_demo
+CONFIGURED_APPS += examples/kalman_demo
+
 # System utility commands
 CONFIGURED_APPS += systemcmds/reboot
 CONFIGURED_APPS += systemcmds/perf
@@ -100,6 +110,7 @@ CONFIGURED_APPS += drivers/stm32
 CONFIGURED_APPS += drivers/led
 CONFIGURED_APPS += drivers/blinkm
 CONFIGURED_APPS += drivers/stm32/tone_alarm
+CONFIGURED_APPS += drivers/stm32/adc
 CONFIGURED_APPS += drivers/px4fmu
 CONFIGURED_APPS += drivers/hil
 
diff --git a/nuttx/configs/px4fmu/nsh/defconfig b/nuttx/configs/px4fmu/nsh/defconfig
index bc724c006..0b27b552e 100755
--- a/nuttx/configs/px4fmu/nsh/defconfig
+++ b/nuttx/configs/px4fmu/nsh/defconfig
@@ -189,9 +189,10 @@ CONFIG_STM32_TIM1=n
 CONFIG_STM32_TIM8=n
 CONFIG_STM32_USART1=y
 CONFIG_STM32_USART6=y
-CONFIG_STM32_ADC1=n
+# We use our own driver, but leave this on.
+CONFIG_STM32_ADC1=y
 CONFIG_STM32_ADC2=n
-CONFIG_STM32_ADC3=y
+CONFIG_STM32_ADC3=n
 CONFIG_STM32_SDIO=n
 CONFIG_STM32_SPI1=y
 CONFIG_STM32_SYSCFG=y
@@ -199,6 +200,10 @@ CONFIG_STM32_TIM9=y
 CONFIG_STM32_TIM10=y
 CONFIG_STM32_TIM11=y
 
+#
+# We want the flash prefetch on for max performance.
+#
+STM32_FLASH_PREFETCH=y
 
 #
 # Enable the MTD driver for the onboard I2C EEPROM
@@ -245,18 +250,18 @@ CONFIG_USART6_SERIAL_CONSOLE=n
 
 #Mavlink messages can be bigger than 128
 CONFIG_USART1_TXBUFSIZE=512
-CONFIG_USART2_TXBUFSIZE=128
-CONFIG_USART3_TXBUFSIZE=128
-CONFIG_UART4_TXBUFSIZE=128
-CONFIG_UART5_TXBUFSIZE=64
+CONFIG_USART2_TXBUFSIZE=256
+CONFIG_USART3_TXBUFSIZE=256
+CONFIG_UART4_TXBUFSIZE=256
+CONFIG_UART5_TXBUFSIZE=256
 CONFIG_USART6_TXBUFSIZE=128
 
 CONFIG_USART1_RXBUFSIZE=512
-CONFIG_USART2_RXBUFSIZE=128
-CONFIG_USART3_RXBUFSIZE=128
-CONFIG_UART4_RXBUFSIZE=128
-CONFIG_UART5_RXBUFSIZE=128
-CONFIG_USART6_RXBUFSIZE=128
+CONFIG_USART2_RXBUFSIZE=256
+CONFIG_USART3_RXBUFSIZE=256
+CONFIG_UART4_RXBUFSIZE=256
+CONFIG_UART5_RXBUFSIZE=256
+CONFIG_USART6_RXBUFSIZE=256
 
 CONFIG_USART1_BAUD=57600
 CONFIG_USART2_BAUD=115200
@@ -343,13 +348,8 @@ CONFIG_CAN_LOOPBACK=n
 CONFIG_CAN1_BAUD=700000
 CONFIG_CAN2_BAUD=700000
 
-#
-# I2C configuration
-#
-CONFIG_I2C=y
-CONFIG_I2C_POLLED=y
-CONFIG_I2C_TRANSFER=y
-CONFIG_I2C_TRACE=n
+
+# XXX remove after integration testing
 # Allow 180 us per byte, a wide margin for the 400 KHz clock we're using
 # e.g. 9.6 ms for an EEPROM page write, 0.9 ms for a MAG update
 CONFIG_STM32_I2CTIMEOUS_PER_BYTE=200
@@ -359,25 +359,40 @@ CONFIG_STM32_I2CTIMEOUS_START_STOP=700
 CONFIG_I2C_WRITEREAD=y
 
 #
-# ADC configuration
-#
-# Enable ADC driver support.
-#
-# CONFIG_ADC=y             : Enable the generic ADC infrastructure
-# CONFIG_STM32_TIM1_ADC=y  : Indicate that timer 1 will be used to trigger an ADC
-# CONFIG_STM32_TIM1_ADC3=y : Assign timer 1 to drive ADC3 sampling
-# CONFIG_STM32_ADC3_SAMPLE_FREQUENCY=100 : Select a sampling frequency
-#
-CONFIG_ADC=y
-CONFIG_STM32_TIM4_ADC3=y
-# select sample frequency  1^=1.5Msamples/second
-# 65535^=10samples/second 16bit-timer runs at 84/128 MHz
-CONFIG_STM32_ADC3_SAMPLE_FREQUENCY=6000
-# select timer channel 0=CC1,...,3=CC4
-CONFIG_STM32_ADC3_TIMTRIG=3
-CONFIG_ADC_DMA=y
-# only 4 places usable!
-CONFIG_ADC_FIFOSIZE=5
+# I2C configuration
+#
+CONFIG_I2C=y
+CONFIG_I2C_POLLED=y
+CONFIG_I2C_TRANSFER=y
+CONFIG_I2C_TRACE=n
+CONFIG_I2C_RESET=y
+
+
+
+# XXX re-enable after integration testing
+
+#
+# I2C configuration
+#
+#CONFIG_I2C=y
+#CONFIG_I2C_POLLED=y
+#CONFIG_I2C_TRANSFER=y
+#CONFIG_I2C_TRACE=n
+#CONFIG_I2C_RESET=y
+
+# Dynamic timeout
+#CONFIG_STM32_I2C_DYNTIMEO=y
+#CONFIG_STM32_I2C_DYNTIMEO_STARTSTOP=500
+#CONFIG_STM32_I2C_DYNTIMEO_USECPERBYTE=200
+
+# Fixed per-transaction timeout
+#CONFIG_STM32_I2CTIMEOSEC=0
+#CONFIG_STM32_I2CTIMEOMS=10
+
+
+
+
+
 
 #
 # General build options
@@ -767,6 +782,8 @@ CONFIG_FS_ROMFS=y
 # CONFIG_MMCSD_SPICLOCK - Maximum SPI clock to drive MMC/SD card.
 #   Default is 20MHz, current setting 24 MHz
 #
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SPI=y
 CONFIG_MMCSD_NSLOTS=1
 CONFIG_MMCSD_READONLY=n
 CONFIG_MMCSD_SPICLOCK=24000000
diff --git a/nuttx/configs/px4fmu/src/Makefile b/nuttx/configs/px4fmu/src/Makefile
index c3d6bf543..d4276f7fc 100644
--- a/nuttx/configs/px4fmu/src/Makefile
+++ b/nuttx/configs/px4fmu/src/Makefile
@@ -64,23 +64,21 @@ $(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 libboard$(LIBEXT): $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $@, $${obj}); \
-	done ; )
-	touch $@
+	$(call ARCHIVE, $@, $(OBJS))
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
+	$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
 
 depend: .depend
 
 clean:
-	@rm -f libboard$(LIBEXT) *~ .*.swp
+	$(call DELFILE, libboard$(LIBEXT))
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
 
diff --git a/nuttx/configs/px4io/common/Make.defs b/nuttx/configs/px4io/common/Make.defs
index a3996a9ed..4958f7092 100644
--- a/nuttx/configs/px4io/common/Make.defs
+++ b/nuttx/configs/px4io/common/Make.defs
@@ -39,12 +39,15 @@
 # Make.defs in the per-config directories.
 #
 
+include ${TOPDIR}/tools/Config.mk
+
 #
 # We only support building with the ARM bare-metal toolchain from
 # https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
 #
+CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI
 
-CROSSDEV		 = arm-none-eabi-
+include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
 
 CC			 = $(CROSSDEV)gcc
 CXX			 = $(CROSSDEV)g++
@@ -69,7 +72,7 @@ LDSCRIPT		 = ld.script
 
 ifeq ($(WINTOOL),y)
   # Windows-native toolchains
-  DIRLINK		 = $(TOPDIR)/tools/winlink.sh
+  DIRLINK		 = $(TOPDIR)/tools/copydir.sh
   DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
   MKDEP			 = $(TOPDIR)/tools/mknulldeps.sh
   ARCHINCLUDES		 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
@@ -78,7 +81,7 @@ ifeq ($(WINTOOL),y)
 else
   ifeq ($(PX4_WINTOOL),y)
     # Windows-native toolchains (MSYS)
-    DIRLINK		 = $(TOPDIR)/tools/winlink.sh
+    DIRLINK		 = $(TOPDIR)/tools/copydir.sh
     DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
     MKDEP		 = $(TOPDIR)/tools/mknulldeps.sh
     ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
@@ -160,46 +163,10 @@ OBJEXT			 = .o
 LIBEXT			 = .a
 EXEEXT			 =
 
-# If VERBOSE is set, don't hide the compiler invocations.
-ifeq ($(VERBOSE),YES)
-_v				 =
-else
-_v				 = @
-endif
-
-define PREPROCESS
-	@echo "CPP: $1->$2"
-	@$(CPP) $(CPPFLAGS) $(abspath $1) -o $2
-endef
-
-define COMPILE
-	@echo "CC: $1"
-	$(_v)$(CC) -c $(CFLAGS) $(abspath $1) -o $2
-endef
-
-define COMPILEXX
-	@echo "CXX: $1"
-	$(_v)$(CXX) -c $(CXXFLAGS) $(abspath $1) -o $2
-endef
-
-define ASSEMBLE
-	@echo "AS: $1"
-	$(_v)$(CC) -c $(AFLAGS) $(abspath $1) -o $2
-endef
-
 # produce partially-linked $1 from files in $2
 define PRELINK
 	@echo "PRELINK: $1"
-	@$(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
-endef
-
-define ARCHIVE
-	echo "AR: $2"; \
-	$(AR) $1 $2 || { echo "$(AR) $1 $2 FAILED!" ; exit 1 ; }
-endef
-
-define CLEAN
-	@rm -f *.o *.a
+	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
 endef
 
 HOSTCC			 = gcc
diff --git a/nuttx/configs/px4io/common/ld.script b/nuttx/configs/px4io/common/ld.script
index 17f816acf..69c2f9cb2 100755
--- a/nuttx/configs/px4io/common/ld.script
+++ b/nuttx/configs/px4io/common/ld.script
@@ -74,6 +74,15 @@ SECTIONS
 		_etext = ABSOLUTE(.);
 	} > flash
 
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
 	.ARM.extab : {
 		*(.ARM.extab*)
 	} > flash
diff --git a/nuttx/configs/px4io/io/appconfig b/nuttx/configs/px4io/io/appconfig
index 21a6fbacf..628607a51 100644
--- a/nuttx/configs/px4io/io/appconfig
+++ b/nuttx/configs/px4io/io/appconfig
@@ -35,3 +35,6 @@ CONFIGURED_APPS += drivers/boards/px4io
 CONFIGURED_APPS += drivers/stm32
 
 CONFIGURED_APPS += px4io
+
+# Mixer library from systemlib
+CONFIGURED_APPS += systemlib/mixer
diff --git a/nuttx/configs/px4io/io/defconfig b/nuttx/configs/px4io/io/defconfig
index 1ac70f8ab..30ec5be08 100755
--- a/nuttx/configs/px4io/io/defconfig
+++ b/nuttx/configs/px4io/io/defconfig
@@ -87,6 +87,8 @@ CONFIG_ARCH_LEDS=n
 CONFIG_ARCH_BUTTONS=n
 CONFIG_ARCH_CALIBRATION=n
 CONFIG_ARCH_DMA=n
+CONFIG_ARCH_MATH_H=y
+
 CONFIG_ARMV7M_CMNVECTOR=y
 
 #
@@ -131,6 +133,7 @@ CONFIG_STM32_BKP=n
 CONFIG_STM32_PWR=n
 CONFIG_STM32_DAC=n
 # APB2:
+# We use our own ADC driver, but leave this on for clocking purposes.
 CONFIG_STM32_ADC1=y
 CONFIG_STM32_ADC2=n
 # TIM1 is owned by the HRT
@@ -342,8 +345,8 @@ CONFIG_DEBUG_I2C=n
 CONFIG_DEBUG_INPUT=n
 
 CONFIG_MSEC_PER_TICK=1
-CONFIG_HAVE_CXX=n
-CONFIG_HAVE_CXXINITIALIZE=n
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_MM_REGIONS=1
 CONFIG_MM_SMALL=y
 CONFIG_ARCH_LOWPUTC=y
diff --git a/nuttx/configs/px4io/src/Makefile b/nuttx/configs/px4io/src/Makefile
index 144fa8549..bb9539d16 100644
--- a/nuttx/configs/px4io/src/Makefile
+++ b/nuttx/configs/px4io/src/Makefile
@@ -65,9 +65,7 @@ $(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 libboard$(LIBEXT): $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $@, $${obj}); \
-	done ; )
+	$(call ARCHIVE, $@, $(OBJS))
 
 .depend: Makefile $(SRCS)
 	@$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
@@ -76,10 +74,11 @@ libboard$(LIBEXT): $(OBJS)
 depend: .depend
 
 clean:
-	@rm -f libboard$(LIBEXT) *~ .*.swp
+	$(call DELFILE, libboard$(LIBEXT))
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/nuttx/drivers/Kconfig b/nuttx/drivers/Kconfig
index 1d263ec14..8302d21b7 100644
--- a/nuttx/drivers/Kconfig
+++ b/nuttx/drivers/Kconfig
@@ -47,7 +47,8 @@ config CAN_EXTID
 	bool "CAN extended IDs"
 	default n
 	---help---
-		Enables support for the 29-bit extended ID.  Default Standard 11-bit IDs.
+		Enables support for the 29-bit extended ID.  Default Standard 11-bit
+		IDs.
 
 config CAN_FIFOSIZE
 	int "CAN driver I/O buffer size"
@@ -83,10 +84,10 @@ config PWM_PULSECOUNT
 	bool "PWM Pulse Count Support"
 	default n
 	---help---
-		Some hardware will support generation of a fixed number of pulses.  This
-		might be used, for example to support a stepper motor.  If the hardware
-		will support a fixed pulse count, then this configuration should be set to
-		enable the capability.
+		Some hardware will support generation of a fixed number of pulses.
+		This might be used, for example to support a stepper motor.  If the
+		hardware will support a fixed pulse count, then this configuration
+		should be set to enable the capability.
 
 endif
 
@@ -147,23 +148,25 @@ config SPI_OWNBUS
 	bool "SPI single device"
 	default n
 	---help---
-		Set if there is only one active device on the SPI bus.  No locking or SPI
-		configuration will be performed. It is not necessary for clients to lock,
-		re-configure, etc..
+		Set if there is only one active device on the SPI bus.  No locking or
+		SPI configuration will be performed. It is not necessary for clients to
+		lock, re-configure, etc..
 
 config SPI_EXCHANGE
 	bool "SPI exchange"
 	default y
 	---help---
-		Driver supports a single exchange method (vs a recvblock() and sndblock ()methods).
+		Driver supports a single exchange method (vs a recvblock() and
+		sndblock() methods).
 
 config SPI_CMDDATA
 	bool "SPI CMD/DATA"
 	default n
 	---help---
-		Devices on the SPI bus require out-of-band support to distinguish command
-		transfers from data transfers.  Such devices will often support either 9-bit
-		SPI (yech) or 8-bit SPI and a GPIO output that selects between command and data.
+		Devices on the SPI bus require out-of-band support to distinguish
+		command transfers from data transfers.  Such devices will often support
+		either 9-bit SPI (yech) or 8-bit SPI and a GPIO output that selects
+		between command and data.
 
 endif
 
@@ -173,35 +176,36 @@ menuconfig RTC
 	---help---
 		This selection enables configuration of a real time clock (RTCdriver.
 		See include/nuttx/rtc.h for further watchdog timer driver information.
-		Most RTC drivers are MCU specific and may require other specific settings.
+		Most RTC drivers are MCU specific and may require other specific
+		settings.
 
 config RTC_DATETIME
 	bool "Date/Time RTC Support"
 	default n
 	depends on RTC
 	---help---
-		There are two general types of RTC:  (1) A simple battery backed counter
-		that keeps the time when power is down, and (2) a full date / time RTC the
-		provides the date and time information, often in BCD format.  If
-		RTC_DATETIME is selected, it specifies this second kind of RTC. In this
-		case, the RTC is used to "seed" the normal NuttX timer and the NuttX system
-		timer provides for higher resolution time.
+		There are two general types of RTC:  (1) A simple battery backed
+		counter that keeps the time when power is down, and (2) a full
+		date / time RTC the provides the date and time information, often in
+		BCD format.  If RTC_DATETIME is selected, it specifies this second kind
+		of RTC. In this case, the RTC is used to "seed" the normal NuttX timer
+		and the NuttX system timer provides for higher resolution time.
 
 config RTC_HIRES
 	bool "Hi-Res RTC Support"
 	default n
 	depends on RTC && !RTC_DATETIME
 	---help---
-		If RTC_DATETIME not selected, then the simple, battery backed counter is
-		used.  There are two different implementations of such simple counters
-		based on the time resolution of the counter: The typical RTC keeps time
-		to resolution of 1 second, usually supporting a 32-bit time_t value.  In
-		this case, the RTC is used to "seed" the normal NuttX timer and the NuttX
-		timer provides for higherresoution time.
+		If RTC_DATETIME not selected, then the simple, battery backed counter
+		is used.  There are two different implementations of such simple
+		counters based on the time resolution of the counter: The typical RTC
+		keeps time to resolution of 1 second, usually supporting a 32-bit
+		time_t value.  In this case, the RTC is used to "seed" the normal NuttX
+		timer and the NuttX timer provides for higherresoution time.
 
-		If RTC_HIRES is enabled in the NuttX configuration, then the RTC provides
-		higher resolution time and completely replaces the system timer for purpose
-		of date and time.
+		If RTC_HIRES is enabled in the NuttX configuration, then the RTC
+		provides higher resolution time and completely replaces the system
+		timer for purpose of date and time.
 
 config RTC_FREQUENCY
 	int "Hi-Res RTC frequency"
@@ -209,8 +213,8 @@ config RTC_FREQUENCY
 	depends on RTC && !RTC_DATETIME && RTC_HIRES
 	---help---
 		If RTC_HIRES is defined, then the frequency of the high resolution RTC
-		must be provided.  If RTC_HIRES is not defined, RTC_FREQUENCY is assumed
-		to be one Hz.
+		must be provided.  If RTC_HIRES is not defined, RTC_FREQUENCY is
+		assumed to be one Hz.
 
 config RTC_ALARM 
 	bool "RTC Alarm Support"
@@ -224,8 +228,9 @@ menuconfig WATCHDOG
 	bool "Watchdog Timer Support"
 	default n
 	---help---
-		This selection enables building of the "upper-half" watchdog timer driver.
-		See include/nuttx/watchdog.h for further watchdog timer driver information.
+		This selection enables building of the "upper-half" watchdog timer
+		driver. See include/nuttx/watchdog.h for further watchdog timer driver
+		information.
 
 if WATCHDOG
 endif
@@ -348,7 +353,8 @@ menuconfig POWER
 	bool "Power Management Support"
 	default n
 	---help---
-		Enable building of power-related devices (battery monitors, chargers, etc).
+		Enable building of power-related devices (battery monitors, chargers,
+		etc).
 
 if POWER
 source drivers/power/Kconfig
@@ -386,8 +392,8 @@ menuconfig SERIAL
 	default y
 	---help---
 		Front-end character drivers for chip-specific UARTs.  This provide
-		some TTY-like functionality and are commonly used (but not required for)
-		the NuttX system console.  See also include/nuttx/serial/serial.h
+		some TTY-like functionality and are commonly used (but not required
+		for) the NuttX system console.  See also include/nuttx/serial/serial.h
 
 if SERIAL
 source drivers/serial/Kconfig
diff --git a/nuttx/drivers/Makefile b/nuttx/drivers/Makefile
index 26a2ea992..aaaa67bd7 100644
--- a/nuttx/drivers/Makefile
+++ b/nuttx/drivers/Makefile
@@ -34,6 +34,7 @@
 ############################################################################
 
 -include $(TOPDIR)/Make.defs
+DELIM ?= $(strip /)
 
 ifeq ($(WINTOOL),y)
 INCDIROPT = -w
@@ -48,22 +49,22 @@ VPATH = .
 # files to the source file list, add its DEPPATH info, and will add
 # the appropriate paths to the VPATH variable
 
-include analog/Make.defs
-include bch/Make.defs
-include input/Make.defs
-include lcd/Make.defs
-include mmcsd/Make.defs
-include mtd/Make.defs
-include net/Make.defs
-include pipes/Make.defs
-include power/Make.defs
-include sensors/Make.defs
-include sercomm/Make.defs
-include serial/Make.defs
-include syslog/Make.defs
-include usbdev/Make.defs
-include usbhost/Make.defs
-include wireless/Make.defs
+include analog$(DELIM)Make.defs
+include bch$(DELIM)Make.defs
+include input$(DELIM)Make.defs
+include lcd$(DELIM)Make.defs
+include mmcsd$(DELIM)Make.defs
+include mtd$(DELIM)Make.defs
+include net$(DELIM)Make.defs
+include pipes$(DELIM)Make.defs
+include power$(DELIM)Make.defs
+include sensors$(DELIM)Make.defs
+include sercomm$(DELIM)Make.defs
+include serial$(DELIM)Make.defs
+include syslog$(DELIM)Make.defs
+include usbdev$(DELIM)Make.defs
+include usbhost$(DELIM)Make.defs
+include wireless$(DELIM)Make.defs
 
 ifneq ($(CONFIG_NFILE_DESCRIPTORS),0)
   CSRCS += dev_null.c dev_zero.c loop.c
@@ -85,15 +86,15 @@ ifeq ($(CONFIG_WATCHDOG),y)
 endif
 endif
 
-AOBJS		= $(ASRCS:.S=$(OBJEXT))
-COBJS		= $(CSRCS:.c=$(OBJEXT))
+AOBJS = $(ASRCS:.S=$(OBJEXT))
+COBJS = $(CSRCS:.c=$(OBJEXT))
 
-SRCS		= $(ASRCS) $(CSRCS)
-OBJS		= $(AOBJS) $(COBJS)
+SRCS = $(ASRCS) $(CSRCS)
+OBJS = $(AOBJS) $(COBJS)
 
-BIN			= libdrivers$(LIBEXT)
+BIN = libdrivers$(LIBEXT)
 
-all:	$(BIN)
+all: $(BIN)
 
 $(AOBJS): %$(OBJEXT): %.S
 	$(call ASSEMBLE, $<, $@)
@@ -101,22 +102,21 @@ $(AOBJS): %$(OBJEXT): %.S
 $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
-$(BIN):	$(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $@, $${obj}); \
-	done ; )
+$(BIN): $(OBJS)
+	$(call ARCHIVE, $@, $(OBJS))
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(DEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
+	$(Q) $(MKDEP) $(DEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
 
 depend: .depend
 
 clean:
-	@rm -f $(BIN) *~ .*.swp
+	$(call DELFILE, $(BIN))
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/nuttx/drivers/analog/Make.defs b/nuttx/drivers/analog/Make.defs
index d94e39758..89cc5bd3f 100644
--- a/nuttx/drivers/analog/Make.defs
+++ b/nuttx/drivers/analog/Make.defs
@@ -1,7 +1,7 @@
 ############################################################################
 # drivers/analog/Make.defs
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -76,12 +76,12 @@ endif
 ifeq ($(CONFIG_DAC),y)
   DEPPATH += --dep-path analog
   VPATH += :analog
-  CFLAGS += ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/analog}
+  CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)analog}
 else
 ifeq ($(CONFIG_ADC),y)
   DEPPATH += --dep-path analog
   VPATH += :analog
-  CFLAGS += ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/analog}
+  CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)analog}
 endif
 endif
 
diff --git a/nuttx/drivers/analog/adc.c b/nuttx/drivers/analog/adc.c
index 84070f162..72f19452a 100644
--- a/nuttx/drivers/analog/adc.c
+++ b/nuttx/drivers/analog/adc.c
@@ -143,7 +143,7 @@ static int adc_open(FAR struct file *filep)
                   dev->ad_recv.af_head = 0;
                   dev->ad_recv.af_tail = 0;
 
-                  /* Finally, Enable the CAN RX interrupt */
+                  /* Finally, Enable the ADC RX interrupt */
 
                   dev->ad_ops->ao_rxint(dev, true);
 
@@ -151,9 +151,11 @@ static int adc_open(FAR struct file *filep)
 
                   dev->ad_ocount = tmp;
                 }
+
               irqrestore(flags);
             }
         }
+
       sem_post(&dev->ad_closesem);
     }
   return ret;
@@ -370,6 +372,10 @@ static int adc_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
  * Public Functions
  ****************************************************************************/
 
+/****************************************************************************
+ * Name: adc_receive
+ ****************************************************************************/
+
 int adc_receive(FAR struct adc_dev_s *dev, uint8_t ch, int32_t data)
 {
   FAR struct adc_fifo_s *fifo = &dev->ad_recv;
@@ -390,7 +396,7 @@ int adc_receive(FAR struct adc_dev_s *dev, uint8_t ch, int32_t data)
 
   if (nexttail != fifo->af_head)
     {
-      /* Add the new, decoded CAN message at the tail of the FIFO */
+      /* Add the new, decoded ADC sample at the tail of the FIFO */
 
       fifo->af_buffer[fifo->af_tail].am_channel = ch;
       fifo->af_buffer[fifo->af_tail].am_data    = data;
@@ -403,11 +409,16 @@ int adc_receive(FAR struct adc_dev_s *dev, uint8_t ch, int32_t data)
         {
           sem_post(&fifo->af_sem);
         }
+
       err = OK;
     }
     return err;
 }
 
+/****************************************************************************
+ * Name: adc_register
+ ****************************************************************************/
+
 int adc_register(FAR const char *path, FAR struct adc_dev_s *dev)
 {
   /* Initialize the ADC device structure */
diff --git a/nuttx/drivers/bch/Make.defs b/nuttx/drivers/bch/Make.defs
index bc22df8e2..78dfbff30 100644
--- a/nuttx/drivers/bch/Make.defs
+++ b/nuttx/drivers/bch/Make.defs
@@ -1,7 +1,7 @@
 ############################################################################
 # drivers/bch/Make.defs
 #
-#   Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2008, 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -46,7 +46,7 @@ CSRCS += bchlib_setup.c bchlib_teardown.c bchlib_read.c bchlib_write.c \
 
 DEPPATH += --dep-path bch
 VPATH += :bch
-CFLAGS += ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/bch}
+CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)bch}
 
 endif
 endif
diff --git a/nuttx/drivers/input/Make.defs b/nuttx/drivers/input/Make.defs
index 6dbae268e..10e6db62f 100644
--- a/nuttx/drivers/input/Make.defs
+++ b/nuttx/drivers/input/Make.defs
@@ -1,7 +1,7 @@
 ############################################################################
 # drivers/input/Make.defs
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -47,6 +47,10 @@ ifeq ($(CONFIG_INPUT_ADS7843E),y)
   CSRCS += ads7843e.c
 endif
 
+ifeq ($(CONFIG_INPUT_MAX11802),y)
+  CSRCS += max11802.c
+endif
+
 ifeq ($(CONFIG_INPUT_STMPE811),y)
   CSRCS += stmpe811_base.c
 ifneq ($(CONFIG_INPUT_STMPE811_TSC_DISABLE),y)
@@ -67,6 +71,6 @@ endif
 
 DEPPATH += --dep-path input
 VPATH += :input
-CFLAGS += ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/input}
+CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)input}
 endif
 
diff --git a/nuttx/drivers/input/max11802.c b/nuttx/drivers/input/max11802.c
new file mode 100644
index 000000000..ea3883cd0
--- /dev/null
+++ b/nuttx/drivers/input/max11802.c
@@ -0,0 +1,1313 @@
+/****************************************************************************
+ * drivers/input/max11802.c
+ *
+ *   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
+ *   Authors: Gregory Nutt <gnutt@nuttx.org>
+ *            Petteri Aimonen <jpa@nx.mail.kapsi.fi>
+ *
+ * References:
+ *   "Low-Power, Ultra-Small Resistive Touch-Screen Controllers
+ *    with I2C/SPI Interface" Maxim IC, Rev 3, 10/2010
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <unistd.h>
+#include <string.h>
+#include <fcntl.h>
+#include <semaphore.h>
+#include <poll.h>
+#include <wdog.h>
+#include <errno.h>
+#include <assert.h>
+#include <debug.h>
+
+#include <nuttx/kmalloc.h>
+#include <nuttx/arch.h>
+#include <nuttx/fs/fs.h>
+#include <nuttx/spi.h>
+#include <nuttx/wqueue.h>
+
+#include <nuttx/input/touchscreen.h>
+#include <nuttx/input/max11802.h>
+
+#include "max11802.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* This is a value for the threshold that guantees a big difference on the
+ * first pendown (but can't overflow).
+ */
+
+#define INVALID_THRESHOLD 0x1000
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+/* Low-level SPI helpers */
+
+#ifdef CONFIG_SPI_OWNBUS
+static inline void max11802_configspi(FAR struct spi_dev_s *spi);
+#  define max11802_lock(spi)
+#  define max11802_unlock(spi)
+#else
+#  define max11802_configspi(spi);
+static void max11802_lock(FAR struct spi_dev_s *spi);
+static void max11802_unlock(FAR struct spi_dev_s *spi);
+#endif
+
+static uint16_t max11802_sendcmd(FAR struct max11802_dev_s *priv, uint8_t cmd, int *tags);
+
+/* Interrupts and data sampling */
+
+static void max11802_notify(FAR struct max11802_dev_s *priv);
+static int max11802_sample(FAR struct max11802_dev_s *priv,
+                           FAR struct max11802_sample_s *sample);
+static int max11802_waitsample(FAR struct max11802_dev_s *priv,
+                               FAR struct max11802_sample_s *sample);
+static void max11802_worker(FAR void *arg);
+static int max11802_interrupt(int irq, FAR void *context);
+
+/* Character driver methods */
+
+static int max11802_open(FAR struct file *filep);
+static int max11802_close(FAR struct file *filep);
+static ssize_t max11802_read(FAR struct file *filep, FAR char *buffer, size_t len);
+static int max11802_ioctl(FAR struct file *filep, int cmd, unsigned long arg);
+#ifndef CONFIG_DISABLE_POLL
+static int max11802_poll(FAR struct file *filep, struct pollfd *fds, bool setup);
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/* This the the vtable that supports the character driver interface */
+
+static const struct file_operations max11802_fops =
+{
+  max11802_open,    /* open */
+  max11802_close,   /* close */
+  max11802_read,    /* read */
+  0,                /* write */
+  0,                /* seek */
+  max11802_ioctl    /* ioctl */
+#ifndef CONFIG_DISABLE_POLL
+  , max11802_poll   /* poll */
+#endif
+};
+
+/* If only a single MAX11802 device is supported, then the driver state
+ * structure may as well be pre-allocated.
+ */
+
+#ifndef CONFIG_MAX11802_MULTIPLE
+static struct max11802_dev_s g_max11802;
+
+/* Otherwise, we will need to maintain allocated driver instances in a list */
+
+#else
+static struct max11802_dev_s *g_max11802list;
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Function: max11802_lock
+ *
+ * Description:
+ *   Lock the SPI bus and re-configure as necessary.  This function must be
+ *   to assure: (1) exclusive access to the SPI bus, and (2) to assure that
+ *   the shared bus is properly configured for the touchscreen controller.
+ *
+ * Parameters:
+ *   spi  - Reference to the SPI driver structure
+ *
+ * Returned Value:
+ *   None
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+#ifndef CONFIG_SPI_OWNBUS
+static void max11802_lock(FAR struct spi_dev_s *spi)
+{
+  /* Lock the SPI bus because there are multiple devices competing for the
+   * SPI bus
+   */
+
+  (void)SPI_LOCK(spi, true);
+
+  /* We have the lock.  Now make sure that the SPI bus is configured for the
+   * MAX11802 (it might have gotten configured for a different device while
+   * unlocked)
+   */
+
+  SPI_SELECT(spi, SPIDEV_TOUCHSCREEN, true);
+  SPI_SETMODE(spi, CONFIG_MAX11802_SPIMODE);
+  SPI_SETBITS(spi, 8);
+  SPI_SETFREQUENCY(spi, CONFIG_MAX11802_FREQUENCY);
+  SPI_SELECT(spi, SPIDEV_TOUCHSCREEN, false);
+}
+#endif
+
+/****************************************************************************
+ * Function: max11802_unlock
+ *
+ * Description:
+ *   If we are sharing the SPI bus with other devices (CONFIG_SPI_OWNBUS
+ *   undefined) then we need to un-lock the SPI bus for each transfer,
+ *   possibly losing the current configuration.
+ *
+ * Parameters:
+ *   spi  - Reference to the SPI driver structure
+ *
+ * Returned Value:
+ *   None
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+#ifndef CONFIG_SPI_OWNBUS
+static void max11802_unlock(FAR struct spi_dev_s *spi)
+{
+  /* Relinquish the SPI bus. */
+
+  (void)SPI_LOCK(spi, false);
+}
+#endif
+
+/****************************************************************************
+ * Function: max11802_configspi
+ *
+ * Description:
+ *   Configure the SPI for use with the MAX11802.  This function should be
+ *   called once during touchscreen initialization to configure the SPI
+ *   bus.  Note that if CONFIG_SPI_OWNBUS is not defined, then this function
+ *   does nothing.
+ *
+ * Parameters:
+ *   spi  - Reference to the SPI driver structure
+ *
+ * Returned Value:
+ *   None
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_SPI_OWNBUS
+static inline void max11802_configspi(FAR struct spi_dev_s *spi)
+{
+  /* Configure SPI for the MAX11802.  But only if we own the SPI bus.  Otherwise, don't
+   * bother because it might change.
+   */
+
+  SPI_SELECT(spi, SPIDEV_TOUCHSCREEN, true);
+  SPI_SETMODE(spi, CONFIG_MAX11802_SPIMODE);
+  SPI_SETBITS(spi, 8);
+  SPI_SETFREQUENCY(spi, CONFIG_MAX11802_FREQUENCY);
+  SPI_SELECT(spi, SPIDEV_TOUCHSCREEN, false);
+}
+#endif
+
+/****************************************************************************
+ * Name: max11802_sendcmd
+ ****************************************************************************/
+
+static uint16_t max11802_sendcmd(FAR struct max11802_dev_s *priv, uint8_t cmd, int *tags)
+{
+  uint8_t  buffer[2];
+  uint16_t result;
+
+  /* Select the MAX11802 */
+
+  SPI_SELECT(priv->spi, SPIDEV_TOUCHSCREEN, true);
+
+  /* Send the command */
+
+  (void)SPI_SEND(priv->spi, cmd);
+  
+  /* Read the data */
+
+  SPI_RECVBLOCK(priv->spi, buffer, 2);
+  SPI_SELECT(priv->spi, SPIDEV_TOUCHSCREEN, false);
+
+  result = ((uint16_t)buffer[0] << 8) | (uint16_t)buffer[1];
+  *tags = result & 0xF;
+  result >>= 4; // Get rid of tags
+  
+  ivdbg("cmd:%02x response:%04x\n", cmd, result);
+  return result;
+}
+
+/****************************************************************************
+ * Name: max11802_notify
+ ****************************************************************************/
+
+static void max11802_notify(FAR struct max11802_dev_s *priv)
+{
+#ifndef CONFIG_DISABLE_POLL
+  int i;
+#endif
+
+  /* If there are threads waiting for read data, then signal one of them
+   * that the read data is available.
+   */
+
+  if (priv->nwaiters > 0)
+    {
+      /* After posting this semaphore, we need to exit because the sample
+       * is no longer available.
+       */
+
+      sem_post(&priv->waitsem); 
+    }
+
+  /* If there are threads waiting on poll() for MAX11802 data to become available,
+   * then wake them up now.  NOTE: we wake up all waiting threads because we
+   * do not know that they are going to do.  If they all try to read the data,
+   * then some make end up blocking after all.
+   */
+
+#ifndef CONFIG_DISABLE_POLL
+  for (i = 0; i < CONFIG_MAX11802_NPOLLWAITERS; i++)
+    {
+      struct pollfd *fds = priv->fds[i];
+      if (fds)
+        {
+          fds->revents |= POLLIN;
+          ivdbg("Report events: %02x\n", fds->revents);
+          sem_post(fds->sem);
+        }
+    }
+#endif
+}
+
+/****************************************************************************
+ * Name: max11802_sample
+ ****************************************************************************/
+
+static int max11802_sample(FAR struct max11802_dev_s *priv,
+                          FAR struct max11802_sample_s *sample)
+{
+  irqstate_t flags;
+  int ret = -EAGAIN;
+
+  /* Interrupts must be disabled when this is called to (1) prevent posting
+   * of semaphores from interrupt handlers, and (2) to prevent sampled data
+   * from changing until it has been reported.
+   */
+
+  flags = irqsave();
+
+  /* Is there new MAX11802 sample data available? */
+
+  if (priv->penchange)
+    {
+      /* Yes.. the state has changed in some way.  Return a copy of the
+       * sampled data.
+       */
+
+      memcpy(sample, &priv->sample, sizeof(struct max11802_sample_s ));
+
+      /* Now manage state transitions */
+
+      if (sample->contact == CONTACT_UP)
+        {
+          /* Next.. no contact.  Increment the ID so that next contact ID
+           * will be unique.  X/Y positions are no longer valid.
+           */
+
+          priv->sample.contact = CONTACT_NONE;
+          priv->sample.valid   = false;
+          priv->id++;
+        }
+      else if (sample->contact == CONTACT_DOWN)
+       {
+          /* First report -- next report will be a movement */
+
+         priv->sample.contact = CONTACT_MOVE;
+       }
+
+      priv->penchange = false;
+      ret = OK;
+    }
+
+  irqrestore(flags);
+  return ret;
+}
+
+/****************************************************************************
+ * Name: max11802_waitsample
+ ****************************************************************************/
+
+static int max11802_waitsample(FAR struct max11802_dev_s *priv,
+                               FAR struct max11802_sample_s *sample)
+{
+  irqstate_t flags;
+  int ret;
+
+  /* Interrupts must be disabled when this is called to (1) prevent posting
+   * of semaphores from interrupt handlers, and (2) to prevent sampled data
+   * from changing until it has been reported.
+   *
+   * In addition, we will also disable pre-emption to prevent other threads
+   * from getting control while we muck with the semaphores.
+   */
+
+  sched_lock();
+  flags = irqsave();
+
+  /* Now release the semaphore that manages mutually exclusive access to
+   * the device structure.  This may cause other tasks to become ready to
+   * run, but they cannot run yet because pre-emption is disabled.
+   */
+
+  sem_post(&priv->devsem);
+
+  /* Try to get the a sample... if we cannot, then wait on the semaphore
+   * that is posted when new sample data is available.
+   */
+
+  while (max11802_sample(priv, sample) < 0)
+    {
+      /* Wait for a change in the MAX11802 state */
+ 
+      ivdbg("Waiting..\n");
+      priv->nwaiters++;
+      ret = sem_wait(&priv->waitsem);
+      priv->nwaiters--;
+
+      if (ret < 0)
+        {
+          /* If we are awakened by a signal, then we need to return
+           * the failure now.
+           */
+
+          idbg("sem_wait: %d\n", errno);
+          DEBUGASSERT(errno == EINTR);
+          ret = -EINTR;
+          goto errout;
+        }
+    }
+
+  ivdbg("Sampled\n");
+
+   /* Re-acquire the the semaphore that manages mutually exclusive access to
+   * the device structure.  We may have to wait here.  But we have our sample.
+   * Interrupts and pre-emption will be re-enabled while we wait.
+   */
+
+  ret = sem_wait(&priv->devsem);
+
+errout:
+  /* Then re-enable interrupts.  We might get interrupt here and there
+   * could be a new sample.  But no new threads will run because we still
+   * have pre-emption disabled.
+   */
+
+  irqrestore(flags);
+
+  /* Restore pre-emption.  We might get suspended here but that is okay
+   * because we already have our sample.  Note:  this means that if there
+   * were two threads reading from the MAX11802 for some reason, the data
+   * might be read out of order.
+   */
+
+  sched_unlock();
+  return ret;
+}
+
+/****************************************************************************
+ * Name: max11802_schedule
+ ****************************************************************************/
+
+static int max11802_schedule(FAR struct max11802_dev_s *priv)
+{
+  FAR struct max11802_config_s *config;
+  int                           ret;
+
+  /* Get a pointer the callbacks for convenience (and so the code is not so
+   * ugly).
+   */
+
+  config = priv->config;
+  DEBUGASSERT(config != NULL);
+
+  /* Disable further interrupts.  MAX11802 interrupts will be re-enabled
+   * after the worker thread executes.
+   */
+
+  config->enable(config, false);
+
+  /* Disable the watchdog timer.  It will be re-enabled in the worker thread
+   * while the pen remains down.
+   */
+
+  wd_cancel(priv->wdog);
+
+  /* Transfer processing to the worker thread.  Since MAX11802 interrupts are
+   * disabled while the work is pending, no special action should be required
+   * to protected the work queue.
+   */
+
+  DEBUGASSERT(priv->work.worker == NULL);
+  ret = work_queue(HPWORK, &priv->work, max11802_worker, priv, 0);
+  if (ret != 0)
+    {
+      illdbg("Failed to queue work: %d\n", ret);
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: max11802_wdog
+ ****************************************************************************/
+
+static void max11802_wdog(int argc, uint32_t arg1, ...)
+{
+  FAR struct max11802_dev_s *priv = (FAR struct max11802_dev_s *)((uintptr_t)arg1);
+  (void)max11802_schedule(priv);
+}
+
+/****************************************************************************
+ * Name: max11802_worker
+ ****************************************************************************/
+
+static void max11802_worker(FAR void *arg)
+{
+  FAR struct max11802_dev_s    *priv = (FAR struct max11802_dev_s *)arg;
+  FAR struct max11802_config_s *config;
+  uint16_t                      x;
+  uint16_t                      y;
+  uint16_t                      xdiff;
+  uint16_t                      ydiff;
+  bool                          pendown;
+  int                           ret;
+  int                           tags, tags2;
+
+  ASSERT(priv != NULL);
+
+  /* Get a pointer the callbacks for convenience (and so the code is not so
+   * ugly).
+   */
+
+  config = priv->config;
+  DEBUGASSERT(config != NULL);
+
+  /* Disable the watchdog timer.  This is safe because it is started only
+   * by this function and this function is serialized on the worker thread.
+   */
+
+  wd_cancel(priv->wdog);
+
+  /* Lock the SPI bus so that we have exclusive access */
+
+  max11802_lock(priv->spi);
+  
+  /* Start coordinate measurement */
+  (void)max11802_sendcmd(priv, MAX11802_CMD_MEASUREXY, &tags);
+  
+  /* Get exclusive access to the driver data structure */
+
+  do
+    {
+      ret = sem_wait(&priv->devsem);
+
+      /* This should only fail if the wait was canceled by an signal
+       * (and the worker thread will receive a lot of signals).
+       */
+
+      DEBUGASSERT(ret == OK || errno == EINTR);
+    }
+  while (ret < 0);
+
+  /* Check for pen up or down by reading the PENIRQ GPIO. */
+
+  pendown = config->pendown(config);
+
+  /* Handle the change from pen down to pen up */
+
+  if (pendown)
+    ivdbg("\nPD\n");
+  else
+    ivdbg("\nPU\n");
+  
+  if (!pendown)
+    {
+      /* The pen is up.. reset thresholding variables. */
+
+      priv->threshx = INVALID_THRESHOLD;
+      priv->threshy = INVALID_THRESHOLD;
+
+      /* Ignore the interrupt if the pen was already up (CONTACT_NONE == pen up
+       * and already reported; CONTACT_UP == pen up, but not reported)
+       */
+
+      ivdbg("\nPC%d\n", priv->sample.contact);
+      
+      if (priv->sample.contact == CONTACT_NONE ||
+          priv->sample.contact == CONTACT_UP)
+
+        {
+          goto ignored;
+        }
+
+      /* The pen is up.  NOTE: We know from a previous test, that this is a
+       * loss of contact condition.  This will be changed to CONTACT_NONE
+       * after the loss of contact is sampled.
+       */
+
+       priv->sample.contact = CONTACT_UP;
+    }
+
+  /* It is a pen down event.  If the last loss-of-contact event has not been
+   * processed yet, then we have to ignore the pen down event (or else it will
+   * look like a drag event)
+   */
+
+  else if (priv->sample.contact == CONTACT_UP)
+    {
+      /* If we have not yet processed the last pen up event, then we
+       * cannot handle this pen down event. We will have to discard it.  That
+       * should be okay because we will set the timer to to sample again
+       * later.
+       */
+
+       ivdbg("Previous pen up event still in buffer\n");
+       max11802_notify(priv);
+       wd_start(priv->wdog, MAX11802_WDOG_DELAY, max11802_wdog, 1, (uint32_t)priv);
+       goto ignored;
+    }
+  else
+    {
+      /* Wait for data ready */
+      do {
+        /* Handle pen down events.  First, sample positional values. */
+      
+#ifdef CONFIG_MAX11802_SWAPXY
+        x = max11802_sendcmd(priv, MAX11802_CMD_YPOSITION, &tags);
+        y = max11802_sendcmd(priv, MAX11802_CMD_XPOSITION, &tags2);
+#else
+        x = max11802_sendcmd(priv, MAX11802_CMD_XPOSITION, &tags);
+        y = max11802_sendcmd(priv, MAX11802_CMD_YPOSITION, &tags2);
+#endif
+      } while (tags == 0xF || tags2 == 0xF);
+
+      /* Continue to sample the position while the pen is down */
+      wd_start(priv->wdog, MAX11802_WDOG_DELAY, max11802_wdog, 1, (uint32_t)priv);
+      
+      /* Check if data is valid */
+      if ((tags & 0x03) != 0)
+      {
+        ivdbg("Touch ended before measurement\n");
+        goto ignored;
+      }
+      
+      /* Perform a thresholding operation so that the results will be more stable.
+       * If the difference from the last sample is small, then ignore the event.
+       * REVISIT:  Should a large change in pressure also generate a event?
+       */
+
+      xdiff = x > priv->threshx ? (x - priv->threshx) : (priv->threshx - x);
+      ydiff = y > priv->threshy ? (y - priv->threshy) : (priv->threshy - y);
+
+      /* Check the thresholds.  Bail if there is no significant difference */
+
+      if (xdiff < CONFIG_MAX11802_THRESHX && ydiff < CONFIG_MAX11802_THRESHY)
+        {
+          /* Little or no change in either direction ... don't report anything. */
+
+          goto ignored;
+        }
+
+      /* When we see a big difference, snap to the new x/y thresholds */
+
+      priv->threshx       = x;
+      priv->threshy       = y;
+
+      /* Update the x/y position in the sample data */
+
+      priv->sample.x      = priv->threshx;
+      priv->sample.y      = priv->threshy;
+
+      /* The X/Y positional data is now valid */
+
+      priv->sample.valid = true;
+
+      /* If this is the first (acknowledged) pen down report, then report
+       * this as the first contact.  If contact == CONTACT_DOWN, it will be
+       * set to set to CONTACT_MOVE after the contact is first sampled.
+       */
+
+      if (priv->sample.contact != CONTACT_MOVE)
+        {
+          /* First contact */
+
+          priv->sample.contact = CONTACT_DOWN;
+        }
+    }
+
+  /* Indicate the availability of new sample data for this ID */
+
+  priv->sample.id = priv->id;
+  priv->penchange = true;
+
+  /* Notify any waiters that new MAX11802 data is available */
+
+  max11802_notify(priv);
+
+ignored:
+  config->enable(config, true);
+
+  /* Release our lock on the state structure and unlock the SPI bus */
+
+  sem_post(&priv->devsem);
+  max11802_unlock(priv->spi);
+}
+
+/****************************************************************************
+ * Name: max11802_interrupt
+ ****************************************************************************/
+
+static int max11802_interrupt(int irq, FAR void *context)
+{
+  FAR struct max11802_dev_s    *priv;
+  FAR struct max11802_config_s *config;
+  int                           ret;
+
+  /* Which MAX11802 device caused the interrupt? */
+
+#ifndef CONFIG_MAX11802_MULTIPLE
+  priv = &g_max11802;
+#else
+  for (priv = g_max11802list;
+       priv && priv->configs->irq != irq;
+       priv = priv->flink);
+
+  ASSERT(priv != NULL);
+#endif
+
+  /* Get a pointer the callbacks for convenience (and so the code is not so
+   * ugly).
+   */
+
+  config = priv->config;
+  DEBUGASSERT(config != NULL);
+
+  /* Schedule sampling to occur on the worker thread */
+
+  ret = max11802_schedule(priv);
+
+  /* Clear any pending interrupts and return success */
+
+  config->clear(config);
+  return ret;
+}
+
+/****************************************************************************
+ * Name: max11802_open
+ ****************************************************************************/
+
+static int max11802_open(FAR struct file *filep)
+{
+#ifdef CONFIG_MAX11802_REFCNT
+  FAR struct inode         *inode;
+  FAR struct max11802_dev_s *priv;
+  uint8_t                   tmp;
+  int                       ret;
+
+  ivdbg("Opening\n");
+
+  DEBUGASSERT(filep);
+  inode = filep->f_inode;
+
+  DEBUGASSERT(inode && inode->i_private);
+  priv  = (FAR struct max11802_dev_s *)inode->i_private;
+
+  /* Get exclusive access to the driver data structure */
+
+  ret = sem_wait(&priv->devsem);
+  if (ret < 0)
+    {
+      /* This should only happen if the wait was canceled by an signal */
+
+      DEBUGASSERT(errno == EINTR);
+      return -EINTR;
+    }
+
+  /* Increment the reference count */
+
+  tmp = priv->crefs + 1;
+  if (tmp == 0)
+    {
+      /* More than 255 opens; uint8_t overflows to zero */
+
+      ret = -EMFILE;
+      goto errout_with_sem;
+    }
+
+  /* When the reference increments to 1, this is the first open event
+   * on the driver.. and an opportunity to do any one-time initialization.
+   */
+
+  /* Save the new open count on success */
+
+  priv->crefs = tmp;
+
+errout_with_sem:
+  sem_post(&priv->devsem);
+  return ret;
+#else
+  ivdbg("Opening\n");
+  return OK;
+#endif
+}
+
+/****************************************************************************
+ * Name: max11802_close
+ ****************************************************************************/
+
+static int max11802_close(FAR struct file *filep)
+{
+#ifdef CONFIG_MAX11802_REFCNT
+  FAR struct inode         *inode;
+  FAR struct max11802_dev_s *priv;
+  int                       ret;
+
+  ivdbg("Closing\n");
+  DEBUGASSERT(filep);
+  inode = filep->f_inode;
+
+  DEBUGASSERT(inode && inode->i_private);
+  priv  = (FAR struct max11802_dev_s *)inode->i_private;
+
+  /* Get exclusive access to the driver data structure */
+
+  ret = sem_wait(&priv->devsem);
+  if (ret < 0)
+    {
+      /* This should only happen if the wait was canceled by an signal */
+
+      DEBUGASSERT(errno == EINTR);
+      return -EINTR;
+    }
+
+  /* Decrement the reference count unless it would decrement a negative
+   * value.  When the count decrements to zero, there are no further
+   * open references to the driver.
+   */
+
+  if (priv->crefs >= 1)
+    {
+      priv->crefs--;
+    }
+
+  sem_post(&priv->devsem);
+#endif
+  ivdbg("Closing\n");
+  return OK;
+}
+
+/****************************************************************************
+ * Name: max11802_read
+ ****************************************************************************/
+
+static ssize_t max11802_read(FAR struct file *filep, FAR char *buffer, size_t len)
+{
+  FAR struct inode          *inode;
+  FAR struct max11802_dev_s *priv;
+  FAR struct touch_sample_s *report;
+  struct max11802_sample_s   sample;
+  int                        ret;
+
+  ivdbg("buffer:%p len:%d\n", buffer, len);
+  DEBUGASSERT(filep);
+  inode = filep->f_inode;
+
+  DEBUGASSERT(inode && inode->i_private);
+  priv  = (FAR struct max11802_dev_s *)inode->i_private;
+
+  /* Verify that the caller has provided a buffer large enough to receive
+   * the touch data.
+   */
+
+  if (len < SIZEOF_TOUCH_SAMPLE_S(1))
+    {
+      /* We could provide logic to break up a touch report into segments and
+       * handle smaller reads... but why?
+       */
+
+      idbg("Unsupported read size: %d\n", len);
+      return -ENOSYS;
+    }
+
+  /* Get exclusive access to the driver data structure */
+
+  ret = sem_wait(&priv->devsem);
+  if (ret < 0)
+    {
+      /* This should only happen if the wait was canceled by an signal */
+
+      idbg("sem_wait: %d\n", errno);
+      DEBUGASSERT(errno == EINTR);
+      return -EINTR;
+    }
+
+  /* Try to read sample data. */
+
+  ret = max11802_sample(priv, &sample);
+  if (ret < 0)
+    {
+      /* Sample data is not available now.  We would ave to wait to get
+       * receive sample data.  If the user has specified the O_NONBLOCK
+       * option, then just return an error.
+       */
+
+      ivdbg("Sample data is not available\n");
+      if (filep->f_oflags & O_NONBLOCK)
+        {
+          ret = -EAGAIN;
+          goto errout;
+       }
+
+      /* Wait for sample data */
+
+      ret = max11802_waitsample(priv, &sample);
+      if (ret < 0)
+        {
+          /* We might have been awakened by a signal */
+
+          idbg("max11802_waitsample: %d\n", ret);
+          goto errout;
+        }
+    }
+
+  /* In any event, we now have sampled MAX11802 data that we can report
+   * to the caller.
+   */
+
+  report = (FAR struct touch_sample_s *)buffer;
+  memset(report, 0, SIZEOF_TOUCH_SAMPLE_S(1));
+  report->npoints            = 1;
+  report->point[0].id        = sample.id;
+  report->point[0].x         = sample.x;
+  report->point[0].y         = sample.y;
+
+  /* Report the appropriate flags */
+
+  if (sample.contact == CONTACT_UP)
+    {
+       /* Pen is now up.  Is the positional data valid?  This is important to
+        * know because the release will be sent to the window based on its
+        * last positional data.
+        */
+
+      if (sample.valid)
+        {
+          report->point[0].flags  = TOUCH_UP | TOUCH_ID_VALID | TOUCH_POS_VALID;
+        }
+      else
+        {
+          report->point[0].flags  = TOUCH_UP | TOUCH_ID_VALID;
+        }
+    }
+  else if (sample.contact == CONTACT_DOWN)
+    {
+      /* First contact */
+
+      report->point[0].flags  = TOUCH_DOWN | TOUCH_ID_VALID | TOUCH_POS_VALID;
+    }
+  else /* if (sample->contact == CONTACT_MOVE) */
+    {
+      /* Movement of the same contact */
+
+      report->point[0].flags  = TOUCH_MOVE | TOUCH_ID_VALID | TOUCH_POS_VALID;
+    }
+
+  ivdbg("  id:      %d\n", report->point[0].id);
+  ivdbg("  flags:   %02x\n", report->point[0].flags);
+  ivdbg("  x:       %d\n", report->point[0].x);
+  ivdbg("  y:       %d\n", report->point[0].y);
+
+  ret = SIZEOF_TOUCH_SAMPLE_S(1);
+
+errout:
+  sem_post(&priv->devsem);
+  ivdbg("Returning: %d\n", ret);
+  return ret;
+}
+
+/****************************************************************************
+ * Name:max11802_ioctl
+ ****************************************************************************/
+
+static int max11802_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
+{
+  FAR struct inode         *inode;
+  FAR struct max11802_dev_s *priv;
+  int                       ret;
+
+  ivdbg("cmd: %d arg: %ld\n", cmd, arg);
+  DEBUGASSERT(filep);
+  inode = filep->f_inode;
+
+  DEBUGASSERT(inode && inode->i_private);
+  priv  = (FAR struct max11802_dev_s *)inode->i_private;
+
+  /* Get exclusive access to the driver data structure */
+
+  ret = sem_wait(&priv->devsem);
+  if (ret < 0)
+    {
+      /* This should only happen if the wait was canceled by an signal */
+
+      DEBUGASSERT(errno == EINTR);
+      return -EINTR;
+    }
+
+  /* Process the IOCTL by command */
+
+  switch (cmd)
+    {
+      case TSIOC_SETFREQUENCY:  /* arg: Pointer to uint32_t frequency value */
+        {
+          FAR uint32_t *ptr = (FAR uint32_t *)((uintptr_t)arg);
+          DEBUGASSERT(priv->config != NULL && ptr != NULL);
+          priv->config->frequency = SPI_SETFREQUENCY(priv->spi, *ptr);
+        }
+        break;
+
+      case TSIOC_GETFREQUENCY:  /* arg: Pointer to uint32_t frequency value */
+        {
+          FAR uint32_t *ptr = (FAR uint32_t *)((uintptr_t)arg);
+          DEBUGASSERT(priv->config != NULL && ptr != NULL);
+          *ptr = priv->config->frequency;
+        }
+        break;
+
+      default:
+        ret = -ENOTTY;
+        break;
+    }
+
+  sem_post(&priv->devsem);
+  return ret;
+}
+
+/****************************************************************************
+ * Name: max11802_poll
+ ****************************************************************************/
+
+#ifndef CONFIG_DISABLE_POLL
+static int max11802_poll(FAR struct file *filep, FAR struct pollfd *fds,
+                        bool setup)
+{
+  FAR struct inode         *inode;
+  FAR struct max11802_dev_s *priv;
+  pollevent_t               eventset;
+  int                       ndx;
+  int                       ret = OK;
+  int                       i;
+
+  ivdbg("setup: %d\n", (int)setup);
+  DEBUGASSERT(filep && fds);
+  inode = filep->f_inode;
+
+  DEBUGASSERT(inode && inode->i_private);
+  priv  = (FAR struct max11802_dev_s *)inode->i_private;
+
+  /* Are we setting up the poll?  Or tearing it down? */
+
+  ret = sem_wait(&priv->devsem);
+  if (ret < 0)
+    {
+      /* This should only happen if the wait was canceled by an signal */
+
+      DEBUGASSERT(errno == EINTR);
+      return -EINTR;
+    }
+
+  if (setup)
+    {
+      /* Ignore waits that do not include POLLIN */
+
+      if ((fds->events & POLLIN) == 0)
+        {
+          ret = -EDEADLK;
+          goto errout;
+        }
+
+      /* This is a request to set up the poll.  Find an available
+       * slot for the poll structure reference
+       */
+
+      for (i = 0; i < CONFIG_MAX11802_NPOLLWAITERS; i++)
+        {
+          /* Find an available slot */
+
+          if (!priv->fds[i])
+            {
+              /* Bind the poll structure and this slot */
+
+              priv->fds[i] = fds;
+              fds->priv    = &priv->fds[i];
+              break;
+            }
+        }
+
+      if (i >= CONFIG_MAX11802_NPOLLWAITERS)
+        {
+          fds->priv    = NULL;
+          ret          = -EBUSY;
+          goto errout;
+        }
+
+      /* Should we immediately notify on any of the requested events? */
+
+      if (priv->penchange)
+        {
+          max11802_notify(priv);
+        }
+    }
+  else if (fds->priv)
+    {
+      /* This is a request to tear down the poll. */
+
+      struct pollfd **slot = (struct pollfd **)fds->priv;
+      DEBUGASSERT(slot != NULL);
+
+      /* Remove all memory of the poll setup */
+
+      *slot                = NULL;
+      fds->priv            = NULL;
+    }
+
+errout:
+  sem_post(&priv->devsem);
+  return ret;
+}
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: max11802_register
+ *
+ * Description:
+ *   Configure the MAX11802 to use the provided SPI device instance.  This
+ *   will register the driver as /dev/inputN where N is the minor device
+ *   number
+ *
+ * Input Parameters:
+ *   dev     - An SPI driver instance
+ *   config  - Persistent board configuration data
+ *   minor   - The input device minor number
+ *
+ * Returned Value:
+ *   Zero is returned on success.  Otherwise, a negated errno value is
+ *   returned to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+int max11802_register(FAR struct spi_dev_s *spi,
+                      FAR struct max11802_config_s *config, int minor)
+{
+  FAR struct max11802_dev_s *priv;
+  char devname[DEV_NAMELEN];
+#ifdef CONFIG_MAX11802_MULTIPLE
+  irqstate_t flags;
+#endif
+  int ret;
+
+  ivdbg("spi: %p minor: %d\n", spi, minor);
+
+  /* Debug-only sanity checks */
+
+  DEBUGASSERT(spi != NULL && config != NULL && minor >= 0 && minor < 100);
+
+  /* Create and initialize a MAX11802 device driver instance */
+
+#ifndef CONFIG_MAX11802_MULTIPLE
+  priv = &g_max11802;
+#else
+  priv = (FAR struct max11802_dev_s *)kmalloc(sizeof(struct max11802_dev_s));
+  if (!priv)
+    {
+      idbg("kmalloc(%d) failed\n", sizeof(struct max11802_dev_s));
+      return -ENOMEM;
+    }
+#endif
+
+  /* Initialize the MAX11802 device driver instance */
+
+  memset(priv, 0, sizeof(struct max11802_dev_s));
+  priv->spi     = spi;               /* Save the SPI device handle */
+  priv->config  = config;            /* Save the board configuration */
+  priv->wdog    = wd_create();       /* Create a watchdog timer */
+  priv->threshx = INVALID_THRESHOLD; /* Initialize thresholding logic */
+  priv->threshy = INVALID_THRESHOLD; /* Initialize thresholding logic */
+
+  sem_init(&priv->devsem,  0, 1);    /* Initialize device structure semaphore */
+  sem_init(&priv->waitsem, 0, 0);    /* Initialize pen event wait semaphore */
+
+  /* Make sure that interrupts are disabled */
+
+  config->clear(config);
+  config->enable(config, false);
+
+  /* Attach the interrupt handler */
+
+  ret = config->attach(config, max11802_interrupt);
+  if (ret < 0)
+    {
+      idbg("Failed to attach interrupt\n");
+      goto errout_with_priv;
+    }
+
+  idbg("Mode: %d Bits: 8 Frequency: %d\n",
+       CONFIG_MAX11802_SPIMODE, CONFIG_MAX11802_FREQUENCY);
+
+  /* Lock the SPI bus so that we have exclusive access */
+
+  max11802_lock(spi);
+
+  /* Configure the SPI interface */
+
+  max11802_configspi(spi);
+
+  /* Configure MAX11802 registers */
+  SPI_SELECT(priv->spi, SPIDEV_TOUCHSCREEN, true);
+  (void)SPI_SEND(priv->spi, MAX11802_CMD_MODE_WR);
+  (void)SPI_SEND(priv->spi, MAX11802_MODE);
+  SPI_SELECT(priv->spi, SPIDEV_TOUCHSCREEN, false);
+
+  SPI_SELECT(priv->spi, SPIDEV_TOUCHSCREEN, true);
+  (void)SPI_SEND(priv->spi, MAX11802_CMD_AVG_WR);
+  (void)SPI_SEND(priv->spi, MAX11802_AVG);
+  SPI_SELECT(priv->spi, SPIDEV_TOUCHSCREEN, false);
+
+  SPI_SELECT(priv->spi, SPIDEV_TOUCHSCREEN, true);
+  (void)SPI_SEND(priv->spi, MAX11802_CMD_TIMING_WR);
+  (void)SPI_SEND(priv->spi, MAX11802_TIMING);
+  SPI_SELECT(priv->spi, SPIDEV_TOUCHSCREEN, false);
+  
+  SPI_SELECT(priv->spi, SPIDEV_TOUCHSCREEN, true);
+  (void)SPI_SEND(priv->spi, MAX11802_CMD_DELAY_WR);
+  (void)SPI_SEND(priv->spi, MAX11802_DELAY);
+  SPI_SELECT(priv->spi, SPIDEV_TOUCHSCREEN, false);
+  
+  /* Test that the device access was successful. */
+  SPI_SELECT(priv->spi, SPIDEV_TOUCHSCREEN, true);
+  (void)SPI_SEND(priv->spi, MAX11802_CMD_MODE_RD);
+  ret = SPI_SEND(priv->spi, 0);
+  SPI_SELECT(priv->spi, SPIDEV_TOUCHSCREEN, false);
+  
+  /* Unlock the bus */
+  max11802_unlock(spi);
+  
+  if (ret != MAX11802_MODE)
+  {
+    idbg("max11802 mode readback failed: %02x\n", ret);
+    goto errout_with_priv;
+  }
+  
+  /* Register the device as an input device */
+
+  (void)snprintf(devname, DEV_NAMELEN, DEV_FORMAT, minor);
+  ivdbg("Registering %s\n", devname);
+
+  ret = register_driver(devname, &max11802_fops, 0666, priv);
+  if (ret < 0)
+    {
+      idbg("register_driver() failed: %d\n", ret);
+      goto errout_with_priv;
+    }
+
+  /* If multiple MAX11802 devices are supported, then we will need to add
+   * this new instance to a list of device instances so that it can be
+   * found by the interrupt handler based on the recieved IRQ number.
+   */
+
+#ifdef CONFIG_MAX11802_MULTIPLE
+  priv->flink    = g_max11802list;
+  g_max11802list = priv;
+  irqrestore(flags);
+#endif
+
+  /* Schedule work to perform the initial sampling and to set the data
+   * availability conditions.
+   */
+
+  ret = work_queue(HPWORK, &priv->work, max11802_worker, priv, 0);
+  if (ret != 0)
+    {
+      idbg("Failed to queue work: %d\n", ret);
+      goto errout_with_priv;
+    }
+
+  /* And return success (?) */
+
+  return OK;
+
+errout_with_priv:
+  sem_destroy(&priv->devsem);
+#ifdef CONFIG_MAX11802_MULTIPLE
+  kfree(priv);
+#endif
+  return ret;
+}
diff --git a/nuttx/drivers/input/max11802.h b/nuttx/drivers/input/max11802.h
new file mode 100644
index 000000000..b6beec045
--- /dev/null
+++ b/nuttx/drivers/input/max11802.h
@@ -0,0 +1,167 @@
+/********************************************************************************************
+ * drivers/input/max11802.h
+ *
+ *   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
+ *   Authors: Gregory Nutt <gnutt@nuttx.org>
+ *            Petteri Aimonen <jpa@nx.mail.kapsi.fi>
+ *
+ * References:
+ *   "Low-Power, Ultra-Small Resistive Touch-Screen Controllers
+ *    with I2C/SPI Interface" Maxim IC, Rev 3, 10/2010
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ********************************************************************************************/
+
+#ifndef __DRIVERS_INPUT_MAX11802_H
+#define __DRIVERS_INPUT_MAX11802_H
+
+/********************************************************************************************
+ * Included Files
+ ********************************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <semaphore.h>
+#include <poll.h>
+#include <wdog.h>
+#include <nuttx/wqueue.h>
+
+#include <nuttx/spi.h>
+#include <nuttx/clock.h>
+#include <nuttx/input/max11802.h>
+
+/********************************************************************************************
+ * Pre-Processor Definitions
+ ********************************************************************************************/
+/* Configuration ****************************************************************************/
+
+/* MAX11802 Interfaces *********************************************************************/
+
+/* LSB of register addresses specifies read (1) or write (0). */
+#define MAX11802_CMD_XPOSITION ((0x52 << 1) | 1)
+#define MAX11802_CMD_YPOSITION ((0x54 << 1) | 1)
+#define MAX11802_CMD_MEASUREXY (0x70 << 1)
+#define MAX11802_CMD_MODE_WR   (0x0B << 1)
+#define MAX11802_CMD_MODE_RD   ((0x0B << 1) | 1)
+#define MAX11802_CMD_AVG_WR    (0x03 << 1)
+#define MAX11802_CMD_TIMING_WR (0x05 << 1)
+#define MAX11802_CMD_DELAY_WR  (0x06 << 1)
+
+/* Register values to set */
+#define MAX11802_MODE    0x0E
+#define MAX11802_AVG     0x55
+#define MAX11802_TIMING  0x77
+#define MAX11802_DELAY   0x55
+
+/* Driver support **************************************************************************/
+/* This format is used to construct the /dev/input[n] device driver path.  It
+ * defined here so that it will be used consistently in all places.
+ */
+
+#define DEV_FORMAT   "/dev/input%d"
+#define DEV_NAMELEN  16
+
+/* Poll the pen position while the pen is down at this rate (50MS): */
+
+#define MAX11802_WDOG_DELAY  ((50 + (MSEC_PER_TICK-1))/ MSEC_PER_TICK)
+
+/********************************************************************************************
+ * Public Types
+ ********************************************************************************************/
+
+/* This describes the state of one contact */
+
+enum max11802_contact_3
+{
+  CONTACT_NONE = 0,                    /* No contact */
+  CONTACT_DOWN,                        /* First contact */
+  CONTACT_MOVE,                        /* Same contact, possibly different position */
+  CONTACT_UP,                          /* Contact lost */
+};
+
+/* This structure describes the results of one MAX11802 sample */
+
+struct max11802_sample_s
+{
+  uint8_t  id;                          /* Sampled touch point ID */
+  uint8_t  contact;                     /* Contact state (see enum ads7843e_contact_e) */
+  bool     valid;                       /* True: x,y contain valid, sampled data */
+  uint16_t x;                           /* Measured X position */
+  uint16_t y;                           /* Measured Y position */
+};
+
+/* This structure describes the state of one MAX11802 driver instance */
+
+struct max11802_dev_s
+{
+#ifdef CONFIG_ADS7843E_MULTIPLE
+  FAR struct ads7843e_dev_s *flink;     /* Supports a singly linked list of drivers */
+#endif
+  uint8_t nwaiters;                     /* Number of threads waiting for MAX11802 data */
+  uint8_t id;                           /* Current touch point ID */
+  volatile bool penchange;              /* An unreported event is buffered */
+  uint16_t threshx;                     /* Thresholding X value */
+  uint16_t threshy;                     /* Thresholding Y value */
+  sem_t devsem;                         /* Manages exclusive access to this structure */
+  sem_t waitsem;                        /* Used to wait for the availability of data */
+
+  FAR struct max11802_config_s *config; /* Board configuration data */
+  FAR struct spi_dev_s *spi;            /* Saved SPI driver instance */
+  struct work_s work;                   /* Supports the interrupt handling "bottom half" */
+  struct max11802_sample_s sample;      /* Last sampled touch point data */
+  WDOG_ID wdog;                         /* Poll the position while the pen is down */
+
+  /* The following is a list if poll structures of threads waiting for
+   * driver events. The 'struct pollfd' reference for each open is also
+   * retained in the f_priv field of the 'struct file'.
+   */
+
+#ifndef CONFIG_DISABLE_POLL
+  struct pollfd *fds[CONFIG_ADS7843E_NPOLLWAITERS];
+#endif
+};
+
+/********************************************************************************************
+ * Public Function Prototypes
+ ********************************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C" {
+#else
+#define EXTERN extern
+#endif
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __DRIVERS_INPUT_ADS7843E_H */
diff --git a/nuttx/drivers/lcd/Kconfig b/nuttx/drivers/lcd/Kconfig
index 640239e63..2d20003ac 100644
--- a/nuttx/drivers/lcd/Kconfig
+++ b/nuttx/drivers/lcd/Kconfig
@@ -183,12 +183,85 @@ config NOKIA6100_RGBORD
 endif
 
 config LCD_UG9664HSWAG01
-	bool "9664HSWAG01 OLED Display Module"
+	bool "UG-9664HSWAG01 OLED Display Module"
 	default n
 	---help---
-		ug-9664hswag01.c.  OLED Display Module, UG-9664HSWAG01", Univision
-		Technology Inc.  Used with the LPC Xpresso and Embedded Artists
-		base board.
+		OLED Display Module, UG-9664HSWAG01, Univision Technology Inc.  Used
+		with the LPCXpresso and Embedded Artists base board.
+
+		Required LCD driver settings:
+		LCD_MAXCONTRAST should be 255, but any value >0 and <=255 will be accepted.
+		LCD_MAXPOWER should be 1:  0=off, 1=on
+
+		Required SPI driver settings:
+		SPI_CMDDATA - Include support for cmd/data selection.
+
+if LCD_UG9664HSWAG01
+
+config UG9664HSWAG01_SPIMODE
+	int "UG-9664HSWAG01 SPI Mode"
+	default 0
+	---help---
+		Controls the SPI mode
+
+config UG9664HSWAG01_FREQUENCY
+	int "UG-9664HSWAG01 SPI Frequency"
+	default 3500000
+	---help---
+		Define to use a different bus frequency
+
+config UG9664HSWAG01_NINTERFACES
+	int "Number of UG-9664HSWAG01 Devices"
+	default 1
+	---help---
+		Specifies the number of physical UG-9664HSWAG01 devices that will be
+		supported.  NOTE:  At present, this must be undefined or defined to be 1.
+
+config UG9664HSWAG01_POWER
+	bool "Power control"
+	default n
+	---help---
+		If the hardware supports a controllable OLED a power supply, this
+		configuration should be defined.  In this case the system must
+		provide an interface ug_power().
+
+endif
+
+config LCD_UG2864AMBAG01
+	bool "UG-2864AMBAG01 OLED Display Module"
+	default n
+	---help---
+		OLED Display Module, UG-2864AMBAG01, Univision Technology Inc. 
+
+		Required LCD driver settings:
+		LCD_MAXCONTRAST should be 255, but any value >0 and <=255 will be accepted.
+		LCD_MAXPOWER should be 1:  0=off, 1=on
+
+		Required SPI driver settings:
+		SPI_CMDDATA - Include support for cmd/data selection.
+
+if LCD_UG2864AMBAG01
+
+	config UG2864AMBAG01_SPIMODE
+	int "UG-2864AMBAG01 SPI Mode"
+	default 3
+	---help---
+		Controls the SPI mode
+
+config UG2864AMBAG01_FREQUENCY
+	int "UG-2864AMBAG01 SPI Frequency"
+	default 3500000
+	---help---
+		Define to use a different bus frequency
+
+config UG2864AMBAG01_NINTERFACES
+	int "Number of UG-2864AMBAG01 Devices"
+	default 1
+	---help---
+		Specifies the number of physical UG-9664HSWAG01 devices that will be
+		supported.  NOTE:  At present, this must be undefined or defined to be 1.
+
+endif
 
 config LCD_SSD1289
 	bool "LCD Based on SSD1289 Controller"
diff --git a/nuttx/drivers/lcd/Make.defs b/nuttx/drivers/lcd/Make.defs
index 26b169391..1b445b6a7 100644
--- a/nuttx/drivers/lcd/Make.defs
+++ b/nuttx/drivers/lcd/Make.defs
@@ -47,6 +47,10 @@ ifeq ($(CONFIG_LCD_NOKIA6100),y)
   CSRCS += nokia6100.c
 endif
 
+ifeq ($(CONFIG_LCD_UG2864AMBAG01),y)
+  CSRCS += ug-2864ambag01.c
+endif
+
 ifeq ($(CONFIG_LCD_UG9664HSWAG01),y)
   CSRCS += ug-9664hswag01.c
 endif
@@ -63,6 +67,6 @@ endif
 
 DEPPATH += --dep-path lcd
 VPATH += :lcd
-CFLAGS += ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/lcd}
+CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)lcd}
 endif
 
diff --git a/nuttx/drivers/lcd/ug-2864ambag01.c b/nuttx/drivers/lcd/ug-2864ambag01.c
new file mode 100644
index 000000000..2a47b38eb
--- /dev/null
+++ b/nuttx/drivers/lcd/ug-2864ambag01.c
@@ -0,0 +1,1161 @@
+/**************************************************************************************
+ * drivers/lcd/ug-2864ambag01.c
+ * Driver for Univision UG-2864AMBAG01 OLED display (wih SH1101A controller) in SPI
+ * mode
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * References:
+ *   1. Product Specification (Preliminary), Part Name: OEL Display Module, Part ID:
+ *      UG-2864AMBAG01, Doc No: SASI-9015-A, Univision Technology Inc.
+ *   2. SH1101A, 132 X 64 Dot Matrix OLED/PLED, Preliminary Segment/Common Driver with
+ *      Controller, Sino Wealth
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ **************************************************************************************/
+/**************************************************************************************
+ * Device memory organization:
+ *
+ *          +----------------------------+
+ *          |           Column           |
+ *  --------+----+---+---+---+-...-+-----+
+ *  Page    | 0  | 1 | 2 | 3 | ... | 131 |
+ *  --------+----+---+---+---+-...-+-----+
+ *  Page 0  | D0 | X |   |   |     |     |
+ *          | D1 | X |   |   |     |     |
+ *          | D2 | X |   |   |     |     |
+ *          | D3 | X |   |   |     |     |
+ *          | D4 | X |   |   |     |     |
+ *          | D5 | X |   |   |     |     |
+ *          | D6 | X |   |   |     |     |
+ *          | D7 | X |   |   |     |     |
+ *  --------+----+---+---+---+-...-+-----+
+ *  Page 1  |    |   |   |   |     |     |
+ *  --------+----+---+---+---+-...-+-----+
+ *  Page 2  |    |   |   |   |     |     |
+ *  --------+----+---+---+---+-...-+-----+
+ *  Page 3  |    |   |   |   |     |     |
+ *  --------+----+---+---+---+-...-+-----+
+ *  Page 4  |    |   |   |   |     |     |
+ *  --------+----+---+---+---+-...-+-----+
+ *  Page 5  |    |   |   |   |     |     |
+ *  --------+----+---+---+---+-...-+-----+
+ *  Page 6  |    |   |   |   |     |     |
+ *  --------+----+---+---+---+-...-+-----+
+ *  Page 7  |    |   |   |   |     |     |
+ *  --------+----+---+---+---+-...-+-----+
+ *
+ *  -----------------------------------+---------------------------------------
+ *  Landscape Display:                 | Reverse Landscape Display:
+ *  --------+-----------------------+  |  --------+---------------------------+
+ *          |       Column          |  |          |         Column            |
+ *  --------+---+---+---+-...-+-----+  |  --------+-----+-----+-----+-...-+---+
+ *  Page 0  | 0 | 1 | 2 |     | 131 |  |  Page 7  | 131 | 130 | 129 |     | 0 |
+ *  --------+---+---+---+-...-+-----+  |  --------+-----+-----+-----+-...-+---+
+ *  Page 1  | V                     |  |  Page 6  |                         ^ |
+ *  --------+---+---+---+-...-+-----+  |  --------+-----+-----+-----+-...-+---+
+ *  Page 2  | V                     |  |  Page 5  |                         ^ |
+ *  --------+---+---+---+-...-+-----+  |  --------+-----+-----+-----+-...-+---+
+ *  Page 3  | V                     |  |  Page 4  |                         ^ |
+ *  --------+---+---+---+-...-+-----+  |  --------+-----+-----+-----+-...-+---+
+ *  Page 4  | V                     |  |  Page 3  |                         ^ |
+ *  --------+---+---+---+-...-+-----+  |  --------+-----+-----+-----+-...-+---+
+ *  Page 5  | V                     |  |  Page 2  |                         ^ |
+ *  --------+---+---+---+-...-+-----+  |  --------+-----+-----+-----+-...-+---+
+ *  Page 6  | V                     |  |  Page 1  |                         ^ |
+ *  --------+---+---+---+-...-+-----+  |  --------+-----+-----+-----+-...-+---+
+ *  Page 7  | V                     |  |  Page 0  |                         ^ |
+ *  --------+---+---+---+-...-+-----+  |  --------+-----+-----+-----+-...-+---+
+ *  -----------------------------------+---------------------------------------
+ *
+ *  -----------------------------------+---------------------------------------
+ *  Portrait Display:                  | Reverse Portrait Display:
+ *  -----------+---------------------+ |  -----------+---------------------+
+ *             |         Page        | |             |       Page          |
+ *  -----------+---+---+---+-...-+---+ |  -----------+---+---+---+-...-+---+
+ *  Column 0   | 0 | 1 | 2 |     | 7 | |  Column 131 | 7 | 6 | 5 |     | 0 |
+ *  -----------+---+---+---+-...-+---+ |  -----------+---+---+---+-...-+---+
+ *  Column 1   | >   >   >    >    > | |  Column 130 |                     |
+ *  -----------+---+---+---+-...-+---+ |  -----------+---+---+---+-...-+---+
+ *  Column 2   |                     | |  Column 129 |                     |
+ *  -----------+---+---+---+-...-+---+ |  -----------+---+---+---+-...-+---+
+ *  ...        |                     | |  ...        |                     |
+ *  -----------+---+---+---+-...-+---+ |  -----------+---+---+---+-...-+---+
+ *  Column 131 |                     | |  Column 0   | <   <   <    <    < |
+ *  -----------+---+---+---+-...-+---+ |  -----------+---+---+---+-...-+---+
+ *  -----------------------------------+----------------------------------------
+ **************************************************************************************/
+
+/**************************************************************************************
+ * Included Files
+ **************************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <string.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/spi.h>
+#include <nuttx/lcd/lcd.h>
+#include <nuttx/lcd/ug-2864ambag01.h>
+
+#include <arch/irq.h>
+
+#ifdef CONFIG_LCD_UG2864AMBAG01
+
+/**************************************************************************************
+ * Pre-processor Definitions
+ **************************************************************************************/
+/* Configuration **********************************************************************/
+/* Limitations of the current configuration that I hope to fix someday */
+
+#if CONFIG_UG2864AMBAG01_NINTERFACES != 1
+#  warning "This implementation supports only a single OLED device"
+#  undef CONFIG_UG2864AMBAG01_NINTERFACES
+#  define CONFIG_UG2864AMBAG01_NINTERFACES 1
+#endif
+
+#if defined(CONFIG_LCD_PORTRAIT) || defined(CONFIG_LCD_RPORTRAIT)
+#  warning "No support yet for portrait modes"
+#  define CONFIG_LCD_LANDSCAPE 1
+#  undef CONFIG_LCD_PORTRAIT
+#  undef CONFIG_LCD_RLANDSCAPE
+#  undef CONFIG_LCD_RPORTRAIT
+#elif defined(CONFIG_LCD_RLANDSCAPE)
+#  warning "Reverse landscape mode is untested and, hence, probably buggy"
+#endif
+
+/* SH1101A Commands *******************************************************************/
+
+#define SH1101A_SETCOLL(ad)      (0x00 | ((ad) & 0x0f)) /* Set Lower Column Address: (00h - 0fh) */
+#define SH1101A_SETCOLH(ad)      (0x10 | ((ad) & 0x0f)) /* Set Higher Column Address: (10h - 1fh) */
+#define SH1101A_STARTLINE(ln)    (0x40 | ((ln) & 0x3f)) /* Set Display Start Line: (40h - 7fh) */
+#define SH1101A_CONTRAST_MODE    (0x81)                 /* Set Contrast Control Register: (Double Bytes Command) */
+#  define SH1101A_CONTRAST(c)    (c)
+#define SH1101A_SEGREMAP(m)      (0xa0 | ((m) & 0x01))  /* Set Segment Re-map: (a0h - a1h) */
+#  define SH1101A_REMAPRIGHT     SH1101A_SEGREMAP(0)    /*   Right rotation */
+#  define SH1101A_REMAPPLEFT     SH1101A_SEGREMAP(1)    /*   Left rotation */
+#define SH1101A_EDISPOFFON(s)    (0xa4 | ((s) & 0x01))  /* Set Entire Display OFF/ON: (a4h - a5h) */
+#  define SH1101A_EDISPOFF       SH1101A_EDISPOFFON(0)  /*   Display off */
+#  define SH1101A_EDISPON        SH1101A_EDISPOFFON(1)  /*   Display on */
+#define SH1101A_NORMREV(s)       (0xa6 | ((s) & 0x01))  /* Set Normal/Reverse Display: (a6h -a7h) */
+#  define SH1101A_NORMAL         SH1101A_NORMREV(0)     /*   Normal display */
+#  define SH1101A_REVERSE        SH1101A_NORMREV(1)     /*   Reverse display */
+#define SH1101A_MRATIO_MODE      (0xa8)                 /* Set Multiplex Ration: (Double Bytes Command) */
+#  define SH1101A_MRATIO(d)      ((d) & 0x3f)
+#define SH1101A_DCDC_MODE        (0xad)                 /* Set DC-DC OFF/ON: (Double Bytes Command) */
+#  define SH1101A_DCDC_OFF       (0x8a)
+ # define SH1101A_DCDC_ON        (0x8b)
+#define SH1101A_DISPOFFON(s)     (0xae | ((s) & 0x01))  /* Display OFF/ON: (aeh - afh) */
+#  define SH1101A_DISPOFF        SH1101A_DISPOFFON(0)   /*   Display off */
+#  define SH1101A_DISPON         SH1101A_DISPOFFON(1)   /*   Display on */
+#define SH1101A_PAGEADDR(a)      (0xb0 | ((a) & 0x0f))  /* Set Page Address: (b0h - b7h) */
+#define SH1101A_SCANDIR(d)       (0xc0 | ((d) & 0x08))  /* Set Common Output Scan Direction: (c0h - c8h) */
+#  define SH1101A_SCANFROMCOM0   SH1101A_SCANDIR(0x00)  /*   Scan from COM[0] to COM[n-1]*/
+#  define SH1101A_SCANTOCOM0     SH1101A_SCANDIR(0x08)  /*   Scan from COM[n-1] to COM[0] */
+#define SH1101A_DISPOFFS_MODE    (0xd3)                 /* Set Display Offset: (Double Bytes Command) */
+#  define SH1101A_DISPOFFS(o)    ((o) & 0x3f)
+#define SH1101A_CLKDIV_SET       (0xd5)                 /* Set Display Clock Divide Ratio/Oscillator Frequency: (Double Bytes Command) */
+#  define SH1101A_CLKDIV(f,d)    ((((f) & 0x0f) << 4) | ((d) & 0x0f))
+#define SH1101A_CHRGPER_SET      (0xd9)                 /* Set Dis-charge/Pre-charge Period: (Double Bytes Command) */
+#  define SH1101A_CHRGPER(d,p)   ((((d) & 0x0f) << 4) | ((p) & 0x0f))
+#define SH1101A_CMNPAD_CONFIG    (0xda)                 /* Set Common pads hardware configuration: (Double Bytes Command) */
+  #define SH1101A_CMNPAD(c)      ((0x02) | ((c) & 0x10))
+#define SH1101A_VCOM_SET         (0xdb)                 /* Set VCOM Deselect Level: (Double Bytes Command) */
+#  define SH1101A_VCOM(v)        (v)
+#define SH1101A_RMWSTART         (0xe0)                 /* Read-Modify-Write: (e0h) */
+#define SH1101A_NOP              (0xe3)                 /* NOP: (e3h) */
+#define SH1101A_END              (0xee)                 /* End: (eeh) */
+
+#define SH1101A_WRDATA(d)        (d)                    /* Write Display Data */
+#define SH1101A_STATUS_BUSY      (0x80)                 /* Read Status */
+#define SH1101A_STATUS_ONOFF     (0x40)
+#define SH1101A_RDDATA(d)        (d)                    /* Read Display Data */
+
+/* Color Properties *******************************************************************/
+/* Display Resolution
+ *
+ * The SH1101A display controller can handle a resolution of 132x64. The UG-2864AMBAG01
+ * on the base board is 128x64.
+ */
+
+#define UG2864AMBAG01_DEV_XRES    128 /* Only 128 of 131 columns used */
+#define UG2864AMBAG01_DEV_YRES    64  /* 8 pages each 8 rows */
+#define UG2864AMBAG01_DEV_XOFFSET 2   /* Offset to logical column 0 */
+#define UG2864AMBAG01_DEV_PAGES   8   /* 8 pages */
+
+#if defined(CONFIG_LCD_LANDSCAPE) || defined(CONFIG_LCD_RLANDSCAPE)
+#  define UG2864AMBAG01_XRES      UG2864AMBAG01_DEV_XRES
+#  define UG2864AMBAG01_YRES      UG2864AMBAG01_DEV_YRES
+#else
+#  define UG2864AMBAG01_XRES      UG2864AMBAG01_DEV_YRES
+#  define UG2864AMBAG01_YRES      UG2864AMBAG01_DEV_XRES
+#endif
+
+/* Color depth and format */
+
+#define UG2864AMBAG01_BPP          1
+#define UG2864AMBAG01_COLORFMT     FB_FMT_Y1
+
+/* Bytes per logical row and actual device row */
+
+#define UG2864AMBAG01_XSTRIDE      (UG2864AMBAG01_XRES >> 3)
+#define UG2864AMBAG01_YSTRIDE      (UG2864AMBAG01_YRES >> 3)
+
+/* Default contrast */
+
+#define UG2864AMBAG01_CONTRAST     (128)
+
+/* The size of the shadow frame buffer or one row buffer.
+ *
+ * Frame buffer size: 128 columns x 64 rows / 8 bits-per-pixel
+ * Row size:          128 columns x 8 rows-per-page / 8 bits-per-pixel
+ */
+
+#define UG2864AMBAG01_FBSIZE       (UG2864AMBAG01_XSTRIDE * UG2864AMBAG01_YRES)
+#define UG2864AMBAG01_ROWSIZE      (UG2864AMBAG01_XSTRIDE)
+
+/* Bit helpers */
+
+#define LS_BIT                     (1 << 0)
+#define MS_BIT                     (1 << 7)
+
+/* Debug ******************************************************************************/
+
+#ifdef CONFIG_DEBUG_LCD
+#  define lcddbg(format, arg...)   dbg(format, ##arg)
+#  define lcdvdbg(format, arg...)  vdbg(format, ##arg)
+#else
+#  define lcddbg(x...)
+#  define lcdvdbg(x...)
+#endif
+
+/**************************************************************************************
+ * Private Type Definition
+ **************************************************************************************/
+
+/* This structure describes the state of this driver */
+
+struct ug2864ambag01_dev_s
+{
+  struct lcd_dev_s       dev;      /* Publically visible device structure */
+
+  /* Private LCD-specific information follows */
+
+  FAR struct spi_dev_s  *spi;      /* Cached SPI device reference */
+  uint8_t                contrast; /* Current contrast setting */
+  bool                   on;       /* true: display is on */
+
+
+ /* The SH1101A does not support reading from the display memory in SPI mode.
+  * Since there is 1 BPP and access is byte-by-byte, it is necessary to keep
+  * a shadow copy of the framebuffer memory. At 128x64, this amounts to 1KB.
+  */
+
+  uint8_t fb[UG2864AMBAG01_FBSIZE];
+};
+
+/**************************************************************************************
+ * Private Function Protototypes
+ **************************************************************************************/
+
+/* Low-level SPI helpers */
+
+#ifdef CONFIG_SPI_OWNBUS
+static inline void ug2864ambag01_configspi(FAR struct spi_dev_s *spi);
+#  define ug2864ambag01_lock(spi)
+#  define ug2864ambag01_unlock(spi)
+#else
+#  define ug2864ambag01_configspi(spi)
+static void ug2864ambag01_lock(FAR struct spi_dev_s *spi);
+static void ug2864ambag01_unlock(FAR struct spi_dev_s *spi);
+#endif
+
+/* LCD Data Transfer Methods */
+
+static int ug2864ambag01_putrun(fb_coord_t row, fb_coord_t col,
+                                FAR const uint8_t *buffer, size_t npixels);
+static int ug2864ambag01_getrun(fb_coord_t row, fb_coord_t col, FAR uint8_t *buffer,
+                                size_t npixels);
+
+/* LCD Configuration */
+
+static int ug2864ambag01_getvideoinfo(FAR struct lcd_dev_s *dev,
+                                      FAR struct fb_videoinfo_s *vinfo);
+static int ug2864ambag01_getplaneinfo(FAR struct lcd_dev_s *dev, unsigned int planeno,
+                                      FAR struct lcd_planeinfo_s *pinfo);
+
+/* LCD RGB Mapping */
+
+#ifdef CONFIG_FB_CMAP
+#  error "RGB color mapping not supported by this driver"
+#endif
+
+/* Cursor Controls */
+
+#ifdef CONFIG_FB_HWCURSOR
+#  error "Cursor control not supported by this driver"
+#endif
+
+/* LCD Specific Controls */
+
+static int ug2864ambag01_getpower(struct lcd_dev_s *dev);
+static int ug2864ambag01_setpower(struct lcd_dev_s *dev, int power);
+static int ug2864ambag01_getcontrast(struct lcd_dev_s *dev);
+static int ug2864ambag01_setcontrast(struct lcd_dev_s *dev, unsigned int contrast);
+
+/**************************************************************************************
+ * Private Data
+ **************************************************************************************/
+
+/* This is working memory allocated by the LCD driver for each LCD device
+ * and for each color plane.  This memory will hold one raster line of data.
+ * The size of the allocated run buffer must therefore be at least
+ * (bpp * xres / 8).  Actual alignment of the buffer must conform to the
+ * bitwidth of the underlying pixel type.
+ *
+ * If there are multiple planes, they may share the same working buffer
+ * because different planes will not be operate on concurrently.  However,
+ * if there are multiple LCD devices, they must each have unique run buffers.
+ */
+
+static uint8_t g_runbuffer[UG2864AMBAG01_ROWSIZE];
+
+/* This structure describes the overall LCD video controller */
+
+static const struct fb_videoinfo_s g_videoinfo =
+{
+  .fmt     = UG2864AMBAG01_COLORFMT, /* Color format: RGB16-565: RRRR RGGG GGGB BBBB */
+  .xres    = UG2864AMBAG01_XRES,     /* Horizontal resolution in pixel columns */
+  .yres    = UG2864AMBAG01_YRES,     /* Vertical resolution in pixel rows */
+  .nplanes = 1,                      /* Number of color planes supported */
+};
+
+/* This is the standard, NuttX Plane information object */
+
+static const struct lcd_planeinfo_s g_planeinfo =
+{
+  .putrun = ug2864ambag01_putrun,    /* Put a run into LCD memory */
+  .getrun = ug2864ambag01_getrun,    /* Get a run from LCD memory */
+  .buffer = (uint8_t*)g_runbuffer,   /* Run scratch buffer */
+  .bpp    = UG2864AMBAG01_BPP,       /* Bits-per-pixel */
+};
+
+/* This is the OLED driver instance (only a single device is supported for now) */
+
+static struct ug2864ambag01_dev_s g_oleddev =
+{
+  .dev =
+  {
+    /* LCD Configuration */
+
+    .getvideoinfo = ug2864ambag01_getvideoinfo,
+    .getplaneinfo = ug2864ambag01_getplaneinfo,
+
+    /* LCD RGB Mapping -- Not supported */
+    /* Cursor Controls -- Not supported */
+
+    /* LCD Specific Controls */
+
+    .getpower     = ug2864ambag01_getpower,
+    .setpower     = ug2864ambag01_setpower,
+    .getcontrast  = ug2864ambag01_getcontrast,
+    .setcontrast  = ug2864ambag01_setcontrast,
+  },
+};
+
+/**************************************************************************************
+ * Private Functions
+ **************************************************************************************/
+
+/**************************************************************************************
+ * Name: ug2864ambag01_configspi
+ *
+ * Description:
+ *   Configure the SPI for use with the UG-2864AMBAG01
+ *
+ * Input Parameters:
+ *   spi  - Reference to the SPI driver structure
+ *
+ * Returned Value:
+ *   None
+ *
+ * Assumptions:
+ *
+ **************************************************************************************/
+
+#ifdef CONFIG_SPI_OWNBUS
+static inline void ug2864ambag01_configspi(FAR struct spi_dev_s *spi)
+{
+  lcdvdbg("Mode: %d Bits: 8 Frequency: %d\n",
+          CONFIG_UG2864AMBAG01_SPIMODE, CONFIG_UG2864AMBAG01_FREQUENCY);
+
+  /* Configure SPI for the UG-2864AMBAG01.  But only if we own the SPI bus.  Otherwise,
+   * don't bother because it might change.
+   */
+
+  SPI_SETMODE(spi, CONFIG_UG2864AMBAG01_SPIMODE);
+  SPI_SETBITS(spi, 8);
+  SPI_SETFREQUENCY(spi, CONFIG_UG2864AMBAG01_FREQUENCY)
+}
+#endif
+
+/**************************************************************************************
+ * Name: ug2864ambag01_lock
+ *
+ * Description:
+ *   Select the SPI, locking and  re-configuring if necessary
+ *
+ * Input Parameters:
+ *   spi  - Reference to the SPI driver structure
+ *
+ * Returned Value:
+ *   None
+ *
+ * Assumptions:
+ *
+ **************************************************************************************/
+
+#ifndef CONFIG_SPI_OWNBUS
+static inline void ug2864ambag01_lock(FAR struct spi_dev_s *spi)
+{
+  /* Lock the SPI bus if there are multiple devices competing for the SPI bus. */
+
+  SPI_LOCK(spi, true);
+
+  /* Now make sure that the SPI bus is configured for the UG-2864AMBAG01 (it
+   * might have gotten configured for a different device while unlocked)
+   */
+
+  SPI_SETMODE(spi, CONFIG_UG2864AMBAG01_SPIMODE);
+  SPI_SETBITS(spi, 8);
+  SPI_SETFREQUENCY(spi, CONFIG_UG2864AMBAG01_FREQUENCY);
+}
+#endif
+
+/**************************************************************************************
+ * Name: ug2864ambag01_unlock
+ *
+ * Description:
+ *   De-select the SPI
+ *
+ * Input Parameters:
+ *   spi  - Reference to the SPI driver structure
+ *
+ * Returned Value:
+ *   None
+ *
+ * Assumptions:
+ *
+ **************************************************************************************/
+
+#ifndef CONFIG_SPI_OWNBUS
+static inline void ug2864ambag01_unlock(FAR struct spi_dev_s *spi)
+{
+  /* De-select UG-2864AMBAG01 chip and relinquish the SPI bus. */
+
+  SPI_LOCK(spi, false);
+}
+#endif
+
+/**************************************************************************************
+ * Name:  ug2864ambag01_putrun
+ *
+ * Description:
+ *   This method can be used to write a partial raster line to the LCD.
+ *
+ * Input Parameters:
+ *   row     - Starting row to write to (range: 0 <= row < yres)
+ *   col     - Starting column to write to (range: 0 <= col <= xres-npixels)
+ *   buffer  - The buffer containing the run to be written to the LCD
+ *   npixels - The number of pixels to write to the LCD
+ *             (range: 0 < npixels <= xres-col)
+ *
+ **************************************************************************************/
+
+#if defined(CONFIG_LCD_LANDSCAPE) || defined(CONFIG_LCD_RLANDSCAPE)
+static int ug2864ambag01_putrun(fb_coord_t row, fb_coord_t col, FAR const uint8_t *buffer,
+                                size_t npixels)
+{
+  /* Because of this line of code, we will only be able to support a single UG device */
+
+  FAR struct ug2864ambag01_dev_s *priv = (FAR struct ug2864ambag01_dev_s *)&g_oleddev;
+  FAR uint8_t *fbptr;
+  FAR uint8_t *ptr;
+  uint8_t devcol;
+  uint8_t fbmask;
+  uint8_t page;
+  uint8_t usrmask;
+  int pixlen;
+  uint8_t i;
+
+  lcdvdbg("row: %d col: %d npixels: %d\n", row, col, npixels);
+  DEBUGASSERT(buffer);
+
+  /* Clip the run to the display */
+
+  pixlen = npixels;
+  if ((unsigned int)col + (unsigned int)pixlen > (unsigned int)UG2864AMBAG01_XRES)
+    {
+      pixlen = (int)UG2864AMBAG01_XRES - (int)col;
+    }
+
+  /* Verify that some portion of the run remains on the display */
+
+  if (pixlen <= 0 || row > UG2864AMBAG01_YRES)
+    {
+      return OK;
+    }
+
+  /* Perform coordinate conversion for reverse landscape mode */
+
+#ifdef CONFIG_LCD_RLANDSCAPE
+  row = (UG2864AMBAG01_YRES-1) - row;
+  col = (UG2864AMBAG01_XRES-1) - col;
+#endif
+
+  /* Get the page number.  The range of 64 lines is divided up into eight
+   * pages of 8 lines each.
+   */
+
+  page = row >> 3;
+
+  /* Update the shadow frame buffer memory. First determine the pixel
+   * position in the frame buffer memory.  Pixels are organized like
+   * this:
+   *
+   *  --------+---+---+---+---+-...-+-----+
+   *  Segment | 0 | 1 | 2 | 3 | ... | 131 |
+   *  --------+---+---+---+---+-...-+-----+
+   *     D0   |   | X |   |   |     |     |
+   *     D1   |   | X |   |   |     |     |
+   *     D2   |   | X |   |   |     |     |
+   *     D3   |   | X |   |   |     |     |
+   *     D4   |   | X |   |   |     |     |
+   *     D5   |   | X |   |   |     |     |
+   *     D6   |   | X |   |   |     |     |
+   *     D7   |   | X |   |   |     |     | 
+   *  --------+---+---+---+---+-...-+-----+
+   *
+   * So, in order to draw a white, horizontal line, at row 45. we
+   * would have to modify all of the bytes in page 45/8 = 5.  We
+   * would have to set bit 45%8 = 5 in every byte in the page.
+   */
+
+  fbmask  = 1 << (row & 7);
+  fbptr   = &priv->fb[page * UG2864AMBAG01_XRES + col];
+#ifdef CONFIG_LCD_RLANDSCAPE
+  ptr     = fbptr + pixlen - 1;
+#else
+  ptr     = fbptr;
+#endif
+#ifdef CONFIG_NX_PACKEDMSFIRST
+  usrmask = MS_BIT;
+#else
+  usrmask = LS_BIT;
+#endif
+
+  for (i = 0; i < pixlen; i++)
+    {
+      /* Set or clear the corresponding bit */
+
+#ifdef CONFIG_LCD_RLANDSCAPE
+      if ((*buffer & usrmask) != 0)
+        {
+          *ptr-- |= fbmask;
+        }
+      else
+        {
+          *ptr-- &= ~fbmask;
+        }
+#else
+      if ((*buffer & usrmask) != 0)
+        {
+          *ptr++ |= fbmask;
+        }
+      else
+        {
+          *ptr++ &= ~fbmask;
+        }
+#endif
+
+      /* Inc/Decrement to the next source pixel */
+
+#ifdef CONFIG_NX_PACKEDMSFIRST
+      if (usrmask == LS_BIT)
+        {
+          buffer++;
+          usrmask = MS_BIT;
+        }
+      else
+        {
+          usrmask >>= 1;
+        }
+#else
+      if (usrmask == MS_BIT)
+        {
+          buffer++;
+          usrmask = LS_BIT;
+        }
+      else
+        {
+          usrmask <<= 1;
+        }
+#endif
+    }
+
+  /* Offset the column position to account for smaller horizontal
+   * display range.
+   */
+
+  devcol = col + UG2864AMBAG01_DEV_XOFFSET;
+
+  /* Lock and select device */
+
+  ug2864ambag01_lock(priv->spi);
+  SPI_SELECT(priv->spi, SPIDEV_DISPLAY, true);
+
+  /* Select command transfer */
+
+  SPI_CMDDATA(priv->spi, SPIDEV_DISPLAY, true);
+
+  /* Set the starting position for the run */
+  /* Set the column address to the XOFFSET value */
+  
+  SPI_SEND(priv->spi, SH1101A_SETCOLL(devcol & 0x0f));
+  SPI_SEND(priv->spi, SH1101A_SETCOLH(devcol >> 4));
+
+  /* Set the page address */
+
+  SPI_SEND(priv->spi, SH1101A_PAGEADDR(page));
+
+  /* Select data transfer */
+
+  SPI_CMDDATA(priv->spi, SPIDEV_DISPLAY, false);
+
+  /* Then transfer all of the data */
+
+  (void)SPI_SNDBLOCK(priv->spi, fbptr, pixlen);
+
+  /* De-select and unlock the device */
+
+  SPI_SELECT(priv->spi, SPIDEV_DISPLAY, false);
+  ug2864ambag01_unlock(priv->spi);
+  return OK;
+}
+#else
+#  error "Configuration not implemented"
+#endif
+
+/**************************************************************************************
+ * Name:  ug2864ambag01_getrun
+ *
+ * Description:
+ *   This method can be used to read a partial raster line from the LCD:
+ *
+ * Description:
+ *   This method can be used to write a partial raster line to the LCD.
+ *
+ *  row     - Starting row to read from (range: 0 <= row < yres)
+ *  col     - Starting column to read read (range: 0 <= col <= xres-npixels)
+ *  buffer  - The buffer in which to return the run read from the LCD
+ *  npixels - The number of pixels to read from the LCD
+ *            (range: 0 < npixels <= xres-col)
+ *
+ **************************************************************************************/
+
+#if defined(CONFIG_LCD_LANDSCAPE) || defined(CONFIG_LCD_RLANDSCAPE)
+static int ug2864ambag01_getrun(fb_coord_t row, fb_coord_t col, FAR uint8_t *buffer,
+                      size_t npixels)
+{
+  /* Because of this line of code, we will only be able to support a single UG device */
+
+  FAR struct ug2864ambag01_dev_s *priv = &g_oleddev;
+  FAR uint8_t *fbptr;
+  uint8_t page;
+  uint8_t fbmask;
+  uint8_t usrmask;
+  int pixlen;
+  uint8_t i;
+
+  lcdvdbg("row: %d col: %d npixels: %d\n", row, col, npixels);
+  DEBUGASSERT(buffer);
+
+  /* Clip the run to the display */
+
+  pixlen = npixels;
+  if ((unsigned int)col + (unsigned int)pixlen > (unsigned int)UG2864AMBAG01_XRES)
+    {
+      pixlen = (int)UG2864AMBAG01_XRES - (int)col;
+    }
+
+  /* Verify that some portion of the run is actually the display */
+
+  if (pixlen <= 0 || row > UG2864AMBAG01_YRES)
+    {
+      return -EINVAL;
+    }
+
+  /* Perform coordinate conversion for reverse landscape mode */
+
+#ifdef CONFIG_LCD_RLANDSCAPE
+  row = (UG2864AMBAG01_YRES-1) - row;
+  col = (UG2864AMBAG01_XRES-1) - col;
+#endif
+
+  /* Then transfer the display data from the shadow frame buffer memory */
+  /* Get the page number.  The range of 64 lines is divided up into eight
+   * pages of 8 lines each.
+   */
+
+  page = row >> 3;
+
+  /* Update the shadow frame buffer memory. First determine the pixel
+   * position in the frame buffer memory.  Pixels are organized like
+   * this:
+   *
+   *  --------+---+---+---+---+-...-+-----+
+   *  Segment | 0 | 1 | 2 | 3 | ... | 131 |
+   *  --------+---+---+---+---+-...-+-----+
+   *     D0   |   | X |   |   |     |     |
+   *     D1   |   | X |   |   |     |     |
+   *     D2   |   | X |   |   |     |     |
+   *     D3   |   | X |   |   |     |     |
+   *     D4   |   | X |   |   |     |     |
+   *     D5   |   | X |   |   |     |     |
+   *     D6   |   | X |   |   |     |     |
+   *     D7   |   | X |   |   |     |     | 
+   *  --------+---+---+---+---+-...-+-----+
+   *
+   * So, in order to draw a white, horizontal line, at row 45. we
+   * would have to modify all of the bytes in page 45/8 = 5.  We
+   * would have to set bit 45%8 = 5 in every byte in the page.
+   */
+
+  fbmask  = 1 << (row & 7);
+#ifdef CONFIG_LCD_RLANDSCAPE
+  fbptr   = &priv->fb[page * (UG2864AMBAG01_XRES-1) + col + pixlen];
+#else
+  fbptr   = &priv->fb[page * UG2864AMBAG01_XRES + col];
+#endif
+#ifdef CONFIG_NX_PACKEDMSFIRST
+  usrmask = MS_BIT;
+#else
+  usrmask = LS_BIT;
+#endif
+
+  *buffer = 0;
+  for (i = 0; i < pixlen; i++)
+    {
+      /* Set or clear the corresponding bit */
+      
+#ifdef CONFIG_LCD_RLANDSCAPE
+      uint8_t byte = *fbptr--;
+#else
+      uint8_t byte = *fbptr++;
+#endif
+      if ((byte & fbmask) != 0)
+        {
+          *buffer |= usrmask;
+        }
+
+      /* Inc/Decrement to the next destination pixel. Hmmmm. It looks like
+       * this logic could write past the end of the user buffer.  Revisit
+       * this!
+       */
+
+#ifdef CONFIG_NX_PACKEDMSFIRST
+      if (usrmask == LS_BIT)
+        {
+          buffer++;
+         *buffer = 0;
+          usrmask = MS_BIT;
+        }
+      else
+        {
+          usrmask >>= 1;
+        }
+#else
+      if (usrmask == MS_BIT)
+        {
+          buffer++;
+         *buffer = 0;
+          usrmask = LS_BIT;
+        }
+      else
+        {
+          usrmask <<= 1;
+        }
+#endif
+    }
+
+  return OK;
+}
+#else
+#  error "Configuration not implemented"
+#endif
+
+/**************************************************************************************
+ * Name:  ug2864ambag01_getvideoinfo
+ *
+ * Description:
+ *   Get information about the LCD video controller configuration.
+ *
+ **************************************************************************************/
+
+static int ug2864ambag01_getvideoinfo(FAR struct lcd_dev_s *dev,
+                              FAR struct fb_videoinfo_s *vinfo)
+{
+  DEBUGASSERT(dev && vinfo);
+  lcdvdbg("fmt: %d xres: %d yres: %d nplanes: %d\n",
+          g_videoinfo.fmt, g_videoinfo.xres, g_videoinfo.yres, g_videoinfo.nplanes);
+  memcpy(vinfo, &g_videoinfo, sizeof(struct fb_videoinfo_s));
+  return OK;
+}
+
+/**************************************************************************************
+ * Name:  ug2864ambag01_getplaneinfo
+ *
+ * Description:
+ *   Get information about the configuration of each LCD color plane.
+ *
+ **************************************************************************************/
+
+static int ug2864ambag01_getplaneinfo(FAR struct lcd_dev_s *dev, unsigned int planeno,
+                              FAR struct lcd_planeinfo_s *pinfo)
+{
+  DEBUGASSERT(pinfo && planeno == 0);
+  lcdvdbg("planeno: %d bpp: %d\n", planeno, g_planeinfo.bpp);
+  memcpy(pinfo, &g_planeinfo, sizeof(struct lcd_planeinfo_s));
+  return OK;
+}
+
+/**************************************************************************************
+ * Name:  ug2864ambag01_getpower
+ *
+ * Description:
+ *   Get the LCD panel power status (0: full off - CONFIG_LCD_MAXPOWER: full on. On
+ *   backlit LCDs, this setting may correspond to the backlight setting.
+ *
+ **************************************************************************************/
+
+static int ug2864ambag01_getpower(FAR struct lcd_dev_s *dev)
+{
+  FAR struct ug2864ambag01_dev_s *priv = (FAR struct ug2864ambag01_dev_s *)dev;
+  DEBUGASSERT(priv);
+
+  lcdvdbg("power: %s\n", priv->on ? "ON" : "OFF");
+  return priv->on ? CONFIG_LCD_MAXPOWER : 0;
+}
+
+/**************************************************************************************
+ * Name:  ug2864ambag01_setpower
+ *
+ * Description:
+ *   Enable/disable LCD panel power (0: full off - CONFIG_LCD_MAXPOWER: full on). On
+ *   backlit LCDs, this setting may correspond to the backlight setting.
+ *
+ **************************************************************************************/
+
+static int ug2864ambag01_setpower(struct lcd_dev_s *dev, int power)
+{
+  struct ug2864ambag01_dev_s *priv = (struct ug2864ambag01_dev_s *)dev;
+  DEBUGASSERT(priv && (unsigned)power <= CONFIG_LCD_MAXPOWER && priv->spi);
+
+  lcdvdbg("power: %d [%d]\n", power, priv->on ? CONFIG_LCD_MAXPOWER : 0);
+
+  /* Lock and select device */
+
+  ug2864ambag01_lock(priv->spi);
+  SPI_SELECT(priv->spi, SPIDEV_DISPLAY, true);
+
+  if (power <= 0)
+    {
+      /* Turn the display off */
+
+      (void)SPI_SEND(priv->spi, SH1101A_DISPOFF);
+      priv->on = false;
+    }
+  else
+    {
+      /* Turn the display on */
+
+      (void)SPI_SEND(priv->spi, SH1101A_DISPON); /* Display on, dim mode */
+      priv->on = true;
+    }
+
+  /* De-select and unlock the device */
+
+  SPI_SELECT(priv->spi, SPIDEV_DISPLAY, false);
+  ug2864ambag01_unlock(priv->spi);
+  return OK;
+}
+
+/**************************************************************************************
+ * Name:  ug2864ambag01_getcontrast
+ *
+ * Description:
+ *   Get the current contrast setting (0-CONFIG_LCD_MAXCONTRAST).
+ *
+ **************************************************************************************/
+
+static int ug2864ambag01_getcontrast(struct lcd_dev_s *dev)
+{
+  struct ug2864ambag01_dev_s *priv = (struct ug2864ambag01_dev_s *)dev;
+  DEBUGASSERT(priv);
+
+  lcdvdbg("contrast: %d\n", priv->contrast);
+  return priv->contrast;
+}
+
+/**************************************************************************************
+ * Name:  ug2864ambag01_setcontrast
+ *
+ * Description:
+ *   Set LCD panel contrast (0-CONFIG_LCD_MAXCONTRAST).
+ *
+ **************************************************************************************/
+
+static int ug2864ambag01_setcontrast(struct lcd_dev_s *dev, unsigned int contrast)
+{
+  struct ug2864ambag01_dev_s *priv = (struct ug2864ambag01_dev_s *)dev;
+  unsigned int scaled;
+
+  lcdvdbg("contrast: %d\n", contrast);
+  DEBUGASSERT(priv);
+
+  /* Verify the contrast value */
+
+#ifdef CONFIG_DEBUG
+  if (contrast > CONFIG_LCD_MAXCONTRAST)
+    {
+      return -EINVAL;
+    }
+#endif
+
+  /* Scale contrast:  newcontrast = 255 * contrast / CONFIG_LCD_MAXCONTRAST
+   * Where contrast is in the range {1,255}
+   */
+
+#if CONFIG_LCD_MAXCONTRAST != 255
+  scaled = ((contrast << 8) - 1) / CONFIG_LCD_MAXCONTRAST;
+#else
+  scaled = contrast;
+#endif
+
+  /* Lock and select device */
+
+  ug2864ambag01_lock(priv->spi);
+  SPI_SELECT(priv->spi, SPIDEV_DISPLAY, true);
+
+  /* Select command transfer */
+
+  SPI_CMDDATA(priv->spi, SPIDEV_DISPLAY, true);
+
+  /* Set the contrast */
+
+  (void)SPI_SEND(priv->spi, SH1101A_CONTRAST_MODE);    /* Set contrast control register */
+  (void)SPI_SEND(priv->spi, SH1101A_CONTRAST(scaled)); /* Data 1: Set 1 of 256 contrast steps */
+  priv->contrast = contrast;
+
+  /* De-select and unlock the device */
+
+  SPI_SELECT(priv->spi, SPIDEV_DISPLAY, false);
+  ug2864ambag01_unlock(priv->spi);
+  return OK;
+}
+
+/**************************************************************************************
+ * Public Functions
+ **************************************************************************************/
+
+/**************************************************************************************
+ * Name:  ug2864ambag01_initialize
+ *
+ * Description:
+ *   Initialize the UG-2864AMBAG01 video hardware.  The initial state of the
+ *   OLED is fully initialized, display memory cleared, and the OLED ready
+ *   to use, but with the power setting at 0 (full off == sleep mode).
+ *
+ * Input Parameters:
+ *
+ *   spi - A reference to the SPI driver instance.
+ *   devno - A value in the range of 0 through CONFIG_UG2864AMBAG01_NINTERFACES-1.
+ *     This allows support for multiple OLED devices.
+ *
+ * Returned Value:
+ *
+ *   On success, this function returns a reference to the LCD object for
+ *   the specified OLED.  NULL is returned on any failure.
+ *
+ **************************************************************************************/
+
+FAR struct lcd_dev_s *ug2864ambag01_initialize(FAR struct spi_dev_s *spi, unsigned int devno)
+{
+  FAR struct ug2864ambag01_dev_s  *priv = &g_oleddev;
+
+  lcdvdbg("Initializing\n");
+  DEBUGASSERT(spi && devno == 0);
+
+  /* Save the reference to the SPI device */
+
+  priv->spi = spi;
+
+  /* Configure the SPI */
+
+  ug2864ambag01_configspi(spi)
+
+  /* Lock and select device */
+
+  ug2864ambag01_lock(priv->spi);
+  SPI_SELECT(spi, SPIDEV_DISPLAY, true);
+
+  /* Select command transfer */
+
+  SPI_CMDDATA(spi, SPIDEV_DISPLAY, true);
+
+  /* Configure the device */
+
+  SPI_SEND(spi, SH1101A_DISPOFF);         /* Display off */
+  SPI_SEND(spi, SH1101A_SETCOLL(0));      /* Set lower column address */
+  SPI_SEND(spi, SH1101A_SETCOLH(0));      /* Set higher column address */
+  SPI_SEND(spi, SH1101A_STARTLINE(0));    /* Set display start line */
+  SPI_SEND(spi, SH1101A_PAGEADDR(0));     /* Set page address */
+  SPI_SEND(spi, SH1101A_CONTRAST_MODE);   /* Contrast control */
+  SPI_SEND(spi ,UG2864AMBAG01_CONTRAST);  /*   Default contrast */
+  SPI_SEND(spi, SH1101A_REMAPPLEFT);      /* Set segment remap left */
+  SPI_SEND(spi, SH1101A_EDISPOFF);        /* Normal display */
+  SPI_SEND(spi, SH1101A_NORMAL);          /* Normal (un-reversed) display mode */
+  SPI_SEND(spi, SH1101A_MRATIO_MODE);     /* Multiplex ratio */
+  SPI_SEND(spi, SH1101A_MRATIO(0x3f));    /*   Duty = 1/64 */
+  SPI_SEND(spi, SH1101A_SCANTOCOM0);      /* Com scan direction: Scan from COM[n-1] to COM[0] */
+  SPI_SEND(spi, SH1101A_DISPOFFS_MODE);   /* Set display offset */
+  SPI_SEND(spi, SH1101A_DISPOFFS(0));
+  SPI_SEND(spi, SH1101A_CLKDIV_SET);      /* Set clock divider */
+  SPI_SEND(spi, SH1101A_CLKDIV(0,0));
+  SPI_SEND(spi, SH1101A_CMNPAD_CONFIG);   /* Set common pads */
+  SPI_SEND(spi, SH1101A_CMNPAD(0x10));
+  SPI_SEND(spi, SH1101A_VCOM_SET);
+  SPI_SEND(spi, SH1101A_VCOM(0x40));
+  SPI_SEND(spi, SH1101A_DCDC_MODE);       /* DC/DC control mode: on */
+  SPI_SEND(spi, SH1101A_DCDC_ON);
+  SPI_SEND(spi, SH1101A_DISPON);          /* display ON  */
+
+  /* De-select and unlock the device */
+
+  SPI_SELECT(spi, SPIDEV_DISPLAY, false);
+  ug2864ambag01_unlock(priv->spi);
+
+  /* Clear the display */
+
+  up_mdelay(100);
+  ug2864ambag01_fill(&priv->dev, UG_Y1_BLACK);
+  return &priv->dev;
+}
+
+/**************************************************************************************
+ * Name:  ug2864ambag01_fill
+ *
+ * Description:
+ *   This non-standard method can be used to clear the entire display by writing one
+ *   color to the display.  This is much faster than writing a series of runs.
+ *
+ * Input Parameters:
+ *   priv   - Reference to private driver structure
+ *
+ * Assumptions:
+ *   Caller has selected the OLED section.
+ *
+ **************************************************************************************/
+
+void ug2864ambag01_fill(FAR struct lcd_dev_s *dev, uint8_t color)
+{
+  FAR struct ug2864ambag01_dev_s  *priv = &g_oleddev;
+  unsigned int page;
+
+  /* Make an 8-bit version of the selected color */
+
+  if (color & 1)
+    {
+      color = 0xff;
+    }
+  else
+    {
+      color = 0;
+    }
+
+  /* Initialize the framebuffer */
+
+  memset(priv->fb, color, UG2864AMBAG01_FBSIZE);
+
+  /* Lock and select device */
+
+  ug2864ambag01_lock(priv->spi);
+  SPI_SELECT(priv->spi, SPIDEV_DISPLAY, true);
+
+  /* Visit each page */
+
+  for (page = 0; page < UG2864AMBAG01_DEV_PAGES; page++)
+    {
+      /* Select command transfer */
+
+      SPI_CMDDATA(priv->spi, SPIDEV_DISPLAY, true);
+
+      /* Set the column address to the XOFFSET value */
+  
+      SPI_SEND(priv->spi, SH1101A_SETCOLL(UG2864AMBAG01_DEV_XOFFSET));
+      SPI_SEND(priv->spi, SH1101A_SETCOLH(0));
+
+      /* Set the page address */
+
+      SPI_SEND(priv->spi, SH1101A_PAGEADDR(page));
+
+      /* Select data transfer */
+
+      SPI_CMDDATA(priv->spi, SPIDEV_DISPLAY, false);
+
+      /* Transfer one page of the selected color */
+
+       (void)SPI_SNDBLOCK(priv->spi, &priv->fb[page * UG2864AMBAG01_XRES],
+                          UG2864AMBAG01_XRES);
+    }
+
+  /* De-select and unlock the device */
+
+  SPI_SELECT(priv->spi, SPIDEV_DISPLAY, false);
+  ug2864ambag01_unlock(priv->spi);
+}
+
+#endif /* CONFIG_LCD_UG2864AMBAG01 */
diff --git a/nuttx/drivers/lcd/ug-9664hswag01.c b/nuttx/drivers/lcd/ug-9664hswag01.c
index e0e8e8e3a..6ef78fca6 100644
--- a/nuttx/drivers/lcd/ug-9664hswag01.c
+++ b/nuttx/drivers/lcd/ug-9664hswag01.c
@@ -73,8 +73,6 @@
  * CONFIG_UG9664HSWAG01_POWER
  *   If the hardware supports a controllable OLED a power supply, this
  *   configuration shold be defined.  (See ug_power() below).
- * CONFIG_LCD_UGDEBUG - Enable detailed UG-9664HSWAG01 debug output
- *   (CONFIG_DEBUG and CONFIG_VERBOSE must also be enabled).
  * 
  * Required LCD driver settings:
  * CONFIG_LCD_UG9664HSWAG01 - Enable UG-9664HSWAG01 support
@@ -119,11 +117,10 @@
 
 #ifndef CONFIG_DEBUG
 #  undef CONFIG_DEBUG_VERBOSE
-#  undef CONFIG_DEBUG_GRAPHICS
 #endif
 
 #ifndef CONFIG_DEBUG_VERBOSE
-#  undef CONFIG_LCD_UGDEBUG
+#  undef CONFIG_DEBUG_LCD
 #endif
 
 /* Check contrast selection */
@@ -182,7 +179,7 @@
 #define UG_BPP          1
 #define UG_COLORFMT     FB_FMT_Y1
 
-/* Bytes per logical row andactual device row */
+/* Bytes per logical row and actual device row */
 
 #define UG_XSTRIDE      (UG_XRES >> 3) /* Pixels arrange "horizontally for user" */
 #define UG_YSTRIDE      (UG_YRES >> 3) /* But actual device arrangement is "vertical" */
@@ -198,10 +195,10 @@
 
 /* Debug ******************************************************************************/
 
-#ifdef CONFIG_LCD_UGDEBUG
-# define ugdbg(format, arg...)  vdbg(format, ##arg)
+#ifdef CONFIG_DEBUG_LCD
+# define lcddbg(format, arg...)  vdbg(format, ##arg)
 #else
-# define ugdbg(x...)
+# define lcddbg(x...)
 #endif
 
 /**************************************************************************************
@@ -997,7 +994,7 @@ FAR struct lcd_dev_s *ug_initialize(FAR struct spi_dev_s *spi, unsigned int devn
 
   SPI_CMDDATA(spi, SPIDEV_DISPLAY, true);
 
-  /* Set the starting position for the run */
+  /* Configure the device */
 
   (void)SPI_SEND(spi, SSD1305_SETCOLL + 2);       /* Set low column address */
   (void)SPI_SEND(spi, SSD1305_SETCOLH + 2);       /* Set high column address */
diff --git a/nuttx/drivers/loop.c b/nuttx/drivers/loop.c
index df96da59f..b5b5d82d8 100644
--- a/nuttx/drivers/loop.c
+++ b/nuttx/drivers/loop.c
@@ -215,7 +215,7 @@ static ssize_t loop_read(FAR struct inode *inode, unsigned char *buffer,
                        size_t start_sector, unsigned int nsectors)
 {
   FAR struct loop_struct_s *dev;
-  size_t nbytesread;
+  ssize_t nbytesread;
   off_t offset;
   int ret;
 
diff --git a/nuttx/drivers/mmcsd/Make.defs b/nuttx/drivers/mmcsd/Make.defs
index 850456597..06e689c75 100644
--- a/nuttx/drivers/mmcsd/Make.defs
+++ b/nuttx/drivers/mmcsd/Make.defs
@@ -1,7 +1,7 @@
 ############################################################################
 # drivers/mmcsd/Make.defs
 #
-#   Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2008, 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -33,14 +33,24 @@
 #
 ############################################################################
 
+ifeq ($(CONFIG_MMCSD),y)
+
 # Include MMC/SD drivers
 
-CSRCS += mmcsd_sdio.c mmcsd_spi.c mmcsd_debug.c
+ifeq ($(CONFIG_MMCSD_SDIO),y)
+CSRCS += mmcsd_sdio.c
+endif
+
+ifeq ($(CONFIG_MMCSD_SPI),y)
+CSRCS += mmcsd_spi.c mmcsd_debug.c
+endif
 
 # Include MMC/SD driver build support
 
 DEPPATH += --dep-path mmcsd
 VPATH += :mmcsd
-CFLAGS += ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/mmcsd}
+CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)mmcsd}
+
+endif
 
 
diff --git a/nuttx/drivers/mmcsd/mmcsd_sdio.c b/nuttx/drivers/mmcsd/mmcsd_sdio.c
index d0bc6659c..3caa61583 100644
--- a/nuttx/drivers/mmcsd/mmcsd_sdio.c
+++ b/nuttx/drivers/mmcsd/mmcsd_sdio.c
@@ -38,6 +38,9 @@
  ****************************************************************************/
 
 #include <nuttx/config.h>
+
+#if defined (CONFIG_MMCSD) && defined (CONFIG_MMCSD_SDIO)
+
 #include <nuttx/compiler.h>
 
 #include <sys/types.h>
@@ -2597,7 +2600,8 @@ static int mmcsd_cardidentify(FAR struct mmcsd_state_s *priv)
    * operating condition. CMD 8 is reserved on SD version 1.0 and MMC.
    *
    * CMD8 Argument:
-   *    [31:12]: Reserved (shall be set to '0')
   *    [11:8]: Supply Voltage (VHS) 0x1 (Range: 2.7-3.6 V)
+   *    [31:12]: Reserved (shall be set to '0')
+   *    [11:8]: Supply Voltage (VHS) 0x1 (Range: 2.7-3.6 V)
    *    [7:0]: Check Pattern (recommended 0xaa)
    * CMD8 Response: R7
    */
@@ -3178,3 +3182,5 @@ errout_with_alloc:
   kfree(priv);
   return ret;
 }
+
+#endif /* defined (CONFIG_MMCSD) && defined (CONFIG_MMCSD_SDIO) */
diff --git a/nuttx/drivers/mmcsd/mmcsd_spi.c b/nuttx/drivers/mmcsd/mmcsd_spi.c
index 7dbadc55f..d437b7fea 100644
--- a/nuttx/drivers/mmcsd/mmcsd_spi.c
+++ b/nuttx/drivers/mmcsd/mmcsd_spi.c
@@ -38,6 +38,9 @@
  ****************************************************************************/
 
 #include <nuttx/config.h>
+
+#if defined (CONFIG_MMCSD) && defined (CONFIG_MMCSD_SPI)
+
 #include <sys/types.h>
 
 #include <stdint.h>
@@ -508,7 +511,7 @@ static uint32_t mmcsd_sendcmd(FAR struct mmcsd_slot_s *slot,
       }
       break;
 
-    /* The R3 response is 5 bytes long */
+    /* The R3 response is 5 bytes long. The first byte is identical to R1. */
 
     case MMCSD_CMDRESP_R3:
       {
@@ -520,8 +523,10 @@ static uint32_t mmcsd_sendcmd(FAR struct mmcsd_slot_s *slot,
         fvdbg("CMD%d[%08x] R1=%02x OCR=%08x\n",
               cmd->cmd & 0x3f, arg, response, slot->ocr);
       }
+      break;
+
+    /* The R7 response is 5 bytes long. The first byte is identical to R1. */
 
-    /* The R7 response is 5 bytes long */
     case MMCSD_CMDRESP_R7:
     default:
       {
@@ -1876,3 +1881,5 @@ int mmcsd_spislotinitialize(int minor, int slotno, FAR struct spi_dev_s *spi)
   (void)SPI_REGISTERCALLBACK(spi, mmcsd_mediachanged, (void*)slot);
   return OK;
 }
+
+#endif /* defined (CONFIG_MMCSD) && defined (CONFIG_MMCSD_SPI) */
diff --git a/nuttx/drivers/mtd/Make.defs b/nuttx/drivers/mtd/Make.defs
index 258e77ec9..7db7592d4 100644
--- a/nuttx/drivers/mtd/Make.defs
+++ b/nuttx/drivers/mtd/Make.defs
@@ -51,6 +51,10 @@ ifeq ($(CONFIG_MTD_W25),y)
 CSRCS += w25.c
 endif
 
+ifeq ($(CONFIG_MTD_AT25),y)
+CSRCS += at25.c
+endif
+
 # Include MTD driver support
 
 DEPPATH += --dep-path mtd
diff --git a/nuttx/drivers/mtd/at25.c b/nuttx/drivers/mtd/at25.c
new file mode 100644
index 000000000..e35b794a5
--- /dev/null
+++ b/nuttx/drivers/mtd/at25.c
@@ -0,0 +1,708 @@
+/************************************************************************************
+ * drivers/mtd/at25.c
+ * Driver for SPI-based AT25DF321 (32Mbit) flash.
+ *
+ *   Copyright (C) 2009-2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *           Petteri Aimonen <jpa@nx.mail.kapsi.fi>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ************************************************************************************/
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/kmalloc.h>
+#include <nuttx/fs/ioctl.h>
+#include <nuttx/spi.h>
+#include <nuttx/mtd.h>
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+#ifndef CONFIG_AT25_SPIMODE
+#  define CONFIG_AT25_SPIMODE SPIDEV_MODE0
+#endif
+
+/* AT25 Registers *******************************************************************/
+/* Indentification register values */
+
+#define AT25_MANUFACTURER         0x1F
+#define AT25_AT25DF321_TYPE       0x47 /* 32 M-bit */
+
+/*  AT25DF321 capacity is 4,194,304 bytes:
+ *  (64 sectors) * (65,536 bytes per sector)
+ *  (16384 pages) * (256 bytes per page)
+ */
+
+#define AT25_AT25DF321_SECTOR_SHIFT  12    /* Sector size 1 << 12 = 4096 */
+#define AT25_AT25DF321_NSECTORS      1024
+#define AT25_AT25DF321_PAGE_SHIFT    9     /* Page size 1 << 9 = 512 */
+#define AT25_AT25DF321_NPAGES        8192
+
+/* Instructions */
+/*      Command        Value      N Description             Addr Dummy Data */
+#define AT25_WREN      0x06    /* 1 Write Enable              0   0     0 */
+#define AT25_WRDI      0x04    /* 1 Write Disable             0   0     0 */
+#define AT25_RDID      0x9f    /* 1 Read Identification       0   0     1-3 */
+#define AT25_RDSR      0x05    /* 1 Read Status Register      0   0     >=1 */
+#define AT25_WRSR      0x01    /* 1 Write Status Register     0   0     1 */
+#define AT25_READ      0x03    /* 1 Read Data Bytes           3   0     >=1 */
+#define AT25_FAST_READ 0x0b    /* 1 Higher speed read         3   1     >=1 */
+#define AT25_PP        0x02    /* 1 Page Program              3   0     1-256 */
+#define AT25_SE        0x20    /* 1 Sector Erase              3   0     0 */
+#define AT25_BE        0xc7    /* 1 Bulk Erase                0   0     0 */
+#define AT25_DP        0xb9    /* 2 Deep power down           0   0     0 */
+#define AT25_RES       0xab    /* 2 Read Electronic Signature 0   3     >=1 */
+
+/* Status register bit definitions */
+
+#define AT25_SR_WIP            (1 << 0)    /* Bit 0: Write in progress bit */
+#define AT25_SR_WEL            (1 << 1)    /* Bit 1: Write enable latch bit */
+#define AT25_SR_EPE            (1 << 5)    /* Bit 5: Erase/program error */
+#define AT25_SR_UNPROT         0x00        /* Global unprotect command */
+
+#define AT25_DUMMY     0xa5
+
+/************************************************************************************
+ * Private Types
+ ************************************************************************************/
+
+/* This type represents the state of the MTD device.  The struct mtd_dev_s
+ * must appear at the beginning of the definition so that you can freely
+ * cast between pointers to struct mtd_dev_s and struct at25_dev_s.
+ */
+
+struct at25_dev_s
+{
+  struct mtd_dev_s mtd;      /* MTD interface */
+  FAR struct spi_dev_s *dev; /* Saved SPI interface instance */
+  uint8_t  sectorshift;      /* 16 or 18 */
+  uint8_t  pageshift;        /* 8 */
+  uint16_t nsectors;         /* 128 or 64 */
+  uint32_t npages;           /* 32,768 or 65,536 */
+};
+
+/************************************************************************************
+ * Private Function Prototypes
+ ************************************************************************************/
+
+/* Helpers */
+
+static void at25_lock(FAR struct spi_dev_s *dev);
+static inline void at25_unlock(FAR struct spi_dev_s *dev);
+static inline int at25_readid(struct at25_dev_s *priv);
+static void at25_waitwritecomplete(struct at25_dev_s *priv);
+static void at25_writeenable(struct at25_dev_s *priv);
+static inline void at25_sectorerase(struct at25_dev_s *priv, off_t offset);
+static inline int  at25_bulkerase(struct at25_dev_s *priv);
+static inline void at25_pagewrite(struct at25_dev_s *priv, FAR const uint8_t *buffer,
+                                  off_t offset);
+
+/* MTD driver methods */
+
+static int at25_erase(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks);
+static ssize_t at25_bread(FAR struct mtd_dev_s *dev, off_t startblock,
+                          size_t nblocks, FAR uint8_t *buf);
+static ssize_t at25_bwrite(FAR struct mtd_dev_s *dev, off_t startblock,
+                           size_t nblocks, FAR const uint8_t *buf);
+static ssize_t at25_read(FAR struct mtd_dev_s *dev, off_t offset, size_t nbytes,
+                         FAR uint8_t *buffer);
+static int at25_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg);
+
+/************************************************************************************
+ * Private Data
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: at25_lock
+ ************************************************************************************/
+
+static void at25_lock(FAR struct spi_dev_s *dev)
+{
+  /* On SPI busses where there are multiple devices, it will be necessary to
+   * lock SPI to have exclusive access to the busses for a sequence of
+   * transfers.  The bus should be locked before the chip is selected.
+   *
+   * This is a blocking call and will not return until we have exclusiv access to
+   * the SPI buss.  We will retain that exclusive access until the bus is unlocked.
+   */
+
+  (void)SPI_LOCK(dev, true);
+
+  /* After locking the SPI bus, the we also need call the setfrequency, setbits, and
+   * setmode methods to make sure that the SPI is properly configured for the device.
+   * If the SPI buss is being shared, then it may have been left in an incompatible
+   * state.
+   */
+
+  SPI_SETMODE(dev, CONFIG_AT25_SPIMODE);
+  SPI_SETBITS(dev, 8);
+  (void)SPI_SETFREQUENCY(dev, 20000000);
+}
+
+/************************************************************************************
+ * Name: at25_unlock
+ ************************************************************************************/
+
+static inline void at25_unlock(FAR struct spi_dev_s *dev)
+{
+  (void)SPI_LOCK(dev, false);
+}
+
+/************************************************************************************
+ * Name: at25_readid
+ ************************************************************************************/
+
+static inline int at25_readid(struct at25_dev_s *priv)
+{
+  uint16_t manufacturer;
+  uint16_t memory;
+  uint16_t version;
+
+  fvdbg("priv: %p\n", priv);
+
+  /* Lock the SPI bus, configure the bus, and select this FLASH part. */
+
+  at25_lock(priv->dev);
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, true);
+
+  /* Send the "Read ID (RDID)" command and read the first three ID bytes */
+
+  (void)SPI_SEND(priv->dev, AT25_RDID);
+  manufacturer = SPI_SEND(priv->dev, AT25_DUMMY);
+  memory       = SPI_SEND(priv->dev, AT25_DUMMY);
+  
+  /* Deselect the FLASH and unlock the bus */
+
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, false);
+  at25_unlock(priv->dev);
+
+  fvdbg("manufacturer: %02x memory: %02x\n",
+        manufacturer, memory);
+
+  /* Check for a valid manufacturer and memory type */
+
+  if (manufacturer == AT25_MANUFACTURER && memory == AT25_AT25DF321_TYPE)
+    {
+        priv->sectorshift = AT25_AT25DF321_SECTOR_SHIFT;
+        priv->nsectors    = AT25_AT25DF321_NSECTORS;
+        priv->pageshift   = AT25_AT25DF321_PAGE_SHIFT;
+        priv->npages      = AT25_AT25DF321_NPAGES;
+        return OK;
+    }
+
+  return -ENODEV;
+}
+
+/************************************************************************************
+ * Name: at25_waitwritecomplete
+ ************************************************************************************/
+
+static void at25_waitwritecomplete(struct at25_dev_s *priv)
+{
+  uint8_t status;
+
+  /* Are we the only device on the bus? */
+
+#ifdef CONFIG_SPI_OWNBUS
+
+  /* Select this FLASH part */
+
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, true);
+
+  /* Send "Read Status Register (RDSR)" command */
+
+  (void)SPI_SEND(priv->dev, AT25_RDSR);
+  
+  /* Loop as long as the memory is busy with a write cycle */
+
+  do
+    {
+      /* Send a dummy byte to generate the clock needed to shift out the status */
+
+      status = SPI_SEND(priv->dev, AT25_DUMMY);
+    }
+  while ((status & AT25_SR_WIP) != 0);
+
+  /* Deselect the FLASH */
+
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, false);
+
+#else
+
+  /* Loop as long as the memory is busy with a write cycle */
+
+  do
+    {
+      /* Select this FLASH part */
+
+      SPI_SELECT(priv->dev, SPIDEV_FLASH, true);
+
+      /* Send "Read Status Register (RDSR)" command */
+
+      (void)SPI_SEND(priv->dev, AT25_RDSR);
+
+      /* Send a dummy byte to generate the clock needed to shift out the status */
+
+      status = SPI_SEND(priv->dev, AT25_DUMMY);
+
+      /* Deselect the FLASH */
+
+      SPI_SELECT(priv->dev, SPIDEV_FLASH, false);
+
+      /* Given that writing could take up to few tens of milliseconds, and erasing
+       * could take more.  The following short delay in the "busy" case will allow
+       * other peripherals to access the SPI bus.
+       */
+
+      if ((status & AT25_SR_WIP) != 0)
+        {
+          at25_unlock(priv->dev);
+          usleep(10000);
+          at25_lock(priv->dev);
+        }
+    }
+  while ((status & AT25_SR_WIP) != 0);
+#endif
+
+  if (status & AT25_SR_EPE)
+    {
+      fdbg("Write error, status: 0x%02x\n", status);
+    }
+  
+  fvdbg("Complete, status: 0x%02x\n", status);
+}
+
+/************************************************************************************
+ * Name:  at25_writeenable
+ ************************************************************************************/
+
+static void at25_writeenable(struct at25_dev_s *priv)
+{
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, true);
+  (void)SPI_SEND(priv->dev, AT25_WREN);
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, false);
+  fvdbg("Enabled\n");
+}
+
+/************************************************************************************
+ * Name:  at25_sectorerase
+ ************************************************************************************/
+
+static inline void at25_sectorerase(struct at25_dev_s *priv, off_t sector)
+{
+  off_t offset = sector << priv->sectorshift;
+
+  fvdbg("sector: %08lx\n", (long)sector);
+
+  /* Wait for any preceding write to complete.  We could simplify things by
+   * perform this wait at the end of each write operation (rather than at
+   * the beginning of ALL operations), but have the wait first will slightly
+   * improve performance.
+   */
+
+  at25_waitwritecomplete(priv);
+
+  /* Send write enable instruction */
+
+  at25_writeenable(priv);
+
+  /* Select this FLASH part */
+
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, true);
+
+  /* Send the "Sector Erase (SE)" instruction */
+
+  (void)SPI_SEND(priv->dev, AT25_SE);
+
+  /* Send the sector offset high byte first.  For all of the supported
+   * parts, the sector number is completely contained in the first byte
+   * and the values used in the following two bytes don't really matter.
+   */
+
+  (void)SPI_SEND(priv->dev, (offset >> 16) & 0xff);
+  (void)SPI_SEND(priv->dev, (offset >> 8) & 0xff);
+  (void)SPI_SEND(priv->dev, offset & 0xff);
+
+  /* Deselect the FLASH */
+
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, false);
+  fvdbg("Erased\n");
+}
+
+/************************************************************************************
+ * Name:  at25_bulkerase
+ ************************************************************************************/
+
+static inline int at25_bulkerase(struct at25_dev_s *priv)
+{
+  fvdbg("priv: %p\n", priv);
+
+  /* Wait for any preceding write to complete.  We could simplify things by
+   * perform this wait at the end of each write operation (rather than at
+   * the beginning of ALL operations), but have the wait first will slightly
+   * improve performance.
+   */
+
+  at25_waitwritecomplete(priv);
+
+  /* Send write enable instruction */
+
+  at25_writeenable(priv);
+
+  /* Select this FLASH part */
+
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, true);
+
+  /* Send the "Bulk Erase (BE)" instruction */
+
+  (void)SPI_SEND(priv->dev, AT25_BE);
+
+  /* Deselect the FLASH */
+
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, false);
+  fvdbg("Return: OK\n");
+  return OK;
+}
+
+/************************************************************************************
+ * Name:  at25_pagewrite
+ ************************************************************************************/
+
+static inline void at25_pagewrite(struct at25_dev_s *priv, FAR const uint8_t *buffer,
+                                  off_t page)
+{
+  off_t offset = page << 8;
+
+  fvdbg("page: %08lx offset: %08lx\n", (long)page, (long)offset);
+
+  /* Wait for any preceding write to complete.  We could simplify things by
+   * perform this wait at the end of each write operation (rather than at
+   * the beginning of ALL operations), but have the wait first will slightly
+   * improve performance.
+   */
+
+  at25_waitwritecomplete(priv);
+
+  /* Enable the write access to the FLASH */
+
+  at25_writeenable(priv);
+  
+  /* Select this FLASH part */
+
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, true);
+
+  /* Send "Page Program (PP)" command */
+
+  (void)SPI_SEND(priv->dev, AT25_PP);
+
+  /* Send the page offset high byte first. */
+
+  (void)SPI_SEND(priv->dev, (offset >> 16) & 0xff);
+  (void)SPI_SEND(priv->dev, (offset >> 8) & 0xff);
+  (void)SPI_SEND(priv->dev, offset & 0xff);
+
+  /* Then write the specified number of bytes */
+
+  SPI_SNDBLOCK(priv->dev, buffer, 256);
+  
+  /* Deselect the FLASH: Chip Select high */
+
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, false);
+  fvdbg("Written\n");
+}
+
+/************************************************************************************
+ * Name: at25_erase
+ ************************************************************************************/
+
+static int at25_erase(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks)
+{
+  FAR struct at25_dev_s *priv = (FAR struct at25_dev_s *)dev;
+  size_t blocksleft = nblocks;
+
+  fvdbg("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks);
+
+  /* Lock access to the SPI bus until we complete the erase */
+
+  at25_lock(priv->dev);
+  while (blocksleft-- > 0)
+    {
+      /* Erase each sector */
+
+      at25_sectorerase(priv, startblock);
+      startblock++;
+    }
+
+  at25_unlock(priv->dev);
+  return (int)nblocks;
+}
+
+/************************************************************************************
+ * Name: at25_bread
+ ************************************************************************************/
+
+static ssize_t at25_bread(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks,
+                          FAR uint8_t *buffer)
+{
+  FAR struct at25_dev_s *priv = (FAR struct at25_dev_s *)dev;
+  ssize_t nbytes;
+
+  fvdbg("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks);
+
+  /* On this device, we can handle the block read just like the byte-oriented read */
+
+  nbytes = at25_read(dev, startblock << priv->pageshift, nblocks << priv->pageshift, buffer);
+  if (nbytes > 0)
+    {
+        return nbytes >> priv->pageshift;
+    }
+
+  return (int)nbytes;
+}
+
+/************************************************************************************
+ * Name: at25_bwrite
+ ************************************************************************************/
+
+static ssize_t at25_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks,
+                           FAR const uint8_t *buffer)
+{
+  FAR struct at25_dev_s *priv = (FAR struct at25_dev_s *)dev;
+  size_t blocksleft = nblocks;
+
+  fvdbg("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks);
+
+  /* Lock the SPI bus and write each page to FLASH */
+
+  at25_lock(priv->dev);
+  while (blocksleft-- > 0)
+    {
+      at25_pagewrite(priv, buffer, startblock * 2);
+      at25_pagewrite(priv, buffer + 256, startblock * 2 + 1);
+      buffer += 1 << priv->pageshift;
+      startblock++;
+   }
+
+  at25_unlock(priv->dev);
+  return nblocks;
+}
+
+/************************************************************************************
+ * Name: at25_read
+ ************************************************************************************/
+
+static ssize_t at25_read(FAR struct mtd_dev_s *dev, off_t offset, size_t nbytes,
+                         FAR uint8_t *buffer)
+{
+  FAR struct at25_dev_s *priv = (FAR struct at25_dev_s *)dev;
+
+  fvdbg("offset: %08lx nbytes: %d\n", (long)offset, (int)nbytes);
+
+  /* Wait for any preceding write to complete.  We could simplify things by
+   * perform this wait at the end of each write operation (rather than at
+   * the beginning of ALL operations), but have the wait first will slightly
+   * improve performance.
+   */
+
+  at25_waitwritecomplete(priv);
+
+  /* Lock the SPI bus and select this FLASH part */
+
+  at25_lock(priv->dev);
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, true);
+
+  /* Send "Read from Memory " instruction */
+
+  (void)SPI_SEND(priv->dev, AT25_READ);
+
+  /* Send the page offset high byte first. */
+
+  (void)SPI_SEND(priv->dev, (offset >> 16) & 0xff);
+  (void)SPI_SEND(priv->dev, (offset >> 8) & 0xff);
+  (void)SPI_SEND(priv->dev, offset & 0xff);
+
+  /* Then read all of the requested bytes */
+
+  SPI_RECVBLOCK(priv->dev, buffer, nbytes);
+
+  /* Deselect the FLASH and unlock the SPI bus */
+
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, false);
+  at25_unlock(priv->dev);
+
+  fvdbg("return nbytes: %d\n", (int)nbytes);
+  return nbytes;
+}
+
+/************************************************************************************
+ * Name: at25_ioctl
+ ************************************************************************************/
+
+static int at25_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg)
+{
+  FAR struct at25_dev_s *priv = (FAR struct at25_dev_s *)dev;
+  int ret = -EINVAL; /* Assume good command with bad parameters */
+
+  fvdbg("cmd: %d \n", cmd);
+
+  switch (cmd)
+    {
+      case MTDIOC_GEOMETRY:
+        {
+          FAR struct mtd_geometry_s *geo = (FAR struct mtd_geometry_s *)((uintptr_t)arg);
+          if (geo)
+            {
+              /* Populate the geometry structure with information need to know
+               * the capacity and how to access the device.
+               *
+               * NOTE: that the device is treated as though it where just an array
+               * of fixed size blocks.  That is most likely not true, but the client
+               * will expect the device logic to do whatever is necessary to make it
+               * appear so.
+               */
+
+              geo->blocksize    = (1 << priv->pageshift);
+              geo->erasesize    = (1 << priv->sectorshift);
+              geo->neraseblocks = priv->nsectors;
+              ret               = OK;
+
+              fvdbg("blocksize: %d erasesize: %d neraseblocks: %d\n",
+                    geo->blocksize, geo->erasesize, geo->neraseblocks);
+            }
+        }
+        break;
+
+      case MTDIOC_BULKERASE:
+        {
+            /* Erase the entire device */
+
+            at25_lock(priv->dev);
+            ret = at25_bulkerase(priv);
+            at25_unlock(priv->dev);
+        }
+        break;
+ 
+      case MTDIOC_XIPBASE:
+      default:
+        ret = -ENOTTY; /* Bad command */
+        break;
+    }
+
+  fvdbg("return %d\n", ret);
+  return ret;
+}
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: at25_initialize
+ *
+ * Description:
+ *   Create an initialize MTD device instance.  MTD devices are not registered
+ *   in the file system, but are created as instances that can be bound to
+ *   other functions (such as a block or character driver front end).
+ *
+ ************************************************************************************/
+
+FAR struct mtd_dev_s *at25_initialize(FAR struct spi_dev_s *dev)
+{
+  FAR struct at25_dev_s *priv;
+  int ret;
+
+  fvdbg("dev: %p\n", dev);
+
+  /* Allocate a state structure (we allocate the structure instead of using
+   * a fixed, static allocation so that we can handle multiple FLASH devices.
+   * The current implementation would handle only one FLASH part per SPI
+   * device (only because of the SPIDEV_FLASH definition) and so would have
+   * to be extended to handle multiple FLASH parts on the same SPI bus.
+   */
+
+  priv = (FAR struct at25_dev_s *)kmalloc(sizeof(struct at25_dev_s));
+  if (priv)
+    {
+      /* Initialize the allocated structure */
+
+      priv->mtd.erase  = at25_erase;
+      priv->mtd.bread  = at25_bread;
+      priv->mtd.bwrite = at25_bwrite;
+      priv->mtd.read   = at25_read;
+      priv->mtd.ioctl  = at25_ioctl;
+      priv->dev        = dev;
+
+      /* Deselect the FLASH */
+
+      SPI_SELECT(dev, SPIDEV_FLASH, false);
+
+      /* Identify the FLASH chip and get its capacity */
+
+      ret = at25_readid(priv);
+      if (ret != OK)
+        {
+          /* Unrecognized! Discard all of that work we just did and return NULL */
+
+          fdbg("Unrecognized\n");
+          kfree(priv);
+          priv = NULL;
+        }
+        
+      /* Unprotect all sectors */
+
+      at25_writeenable(priv);
+      SPI_SELECT(priv->dev, SPIDEV_FLASH, true);
+      (void)SPI_SEND(priv->dev, AT25_WRSR);
+      (void)SPI_SEND(priv->dev, AT25_SR_UNPROT);
+      SPI_SELECT(priv->dev, SPIDEV_FLASH, false);
+    }
+
+  /* Return the implementation-specific state structure as the MTD device */
+
+  fvdbg("Return %p\n", priv);
+  return (FAR struct mtd_dev_s *)priv;
+}
diff --git a/nuttx/drivers/mtd/ftl.c b/nuttx/drivers/mtd/ftl.c
index cdb35aa5c..6cf8f0317 100644
--- a/nuttx/drivers/mtd/ftl.c
+++ b/nuttx/drivers/mtd/ftl.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * drivers/mtd/ftl.c
  *
- *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -229,6 +229,10 @@ static ssize_t ftl_flush(FAR void *priv, FAR const uint8_t *buffer,
   remaining = nblocks;
   if (alignedblock > startblock)
     {
+      /* Check if the write is shorter than to the end of the erase block */
+
+      bool short_write = (remaining < (alignedblock - startblock));
+      
       /* Read the full erase block into the buffer */
 
       rwblock = startblock & ~mask;
@@ -252,9 +256,19 @@ static ssize_t ftl_flush(FAR void *priv, FAR const uint8_t *buffer,
       /* Copy the user data at the end of the buffered erase block */
 
       offset = (startblock & mask) * dev->geo.blocksize;
-      nbytes = dev->geo.erasesize - offset;
+      
+      if (short_write)
+        {
+          nbytes = remaining * dev->geo.blocksize;
+        }
+      else
+        {
+          nbytes = dev->geo.erasesize - offset;
+        }
+      
       fvdbg("Copy %d bytes into erase block=%d at offset=%d\n",
              nbytes, eraseblock, offset);
+
       memcpy(dev->eblock + offset, buffer, nbytes);
 
       /* And write the erase back to flash */
@@ -268,8 +282,16 @@ static ssize_t ftl_flush(FAR void *priv, FAR const uint8_t *buffer,
 
       /* Then update for amount written */
 
-      remaining -= dev->blkper - (startblock & mask);
-      buffer    += nbytes;
+      if (short_write)
+        {
+          remaining = 0;
+        }
+      else
+        {
+          remaining -= dev->blkper - (startblock & mask);
+        }
+      
+      buffer += nbytes;
     }
 
   /* How handle full erase pages in the middle */
@@ -290,6 +312,7 @@ static ssize_t ftl_flush(FAR void *priv, FAR const uint8_t *buffer,
 
       fvdbg("Write %d bytes into erase block=%d at offset=0\n",
              dev->geo.erasesize, alignedblock);
+
       nxfrd = MTD_BWRITE(dev->mtd, alignedblock, dev->blkper, buffer);
       if (nxfrd != dev->blkper)
         {
diff --git a/nuttx/drivers/net/e1000.c b/nuttx/drivers/net/e1000.c
index ec2b29b6a..cae6f39b4 100644
--- a/nuttx/drivers/net/e1000.c
+++ b/nuttx/drivers/net/e1000.c
@@ -60,6 +60,7 @@
 #include <rgmp/pmap.h>
 #include <rgmp/string.h>
 #include <rgmp/stdio.h>
+#include <rgmp/utils.h>
 #include <rgmp/arch/pci.h>
 #include <rgmp/memio.h>
 #include "e1000.h"
@@ -104,9 +105,9 @@ struct e1000_dev {
     uint32_t io_mem_base;
     uint32_t mem_size;
     int pci_dev_id;
+	uint16_t pci_addr;
     unsigned char src_mac[6];
     unsigned char dst_mac[6];
-    int irq;
     struct irq_action int_desc;
     struct tx_ring tx_ring;
     struct rx_ring rx_ring;
@@ -308,16 +309,16 @@ void e1000_init(struct e1000_dev *dev)
     e1000_outl(dev, E1000_FCRTH, pba*9/10);
 
     // setup tx rings
-    txd_phys = PADDR(dev->tx_ring.desc);
-    kmem_phys = PADDR(dev->tx_ring.buf);
+    txd_phys = PADDR((uintptr_t)dev->tx_ring.desc);
+    kmem_phys = PADDR((uintptr_t)dev->tx_ring.buf);
     for (i=0; i<CONFIG_E1000_N_TX_DESC; i++,kmem_phys+=CONFIG_E1000_BUFF_SIZE) {
-	dev->tx_ring.desc[i].base_address = kmem_phys;
-	dev->tx_ring.desc[i].packet_length = 0;
-	dev->tx_ring.desc[i].cksum_offset = 0;
-	dev->tx_ring.desc[i].cksum_origin = 0;
-	dev->tx_ring.desc[i].desc_status = 1;
-	dev->tx_ring.desc[i].desc_command = (1<<0)|(1<<1)|(1<<3);
-	dev->tx_ring.desc[i].special_info = 0;
+		dev->tx_ring.desc[i].base_address = kmem_phys;
+		dev->tx_ring.desc[i].packet_length = 0;
+		dev->tx_ring.desc[i].cksum_offset = 0;
+		dev->tx_ring.desc[i].cksum_origin = 0;
+		dev->tx_ring.desc[i].desc_status = 1;
+		dev->tx_ring.desc[i].desc_command = (1<<0)|(1<<1)|(1<<3);
+		dev->tx_ring.desc[i].special_info = 0;
     }
     dev->tx_ring.tail = 0;
     e1000_outl(dev, E1000_TDT, 0);
@@ -329,15 +330,15 @@ void e1000_init(struct e1000_dev *dev)
     e1000_outl(dev, E1000_TXDCTL, 0x01010000);
 
     // setup rx rings
-    rxd_phys = PADDR(dev->rx_ring.desc);
-    kmem_phys = PADDR(dev->rx_ring.buf);
+    rxd_phys = PADDR((uintptr_t)dev->rx_ring.desc);
+    kmem_phys = PADDR((uintptr_t)dev->rx_ring.buf);
     for (i=0; i<CONFIG_E1000_N_RX_DESC; i++,kmem_phys+=CONFIG_E1000_BUFF_SIZE) {
-	dev->rx_ring.desc[i].base_address = kmem_phys;
-	dev->rx_ring.desc[i].packet_length = 0;
-	dev->rx_ring.desc[i].packet_cksum = 0;
-	dev->rx_ring.desc[i].desc_status = 0;
-	dev->rx_ring.desc[i].desc_errors = 0;
-	dev->rx_ring.desc[i].vlan_tag = 0;
+		dev->rx_ring.desc[i].base_address = kmem_phys;
+		dev->rx_ring.desc[i].packet_length = 0;
+		dev->rx_ring.desc[i].packet_cksum = 0;
+		dev->rx_ring.desc[i].desc_status = 0;
+		dev->rx_ring.desc[i].desc_errors = 0;
+		dev->rx_ring.desc[i].vlan_tag = 0;
     }
     dev->rx_ring.head = 0;
     dev->rx_ring.tail = CONFIG_E1000_N_RX_DESC-1;
@@ -378,7 +379,7 @@ static int e1000_transmit(struct e1000_dev *e1000)
 {
     int tail = e1000->tx_ring.tail;
     unsigned char *cp = (unsigned char *)
-	(e1000->tx_ring.buf + tail * CONFIG_E1000_BUFF_SIZE);
+		(e1000->tx_ring.buf + tail * CONFIG_E1000_BUFF_SIZE);
     int count = e1000->uip_dev.d_len;
 
     /* Verify that the hardware is ready to send another packet.  If we get
@@ -387,7 +388,7 @@ static int e1000_transmit(struct e1000_dev *e1000)
      */
 
     if (!e1000->tx_ring.desc[tail].desc_status)
-	return -1;
+		return -1;
 
     /* Increment statistics */
 
@@ -445,14 +446,14 @@ static int e1000_uiptxpoll(struct uip_driver_s *dev)
      */
 
     if (e1000->uip_dev.d_len > 0) {
-	uip_arp_out(&e1000->uip_dev);
-	e1000_transmit(e1000);
-
-	/* Check if there is room in the device to hold another packet. If not,
-	 * return a non-zero value to terminate the poll.
-	 */
-	if (!e1000->tx_ring.desc[tail].desc_status)
-	    return -1;
+		uip_arp_out(&e1000->uip_dev);
+		e1000_transmit(e1000);
+
+		/* Check if there is room in the device to hold another packet. If not,
+		 * return a non-zero value to terminate the poll.
+		 */
+		if (!e1000->tx_ring.desc[tail].desc_status)
+			return -1;
     }
 
     /* If zero is returned, the polling will continue until all connections have
@@ -483,75 +484,75 @@ static void e1000_receive(struct e1000_dev *e1000)
 {
     int head = e1000->rx_ring.head;
     unsigned char *cp = (unsigned char *)
-	(e1000->rx_ring.buf + head * CONFIG_E1000_BUFF_SIZE);
+		(e1000->rx_ring.buf + head * CONFIG_E1000_BUFF_SIZE);
     int cnt;
 
     while (e1000->rx_ring.desc[head].desc_status) {
 
-	/* Check for errors and update statistics */
+		/* Check for errors and update statistics */
 	
-	// Here we do not handle packets that exceed packet-buffer size
-	if ((e1000->rx_ring.desc[head].desc_status & 3) == 1) {
-	    cprintf("NIC READ: Oversized packet\n");
-	    goto next;
-	}
+		// Here we do not handle packets that exceed packet-buffer size
+		if ((e1000->rx_ring.desc[head].desc_status & 3) == 1) {
+			cprintf("NIC READ: Oversized packet\n");
+			goto next;
+		}
 	
-	/* Check if the packet is a valid size for the uIP buffer configuration */
+		/* Check if the packet is a valid size for the uIP buffer configuration */
 	
-	// get the number of actual data-bytes in this packet
-	cnt = e1000->rx_ring.desc[head].packet_length;
+		// get the number of actual data-bytes in this packet
+		cnt = e1000->rx_ring.desc[head].packet_length;
 	
-	if (cnt > CONFIG_NET_BUFSIZE || cnt < 14) {
-	    cprintf("NIC READ: invalid package size\n");
-	    goto next;
-	}
+		if (cnt > CONFIG_NET_BUFSIZE || cnt < 14) {
+			cprintf("NIC READ: invalid package size\n");
+			goto next;
+		}
     
-	/* Copy the data data from the hardware to e1000->uip_dev.d_buf.  Set
-	 * amount of data in e1000->uip_dev.d_len
-	 */
+		/* Copy the data data from the hardware to e1000->uip_dev.d_buf.  Set
+		 * amount of data in e1000->uip_dev.d_len
+		 */
     
-	// now we try to copy these data-bytes to the UIP buffer
-	memcpy(e1000->uip_dev.d_buf, cp, cnt);
-	e1000->uip_dev.d_len = cnt;
+		// now we try to copy these data-bytes to the UIP buffer
+		memcpy(e1000->uip_dev.d_buf, cp, cnt);
+		e1000->uip_dev.d_len = cnt;
 
-	/* We only accept IP packets of the configured type and ARP packets */
+		/* We only accept IP packets of the configured type and ARP packets */
 
 #ifdef CONFIG_NET_IPv6
-	if (BUF->type == HTONS(UIP_ETHTYPE_IP6))
+		if (BUF->type == HTONS(UIP_ETHTYPE_IP6))
 #else
-	if (BUF->type == HTONS(UIP_ETHTYPE_IP))
+			if (BUF->type == HTONS(UIP_ETHTYPE_IP))
 #endif
-	{
-	    uip_arp_ipin(&e1000->uip_dev);
-	    uip_input(&e1000->uip_dev);
-
-	    /* If the above function invocation resulted in data that should be
-	     * sent out on the network, the field  d_len will set to a value > 0.
-	     */
-
-	    if (e1000->uip_dev.d_len > 0) {
-		uip_arp_out(&e1000->uip_dev);
-		e1000_transmit(e1000);
-	    }
-	}
-	else if (BUF->type == htons(UIP_ETHTYPE_ARP)) {
-	    uip_arp_arpin(&e1000->uip_dev);
-
-	    /* If the above function invocation resulted in data that should be
-	     * sent out on the network, the field  d_len will set to a value > 0.
-	     */
-
-	    if (e1000->uip_dev.d_len > 0) {
-		e1000_transmit(e1000);
-	    }
-	}
+			{
+				uip_arp_ipin(&e1000->uip_dev);
+				uip_input(&e1000->uip_dev);
+
+				/* If the above function invocation resulted in data that should be
+				 * sent out on the network, the field  d_len will set to a value > 0.
+				 */
+
+				if (e1000->uip_dev.d_len > 0) {
+					uip_arp_out(&e1000->uip_dev);
+					e1000_transmit(e1000);
+				}
+			}
+			else if (BUF->type == htons(UIP_ETHTYPE_ARP)) {
+				uip_arp_arpin(&e1000->uip_dev);
+
+				/* If the above function invocation resulted in data that should be
+				 * sent out on the network, the field  d_len will set to a value > 0.
+				 */
+
+				if (e1000->uip_dev.d_len > 0) {
+					e1000_transmit(e1000);
+				}
+			}
 
     next:
-	e1000->rx_ring.desc[head].desc_status = 0;
-	e1000->rx_ring.head = (head + 1) % CONFIG_E1000_N_RX_DESC;
-	e1000->rx_ring.free++;
-	head = e1000->rx_ring.head;
-	cp = (unsigned char *)(e1000->rx_ring.buf + head * CONFIG_E1000_BUFF_SIZE);
+		e1000->rx_ring.desc[head].desc_status = 0;
+		e1000->rx_ring.head = (head + 1) % CONFIG_E1000_N_RX_DESC;
+		e1000->rx_ring.free++;
+		head = e1000->rx_ring.head;
+		cp = (unsigned char *)(e1000->rx_ring.buf + head * CONFIG_E1000_BUFF_SIZE);
     }
 }
 
@@ -615,7 +616,7 @@ static void e1000_polltimer(int argc, uint32_t arg, ...)
      * the TX poll if he are unable to accept another packet for transmission.
      */
     if (!e1000->tx_ring.desc[tail].desc_status)
-	return;
+		return;
 
     /* If so, update TCP timing states and poll uIP for new XMIT data. Hmmm..
      * might be bug here.  Does this mean if there is a transmit in progress,
@@ -651,8 +652,8 @@ static int e1000_ifup(struct uip_driver_s *dev)
     struct e1000_dev *e1000 = (struct e1000_dev *)dev->d_private;
 
     ndbg("Bringing up: %d.%d.%d.%d\n",
-	 dev->d_ipaddr & 0xff, (dev->d_ipaddr >> 8) & 0xff,
-	 (dev->d_ipaddr >> 16) & 0xff, dev->d_ipaddr >> 24 );
+		 dev->d_ipaddr & 0xff, (dev->d_ipaddr >> 8) & 0xff,
+		 (dev->d_ipaddr >> 16) & 0xff, dev->d_ipaddr >> 24 );
 
     /* Initialize PHYs, the Ethernet interface, and setup up Ethernet interrupts */
     e1000_init(e1000);
@@ -662,9 +663,9 @@ static int e1000_ifup(struct uip_driver_s *dev)
     (void)wd_start(e1000->txpoll, E1000_WDDELAY, e1000_polltimer, 1, (uint32_t)e1000);
 
     if (e1000_inl(e1000, E1000_STATUS) & 2)
-	e1000->bifup = true;
+		e1000->bifup = true;
     else
-	e1000->bifup = false;
+		e1000->bifup = false;
 
     return OK;
 }
@@ -749,9 +750,9 @@ static int e1000_txavail(struct uip_driver_s *dev)
     /* Ignore the notification if the interface is not yet up */
 
     if (e1000->bifup) {
-	/* Check if there is room in the hardware to hold another outgoing packet. */
-	if (e1000->tx_ring.desc[tail].desc_status)
-	    (void)uip_poll(&e1000->uip_dev, e1000_uiptxpoll);
+		/* Check if there is room in the hardware to hold another outgoing packet. */
+		if (e1000->tx_ring.desc[tail].desc_status)
+			(void)uip_poll(&e1000->uip_dev, e1000_uiptxpoll);
     }
 
     irqrestore(flags);
@@ -779,11 +780,11 @@ static int e1000_txavail(struct uip_driver_s *dev)
 #ifdef CONFIG_NET_IGMP
 static int e1000_addmac(struct uip_driver_s *dev, const uint8_t *mac)
 {
-  struct e1000_dev *e1000 = (struct e1000_dev *)dev->d_private;
+	struct e1000_dev *e1000 = (struct e1000_dev *)dev->d_private;
 
-  /* Add the MAC address to the hardware multicast routing table */
+	/* Add the MAC address to the hardware multicast routing table */
 
-  return OK;
+	return OK;
 }
 #endif
 
@@ -808,15 +809,15 @@ static int e1000_addmac(struct uip_driver_s *dev, const uint8_t *mac)
 #ifdef CONFIG_NET_IGMP
 static int e1000_rmmac(struct uip_driver_s *dev, const uint8_t *mac)
 {
-  struct e1000_dev *e1000 = (struct e1000_dev *)dev->d_private;
+	struct e1000_dev *e1000 = (struct e1000_dev *)dev->d_private;
 
-  /* Add the MAC address to the hardware multicast routing table */
+	/* Add the MAC address to the hardware multicast routing table */
 
-  return OK;
+	return OK;
 }
 #endif
 
-irqreturn_t  e1000_interrupt_handler(struct Trapframe *tf, void *dev_id)
+static irqreturn_t e1000_interrupt_handler(int irq, void *dev_id)
 {
     struct e1000_dev *e1000 = (struct e1000_dev *)dev_id;
     
@@ -826,27 +827,27 @@ irqreturn_t  e1000_interrupt_handler(struct Trapframe *tf, void *dev_id)
 
     // not for me
     if (intr_cause == 0) 
-	return IRQ_NONE;
+		return IRQ_NONE;
 
     /* Handle interrupts according to status bit settings */
 
     // Link status change
     if (intr_cause & (1<<2)) {
-	if (e1000_inl(e1000, E1000_STATUS) & 2)
-	    e1000->bifup = true;
-	else
-	    e1000->bifup = false;
+		if (e1000_inl(e1000, E1000_STATUS) & 2)
+			e1000->bifup = true;
+		else
+			e1000->bifup = false;
     }
     
     /* Check if we received an incoming packet, if so, call skel_receive() */
 
     // Rx-descriptor Timer expired
     if (intr_cause & (1<<7))
-	e1000_receive(e1000);
+		e1000_receive(e1000);
 
     // Tx queue empty
     if (intr_cause & (1<<1))
-	wd_cancel(e1000->txtimeout);
+		wd_cancel(e1000->txtimeout);
 
     /* Check is a packet transmission just completed.  If so, call skel_txdone.
      * This may disable further Tx interrupts if there are no pending
@@ -855,17 +856,17 @@ irqreturn_t  e1000_interrupt_handler(struct Trapframe *tf, void *dev_id)
 
     // Tx-descriptor Written back
     if (intr_cause & (1<<0))
-	uip_poll(&e1000->uip_dev, e1000_uiptxpoll);
+		uip_poll(&e1000->uip_dev, e1000_uiptxpoll);
   
 
     // Rx-Descriptors Low
     if (intr_cause & (1<<4)) {
-	int tail;
-	tail = e1000->rx_ring.tail + e1000->rx_ring.free;
-	tail %= CONFIG_E1000_N_RX_DESC;
-	e1000->rx_ring.tail = tail;
-	e1000->rx_ring.free = 0;
-	e1000_outl(e1000, E1000_RDT, tail);
+		int tail;
+		tail = e1000->rx_ring.tail + e1000->rx_ring.free;
+		tail %= CONFIG_E1000_N_RX_DESC;
+		e1000->rx_ring.tail = tail;
+		e1000->rx_ring.free = 0;
+		e1000_outl(e1000, E1000_RDT, tail);
     }
 
     return IRQ_HANDLED;
@@ -885,20 +886,21 @@ static pci_id_t e1000_id_table[] = {
 static int e1000_probe(uint16_t addr, pci_id_t id)
 {
     uint32_t mmio_base, mmio_size;
-    uint32_t pci_cmd, size;
-    int err, irq, flags;
+    uint32_t size;
+    int err;
     void *kmem, *omem;
     struct e1000_dev *dev;
 
     // alloc e1000_dev memory
-    dev = kzalloc(sizeof(struct e1000_dev));
-    if (dev == NULL)
-	return -1;
+    if ((dev = kzalloc(sizeof(struct e1000_dev))) == NULL)
+		return -1;
+
+	// save pci addr
+	dev->pci_addr = addr;
 
     // enable device
-    err = pci_enable_device(addr, PCI_RESOURCE_MEM);
-    if (err)
-	goto error;
+	if ((err = pci_enable_device(addr, PCI_BUS_MASTER)) < 0)
+		goto error;
 
     // get e1000 device type
     dev->pci_dev_id = id.join;
@@ -908,33 +910,20 @@ static int e1000_probe(uint16_t addr, pci_id_t id)
     mmio_size = pci_resource_len(addr, 0);
     err = rgmp_memmap_nocache(mmio_base, mmio_size, mmio_base);
     if (err) 
-	goto error;
+		goto error;
     dev->phy_mem_base = mmio_base;
     dev->io_mem_base = mmio_base;
     dev->mem_size = mmio_size;
 
-    // make sure the controller's Bus Master capability is enabled
-    pci_cmd = pci_config_readl(addr, PCI_COMMAND);
-    pci_cmd |= (1<<2);
-    pci_config_writel(addr, PCI_COMMAND, pci_cmd);
-
     // MAC address
     memset(dev->dst_mac, 0xFF, 6);
     memcpy(dev->src_mac, (void *)(dev->io_mem_base+E1000_RA), 6);
 
-    // get e1000 IRQ
-    flags = 0;
-    irq = pci_enable_msi(addr);
-    if (irq == 0) {
-	irq = pci_read_irq(addr);
-	flags |= IDC_SHARE;
-    }
-    dev->irq = irq;
+    // IRQ setup
     dev->int_desc.handler = e1000_interrupt_handler;
     dev->int_desc.dev_id = dev;
-    err = rgmp_request_irq(irq, &dev->int_desc, flags);
-    if (err)
-	goto err0;
+	if ((err = pci_request_irq(addr, &dev->int_desc, 0)) < 0)
+		goto err0;
 
     // Here we alloc a big block of memory once and make it
     // aligned to page boundary and multiple of page size. This
@@ -942,15 +931,19 @@ static int e1000_probe(uint16_t addr, pci_id_t id)
     // should be mapped no-cache which will hugely reduce memory 
     // access performance. The page size alloc will restrict
     // this bad effect only within the memory we alloc here.
+	//
+	// NEED FIX: the memalign may alloc memory continous in
+	// virtual address but dis-continous in physical address
+	// due to RGMP memory setup.
     size = CONFIG_E1000_N_TX_DESC * sizeof(struct tx_desc) +
-	   CONFIG_E1000_N_TX_DESC * CONFIG_E1000_BUFF_SIZE +
-	   CONFIG_E1000_N_RX_DESC * sizeof(struct rx_desc) + 
-	   CONFIG_E1000_N_RX_DESC * CONFIG_E1000_BUFF_SIZE;
+		CONFIG_E1000_N_TX_DESC * CONFIG_E1000_BUFF_SIZE +
+		CONFIG_E1000_N_RX_DESC * sizeof(struct rx_desc) + 
+		CONFIG_E1000_N_RX_DESC * CONFIG_E1000_BUFF_SIZE;
     size = ROUNDUP(size, PGSIZE);
     omem = kmem = memalign(PGSIZE, size);
     if (kmem == NULL) {
-	err = -ENOMEM;
-	goto err1;
+		err = -ENOMEM;
+		goto err1;
     }
     rgmp_memremap_nocache((uintptr_t)kmem, size);
 
@@ -991,7 +984,7 @@ static int e1000_probe(uint16_t addr, pci_id_t id)
     /* Register the device with the OS so that socket IOCTLs can be performed */
     err = netdev_register(&dev->uip_dev);
     if (err)
-	goto err2;
+		goto err2;
 
     // insert into e1000_list
     dev->next = e1000_list.next;
@@ -1000,14 +993,14 @@ static int e1000_probe(uint16_t addr, pci_id_t id)
 
     return 0;
 
- err2:
+err2:
     rgmp_memremap((uintptr_t)omem, size);
     free(omem);
- err1:
-    rgmp_free_irq(irq, &dev->int_desc);
- err0:
+err1:
+    pci_free_irq(addr);
+err0:
     rgmp_memunmap(mmio_base, mmio_size);
- error:
+error:
     kfree(dev);
     cprintf("e1000 device probe fail: %d\n", err);
     return err;
@@ -1028,21 +1021,21 @@ void e1000_mod_exit(void)
     struct e1000_dev *dev;
 
     size = CONFIG_E1000_N_TX_DESC * sizeof(struct tx_desc) +
-	   CONFIG_E1000_N_TX_DESC * CONFIG_E1000_BUFF_SIZE +
-	   CONFIG_E1000_N_RX_DESC * sizeof(struct rx_desc) + 
-	   CONFIG_E1000_N_RX_DESC * CONFIG_E1000_BUFF_SIZE;
+		CONFIG_E1000_N_TX_DESC * CONFIG_E1000_BUFF_SIZE +
+		CONFIG_E1000_N_RX_DESC * sizeof(struct rx_desc) + 
+		CONFIG_E1000_N_RX_DESC * CONFIG_E1000_BUFF_SIZE;
     size = ROUNDUP(size, PGSIZE);
 
     for (dev=e1000_list.next; dev!=NULL; dev=dev->next) {
-	netdev_unregister(&dev->uip_dev);
-	e1000_reset(dev);
-	wd_delete(dev->txpoll);
-	wd_delete(dev->txtimeout);
-	rgmp_memremap((uintptr_t)dev->tx_ring.desc, size);
-	free(dev->tx_ring.desc);
-	rgmp_free_irq(dev->irq, &dev->int_desc);
-	rgmp_memunmap((uintptr_t)dev->io_mem_base, dev->mem_size);
-	kfree(dev);
+		netdev_unregister(&dev->uip_dev);
+		e1000_reset(dev);
+		wd_delete(dev->txpoll);
+		wd_delete(dev->txtimeout);
+		rgmp_memremap((uintptr_t)dev->tx_ring.desc, size);
+		free(dev->tx_ring.desc);
+		pci_free_irq(dev->pci_addr);
+		rgmp_memunmap((uintptr_t)dev->io_mem_base, dev->mem_size);
+		kfree(dev);
     }
 
     e1000_list.next = NULL;
diff --git a/nuttx/drivers/net/e1000.h b/nuttx/drivers/net/e1000.h
index 6614ad77e..63ff53e3c 100644
--- a/nuttx/drivers/net/e1000.h
+++ b/nuttx/drivers/net/e1000.h
@@ -44,9 +44,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <rgmp/types.h>
-#include <rgmp/trap.h>
-#include <rgmp/arch/arch.h>
+#include <stdint.h>
 
 /****************************************************************************
  * Pre-processor Definitions
diff --git a/nuttx/drivers/net/vnet.c b/nuttx/drivers/net/vnet.c
index f1e2465b9..e05a39675 100644
--- a/nuttx/drivers/net/vnet.c
+++ b/nuttx/drivers/net/vnet.c
@@ -168,30 +168,30 @@ static int vnet_transmit(FAR struct vnet_driver_s *vnet)
 {
     int err;
 
-  /* Verify that the hardware is ready to send another packet.  If we get
-   * here, then we are committed to sending a packet; Higher level logic
-   * must have assured that there is not transmission in progress.
-   */
+	/* Verify that the hardware is ready to send another packet.  If we get
+	 * here, then we are committed to sending a packet; Higher level logic
+	 * must have assured that there is not transmission in progress.
+	 */
 
-  /* Increment statistics */
+	/* Increment statistics */
 
-  /* Send the packet: address=vnet->sk_dev.d_buf, length=vnet->sk_dev.d_len */
+	/* Send the packet: address=vnet->sk_dev.d_buf, length=vnet->sk_dev.d_len */
     err = vnet_xmit(vnet->vnet, (char *)vnet->sk_dev.d_buf, vnet->sk_dev.d_len);
     if (err) {
-	/* Setup the TX timeout watchdog (perhaps restarting the timer) */
-	//(void)wd_start(vnet->sk_txtimeout, VNET_TXTIMEOUT, vnet_txtimeout, 1, (uint32_t)vnet);
+		/* Setup the TX timeout watchdog (perhaps restarting the timer) */
+		//(void)wd_start(vnet->sk_txtimeout, VNET_TXTIMEOUT, vnet_txtimeout, 1, (uint32_t)vnet);
 
-	// When vnet_xmit fail, it means TX buffer is full. Watchdog 
-	// is of no use here because no TX done INT will happen. So 
-	// we reset the TX buffer directly.
+		// When vnet_xmit fail, it means TX buffer is full. Watchdog 
+		// is of no use here because no TX done INT will happen. So 
+		// we reset the TX buffer directly.
 #ifdef CONFIG_DEBUG
-	cprintf("VNET: TX buffer is full\n");
+		cprintf("VNET: TX buffer is full\n");
 #endif
-	return ERROR;
+		return ERROR;
     }
     else {
-	// this step may be unnecessary here
-	vnet_txdone(vnet);
+		// this step may be unnecessary here
+		vnet_txdone(vnet);
     }
 
     return OK;
@@ -223,29 +223,29 @@ static int vnet_transmit(FAR struct vnet_driver_s *vnet)
 
 static int vnet_uiptxpoll(struct uip_driver_s *dev)
 {
-  FAR struct vnet_driver_s *vnet = (FAR struct vnet_driver_s *)dev->d_private;
+	FAR struct vnet_driver_s *vnet = (FAR struct vnet_driver_s *)dev->d_private;
 
-  /* If the polling resulted in data that should be sent out on the network,
-   * the field d_len is set to a value > 0.
-   */
+	/* If the polling resulted in data that should be sent out on the network,
+	 * the field d_len is set to a value > 0.
+	 */
 
-  if (vnet->sk_dev.d_len > 0)
+	if (vnet->sk_dev.d_len > 0)
     {
-      uip_arp_out(&vnet->sk_dev);
-      vnet_transmit(vnet);
-
-      /* Check if there is room in the device to hold another packet. If not,
-       * return a non-zero value to terminate the poll.
-       */
-      if (vnet_is_txbuff_full(vnet->vnet))
-	  return 1;
+		uip_arp_out(&vnet->sk_dev);
+		vnet_transmit(vnet);
+
+		/* Check if there is room in the device to hold another packet. If not,
+		 * return a non-zero value to terminate the poll.
+		 */
+		if (vnet_is_txbuff_full(vnet->vnet))
+			return 1;
     }
 
-  /* If zero is returned, the polling will continue until all connections have
-   * been examined.
-   */
+	/* If zero is returned, the polling will continue until all connections have
+	 * been examined.
+	 */
 
-  return 0;
+	return 0;
 }
 
 /****************************************************************************
@@ -265,54 +265,53 @@ static int vnet_uiptxpoll(struct uip_driver_s *dev)
  *
  ****************************************************************************/
 
-void rtos_vnet_recv(struct rgmp_vnet *vnet_dummy, char *data, int len)
+void rtos_vnet_recv(struct rgmp_vnet *rgmp_vnet, char *data, int len)
 {
-    // now only support 1 vnet
-    struct vnet_driver_s *vnet = &g_vnet[0];
+    struct vnet_driver_s *vnet = rgmp_vnet->priv;
 
     do {
-	/* Check for errors and update statistics */
+		/* Check for errors and update statistics */
 
-	/* Check if the packet is a valid size for the uIP buffer configuration */
-	if (len > CONFIG_NET_BUFSIZE || len < 14) {
+		/* Check if the packet is a valid size for the uIP buffer configuration */
+		if (len > CONFIG_NET_BUFSIZE || len < 14) {
 #ifdef CONFIG_DEBUG
-	    cprintf("VNET: receive invalid packet of size %d\n", len);
+			cprintf("VNET: receive invalid packet of size %d\n", len);
 #endif
-	    return;
-	}
+			return;
+		}
 
-	// Copy the data data from the hardware to vnet->sk_dev.d_buf.  Set
-	// amount of data in vnet->sk_dev.d_len
-	memcpy(vnet->sk_dev.d_buf, data, len);
-	vnet->sk_dev.d_len = len;
+		// Copy the data data from the hardware to vnet->sk_dev.d_buf.  Set
+		// amount of data in vnet->sk_dev.d_len
+		memcpy(vnet->sk_dev.d_buf, data, len);
+		vnet->sk_dev.d_len = len;
 
-	/* We only accept IP packets of the configured type and ARP packets */
+		/* We only accept IP packets of the configured type and ARP packets */
 
 #ifdef CONFIG_NET_IPv6
-	if (BUF->type == HTONS(UIP_ETHTYPE_IP6))
+		if (BUF->type == HTONS(UIP_ETHTYPE_IP6))
 #else
-	if (BUF->type == HTONS(UIP_ETHTYPE_IP))
+			if (BUF->type == HTONS(UIP_ETHTYPE_IP))
 #endif
-	{
-	    uip_arp_ipin(&vnet->sk_dev);
-	    uip_input(&vnet->sk_dev);
-
-	    // If the above function invocation resulted in data that should be
-	    // sent out on the network, the field  d_len will set to a value > 0.
-	    if (vnet->sk_dev.d_len > 0) {
-		uip_arp_out(&vnet->sk_dev);
-		vnet_transmit(vnet);
-	    }
-	}
-	else if (BUF->type == htons(UIP_ETHTYPE_ARP)) {
-	    uip_arp_arpin(&vnet->sk_dev);
-
-	    // If the above function invocation resulted in data that should be
-	    // sent out on the network, the field  d_len will set to a value > 0.
-	    if (vnet->sk_dev.d_len > 0) {
-		vnet_transmit(vnet);
-	    }
-	}
+			{
+				uip_arp_ipin(&vnet->sk_dev);
+				uip_input(&vnet->sk_dev);
+
+				// If the above function invocation resulted in data that should be
+				// sent out on the network, the field  d_len will set to a value > 0.
+				if (vnet->sk_dev.d_len > 0) {
+					uip_arp_out(&vnet->sk_dev);
+					vnet_transmit(vnet);
+				}
+			}
+			else if (BUF->type == htons(UIP_ETHTYPE_ARP)) {
+				uip_arp_arpin(&vnet->sk_dev);
+
+				// If the above function invocation resulted in data that should be
+				// sent out on the network, the field  d_len will set to a value > 0.
+				if (vnet->sk_dev.d_len > 0) {
+					vnet_transmit(vnet);
+				}
+			}
     }
     while (0); /* While there are more packets to be processed */
 }
@@ -336,17 +335,17 @@ void rtos_vnet_recv(struct rgmp_vnet *vnet_dummy, char *data, int len)
 
 static void vnet_txdone(FAR struct vnet_driver_s *vnet)
 {
-  /* Check for errors and update statistics */
+	/* Check for errors and update statistics */
 
-  /* If no further xmits are pending, then cancel the TX timeout and
-   * disable further Tx interrupts.
-   */
+	/* If no further xmits are pending, then cancel the TX timeout and
+	 * disable further Tx interrupts.
+	 */
 
-  //wd_cancel(vnet->sk_txtimeout);
+	//wd_cancel(vnet->sk_txtimeout);
 
-  /* Then poll uIP for new XMIT data */
+	/* Then poll uIP for new XMIT data */
 
-  (void)uip_poll(&vnet->sk_dev, vnet_uiptxpoll);
+	(void)uip_poll(&vnet->sk_dev, vnet_uiptxpoll);
 }
 
 /****************************************************************************
@@ -370,15 +369,15 @@ static void vnet_txdone(FAR struct vnet_driver_s *vnet)
 
 static void vnet_txtimeout(int argc, uint32_t arg, ...)
 {
-  FAR struct vnet_driver_s *vnet = (FAR struct vnet_driver_s *)arg;
+	FAR struct vnet_driver_s *vnet = (FAR struct vnet_driver_s *)arg;
 
-  /* Increment statistics and dump debug info */
+	/* Increment statistics and dump debug info */
 
-  /* Then reset the hardware */
+	/* Then reset the hardware */
 
-  /* Then poll uIP for new XMIT data */
+	/* Then poll uIP for new XMIT data */
 
-  (void)uip_poll(&vnet->sk_dev, vnet_uiptxpoll);
+	(void)uip_poll(&vnet->sk_dev, vnet_uiptxpoll);
 }
 
 /****************************************************************************
@@ -401,28 +400,28 @@ static void vnet_txtimeout(int argc, uint32_t arg, ...)
 
 static void vnet_polltimer(int argc, uint32_t arg, ...)
 {
-  FAR struct vnet_driver_s *vnet = (FAR struct vnet_driver_s *)arg;
+	FAR struct vnet_driver_s *vnet = (FAR struct vnet_driver_s *)arg;
 
-  /* Check if there is room in the send another TX packet.  We cannot perform
-   * the TX poll if he are unable to accept another packet for transmission.
-   */
-  if (vnet_is_txbuff_full(vnet->vnet)) {
+	/* Check if there is room in the send another TX packet.  We cannot perform
+	 * the TX poll if he are unable to accept another packet for transmission.
+	 */
+	if (vnet_is_txbuff_full(vnet->vnet)) {
 #ifdef CONFIG_DEBUG
-      cprintf("VNET: TX buffer is full\n");
+		cprintf("VNET: TX buffer is full\n");
 #endif
-      return;
-  }
+		return;
+	}
 
-  /* If so, update TCP timing states and poll uIP for new XMIT data. Hmmm..
-   * might be bug here.  Does this mean if there is a transmit in progress,
-   * we will missing TCP time state updates?
-   */
+	/* If so, update TCP timing states and poll uIP for new XMIT data. Hmmm..
+	 * might be bug here.  Does this mean if there is a transmit in progress,
+	 * we will missing TCP time state updates?
+	 */
 
-  (void)uip_timer(&vnet->sk_dev, vnet_uiptxpoll, VNET_POLLHSEC);
+	(void)uip_timer(&vnet->sk_dev, vnet_uiptxpoll, VNET_POLLHSEC);
 
-  /* Setup the watchdog poll timer again */
+	/* Setup the watchdog poll timer again */
 
-  (void)wd_start(vnet->sk_txpoll, VNET_WDDELAY, vnet_polltimer, 1, arg);
+	(void)wd_start(vnet->sk_txpoll, VNET_WDDELAY, vnet_polltimer, 1, arg);
 }
 
 /****************************************************************************
@@ -444,20 +443,20 @@ static void vnet_polltimer(int argc, uint32_t arg, ...)
 
 static int vnet_ifup(struct uip_driver_s *dev)
 {
-  FAR struct vnet_driver_s *vnet = (FAR struct vnet_driver_s *)dev->d_private;
+	FAR struct vnet_driver_s *vnet = (FAR struct vnet_driver_s *)dev->d_private;
 
-  ndbg("Bringing up: %d.%d.%d.%d\n",
-       dev->d_ipaddr & 0xff, (dev->d_ipaddr >> 8) & 0xff,
-       (dev->d_ipaddr >> 16) & 0xff, dev->d_ipaddr >> 24 );
+	ndbg("Bringing up: %d.%d.%d.%d\n",
+		 dev->d_ipaddr & 0xff, (dev->d_ipaddr >> 8) & 0xff,
+		 (dev->d_ipaddr >> 16) & 0xff, dev->d_ipaddr >> 24 );
 
-  /* Initialize PHYs, the Ethernet interface, and setup up Ethernet interrupts */
+	/* Initialize PHYs, the Ethernet interface, and setup up Ethernet interrupts */
 
-  /* Set and activate a timer process */
+	/* Set and activate a timer process */
 
-  (void)wd_start(vnet->sk_txpoll, VNET_WDDELAY, vnet_polltimer, 1, (uint32_t)vnet);
+	(void)wd_start(vnet->sk_txpoll, VNET_WDDELAY, vnet_polltimer, 1, (uint32_t)vnet);
 
-  vnet->sk_bifup = true;
-  return OK;
+	vnet->sk_bifup = true;
+	return OK;
 }
 
 /****************************************************************************
@@ -478,28 +477,28 @@ static int vnet_ifup(struct uip_driver_s *dev)
 
 static int vnet_ifdown(struct uip_driver_s *dev)
 {
-  FAR struct vnet_driver_s *vnet = (FAR struct vnet_driver_s *)dev->d_private;
-  irqstate_t flags;
+	FAR struct vnet_driver_s *vnet = (FAR struct vnet_driver_s *)dev->d_private;
+	irqstate_t flags;
 
-  /* Disable the Ethernet interrupt */
+	/* Disable the Ethernet interrupt */
 
-  flags = irqsave();
+	flags = irqsave();
 
-  /* Cancel the TX poll timer and TX timeout timers */
+	/* Cancel the TX poll timer and TX timeout timers */
 
-  wd_cancel(vnet->sk_txpoll);
-  //wd_cancel(vnet->sk_txtimeout);
+	wd_cancel(vnet->sk_txpoll);
+	//wd_cancel(vnet->sk_txtimeout);
 
-  /* Put the the EMAC is its reset, non-operational state.  This should be
-   * a known configuration that will guarantee the vnet_ifup() always
-   * successfully brings the interface back up.
-   */
+	/* Put the the EMAC is its reset, non-operational state.  This should be
+	 * a known configuration that will guarantee the vnet_ifup() always
+	 * successfully brings the interface back up.
+	 */
 
-  /* Mark the device "down" */
+	/* Mark the device "down" */
 
-  vnet->sk_bifup = false;
-  irqrestore(flags);
-  return OK;
+	vnet->sk_bifup = false;
+	irqrestore(flags);
+	return OK;
 }
 
 /****************************************************************************
@@ -523,35 +522,35 @@ static int vnet_ifdown(struct uip_driver_s *dev)
 
 static int vnet_txavail(struct uip_driver_s *dev)
 {
-  FAR struct vnet_driver_s *vnet = (FAR struct vnet_driver_s *)dev->d_private;
-  irqstate_t flags;
+	FAR struct vnet_driver_s *vnet = (FAR struct vnet_driver_s *)dev->d_private;
+	irqstate_t flags;
 
-  /* Disable interrupts because this function may be called from interrupt
-   * level processing.
-   */
+	/* Disable interrupts because this function may be called from interrupt
+	 * level processing.
+	 */
 
-  flags = irqsave();
+	flags = irqsave();
 
-  /* Ignore the notification if the interface is not yet up */
+	/* Ignore the notification if the interface is not yet up */
 
-  if (vnet->sk_bifup)
+	if (vnet->sk_bifup)
     {
-      /* Check if there is room in the hardware to hold another outgoing packet. */
-	if (vnet_is_txbuff_full(vnet->vnet)) {
+		/* Check if there is room in the hardware to hold another outgoing packet. */
+		if (vnet_is_txbuff_full(vnet->vnet)) {
 #ifdef CONFIG_DEBUG
-	    cprintf("VNET: TX buffer is full\n");
+			cprintf("VNET: TX buffer is full\n");
 #endif
-	    goto out;
-	}
+			goto out;
+		}
 
-      /* If so, then poll uIP for new XMIT data */
+		/* If so, then poll uIP for new XMIT data */
 
-      (void)uip_poll(&vnet->sk_dev, vnet_uiptxpoll);
+		(void)uip_poll(&vnet->sk_dev, vnet_uiptxpoll);
     }
 
- out:
-  irqrestore(flags);
-  return OK;
+out:
+	irqrestore(flags);
+	return OK;
 }
 
 /****************************************************************************
@@ -575,11 +574,11 @@ static int vnet_txavail(struct uip_driver_s *dev)
 #ifdef CONFIG_NET_IGMP
 static int vnet_addmac(struct uip_driver_s *dev, FAR const uint8_t *mac)
 {
-  FAR struct vnet_driver_s *vnet = (FAR struct vnet_driver_s *)dev->d_private;
+	FAR struct vnet_driver_s *vnet = (FAR struct vnet_driver_s *)dev->d_private;
 
-  /* Add the MAC address to the hardware multicast routing table */
+	/* Add the MAC address to the hardware multicast routing table */
 
-  return OK;
+	return OK;
 }
 #endif
 
@@ -604,11 +603,11 @@ static int vnet_addmac(struct uip_driver_s *dev, FAR const uint8_t *mac)
 #ifdef CONFIG_NET_IGMP
 static int vnet_rmmac(struct uip_driver_s *dev, FAR const uint8_t *mac)
 {
-  FAR struct vnet_driver_s *vnet = (FAR struct vnet_driver_s *)dev->d_private;
+	FAR struct vnet_driver_s *vnet = (FAR struct vnet_driver_s *)dev->d_private;
 
-  /* Add the MAC address to the hardware multicast routing table */
+	/* Add the MAC address to the hardware multicast routing table */
 
-  return OK;
+	return OK;
 }
 #endif
 
@@ -633,41 +632,41 @@ static int vnet_rmmac(struct uip_driver_s *dev, FAR const uint8_t *mac)
  *
  ****************************************************************************/
 
-void vnet_initialize(void)
+int vnet_init(struct rgmp_vnet *vnet)
 {
-  struct vnet_driver_s *priv;
-  struct rgmp_vnet *vnet = vnet_list.next;
-  int i;
+	struct vnet_driver_s *priv;
+	static int i = 0;
 
-  for (i=0; i<CONFIG_VNET_NINTERFACES; i++) {
-      if (vnet == NULL)
-	  break;
-      priv = &g_vnet[i];
+	if (i >= CONFIG_VNET_NINTERFACES)
+		return -1;
 
-      /* Initialize the driver structure */
+	priv = &g_vnet[i++];
 
-      memset(priv, 0, sizeof(struct vnet_driver_s));
-      priv->sk_dev.d_ifup    = vnet_ifup;     /* I/F down callback */
-      priv->sk_dev.d_ifdown  = vnet_ifdown;   /* I/F up (new IP address) callback */
-      priv->sk_dev.d_txavail = vnet_txavail;  /* New TX data callback */
+	/* Initialize the driver structure */
+
+	memset(priv, 0, sizeof(struct vnet_driver_s));
+	priv->sk_dev.d_ifup    = vnet_ifup;     /* I/F down callback */
+	priv->sk_dev.d_ifdown  = vnet_ifdown;   /* I/F up (new IP address) callback */
+	priv->sk_dev.d_txavail = vnet_txavail;  /* New TX data callback */
 #ifdef CONFIG_NET_IGMP
-      priv->sk_dev.d_addmac  = vnet_addmac;   /* Add multicast MAC address */
-      priv->sk_dev.d_rmmac   = vnet_rmmac;    /* Remove multicast MAC address */
+	priv->sk_dev.d_addmac  = vnet_addmac;   /* Add multicast MAC address */
+	priv->sk_dev.d_rmmac   = vnet_rmmac;    /* Remove multicast MAC address */
 #endif
-      priv->sk_dev.d_private = (void*)g_vnet; /* Used to recover private state from dev */
+	priv->sk_dev.d_private = (void*)priv;   /* Used to recover private state from dev */
+
+	/* Create a watchdog for timing polling for and timing of transmisstions */
 
-      /* Create a watchdog for timing polling for and timing of transmisstions */
+	priv->sk_txpoll       = wd_create();    /* Create periodic poll timer */
+	//priv->sk_txtimeout    = wd_create();   /* Create TX timeout timer */
 
-      priv->sk_txpoll       = wd_create();   /* Create periodic poll timer */
-      //priv->sk_txtimeout    = wd_create();   /* Create TX timeout timer */
+	priv->vnet = vnet;
+	vnet->priv = priv;
 
-      priv->vnet = vnet;
+	/* Register the device with the OS */
 
-      /* Register the device with the OS */
+	(void)netdev_register(&priv->sk_dev);
 
-      (void)netdev_register(&priv->sk_dev);
-      vnet = vnet->next;
-  }
+	return 0;
 }
 
 #endif /* CONFIG_NET && CONFIG_NET_VNET */
diff --git a/nuttx/drivers/power/Make.defs b/nuttx/drivers/power/Make.defs
index 45c6aebc3..e3452120d 100644
--- a/nuttx/drivers/power/Make.defs
+++ b/nuttx/drivers/power/Make.defs
@@ -47,7 +47,7 @@ CSRCS += pm_activity.c pm_changestate.c pm_checkstate.c pm_initialize.c pm_regis
 
 POWER_DEPPATH := --dep-path power
 POWER_VPATH := :power
-POWER_CFLAGS := ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/power}
+POWER_CFLAGS := ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)power}
 
 endif
 
@@ -73,7 +73,7 @@ endif
 
 POWER_DEPPATH := --dep-path power
 POWER_VPATH := :power
-POWER_CFLAGS := ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/power}
+POWER_CFLAGS := ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)power}
 
 endif
 
diff --git a/nuttx/drivers/sensors/Make.defs b/nuttx/drivers/sensors/Make.defs
index 866ccb053..1713edb99 100644
--- a/nuttx/drivers/sensors/Make.defs
+++ b/nuttx/drivers/sensors/Make.defs
@@ -1,7 +1,7 @@
 ############################################################################
 # drivers/sensors/Make.defs
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -57,4 +57,4 @@ endif
 
 DEPPATH += --dep-path sensors
 VPATH += :sensors
-CFLAGS += ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/sensors}
+CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)sensors}
diff --git a/nuttx/drivers/serial/Kconfig b/nuttx/drivers/serial/Kconfig
index 43869fdec..a1e0dff49 100644
--- a/nuttx/drivers/serial/Kconfig
+++ b/nuttx/drivers/serial/Kconfig
@@ -3,10 +3,12 @@
 # see misc/tools/kconfig-language.txt.
 #
 
-config LOWLEVEL_CONSOLE
+config DEV_LOWCONSOLE
 	bool "Low-level console support"
 	default n
 	depends on ARCH_LOWPUTC
+	---help---
+		Use the simple, low-level, write-only serial console driver (minimal support)
 
 config 16550_UART
 	bool "16550 UART Chip support"
@@ -317,7 +319,7 @@ config STANDARD_SERIAL
 	bool "Enable standard \"upper-half\" serial driver"
 	default y if MCU_SERIAL
 	default n if !MCU_SERIAL
-	depends on !LOWLEVEL_CONSOLE
+	depends on !DEV_LOWCONSOLE
 	---help---
 		Enable the standard, upper-half serial driver used by most MCU serial peripherals.
 
@@ -422,7 +424,7 @@ config UART_TXBUFSIZE
 
 config UART_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the UART.
 
@@ -465,7 +467,7 @@ config UART0_TXBUFSIZE
 
 config UART0_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the UART.
 
@@ -508,7 +510,7 @@ config USART0_TXBUFSIZE
 
 config USART0_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the USART.
 
@@ -551,7 +553,7 @@ config UART1_TXBUFSIZE
 
 config UART1_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the UART.
 
@@ -594,7 +596,7 @@ config USART1_TXBUFSIZE
 
 config USART1_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the USART.
 
@@ -637,7 +639,7 @@ config UART2_TXBUFSIZE
 
 config UART2_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the UART.
 
@@ -680,7 +682,7 @@ config USART2_TXBUFSIZE
 
 config USART2_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the USART.
 
@@ -723,7 +725,7 @@ config UART3_TXBUFSIZE
 
 config UART3_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the UART.
 
@@ -766,7 +768,7 @@ config USART3_TXBUFSIZE
 
 config USART3_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the USART.
 
@@ -809,7 +811,7 @@ config UART4_TXBUFSIZE
 
 config UART4_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the UART.
 
@@ -852,7 +854,7 @@ config USART4_TXBUFSIZE
 
 config USART4_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the USART.
 
@@ -895,7 +897,7 @@ config UART5_TXBUFSIZE
 
 config UART5_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the UART.
 
@@ -938,7 +940,7 @@ config USART5_TXBUFSIZE
 
 config USART5_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the USART.
 
@@ -981,7 +983,7 @@ config USART6_TXBUFSIZE
 
 config USART6_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the USART.
 
@@ -1024,7 +1026,7 @@ config UART6_TXBUFSIZE
 
 config UART6_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the UART.
 
diff --git a/nuttx/drivers/serial/serial.c b/nuttx/drivers/serial/serial.c
index c650da5db..8987f01b8 100644
--- a/nuttx/drivers/serial/serial.c
+++ b/nuttx/drivers/serial/serial.c
@@ -233,7 +233,9 @@ static int uart_putxmitchar(FAR uart_dev_t *dev, int ch)
         }
     }
 
-  /* We won't get here */
+  /* We won't get here.  Some compilers may complain that this code is
+   * unreachable.
+   */
 
   return OK;
 }
@@ -252,7 +254,7 @@ static inline ssize_t uart_irqwrite(FAR uart_dev_t *dev, FAR const char *buffer,
     {
       int ch = *buffer++;
 
-      /* assume that this is console text output and always do \n -> \r\n conversion */
+     /* If this is the console, then we should replace LF with CR-LF */
 
       if (ch == '\n')
         {
@@ -660,9 +662,11 @@ static int uart_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
 
   int ret = dev->ops->ioctl(filep, cmd, arg);
 
-  /* Append any higher level TTY flags */
-
-  if (ret == OK)
+  /*
+   * The device ioctl() handler returns -ENOTTY when it doesn't know
+   * how to handle the command. Check if we can handle it here.
+   */
+  if (ret == -ENOTTY)
     {
       switch (cmd)
         {
@@ -686,8 +690,43 @@ static int uart_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
             irqrestore(state);
 
             *(int *)arg = count;
+            ret = 0;
+
+            break;
           }
 
+          case FIONWRITE:
+          {
+            int count;
+            irqstate_t state = irqsave();
+
+            /* determine the number of bytes free in the buffer */
+
+            if (dev->xmit.head < dev->xmit.tail)
+              { 
+                count = dev->xmit.tail - dev->xmit.head - 1;
+              }
+            else
+              {
+                count = dev->xmit.size - (dev->xmit.head - dev->xmit.tail) - 1;
+              }
+
+            irqrestore(state);
+
+            *(int *)arg = count;
+            ret = 0;
+
+            break;
+          }
+        }
+    }
+
+  /* Append any higher level TTY flags */
+
+  else if (ret == OK)
+    {
+      switch (cmd)
+        {
 #ifdef CONFIG_SERIAL_TERMIOS
           case TCGETS:
           {
diff --git a/nuttx/drivers/usbdev/Make.defs b/nuttx/drivers/usbdev/Make.defs
index f1b3c405a..e43693b29 100644
--- a/nuttx/drivers/usbdev/Make.defs
+++ b/nuttx/drivers/usbdev/Make.defs
@@ -59,5 +59,5 @@ CSRCS += usbdev_trace.c usbdev_trprintf.c
 
 DEPPATH += --dep-path usbdev
 VPATH += :usbdev
-CFLAGS += ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/usbdev}
+CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)usbdev}
 endif
diff --git a/nuttx/drivers/usbdev/pl2303.c b/nuttx/drivers/usbdev/pl2303.c
index 69bf87965..95f26c185 100644
--- a/nuttx/drivers/usbdev/pl2303.c
+++ b/nuttx/drivers/usbdev/pl2303.c
@@ -132,7 +132,7 @@
 /* USB Controller */
 
 #ifndef CONFIG_USBDEV_SELFPOWERED
-#  define SELFPOWERED USB_CONFIG_ATT_SELFPOWER
+#  define SELFPOWERED USB_CONFIG_ATTR_SELFPOWER
 #else
 #  define SELFPOWERED (0)
 #endif
diff --git a/nuttx/drivers/usbdev/usbmsc.h b/nuttx/drivers/usbdev/usbmsc.h
index 6a5530d9d..883a49951 100644
--- a/nuttx/drivers/usbdev/usbmsc.h
+++ b/nuttx/drivers/usbdev/usbmsc.h
@@ -227,7 +227,7 @@
 /* USB Controller */
 
 #ifndef CONFIG_USBDEV_SELFPOWERED
-#  define SELFPOWERED USB_CONFIG_ATT_SELFPOWER
+#  define SELFPOWERED USB_CONFIG_ATTR_SELFPOWER
 #else
 #  define SELFPOWERED (0)
 #endif
diff --git a/nuttx/drivers/usbhost/Make.defs b/nuttx/drivers/usbhost/Make.defs
index fd54ab53e..ebb522695 100644
--- a/nuttx/drivers/usbhost/Make.defs
+++ b/nuttx/drivers/usbhost/Make.defs
@@ -1,7 +1,7 @@
 ############################################################################
 # drivers/usbhost/Make.defs
 #
-#   Copyright (C) 2010-2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2010-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -45,7 +45,7 @@ CSRCS  += usbhost_enumerate.c usbhost_storage.c usbhost_hidkbd.c
 # Include add-on USB host driver logic (see misc/drivers)
 
 ifeq ($(CONFIG_NET),y)
-  RTL8187_CSRC  := ${shell if [ -f usbhost/rtl8187x.c ]; then echo "rtl8187x.c"; fi}
+  RTL8187_CSRC  := ${shell if [ -f usbhost$(DELIM)rtl8187x.c ]; then echo "rtl8187x.c"; fi}
   CSRCS += $(RTL8187_CSRC)
 endif
 endif
@@ -54,4 +54,4 @@ endif
 
 DEPPATH += --dep-path usbhost
 VPATH += :usbhost
-CFLAGS += ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/usbhost}
+CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)usbhost}
diff --git a/nuttx/drivers/wireless/Make.defs b/nuttx/drivers/wireless/Make.defs
index f47f7666a..fa8e8acb5 100644
--- a/nuttx/drivers/wireless/Make.defs
+++ b/nuttx/drivers/wireless/Make.defs
@@ -1,7 +1,7 @@
 ############################################################################
 # drivers/wireless/Make.defs
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -41,7 +41,7 @@ CSRCS += cc1101.c ISM1_868MHzGFSK100kbps.c ISM2_905MHzGFSK250kbps.c
 
 # Include wireless build support
 
-DEPPATH += --dep-path wireless/cc1101
-VPATH += :wireless/cc1101
-CFLAGS += ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/wireless/cc1101}
+DEPPATH += --dep-path wireless$(DELIM)cc1101
+VPATH += :wireless$(DELIM)cc1101
+CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)wireless$(DELIM)cc1101}
 endif
diff --git a/nuttx/fs/Makefile b/nuttx/fs/Makefile
index ce952e06f..6955c164b 100644
--- a/nuttx/fs/Makefile
+++ b/nuttx/fs/Makefile
@@ -120,25 +120,21 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 $(BIN):	$(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $@, $${obj}); \
-	done ; )
+	$(call ARCHIVE, $@, $(OBJS))
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) --dep-path . $(MMAPDEPPATH) $(FATDEPPATH) $(ROMFSDEPPATH) $(NXFFSDEPPATH) $(NFSDEPPATH) \
-		$(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
+	$(Q) $(MKDEP) --dep-path . $(MMAPDEPPATH) $(FATDEPPATH) $(ROMFSDEPPATH) $(NXFFSDEPPATH) $(NFSDEPPATH) \
+		"$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
 
 depend: .depend
 
 clean:
-	@rm -f $(BIN) *~ .*.swp
+	$(call DELFILE, $(BIN))
 	$(call CLEAN)
-	@( for dir in $(SUBDIRS); do \
-		rm -f $${dir}/*~ $${dir}/.*.swp; \
-	done ; )
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/nuttx/fs/fs_stat.c b/nuttx/fs/fs_stat.c
index cf27e87a6..4df25028f 100644
--- a/nuttx/fs/fs_stat.c
+++ b/nuttx/fs/fs_stat.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * fs/fs_stat.c
  *
- *   Copyright (C) 2007-2009 , 2012Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007-2009, 2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -122,7 +122,8 @@ static inline int statroot(FAR struct stat *buf)
 /****************************************************************************
  * Name: stat
  *
- * Return: Zero on success; -1 on failure with errno set:
+ * Returned Value:
+ *   Zero on success; -1 on failure with errno set:
  *
  *   EACCES  Search permission is denied for one of the directories in the
  *           path prefix of path.
@@ -134,7 +135,7 @@ static inline int statroot(FAR struct stat *buf)
  *
  ****************************************************************************/
 
-int stat(const char *path, FAR struct stat *buf)
+int stat(FAR const char *path, FAR struct stat *buf)
 {
   FAR struct inode *inode;
   const char       *relpath = NULL;
diff --git a/nuttx/graphics/Makefile b/nuttx/graphics/Makefile
index 6e549c1dd..238e14df4 100644
--- a/nuttx/graphics/Makefile
+++ b/nuttx/graphics/Makefile
@@ -33,7 +33,6 @@
 #
 ############################################################################
 
--include $(TOPDIR)/.config
 -include $(TOPDIR)/Make.defs
 
 DEPPATH		= --dep-path .
@@ -44,34 +43,34 @@ endif
 
 include nxglib/Make.defs
 DEPPATH		+= --dep-path nxglib
-CFLAGS		+= ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/graphics/nxglib}
+CFLAGS		+= ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)/graphics/nxglib}
 
 include nxbe/Make.defs
 DEPPATH		+= --dep-path nxbe
-CFLAGS		+= ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/graphics/nxbe}
+CFLAGS		+= ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)/graphics/nxbe}
 
 ifeq ($(CONFIG_NX_MULTIUSER),y)
 include nxmu/Make.defs
 DEPPATH		+= --dep-path nxmu
-CFLAGS		+= ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/graphics/nxmu}
+CFLAGS		+= ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)/graphics/nxmu}
 else
 include nxsu/Make.defs
 DEPPATH		+= --dep-path nxsu
-CFLAGS		+= ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/graphics/nxsu}
+CFLAGS		+= ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)/graphics/nxsu}
 endif
 
 include nxtk/Make.defs
 DEPPATH		+= --dep-path nxtk
-CFLAGS		+= ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/graphics/nxtk}
+CFLAGS		+= ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)/graphics/nxtk}
 
 include nxfonts/Make.defs
 DEPPATH		+= --dep-path nxfonts
-CFLAGS		+= ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/graphics/nxfonts}
+CFLAGS		+= ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)/graphics/nxfonts}
 
 ifeq ($(CONFIG_NXCONSOLE),y)
 include nxconsole/Make.defs
 DEPPATH		+= --dep-path nxconsole
-CFLAGS		+= ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/graphics/nxconsole}
+CFLAGS		+= ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)/graphics/nxconsole}
 endif
 
 ASRCS		= $(NXGLIB_ASRCS) $(NXBE_ASRCS) $(NX_ASRCS) $(NXTK_ASRCS) $(NXFONTS_ASRCS) $(NXCON_ASRCS)
@@ -97,84 +96,84 @@ all:	mklibgraphics
 	 gen32bppsources genfontsources
 
 gen1bppsources:
-	@$(MAKE) -C nxglib -f Makefile.sources TOPDIR=$(TOPDIR) NXGLIB_BITSPERPIXEL=1 EXTRADEFINES=$(EXTRADEFINES)
-	@$(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_BITSPERPIXEL=1 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxglib -f Makefile.sources TOPDIR=$(TOPDIR) NXGLIB_BITSPERPIXEL=1 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_BITSPERPIXEL=1 EXTRADEFINES=$(EXTRADEFINES)
 
 gen2bppsource:
-	@$(MAKE) -C nxglib -f Makefile.sources TOPDIR=$(TOPDIR) NXGLIB_BITSPERPIXEL=2 EXTRADEFINES=$(EXTRADEFINES)
-	@$(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_BITSPERPIXEL=2 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxglib -f Makefile.sources TOPDIR=$(TOPDIR) NXGLIB_BITSPERPIXEL=2 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_BITSPERPIXEL=2 EXTRADEFINES=$(EXTRADEFINES)
 
 gen4bppsource:
-	@$(MAKE) -C nxglib -f Makefile.sources TOPDIR=$(TOPDIR) NXGLIB_BITSPERPIXEL=4 EXTRADEFINES=$(EXTRADEFINES)
-	@$(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_BITSPERPIXEL=4 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxglib -f Makefile.sources TOPDIR=$(TOPDIR) NXGLIB_BITSPERPIXEL=4 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_BITSPERPIXEL=4 EXTRADEFINES=$(EXTRADEFINES)
 
 gen8bppsource:
-	@$(MAKE) -C nxglib -f Makefile.sources TOPDIR=$(TOPDIR) NXGLIB_BITSPERPIXEL=8 EXTRADEFINES=$(EXTRADEFINES)
-	@$(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_BITSPERPIXEL=8 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxglib -f Makefile.sources TOPDIR=$(TOPDIR) NXGLIB_BITSPERPIXEL=8 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_BITSPERPIXEL=8 EXTRADEFINES=$(EXTRADEFINES)
 
 gen16bppsource:
-	@$(MAKE) -C nxglib -f Makefile.sources TOPDIR=$(TOPDIR) NXGLIB_BITSPERPIXEL=16 EXTRADEFINES=$(EXTRADEFINES)
-	@$(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_BITSPERPIXEL=16 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxglib -f Makefile.sources TOPDIR=$(TOPDIR) NXGLIB_BITSPERPIXEL=16 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_BITSPERPIXEL=16 EXTRADEFINES=$(EXTRADEFINES)
 
 gen24bppsource:
-	@$(MAKE) -C nxglib -f Makefile.sources TOPDIR=$(TOPDIR) NXGLIB_BITSPERPIXEL=24 EXTRADEFINES=$(EXTRADEFINES)
-	@$(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_BITSPERPIXEL=24 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxglib -f Makefile.sources TOPDIR=$(TOPDIR) NXGLIB_BITSPERPIXEL=24 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_BITSPERPIXEL=24 EXTRADEFINES=$(EXTRADEFINES)
 
 gen32bppsources:
-	@$(MAKE) -C nxglib -f Makefile.sources TOPDIR=$(TOPDIR) NXGLIB_BITSPERPIXEL=32 EXTRADEFINES=$(EXTRADEFINES)
-	@$(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_BITSPERPIXEL=32 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxglib -f Makefile.sources TOPDIR=$(TOPDIR) NXGLIB_BITSPERPIXEL=32 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_BITSPERPIXEL=32 EXTRADEFINES=$(EXTRADEFINES)
 
 genfontsources:
 ifeq ($(CONFIG_NXFONT_SANS23X27),y)
-	@$(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=1 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=1 EXTRADEFINES=$(EXTRADEFINES)
 endif
 ifeq ($(CONFIG_NXFONT_SANS22X29),y)
-	@$(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=2 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=2 EXTRADEFINES=$(EXTRADEFINES)
 endif
 ifeq ($(CONFIG_NXFONT_SANS28X37),y)
-	@$(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=3 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=3 EXTRADEFINES=$(EXTRADEFINES)
 endif
 ifeq ($(CONFIG_NXFONT_SANS39X48),y)
-	@$(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=4 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=4 EXTRADEFINES=$(EXTRADEFINES)
 endif
 ifeq ($(CONFIG_NXFONT_SANS17X23B),y)
-	@$(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=16 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=16 EXTRADEFINES=$(EXTRADEFINES)
 endif
 ifeq ($(CONFIG_NXFONT_SANS20X27B),y)
-	@$(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=17 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=17 EXTRADEFINES=$(EXTRADEFINES)
 endif
 ifeq ($(CONFIG_NXFONT_SANS22X29B),y)
-	@$(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=5 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=5 EXTRADEFINES=$(EXTRADEFINES)
 endif
 ifeq ($(CONFIG_NXFONT_SANS28X37B),y)
-	@$(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=6 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=6 EXTRADEFINES=$(EXTRADEFINES)
 endif
 ifeq ($(CONFIG_NXFONT_SANS40X49B),y)
-	@$(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=7 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=7 EXTRADEFINES=$(EXTRADEFINES)
 endif
 ifeq ($(CONFIG_NXFONT_SERIF22X29),y)
-	@$(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=8 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=8 EXTRADEFINES=$(EXTRADEFINES)
 endif
 ifeq ($(CONFIG_NXFONT_SERIF29X37),y)
-	@$(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=9 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=9 EXTRADEFINES=$(EXTRADEFINES)
 endif
 ifeq ($(CONFIG_NXFONT_SERIF38X48),y)
-	@$(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=10 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=10 EXTRADEFINES=$(EXTRADEFINES)
 endif
 ifeq ($(CONFIG_NXFONT_SERIF22X28B),y)
-	@$(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=11 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=11 EXTRADEFINES=$(EXTRADEFINES)
 endif
 ifeq ($(CONFIG_NXFONT_SERIF27X38B),y)
-	@$(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=12 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=12 EXTRADEFINES=$(EXTRADEFINES)
 endif
 ifeq ($(CONFIG_NXFONT_SERIF38X49B),y)
-	@$(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=13 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=13 EXTRADEFINES=$(EXTRADEFINES)
 endif
 ifeq ($(CONFIG_NXFONT_SANS17X22),y)
-	@$(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=14 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=14 EXTRADEFINES=$(EXTRADEFINES)
 endif
 ifeq ($(CONFIG_NXFONT_SANS20X26),y)
-	@$(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=15 EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources TOPDIR=$(TOPDIR) NXFONTS_FONTID=15 EXTRADEFINES=$(EXTRADEFINES)
 endif
 
 gensources: gen1bppsources gen2bppsource gen4bppsource gen8bppsource gen16bppsource gen24bppsource gen32bppsources genfontsources
@@ -186,30 +185,29 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 $(BIN): $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $@, $${obj}); \
-	done ; )
+	$(call ARCHIVE, $@, $(OBJS))
 
 mklibgraphics: gensources $(BIN)
 
 .depend: gensources Makefile $(SRCS)
-	@$(MKDEP) $(DEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
+	$(Q) $(MKDEP) $(DEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
 
 depend: .depend
 
 context: gensources
 
 clean:
-	@$(MAKE) -C nxglib -f Makefile.sources clean TOPDIR=$(TOPDIR) EXTRADEFINES=$(EXTRADEFINES)
-	@$(MAKE) -C nxfonts -f Makefile.sources clean TOPDIR=$(TOPDIR) EXTRADEFINES=$(EXTRADEFINES)
-	@rm -f $(BIN) *~ .*.swp
+	$(Q) $(MAKE) -C nxglib -f Makefile.sources clean TOPDIR=$(TOPDIR) EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources clean TOPDIR=$(TOPDIR) EXTRADEFINES=$(EXTRADEFINES)
+	$(call DELFILE, $(BIN))
 	$(call CLEAN)
 
 distclean: clean
-	@$(MAKE) -C nxglib -f Makefile.sources distclean TOPDIR=$(TOPDIR) EXTRADEFINES=$(EXTRADEFINES)
-	@$(MAKE) -C nxfonts -f Makefile.sources distclean TOPDIR=$(TOPDIR) EXTRADEFINES=$(EXTRADEFINES)
-	@rm -f Make.dep .depend
+	$(Q) $(MAKE) -C nxglib -f Makefile.sources distclean TOPDIR=$(TOPDIR) EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) $(MAKE) -C nxfonts -f Makefile.sources distclean TOPDIR=$(TOPDIR) EXTRADEFINES=$(EXTRADEFINES)
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
 
diff --git a/nuttx/graphics/nxfonts/Makefile.sources b/nuttx/graphics/nxfonts/Makefile.sources
index f2aa87caf..76a099dcb 100644
--- a/nuttx/graphics/nxfonts/Makefile.sources
+++ b/nuttx/graphics/nxfonts/Makefile.sources
@@ -33,7 +33,6 @@
 #
 ############################################################################
 
--include $(TOPDIR)/.config
 -include $(TOPDIR)/Make.defs
 
 ifdef NXFONTS_BITSPERPIXEL
@@ -177,13 +176,14 @@ all:	$(GEN_CSRC)
 .PHONY : clean distclean
 
 $(GEN_CSRC) : $(DEPENDENCY)
-	@$(call PREPROCESS, $<, $(GEN_TMP))
-	@cat $(GEN_TMP) | sed -e "/^#/d" >$@
-	@rm -f  $(GEN_TMP)
+	$(call PREPROCESS, $<, $(GEN_TMP))
+	$(Q) cat $(GEN_TMP) | sed -e "/^#/d" >$@
+	$(Q) rm -f  $(GEN_TMP)
 
 clean:
-	@rm -f *~ .*.swp *.i
+	$(call DELFILE, *.i)
+	$(call CLEAN)
 
 distclean: clean
-	@rm -f nxfonts_convert_*bpp.c
-	@rm -f nxfonts_bitmaps_*.c
+	$(call DELFILE, nxfonts_convert_*bpp.c)
+	$(call DELFILE, nxfonts_bitmaps_*.c)
diff --git a/nuttx/graphics/nxglib/Makefile.sources b/nuttx/graphics/nxglib/Makefile.sources
index 67f8defc3..71d6e0661 100644
--- a/nuttx/graphics/nxglib/Makefile.sources
+++ b/nuttx/graphics/nxglib/Makefile.sources
@@ -33,7 +33,6 @@
 #
 ############################################################################
 
--include $(TOPDIR)/.config
 -include $(TOPDIR)/Make.defs
 
 ifeq ($(NXGLIB_BITSPERPIXEL),1)
@@ -123,53 +122,54 @@ all:	$(GEN_CSRCS)
 
 $(SETP_CSRC) : $(BLITDIR)/nxglib_setpixel.c nxglib_bitblit.h
 ifneq ($(NXGLIB_BITSPERPIXEL),)
-	@$(call PREPROCESS, $(BLITDIR)/nxglib_setpixel.c, $(SETP_TMP))
-	@cat $(SETP_TMP) | sed -e "/^#/d" >$@
-	@rm -f  $(SETP_TMP)
+	$(call PREPROCESS, $(BLITDIR)/nxglib_setpixel.c, $(SETP_TMP))
+	$(Q) cat $(SETP_TMP) | sed -e "/^#/d" >$@
+	$(Q) rm -f  $(SETP_TMP)
 endif
 
 $(RFILL_CSRC) : $(BLITDIR)/nxglib_fillrectangle.c nxglib_bitblit.h
 ifneq ($(NXGLIB_BITSPERPIXEL),)
-	@$(call PREPROCESS, $(BLITDIR)/nxglib_fillrectangle.c, $(RFILL_TMP))
-	@cat $(RFILL_TMP) | sed -e "/^#/d" >$@
-	@rm -f  $(RFILL_TMP)
+	$(call PREPROCESS, $(BLITDIR)/nxglib_fillrectangle.c, $(RFILL_TMP))
+	$(Q) cat $(RFILL_TMP) | sed -e "/^#/d" >$@
+	$(Q) rm -f  $(RFILL_TMP)
 endif
 
 $(RGET_CSRC) : $(BLITDIR)/nxglib_getrectangle.c nxglib_bitblit.h
 ifneq ($(NXGLIB_BITSPERPIXEL),)
-	@$(call PREPROCESS, $(BLITDIR)/nxglib_getrectangle.c, $(RGET_TMP))
-	@cat $(RGET_TMP) | sed -e "/^#/d" >$@
-	@rm -f  $(RGET_TMP)
+	$(call PREPROCESS, $(BLITDIR)/nxglib_getrectangle.c, $(RGET_TMP))
+	$(Q) cat $(RGET_TMP) | sed -e "/^#/d" >$@
+	$(Q) rm -f  $(RGET_TMP)
 endif
 
 $(TFILL_CSRC) : $(BLITDIR)/nxglib_filltrapezoid.c nxglib_bitblit.h
 ifneq ($(NXGLIB_BITSPERPIXEL),)
-	@$(call PREPROCESS, $(BLITDIR)/nxglib_filltrapezoid.c, $(TFILL_TMP))
-	@cat $(TFILL_TMP) | sed -e "/^#/d" >$@
-	@rm -f  $(TFILL_TMP)
+	$(call PREPROCESS, $(BLITDIR)/nxglib_filltrapezoid.c, $(TFILL_TMP))
+	$(Q) cat $(TFILL_TMP) | sed -e "/^#/d" >$@
+	$(Q) rm -f  $(TFILL_TMP)
 endif
 
 $(RMOVE_CSRC) : $(BLITDIR)/nxglib_moverectangle.c nxglib_bitblit.h
 ifneq ($(NXGLIB_BITSPERPIXEL),)
-	@$(call PREPROCESS, $(BLITDIR)/nxglib_moverectangle.c, $(RMOVE_TMP))
-	@cat $(RMOVE_TMP) | sed -e "/^#/d" >$@
-	@rm -f  $(RMOVE_TMP)
+	$(call PREPROCESS, $(BLITDIR)/nxglib_moverectangle.c, $(RMOVE_TMP))
+	$(Q) cat $(RMOVE_TMP) | sed -e "/^#/d" >$@
+	$(Q) rm -f  $(RMOVE_TMP)
 endif
 
 $(RCOPY_CSRC) : $(BLITDIR)/nxglib_copyrectangle.c nxglib_bitblit.h
 ifneq ($(NXGLIB_BITSPERPIXEL),)
-	@$(call PREPROCESS, $(BLITDIR)/nxglib_copyrectangle.c, $(RCOPY_TMP))
-	@cat $(RCOPY_TMP) | sed -e "/^#/d" >$@
-	@rm -f  $(RCOPY_TMP)
+	$(call PREPROCESS, $(BLITDIR)/nxglib_copyrectangle.c, $(RCOPY_TMP))
+	$(Q) cat $(RCOPY_TMP) | sed -e "/^#/d" >$@
+	$(Q) rm -f  $(RCOPY_TMP)
 endif
 
 clean:
-	@rm -f *~ .*.swp *.i
+	$(call DELFILE, *.i)
+	$(call CLEAN)
 
 distclean: clean
-	@rm -f nxglib_setpixel_*bpp.c
-	@rm -f nxglib_fillrectangle_*bpp.c
-	@rm -f nxglib_getrectangle_*bpp.c
-	@rm -f nxglib_filltrapezoid_*bpp.c
-	@rm -f nxglib_moverectangle_*bpp.c
-	@rm -f nxglib_copyrectangle_*bpp.c
+	$(call DELFILE, nxglib_setpixel_*bpp.c)
+	$(call DELFILE, nxglib_fillrectangle_*bpp.c)
+	$(call DELFILE, nxglib_getrectangle_*bpp.c)
+	$(call DELFILE, nxglib_filltrapezoid_*bpp.c)
+	$(call DELFILE, nxglib_moverectangle_*bpp.c)
+	$(call DELFILE, nxglib_copyrectangle_*bpp.c)
diff --git a/nuttx/graphics/nxglib/nxglib_splitline.c b/nuttx/graphics/nxglib/nxglib_splitline.c
index 84892b67e..fa2ccc1a0 100644
--- a/nuttx/graphics/nxglib/nxglib_splitline.c
+++ b/nuttx/graphics/nxglib/nxglib_splitline.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * graphics/nxglib/nxglib_splitline.c
  *
- *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -41,6 +41,8 @@
 
 #include <string.h>
 #include <errno.h>
+#include <stdlib.h>
+#include <debug.h>
 
 #include <nuttx/nx/nxglib.h>
 
@@ -48,12 +50,16 @@
  * Pre-Processor Definitions
  ****************************************************************************/
 
-#define SMALL_SIN 1966 /* 1966/65536 = 0.03 */
-
 /****************************************************************************
  * Private Types
  ****************************************************************************/
 
+struct b16point_s
+{
+  b16_t x;
+  b16_t y;
+};
+
 /****************************************************************************
  * Private Data
  ****************************************************************************/
@@ -66,6 +72,12 @@
  * Private Functions
  ****************************************************************************/
 
+static b16_t nxgl_interpolate(b16_t x, b16_t dy, b16_t dxdy)
+{
+  b16_t dx = b16mulb16(dy, dxdy);
+  return x + dx;
+}
+
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
@@ -116,15 +128,19 @@ int nxgl_splitline(FAR struct nxgl_vector_s *vector,
   struct nxgl_vector_s line;
   nxgl_coord_t iheight;
   nxgl_coord_t iwidth;
-  nxgl_coord_t iy;
-  nxgl_coord_t triheight;
-  nxgl_coord_t halfheight;
-  b16_t adjwidth;
-  b16_t xoffset;
-  b16_t halfoffset;
+  nxgl_coord_t iyoffset;
+  struct b16point_s quad[4];
+  b16_t b16xoffset;
+  b16_t b16yoffset;
+  b16_t b16dxdy;
   b16_t angle;
+  b16_t cosangle;
   b16_t sinangle;
   b16_t b16x;
+  b16_t b16y;
+
+  gvdbg("vector: (%d,%d)->(%d,%d) linewidth: %d\n",
+        vector->pt1.x, vector->pt1.y, vector->pt2.x, vector->pt2.y, linewidth);
 
   /* First, check the linewidth */
 
@@ -152,7 +168,7 @@ int nxgl_splitline(FAR struct nxgl_vector_s *vector,
       line.pt2.x = vector->pt1.x;
       line.pt2.y = vector->pt1.y;
     }
-  else
+  else /* if (vector->pt1.y == vector->pt2.y) */
     {
       /* First degenerate case:  The line is horizontal. */
 
@@ -173,6 +189,10 @@ int nxgl_splitline(FAR struct nxgl_vector_s *vector,
 
       rect->pt1.y = vector->pt1.y - (linewidth >> 1);
       rect->pt2.y = rect->pt1.y + linewidth - 1;
+
+      gvdbg("Horizontal rect: (%d,%d),(%d,%d)\n",
+            rect->pt1.x, rect->pt1.y, rect->pt2.x, rect->pt2.y);
+
       return 2;
     }
 
@@ -187,14 +207,21 @@ int nxgl_splitline(FAR struct nxgl_vector_s *vector,
 
       rect->pt1.x = line.pt1.x - (linewidth >> 1);
       rect->pt2.x = rect->pt1.x + linewidth - 1;
+
+      gvdbg("Vertical rect: (%d,%d),(%d,%d)\n",
+            rect->pt1.x, rect->pt1.y, rect->pt2.x, rect->pt2.y);
+
       return 2;
     }
 
   /* The final degenerate case */
 
-  if (linewidth == 1)
+  if (linewidth == 1 &&
+      abs(line.pt2.x - line.pt1.x) < (line.pt2.y - line.pt1.y))
     {
-      /* A line of width 1 is basically a single parallelogram of width 1 */
+      /* A close to vertical line of width 1 is basically
+       * a single parallelogram of width 1.
+       */
 
       traps[1].top.x1 = itob16(line.pt1.x);
       traps[1].top.x2 = traps[1].top.x1;
@@ -203,6 +230,11 @@ int nxgl_splitline(FAR struct nxgl_vector_s *vector,
       traps[1].bot.x1 = itob16(line.pt2.x);
       traps[1].bot.x2 = traps[1].bot.x1;
       traps[1].bot.y  = line.pt2.y;
+
+      gvdbg("Vertical traps[1]: (%08x,%08x,%d),(%08x,%08x, %d)\n",
+            traps[1].top.x1, traps[1].top.x2, traps[1].top.y,
+            traps[1].bot.x1, traps[1].bot.x2, traps[1].bot.y);
+
       return 1;
     }
 
@@ -222,103 +254,260 @@ int nxgl_splitline(FAR struct nxgl_vector_s *vector,
       iwidth  = line.pt1.x - line.pt2.x + 1;
     }
 
-  /* Triangle height: linewidth * cosA
-   * Adjusted width:  triheight / sinA
-   * X offset :  linewidth * linewidth / adjusted line width
+  /* Applying the line width to the line results in a rotated, rectangle.
+   * Get the Y offset from an end of the original thin line to a corner of the fat line.
+   *
+   *   Angle of line:      angle      = atan2(iheight, iwidth)
+   *   Y offset from line: b16yoffset = linewidth * cos(angle)
+   *
+   * For near verical lines, b16yoffset is be nearly zero.  For near horizontal
+   * lines, b16yOffset is be about the same as linewidth.
    */
 
-  angle        = b16atan2(itob16(iheight), itob16(iwidth));
-  triheight    = b16toi(linewidth * b16cos(angle) + b16HALF);
-  halfheight   = (triheight >> 1);
+  angle      = b16atan2(itob16(iheight), itob16(iwidth));
+  cosangle   = b16cos(angle);
+  b16yoffset = (linewidth * cosangle + 1) >> 1;
 
-  /* If the sine of the angle is tiny (i.e., the line is nearly horizontal),
-   * then we cannot compute the adjusted width.  In this case, just use
-   * the width of the line bounding box.
+  /* Get the X offset from an end of the original thin line to a corner of the fat line.
+   *
+   * For near vertical lines, b16xoffset is about the same as linewidth.  For near
+   * horizontal lines, b16xoffset is nearly zero.
    */
 
-  sinangle     =  b16sin(angle);
-  if (sinangle < SMALL_SIN)
-    {
-      adjwidth = itob16(iwidth);
-      xoffset  = 0;
-    }
-  else
-    {
-      adjwidth = b16divb16(itob16(linewidth), sinangle);
-      xoffset  = itob16(linewidth * linewidth);
-      xoffset  = b16divb16(xoffset, adjwidth);
-    }
+  sinangle   =  b16sin(angle);
+  b16xoffset = (linewidth * sinangle + 1) >> 1;
 
-  halfoffset   = (xoffset >> 1);
+  gvdbg("height: %d width: %d angle: %08x b16yoffset: %08x b16xoffset: %08x\n",
+        iheight, iwidth, angle, b16yoffset, b16xoffset);
 
-  /* Return the top triangle (if there is one).  NOTE that the horizontal
-   * (z) positions are represented with 16 bits of fraction.  The vertical
-   * (y) positions, on the other hand, are integer.
-   */
+  /* Now we know all four points of the rotated rectangle */
 
-  if (triheight > 0)
+  iyoffset   = b16toi(b16yoffset + b16HALF);
+  if (iyoffset > 0)
     {
+      /* Get the Y positions of each point */
+
+      b16y      = itob16(line.pt1.y);
+      quad[0].y = b16y - b16yoffset;
+      quad[1].y = b16y + b16yoffset;
+
+      b16y      = itob16(line.pt2.y);
+      quad[2].y = b16y - b16yoffset;
+      quad[3].y = b16y + b16yoffset;
+
       if (line.pt1.x < line.pt2.x)
         {
-          /* Line is going "south east" */
-
-          b16x = itob16(line.pt1.x) - halfoffset;
-          iy   = line.pt1.y + halfheight;
-
-          traps[0].top.x1 = b16x + xoffset;
-          traps[0].top.x2 = traps[0].top.x1;
-          traps[0].top.y  = iy - triheight + 1;
-          traps[0].bot.x1 = b16x;
-          traps[0].bot.x2 = b16x + adjwidth - b16ONE;
-          traps[0].bot.y  = iy;
-
-          b16x = itob16(line.pt2.x) + halfoffset;
-          iy   = line.pt2.y - halfheight;
-
-          traps[2].top.x1 = b16x - adjwidth + b16ONE;
-          traps[2].top.x2 = b16x;
-          traps[2].top.y  = iy;
-          traps[2].bot.x1 = b16x - xoffset;
-          traps[2].bot.x2 = traps[2].bot.x1;
-          traps[2].bot.y  = iy + triheight - 1;
+          /* Line is going "south east". Get the X positions of each point */
+
+          b16x      = itob16(line.pt1.x);
+          quad[0].x = b16x + b16xoffset;
+          quad[1].x = b16x - b16xoffset;
+
+          b16x      = itob16(line.pt2.x);
+          quad[2].x = b16x + b16xoffset;
+          quad[3].x = b16x - b16xoffset;
+
+          gvdbg("Southeast: quad (%08x,%08x),(%08x,%08x),(%08x,%08x),(%08x,%08x)\n",
+                quad[0].x, quad[0].y, quad[1].x, quad[1].y,
+                quad[2].x, quad[2].y, quad[3].x, quad[3].y);
+
+          /* Now we can form the trapezoids.  The top of the first trapezoid
+           * (triangle) is at quad[0]
+           */
+
+          traps[0].top.x1 = quad[0].x;
+          traps[0].top.x2 = quad[0].x;
+          traps[0].top.y  = b16toi(quad[0].y + b16HALF);
+
+          /* The bottom of the first trapezoid (triangle) may be either at
+           * quad[1] or quad[2], depending upon orientation.
+           */
+
+          if (quad[1]. y < quad[2].y)
+            {
+              /* quad[1] is at the bottom left of the triangle. Interpolate
+               * to get the corresponding point on the right side.
+               *
+               * Interpolation is from quad[0] along the line quad[0]->quad[2]
+               * which as the same slope as the line (positive)
+               */
+
+              b16dxdy = itob16(iwidth) / iheight;
+
+              traps[0].bot.x1 = quad[1].x;
+              traps[0].bot.x2 = nxgl_interpolate(quad[0].x, quad[1].y -  quad[0].y, b16dxdy);
+              traps[0].bot.y  = b16toi(quad[1].y + b16HALF);
+
+              /* quad[1] is at the top left of the second trapezoid.  quad[2} is
+               * at the bottom right of the second trapezoid. Interpolate to get
+               * corresponding point on the left side.
+               *
+               * Interpolation is from quad[1] along the line quad[1]->quad[3]
+               * which as the same slope as the line (positive)
+               */
+
+              traps[1].top.x1 = traps[0].bot.x1;
+              traps[1].top.x2 = traps[0].bot.x2;
+              traps[1].top.y  = traps[0].bot.y;
+
+              traps[1].bot.x1 = nxgl_interpolate(traps[1].top.x1, quad[2].y - quad[1].y, b16dxdy);
+              traps[1].bot.x2 = quad[2].x;
+              traps[1].bot.y  = b16toi(quad[2].y + b16HALF);
+            }
+          else
+            {
+              /* quad[2] is at the bottom right of the triangle. Interpolate
+               * to get the corresponding point on the left side.
+               *
+               * Interpolation is from quad[0] along the line quad[0]->quad[1]
+               * which orthogonal to the slope of the line (and negative)
+               */
+
+              b16dxdy = -itob16(iheight) / iwidth;
+
+              traps[0].bot.x1 = nxgl_interpolate(quad[0].x, quad[2].y -  quad[0].y, b16dxdy);
+              traps[0].bot.x2 = quad[2].x;
+              traps[0].bot.y  = b16toi(quad[2].y + b16HALF);
+
+              /* quad[2] is at the top right of the second trapezoid.  quad[1} is
+               * at the bottom left of the second trapezoid. Interpolate to get
+               * corresponding point on the right side.
+               *
+               * Interpolation is from quad[2] along the line quad[2]->quad[3]
+               * which as the same slope as the previous interpolation.
+               */
+
+              traps[1].top.x1 = traps[0].bot.x1;
+              traps[1].top.x2 = traps[0].bot.x2;
+              traps[1].top.y  = traps[0].bot.y;
+
+              traps[1].bot.x1 = quad[1].x;
+              traps[1].bot.x2 = nxgl_interpolate(traps[1].top.x2, quad[1].y - quad[2].y, b16dxdy);
+              traps[1].bot.y  = b16toi(quad[1].y + b16HALF);
+            }
+
+          /* The final trapezond (triangle) at the bottom is new well defined */
+
+          traps[2].top.x1 = traps[1].bot.x1;
+          traps[2].top.x2 = traps[1].bot.x2;
+          traps[2].top.y  = traps[1].bot.y;
+
+          traps[2].bot.x1 = quad[3].x;
+          traps[2].bot.x2 = quad[3].x;
+          traps[2].bot.y  = b16toi(quad[3].y + b16HALF);
         }
       else
         {
-          /* Line is going "south west" */
-
-          b16x = itob16(line.pt1.x) + halfoffset;
-          iy   = line.pt1.y + halfheight;
-
-          traps[0].top.x1 = b16x - xoffset;
-          traps[0].top.x2 = traps[0].top.x1;
-          traps[0].top.y  = iy - triheight + 1;
-          traps[0].bot.x1 = b16x - adjwidth + b16ONE;
-          traps[0].bot.x2 = b16x;
-          traps[0].bot.y  = iy;
-
-          b16x = itob16(line.pt2.x) - halfoffset;
-          iy   = line.pt2.y - halfheight;
-
-          traps[2].top.x1 = b16x;
-          traps[2].top.x2 = b16x + adjwidth - b16ONE;
-          traps[2].top.y  = iy;
-          traps[2].bot.x1 = b16x + xoffset;
-          traps[2].bot.x2 = traps[2].bot.x1;
-          traps[2].bot.y  = iy + triheight - 1;
+          /* Get the X positions of each point */
+
+          b16x      = itob16(line.pt1.x);
+          quad[0].x = b16x - b16xoffset;
+          quad[1].x = b16x + b16xoffset;
+
+          b16x      = itob16(line.pt2.x);
+          quad[2].x = b16x - b16xoffset;
+          quad[3].x = b16x + b16xoffset;
+
+          gvdbg("Southwest: quad (%08x,%08x),(%08x,%08x),(%08x,%08x),(%08x,%08x)\n",
+                quad[0].x, quad[0].y, quad[1].x, quad[1].y,
+                quad[2].x, quad[2].y, quad[3].x, quad[3].y);
+
+          /* Now we can form the trapezoids.  The top of the first trapezoid
+           * (triangle) is at quad[0]
+           */
+
+          traps[0].top.x1 = quad[0].x;
+          traps[0].top.x2 = quad[0].x;
+          traps[0].top.y  = b16toi(quad[0].y + b16HALF);
+
+          /* The bottom of the first trapezoid (triangle) may be either at
+           * quad[1] or quad[2], depending upon orientation.
+           */
+
+          if (quad[1].y < quad[2].y)
+            {
+              /* quad[1] is at the bottom right of the triangle. Interpolate
+               * to get the corresponding point on the left side.
+               *
+               * Interpolation is from quad[0] along the line quad[0]->quad[2]
+               * which as the same slope as the line (negative)
+               */
+
+              b16dxdy = -itob16(iwidth) / iheight;
+
+              traps[0].bot.x1 = nxgl_interpolate(traps[0].top.x1, quad[1].y - quad[0].y, b16dxdy);
+              traps[0].bot.x2 = quad[1].x;
+              traps[0].bot.y  = b16toi(quad[1].y + b16HALF);
+
+              /* quad[1] is at the top right of the second trapezoid.  quad[2} is
+               * at the bottom left of the second trapezoid. Interpolate to get
+               * corresponding point on the right side.
+               *
+               * Interpolation is from quad[1] along the line quad[1]->quad[3]
+               * which as the same slope as the line (negative)
+               */
+
+              traps[1].top.x1 = traps[0].bot.x1;
+              traps[1].top.x2 = traps[0].bot.x2;
+              traps[1].top.y  = traps[0].bot.y;
+
+              traps[1].bot.x1 = quad[2].x;
+              traps[1].bot.x2 = nxgl_interpolate(traps[1].top.x2, quad[2].y - quad[1].y, b16dxdy);
+              traps[1].bot.y  = b16toi(quad[2].y + b16HALF);
+            }
+          else
+            {
+              /* quad[2] is at the bottom left of the triangle. Interpolate
+               * to get the corresponding point on the right side.
+               *
+               * Interpolation is from quad[0] along the line quad[0]->quad[1]
+               * which orthogonal to the slope of the line (and positive)
+               */
+
+              b16dxdy = itob16(iheight) / iwidth;
+
+              traps[0].bot.x1 = quad[2].x;
+              traps[0].bot.x2 = nxgl_interpolate(traps[0].top.x2, quad[2].y - quad[0].y, b16dxdy);
+              traps[0].bot.y  = b16toi(quad[2].y + b16HALF);
+
+              /* quad[2] is at the top left of the second trapezoid.  quad[1} is
+               * at the bottom right of the second trapezoid. Interpolate to get
+               * corresponding point on the left side.
+               *
+               * Interpolation is from quad[2] along the line quad[2]->quad[3]
+               * which as the same slope as the previous interpolation.
+               */
+
+              traps[1].top.x1 = traps[0].bot.x1;
+              traps[1].top.x2 = traps[0].bot.x2;
+              traps[1].top.y  = traps[0].bot.y;
+
+              traps[1].bot.x1 = nxgl_interpolate(traps[1].top.x1, quad[1].y - quad[2].y, b16dxdy);
+              traps[1].bot.x2 = quad[1].x;
+              traps[1].bot.y  = b16toi(quad[1].y + b16HALF);
+            }
+
+          /* The final trapezond (triangle) at the bottom is new well defined */
+
+          traps[2].top.x1 = traps[1].bot.x1;
+          traps[2].top.x2 = traps[1].bot.x2;
+          traps[2].top.y  = traps[1].bot.y;
+
+          traps[2].bot.x1 = quad[3].x;
+          traps[2].bot.x2 = quad[3].x;
+          traps[2].bot.y  = b16toi(quad[3].y + b16HALF);
         }
 
-      /* The center parallelogram is the horizontal edge of each triangle.
-       * Note the minor inefficency: that horizontal edges are drawn twice.
-       */
+      gvdbg("traps[0]: (%08x,%08x,%d),(%08x,%08x,%d)\n",
+            traps[0].top.x1, traps[0].top.x2, traps[0].top.y,
+            traps[0].bot.x1, traps[0].bot.x2, traps[0].bot.y);
+      gvdbg("traps[1]: (%08x,%08x,%d),(%08x,%08x,%d)\n",
+            traps[1].top.x1, traps[1].top.x2, traps[1].top.y,
+            traps[1].bot.x1, traps[1].bot.x2, traps[1].bot.y);
+      gvdbg("traps[2]: (%08x,%08x,%d),(%08x,%08x,%d)\n",
+            traps[2].top.x1, traps[2].top.x2, traps[2].top.y,
+            traps[2].bot.x1, traps[2].bot.x2, traps[2].bot.y);
 
-      traps[1].top.x1 = traps[0].bot.x1;
-      traps[1].top.x2 = traps[0].bot.x2;
-      traps[1].top.y  = traps[0].bot.y;
- 
-      traps[1].bot.x1 = traps[2].top.x1;
-      traps[1].bot.x2 = traps[2].top.x2;
-      traps[1].bot.y  = traps[2].top.y;
- 
       return 0;
     }
 
@@ -326,12 +515,18 @@ int nxgl_splitline(FAR struct nxgl_vector_s *vector,
    * bottom.  Just return the center parallelogram.
    */
 
-  traps[1].top.x1 = itob16(line.pt1.x) - halfoffset;
-  traps[1].top.x2 = traps[1].top.x1 + adjwidth - 1;
+  traps[1].top.x1 = itob16(line.pt1.x - (linewidth >> 1));
+  traps[1].top.x2 = traps[1].top.x1 + itob16(linewidth - 1);
   traps[1].top.y  = line.pt1.y;
- 
-  traps[1].bot.x1 = itob16(line.pt2.x) -  halfoffset;
-  traps[1].bot.x2 = traps[1].bot.x1 + adjwidth - 1;
+
+  traps[1].bot.x1 = itob16(line.pt2.x - (linewidth >> 1));
+  traps[1].bot.x2 = traps[1].bot.x1 + itob16(linewidth - 1);
   traps[1].bot.y  = line.pt2.y;
+
+  gvdbg("Horizontal traps[1]: (%08x,%08x,%d),(%08x,%08x, %d)\n",
+        traps[1].top.x1, traps[1].top.x2, traps[1].top.y,
+        traps[1].bot.x1, traps[1].bot.x2, traps[1].bot.y);
+
   return 1;
 }
+
diff --git a/nuttx/graphics/nxmu/nx_bitmap.c b/nuttx/graphics/nxmu/nx_bitmap.c
index a86eda96a..a0bd748b0 100644
--- a/nuttx/graphics/nxmu/nx_bitmap.c
+++ b/nuttx/graphics/nxmu/nx_bitmap.c
@@ -100,6 +100,8 @@ int nx_bitmap(NXWINDOW hwnd, FAR const struct nxgl_rect_s *dest,
   FAR struct nxbe_window_s *wnd = (FAR struct nxbe_window_s *)hwnd;
   struct nxsvrmsg_bitmap_s outmsg;
   int i;
+  int ret;
+  sem_t sem_done;
 
 #ifdef CONFIG_DEBUG
   if (!wnd || !dest || !src || !origin)
@@ -124,7 +126,32 @@ int nx_bitmap(NXWINDOW hwnd, FAR const struct nxgl_rect_s *dest,
   outmsg.origin.y   = origin->y;
   nxgl_rectcopy(&outmsg.dest, dest);
 
+  
+  /* Create a semaphore for tracking command completion */
+
+  outmsg.sem_done = &sem_done;
+  ret = sem_init(&sem_done, 0, 0);
+  
+  if (ret != OK)
+    {
+      gdbg("sem_init failed: %d\n", errno);
+      return ret;
+    }
+  
   /* Forward the fill command to the server */
 
-  return nxmu_sendwindow(wnd, &outmsg, sizeof(struct nxsvrmsg_bitmap_s));
+  ret = nxmu_sendwindow(wnd, &outmsg, sizeof(struct nxsvrmsg_bitmap_s));
+  
+  /* Wait that the command is completed, so that caller can release the buffer. */
+  
+  if (ret == OK)
+    {
+      ret = sem_wait(&sem_done);
+    }
+  
+  /* Destroy the semaphore and return. */
+  
+  sem_destroy(&sem_done);
+  
+  return ret;
 }
diff --git a/nuttx/graphics/nxmu/nx_block.c b/nuttx/graphics/nxmu/nx_block.c
index 3a051f9d7..7b198613c 100644
--- a/nuttx/graphics/nxmu/nx_block.c
+++ b/nuttx/graphics/nxmu/nx_block.c
@@ -140,7 +140,7 @@ int nx_block(NXWINDOW hwnd, FAR void *arg)
        * that it will not be blocked.
        */
 
-      ret = nxmu_sendserver(wnd->conn, &outmsg, sizeof(struct nxbe_window_s));
+      ret = nxmu_sendserver(wnd->conn, &outmsg, sizeof(struct nxsvrmsg_blocked_s));
     }
 
   return ret;
diff --git a/nuttx/graphics/nxmu/nx_getrectangle.c b/nuttx/graphics/nxmu/nx_getrectangle.c
index f32065129..9b7d3679c 100644
--- a/nuttx/graphics/nxmu/nx_getrectangle.c
+++ b/nuttx/graphics/nxmu/nx_getrectangle.c
@@ -98,7 +98,9 @@ int nx_getrectangle(NXWINDOW hwnd, FAR const struct nxgl_rect_s *rect,
 {
   FAR struct nxbe_window_s        *wnd = (FAR struct nxbe_window_s *)hwnd;
   struct nxsvrmsg_getrectangle_s  outmsg;
-
+  int ret;
+  sem_t sem_done;
+  
 #ifdef CONFIG_DEBUG
   if (!hwnd || !rect || !dest)
     {
@@ -118,7 +120,31 @@ int nx_getrectangle(NXWINDOW hwnd, FAR const struct nxgl_rect_s *rect,
 
   nxgl_rectcopy(&outmsg.rect, rect);
 
+  /* Create a semaphore for tracking command completion */
+
+  outmsg.sem_done = &sem_done;
+  ret = sem_init(&sem_done, 0, 0);
+  
+  if (ret != OK)
+    {
+      gdbg("sem_init failed: %d\n", errno);
+      return ret;
+    }
+  
   /* Forward the fill command to the server */
 
-  return nxmu_sendwindow(wnd, &outmsg, sizeof(struct nxsvrmsg_getrectangle_s));
+  ret = nxmu_sendwindow(wnd, &outmsg, sizeof(struct nxsvrmsg_getrectangle_s));
+  
+  /* Wait that the command is completed, so that caller can release the buffer. */
+  
+  if (ret == OK)
+    {
+      ret = sem_wait(&sem_done);
+    }
+  
+  /* Destroy the semaphore and return. */
+  
+  sem_destroy(&sem_done);
+  
+  return ret;
 }
diff --git a/nuttx/graphics/nxmu/nxfe.h b/nuttx/graphics/nxmu/nxfe.h
index 8b6a21ef4..b9e02616c 100644
--- a/nuttx/graphics/nxmu/nxfe.h
+++ b/nuttx/graphics/nxmu/nxfe.h
@@ -392,6 +392,7 @@ struct nxsvrmsg_getrectangle_s
   unsigned int plane;              /* The plane number to read */
   FAR uint8_t *dest;               /* Memory location in which to store the graphics data */
   unsigned int deststride;         /* Width of the destination memory in bytes */
+  sem_t *sem_done;                 /* Semaphore to report when command is done. */
 };
 
 /* Fill a trapezoidal region in the window with a color */
@@ -425,6 +426,7 @@ struct nxsvrmsg_bitmap_s
   FAR const void *src[CONFIG_NX_NPLANES]; /* The start of the source image. */
   struct nxgl_point_s origin;     /* Offset into the source image data */
   unsigned int stride;            /* The width of the full source image in pixels. */
+  sem_t *sem_done;                /* Semaphore to report when command is done. */
 };
 
 /* Set the color of the background */
@@ -587,6 +589,25 @@ EXTERN int nxmu_sendclient(FAR struct nxfe_conn_s *conn,
                            FAR const void *msg, size_t msglen);
 
 /****************************************************************************
+ * Name: nxmu_sendclientwindow
+ *
+ * Description:
+ *  Send a message to the client at NX_CLIMSG_PRIO priority
+ *
+ * Input Parameters:
+ *   wnd    - A pointer to the back-end window structure
+ *   msg    - A pointer to the message to send
+ *   msglen - The length of the message in bytes.
+ *
+ * Return:
+ *   OK on success; ERROR on failure with errno set appropriately
+ *
+ ****************************************************************************/
+
+int nxmu_sendclientwindow(FAR struct nxbe_window_s *wnd, FAR const void *msg,
+                    size_t msglen);
+
+/****************************************************************************
  * Name: nxmu_openwindow
  *
  * Description:
diff --git a/nuttx/graphics/nxmu/nxmu_kbdin.c b/nuttx/graphics/nxmu/nxmu_kbdin.c
index 2c658009b..0308c2bfa 100644
--- a/nuttx/graphics/nxmu/nxmu_kbdin.c
+++ b/nuttx/graphics/nxmu/nxmu_kbdin.c
@@ -108,7 +108,7 @@ void nxmu_kbdin(FAR struct nxfe_state_s *fe, uint8_t nch, FAR uint8_t *ch)
           outmsg->ch[i] = ch[i];
         }
 
-      (void)nxmu_sendclient(fe->be.topwnd->conn, outmsg, size);
+      (void)nxmu_sendclientwindow(fe->be.topwnd, outmsg, size);
       free(outmsg);
     }
 }
diff --git a/nuttx/graphics/nxmu/nxmu_mouse.c b/nuttx/graphics/nxmu/nxmu_mouse.c
index 3ebe062d2..1b8f4a592 100644
--- a/nuttx/graphics/nxmu/nxmu_mouse.c
+++ b/nuttx/graphics/nxmu/nxmu_mouse.c
@@ -61,9 +61,10 @@
  * Private Data
  ****************************************************************************/
 
-static struct nxgl_point_s g_mpos;
-static struct nxgl_point_s g_mrange;
-static uint8_t             g_mbutton;
+static struct nxgl_point_s   g_mpos;
+static struct nxgl_point_s   g_mrange;
+static uint8_t               g_mbutton;
+static struct nxbe_window_s *g_mwnd;
 
 /****************************************************************************
  * Public Data
@@ -129,7 +130,7 @@ int nxmu_mousereport(struct nxbe_window_s *wnd)
           outmsg.buttons = g_mbutton;
           nxgl_vectsubtract(&outmsg.pos, &g_mpos, &wnd->bounds.pt1);
 
-          return nxmu_sendclient(wnd->conn, &outmsg, sizeof(struct nxclimsg_mousein_s));
+          return nxmu_sendclientwindow(wnd, &outmsg, sizeof(struct nxclimsg_mousein_s));
         }
     }
 
@@ -154,6 +155,7 @@ int nxmu_mousein(FAR struct nxfe_state_s *fe,
   struct nxbe_window_s *wnd;
   nxgl_coord_t x = pos->x;
   nxgl_coord_t y = pos->y;
+  uint8_t oldbuttons;
   int ret;
 
   /* Clip x and y to within the bounding rectangle */
@@ -182,20 +184,36 @@ int nxmu_mousein(FAR struct nxfe_state_s *fe,
     {
       /* Update the mouse value */
 
-      g_mpos.x  = x;
-      g_mpos.y  = y;
-      g_mbutton = buttons;
+      oldbuttons = g_mbutton;
+      g_mpos.x   = x;
+      g_mpos.y   = y;
+      g_mbutton  = buttons;
 
-      /* Pick the window to receive the mouse event.  Start with
-       * the top window and go down.  Stop with the first window
-       * that gets the mouse report
+      /* If a button is already down, regard this as part of a mouse drag
+       * event. Pass all the following events to the window where the drag
+       * started in.
+       */
+
+      if (oldbuttons && g_mwnd && g_mwnd->cb->mousein)
+        {
+          struct nxclimsg_mousein_s outmsg;
+          outmsg.msgid   = NX_CLIMSG_MOUSEIN;
+          outmsg.wnd     = g_mwnd;
+          outmsg.buttons = g_mbutton;
+          nxgl_vectsubtract(&outmsg.pos, &g_mpos, &g_mwnd->bounds.pt1);
+
+          return nxmu_sendclientwindow(g_mwnd, &outmsg, sizeof(struct nxclimsg_mousein_s));
+        }
+
+      /* Pick the window to receive the mouse event.  Start with the top
+       * window and go down.  Stop with the first window that gets the mouse
+       * report
        */
 
       for (wnd = fe->be.topwnd; wnd; wnd = wnd->below)
         {
-          /* The background window normally has no callback structure
-           * (unless a client has taken control of the background via
-           * nx_requestbkgd()).
+          /* The background window normally has no callback structure (unless
+           * a client has taken control of the background via nx_requestbkgd()).
            */
 
           if (wnd->cb)
@@ -207,6 +225,8 @@ int nxmu_mousein(FAR struct nxfe_state_s *fe,
                 }
             }
         }
+
+      g_mwnd = wnd;
     }
 
   return OK;
diff --git a/nuttx/graphics/nxmu/nxmu_redrawreq.c b/nuttx/graphics/nxmu/nxmu_redrawreq.c
index 32ca477a2..f54aa85a7 100644
--- a/nuttx/graphics/nxmu/nxmu_redrawreq.c
+++ b/nuttx/graphics/nxmu/nxmu_redrawreq.c
@@ -87,7 +87,7 @@ void nxfe_redrawreq(FAR struct nxbe_window_s *wnd, FAR const struct nxgl_rect_s
   outmsg.more  = false;
   nxgl_rectoffset(&outmsg.rect, rect, -wnd->bounds.pt1.x, -wnd->bounds.pt1.y);
 
-  (void)nxmu_sendclient(wnd->conn, &outmsg, sizeof(struct nxclimsg_redraw_s));
+  (void)nxmu_sendclientwindow(wnd, &outmsg, sizeof(struct nxclimsg_redraw_s));
 }
 
 
diff --git a/nuttx/graphics/nxmu/nxmu_reportposition.c b/nuttx/graphics/nxmu/nxmu_reportposition.c
index f9b5f9daf..6ffb3f4ee 100644
--- a/nuttx/graphics/nxmu/nxmu_reportposition.c
+++ b/nuttx/graphics/nxmu/nxmu_reportposition.c
@@ -100,7 +100,7 @@ void nxfe_reportposition(FAR struct nxbe_window_s *wnd)
 
   /* And provide this to the client */
 
-  ret = nxmu_sendclient(wnd->conn, &outmsg, sizeof(struct nxclimsg_newposition_s));
+  ret = nxmu_sendclientwindow(wnd, &outmsg, sizeof(struct nxclimsg_newposition_s));
   if (ret < 0)
     {
       gdbg("nxmu_sendclient failed: %d\n", errno);
diff --git a/nuttx/graphics/nxmu/nxmu_sendwindow.c b/nuttx/graphics/nxmu/nxmu_sendwindow.c
index 6f64ffff2..0826a45bc 100644
--- a/nuttx/graphics/nxmu/nxmu_sendwindow.c
+++ b/nuttx/graphics/nxmu/nxmu_sendwindow.c
@@ -112,3 +112,47 @@ int nxmu_sendwindow(FAR struct nxbe_window_s *wnd, FAR const void *msg,
 
   return ret;
 }
+
+/****************************************************************************
+ * Name: nxmu_sendclientwindow
+ *
+ * Description:
+ *  Send a message to the client at NX_CLIMSG_PRIO priority
+ *
+ * Input Parameters:
+ *   wnd    - A pointer to the back-end window structure
+ *   msg    - A pointer to the message to send
+ *   msglen - The length of the message in bytes.
+ *
+ * Return:
+ *   OK on success; ERROR on failure with errno set appropriately
+ *
+ ****************************************************************************/
+
+int nxmu_sendclientwindow(FAR struct nxbe_window_s *wnd, FAR const void *msg,
+                    size_t msglen)
+{
+    int ret = OK;
+
+  /* Sanity checking */
+
+#ifdef CONFIG_DEBUG
+  if (!wnd || !wnd->conn)
+    {
+      errno = EINVAL;
+      return ERROR;
+    }
+#endif
+
+  /* Ignore messages destined to a blocked window (no errors reported) */
+
+  if (!NXBE_ISBLOCKED(wnd))
+    {
+      /* Send the message to the server */
+
+      ret = nxmu_sendclient(wnd->conn, msg, msglen);
+    }
+
+  return ret;
+}
+
diff --git a/nuttx/graphics/nxmu/nxmu_server.c b/nuttx/graphics/nxmu/nxmu_server.c
index 2730e0ea2..cfaa5bbf5 100644
--- a/nuttx/graphics/nxmu/nxmu_server.c
+++ b/nuttx/graphics/nxmu/nxmu_server.c
@@ -451,6 +451,11 @@ int nx_runinstance(FAR const char *mqname, FAR NX_DRIVERTYPE *dev)
            {
              FAR struct nxsvrmsg_getrectangle_s *getmsg = (FAR struct nxsvrmsg_getrectangle_s *)buffer;
              nxbe_getrectangle(getmsg->wnd, &getmsg->rect, getmsg->plane, getmsg->dest, getmsg->deststride);
+             
+             if (getmsg->sem_done)
+              {
+                sem_post(getmsg->sem_done);
+              }
            }
            break;
 
@@ -471,6 +476,11 @@ int nx_runinstance(FAR const char *mqname, FAR NX_DRIVERTYPE *dev)
            {
              FAR struct nxsvrmsg_bitmap_s *bmpmsg = (FAR struct nxsvrmsg_bitmap_s *)buffer;
              nxbe_bitmap(bmpmsg->wnd, &bmpmsg->dest, bmpmsg->src, &bmpmsg->origin, bmpmsg->stride);
+             
+             if (bmpmsg->sem_done)
+              {
+                sem_post(bmpmsg->sem_done);
+              }
            }
            break;
 
diff --git a/nuttx/graphics/nxsu/nx_mousein.c b/nuttx/graphics/nxsu/nx_mousein.c
index bee4a2265..5b268358b 100644
--- a/nuttx/graphics/nxsu/nx_mousein.c
+++ b/nuttx/graphics/nxsu/nx_mousein.c
@@ -62,9 +62,10 @@
  * Private Data
  ****************************************************************************/
 
-static struct nxgl_point_s g_mpos;
-static struct nxgl_point_s g_mrange;
-static uint8_t             g_mbutton;
+static struct nxgl_point_s   g_mpos;
+static struct nxgl_point_s   g_mrange;
+static uint8_t               g_mbutton;
+static struct nxbe_window_s *g_mwnd;
 
 /****************************************************************************
  * Public Data
@@ -148,6 +149,7 @@ int nx_mousein(NXHANDLE handle, nxgl_coord_t x, nxgl_coord_t y, uint8_t buttons)
 {
   FAR struct nxfe_state_s *fe = (FAR struct nxfe_state_s *)handle;
   struct nxbe_window_s *wnd;
+  uint8_t oldbuttons;
   int ret;
 
   /* Clip x and y to within the bounding rectangle */
@@ -176,13 +178,27 @@ int nx_mousein(NXHANDLE handle, nxgl_coord_t x, nxgl_coord_t y, uint8_t buttons)
     {
       /* Update the mouse value */
 
+      oldbuttons = g_mbutton;
       g_mpos.x  = x;
       g_mpos.y  = y;
       g_mbutton = buttons;
 
-      /* Pick the window to receive the mouse event.  Start with
-       * the top window and go down.  Step with the first window
-       * that gets the mouse report
+      /* If a button is already down, regard this as part of a mouse drag
+       * event. Pass all the following events to the window where the drag
+       * started in.
+       */
+
+      if (oldbuttons && g_mwnd && g_mwnd->cb->mousein)
+        {
+          struct nxgl_point_s relpos;
+          nxgl_vectsubtract(&relpos, &g_mpos, &g_mwnd->bounds.pt1);
+          g_mwnd->cb->mousein((NXWINDOW)g_mwnd, &relpos, g_mbutton, g_mwnd->arg);
+          return OK;
+        }
+
+      /* Pick the window to receive the mouse event.  Start with the top
+       * window and go down.  Step with the first window that gets the mouse
+       * report
        */
 
       for (wnd = fe->be.topwnd; wnd; wnd = wnd->below)
@@ -193,6 +209,8 @@ int nx_mousein(NXHANDLE handle, nxgl_coord_t x, nxgl_coord_t y, uint8_t buttons)
               break;
             }
         }
+
+      g_mwnd = wnd;
     }
   return OK;
 }
diff --git a/nuttx/graphics/nxtk/nxtk_events.c b/nuttx/graphics/nxtk/nxtk_events.c
index 33c50b7f9..facf92176 100644
--- a/nuttx/graphics/nxtk/nxtk_events.c
+++ b/nuttx/graphics/nxtk/nxtk_events.c
@@ -76,6 +76,9 @@ static void nxtk_mousein(NXWINDOW hwnd, FAR const struct nxgl_point_s *pos,
 static void nxtk_kbdin(NXWINDOW hwnd, uint8_t nch, const uint8_t *ch,
                        FAR void *arg);
 #endif
+#ifdef CONFIG_NX_MULTIUSER
+static void nxtk_blocked(NXWINDOW hwnd, FAR void *arg1, FAR void *arg2);
+#endif
 
 /****************************************************************************
  * Private Data
@@ -95,6 +98,9 @@ const struct nx_callback_s g_nxtkcb =
 #ifdef CONFIG_NX_KBD
   , nxtk_kbdin    /* kbdin */
 #endif
+#ifdef CONFIG_NX_MULTIUSER
+  , nxtk_blocked
+#endif
 };
 
 /****************************************************************************
@@ -255,9 +261,20 @@ static void nxtk_mousein(NXWINDOW hwnd, FAR const struct nxgl_point_s *pos,
 
   nxgl_vectoradd(&abspos, pos, &fwnd->wnd.bounds.pt1);
 
+  /* In order to deliver mouse release events to the same window where the
+   * mouse down event happened, we store the initial mouse down location.
+   */
+
+  if (fwnd->mbutton == 0 && buttons != 0)
+    {
+      fwnd->mpos = abspos;
+    }
+
+  fwnd->mbutton = buttons;
+
   /* Is the mouse position inside of the client window region? */
 
-  if (fwnd->fwcb->mousein && nxgl_rectinside(&fwnd->fwrect, &abspos))
+  if (fwnd->fwcb->mousein && nxgl_rectinside(&fwnd->fwrect, &fwnd->mpos))
     {
       nxgl_vectsubtract(&relpos, &abspos, &fwnd->fwrect.pt1);
       fwnd->fwcb->mousein((NXTKWINDOW)fwnd, &relpos, buttons, fwnd->fwarg);
@@ -265,7 +282,7 @@ static void nxtk_mousein(NXWINDOW hwnd, FAR const struct nxgl_point_s *pos,
 
   /* If the mouse position inside the toobar region? */
 
-  else if (fwnd->tbcb->mousein && nxgl_rectinside(&fwnd->tbrect, &abspos))
+  else if (fwnd->tbcb->mousein && nxgl_rectinside(&fwnd->tbrect, &fwnd->mpos))
     {
       nxgl_vectsubtract(&relpos, &abspos, &fwnd->tbrect.pt1);
       fwnd->tbcb->mousein((NXTKWINDOW)fwnd, &relpos, buttons, fwnd->tbarg);
@@ -293,5 +310,23 @@ static void nxtk_kbdin(NXWINDOW hwnd, uint8_t nch, const uint8_t *ch,
 #endif
 
 /****************************************************************************
+ * Name: nxtk_blocked
+ ****************************************************************************/
+
+#ifdef CONFIG_NX_MULTIUSER
+static void nxtk_blocked(NXWINDOW hwnd, FAR void *arg1, FAR void *arg2)
+{
+  FAR struct nxtk_framedwindow_s *fwnd = (FAR struct nxtk_framedwindow_s *)hwnd;
+
+  /* Only the client window gets keyboard input */
+
+  if (fwnd->fwcb->blocked)
+    {
+      fwnd->fwcb->blocked((NXTKWINDOW)fwnd, fwnd->fwarg, arg2);
+    }
+}
+#endif
+
+/****************************************************************************
  * Public Functions
  ****************************************************************************/
diff --git a/nuttx/graphics/nxtk/nxtk_filltrapwindow.c b/nuttx/graphics/nxtk/nxtk_filltrapwindow.c
index c1032f1e7..55c051ffd 100644
--- a/nuttx/graphics/nxtk/nxtk_filltrapwindow.c
+++ b/nuttx/graphics/nxtk/nxtk_filltrapwindow.c
@@ -94,6 +94,7 @@ int nxtk_filltrapwindow(NXTKWINDOW hfwnd, FAR const struct nxgl_trapezoid_s *tra
 {
   FAR struct nxtk_framedwindow_s *fwnd = (FAR struct nxtk_framedwindow_s *)hfwnd;
   struct nxgl_rect_s relclip;
+  struct nxgl_trapezoid_s reltrap;
 
 #ifdef CONFIG_DEBUG
   if (!hfwnd || !trap || !color)
@@ -103,8 +104,14 @@ int nxtk_filltrapwindow(NXTKWINDOW hfwnd, FAR const struct nxgl_trapezoid_s *tra
     }
 #endif
 
-  /* Perform the fill, clipping to the client window */
+  /* Move the trapezoid from window contents area to window area */
 
+  nxgl_trapoffset(&reltrap, trap,
+                  fwnd->fwrect.pt1.x - fwnd->wnd.bounds.pt1.x,
+                  fwnd->fwrect.pt1.y - fwnd->wnd.bounds.pt1.y);
+  
+  /* Perform the fill, clipping to the client window */
   nxgl_rectoffset(&relclip, &fwnd->fwrect, -fwnd->wnd.bounds.pt1.x, -fwnd->wnd.bounds.pt1.y);
-  return nx_filltrapezoid((NXWINDOW)hfwnd, &relclip, trap, color);
+  
+  return nx_filltrapezoid((NXWINDOW)hfwnd, &relclip, &reltrap, color);
 }
diff --git a/nuttx/graphics/nxtk/nxtk_getwindow.c b/nuttx/graphics/nxtk/nxtk_getwindow.c
index 121c7702a..c91f2d22f 100644
--- a/nuttx/graphics/nxtk/nxtk_getwindow.c
+++ b/nuttx/graphics/nxtk/nxtk_getwindow.c
@@ -110,12 +110,15 @@ int nxtk_getwindow(NXTKWINDOW hfwnd, FAR const struct nxgl_rect_s *rect,
     }
 #endif
 
-  /* Clip the rectangle so that it lies within the sub-window bounds
-   * then move the rectangle to that it is relative to the containing
-   * window.
+  /* Move the rectangle to that it is relative to the containing
+   * window. If part of the rectangle lies outside the window,
+   * it will contain garbage data, but the contained area will be
+   * valid.
    */
 
-  nxtk_subwindowclip(fwnd, &getrect, rect, &fwnd->fwrect);
+  nxgl_rectoffset(&getrect, rect,
+                  fwnd->fwrect.pt1.x - fwnd->wnd.bounds.pt1.x,
+                  fwnd->fwrect.pt1.y - fwnd->wnd.bounds.pt1.y);
 
   /* Then get it */
 
diff --git a/nuttx/graphics/nxtk/nxtk_internal.h b/nuttx/graphics/nxtk/nxtk_internal.h
index 87a098845..3a31215d8 100644
--- a/nuttx/graphics/nxtk/nxtk_internal.h
+++ b/nuttx/graphics/nxtk/nxtk_internal.h
@@ -72,6 +72,11 @@ struct nxtk_framedwindow_s
   struct nxgl_rect_s fwrect;
   FAR const struct nx_callback_s *fwcb;
   FAR void *fwarg;
+
+  /* Initial mouse down location */
+
+  uint8_t mbutton;
+  struct nxgl_point_s mpos;
 };
 
 /****************************************************************************
diff --git a/nuttx/graphics/nxtk/nxtk_subwindowmove.c b/nuttx/graphics/nxtk/nxtk_subwindowmove.c
index a6fd9f5dd..3c2bb7f37 100644
--- a/nuttx/graphics/nxtk/nxtk_subwindowmove.c
+++ b/nuttx/graphics/nxtk/nxtk_subwindowmove.c
@@ -112,21 +112,19 @@ void nxtk_subwindowmove(FAR struct nxtk_framedwindow_s *fwnd,
 
   nxgl_rectintersect(&abssrc, &abssrc, &fwnd->fwrect);
 
-  /* Clip the offset so that the source rectangle does not move out of the
-   * the client sub-window.
-   */
+  /* Clip the source rectangle so that destination area is within the window. */
 
   destoffset->x = srcoffset->x;
   if (destoffset->x < 0)
     {
       if (abssrc.pt1.x + destoffset->x < bounds->pt1.x)
         {
-           destoffset->x = bounds->pt1.x - abssrc.pt1.x;
+           abssrc.pt1.x = bounds->pt1.x - destoffset->x;
         }
     }
   else if (abssrc.pt2.x + destoffset->x > bounds->pt2.x)
     {
-       destoffset->x = bounds->pt2.x - abssrc.pt2.x;
+       abssrc.pt2.x = bounds->pt2.x - destoffset->x;
     }
 
   destoffset->y = srcoffset->y;
@@ -134,12 +132,12 @@ void nxtk_subwindowmove(FAR struct nxtk_framedwindow_s *fwnd,
     {
       if (abssrc.pt1.y + destoffset->y < bounds->pt1.y)
         {
-           destoffset->y = bounds->pt1.y - abssrc.pt1.y;
+           abssrc.pt1.y = bounds->pt1.y - destoffset->y;
         }
     }
   else if (abssrc.pt2.y + destoffset->y > bounds->pt2.y)
     {
-       destoffset->y = bounds->pt2.y - abssrc.pt2.y;
+       abssrc.pt2.y = bounds->pt2.y - destoffset->y;
     }
 
 
diff --git a/nuttx/include/cxx/cmath b/nuttx/include/cxx/cmath
index 7cb3a2109..b30d5548b 100644
--- a/nuttx/include/cxx/cmath
+++ b/nuttx/include/cxx/cmath
@@ -40,6 +40,9 @@
 // Included Files
 //***************************************************************************
 
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
 #include <math.h>
 
 //***************************************************************************
@@ -48,6 +51,34 @@
 
 namespace std
 {
+#if CONFIG_HAVE_FLOAT
+  using ::acosf;
+  using ::asinf;
+  using ::atanf;
+  using ::atan2f;
+  using ::ceilf;
+  using ::cosf;
+  using ::coshf;
+  using ::expf;
+  using ::fabsf;
+  using ::floorf;
+  using ::fmodf;
+  using ::frexpf;
+  using ::ldexpf;
+  using ::logf;
+  using ::log10f;
+  using ::log2f;
+  using ::modff;
+  using ::roundf;
+  using ::powf;
+  using ::sinf;
+  using ::sinhf;
+  using ::sqrtf;
+  using ::tanf;
+  using ::tanhf;
+#endif
+
+#if CONFIG_HAVE_DOUBLE
   using ::acos;
   using ::asin;
   using ::atan;
@@ -63,13 +94,44 @@ namespace std
   using ::ldexp;
   using ::log;
   using ::log10;
+  using ::log2;
   using ::modf;
+  using ::round;
   using ::pow;
   using ::sin;
   using ::sinh;
   using ::sqrt;
   using ::tan;
   using ::tanh;
+#endif
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+  using ::acosl;
+  using ::asinl;
+  using ::atanl;
+  using ::atan2l;
+  using ::ceill;
+  using ::cosl;
+  using ::coshl;
+  using ::expl;
+  using ::fabsl;
+  using ::floorl;
+  using ::fmodl;
+  using ::frexpl;
+  using ::ldexpl;
+  using ::logl;
+  using ::log10l;
+  using ::log2l;
+  using ::modfl;
+  using ::roundl;
+  using ::powl;
+  using ::sinl;
+  using ::sinhl;
+  using ::sqrtl;
+  using ::tanl;
+  using ::tanhl;
+#endif
+
 }
 
 #endif // __INCLUDE_CXX_CMATH
diff --git a/nuttx/include/cxx/cstdbool b/nuttx/include/cxx/cstdbool
index d2f0639d2..192fde490 100644
--- a/nuttx/include/cxx/cstdbool
+++ b/nuttx/include/cxx/cstdbool
@@ -46,4 +46,13 @@
 // Namespace
 //***************************************************************************
 
+//***************************************************************************
+// Namespace
+//***************************************************************************
+
+namespace std
+{
+  using ::_Bool8;
+}
+
 #endif // __INCLUDE_CXX_CSTDBOOL
diff --git a/nuttx/include/cxx/cstdio b/nuttx/include/cxx/cstdio
index 900d429cb..6a9620e1a 100644
--- a/nuttx/include/cxx/cstdio
+++ b/nuttx/include/cxx/cstdio
@@ -52,6 +52,8 @@ namespace std
   using ::FILE;
   using ::fpos_t;
   using ::size_t;
+
+  using ::clearerr;
   using ::fclose;
   using ::fflush;
   using ::feof;
@@ -69,16 +71,24 @@ namespace std
   using ::ftell;
   using ::fwrite;
   using ::gets;
+  using ::ungetc;
+
   using ::printf;
   using ::puts;
   using ::rename;
   using ::sprintf;
+  using ::asprintf;
   using ::snprintf;
-  using ::ungetc;
+  using ::sscanf;
+  using ::perror;
+
   using ::vprintf;
   using ::vfprintf;
   using ::vsprintf;
+  using ::avsprintf;
   using ::vsnprintf;
+  using ::vsscanf;
+
   using ::fdopen;
   using ::statfs;
 }
diff --git a/nuttx/include/cxx/cstdlib b/nuttx/include/cxx/cstdlib
index 522f3fdb1..1bf8ed9da 100644
--- a/nuttx/include/cxx/cstdlib
+++ b/nuttx/include/cxx/cstdlib
@@ -70,6 +70,7 @@ namespace std
 #endif
 
   using ::strtol;
+  using ::strtoul;
   using ::strtod;
 
   using ::malloc;
diff --git a/nuttx/include/debug.h b/nuttx/include/debug.h
index 1f8c7d7ca..aa5efd432 100644
--- a/nuttx/include/debug.h
+++ b/nuttx/include/debug.h
@@ -571,12 +571,9 @@
  * Public Function Prototypes
  ****************************************************************************/
 
-#undef EXTERN
 #if defined(__cplusplus)
-#define EXTERN extern "C"
-extern "C" {
-#else
-#define EXTERN extern
+extern "C"
+{
 #endif
 
 /* These low-level debug APIs are provided by the NuttX library.  If the
@@ -585,21 +582,20 @@ extern "C" {
  * or the other of the following.
  */
 
-EXTERN int lib_rawprintf(FAR const char *format, ...);
+int lib_rawprintf(FAR const char *format, ...);
 
 #ifdef CONFIG_ARCH_LOWPUTC
-EXTERN int lib_lowprintf(FAR const char *format, ...);
+int lib_lowprintf(FAR const char *format, ...);
 #endif
 
 /* Dump a buffer of data */
 
-EXTERN void lib_dumpbuffer(FAR const char *msg, FAR const uint8_t *buffer,
-                           unsigned int buflen);
+void lib_dumpbuffer(FAR const char *msg, FAR const uint8_t *buffer, unsigned int buflen);
 
 /* Enable or disable debug output */
 
 #ifdef CONFIG_DEBUG_ENABLE
-EXTERN void dbg_enable(bool enable);
+void dbg_enable(bool enable);
 #endif
 
 /* If the cross-compiler's pre-processor does not support variable length
@@ -608,23 +604,22 @@ EXTERN void dbg_enable(bool enable);
 
 #ifndef CONFIG_CPP_HAVE_VARARGS
 #ifdef CONFIG_DEBUG
-EXTERN int dbg(const char *format, ...);
+int dbg(const char *format, ...);
 
 # ifdef CONFIG_ARCH_LOWPUTC
-EXTERN int lldbg(const char *format, ...);
+int lldbg(const char *format, ...);
 # endif
 
 # ifdef CONFIG_DEBUG_VERBOSE
-EXTERN int vdbg(const char *format, ...);
+int vdbg(const char *format, ...);
 
 # ifdef CONFIG_ARCH_LOWPUTC
-EXTERN int llvdbg(const char *format, ...);
+int llvdbg(const char *format, ...);
 # endif
 #endif
 #endif /* CONFIG_DEBUG */
 #endif /* CONFIG_CPP_HAVE_VARARGS */
 
-#undef EXTERN
 #if defined(__cplusplus)
 }
 #endif
diff --git a/nuttx/include/elf32.h b/nuttx/include/elf32.h
new file mode 100644
index 000000000..e16ae0091
--- /dev/null
+++ b/nuttx/include/elf32.h
@@ -0,0 +1,352 @@
+/****************************************************************************
+ * include/elf32.h
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Reference: System V Application Binary Interface, Edition 4.1, March 18,
+ * 1997, The Santa Cruz Operation, Inc.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_ELF32_H
+#define __INCLUDE_ELF32_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Values for Elf32_Ehdr::e_type */
+
+#define ET_NONE           0       /* No file type */
+#define ET_REL            1       /* Relocatable file */
+#define ET_EXEC           2       /* Executable file */
+#define ET_DYN            3       /* Shared object file */
+#define ET_CORE           4       /* Core file */
+#define ET_LOPROC         0xff00  /* Processor-specific */
+#define ET_HIPROC         0xffff  /* Processor-specific */
+
+/* Values for Elf32_Ehdr::e_machine (most of this were not included in the
+ * original SCO document but have been gleaned from elsewhere).
+ */
+
+#define EM_NONE            0      /* No machine */
+#define EM_M32             1      /* AT&T WE 32100 */
+#define EM_SPARC           2      /* SPARC */
+#define EM_386             3      /* Intel 80386 */
+#define EM_68K             4      /* Motorola 68000 */
+#define EM_88K             5      /* Motorola 88000 */
+#define EM_486             6      /* Intel 486+ */
+#define EM_860             7      /* Intel 80860 */
+#define EM_MIPS            8      /* MIPS R3000 Big-Endian */
+#define EM_MIPS_RS4_BE     10     /* MIPS R4000 Big-Endian */
+#define EM_PARISC          15     /* HPPA */
+#define EM_SPARC32PLUS     18     /* Sun's "v8plus" */
+#define EM_PPC             20     /* PowerPC */
+#define EM_PPC64           21     /* PowerPC64 */
+#define EM_ARM             40     /* ARM */
+#define EM_SH              42     /* SuperH */
+#define EM_SPARCV9         43     /* SPARC v9 64-bit */
+#define EM_IA_64           50     /* HP/Intel IA-64 */
+#define EM_X86_64          62     /* AMD x86-64 */
+#define EM_S390            22     /* IBM S/390 */
+#define EM_CRIS            76     /* Axis Communications 32-bit embedded processor */
+#define EM_V850            87     /* NEC v850 */
+#define EM_M32R            88     /* Renesas M32R */
+#define EM_H8_300          46
+#define EM_ALPHA           0x9026
+#define EM_CYGNUS_V850     0x9080
+#define EM_CYGNUS_M32R     0x9041
+#define EM_S390_OLD        0xa390
+#define EM_FRV             0x5441
+
+/* Values for Elf32_Ehdr::e_version */
+
+#define EV_NONE            0      /* Invalid version */
+#define EV_CURRENT         1      /* The current version */
+
+/* Ehe ELF identifier */
+
+#define EI_MAG0            0      /* File identification */
+#define EI_MAG1            1      /* "  " "            " */
+#define EI_MAG2            2      /* "  " "            " */
+#define EI_MAG3            3      /* "  " "            " */
+#define EI_CLASS           4      /* File class */
+#define EI_DATA            5      /* Data encoding */
+#define EI_VERSION         6      /* File version */
+#define EI_PAD             7      /* Start of padding bytes */
+#define EI_NIDENT          16     /* Size of eident[] */
+
+#define EI_MAGIC_SIZE      4
+#define EI_MAGIC           {0x7f, 'E', 'L', 'F'}
+
+/* Values for EI_CLASS */
+
+#define ELFCLASSNONE       0      /* Invalid class */
+#define ELFCLASS32         1      /* 32-bit objects */
+#define ELFCLASS64         2      /* 64-bit objects */
+
+/* Values for EI_DATA */
+
+#define ELFDATANONE        0     /* Invalid data encoding */
+#define ELFDATA2LSB        1     /* Least significant byte occupying the lowest address */
+#define ELFDATA2MSB        2     /* Most significant byte occupying the lowest address */
+
+/* Figure 4-7: Special Section Indexes */
+
+#define SHN_UNDEF          0
+#define SHN_LORESERVE      0xff00
+#define SHN_LOPROC         0xff00
+#define SHN_HIPROC         0xff1f
+#define SHN_ABS            0xfff1
+#define SHN_COMMON         0xfff2
+#define SHN_HIRESERVE      0xffff
+
+/* Figure 4-9: Section Types, sh_type */
+
+#define SHT_NULL           0
+#define SHT_PROGBITS       1
+#define SHT_SYMTAB         2
+#define SHT_STRTAB         3
+#define SHT_RELA           4
+#define SHT_HASH           5
+#define SHT_DYNAMIC        6
+#define SHT_NOTE           7
+#define SHT_NOBITS         8
+#define SHT_REL            9
+#define SHT_SHLIB          10
+#define SHT_DYNSYM         11
+#define SHT_LOPROC         0x70000000
+#define SHT_HIPROC         0x7fffffff
+#define SHT_LOUSER         0x80000000
+#define SHT_HIUSER         0xffffffff
+
+/* Figure 4-11: Section Attribute Flags, sh_flags */
+
+#define SHF_WRITE          1
+#define SHF_ALLOC          2
+#define SHF_EXECINSTR      4
+#define SHF_MASKPROC       0xf0000000
+
+/* Definitions for Elf32_Sym::st_info */
+
+#define ELF32_ST_BIND(i)   ((i) >> 4)
+#define ELF32_ST_TYPE(i)   ((i) & 0xf)
+#define ELF32_ST_INFO(b,t) (((b) << 4) | ((t) & 0xf))
+
+/* Figure 4-16: Symbol Binding, ELF32_ST_BIND */
+
+#define STB_LOCAL          0
+#define STB_GLOBAL         1
+#define STB_WEAK           2
+#define STB_LOPROC         13
+#define STB_HIPROC         15
+
+/* Figure 4-17: Symbol Types, ELF32_ST_TYPE */
+
+#define STT_NOTYPE         0
+#define STT_OBJECT         1
+#define STT_FUNC           2
+#define STT_SECTION        3
+#define STT_FILE           4
+#define STT_LOPROC         13
+#define STT_HIPROC         15
+
+/* Definitions for Elf32_Rel*::r_info */
+
+#define ELF32_R_SYM(i)    ((i) >> 8)
+#define ELF32_R_TYPE(i)   ((i) & 0xff)
+#define ELF32_R_INFO(s,t) (((s)<< 8) | ((t) & 0xff))
+
+/* Figure 5-2: Segment Types, p_type */
+
+#define PT_NULL            0
+#define PT_LOAD            1
+#define PT_DYNAMIC         2
+#define PT_INTERP          3
+#define PT_NOTE            4
+#define PT_SHLIB           5
+#define PT_PHDR            6
+#define PT_LOPROC          0x70000000
+#define PT_HIPROC          0x7fffffff
+
+/* Figure 5-3: Segment Flag Bits, p_flags */
+
+#define PF_X               1          /* Execute */
+#define PF_W               2          /* Write */
+#define PF_R               4          /* Read */
+#define PF_MASKPROC        0xf0000000 /* Unspecified */
+
+/* Figure 5-10: Dynamic Array Tags, d_tag */
+
+#define DT_NULL            0          /* d_un=ignored */
+#define DT_NEEDED          1          /* d_un=d_val */
+#define DT_PLTRELSZ        2          /* d_un=d_val */
+#define DT_PLTGOT          3          /* d_un=d_ptr */
+#define DT_HASH            4          /* d_un=d_ptr */
+#define DT_STRTAB          5          /* d_un=d_ptr */
+#define DT_SYMTAB          6          /* d_un=d_ptr */
+#define DT_RELA            7          /* d_un=d_ptr */
+#define DT_RELASZ          8          /* d_un=d_val */
+#define DT_RELAENT         9          /* d_un=d_val */
+#define DT_STRSZ           10         /* d_un=d_val */
+#define DT_SYMENT          11         /* d_un=d_val */
+#define DT_INIT            12         /* d_un=d_ptr */
+#define DT_FINI            13         /* d_un=d_ptr */
+#define DT_SONAME          14         /* d_un=d_val */
+#define DT_RPATH           15         /* d_un=d_val */
+#define DT_SYMBOLIC        16         /* d_un=ignored */
+#define DT_REL             17         /* d_un=d_ptr */
+#define DT_RELSZ           18         /* d_un=d_val */
+#define DT_RELENT          19         /* d_un=d_val */
+#define DT_PLTREL          20         /* d_un=d_val */
+#define DT_DEBUG           21         /* d_un=d_ptr */
+#define DT_TEXTREL         22         /* d_un=ignored */
+#define DT_JMPREL          23         /* d_un=d_ptr */
+#define DT_BINDNOW         24         /* d_un=ignored */
+#define DT_LOPROC          0x70000000 /* d_un=unspecified */
+#define DT_HIPROC          0x7fffffff /* d_un= unspecified */
+
+/****************************************************************************
+ * Public Type Definitions
+ ****************************************************************************/
+
+/* Figure 4.2: 32-Bit Data Types */
+
+typedef uint32_t  Elf32_Addr;  /* Unsigned program address */
+typedef uint16_t  Elf32_Half;  /* Unsigned medium integer */
+typedef uint32_t  Elf32_Off;   /* Unsigned file offset */
+typedef int32_t   Elf32_Sword; /* Signed large integer */
+typedef uint32_t  Elf32_Word;  /* Unsigned large integer */
+
+/* Figure 4-3: ELF Header */
+
+typedef struct
+{
+  unsigned char e_ident[EI_NIDENT];
+  Elf32_Half    e_type;
+  Elf32_Half    e_machine;
+  Elf32_Word    e_version;
+  Elf32_Addr    e_entry;
+  Elf32_Off     e_phoff;
+  Elf32_Off     e_shoff;
+  Elf32_Word    e_flags;
+  Elf32_Half    e_ehsize;
+  Elf32_Half    e_phentsize;
+  Elf32_Half    e_phnum;
+  Elf32_Half    e_shentsize;
+  Elf32_Half    e_shnum;
+  Elf32_Half    e_shstrndx;
+} Elf32_Ehdr;
+
+/* Figure 4-8: Section Header */
+
+typedef struct
+{
+  Elf32_Word    sh_name;
+  Elf32_Word    sh_type;
+  Elf32_Word    sh_flags;
+  Elf32_Addr    sh_addr;
+  Elf32_Off     sh_offset;
+  Elf32_Word    sh_size;
+  Elf32_Word    sh_link;
+  Elf32_Word    sh_info;
+  Elf32_Word    sh_addralign;
+  Elf32_Word    sh_entsize;
+} Elf32_Shdr;
+
+/* Figure 4-15: Symbol Table Entry */
+
+typedef struct
+{
+  Elf32_Word    st_name;
+  Elf32_Addr    st_value;
+  Elf32_Word    st_size;
+  unsigned char st_info;
+  unsigned char st_other;
+  Elf32_Half    st_shndx;
+} Elf32_Sym;
+
+/* Figure 4-19: Relocation Entries */
+
+typedef struct
+{
+  Elf32_Addr   r_offset;
+  Elf32_Word   r_info;
+} Elf32_Rel;
+
+typedef struct
+{
+  Elf32_Addr   r_offset;
+  Elf32_Word   r_info;
+  Elf32_Sword  r_addend;
+} Elf32_Rela;
+
+/* Figure 5-1: Program Header */
+
+typedef struct
+{
+  Elf32_Word   p_type;
+  Elf32_Off    p_offset;
+  Elf32_Addr   p_vaddr;
+  Elf32_Addr   p_paddr;
+  Elf32_Word   p_filesz;
+  Elf32_Word   p_memsz;
+  Elf32_Word   p_flags;
+  Elf32_Word   p_align;
+} Elf32_Phdr;
+
+/* Figure 5-9: Dynamic Structure */
+
+typedef struct
+{
+  Elf32_Sword  d_tag;
+  union
+  {
+    Elf32_Word d_val;
+    Elf32_Addr d_ptr;
+  } d_un;
+} Elf32_Dyn;
+
+//extern Elf32_Dyn _DYNAMIC[] ;
+
+#endif /* __INCLUDE_ELF32_H */
diff --git a/nuttx/include/net/if.h b/nuttx/include/net/if.h
index e64b58563..1ff8ebc38 100644
--- a/nuttx/include/net/if.h
+++ b/nuttx/include/net/if.h
@@ -52,6 +52,10 @@
 #define IF_NAMESIZE     6   /* Newer naming standard */
 #define IFHWADDRLEN     6
 
+#define IFF_RUNNING     (1 << 0)
+#define IF_FLAG_IFUP    (1 << 0)
+#define IF_FLAG_IFDOWN  (2 << 0)
+
 /*******************************************************************************************
  * Public Type Definitions
  *******************************************************************************************/
@@ -72,6 +76,7 @@ struct lifreq
     struct sockaddr         lifru_hwaddr;             /* MAC address */
     int                     lifru_count;              /* Number of devices */
     int                     lifru_mtu;                /* MTU size */
+    uint8_t                 lifru_flags;              /* Interface flags */
   } lifr_ifru;
 };
 
@@ -82,6 +87,7 @@ struct lifreq
 #define lifr_hwaddr         lifr_ifru.lifru_hwaddr    /* MAC address */
 #define lifr_mtu            lifr_ifru.lifru_mtu       /* MTU */
 #define lifr_count          lifr_ifru.lifru_count     /* Number of devices */
+#define lifr_flags          lifr_ifru.lifru_flags     /* interface flags */
 
 /* This is the older I/F request that should only be used with IPv4.  However, since
  * NuttX only supports IPv4 or 6 (not both), we can force the older structure to
@@ -101,6 +107,7 @@ struct ifreq
     struct sockaddr         ifru_hwaddr;              /* MAC address */
     int                     ifru_count;               /* Number of devices */
     int                     ifru_mtu;                 /* MTU size */
+    uint8_t                 ifru_flags;               /* Interface flags */
   } ifr_ifru;
 };
 
@@ -111,6 +118,7 @@ struct ifreq
 #define ifr_hwaddr          ifr_ifru.ifru_hwaddr      /* MAC address */
 #define ifr_mtu             ifr_ifru.ifru_mtu         /* MTU */
 #define ifr_count           ifr_ifru.ifru_count       /* Number of devices */
+#define ifr_flags           ifr_ifru.ifru_flags       /* interface flags */
 
 #else /* CONFIG_NET_IPv6 */
 
@@ -123,6 +131,7 @@ struct ifreq
 #define ifr_hwaddr          lifr_ifru.lifru_hwaddr    /* MAC address */
 #define ifr_mtu             lifr_ifru.lifru_mtu       /* MTU */
 #define ifr_count           lifr_ifru.lifru_count     /* Number of devices */
+#define ifr_flags           lifr_ifru.lifru_flags     /* interface flags */
 
 #endif /* CONFIG_NET_IPv6 */
 
diff --git a/nuttx/include/nuttx/arch.h b/nuttx/include/nuttx/arch.h
index bf6be1ce0..8b4b10ade 100644
--- a/nuttx/include/nuttx/arch.h
+++ b/nuttx/include/nuttx/arch.h
@@ -46,6 +46,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include <sched.h>
+
 #include <arch/arch.h>
 
 /****************************************************************************
@@ -67,10 +68,8 @@ typedef CODE void (*sig_deliver_t)(FAR _TCB *tcb);
  ****************************************************************************/
 
 #ifdef __cplusplus
-#define EXTERN extern "C"
-extern "C" {
-#else
-#define EXTERN extern
+extern "C"
+{
 #endif
 
 /****************************************************************************
@@ -98,7 +97,7 @@ extern "C" {
  *
  ****************************************************************************/
 
-EXTERN void up_initialize(void);
+void up_initialize(void);
 
 /****************************************************************************
  * Name: up_idle
@@ -114,7 +113,7 @@ EXTERN void up_initialize(void);
  *
  ****************************************************************************/
 
-EXTERN void up_idle(void);
+void up_idle(void);
 
 /****************************************************************************
  * Name: up_initial_state
@@ -130,7 +129,7 @@ EXTERN void up_idle(void);
  *
  ****************************************************************************/
 
-EXTERN void up_initial_state(FAR _TCB *tcb);
+void up_initial_state(FAR _TCB *tcb);
 
 /****************************************************************************
  * Name: up_create_stack
@@ -155,7 +154,7 @@ EXTERN void up_initial_state(FAR _TCB *tcb);
  ****************************************************************************/
 
 #ifndef CONFIG_CUSTOM_STACK
-EXTERN int up_create_stack(FAR _TCB *tcb, size_t stack_size);
+int up_create_stack(FAR _TCB *tcb, size_t stack_size);
 #endif
 
 /****************************************************************************
@@ -180,7 +179,7 @@ EXTERN int up_create_stack(FAR _TCB *tcb, size_t stack_size);
  ****************************************************************************/
 
 #ifndef CONFIG_CUSTOM_STACK
-EXTERN int up_use_stack(FAR _TCB *tcb, FAR void *stack, size_t stack_size);
+int up_use_stack(FAR _TCB *tcb, FAR void *stack, size_t stack_size);
 #endif
 
 /****************************************************************************
@@ -193,7 +192,7 @@ EXTERN int up_use_stack(FAR _TCB *tcb, FAR void *stack, size_t stack_size);
  ****************************************************************************/
 
 #ifndef CONFIG_CUSTOM_STACK
-EXTERN void up_release_stack(FAR _TCB *dtcb);
+void up_release_stack(FAR _TCB *dtcb);
 #endif
 
 /****************************************************************************
@@ -216,7 +215,7 @@ EXTERN void up_release_stack(FAR _TCB *dtcb);
  *
  ****************************************************************************/
 
-EXTERN void up_unblock_task(FAR _TCB *tcb);
+void up_unblock_task(FAR _TCB *tcb);
 
 /****************************************************************************
  * Name: up_block_task
@@ -242,7 +241,7 @@ EXTERN void up_unblock_task(FAR _TCB *tcb);
  *
  ****************************************************************************/
 
-EXTERN void up_block_task(FAR _TCB *tcb, tstate_t task_state);
+void up_block_task(FAR _TCB *tcb, tstate_t task_state);
 
 /****************************************************************************
  * Name: up_release_pending
@@ -261,7 +260,7 @@ EXTERN void up_block_task(FAR _TCB *tcb, tstate_t task_state);
  *
  ****************************************************************************/
 
-EXTERN void up_release_pending(void);
+void up_release_pending(void);
 
 /****************************************************************************
  * Name: up_reprioritize_rtr
@@ -287,7 +286,7 @@ EXTERN void up_release_pending(void);
  *
  ****************************************************************************/
 
-EXTERN void up_reprioritize_rtr(FAR _TCB *tcb, uint8_t priority);
+void up_reprioritize_rtr(FAR _TCB *tcb, uint8_t priority);
 
 /****************************************************************************
  * Name: _exit
@@ -349,7 +348,7 @@ EXTERN void up_reprioritize_rtr(FAR _TCB *tcb, uint8_t priority);
  ****************************************************************************/
 
 #ifndef CONFIG_DISABLE_SIGNALS
-EXTERN void up_schedule_sigaction(FAR _TCB *tcb, sig_deliver_t sigdeliver);
+void up_schedule_sigaction(FAR _TCB *tcb, sig_deliver_t sigdeliver);
 #endif
 
 /****************************************************************************
@@ -363,7 +362,7 @@ EXTERN void up_schedule_sigaction(FAR _TCB *tcb, sig_deliver_t sigdeliver);
  ****************************************************************************/
 
 #ifndef CONFIG_HEAP_BASE
-EXTERN void up_allocate_heap(FAR void **heap_start, size_t *heap_size);
+void up_allocate_heap(FAR void **heap_start, size_t *heap_size);
 #endif
 
 /****************************************************************************
@@ -383,6 +382,214 @@ EXTERN void up_allocate_heap(FAR void **heap_start, size_t *heap_size);
 #endif
 
 /****************************************************************************
+ * Address Environment Interfaces
+ *
+ * Low-level interfaces used in binfmt/ to instantiate tasks with address
+ * environments.  These interfaces all operate on type task_addrenv_t which
+ * is an abstract representation of a task's address environment and must be
+ * defined in arch/arch.h if CONFIG_ADDRENV is defined.
+ *
+ *   up_addrenv_create  - Create an address environment
+ *   up_addrenv_vaddr   - Returns the virtual base address of the address
+ *                        environment
+ *   up_addrenv_select  - Instantiate an address environment
+ *   up_addrenv_restore - Restore an address environment
+ *   up_addrenv_destroy - Destroy an address environment.
+ *   up_addrenv_assign  - Assign an address environment to a TCB
+ *
+ * Higher-level interfaces used by the tasking logic.  These interfaces are
+ * used by the functions in sched/ and all operate on the TCB which as been
+ * assigned an address environment by up_addrenv_assign().
+ *
+ *   up_addrenv_share   - Clone the address environment assigned to one TCB
+ *                        to another.  This operation is done when a pthread
+ *                        is created that share's the same address
+ *                        environment.
+ *   up_addrenv_release - Release the TCBs reference to an address
+ *                        environment when a task/thread exits.
+ *
+ ****************************************************************************/
+/****************************************************************************
+ * Name: up_addrenv_create
+ *
+ * Description:
+ *   This function is called from the binary loader logic when a new
+ *   task is created in order to instantiate an address environment for the
+ *   task.  up_addrenv_create is essentially the allocator of the physical
+ *   memory for the new task.
+ *
+ * Input Parameters:
+ *   envsize - The size (in bytes) of the address environment needed by the
+ *     task.
+ *   addrenv - The location to return the representation of the task address
+ *     environment.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ADDRENV
+int up_addrenv_create(size_t envsize, FAR task_addrenv_t *addrenv);
+#endif
+
+/****************************************************************************
+ * Name: up_addrenv_vaddr
+ *
+ * Description:
+ *   Return the virtual address associated with the newly create address
+ *   environment.  This function is used by the binary loaders in order
+ *   get an address that can be used to initialize the new task.
+ *
+ * Input Parameters:
+ *   addrenv - The representation of the task address environment previously
+ *      returned by up_addrenv_create.
+ *   vaddr - The location to return the virtual address.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ADDRENV
+int up_addrenv_vaddr(FAR task_addrenv_t addrenv, FAR void **vaddr);
+#endif
+
+/****************************************************************************
+ * Name: up_addrenv_select
+ *
+ * Description:
+ *   After an address environment has been established for a task (via
+ *   up_addrenv_create().  This function may be called to to instantiate
+ *   that address environment in the virtual address space.  this might be
+ *   necessary, for example, to load the code for the task from a file or
+ *   to access address environment private data.
+ *
+ * Input Parameters:
+ *   addrenv - The representation of the task address environment previously
+ *     returned by up_addrenv_create.
+ *   oldenv
+ *     The address environment that was in place before up_addrenv_select().
+ *     This may be used with up_addrenv_restore() to restore the original
+ *     address environment that was in place before up_addrenv_select() was
+ *     called.  Note that this may be a task agnostic, hardware
+ *     representation that is different from task_addrenv_t.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ADDRENV
+int up_addrenv_select(task_addrenv_t addrenv, hw_addrenv_t *oldenv);
+#endif
+
+/****************************************************************************
+ * Name: up_addrenv_restore
+ *
+ * Description:
+ *   After an address environment has been temporarilty instantiated by
+ *   up_addrenv_select, this function may be called to to restore the
+ *   original address environment.
+ *
+ * Input Parameters:
+ *   oldenv - The hardware representation of the address environment
+ *     previously returned by up_addrenv_select.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ADDRENV
+int up_addrenv_restore(hw_addrenv_t oldenv);
+#endif
+
+/****************************************************************************
+ * Name: up_addrenv_destroy
+ *
+ * Description:
+ *   Called from the binary loader loader during error handling to destroy
+ *   the address environment previously created by up_addrenv_create().
+ *
+ * Input Parameters:
+ *   addrenv - The representation of the task address environment previously
+ *     returned by up_addrenv_create.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ADDRENV
+int up_addrenv_destroy(task_addrenv_t addrenv);
+#endif
+
+/****************************************************************************
+ * Name: up_addrenv_assign
+ *
+ * Description:
+ *   Assign an address environment to a TCB.
+ *
+ * Input Parameters:
+ *   addrenv - The representation of the task address environment previously
+ *     returned by up_addrenv_create.
+ *   tcb - The TCB of the task to receive the address environment.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ADDRENV
+int up_addrenv_assign(task_addrenv_t addrenv, FAR _TCB *tcb);
+#endif
+
+/****************************************************************************
+ * Name: up_addrenv_share
+ *
+ * Description:
+ *   This function is called from the core scheduler logic when a thread
+ *   is created that needs to share the address ennvironment of its parent
+ *   task.  In this case, the parent's address environment needs to be
+ *   "cloned" for the child.
+ *
+ * Input Parameters:
+ *   ptcb - The TCB of the parent task that has the address environment.
+ *   ctcb - The TCB of the child thread needing the address environment.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ADDRENV
+int up_addrenv_share(FAR const _TCB *ptcb, FAR _TCB *ctcb);
+#endif
+
+/****************************************************************************
+ * Name: up_addrenv_release
+ *
+ * Description:
+ *   This function is called when a task or thread exits in order to release
+ *   its reference to an address environment.  When there are no further
+ *   references to an address environment, that address environment should
+ *   be destroyed.
+ *
+ * Input Parameters:
+ *   tcb - The TCB of the task or thread whose the address environment will
+ *     be released.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ADDRENV
+int up_addrenv_release(FAR _TCB *tcb);
+#endif
+
+/****************************************************************************
  * Name: up_interrupt_context
  *
  * Description:
@@ -391,7 +598,7 @@ EXTERN void up_allocate_heap(FAR void **heap_start, size_t *heap_size);
  *
  ****************************************************************************/
 
-EXTERN bool up_interrupt_context(void);
+bool up_interrupt_context(void);
 
 /****************************************************************************
  * Name: up_enable_irq
@@ -413,7 +620,7 @@ EXTERN bool up_interrupt_context(void);
  ****************************************************************************/
 
 #ifndef CONFIG_ARCH_NOINTC
-EXTERN void up_enable_irq(int irq);
+void up_enable_irq(int irq);
 #endif
 
 /****************************************************************************
@@ -431,7 +638,7 @@ EXTERN void up_enable_irq(int irq);
  ****************************************************************************/
 
 #ifndef CONFIG_ARCH_NOINTC
-EXTERN void up_disable_irq(int irq);
+void up_disable_irq(int irq);
 #endif
 
 /****************************************************************************
@@ -446,7 +653,7 @@ EXTERN void up_disable_irq(int irq);
  ****************************************************************************/
 
 #ifdef CONFIG_ARCH_IRQPRIO
-EXTERN int up_prioritize_irq(int irq, int priority);
+int up_prioritize_irq(int irq, int priority);
 #endif
 
 /****************************************************************************
@@ -483,7 +690,7 @@ EXTERN int up_prioritize_irq(int irq, int priority);
  ****************************************************************************/
 
 #ifdef CONFIG_ARCH_ROMGETC
-EXTERN char up_romgetc(FAR const char *ptr);
+char up_romgetc(FAR const char *ptr);
 #else
 #  define up_romgetc(ptr) (*ptr)
 #endif
@@ -497,8 +704,8 @@ EXTERN char up_romgetc(FAR const char *ptr);
  *
  ***************************************************************************/
 
-EXTERN void up_mdelay(unsigned int milliseconds);
-EXTERN void up_udelay(useconds_t microseconds);
+void up_mdelay(unsigned int milliseconds);
+void up_udelay(useconds_t microseconds);
 
 /****************************************************************************
  * Name: up_cxxinitialize
@@ -517,7 +724,7 @@ EXTERN void up_udelay(useconds_t microseconds);
  ***************************************************************************/
 
 #if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
-EXTERN void up_cxxinitialize(void);
+void up_cxxinitialize(void);
 #endif
 
 /****************************************************************************
@@ -537,7 +744,7 @@ EXTERN void up_cxxinitialize(void);
  *
  ****************************************************************************/
 
-EXTERN void sched_process_timer(void);
+void sched_process_timer(void);
 
 /****************************************************************************
  * Name: irq_dispatch
@@ -549,7 +756,7 @@ EXTERN void sched_process_timer(void);
  *
  ***************************************************************************/
 
-EXTERN void irq_dispatch(int irq, FAR void *context);
+void irq_dispatch(int irq, FAR void *context);
 
 /****************************************************************************
  * Board-specific button interfaces exported by the board-specific logic
@@ -571,7 +778,7 @@ EXTERN void irq_dispatch(int irq, FAR void *context);
  ****************************************************************************/
 
 #ifdef CONFIG_ARCH_BUTTONS
-EXTERN void up_buttoninit(void);
+void up_buttoninit(void);
 #endif
 
 /****************************************************************************
@@ -592,7 +799,7 @@ EXTERN void up_buttoninit(void);
  ****************************************************************************/
 
 #ifdef CONFIG_ARCH_BUTTONS
-EXTERN uint8_t up_buttons(void);
+uint8_t up_buttons(void);
 #endif
 
 /****************************************************************************
@@ -613,7 +820,29 @@ EXTERN uint8_t up_buttons(void);
  ****************************************************************************/
 
 #ifdef CONFIG_ARCH_IRQBUTTONS
-EXTERN xcpt_t up_irqbutton(int id, xcpt_t irqhandler);
+xcpt_t up_irqbutton(int id, xcpt_t irqhandler);
+#endif
+
+/************************************************************************************
+ * Relay control functions
+ *
+ * Description:
+ *   Non-standard functions for relay control.
+ *
+ ************************************************************************************/
+
+#ifdef CONFIG_ARCH_RELAYS
+void up_relaysinit(void);
+void relays_setstat(int relays, bool stat);
+bool relays_getstat(int relays);
+void relays_setstats(uint32_t relays_stat);
+uint32_t relays_getstats(void);
+void relays_onoff(int relays, uint32_t mdelay);
+void relays_onoffs(uint32_t relays_stat, uint32_t mdelay);
+void relays_resetmode(int relays);
+void relays_powermode(int relays);
+void relays_resetmodes(uint32_t relays_stat);
+void relays_powermodes(uint32_t relays_stat);
 #endif
 
 /****************************************************************************
@@ -628,9 +857,8 @@ EXTERN xcpt_t up_irqbutton(int id, xcpt_t irqhandler);
  *
  ****************************************************************************/
 
-EXTERN int up_putc(int ch);
+int up_putc(int ch);
 
-#undef EXTERN
 #ifdef __cplusplus
 }
 #endif
diff --git a/nuttx/include/nuttx/binfmt.h b/nuttx/include/nuttx/binfmt/binfmt.h
index 70beda393..6df5190d2 100644
--- a/nuttx/include/nuttx/binfmt.h
+++ b/nuttx/include/nuttx/binfmt/binfmt.h
@@ -1,7 +1,7 @@
 /****************************************************************************
- * include/nuttx/binfmt.h
+ * include/nuttx/binfmt/binfmt.h
  *
- *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2009, 2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -33,34 +33,58 @@
  *
  ****************************************************************************/
 
-#ifndef __INCLUDE_NUTTX_BINFMT_H
-#define __INCLUDE_NUTTX_BINFMT_H
+#ifndef __INCLUDE_NUTTX_BINFMT_BINFMT_H
+#define __INCLUDE_NUTTX_BINFMT_BINFMT_H
 
 /****************************************************************************
  * Included Files
  ****************************************************************************/
 
 #include <nuttx/config.h>
+
 #include <sys/types.h>
 #include <nxflat.h>
+
+#include <nuttx/arch.h>
 #include <nuttx/sched.h>
 
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
 
+#define BINFMT_NALLOC 3
+
 /****************************************************************************
  * Public Types
  ****************************************************************************/
+/* EXEPATH_HANDLE is an opaque handle used to traverse the absolute paths
+ * assigned to the PATH environment variable.
+ */
+
+#if !defined(CONFIG_BINFMT_DISABLE) && defined(CONFIG_BINFMT_EXEPATH)
+typedef FAR void *EXEPATH_HANDLE;
+#endif
+
+/* The type of one C++ constructor or destructor */
+
+typedef FAR void (*binfmt_ctor_t)(void);
+typedef FAR void (*binfmt_dtor_t)(void);
 
-/* This describes the file to be loaded */
+/* This describes the file to be loaded.
+ *
+ * NOTE 1: The 'filename' must be the full, absolute path to the file to be
+ * executed unless CONFIG_BINFMT_EXEPATH is defined.  In that case,
+ * 'filename' may be a relative path; a set of candidate absolute paths
+ * will be generated using the PATH environment variable and load_module()
+ * will attempt to load each file that is found at those absolute paths.
+ */
 
 struct symtab_s;
 struct binary_s
 {
   /* Information provided to the loader to load and bind a module */
 
-  FAR const char *filename;            /* Full path to the binary to be loaded */
+  FAR const char *filename;            /* Full path to the binary to be loaded (See NOTE 1 above) */
   FAR const char **argv;               /* Argument list */
   FAR const struct symtab_s *exports;  /* Table of exported symbols */
   int nexports;                        /* The number of symbols in exports[] */
@@ -70,9 +94,29 @@ struct binary_s
    */
 
   main_t entrypt;                      /* Entry point into a program module */
-  FAR void *ispace;                    /* Memory-mapped, I-space (.text) address */
-  FAR struct dspace_s *dspace;         /* Address of the allocated .data/.bss space */
-  size_t isize;                        /* Size of the I-space region (needed for munmap) */
+  FAR void *mapped;                    /* Memory-mapped, address space */
+  FAR void *alloc[BINFMT_NALLOC];      /* Allocated address spaces */
+
+  /* Constructors/destructors */
+
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+  FAR binfmt_ctor_t *ctors;            /* Pointer to a list of constructors */
+  FAR binfmt_dtor_t *dtors;            /* Pointer to a list of destructors */
+  uint16_t nctors;                     /* Number of constructors in the list */
+  uint16_t ndtors;                     /* Number of destructors in the list */
+#endif
+
+  /* Address environment.
+   *
+   * addrenv - This is the handle created by up_addrenv_create() that can be
+   *   used to manage the tasks address space.
+   */
+
+#ifdef CONFIG_ADDRENV
+  task_addrenv_t addrenv;              /* Task address environment */
+#endif
+
+  size_t mapsize;                      /* Size of the mapped address region (needed for munmap) */
   size_t stacksize;                    /* Size of the stack in bytes (unallocated) */
 };
 
@@ -88,12 +132,9 @@ struct binfmt_s
  * Public Data
  ****************************************************************************/
 
-#undef EXTERN
 #if defined(__cplusplus)
-#define EXTERN extern "C"
-extern "C" {
-#else
-#define EXTERN extern
+extern "C"
+{
 #endif
 
 /****************************************************************************
@@ -113,7 +154,7 @@ extern "C" {
  *
  ****************************************************************************/
 
-EXTERN int register_binfmt(FAR struct binfmt_s *binfmt);
+int register_binfmt(FAR struct binfmt_s *binfmt);
 
 /****************************************************************************
  * Name: unregister_binfmt
@@ -128,7 +169,7 @@ EXTERN int register_binfmt(FAR struct binfmt_s *binfmt);
  *
  ****************************************************************************/
 
-EXTERN int unregister_binfmt(FAR struct binfmt_s *binfmt);
+int unregister_binfmt(FAR struct binfmt_s *binfmt);
 
 /****************************************************************************
  * Name: load_module
@@ -144,14 +185,19 @@ EXTERN int unregister_binfmt(FAR struct binfmt_s *binfmt);
  *
  ****************************************************************************/
 
-EXTERN int load_module(FAR struct binary_s *bin);
+int load_module(FAR struct binary_s *bin);
 
 /****************************************************************************
  * Name: unload_module
  *
  * Description:
  *   Unload a (non-executing) module from memory.  If the module has
- *   been started (via exec_module), calling this will be fatal.
+ *   been started (via exec_module) and has not exited, calling this will
+ *   be fatal.
+ *
+ *   However, this function must be called after the module exist.  How
+ *   this is done is up to your logic.  Perhaps you register it to be
+ *   called by on_exit()?
  *
  * Returned Value:
  *   This is a NuttX internal function so it follows the convention that
@@ -160,7 +206,7 @@ EXTERN int load_module(FAR struct binary_s *bin);
  *
  ****************************************************************************/
 
-EXTERN int unload_module(FAR const struct binary_s *bin);
+int unload_module(FAR const struct binary_s *bin);
 
 /****************************************************************************
  * Name: exec_module
@@ -175,7 +221,7 @@ EXTERN int unload_module(FAR const struct binary_s *bin);
  *
  ****************************************************************************/
 
-EXTERN int exec_module(FAR const struct binary_s *bin, int priority);
+int exec_module(FAR const struct binary_s *bin, int priority);
 
 /****************************************************************************
  * Name: exec
@@ -197,13 +243,96 @@ EXTERN int exec_module(FAR const struct binary_s *bin, int priority);
  *
  ****************************************************************************/
 
-EXTERN int exec(FAR const char *filename, FAR const char **argv,
-                FAR const struct symtab_s *exports, int nexports);
+int exec(FAR const char *filename, FAR const char **argv,
+         FAR const struct symtab_s *exports, int nexports);
+
+/****************************************************************************
+ * Name: exepath_init
+ *
+ * Description:
+ *   Initialize for the traversal of each value in the PATH variable.  The
+ *   usage is sequence is as follows:
+ *
+ *   1) Call exepath_init() to initialize for the traversal.  exepath_init()
+ *      will return an opaque handle that can then be provided to
+ *      exepath_next() and exepath_release().
+ *   2) Call exepath_next() repeatedly to examine every file that lies
+ *      in the directories of the PATH variable
+ *   3) Call exepath_release() to free resources set aside by exepath_init().
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   On success, exepath_init() return a non-NULL, opaque handle that may
+ *   subsequently be used in calls to exepath_next() and exepath_release().
+ *   On error, a NULL handle value will be returned.  The most likely cause
+ *   of an error would be that the there is no value associated with the
+ *   PATH variable.
+ *
+ ****************************************************************************/
+
+#if !defined(CONFIG_BINFMT_DISABLE) && defined(CONFIG_BINFMT_EXEPATH)
+EXEPATH_HANDLE exepath_init(void);
+#endif
+
+/****************************************************************************
+ * Name: exepath_next
+ *
+ * Description:
+ *   Traverse all possible values in the PATH variable in attempt to find
+ *   the full path to an executable file when only a relative path is
+ *   provided.
+ *
+ * Input Parameters:
+ *   handle - The handle value returned by exepath_init
+ *   relpath - The relative path to the file to be found. 
+ *
+ * Returned Value:
+ *   On success, a non-NULL pointer to a null-terminated string is provided.
+ *   This is the full path to a file that exists in the file system.  This
+ *   function will verify that the file exists (but will not verify that it
+ *   is marked executable).
+ *
+ *   NOTE: The string pointer return in the success case points to allocated
+ *   memory.  This memory must be freed by the called by calling kfree().
+ *
+ *   NULL is returned if no path is found to any file with the provided
+ *   'relpath' from any absolute path in the PATH variable.  In this case,
+ *   there is no point in calling exepath_next() further; exepath_release()
+ *   must be called to release resources set aside by expath_init().
+ *
+ ****************************************************************************/
+
+#if !defined(CONFIG_BINFMT_DISABLE) && defined(CONFIG_BINFMT_EXEPATH)
+FAR char *exepath_next(EXEPATH_HANDLE handle, FAR const char *relpath);
+#endif
+
+/****************************************************************************
+ * Name: exepath_release
+ *
+ * Description:
+ *   Release all resources set aside by exepath_init() when the handle value
+ *   was created.  The handle value is invalid on return from this function.
+ *   Attempts to all exepath_next() or exepath_release() with such a 'stale'
+ *   handle will result in undefined (i.e., not good) behavior.
+ *
+ * Input Parameters:
+ *   handle - The handle value returned by exepath_init
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+#if !defined(CONFIG_BINFMT_DISABLE) && defined(CONFIG_BINFMT_EXEPATH)
+void exepath_release(EXEPATH_HANDLE handle);
+#endif
 
 #undef EXTERN
 #if defined(__cplusplus)
 }
 #endif
 
-#endif /* __INCLUDE_NUTTX_BINFMT_H */
+#endif /* __INCLUDE_NUTTX_BINFMT_BINFMT_H */
 
diff --git a/nuttx/include/nuttx/binfmt/elf.h b/nuttx/include/nuttx/binfmt/elf.h
new file mode 100644
index 000000000..6b6851934
--- /dev/null
+++ b/nuttx/include/nuttx/binfmt/elf.h
@@ -0,0 +1,340 @@
+/****************************************************************************
+ * include/nuttx/binfmt/elf.h
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_BINFMT_ELF_H
+#define __INCLUDE_NUTTX_BINFMT_ELF_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <elf32.h>
+
+#include <nuttx/binfmt/binfmt.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+/* Configuration ************************************************************/
+
+#ifndef CONFIG_ELF_ALIGN_LOG2
+#  define CONFIG_ELF_ALIGN_LOG2 2
+#endif
+
+#ifndef CONFIG_ELF_STACKSIZE
+#  define CONFIG_ELF_STACKSIZE 2048
+#endif
+
+#ifndef CONFIG_ELF_BUFFERSIZE
+#  define CONFIG_ELF_BUFFERSIZE 128
+#endif
+
+#ifndef CONFIG_ELF_BUFFERINCR
+#  define CONFIG_ELF_BUFFERINCR 32
+#endif
+
+/* Allocation array size and indices */
+
+#define LIBELF_ELF_ALLOC     0
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+#  define LIBELF_CTORS_ALLOC 1
+#  define LIBELF_CTPRS_ALLOC 2
+#  define LIBELF_NALLOC      3
+#else
+#  define LIBELF_NALLOC      1
+#endif
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/* This struct provides a desciption of the currently loaded instantiation
+ * of an ELF binary.
+ */
+
+struct elf_loadinfo_s
+{
+  /* elfalloc is the base address of the memory that is allocated to hold the
+   * ELF program image.
+   *
+   * If CONFIG_ADDRENV=n, elfalloc will be allocated using kmalloc() (or
+   * kzalloc()).  If CONFIG_ADDRENV-y, then elfalloc will be allocated using
+   * up_addrenv_create().  In either case, there will be a unique instance
+   * of elfalloc (and stack) for each instance of a process.
+   *
+   * The alloc[] array in struct binary_s will hold memory that persists after
+   * the ELF module has been loaded.
+   */
+ 
+  uintptr_t         elfalloc;    /* Memory allocated when ELF file was loaded */
+  size_t            elfsize;     /* Size of the ELF memory allocation */
+  off_t             filelen;     /* Length of the entire ELF file */
+  Elf32_Ehdr        ehdr;        /* Buffered ELF file header */
+  FAR Elf32_Shdr    *shdr;       /* Buffered ELF section headers */
+  uint8_t           *iobuffer;   /* File I/O buffer */
+
+  /* Constructors and destructors */
+  
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+  FAR void          *ctoralloc;  /* Memory allocated for ctors */
+  FAR void          *dtoralloc;  /* Memory allocated dtors */
+  FAR binfmt_ctor_t *ctors;      /* Pointer to a list of constructors */
+  FAR binfmt_dtor_t *dtors;      /* Pointer to a list of destructors */
+  uint16_t           nctors;     /* Number of constructors */
+  uint16_t           ndtors;     /* Number of destructors */
+#endif
+
+  /* Address environment.
+   *
+   * addrenv - This is the handle created by up_addrenv_create() that can be
+   *   used to manage the tasks address space.
+   * oldenv  - This is a value returned by up_addrenv_select() that must be 
+   *   used to restore the current hardware address environment.
+   */
+
+#ifdef CONFIG_ADDRENV
+  task_addrenv_t addrenv;  /* Task address environment */
+  hw_addrenv_t   oldenv;   /* Saved hardware address environment */
+#endif
+
+  uint16_t           symtabidx;  /* Symbol table section index */
+  uint16_t           strtabidx;  /* String table section index */
+  uint16_t           buflen;     /* size of iobuffer[] */
+  int                filfd;      /* Descriptor for the file being loaded */
+};
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C" {
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * These are APIs exported by libelf (but are used only by the binfmt logic):
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: elf_init
+ *
+ * Description:
+ *   This function is called to configure the library to process an ELF
+ *   program binary.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+EXTERN int elf_init(FAR const char *filename,
+                    FAR struct elf_loadinfo_s *loadinfo);
+
+/****************************************************************************
+ * Name: elf_uninit
+ *
+ * Description:
+ *   Releases any resources committed by elf_init().  This essentially
+ *   undoes the actions of elf_init.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+EXTERN int elf_uninit(FAR struct elf_loadinfo_s *loadinfo);
+
+/****************************************************************************
+ * Name: elf_load
+ *
+ * Description:
+ *   Loads the binary into memory, allocating memory, performing relocations
+ *   and inializing the data and bss segments.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+EXTERN int elf_load(FAR struct elf_loadinfo_s *loadinfo);
+
+/****************************************************************************
+ * Name: elf_bind
+ *
+ * Description:
+ *   Bind the imported symbol names in the loaded module described by
+ *   'loadinfo' using the exported symbol values provided by 'symtab'.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+struct symtab_s;
+EXTERN int elf_bind(FAR struct elf_loadinfo_s *loadinfo,
+                    FAR const struct symtab_s *exports, int nexports);
+
+/****************************************************************************
+ * Name: elf_unload
+ *
+ * Description:
+ *   This function unloads the object from memory. This essentially undoes
+ *   the actions of elf_load.  It is called only under certain error
+ *   conditions after the the module has been loaded but not yet started.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+EXTERN int elf_unload(struct elf_loadinfo_s *loadinfo);
+
+/****************************************************************************
+ * These are APIs used outside of binfmt by NuttX:
+ ****************************************************************************/
+/****************************************************************************
+ * Name: elf_initialize
+ *
+ * Description:
+ *   ELF support is built unconditionally.  However, it order to
+ *   use this binary format, this function must be called during system
+ *   format in order to register the ELF binary format.
+ *
+ * Returned Value:
+ *   This is a NuttX internal function so it follows the convention that
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+EXTERN int elf_initialize(void);
+
+/****************************************************************************
+ * Name: elf_uninitialize
+ *
+ * Description:
+ *   Unregister the ELF binary loader
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+EXTERN void elf_uninitialize(void);
+
+/****************************************************************************
+ * These are APIs must be provided by architecture-specific logic:
+ ****************************************************************************/
+/****************************************************************************
+ * Name: arch_checkarch
+ *
+ * Description:
+ *   Given the ELF header in 'hdr', verify that the ELF file is appropriate
+ *   for the current, configured architecture.  Every architecture that uses
+ *   the ELF loader must provide this function.
+ *
+ * Input Parameters:
+ *   hdr - The ELF header read from the ELF file.
+ *
+ * Returned Value:
+ *   True if the architecture supports this ELF file.
+ *
+ ****************************************************************************/
+
+EXTERN bool arch_checkarch(FAR const Elf32_Ehdr *hdr);
+
+/****************************************************************************
+ * Name: arch_relocate and arch_relocateadd
+ *
+ * Description:
+ *   Perform on architecture-specific ELF relocation.  Every architecture
+ *   that uses the ELF loader must provide this function.
+ *
+ * Input Parameters:
+ *   rel - The relocation type
+ *   sym - The ELF symbol structure containing the fully resolved value.
+ *   addr - The address that requires the relocation.
+ *
+ * Returned Value:
+ *   Zero (OK) if the relocation was successful.  Otherwise, a negated errno
+ *   value indicating the cause of the relocation failure.
+ *
+ ****************************************************************************/
+
+EXTERN int arch_relocate(FAR const Elf32_Rel *rel, FAR const Elf32_Sym *sym,
+                         uintptr_t addr);
+EXTERN int arch_relocateadd(FAR const Elf32_Rela *rel,
+                            FAR const Elf32_Sym *sym, uintptr_t addr);
+
+/****************************************************************************
+ * Name: arch_flushicache
+ *
+ * Description:
+ *   Flush the instruction cache.
+ *
+ * Input Parameters:
+ *   addr - Start address to flush
+ *   len  - Number of bytes to flush
+ *
+ * Returned Value:
+ *   True if the architecture supports this ELF file.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ELF_ICACHE
+EXTERN bool arch_flushicache(FAR void *addr, size_t len);
+#endif
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __INCLUDE_NUTTX_BINFMT_ELF_H */
diff --git a/nuttx/include/nuttx/nxflat.h b/nuttx/include/nuttx/binfmt/nxflat.h
index b6501522e..db396771b 100644
--- a/nuttx/include/nuttx/nxflat.h
+++ b/nuttx/include/nuttx/binfmt/nxflat.h
@@ -1,7 +1,7 @@
 /****************************************************************************
- * include/nuttx/nxflat.h
+ * include/nuttx/binfmt/nxflat.h
  *
- *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2009, 2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -33,8 +33,8 @@
  *
  ****************************************************************************/
 
-#ifndef __INCLUDE_NUTTX_NXFLAT_H
-#define __INCLUDE_NUTTX_NXFLAT_H
+#ifndef __INCLUDE_NUTTX_BINFMT_NXFLAT_H
+#define __INCLUDE_NUTTX_BINFMT_NXFLAT_H
 
 /****************************************************************************
  * Included Files
@@ -44,7 +44,9 @@
 
 #include <stdint.h>
 #include <nxflat.h>
+
 #include <nuttx/sched.h>
+#include <nuttx/arch.h>
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -61,17 +63,24 @@
 struct nxflat_loadinfo_s
 {
   /* Instruction Space (ISpace):  This region contains the nxflat file header
-   * plus everything from the text section.  Ideally, will have only one mmap'ed
-   * text section instance in the system for each module.
+   * plus everything from the text section.
+   *
+   * The ISpace region is allocated using mmap() and, thus, can be shared by
+   * multiple tasks.  Ideally, will have only one mmap'ed text section
+   * instance in the system for each module.
    */
 
-  uint32_t ispace;         /* Address where hdr/text is loaded */
+  uintptr_t ispace;        /* Address where hdr/text is loaded */
   uint32_t entryoffs;      /* Offset from ispace to entry point */
   uint32_t isize;          /* Size of ispace. */
 
-  /* Data Space (DSpace): This region contains all information that in referenced
-   * as data (other than the stack which is separately allocated).  There will be
-   * a unique instance of DSpace (and stack) for each instance of a process.
+  /* Data Space (DSpace): This region contains all information that is
+   * referenced as data (other than the stack which is separately allocated).
+   *
+   * If CONFIG_ADDRENV=n, DSpace will be allocated using kmalloc() (or
+   * kzalloc()).  If CONFIG_ADDRENV-y, then DSpace will be allocated using
+   * up_addrenv_create().  In either case, there will be a unique instance
+   * of DSpace (and stack) for each instance of a process.
    */
 
   struct dspace_s *dspace; /* Allocated D-Space (data/bss/etc) */
@@ -85,6 +94,19 @@ struct nxflat_loadinfo_s
   uint32_t relocstart;     /* Start of array of struct flat_reloc */
   uint16_t reloccount;     /* Number of elements in reloc array */
 
+  /* Address environment.
+   *
+   * addrenv - This is the handle created by up_addrenv_create() that can be
+   *   used to manage the tasks address space.
+   * oldenv  - This is a value returned by up_addrenv_select() that must be 
+   *   used to restore the current hardware address environment.
+   */
+
+#ifdef CONFIG_ADDRENV
+  task_addrenv_t addrenv;  /* Task address environment */
+  hw_addrenv_t   oldenv;   /* Saved hardware address environment */
+#endif
+
   /* File descriptors */
 
   int    filfd;            /* Descriptor for the file being loaded */
@@ -110,22 +132,22 @@ extern "C" {
  * These are APIs exported by libnxflat (and may be used outside of NuttX):
  ****************************************************************************/
 
-/***********************************************************************
+/****************************************************************************
  * Name: nxflat_verifyheader
  *
  * Description:
- *   Given the header from a possible NXFLAT executable, verify that it
- *   is an NXFLAT executable.
+ *   Given the header from a possible NXFLAT executable, verify that it is
+ *   an NXFLAT executable.
  *
  * Returned Value:
  *   0 (OK) is returned on success and a negated errno is returned on
  *   failure.
  *
- ***********************************************************************/
+ ****************************************************************************/
 
 EXTERN int nxflat_verifyheader(const struct nxflat_hdr_s *header);
 
-/***********************************************************************
+/****************************************************************************
  * Name: nxflat_init
  *
  * Description:
@@ -136,12 +158,12 @@ EXTERN int nxflat_verifyheader(const struct nxflat_hdr_s *header);
  *   0 (OK) is returned on success and a negated errno is returned on
  *   failure.
  *
- ***********************************************************************/
+ ****************************************************************************/
 
 EXTERN int nxflat_init(const char *filename,
                        struct nxflat_loadinfo_s *loadinfo);
 
-/***********************************************************************
+/****************************************************************************
  * Name: nxflat_uninit
  *
  * Description:
@@ -152,11 +174,11 @@ EXTERN int nxflat_init(const char *filename,
  *   0 (OK) is returned on success and a negated errno is returned on
  *   failure.
  *
- ***********************************************************************/
+ ****************************************************************************/
 
 EXTERN int nxflat_uninit(struct nxflat_loadinfo_s *loadinfo);
 
-/***********************************************************************
+/****************************************************************************
  * Name: nxflat_load
  *
  * Description:
@@ -170,11 +192,11 @@ EXTERN int nxflat_uninit(struct nxflat_loadinfo_s *loadinfo);
  *   0 (OK) is returned on success and a negated errno is returned on
  *   failure.
  *
- ***********************************************************************/
+ ****************************************************************************/
 
 EXTERN int nxflat_load(struct nxflat_loadinfo_s *loadinfo);
 
-/***********************************************************************
+/****************************************************************************
  * Name: nxflat_read
  *
  * Description:
@@ -184,12 +206,12 @@ EXTERN int nxflat_load(struct nxflat_loadinfo_s *loadinfo);
  *   0 (OK) is returned on success and a negated errno is returned on
  *   failure.
  *
- ***********************************************************************/
+ ****************************************************************************/
 
 EXTERN int nxflat_read(struct nxflat_loadinfo_s *loadinfo, char *buffer,
                        int readsize, int offset);
 
-/***********************************************************************
+/****************************************************************************
  * Name: nxflat_bind
  *
  * Description:
@@ -202,31 +224,32 @@ EXTERN int nxflat_read(struct nxflat_loadinfo_s *loadinfo, char *buffer,
  *   0 (OK) is returned on success and a negated errno is returned on
  *   failure.
  *
- ***********************************************************************/
+ ****************************************************************************/
 
 struct symtab_s;
 EXTERN int nxflat_bind(FAR struct nxflat_loadinfo_s *loadinfo,
                        FAR const struct symtab_s *exports, int nexports);
 
-/***********************************************************************
+/****************************************************************************
  * Name: nxflat_unload
  *
  * Description:
- *   This function unloads the object from memory. This essentially
- *   undoes the actions of nxflat_load.
+ *   This function unloads the object from memory. This essentially undoes
+ *   the actions of nxflat_load.  It is called only under certain error
+ *   conditions after the the module has been loaded but not yet started.
  *
  * Returned Value:
  *   0 (OK) is returned on success and a negated errno is returned on
  *   failure.
  *
- ***********************************************************************/
+ ****************************************************************************/
 
 EXTERN int nxflat_unload(struct nxflat_loadinfo_s *loadinfo);
 
 /****************************************************************************
  * These are APIs used internally only by NuttX:
  ****************************************************************************/
-/***********************************************************************
+/****************************************************************************
  * Name: nxflat_initialize
  *
  * Description:
@@ -239,7 +262,7 @@ EXTERN int nxflat_unload(struct nxflat_loadinfo_s *loadinfo);
  *   0 (OK) is returned on success and a negated errno is returned on
  *   failure.
  *
- ***********************************************************************/
+ ****************************************************************************/
 
 EXTERN int nxflat_initialize(void);
 
@@ -261,4 +284,4 @@ EXTERN void nxflat_uninitialize(void);
 }
 #endif
 
-#endif /* __INCLUDE_NUTTX_NXFLAT_H */
+#endif /* __INCLUDE_NUTTX_BINFMT_NXFLAT_H */
diff --git a/nuttx/include/nuttx/symtab.h b/nuttx/include/nuttx/binfmt/symtab.h
index b302ab20a..346c6099f 100644
--- a/nuttx/include/nuttx/symtab.h
+++ b/nuttx/include/nuttx/binfmt/symtab.h
@@ -1,5 +1,5 @@
 /****************************************************************************
- * include/nuttx/symtab.h
+ * include/nuttx/binfmt/symtab.h
  *
  *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -33,8 +33,8 @@
  *
  ****************************************************************************/
 
-#ifndef __INCLUDE_NUTTX_SYMTAB_H
-#define __INCLUDE_NUTTX_SYMTAB_H
+#ifndef __INCLUDE_NUTTX_BINFMT_SYMTAB_H
+#define __INCLUDE_NUTTX_BINFMT_SYMTAB_H
 
 /****************************************************************************
  * Included Files
@@ -54,7 +54,7 @@
  * is a fixed size array of struct symtab_s.  The information is intentionally
  * minimal and supports only:
  *
- * 1. Function points as sym_values.  Of other kinds of values need to be
+ * 1. Function pointers as sym_values.  Of other kinds of values need to be
  *    supported, then typing information would also need to be included in
  *    the structure.
  *
@@ -159,5 +159,5 @@ symtab_findorderedbyvalue(FAR const struct symtab_s *symtab,
 }
 #endif
 
-#endif /* __INCLUDE_NUTTX_SYMTAB_H */
+#endif /* __INCLUDE_NUTTX_BINFMT_SYMTAB_H */
 
diff --git a/nuttx/include/nuttx/compiler.h b/nuttx/include/nuttx/compiler.h
index d74fcbea0..6ad51ad0f 100644
--- a/nuttx/include/nuttx/compiler.h
+++ b/nuttx/include/nuttx/compiler.h
@@ -87,11 +87,16 @@
 
 # define packed_struct __attribute__ ((packed))
 
-/* GCC does not support the reentrant or naked attributes */
+/* GCC does not support the reentrant attribute */
 
 # define reentrant_function
-# define naked_function
 
+/* The naked attribute informs GCC that the programmer will take care of
+ * the function prolog and epilog.
+ */
+
+# define naked_function __attribute__ ((naked,no_instrument_function))
+ 
 /* The inline_function attribute informs GCC that the function should always
  * be inlined, regardless of the level of optimization.  The noinline_function
  * indicates that the function should never be inlined.
@@ -191,8 +196,10 @@
 
 /* GCC supports both types double and long long */
 
-# define CONFIG_HAVE_DOUBLE 1
 # define CONFIG_HAVE_LONG_LONG 1
+# define CONFIG_HAVE_FLOAT 1
+# define CONFIG_HAVE_DOUBLE 1
+# define CONFIG_HAVE_LONG_DOUBLE 1
 
 /* Structures and unions can be assigned and passed as values */
 
@@ -255,7 +262,7 @@
  * external RAM.
  */
 
-#if defined(__z80) || defined(__gbz80)
+#if defined(__SDCC_z80) || defined(__SDCC_z180) || defined(__SDCC_gbz80)
 #  define FAR
 #  define NEAR 
 #  define CODE
@@ -295,7 +302,9 @@
 /* SDCC does not support type long long or type double */
 
 # undef  CONFIG_HAVE_LONG_LONG
+# define CONFIG_HAVE_FLOAT 1
 # undef  CONFIG_HAVE_DOUBLE
+# undef  CONFIG_HAVE_LONG_DOUBLE
 
 /* Structures and unions cannot be passed as values or used
  * in assignments.
@@ -398,8 +407,10 @@
  * simply do not support long long or double.
  */
 
-# undef  CONFIG_HAVE_DOUBLE
 # undef  CONFIG_HAVE_LONG_LONG
+# define CONFIG_HAVE_FLOAT 1
+# undef  CONFIG_HAVE_DOUBLE
+# undef  CONFIG_HAVE_LONG_DOUBLE
 
 /* Structures and unions can be assigned and passed as values */
 
@@ -433,9 +444,11 @@
 # undef  CONFIG_LONG_IS_NOT_INT
 # undef  CONFIG_PTR_IS_NOT_INT
 # undef  CONFIG_HAVE_INLINE
-# define inline
+# define inline 1
 # undef  CONFIG_HAVE_LONG_LONG
+# define CONFIG_HAVE_FLOAT 1
 # undef  CONFIG_HAVE_DOUBLE
+# undef  CONFIG_HAVE_LONG_DOUBLE
 # undef  CONFIG_CAN_PASS_STRUCTS
 
 #endif
diff --git a/nuttx/include/nuttx/float.h b/nuttx/include/nuttx/float.h
new file mode 100644
index 000000000..a8e4aa28b
--- /dev/null
+++ b/nuttx/include/nuttx/float.h
@@ -0,0 +1,225 @@
+/****************************************************************************
+ * include/nuttx/float.h
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Reference: http://pubs.opengroup.org/onlinepubs/009695399/basedefs/float.h.html
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_FLOAT_H
+#define __INCLUDE_NUTTX_FLOAT_H
+
+/* TODO:  These values could vary with architectures toolchains.  This
+ * logic should be move at least to the include/arch directory.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Radix of exponent representation, b. */
+
+#define FLT_RADIX 2
+
+/* Number of base-FLT_RADIX digits in the floating-point significand, p. */
+
+#define FLT_MANT_DIG 24
+
+#if CONFIG_HAVE_DOUBLE
+#  define DBL_MANT_DIG 53
+#else
+#  define DBL_MANT_DIG FLT_MANT_DIG
+#endif
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+#  define LDBL_MANT_DIG DBL_MANT_DIG /* FIX ME */
+#else
+#  define LDBL_MANT_DIG DBL_MANT_DIG
+#endif
+
+/* Number of decimal digits, n, such that any floating-point number in the
+ * widest supported floating type with pmax radix b digits can be rounded
+ * to a floating-point number with n decimal digits and back again without
+ * change to the value.
+ */
+
+#define DECIMAL_DIG 10
+
+/* Number of decimal digits, q, such that any floating-point number with q
+ * decimal digits can be rounded into a floating-point number with p radix
+ * b digits and back again without change to the q decimal digits.
+ */
+
+#define FLT_DIG 6
+
+#if CONFIG_HAVE_DOUBLE
+#  define DBL_DIG 15  /* 10 */
+#else
+#  define DBL_DIG FLT_DIG
+#endif
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+#  define LDBL_DIG DBL_DIG  /* FIX ME */
+#else
+#  define LDBL_DIG DBL_DIG
+#endif
+
+/* Minimum negative integer such that FLT_RADIX raised to that power minus
+ * 1 is a normalized floating-point number, emin.
+ */
+
+#define FLT_MIN_EXP (-125)
+
+#if CONFIG_HAVE_DOUBLE
+#  define DBL_MIN_EXP (-1021)
+#else
+#  define DBL_MIN_EXP FLT_MIN_EXP
+#endif
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+#  define LDBL_MIN_EXP DBL_MIN_EXP /* FIX ME */
+#else
+#  define LDBL_MIN_EXP DBL_MIN_EXP
+#endif
+
+/* inimum negative integer such that 10 raised to that power is in the range
+ * of normalized floating-point numbers.
+ */
+
+#define FLT_MIN_10_EXP (-37)
+
+#if CONFIG_HAVE_DOUBLE
+#  define DBL_MIN_10_EXP (-307)  /* -37 */
+#else
+#  define DBL_MIN_10_EXP FLT_MIN_10_EXP
+#endif
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+#  define LDBL_MIN_10_EXP DBL_MIN_10_EXP  /* FIX ME */
+#else
+#  define LDBL_MIN_10_EXP DBL_MIN_10_EXP
+#endif
+
+/* Maximum integer such that FLT_RADIX raised to that power minus 1 is a
+ * representable finite floating-point number, emax.
+ */
+
+#define FLT_MAX_EXP 128
+
+#if CONFIG_HAVE_DOUBLE
+#  define DBL_MAX_EXP 1024
+#else
+#  define DBL_MAX_EXP FLT_MAX_EXP
+#endif
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+#  define LDBL_MAX_EXP DBL_MAX_EXP /* FIX ME */
+#else
+#  define LDBL_MAX_EXP DBL_MAX_EXP
+#endif
+
+/* Maximum integer such that 10 raised to that power is in the range of
+ * representable finite floating-point numbers.
+ */
+
+#define FLT_MAX_10_EXP 38  /* 37 */
+
+#if CONFIG_HAVE_DOUBLE
+#  define DBL_MAX_10_EXP 308  /* 37 */
+#else
+#  define DBL_MAX_10_EXP FLT_MAX_10_EXP
+#endif
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+#  define LDBL_MAX_10_EXP DBL_MAX_10_EXP  /* FIX ME */
+#else
+#  define LDBL_MAX_10_EXP DBL_MAX_10_EXP
+#endif
+
+/* Maximum representable finite floating-point number. */
+
+#define FLT_MAX 3.40282347e+38F  /* 1E+37 */
+
+#if CONFIG_HAVE_DOUBLE
+#  define DBL_MAX 1.7976931348623157e+308  /* 1E+37 */
+#else
+#  define DBL_MAX FLT_MAX
+#endif
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+#  define LDBL_MAX DBL_MAX  /* FIX ME */
+#else
+#  define LDBL_MAX DBL_MAX
+#endif
+
+/* The difference between 1 and the least value greater than 1 that is
+ * representable in the given floating-point type, b1-p.
+ */
+
+#define FLT_EPSILON 1.1920929e-07F  /* 1E-5 */
+
+#if CONFIG_HAVE_DOUBLE
+#  define DBL_EPSILON 2.2204460492503131e-16  /* 1E-9 */
+#else
+#  define DBL_EPSILON FLT_EPSILON
+#endif
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+#  define LDBL_EPSILON DBL_EPSILON /* FIX ME */
+#else
+#  define LDBL_EPSILON DBL_EPSILON
+#endif
+
+/* Minimum normalized positive floating-point number, bemin -1. */
+
+#define FLT_MIN 1.17549435e-38F  /* 1E-37 */
+
+#if CONFIG_HAVE_DOUBLE
+#define DBL_MIN 2.2250738585072014e-308  /* 1E-37 */
+#else
+#  define DBL_MIN FLT_MIN
+#endif
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+#  define LDBL_MIN DBL_MIN /* FIX ME */
+#else
+#  define LDBL_MIN DBL_MIN
+#endif
+
+#endif /* __INCLUDE_NUTTX_FLOAT_H */
diff --git a/nuttx/include/nuttx/fs/fs.h b/nuttx/include/nuttx/fs/fs.h
index 81f81622f..1759310bc 100644
--- a/nuttx/include/nuttx/fs/fs.h
+++ b/nuttx/include/nuttx/fs/fs.h
@@ -51,6 +51,10 @@
 /****************************************************************************
  * Definitions
  ****************************************************************************/
+/* Stream flags for the fs_flags field of in struct file_struct */
+
+#define __FS_FLAG_EOF   (1 << 0) /* EOF detected by a read operation */
+#define __FS_FLAG_ERROR (1 << 1) /* Error detected by any operation */
 
 /****************************************************************************
  * Type Definitions
@@ -172,7 +176,7 @@ struct mountpt_operations
 
   int     (*statfs)(FAR struct inode *mountpt, FAR struct statfs *buf);
 
-  /* Operations on pathes */
+  /* Operations on paths */
 
   int     (*unlink)(FAR struct inode *mountpt, FAR const char *relpath);
   int     (*mkdir)(FAR struct inode *mountpt, FAR const char *relpath, mode_t mode);
@@ -270,11 +274,6 @@ struct filelist
 struct file_struct
 {
   int                fs_filedes;   /* File descriptor associated with stream */
-  uint16_t           fs_oflags;    /* Open mode flags */
-#if CONFIG_NUNGET_CHARS > 0
-  uint8_t            fs_nungotten; /* The number of characters buffered for ungetc */
-  unsigned char      fs_ungotten[CONFIG_NUNGET_CHARS];
-#endif
 #if CONFIG_STDIO_BUFFER_SIZE > 0
   sem_t              fs_sem;       /* For thread safety */
   pid_t              fs_holder;    /* Holder of sem */
@@ -284,6 +283,12 @@ struct file_struct
   FAR unsigned char *fs_bufpos;    /* Current position in buffer */
   FAR unsigned char *fs_bufread;   /* Pointer to 1 past last buffered read char. */
 #endif
+  uint16_t           fs_oflags;    /* Open mode flags */
+  uint8_t            fs_flags;     /* Stream flags */
+#if CONFIG_NUNGET_CHARS > 0
+  uint8_t            fs_nungotten; /* The number of characters buffered for ungetc */
+  unsigned char      fs_ungotten[CONFIG_NUNGET_CHARS];
+#endif
 };
 
 struct streamlist
diff --git a/nuttx/include/nuttx/fs/ioctl.h b/nuttx/include/nuttx/fs/ioctl.h
index 08f62e164..6d60c2ee9 100644
--- a/nuttx/include/nuttx/fs/ioctl.h
+++ b/nuttx/include/nuttx/fs/ioctl.h
@@ -110,6 +110,10 @@
                                            * OUT: Bytes readable from this fd
                                            */
 
+#define FIONWRITE       _FIOC(0x0005)     /* IN:  Location to return value (int *)
+                                           * OUT: Bytes writable to this fd
+                                           */
+
 /* NuttX file system ioctl definitions **************************************/
 
 #define _DIOCVALID(c)   (_IOC_TYPE(c)==_DIOCBASE)
diff --git a/nuttx/include/nuttx/i2c.h b/nuttx/include/nuttx/i2c.h
index ef3d9a388..23356ecd3 100644
--- a/nuttx/include/nuttx/i2c.h
+++ b/nuttx/include/nuttx/i2c.h
@@ -1,7 +1,7 @@
 /****************************************************************************
  * include/nuttx/i2c.h
  *
- *   Copyright(C) 2009-2011 Gregory Nutt. All rights reserved.
+ *   Copyright(C) 2009-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -47,6 +47,16 @@
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
+/* If a dynamic timeout is selected, then a non-negative, non-zero micro-
+ * seconds per byte vale must be provided as well.
+ */
+
+#ifdef CONFIG_STM32_I2C_DYNTIMEO
+#  if CONFIG_STM32_I2C_DYNTIMEO_USECPERBYTE < 1
+#    warning "Ignoring CONFIG_STM32_I2C_DYNTIMEO because of CONFIG_STM32_I2C_DYNTIMEO_USECPERBYTE"
+#    undef CONFIG_STM32_I2C_DYNTIMEO
+#  endif
+#endif
 
 /* I2C address calculation.  Convert 7- and 10-bit address to 8-bit and
  * 16-bit read/write address
@@ -323,24 +333,19 @@ EXTERN FAR struct i2c_dev_s *up_i2cinitialize(int port);
  *
  ****************************************************************************/
 
-EXTERN int up_i2cuninitialize(FAR struct i2c_dev_s * dev);
+EXTERN int up_i2cuninitialize(FAR struct i2c_dev_s *dev);
 
-/****************************************************************************
+/************************************************************************************
  * Name: up_i2creset
  *
  * Description:
- *   Reset the port and the associated I2C bus.  Useful when the bus or an
- *   attached slave has become wedged or unresponsive.
+ *   Reset an I2C bus
  *
- * Input Parameter:
- *   Device structure as returned by the up_i2cinitalize()
- *
- * Returned Value:
- *   OK on success, ERROR if the bus cannot be unwedged. 
- *
- ****************************************************************************/
+ ************************************************************************************/
 
-EXTERN int up_i2creset(FAR struct i2c_dev_s * dev);
+#ifdef CONFIG_I2C_RESET
+EXTERN int up_i2creset(FAR struct i2c_dev_s *dev);
+#endif
 
 #undef EXTERN
 #if defined(__cplusplus)
diff --git a/nuttx/include/nuttx/input/keypad.h b/nuttx/include/nuttx/input/keypad.h
new file mode 100644
index 000000000..574b421c1
--- /dev/null
+++ b/nuttx/include/nuttx/input/keypad.h
@@ -0,0 +1,54 @@
+/************************************************************************************
+ * include/nuttx/input/keypad.h
+ *
+ *   Copyright (C) 2012 Denis Carikli.
+ *   Author: Denis Carikli <GNUtoo@no-log.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ************************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_INPUT_KEYPAD_H
+#define __INCLUDE_NUTTX_INPUT_KEYPAD_H
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int keypad_kbdinit(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __INCLUDE_NUTTX_INPUT_KEYPAD_H */
+
diff --git a/nuttx/include/nuttx/input/max11802.h b/nuttx/include/nuttx/input/max11802.h
new file mode 100644
index 000000000..3d03bdd11
--- /dev/null
+++ b/nuttx/include/nuttx/input/max11802.h
@@ -0,0 +1,175 @@
+/****************************************************************************
+ * include/nuttx/input/max11802.h
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Authors: Gregory Nutt <gnutt@nuttx.org>
+ *            Petteri Aimonen <jpa@nx.mail.kapsi.fi>
+ *
+ * References:
+ *   "Low-Power, Ultra-Small Resistive Touch-Screen Controllers
+ *    with I2C/SPI Interface" Maxim IC, Rev 3, 10/2010
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_INPUT_MAX11802_H
+#define __INCLUDE_NUTTX_INPUT_MAX11802_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/spi.h>
+#include <stdbool.h>
+#include <nuttx/irq.h>
+
+#if defined(CONFIG_INPUT) && defined(CONFIG_INPUT_MAX11802)
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+/* Configuration ************************************************************/
+/* SPI Frequency.  Default:  100KHz */
+
+#ifndef CONFIG_MAX11802_FREQUENCY
+#  define CONFIG_MAX11802_FREQUENCY 100000
+#endif
+
+/* Maximum number of threads than can be waiting for POLL events */
+
+#ifndef CONFIG_MAX11802_NPOLLWAITERS
+#  define CONFIG_MAX11802_NPOLLWAITERS 2
+#endif
+
+#ifndef CONFIG_MAX11802_SPIMODE
+#  define CONFIG_MAX11802_SPIMODE SPIDEV_MODE0
+#endif
+
+/* Thresholds */
+
+#ifndef CONFIG_MAX11802_THRESHX
+#  define CONFIG_MAX11802_THRESHX 12
+#endif
+
+#ifndef CONFIG_MAX11802_THRESHY
+#  define CONFIG_MAX11802_THRESHY 12
+#endif
+
+/* Check for some required settings.  This can save the user a lot of time
+ * in getting the right configuration.
+ */
+
+#ifdef CONFIG_DISABLE_SIGNALS
+#  error "Signals are required.  CONFIG_DISABLE_SIGNALS must not be selected."
+#endif
+
+#ifndef CONFIG_SCHED_WORKQUEUE
+#  error "Work queue support required.  CONFIG_SCHED_WORKQUEUE must be selected."
+#endif
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/* A reference to a structure of this type must be passed to the MAX11802
+ * driver.  This structure provides information about the configuration
+ * of the MAX11802 and provides some board-specific hooks.
+ *
+ * Memory for this structure is provided by the caller.  It is not copied
+ * by the driver and is presumed to persist while the driver is active. The
+ * memory must be writable because, under certain circumstances, the driver
+ * may modify frequency or X plate resistance values.
+ */
+
+struct max11802_config_s
+{
+  /* Device characterization */
+
+  uint32_t frequency;  /* SPI frequency */
+
+  /* IRQ/GPIO access callbacks.  These operations all hidden behind
+   * callbacks to isolate the MAX11802 driver from differences in GPIO
+   * interrupt handling by varying boards and MCUs.  If possible,
+   * interrupts should be configured on both rising and falling edges
+   * so that contact and loss-of-contact events can be detected.
+   *
+   * attach  - Attach the MAX11802 interrupt handler to the GPIO interrupt
+   * enable  - Enable or disable the GPIO interrupt
+   * clear   - Acknowledge/clear any pending GPIO interrupt
+   * pendown - Return the state of the pen down GPIO input
+   */
+
+  int  (*attach)(FAR struct max11802_config_s *state, xcpt_t isr);
+  void (*enable)(FAR struct max11802_config_s *state, bool enable);
+  void (*clear)(FAR struct max11802_config_s *state);
+  bool (*pendown)(FAR struct max11802_config_s *state);
+};
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C" {
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Name: max11802_register
+ *
+ * Description:
+ *   Configure the MAX11802 to use the provided SPI device instance.  This
+ *   will register the driver as /dev/inputN where N is the minor device
+ *   number
+ *
+ * Input Parameters:
+ *   spi     - An SPI driver instance
+ *   config  - Persistent board configuration data
+ *   minor   - The input device minor number
+ *
+ * Returned Value:
+ *   Zero is returned on success.  Otherwise, a negated errno value is
+ *   returned to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+EXTERN  int max11802_register(FAR struct spi_dev_s *spi,
+                             FAR struct max11802_config_s *config,
+                             int minor);
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CONFIG_INPUT && CONFIG_INPUT_MAX11802 */
+#endif /* __INCLUDE_NUTTX_INPUT_MAX11802_H */
diff --git a/nuttx/include/nuttx/lcd/ug-2864ambag01.h b/nuttx/include/nuttx/lcd/ug-2864ambag01.h
new file mode 100644
index 000000000..deb568981
--- /dev/null
+++ b/nuttx/include/nuttx/lcd/ug-2864ambag01.h
@@ -0,0 +1,245 @@
+/**************************************************************************************
+ * include/nuttx/lcd/ug-2864ambag01.h
+ * Driver for Univision UG-2864AMBAG01 OLED display (wih SH1101A controller) in SPI
+ * mode
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * References:
+ *   1. Product Specification (Preliminary), Part Name: OEL Display Module, Part ID:
+ *      UG-2864AMBAG01, Doc No: SASI-9015-A, Univision Technology Inc.
+ *   2. SH1101A, 132 X 64 Dot Matrix OLED/PLED, Preliminary Segment/Common Driver with
+ *      Controller, Sino Wealth
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ **************************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_UG_8264AMBAG01_H
+#define __INCLUDE_NUTTX_UG_8264AMBAG01_H
+
+/**************************************************************************************
+ * Included Files
+ **************************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdbool.h>
+
+#include <nuttx/arch.h>
+
+#ifdef CONFIG_LCD_UG2864AMBAG01
+
+/**************************************************************************************
+ * Pre-processor Definitions
+ **************************************************************************************/
+/* Configuration **********************************************************************/
+/* UG-2864AMBAG01 Configuration Settings:
+ *
+ * CONFIG_UG2864AMBAG01_SPIMODE - Controls the SPI mode
+ * CONFIG_UG2864AMBAG01_FREQUENCY - Define to use a different bus frequency
+ * CONFIG_UG2864AMBAG01_NINTERFACES - Specifies the number of physical UG-2864AMBAG01
+ *   devices that will be supported.
+ *
+ * Required LCD driver settings:
+ *
+ * CONFIG_LCD_UG28AMBAG01 - Enable UG-2864AMBAG01 support
+ * CONFIG_LCD_MAXCONTRAST should be 255, but any value >0 and <=255 will be accepted.
+ * CONFIG_LCD_MAXPOWER must be 1
+ *
+ * Option LCD driver settings:
+ * CONFIG_LCD_LANDSCAPE, CONFIG_LCD_PORTRAIT, CONFIG_LCD_RLANDSCAPE, and
+ *   CONFIG_LCD_RPORTRAIT - Display orientation.
+ *
+ * Required SPI driver settings:
+ * CONFIG_SPI_CMDDATA - Include support for cmd/data selection.
+ */
+
+/* SPI Interface
+ *
+ * "The serial interface consists of serial clock SCL, serial data SI, A0 and
+ *  CS . SI is shifted into an 8-bit shift register on every rising edge of
+ *  SCL in the order of D7, D6, … and D0. A0 is sampled on every eighth clock
+ *  and the data byte in the shift register is written to the display data RAM
+ *  or command register in the same clock."
+ *
+ * MODE 3:
+ *   Clock polarity:  High (CPOL=1)
+ *   Clock phase:     Sample on trailing (rising edge) (CPHA 1)
+ */
+
+#ifndef CONFIG_UG2864AMBAG01_SPIMODE
+#  define CONFIG_UG2864AMBAG01_SPIMODE SPIDEV_MODE3
+#endif
+
+/* "This module determines whether the input data is interpreted as data or
+ * command. When A0 = “H”, the inputs at D7 - D0 are interpreted as data and be
+ * written to display RAM. When A0 = “L”, the inputs at D7 - D0 are interpreted
+ * as command, they will be decoded and be written to the corresponding command
+ * registers.
+ */
+
+#ifndef CONFIG_SPI_CMDDATA
+#  error "CONFIG_SPI_CMDDATA must be defined in your NuttX configuration"
+#endif
+
+/* CONFIG_UG2864AMBAG01_NINTERFACES determines the number of physical interfaces
+ * that will be supported.
+ */
+
+#ifndef CONFIG_UG2864AMBAG01_NINTERFACES
+#  define CONFIG_UG2864AMBAG01_NINTERFACES 1
+#endif
+
+/* Check contrast selection */
+
+#if !defined(CONFIG_LCD_MAXCONTRAST)
+#  define CONFIG_LCD_MAXCONTRAST 255
+#endif
+
+#if CONFIG_LCD_MAXCONTRAST <= 0|| CONFIG_LCD_MAXCONTRAST > 255
+#  error "CONFIG_LCD_MAXCONTRAST exceeds supported maximum"
+#endif
+
+#if CONFIG_LCD_MAXCONTRAST < 255
+#  warning "Optimal setting of CONFIG_LCD_MAXCONTRAST is 255"
+#endif
+
+/* Check power setting */
+
+#if !defined(CONFIG_LCD_MAXPOWER)
+#  define CONFIG_LCD_MAXPOWER 1
+#endif
+
+#if CONFIG_LCD_MAXPOWER != 1
+#  warning "CONFIG_LCD_MAXPOWER exceeds supported maximum"
+#  undef CONFIG_LCD_MAXPOWER
+#  define CONFIG_LCD_MAXPOWER 1
+#endif
+
+/* Color is 1bpp monochrome with leftmost column contained in bits 0  */
+
+#ifdef CONFIG_NX_DISABLE_1BPP
+#  warning "1 bit-per-pixel support needed"
+#endif
+
+/* Orientation */
+
+#if defined(CONFIG_LCD_LANDSCAPE)
+#  undef CONFIG_LCD_PORTRAIT
+#  undef CONFIG_LCD_RLANDSCAPE
+#  undef CONFIG_LCD_RPORTRAIT
+#elif defined(CONFIG_LCD_PORTRAIT)
+#  undef CONFIG_LCD_LANDSCAPE
+#  undef CONFIG_LCD_RLANDSCAPE
+#  undef CONFIG_LCD_RPORTRAIT
+#elif defined(CONFIG_LCD_RLANDSCAPE)
+#  undef CONFIG_LCD_LANDSCAPE
+#  undef CONFIG_LCD_PORTRAIT
+#  undef CONFIG_LCD_RPORTRAIT
+#elif defined(CONFIG_LCD_RPORTRAIT)
+#  undef CONFIG_LCD_LANDSCAPE
+#  undef CONFIG_LCD_PORTRAIT
+#  undef CONFIG_LCD_RLANDSCAPE
+#else
+#  define CONFIG_LCD_LANDSCAPE 1
+#  warning "Assuming landscape orientation"
+#endif
+
+/* Some important "colors" */
+
+#define UG_Y1_BLACK  0
+#define UG_Y1_WHITE  1
+
+/**************************************************************************************
+ * Public Types
+ **************************************************************************************/
+
+/**************************************************************************************
+ * Public Data
+ **************************************************************************************/
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/**************************************************************************************
+ * Public Function Prototypes
+ **************************************************************************************/
+
+/**************************************************************************************
+ * Name:  ug2864ambag01_initialize
+ *
+ * Description:
+ *   Initialize the UG-2864AMBAG01 video hardware.  The initial state of the
+ *   OLED is fully initialized, display memory cleared, and the OLED ready
+ *   to use, but with the power setting at 0 (full off == sleep mode).
+ *
+ * Input Parameters:
+ *
+ *   spi - A reference to the SPI driver instance.
+ *   devno - A value in the range of 0 through CONFIG_UG2864AMBAG01_NINTERFACES-1.
+ *     This allows support for multiple OLED devices.
+ *
+ * Returned Value:
+ *
+ *   On success, this function returns a reference to the LCD object for
+ *   the specified OLED.  NULL is returned on any failure.
+ *
+ **************************************************************************************/
+
+struct lcd_dev_s; /* See include/nuttx/lcd/lcd.h */
+struct spi_dev_s; /* See include/nuttx/spi.h */
+FAR struct lcd_dev_s *ug2864ambag01_initialize(FAR struct spi_dev_s *spi,
+                                               unsigned int devno);
+
+/************************************************************************************************
+ * Name:  ug2864ambag01_fill
+ *
+ * Description:
+ *   This non-standard method can be used to clear the entire display by writing one
+ *   color to the display.  This is much faster than writing a series of runs.
+ *
+ * Input Parameters:
+ *   priv   - Reference to private driver structure
+ *
+ * Assumptions:
+ *   Caller has selected the OLED section.
+ *
+ **************************************************************************************/
+
+void ug2864ambag01_fill(FAR struct lcd_dev_s *dev, uint8_t color);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CONFIG_LCD_UG2864AMBAG01 */
+#endif /* __INCLUDE_NUTTX_UG_8264AMBAG01_H */
diff --git a/nuttx/include/nuttx/lcd/ug-9664hswag01.h b/nuttx/include/nuttx/lcd/ug-9664hswag01.h
index 696005b5d..b470e0895 100644
--- a/nuttx/include/nuttx/lcd/ug-9664hswag01.h
+++ b/nuttx/include/nuttx/lcd/ug-9664hswag01.h
@@ -3,7 +3,7 @@
  * Driver for the Univision UG-9664HSWAG01 Display with the Solomon Systech
  * SSD1305 LCD controller.
  *
- *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -58,8 +58,6 @@
  * CONFIG_UG9664HSWAG01_POWER
  *   If the hardware supports a controllable OLED a power supply, this
  *   configuration shold be defined.  (See ug_power() below).
- * CONFIG_LCD_UGDEBUG - Enable detailed UG-9664HSWAG01 debug output
- *   (CONFIG_DEBUG and CONFIG_VERBOSE must also be enabled).
  * 
  * Required LCD driver settings:
  * CONFIG_LCD_UG9664HSWAG01 - Enable UG-9664HSWAG01 support
@@ -90,10 +88,8 @@
  ****************************************************************************/
 
 #ifdef __cplusplus
-#define EXTERN extern "C"
-extern "C" {
-#else
-#define EXTERN extern
+extern "C"
+{
 #endif
 
 /****************************************************************************
@@ -123,7 +119,7 @@ extern "C" {
 
 struct lcd_dev_s; /* see nuttx/lcd.h */
 struct spi_dev_s; /* see nuttx/spi.h */
-EXTERN FAR struct lcd_dev_s *ug_initialize(FAR struct spi_dev_s *spi, unsigned int devno);
+FAR struct lcd_dev_s *ug_initialize(FAR struct spi_dev_s *spi, unsigned int devno);
 
 /****************************************************************************
  * Name:  ug_power
@@ -145,12 +141,11 @@ EXTERN FAR struct lcd_dev_s *ug_initialize(FAR struct spi_dev_s *spi, unsigned i
  **************************************************************************************/
 
 #ifdef CONFIG_UG9664HSWAG01_POWER
-EXTERN void ug_power(unsigned int devno, bool on);
+void ug_power(unsigned int devno, bool on);
 #else
 #  define ug_power(a,b)
 #endif
 
-#undef EXTERN
 #ifdef __cplusplus
 }
 #endif
diff --git a/nuttx/include/nuttx/math.h b/nuttx/include/nuttx/math.h
index 84dbea6e0..aaadb9c91 100644
--- a/nuttx/include/nuttx/math.h
+++ b/nuttx/include/nuttx/math.h
@@ -50,14 +50,280 @@
 
 #ifdef CONFIG_ARCH_MATH_H
 #  include <arch/math.h>
-#endif
+
+/* If CONFIG_LIB is enabled, then the math library at lib/math will be
+ * built.  This library was taken from the math library developed for the
+ * Rhombus OS by Nick Johnson (https://github.com/nickbjohnson4224/rhombus).
+ * The port or the Rhombus math library was contributed by Darcy Gong.
+ */
+
+#else if defined CONFIG_LIBM
 
 /****************************************************************************
- * Type Definitions
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
  ****************************************************************************/
 
 /****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* General Constants ********************************************************/
+
+#define INFINITY (1.0/0.0)
+#define NAN (0.0/0.0)
+#define HUGE_VAL INFINITY
+
+#define isnan(x) ((x) != (x))
+#define isinf(x) (((x) == INFINITY) || ((x) == -INFINITY))
+
+/* Exponential and Logarithmic constants ************************************/
+
+#define M_E        2.7182818284590452353602874713526625
+#define M_SQRT2    1.4142135623730950488016887242096981
+#define M_SQRT1_2  0.7071067811865475244008443621048490
+#define M_LOG2E    1.4426950408889634073599246810018921
+#define M_LOG10E   0.4342944819032518276511289189166051
+#define M_LN2      0.6931471805599453094172321214581765
+#define M_LN10     2.3025850929940456840179914546843642
+
+/* Trigonometric Constants **************************************************/
+
+#define M_PI       3.1415926535897932384626433832795029
+#define M_PI_2     1.5707963267948966192313216916397514
+#define M_PI_4     0.7853981633974483096156608458198757
+#define M_1_PI     0.3183098861837906715377675267450287
+#define M_2_PI     0.6366197723675813430755350534900574
+#define M_2_SQRTPI 1.1283791670955125738961589031215452
+
+/****************************************************************************
  * Public Function Prototypes
  ****************************************************************************/
 
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+/* General Functions ********************************************************/
+
+float       ceilf (float x);
+#if CONFIG_HAVE_DOUBLE
+double      ceil  (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double ceill (long double x);
+#endif
+
+float       floorf(float x);
+#if CONFIG_HAVE_DOUBLE
+double      floor (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double floorl(long double x);
+#endif
+
+float       roundf(float x);
+#if CONFIG_HAVE_DOUBLE
+double      round (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double roundl(long double x);
+#endif
+
+float       fabsf (float x);
+#if CONFIG_HAVE_DOUBLE
+double      fabs  (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double fabsl (long double x);
+#endif
+
+float       modff (float x, float *iptr);
+#if CONFIG_HAVE_DOUBLE
+double      modf  (double x, double *iptr);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double modfl (long double x, long double *iptr);
+#endif
+
+float       fmodf (float x, float div);
+#if CONFIG_HAVE_DOUBLE
+double      fmod  (double x, double div);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double fmodl (long double x, long double div);
+#endif
+
+/* Exponential and Logarithmic Functions ************************************/
+
+float       powf  (float b, float e);
+#if CONFIG_HAVE_DOUBLE
+double      pow   (double b, double e);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double powl  (long double b, long double e);
+#endif
+
+float       expf  (float x);
+#if CONFIG_HAVE_DOUBLE
+double      exp   (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double expl  (long double x);
+#endif
+
+float       logf  (float x);
+#if CONFIG_HAVE_DOUBLE
+double      log   (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double logl  (long double x);
+#endif
+
+float       log10f(float x);
+#if CONFIG_HAVE_DOUBLE
+double      log10 (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double log10l(long double x);
+#endif
+
+float       log2f (float x);
+#if CONFIG_HAVE_DOUBLE
+double      log2  (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double log2l (long double x);
+#endif
+
+float       sqrtf (float x);
+#if CONFIG_HAVE_DOUBLE
+double      sqrt  (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double sqrtl (long double x);
+#endif
+
+float       ldexpf(float x, int n);
+#if CONFIG_HAVE_DOUBLE
+double      ldexp (double x, int n);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double ldexpl(long double x, int n);
+#endif
+
+float       frexpf(float x, int *exp);
+#if CONFIG_HAVE_DOUBLE
+double      frexp (double x, int *exp);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double frexpl(long double x, int *exp);
+#endif
+
+/* Trigonometric Functions **************************************************/
+
+float       sinf  (float x);
+#if CONFIG_HAVE_DOUBLE
+double      sin   (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double sinl  (long double x);
+#endif
+
+float       cosf  (float x);
+#if CONFIG_HAVE_DOUBLE
+double      cos   (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double cosl  (long double x);
+#endif
+
+float       tanf  (float x);
+#if CONFIG_HAVE_DOUBLE
+double      tan   (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double tanl  (long double x);
+#endif
+
+float       asinf (float x);
+#if CONFIG_HAVE_DOUBLE
+double      asin  (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double asinl (long double x);
+#endif
+
+float       acosf (float x);
+#if CONFIG_HAVE_DOUBLE
+double      acos  (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double acosl (long double x);
+#endif
+
+float       atanf (float x);
+#if CONFIG_HAVE_DOUBLE
+double      atan  (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double atanl (long double x);
+#endif
+
+float       atan2f(float y, float x);
+#if CONFIG_HAVE_DOUBLE
+double      atan2 (double y, double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double atan2l(long double y, long double x);
+#endif
+
+float       sinhf (float x);
+#if CONFIG_HAVE_DOUBLE
+double      sinh  (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double sinhl (long double x);
+#endif
+
+float       coshf (float x);
+#if CONFIG_HAVE_DOUBLE
+double      cosh  (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double coshl (long double x);
+#endif
+
+float       tanhf (float x);
+#if CONFIG_HAVE_DOUBLE
+double      tanh  (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double tanhl (long double x);
+#endif
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* CONFIG_LIBM */
 #endif /* __INCLUDE_NUTTX_MATH_H */
diff --git a/nuttx/include/nuttx/mtd.h b/nuttx/include/nuttx/mtd.h
index 44582c412..ff48d313f 100644
--- a/nuttx/include/nuttx/mtd.h
+++ b/nuttx/include/nuttx/mtd.h
@@ -220,7 +220,6 @@ EXTERN FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_dev_s *dev);
 
 EXTERN FAR struct mtd_dev_s *sst25_initialize(FAR struct spi_dev_s *dev);
 
-
 /****************************************************************************
  * Name: w25_initialize
  *
@@ -233,6 +232,8 @@ EXTERN FAR struct mtd_dev_s *sst25_initialize(FAR struct spi_dev_s *dev);
 
 EXTERN FAR struct mtd_dev_s *w25_initialize(FAR struct spi_dev_s *dev);
 
+EXTERN FAR struct mtd_dev_s *at25_initialize(FAR struct spi_dev_s *dev);
+
 #undef EXTERN
 #ifdef __cplusplus
 }
diff --git a/nuttx/include/nuttx/net/ioctl.h b/nuttx/include/nuttx/net/ioctl.h
index be3f597f4..d5d1a001c 100644
--- a/nuttx/include/nuttx/net/ioctl.h
+++ b/nuttx/include/nuttx/net/ioctl.h
@@ -146,9 +146,15 @@
 
 #define SIOCSIWPMKSA     _SIOC(0x0036) /* PMKSA cache operation */
 
+/* Interface flags */
+
+#define SIOCSIFFLAGS     _SIOC(0x0037) /* Sets the interface flags */
+#define SIOCGIFFLAGS     _SIOC(0x0038) /* Gets the interface flags */
+
 /****************************************************************************
  * Type Definitions
  ****************************************************************************/
+
 /* See include/net/if.h */
 
 /****************************************************************************
diff --git a/nuttx/include/nuttx/net/uip/uip-arch.h b/nuttx/include/nuttx/net/uip/uip-arch.h
index 9546de04e..73805c6fb 100644
--- a/nuttx/include/nuttx/net/uip/uip-arch.h
+++ b/nuttx/include/nuttx/net/uip/uip-arch.h
@@ -90,6 +90,10 @@ struct uip_driver_s
   char d_ifname[IFNAMSIZ];
 #endif
 
+  /* Drivers interface flags.  See IFF_* definitions in include/net/if.h */
+
+  uint8_t d_flags;
+
   /* Ethernet device identity */
 
 #ifdef CONFIG_NET_ETHERNET
diff --git a/nuttx/include/nuttx/power/pm.h b/nuttx/include/nuttx/power/pm.h
index 86e23f090..9c0568b2d 100644
--- a/nuttx/include/nuttx/power/pm.h
+++ b/nuttx/include/nuttx/power/pm.h
@@ -163,7 +163,7 @@
 #endif
 
 #if CONFIG_PM_IDLEENTER_THRESH >= CONFIG_PM_IDLEEXIT_THRESH
-#  error "Must have CONFIG_PM_IDLEENTER_THRESH < CONFIG_PM_IDLEEXIT_THRESH
+#  error "Must have CONFIG_PM_IDLEENTER_THRESH < CONFIG_PM_IDLEEXIT_THRESH"
 #endif
 
 #ifndef CONFIG_PM_IDLEENTER_COUNT
@@ -181,7 +181,7 @@
 #endif
 
 #if CONFIG_PM_STANDBYENTER_THRESH >= CONFIG_PM_STANDBYEXIT_THRESH
-#  error "Must have CONFIG_PM_STANDBYENTER_THRESH < CONFIG_PM_STANDBYEXIT_THRESH
+#  error "Must have CONFIG_PM_STANDBYENTER_THRESH < CONFIG_PM_STANDBYEXIT_THRESH"
 #endif
 
 #ifndef CONFIG_PM_STANDBYENTER_COUNT
@@ -199,7 +199,7 @@
 #endif
 
 #if CONFIG_PM_SLEEPENTER_THRESH >= CONFIG_PM_SLEEPEXIT_THRESH
-#  error "Must have CONFIG_PM_SLEEPENTER_THRESH < CONFIG_PM_SLEEPEXIT_THRESH
+#  error "Must have CONFIG_PM_SLEEPENTER_THRESH < CONFIG_PM_SLEEPEXIT_THRESH"
 #endif
 
 #ifndef CONFIG_PM_SLEEPENTER_COUNT
diff --git a/nuttx/include/nuttx/sched.h b/nuttx/include/nuttx/sched.h
index 241af6210..6eaba6e9c 100644
--- a/nuttx/include/nuttx/sched.h
+++ b/nuttx/include/nuttx/sched.h
@@ -138,11 +138,11 @@ typedef union entry_u entry_t;
  */
 
 #ifdef CONFIG_SCHED_ATEXIT
-typedef void (*atexitfunc_t)(void);
+typedef CODE void (*atexitfunc_t)(void);
 #endif
 
 #ifdef CONFIG_SCHED_ONEXIT
-typedef void (*onexitfunc_t)(int exitcode, FAR void *arg);
+typedef CODE void (*onexitfunc_t)(int exitcode, FAR void *arg);
 #endif
 
 /* POSIX Message queue */
@@ -163,24 +163,40 @@ typedef struct environ_s environ_t;
 # define SIZEOF_ENVIRON_T(alloc) (sizeof(environ_t) + alloc - 1)
 #endif
 
-/* This structure describes a reference counted D-Space region */
+/* This structure describes a reference counted D-Space region.  This must be a
+ * separately allocated "break-away" structure that can be owned by a task and
+ * any pthreads created by the task.
+ */
 
+#ifdef CONFIG_PIC
 struct dspace_s
 {
-  uint32_t crefs;             /* This is the number of pthreads that shared the
-                               * the same D-Space */
-  uint8_t  region[1];         /* Beginning of the allocated region */
-};
+  /* The life of the structure allocation is determined by this reference
+   * count.  This count is number of threads that shared the the same D-Space.
+   * This includes the parent task as well as any pthreads created by the
+   * parent task or any of its child threads.
+   */
 
-#define SIZEOF_DSPACE_S(n) (sizeof(struct dspace_s) - 1 + (n))
+  uint16_t crefs;
 
-/* This is the task control block (TCB) */
+  /* This is the allocated D-Space memory region.  This may be a physical
+   * address allocated with kmalloc(), or it may be virtual address associated
+   * with an address environment (if CONFIG_ADDRENV=y).
+   */
+
+  FAR uint8_t *region;
+};
+#endif
+
+/* This is the task control block (TCB).  Each task or thread is represented by
+ * a TCB.  The TCB is the heart of the NuttX task-control logic.
+ */
 
 struct _TCB
 {
   /* Fields used to support list management *************************************/
 
-  FAR struct _TCB *flink;                /* link in DQ of TCBs                  */
+  FAR struct _TCB *flink;                /* Doubly linked list                  */
   FAR struct _TCB *blink;
 
   /* Task Management Fields *****************************************************/
@@ -189,7 +205,7 @@ struct _TCB
   start_t  start;                        /* Thread start function               */
   entry_t  entry;                        /* Entry Point into the thread         */
 
-#ifdef CONFIG_SCHED_ATEXIT
+#if defined(CONFIG_SCHED_ATEXIT) && !defined(CONFIG_SCHED_ONEXIT)
 # if defined(CONFIG_SCHED_ATEXIT_MAX) && CONFIG_SCHED_ATEXIT_MAX > 1
   atexitfunc_t atexitfunc[CONFIG_SCHED_ATEXIT_MAX];
 # else
diff --git a/nuttx/include/nuttx/usb/cdcacm.h b/nuttx/include/nuttx/usb/cdcacm.h
index 307f2a597..1dca050c4 100644
--- a/nuttx/include/nuttx/usb/cdcacm.h
+++ b/nuttx/include/nuttx/usb/cdcacm.h
@@ -205,7 +205,7 @@
 /* USB Controller */
 
 #ifndef CONFIG_USBDEV_SELFPOWERED
-#  define SELFPOWERED USB_CONFIG_ATT_SELFPOWER
+#  define SELFPOWERED USB_CONFIG_ATTR_SELFPOWER
 #else
 #  define SELFPOWERED (0)
 #endif
diff --git a/nuttx/include/nuttx/usb/usbdev_trace.h b/nuttx/include/nuttx/usb/usbdev_trace.h
index ae8e13c3a..ab3a5f4be 100644
--- a/nuttx/include/nuttx/usb/usbdev_trace.h
+++ b/nuttx/include/nuttx/usb/usbdev_trace.h
@@ -238,10 +238,6 @@
 #define USBCOMPOSITE_TRACEERR_ALLOCDEVSTRUCT         0x000a
 #define USBCOMPOSITE_TRACEERR_CLASSOBJECT            0x000b
 #define USBCOMPOSITE_TRACEERR_DEVREGISTER            0x000c
-#define USBCOMPOSITE_TRACEERR_INVALIDARG             0x000d
-#define USBCOMPOSITE_TRACEERR_INVALIDARG             0x000f
-#define USBCOMPOSITE_TRACEERR_INVALIDARG             0x0010
-#define USBCOMPOSITE_TRACEERR_INVALIDARG             0x0011
 
 /* USB Storage driver class events ******************************************/
 
diff --git a/nuttx/include/nuttx/vt100.h b/nuttx/include/nuttx/vt100.h
index d834f48f0..32344a1de 100644
--- a/nuttx/include/nuttx/vt100.h
+++ b/nuttx/include/nuttx/vt100.h
@@ -179,8 +179,8 @@
 #define VT52_CLEAREOL        {ASCII_ESC, 'K'}                 /* Erase to end of current line */
 #define VT52_CLEAREOS        {ASCII_ESC, 'J'}                 /* Erase to end of screen */
 
-#define VT52_IDENT           {ASCII_ESC, 'Z'}                 /* dentify what the terminal is */
-#define VT52_IDENTRESP       {ASCII_ESC, '/', 'Z'}             /* Correct response to ident */
+#define VT52_IDENT           {ASCII_ESC, 'Z'}                 /* Identify what the terminal is */
+#define VT52_IDENTRESP       {ASCII_ESC, '/', 'Z'}            /* Correct response to ident */
 
 /* VT100 Special Key Codes
  *
diff --git a/nuttx/include/nuttx/wqueue.h b/nuttx/include/nuttx/wqueue.h
index 644585c56..c509bf197 100644
--- a/nuttx/include/nuttx/wqueue.h
+++ b/nuttx/include/nuttx/wqueue.h
@@ -109,17 +109,35 @@
 #  endif
 #endif
 
-/* Work queue IDs (indices).  These are both zero if there is only one work
- * queue.
+/* Work queue IDs (indices):
+ *
+ * Kernel Work Queues:
+ *   HPWORK: This ID of the high priority work queue that should only be used for
+ *   hi-priority, time-critical, driver bottom-half functions.
+ *
+ *   LPWORK: This is the ID of the low priority work queue that can be used for any
+ *   purpose.  if CONFIG_SCHED_LPWORK is not defined, then there is only one kernel
+ *   work queue and LPWORK == HPWORK.
+ *
+ * User Work Queue:
+ *   USRWORK:  CONFIG_NUTTX_KERNEL and CONFIG_SCHED_USRWORK are defined, then NuttX
+ *   will also support a user-accessible work queue.  Otherwise, USRWORK == LPWORK.
  */
 
 #define HPWORK 0
 #ifdef CONFIG_SCHED_LPWORK
-#  define LPWORK 1
+#  define LPWORK (HPWORK+1)
 #else
 #  define LPWORK HPWORK
 #endif
 
+#if defined(CONFIG_NUTTX_KERNEL) && defined(CONFIG_SCHED_USRWORK)
+#  warning "Feature not implemented"
+#  define USRWORK (LPWORK+1)
+#else
+#  define USRWORK LPWORK
+#endif
+
 /****************************************************************************
  * Public Types
  ****************************************************************************/
diff --git a/nuttx/include/stdbool.h b/nuttx/include/stdbool.h
index f11219912..9c16aee29 100644
--- a/nuttx/include/stdbool.h
+++ b/nuttx/include/stdbool.h
@@ -42,10 +42,33 @@
 
 #include <nuttx/config.h>
 
+/* If CONFIG_ARCH_STDBOOL_H is set, then the archecture will provide its own
+ * stdbool.h file.  In this case, this header file will simply re-direct to
+ * the architecture-specfiic stdbool.h header file.
+ */
+
 #ifdef CONFIG_ARCH_STDBOOL_H
 #  include <arch/stdbool.h>
+
+/* NuttX will insist that the sizeof(bool) is 8-bits.  The sizeof of _Bool
+ * used by any specific compiler is implementation specific:  It can vary from
+ * compiler-to-compiler and even vary between different versions of the same
+ * compiler.  Compilers seems to be converging to sizeof(_Bool) == 1.  If that
+ * is true for your compiler, you should define CONFIG_C99_BOOL8 in your NuttX
+ * configuration for better standards compatibility.
+ *
+ * CONFIG_C99_BOOL8 - Means (1) your C++ compiler has sizeof(_Bool) == 8,
+ * (2) your C compiler supports the C99 _Bool intrinsic type, and (2) that
+ * the C99 _Bool type also has size 1.
+ */
+
 #else
+
+ /* nuttx/compiler.h may also define or undefine CONFIG_C99_BOOL8 */
+
 #  include <nuttx/compiler.h>
+
+#if !defined(__cplusplus) || !defined(CONFIG_C99_BOOL8)
 #  include <stdint.h>
 
 /****************************************************************************
@@ -58,10 +81,15 @@
  * NOTE: Under C99 'bool' is required to be defined to be the intrinsic type
  * _Bool.  However, in this NuttX context, we need backward compatibility
  * to pre-C99 standards where _Bool is not an intrinsic type.  Hence, we
- * use _Bool8 as the underlying type.
+ * use _Bool8 as the underlying type (unless CONFIG_C99_BOOL8 is defined)
  */
 
-#define bool  _Bool8
+#ifdef CONFIG_C99_BOOL8
+#  define bool _Bool
+#else
+#  define bool _Bool8
+#endif
+
 #define true  1
 #define false 0
 
@@ -83,7 +111,10 @@
  * as the underlying type.
  */
 
+#ifndef CONFIG_C99_BOOL8
 typedef uint8_t _Bool8;
+#endif
 
+#endif /* __cplusplus && CONFIG_C99_BOOL8 */
 #endif /* CONFIG_ARCH_STDBOOL_H */
 #endif /* __INCLUDE_STDBOOL_H */
diff --git a/nuttx/include/stdio.h b/nuttx/include/stdio.h
index e9218046c..0441ea4b8 100644
--- a/nuttx/include/stdio.h
+++ b/nuttx/include/stdio.h
@@ -102,6 +102,9 @@ extern "C" {
 
 /* ANSI-like File System Interfaces */
 
+/* Operations on streams (FILE) */
+
+EXTERN void   clearerr(register FILE *stream);
 EXTERN int    fclose(FAR FILE *stream);
 EXTERN int    fflush(FAR FILE *stream);
 EXTERN int    feof(FAR FILE *stream);
@@ -120,6 +123,9 @@ EXTERN int    fsetpos(FAR FILE *stream, FAR fpos_t *pos);
 EXTERN long   ftell(FAR FILE *stream);
 EXTERN size_t fwrite(FAR const void *ptr, size_t size, size_t n_items, FAR FILE *stream);
 EXTERN FAR char *gets(FAR char *s);
+EXTERN int    ungetc(int c, FAR FILE *stream);
+
+/* Operations on the stdout stream, buffers, paths, and the whole printf-family */
 
 EXTERN int    printf(const char *format, ...);
 EXTERN int    puts(FAR const char *s);
@@ -130,9 +136,9 @@ EXTERN int    snprintf(FAR char *buf, size_t size, const char *format, ...);
 EXTERN int    sscanf(const char *buf, const char *fmt, ...);
 EXTERN void   perror(FAR const char *s);
 
-EXTERN int    ungetc(int c, FAR FILE *stream);
 EXTERN int    vprintf(FAR const char *format, va_list ap);
 EXTERN int    vfprintf(FAR FILE *stream, const char *format, va_list ap);
+EXTERN int    vdprintf(FAR int fd, const char *format, va_list ap);
 EXTERN int    vsprintf(FAR char *buf, const char *format, va_list ap);
 EXTERN int    avsprintf(FAR char **ptr, const char *fmt, va_list ap);
 EXTERN int    vsnprintf(FAR char *buf, size_t size, const char *format, va_list ap);
diff --git a/nuttx/include/termios.h b/nuttx/include/termios.h
index c8f590a5b..3032e4746 100644
--- a/nuttx/include/termios.h
+++ b/nuttx/include/termios.h
@@ -98,20 +98,20 @@
 
 /* Control Modes (c_cflag in the termios structure) */
 
-#define CSIZE       (3 << 0)  /* Bits 0-1: Character size: */
-#  define CS5       (0 << 0)  /*   5 bits */
-#  define CS6       (1 << 0)  /*   6 bits */
-#  define CS7       (2 << 0)  /*   7 bits */
-#  define CS8       (3 << 0)  /*   8 bits */
-#define CSTOPB      (1 << 2)  /* Bit 2: Send two stop bits, else one */
-#define CREAD       (1 << 3)  /* Bit 3: Enable receiver */
-#define PARENB      (1 << 4)  /* Bit 4: Parity enable */
-#define PARODD      (1 << 5)  /* Bit 5: Odd parity, else even */
-#define HUPCL       (1 << 6)  /* Bit 6: Hang up on last close */
-#define CLOCAL      (1 << 7)  /* Bit 7: Ignore modem status lines */
-#define CCTS_OFLOW  (1 << 8)  /* Bit 8: CTS flow control of output */
-#define CRTSCTS     CCTS_OFLOW
-#define CRTS_IFLOW  (1 << 9)  /* Bit 9: RTS flow control of input */
+#define CSIZE     (3 << 0)  /* Bits 0-1: Character size: */
+#  define CS5     (0 << 0)  /*   5 bits */
+#  define CS6     (1 << 0)  /*   6 bits */
+#  define CS7     (2 << 0)  /*   7 bits */
+#  define CS8     (3 << 0)  /*   8 bits */
+#define CSTOPB    (1 << 2)  /* Bit 2: Send two stop bits, else one */
+#define CREAD     (1 << 3)  /* Bit 3: Enable receiver */
+#define PARENB    (1 << 4)  /* Bit 4: Parity enable */
+#define PARODD    (1 << 5)  /* Bit 5: Odd parity, else even */
+#define HUPCL     (1 << 6)  /* Bit 6: Hang up on last close */
+#define CLOCAL    (1 << 7)  /* Bit 7: Ignore modem status lines */
+#define CCTS_OFLOW (1 << 8) /* Bit 8: CTS flow control of output */
+#define CRTSCTS   CCTS_OFLOW
+#define CRTS_IFLOW (1 << 9) /* Bit 9: RTS flow control of input */
 
 /* Local Modes (c_lflag in the termios structure) */
 
@@ -232,7 +232,7 @@ struct termios
    * cf[set|get][o|i]speed() POSIX interfaces.
    */
 
-  speed_t c_speed;    /* Input/output speed (non-POSIX)*/
+  speed_t c_speed;          /* Input/output speed (non-POSIX)*/
 };
 
 /****************************************************************************
diff --git a/nuttx/include/unistd.h b/nuttx/include/unistd.h
index e2ad6ff82..681ce9e63 100644
--- a/nuttx/include/unistd.h
+++ b/nuttx/include/unistd.h
@@ -133,6 +133,7 @@ EXTERN pid_t   getpid(void);
 EXTERN void    _exit(int status) noreturn_function;
 EXTERN unsigned int sleep(unsigned int seconds);
 EXTERN int     usleep(useconds_t usec);
+EXTERN int     pause(void);
 
 /* File descriptor operations */
 
diff --git a/nuttx/lib/Makefile b/nuttx/lib/Makefile
index fc8f0c4dd..58857dbd4 100644
--- a/nuttx/lib/Makefile
+++ b/nuttx/lib/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # lib/Makefile
 #
-#   Copyright (C) 2007-2012 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -35,101 +35,11 @@
 
 -include $(TOPDIR)/Make.defs
 
-ASRCS =
-CSRCS =
+all:
 
-DEPPATH := --dep-path .
-VPATH := .
+depend:
 
-include stdio/Make.defs
-include stdlib/Make.defs
-include unistd/Make.defs
-include sched/Make.defs
-include string/Make.defs
-include pthread/Make.defs
-include semaphore/Make.defs
-include signal/Make.defs
-include mqueue/Make.defs
-include math/Make.defs
-include net/Make.defs
-include time/Make.defs
-include libgen/Make.defs
-include dirent/Make.defs
-include termios/Make.defs
-include queue/Make.defs
-include misc/Make.defs
-
-AOBJS = $(ASRCS:.S=$(OBJEXT))
-COBJS = $(CSRCS:.c=$(OBJEXT))
-
-SRCS = $(ASRCS) $(CSRCS)
-OBJS = $(AOBJS) $(COBJS)
-
-UBIN = libulib$(LIBEXT)
-KBIN = libklib$(LIBEXT)
-BIN  = liblib$(LIBEXT)
-
-all: $(BIN)
-
-$(AOBJS): %$(OBJEXT): %.S
-	$(call ASSEMBLE, $<, $@)
-
-$(COBJS): %$(OBJEXT): %.c
-	$(call COMPILE, $<, $@)
-
-$(BIN):	$(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $@, $${obj}); \
-	done ; )
-
-ifneq ($(BIN),$(UBIN))
-.userlib:
-	@$(MAKE) $(UBIN) BIN=$(UBIN) TOPDIR=$(TOPDIR) EXTRADEFINES=$(EXTRADEFINES)
-	@touch .userlib
-
-$(UBIN): kclean .userlib
-endif
-
-ifneq ($(BIN),$(KBIN))
-.kernlib:
-	@$(MAKE) $(KBIN) BIN=$(KBIN) TOPDIR=$(TOPDIR) EXTRADEFINES=$(EXTRADEFINES)
-	@touch .kernlib
-
-$(KBIN): uclean .kernlib
-endif
-
-.depend: Makefile $(SRCS)
-	@$(MKDEP) $(DEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
-
-depend: .depend
-
-# Clean Targets:
-# Clean user-mode temporary files (retaining the UBIN binary)
-
-uclean:
-ifneq ($(OBJEXT),)
-	@( if [ -f .userlib ]; then rm -f *$(OBJEXT); fi )
-endif
-	@rm -f .userlib *~ .*.swp
-
-# Clean kernel-mode temporary files (retaining the KBIN binary)
-
-kclean:
-ifneq ($(OBJEXT),)
-	@( if [ -f .kernlib ]; then rm -f *$(OBJEXT); fi )
-endif
-	@rm -f .kernlib *~ .*.swp
-
-# Really clean everything
-
-clean: uclean kclean
-	@rm -f $(BIN) $(UBIN) $(KBIN) *~ .*.swp
+clean:
 	$(call CLEAN)
 
-# Deep clean -- removes all traces of the configuration
-
 distclean: clean
-	@rm -f Make.dep .depend
-
--include Make.dep
diff --git a/nuttx/lib/README.txt b/nuttx/lib/README.txt
index 63d1c343c..f742b9a24 100644
--- a/nuttx/lib/README.txt
+++ b/nuttx/lib/README.txt
@@ -1,84 +1,6 @@
-lib
-===
-
-This directory contains numerous, small functions typically associated with
-what you would expect to find in a standard C library.  The sub-directories
-in this directory contain standard interface that can be executed by user-
-mode programs.
-
-Normally, NuttX is built with no protection and all threads running in kerne-
-mode.  In that model, there is no real architectural distinction between
-what is a kernel-mode program and what is a user-mode program; the system is
-more like on multi-threaded program that all runs in kernel-mode.
-
-But if the CONFIG_NUTTX_KERNEL option is selected, NuttX will be built into
-distinct user-mode and kernel-mode sections.  In that case, most of the
-code in the nuttx/ directory will run in kernel-mode with with exceptions
-of (1) the user-mode "proxies" found in syscall/proxies, and (2) the
-standard C library functions found in this directory.  In this build model,
-it is critical to separate the user-mode OS interfaces in this way.
-
-Sub-Directories
-===============
-
-The files in the lib/ directory are organized (mostly) according which file
-in the include/ directory provides the prototype for library functions.  So
-we have:
-
-  libgen    - libgen.h
-  math      - math.h and fixedmath.h
-  mqueue    - pthread.h
-  net       - Various network-related header files: netinet/ether.h, arpa/inet.h
-  pthread   - pthread.h
-  queue     - queue.h
-  sched     - sched.h
-  semaphore - semaphore.h
-  stdio     - stdio.h
-  stdlib    - stdlib.h
-  string    - string.h
-  time      - time.h
-  unistd    - unistd.h
-
-There is also a misc/ subdirectory that contains various internal functions
-and interfaces from header files that are too few to warrant their own sub-
-directory:
-
- misc       - Nonstandard "glue" logic, debug.h, crc32.h, dirent.h
-
-Library Database
+lib/ README File
 ================
 
-Information about functions available in the NuttX C library information is
-maintained in a database.  That "database" is implemented as a simple comma-
-separated-value file, lib.csv.  Most spreadsheets programs will accept this
-format and can be used to maintain the library database.
-
-This library database will (eventually) be used to generate symbol library
-symbol table information that can be exported to external applications.
-
-The format of the CSV file for each line is:
-
-  Field 1: Function name
-  Field 2: The header file that contains the function prototype
-  Field 3: Condition for compilation
-  Field 4: The type of function return value.
-  Field 5 - N+5: The type of each of the N formal parameters of the function
-
-Each type field has a format as follows:
+This directory is reserved for libraries generated during the NuttX build process
 
-  type name:
-        For all simpler types
-  formal type | actual type: 
-        For array types where the form of the formal (eg. int parm[2])
-        differs from the type of actual passed parameter (eg. int*).  This
-        is necessary because you cannot do simple casts to array types.
-  formal type | union member actual type | union member fieldname:
-        A similar situation exists for unions.  For example, the formal
-        parameter type union sigval -- You cannot cast a uintptr_t to
-        a union sigval, but you can cast to the type of one of the union
-        member types when passing the actual paramter.  Similarly, we
-        cannot cast a union sigval to a uinptr_t either.  Rather, we need
-        to cast a specific union member fieldname to uintptr_t.
 
-NOTE: The tool mksymtab can be used to generate a symbol table from this CSV
-file.  See nuttx/tools/README.txt for further details about the use of mksymtab.
diff --git a/nuttx/lib/stdlib/lib_rand.c b/nuttx/lib/stdlib/lib_rand.c
deleted file mode 100644
index 7227c52d0..000000000
--- a/nuttx/lib/stdlib/lib_rand.c
+++ /dev/null
@@ -1,220 +0,0 @@
-/************************************************************
- * lib/stdlib/lib_rand.c
- *
- *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. 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.
- * 3. Neither the name NuttX 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.
- *
- ************************************************************/
-
-/************************************************************
- * Compilation Switches
- ************************************************************/
-
-/************************************************************
- * Included Files
- ************************************************************/
-
-#include <sys/types.h>
-#include <stdlib.h>
-
-/************************************************************
- * Definitions
- ************************************************************/
-
-#ifndef CONFIG_LIB_RAND_ORDER
-#define CONFIG_LIB_RAND_ORDER 1
-#endif
-
-/* Values needed by the random number generator */
-
-#define RND1_CONSTK  470001
-#define RND1_CONSTP  999563
-#define RND2_CONSTK1 366528
-#define RND2_CONSTK2 508531
-#define RND2_CONSTP  998917
-#define RND3_CONSTK1 360137
-#define RND3_CONSTK2 519815
-#define RND3_CONSTK3 616087
-#define RND3_CONSTP  997783
-
-#if CONFIG_LIB_RAND_ORDER == 1
-# define RND_CONSTP RND1_CONSTP
-#elif CONFIG_LIB_RAND_ORDER == 2
-# define RND_CONSTP RND2_CONSTP
-#else
-# define RND_CONSTP RND3_CONSTP
-#endif
-
-/************************************************************
- * Private Type Declarations
- ************************************************************/
-
-/************************************************************
- * Private Function Prototypes
- ************************************************************/
-
-static unsigned int nrand(unsigned int nLimit);
-static double_t frand1(void);
-#if (CONFIG_LIB_RAND_ORDER > 1)
-static double_t frand2(void);
-#if (CONFIG_LIB_RAND_ORDER > 2)
-static double_t frand3(void);
-#endif
-#endif
-
-/**********************************************************
- * Global Constant Data
- **********************************************************/
-
-/************************************************************
- * Global Variables
- ************************************************************/
-
-/**********************************************************
- * Private Constant Data
- **********************************************************/
-
-/************************************************************
- * Private Variables
- ************************************************************/
-
-static unsigned long g_nRandInt1;
-#if (CONFIG_LIB_RAND_ORDER > 1)
-static unsigned long g_nRandInt2;
-#if (CONFIG_LIB_RAND_ORDER > 2)
-static unsigned long g_nRandInt3;
-#endif
-#endif
-
-/************************************************************
- * Private Functions
- ************************************************************/
- 
-static unsigned int nrand(unsigned int nLimit)
-{
-  unsigned long nResult;
-  double_t fRatio;
-
-  /* Loop to be sure a legal random number is generated */
-  do {
-
-    /* Get a random integer in the requested range */
-#if (CONFIG_LIB_RAND_ORDER == 1)
-    fRatio = frand1();
-#elif (CONFIG_LIB_RAND_ORDER == 2)
-    fRatio = frand2();
-#else
-    fRatio = frand3();
-#endif
-
-    /* Then, produce the return-able value */
-    nResult = (unsigned long)(((double_t)nLimit) * fRatio);
-
-  } while (nResult >= (unsigned long)nLimit);
-
-  return (unsigned int)nResult;
-
-} /* end nrand */
-
-static double_t frand1(void)
-{
-  unsigned long nRandInt;
-
-  /* First order congruential generator */
-  nRandInt = (RND1_CONSTK * g_nRandInt1) % RND1_CONSTP;
-  g_nRandInt1 = nRandInt;
-
-  /* Construct an floating point value in the range from 0.0 up to 1.0 */
-  return ((double_t)nRandInt) / ((double_t)RND_CONSTP);
-
-} /* end frand */
-
-#if (CONFIG_LIB_RAND_ORDER > 1)
-static double_t frand2(void)
-{
-  unsigned long nRandInt;
-
-  /* Second order congruential generator */
-  nRandInt = (RND2_CONSTK1 * g_nRandInt1 + RND2_CONSTK2 * g_nRandInt2) %
-    RND2_CONSTP;
-  g_nRandInt2 = g_nRandInt1;
-  g_nRandInt1 = nRandInt;
-
-  /* Construct an floating point value in the range from 0.0 up to 1.0 */
-  return ((double_t)nRandInt) / ((double_t)RND_CONSTP);
-
-} /* end frand */
-
-#if (CONFIG_LIB_RAND_ORDER > 2)
-static double_t frand3(void)
-{
-  unsigned long nRandInt;
-
-  /* Third order congruential generator */
-  nRandInt = (RND3_CONSTK1 * g_nRandInt1 + RND3_CONSTK2 * g_nRandInt2 +
-	      RND3_CONSTK2 * g_nRandInt3) % RND3_CONSTP;
-  g_nRandInt3 = g_nRandInt2;
-  g_nRandInt2 = g_nRandInt1;
-  g_nRandInt1 = nRandInt;
-
-  /* Construct an floating point value in the range from 0.0 up to 1.0 */
-  return ((double_t)nRandInt) / ((double_t)RND_CONSTP);
-
-} /* end frand */
-#endif
-#endif
-
-/************************************************************
- * Public Functions
- ************************************************************/
-/************************************************************
- * Function:  srand, rand
- ************************************************************/
-
-void srand(unsigned int seed)
-{
-  g_nRandInt1 = seed;
-#if (CONFIG_LIB_RAND_ORDER > 1)
-  g_nRandInt2 = seed;
-  (void)frand1();
-#if (CONFIG_LIB_RAND_ORDER > 2)
-  g_nRandInt3 = seed;
-  (void)frand2();
-#endif
-#endif
-
-} /* end srand */
-
-int rand(void)
-{
-  return (int)nrand(32768);
-
-} /* end rand */
-
diff --git a/nuttx/lib/Kconfig b/nuttx/libc/Kconfig
index 69a55d09c..bd470be7f 100644
--- a/nuttx/lib/Kconfig
+++ b/nuttx/libc/Kconfig
@@ -30,12 +30,7 @@ config LIB_HOMEDIR
 	---help---
 		The home directory to use with operations like such as 'cd ~'
 
-config HAVE_LIBM
-	bool "Architecture-specific libm.a"
-	default n
-	---help---
-		Architecture specific logic provides an implementation of libm.a
-		and a math.h header file that can be found at include/arch/math.h.
+source libc/math/Kconfig
 
 config NOPRINTF_FIELDWIDTH
 	bool "Disable sprintf support fieldwidth"
@@ -153,42 +148,128 @@ config ARCH_OPTIMIZED_FUNCTIONS
 
 if ARCH_OPTIMIZED_FUNCTIONS
 config ARCH_MEMCPY
-	bool "memcpy"
+	bool "memcpy()"
+	default n
+	---help---
+		Select this option if the architecture provides an optimized version
+		of memcpy().
+
+config MEMCPY_VIK
+	bool "Vik memcpy()"
 	default n
+	depends on !ARCH_MEMCPY
+	---help---
+		Select this option to use the optimized memcpy() function by Daniel Vik.
+		Select this option for improved performance at the expense of increased
+		size. See licensing information in the top-level COPYING file.
+
+if MEMCPY_VIK
+config MEMCPY_PRE_INC_PTRS
+	bool "Pre-increment pointers"
+	default n
+	---help---
+		Use pre-increment of pointers. Default is post increment of pointers.
+
+config MEMCPY_INDEXED_COPY
+	bool "Array indexing"
+	default y
+	---help---
+		Copying data using array indexing. Using this option, disables the
+		MEMCPY_PRE_INC_PTRS option.
+
+config MEMCPY_64BIT
+	bool "64-bit memcpy()"
+	default n
+	---help---
+		Compiles memcpy() for architectures that suppport 64-bit operations
+		efficiently.
+
+endif
 
 config ARCH_MEMCMP
-	bool "memcmp"
+	bool "memcmp()"
 	default n
+	---help---
+		Select this option if the architecture provides an optimized version
+		of memcmp().
 
 config ARCH_MEMMOVE
-	bool "memmove"
+	bool "memmove()"
 	default n
+	---help---
+		Select this option if the architecture provides an optimized version
+		of memmove().
 
 config ARCH_MEMSET
-	bool "memset"
+	bool "memset()"
 	default n
+	---help---
+		Select this option if the architecture provides an optimized version
+		of memset().
+
+config MEMSET_OPTSPEED
+	bool "Optimize memset() for speed"
+	default n
+	depends on !ARCH_MEMSET
+	---help---
+		Select this option to use a version of memcpy() optimized for speed.
+		Default: memcpy() is optimized for size.
+
+config MEMSET_64BIT
+	bool "64-bit memset()"
+	default n
+	depends on MEMSET_OPTSPEED
+	---help---
+		Compiles memset() for architectures that suppport 64-bit operations
+		efficiently.
+
+config ARCH_STRCHR
+	bool "strchr()"
+	default n
+	---help---
+		Select this option if the architecture provides an optimized version
+		of strchr().
 
 config ARCH_STRCMP
-	bool "strcmp"
+	bool "strcmp()"
 	default n
+	---help---
+		Select this option if the architecture provides an optimized version
+		of strcmp().
 
 config ARCH_STRCPY
-	bool "strcpy"
+	bool "strcpy()"
 	default n
+	---help---
+		Select this option if the architecture provides an optimized version
+		of strcpy().
 
 config ARCH_STRNCPY
-	bool "strncpy"
+	bool "strncpy()"
 	default n
+	---help---
+		Select this option if the architecture provides an optimized version
+		of strncpy().
 
 config ARCH_STRLEN
 	bool "strlen"
 	default n
+	---help---
+		Select this option if the architecture provides an optimized version
+		of strlen().
 
 config ARCH_STRNLEN
-	bool "strlen"
+	bool "strlen()"
 	default n
+	---help---
+		Select this option if the architecture provides an optimized version
+		of strnlen().
 
 config ARCH_BZERO
-	bool "bzero"
+	bool "bzero()"
 	default n
+	---help---
+		Select this option if the architecture provides an optimized version
+		of bzero().
+
 endif
diff --git a/nuttx/libc/Makefile b/nuttx/libc/Makefile
new file mode 100644
index 000000000..22dbba1d9
--- /dev/null
+++ b/nuttx/libc/Makefile
@@ -0,0 +1,145 @@
+############################################################################
+# libc/Makefile
+#
+#   Copyright (C) 2007-2012 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. 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.
+# 3. Neither the name NuttX 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 $(TOPDIR)/Make.defs
+
+ASRCS =
+CSRCS =
+
+DEPPATH := --dep-path .
+VPATH := .
+
+include stdio/Make.defs
+include stdlib/Make.defs
+include unistd/Make.defs
+include sched/Make.defs
+include string/Make.defs
+include pthread/Make.defs
+include semaphore/Make.defs
+include signal/Make.defs
+include mqueue/Make.defs
+include math/Make.defs
+include fixedmath/Make.defs
+include net/Make.defs
+include time/Make.defs
+include libgen/Make.defs
+include dirent/Make.defs
+include termios/Make.defs
+include queue/Make.defs
+include misc/Make.defs
+
+AOBJS = $(ASRCS:.S=$(OBJEXT))
+COBJS = $(CSRCS:.c=$(OBJEXT))
+
+SRCS = $(ASRCS) $(CSRCS)
+OBJS = $(AOBJS) $(COBJS)
+
+UBIN = libuc$(LIBEXT)
+KBIN = libkc$(LIBEXT)
+BIN  = libc$(LIBEXT)
+
+all: $(BIN)
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(call ASSEMBLE, $<, $@)
+
+$(COBJS): %$(OBJEXT): %.c
+	$(call COMPILE, $<, $@)
+
+$(BIN): $(OBJS)
+	$(call ARCHIVE, $@, $(OBJS))
+
+ifneq ($(BIN),$(UBIN))
+.userlib:
+	$(Q) $(MAKE) $(UBIN) BIN=$(UBIN) TOPDIR=$(TOPDIR) EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) touch .userlib
+
+$(UBIN): kclean .userlib
+endif
+
+ifneq ($(BIN),$(KBIN))
+.kernlib:
+	$(Q) $(MAKE) $(KBIN) BIN=$(KBIN) TOPDIR=$(TOPDIR) EXTRADEFINES=$(EXTRADEFINES)
+	$(Q) touch .kernlib
+
+$(KBIN): uclean .kernlib
+endif
+
+.depend: Makefile $(SRCS)
+	$(Q) $(MKDEP) $(DEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
+
+depend: .depend
+
+# Clean Targets:
+# Clean user-mode temporary files (retaining the UBIN binary)
+
+uclean:
+ifneq ($(OBJEXT),)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+	$(Q) if exist .userlib ]; then del *$(OBJEXT)
+else
+	$(Q) ( if [ -f .userlib ]; then rm -f *$(OBJEXT); fi )
+endif
+endif
+	$(call DELFILE, .userlib)
+
+# Clean kernel-mode temporary files (retaining the KBIN binary)
+
+kclean:
+ifneq ($(OBJEXT),)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+	$(Q) if exist .kernlib ]; then del *$(OBJEXT)
+else
+	$(Q) ( if [ -f .kernlib ]; then rm -f *$(OBJEXT); fi )
+endif
+endif
+	$(call DELFILE, .kernlib)
+
+# Really clean everything
+
+clean: uclean kclean
+	$(call DELFILE, $(BIN))
+	$(call DELFILE, $(UBIN))
+	$(call DELFILE, $(KBIN))
+	$(call CLEAN)
+
+# Deep clean -- removes all traces of the configuration
+
+distclean: clean
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
+
+-include Make.dep
diff --git a/nuttx/libc/README.txt b/nuttx/libc/README.txt
new file mode 100644
index 000000000..ed672d038
--- /dev/null
+++ b/nuttx/libc/README.txt
@@ -0,0 +1,85 @@
+lib
+===
+
+This directory contains numerous, small functions typically associated with
+what you would expect to find in a standard C library.  The sub-directories
+in this directory contain standard interface that can be executed by user-
+mode programs.
+
+Normally, NuttX is built with no protection and all threads running in kerne-
+mode.  In that model, there is no real architectural distinction between
+what is a kernel-mode program and what is a user-mode program; the system is
+more like on multi-threaded program that all runs in kernel-mode.
+
+But if the CONFIG_NUTTX_KERNEL option is selected, NuttX will be built into
+distinct user-mode and kernel-mode sections.  In that case, most of the
+code in the nuttx/ directory will run in kernel-mode with with exceptions
+of (1) the user-mode "proxies" found in syscall/proxies, and (2) the
+standard C library functions found in this directory.  In this build model,
+it is critical to separate the user-mode OS interfaces in this way.
+
+Sub-Directories
+===============
+
+The files in the libc/ directory are organized (mostly) according which file
+in the include/ directory provides the prototype for library functions.  So
+we have:
+
+  libgen    - libgen.h
+  fixedmath - fixedmath.h
+  math      - math.h
+  mqueue    - pthread.h
+  net       - Various network-related header files: netinet/ether.h, arpa/inet.h
+  pthread   - pthread.h
+  queue     - queue.h
+  sched     - sched.h
+  semaphore - semaphore.h
+  stdio     - stdio.h
+  stdlib    - stdlib.h
+  string    - string.h
+  time      - time.h
+  unistd    - unistd.h
+
+There is also a misc/ subdirectory that contains various internal functions
+and interfaces from header files that are too few to warrant their own sub-
+directory:
+
+ misc       - Nonstandard "glue" logic, debug.h, crc32.h, dirent.h
+
+Library Database
+================
+
+Information about functions available in the NuttX C library information is
+maintained in a database.  That "database" is implemented as a simple comma-
+separated-value file, lib.csv.  Most spreadsheets programs will accept this
+format and can be used to maintain the library database.
+
+This library database will (eventually) be used to generate symbol library
+symbol table information that can be exported to external applications.
+
+The format of the CSV file for each line is:
+
+  Field 1: Function name
+  Field 2: The header file that contains the function prototype
+  Field 3: Condition for compilation
+  Field 4: The type of function return value.
+  Field 5 - N+5: The type of each of the N formal parameters of the function
+
+Each type field has a format as follows:
+
+  type name:
+        For all simpler types
+  formal type | actual type: 
+        For array types where the form of the formal (eg. int parm[2])
+        differs from the type of actual passed parameter (eg. int*).  This
+        is necessary because you cannot do simple casts to array types.
+  formal type | union member actual type | union member fieldname:
+        A similar situation exists for unions.  For example, the formal
+        parameter type union sigval -- You cannot cast a uintptr_t to
+        a union sigval, but you can cast to the type of one of the union
+        member types when passing the actual paramter.  Similarly, we
+        cannot cast a union sigval to a uinptr_t either.  Rather, we need
+        to cast a specific union member fieldname to uintptr_t.
+
+NOTE: The tool mksymtab can be used to generate a symbol table from this CSV
+file.  See nuttx/tools/README.txt for further details about the use of mksymtab.
diff --git a/nuttx/lib/dirent/Make.defs b/nuttx/libc/dirent/Make.defs
index cc1d6b783..f2927bed8 100644
--- a/nuttx/lib/dirent/Make.defs
+++ b/nuttx/libc/dirent/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# lib/dirent/Make.defs
+# libc/dirent/Make.defs
 #
 #   Copyright (C) 2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/dirent/lib_readdirr.c b/nuttx/libc/dirent/lib_readdirr.c
index 47c5b9a7b..93c99ac28 100644
--- a/nuttx/lib/dirent/lib_readdirr.c
+++ b/nuttx/libc/dirent/lib_readdirr.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/dirent/lib_readdirr.c
+ * libc/dirent/lib_readdirr.c
  *
  *   Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/dirent/lib_telldir.c b/nuttx/libc/dirent/lib_telldir.c
index 3753b326e..f77a4a1c2 100644
--- a/nuttx/lib/dirent/lib_telldir.c
+++ b/nuttx/libc/dirent/lib_telldir.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/dirent/fs_telldir.c
+ * libc/dirent/fs_telldir.c
  *
  *   Copyright (C) 2007-2008, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/math/Make.defs b/nuttx/libc/fixedmath/Make.defs
index 126cd2f47..b53df2b2c 100644
--- a/nuttx/lib/math/Make.defs
+++ b/nuttx/libc/fixedmath/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# lib/math/Make.defs
+# libc/fixedmath/Make.defs
 #
 #   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -33,11 +33,11 @@
 #
 ############################################################################
 
-# Add the math C files to the build
+# Add the fixed precision math C files to the build
 
 CSRCS += lib_rint.c lib_fixedmath.c lib_b16sin.c lib_b16cos.c lib_b16atan2.c
 
-# Add the math directory to the build
+# Add the fixed precision math directory to the build
 
-DEPPATH += --dep-path math
-VPATH += :math
+DEPPATH += --dep-path fixedmath
+VPATH += :fixedmath
diff --git a/nuttx/lib/math/lib_b16atan2.c b/nuttx/libc/fixedmath/lib_b16atan2.c
index 8792fa087..443ab7be3 100644
--- a/nuttx/lib/math/lib_b16atan2.c
+++ b/nuttx/libc/fixedmath/lib_b16atan2.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/math/lib_b16atan2.c
+ * libc/fixedmath/lib_b16atan2.c
  *
  *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/math/lib_b16cos.c b/nuttx/libc/fixedmath/lib_b16cos.c
index 7547871f6..0ebe48262 100644
--- a/nuttx/lib/math/lib_b16cos.c
+++ b/nuttx/libc/fixedmath/lib_b16cos.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/math/lib_b16cos.c
+ * libc/fixedmath/lib_b16cos.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/math/lib_b16sin.c b/nuttx/libc/fixedmath/lib_b16sin.c
index 1eee17993..9cd2f0da3 100644
--- a/nuttx/lib/math/lib_b16sin.c
+++ b/nuttx/libc/fixedmath/lib_b16sin.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/math/lib_b16sin.c
+ * libc/fixedmath/lib_b16sin.c
  *
  *   Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/math/lib_fixedmath.c b/nuttx/libc/fixedmath/lib_fixedmath.c
index c1a710e73..9e9213b4f 100644
--- a/nuttx/lib/math/lib_fixedmath.c
+++ b/nuttx/libc/fixedmath/lib_fixedmath.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/math/lib_fixedmath.c
+ * libc/math/lib_fixedmath.c
  *
  *   Copyright (C) 2008-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/math/lib_rint.c b/nuttx/libc/fixedmath/lib_rint.c
index bd861eced..a1212c970 100644
--- a/nuttx/lib/math/lib_rint.c
+++ b/nuttx/libc/fixedmath/lib_rint.c
@@ -1,5 +1,5 @@
 /************************************************************
- * lib/math/lib_rint.c
+ * libc/fixedmath/lib_rint.c
  *
  *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/lib.csv b/nuttx/libc/lib.csv
index 171f64e9b..171f64e9b 100644
--- a/nuttx/lib/lib.csv
+++ b/nuttx/libc/lib.csv
diff --git a/nuttx/lib/lib_internal.h b/nuttx/libc/lib_internal.h
index c3d9bfd18..c09c751d4 100644
--- a/nuttx/lib/lib_internal.h
+++ b/nuttx/libc/lib_internal.h
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/lib_internal.h
+ * libc/lib_internal.h
  *
  *   Copyright (C) 2007-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -117,56 +117,56 @@ extern bool g_dbgenable;
 /* Defined in lib_streamsem.c */
 
 #if CONFIG_NFILE_STREAMS > 0
-extern void  stream_semtake(FAR struct streamlist *list);
-extern void  stream_semgive(FAR struct streamlist *list);
+void  stream_semtake(FAR struct streamlist *list);
+void  stream_semgive(FAR struct streamlist *list);
 #endif
 
 /* Defined in lib_libnoflush.c */
 
 #ifdef CONFIG_STDIO_LINEBUFFER
-extern int lib_noflush(FAR struct lib_outstream_s *this);
+int lib_noflush(FAR struct lib_outstream_s *this);
 #endif
 
 /* Defined in lib_libsprintf.c */
 
-extern int lib_sprintf(FAR struct lib_outstream_s *obj,
+int lib_sprintf(FAR struct lib_outstream_s *obj,
                        const char *fmt, ...);
 
 /* Defined lib_libvsprintf.c */
 
-extern int lib_vsprintf(FAR struct lib_outstream_s *obj,
-                        FAR const char *src, va_list ap);
+int lib_vsprintf(FAR struct lib_outstream_s *obj,
+                 FAR const char *src, va_list ap);
 
 /* Defined lib_rawprintf.c */
 
-extern int lib_rawvprintf(const char *src, va_list ap);
+int lib_rawvprintf(const char *src, va_list ap);
 
 /* Defined lib_lowprintf.c */
 
-extern int lib_lowvprintf(const char *src, va_list ap);
+int lib_lowvprintf(const char *src, va_list ap);
 
 /* Defined in lib_dtoa.c */
 
 #ifdef CONFIG_LIBC_FLOATINGPOINT
-extern char *__dtoa(double d, int mode, int ndigits,
-                    int *decpt, int *sign, char **rve);
+char *__dtoa(double d, int mode, int ndigits, int *decpt, int *sign,
+             char **rve);
 #endif
 
 /* Defined in lib_libwrite.c */
 
-extern ssize_t lib_fwrite(FAR const void *ptr, size_t count, FAR FILE *stream);
+ssize_t lib_fwrite(FAR const void *ptr, size_t count, FAR FILE *stream);
 
 /* Defined in lib_libfread.c */
 
-extern ssize_t lib_fread(FAR void *ptr, size_t count, FAR FILE *stream);
+ssize_t lib_fread(FAR void *ptr, size_t count, FAR FILE *stream);
 
 /* Defined in lib_libfflush.c */
 
-extern ssize_t lib_fflush(FAR FILE *stream, bool bforce);
+ssize_t lib_fflush(FAR FILE *stream, bool bforce);
 
 /* Defined in lib_rdflush.c */
 
-extern int lib_rdflush(FAR FILE *stream);
+int lib_rdflush(FAR FILE *stream);
 
 /* Defined in lib_wrflush.c */
 
@@ -175,25 +175,37 @@ int lib_wrflush(FAR FILE *stream);
 /* Defined in lib_sem.c */
 
 #if CONFIG_STDIO_BUFFER_SIZE > 0
-extern void lib_sem_initialize(FAR struct file_struct *stream);
-extern void lib_take_semaphore(FAR struct file_struct *stream);
-extern void lib_give_semaphore(FAR struct file_struct *stream);
+void lib_sem_initialize(FAR struct file_struct *stream);
+void lib_take_semaphore(FAR struct file_struct *stream);
+void lib_give_semaphore(FAR struct file_struct *stream);
 #endif
 
 /* Defined in lib_libgetbase.c */
 
-extern int lib_getbase(const char *nptr, const char **endptr);
+int lib_getbase(const char *nptr, const char **endptr);
 
 /* Defined in lib_skipspace.c */
 
-extern void lib_skipspace(const char **pptr);
+void lib_skipspace(const char **pptr);
 
 /* Defined in lib_isbasedigit.c */
 
-extern bool lib_isbasedigit(int ch, int base, int *value);
+bool lib_isbasedigit(int ch, int base, int *value);
 
 /* Defined in lib_checkbase.c */
 
-extern int lib_checkbase(int base, const char **pptr);
+int lib_checkbase(int base, const char **pptr);
+
+/* Defined in lib_expi.c */
+
+#ifdef CONFIG_LIBM
+double lib_expi(size_t n);
+#endif
+
+/* Defined in lib_libsqrtapprox.c */
+
+#ifdef CONFIG_LIBM
+float lib_sqrtapprox(float x);
+#endif
 
 #endif /* __LIB_LIB_INTERNAL_H */
diff --git a/nuttx/lib/libgen/Make.defs b/nuttx/libc/libgen/Make.defs
index f12645512..6e786655d 100644
--- a/nuttx/lib/libgen/Make.defs
+++ b/nuttx/libc/libgen/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# lib/libgen/Make.defs
+# libc/libgen/Make.defs
 #
 #   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/libgen/lib_basename.c b/nuttx/libc/libgen/lib_basename.c
index 986c6b852..68188edbf 100644
--- a/nuttx/lib/libgen/lib_basename.c
+++ b/nuttx/libc/libgen/lib_basename.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/libgen/lib_basename.c
+ * libc/libgen/lib_basename.c
  *
  *   Copyright (C) 2007, 2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/libgen/lib_dirname.c b/nuttx/libc/libgen/lib_dirname.c
index 248293a60..6d076fd61 100644
--- a/nuttx/lib/libgen/lib_dirname.c
+++ b/nuttx/libc/libgen/lib_dirname.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/libgen/lib_dirname.c
+ * libc/libgen/lib_dirname.c
  *
  *   Copyright (C) 2007, 2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/libc/math/Kconfig b/nuttx/libc/math/Kconfig
new file mode 100644
index 000000000..c24bfd53f
--- /dev/null
+++ b/nuttx/libc/math/Kconfig
@@ -0,0 +1,26 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+
+config LIBM
+	bool "Math library"
+	default n
+	depends on !ARCH_MATH_H
+	---help---
+		By default, no math library will be provided by NuttX.  In this this case, it
+		is assumed that (1) no math library is required, or (2) you will be using the
+		math.h header file and the libm library provided by your toolchain.
+
+		This is may be a very good choice is possible because your toolchain may have
+		have a highly optimized version of libm.
+
+		Another possibility is that you have a custom, architecture-specific math
+		libary and that the corresponding math.h file resides at arch/<architecture>/include/math.h.
+		The option is selected via ARCH_MATH_H.  If ARCH_MATH_H is selected,then the include/nuttx/math.h
+ 		header file will be copied to include/math.h where it can be used by your applications.
+
+		If ARCH_MATH_H is not defined, then this option can be selected to build a generic,
+		math library built into NuttX.  This math library comes from the Rhombus OS and
+		was written by Nick Johnson.  The Rhombus OS math library port was contributed by
+		Darcy Gong.
diff --git a/nuttx/libc/math/Make.defs b/nuttx/libc/math/Make.defs
new file mode 100644
index 000000000..ece25f4e5
--- /dev/null
+++ b/nuttx/libc/math/Make.defs
@@ -0,0 +1,62 @@
+############################################################################
+# libc/math/Make.defs
+#
+#   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. 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.
+# 3. Neither the name NuttX 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.
+#
+############################################################################
+
+ifeq ($(CONFIG_LIBM),y)
+
+# Add the floating point math C files to the build
+
+CSRCS += lib_acosf.c lib_asinf.c lib_atan2f.c lib_atanf.c lib_ceilf.c lib_cosf.c
+CSRCS += lib_coshf.c  lib_expf.c lib_fabsf.c lib_floorf.c lib_fmodf.c lib_frexpf.c
+CSRCS += lib_ldexpf.c lib_logf.c lib_log10f.c lib_log2f.c lib_modff.c lib_powf.c
+CSRCS += lib_roundf.c lib_sinf.c lib_sinhf.c lib_sqrtf.c lib_tanf.c lib_tanhf.c
+
+CSRCS += lib_acos.c lib_asin.c lib_atan.c lib_atan2.c lib_ceil.c lib_cos.c
+CSRCS += lib_cosh.c lib_exp.c lib_fabs.c lib_floor.c lib_fmod.c lib_frexp.c
+CSRCS += lib_ldexp.c lib_log.c lib_log10.c lib_log2.c lib_modf.c lib_pow.c
+CSRCS += lib_round.c lib_sin.c lib_sinh.c lib_sqrt.c lib_tan.c lib_tanh.c
+
+CSRCS += lib_acosl.c lib_asinl.c lib_atan2l.c lib_atanl.c lib_ceill.c lib_cosl.c
+CSRCS += lib_coshl.c lib_expl.c lib_fabsl.c lib_floorl.c lib_fmodl.c lib_frexpl.c
+CSRCS += lib_ldexpl.c lib_logl.c lib_log10l.c lib_log2l.c lib_modfl.c lib_powl.c
+CSRCS += lib_roundl.c lib_sinl.c lib_sinhl.c lib_sqrtl.c lib_tanl.c lib_tanhl.c
+
+CSRCS += lib_libexpi.c lib_libsqrtapprox.c
+
+# Add the floating point math directory to the build
+
+DEPPATH += --dep-path math
+VPATH += :math
+
+endif
diff --git a/nuttx/libc/math/lib_acos.c b/nuttx/libc/math/lib_acos.c
new file mode 100644
index 000000000..147003237
--- /dev/null
+++ b/nuttx/libc/math/lib_acos.c
@@ -0,0 +1,46 @@
+/************************************************************************
+ * libc/math/lib_acos.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_DOUBLE
+double acos(double x)
+{
+  return (M_PI_2 - asin(x));
+}
+#endif
diff --git a/nuttx/libc/math/lib_acosf.c b/nuttx/libc/math/lib_acosf.c
new file mode 100644
index 000000000..447b2767f
--- /dev/null
+++ b/nuttx/libc/math/lib_acosf.c
@@ -0,0 +1,41 @@
+/************************************************************************
+ * libc/math/lib_acosf.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float acosf(float x)
+{
+  return (M_PI_2 - asinf(x));
+}
diff --git a/nuttx/libc/math/lib_acosl.c b/nuttx/libc/math/lib_acosl.c
new file mode 100644
index 000000000..a0f226238
--- /dev/null
+++ b/nuttx/libc/math/lib_acosl.c
@@ -0,0 +1,46 @@
+/************************************************************************
+ * libc/math/lib_acos.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double acosl(long double x)
+{
+  return (M_PI_2 - asinl(x));
+}
+#endif
diff --git a/nuttx/libc/math/lib_asin.c b/nuttx/libc/math/lib_asin.c
new file mode 100644
index 000000000..d9941a7e5
--- /dev/null
+++ b/nuttx/libc/math/lib_asin.c
@@ -0,0 +1,69 @@
+/************************************************************************
+ * libc/math/lib_sin.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+#include <float.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_DOUBLE
+double asin(double x)
+{
+  long double y, y_sin, y_cos;
+
+  y = 0;
+
+  while (1)
+    {
+      y_sin = sin(y);
+      y_cos = cos(y);
+
+      if (y > M_PI_2 || y < -M_PI_2)
+        {
+          y = fmod(y, M_PI);
+        }
+
+      if (y_sin + DBL_EPSILON >= x && y_sin - DBL_EPSILON <= x)
+        {
+          break;
+        }
+
+      y = y - (y_sin - x) / y_cos;
+    }
+
+  return y;
+}
+#endif
diff --git a/nuttx/libc/math/lib_asinf.c b/nuttx/libc/math/lib_asinf.c
new file mode 100644
index 000000000..57e518acb
--- /dev/null
+++ b/nuttx/libc/math/lib_asinf.c
@@ -0,0 +1,65 @@
+/************************************************************************
+ * libc/math/lib_sinf.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <math.h>
+#include <float.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float asinf(float x)
+{
+  long double y, y_sin, y_cos;
+
+  y = 0;
+
+  while (1)
+    {
+      y_sin = sinf(y);
+      y_cos = cosf(y);
+
+      if (y > M_PI_2 || y < -M_PI_2)
+        {
+          y = fmodf(y, M_PI);
+        }
+
+      if (y_sin + FLT_EPSILON >= x && y_sin - FLT_EPSILON <= x)
+        {
+          break;
+        }
+
+      y = y - (y_sin - x) / y_cos;
+    }
+
+  return y;
+}
+
diff --git a/nuttx/libc/math/lib_asinl.c b/nuttx/libc/math/lib_asinl.c
new file mode 100644
index 000000000..19f284e53
--- /dev/null
+++ b/nuttx/libc/math/lib_asinl.c
@@ -0,0 +1,69 @@
+/************************************************************************
+ * libc/math/lib_sinl.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+#include <float.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double asinl(long double x)
+{
+  long double y, y_sin, y_cos;
+
+  y = 0;
+
+  while (1)
+    {
+      y_sin = sinl(y);
+      y_cos = cosl(y);
+
+      if (y > M_PI_2 || y < -M_PI_2)
+        {
+          y = fmodl(y, M_PI);
+        }
+
+      if (y_sin + LDBL_EPSILON >= x && y_sin - LDBL_EPSILON <= x)
+        {
+          break;
+        }
+
+      y = y - (y_sin - x) / y_cos;
+    }
+
+  return y;
+}
+#endif
diff --git a/nuttx/libc/math/lib_atan.c b/nuttx/libc/math/lib_atan.c
new file mode 100644
index 000000000..44d68ece2
--- /dev/null
+++ b/nuttx/libc/math/lib_atan.c
@@ -0,0 +1,48 @@
+/************************************************************************
+ * libc/math/lib_atan.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+#include <stddef.h>
+#include <stdint.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_DOUBLE
+double atan(double x)
+{
+  return asin(x / sqrt(x * x + 1));
+}
+#endif
diff --git a/nuttx/libc/math/lib_atan2.c b/nuttx/libc/math/lib_atan2.c
new file mode 100644
index 000000000..6d7d2ad48
--- /dev/null
+++ b/nuttx/libc/math/lib_atan2.c
@@ -0,0 +1,86 @@
+/************************************************************************
+ * libc/math/lib_atan2.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_DOUBLE
+double atan2(double y, double x)
+{
+  if (y == 0.0)
+    {
+      if (x >= 0.0)
+        {
+          return 0.0;
+        }
+      else
+        {
+          return M_PI;
+        }
+    }
+  else if (y > 0.0)
+    {
+      if (x == 0.0)
+        {
+          return M_PI_2;
+        }
+      else if (x > 0.0)
+        {
+          return atan(y / x);
+        }
+      else
+        {
+          return M_PI - atan(y / x);
+        }
+    }
+  else
+    {
+      if (x == 0.0)
+        {
+          return M_PI + M_PI_2;
+        }
+      else if (x > 0.0)
+        {
+          return 2 * M_PI - atan(y / x);
+        }
+      else
+        {
+          return M_PI + atan(y / x);
+        }
+    }
+}
+#endif
diff --git a/nuttx/libc/math/lib_atan2f.c b/nuttx/libc/math/lib_atan2f.c
new file mode 100644
index 000000000..7ff9af130
--- /dev/null
+++ b/nuttx/libc/math/lib_atan2f.c
@@ -0,0 +1,81 @@
+/************************************************************************
+ * libc/math/lib_atan2f.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float atan2f(float y, float x)
+{
+  if (y == 0.0)
+    {
+      if (x >= 0.0)
+        {
+          return 0.0;
+        }
+      else
+        {
+          return M_PI;
+        }
+    }
+  else if (y > 0.0)
+    {
+      if (x == 0.0)
+        {
+          return M_PI_2;
+        }
+      else if (x > 0.0)
+        {
+          return atanf(y / x);
+        }
+      else
+        {
+          return M_PI - atanf(y / x);
+        }
+    }
+  else
+    {
+      if (x == 0.0)
+        {
+          return M_PI + M_PI_2;
+        }
+      else if (x > 0.0)
+        {
+          return 2 * M_PI - atanf(y / x);
+        }
+      else
+        {
+          return M_PI + atanf(y / x);
+        }
+    }
+}
diff --git a/nuttx/libc/math/lib_atan2l.c b/nuttx/libc/math/lib_atan2l.c
new file mode 100644
index 000000000..48bfd06f3
--- /dev/null
+++ b/nuttx/libc/math/lib_atan2l.c
@@ -0,0 +1,87 @@
+/************************************************************************
+ * libc/math/lib_atan2l.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double atan2l(long double y, long double x)
+{
+
+  if (y == 0.0)
+    {
+      if (x >= 0.0)
+        {
+          return 0.0;
+        }
+      else
+        {
+          return M_PI;
+        }
+    }
+  else if (y > 0.0)
+    {
+      if (x == 0.0)
+        {
+          return M_PI_2;
+        }
+      else if (x > 0.0)
+        {
+          return atanl(y / x);
+        }
+      else
+        {
+          return M_PI - atanl(y / x);
+        }
+    }
+  else
+    {
+      if (x == 0.0)
+        {
+          return M_PI + M_PI_2;
+        }
+      else if (x > 0.0)
+        {
+          return 2 * M_PI - atanl(y / x);
+        }
+      else
+        {
+          return M_PI + atanl(y / x);
+        }
+    }
+}
+#endif
diff --git a/nuttx/libc/math/lib_atanf.c b/nuttx/libc/math/lib_atanf.c
new file mode 100644
index 000000000..a84605787
--- /dev/null
+++ b/nuttx/libc/math/lib_atanf.c
@@ -0,0 +1,43 @@
+/************************************************************************
+ * libc/math/lib_atanf.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <math.h>
+#include <stddef.h>
+#include <stdint.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float atanf(float x)
+{
+  return asinf(x / sqrtf(x * x + 1));
+}
diff --git a/nuttx/libc/math/lib_atanl.c b/nuttx/libc/math/lib_atanl.c
new file mode 100644
index 000000000..752d49307
--- /dev/null
+++ b/nuttx/libc/math/lib_atanl.c
@@ -0,0 +1,48 @@
+/************************************************************************
+ * libc/math/lib_atanl.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+#include <stddef.h>
+#include <stdint.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double atanl(long double x)
+{
+  return asinl(x / sqrtl(x * x + 1));
+}
+#endif
diff --git a/nuttx/libc/math/lib_ceil.c b/nuttx/libc/math/lib_ceil.c
new file mode 100644
index 000000000..3c6678dc1
--- /dev/null
+++ b/nuttx/libc/math/lib_ceil.c
@@ -0,0 +1,52 @@
+/************************************************************************
+ * libc/math/lib_ceil.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_DOUBLE
+double ceil(double x)
+{
+  modf(x, &x);
+  if (x > 0.0)
+    {
+      x += 1.0;
+    }
+
+  return x;
+}
+#endif
diff --git a/nuttx/libc/math/lib_ceilf.c b/nuttx/libc/math/lib_ceilf.c
new file mode 100644
index 000000000..afbe2cf13
--- /dev/null
+++ b/nuttx/libc/math/lib_ceilf.c
@@ -0,0 +1,47 @@
+/************************************************************************
+ * libc/math/lib_ceilf.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float ceilf(float x)
+{
+  modff(x, &x);
+  if (x > 0.0)
+    {
+      x += 1.0;
+    }
+
+  return x;
+}
diff --git a/nuttx/libc/math/lib_ceill.c b/nuttx/libc/math/lib_ceill.c
new file mode 100644
index 000000000..757016b53
--- /dev/null
+++ b/nuttx/libc/math/lib_ceill.c
@@ -0,0 +1,52 @@
+/************************************************************************
+ * libc/math/lib_ceil;.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double ceill(long double x)
+{
+  modfl(x, &x);
+  if (x > 0.0)
+    {
+      x += 1.0;
+    }
+
+  return x;
+}
+#endif
diff --git a/nuttx/libc/math/lib_cos.c b/nuttx/libc/math/lib_cos.c
new file mode 100644
index 000000000..4b4e1a20b
--- /dev/null
+++ b/nuttx/libc/math/lib_cos.c
@@ -0,0 +1,46 @@
+/************************************************************************
+ * libc/math/lib_cos.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_DOUBLE
+double cos(double x)
+{
+  return sin(x + M_PI_2);
+}
+#endif
diff --git a/nuttx/libc/math/lib_cosf.c b/nuttx/libc/math/lib_cosf.c
new file mode 100644
index 000000000..d9ac951f6
--- /dev/null
+++ b/nuttx/libc/math/lib_cosf.c
@@ -0,0 +1,41 @@
+/************************************************************************
+ * libc/math/lib_cosf.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float cosf(float x)
+{
+  return sinf(x + M_PI_2);
+}
diff --git a/nuttx/libc/math/lib_cosh.c b/nuttx/libc/math/lib_cosh.c
new file mode 100644
index 000000000..3246ea5f9
--- /dev/null
+++ b/nuttx/libc/math/lib_cosh.c
@@ -0,0 +1,47 @@
+/************************************************************************
+ * libc/math/lib_cosh.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_DOUBLE
+double cosh(double x)
+{
+  x = exp(x);
+  return ((x + (1.0 / x)) / 2.0);
+}
+#endif
diff --git a/nuttx/libc/math/lib_coshf.c b/nuttx/libc/math/lib_coshf.c
new file mode 100644
index 000000000..f0c28ab2e
--- /dev/null
+++ b/nuttx/libc/math/lib_coshf.c
@@ -0,0 +1,42 @@
+/************************************************************************
+ * libc/math/lib_coshf.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float coshf(float x)
+{
+  x = expf(x);
+  return ((x + (1.0 / x)) / 2.0);
+}
diff --git a/nuttx/libc/math/lib_coshl.c b/nuttx/libc/math/lib_coshl.c
new file mode 100644
index 000000000..957ec61a7
--- /dev/null
+++ b/nuttx/libc/math/lib_coshl.c
@@ -0,0 +1,47 @@
+/************************************************************************
+ * libc/math/lib_coshl.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double coshl(long double x)
+{
+  x = expl(x);
+  return ((x + (1.0 / x)) / 2.0);
+}
+#endif
diff --git a/nuttx/libc/math/lib_cosl.c b/nuttx/libc/math/lib_cosl.c
new file mode 100644
index 000000000..972d4aa9d
--- /dev/null
+++ b/nuttx/libc/math/lib_cosl.c
@@ -0,0 +1,46 @@
+/************************************************************************
+ * libc/math/lib_cosl.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double cosl(long double x)
+{
+  return sinl(x + M_PI_2);
+}
+#endif
diff --git a/nuttx/libc/math/lib_exp.c b/nuttx/libc/math/lib_exp.c
new file mode 100644
index 000000000..62494251d
--- /dev/null
+++ b/nuttx/libc/math/lib_exp.c
@@ -0,0 +1,126 @@
+/************************************************************************
+ * libc/math/lib_exp.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <sys/types.h>
+#include <math.h>
+
+#include "lib_internal.h"
+
+#ifdef CONFIG_HAVE_DOUBLE
+
+/************************************************************************
+ * Private Data
+ ************************************************************************/
+
+static double _dbl_inv_fact[] =
+{
+  1.0 / 1.0,                    // 1 / 0!
+  1.0 / 1.0,                    // 1 / 1!
+  1.0 / 2.0,                    // 1 / 2!
+  1.0 / 6.0,                    // 1 / 3!
+  1.0 / 24.0,                   // 1 / 4!
+  1.0 / 120.0,                  // 1 / 5!
+  1.0 / 720.0,                  // 1 / 6!
+  1.0 / 5040.0,                 // 1 / 7!
+  1.0 / 40320.0,                // 1 / 8!
+  1.0 / 362880.0,               // 1 / 9!
+  1.0 / 3628800.0,              // 1 / 10!
+  1.0 / 39916800.0,             // 1 / 11!
+  1.0 / 479001600.0,            // 1 / 12!
+  1.0 / 6227020800.0,           // 1 / 13!
+  1.0 / 87178291200.0,          // 1 / 14!
+  1.0 / 1307674368000.0,        // 1 / 15!
+  1.0 / 20922789888000.0,       // 1 / 16!
+  1.0 / 355687428096000.0,      // 1 / 17!
+  1.0 / 6402373705728000.0,     // 1 / 18!
+};
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+double exp(double x)
+{
+  size_t int_part;
+  bool invert;
+  double value;
+  double x0;
+  size_t i;
+
+  if (x == 0)
+    {
+      return 1;
+    }
+  else if (x < 0)
+    {
+      invert = true;
+      x = -x;
+    }
+  else
+    {
+      invert = false;
+    }
+
+  /* Extract integer component */
+
+  int_part = (size_t) x;
+
+  /* Set x to fractional component */
+
+  x -= (double)int_part;
+
+  /* Perform Taylor series approximation with nineteen terms */
+
+  value = 0.0;
+  x0 = 1.0;
+  for (i = 0; i < 19; i++)
+    {
+      value += x0 * _dbl_inv_fact[i];
+      x0 *= x;
+    }
+
+  /* Multiply by exp of the integer component */
+
+  value *= lib_expi(int_part);
+
+  if (invert)
+    {
+      return (1.0 / value);
+    }
+  else
+    {
+      return value;
+    }
+}
+#endif
diff --git a/nuttx/libc/math/lib_expf.c b/nuttx/libc/math/lib_expf.c
new file mode 100644
index 000000000..3e43c54a6
--- /dev/null
+++ b/nuttx/libc/math/lib_expf.c
@@ -0,0 +1,112 @@
+/************************************************************************
+ * libc/math/lib_expf.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <sys/types.h>
+#include <math.h>
+
+#include "lib_internal.h"
+
+/************************************************************************
+ * Private Data
+ ************************************************************************/
+
+static float _flt_inv_fact[] =
+{
+  1.0 / 1.0,                    // 1/0!
+  1.0 / 1.0,                    // 1/1!
+  1.0 / 2.0,                    // 1/2!
+  1.0 / 6.0,                    // 1/3!
+  1.0 / 24.0,                   // 1/4!
+  1.0 / 120.0,                  // 1/5!
+  1.0 / 720.0,                  // 1/6!
+  1.0 / 5040.0,                 // 1/7!
+  1.0 / 40320.0,                // 1/8!
+  1.0 / 362880.0,               // 1/9!
+  1.0 / 3628800.0,              // 1/10!
+};
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float expf(float x)
+{
+  size_t int_part;
+  bool invert;
+  float value;
+  float x0;
+  size_t i;
+
+  if (x == 0)
+    {
+      return 1;
+    }
+  else if (x < 0)
+    {
+      invert = true;
+      x = -x;
+    }
+  else
+    {
+      invert = false;
+    }
+
+  /* Extract integer component */
+
+  int_part = (size_t) x;
+
+  /* set x to fractional component */
+
+  x -= (float)int_part;
+
+  /* Perform Taylor series approximation with eleven terms */
+
+  value = 0.0;
+  x0 = 1.0;
+  for (i = 0; i < 10; i++)
+    {
+      value += x0 * _flt_inv_fact[i];
+      x0 *= x;
+    }
+
+  /* Multiply by exp of the integer component */
+
+  value *= lib_expi(int_part);
+
+  if (invert)
+    {
+      return (1.0 / value);
+    }
+  else
+    {
+      return value;
+    }
+}
diff --git a/nuttx/libc/math/lib_expl.c b/nuttx/libc/math/lib_expl.c
new file mode 100644
index 000000000..231faa35f
--- /dev/null
+++ b/nuttx/libc/math/lib_expl.c
@@ -0,0 +1,126 @@
+/************************************************************************
+ * libc/math/lib_expl.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <sys/types.h>
+#include <math.h>
+
+#include "lib_internal.h"
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+
+/************************************************************************
+ * Private Data
+ ************************************************************************/
+
+static long double _ldbl_inv_fact[] =
+{
+  1.0 / 1.0,                    // 1 / 0!
+  1.0 / 1.0,                    // 1 / 1!
+  1.0 / 2.0,                    // 1 / 2!
+  1.0 / 6.0,                    // 1 / 3!
+  1.0 / 24.0,                   // 1 / 4!
+  1.0 / 120.0,                  // 1 / 5!
+  1.0 / 720.0,                  // 1 / 6!
+  1.0 / 5040.0,                 // 1 / 7!
+  1.0 / 40320.0,                // 1 / 8!
+  1.0 / 362880.0,               // 1 / 9!
+  1.0 / 3628800.0,              // 1 / 10!
+  1.0 / 39916800.0,             // 1 / 11!
+  1.0 / 479001600.0,            // 1 / 12!
+  1.0 / 6227020800.0,           // 1 / 13!
+  1.0 / 87178291200.0,          // 1 / 14!
+  1.0 / 1307674368000.0,        // 1 / 15!
+  1.0 / 20922789888000.0,       // 1 / 16!
+  1.0 / 355687428096000.0,      // 1 / 17!
+  1.0 / 6402373705728000.0,     // 1 / 18!
+};
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+long double expl(long double x)
+{
+  size_t int_part;
+  bool invert;
+  long double value;
+  long double x0;
+  size_t i;
+
+  if (x == 0)
+    {
+      return 1;
+    }
+  else if (x < 0)
+    {
+      invert = true;
+      x = -x;
+    }
+  else
+    {
+      invert = false;
+    }
+
+  /* Extract integer component */
+
+  int_part = (size_t) x;
+
+  /* Set x to fractional component */
+
+  x -= (long double)int_part;
+
+  /* Perform Taylor series approximation with nineteen terms */
+
+  value = 0.0;
+  x0 = 1.0;
+  for (i = 0; i < 19; i++)
+    {
+      value += x0 * _ldbl_inv_fact[i];
+      x0 *= x;
+    }
+
+  /* Multiply by exp of the integer component */
+
+  value *= lib_expi(int_part);
+
+  if (invert)
+    {
+      return (1.0 / value);
+    }
+  else
+    {
+      return value;
+    }
+}
+#endif
diff --git a/nuttx/libc/math/lib_fabs.c b/nuttx/libc/math/lib_fabs.c
new file mode 100644
index 000000000..774755087
--- /dev/null
+++ b/nuttx/libc/math/lib_fabs.c
@@ -0,0 +1,46 @@
+/************************************************************************
+ * libc/math/lib_fabs.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_DOUBLE
+double fabs(double x)
+{
+  return ((x < 0) ? -x : x);
+}
+#endif
diff --git a/nuttx/libc/math/lib_fabsf.c b/nuttx/libc/math/lib_fabsf.c
new file mode 100644
index 000000000..4c8ebae62
--- /dev/null
+++ b/nuttx/libc/math/lib_fabsf.c
@@ -0,0 +1,41 @@
+/************************************************************************
+ * libc/math/lib_fabsf.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float fabsf(float x)
+{
+  return ((x < 0) ? -x : x);
+}
diff --git a/nuttx/libc/math/lib_fabsl.c b/nuttx/libc/math/lib_fabsl.c
new file mode 100644
index 000000000..96ac7d5db
--- /dev/null
+++ b/nuttx/libc/math/lib_fabsl.c
@@ -0,0 +1,46 @@
+/************************************************************************
+ * libc/math/lib_fabsl.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double fabsl(long double x)
+{
+  return ((x < 0) ? -x : x);
+}
+#endif
diff --git a/nuttx/libc/math/lib_floor.c b/nuttx/libc/math/lib_floor.c
new file mode 100644
index 000000000..3330607ce
--- /dev/null
+++ b/nuttx/libc/math/lib_floor.c
@@ -0,0 +1,52 @@
+/************************************************************************
+ * libc/math/lib_floor.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_DOUBLE
+double floor(double x)
+{
+  modf(x, &x);
+  if (x < 0.0)
+    {
+      x -= 1.0;
+    }
+
+  return x;
+}
+#endif
diff --git a/nuttx/libc/math/lib_floorf.c b/nuttx/libc/math/lib_floorf.c
new file mode 100644
index 000000000..81483d4c9
--- /dev/null
+++ b/nuttx/libc/math/lib_floorf.c
@@ -0,0 +1,47 @@
+/************************************************************************
+ * libc/math/lib_floorf.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float floorf(float x)
+{
+  modff(x, &x);
+  if (x < 0.0)
+    {
+      x -= 1.0;
+    }
+
+  return x;
+}
diff --git a/nuttx/libc/math/lib_floorl.c b/nuttx/libc/math/lib_floorl.c
new file mode 100644
index 000000000..0d9ec43b4
--- /dev/null
+++ b/nuttx/libc/math/lib_floorl.c
@@ -0,0 +1,52 @@
+/************************************************************************
+ * libc/math/lib_floorl.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double floorl(long double x)
+{
+  modfl(x, &x);
+  if (x < 0.0)
+    {
+      x -= 1.0;
+    }
+
+  return x;
+}
+#endif
diff --git a/nuttx/libc/math/lib_fmod.c b/nuttx/libc/math/lib_fmod.c
new file mode 100644
index 000000000..c66210cde
--- /dev/null
+++ b/nuttx/libc/math/lib_fmod.c
@@ -0,0 +1,52 @@
+/************************************************************************
+ * libc/math/lib_fmod.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_DOUBLE
+double fmod(double x, double div)
+{
+  double n0;
+
+  x /= div;
+  x = modf(x, &n0);
+  x *= div;
+
+  return x;
+}
+#endif
diff --git a/nuttx/libc/math/lib_fmodf.c b/nuttx/libc/math/lib_fmodf.c
new file mode 100644
index 000000000..d70bb791c
--- /dev/null
+++ b/nuttx/libc/math/lib_fmodf.c
@@ -0,0 +1,47 @@
+/************************************************************************
+ * libc/math/lib_fmodf.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float fmodf(float x, float div)
+{
+  float n0;
+
+  x /= div;
+  x = modff(x, &n0);
+  x *= div;
+
+  return x;
+}
diff --git a/nuttx/libc/math/lib_fmodl.c b/nuttx/libc/math/lib_fmodl.c
new file mode 100644
index 000000000..1299bf6e8
--- /dev/null
+++ b/nuttx/libc/math/lib_fmodl.c
@@ -0,0 +1,52 @@
+/************************************************************************
+ * libc/math/lib_fmodl.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double fmodl(long double x, long double div)
+{
+  long double n0;
+
+  x /= div;
+  x = modfl(x, &n0);
+  x *= div;
+
+  return x;
+}
+#endif
diff --git a/nuttx/libc/math/lib_frexp.c b/nuttx/libc/math/lib_frexp.c
new file mode 100644
index 000000000..b9576dfd4
--- /dev/null
+++ b/nuttx/libc/math/lib_frexp.c
@@ -0,0 +1,47 @@
+/************************************************************************
+ * libc/math/lib_frexp.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_DOUBLE
+double frexp(double x, int *exponent)
+{
+  *exponent = (int)ceil(log2(x));
+  return x / ldexp(1.0, *exponent);
+}
+#endif
diff --git a/nuttx/libc/math/lib_frexpf.c b/nuttx/libc/math/lib_frexpf.c
new file mode 100644
index 000000000..d93ffb173
--- /dev/null
+++ b/nuttx/libc/math/lib_frexpf.c
@@ -0,0 +1,42 @@
+/************************************************************************
+ * libc/math/lib_frexpf.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float frexpf(float x, int *exponent)
+{
+  *exponent = (int)ceilf(log2f(x));
+  return x / ldexpf(1.0, *exponent);
+}
diff --git a/nuttx/libc/math/lib_frexpl.c b/nuttx/libc/math/lib_frexpl.c
new file mode 100644
index 000000000..90993b137
--- /dev/null
+++ b/nuttx/libc/math/lib_frexpl.c
@@ -0,0 +1,47 @@
+/************************************************************************
+ * libc/math/lib_frexpl.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double frexpl(long double x, int *exponent)
+{
+  *exponent = (int)ceill(log2(x));
+  return x / ldexpl(1.0, *exponent);
+}
+#endif
diff --git a/nuttx/libc/math/lib_ldexp.c b/nuttx/libc/math/lib_ldexp.c
new file mode 100644
index 000000000..9b74d53d7
--- /dev/null
+++ b/nuttx/libc/math/lib_ldexp.c
@@ -0,0 +1,46 @@
+/************************************************************************
+ * libc/math/lib_ldexp.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_DOUBLE
+double ldexp(double x, int n)
+{
+  return (x * pow(2.0, (double)n));
+}
+#endif
diff --git a/nuttx/libc/math/lib_ldexpf.c b/nuttx/libc/math/lib_ldexpf.c
new file mode 100644
index 000000000..f3aaf555b
--- /dev/null
+++ b/nuttx/libc/math/lib_ldexpf.c
@@ -0,0 +1,41 @@
+/************************************************************************
+ * libc/math/lib_ldexpf.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float ldexpf(float x, int n)
+{
+  return (x * powf(2.0, (float)n));
+}
diff --git a/nuttx/libc/math/lib_ldexpl.c b/nuttx/libc/math/lib_ldexpl.c
new file mode 100644
index 000000000..29764aaba
--- /dev/null
+++ b/nuttx/libc/math/lib_ldexpl.c
@@ -0,0 +1,46 @@
+/************************************************************************
+ * libc/math/lib_ldexpl.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double ldexpl(long double x, int n)
+{
+  return (x * powl(2.0, (long double)n));
+}
+#endif
diff --git a/nuttx/libc/math/lib_libexpi.c b/nuttx/libc/math/lib_libexpi.c
new file mode 100644
index 000000000..33ba537b1
--- /dev/null
+++ b/nuttx/libc/math/lib_libexpi.c
@@ -0,0 +1,103 @@
+/************************************************************************
+ * libc/math/lib_libexpi.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <sys/types.h>
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+/************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************/
+
+#define M_E2    (M_E * M_E)
+#define M_E4    (M_E2 * M_E2)
+#define M_E8    (M_E4 * M_E4)
+#define M_E16   (M_E8 * M_E8)
+#define M_E32   (M_E16 * M_E16)
+#define M_E64   (M_E32 * M_E32)
+#define M_E128  (M_E64 * M_E64)
+#define M_E256  (M_E128 * M_E128)
+#define M_E512  (M_E256 * M_E256)
+#define M_E1024 (M_E512 * M_E512)
+
+/************************************************************************
+ * Private Data
+ ************************************************************************/
+
+static double _expi_square_tbl[11] =
+{
+  M_E,                          // e^1
+  M_E2,                         // e^2
+  M_E4,                         // e^4
+  M_E8,                         // e^8
+  M_E16,                        // e^16
+  M_E32,                        // e^32
+  M_E64,                        // e^64
+  M_E128,                       // e^128
+  M_E256,                       // e^256
+  M_E512,                       // e^512
+  M_E1024,                      // e^1024
+};
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+double lib_expi(size_t n)
+{
+  size_t i;
+  double val;
+
+  if (n > 1024)
+    {
+      return INFINITY;
+    }
+
+  val = 1.0;
+
+  for (i = 0; n; i++)
+    {
+      if (n & (1 << i))
+        {
+          n   &= ~(1 << i);
+          val *= _expi_square_tbl[i];
+        }
+    }
+
+  return val;
+}
+
diff --git a/nuttx/libc/math/lib_libsqrtapprox.c b/nuttx/libc/math/lib_libsqrtapprox.c
new file mode 100644
index 000000000..b6a9b0d54
--- /dev/null
+++ b/nuttx/libc/math/lib_libsqrtapprox.c
@@ -0,0 +1,50 @@
+/************************************************************************
+ * libc/math/lib_libsqrtapprox.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <stdint.h>
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float lib_sqrtapprox(float x)
+{
+  int32_t i;
+
+  /* Floats + bit manipulation = +inf fun! */
+
+  i = *((int32_t *) & x);
+  i = 0x1fc00000 + (i >> 1);
+  x = *((float *)&i);
+
+  return x;
+}
diff --git a/nuttx/libc/math/lib_log.c b/nuttx/libc/math/lib_log.c
new file mode 100644
index 000000000..7156f6b41
--- /dev/null
+++ b/nuttx/libc/math/lib_log.c
@@ -0,0 +1,82 @@
+/************************************************************************
+ * libc/math/lib_log.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+#include <float.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_DOUBLE
+double log(double x)
+{
+  double y, y_old, ey, epsilon;
+
+  y = 0.0;
+  y_old = 1.0;
+  epsilon = DBL_EPSILON;
+
+  while (y > y_old + epsilon || y < y_old - epsilon)
+    {
+      y_old = y;
+      ey = exp(y);
+      y -= (ey - x) / ey;
+
+      if (y > 700.0)
+        {
+          y = 700.0;
+        }
+
+      if (y < -700.0)
+        {
+          y = -700.0;
+        }
+
+      epsilon = (fabs(y) > 1.0) ? fabs(y) * DBL_EPSILON : DBL_EPSILON;
+    }
+
+  if (y == 700.0)
+    {
+      return INFINITY;
+    }
+
+  if (y == -700.0)
+    {
+      return INFINITY;
+    }
+
+  return y;
+}
+#endif
diff --git a/nuttx/libc/math/lib_log10.c b/nuttx/libc/math/lib_log10.c
new file mode 100644
index 000000000..9daa91492
--- /dev/null
+++ b/nuttx/libc/math/lib_log10.c
@@ -0,0 +1,46 @@
+/************************************************************************
+ * libc/math/lib_log10.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_DOUBLE
+double log10(double x)
+{
+  return (log(x) / M_LN10);
+}
+#endif
diff --git a/nuttx/libc/math/lib_log10f.c b/nuttx/libc/math/lib_log10f.c
new file mode 100644
index 000000000..778daedd5
--- /dev/null
+++ b/nuttx/libc/math/lib_log10f.c
@@ -0,0 +1,41 @@
+/************************************************************************
+ * libc/math/lib_log10f.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float log10f(float x)
+{
+  return (logf(x) / M_LN10);
+}
diff --git a/nuttx/libc/math/lib_log10l.c b/nuttx/libc/math/lib_log10l.c
new file mode 100644
index 000000000..efbeb721b
--- /dev/null
+++ b/nuttx/libc/math/lib_log10l.c
@@ -0,0 +1,46 @@
+/************************************************************************
+ * libc/math/lib_log10l.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double log10l(long double x)
+{
+  return (logl(x) / M_LN10);
+}
+#endif
diff --git a/nuttx/libc/math/lib_log2.c b/nuttx/libc/math/lib_log2.c
new file mode 100644
index 000000000..4da39acdc
--- /dev/null
+++ b/nuttx/libc/math/lib_log2.c
@@ -0,0 +1,46 @@
+/************************************************************************
+ * libc/math/lib_log2.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_DOUBLE
+double log2(double x)
+{
+  return (log(x) / M_LN2);
+}
+#endif
diff --git a/nuttx/libc/math/lib_log2f.c b/nuttx/libc/math/lib_log2f.c
new file mode 100644
index 000000000..f514e5a9e
--- /dev/null
+++ b/nuttx/libc/math/lib_log2f.c
@@ -0,0 +1,41 @@
+/************************************************************************
+ * libc/math/lib_log2f.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float log2f(float x)
+{
+  return (logf(x) / M_LN2);
+}
diff --git a/nuttx/libc/math/lib_log2l.c b/nuttx/libc/math/lib_log2l.c
new file mode 100644
index 000000000..21e80a930
--- /dev/null
+++ b/nuttx/libc/math/lib_log2l.c
@@ -0,0 +1,46 @@
+/************************************************************************
+ * libc/math/lib_log2l.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double log2l(long double x)
+{
+  return (logl(x) / M_LN2);
+}
+#endif
diff --git a/nuttx/libc/math/lib_logf.c b/nuttx/libc/math/lib_logf.c
new file mode 100644
index 000000000..3815fef84
--- /dev/null
+++ b/nuttx/libc/math/lib_logf.c
@@ -0,0 +1,77 @@
+/************************************************************************
+ * libc/math/lib_logf.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <math.h>
+#include <float.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float logf(float x)
+{
+  float y, y_old, ey, epsilon;
+
+  y = 0.0;
+  y_old = 1.0;
+  epsilon = FLT_EPSILON;
+
+  while (y > y_old + epsilon || y < y_old - epsilon)
+    {
+      y_old = y;
+      ey = exp(y);
+      y -= (ey - x) / ey;
+
+      if (y > 700.0)
+        {
+          y = 700.0;
+        }
+
+      if (y < -700.0)
+        {
+          y = -700.0;
+        }
+
+      epsilon = (fabs(y) > 1.0) ? fabs(y) * FLT_EPSILON : FLT_EPSILON;
+    }
+
+  if (y == 700.0)
+    {
+      return INFINITY;
+    }
+
+  if (y == -700.0)
+    {
+      return INFINITY;
+    }
+
+  return y;
+}
diff --git a/nuttx/libc/math/lib_logl.c b/nuttx/libc/math/lib_logl.c
new file mode 100644
index 000000000..612816011
--- /dev/null
+++ b/nuttx/libc/math/lib_logl.c
@@ -0,0 +1,80 @@
+/************************************************************************
+ * libc/math/lib_lol.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+#include <float.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double logl(long double x)
+{
+  long double y, y_old, ey, epsilon;
+
+  y = 0.0;
+  y_old = 1.0;
+  epsilon = LDBL_EPSILON;
+
+  while (y > y_old + epsilon || y < y_old - epsilon)
+    {
+      y_old = y;
+      ey = expl(y);
+      y -= (ey - x) / ey;
+
+      if (y > 700.0)
+        {
+          y = 700.0;
+        }
+
+      if (y < -700.0)
+        {
+          y = -700.0;
+        }
+    }
+
+  if (y == 700.0)
+    {
+      return INFINITY;
+    }
+
+  if (y == -700.0)
+    {
+      return INFINITY;
+    }
+
+  return y;
+}
+#endif
diff --git a/nuttx/libc/math/lib_modf.c b/nuttx/libc/math/lib_modf.c
new file mode 100644
index 000000000..f3f25f6fb
--- /dev/null
+++ b/nuttx/libc/math/lib_modf.c
@@ -0,0 +1,58 @@
+/************************************************************************
+ * libc/math/lib_modf.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <stdint.h>
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_DOUBLE
+double modf(double x, double *iptr)
+{
+  if (fabs(x) >= 4503599627370496.0)
+    {
+      *iptr = x;
+      return 0.0;
+    }
+  else if (fabs(x) < 1.0)
+    {
+      *iptr = 0.0;
+      return x;
+    }
+  else
+    {
+      *iptr = (double)(int64_t) x;
+      return (x - *iptr);
+    }
+}
+#endif
diff --git a/nuttx/libc/math/lib_modff.c b/nuttx/libc/math/lib_modff.c
new file mode 100644
index 000000000..28d3a3ae0
--- /dev/null
+++ b/nuttx/libc/math/lib_modff.c
@@ -0,0 +1,55 @@
+/************************************************************************
+ * libc/math/lib_modff.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float modff(float x, float *iptr)
+{
+  if (fabsf(x) >= 8388608.0)
+    {
+      *iptr = x;
+      return 0.0;
+    }
+  else if (fabs(x) < 1.0)
+    {
+      *iptr = 0.0;
+      return x;
+    }
+  else
+    {
+      *iptr = (float)(int)x;
+      return (x - *iptr);
+    }
+}
diff --git a/nuttx/libc/math/lib_modfl.c b/nuttx/libc/math/lib_modfl.c
new file mode 100644
index 000000000..77bba0e0c
--- /dev/null
+++ b/nuttx/libc/math/lib_modfl.c
@@ -0,0 +1,61 @@
+/************************************************************************
+ * libc/math/lib_modfl.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <stdint.h>
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double modfl(long double x, long double *iptr)
+{
+  if (fabs(x) >= 4503599627370496.0)
+    {
+      *iptr = x;
+      return 0.0;
+    }
+  else if (fabs(x) < 1.0)
+    {
+      *iptr = 0.0;
+      return x;
+    }
+  else
+    {
+      *iptr = (long double)(int64_t) x;
+      return (x - *iptr);
+    }
+}
+#endif
diff --git a/nuttx/libc/math/lib_pow.c b/nuttx/libc/math/lib_pow.c
new file mode 100644
index 000000000..a19d491fa
--- /dev/null
+++ b/nuttx/libc/math/lib_pow.c
@@ -0,0 +1,46 @@
+/************************************************************************
+ * libc/math/lib_pow.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_DOUBLE
+double pow(double b, double e)
+{
+  return exp(e * log(b));
+}
+#endif
diff --git a/nuttx/libc/math/lib_powf.c b/nuttx/libc/math/lib_powf.c
new file mode 100644
index 000000000..570904898
--- /dev/null
+++ b/nuttx/libc/math/lib_powf.c
@@ -0,0 +1,41 @@
+/************************************************************************
+ * libc/math/lib_powf.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float powf(float b, float e)
+{
+  return expf(e * logf(b));
+}
diff --git a/nuttx/libc/math/lib_powl.c b/nuttx/libc/math/lib_powl.c
new file mode 100644
index 000000000..81438217c
--- /dev/null
+++ b/nuttx/libc/math/lib_powl.c
@@ -0,0 +1,46 @@
+/************************************************************************
+ * libc/math/lib_powl.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double powl(long double b, long double e)
+{
+  return expl(e * logl(b));
+}
+#endif
diff --git a/nuttx/libc/math/lib_round.c b/nuttx/libc/math/lib_round.c
new file mode 100644
index 000000000..6191cee5b
--- /dev/null
+++ b/nuttx/libc/math/lib_round.c
@@ -0,0 +1,40 @@
+/************************************************************************
+ * lib/math/lib_round.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *             (C) 2012 Petteri Aimonen <jpa@nx.mail.kapsi.fi>
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_DOUBLE
+double round(double x)
+{
+  double f = modf(x, &x);
+  if (x <= 0.0 && f <= -0.5)
+    {
+      x -= 1.0;
+    }
+  
+  if (x >= 0.0 && f >= 0.5)
+    {
+      x += 1.0;
+    }
+
+  return x;
+}
+#endif
diff --git a/nuttx/libc/math/lib_roundf.c b/nuttx/libc/math/lib_roundf.c
new file mode 100644
index 000000000..145cf3df6
--- /dev/null
+++ b/nuttx/libc/math/lib_roundf.c
@@ -0,0 +1,38 @@
+/************************************************************************
+ * lib/math/lib_roundf.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *             (C) 2012 Petteri Aimonen <jpa@nx.mail.kapsi.fi>
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float roundf(float x)
+{
+  float f = modff(x, &x);
+  if (x <= 0.0f && f <= -0.5f)
+    {
+      x -= 1.0f;
+    }
+  
+  if (x >= 0.0f && f >= 0.5f)
+    {
+      x += 1.0f;
+    }
+
+  return x;
+}
diff --git a/nuttx/libc/math/lib_roundl.c b/nuttx/libc/math/lib_roundl.c
new file mode 100644
index 000000000..b2ddba670
--- /dev/null
+++ b/nuttx/libc/math/lib_roundl.c
@@ -0,0 +1,40 @@
+/************************************************************************
+ * lib/math/lib_round.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *             (C) 2012 Petteri Aimonen <jpa@nx.mail.kapsi.fi>
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double roundl(long double x)
+{
+  long double f = modfl(x, &x);
+  if (x <= 0.0 && f <= -0.5)
+    {
+      x -= 1.0;
+    }
+  
+  if (x >= 0.0 && f >= 0.5)
+    {
+      x += 1.0;
+    }
+
+  return x;
+}
+#endif
diff --git a/nuttx/libc/math/lib_sin.c b/nuttx/libc/math/lib_sin.c
new file mode 100644
index 000000000..e005d98cb
--- /dev/null
+++ b/nuttx/libc/math/lib_sin.c
@@ -0,0 +1,114 @@
+/************************************************************************
+ * libc/math/lib_sin.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <sys/types.h>
+#include <math.h>
+
+#ifdef CONFIG_HAVE_DOUBLE
+
+/************************************************************************
+ * Private Data
+ ************************************************************************/
+
+static double _dbl_inv_fact[] =
+{
+  1.0 / 1.0,                    // 1 / 1!
+  1.0 / 6.0,                    // 1 / 3!
+  1.0 / 120.0,                  // 1 / 5!
+  1.0 / 5040.0,                 // 1 / 7!
+  1.0 / 362880.0,               // 1 / 9!
+  1.0 / 39916800.0,             // 1 / 11!
+  1.0 / 6227020800.0,           // 1 / 13!
+  1.0 / 1307674368000.0,        // 1 / 15!
+  1.0 / 355687428096000.0,      // 1 / 17!
+  1.0 / 121645100408832000.0,   // 1 / 19!
+};
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+double sin(double x)
+{
+  double x_squared;
+  double sin_x;
+  size_t i;
+
+  /* Move x to [-pi, pi) */
+
+  x = fmod(x, 2 * M_PI);
+  if (x >= M_PI)
+    {
+      x -= 2 * M_PI;
+    }
+
+  if (x < -M_PI)
+    {
+      x += 2 * M_PI;
+    }
+
+  /* Move x to [-pi/2, pi/2) */
+
+  if (x >= M_PI_2)
+    {
+      x = M_PI - x;
+    }
+
+  if (x < -M_PI_2)
+    {
+      x = -M_PI - x;
+    }
+
+  x_squared = x * x;
+  sin_x = 0.0;
+
+  /* Perform Taylor series approximation for sin(x) with ten terms */
+
+  for (i = 0; i < 10; i++)
+    {
+      if (i % 2 == 0)
+        {
+          sin_x += x * _dbl_inv_fact[i];
+        }
+      else
+        {
+          sin_x -= x * _dbl_inv_fact[i];
+        }
+
+      x *= x_squared;
+    }
+
+  return sin_x;
+}
+#endif
diff --git a/nuttx/libc/math/lib_sinf.c b/nuttx/libc/math/lib_sinf.c
new file mode 100644
index 000000000..9e493d8ef
--- /dev/null
+++ b/nuttx/libc/math/lib_sinf.c
@@ -0,0 +1,104 @@
+/************************************************************************
+ * libc/math/lib_sinf.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <sys/types.h>
+#include <math.h>
+
+/************************************************************************
+ * Private Data
+ ************************************************************************/
+
+static float _flt_inv_fact[] =
+{
+  1.0 / 1.0,                    // 1 / 1!
+  1.0 / 6.0,                    // 1 / 3!
+  1.0 / 120.0,                  // 1 / 5!
+  1.0 / 5040.0,                 // 1 / 7!
+  1.0 / 362880.0,               // 1 / 9!
+  1.0 / 39916800.0,             // 1 / 11!
+};
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float sinf(float x)
+{
+  float x_squared;
+  float sin_x;
+  size_t i;
+
+  /* Move x to [-pi, pi) */
+
+  x = fmodf(x, 2 * M_PI);
+  if (x >= M_PI)
+    {
+      x -= 2 * M_PI;
+    }
+
+  if (x < -M_PI)
+    {
+      x += 2 * M_PI;
+    }
+
+  /* Move x to [-pi/2, pi/2) */
+
+  if (x >= M_PI_2)
+    {
+      x = M_PI - x;
+    }
+
+  if (x < -M_PI_2)
+    {
+      x = -M_PI - x;
+    }
+
+  x_squared = x * x;
+  sin_x = 0.0;
+
+  /* Perform Taylor series approximation for sin(x) with six terms */
+
+  for (i = 0; i < 6; i++)
+    {
+      if (i % 2 == 0)
+        {
+          sin_x += x * _flt_inv_fact[i];
+        }
+      else
+        {
+          sin_x -= x * _flt_inv_fact[i];
+        }
+
+      x *= x_squared;
+    }
+
+  return sin_x;
+}
diff --git a/nuttx/libc/math/lib_sinh.c b/nuttx/libc/math/lib_sinh.c
new file mode 100644
index 000000000..0c3e2d11d
--- /dev/null
+++ b/nuttx/libc/math/lib_sinh.c
@@ -0,0 +1,47 @@
+/************************************************************************
+ * libc/math/lib_sinh.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_DOUBLE
+double sinh(double x)
+{
+  x = exp(x);
+  return ((x - (1.0 / x)) / 2.0);
+}
+#endif
diff --git a/nuttx/libc/math/lib_sinhf.c b/nuttx/libc/math/lib_sinhf.c
new file mode 100644
index 000000000..e9d198440
--- /dev/null
+++ b/nuttx/libc/math/lib_sinhf.c
@@ -0,0 +1,42 @@
+/************************************************************************
+ * libc/math/lib_sinhf.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float sinhf(float x)
+{
+  x = expf(x);
+  return ((x - (1.0 / x)) / 2.0);
+}
diff --git a/nuttx/libc/math/lib_sinhl.c b/nuttx/libc/math/lib_sinhl.c
new file mode 100644
index 000000000..a1bcad81e
--- /dev/null
+++ b/nuttx/libc/math/lib_sinhl.c
@@ -0,0 +1,47 @@
+/************************************************************************
+ * libc/math/lib_sinhl.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double sinhl(long double x)
+{
+  x = expl(x);
+  return ((x - (1.0 / x)) / 2.0);
+}
+#endif
diff --git a/nuttx/libc/math/lib_sinl.c b/nuttx/libc/math/lib_sinl.c
new file mode 100644
index 000000000..6ed539a39
--- /dev/null
+++ b/nuttx/libc/math/lib_sinl.c
@@ -0,0 +1,114 @@
+/************************************************************************
+ * libc/math/lib_sinl.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <sys/types.h>
+#include <math.h>
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+
+/************************************************************************
+ * Private Data
+ ************************************************************************/
+
+static long double _ldbl_inv_fact[] =
+{
+  1.0 / 1.0,                    // 1 / 1!
+  1.0 / 6.0,                    // 1 / 3!
+  1.0 / 120.0,                  // 1 / 5!
+  1.0 / 5040.0,                 // 1 / 7!
+  1.0 / 362880.0,               // 1 / 9!
+  1.0 / 39916800.0,             // 1 / 11!
+  1.0 / 6227020800.0,           // 1 / 13!
+  1.0 / 1307674368000.0,        // 1 / 15!
+  1.0 / 355687428096000.0,      // 1 / 17!
+  1.0 / 121645100408832000.0,   // 1 / 19!
+};
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+long double sinl(long double x)
+{
+  long double x_squared;
+  long double sin_x;
+  size_t i;
+
+  /* Move x to [-pi, pi) */
+
+  x = fmodl(x, 2 * M_PI);
+  if (x >= M_PI)
+    {
+      x -= 2 * M_PI;
+    }
+
+  if (x < -M_PI)
+    {
+      x += 2 * M_PI;
+    }
+
+  /* Move x to [-pi/2, pi/2) */
+
+  if (x >= M_PI_2)
+    {
+      x = M_PI - x;
+    }
+
+  if (x < -M_PI_2)
+    {
+      x = -M_PI - x;
+    }
+
+  x_squared = x * x;
+  sin_x = 0.0;
+
+  /* Perform Taylor series approximation for sin(x) with ten terms */
+
+  for (i = 0; i < 10; i++)
+    {
+      if (i % 2 == 0)
+        {
+          sin_x += x * _ldbl_inv_fact[i];
+        }
+      else
+        {
+          sin_x -= x * _ldbl_inv_fact[i];
+        }
+
+      x *= x_squared;
+    }
+
+  return sin_x;
+}
+#endif
diff --git a/nuttx/libc/math/lib_sqrt.c b/nuttx/libc/math/lib_sqrt.c
new file mode 100644
index 000000000..e8a1c42ea
--- /dev/null
+++ b/nuttx/libc/math/lib_sqrt.c
@@ -0,0 +1,99 @@
+/************************************************************************
+ * libc/math/lib_sqrt.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+#include <errno.h>
+
+#include "lib_internal.h"
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_DOUBLE
+double sqrt(double x)
+{
+  long double y, y1;
+
+  if (x < 0.0)
+    {
+      errno = EDOM;
+      return NAN;
+    }
+
+  if (isnan(x))
+    {
+      return NAN;
+    }
+
+  if (isinf(x))
+    {
+      return INFINITY;
+    }
+
+  if (x == 0.0)
+    {
+      return 0.0;
+    }
+
+  /* Guess square root (using bit manipulation) */
+
+  y = lib_sqrtapprox(x);
+
+  /* Perform four iterations of approximation.  This number (4) is
+   * definitely optimal
+   */
+
+  y = 0.5 * (y + x / y);
+  y = 0.5 * (y + x / y);
+  y = 0.5 * (y + x / y);
+  y = 0.5 * (y + x / y);
+
+  /* If guess was terribe (out of range of float).  Repeat approximation
+   * until convergence.
+   */
+
+  if (y * y < x - 1.0 || y * y > x + 1.0)
+    {
+      y1 = -1.0;
+      while (y != y1)
+        {
+          y1 = y;
+          y = 0.5 * (y + x / y);
+        }
+    }
+
+  return y;
+}
+#endif
diff --git a/nuttx/libc/math/lib_sqrtf.c b/nuttx/libc/math/lib_sqrtf.c
new file mode 100644
index 000000000..cf45ccacc
--- /dev/null
+++ b/nuttx/libc/math/lib_sqrtf.c
@@ -0,0 +1,84 @@
+/************************************************************************
+ * libc/math/lib_sqrtf.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+#include <errno.h>
+
+#include "lib_internal.h"
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float sqrtf(float x)
+{
+  float y;
+
+  /* Filter out invalid/trivial inputs */
+
+  if (x < 0.0)
+    {
+      errno = EDOM;
+      return NAN;
+    }
+
+  if (isnan(x))
+    {
+      return NAN;
+    }
+
+  if (isinf(x))
+    {
+      return INFINITY;
+    }
+
+  if (x == 0.0)
+    {
+      return 0.0;
+    }
+
+  /* Guess square root (using bit manipulation) */
+
+  y = lib_sqrtapprox(x);
+
+  /* Perform three iterations of approximation. This number (3) is
+   * definitely optimal
+   */
+
+  y = 0.5 * (y + x / y);
+  y = 0.5 * (y + x / y);
+  y = 0.5 * (y + x / y);
+
+  return y;
+}
diff --git a/nuttx/libc/math/lib_sqrtl.c b/nuttx/libc/math/lib_sqrtl.c
new file mode 100644
index 000000000..4035992fe
--- /dev/null
+++ b/nuttx/libc/math/lib_sqrtl.c
@@ -0,0 +1,101 @@
+/************************************************************************
+ * libc/math/lib_sqrtl.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+#include <errno.h>
+
+#include "lib_internal.h"
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double sqrtl(long double x)
+{
+  long double y, y1;
+
+  /* Filter out invalid/trivial inputs */
+
+  if (x < 0.0)
+    {
+      errno = EDOM;
+      return NAN;
+    }
+
+  if (isnan(x))
+    {
+    return NAN;
+    }
+
+  if (isinf(x))
+    {
+    return INFINITY;
+    }
+
+  if (x == 0.0)
+    {
+    return 0.0;
+    }
+
+  /* Guess square root (using bit manipulation) */
+
+  y = lib_sqrtapprox(x);
+
+  /* Perform four iterations of approximation.  This number (4) is
+   * definitely optimal
+   */
+
+  y = 0.5 * (y + x / y);
+  y = 0.5 * (y + x / y);
+  y = 0.5 * (y + x / y);
+  y = 0.5 * (y + x / y);
+
+  /* If guess was terribe (out of range of float).  Repeat approximation
+   * until convergence
+   */
+
+  if (y * y < x - 1.0 || y * y > x + 1.0)
+    {
+      y1 = -1.0;
+      while (y != y1)
+        {
+          y1 = y;
+          y = 0.5 * (y + x / y);
+        }
+    }
+
+  return y;
+}
+#endif
diff --git a/nuttx/libc/math/lib_tan.c b/nuttx/libc/math/lib_tan.c
new file mode 100644
index 000000000..4c091c09b
--- /dev/null
+++ b/nuttx/libc/math/lib_tan.c
@@ -0,0 +1,46 @@
+/************************************************************************
+ * libc/math/lib_tan.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_DOUBLE
+double tan(double x)
+{
+  return (sin(x) / cos(x));
+}
+#endif
diff --git a/nuttx/libc/math/lib_tanf.c b/nuttx/libc/math/lib_tanf.c
new file mode 100644
index 000000000..0c9110a0b
--- /dev/null
+++ b/nuttx/libc/math/lib_tanf.c
@@ -0,0 +1,41 @@
+/************************************************************************
+ * libc/math/lib_tanf.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float tanf(float x)
+{
+  return (sinf(x) / cosf(x));
+}
diff --git a/nuttx/libc/math/lib_tanh.c b/nuttx/libc/math/lib_tanh.c
new file mode 100644
index 000000000..3b9ea0f41
--- /dev/null
+++ b/nuttx/libc/math/lib_tanh.c
@@ -0,0 +1,49 @@
+/************************************************************************
+ * libc/math/lib_tanh.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_DOUBLE
+double tanh(double x)
+{
+  double x0 = exp(x);
+  double x1 = 1.0 / x0;
+
+  return ((x0 + x1) / (x0 - x1));
+}
+#endif
diff --git a/nuttx/libc/math/lib_tanhf.c b/nuttx/libc/math/lib_tanhf.c
new file mode 100644
index 000000000..43d418204
--- /dev/null
+++ b/nuttx/libc/math/lib_tanhf.c
@@ -0,0 +1,44 @@
+/************************************************************************
+ * libc/math/lib_tanhf.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float tanhf(float x)
+{
+  float x0 = expf(x);
+  float x1 = 1.0 / x0;
+
+  return ((x0 + x1) / (x0 - x1));
+}
diff --git a/nuttx/libc/math/lib_tanhl.c b/nuttx/libc/math/lib_tanhl.c
new file mode 100644
index 000000000..5aafd1e7b
--- /dev/null
+++ b/nuttx/libc/math/lib_tanhl.c
@@ -0,0 +1,49 @@
+/************************************************************************
+ * libc/math/lib_tanhl.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double tanhl(long double x)
+{
+  long double x0 = exp(x);
+  long double x1 = 1.0 / x0;
+
+  return ((x0 + x1) / (x0 - x1));
+}
+#endif
diff --git a/nuttx/libc/math/lib_tanl.c b/nuttx/libc/math/lib_tanl.c
new file mode 100644
index 000000000..e77abe0f1
--- /dev/null
+++ b/nuttx/libc/math/lib_tanl.c
@@ -0,0 +1,46 @@
+/************************************************************************
+ * libc/math/lib_tanl.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Ported by: Darcy Gong
+ *
+ * It derives from the Rhombs OS math library by Nick Johnson which has
+ * a compatibile, MIT-style license:
+ *
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double tanl(long double x)
+{
+  return (sinl(x) / cosl(x));
+}
+#endif
diff --git a/nuttx/lib/misc/Make.defs b/nuttx/libc/misc/Make.defs
index c12533f75..f4284ac60 100644
--- a/nuttx/lib/misc/Make.defs
+++ b/nuttx/libc/misc/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# lib/misc/Make.defs
+# libc/misc/Make.defs
 #
 #   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/misc/lib_crc32.c b/nuttx/libc/misc/lib_crc32.c
index f851598e0..ae73ba3d7 100644
--- a/nuttx/lib/misc/lib_crc32.c
+++ b/nuttx/libc/misc/lib_crc32.c
@@ -1,5 +1,5 @@
 /************************************************************************************************
- * lib/misc/lib_crc32.c
+ * libc/misc/lib_crc32.c
  *
  * This file is a part of NuttX:
  *
diff --git a/nuttx/lib/misc/lib_dbg.c b/nuttx/libc/misc/lib_dbg.c
index aacdaa30a..5605ff828 100644
--- a/nuttx/lib/misc/lib_dbg.c
+++ b/nuttx/libc/misc/lib_dbg.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/misc/lib_dbg.c
+ * libc/misc/lib_dbg.c
  *
  *   Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/misc/lib_dumpbuffer.c b/nuttx/libc/misc/lib_dumpbuffer.c
index 155468ca1..52158b220 100644
--- a/nuttx/lib/misc/lib_dumpbuffer.c
+++ b/nuttx/libc/misc/lib_dumpbuffer.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/misc/lib_dumpbuffer.c
+ * libc/misc/lib_dumpbuffer.c
  *
  *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/misc/lib_filesem.c b/nuttx/libc/misc/lib_filesem.c
index 1d1f25c2f..5cc4624ec 100644
--- a/nuttx/lib/misc/lib_filesem.c
+++ b/nuttx/libc/misc/lib_filesem.c
@@ -1,5 +1,5 @@
 /************************************************************************
- * lib/misc/lib_filesem.c
+ * libc/misc/lib_filesem.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/misc/lib_init.c b/nuttx/libc/misc/lib_init.c
index 3403a837b..6a120f7b1 100644
--- a/nuttx/lib/misc/lib_init.c
+++ b/nuttx/libc/misc/lib_init.c
@@ -1,5 +1,5 @@
 /************************************************************
- * lib/misc/lib_init.c
+ * libc/misc/lib_init.c
  *
  *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/misc/lib_match.c b/nuttx/libc/misc/lib_match.c
index 18e0632ec..a8cfad329 100644
--- a/nuttx/lib/misc/lib_match.c
+++ b/nuttx/libc/misc/lib_match.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/misc/lib_match.c - simple shell-style filename matcher
+ * libc/misc/lib_match.c - simple shell-style filename matcher
  *
  * Simple shell-style filename pattern matcher written by Jef Poskanzer
  * This pattern matcher only handles '?', '*' and '**', and  multiple
diff --git a/nuttx/lib/misc/lib_sendfile.c b/nuttx/libc/misc/lib_sendfile.c
index a82eb325e..8a38dc317 100644
--- a/nuttx/lib/misc/lib_sendfile.c
+++ b/nuttx/libc/misc/lib_sendfile.c
@@ -1,5 +1,5 @@
 /************************************************************************
- * lib/misc/lib_streamsem.c
+ * libc/misc/lib_streamsem.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/misc/lib_streamsem.c b/nuttx/libc/misc/lib_streamsem.c
index fdf494e75..e38298bdb 100644
--- a/nuttx/lib/misc/lib_streamsem.c
+++ b/nuttx/libc/misc/lib_streamsem.c
@@ -1,5 +1,5 @@
 /************************************************************************
- * lib/misc/lib_streamsem.c
+ * libc/misc/lib_streamsem.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/mqueue/Make.defs b/nuttx/libc/mqueue/Make.defs
index 40dc6c13e..826970fa3 100644
--- a/nuttx/lib/mqueue/Make.defs
+++ b/nuttx/libc/mqueue/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# lib/mqueue/Make.defs
+# libc/mqueue/Make.defs
 #
 #   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/mqueue/mq_getattr.c b/nuttx/libc/mqueue/mq_getattr.c
index 9c9f47fdc..2fc0e131b 100644
--- a/nuttx/lib/mqueue/mq_getattr.c
+++ b/nuttx/libc/mqueue/mq_getattr.c
@@ -1,5 +1,5 @@
 /************************************************************************
- * lib/mqueue/mq_getattr.c
+ * libc/mqueue/mq_getattr.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/mqueue/mq_setattr.c b/nuttx/libc/mqueue/mq_setattr.c
index 1276d64e8..45a848e6d 100644
--- a/nuttx/lib/mqueue/mq_setattr.c
+++ b/nuttx/libc/mqueue/mq_setattr.c
@@ -1,5 +1,5 @@
 /************************************************************************
- * lib/mqueue/mq_setattr.c
+ * libc/mqueue/mq_setattr.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/net/Make.defs b/nuttx/libc/net/Make.defs
index ae041bd2c..9d4e5c06b 100644
--- a/nuttx/lib/net/Make.defs
+++ b/nuttx/libc/net/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# lib/net/Make.defs
+# libc/net/Make.defs
 #
 #   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/net/lib_etherntoa.c b/nuttx/libc/net/lib_etherntoa.c
index f89f205a2..91fb01c57 100644
--- a/nuttx/lib/net/lib_etherntoa.c
+++ b/nuttx/libc/net/lib_etherntoa.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/net/lib_etherntoa.c
+ * libc/net/lib_etherntoa.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/net/lib_htonl.c b/nuttx/libc/net/lib_htonl.c
index e4c3e5383..a10f54f37 100644
--- a/nuttx/lib/net/lib_htonl.c
+++ b/nuttx/libc/net/lib_htonl.c
@@ -1,5 +1,5 @@
 /************************************************************
- * lib/net/lib_ntohl.c
+ * libc/net/lib_ntohl.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/net/lib_htons.c b/nuttx/libc/net/lib_htons.c
index b4117e1dc..13addd913 100644
--- a/nuttx/lib/net/lib_htons.c
+++ b/nuttx/libc/net/lib_htons.c
@@ -1,5 +1,5 @@
 /***************************************************************************
- * lib/net/lib_htons.c
+ * libc/net/lib_htons.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/net/lib_inetaddr.c b/nuttx/libc/net/lib_inetaddr.c
index 48b01d682..46c6c548d 100644
--- a/nuttx/lib/net/lib_inetaddr.c
+++ b/nuttx/libc/net/lib_inetaddr.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/net/lib_inetaddr.c
+ * libc/net/lib_inetaddr.c
  *
  *   Copyright (C) 2011 Yu Qiang. All rights reserved.
  *   Author: Yu Qiang <yuq825@gmail.com>
diff --git a/nuttx/lib/net/lib_inetntoa.c b/nuttx/libc/net/lib_inetntoa.c
index 0f4fb61df..e2d92d864 100644
--- a/nuttx/lib/net/lib_inetntoa.c
+++ b/nuttx/libc/net/lib_inetntoa.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/net/lib_inetntoa.c
+ * libc/net/lib_inetntoa.c
  *
  *   Copyright (C) 2007-2008, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/net/lib_inetntop.c b/nuttx/libc/net/lib_inetntop.c
index dc6a2d0d7..25c32c48c 100644
--- a/nuttx/lib/net/lib_inetntop.c
+++ b/nuttx/libc/net/lib_inetntop.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/net/lib_inetntop.c
+ * libc/net/lib_inetntop.c
  *
  *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/net/lib_inetpton.c b/nuttx/libc/net/lib_inetpton.c
index 5371cd3f2..c5f117535 100644
--- a/nuttx/lib/net/lib_inetpton.c
+++ b/nuttx/libc/net/lib_inetpton.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/net/lib_inetpton.c
+ * libc/net/lib_inetpton.c
  *
  *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/pthread/Make.defs b/nuttx/libc/pthread/Make.defs
index a1eba7bb0..07e4f0570 100644
--- a/nuttx/lib/pthread/Make.defs
+++ b/nuttx/libc/pthread/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# lib/pthread/Make.defs
+# libc/pthread/Make.defs
 #
 #   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/pthread/pthread_attrdestroy.c b/nuttx/libc/pthread/pthread_attrdestroy.c
index 103528c7e..37ad46ebc 100644
--- a/nuttx/lib/pthread/pthread_attrdestroy.c
+++ b/nuttx/libc/pthread/pthread_attrdestroy.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/pthread/pthread_attrdestroy.c
+ * libc/pthread/pthread_attrdestroy.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/pthread/pthread_attrgetinheritsched.c b/nuttx/libc/pthread/pthread_attrgetinheritsched.c
index 02d6e0b7c..6ec8ae71f 100644
--- a/nuttx/lib/pthread/pthread_attrgetinheritsched.c
+++ b/nuttx/libc/pthread/pthread_attrgetinheritsched.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/pthread/pthread_attrgetinheritsched.c
+ * libc/pthread/pthread_attrgetinheritsched.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/pthread/pthread_attrgetschedparam.c b/nuttx/libc/pthread/pthread_attrgetschedparam.c
index c6bf55dea..6bcc9618e 100644
--- a/nuttx/lib/pthread/pthread_attrgetschedparam.c
+++ b/nuttx/libc/pthread/pthread_attrgetschedparam.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/pthread/pthread_attrgetschedparam.c
+ * libc/pthread/pthread_attrgetschedparam.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/pthread/pthread_attrgetschedpolicy.c b/nuttx/libc/pthread/pthread_attrgetschedpolicy.c
index c42b828c9..8845e2bd8 100644
--- a/nuttx/lib/pthread/pthread_attrgetschedpolicy.c
+++ b/nuttx/libc/pthread/pthread_attrgetschedpolicy.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/pthread/pthread_attrgetschedpolicy.c
+ * libc/pthread/pthread_attrgetschedpolicy.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/pthread/pthread_attrgetstacksize.c b/nuttx/libc/pthread/pthread_attrgetstacksize.c
index 2faa586ba..9fde29e81 100644
--- a/nuttx/lib/pthread/pthread_attrgetstacksize.c
+++ b/nuttx/libc/pthread/pthread_attrgetstacksize.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/pthread/pthread_attrgetstacksize.c
+ * libc/pthread/pthread_attrgetstacksize.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/pthread/pthread_attrinit.c b/nuttx/libc/pthread/pthread_attrinit.c
index d06a535d7..427a582b9 100644
--- a/nuttx/lib/pthread/pthread_attrinit.c
+++ b/nuttx/libc/pthread/pthread_attrinit.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/pthread/pthread_attrinit.c
+ * libc/pthread/pthread_attrinit.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/pthread/pthread_attrsetinheritsched.c b/nuttx/libc/pthread/pthread_attrsetinheritsched.c
index df2c2fba3..1102fe176 100644
--- a/nuttx/lib/pthread/pthread_attrsetinheritsched.c
+++ b/nuttx/libc/pthread/pthread_attrsetinheritsched.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/pthread/pthread_attrsetinheritsched.c
+ * libc/pthread/pthread_attrsetinheritsched.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/pthread/pthread_attrsetschedparam.c b/nuttx/libc/pthread/pthread_attrsetschedparam.c
index c2ab4d1c4..587d62206 100644
--- a/nuttx/lib/pthread/pthread_attrsetschedparam.c
+++ b/nuttx/libc/pthread/pthread_attrsetschedparam.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/pthread/pthread_attrsetschedparam.c
+ * libc/pthread/pthread_attrsetschedparam.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/pthread/pthread_attrsetschedpolicy.c b/nuttx/libc/pthread/pthread_attrsetschedpolicy.c
index 4e43e635d..e1d1c8619 100644
--- a/nuttx/lib/pthread/pthread_attrsetschedpolicy.c
+++ b/nuttx/libc/pthread/pthread_attrsetschedpolicy.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/pthread/pthread_attrsetschedpolicy.c
+ * libc/pthread/pthread_attrsetschedpolicy.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/pthread/pthread_attrsetstacksize.c b/nuttx/libc/pthread/pthread_attrsetstacksize.c
index 8a826dd3a..fca993baf 100644
--- a/nuttx/lib/pthread/pthread_attrsetstacksize.c
+++ b/nuttx/libc/pthread/pthread_attrsetstacksize.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/pthread/pthread_attrsetstacksize.c
+ * libc/pthread/pthread_attrsetstacksize.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/pthread/pthread_barrierattrdestroy.c b/nuttx/libc/pthread/pthread_barrierattrdestroy.c
index 6d16b9cff..5519caa61 100644
--- a/nuttx/lib/pthread/pthread_barrierattrdestroy.c
+++ b/nuttx/libc/pthread/pthread_barrierattrdestroy.c
@@ -1,5 +1,5 @@
 /********************************************************************************
- * lib/pthread/pthread_barrierattrdestroy.c
+ * libc/pthread/pthread_barrierattrdestroy.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/pthread/pthread_barrierattrgetpshared.c b/nuttx/libc/pthread/pthread_barrierattrgetpshared.c
index d29bc6dfc..83faffae0 100644
--- a/nuttx/lib/pthread/pthread_barrierattrgetpshared.c
+++ b/nuttx/libc/pthread/pthread_barrierattrgetpshared.c
@@ -1,5 +1,5 @@
 /********************************************************************************
- * lib/pthread/pthread_barrierattrgetpshared.c
+ * libc/pthread/pthread_barrierattrgetpshared.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/pthread/pthread_barrierattrinit.c b/nuttx/libc/pthread/pthread_barrierattrinit.c
index b5f35ca91..7ab101883 100644
--- a/nuttx/lib/pthread/pthread_barrierattrinit.c
+++ b/nuttx/libc/pthread/pthread_barrierattrinit.c
@@ -1,5 +1,5 @@
 /********************************************************************************
- * lib/pthread/pthread_barrierattrinit.c
+ * libc/pthread/pthread_barrierattrinit.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/pthread/pthread_barrierattrsetpshared.c b/nuttx/libc/pthread/pthread_barrierattrsetpshared.c
index d0eecbf5a..2585de7a0 100644
--- a/nuttx/lib/pthread/pthread_barrierattrsetpshared.c
+++ b/nuttx/libc/pthread/pthread_barrierattrsetpshared.c
@@ -1,5 +1,5 @@
 /********************************************************************************
- * lib/pthread/pthread_barrierattrsetpshared.c
+ * libc/pthread/pthread_barrierattrsetpshared.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/pthread/pthread_condattrdestroy.c b/nuttx/libc/pthread/pthread_condattrdestroy.c
index d6c3df5d1..30a0c4db1 100644
--- a/nuttx/lib/pthread/pthread_condattrdestroy.c
+++ b/nuttx/libc/pthread/pthread_condattrdestroy.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/pthread/pthread_condattrdestroy.c
+ * libc/pthread/pthread_condattrdestroy.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/pthread/pthread_condattrinit.c b/nuttx/libc/pthread/pthread_condattrinit.c
index 5721c6159..511376f2e 100644
--- a/nuttx/lib/pthread/pthread_condattrinit.c
+++ b/nuttx/libc/pthread/pthread_condattrinit.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/pthread/pthread_condattrinit.c
+ * libc/pthread/pthread_condattrinit.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/pthread/pthread_mutexattrdestroy.c b/nuttx/libc/pthread/pthread_mutexattrdestroy.c
index e9868df68..82a13c300 100644
--- a/nuttx/lib/pthread/pthread_mutexattrdestroy.c
+++ b/nuttx/libc/pthread/pthread_mutexattrdestroy.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/pthread/pthread_mutexattrdestroy.c
+ * libc/pthread/pthread_mutexattrdestroy.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/pthread/pthread_mutexattrgetpshared.c b/nuttx/libc/pthread/pthread_mutexattrgetpshared.c
index bc6379db5..dc18484ec 100644
--- a/nuttx/lib/pthread/pthread_mutexattrgetpshared.c
+++ b/nuttx/libc/pthread/pthread_mutexattrgetpshared.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/pthread/pthread_mutexattrgetpshared.c
+ * libc/pthread/pthread_mutexattrgetpshared.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/pthread/pthread_mutexattrgettype.c b/nuttx/libc/pthread/pthread_mutexattrgettype.c
index 5fb10f301..3b8b3ec05 100644
--- a/nuttx/lib/pthread/pthread_mutexattrgettype.c
+++ b/nuttx/libc/pthread/pthread_mutexattrgettype.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/pthread/pthread_mutexattrgettype.c
+ * libc/pthread/pthread_mutexattrgettype.c
  *
  *   Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/pthread/pthread_mutexattrinit.c b/nuttx/libc/pthread/pthread_mutexattrinit.c
index f815bf16c..f8c272195 100644
--- a/nuttx/lib/pthread/pthread_mutexattrinit.c
+++ b/nuttx/libc/pthread/pthread_mutexattrinit.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/pthread/pthread_mutexattrinit.c
+ * libc/pthread/pthread_mutexattrinit.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/pthread/pthread_mutexattrsetpshared.c b/nuttx/libc/pthread/pthread_mutexattrsetpshared.c
index 900476fdd..7501fd980 100644
--- a/nuttx/lib/pthread/pthread_mutexattrsetpshared.c
+++ b/nuttx/libc/pthread/pthread_mutexattrsetpshared.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/pthread/pthread_mutexattrsetpshared.c
+ * libc/pthread/pthread_mutexattrsetpshared.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/pthread/pthread_mutexattrsettype.c b/nuttx/libc/pthread/pthread_mutexattrsettype.c
index 81427c757..068a27dc2 100644
--- a/nuttx/lib/pthread/pthread_mutexattrsettype.c
+++ b/nuttx/libc/pthread/pthread_mutexattrsettype.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/pthread/pthread_mutexattrsettype.c
+ * libc/pthread/pthread_mutexattrsettype.c
  *
  *   Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/queue/Make.defs b/nuttx/libc/queue/Make.defs
index 976e7a2b8..9a843dbdc 100644
--- a/nuttx/lib/queue/Make.defs
+++ b/nuttx/libc/queue/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# lib/queue/Make.defs
+# libc/queue/Make.defs
 #
 #   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/queue/dq_addafter.c b/nuttx/libc/queue/dq_addafter.c
index bfbe0052d..e4d1abf63 100644
--- a/nuttx/lib/queue/dq_addafter.c
+++ b/nuttx/libc/queue/dq_addafter.c
@@ -1,5 +1,5 @@
 /************************************************************
- * lib/queue/dq_addafter.c
+ * libc/queue/dq_addafter.c
  *
  *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/queue/dq_addbefore.c b/nuttx/libc/queue/dq_addbefore.c
index d740ea830..3c403fc94 100644
--- a/nuttx/lib/queue/dq_addbefore.c
+++ b/nuttx/libc/queue/dq_addbefore.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/queue/dq_addbefore.c
+ * libc/queue/dq_addbefore.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/queue/dq_addfirst.c b/nuttx/libc/queue/dq_addfirst.c
index 7c7312de3..56767b928 100644
--- a/nuttx/lib/queue/dq_addfirst.c
+++ b/nuttx/libc/queue/dq_addfirst.c
@@ -1,5 +1,5 @@
 /************************************************************
- * lib/queue/dq_addfirst.c
+ * libc/queue/dq_addfirst.c
  *
  *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/queue/dq_addlast.c b/nuttx/libc/queue/dq_addlast.c
index 745deb27d..3ef08abd0 100644
--- a/nuttx/lib/queue/dq_addlast.c
+++ b/nuttx/libc/queue/dq_addlast.c
@@ -1,5 +1,5 @@
 /************************************************************
- * lib/queue/dq_addlast.c
+ * libc/queue/dq_addlast.c
  *
  *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/queue/dq_rem.c b/nuttx/libc/queue/dq_rem.c
index 218427bf8..db20762c7 100644
--- a/nuttx/lib/queue/dq_rem.c
+++ b/nuttx/libc/queue/dq_rem.c
@@ -1,5 +1,5 @@
 /************************************************************
- * lib/queue/dq_rem.c
+ * libc/queue/dq_rem.c
  *
  *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/queue/dq_remfirst.c b/nuttx/libc/queue/dq_remfirst.c
index 26c5fd7a6..e87acc338 100644
--- a/nuttx/lib/queue/dq_remfirst.c
+++ b/nuttx/libc/queue/dq_remfirst.c
@@ -1,5 +1,5 @@
 /************************************************************
- * lib/queue/dq_remfirst.c
+ * libc/queue/dq_remfirst.c
  *
  *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/queue/dq_remlast.c b/nuttx/libc/queue/dq_remlast.c
index 35adc73e2..18c182335 100644
--- a/nuttx/lib/queue/dq_remlast.c
+++ b/nuttx/libc/queue/dq_remlast.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/queue/dq_remlast.c
+ * libc/queue/dq_remlast.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/queue/sq_addafter.c b/nuttx/libc/queue/sq_addafter.c
index 965ac2844..5d47feba0 100644
--- a/nuttx/lib/queue/sq_addafter.c
+++ b/nuttx/libc/queue/sq_addafter.c
@@ -1,5 +1,5 @@
 /************************************************************
- * lib/queue/sq_addafter.c
+ * libc/queue/sq_addafter.c
  *
  *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/queue/sq_addfirst.c b/nuttx/libc/queue/sq_addfirst.c
index 8fc8e0619..962486154 100644
--- a/nuttx/lib/queue/sq_addfirst.c
+++ b/nuttx/libc/queue/sq_addfirst.c
@@ -1,5 +1,5 @@
 /************************************************************
- * lib/queue/sq_addfirst.c
+ * libc/queue/sq_addfirst.c
  *
  *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/queue/sq_addlast.c b/nuttx/libc/queue/sq_addlast.c
index f9f9625cc..faa07efb5 100644
--- a/nuttx/lib/queue/sq_addlast.c
+++ b/nuttx/libc/queue/sq_addlast.c
@@ -1,5 +1,5 @@
 /************************************************************
- * lib/queue/sq_addlast.c
+ * libc/queue/sq_addlast.c
  *
  *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/queue/sq_rem.c b/nuttx/libc/queue/sq_rem.c
index 6ba52354d..720be182c 100644
--- a/nuttx/lib/queue/sq_rem.c
+++ b/nuttx/libc/queue/sq_rem.c
@@ -1,5 +1,5 @@
 /************************************************************
- * lib/queue/sq_rem.c
+ * libc/queue/sq_rem.c
  *
  *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/queue/sq_remafter.c b/nuttx/libc/queue/sq_remafter.c
index 4dcfb06e4..0545a00f9 100644
--- a/nuttx/lib/queue/sq_remafter.c
+++ b/nuttx/libc/queue/sq_remafter.c
@@ -1,5 +1,5 @@
 /************************************************************
- * lib/queue/sq_remafter.c
+ * libc/queue/sq_remafter.c
  *
  *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/queue/sq_remfirst.c b/nuttx/libc/queue/sq_remfirst.c
index 43df6de41..f81c18dc2 100644
--- a/nuttx/lib/queue/sq_remfirst.c
+++ b/nuttx/libc/queue/sq_remfirst.c
@@ -1,5 +1,5 @@
 /************************************************************
- * lib/queue/sq_remfirst.c
+ * libc/queue/sq_remfirst.c
  *
  *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/queue/sq_remlast.c b/nuttx/libc/queue/sq_remlast.c
index 92cdbde98..8f045e493 100644
--- a/nuttx/lib/queue/sq_remlast.c
+++ b/nuttx/libc/queue/sq_remlast.c
@@ -1,5 +1,5 @@
 /************************************************************
- * lib/queue/sq_remlast.c
+ * libc/queue/sq_remlast.c
  *
  *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/sched/Make.defs b/nuttx/libc/sched/Make.defs
index f398b755e..d2356db0f 100644
--- a/nuttx/lib/sched/Make.defs
+++ b/nuttx/libc/sched/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# lib/sched/Make.defs
+# libc/sched/Make.defs
 #
 #   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/sched/sched_getprioritymax.c b/nuttx/libc/sched/sched_getprioritymax.c
index 14b368dfc..6ea37e76a 100644
--- a/nuttx/lib/sched/sched_getprioritymax.c
+++ b/nuttx/libc/sched/sched_getprioritymax.c
@@ -1,5 +1,5 @@
 /************************************************************************
- * lib/sched/sched_getprioritymax.c
+ * libc/sched/sched_getprioritymax.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/sched/sched_getprioritymin.c b/nuttx/libc/sched/sched_getprioritymin.c
index 86410cb0f..dbb46d81e 100644
--- a/nuttx/lib/sched/sched_getprioritymin.c
+++ b/nuttx/libc/sched/sched_getprioritymin.c
@@ -1,5 +1,5 @@
 /************************************************************************
- * lib/sched/sched_getprioritymin.c
+ * libc/sched/sched_getprioritymin.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/semaphore/Make.defs b/nuttx/libc/semaphore/Make.defs
index fdc0fe7d5..b6551ff96 100644
--- a/nuttx/lib/semaphore/Make.defs
+++ b/nuttx/libc/semaphore/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# lib/semaphore/Make.defs
+# libc/semaphore/Make.defs
 #
 #   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/semaphore/sem_getvalue.c b/nuttx/libc/semaphore/sem_getvalue.c
index 31c6bb7e0..ce9d12611 100644
--- a/nuttx/lib/semaphore/sem_getvalue.c
+++ b/nuttx/libc/semaphore/sem_getvalue.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/semaphore/sem_getvalue.c
+ * libc/semaphore/sem_getvalue.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/semaphore/sem_init.c b/nuttx/libc/semaphore/sem_init.c
index bc14415f9..7732eb57a 100644
--- a/nuttx/lib/semaphore/sem_init.c
+++ b/nuttx/libc/semaphore/sem_init.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/sem/sem_init.c
+ * libc/sem/sem_init.c
  *
  *   Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/signal/Make.defs b/nuttx/libc/signal/Make.defs
index e27da9b2e..fe7eb180e 100644
--- a/nuttx/lib/signal/Make.defs
+++ b/nuttx/libc/signal/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# lib/signal/Make.defs
+# libc/signal/Make.defs
 #
 #   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/signal/sig_addset.c b/nuttx/libc/signal/sig_addset.c
index 19ba0cb6b..06ddabd6b 100644
--- a/nuttx/lib/signal/sig_addset.c
+++ b/nuttx/libc/signal/sig_addset.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/signal/sig_addset.c
+ * libc/signal/sig_addset.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/signal/sig_delset.c b/nuttx/libc/signal/sig_delset.c
index 1c661d37f..04112d872 100644
--- a/nuttx/lib/signal/sig_delset.c
+++ b/nuttx/libc/signal/sig_delset.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/signal/sig_delset.c
+ * libc/signal/sig_delset.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/signal/sig_emptyset.c b/nuttx/libc/signal/sig_emptyset.c
index ac0c6b3e8..16ddd3f68 100644
--- a/nuttx/lib/signal/sig_emptyset.c
+++ b/nuttx/libc/signal/sig_emptyset.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/signal/sig_emptyset.c
+ * libc/signal/sig_emptyset.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/signal/sig_fillset.c b/nuttx/libc/signal/sig_fillset.c
index 8697d7577..99ee95c1f 100644
--- a/nuttx/lib/signal/sig_fillset.c
+++ b/nuttx/libc/signal/sig_fillset.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/signal/sig_fillset.c
+ * libc/signal/sig_fillset.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/signal/sig_ismember.c b/nuttx/libc/signal/sig_ismember.c
index c5bb091b7..1a8590e00 100644
--- a/nuttx/lib/signal/sig_ismember.c
+++ b/nuttx/libc/signal/sig_ismember.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/signal/sig_ismember.c
+ * libc/signal/sig_ismember.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/Make.defs b/nuttx/libc/stdio/Make.defs
index f88a5edd9..e18ab0220 100644
--- a/nuttx/lib/stdio/Make.defs
+++ b/nuttx/libc/stdio/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# lib/stdio/Make.defs
+# libc/stdio/Make.defs
 #
 #   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -34,27 +34,39 @@
 ############################################################################
 
 # Add the stdio C files to the build
+# This first group of C files do not depend on having file descriptors or
+# C streams.
 
 CSRCS += lib_fileno.c lib_printf.c lib_rawprintf.c lib_lowprintf.c \
-		  lib_sprintf.c lib_asprintf.c lib_snprintf.c lib_libsprintf.c \
-		  lib_vsprintf.c lib_avsprintf.c lib_vsnprintf.c lib_libvsprintf.c \
-		  lib_meminstream.c lib_memoutstream.c lib_lowinstream.c \
-		  lib_lowoutstream.c lib_zeroinstream.c lib_nullinstream.c \
-		  lib_nulloutstream.c lib_sscanf.c
+		 lib_sprintf.c lib_asprintf.c lib_snprintf.c lib_libsprintf.c \
+		 lib_vsprintf.c lib_avsprintf.c lib_vsnprintf.c lib_libvsprintf.c \
+		 lib_meminstream.c lib_memoutstream.c lib_lowinstream.c \
+		 lib_lowoutstream.c lib_zeroinstream.c lib_nullinstream.c \
+		 lib_nulloutstream.c lib_sscanf.c
+
+# The remaining sources files depend upon file descriptors
 
 ifneq ($(CONFIG_NFILE_DESCRIPTORS),0)
+
 CSRCS += lib_rawinstream.c lib_rawoutstream.c
+
+# And these depend upon both file descriptors and C streams
+
 ifneq ($(CONFIG_NFILE_STREAMS),0)
+
 CSRCS += lib_fopen.c lib_fclose.c lib_fread.c lib_libfread.c lib_fseek.c \
-		   lib_ftell.c lib_fsetpos.c lib_fgetpos.c lib_fgetc.c lib_fgets.c \
-		   lib_gets.c lib_fwrite.c lib_libfwrite.c lib_fflush.c \
-		   lib_libflushall.c lib_libfflush.c lib_rdflush.c lib_wrflush.c \
-		   lib_fputc.c lib_puts.c lib_fputs.c lib_ungetc.c lib_vprintf.c \
-		   lib_fprintf.c lib_vfprintf.c lib_stdinstream.c lib_stdoutstream.c \
-		   lib_perror.c
+		 lib_ftell.c lib_fsetpos.c lib_fgetpos.c lib_fgetc.c lib_fgets.c \
+		 lib_gets.c lib_fwrite.c lib_libfwrite.c lib_fflush.c \
+		 lib_libflushall.c lib_libfflush.c lib_rdflush.c lib_wrflush.c \
+		 lib_fputc.c lib_puts.c lib_fputs.c lib_ungetc.c lib_vprintf.c \
+		 lib_fprintf.c lib_vfprintf.c lib_stdinstream.c lib_stdoutstream.c \
+		 lib_perror.c lib_feof.c lib_ferror.c lib_clearerr.c
+
 endif
 endif
 
+# Other support that depends on specific, configured features.
+
 ifeq ($(CONFIG_SYSLOG),y)
 CSRCS += lib_syslogstream.c
 endif
diff --git a/nuttx/lib/stdio/lib_asprintf.c b/nuttx/libc/stdio/lib_asprintf.c
index 84aaafa46..20ca6de32 100644
--- a/nuttx/lib/stdio/lib_asprintf.c
+++ b/nuttx/libc/stdio/lib_asprintf.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_asprintf.c
+ * libc/stdio/lib_asprintf.c
  *
  *   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_avsprintf.c b/nuttx/libc/stdio/lib_avsprintf.c
index 8561b97c2..15ff8c9fb 100644
--- a/nuttx/lib/stdio/lib_avsprintf.c
+++ b/nuttx/libc/stdio/lib_avsprintf.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_avsprintf.c
+ * libc/stdio/lib_avsprintf.c
  *
  *   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/libc/stdio/lib_clearerr.c b/nuttx/libc/stdio/lib_clearerr.c
new file mode 100644
index 000000000..589b56feb
--- /dev/null
+++ b/nuttx/libc/stdio/lib_clearerr.c
@@ -0,0 +1,69 @@
+/****************************************************************************
+ * libc/stdio/lib_clearerr.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <errno.h>
+
+#include <nuttx/fs/fs.h>
+
+#if CONFIG_NFILE_STREAMS > 0
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: Functions
+ *
+ * Description:
+ *   Clear any end-of-file or error conditions.
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+void clearerr(FILE *stream)
+{
+  stream->fs_flags = 0;
+}
+#endif /* CONFIG_NFILE_STREAMS */
+
diff --git a/nuttx/lib/stdio/lib_dtoa.c b/nuttx/libc/stdio/lib_dtoa.c
index b8c7db980..44290ae32 100644
--- a/nuttx/lib/stdio/lib_dtoa.c
+++ b/nuttx/libc/stdio/lib_dtoa.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_dtoa.c
+ * libc/stdio/lib_dtoa.c
  *
  * This file was ported to NuttX by Yolande Cates.
  *
diff --git a/nuttx/lib/stdio/lib_fclose.c b/nuttx/libc/stdio/lib_fclose.c
index 8cecb8af3..c04537adf 100644
--- a/nuttx/lib/stdio/lib_fclose.c
+++ b/nuttx/libc/stdio/lib_fclose.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_fclose.c
+ * libc/stdio/lib_fclose.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/libc/stdio/lib_feof.c b/nuttx/libc/stdio/lib_feof.c
new file mode 100644
index 000000000..e036398fd
--- /dev/null
+++ b/nuttx/libc/stdio/lib_feof.c
@@ -0,0 +1,77 @@
+/****************************************************************************
+ * libc/stdio/lib_feof.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <errno.h>
+
+#include <nuttx/fs/fs.h>
+
+#if CONFIG_NFILE_STREAMS > 0
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: feof
+ *
+ * Description:
+ *   The feof() function shall test if the currently file pointer for the
+ *   stream is at the end of file.
+ *
+ * Returned Value:
+ *  This function will return non-zero if the the file pointer is positioned
+ *  at the end of file.
+ *
+ ****************************************************************************/
+
+int feof(FILE *stream)
+{
+  /* If the end-of-file condition is encountered by any of the C-buffered
+   * I/O functions that perform read operations, they should set the
+   * __FS_FLAG_EOF in the fs_flags field of struct file_struct.
+   */
+
+  return (stream->fs_flags & __FS_FLAG_EOF) != 0;
+}
+
+#endif /* CONFIG_NFILE_STREAMS */
+
diff --git a/nuttx/libc/stdio/lib_ferror.c b/nuttx/libc/stdio/lib_ferror.c
new file mode 100644
index 000000000..a977394cb
--- /dev/null
+++ b/nuttx/libc/stdio/lib_ferror.c
@@ -0,0 +1,90 @@
+/****************************************************************************
+ * libc/stdio/lib_ferror.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <errno.h>
+
+#include <nuttx/fs/fs.h>
+
+#if CONFIG_NFILE_STREAMS > 0
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: ferror
+ *
+ * Description:
+ *   This function will test if the last operation resulted in an eror.  This
+ *   is used to disambiguate EOF and error conditions.
+ *
+ * Return Value:
+ *   A non-zero value is returned to indicate the error condition.
+ *
+ ****************************************************************************/
+
+int ferror(FILE *stream)
+{
+#if 0
+  /* If an error is encountered by any of the C-buffered I/O functions, they
+   * should set the __FS_FLAG_ERROR in the fs_flags field of struct
+   * file_struct.
+   */
+
+  return (stream->fs_flags & __FS_FLAG_ERROR) != 0;
+#else
+  /* However, nothing currenlty sets the __FS_FLAG_ERROR flag (that is a job
+   * for another day).  The __FS_FLAG_EOF is set by operations that perform
+   * read operations.  Since ferror()  is probably only called to disambiguate
+   * the meaning of other functions that return EOF, to indicate either EOF or
+   * an error, just testing for not EOF is probably sufficient for now.
+   *
+   * This approach would not work if ferror() is called in other contexts. In
+   * those cases, ferror() will always report an error.
+   */
+
+  return (stream->fs_flags & __FS_FLAG_EOF) == 0;
+#endif
+}
+
+#endif /* CONFIG_NFILE_STREAMS */
+
diff --git a/nuttx/lib/stdio/lib_fflush.c b/nuttx/libc/stdio/lib_fflush.c
index d0b5e0185..a84a14a59 100644
--- a/nuttx/lib/stdio/lib_fflush.c
+++ b/nuttx/libc/stdio/lib_fflush.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_fflush.c
+ * libc/stdio/lib_fflush.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_fgetc.c b/nuttx/libc/stdio/lib_fgetc.c
index 4b3d0ec44..81e2e4ba7 100644
--- a/nuttx/lib/stdio/lib_fgetc.c
+++ b/nuttx/libc/stdio/lib_fgetc.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_fgetc.c
+ * libc/stdio/lib_fgetc.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_fgetpos.c b/nuttx/libc/stdio/lib_fgetpos.c
index e9e9f4d10..7663ca2db 100644
--- a/nuttx/lib/stdio/lib_fgetpos.c
+++ b/nuttx/libc/stdio/lib_fgetpos.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_fgetpos.c
+ * libc/stdio/lib_fgetpos.c
  *
  *   Copyright (C) 2008-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_fgets.c b/nuttx/libc/stdio/lib_fgets.c
index a4f9089ed..35d024ebb 100644
--- a/nuttx/lib/stdio/lib_fgets.c
+++ b/nuttx/libc/stdio/lib_fgets.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_fgets.c
+ * libc/stdio/lib_fgets.c
  *
  *   Copyright (C) 2007-2008, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -150,7 +150,7 @@ char *fgets(FAR char *buf, int buflen, FILE *stream)
       if (ch == '\n')
 #elif defined(CONFIG_EOL_IS_CR)
       if (ch == '\r')
-#elif CONFIG_EOL_IS_EITHER_CRLF
+#else /* elif CONFIG_EOL_IS_EITHER_CRLF */
       if (ch == '\n' || ch == '\r')
 #endif
         {
diff --git a/nuttx/lib/stdio/lib_fileno.c b/nuttx/libc/stdio/lib_fileno.c
index fca08fc0d..f227aa372 100644
--- a/nuttx/lib/stdio/lib_fileno.c
+++ b/nuttx/libc/stdio/lib_fileno.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_fileno.c
+ * libc/stdio/lib_fileno.c
  *
  *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_fopen.c b/nuttx/libc/stdio/lib_fopen.c
index 29ff4569c..cb68b3584 100644
--- a/nuttx/lib/stdio/lib_fopen.c
+++ b/nuttx/libc/stdio/lib_fopen.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_fopen.c
+ * libc/stdio/lib_fopen.c
  *
  *   Copyright (C) 2007-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_fprintf.c b/nuttx/libc/stdio/lib_fprintf.c
index a803de4bd..5b6fe58f4 100644
--- a/nuttx/lib/stdio/lib_fprintf.c
+++ b/nuttx/libc/stdio/lib_fprintf.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_fprintf.c
+ * libc/stdio/lib_fprintf.c
  *
  *   Copyright (C) 2007, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_fputc.c b/nuttx/libc/stdio/lib_fputc.c
index 121161f10..5d8065b43 100644
--- a/nuttx/lib/stdio/lib_fputc.c
+++ b/nuttx/libc/stdio/lib_fputc.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_fputc.c
+ * libc/stdio/lib_fputc.c
  *
  *   Copyright (C) 2007, 2008, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_fputs.c b/nuttx/libc/stdio/lib_fputs.c
index 2d6217d4a..7b87a89d0 100644
--- a/nuttx/lib/stdio/lib_fputs.c
+++ b/nuttx/libc/stdio/lib_fputs.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_fputs.c
+ * libc/stdio/lib_fputs.c
  *
  *   Copyright (C) 2007, 2008, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_fread.c b/nuttx/libc/stdio/lib_fread.c
index 4a4b29256..671714122 100644
--- a/nuttx/lib/stdio/lib_fread.c
+++ b/nuttx/libc/stdio/lib_fread.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_fread.c
+ * libc/stdio/lib_fread.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_fseek.c b/nuttx/libc/stdio/lib_fseek.c
index 7380f83b3..36216d94a 100644
--- a/nuttx/lib/stdio/lib_fseek.c
+++ b/nuttx/libc/stdio/lib_fseek.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_fseek.c
+ * libc/stdio/lib_fseek.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_fsetpos.c b/nuttx/libc/stdio/lib_fsetpos.c
index 13d556521..3d79a1877 100644
--- a/nuttx/lib/stdio/lib_fsetpos.c
+++ b/nuttx/libc/stdio/lib_fsetpos.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_fsetpos.c
+ * libc/stdio/lib_fsetpos.c
  *
  *   Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_ftell.c b/nuttx/libc/stdio/lib_ftell.c
index 947648152..99fc20f34 100644
--- a/nuttx/lib/stdio/lib_ftell.c
+++ b/nuttx/libc/stdio/lib_ftell.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_ftell.c
+ * libc/stdio/lib_ftell.c
  *
  *   Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_fwrite.c b/nuttx/libc/stdio/lib_fwrite.c
index 60e001746..e8de004fe 100644
--- a/nuttx/lib/stdio/lib_fwrite.c
+++ b/nuttx/libc/stdio/lib_fwrite.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_fwrite.c
+ * libc/stdio/lib_fwrite.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_gets.c b/nuttx/libc/stdio/lib_gets.c
index 95a6b36eb..39c31d273 100644
--- a/nuttx/lib/stdio/lib_gets.c
+++ b/nuttx/libc/stdio/lib_gets.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_gets.c
+ * libc/stdio/lib_gets.c
  *
  *   Copyright (C) 2007-2008, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_libdtoa.c b/nuttx/libc/stdio/lib_libdtoa.c
index 667c49c53..29f61fd76 100644
--- a/nuttx/lib/stdio/lib_libdtoa.c
+++ b/nuttx/libc/stdio/lib_libdtoa.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/unistd/lib_libdtoa.c
+ * libc/unistd/lib_libdtoa.c
  *
  * This file was ported to NuttX by Yolande Cates.
  *
diff --git a/nuttx/lib/stdio/lib_libfflush.c b/nuttx/libc/stdio/lib_libfflush.c
index 2a4fe2932..f2f0cfe14 100644
--- a/nuttx/lib/stdio/lib_libfflush.c
+++ b/nuttx/libc/stdio/lib_libfflush.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_libfflush.c
+ * libc/stdio/lib_libfflush.c
  *
  *   Copyright (C) 2007-2008, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_libflushall.c b/nuttx/libc/stdio/lib_libflushall.c
index 9d0a89e9c..7ac3da7e0 100644
--- a/nuttx/lib/stdio/lib_libflushall.c
+++ b/nuttx/libc/stdio/lib_libflushall.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_libflushall.c
+ * libc/stdio/lib_libflushall.c
  *
  *   Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_libfread.c b/nuttx/libc/stdio/lib_libfread.c
index 03b47eda6..bc6479037 100644
--- a/nuttx/lib/stdio/lib_libfread.c
+++ b/nuttx/libc/stdio/lib_libfread.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_libfread.c
+ * libc/stdio/lib_libfread.c
  *
  *   Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -187,7 +187,10 @@ ssize_t lib_fread(FAR void *ptr, size_t count, FAR FILE *stream)
                     }
                   else if (bytes_read == 0)
                     {
-                      /* We are at the end of the file */
+                      /* We are at the end of the file.  But we may already
+                       * have buffered data.  In that case, we will report
+                       * the EOF indication later.
+                       */
 
                       goto shortread;
                     }
@@ -232,7 +235,10 @@ ssize_t lib_fread(FAR void *ptr, size_t count, FAR FILE *stream)
                     }
                   else if (bytes_read == 0)
                     {
-                      /* We are at the end of the file */
+                      /* We are at the end of the file.  But we may already
+                       * have buffered data.  In that case, we will report
+                       * the EOF indication later.
+                       */
 
                       goto shortread;
                     }
@@ -261,6 +267,11 @@ ssize_t lib_fread(FAR void *ptr, size_t count, FAR FILE *stream)
             }
           else if (bytes_read == 0)
             {
+              /* We are at the end of the file.  But we may already
+               * have buffered data.  In that case, we will report
+               * the EOF indication later.
+               */
+
               break;
             }
           else
@@ -270,12 +281,26 @@ ssize_t lib_fread(FAR void *ptr, size_t count, FAR FILE *stream)
             }
         }
 #endif
-    /* Here after a successful (but perhaps short) read */
+      /* Here after a successful (but perhaps short) read */
 
 #if CONFIG_STDIO_BUFFER_SIZE > 0
     shortread:
 #endif
       bytes_read = dest - (unsigned char*)ptr;
+
+      /* Set or clear the EOF indicator.  If we get here because of a
+       * short read and the total number of* bytes read is zero, then
+       * we must be at the end-of-file.
+       */
+
+      if (bytes_read > 0)
+        {
+          stream->fs_flags &= ~__FS_FLAG_EOF;
+        }
+      else
+        {
+          stream->fs_flags |= __FS_FLAG_EOF;
+        }
     }
 
   lib_give_semaphore(stream);
diff --git a/nuttx/lib/stdio/lib_libfwrite.c b/nuttx/libc/stdio/lib_libfwrite.c
index e71866b49..b917b3b56 100644
--- a/nuttx/lib/stdio/lib_libfwrite.c
+++ b/nuttx/libc/stdio/lib_libfwrite.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_libfwrite.c
+ * libc/stdio/lib_libfwrite.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_libnoflush.c b/nuttx/libc/stdio/lib_libnoflush.c
index e3b891153..076f8a17e 100644
--- a/nuttx/lib/stdio/lib_libnoflush.c
+++ b/nuttx/libc/stdio/lib_libnoflush.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_libnoflush.c
+ * libc/stdio/lib_libnoflush.c
  *
  *   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_libsprintf.c b/nuttx/libc/stdio/lib_libsprintf.c
index 2474a6f01..2d820ab37 100644
--- a/nuttx/lib/stdio/lib_libsprintf.c
+++ b/nuttx/libc/stdio/lib_libsprintf.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_libsprintf.c
+ * libc/stdio/lib_libsprintf.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_libvsprintf.c b/nuttx/libc/stdio/lib_libvsprintf.c
index 30c988599..9a391610d 100644
--- a/nuttx/lib/stdio/lib_libvsprintf.c
+++ b/nuttx/libc/stdio/lib_libvsprintf.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_libvsprintf.c
+ * libc/stdio/lib_libvsprintf.c
  *
  *   Copyright (C) 2007-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -1161,7 +1161,7 @@ static void postjustify(FAR struct lib_outstream_s *obj, uint8_t fmt,
  ****************************************************************************/
 
 /****************************************************************************
- * lib/stdio/lib_vsprintf
+ * libc/stdio/lib_vsprintf
  ****************************************************************************/
 
 int lib_vsprintf(FAR struct lib_outstream_s *obj, FAR const char *src, va_list ap)
diff --git a/nuttx/lib/stdio/lib_lowinstream.c b/nuttx/libc/stdio/lib_lowinstream.c
index 499a647ea..7284601e8 100644
--- a/nuttx/lib/stdio/lib_lowinstream.c
+++ b/nuttx/libc/stdio/lib_lowinstream.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_lowinstream.c
+ * libc/stdio/lib_lowinstream.c
  *
  *   Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_lowoutstream.c b/nuttx/libc/stdio/lib_lowoutstream.c
index 092f39ca2..f600bc614 100644
--- a/nuttx/lib/stdio/lib_lowoutstream.c
+++ b/nuttx/libc/stdio/lib_lowoutstream.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_lowoutstream.c
+ * libc/stdio/lib_lowoutstream.c
  *
  *   Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_lowprintf.c b/nuttx/libc/stdio/lib_lowprintf.c
index 392ef2c6a..f7d4ffe2f 100644
--- a/nuttx/lib/stdio/lib_lowprintf.c
+++ b/nuttx/libc/stdio/lib_lowprintf.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_lowprintf.c
+ * libc/stdio/lib_lowprintf.c
  *
  *   Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_meminstream.c b/nuttx/libc/stdio/lib_meminstream.c
index a842096fb..2a30d956d 100644
--- a/nuttx/lib/stdio/lib_meminstream.c
+++ b/nuttx/libc/stdio/lib_meminstream.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_meminstream.c
+ * libc/stdio/lib_meminstream.c
  *
  *   Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_memoutstream.c b/nuttx/libc/stdio/lib_memoutstream.c
index 21197358b..efd527cbc 100644
--- a/nuttx/lib/stdio/lib_memoutstream.c
+++ b/nuttx/libc/stdio/lib_memoutstream.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_memoutstream.c
+ * libc/stdio/lib_memoutstream.c
  *
  *   Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_nullinstream.c b/nuttx/libc/stdio/lib_nullinstream.c
index 0eadb0a8e..aeb0af379 100644
--- a/nuttx/lib/stdio/lib_nullinstream.c
+++ b/nuttx/libc/stdio/lib_nullinstream.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_nullinstream.c
+ * libc/stdio/lib_nullinstream.c
  *
  *   Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_nulloutstream.c b/nuttx/libc/stdio/lib_nulloutstream.c
index 69878fd57..574295344 100644
--- a/nuttx/lib/stdio/lib_nulloutstream.c
+++ b/nuttx/libc/stdio/lib_nulloutstream.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_nulloutstream.c
+ * libc/stdio/lib_nulloutstream.c
  *
  *   Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_perror.c b/nuttx/libc/stdio/lib_perror.c
index 867e113f9..181898329 100644
--- a/nuttx/lib/stdio/lib_perror.c
+++ b/nuttx/libc/stdio/lib_perror.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_perror.c
+ * libc/stdio/lib_perror.c
  *
  *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_printf.c b/nuttx/libc/stdio/lib_printf.c
index 50db06c47..0e90c7ca5 100644
--- a/nuttx/lib/stdio/lib_printf.c
+++ b/nuttx/libc/stdio/lib_printf.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_printf.c
+ * libc/stdio/lib_printf.c
  *
  *   Copyright (C) 2007-2008, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_puts.c b/nuttx/libc/stdio/lib_puts.c
index e63a63917..53eda7081 100644
--- a/nuttx/lib/stdio/lib_puts.c
+++ b/nuttx/libc/stdio/lib_puts.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_puts.c
+ * libc/stdio/lib_puts.c
  *
  *   Copyright (C) 2007, 2008, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_rawinstream.c b/nuttx/libc/stdio/lib_rawinstream.c
index 9671a2716..55456769e 100644
--- a/nuttx/lib/stdio/lib_rawinstream.c
+++ b/nuttx/libc/stdio/lib_rawinstream.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_rawinstream.c
+ * libc/stdio/lib_rawinstream.c
  *
  *   Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_rawoutstream.c b/nuttx/libc/stdio/lib_rawoutstream.c
index ed813f87a..e1fe37134 100644
--- a/nuttx/lib/stdio/lib_rawoutstream.c
+++ b/nuttx/libc/stdio/lib_rawoutstream.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_rawoutstream.c
+ * libc/stdio/lib_rawoutstream.c
  *
  *   Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_rawprintf.c b/nuttx/libc/stdio/lib_rawprintf.c
index 19dfa895e..98bbbea05 100644
--- a/nuttx/lib/stdio/lib_rawprintf.c
+++ b/nuttx/libc/stdio/lib_rawprintf.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_rawprintf.c
+ * libc/stdio/lib_rawprintf.c
  *
  *   Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_rdflush.c b/nuttx/libc/stdio/lib_rdflush.c
index 35c5495c1..c6136792b 100644
--- a/nuttx/lib/stdio/lib_rdflush.c
+++ b/nuttx/libc/stdio/lib_rdflush.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_rdflush.c
+ * libc/stdio/lib_rdflush.c
  *
  *   Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_snprintf.c b/nuttx/libc/stdio/lib_snprintf.c
index e5ce7b0f0..a4ba0dbb3 100644
--- a/nuttx/lib/stdio/lib_snprintf.c
+++ b/nuttx/libc/stdio/lib_snprintf.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_snprintf.c
+ * libc/stdio/lib_snprintf.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_sprintf.c b/nuttx/libc/stdio/lib_sprintf.c
index 89fd61033..deb0669a3 100644
--- a/nuttx/lib/stdio/lib_sprintf.c
+++ b/nuttx/libc/stdio/lib_sprintf.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_sprintf.c
+ * libc/stdio/lib_sprintf.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_sscanf.c b/nuttx/libc/stdio/lib_sscanf.c
index 7e1fae276..77a6cf212 100644
--- a/nuttx/lib/stdio/lib_sscanf.c
+++ b/nuttx/libc/stdio/lib_sscanf.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_sscanf.c
+ * libc/stdio/lib_sscanf.c
  *
  *   Copyright (C) 2007, 2008, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_stdinstream.c b/nuttx/libc/stdio/lib_stdinstream.c
index 77aab9ec8..261b26634 100644
--- a/nuttx/lib/stdio/lib_stdinstream.c
+++ b/nuttx/libc/stdio/lib_stdinstream.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_stdinstream.c
+ * libc/stdio/lib_stdinstream.c
  *
  *   Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_stdoutstream.c b/nuttx/libc/stdio/lib_stdoutstream.c
index 20da5b702..dfe67271f 100644
--- a/nuttx/lib/stdio/lib_stdoutstream.c
+++ b/nuttx/libc/stdio/lib_stdoutstream.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_stdoutstream.c
+ * libc/stdio/lib_stdoutstream.c
  *
  *   Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_syslogstream.c b/nuttx/libc/stdio/lib_syslogstream.c
index 21151b43a..5529c5de8 100644
--- a/nuttx/lib/stdio/lib_syslogstream.c
+++ b/nuttx/libc/stdio/lib_syslogstream.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_syslogstream.c
+ * libc/stdio/lib_syslogstream.c
  *
  *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_ungetc.c b/nuttx/libc/stdio/lib_ungetc.c
index c10d4fba1..178aeddd1 100644
--- a/nuttx/lib/stdio/lib_ungetc.c
+++ b/nuttx/libc/stdio/lib_ungetc.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_ungetc.c
+ * libc/stdio/lib_ungetc.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_vfprintf.c b/nuttx/libc/stdio/lib_vfprintf.c
index 1c3a2d7fc..cd117ddc3 100644
--- a/nuttx/lib/stdio/lib_vfprintf.c
+++ b/nuttx/libc/stdio/lib_vfprintf.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_vfprintf.c
+ * libc/stdio/lib_vfprintf.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_vprintf.c b/nuttx/libc/stdio/lib_vprintf.c
index d085d5886..6ddfe2b24 100644
--- a/nuttx/lib/stdio/lib_vprintf.c
+++ b/nuttx/libc/stdio/lib_vprintf.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_vprintf.c
+ * libc/stdio/lib_vprintf.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_vsnprintf.c b/nuttx/libc/stdio/lib_vsnprintf.c
index c6f52092d..f7fd02e42 100644
--- a/nuttx/lib/stdio/lib_vsnprintf.c
+++ b/nuttx/libc/stdio/lib_vsnprintf.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_vsnprintf.c
+ * libc/stdio/lib_vsnprintf.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_vsprintf.c b/nuttx/libc/stdio/lib_vsprintf.c
index 5db46664e..b6d80808f 100644
--- a/nuttx/lib/stdio/lib_vsprintf.c
+++ b/nuttx/libc/stdio/lib_vsprintf.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_vsprintf.c
+ * libc/stdio/lib_vsprintf.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -84,7 +84,7 @@ int vsprintf(FAR char *dest, const char *src, va_list ap)
   struct lib_memoutstream_s memoutstream;
 
   /* Wrap the destination buffer in a stream object and let
-   * lib/stdio/lib_vsprintf do the work.
+   * libc/stdio/lib_vsprintf do the work.
    */
 
   lib_memoutstream((FAR struct lib_memoutstream_s *)&memoutstream, dest, LIB_BUFLEN_UNKNOWN);
diff --git a/nuttx/lib/stdio/lib_wrflush.c b/nuttx/libc/stdio/lib_wrflush.c
index 39680da6a..40b8e38c8 100644
--- a/nuttx/lib/stdio/lib_wrflush.c
+++ b/nuttx/libc/stdio/lib_wrflush.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_wrflush.c
+ * libc/stdio/lib_wrflush.c
  *
  *   Copyright (C) 2008-2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdio/lib_zeroinstream.c b/nuttx/libc/stdio/lib_zeroinstream.c
index 39a6c22ef..a52ecc1d0 100644
--- a/nuttx/lib/stdio/lib_zeroinstream.c
+++ b/nuttx/libc/stdio/lib_zeroinstream.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_zeroinstream.c
+ * libc/stdio/lib_zeroinstream.c
  *
  *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdlib/Make.defs b/nuttx/libc/stdlib/Make.defs
index 76e285808..dcc4dab26 100644
--- a/nuttx/lib/stdlib/Make.defs
+++ b/nuttx/libc/stdlib/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# lib/stdlib/Make.defs
+# libc/stdlib/Make.defs
 #
 #   Copyright (C) 2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdlib/lib_abort.c b/nuttx/libc/stdlib/lib_abort.c
index 84b600950..1c7442c7f 100644
--- a/nuttx/lib/stdlib/lib_abort.c
+++ b/nuttx/libc/stdlib/lib_abort.c
@@ -1,5 +1,5 @@
 /************************************************************************
- * lib/stdlib/lib_abort.c
+ * libc/stdlib/lib_abort.c
  *
  *   Copyright (C) 2007, 2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdlib/lib_abs.c b/nuttx/libc/stdlib/lib_abs.c
index 1a0c1671c..a4e4ec669 100644
--- a/nuttx/lib/stdlib/lib_abs.c
+++ b/nuttx/libc/stdlib/lib_abs.c
@@ -1,5 +1,5 @@
 /************************************************************************
- * lib/stdlib/lib_abs.c
+ * libc/stdlib/lib_abs.c
  *
  *   Copyright (C) 2010-2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdlib/lib_imaxabs.c b/nuttx/libc/stdlib/lib_imaxabs.c
index c6e227c7d..d36504372 100644
--- a/nuttx/lib/stdlib/lib_imaxabs.c
+++ b/nuttx/libc/stdlib/lib_imaxabs.c
@@ -1,5 +1,5 @@
 /************************************************************************
- * lib/stdlib//lib_abs.c
+ * libc/stdlib//lib_abs.c
  *
  *   Copyright (C) 2010-2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdlib/lib_labs.c b/nuttx/libc/stdlib/lib_labs.c
index f7218ee83..7cf92a0a1 100644
--- a/nuttx/lib/stdlib/lib_labs.c
+++ b/nuttx/libc/stdlib/lib_labs.c
@@ -1,5 +1,5 @@
 /************************************************************************
- * lib/stdlib/lib_labs.c
+ * libc/stdlib/lib_labs.c
  *
  *   Copyright (C) 2010-2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdlib/lib_llabs.c b/nuttx/libc/stdlib/lib_llabs.c
index db7d3dbe0..3630d1716 100644
--- a/nuttx/lib/stdlib/lib_llabs.c
+++ b/nuttx/libc/stdlib/lib_llabs.c
@@ -1,5 +1,5 @@
 /************************************************************************
- * lib/stdlib/lib_llabs.c
+ * libc/stdlib/lib_llabs.c
  *
  *   Copyright (C) 2010-2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/stdlib/lib_qsort.c b/nuttx/libc/stdlib/lib_qsort.c
index 9dd5c0040..021e782d4 100644
--- a/nuttx/lib/stdlib/lib_qsort.c
+++ b/nuttx/libc/stdlib/lib_qsort.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdlib/lib_qsort.c
+ * libc/stdlib/lib_qsort.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/libc/stdlib/lib_rand.c b/nuttx/libc/stdlib/lib_rand.c
new file mode 100644
index 000000000..453a4537a
--- /dev/null
+++ b/nuttx/libc/stdlib/lib_rand.c
@@ -0,0 +1,277 @@
+/****************************************************************************
+ * libc/stdlib/lib_rand.c
+ *
+ *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <sys/types.h>
+#include <stdlib.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+/* First, second, and thired order congruential generators are supported */
+
+#ifndef CONFIG_LIB_RAND_ORDER
+#  define CONFIG_LIB_RAND_ORDER 1
+#endif
+
+#if CONFIG_LIB_RAND_ORDER > 3
+#  undef CONFIG_LIB_RAND_ORDER
+#  define CONFIG_LIB_RAND_ORDER 3
+#endif
+
+/* Values needed by the random number generator */
+
+#define RND1_CONSTK  470001
+#define RND1_CONSTP  999563
+#define RND2_CONSTK1 366528
+#define RND2_CONSTK2 508531
+#define RND2_CONSTP  998917
+#define RND3_CONSTK1 360137
+#define RND3_CONSTK2 519815
+#define RND3_CONSTK3 616087
+#define RND3_CONSTP  997783
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static unsigned int nrand(unsigned int nLimit);
+
+/* First order congruential generators */
+
+static inline unsigned long fgenerate1(void);
+#if (CONFIG_LIB_RAND_ORDER == 1)
+static double_t frand1(void);
+#endif
+
+/* Second order congruential generators */
+
+#if (CONFIG_LIB_RAND_ORDER > 1)
+static inline unsigned long fgenerate2(void);
+#if (CONFIG_LIB_RAND_ORDER == 2)
+static double_t frand2(void);
+#endif
+
+/* Third order congruential generators */
+
+#if (CONFIG_LIB_RAND_ORDER > 2)
+static inline unsigned long fgenerate3(void);
+static double_t frand3(void);
+#endif
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static unsigned long g_randint1;
+#if (CONFIG_LIB_RAND_ORDER > 1)
+static unsigned long g_randint2;
+#if (CONFIG_LIB_RAND_ORDER > 2)
+static unsigned long g_randint3;
+#endif
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static unsigned int nrand(unsigned int nLimit)
+{
+  unsigned long result;
+  double_t ratio;
+
+  /* Loop to be sure a legal random number is generated */
+
+  do
+    {
+      /* Get a random integer in the requested range */
+
+#if (CONFIG_LIB_RAND_ORDER == 1)
+      ratio = frand1();
+#elif (CONFIG_LIB_RAND_ORDER == 2)
+      ratio = frand2();
+#else /* if (CONFIG_LIB_RAND_ORDER > 2) */
+      ratio = frand3();
+#endif
+
+      /* Then, produce the return-able value */
+
+      result = (unsigned long)(((double_t)nLimit) * ratio);
+    }
+  while (result >= (unsigned long)nLimit);
+
+  return (unsigned int)result;
+}
+
+/* First order congruential generators */
+
+static inline unsigned long fgenerate1(void)
+{
+  unsigned long randint;
+
+  /* First order congruential generator.  One may be added to the result of the
+   * generated value to avoid the value zero.  This would be fatal for the
+   * first order random number generator.
+   */
+
+  randint    = (RND1_CONSTK * g_randint1) % RND1_CONSTP;
+  g_randint1 = (randint == 0 ? 1 : randint);
+  return randint;
+}
+
+#if (CONFIG_LIB_RAND_ORDER == 1)
+static double_t frand1(void)
+{
+  /* First order congruential generator. */
+
+  unsigned long randint = fgenerate1();
+
+  /* Construct an floating point value in the range from 0.0 up to 1.0 */
+
+  return ((double_t)randint) / ((double_t)RND1_CONSTP);
+}
+#endif
+
+/* Second order congruential generators */
+
+#if (CONFIG_LIB_RAND_ORDER > 1)
+static inline unsigned long fgenerate2(void)
+{
+  unsigned long randint;
+
+  /* Second order congruential generator. */
+
+  randint    = (RND2_CONSTK1 * g_randint1 +
+                RND2_CONSTK2 * g_randint2) % RND2_CONSTP;
+
+  g_randint2 = g_randint1;
+  g_randint1 = randint;
+
+  /* We cannot permit both values to become zero.  That would be fatal for the
+   * second order random number generator.
+   */
+
+  if (g_randint2 == 0 && g_randint1 == 0)
+    {
+      g_randint2 = 1;
+    }
+
+  return randint;
+}
+
+#if (CONFIG_LIB_RAND_ORDER == 2)
+static double_t frand2(void)
+{
+  /* Second order congruential generator */
+
+  unsigned long randint = fgenerate2();
+
+  /* Construct an floating point value in the range from 0.0 up to 1.0 */
+
+  return ((double_t)randint) / ((double_t)RND2_CONSTP);
+}
+#endif
+
+/* Third order congruential generators */
+
+#if (CONFIG_LIB_RAND_ORDER > 2)
+static inline unsigned long fgenerate3(void)
+{
+  unsigned long randint;
+
+  /* Third order congruential generator. */
+
+  randint    = (RND3_CONSTK1 * g_randint1 +
+                RND3_CONSTK2 * g_randint2 +
+                RND3_CONSTK2 * g_randint3) % RND3_CONSTP;
+
+  g_randint3 = g_randint2;
+  g_randint2 = g_randint1;
+  g_randint1 = randint;
+
+  /* We cannot permit all three values to become zero.  That would be fatal for the
+   * third order random number generator.
+   */
+
+  if (g_randint3 == 0 && g_randint2 == 0 && g_randint1 == 0)
+    {
+      g_randint3 = 1;
+    }
+
+  return randint;
+}
+
+static double_t frand3(void)
+{
+  /* Third order congruential generator */
+
+  unsigned long randint = fgenerate3();
+
+  /* Construct an floating point value in the range from 0.0 up to 1.0 */
+
+  return ((double_t)randint) / ((double_t)RND3_CONSTP);
+}
+#endif
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Function:  srand, rand
+ ****************************************************************************/
+
+void srand(unsigned int seed)
+{
+  g_randint1 = seed;
+#if (CONFIG_LIB_RAND_ORDER > 1)
+  g_randint2 = seed;
+  (void)fgenerate1();
+#if (CONFIG_LIB_RAND_ORDER > 2)
+  g_randint3 = seed;
+  (void)fgenerate2();
+#endif
+#endif
+}
+
+int rand(void)
+{
+  return (int)nrand(32768);
+}
diff --git a/nuttx/lib/string/Make.defs b/nuttx/libc/string/Make.defs
index 6b21c7f14..311c8afd2 100644
--- a/nuttx/lib/string/Make.defs
+++ b/nuttx/libc/string/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# lib/string/Make.defs
+# libc/string/Make.defs
 #
 #   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -36,7 +36,7 @@
 # Add the string C files to the build
 
 CSRCS += lib_checkbase.c lib_isbasedigit.c lib_memset.c lib_memchr.c \
-		 lib_memccpy.c lib_memcpy.c lib_memcmp.c lib_memmove.c lib_skipspace.c \
+		 lib_memccpy.c lib_memcmp.c lib_memmove.c lib_skipspace.c \
 		 lib_strcasecmp.c lib_strcat.c lib_strchr.c lib_strcpy.c lib_strcmp.c \
 		 lib_strcspn.c lib_strdup.c lib_strerror.c lib_strlen.c lib_strnlen.c \
 		 lib_strncasecmp.c lib_strncat.c lib_strncmp.c lib_strncpy.c \
@@ -44,6 +44,14 @@ CSRCS += lib_checkbase.c lib_isbasedigit.c lib_memset.c lib_memchr.c \
 		 lib_strspn.c lib_strstr.c lib_strtok.c lib_strtokr.c lib_strtol.c \
 		 lib_strtoll.c lib_strtoul.c lib_strtoull.c lib_strtod.c
 
+ifneq ($(CONFIG_ARCH_MEMCPY),y)
+ifeq ($(CONFIG_MEMCPY_VIK),y)
+CSRCS += lib_vikmemcpy.c
+else
+CSRCS += lib_memcpy.c
+endif
+endif
+
 # Add the string directory to the build
 
 DEPPATH += --dep-path string
diff --git a/nuttx/lib/string/lib_checkbase.c b/nuttx/libc/string/lib_checkbase.c
index bc79ab2ce..32ae58dca 100644
--- a/nuttx/lib/string/lib_checkbase.c
+++ b/nuttx/libc/string/lib_checkbase.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/string/lib_checkbase.c
+ * libc/string/lib_checkbase.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_isbasedigit.c b/nuttx/libc/string/lib_isbasedigit.c
index a2421bf2a..dff813881 100644
--- a/nuttx/lib/string/lib_isbasedigit.c
+++ b/nuttx/libc/string/lib_isbasedigit.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/string/lib_isbasedigit.c
+ * libc/string/lib_isbasedigit.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_memccpy.c b/nuttx/libc/string/lib_memccpy.c
index 1f3dbb52d..1d77f58fe 100644
--- a/nuttx/lib/string/lib_memccpy.c
+++ b/nuttx/libc/string/lib_memccpy.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/string/lib_memccpy.c
+ * libc/string/lib_memccpy.c
  *
  *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_memchr.c b/nuttx/libc/string/lib_memchr.c
index e0dec8270..0ac609104 100644
--- a/nuttx/lib/string/lib_memchr.c
+++ b/nuttx/libc/string/lib_memchr.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/string/lib_memchr.c
+ * libc/string/lib_memchr.c
  *
  *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_memcmp.c b/nuttx/libc/string/lib_memcmp.c
index eb2e1fd12..5434bb847 100644
--- a/nuttx/lib/string/lib_memcmp.c
+++ b/nuttx/libc/string/lib_memcmp.c
@@ -1,7 +1,7 @@
 /************************************************************
- * lib/string/lib_memcmp.c
+ * libc/string/lib_memcmp.c
  *
- *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -50,7 +50,7 @@
  ************************************************************/
 
 #ifndef CONFIG_ARCH_MEMCMP
-int memcmp(const void *s1, const void *s2, size_t n)
+int memcmp(FAR const void *s1, FAR const void *s2, size_t n)
 {
   unsigned char *p1 = (unsigned char *)s1;
   unsigned char *p2 = (unsigned char *)s2;
diff --git a/nuttx/lib/string/lib_memcpy.c b/nuttx/libc/string/lib_memcpy.c
index 3b62edbab..2ebd5beee 100644
--- a/nuttx/lib/string/lib_memcpy.c
+++ b/nuttx/libc/string/lib_memcpy.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/string/lib_memcpy.c
+ * libc/string/lib_memcpy.c
  *
  *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_memmove.c b/nuttx/libc/string/lib_memmove.c
index ecaeb54cf..cc8317223 100644
--- a/nuttx/lib/string/lib_memmove.c
+++ b/nuttx/libc/string/lib_memmove.c
@@ -1,5 +1,5 @@
 /************************************************************
- * lib/string/lib_memmove.c
+ * libc/string/lib_memmove.c
  *
  *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -50,23 +50,28 @@
  ************************************************************/
 
 #ifndef CONFIG_ARCH_MEMMOVE
-void *memmove(void *dest, const void *src, size_t count)
+FAR void *memmove(FAR void *dest, FAR const void *src, size_t count)
 {
   char *tmp, *s;
   if (dest <= src)
     {
       tmp = (char*) dest;
-      s = (char*) src;
+      s   = (char*) src;
       while (count--)
-	*tmp++ = *s++;
+        {
+	  *tmp++ = *s++;
+        }
     }
   else
     {
       tmp = (char*) dest + count;
-      s = (char*) src + count;
+      s   = (char*) src + count;
       while (count--)
-	*--tmp = *--s;
+        {
+	  *--tmp = *--s;
+        }
     }
+
   return dest;
 }
 #endif
diff --git a/nuttx/libc/string/lib_memset.c b/nuttx/libc/string/lib_memset.c
new file mode 100644
index 000000000..0b98ebf96
--- /dev/null
+++ b/nuttx/libc/string/lib_memset.c
@@ -0,0 +1,188 @@
+
+/****************************************************************************
+ * libc/string/lib_memset.c
+ *
+ *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ****************************************************************************/
+
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+
+#include <stdint.h>
+#include <string.h>
+#include <assert.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Can't support CONFIG_MEMSET_64BIT if the platform does not have 64-bit
+ * integer types.
+ */
+
+#ifndef CONFIG_HAVE_LONG_LONG
+#  undef CONFIG_MEMSET_64BIT
+#endif
+
+/****************************************************************************
+ * Global Functions
+ ****************************************************************************/
+
+#ifndef CONFIG_ARCH_MEMSET
+void *memset(void *s, int c, size_t n)
+{
+#ifdef CONFIG_MEMSET_OPTSPEED
+  /* This version is optimized for speed (you could do better
+   * still by exploiting processor caching or memory burst
+   * knowledge.)
+   */
+
+  uintptr_t addr  = (uintptr_t)s;
+  uint16_t  val16 = ((uint16_t)c << 8) | (uint16_t)c;
+  uint32_t  val32 = ((uint32_t)val16 << 16) | (uint32_t)val16;
+#ifdef CONFIG_MEMSET_64BIT
+  uint64_t  val64 = ((uint64_t)val32 << 32) | (uint64_t)val32;
+#endif
+
+  /* Make sure that there is something to be cleared */
+
+  if (n > 0)
+    {
+      /* Align to a 16-bit boundary */
+
+      if ((addr & 1) != 0)
+        {
+          *(uint8_t*)addr = (uint8_t)c;
+          addr += 1;
+          n    -= 1;
+        }
+
+      /* Check if there are at least 16-bits left to be written */
+
+      if (n >= 2)
+        {
+          /* Align to a 32-bit boundary (we know that the destination
+           * address is already aligned to at least a 16-bit boundary).
+           */
+
+          if ((addr & 3) != 0)
+            {
+              *(uint16_t*)addr = val16;
+              addr += 2;
+              n    -= 2;
+            }
+
+#ifndef CONFIG_MEMSET_64BIT
+          /* Loop while there are at least 32-bits left to be written */
+
+          while (n >= 4)
+            {
+              *(uint32_t*)addr = val32;
+              addr += 4;
+              n    -= 4;
+            }
+#else
+          /* Check if there are at least 32-bits left to be written */
+
+          if (n >= 4)
+            {
+              /* Align to a 64-bit boundary (we know that the destination
+               * address is already aligned to at least a 32-bit boundary).
+               */
+
+              if ((addr & 7) != 0)
+                {
+                  *(uint32_t*)addr = val32;
+                  addr += 4;
+                  n    -= 4;
+                }
+
+              /* Loop while there are at least 64-bits left to be written */
+
+              while (n >= 8)
+                {
+                  *(uint64_t*)addr = val64;
+                  addr += 8;
+                  n    -= 8;
+                }
+            }
+#endif
+        }
+
+#ifdef CONFIG_MEMSET_64BIT
+      /* We may get here with n in the range 0..7.  If n >= 4, then we should
+       * have 64-bit alignment.
+       */
+
+      if (n >= 4)
+        {
+          *(uint32_t*)addr = val32;
+          addr += 4;
+          n    -= 4;
+        }
+#endif
+
+      /* We may get here under the following conditions:
+       *
+       *   n = 0, addr may or may not be aligned
+       *   n = 1, addr is aligned to at least a 16-bit boundary
+       *   n = 2, addr is aligned to a 32-bit boundary
+       *   n = 3, addr is aligned to a 32-bit boundary
+       */
+
+      if (n >= 2)
+        {
+          *(uint16_t*)addr = val16;
+          addr += 2;
+          n    -= 2;
+        }
+
+      if (n >= 1)
+        {
+          *(uint8_t*)addr = (uint8_t)c;
+        }
+    }
+#else
+  /* This version is optimized for size */
+
+  unsigned char *p = (unsigned char*)s;
+  while (n-- > 0) *p++ = c;
+#endif
+  return s;
+}
+#endif
diff --git a/nuttx/lib/string/lib_skipspace.c b/nuttx/libc/string/lib_skipspace.c
index b4e6588e5..4b72b1ec3 100644
--- a/nuttx/lib/string/lib_skipspace.c
+++ b/nuttx/libc/string/lib_skipspace.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/string/lib_skipspace.c
+ * libc/string/lib_skipspace.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_strcasecmp.c b/nuttx/libc/string/lib_strcasecmp.c
index d4aa8cc03..df6f08118 100644
--- a/nuttx/lib/string/lib_strcasecmp.c
+++ b/nuttx/libc/string/lib_strcasecmp.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/string/lib_strcasecmp.c
+ * libc/string/lib_strcasecmp.c
  *
  *   Copyright (C) 2008-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_strcasestr.c b/nuttx/libc/string/lib_strcasestr.c
index 23f0ab57e..7f17a686d 100644
--- a/nuttx/lib/string/lib_strcasestr.c
+++ b/nuttx/libc/string/lib_strcasestr.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/string/lib_strstr.c
+ * libc/string/lib_strstr.c
  *
  *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -127,7 +127,9 @@ FAR char *strcasestr(FAR const char *str, FAR const char *substr)
       candidate++;
     }
 
-  /* Won't get here, but some compilers might complain */
+  /* Won't get here, but some compilers might complain.  Others might complain
+   * about this code being unreachable too.
+   */
 
   return NULL;
 }
diff --git a/nuttx/lib/string/lib_strcat.c b/nuttx/libc/string/lib_strcat.c
index 20350fec0..b331d3f1c 100644
--- a/nuttx/lib/string/lib_strcat.c
+++ b/nuttx/libc/string/lib_strcat.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/string/lib_strcat.c
+ * libc/string/lib_strcat.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_strchr.c b/nuttx/libc/string/lib_strchr.c
index ad7273862..e6af56eee 100644
--- a/nuttx/lib/string/lib_strchr.c
+++ b/nuttx/libc/string/lib_strchr.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/string/lib_strchr.c
+ * libc/string/lib_strchr.c
  *
  *   Copyright (C) 2007, 2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -59,6 +59,7 @@
  *
  ****************************************************************************/
 
+#ifndef CONFIG_ARCH_STRCHR
 FAR char *strchr(FAR const char *s, int c)
 {
   if (s)
@@ -74,3 +75,4 @@ FAR char *strchr(FAR const char *s, int c)
 
   return NULL;
 }
+#endif
diff --git a/nuttx/lib/string/lib_strcmp.c b/nuttx/libc/string/lib_strcmp.c
index 0e3eee890..d4036cd3e 100644
--- a/nuttx/lib/string/lib_strcmp.c
+++ b/nuttx/libc/string/lib_strcmp.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/string/lib_strcmp.c
+ * libc/string/lib_strcmp.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_strcpy.c b/nuttx/libc/string/lib_strcpy.c
index e2f70b94e..7a0576f5a 100644
--- a/nuttx/lib/string/lib_strcpy.c
+++ b/nuttx/libc/string/lib_strcpy.c
@@ -1,5 +1,5 @@
 /************************************************************************
- * lib/string/lib_strcpy.c
+ * libc/string/lib_strcpy.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_strcspn.c b/nuttx/libc/string/lib_strcspn.c
index 9da89241c..23e913fad 100644
--- a/nuttx/lib/string/lib_strcspn.c
+++ b/nuttx/libc/string/lib_strcspn.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/string/lib_strcspn.c
+ * libc/string/lib_strcspn.c
  *
  *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_strdup.c b/nuttx/libc/string/lib_strdup.c
index 44a0cbc0d..a5b3a1e8c 100644
--- a/nuttx/lib/string/lib_strdup.c
+++ b/nuttx/libc/string/lib_strdup.c
@@ -1,5 +1,5 @@
 /************************************************************************
- * lib/string//lib_strdup.c
+ * libc/string//lib_strdup.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_strerror.c b/nuttx/libc/string/lib_strerror.c
index 249f695c1..0c7ca28fd 100644
--- a/nuttx/lib/string/lib_strerror.c
+++ b/nuttx/libc/string/lib_strerror.c
@@ -1,5 +1,5 @@
 /************************************************************************
- * lib/string/lib_strerror.c
+ * libc/string/lib_strerror.c
  *
  *   Copyright (C) 2007, 2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_strlen.c b/nuttx/libc/string/lib_strlen.c
index 833305809..6077858e2 100644
--- a/nuttx/lib/string/lib_strlen.c
+++ b/nuttx/libc/string/lib_strlen.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/string/lib_strlen.c
+ * libc/string/lib_strlen.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_strncasecmp.c b/nuttx/libc/string/lib_strncasecmp.c
index be369cf0d..35f701c5e 100644
--- a/nuttx/lib/string/lib_strncasecmp.c
+++ b/nuttx/libc/string/lib_strncasecmp.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/string/lib_strncasecmp.c
+ * libc/string/lib_strncasecmp.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_strncat.c b/nuttx/libc/string/lib_strncat.c
index af893e0f9..78c54835e 100644
--- a/nuttx/lib/string/lib_strncat.c
+++ b/nuttx/libc/string/lib_strncat.c
@@ -1,5 +1,5 @@
 /************************************************************
- * lib/string/lib_strncat.c
+ * libc/string/lib_strncat.c
  *
  *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_strncmp.c b/nuttx/libc/string/lib_strncmp.c
index ce2282024..dd8b57fd0 100644
--- a/nuttx/lib/string/lib_strncmp.c
+++ b/nuttx/libc/string/lib_strncmp.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/lib_strncmp.c
+ * libc/lib_strncmp.c
  *
  *   Copyright (C) 2007-2009 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_strncpy.c b/nuttx/libc/string/lib_strncpy.c
index 149369d50..8a97aa67b 100644
--- a/nuttx/lib/string/lib_strncpy.c
+++ b/nuttx/libc/string/lib_strncpy.c
@@ -1,5 +1,5 @@
 /************************************************************
- * lib/string/lib_strncpy.c
+ * libc/string/lib_strncpy.c
  *
  *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_strndup.c b/nuttx/libc/string/lib_strndup.c
index ffaf892ea..524e09754 100644
--- a/nuttx/lib/string/lib_strndup.c
+++ b/nuttx/libc/string/lib_strndup.c
@@ -1,5 +1,5 @@
 /************************************************************************
- * lib/string//lib_strndup.c
+ * libc/string//lib_strndup.c
  *
  *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_strnlen.c b/nuttx/libc/string/lib_strnlen.c
index 2b64fe984..9bc3064cb 100644
--- a/nuttx/lib/string/lib_strnlen.c
+++ b/nuttx/libc/string/lib_strnlen.c
@@ -1,12 +1,12 @@
 /****************************************************************************
- * lib/string/lib_strnlen.c
+ * libc/string/lib_strnlen.c
  *
  * This file is part of NuttX, contributed by Michael Hrabanek
  *
  *   Copyright (C) 2010 Gregory Nutt. All rights reserved.
  *   Author: Michael Hrabanek
  *
- * Derives from the file lib/lib_strlen.c:
+ * Derives from the file libc/lib_strlen.c:
  *
  *   Copyright (C) 2007, 2008, 2010 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_strpbrk.c b/nuttx/libc/string/lib_strpbrk.c
index 02e2ea2c7..ef9b0f3e9 100644
--- a/nuttx/lib/string/lib_strpbrk.c
+++ b/nuttx/libc/string/lib_strpbrk.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/string/lib_strpbrk.c
+ * libc/string/lib_strpbrk.c
  *
  *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_strrchr.c b/nuttx/libc/string/lib_strrchr.c
index 91243ce58..08575c82b 100644
--- a/nuttx/lib/string/lib_strrchr.c
+++ b/nuttx/libc/string/lib_strrchr.c
@@ -1,5 +1,5 @@
 /************************************************************************
- * lib/string/lib_strrchr.c
+ * libc/string/lib_strrchr.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_strspn.c b/nuttx/libc/string/lib_strspn.c
index e7b5ea0a5..6894b2b9d 100644
--- a/nuttx/lib/string/lib_strspn.c
+++ b/nuttx/libc/string/lib_strspn.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/string/lib_strspn.c
+ * libc/string/lib_strspn.c
  *
  *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_strstr.c b/nuttx/libc/string/lib_strstr.c
index b8c896fa2..7a60a680d 100644
--- a/nuttx/lib/string/lib_strstr.c
+++ b/nuttx/libc/string/lib_strstr.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/string/lib_strstr.c
+ * libc/string/lib_strstr.c
  *
  *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -97,7 +97,9 @@ char *strstr(const char *str, const char *substr)
       candidate++;
     }
 
-  /* Won't get here, but some compilers might complain */
+  /* Won't get here, but some compilers might complain.  Other compilers
+   * might complain about this code being unreachable too.
+   */
 
   return NULL;
 }
diff --git a/nuttx/lib/string/lib_strtod.c b/nuttx/libc/string/lib_strtod.c
index 8fecd4571..58dfd6a29 100644
--- a/nuttx/lib/string/lib_strtod.c
+++ b/nuttx/libc/string/lib_strtod.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/string/lib_strtod.c
+ * libc/string/lib_strtod.c
  * Convert string to double
  *
  *   Copyright (C) 2002 Michael Ringgaard. All rights reserved.
diff --git a/nuttx/lib/string/lib_strtok.c b/nuttx/libc/string/lib_strtok.c
index c40993135..85d6597d7 100644
--- a/nuttx/lib/string/lib_strtok.c
+++ b/nuttx/libc/string/lib_strtok.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/string/lib_strtok.c
+ * libc/string/lib_strtok.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_strtokr.c b/nuttx/libc/string/lib_strtokr.c
index 1c571b6ae..c7845be64 100644
--- a/nuttx/lib/string/lib_strtokr.c
+++ b/nuttx/libc/string/lib_strtokr.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/string/lib_strtokr.c
+ * libc/string/lib_strtokr.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_strtol.c b/nuttx/libc/string/lib_strtol.c
index c17d87e63..6ac0d6827 100644
--- a/nuttx/lib/string/lib_strtol.c
+++ b/nuttx/libc/string/lib_strtol.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/string/lib_strtol.c
+ * libc/string/lib_strtol.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_strtoll.c b/nuttx/libc/string/lib_strtoll.c
index 242e025c0..99fba08eb 100644
--- a/nuttx/lib/string/lib_strtoll.c
+++ b/nuttx/libc/string/lib_strtoll.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/string/lib_strtoll.c
+ * libc/string/lib_strtoll.c
  *
  *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_strtoul.c b/nuttx/libc/string/lib_strtoul.c
index b0d2d090e..8f27ae3f2 100644
--- a/nuttx/lib/string/lib_strtoul.c
+++ b/nuttx/libc/string/lib_strtoul.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * /lib/string/lib_strtoul.c
+ * /libc/string/lib_strtoul.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/string/lib_strtoull.c b/nuttx/libc/string/lib_strtoull.c
index 6567457c0..4808114af 100644
--- a/nuttx/lib/string/lib_strtoull.c
+++ b/nuttx/libc/string/lib_strtoull.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * /lib/string/lib_strtoull.c
+ * /libc/string/lib_strtoull.c
  *
  *   Copyright (C) 2009, 2010 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/libc/string/lib_vikmemcpy.c b/nuttx/libc/string/lib_vikmemcpy.c
new file mode 100644
index 000000000..28bf4a4ce
--- /dev/null
+++ b/nuttx/libc/string/lib_vikmemcpy.c
@@ -0,0 +1,348 @@
+/****************************************************************************
+ * File: libc/string/lib_vikmemcpy.c
+ *
+ * This is version of the optimized memcpy by Daniel Vik, adapted to the
+ * NuttX environment.
+ *
+ *   Copyright (C) 1999-2010 Daniel Vik
+ *
+ * Adaptations include:
+ * - File name change
+ * - Use of types defined in stdint.h
+ * - Integration with the NuttX configuration system
+ * - Other cosmetic changes for consistency with NuttX coding standards
+ * 
+ * This software is provided 'as-is', without any express or implied
+ * warranty. In no event will the authors be held liable for any
+ * damages arising from the use of this software.
+ * Permission is granted to anyone to use this software for any
+ * purpose, including commercial applications, and to alter it and
+ * redistribute it freely, subject to the following restrictions:
+ * 
+ * 1. The origin of this software must not be misrepresented; you
+ *    must not claim that you wrote the original software. If you
+ *    use this software in a product, an acknowledgment in the
+ *    use this software in a product, an acknowledgment in the
+ *    product documentation would be appreciated but is not
+ *    required.
+ * 
+ * 2. Altered source versions must be plainly marked as such, and
+ *    must not be misrepresented as being the original software.
+ * 
+ * 3. This notice may not be removed or altered from any source
+ *    distribution.
+ * 
+ * Description: Implementation of the standard library function memcpy.
+ *              This implementation of memcpy() is ANSI-C89 compatible.
+ *
+ * The following configuration options can be set:
+ *
+ *   CONFIG_ENDIAN_BIG
+ *     Uses processor with big endian addressing. Default is little endian.
+ *
+ *   CONFIG_MEMCPY_PRE_INC_PTRS
+ *     Use pre increment of pointers. Default is post increment of pointers.
+ *
+ *   CONFIG_MEMCPY_INDEXED_COPY
+ *     Copying data using array indexing. Using this option, disables the
+ *     CONFIG_MEMCPY_PRE_INC_PTRS option.
+ *
+ *   CONFIG_MEMCPY_64BIT - Compiles memcpy for 64 bit architectures
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Configuration definitions.
+ ****************************************************************************/
+
+#define CONFIG_MEMCPY_INDEXED_COPY
+
+/********************************************************************
+ * Included Files
+ *******************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <stddef.h>
+#include <stdint.h>
+#include <string.h>
+
+/********************************************************************
+ * Pre-processor Definitions
+ *******************************************************************/
+
+/* Can't support CONFIG_MEMCPY_64BIT if the platform does not have 64-bit
+ * integer types.
+ */
+
+#ifndef CONFIG_HAVE_LONG_LONG
+#  undef CONFIG_MEMCPY_64BIT
+#endif
+
+/* Remove definitions when CONFIG_MEMCPY_INDEXED_COPY is defined */
+
+#if defined (CONFIG_MEMCPY_INDEXED_COPY)
+#  if defined (CONFIG_MEMCPY_PRE_INC_PTRS)
+#    undef CONFIG_MEMCPY_PRE_INC_PTRS
+#  endif /* CONFIG_MEMCPY_PRE_INC_PTRS */
+#endif /* CONFIG_MEMCPY_INDEXED_COPY */
+
+/* Definitions for pre and post increment of pointers */
+
+#if defined (CONFIG_MEMCPY_PRE_INC_PTRS)
+
+#  define START_VAL(x)            (x)--
+#  define INC_VAL(x)              *++(x)
+#  define CAST_TO_U8(p, o)        ((uint8_t*)p + o + TYPE_WIDTH)
+#  define WHILE_DEST_BREAK        (TYPE_WIDTH - 1)
+#  define PRE_LOOP_ADJUST         - (TYPE_WIDTH - 1)
+#  define PRE_SWITCH_ADJUST       + 1
+
+#else /* CONFIG_MEMCPY_PRE_INC_PTRS */
+
+#  define START_VAL(x)
+#  define INC_VAL(x)              *(x)++
+#  define CAST_TO_U8(p, o)        ((uint8_t*)p + o)
+#  define WHILE_DEST_BREAK        0
+#  define PRE_LOOP_ADJUST
+#  define PRE_SWITCH_ADJUST
+
+#endif /* CONFIG_MEMCPY_PRE_INC_PTRS */
+
+/* Definitions for endian-ness */
+
+#ifdef CONFIG_ENDIAN_BIG
+
+#  define SHL <<
+#  define SHR >>
+
+#else /* CONFIG_ENDIAN_BIG */
+
+#  define SHL >>
+#  define SHR <<
+
+#endif /* CONFIG_ENDIAN_BIG */
+
+/********************************************************************
+ * Macros for copying words of  different alignment.
+ * Uses incremening pointers.
+ *******************************************************************/
+
+#define CP_INCR()                         \
+{                                         \
+  INC_VAL(dstN) = INC_VAL(srcN);          \
+}
+
+#define CP_INCR_SH(shl, shr)              \
+{                                         \
+  dstWord       = srcWord SHL shl;        \
+  srcWord       = INC_VAL(srcN);          \
+  dstWord      |= srcWord SHR shr;        \
+  INC_VAL(dstN) = dstWord;                \
+}
+
+/********************************************************************
+ * Macros for copying words of  different alignment.
+ * Uses array indexes.
+ *******************************************************************/
+
+#define CP_INDEX(idx)                     \
+{                                         \
+  dstN[idx] = srcN[idx];                  \
+}
+
+#define CP_INDEX_SH(x, shl, shr)          \
+{                                         \
+  dstWord   = srcWord SHL shl;            \
+  srcWord   = srcN[x];                    \
+  dstWord  |= srcWord SHR shr;            \
+  dstN[x]   = dstWord;                    \
+}
+
+/********************************************************************
+ * Macros for copying words of different alignment.
+ * Uses incremening pointers or array indexes depending on
+ * configuration.
+ *******************************************************************/
+
+#if defined (CONFIG_MEMCPY_INDEXED_COPY)
+
+#  define CP(idx)               CP_INDEX(idx)
+#  define CP_SH(idx, shl, shr)  CP_INDEX_SH(idx, shl, shr)
+
+#  define INC_INDEX(p, o)       ((p) += (o))
+
+#else /* CONFIG_MEMCPY_INDEXED_COPY */
+
+#  define CP(idx)               CP_INCR()
+#  define CP_SH(idx, shl, shr)  CP_INCR_SH(shl, shr)
+
+#  define INC_INDEX(p, o)
+
+#endif /* CONFIG_MEMCPY_INDEXED_COPY */
+
+#define COPY_REMAINING(count)                                     \
+{                                                                 \
+  START_VAL(dst8);                                                \
+  START_VAL(src8);                                                \
+                                                                  \
+  switch (count)                                                  \
+    {                                                             \
+    case 7: INC_VAL(dst8) = INC_VAL(src8);                        \
+    case 6: INC_VAL(dst8) = INC_VAL(src8);                        \
+    case 5: INC_VAL(dst8) = INC_VAL(src8);                        \
+    case 4: INC_VAL(dst8) = INC_VAL(src8);                        \
+    case 3: INC_VAL(dst8) = INC_VAL(src8);                        \
+    case 2: INC_VAL(dst8) = INC_VAL(src8);                        \
+    case 1: INC_VAL(dst8) = INC_VAL(src8);                        \
+    case 0:                                                       \
+    default: break;                                               \
+    }                                                             \
+}
+
+#define COPY_NO_SHIFT()                                           \
+{                                                                 \
+  UIntN* dstN = (UIntN*)(dst8 PRE_LOOP_ADJUST);                   \
+  UIntN* srcN = (UIntN*)(src8 PRE_LOOP_ADJUST);                   \
+  size_t length = count / TYPE_WIDTH;                             \
+                                                                  \
+  while (length & 7)                                              \
+    {                                                             \
+      CP_INCR();                                                  \
+      length--;                                                   \
+    }                                                             \
+                                                                  \
+  length /= 8;                                                    \
+                                                                  \
+  while (length--)                                                \
+    {                                                             \
+      CP(0);                                                      \
+      CP(1);                                                      \
+      CP(2);                                                      \
+      CP(3);                                                      \
+      CP(4);                                                      \
+      CP(5);                                                      \
+      CP(6);                                                      \
+      CP(7);                                                      \
+                                                                  \
+      INC_INDEX(dstN, 8);                                         \
+      INC_INDEX(srcN, 8);                                         \
+    }                                                             \
+                                                                  \
+  src8 = CAST_TO_U8(srcN, 0);                                     \
+  dst8 = CAST_TO_U8(dstN, 0);                                     \
+                                                                  \
+  COPY_REMAINING(count & (TYPE_WIDTH - 1));                       \
+                                                                  \
+  return dest;                                                    \
+}
+
+#define COPY_SHIFT(shift)                                         \
+{                                                                 \
+  UIntN* dstN  = (UIntN*)((((UIntN)dst8) PRE_LOOP_ADJUST) &       \
+                           ~(TYPE_WIDTH - 1));                    \
+  UIntN* srcN  = (UIntN*)((((UIntN)src8) PRE_LOOP_ADJUST) &       \
+                           ~(TYPE_WIDTH - 1));                    \
+  size_t length  = count / TYPE_WIDTH;                            \
+  UIntN srcWord = INC_VAL(srcN);                                  \
+  UIntN dstWord;                                                  \
+                                                                  \
+  while (length & 7)                                              \
+    {                                                             \
+      CP_INCR_SH(8 * shift, 8 * (TYPE_WIDTH - shift));            \
+      length--;                                                   \
+    }                                                             \
+                                                                  \
+  length /= 8;                                                    \
+                                                                  \
+  while (length--)                                                \
+    {                                                             \
+      CP_SH(0, 8 * shift, 8 * (TYPE_WIDTH - shift));              \
+      CP_SH(1, 8 * shift, 8 * (TYPE_WIDTH - shift));              \
+      CP_SH(2, 8 * shift, 8 * (TYPE_WIDTH - shift));              \
+      CP_SH(3, 8 * shift, 8 * (TYPE_WIDTH - shift));              \
+      CP_SH(4, 8 * shift, 8 * (TYPE_WIDTH - shift));              \
+      CP_SH(5, 8 * shift, 8 * (TYPE_WIDTH - shift));              \
+      CP_SH(6, 8 * shift, 8 * (TYPE_WIDTH - shift));              \
+      CP_SH(7, 8 * shift, 8 * (TYPE_WIDTH - shift));              \
+                                                                  \
+      INC_INDEX(dstN, 8);                                         \
+      INC_INDEX(srcN, 8);                                         \
+    }                                                             \
+                                                                  \
+  src8 = CAST_TO_U8(srcN, (shift - TYPE_WIDTH));                  \
+  dst8 = CAST_TO_U8(dstN, 0);                                     \
+                                                                  \
+  COPY_REMAINING(count & (TYPE_WIDTH - 1));                       \
+                                                                  \
+  return dest;                                                    \
+}
+
+/********************************************************************
+ * Type Definitions
+ *******************************************************************/
+
+#ifdef CONFIG_MEMCPY_64BIT
+typedef uint64_t            UIntN;
+#  define TYPE_WIDTH        8L
+#else
+typedef uint32_t            UIntN;
+#  define TYPE_WIDTH        4L
+#endif
+
+/********************************************************************
+ * Public Functions
+ *******************************************************************/
+/********************************************************************
+ * Name: memcpy
+ *
+ * Description:
+ *   Copies count bytes from src to dest. No overlap check is performed.
+ *
+ * Input Parameters:
+ *   dest        - pointer to destination buffer
+ *   src         - pointer to source buffer
+ *   count       - number of bytes to copy
+ *
+ * Returned Value:
+ *   A pointer to destination buffer
+ *
+ *******************************************************************/
+
+void *memcpy(void *dest, const void *src, size_t count) 
+{
+  uint8_t *dst8 = (uint8_t*)dest;
+  uint8_t *src8 = (uint8_t*)src;
+
+  if (count < 8)
+    {
+      COPY_REMAINING(count);
+      return dest;
+    }
+
+  START_VAL(dst8);
+  START_VAL(src8);
+
+  while (((UIntN)dst8 & (TYPE_WIDTH - 1)) != WHILE_DEST_BREAK)
+    {
+      INC_VAL(dst8) = INC_VAL(src8);
+      count--;
+    }
+
+  switch ((((UIntN)src8) PRE_SWITCH_ADJUST) & (TYPE_WIDTH - 1))
+    {
+    case 0: COPY_NO_SHIFT(); break;
+    case 1: COPY_SHIFT(1);   break;
+    case 2: COPY_SHIFT(2);   break;
+    case 3: COPY_SHIFT(3);   break;
+#if TYPE_WIDTH > 4
+    case 4: COPY_SHIFT(4);   break;
+    case 5: COPY_SHIFT(5);   break;
+    case 6: COPY_SHIFT(6);   break;
+    case 7: COPY_SHIFT(7);   break;
+#endif
+    }
+
+  return dest;
+}
diff --git a/nuttx/lib/termios/Make.defs b/nuttx/libc/termios/Make.defs
index a6bb77f83..d20a5f95c 100644
--- a/nuttx/lib/termios/Make.defs
+++ b/nuttx/libc/termios/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# lib/misc/Make.defs
+# libc/misc/Make.defs
 #
 #   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/termios/lib_cfgetspeed.c b/nuttx/libc/termios/lib_cfgetspeed.c
index d7f0dc473..da10daac1 100644
--- a/nuttx/lib/termios/lib_cfgetspeed.c
+++ b/nuttx/libc/termios/lib_cfgetspeed.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/termios/lib_cfgetspeed.c
+ * libc/termios/lib_cfgetspeed.c
  *
  *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/termios/lib_cfsetspeed.c b/nuttx/libc/termios/lib_cfsetspeed.c
index bf9e66064..a2a9475c4 100644
--- a/nuttx/lib/termios/lib_cfsetspeed.c
+++ b/nuttx/libc/termios/lib_cfsetspeed.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/termios/lib_cfsetspeed.c
+ * libc/termios/lib_cfsetspeed.c
  *
  *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -110,12 +110,7 @@
 
 int cfsetspeed(FAR struct termios *termiosp, speed_t speed)
 {
-  FAR speed_t *speedp;
-
   DEBUGASSERT(termiosp);
-
-  speedp = (FAR speed_t *)&termiosp->c_speed;
- *speedp = speed;
-
+  termiosp->c_speed = speed;
   return OK;
 }
diff --git a/nuttx/lib/termios/lib_tcflush.c b/nuttx/libc/termios/lib_tcflush.c
index 338524bdd..1a9710f6a 100644
--- a/nuttx/lib/termios/lib_tcflush.c
+++ b/nuttx/libc/termios/lib_tcflush.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/termios/lib_tcflush.c
+ * libc/termios/lib_tcflush.c
  *
  *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/termios/lib_tcgetattr.c b/nuttx/libc/termios/lib_tcgetattr.c
index 500871d9f..e8d311260 100644
--- a/nuttx/lib/termios/lib_tcgetattr.c
+++ b/nuttx/libc/termios/lib_tcgetattr.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/termios/lib_tcgetattr.c
+ * libc/termios/lib_tcgetattr.c
  *
  *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/termios/lib_tcsetattr.c b/nuttx/libc/termios/lib_tcsetattr.c
index 791b519c8..901f2a136 100644
--- a/nuttx/lib/termios/lib_tcsetattr.c
+++ b/nuttx/libc/termios/lib_tcsetattr.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/termios/lib_tcsetattr.c
+ * libc/termios/lib_tcsetattr.c
  *
  *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/time/Make.defs b/nuttx/libc/time/Make.defs
index ab7414229..4848813d1 100644
--- a/nuttx/lib/time/Make.defs
+++ b/nuttx/libc/time/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# lib/time/Make.defs
+# libc/time/Make.defs
 #
 #   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/time/lib_calendar2utc.c b/nuttx/libc/time/lib_calendar2utc.c
index e80c292fc..1b8c40a9e 100644
--- a/nuttx/lib/time/lib_calendar2utc.c
+++ b/nuttx/libc/time/lib_calendar2utc.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/time/lib_calendar2utc.c
+ * libc/time/lib_calendar2utc.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/time/lib_daysbeforemonth.c b/nuttx/libc/time/lib_daysbeforemonth.c
index 8000b0e7a..28f4d67a9 100644
--- a/nuttx/lib/time/lib_daysbeforemonth.c
+++ b/nuttx/libc/time/lib_daysbeforemonth.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/time/lib_daysbeforemonth.c
+ * libc/time/lib_daysbeforemonth.c
  *
  *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/time/lib_gmtime.c b/nuttx/libc/time/lib_gmtime.c
index 99afeded9..7a4d0f5e1 100644
--- a/nuttx/lib/time/lib_gmtime.c
+++ b/nuttx/libc/time/lib_gmtime.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/time/lib_gmtime.c
+ * libc/time/lib_gmtime.c
  *
  *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/time/lib_gmtimer.c b/nuttx/libc/time/lib_gmtimer.c
index ba1c9724f..d98620527 100644
--- a/nuttx/lib/time/lib_gmtimer.c
+++ b/nuttx/libc/time/lib_gmtimer.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/time/lib_gmtimer.c
+ * libc/time/lib_gmtimer.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/time/lib_isleapyear.c b/nuttx/libc/time/lib_isleapyear.c
index 966c248e0..386e205b2 100644
--- a/nuttx/lib/time/lib_isleapyear.c
+++ b/nuttx/libc/time/lib_isleapyear.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/time/lib_isleapyear.c
+ * libc/time/lib_isleapyear.c
  *
  *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/time/lib_mktime.c b/nuttx/libc/time/lib_mktime.c
index 8c17e7c0a..25254d70e 100644
--- a/nuttx/lib/time/lib_mktime.c
+++ b/nuttx/libc/time/lib_mktime.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/time/lib_mktime.c
+ * libc/time/lib_mktime.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/time/lib_strftime.c b/nuttx/libc/time/lib_strftime.c
index cd0804f55..3b0c8dd8f 100644
--- a/nuttx/lib/time/lib_strftime.c
+++ b/nuttx/libc/time/lib_strftime.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/time/lib_strftime.c
+ * libc/time/lib_strftime.c
  *
  *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/time/lib_time.c b/nuttx/libc/time/lib_time.c
index 106a04c36..673f6fdcd 100644
--- a/nuttx/lib/time/lib_time.c
+++ b/nuttx/libc/time/lib_time.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/time/lib_time.c
+ * libc/time/lib_time.c
  *
  *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/unistd/Make.defs b/nuttx/libc/unistd/Make.defs
index e1441a48d..67fce9b1d 100644
--- a/nuttx/lib/unistd/Make.defs
+++ b/nuttx/libc/unistd/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# lib/unistd/Make.defs
+# libc/unistd/Make.defs
 #
 #   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/unistd/lib_chdir.c b/nuttx/libc/unistd/lib_chdir.c
index 3dd1333ce..8953fb19b 100644
--- a/nuttx/lib/unistd/lib_chdir.c
+++ b/nuttx/libc/unistd/lib_chdir.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/unistd/lib_chdir.c
+ * libc/unistd/lib_chdir.c
  *
  *   Copyright (C) 2008-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/unistd/lib_getcwd.c b/nuttx/libc/unistd/lib_getcwd.c
index b94823300..717ef2971 100644
--- a/nuttx/lib/unistd/lib_getcwd.c
+++ b/nuttx/libc/unistd/lib_getcwd.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/unistd/lib_getcwd.c
+ * libc/unistd/lib_getcwd.c
  *
  *   Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/unistd/lib_getopt.c b/nuttx/libc/unistd/lib_getopt.c
index 832d28721..1a9190976 100644
--- a/nuttx/lib/unistd/lib_getopt.c
+++ b/nuttx/libc/unistd/lib_getopt.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/unistd/lib_getopt.c
+ * libc/unistd/lib_getopt.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/unistd/lib_getoptargp.c b/nuttx/libc/unistd/lib_getoptargp.c
index 98a485016..5610342ca 100644
--- a/nuttx/lib/unistd/lib_getoptargp.c
+++ b/nuttx/libc/unistd/lib_getoptargp.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/unistd/lib_getoptargp.c
+ * libc/unistd/lib_getoptargp.c
  *
  *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/unistd/lib_getoptindp.c b/nuttx/libc/unistd/lib_getoptindp.c
index 7714f8e70..94ea4d3fc 100644
--- a/nuttx/lib/unistd/lib_getoptindp.c
+++ b/nuttx/libc/unistd/lib_getoptindp.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/unistd/lib_getoptindp.c
+ * libc/unistd/lib_getoptindp.c
  *
  *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/unistd/lib_getoptoptp.c b/nuttx/libc/unistd/lib_getoptoptp.c
index 4805b7ac3..cd99b172f 100644
--- a/nuttx/lib/unistd/lib_getoptoptp.c
+++ b/nuttx/libc/unistd/lib_getoptoptp.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/unistd/lib_getoptoptp.c
+ * libc/unistd/lib_getoptoptp.c
  *
  *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/libxx/Kconfig b/nuttx/libxx/Kconfig
index 4133a0ceb..9c78342c2 100644
--- a/nuttx/libxx/Kconfig
+++ b/nuttx/libxx/Kconfig
@@ -3,6 +3,16 @@
 # see misc/tools/kconfig-language.txt.
 #
 
+comment "Basic CXX Support"
+
+config C99_BOOL8
+	bool "sizeof(_Bool) is 8-bits"
+	default n
+	---help---
+		This setting means (1) your C++ compiler has sizeof(_Bool) == 8, (2)
+		your C compiler supports the C99 _Bool intrinsic type, and (2) that
+		the C99 _Bool type also has size 1.
+
 config HAVE_CXX
 	bool "Have C++ compiler"
 	default n
@@ -10,6 +20,8 @@ config HAVE_CXX
 		Toolchain supports C++ and CXX, CXXFLAGS, and COMPILEXX have been 
 		defined in the configurations Make.defs file.
 
+if HAVE_CXX
+
 config HAVE_CXXINITIALIZE
 	bool "Have C++ initialization"
 	default n
@@ -25,3 +37,33 @@ config CXX_NEWLONG
 		size_t may be type long or type int.  This matters for some
 		C++ library routines because the NuttX size_t might not have
 		the same underlying type as your toolchain's size_t.
+
+comment "uClibc++ Standard C++ Library"
+
+config UCLIBCXX
+	bool "Build uClibc++ (must be installed)"
+	default n
+	---help---
+		If you have installed uClibc++ into the NuttX source try, then it can
+		be built by selecting this option.  See misc/uClibc++/README.txt for
+		information on installing uClibc++.
+
+if UCLIBCXX
+
+config UCLIBCXX_EXCEPTION
+	bool "Enable Exception Suppport"
+	default y
+
+config UCLIBCXX_IOSTREAM_BUFSIZE
+	int "IO Stream Buffer Size"
+	default 32
+
+config UCLIBCXX_HAVE_LIBSUPCXX
+	bool "Have libsupc++ (required)"
+	default y
+	---help---
+		Select if your toolchain provides libsupc++.  This option is required
+		at present because the built-in libsupc++ support is incomplete.
+
+endif
+endif
diff --git a/nuttx/libxx/Makefile b/nuttx/libxx/Makefile
index 4122931ac..2ab146e9c 100644
--- a/nuttx/libxx/Makefile
+++ b/nuttx/libxx/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # libxx/Makefile
 #
-#   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2009, 2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -35,20 +35,56 @@
 
 -include $(TOPDIR)/Make.defs
 
-ASRCS		= 
-AOBJS		= $(ASRCS:.S=$(OBJEXT))
-CSRCS		= 
-COBJS		= $(CSRCS:.c=$(OBJEXT))
-CXXSRCS		= libxx_cxapurevirtual.cxx libxx_delete.cxx libxx_deletea.cxx \
-			  libxx_eabi_atexit.cxx libxx_new.cxx libxx_newa.cxx 
-CXXOBJS		= $(CXXSRCS:.cxx=$(OBJEXT))
+# Sources
 
-SRCS		= $(ASRCS) $(CSRCS) $(CXXSRCS)
-OBJS		= $(AOBJS) $(COBJS) $(CXXOBJS)
+ASRCS = 
+CSRCS = 
 
-BIN		= liblibxx$(LIBEXT)
+CXXSRCS  = libxx_cxapurevirtual.cxx libxx_eabi_atexit.cxx  libxx_cxa_atexit.cxx
 
-all:	$(BIN)
+# Some of the libxx/ files are not need if uClibc++ is installed because
+# uClibx++ replaces them
+
+ifneq ($(CONFIG_UCLIBCXX),y)
+CXXSRCS += libxx_delete.cxx libxx_deletea.cxx libxx_new.cxx libxx_newa.cxx
+CXXSRCS += libxx_stdthrow.cxx
+else
+ifneq ($(UCLIBCXX_EXCEPTION),y)
+CXXSRCS += libxx_stdthrow.cxx
+endif
+endif
+
+# Paths
+
+DEPPATH = --dep-path .
+VPATH = .
+
+# Include the uClibc++ Make.defs file if selected.  If it is included,
+# the uClibc++/Make.defs file will add its files to the source file list,
+# add its DEPPATH info, and will add the appropriate paths to the VPATH
+# variable
+#
+# Note that an error will occur if you select CONFIG_LIBXX_UCLIBCXX
+# without installing the uClibc++ package.  This is intentional to let
+# you know about the configuration problem.  Refer to misc/uClibc++/README.txt
+# for more information
+
+ifeq ($(CONFIG_UCLIBCXX),y)
+include uClibc++/Make.defs
+endif
+
+# Object Files
+
+AOBJS = $(ASRCS:.S=$(OBJEXT))
+COBJS = $(CSRCS:.c=$(OBJEXT))
+CXXOBJS = $(CXXSRCS:.cxx=$(OBJEXT))
+
+SRCS = $(ASRCS) $(CSRCS) $(CXXSRCS)
+OBJS = $(AOBJS) $(COBJS) $(CXXOBJS)
+
+BIN = libcxx$(LIBEXT)
+
+all: $(BIN)
 
 $(AOBJS): %$(OBJEXT): %.S
 	$(call ASSEMBLE, $<, $@)
@@ -60,21 +96,20 @@ $(CXXOBJS): %$(OBJEXT): %.cxx
 	$(call COMPILEXX, $<, $@)
 
 $(BIN):	$(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $@, $${obj}); \
-	done ; )
+	$(call ARCHIVE, $@, $(OBJS))
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(CXX) -- $(CXXFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
+	$(Q) $(MKDEP) $(DEPPATH) "$(CXX)" -- $(CXXFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
 
 depend: .depend
 
 clean:
-	@rm -f $(BIN) *~ .*.swp
+	$(call DELFILE, $(BIN))
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/nuttx/libxx/README.txt b/nuttx/libxx/README.txt
index 6cf066f08..7a1c51fa7 100644
--- a/nuttx/libxx/README.txt
+++ b/nuttx/libxx/README.txt
@@ -12,6 +12,10 @@ are recommended:
  - uClibc++   http://cxx.uclibc.org/
  - uSTL       http://ustl.sourceforge.net/
 
+There is a version of uClibc++ that is customized for NuttX that can
+be found here:  misc/uClibc++.  See misc/uClibc++ for installation
+instructions.
+
 At present, only the following are supported here:
 
  - void *operator new(std::size_t nbytes);
@@ -19,6 +23,7 @@ At present, only the following are supported here:
  - void operator delete[](void *ptr);
  - void __cxa_pure_virtual(void);
  - int __aeabi_atexit(void* object, void (*destroyer)(void*), void *dso_handle);
+ - int __cxa_atexit(__cxa_exitfunc_t func, FAR void *arg, FAR void *dso_handle);
  
 operator new
 ------------
diff --git a/nuttx/libxx/libxx_cxa_atexit.cxx b/nuttx/libxx/libxx_cxa_atexit.cxx
new file mode 100644
index 000000000..cd31f94f6
--- /dev/null
+++ b/nuttx/libxx/libxx_cxa_atexit.cxx
@@ -0,0 +1,146 @@
+//***************************************************************************
+// libxx/libxx_eabi_atexit.cxx
+//
+//   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+//   Author: Gregory Nutt <gnutt@nuttx.org>
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+// 1. Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+// 2. 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.
+// 3. Neither the name NuttX 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.
+//
+//***************************************************************************
+
+//***************************************************************************
+// Included Files
+//***************************************************************************
+
+#include <nuttx/config.h>
+
+#include <cstdlib>
+#include <cassert>
+
+#include "libxx_internal.hxx"
+
+//***************************************************************************
+// Pre-processor Definitions
+//***************************************************************************
+
+//***************************************************************************
+// Private Types
+//***************************************************************************
+
+struct __cxa_atexit_s
+{
+  __cxa_exitfunc_t func;
+  FAR void *arg;
+};
+
+//***************************************************************************
+// Private Data
+//***************************************************************************
+
+extern "C"
+{
+  //*************************************************************************
+  // Public Data
+  //*************************************************************************
+
+  FAR void *__dso_handle = NULL;
+
+  //*************************************************************************
+  // Private Functions
+  //*************************************************************************
+
+  //*************************************************************************
+  // Name: __cxa_callback
+  //
+  // Description:
+  //   This is really just an "adaptor" function that matches the form of
+  //   the __cxa_exitfunc_t to an onexitfunc_t using an allocated structure
+  //   to marshall the call parameters.
+  //
+  //*************************************************************************
+
+#if CONFIG_SCHED_ONEXIT
+  static void __cxa_callback(int exitcode, FAR void *arg)
+  {
+    FAR struct __cxa_atexit_s *alloc = (FAR struct __cxa_atexit_s *)arg;
+    DEBUGASSERT(alloc && alloc->func);
+
+    alloc->func(alloc->arg);
+    free(alloc);
+  }
+#endif
+
+  //*************************************************************************
+  // Public Functions
+  //*************************************************************************
+
+  //*************************************************************************
+  // Name: __cxa_atexit
+  //
+  // Description:
+  //   __cxa_atexit() registers a destructor function to be called by exit().
+  //   On a call to exit(), the registered functions should be called with
+  //   the single argument 'arg'. Destructor functions shall always be
+  //   called in the reverse order to their registration (i.e. the most
+  //   recently registered function shall be called first),
+  //
+  //   If shared libraries were supported, the callbacks should be invoked
+  //   when the shared library is unloaded as well.
+  //
+  // Reference:
+  //   Linux base
+  //
+  //*************************************************************************
+
+  int __cxa_atexit(__cxa_exitfunc_t func, FAR void *arg, FAR void *dso_handle)
+    {
+#if CONFIG_SCHED_ONEXIT
+      // Allocate memory to hold the marshaled __cxa_exitfunc_t call
+      // information.
+
+      FAR struct __cxa_atexit_s *alloc =
+        (FAR struct __cxa_atexit_s *)malloc(sizeof(struct __cxa_atexit_s));
+
+      if (alloc)
+        {
+          // Register the function to be called when the task/thread exists.
+
+          alloc->func = func;
+          alloc->arg  = arg;
+
+          return on_exit(__cxa_callback, alloc);
+        }
+      else
+#endif
+        {
+          // What else can we do?
+
+          return 0;
+        }
+    }
+}
diff --git a/nuttx/libxx/libxx_eabi_atexit.cxx b/nuttx/libxx/libxx_eabi_atexit.cxx
index aa0ff6956..25f8306a8 100644
--- a/nuttx/libxx/libxx_eabi_atexit.cxx
+++ b/nuttx/libxx/libxx_eabi_atexit.cxx
@@ -40,27 +40,23 @@
 #include <nuttx/config.h>
 #include <cstdlib>
 
+#include "libxx_internal.hxx"
+
 //***************************************************************************
-// Definitions
+// Pre-processor Definitions
 //***************************************************************************
 
 //***************************************************************************
 // Private Data
 //***************************************************************************
 
+//***************************************************************************
+// Public Functions
+//***************************************************************************
+
 extern "C"
 {
   //*************************************************************************
-  // Public Data
-  //*************************************************************************
-
-  void *__dso_handle = NULL;
-
-  //*************************************************************************
-  // Public Functions
-  //*************************************************************************
-
-  //*************************************************************************
   // Name: __aeabi_atexit
   //
   // Description:
@@ -75,9 +71,8 @@ extern "C"
   //
   //*************************************************************************
 
-  int __aeabi_atexit(void* object, void (*destroyer)(void*), void *dso_handle)
+  int __aeabi_atexit(FAR void *object, __cxa_exitfunc_t func, FAR void *dso_handle)
     {
-      //return __cxa_atexit(destroyer, object, dso_handle); // 0 ? OK; non-0 ? failed }
-      return 0;
+      return __cxa_atexit(func, object, dso_handle); // 0 ? OK; non-0 ? failed
     }
 }
diff --git a/nuttx/libxx/libxx_internal.hxx b/nuttx/libxx/libxx_internal.hxx
new file mode 100644
index 000000000..fe84c763e
--- /dev/null
+++ b/nuttx/libxx/libxx_internal.hxx
@@ -0,0 +1,67 @@
+//***************************************************************************
+// lib/libxx_internal.h
+//
+//   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+//   Author: Gregory Nutt <gnutt@nuttx.org>
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+// 1. Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+// 2. 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.
+// 3. Neither the name NuttX 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.
+//
+//***************************************************************************
+
+#ifndef __LIBXX_LIBXX_INTERNAL_HXX
+#define __LIBXX_LIBXX_INTERNAL_HXX
+
+//***************************************************************************
+// Included Files
+//***************************************************************************
+
+#include <nuttx/config.h>
+
+//***************************************************************************
+// Definitions
+//***************************************************************************
+
+//***************************************************************************
+// Public Types
+//***************************************************************************/
+
+typedef CODE void (*__cxa_exitfunc_t)(void *arg);
+
+//***************************************************************************
+// Public Variables
+//***************************************************************************
+
+extern "C" FAR void *__dso_handle;
+
+//***************************************************************************
+// Public Function Prototypes
+//***************************************************************************
+
+extern "C" int __cxa_atexit(__cxa_exitfunc_t func, void *arg, void *dso_handle);
+
+#endif // __LIBXX_LIBXX_INTERNAL_HXX
diff --git a/nuttx/libxx/libxx_stdthrow.cxx b/nuttx/libxx/libxx_stdthrow.cxx
new file mode 100644
index 000000000..588fae264
--- /dev/null
+++ b/nuttx/libxx/libxx_stdthrow.cxx
@@ -0,0 +1,74 @@
+//***************************************************************************
+// libxx/libxx_newa.cxx
+//
+//   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+//   Author: Petteri Aimonen <petteri.aimonen@gmail.com>;
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+// 1. Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+// 2. 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.
+// 3. Neither the name NuttX 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.
+//
+//***************************************************************************
+
+//***************************************************************************
+// Included Files
+//***************************************************************************
+
+#include <cstdlib>
+#include <debug.h>
+
+//***************************************************************************
+// Definitions
+//***************************************************************************
+
+//***************************************************************************
+// Private Data
+//***************************************************************************
+
+//***************************************************************************
+// Public Functions
+//***************************************************************************
+
+namespace std
+{
+  void __throw_out_of_range(const char*)
+  {
+    dbg("C++: Vector .at() with argument out of range\n");
+    abort();
+   }
+    
+  void __throw_length_error(const char*)
+  {
+     dbg("C++: Vector resize to excessive length\n");
+     abort();
+  }
+    
+  void __throw_bad_alloc()
+  {
+    dbg("C++: Bad allocation\n");
+    abort();
+  }
+}
diff --git a/nuttx/mm/Makefile b/nuttx/mm/Makefile
index 0ccf5a09a..da41f9f57 100644
--- a/nuttx/mm/Makefile
+++ b/nuttx/mm/Makefile
@@ -37,8 +37,8 @@
 
 ASRCS	= 
 CSRCS	= mm_initialize.c mm_sem.c  mm_addfreechunk.c mm_size2ndx.c mm_shrinkchunk.c \
-	  mm_malloc.c mm_zalloc.c mm_calloc.c mm_realloc.c \
-	  mm_memalign.c mm_free.c mm_mallinfo.c
+		mm_malloc.c mm_zalloc.c mm_calloc.c mm_realloc.c \
+		mm_memalign.c mm_free.c mm_mallinfo.c
 
 ifeq ($(CONFIG_GRAN),y)
 CSRCS	+= mm_graninit.c mm_granalloc.c mm_granfree.c mm_grancritical.c
@@ -61,21 +61,20 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 $(BIN):	$(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $@, $${obj}); \
-	done ; )
+	$(call ARCHIVE, $@, $(OBJS))
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
+	$(Q) $(MKDEP) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
 
 depend: .depend
 
 clean:
-	@rm -f $(BIN) *~ .*.swp
+	$(call DELFILE, $(BIN))
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/nuttx/mm/Makefile.test b/nuttx/mm/Makefile.test
index 63cab910e..2ae9dcb88 100644
--- a/nuttx/mm/Makefile.test
+++ b/nuttx/mm/Makefile.test
@@ -33,12 +33,14 @@
 #
 ############################################################################
 
-SRCS		= mm_test.c mm_initialize.c mm_sem.c  mm_addfreechunk.c mm_size2ndx.c mm_shrinkchunk.c \
+-include $(TOPDIR)/Make.defs
+
+SRCS	= mm_test.c mm_initialize.c mm_sem.c  mm_addfreechunk.c mm_size2ndx.c mm_shrinkchunk.c \
 		  mm_malloc.c mm_zalloc.c mm_calloc.c mm_realloc.c \
 		  mm_memalign.c mm_free.c mm_mallinfo.c
-OBJS		= $(SRCS:.c=.o1)
+OBJS	= $(SRCS:.c=.o1)
 
-LIBS		= -lpthread -lc
+LIBS	= -lpthread -lc
 
 CC		= gcc
 LD		= gcc
@@ -48,17 +50,19 @@ WARNIGNS	= -Wall -Wstrict-prototypes -Wshadow
 CFLAGS		= -g $(DEFINES)
 LDFLAGS		=
 
-BIN		= ../mm_test
+BIN		= ..$(DELIM)mm_test
 
 all:	$(BIN)
 
 $(OBJS): %.o1: %.c
 	@echo "Compiling $<"
-	$(CC) -c $(CFLAGS) $< -o $@
+	$(Q) $(CC) -c $(CFLAGS) $< -o $@
 
 $(BIN):	$(OBJS)
 	@echo "Linking {$(OBJS)} to produce $@"
-	$(LD) $(LDFLAGS) $(OBJS) $(LIBS) -o $@
+	$(Q) $(LD) $(LDFLAGS) $(OBJS) $(LIBS) -o $@
 
 clean:
-	@rm -f $(BIN) *.o1 *~
+	$(call DELFILE, $(BIN))
+	$(call DELFILE, *.o1)
+	$(call CLEAN)
diff --git a/nuttx/mm/mm_graninit.c b/nuttx/mm/mm_graninit.c
index e43839ad6..8f811c65f 100644
--- a/nuttx/mm/mm_graninit.c
+++ b/nuttx/mm/mm_graninit.c
@@ -74,7 +74,6 @@ FAR struct gran_s *g_graninfo;
  *   Perfrom common GRAN initialization.
  *
  * Input Parameters:
- *   info      - Private granule data structure pointer
  *   heapstart - Start of the granule allocation heap
  *   heapsize  - Size of heap in bytes
  *   log2gran  - Log base 2 of the size of one granule.  0->1 byte,
@@ -207,7 +206,6 @@ gran_common_initialize(FAR void *heapstart, size_t heapsize, uint8_t log2gran,
 #ifdef CONFIG_GRAN_SINGLE
 int gran_initialize(FAR void *heapstart, size_t heapsize, uint8_t log2gran,
                     uint8_t log2align)
-int gran_initialize(FAR void *heapstart, size_t heapsize, uint8_t log2gran)
 {
   g_graninfo = gran_common_initialize(heapstart, heapsize, log2gran,
                                       log2align);
diff --git a/nuttx/mm/mm_initialize.c b/nuttx/mm/mm_initialize.c
index 3a21d1759..a7f64cfaf 100644
--- a/nuttx/mm/mm_initialize.c
+++ b/nuttx/mm/mm_initialize.c
@@ -95,9 +95,9 @@ void mm_initialize(FAR void *heapstart, size_t heapsize)
 
   mlldbg("Heap: start=%p size=%u\n", heapstart, heapsize);
 
-  /* The following two lines have cause problems for some ZiLog compilers
-   * in the past.  Life is easier if we just the suppress them for those
-   * tools.
+  /* The following two lines have cause problems for some older ZiLog
+   * compilers in the past (but not the more recent).  Life is easier if we
+   * just the suppress them altogther for those tools.
    */
 
 #ifndef __ZILOG__
diff --git a/nuttx/net/Makefile b/nuttx/net/Makefile
index 506ef8213..74540b67d 100644
--- a/nuttx/net/Makefile
+++ b/nuttx/net/Makefile
@@ -100,24 +100,22 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 $(BIN): $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $@, $${obj}); \
-	done ; )
+	$(call ARCHIVE, $@, $(OBJS))
 
 .depend: Makefile $(SRCS)
 ifeq ($(CONFIG_NET),y)
-	@$(MKDEP) --dep-path . --dep-path uip $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) $(MKDEP) --dep-path . --dep-path uip "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 endif
-	@touch $@
+	$(Q) touch $@
 
 depend: .depend
 
 clean:
-	@rm -f $(BIN) *~ .*.swp
-	@rm -f uip/*~ uip/.*.swp
+	$(call DELFILE, $(BIN))
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/nuttx/net/net_poll.c b/nuttx/net/net_poll.c
index ca594c10f..815c6a71d 100644
--- a/nuttx/net/net_poll.c
+++ b/nuttx/net/net_poll.c
@@ -141,6 +141,7 @@ static uint16_t poll_interrupt(struct uip_driver_s *dev, FAR void *conn,
           sem_post(fds->sem);
         }
     }
+
   return flags;
 }
 #endif /* HAVE_NETPOLL */
@@ -219,6 +220,7 @@ static inline int net_pollsetup(FAR struct socket *psock, struct pollfd *fds)
           sem_post(fds->sem);
         }
     }
+
   uip_unlock(flags);
   return OK;
 
diff --git a/nuttx/net/netdev_ioctl.c b/nuttx/net/netdev_ioctl.c
index 4b5876efa..ea5c0e436 100644
--- a/nuttx/net/netdev_ioctl.c
+++ b/nuttx/net/netdev_ioctl.c
@@ -138,19 +138,47 @@ static void ioctl_setipaddr(FAR uip_ipaddr_t *outaddr, FAR const void *inaddr)
  *
  ****************************************************************************/
 
-static inline void ioctl_ifup(FAR struct uip_driver_s *dev)
+static void ioctl_ifup(FAR struct uip_driver_s *dev)
 {
+  /* Make sure that the device supports the d_ifup() method */
+
   if (dev->d_ifup)
     {
-      dev->d_ifup(dev);
+      /* Is the interface already up? */
+
+      if ((dev->d_flags & IFF_RUNNING) == 0)
+        {
+          /* No, bring the interface up now */
+
+          if (dev->d_ifup(dev) == OK)
+            {
+              /* Mark the interface as up */
+
+              dev->d_flags |= IFF_RUNNING;
+            }
+        }
     }
 }
 
-static inline void ioctl_ifdown(FAR struct uip_driver_s *dev)
+static void ioctl_ifdown(FAR struct uip_driver_s *dev)
 {
+  /* Make sure that the device supports the d_ifdown() method */
+
   if (dev->d_ifdown)
     {
-      dev->d_ifdown(dev);
+      /* Is the interface already down? */
+
+      if ((dev->d_flags & IFF_RUNNING) != 0)
+        {
+          /* No, take the interface down now */
+
+          if (dev->d_ifdown(dev) == OK)
+            {
+              /* Mark the interface as down */
+
+              dev->d_flags &= ~IFF_RUNNING;
+            }
+        }
     }
 }
 
@@ -194,63 +222,130 @@ static int netdev_ifrioctl(FAR struct socket *psock, int cmd, struct ifreq *req)
 
   switch (cmd)
     {
-      case SIOCGIFADDR:     /* Get IP address */
-        ioctl_getipaddr(&req->ifr_addr, &dev->d_ipaddr);
+      case SIOCGIFADDR:  /* Get IP address */
+        {
+          ioctl_getipaddr(&req->ifr_addr, &dev->d_ipaddr);
+        }
         break;
 
-      case SIOCSIFADDR:     /* Set IP address */
-        ioctl_ifdown(dev);
-        ioctl_setipaddr(&dev->d_ipaddr, &req->ifr_addr);
-        ioctl_ifup(dev);
+      case SIOCSIFADDR:  /* Set IP address */
+        {
+          ioctl_ifdown(dev);
+          ioctl_setipaddr(&dev->d_ipaddr, &req->ifr_addr);
+          ioctl_ifup(dev);
+        }
         break;
 
       case SIOCGIFDSTADDR:  /* Get P-to-P address */
-        ioctl_getipaddr(&req->ifr_dstaddr, &dev->d_draddr);
+        {
+          ioctl_getipaddr(&req->ifr_dstaddr, &dev->d_draddr);
+        }
         break;
 
       case SIOCSIFDSTADDR:  /* Set P-to-P address */
-        ioctl_setipaddr(&dev->d_draddr, &req->ifr_dstaddr);
+        {
+          ioctl_setipaddr(&dev->d_draddr, &req->ifr_dstaddr);
+        }
         break;
 
       case SIOCGIFNETMASK:  /* Get network mask */
-        ioctl_getipaddr(&req->ifr_addr, &dev->d_netmask);
+        {
+          ioctl_getipaddr(&req->ifr_addr, &dev->d_netmask);
+        }
         break;
 
       case SIOCSIFNETMASK:  /* Set network mask */
-        ioctl_setipaddr(&dev->d_netmask, &req->ifr_addr);
+        {
+          ioctl_setipaddr(&dev->d_netmask, &req->ifr_addr);
+        }
         break;
 
       case SIOCGIFMTU:  /* Get MTU size */
-        req->ifr_mtu = CONFIG_NET_BUFSIZE;
+        {
+          req->ifr_mtu = CONFIG_NET_BUFSIZE;
+        }
+        break;
+
+      case SIOCSIFFLAGS:  /* Sets the interface flags */
+        {
+          /* Is this a request to bring the interface up? */
+
+          if (req->ifr_flags & IF_FLAG_IFUP)
+            {
+              /* Yes.. bring the interface up */
+
+              ioctl_ifup(dev);
+            }
+
+          /* Is this a request to take the interface down? */
+
+          else if (req->ifr_flags & IF_FLAG_IFDOWN)
+            {
+              /* Yes.. take the interface down */
+
+              ioctl_ifdown(dev);
+            }
+        }
+        break;
+
+      case SIOCGIFFLAGS:  /* Gets the interface flags */
+        {
+          req->ifr_flags = 0;
+
+          /* Is the interface running? */
+
+          if (dev->d_flags & IFF_RUNNING)
+            {
+              /* Yes.. report interface up */
+
+              req->ifr_flags |= IF_FLAG_IFUP;
+            }
+          else
+            {
+              /* No.. report interface down */
+
+              req->ifr_flags |= IF_FLAG_IFDOWN;
+            }
+        }
         break;
 
       /* MAC address operations only make sense if Ethernet is supported */
 
 #ifdef CONFIG_NET_ETHERNET
       case SIOCGIFHWADDR:  /* Get hardware address */
-        req->ifr_hwaddr.sa_family = AF_INETX;
-        memcpy(req->ifr_hwaddr.sa_data, dev->d_mac.ether_addr_octet, IFHWADDRLEN);
+        {
+          req->ifr_hwaddr.sa_family = AF_INETX;
+          memcpy(req->ifr_hwaddr.sa_data, dev->d_mac.ether_addr_octet, IFHWADDRLEN);
+        }
         break;
 
       case SIOCSIFHWADDR:  /* Set hardware address -- will not take effect until ifup */
-        req->ifr_hwaddr.sa_family = AF_INETX;
-        memcpy(dev->d_mac.ether_addr_octet, req->ifr_hwaddr.sa_data, IFHWADDRLEN);
+        {
+          req->ifr_hwaddr.sa_family = AF_INETX;
+          memcpy(dev->d_mac.ether_addr_octet, req->ifr_hwaddr.sa_data, IFHWADDRLEN);
+        }
         break;
 #endif
 
       case SIOCDIFADDR:  /* Delete IP address */
-        ioctl_ifdown(dev);
-        memset(&dev->d_ipaddr, 0, sizeof(uip_ipaddr_t));
+        {
+          ioctl_ifdown(dev);
+          memset(&dev->d_ipaddr, 0, sizeof(uip_ipaddr_t));
+        }
         break;
 
       case SIOCGIFCOUNT:  /* Get number of devices */
-        req->ifr_count = netdev_count();
-        ret = -ENOSYS;
+        {
+          req->ifr_count = netdev_count();
+          ret = -ENOSYS;
+        }
         break;
 
-      case SIOCGIFBRDADDR:  /* Get broadcast IP address	*/
-      case SIOCSIFBRDADDR:  /* Set broadcast IP address	*/
-        ret = -ENOSYS;
+      case SIOCGIFBRDADDR:  /* Get broadcast IP address */
+      case SIOCSIFBRDADDR:  /* Set broadcast IP address */
+        {
+          ret = -ENOSYS;
+        }
         break;
 
 #ifdef CONFIG_NET_ARPIOCTLS
@@ -261,7 +356,9 @@ static int netdev_ifrioctl(FAR struct socket *psock, int cmd, struct ifreq *req)
 #endif
 
       default:
-        ret = -EINVAL;
+        {
+          ret = -EINVAL;
+        }
         break;;
     }
 
diff --git a/nuttx/net/uip/uip_icmpping.c b/nuttx/net/uip/uip_icmpping.c
index e3ebf7252..36f6e892a 100644
--- a/nuttx/net/uip/uip_icmpping.c
+++ b/nuttx/net/uip/uip_icmpping.c
@@ -123,6 +123,7 @@ static inline int ping_timeout(struct icmp_ping_s *pstate)
     {
       return TRUE;
     }
+
   return FALSE;
 }
 
@@ -365,6 +366,7 @@ int uip_ping(uip_ipaddr_t addr, uint16_t id, uint16_t seqno,
 
       uip_icmpcallbackfree(state.png_cb);
     }
+
   uip_unlock(save);
 
   /* Return the negated error number in the event of a failure, or the
diff --git a/nuttx/sched/Kconfig b/nuttx/sched/Kconfig
index 4f7149595..bfaec3b5d 100644
--- a/nuttx/sched/Kconfig
+++ b/nuttx/sched/Kconfig
@@ -22,7 +22,13 @@ config SCHED_INSTRUMENTATION
 	bool "Monitor system performance"
 	default n
 	---help---
-		enables instrumentation in scheduler to monitor system performance.
+		Enables instrumentation in scheduler to monitor system performance.
+		If enabled, then the board-specific logic must provide the following
+		functions (see include/sched.h):
+
+		void sched_note_start(FAR _TCB *tcb);
+		void sched_note_stop(FAR _TCB *tcb);
+		void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb);
 
 config TASK_NAME_SIZE
 	int "Maximum task name size"
@@ -40,7 +46,7 @@ config JULIAN_TIME
 
 config START_YEAR
 	int "start year"
-	default 2010
+	default 2013
 
 config START_MONTH
 	int "start month"
@@ -57,12 +63,6 @@ config DEV_CONSOLE
 		Set if architecture-specific logic provides /dev/console.  Enables
 		stdout, stderr, stdin.
 
-config DEV_LOWCONSOLE
-	bool "enable low-level serial console"
-	default n
-	---help---
-		Use the simple, low-level, write-only serial console driver (minimul support)
-
 config MUTEX_TYPES:
 	bool "Enable mutex types"
 	default n
@@ -214,12 +214,17 @@ config SCHED_ATEXIT
 config SCHED_ATEXIT_MAX
 	int "Max number of atexit() functions"
 	default 1
-	depends on SCHED_ATEXIT
+	depends on SCHED_ATEXIT && !SCHED_ONEXIT
 	---help---
 		By default if SCHED_ATEXIT is selected, only a single atexit() function
 		is supported. That number can be increased by defined this setting to
 		the number that you require.
 
+		If both SCHED_ONEXIT and SCHED_ATEXIT are selected, then atexit() is built
+		on top of the on_exit() implementation.  In that case, SCHED_ONEXIT_MAX
+		determines the size of the combined number of atexit(0) and on_exit calls
+		and SCHED_ATEXIT_MAX is not used.
+
 config SCHED_ONEXIT
 	bool "Enable on_exit() API"
 	default n
@@ -235,6 +240,10 @@ config SCHED_ONEXIT_MAX
 		is supported. That number can be increased by defined this setting to the
 		number that you require.
 
+		If both SCHED_ONEXIT and SCHED_ATEXIT are selected, then atexit() is built
+		on top of the on_exit() implementation.  In that case, SCHED_ONEXIT_MAX
+		determines the size of the combined number of atexit(0) and on_exit calls.
+
 config USER_ENTRYPOINT
 	string "Application entry point"
 	default "user_start"
@@ -381,14 +390,6 @@ config PREALLOC_TIMERS
 
 comment "Stack and heap information"
 
-config CUSTOM_STACK
-	bool "Enable custom stack"
-	default n
-	---help---
-		The up_ implementation will handle all stack operations outside of the
-		nuttx model.  This is necessary for certain architectures that have
-		have hardware stacks (such as the 8051 family).
-
 config IDLETHREAD_STACKSIZE
 	int "Idle thread stack size"
 	default 1024
diff --git a/nuttx/sched/Makefile b/nuttx/sched/Makefile
index 1e0a55aea..82f74fc3c 100644
--- a/nuttx/sched/Makefile
+++ b/nuttx/sched/Makefile
@@ -94,7 +94,7 @@ SIGNAL_SRCS	= sig_initialize.c \
 		  sig_findaction.c sig_allocatependingsigaction.c \
 		  sig_releasependingsigaction.c sig_unmaskpendingsignal.c \
 		  sig_removependingsignal.c sig_releasependingsignal.c sig_lowest.c \
-		  sig_mqnotempty.c sig_cleanup.c sig_received.c sig_deliver.c
+		  sig_mqnotempty.c sig_cleanup.c sig_received.c sig_deliver.c pause.c
 
 MQUEUE_SRCS	= mq_open.c mq_close.c mq_unlink.c mq_send.c mq_timedsend.c\
 		  mq_sndinternal.c mq_receive.c mq_timedreceive.c mq_rcvinternal.c \
@@ -188,6 +188,7 @@ OBJS		= $(AOBJS) $(COBJS)
 BIN		= libsched$(LIBEXT)
 
 all:	$(BIN)
+.PHONY: context depend clean distclean
 
 $(AOBJS): %$(OBJEXT): %.S
 	$(call ASSEMBLE, $<, $@)
@@ -196,21 +197,20 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 $(BIN): $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $@, $${obj}); \
-	done ; )
+	$(call ARCHIVE, $@, $(OBJS))
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
+	$(Q) $(MKDEP) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
 
 depend: .depend
 
 clean:
-	@rm -f $(BIN) *~ .*.swp
+	$(call DELFILE, $(BIN))
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/nuttx/sched/atexit.c b/nuttx/sched/atexit.c
index f7d81bec2..b0559b01b 100644
--- a/nuttx/sched/atexit.c
+++ b/nuttx/sched/atexit.c
@@ -96,8 +96,13 @@
  *         CONFIG_SCHED_ATEXIT_MAX defines a larger number.
  *      2. atexit functions are not inherited when a new task is
  *         created.
+ *      3. If both SCHED_ONEXIT and SCHED_ATEXIT are selected, then atexit()
+ *         is built on top of the on_exit() implementation.  In that case,
+ *         CONFIG_SCHED_ONEXIT_MAX determines the size of the combined
+ *         number of atexit(0) and on_exit calls and SCHED_ATEXIT_MAX is
+ *         not used.
  *
- * Parameters:
+ * Input Parameters:
  *   func - A pointer to the function to be called when the task exits.
  *
  * Return Value:
@@ -107,7 +112,14 @@
 
 int atexit(void (*func)(void))
 {
-#if defined(CONFIG_SCHED_ATEXIT_MAX) && CONFIG_SCHED_ATEXIT_MAX > 1
+#if defined(CONFIG_SCHED_ONEXIT)
+  /* atexit is equivalent to on_exit() with no argument (Assuming that the ABI
+   * can handle a callback function that recieves more parameters than it expects).
+   */
+
+  return on_exit(onexitfunc_t func, NULL);
+
+#elif defined(CONFIG_SCHED_ATEXIT_MAX) && CONFIG_SCHED_ATEXIT_MAX > 1
   _TCB *tcb = (_TCB*)g_readytorun.head;
   int   index;
   int   ret = ERROR;
diff --git a/nuttx/sched/clock_time2ticks.c b/nuttx/sched/clock_time2ticks.c
index 383264d51..9265872bb 100644
--- a/nuttx/sched/clock_time2ticks.c
+++ b/nuttx/sched/clock_time2ticks.c
@@ -97,6 +97,6 @@ int clock_time2ticks(FAR const struct timespec *reltime, FAR int *ticks)
 
   /* Convert microseconds to clock ticks */
 
-  *ticks = relusec / USEC_PER_TICK;
+  *ticks = (relusec + USEC_PER_TICK - 1) / USEC_PER_TICK;
   return OK;
 }
diff --git a/nuttx/sched/env_clearenv.c b/nuttx/sched/env_clearenv.c
index 7fe97a911..75890f3bc 100644
--- a/nuttx/sched/env_clearenv.c
+++ b/nuttx/sched/env_clearenv.c
@@ -79,5 +79,3 @@ int clearenv(void)
 
 #endif /* CONFIG_DISABLE_ENVIRON */
 
-
-
diff --git a/nuttx/sched/env_internal.h b/nuttx/sched/env_internal.h
index a6205d658..5370da059 100644
--- a/nuttx/sched/env_internal.h
+++ b/nuttx/sched/env_internal.h
@@ -80,7 +80,7 @@ EXTERN int env_dup(FAR _TCB *ptcb);
 EXTERN int env_share(FAR _TCB *ptcb);
 EXTERN int env_release(FAR _TCB *ptcb);
 
-/* functions used internally the environment handling logic */
+/* functions used internally by the environment handling logic */
 
 EXTERN FAR char *env_findvar(environ_t *envp, const char *pname);
 EXTERN int env_removevar(environ_t *envp, char *pvar);
diff --git a/nuttx/sched/env_release.c b/nuttx/sched/env_release.c
index 83e65dbb5..8bc8d2205 100644
--- a/nuttx/sched/env_release.c
+++ b/nuttx/sched/env_release.c
@@ -94,11 +94,11 @@ int env_release(FAR _TCB *ptcb)
         {
           /* Check the reference count on the environment structure */
 
-          if ( envp->ev_crefs <= 1)
+          if (envp->ev_crefs <= 1)
             {
               /* Decrementing the reference count will destroy the environment */
 
-              sched_free( envp ); /* plain free() should be fine here */
+              sched_free(envp);
             }
           else
             {
diff --git a/nuttx/sched/mq_open.c b/nuttx/sched/mq_open.c
index 5e1b9b137..89d80f072 100644
--- a/nuttx/sched/mq_open.c
+++ b/nuttx/sched/mq_open.c
@@ -113,7 +113,6 @@ mqd_t mq_open(const char *mq_name, int oflags, ...)
   FAR msgq_t     *msgq;
   mqd_t           mqdes = NULL;
   va_list         arg;          /* Points to each un-named argument */
-  mode_t          mode;         /* MQ creation mode parameter (ignored) */
   struct mq_attr *attr;         /* MQ creation attributes */
   int             namelen;      /* Length of MQ name */
 
@@ -170,7 +169,7 @@ mqd_t mq_open(const char *mq_name, int oflags, ...)
                        */
 
                       va_start(arg, oflags);
-                      mode = va_arg(arg, mode_t);
+                      (void)va_arg(arg, mode_t); /* MQ creation mode parameter (ignored) */
                       attr = va_arg(arg, struct mq_attr*);
 
                       /* Initialize the new named message queue */
diff --git a/nuttx/sched/on_exit.c b/nuttx/sched/on_exit.c
index 5b8be5cd1..19a4f9196 100644
--- a/nuttx/sched/on_exit.c
+++ b/nuttx/sched/on_exit.c
@@ -117,7 +117,7 @@ int on_exit(CODE void (*func)(int, FAR void *), FAR void *arg)
 #if defined(CONFIG_SCHED_ONEXIT_MAX) && CONFIG_SCHED_ONEXIT_MAX > 1
   _TCB *tcb = (_TCB*)g_readytorun.head;
   int   index;
-  int   ret = ERROR;
+  int   ret = ENOSPC;
 
   /* The following must be atomic */
 
@@ -131,7 +131,6 @@ int on_exit(CODE void (*func)(int, FAR void *), FAR void *arg)
        * indices.
        */
 
-      available = -1;
       for (index = 0; index < CONFIG_SCHED_ONEXIT_MAX; index++)
         {
           if (!tcb->onexitfunc[index])
@@ -149,7 +148,7 @@ int on_exit(CODE void (*func)(int, FAR void *), FAR void *arg)
   return ret;
 #else
   _TCB *tcb = (_TCB*)g_readytorun.head;
-  int   ret = ERROR;
+  int   ret = ENOSPC;
 
   /* The following must be atomic */
 
diff --git a/nuttx/sched/os_bringup.c b/nuttx/sched/os_bringup.c
index ec6152891..e0a236bbe 100644
--- a/nuttx/sched/os_bringup.c
+++ b/nuttx/sched/os_bringup.c
@@ -44,6 +44,7 @@
 #include <nuttx/config.h>
 
 #include <sched.h>
+#include <stdlib.h>
 #include <debug.h>
 
 #include <nuttx/init.h>
@@ -129,6 +130,17 @@ int os_bringup(void)
 #endif
   int init_taskid;
 
+  /* Setup up the initial environment for the idle task.  At present, this
+   * may consist of only the initial PATH variable.  The PATH variable is
+   * (probably) not used by the IDLE task.  However, the environment
+   * containing the PATH variable will be inherited by all of the threads
+   * created by the IDLE task.
+   */
+
+#if !defined(CONFIG_DISABLE_ENVIRON) && defined(CONFIG_PATH_INITIAL)
+  (void)setenv("PATH", CONFIG_PATH_INITIAL, 1);
+#endif
+
   /* Start the page fill worker kernel thread that will resolve page faults.
    * This should always be the first thread started because it may have to
    * resolve page faults in other threads
@@ -190,5 +202,12 @@ int os_bringup(void)
                             (main_t)CONFIG_USER_ENTRYPOINT, (const char **)NULL);
 #endif
   ASSERT(init_taskid != ERROR);
+
+  /* We an save a few bytes by discarding the IDLE thread's environment. */
+
+#if !defined(CONFIG_DISABLE_ENVIRON) && defined(CONFIG_PATH_INITIAL)
+  (void)clearenv();
+#endif
+
   return OK;
 }
diff --git a/nuttx/sched/os_start.c b/nuttx/sched/os_start.c
index c0b16236d..a53ac2aa8 100644
--- a/nuttx/sched/os_start.c
+++ b/nuttx/sched/os_start.c
@@ -426,7 +426,9 @@ void os_start(void)
       lib_initialize();
     }
 
-  /* Create stdout, stderr, stdin */
+  /* Create stdout, stderr, stdin on the IDLE task.  These will be
+   * inherited by all of the threads created by the IDLE task.
+   */
 
   (void)sched_setupidlefiles(&g_idletcb);
 
diff --git a/nuttx/sched/pause.c b/nuttx/sched/pause.c
new file mode 100644
index 000000000..607c4c775
--- /dev/null
+++ b/nuttx/sched/pause.c
@@ -0,0 +1,110 @@
+/****************************************************************************
+ * sched/pause.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <unistd.h>
+#include <signal.h>
+
+/****************************************************************************
+ * Preprocessor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Type Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Global Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: pause
+ *
+ * Description:
+ *   The pause() function will suspend the calling thread until delivery of a
+ *   non-blocked signal.
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   Since pause() suspends thread execution indefinitely unless interrupted 
+ *   a signal, there is no successful completion return value. A value of -1
+ *   will always be returned and errno set to indicate the error (EINTR).
+ *
+ * POSIX compatibility:
+ *   In the POSIX description of this function is the pause() function will
+ *   suspend the calling thread until delivery of a signal whose action is
+ *   either to execute a signal-catching function or to terminate the
+ *   process.  This implementation only waits for any non-blocked signal
+ *   to be received.
+ *
+ ****************************************************************************/
+
+int pause(void)
+{
+  sigset_t set;
+  struct siginfo value;
+ 
+  /* Set up for the sleep.  Using the empty set means that we are not
+   * waiting for any particular signal.  However, any unmasked signal
+   * can still awaken sigtimedwait().
+   */
+
+  (void)sigemptyset(&set);
+
+  /* sigtwaitinfo() cannot succeed.  It should always return error EINTR
+   * meaning that some unblocked signal was caught.
+   */
+
+  return sigwaitinfo(&set, &value);
+}
diff --git a/nuttx/sched/prctl.c b/nuttx/sched/prctl.c
index d71a0e174..3db83d3d7 100644
--- a/nuttx/sched/prctl.c
+++ b/nuttx/sched/prctl.c
@@ -157,8 +157,14 @@ int prctl(int option, ...)
       goto errout;
     }
 
+  /* Not reachable unless CONFIG_TASK_NAME_SIZE is > 0.  NOTE: This might
+   * change if additional commands are supported.
+   */
+
+#if CONFIG_TASK_NAME_SIZE > 0
   va_end(ap);
   return OK;
+#endif
 
 errout:
   va_end(ap);
diff --git a/nuttx/sched/pthread_create.c b/nuttx/sched/pthread_create.c
index 5fdf3b88d..dc2db2916 100644
--- a/nuttx/sched/pthread_create.c
+++ b/nuttx/sched/pthread_create.c
@@ -246,7 +246,7 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr,
 {
   FAR _TCB *ptcb;
   FAR join_t *pjoin;
-  int status;
+  int ret;
   int priority;
 #if CONFIG_RR_INTERVAL > 0
   int policy;
@@ -268,13 +268,27 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr,
       return ENOMEM;
     }
 
+  /* Share the address environment of the parent task.  NOTE:  Only tasks
+   * created throught the nuttx/binfmt loaders may have an address
+   * environment.
+   */
+
+#ifdef CONFIG_ADDRENV
+  ret = up_addrenv_share((FAR const _TCB *)g_readytorun.head, ptcb);
+  if (ret < 0)
+    {
+      sched_releasetcb(ptcb);
+      return -ret;
+    }
+#endif
+
   /* Associate file descriptors with the new task */
 
-  status = sched_setuppthreadfiles(ptcb);
-  if (status != OK)
+  ret = sched_setuppthreadfiles(ptcb);
+  if (ret != OK)
     {
       sched_releasetcb(ptcb);
-      return status;
+      return ret;
     }
 
   /* Share the parent's envionment */
@@ -292,8 +306,8 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr,
 
   /* Allocate the stack for the TCB */
 
-  status = up_create_stack(ptcb, attr->stacksize);
-  if (status != OK)
+  ret = up_create_stack(ptcb, attr->stacksize);
+  if (ret != OK)
     {
       sched_releasetcb(ptcb);
       sched_free(pjoin);
@@ -310,8 +324,8 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr,
       /* Get the priority for this thread. */
 
       struct sched_param param;
-      status = sched_getparam(0, &param);
-      if (status == OK)
+      ret = sched_getparam(0, &param);
+      if (ret == OK)
         {
           priority = param.sched_priority;
         }
@@ -348,11 +362,9 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr,
 
   /* Initialize the task control block */
 
-  status  = task_schedsetup(ptcb, priority, pthread_start,
-                            (main_t)start_routine);
-  if (status != OK)
+  ret  = task_schedsetup(ptcb, priority, pthread_start, (main_t)start_routine);
+  if (ret != OK)
     {
-
       sched_releasetcb(ptcb);
       sched_free(pjoin);
       return EBUSY;
@@ -390,21 +402,21 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr,
 
   /* Initialize the semaphores in the join structure to zero. */
 
-  status = sem_init(&pjoin->data_sem, 0, 0);
-  if (status == OK)
+  ret = sem_init(&pjoin->data_sem, 0, 0);
+  if (ret == OK)
     {
-      status = sem_init(&pjoin->exit_sem, 0, 0);
+      ret = sem_init(&pjoin->exit_sem, 0, 0);
     }
 
   /* Activate the task */
 
   sched_lock();
-  if (status == OK)
+  if (ret == OK)
     {
-      status = task_activate(ptcb);
+      ret = task_activate(ptcb);
     }
 
-  if (status == OK)
+  if (ret == OK)
     {
       /* Wait for the task to actually get running and to register
        * its join_t
@@ -414,8 +426,15 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr,
 
       /* Return the thread information to the caller */
 
-      if (thread) *thread = (pthread_t)pid;
-      if (!pjoin->started) status = ERROR;
+      if (thread)
+       {
+         *thread = (pthread_t)pid;
+       }
+
+      if (!pjoin->started)
+        {
+          ret = EINVAL;
+        }
 
       sched_unlock();
       (void)sem_destroy(&pjoin->data_sem);
@@ -428,8 +447,8 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr,
       (void)sem_destroy(&pjoin->exit_sem);
       sched_releasetcb(ptcb);
       sched_free(pjoin);
-      return EIO;
+      ret = EIO;
     }
 
-  return OK;
+  return ret;
 }
diff --git a/nuttx/sched/sched_getscheduler.c b/nuttx/sched/sched_getscheduler.c
index 5771e86ff..0d996ca27 100644
--- a/nuttx/sched/sched_getscheduler.c
+++ b/nuttx/sched/sched_getscheduler.c
@@ -129,3 +129,4 @@ int sched_getscheduler(pid_t pid)
       return SCHED_FIFO;
     }
 }
+
diff --git a/nuttx/sched/sched_releasetcb.c b/nuttx/sched/sched_releasetcb.c
index 21837262d..0557c829b 100644
--- a/nuttx/sched/sched_releasetcb.c
+++ b/nuttx/sched/sched_releasetcb.c
@@ -171,6 +171,12 @@ int sched_releasetcb(FAR _TCB *tcb)
 
       (void)env_release(tcb);
 
+      /* Release this thread's reference to the address environment */
+
+#ifdef CONFIG_ADDRENV
+      ret = up_addrenv_release(tcb);
+#endif
+
       /* And, finally, release the TCB itself */
 
       sched_free(tcb);
diff --git a/nuttx/sched/sem_open.c b/nuttx/sched/sem_open.c
index 817c36b49..b2b76fe38 100644
--- a/nuttx/sched/sem_open.c
+++ b/nuttx/sched/sem_open.c
@@ -120,7 +120,6 @@ FAR sem_t *sem_open (FAR const char *name, int oflag, ...)
   FAR nsem_t  *psem;
   FAR sem_t   *sem = (FAR sem_t*)ERROR;
   va_list      arg;          /* Points to each un-named argument */
-  mode_t       mode;         /* Creation mode parameter (ignored) */
   unsigned int value;        /* Semaphore value parameter */
 
   /* Make sure that a non-NULL name is supplied */
@@ -165,7 +164,7 @@ FAR sem_t *sem_open (FAR const char *name, int oflag, ...)
                */
 
               va_start(arg, oflag);
-              mode = va_arg(arg, mode_t);
+              (void)va_arg(arg, mode_t); /* Creation mode parameter (ignored) */
               value = va_arg(arg, unsigned int);
 
               /* Verify that a legal initial value was selected. */
diff --git a/nuttx/sched/sleep.c b/nuttx/sched/sleep.c
index 03884a5b6..9b3b6d57f 100644
--- a/nuttx/sched/sleep.c
+++ b/nuttx/sched/sleep.c
@@ -141,7 +141,7 @@ unsigned int sleep(unsigned int seconds)
   if (seconds)
     {
       /* Set up for the sleep.  Using the empty set means that we are not
-       * waiting for any particualar signal.  However, any unmasked signal
+       * waiting for any particular signal.  However, any unmasked signal
        * can still awaken sigtimedwait().
        */
 
diff --git a/nuttx/sched/task_exithook.c b/nuttx/sched/task_exithook.c
index e94476f2a..3bde8fb7a 100644
--- a/nuttx/sched/task_exithook.c
+++ b/nuttx/sched/task_exithook.c
@@ -81,8 +81,8 @@
  *   Call any registerd atexit function(s)
  *
  ****************************************************************************/
- 
-#ifdef CONFIG_SCHED_ATEXIT
+
+#if defined(CONFIG_SCHED_ATEXIT) && !defined(CONFIG_SCHED_ONEXIT)
 static inline void task_atexit(FAR _TCB *tcb)
 {
 #if defined(CONFIG_SCHED_ATEXIT_MAX) && CONFIG_SCHED_ATEXIT_MAX > 1
@@ -126,6 +126,7 @@ static inline void task_atexit(FAR _TCB *tcb)
       tcb->atexitfunc = NULL;
     }
 #endif
+}
 #else
 #  define task_atexit(tcb)
 #endif
diff --git a/nuttx/sched/usleep.c b/nuttx/sched/usleep.c
index 21996d788..893a420f4 100644
--- a/nuttx/sched/usleep.c
+++ b/nuttx/sched/usleep.c
@@ -137,7 +137,7 @@ int usleep(useconds_t usec)
   if (usec)
     {
       /* Set up for the sleep.  Using the empty set means that we are not
-       * waiting for any particualar signal.  However, any unmasked signal
+       * waiting for any particular signal.  However, any unmasked signal
        * can still awaken sigtimedwait().
        */
 
diff --git a/nuttx/sched/work_thread.c b/nuttx/sched/work_thread.c
index abd86f771..5646b06a1 100644
--- a/nuttx/sched/work_thread.c
+++ b/nuttx/sched/work_thread.c
@@ -208,10 +208,10 @@ int work_hpthread(int argc, char *argv[])
        * that were queued because they could not be freed in that execution
        * context (for example, if the memory was freed from an interrupt handler).
        * NOTE: If the work thread is disabled, this clean-up is performed by
-       * the IDLE thread (at a very, very lower priority).
+       * the IDLE thread (at a very, very low priority).
        */
 
-#ifdef CONFIG_SCHED_LPWORK
+#ifndef CONFIG_SCHED_LPWORK
       sched_garbagecollection();
 #endif
 
@@ -236,7 +236,7 @@ int work_lpthread(int argc, char *argv[])
        * that were queued because they could not be freed in that execution
        * context (for example, if the memory was freed from an interrupt handler).
        * NOTE: If the work thread is disabled, this clean-up is performed by
-       * the IDLE thread (at a very, very lower priority).
+       * the IDLE thread (at a very, very low priority).
        */
 
       sched_garbagecollection();
diff --git a/nuttx/syscall/Makefile b/nuttx/syscall/Makefile
index 88365759d..4556912be 100644
--- a/nuttx/syscall/Makefile
+++ b/nuttx/syscall/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # syscall/Makefile
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -34,11 +34,13 @@
 ###########################################################################
 
 -include $(TOPDIR)/Make.defs
-include proxies/Make.defs
-include stubs/Make.defs
+DELIM ?= $(strip /)
 
-MKSYSCALL = "$(TOPDIR)/tools/mksyscall$(EXEEXT)"
-CSVFILE = "$(TOPDIR)/syscall/syscall.csv"
+include proxies$(DELIM)Make.defs
+include stubs$(DELIM)Make.defs
+
+MKSYSCALL = "$(TOPDIR)$(DELIM)tools$(DELIM)mksyscall$(EXEEXT)"
+CSVFILE = "$(TOPDIR)$(DELIM)syscall$(DELIM)syscall.csv"
 
 STUB_SRCS += stub_lookup.c
 
@@ -72,42 +74,43 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 $(BIN1): $(PROXY_OBJS)
-	@( for obj in $(PROXY_OBJS) ; do \
-		$(call ARCHIVE, $@, $${obj}); \
-	done ; )
+	$(call ARCHIVE, $@, $(PROXY_OBJS))
 
 $(BIN2): $(STUB_OBJS)
-	@( for obj in $(STUB_OBJS) ; do \
-		$(call ARCHIVE, $@, $${obj}); \
-	done ; )
+	$(call ARCHIVE, $@, "$(STUB_OBJS)")
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(PROXYDEPPATH) $(STUBDEPPATH) \
-	  $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
+	$(Q) $(MKDEP) $(ROOTDEPPATH) $(PROXYDEPPATH) $(STUBDEPPATH) \
+	  "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
 
 depend: .depend
 
 $(MKSYSCALL):
-	@$(MAKE) -C $(TOPDIR)/tools -f Makefile.host mksyscall
+	$(Q) $(MAKE) -C $(TOPDIR)$(DELIM)tools -f Makefile.host mksyscall
 
 .context: syscall.csv
-	@(cd proxies; $(MKSYSCALL) -p $(CSVFILE);)
-	@(cd stubs; $(MKSYSCALL) -s $(CSVFILE);)
-	@touch $@
+	$(Q) (cd proxies; $(MKSYSCALL) -p $(CSVFILE);)
+	$(Q) (cd stubs; $(MKSYSCALL) -s $(CSVFILE);)
+	$(Q) touch $@
 
 context: $(MKSYSCALL) .context
 
 clean:
-	@rm -f $(BIN1) $(BIN2) *~ .*.swp
+	$(call DELFILE, $(BIN1))
+	$(call DELFILE, $(BIN2))
 ifneq ($(OBJEXT),)
-	@rm -f proxies/*$(OBJEXT) stubs/*$(OBJEXT)
+	$(call DELFILE, proxies$(DELIM)*$(OBJEXT))
+	$(call DELFILE, stubs$(DELIM)*$(OBJEXT))
 endif
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend .context
-	@rm -f proxies/*.c stubs/*.c
+	$(call DELFILE, .context)
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
+	$(call DELFILE, proxies$(DELIM)*.c)
+	$(call DELFILE, stubs$(DELIM)*.c)
 
 -include Make.dep
 
diff --git a/nuttx/tools/Config.mk b/nuttx/tools/Config.mk
index 3a82a1937..9f36ed4f3 100644
--- a/nuttx/tools/Config.mk
+++ b/nuttx/tools/Config.mk
@@ -2,7 +2,12 @@
 # Config.mk
 # Global build rules and macros.
 #
+#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
 #   Author: Richard Cochran
+#           Gregory Nutt <gnutt@nuttx.org>
+#
+# This file (along with $(TOPDIR)/.config) must be included by every
+# configuration-specific Make.defs file.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -40,33 +45,177 @@ CONFIG_ARCH       := $(patsubst "%",%,$(strip $(CONFIG_ARCH)))
 CONFIG_ARCH_CHIP  := $(patsubst "%",%,$(strip $(CONFIG_ARCH_CHIP)))
 CONFIG_ARCH_BOARD := $(patsubst "%",%,$(strip $(CONFIG_ARCH_BOARD)))
 
-# Default build rules.
+# Some defaults just to prohibit some bad behavior if for some reason they
+# are not defined
+
+OBJEXT ?= .o
+LIBEXT ?= .a
+
+# DELIM - Path segment delimiter character
+#
+# Depends on this settings defined in board-specific defconfig file installed
+# at $(TOPDIR)/.config:
+#
+#   CONFIG_WINDOWS_NATIVE - Defined for a Windows native build
+
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  DELIM = $(strip \)
+else
+  DELIM = $(strip /)
+endif
+
+# INCDIR - Convert a list of directory paths to a list of compiler include
+#   directirves
+# Example: CFFLAGS += ${shell $(INCDIR) [options] "compiler" "dir1" "dir2" "dir2" ...}
+#
+# Note that the compiler string and each directory path string must quoted if
+# they contain spaces or any other characters that might get mangled by the
+# shell
+#
+# Depends on this setting passed as a make commaond line definition from the
+# toplevel Makefile:
+#
+#   TOPDIR - The path to the the top level NuttX directory in the form
+#     appropriate for the current build environment
+#
+# Depends on this settings defined in board-specific defconfig file installed
+# at $(TOPDIR)/.config:
+#
+#   CONFIG_WINDOWS_NATIVE - Defined for a Windows native build
+
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  INCDIR = "$(TOPDIR)\tools\incdir.bat"
+else
+  INCDIR = "$(TOPDIR)/tools/incdir.sh"
+endif
+
+# PREPROCESS - Default macro to run the C pre-processor
+# Example: $(call PREPROCESS, in-file, out-file)
+#
+# Depends on these settings defined in board-specific Make.defs file
+# installed at $(TOPDIR)/Make.defs:
+#
+#   CPP - The command to invoke the C pre-processor
+#   CPPFLAGS - Options to pass to the C pre-processor
 
 define PREPROCESS
 	@echo "CPP: $1->$2"
 	$(Q) $(CPP) $(CPPFLAGS) $1 -o $2
 endef
 
+# COMPILE - Default macro to compile one C file
+# Example: $(call COMPILE, in-file, out-file)
+#
+# Depends on these settings defined in board-specific Make.defs file
+# installed at $(TOPDIR)/Make.defs:
+#
+#   CC - The command to invoke the C compiler
+#   CFLAGS - Options to pass to the C compiler
+
 define COMPILE
 	@echo "CC: $1"
-	$(Q) $(CC) -c $(CFLAGS) $1 -o $2
+	$(Q) $(CC) -c $(CFLAGS) $(abspath $1) -o $2
 endef
 
+# COMPILEXX - Default macro to compile one C++ file
+# Example: $(call COMPILEXX, in-file, out-file)
+#
+# Depends on these settings defined in board-specific Make.defs file
+# installed at $(TOPDIR)/Make.defs:
+#
+#   CXX - The command to invoke the C++ compiler
+#   CXXFLAGS - Options to pass to the C++ compiler
+
 define COMPILEXX
 	@echo "CXX: $1"
-	$(Q) $(CXX) -c $(CXXFLAGS) $1 -o $2
+	$(Q) $(CXX) -c $(CXXFLAGS) $(abspath $1) -o $2
 endef
 
+# ASSEMBLE - Default macro to assemble one assembly language file
+# Example: $(call ASSEMBLE, in-file, out-file)
+#
+# NOTE that the most common toolchain, GCC, uses the compiler to assemble
+# files because this has the advantage of running the C Pre-Processor against
+# the assembly language files.  This is not possible with other toolchains;
+# platforms using those other tools should define AS and over-ride this
+# definition in order to use the assembler directly.
+#
+# Depends on these settings defined in board-specific Make.defs file
+# installed at $(TOPDIR)/Make.defs:
+#
+#   CC - By default, the C compiler is used to compile assembly language
+#        files
+#   AFLAGS - Options to pass to the C+compiler
+
 define ASSEMBLE
 	@echo "AS: $1"
-	$(Q) $(CC) -c $(AFLAGS) $1 -o $2
+	$(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2
 endef
 
+# ARCHIVE - Add a list of files to an archive
+# Example: $(call ARCHIVE, archive-file, "file1 file2 file3 ...")
+#
+# Note: The fileN strings may not contain spaces or  characters that may be
+# interpreted strangely by the shell
+#
+# Depends on these settings defined in board-specific Make.defs file
+# installed at $(TOPDIR)/Make.defs:
+#
+#   AR - The command to invoke the archiver (includes any options)
+#
+# Depends on this settings defined in board-specific defconfig file installed
+# at $(TOPDIR)/.config:
+#
+#   CONFIG_WINDOWS_NATIVE - Defined for a Windows native build
+
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+define ARCHIVE
+	@echo AR: $2
+	$(Q) $(AR) $1 $(2)
+endef
+else
 define ARCHIVE
-	echo "AR: $2"; \
-	$(AR) $1 $2 || { echo "$(AR) $1 $2 FAILED!" ; exit 1 ; }
+	@echo "AR: $2"
+	$(Q) $(AR) $1 $(2) || { echo "$(AR) $1 FAILED!" ; exit 1 ; }
 endef
+endif
 
+# DELFILE - Delete one file
+
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+define DELFILE
+	$(Q) if exist $1 (del /f /q $1)
+endef
+else
+define DELFILE
+	$(Q) rm -f $1
+endef
+endif
+
+# DELDIR - Delect one directory
+
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+define DELDIR
+	$(Q) if exist $1 (rmdir /q /s $1)
+endef
+else
+define DELDIR
+	$(Q) rm -rf $1
+endef
+endif
+
+# CLEAN - Default clean target
+
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+define CLEAN
+	$(Q) if exist *$(OBJEXT) (del /f /q *$(OBJEXT))
+	$(Q) if exist *$(LIBEXT) (del /f /q *$(LIBEXT))
+	$(Q) if exist *~ (del /f /q *~)
+	$(Q) if exist (del /f /q  .*.swp)
+endef
+else
 define CLEAN
-	$(Q) rm -f *.o *.a
+	$(Q) rm -f *$(OBJEXT) *$(LIBEXT) *~ .*.swp
 endef
+endif
+ 
\ No newline at end of file
diff --git a/nuttx/tools/Makefile.export b/nuttx/tools/Makefile.export
index ce4842187..002cb526b 100644
--- a/nuttx/tools/Makefile.export
+++ b/nuttx/tools/Makefile.export
@@ -37,10 +37,16 @@ include $(TOPDIR)/.config
 include $(EXPORTDIR)/Make.defs
 
 ifdef ARCHSCRIPT
-LDPATH = ${shell echo "$(ARCHSCRIPT)" | sed -e "s/^-T[ ]*//g"}
+ifeq ($(WINTOOL),y)
+LDPATH = ${shell cygpath -u $(patsubst -T,,$(ARCHSCRIPT))}
+else
+LDPATH = $(patsubst -T,,$(ARCHSCRIPT))
+endif
+
 LDNAME = ${shell basename ${LDPATH}}
 LDDIR = ${shell dirname ${LDPATH}}
 endif
+
 ARCHSUBDIR = "arch/$(CONFIG_ARCH)/src"
 ARCHDIR ="$(TOPDIR)/$(ARCHSUBDIR)"
 
@@ -61,7 +67,7 @@ endif
 	@echo "ARCHCFLAGS=\"$(ARCHCFLAGS) $(ARCHCPUFLAGS)\"" >> $(EXPORTDIR)/makeinfo.sh
 	@echo "ARCHCXXFLAGS=\"$(ARCHCXXFLAGS) $(ARCHCPUFLAGS)\"" >> $(EXPORTDIR)/makeinfo.sh
 	@echo "CROSSDEV=\"$(CROSSDEV)\"" >> $(EXPORTDIR)/makeinfo.sh
-	@chmod 755 $(EXPORTDIR)/makeinfo.sh
+	$(Q) chmod 755 $(EXPORTDIR)/makeinfo.sh
 
 clean:
-	@rm -f $(EXPORTDIR)/makeinfo.sh
+	$(Q) rm -f $(EXPORTDIR)/makeinfo.sh
diff --git a/nuttx/tools/Makefile.host b/nuttx/tools/Makefile.host
index 33b7aaab2..4a46901e6 100644
--- a/nuttx/tools/Makefile.host
+++ b/nuttx/tools/Makefile.host
@@ -33,45 +33,119 @@
 #
 ############################################################################
 
-all: mkconfig mkversion mksyscall bdf-converter
-default: mkconfig mksyscall
+TOPDIR ?= ${shell pwd}/..
+-include $(TOPDIR)/Make.defs
+include ${TOPDIR}/tools/Config.mk
+
+# strtok_r is used in some tools, but does not seem to be available in
+# the MinGW environment.
+
+ifneq ($(CONFIG_WINDOWS_NATIVE),y)
+  HOSTCFLAGS += -D HAVE_STRTOK_C
+endif
+
+all: b16$(HOSTEXEEXT) bdf-converter$(HOSTEXEEXT) cmpconfig$(HOSTEXEEXT) \
+    mkconfig$(HOSTEXEEXT) mkdeps$(HOSTEXEEXT) mksymtab$(HOSTEXEEXT) \
+    mksyscall$(HOSTEXEEXT) mkversion$(HOSTEXEEXT) 
+default: mkconfig$(HOSTEXEEXT) mksyscall$(HOSTEXEEXT) mkdeps$(HOSTEXEEXT)
+
+ifdef HOSTEXEEXT
+.PHONY: b16 bdf-converter cmpconfig clean mkconfig mkdeps mksymtab \
+    mksyscall mkversion
+else
 .PHONY: clean
+endif
 
-# Add CFLAGS=-g on the make command line build debug versions
+# Add HOSTCFLAGS=-g on the make command line build debug versions
 
-CFLAGS = -O2 -Wall -I.
+HOSTCFLAGS ?= -O2 -Wall -I.
+HOSTCC ?= gcc
+
+# b16 - Fixed precision math converstion tool
+
+b16$(HOSTEXEEXT): b16.c 
+	$(Q) $(HOSTCC) $(HOSTCFLAGS) -o b16$(HOSTEXEEXT) b16.c 
+
+ifdef HOSTEXEEXT
+b16: b16$(HOSTEXEEXT)
+endif
 
 # mkconfig - Convert a .config file into a C config.h file
 
-mkconfig: mkconfig.c cfgparser.c
-	@gcc $(CFLAGS) -o mkconfig mkconfig.c cfgparser.c
+mkconfig$(HOSTEXEEXT): mkconfig.c cfgparser.c
+	$(Q) $(HOSTCC) $(HOSTCFLAGS) -o mkconfig$(HOSTEXEEXT) mkconfig.c cfgparser.c
+
+ifdef HOSTEXEEXT
+mkconfig: mkconfig$(HOSTEXEEXT)
+endif
 
 # cmpconfig - Compare the contents of two configuration files
 
-cmpconfig: cmpconfig.c
-	@gcc $(CFLAGS) -o cmpconfig cmpconfig.c
+cmpconfig$(HOSTEXEEXT): cmpconfig.c
+	$(Q) $(HOSTCC) $(HOSTCFLAGS) -o cmpconfig$(HOSTEXEEXT) cmpconfig.c
+
+ifdef HOSTEXEEXT
+cmpconfig: cmpconfig$(HOSTEXEEXT)
+endif
 
 # mkversion - Convert a .version file into a C version.h file
 
-mkversion: mkconfig.c cfgparser.c
-	@gcc $(CFLAGS) -o mkversion mkversion.c cfgparser.c
+mkversion$(HOSTEXEEXT): mkconfig.c cfgparser.c
+	$(Q) $(HOSTCC) $(HOSTCFLAGS) -o mkversion$(HOSTEXEEXT) mkversion.c cfgparser.c
+
+ifdef HOSTEXEEXT
+mkversion: mkversion$(HOSTEXEEXT)
+endif
 
 # mksyscall - Convert a CSV file into syscall stubs and proxies
 
-mksyscall: mksyscall.c csvparser.c
-	@gcc $(CFLAGS) -o mksyscall mksyscall.c csvparser.c
+mksyscall$(HOSTEXEEXT): mksyscall.c csvparser.c
+	$(Q) $(HOSTCC) $(HOSTCFLAGS) -o mksyscall$(HOSTEXEEXT) mksyscall.c csvparser.c
+
+ifdef HOSTEXEEXT
+mksyscall: mksyscall$(HOSTEXEEXT)
+endif
 
 # mksymtab - Convert a CSV file into a symbol table
 
-mksymtab: mksymtab.c csvparser.c
-	@gcc $(CFLAGS) -o mksymtab mksymtab.c csvparser.c
+mksymtab$(HOSTEXEEXT): mksymtab.c csvparser.c
+	$(Q) $(HOSTCC) $(HOSTCFLAGS) -o mksymtab$(HOSTEXEEXT) mksymtab.c csvparser.c
+
+ifdef HOSTEXEEXT
+mksymtab: mksymtab$(HOSTEXEEXT)
+endif
 
 # bdf-converter - Converts a BDF font to the NuttX font format
 
-bdf-converter: bdf-converter.c
-	@gcc $(CFLAGS) -o bdf-converter bdf-converter.c
+bdf-converter$(HOSTEXEEXT): bdf-converter.c
+	$(Q) $(HOSTCC) $(HOSTCFLAGS) -o bdf-converter$(HOSTEXEEXT) bdf-converter.c
+
+ifdef HOSTEXEEXT
+bdf-converter: bdf-converter$(HOSTEXEEXT)
+endif
+
+# Create dependencies for a list of files
+
+mkdeps$(HOSTEXEEXT): mkdeps.c csvparser.c
+	$(Q) $(HOSTCC) $(HOSTCFLAGS) -o mkdeps$(HOSTEXEEXT) mkdeps.c
+
+ifdef HOSTEXEEXT
+mkdeps: mkdeps$(HOSTEXEEXT)
+endif
 
 clean:
-	@rm -f *.o *.a *~ .*.swp
-	@rm -f mkconfig mksyscall mkversion bdf-converter
-	@rm -f mkconfig.exe mksyscall.exe mkversion.exe bdf-converter.exe
+	$(call DELFILE, mkdeps)
+	$(call DELFILE, mkdeps.exe)
+	$(call DELFILE, mkconfig)
+	$(call DELFILE, mkconfig.exe)
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, mksyscall)
+	$(call DELFILE, mksyscall.exe)
+	$(call DELFILE, mkversion)
+	$(call DELFILE, mkversion.exe)
+	$(call DELFILE, bdf-converter)
+	$(call DELFILE, bdf-converter.exe)
+ifneq ($(CONFIG_WINDOWS_NATIVE),y)
+	$(Q) rm -rf *.dSYM
+endif
+	$(call CLEAN)
diff --git a/nuttx/tools/README.txt b/nuttx/tools/README.txt
index 5d52eaeff..2b9ac61f4 100644
--- a/nuttx/tools/README.txt
+++ b/nuttx/tools/README.txt
@@ -1,5 +1,5 @@
 tools/README.txt
-^^^^^^^^^^^^^^^^
+================
 
 This README file addresses the contents of the NuttX tools/ directory.
 
@@ -8,22 +8,38 @@ that are necessary parts of the the NuttX build system.  These files
 include:
 
 README.txt
+----------
 
-  This file
+  This file!
+
+Config.mk
+---------
+
+  This file contains common definitions used by many configureation files.
+  This file (along with <nuttx>/.config) must be included at the top of
+  each configuration-specific Make.defs file like:
+
+    -include $(TOPDIR)/.config
+    include $(TOPDIR)/tools/Config.mk
+
+  Subsequent logic within the configuration-specific Make.defs file may then
+  override these default definitions as necessary.
 
 configure.sh
+------------
 
   This is a bash script that is used to configure NuttX for a given
   target board.  See configs/README.txt or Documentation/NuttxPortingGuide.html
   for a description of how to configure NuttX with this script.
 
 discover.py
+-----------
 
   Example script for discovering devices in the local network.
   It is the counter part to apps/netutils/discover
 
-
 mkconfig.c, cfgparser.c, and cfgparser.h
+----------------------------------------
 
   These are Cs file that are used to build mkconfig program.  The mkconfig
   program is used during the initial NuttX build.
@@ -38,11 +54,13 @@ mkconfig.c, cfgparser.c, and cfgparser.h
   NuttX configuration that can be included by C files.
 
 cmdconfig.c
+-----------
 
   This C file can be used to build a utility for comparing two NuttX
   configuration files.
 
 mkexport.sh and Makefile.export
+-------------------------------
 
   These implement part of the top-level Makefile's 'export' target.  That
   target will bundle up all of the NuttX libraries, header files, and the
@@ -51,6 +69,7 @@ mkexport.sh and Makefile.export
   options from the top-level Make.defs file.
 
 mkfsdata.pl
+-----------
 
   This perl script is used to build the "fake" file system and CGI support
   as needed for the apps/netutils/webserver.  It is currently used only
@@ -61,6 +80,7 @@ mkfsdata.pl
   by Adam Dunkels.  uIP has a license that is compatible with NuttX.
 
 mkversion.c, cfgparser.c, and cfgparser.h
+-----------------------------------------
 
   This is C file that is used to build mkversion program.  The mkversion
   program is used during the initial NuttX build.
@@ -74,6 +94,7 @@ mkversion.c, cfgparser.c, and cfgparser.h
   version.h provides version information that can be included by C files.
 
 mksyscall.c, cvsparser.c, and cvsparser.h
+-----------------------------------------
 
   This is a C file that is used to build mksyscall program.  The mksyscall
   program is used during the initial NuttX build by the logic in the top-
@@ -96,6 +117,7 @@ mksyscall.c, cvsparser.c, and cvsparser.h
   stub files as output.  See syscall/README.txt for additonal information.
 
 mksymtab.c, cvsparser.c, and cvsparser.h
+----------------------------------------
 
   This is a C file that is used to build symbol tables from common-separated
   value (CSV) files.  This tool is not used during the NuttX build, but
@@ -116,10 +138,12 @@ mksymtab.c, cvsparser.c, and cvsparser.h
     ./mksymtab.exe tmp.csv tmp.c
 
 pic32mx
+-------
 
   This directory contains build tools used only for PIC32MX platforms
 
 bdf-convert.c
+-------------
 
   This C file is used to build the bdf-converter program.  The bdf-converter
   program be used to convert fonts in Bitmap Distribution Format (BDF)
@@ -255,6 +279,7 @@ bdf-convert.c
        };
 
 Makefile.host
+-------------
 
   This is the makefile that is used to make the mkconfig program from
   the mkconfig.c C file, the cmpconfig program from cmpconfig.c C file
@@ -265,20 +290,25 @@ Makefile.host
   make -f Makefile.host <program>
 
 mkromfsimg.sh
+-------------
 
   This script may be used to automate the generate of a ROMFS file system
   image.  It accepts an rcS script "template" and generates and image that
   may be mounted under /etc in the NuttX pseudo file system.
 
 mkdeps.sh
+mkdeps.bat
+mkdeps.c
 mknulldeps.sh
+-------------
 
   NuttX uses the GCC compilers capabilities to create Makefile dependencies.
   The bash script mkdeps.sh is used to run GCC in order to create the
   dependencies.  If a NuttX configuration uses the GCC toolchain, its Make.defs
   file (see configs/README.txt) will include a line like:
 
-    MKDEP = $(TOPDIR)/tools/mkdeps.sh
+    MKDEP = $(TOPDIR)/tools/mkdeps.sh, or
+    MKDEP = $(TOPDIR)/tools/mkdeps[.exe] (See NOTE below)
 
   If the NuttX configuration does not use a GCC compatible toolchain, then
   it cannot use the dependencies and instead it uses mknulldeps.sh:
@@ -287,23 +317,64 @@ mknulldeps.sh
 
   The mknulldeps.sh is a stub script that does essentially nothing.
 
+  NOTE:  The mk*deps.* files are undergoing change.  mkdeps.sh is a bash
+  script that produces dependencies well for POSIX style hosts (e..g.,
+  Linux and Cygwin).  It does not work well for mixed environments with
+  a Windows toolchain running in a POSIX style environemnt (hence, the
+  mknulldeps.sh script).  And, of course, cannot be used in a Windows
+  nativ environment.
+
+  [mkdeps.sh does have an option, --winpath, that purports to convert
+  the dependencies generated by a Windows toolchain to POSIX format.
+  However, that is not being used and mostly likely does not cover
+  all of the conversion cases.]
+
+  mkdeps.bat is a simple port of the bash script to run in a Windows
+  command shell.  However, it does not work well either because some
+  of the common CFLAGS use characters like '=' which are transformed
+  by the CMD.exe shell.
+
+  mkdeps.c generates mkdeps (on Linux) or mkdeps.exe (on Windows).
+  However, this verison is still under-development.  It works well in
+  the all POSIX environment or in the all Windows environment but also
+  does not work well in mixed POSIX environment with a Windows toolchain.
+  In that case, there are still issues with the conversion of things like
+  'c:\Program Files' to 'c:program files' by bash.  Those issues may,
+  eventually be solvable but for now continue to use mknulldeps.sh in
+  that mixed environment.
+
 define.sh
+define.bat
+---------
 
   Different compilers have different conventions for specifying pre-
   processor definitions on the compiler command line.  This bash
   script allows the build system to create create command line definitions
   without concern for the particular compiler in use.
 
+  The define.bat script is a counterpart for use in the native Windows
+  build.
+
 incdir.sh
+incdir.bat
+---------
 
   Different compilers have different conventions for specifying lists
-  of include file paths on the the compiler command line.  This bash
-  script allows the build system to create include file paths without
+  of include file paths on the the compiler command line.  This incdir.sh
+  bash script allows the build system to create include file paths without
   concern for the particular compiler in use.
 
+  The incdir.bat script is a counterpart for use in the native Windows
+  build.  However, there is currently only one compiler supported in
+  that context:  MinGW-GCC.
+
 link.sh
-winlink.sh
+link.bat
+copydir.sh
+copydir.bat
 unlink.sh
+unlink.bat
+----------
 
   Different file system have different capabilities for symbolic links.
   Some windows file systems have no native support for symbolic links.
@@ -322,30 +393,40 @@ unlink.sh
   default.  link.sh is a bash script that performs a normal, Linux-style
   symbolic link;  unlink.sh is a do-it-all unlinking script.
 
-  But if you are building under cygwin using a Windows native toolchain,
-  then you will need something like the following in you Make.defs file:
+  But if you are building under cygwin using a Windows native toolchain
+  within a POSIX framework (such as Cygwin), then you will need something
+  like the following in you Make.defs file:
 
-    DIRLINK = $(TOPDIR)/tools/winlink.sh
+    DIRLINK = $(TOPDIR)/tools/copydir.sh
     DIRUNLINK = (TOPDIR)/tools/unlink.sh
 
-  winlink.sh will copy the whole directory instead of linking it.
+  copydir.sh will copy the whole directory instead of linking it.
+
+  Finally, if you are running in a pure native Windows environment with
+  a CMD.exe shell, then you will need something like this:
+
+    DIRLINK = $(TOPDIR)/tools/copydir.bat
+    DIRUNLINK = (TOPDIR)/tools/unlink.bat
 
-  NOTE:  I have been told that some NuttX users have been able to build
-  successfully using the GnuWin32 tools and modifying the link.sh
-  script so that it uses the NTFS mklink command.  But I have never
-  tried that
+  Note that this will copy directories.  ;ink.bat might also be used in
+  this case.  link.bat will attempt to create a symbolic link using the
+  NTFS mklink.exe command instead of copying files.  That logic, however,
+  has not been verified as of this writing.
 
 mkimage.sh
+----------
 
   The creates a downloadable image as needed with the rrload bootloader.
 
 indent.sh
+---------
 
   This script can be used to indent .c and .h files in a manner similar
   to my coding NuttX coding style.  It doesn't do a really good job,
   however (see the comments at the top of the indent.sh file).
 
 zipme.sh
+--------
 
   I use this script to create the nuttx-xx.yy.tar.gz tarballs for
   release on SourceForge.  It is handy because it also does the
diff --git a/nuttx/tools/b16.c b/nuttx/tools/b16.c
new file mode 100644
index 000000000..66d581ffa
--- /dev/null
+++ b/nuttx/tools/b16.c
@@ -0,0 +1,121 @@
+/****************************************************************************
+ * tools/b16.c
+ *
+ *   Copyright (C) 2007-2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <stdio.h>
+#include <stdlib.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void show_usage(const char *progname)
+{
+  fprintf(stderr, "\nUSAGE: %s <b16_t>|<float>\n", progname);
+  fprintf(stderr, "\nWhere:\n");
+  fprintf(stderr, "  <b16_t>:\n");
+  fprintf(stderr, "    A b16 fixed precision value in hexadecimal form: E.g., 0x00010000\n");
+  fprintf(stderr, "    Any value begininning with '0' will assumed by be hexadecimal format\n");
+  fprintf(stderr, "  <float>:\n");
+  fprintf(stderr, "    A floating value in standard form: E.g., 5.1\n");
+  exit(EXIT_FAILURE);
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+int main(int argc, char **argv, char **envp)
+{
+  double fvalue;
+  unsigned long ulvalue;
+  long lvalue;
+  const char *str;
+  char *endptr;
+
+  /* There must be exactly one argument */
+
+  if (argc != 2)
+    {
+      fprintf(stderr, "\nExpected a single argument\n");
+      show_usage(argv[0]);
+    }
+  str = argv[1];
+
+  /* If the value begins with a zero, we will assume that it is a hexadecimal
+   * representation.
+   */
+
+  if (str[0] == '0')
+    {
+      endptr = NULL;
+      ulvalue = strtoul(str, &endptr, 16);
+      if (!endptr || *endptr != '\0')
+        {
+          fprintf(stderr, "\nHexadecimal argument not fully converted\n");
+          show_usage(argv[0]);
+        }
+
+      if (ulvalue >= 0x80000000)
+        {
+          lvalue = ~ulvalue + 1;
+        }
+      else
+        {
+          lvalue = ulvalue;
+        }
+
+      fvalue = ((double)lvalue) / 65536.0;
+      printf("0x%08lx -> %10.5f\n", ulvalue, fvalue);
+    }
+  else
+    {
+      endptr = NULL;
+      fvalue = strtod(str, &endptr);
+      if (!endptr || *endptr != '\0')
+        {
+          fprintf(stderr, "\nFloating point argument not fully converted\n");
+          show_usage(argv[0]);
+        }
+
+      lvalue = 65536.0 * fvalue;
+      printf("%10.5f -> 0x%08lx\n", fvalue, lvalue);
+    }
+   
+  return 0;
+}
diff --git a/nuttx/tools/cfgparser.c b/nuttx/tools/cfgparser.c
index b1f189f6f..1a35f7857 100644
--- a/nuttx/tools/cfgparser.c
+++ b/nuttx/tools/cfgparser.c
@@ -2,7 +2,7 @@
  * tools/cfgpaser.c
  *
  *   Copyright (C) 2007-2012 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/nuttx/tools/configure.sh b/nuttx/tools/configure.sh
index 3b68fe3f6..ffa997178 100755
--- a/nuttx/tools/configure.sh
+++ b/nuttx/tools/configure.sh
@@ -100,32 +100,54 @@ if [ ! -d "${configpath}" ]; then
   exit 3
 fi
 
-if [ ! -r "${configpath}/Make.defs" ]; then
-  echo "File \"${configpath}/Make.defs\" does not exist"
+src_makedefs="${configpath}/Make.defs"
+dest_makedefs="${TOPDIR}/Make.defs"
+
+if [ ! -r "${src_makedefs}" ]; then
+  echo "File \"${src_makedefs}\" does not exist"
   exit 4
 fi
 
-if [ ! -r "${configpath}/setenv.sh" ]; then
-  echo "File \"${configpath}/setenv.sh\" does not exist"
-  exit 5
+src_setenv="${configpath}/setenv.sh"
+unset have_setenv
+
+if [ -r "${src_setenv}" ]; then
+  dest_setenv=${TOPDIR}/setenv.sh
+  have_setenv=y
+else
+  src_setenv="${configpath}/setenv.bat"
+  if [ -r "${src_setenv}" ]; then
+    dest_setenv=${TOPDIR}/setenv.bat
+    have_setenv=y
+  else
+    unset src_setenv
+  fi
 fi
 
-if [ ! -r "${configpath}/defconfig" ]; then
-  echo "File \"${configpath}/defconfig\" does not exist"
+src_config="${configpath}/defconfig"
+tmp_config="${TOPDIR}/.configX"
+dest_config="${TOPDIR}/.config"
+
+if [ ! -r "${src_config}" ]; then
+  echo "File \"${src_config}\" does not exist"
   exit 6
 fi
 
 # Extract values needed from the defconfig file.  We need:
 # (1) The CONFIG_NUTTX_NEWCONFIG setting to know if this is a "new" style
-#     configuration, and
-# (2) The CONFIG_APPS_DIR to see if there is a configured location for the
-#     application directory.
+#     configuration,
+# (2) The CONFIG_WINDOWS_NATIVE setting to know it this is target for a
+#     native Windows (meaning that we want setenv.bat vs setenv.sh and we need
+#     to use backslashes in the CONFIG_APPS_DIR setting).
+# (3) The CONFIG_APPS_DIR setting to see if there is a configured location for the
+#     application directory.  This can be overridden from the command line.
 
-newconfig=`grep CONFIG_NUTTX_NEWCONFIG= "${configpath}/defconfig" | cut -d'=' -f2`
+newconfig=`grep CONFIG_NUTTX_NEWCONFIG= "${src_config}" | cut -d'=' -f2`
+winnative=`grep CONFIG_WINDOWS_NATIVE= "${src_config}" | cut -d'=' -f2`
 
 defappdir=y
 if [ -z "${appdir}" ]; then
-  quoted=`grep "^CONFIG_APPS_DIR=" "${configpath}/defconfig" | cut -d'=' -f2`
+  quoted=`grep "^CONFIG_APPS_DIR=" "${src_config}" | cut -d'=' -f2`
   if [ ! -z "${appdir}" ]; then
     appdir=`echo ${quoted} | sed -e "s/\"//g"`
     defappdir=n
@@ -157,34 +179,45 @@ if [ -z "${appdir}" ]; then
   fi
 fi
 
+# For checking the apps dir path, we need a POSIX version of the relative path.
+
+posappdir=`echo "${appdir}" | sed -e 's/\\\\/\\//g'`
+winappdir=`echo "${appdir}" | sed -e 's/\\//\\\\/g'`
+
 # If appsdir was provided (or discovered) then make sure that the apps/
 # directory exists
 
-if [ ! -z "${appdir}" -a ! -d "${TOPDIR}/${appdir}" ]; then
-  echo "Directory \"${TOPDIR}/${appdir}\" does not exist"
+if [ ! -z "${appdir}" -a ! -d "${TOPDIR}/${posappdir}" ]; then
+  echo "Directory \"${TOPDIR}/${posappdir}\" does not exist"
   exit 7
 fi
 
 # Okay... Everything looks good.  Setup the configuration
 
-install -C "${configpath}/Make.defs" "${TOPDIR}/." || \
-  { echo "Failed to copy ${configpath}/Make.defs" ; exit 7 ; }
-install -C "${configpath}/setenv.sh" "${TOPDIR}/." || \
-  { echo "Failed to copy ${configpath}/setenv.sh" ; exit 8 ; }
-chmod 755 "${TOPDIR}/setenv.sh"
-install -C "${configpath}/defconfig" "${TOPDIR}/.configX" || \
-  { echo "Failed to copy ${configpath}/defconfig" ; exit 9 ; }
+install "${src_makedefs}" "${dest_makedefs}" || \
+  { echo "Failed to copy \"${src_makedefs}\"" ; exit 7 ; }
+if [ "X${have_setenv}" = "Xy" ]; then
+  install "${src_setenv}" "${dest_setenv}" || \
+    { echo "Failed to copy ${src_setenv}" ; exit 8 ; }
+  chmod 755 "${dest_setenv}"
+fi
+install "${src_config}" "${tmp_config}" || \
+  { echo "Failed to copy \"${src_config}\"" ; exit 9 ; }
 
 # If we did not use the CONFIG_APPS_DIR that was in the defconfig config file,
 # then append the correct application information to the tail of the .config
 # file
 
 if [ "X${defappdir}" = "Xy" ]; then
-  sed -i -e "/^CONFIG_APPS_DIR/d" "${TOPDIR}/.configX"
-  echo "" >> "${TOPDIR}/.configX"
-  echo "# Application configuration" >> "${TOPDIR}/.configX"
-  echo "" >> "${TOPDIR}/.configX"
-  echo "CONFIG_APPS_DIR=\"$appdir\"" >> "${TOPDIR}/.configX"
+  sed -i -e "/^CONFIG_APPS_DIR/d" "${tmp_config}"
+  echo "" >> "${tmp_config}"
+  echo "# Application configuration" >> "${tmp_config}"
+  echo "" >> "${tmp_config}"
+  if [ "X${winnative}" = "Xy" ]; then
+    echo "CONFIG_APPS_DIR=\"$winappdir\"" >> "${tmp_config}"
+  else
+    echo "CONFIG_APPS_DIR=\"$posappdir\"" >> "${tmp_config}"
+  fi
 fi 
 
 # Copy appconfig file.  The appconfig file will be copied to ${appdir}/.config
@@ -195,7 +228,7 @@ if [ ! -z "${appdir}" -a "X${newconfig}" != "Xy" ]; then
   if [ ! -r "${configpath}/appconfig" ]; then
     echo "NOTE: No readable appconfig file found in ${configpath}"
   else
-    install -C "${configpath}/appconfig" "${TOPDIR}/${appdir}/.config" || \
+    install "${configpath}/appconfig" "${TOPDIR}/${posappdir}/.config" || \
       { echo "Failed to copy ${configpath}/appconfig" ; exit 10 ; }
   fi
 fi
@@ -203,6 +236,5 @@ fi
 # install the final .configX only if it differs from any existing
 # .config file.
 
-install -C "${TOPDIR}/.configX" "${TOPDIR}/.config"
-rm -f "${TOPDIR}/.configX"
-
+install "${tmp_config}" "${dest_config}"
+rm -f "${tmp_config}"
diff --git a/nuttx/tools/copydir.bat b/nuttx/tools/copydir.bat
new file mode 100755
index 000000000..2857c415f
--- /dev/null
+++ b/nuttx/tools/copydir.bat
@@ -0,0 +1,102 @@
+@echo off

+

+rem tools/copydir.bat

+rem

+rem   Copyright (C) 2012 Gregory Nutt. All rights reserved.

+rem   Author: Gregory Nutt <gnutt@nuttx.org>

+rem

+rem Redistribution and use in source and binary forms, with or without

+rem modification, are permitted provided that the following conditions

+rem are met:

+rem

+rem 1. Redistributions of source code must retain the above copyright

+rem    notice, this list of conditions and the following disclaimer.

+rem 2. Redistributions in binary form must reproduce the above copyright

+rem    notice, this list of conditions and the following disclaimer in

+rem    the documentation and/or other materials provided with the

+rem    distribution.

+rem 3. Neither the name NuttX nor the names of its contributors may be

+rem    used to endorse or promote products derived from this software

+rem    without specific prior written permission.

+rem

+rem THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS

+rem "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT

+rem LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS

+rem FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE

+rem COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,

+rem INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,

+rem BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS

+rem OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED

+rem AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT

+rem LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN

+rem ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

+rem POSSIBILITY OF SUCH DAMAGE.

+rem

+

+rem

+rem NuttX uses symbolic links to configure platform-specific directories into

+rem the build system.  This works great except for when a Windows native

+rem toolchain is used in a Cygwin environment.  In that case, symbolic

+rem links do not work correctly when accessed from the Windows native toolchain;

+rem rather, just look link files with the extension .lnk

+rem

+rem In this environment, the build system will work around this using this script

+rem as a replacement for the 'ln' command.  This scrpt will simply copy the

+rem directory into the expected positiion.

+rem

+

+set src=%1

+set dest=%2

+

+rem Verify that arguments were provided

+

+if "%src%"=="" goto :MissingSrc

+if "%dest%"=="" goto :MissingDest

+goto CheckSrc

+

+:MissingSrc

+

+echo Missing ^<src^> and ^<dest^> arguments

+goto :ShowUsage

+

+:MissingDest

+

+echo Missing ^<dest^> arguments

+goto :ShowUsage

+

+rem Verify that a directory exists at the source path

+

+:CheckSrc

+

+if exist %src% goto :CheckDest

+

+echo No directory at %src%

+goto :ShowUsage

+

+:CheckDest

+

+rem If something already exists at the destination path, remove it

+

+if not exist %dest% goto :CopyDir

+

+rmdir /q /s %dest%

+if errorlevel 1 (

+  echo Failed to remove existing object at %dest%

+  goto :ShowUsage

+)

+

+rem Copy the directory

+

+:CopyDir

+

+xcopy %src% %dest% /c /q /s /e /y /i

+echo FAKELNK >  %dest%\.fakelnk

+goto :End

+

+:ShowUsage

+echo USAGE: %0 ^<src^> ^<dest^>

+echo Where:

+echo   ^<src^> is the source directory to be copied

+echo   ^<dest^> is the destination directory to be created

+

+:End

diff --git a/nuttx/tools/winlink.sh b/nuttx/tools/copydir.sh
index f79eda2bd..5d9f79002 100755
--- a/nuttx/tools/winlink.sh
+++ b/nuttx/tools/copydir.sh
@@ -1,6 +1,6 @@
 #!/bin/bash
 ############################################################################
-# tools/winlink.sh
+# tools/copydir.sh
 #
 #   Copyright (C) 2008 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/tools/define.bat b/nuttx/tools/define.bat
new file mode 100644
index 000000000..13d29ac31
--- /dev/null
+++ b/nuttx/tools/define.bat
@@ -0,0 +1,178 @@
+@echo off
+
+rem tools/define.bat
+rem
+rem   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+rem   Author: Gregory Nutt <gnutt@nuttx.org>
+rem
+rem Redistribution and use in source and binary forms, with or without
+rem modification, are permitted provided that the following conditions
+rem are met:
+rem
+rem 1. Redistributions of source code must retain the above copyright
+rem    notice, this list of conditions and the following disclaimer.
+rem 2. Redistributions in binary form must reproduce the above copyright
+rem    notice, this list of conditions and the following disclaimer in
+rem    the documentation and/or other materials provided with the
+rem    distribution.
+rem 3. Neither the name NuttX nor the names of its contributors may be
+rem    used to endorse or promote products derived from this software
+rem    without specific prior written permission.
+rem
+rem THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+rem "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+rem LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+rem FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+rem COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+rem INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+rem BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+rem OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+rem AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+rem LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+rem ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+rem POSSIBILITY OF SUCH DAMAGE.
+
+rem Handle command line options
+rem [-h] <compiler-path> <def1> [-val <val1>] [<def2> [-val <val2>] [<def3> [-val <val3>] ...]]
+rem [-w] [-d] ignored for compatibility with define.sh
+
+set progname=%0
+
+:ArgLoop
+if "%1"=="-d" goto :NextArg
+if "%1"=="-w" goto :NextArg
+if "%1"=="-h" goto :ShowUsage
+
+goto :CheckCompilerPath
+
+:NextArg
+shift
+goto :ArgLoop
+
+:CheckCompilerPath
+
+if "%1"=="" (
+  echo Missing compiler path
+  goto :ShowUsage
+)
+
+set ccpath=%1
+shift
+
+set compiler=
+for /F %%i in ("%ccpath%") do set compiler=%%~ni
+
+if "%1"=="" (
+  echo Missing definition list
+  goto :ShowUsage
+)
+
+rem Check for some well known, non-GCC Windows native tools that require
+rem a special output format as well as special paths
+
+:GetFormat
+set fmt=std
+if "%compiler%"=="ez8cc" goto :SetZdsFormt
+if "%compiler%"=="zneocc" goto :SetZdsFormt
+if "%compiler%"=="ez80cc" goto :SetZdsFormt
+goto :ProcessDefinitions
+
+:SetZdsFormt
+set fmt=zds
+
+rem Now process each directory in the directory list
+
+:ProcessDefinitions
+set response=
+
+:DefinitionLoop
+if "%1"=="" goto :Done
+
+set varname=%1
+shift
+
+rem Handle the output depending on if there is a value for the variable or not
+
+if "%1"=="-val" goto :GetValue
+
+rem Handle the output using the selected format
+
+:NoValue
+if "%fmt%"=="zds" goto :NoValueZDS
+
+:NoValueStandard
+rem Treat the first definition differently
+
+if "%response%"=="" (
+  set response=-D%varname%
+  goto :DefinitionLoop
+)
+
+set response=%response% -D%varname%
+goto :DefinitionLoop
+
+:NoValueZDS
+rem Treat the first definition differently
+
+if "%response%"=="" (
+  set response=-define:%varname%
+  goto :DefinitionLoop
+)
+
+set response=%response% -define:%varname%
+goto :DefinitionLoop
+
+rem Get value following the variable name
+
+:GetValue
+shift
+set varvalue=%1
+shift
+
+rem Handle the output using the selected format
+
+if "%fmt%"=="zds" goto :ValueZDS
+
+:ValueStandard
+rem Treat the first definition differently
+
+if "%response%"=="" (
+  set response=-D%varname%=%varvalue%
+  goto :DefinitionLoop
+)
+
+set response=%response% -D%varname%=%varvalue%
+goto :DefinitionLoop
+
+:ValueZds
+rem Treat the first definition differently
+
+if "%response%"=="" (
+  set response=-define:%varname%=%varvalue%
+  goto :DefinitionLoop
+)
+
+set response=%response% -define:%varname%=%varvalue%
+goto :DefinitionLoop
+
+:Done
+echo %response%
+goto :End
+
+:ShowUsage
+echo %progname% is a tool for flexible generation of command line pre-processor
+echo definitions arguments for a variety of diffent ccpaths in a variety of
+echo compilation environments"
+echo USAGE:%progname% [-h] ^<compiler-path^> [-val ^<^val1^>] [^<def2^> [-val ^<val2^>] [^<def3^> [-val ^<val3^>] ...]]
+echo Where:"
+echo 	^<compiler-path^>
+echo 		The full path to your ccpath
+echo 	^<def1^> ^<def2^> ^<def3^> ...
+echo 		A list of pre-preprocesser variable names to be defined.
+echo 	[-val ^<val1^>] [-val ^<val2^>] [-val ^<val3^>] ...
+echo 		optional values to be assigned to each pre-processor variable.
+echo 		If not supplied, the variable will be defined with no explicit value.
+echo 	-h
+echo 		Show this text and exit
+
+:End
diff --git a/nuttx/tools/define.sh b/nuttx/tools/define.sh
index c53cb92a8..dc982cc64 100755
--- a/nuttx/tools/define.sh
+++ b/nuttx/tools/define.sh
@@ -1,7 +1,7 @@
 #!/bin/bash
 # tools/define.sh
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -38,7 +38,7 @@
 
 progname=$0
 wintool=n
-usage="USAGE: $progname [-w] [-d] [-l] [-h] <compiler-path> <def1>[=val1] [<def2>[=val2] [<def3>[=val3] ...]]"
+usage="USAGE: $progname [-w] [-d] [-h] <compiler-path> <def1>[=val1] [<def2>[=val2] [<def3>[=val3] ...]]"
 advice="Try '$progname -h' for more information"
 
 while [ ! -z "$1" ]; do 
@@ -60,7 +60,7 @@ while [ ! -z "$1" ]; do
 		echo "	<compiler-path>"
 		echo "		The full path to your compiler"
 		echo "	<def1> <def2> [<def3> ..."
-		echo "		A list of pre-preprocesser variable names to be defind."
+		echo "		A list of pre-preprocesser variable names to be defined."
 		echo "	[=val1] [=val2] [=val3]"
 		echo "		optional values to be assigned to each pre-processor variable."
 		echo "		If not supplied, the variable will be defined with no explicit value."
@@ -164,7 +164,7 @@ else
 	fmt=std
 fi
 
-# Now process each directory in the directory list
+# Now process each definition in the definition list
 
 unset response
 for vardef in $varlist; do
diff --git a/nuttx/tools/incdir.bat b/nuttx/tools/incdir.bat
new file mode 100755
index 000000000..f7383fc9a
--- /dev/null
+++ b/nuttx/tools/incdir.bat
@@ -0,0 +1,165 @@
+@echo off
+
+rem tools/incdir.sh
+rem
+rem   Copyright (C) 2008-2009, 2011 Gregory Nutt. All rights reserved.
+rem   Author: Gregory Nutt <gnutt@nuttx.org>
+rem
+rem Redistribution and use in source and binary forms, with or without
+rem modification, are permitted provided that the following conditions
+rem are met:
+rem
+rem 1. Redistributions of source code must retain the above copyright
+rem    notice, this list of conditions and the following disclaimer.
+rem 2. Redistributions in binary form must reproduce the above copyright
+rem    notice, this list of conditions and the following disclaimer in
+rem    the documentation and/or other materials provided with the
+rem    distribution.
+rem 3. Neither the name NuttX nor the names of its contributors may be
+rem    used to endorse or promote products derived from this software
+rem    without specific prior written permission.
+rem
+rem THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+rem "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+rem LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+rem FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+rem COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+rem INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+rem BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+rem OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+rem AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+rem LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+rem ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+rem POSSIBILITY OF SUCH DAMAGE.
+rem
+
+rem Handle command line options
+
+set progname=%0
+set pathtype=user
+
+:ArgLoop
+
+rem [-d] [-w] [-s] [-h]. [-w] and [-d] Ignored for compatibility with incdir.sh
+
+if "%1"=="-d" goto :NextArg
+if "%1"=="-w" goto :NextArg
+if "%1"=="-h" goto :Usage
+
+if "%1"=="-s" (
+  set pathtype=system
+  goto :NextArg
+)
+
+goto :CheckCompiler
+
+:NextArg
+shift
+goto :ArgLoop
+
+:CheckCompiler
+if "%1"=="" (
+  echo ERROR: Missing compiler name
+  goto :Usage
+)
+
+set ccpath=%1
+shift
+
+set compiler=
+for /F %%i in ("%ccpath%") do set compiler=%%~ni
+
+if "%1"=="" (
+  echo ERROR: Missing directory paths
+  goto :Usage
+)
+
+rem Check for some well known, non-GCC Windows native tools that require
+rem a special output format as well as special paths
+
+:GetFormat
+set fmt=std
+if "%compiler%"=="ez8cc" goto :SetZdsFormt
+if "%compiler%"=="zneocc" goto :SetZdsFormt
+if "%compiler%"=="ez80cc" goto :SetZdsFormt
+goto :GeneratePaths
+
+:SetZdsFormt
+set fmt=zds
+
+rem Generate the compiler include path directives.
+
+:GeneratePaths
+set response=
+
+:DirLoop
+if "%1" == "" (
+  echo %response%
+  goto :End
+)
+
+if not exist %1 (
+  echo ERROR: Path %1 does not exist
+  goto :Usage
+)
+
+if "%fmt%"=="zds" goto :GenerateZdsPath
+if "%response%"=="" goto :FirstStdPath
+if "%pathtype%"=="system" goto :NextStdSystemPath
+
+set response=%response% -I "%1"
+goto :EndOfDirLoop
+
+:NextStdSystemPath
+
+set response=%response% -isystem "%1"
+goto :EndOfDirLoop
+
+:FirstStdPath
+
+if "%pathtype%"=="system" goto :FirstStdSystemPath
+set response=-I "%1"
+goto :EndOfDirLoop
+
+:FirstStdSystemPath
+
+set response=-isystem "%1"
+goto :EndOfDirLoop
+
+:GenerateZdsPath
+
+if "%response%"=="" goto :FirstZdsPath
+set response=%response%;%1
+goto :EndOfDirLoop
+
+:FirstZdsPath
+
+if "%pathtype%"=="system" goto :FirstZdsSystemPath
+set response=-usrinc:%1
+goto :EndOfDirLoop
+
+:FirstZdsSystemPath
+
+set response=-stdinc:%1
+
+:EndOfDirLoop
+shift
+goto :DirLoop
+
+:Usage
+echo %progname% is a tool for flexible generation of include path arguments for a
+echo variety of different compilers in a variety of compilation environments
+echo USAGE: %progname% [-w] [-d] [-s] [-h] ^<compiler-path^> ^<dir1^> [^<dir2^> [^<dir3^> ...]]
+echo Where:
+echo   ^<compiler-path^>
+echo       The full path to your compiler
+echo   ^<dir1^> [^<dir2^> [^<dir3^> ...]]
+echo       A list of include directories
+echo   -w, -d
+echo       For compatibility with incdir.sh (ignored)
+echo   -s
+echo       Generate standard, system header file paths instead of normal user
+echo       header file paths.
+echo   -h
+echo       Shows this help text and exits.
+:End
diff --git a/nuttx/tools/incdir.sh b/nuttx/tools/incdir.sh
index be6a1d07a..145bfe9bb 100755
--- a/nuttx/tools/incdir.sh
+++ b/nuttx/tools/incdir.sh
@@ -36,6 +36,7 @@
 
 progname=$0
 wintool=n
+pathtype=user
 usage="USAGE: $progname [-w] [-d] [-h] <compiler-path> <dir1> [<dir2> [<dir3> ...]]"
 advice="Try '$progname -h' for more information"
 
@@ -47,6 +48,9 @@ while [ ! -z "$1" ]; do
 	-w )
 		wintool=y
 		;;
+	-s )
+		pathtype=system
+		;;
 	-h )
 		echo "$progname is a tool for flexible generation of include path arguments for a"
 		echo "variety of different compilers in a variety of compilation environments"
@@ -61,8 +65,14 @@ while [ ! -z "$1" ]; do
 		echo "	-w"
 		echo "		The compiler is a Windows native tool and requires Windows"
 		echo "		style pathnames like C:\\Program Files"
+		echo "	-s"
+		echo "		Generate standard, system header file paths instead of normal user"
+		echo "		header file paths."
 		echo "	-d"
 		echo "		Enable script debug"
+		echo "	-h"
+		echo "		Shows this help text and exits."
+		exit 0
 		;;
 	* )
 		break;
@@ -155,11 +165,27 @@ exefile=`basename "$compiler"`
 # a special output format as well as special paths
 
 if [ "X$exefile" = "Xez8cc.exe" -o "X$exefile" = "Xzneocc.exe" -o "X$exefile" = "Xez80cc.exe" ]; then
-	fmt=userinc
+	fmt=zds
 else
 	fmt=std
 fi
 
+# Select system or user header file path command line option
+
+if [ "X$fmt" = "Xzds" ]; then
+	if [ "X$pathtype" = "Xsystem" ]; then
+		cmdarg=-stdinc:
+	else
+		cmdarg=-usrinc:
+	fi
+else
+	if [ "X$pathtype" = "Xsystem" ]; then
+		cmdarg=-isystem
+	else
+		cmdarg=-I
+	fi
+fi
+
 # Now process each directory in the directory list
 
 unset response
@@ -183,26 +209,26 @@ for dir in $dirlist; do
 
 	# Handle the output using the selected format
 
-	if [ "X$fmt" = "Xuserinc" ]; then
+	if [ "X$fmt" = "Xzds" ]; then
 		# Treat the first directory differently
 
 		if [ -z "$response" ]; then
-			response="-usrinc:'"$path
+			response="${cmdarg}'"${path}
 		else
-			response=$response":$path"
+			response=${response}";${path}"
 		fi
 	else
 		# Treat the first directory differently
 
 		if [ -z "$response" ]; then
-			response=-I\"$path\"
+			response="${cmdarg} \"$path\""
 		else
-			response=$response" -I\"$path\""
+			response="${response} ${cmdarg} \"$path\""
 		fi
 	fi
 done
 
-if [ "X$fmt" = "Xuserinc" ]; then
+if [ "X$fmt" = "Xzds" ]; then
 	response=$response"'"
 fi
 
diff --git a/nuttx/tools/link.bat b/nuttx/tools/link.bat
new file mode 100755
index 000000000..434574ee3
--- /dev/null
+++ b/nuttx/tools/link.bat
@@ -0,0 +1,89 @@
+@echo off

+

+rem tools/link.bat

+rem

+rem   Copyright (C) 2012 Gregory Nutt. All rights reserved.

+rem   Author: Gregory Nutt <gnutt@nuttx.org>

+rem

+rem Redistribution and use in source and binary forms, with or without

+rem modification, are permitted provided that the following conditions

+rem are met:

+rem

+rem 1. Redistributions of source code must retain the above copyright

+rem    notice, this list of conditions and the following disclaimer.

+rem 2. Redistributions in binary form must reproduce the above copyright

+rem    notice, this list of conditions and the following disclaimer in

+rem    the documentation and/or other materials provided with the

+rem    distribution.

+rem 3. Neither the name NuttX nor the names of its contributors may be

+rem    used to endorse or promote products derived from this software

+rem    without specific prior written permission.

+rem

+rem THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS

+rem "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT

+rem LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS

+rem FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE

+rem COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,

+rem INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,

+rem BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS

+rem OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED

+rem AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT

+rem LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN

+rem ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

+rem POSSIBILITY OF SUCH DAMAGE.

+rem

+

+set src=%1

+set link=%2

+

+rem Verify that arguments were provided

+

+if "%src%"=="" goto :MissingSrc

+if "%link%"=="" goto :MissingLink

+goto CheckSrc

+

+:MissingSrc

+

+echo Missing ^<src^> and ^<link^> arguments

+goto :ShowUsage

+

+:MissingLink

+

+echo Missing ^<link^> arguments

+goto :ShowUsage

+

+rem Verify that a directory exists at the source path

+

+:CheckSrc

+

+if exist %src% goto :CheckLink

+

+echo No directory at %src%

+goto :ShowUsage

+

+:CheckLink

+

+rem If something already exists at the destination path, remove it

+

+if not exist %link% goto :MkLink

+

+rmdir /q /s %link%

+if errorlevel 1 (

+  echo Failed to remove existing object at %link%

+  goto :ShowUsage

+)

+

+rem Copy the directory

+

+:MkLink

+

+/user:administrator mklink /d %src% %link%

+goto :End

+

+:ShowUsage

+echo USAGE: %0 ^<src^> ^<link^>

+echo Where:

+echo   ^<src^> is the source directory to be linked

+echo   ^<link^> is the link to be created

+

+:End

diff --git a/nuttx/tools/mkconfig.c b/nuttx/tools/mkconfig.c
index 2d2fff5c5..3e55f5097 100644
--- a/nuttx/tools/mkconfig.c
+++ b/nuttx/tools/mkconfig.c
@@ -116,7 +116,7 @@ int main(int argc, char **argv, char **envp)
   printf(" * configured (at present, NXFLAT is the only supported binary.\n");
   printf(" * format).\n");
   printf(" */\n\n");
-  printf("#if !defined(CONFIG_NXFLAT)\n");
+  printf("#if !defined(CONFIG_NXFLAT) && !defined(CONFIG_ELF)\n");
   printf("# undef CONFIG_BINFMT_DISABLE\n");
   printf("# define CONFIG_BINFMT_DISABLE 1\n");
   printf("#endif\n\n");
diff --git a/nuttx/tools/mkdeps.bat b/nuttx/tools/mkdeps.bat
new file mode 100644
index 000000000..23aab0b71
--- /dev/null
+++ b/nuttx/tools/mkdeps.bat
@@ -0,0 +1,173 @@
+@echo off
+
+rem tools/mkdeps.sh
+rem
+rem   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+rem   Author: Gregory Nutt <gnutt@nuttx.org>
+rem
+rem Redistribution and use in source and binary forms, with or without
+rem modification, are permitted provided that the following conditions
+rem are met:
+rem
+rem 1. Redistributions of source code must retain the above copyright
+rem    notice, this list of conditions and the following disclaimer.
+rem 2. Redistributions in binary form must reproduce the above copyright
+rem    notice, this list of conditions and the following disclaimer in
+rem    the documentation and/or other materials provided with the
+rem    distribution.
+rem 3. Neither the name NuttX nor the names of its contributors may be
+rem    used to endorse or promote products derived from this software
+rem    without specific prior written permission.
+rem
+rem THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+rem "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+rem LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+rem FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+rem COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+rem INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+rem BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+rem OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+rem AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+rem LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+rem ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+rem POSSIBILITY OF SUCH DAMAGE.
+
+rem Accumulate CFLAGS up to "--"
+
+set cc=
+set cflags=
+set altpath=
+set files=
+set args=
+set debug=n
+
+:Loop
+if "%1"=="" goto Continue
+
+if "%1"=="--" (
+  set cc=%cflags%
+  set cflags=%args%
+  set args=
+  goto NextParm
+)
+
+if "%1"=="--dep-path" (
+  if "%args%"=="" (
+    set altpath=%altpath% %2
+  ) else (
+    set args=%args% %2
+  )
+  shift
+  goto NextParm
+)
+
+if "%1"=="--dep-debug" (
+rem  @echo on
+  set debug=y
+  goto NextParm
+)
+
+if "%1"=="--help" goto Usage
+
+if "%args%"=="" (
+  set args=%1
+) else (
+  set args=%args% %1
+)
+
+:NextParm
+shift
+goto Loop
+:Continue
+
+set files=%args%
+
+if "%debug%"=="y" (
+  echo cc=%cc%
+  echo cflags=%cflags%
+  echo files=%files%
+  echo altpath=%altpath%
+)
+
+rem Now check if we have everything
+
+if "%cc%"=="" (
+  echo ERROR: No compiler specified
+  goto Usage
+)
+
+if "%files%"=="" (
+  rem Don't report an error -- this happens normally in some configurations
+  echo # No files specified for dependency generataion
+  goto End
+)
+
+rem Then get the dependencies for each file
+
+if "%altpath%"=="" goto NoPaths
+for %%G in (%files%) do (
+  set fullpath=
+  set file=%%G
+  call :Checkpaths
+  if "%debug%"=="y" echo %file%: fullpath=%fullpath%
+  if "%fullpath%"=="" goto :NoFile
+  if "%debug%"=="y" echo CMD: %cc% -M %cflags% %fullpath%
+  %cc% -M %cflags% %fullpath% || goto DepFail
+)
+goto :End
+
+:NoPaths
+for %%G in (%files%) do (
+  set fullpath=
+  set file=%%G
+  call :CheckFile %%G
+)
+goto :End
+
+:CheckFile
+if "%debug%"=="y" echo Checkfile: Checking %file%
+if not exist %file% goto :NoFile
+set fullpath=%file%
+  if "%debug%"=="y" echo CMD: %cc% -M %cflags% %fullpath%
+%cc% -M %cflags% %fullpath% || goto DepFail
+goto :EOF
+
+:CheckPaths
+for %%H in (%altpath%) do (
+  set tmppath=%%H\%file%
+  if "%debug%"=="y" echo Checkfile: Checking %tmppath% 
+  if exist %tmppath% (
+    set fullpath=%tmppath%
+    goto :EOF
+  )
+)
+goto :EOF
+
+:NoFile
+echo ERROR: No readable file at %file%
+goto Usage
+
+:DepFail
+echo ERROR: Failed to created dependencies for %file%
+
+:Usage
+echo Usage: mkdeps  [OPTIONS] CC -- CFLAGS -- file [file [file...]]
+echo Where:
+echo   CC
+echo     A variable number of arguments that define how to execute the compiler
+echo   CFLAGS
+echo     The compiler compilation flags
+echo   file
+echo     One or more C files whose dependencies will be checked.  Each file is expected
+echo     to reside in the current directory unless --dep-path is provided on the command line
+echo And [OPTIONS] include:
+echo   --dep-debug
+echo     Enable script debug
+echo   --dep-path ^<path^>
+echo     Do not look in the current directory for the file.  Instead, look in <path> to see
+echo     if the file resides there.  --dep-path may be used multiple times to specify
+echo     multiple alternative location
+echo   --help
+echo     Shows this message and exits
+
+:End
diff --git a/nuttx/tools/mkdeps.c b/nuttx/tools/mkdeps.c
new file mode 100644
index 000000000..64d81cbd7
--- /dev/null
+++ b/nuttx/tools/mkdeps.c
@@ -0,0 +1,721 @@
+/****************************************************************************
+ * tools/mkdeps.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <sys/stat.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <limits.h>
+#include <ctype.h>
+#include <errno.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define MAX_BUFFER  (4096)
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+enum slashmode_e
+{
+  MODE_FSLASH  = 0,
+  MODE_BSLASH  = 1,
+  MODE_DBLBACK = 2
+};
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static char *g_cc       = NULL;
+static char *g_cflags   = NULL;
+static char *g_files    = NULL;
+static char *g_altpath  = NULL;
+static int   g_debug    = 0;
+static bool  g_winnative = false;
+#ifdef HAVE_WINPATH
+static bool  g_winpath  = false;
+static char *g_topdir   = NULL;
+#endif
+
+static char g_command[MAX_BUFFER];
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+ /* MinGW does not seem to provide strtok_r */
+
+#ifndef HAVE_STRTOK_R
+static char *MY_strtok_r(char *str, const char *delim, char **saveptr)
+{
+  char *pbegin;
+  char *pend = NULL;
+
+  /* Decide if we are starting a new string or continuing from
+   * the point we left off.
+   */
+
+  if (str)
+    {
+      pbegin = str;
+    }
+  else if (saveptr && *saveptr)
+    {
+      pbegin = *saveptr;
+    }
+  else
+    {
+      return NULL;
+    }
+
+  /* Find the beginning of the next token */
+
+  for (;
+       *pbegin && strchr(delim, *pbegin) != NULL;
+       pbegin++);
+
+  /* If we are at the end of the string with nothing
+   * but delimiters found, then return NULL.
+   */
+
+  if (!*pbegin)
+    {
+      return NULL;
+    }
+
+  /* Find the end of the token */
+
+  for (pend = pbegin + 1;
+       *pend && strchr(delim, *pend) == NULL;
+       pend++);
+
+  /* pend either points to the end of the string or to
+   * the first delimiter after the string.
+   */
+
+  if (*pend)
+    {
+      /* Turn the delimiter into a null terminator */
+
+      *pend++ = '\0';
+    }
+
+  /* Save the pointer where we left off and return the
+   * beginning of the token.
+   */
+
+  if (saveptr)
+    {
+      *saveptr = pend;
+    }
+  return pbegin;
+}
+
+#define strtok_r MY_strtok_r
+#endif
+
+static void append(char **base, char *str)
+{
+  char *oldbase;
+  char *newbase;
+  int alloclen;
+
+  oldbase = *base;
+  if (!oldbase)
+    {
+      newbase = strdup(str);      
+      if (!newbase)
+        {
+          fprintf(stderr, "ERROR: Failed to strdup %s\n", str);
+          exit(EXIT_FAILURE);
+        }
+    }
+  else
+    {
+      alloclen = strlen(oldbase) + strlen(str) + 2;
+      newbase = (char *)malloc(alloclen);
+      if (!newbase)
+        {
+          fprintf(stderr, "ERROR: Failed to allocate %d bytes\n", alloclen);
+          exit(EXIT_FAILURE);
+        }
+ 
+      snprintf(newbase, alloclen, "%s %s\n", oldbase, str);
+      free(oldbase);
+   }
+
+  *base = newbase;
+}
+
+static void show_usage(const char *progname, const char *msg, int exitcode)
+{
+  if (msg)
+    {
+      fprintf(stderr, "\n");
+      fprintf(stderr, "%s:\n", msg);
+    }
+
+  fprintf(stderr, "\n");
+  fprintf(stderr, "%s  [OPTIONS] CC -- CFLAGS -- file [file [file...]]\n",
+          progname);
+  fprintf(stderr, "\n");
+  fprintf(stderr, "Where:\n");
+  fprintf(stderr, "  CC\n");
+  fprintf(stderr, "    A variable number of arguments that define how to execute the compiler\n");
+  fprintf(stderr, "  CFLAGS\n");
+  fprintf(stderr, "    The compiler compilation flags\n");
+  fprintf(stderr, "  file\n");
+  fprintf(stderr, "    One or more C files whose dependencies will be checked.  Each file is expected\n");
+  fprintf(stderr, "    to reside in the current directory unless --dep-path is provided on the command line\n");
+  fprintf(stderr, "\n");
+  fprintf(stderr, "And [OPTIONS] include:\n");
+  fprintf(stderr, "  --dep-debug\n");
+  fprintf(stderr, "    Enable script debug\n");
+  fprintf(stderr, "  --dep-path <path>\n");
+  fprintf(stderr, "    Do not look in the current directory for the file.  Instead, look in <path> to see\n");
+  fprintf(stderr, "    if the file resides there.  --dep-path may be used multiple times to specify\n");
+  fprintf(stderr, "    multiple alternative location\n");
+  fprintf(stderr, "  --winnative\n");
+  fprintf(stderr, "    By default, a POSIX-style environment is assumed (e.g., Linux, Cygwin, etc.)  This option is\n");
+  fprintf(stderr, "    inform the tool that is working in a pure Windows native environment.\n");
+#ifdef HAVE_WINPATH
+  fprintf(stderr, "  --winpaths <TOPDIR>\n");
+  fprintf(stderr, "    This option is useful when using a Windows native toolchain in a POSIX environment (such\n");
+  fprintf(stderr, "    such as Cygwin).  In this case, will CC generates dependency lists using Windows paths\n");
+  fprintf(stderr, "    (e.g., C:\\blablah\\blabla).  This switch instructs the script to use 'cygpath' to convert\n");
+  fprintf(stderr, "    the Windows paths to Cygwin POSIXE paths.\n");
+#endif
+  fprintf(stderr, "  --help\n");
+  fprintf(stderr, "    Shows this message and exits\n");
+  exit(exitcode);
+}
+
+static void parse_args(int argc, char **argv)
+{
+  char *args = NULL;
+  int argidx;
+
+  /* Accumulate CFLAGS up to "--" */
+
+  for (argidx = 1; argidx < argc; argidx++)
+    {
+      if (strcmp(argv[argidx], "--") == 0)
+        {
+          g_cc = g_cflags;
+          g_cflags = args;
+          args = NULL;
+        }
+      else if (strcmp(argv[argidx], "--dep-debug") == 0)
+        {
+          g_debug++;
+        }
+      else if (strcmp(argv[argidx], "--dep-path") == 0)
+        {
+          argidx++;
+          if (argidx >= argc)
+            {
+              show_usage(argv[0], "ERROR: Missing argument to --dep-path", EXIT_FAILURE);
+            }
+
+          if (args)
+            {
+              append(&args, argv[argidx]);
+            }
+          else
+            {
+              append(&g_altpath, argv[argidx]);              
+            }
+        }
+      else if (strcmp(argv[argidx], "--winnative") == 0)
+        {
+          g_winnative = true;
+        }
+#ifdef HAVE_WINPATH
+      else if (strcmp(argv[argidx], "--winpath") == 0)
+        {
+          g_winpath = true;
+          if (g_topdir)
+            {
+              free(g_topdir);
+            }
+
+          argidx++;
+          if (argidx >= argc)
+            {
+              show_usage(argv[0], "ERROR: Missing argument to --winpath", EXIT_FAILURE);
+            }
+
+          g_topdir = strdup(argv[argidx]);
+        }
+#endif
+      else if (strcmp(argv[argidx], "--help") == 0)
+        {
+          show_usage(argv[0], NULL, EXIT_SUCCESS);
+        }
+      else
+        {
+          append(&args, argv[argidx]);
+        }
+    }
+
+  /* The final thing accumulated is the list of files */
+
+  g_files = args;
+
+  /* If no paths were specified, then look in the current directory only */
+
+  if (!g_altpath)
+    {
+      g_altpath = strdup(".");
+    }
+
+  if (g_debug)
+    {
+      fprintf(stderr, "SELECTIONS\n");
+      fprintf(stderr, "  CC             : [%s]\n", g_cc ? g_cc : "(None)");
+      fprintf(stderr, "  CFLAGS         : [%s]\n", g_cflags ? g_cflags : "(None)");
+      fprintf(stderr, "  FILES          : [%s]\n", g_files ? g_files : "(None)");
+      fprintf(stderr, "  PATHS          : [%s]\n", g_altpath ? g_altpath : "(None)");
+#ifdef HAVE_WINPATH
+      fprintf(stderr, "  Windows Paths  : [%s]\n", g_winpath ? "TRUE" : "FALSE");
+      if (g_winpath)
+        {
+          fprintf(stderr, "  TOPDIR         : [%s]\n", g_topdir);
+        }
+#endif
+      fprintf(stderr, "  Windows Native : [%s]\n", g_winnative ? "TRUE" : "FALSE");
+    }
+
+  /* Check for required paramters */
+
+  if (!g_cc)
+    {
+      show_usage(argv[0], "ERROR: No compiler specified", EXIT_FAILURE);
+    }
+
+  if (!g_files)
+    {
+      /* Don't report an error -- this happens normally in some configurations */
+
+      printf("# No files specified for dependency generataion\n");
+      exit(EXIT_SUCCESS);
+    }
+
+#ifdef HAVE_WINPATH
+  if (g_winnative && g_winpath)
+    {
+      show_usage(argv[0], "ERROR: Both --winnative and --winpapth makes no sense", EXIT_FAILURE);
+    }
+#endif
+}
+
+static void do_dependency(const char *file, char separator)
+{
+  static const char moption[] = " -M ";
+  struct stat buf;
+  char *alloc;
+  char *altpath;
+  char *path;
+  char *lasts;
+  int cmdlen;
+  int pathlen;
+  int filelen;
+  int totallen;
+  int ret;
+
+  /* Copy the compiler into the command buffer */
+
+  cmdlen = strlen(g_cc);
+  if (cmdlen >= MAX_BUFFER)
+    {
+      fprintf(stderr, "ERROR: Compiler string is too long [%d/%d]: %s\n",
+              cmdlen, MAX_BUFFER, g_cc);
+      exit(EXIT_FAILURE);
+    }
+
+  strcpy(g_command, g_cc);
+
+  /* Copy " -M " */
+
+  cmdlen += strlen(moption);
+  if (cmdlen >= MAX_BUFFER)
+    {
+      fprintf(stderr, "ERROR: Option string is too long [%d/%d]: %s\n",
+              cmdlen, MAX_BUFFER, moption);
+      exit(EXIT_FAILURE);
+    }
+
+  strcat(g_command, moption);
+
+  /* Copy the CFLAGS into the command buffer */
+
+  cmdlen += strlen(g_cflags);
+  if (cmdlen >= MAX_BUFFER)
+    {
+      fprintf(stderr, "ERROR: CFLAG string is too long [%d/%d]: %s\n",
+              cmdlen, MAX_BUFFER, g_cflags);
+      exit(EXIT_FAILURE);
+    }
+
+  strcat(g_command, g_cflags);
+
+  /* Add a space */
+
+  g_command[cmdlen] = ' ';
+  cmdlen++;
+  g_command[cmdlen] = '\0';
+
+  /* Make a copy of g_altpath. We need to do this because at least the version
+   * of strtok_r above does modifie it.
+   */
+
+  alloc = strdup(g_altpath);
+  if (!alloc)
+    {
+      fprintf(stderr, "ERROR: Failed to strdup paths\n");
+      exit(EXIT_FAILURE);
+    }
+
+  altpath = alloc;
+
+  /* Try each path.  This loop will continue until each path has been tried
+   * (failure) or until stat() finds the file
+   */
+
+  while ((path = strtok_r(altpath, " ", &lasts)) != NULL)
+    {
+      /* Create a full path to the file */
+
+      pathlen = strlen(path);
+      totallen = cmdlen + pathlen;
+      if (totallen >= MAX_BUFFER)
+        {
+          fprintf(stderr, "ERROR: Path is too long [%d/%d]: %s\n",
+                  totallen, MAX_BUFFER, path);
+          exit(EXIT_FAILURE);
+        }
+
+      strcpy(&g_command[cmdlen], path);
+
+      if (g_command[totallen] != '\0')
+        {
+          fprintf(stderr, "ERROR: Missing NUL terminator\n");
+          exit(EXIT_FAILURE);
+        }
+
+       if (g_command[totallen-1] != separator)
+        {
+          g_command[totallen] = separator;
+          g_command[totallen+1] = '\0';
+          pathlen++;
+          totallen++;
+        }
+
+       filelen = strlen(file);
+       totallen += filelen;
+       if (totallen >= MAX_BUFFER)
+         {
+          fprintf(stderr, "ERROR: Path+file is too long [%d/%d]\n",
+                  totallen, MAX_BUFFER);
+          exit(EXIT_FAILURE);
+         }
+        
+       strcat(g_command, file);
+
+      /* Check that a file actually exists at this path */
+
+      if (g_debug)
+        {
+          fprintf(stderr, "Trying path=%s file=%s fullpath=%s\n",
+                  path, file, &g_command[cmdlen]);
+        }
+
+      ret = stat(&g_command[cmdlen], &buf);
+      if (ret < 0)
+        {
+          altpath = NULL;
+          continue;
+        }
+
+      if (!S_ISREG(buf.st_mode))
+        {
+          fprintf(stderr, "ERROR: File %s exists but is not a regular file\n",
+                  &g_command[cmdlen]);
+          exit(EXIT_FAILURE);
+        }
+
+      /* Okay.. we have.  Create the dependency.  One a failure to start the
+       * compiler, system() will return -1;  Otherwise, the returned value
+       * from the compiler is in WEXITSTATUS(ret).
+       */
+ 
+      ret = system(g_command);
+#ifdef WEXITSTATUS
+      if (ret < 0 || WEXITSTATUS(ret) != 0)
+        {
+          if (ret < 0)
+            {
+              fprintf(stderr, "ERROR: system failed: %s\n", strerror(errno));
+            }
+          else
+            {
+              fprintf(stderr, "ERROR: %s failed: %d\n", g_cc, WEXITSTATUS(ret));
+            }
+
+          fprintf(stderr, "       command: %s\n", g_command);
+          exit(EXIT_FAILURE);
+        }
+#else
+      if (ret < 0)
+        {
+          fprintf(stderr, "ERROR: system failed: %s\n", strerror(errno));
+          fprintf(stderr, "       command: %s\n", g_command);
+          exit(EXIT_FAILURE);
+        }
+#endif
+ 
+      /* We don't really know that the command succeeded... Let's assume that it did */
+ 
+      free(alloc);
+      return;
+    }
+
+   printf("# ERROR: File \"%s\" not found at any location\n", file);
+   exit(EXIT_FAILURE);
+}
+
+/* Convert a Cygwin path to a Windows path */
+
+#ifdef HAVE_WINPATH
+static char *cywin2windows(const char *str, const char *append, enum slashmode_e mode)
+{
+  static const char cygdrive[] = "/cydrive";
+  const char *src = src;
+  char *dest;
+  char *newpath;
+  char *allocpath = NULL;
+  int srclen = strlen(str);
+  int alloclen = 0;
+  int drive = 0;
+  int lastchar;
+
+  /* Skip any leading whitespace */
+
+  while (isspace(*str)) str++;
+
+  /* Were we asked to append something? */
+
+  if (append)
+    {
+      char *tmp;
+ 
+      alloclen = sizeof(str) + sizeof(append) + 1;
+      allocpath = (char *)malloc(alloclen);
+      if (!allocpath)
+        {
+          fprintf(stderr, "ERROR: Failed to allocate %d bytes\n", alloclen);
+          exit(EXIT_FAILURE);
+        }
+
+      snprintf(allocpath, alloclen, "%s/%s", str, append);
+    }
+
+  /* Looking for path of the form /cygdrive/c/bla/bla/bla */
+
+  if (strcasecmp(src, cygdrive) == 0)
+    {
+      int cygsize = sizeof(cygdrive);
+      if (src[cygsize] == '/')
+        {
+          cygsize++;
+          srclen -= cygsize;
+          src += cygsize;
+
+          if (srclen <= 0)
+            {
+              fprintf(stderr, "ERROR: Unhandled path: \"%s\"\n", str);
+              exit(EXIT_FAILURE);
+            }
+
+          drive = toupper(*src);
+          if (drive < 'A' || drive > 'Z')
+            {
+              fprintf(stderr, "ERROR: Drive charager: \"%s\"\n", str);
+              exit(EXIT_FAILURE);
+            }
+
+          srclen--;
+          src++;
+          alloclen = 2;
+        }
+    }
+
+  /* Determine the size of the new path */
+
+  alloclen += sizeof(src) + 1;
+  if (mode == MODE_DBLBACK)
+    {
+      const char *tmpptr;
+      for (tmpptr = src; *tmpptr; tmpptr++)
+        {
+          if (*tmpptr == '/') alloclen++;
+        }
+    }
+
+  /* Allocate memory for the new path */
+
+  newpath = (char *)malloc(alloclen);
+  if (!newpath)
+    {
+      fprintf(stderr, "ERROR: Failed to allocate %d bytes\n", alloclen);
+      exit(EXIT_FAILURE);
+    }
+
+  dest = newpath;
+
+  /* Copy the drive character */
+
+  if (drive)
+    {
+      *dest++ = drive;
+      *dest++ = ':';
+    }
+
+  /* Copy each character from the source, making modifications for foward
+   * slashes as required.
+   */
+
+  lastchar = '\0';
+  for (; *src; src++)
+    {
+      if (mode != MODE_FSLASH && *src == '/')
+        {
+          if (lastchar != '/')
+            {
+              *dest++ = '\\';
+              if (mode == MODE_DBLBACK)
+                {
+                  *dest++ = '\\';
+                }
+            }
+        }
+      else
+        {
+          *dest++ = *src;
+        }
+
+      lastchar = *src;
+    }
+
+  *dest++ = '\0';
+  if (allocpath)
+    {
+      free(allocpath);
+    }
+  return dest;
+}
+#endif
+
+#ifdef HAVE_WINPATH
+static void do_winpath(char *file)
+{
+  /* The file is in POSIX format.  CC expects Windows format to generate the
+   * dependencies, but GNU make expect the resulting dependencies to be back
+   * in POSIX format.  What a mess!
+   */
+
+  char *path = cywin2windows(g_topdir, file, MODE_FSLASH);
+
+  /* Then get the dependency and perform conversions on it to make it
+   * palatable to the Cygwin make.
+   */
+#warning "Missing logic"
+
+  free(path);
+}
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+int main(int argc, char **argv, char **envp)
+{
+  char *lasts;
+  char *files;
+  char *file;
+
+  /* Parse command line parameters */
+
+  parse_args(argc, argv);
+
+  /* Then generate dependencies for each path on the command line.  NOTE
+   * strtok_r will clobber the files list.  But that is okay because we are
+   * only going to traverse it once.
+   */
+
+  files = g_files;
+  while ((file = strtok_r(files, " ", &lasts)) != NULL)
+    {
+      /* Check if we need to do path conversions for a Windows-natvie tool
+       * being using in a POSIX/Cygwin environment.
+       */
+
+#ifdef HAVE_WINPATH
+      if (g_winpath)
+        {
+          do_winpath(file);
+        }
+      else
+#endif
+        {
+          do_dependency(file, g_winnative ? '\\' : '/');
+        }
+
+      files = NULL;
+    }
+
+  return EXIT_SUCCESS;
+}
diff --git a/nuttx/tools/mkdeps.sh b/nuttx/tools/mkdeps.sh
index acb600150..42397012b 100755
--- a/nuttx/tools/mkdeps.sh
+++ b/nuttx/tools/mkdeps.sh
@@ -2,7 +2,7 @@
 ############################################################################
 # tools/mkdeps.sh
 #
-#   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -86,8 +86,12 @@ dodep ()
       fi
     done
     if [ -z "$fullpath" ]; then
-      echo "# ERROR: No readable file for $1 found at any location"
-      show_usage
+	if [ -r $1 ]; then
+	    fullpath=$1
+	else
+	    echo "# ERROR: No readable file for $1 found at any location"
+	    show_usage
+	fi
     fi
   fi
 
diff --git a/nuttx/tools/mkromfsimg.sh b/nuttx/tools/mkromfsimg.sh
index b77411980..8811f1953 100755
--- a/nuttx/tools/mkromfsimg.sh
+++ b/nuttx/tools/mkromfsimg.sh
@@ -233,7 +233,7 @@ mkdir -p $workingdir || { echo "Failed to created the new $workingdir"; exit 1;
 # Create the rcS file from the rcS.template
 
 if [ ! -r $rcstemplate ]; then
-    echo "$rcstemplete does not exist"
+    echo "$rcstemplate does not exist"
     rmdir $workingdir
     exit 1
 fi
diff --git a/nuttx/tools/mksymtab.c b/nuttx/tools/mksymtab.c
index c5a46a92b..e401812c0 100644
--- a/nuttx/tools/mksymtab.c
+++ b/nuttx/tools/mksymtab.c
@@ -222,7 +222,7 @@ int main(int argc, char **argv, char **envp)
 
   fprintf(outstream, "/* %s: Auto-generated symbol table.  Do not edit */\n\n", symtab);
   fprintf(outstream, "#include <nuttx/config.h>\n");
-  fprintf(outstream, "#include <nuttx/symtab.h>\n\n");
+  fprintf(outstream, "#include <nuttx/binfmt/symtab.h>\n\n");
 
   /* Output all of the require header files */
 
diff --git a/nuttx/tools/unlink.bat b/nuttx/tools/unlink.bat
new file mode 100755
index 000000000..25e83bb9f
--- /dev/null
+++ b/nuttx/tools/unlink.bat
@@ -0,0 +1,71 @@
+@echo off

+

+rem tools/unlink.bat

+rem

+rem   Copyright (C) 2012 Gregory Nutt. All rights reserved.

+rem   Author: Gregory Nutt <gnutt@nuttx.org>

+rem

+rem Redistribution and use in source and binary forms, with or without

+rem modification, are permitted provided that the following conditions

+rem are met:

+rem

+rem 1. Redistributions of source code must retain the above copyright

+rem    notice, this list of conditions and the following disclaimer.

+rem 2. Redistributions in binary form must reproduce the above copyright

+rem    notice, this list of conditions and the following disclaimer in

+rem    the documentation and/or other materials provided with the

+rem    distribution.

+rem 3. Neither the name NuttX nor the names of its contributors may be

+rem    used to endorse or promote products derived from this software

+rem    without specific prior written permission.

+rem

+rem THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS

+rem "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT

+rem LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS

+rem FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE

+rem COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,

+rem INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,

+rem BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS

+rem OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED

+rem AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT

+rem LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN

+rem ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

+rem POSSIBILITY OF SUCH DAMAGE.

+rem

+

+rem Verify that arguments were provided

+

+set link=%1

+if "%link%"=="" goto :MissingArgument

+

+rem Check if something already exists at the link path

+

+if exist "%link%" goto :LinkExists

+

+echo %link% does not exist

+goto :ShowUsage

+

+rem %link% make be a symbolic link or it may be a copied director (with

+rem a .fakelnk file in it).  It really does not matter which:  We do the

+rem same thing in either case

+

+:LinkExists

+

+rmdir /q /s %link%

+if errorlevel 1 (

+  echo Failed to remove existing object at %link%

+  goto :ShowUsage

+)

+

+goto :End

+

+:MissingArgument

+

+echo Missing Argument

+

+:ShowUsage

+echo USAGE: %0 ^<link^>

+echo Where:

+echo   ^<link^> is the linked (or copied) directory to be removed

+

+:End