diff options
Diffstat (limited to 'src/modules/mathlib')
41 files changed, 0 insertions, 16490 deletions
diff --git a/src/modules/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h b/src/modules/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h deleted file mode 100644 index 8f39acd9d..000000000 --- a/src/modules/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h +++ /dev/null @@ -1,264 +0,0 @@ -/**************************************************************************//**
- * @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/src/modules/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h b/src/modules/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h deleted file mode 100644 index 181b7e433..000000000 --- a/src/modules/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h +++ /dev/null @@ -1,265 +0,0 @@ -/**************************************************************************//**
- * @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/src/modules/mathlib/CMSIS/Include/arm_common_tables.h b/src/modules/mathlib/CMSIS/Include/arm_common_tables.h deleted file mode 100644 index 9c37ab4e5..000000000 --- a/src/modules/mathlib/CMSIS/Include/arm_common_tables.h +++ /dev/null @@ -1,93 +0,0 @@ -/* ----------------------------------------------------------------------
-* Copyright (C) 2010-2013 ARM Limited. All rights reserved.
-*
-* $Date: 17. January 2013
-* $Revision: V1.4.1
-*
-* 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
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions
-* are met:
-* - Redistributions of source code must retain the above copyright
-* notice, this list of conditions and the following disclaimer.
-* - Redistributions in binary form must reproduce the above copyright
-* notice, this list of conditions and the following disclaimer in
-* the documentation and/or other materials provided with the
-* distribution.
-* - Neither the name of ARM LIMITED nor the names of its contributors
-* may be used to endorse or promote products derived from this
-* software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-* -------------------------------------------------------------------- */
-
-#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_16[32];
-extern const float32_t twiddleCoef_32[64];
-extern const float32_t twiddleCoef_64[128];
-extern const float32_t twiddleCoef_128[256];
-extern const float32_t twiddleCoef_256[512];
-extern const float32_t twiddleCoef_512[1024];
-extern const float32_t twiddleCoef_1024[2048];
-extern const float32_t twiddleCoef_2048[4096];
-extern const float32_t twiddleCoef_4096[8192];
-#define twiddleCoef twiddleCoef_4096
-extern const q31_t twiddleCoefQ31[6144];
-extern const q15_t twiddleCoefQ15[6144];
-extern const float32_t twiddleCoef_rfft_32[32];
-extern const float32_t twiddleCoef_rfft_64[64];
-extern const float32_t twiddleCoef_rfft_128[128];
-extern const float32_t twiddleCoef_rfft_256[256];
-extern const float32_t twiddleCoef_rfft_512[512];
-extern const float32_t twiddleCoef_rfft_1024[1024];
-extern const float32_t twiddleCoef_rfft_2048[2048];
-extern const float32_t twiddleCoef_rfft_4096[4096];
-
-
-#define ARMBITREVINDEXTABLE__16_TABLE_LENGTH ((uint16_t)20 )
-#define ARMBITREVINDEXTABLE__32_TABLE_LENGTH ((uint16_t)48 )
-#define ARMBITREVINDEXTABLE__64_TABLE_LENGTH ((uint16_t)56 )
-#define ARMBITREVINDEXTABLE_128_TABLE_LENGTH ((uint16_t)208 )
-#define ARMBITREVINDEXTABLE_256_TABLE_LENGTH ((uint16_t)440 )
-#define ARMBITREVINDEXTABLE_512_TABLE_LENGTH ((uint16_t)448 )
-#define ARMBITREVINDEXTABLE1024_TABLE_LENGTH ((uint16_t)1800)
-#define ARMBITREVINDEXTABLE2048_TABLE_LENGTH ((uint16_t)3808)
-#define ARMBITREVINDEXTABLE4096_TABLE_LENGTH ((uint16_t)4032)
-
-extern const uint16_t armBitRevIndexTable16[ARMBITREVINDEXTABLE__16_TABLE_LENGTH];
-extern const uint16_t armBitRevIndexTable32[ARMBITREVINDEXTABLE__32_TABLE_LENGTH];
-extern const uint16_t armBitRevIndexTable64[ARMBITREVINDEXTABLE__64_TABLE_LENGTH];
-extern const uint16_t armBitRevIndexTable128[ARMBITREVINDEXTABLE_128_TABLE_LENGTH];
-extern const uint16_t armBitRevIndexTable256[ARMBITREVINDEXTABLE_256_TABLE_LENGTH];
-extern const uint16_t armBitRevIndexTable512[ARMBITREVINDEXTABLE_512_TABLE_LENGTH];
-extern const uint16_t armBitRevIndexTable1024[ARMBITREVINDEXTABLE1024_TABLE_LENGTH];
-extern const uint16_t armBitRevIndexTable2048[ARMBITREVINDEXTABLE2048_TABLE_LENGTH];
-extern const uint16_t armBitRevIndexTable4096[ARMBITREVINDEXTABLE4096_TABLE_LENGTH];
-
-#endif /* ARM_COMMON_TABLES_H */
diff --git a/src/modules/mathlib/CMSIS/Include/arm_const_structs.h b/src/modules/mathlib/CMSIS/Include/arm_const_structs.h deleted file mode 100644 index 406f737dc..000000000 --- a/src/modules/mathlib/CMSIS/Include/arm_const_structs.h +++ /dev/null @@ -1,85 +0,0 @@ -/* ----------------------------------------------------------------------
-* Copyright (C) 2010-2013 ARM Limited. All rights reserved.
-*
-* $Date: 17. January 2013
-* $Revision: V1.4.1
-*
-* Project: CMSIS DSP Library
-* Title: arm_const_structs.h
-*
-* Description: This file has constant structs that are initialized for
-* user convenience. For example, some can be given as
-* arguments to the arm_cfft_f32() function.
-*
-* Target Processor: Cortex-M4/Cortex-M3
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions
-* are met:
-* - Redistributions of source code must retain the above copyright
-* notice, this list of conditions and the following disclaimer.
-* - Redistributions in binary form must reproduce the above copyright
-* notice, this list of conditions and the following disclaimer in
-* the documentation and/or other materials provided with the
-* distribution.
-* - Neither the name of ARM LIMITED nor the names of its contributors
-* may be used to endorse or promote products derived from this
-* software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-* -------------------------------------------------------------------- */
-
-#ifndef _ARM_CONST_STRUCTS_H
-#define _ARM_CONST_STRUCTS_H
-
-#include "arm_math.h"
-#include "arm_common_tables.h"
-
- const arm_cfft_instance_f32 arm_cfft_sR_f32_len16 = {
- 16, twiddleCoef_16, armBitRevIndexTable16, ARMBITREVINDEXTABLE__16_TABLE_LENGTH
- };
-
- const arm_cfft_instance_f32 arm_cfft_sR_f32_len32 = {
- 32, twiddleCoef_32, armBitRevIndexTable32, ARMBITREVINDEXTABLE__32_TABLE_LENGTH
- };
-
- const arm_cfft_instance_f32 arm_cfft_sR_f32_len64 = {
- 64, twiddleCoef_64, armBitRevIndexTable64, ARMBITREVINDEXTABLE__64_TABLE_LENGTH
- };
-
- const arm_cfft_instance_f32 arm_cfft_sR_f32_len128 = {
- 128, twiddleCoef_128, armBitRevIndexTable128, ARMBITREVINDEXTABLE_128_TABLE_LENGTH
- };
-
- const arm_cfft_instance_f32 arm_cfft_sR_f32_len256 = {
- 256, twiddleCoef_256, armBitRevIndexTable256, ARMBITREVINDEXTABLE_256_TABLE_LENGTH
- };
-
- const arm_cfft_instance_f32 arm_cfft_sR_f32_len512 = {
- 512, twiddleCoef_512, armBitRevIndexTable512, ARMBITREVINDEXTABLE_512_TABLE_LENGTH
- };
-
- const arm_cfft_instance_f32 arm_cfft_sR_f32_len1024 = {
- 1024, twiddleCoef_1024, armBitRevIndexTable1024, ARMBITREVINDEXTABLE1024_TABLE_LENGTH
- };
-
- const arm_cfft_instance_f32 arm_cfft_sR_f32_len2048 = {
- 2048, twiddleCoef_2048, armBitRevIndexTable2048, ARMBITREVINDEXTABLE2048_TABLE_LENGTH
- };
-
- const arm_cfft_instance_f32 arm_cfft_sR_f32_len4096 = {
- 4096, twiddleCoef_4096, armBitRevIndexTable4096, ARMBITREVINDEXTABLE4096_TABLE_LENGTH
- };
-
-#endif
diff --git a/src/modules/mathlib/CMSIS/Include/arm_math.h b/src/modules/mathlib/CMSIS/Include/arm_math.h deleted file mode 100644 index 6f66f9ee3..000000000 --- a/src/modules/mathlib/CMSIS/Include/arm_math.h +++ /dev/null @@ -1,7318 +0,0 @@ -/* ----------------------------------------------------------------------
-* Copyright (C) 2010-2013 ARM Limited. All rights reserved.
-*
-* $Date: 17. January 2013
-* $Revision: V1.4.1
-*
-* Project: CMSIS DSP Library
-* Title: arm_math.h
-*
-* Description: Public header file for CMSIS DSP Library
-*
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions
-* are met:
-* - Redistributions of source code must retain the above copyright
-* notice, this list of conditions and the following disclaimer.
-* - Redistributions in binary form must reproduce the above copyright
-* notice, this list of conditions and the following disclaimer in
-* the documentation and/or other materials provided with the
-* distribution.
-* - Neither the name of ARM LIMITED nor the names of its contributors
-* may be used to endorse or promote products derived from this
-* software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
- * -------------------------------------------------------------------- */
-
-/**
- \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>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 or ARM_MATH_CM0PLUS 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>Toolchain Support</b>
- *
- * The library has been developed and tested with MDK-ARM version 4.60.
- * The library is being tested in GCC and IAR toolchains and updates on this activity will be made available shortly.
- *
- * <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 4.60 chain and defining the optional pre processor MACROs detailed above.
- *
- * <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, ARM_MATH_CM0PLUS 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>Copyright Notice</b>
- *
- * Copyright (C) 2010-2013 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 */
-
-/* PX4 */
-#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"
-#define ARM_MATH_CM0_FAMILY
-#elif defined (ARM_MATH_CM0PLUS)
-#include "core_cm0plus.h"
-#define ARM_MATH_CM0_FAMILY
-#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 __CC_ARM
-#define __SIMD32_TYPE int32_t __packed
-#define CMSIS_UNUSED __attribute__((unused))
-#elif defined __ICCARM__
-#define CMSIS_UNUSED
-#define __SIMD32_TYPE int32_t __packed
-#elif defined __GNUC__
-#define __SIMD32_TYPE int32_t
-#define CMSIS_UNUSED __attribute__((unused))
-#else
-#error Unknown compiler
-#endif
-
-#define __SIMD32(addr) (*(__SIMD32_TYPE **) & (addr))
-#define __SIMD32_CONST(addr) ((__SIMD32_TYPE *)(addr))
-
-#define _SIMD32_OFFSET(addr) (*(__SIMD32_TYPE *) (addr))
-
-#define __SIMD64(addr) (*(int64_t **) & (addr))
-
-#if defined (ARM_MATH_CM3) || defined (ARM_MATH_CM0_FAMILY)
- /**
- * @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_FAMILY) && defined ( __CC_ARM )
-#define __CLZ __clz
-#endif
-
-#if defined (ARM_MATH_CM0_FAMILY) && ((defined (__ICCARM__)) ||(defined (__GNUC__)) || defined (__TASKING__) )
-
- 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_FAMILY)
-
- 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_FAMILY */
-
-
-
- /*
- * @brief C custom defined intrinsic function for M3 and M0 processors
- */
-#if defined (ARM_MATH_CM3) || defined (ARM_MATH_CM0_FAMILY)
-
- /*
- * @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_FAMILY) */
-
-
- /**
- * @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
- * @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_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_FAMILY
- 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 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;
-
- arm_status arm_cfft_radix2_init_q15(
- arm_cfft_radix2_instance_q15 * S,
- uint16_t fftLen,
- uint8_t ifftFlag,
- uint8_t bitReverseFlag);
-
- void arm_cfft_radix2_q15(
- const arm_cfft_radix2_instance_q15 * S,
- q15_t * pSrc);
-
-
-
- /**
- * @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;
-
- arm_status arm_cfft_radix4_init_q15(
- arm_cfft_radix4_instance_q15 * S,
- uint16_t fftLen,
- uint8_t ifftFlag,
- uint8_t bitReverseFlag);
-
- void arm_cfft_radix4_q15(
- const arm_cfft_radix4_instance_q15 * S,
- q15_t * pSrc);
-
- /**
- * @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;
-
- arm_status arm_cfft_radix2_init_q31(
- arm_cfft_radix2_instance_q31 * S,
- uint16_t fftLen,
- uint8_t ifftFlag,
- uint8_t bitReverseFlag);
-
- void arm_cfft_radix2_q31(
- const arm_cfft_radix2_instance_q31 * S,
- q31_t * pSrc);
-
- /**
- * @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;
-
-
- void arm_cfft_radix4_q31(
- const arm_cfft_radix4_instance_q31 * S,
- q31_t * pSrc);
-
- arm_status arm_cfft_radix4_init_q31(
- arm_cfft_radix4_instance_q31 * S,
- uint16_t fftLen,
- uint8_t ifftFlag,
- uint8_t bitReverseFlag);
-
- /**
- * @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;
-
-/* Deprecated */
- arm_status arm_cfft_radix2_init_f32(
- arm_cfft_radix2_instance_f32 * S,
- uint16_t fftLen,
- uint8_t ifftFlag,
- uint8_t bitReverseFlag);
-
-/* Deprecated */
- void arm_cfft_radix2_f32(
- const arm_cfft_radix2_instance_f32 * S,
- float32_t * pSrc);
-
- /**
- * @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;
-
-/* Deprecated */
- arm_status arm_cfft_radix4_init_f32(
- arm_cfft_radix4_instance_f32 * S,
- uint16_t fftLen,
- uint8_t ifftFlag,
- uint8_t bitReverseFlag);
-
-/* Deprecated */
- void arm_cfft_radix4_f32(
- const arm_cfft_radix4_instance_f32 * S,
- float32_t * pSrc);
-
- /**
- * @brief Instance structure for the floating-point CFFT/CIFFT function.
- */
-
- typedef struct
- {
- uint16_t fftLen; /**< length of the FFT. */
- const float32_t *pTwiddle; /**< points to the Twiddle factor table. */
- const uint16_t *pBitRevTable; /**< points to the bit reversal table. */
- uint16_t bitRevLength; /**< bit reversal table length. */
- } arm_cfft_instance_f32;
-
- void arm_cfft_f32(
- const arm_cfft_instance_f32 * S,
- float32_t * p1,
- uint8_t ifftFlag,
- uint8_t bitReverseFlag);
-
- /**
- * @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;
-
- 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);
-
- void arm_rfft_q15(
- const arm_rfft_instance_q15 * S,
- q15_t * pSrc,
- q15_t * pDst);
-
- /**
- * @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;
-
- 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);
-
- void arm_rfft_q31(
- const arm_rfft_instance_q31 * S,
- q31_t * pSrc,
- q31_t * pDst);
-
- /**
- * @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;
-
- 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);
-
- void arm_rfft_f32(
- const arm_rfft_instance_f32 * S,
- float32_t * pSrc,
- float32_t * pDst);
-
- /**
- * @brief Instance structure for the floating-point RFFT/RIFFT function.
- */
-
-typedef struct
- {
- arm_cfft_instance_f32 Sint; /**< Internal CFFT structure. */
- uint16_t fftLenRFFT; /**< length of the real sequence */
- float32_t * pTwiddleRFFT; /**< Twiddle factors real stage */
- } arm_rfft_fast_instance_f32 ;
-
-arm_status arm_rfft_fast_init_f32 (
- arm_rfft_fast_instance_f32 * S,
- uint16_t fftLen);
-
-void arm_rfft_fast_f32(
- arm_rfft_fast_instance_f32 * S,
- float32_t * p, float32_t * pOut,
- uint8_t ifftFlag);
-
- /**
- * @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;
-
-#ifndef ARM_MATH_CM0_FAMILY
- __SIMD32_TYPE *vstate;
-
- /* Implementation of PID controller */
-
- /* acc = A0 * x[n] */
- acc = (q31_t) __SMUAD(S->A0, in);
-
- /* acc += A1 * x[n-1] + A2 * x[n-2] */
- vstate = __SIMD32_CONST(S->state);
- acc = __SMLALD(S->A1, (q31_t) *vstate, acc);
-
-#else
- /* acc = A0 * x[n] */
- acc = ((q31_t) S->A0) * in;
-
- /* 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];
-
-#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 = -0.5 * Ialpha + (float32_t) 0.8660254039 *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 = (int32_t) ((x - S->x1) / xSpacing);
-
- if(i < 0)
- {
- /* Iniatilize output for below specified range as least output value of table */
- y = pYData[0];
- }
- else if((uint32_t)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 >= (int32_t)(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 >= (int32_t)(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 */
- uint32_t index; /* Index to read nearest output values */
-
- /* Input is in 12.20 format */
- /* 12 bits for the table index */
- /* Index value calculation */
- if (x < 0)
- {
- return (pYData[0]);
- }
- index = (x >> 20) & 0xfff;
-
-
- if(index >= (nValues - 1))
- {
- return (pYData[nValues - 1]);
- }
- 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);
-#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
- */
-
-
-#if defined ( __CC_ARM ) //Keil
-//SMMLAR
- #define multAcc_32x32_keep32_R(a, x, y) \
- a = (q31_t) (((((q63_t) a) << 32) + ((q63_t) x * y) + 0x80000000LL ) >> 32)
-
-//SMMLSR
- #define multSub_32x32_keep32_R(a, x, y) \
- a = (q31_t) (((((q63_t) a) << 32) - ((q63_t) x * y) + 0x80000000LL ) >> 32)
-
-//SMMULR
- #define mult_32x32_keep32_R(a, x, y) \
- a = (q31_t) (((q63_t) x * y + 0x80000000LL ) >> 32)
-
-//Enter low optimization region - place directly above function definition
- #define LOW_OPTIMIZATION_ENTER \
- _Pragma ("push") \
- _Pragma ("O1")
-
-//Exit low optimization region - place directly after end of function definition
- #define LOW_OPTIMIZATION_EXIT \
- _Pragma ("pop")
-
-//Enter low optimization region - place directly above function definition
- #define IAR_ONLY_LOW_OPTIMIZATION_ENTER
-
-//Exit low optimization region - place directly after end of function definition
- #define IAR_ONLY_LOW_OPTIMIZATION_EXIT
-
-#elif defined(__ICCARM__) //IAR
- //SMMLA
- #define multAcc_32x32_keep32_R(a, x, y) \
- a += (q31_t) (((q63_t) x * y) >> 32)
-
- //SMMLS
- #define multSub_32x32_keep32_R(a, x, y) \
- a -= (q31_t) (((q63_t) x * y) >> 32)
-
-//SMMUL
- #define mult_32x32_keep32_R(a, x, y) \
- a = (q31_t) (((q63_t) x * y ) >> 32)
-
-//Enter low optimization region - place directly above function definition
- #define LOW_OPTIMIZATION_ENTER \
- _Pragma ("optimize=low")
-
-//Exit low optimization region - place directly after end of function definition
- #define LOW_OPTIMIZATION_EXIT
-
-//Enter low optimization region - place directly above function definition
- #define IAR_ONLY_LOW_OPTIMIZATION_ENTER \
- _Pragma ("optimize=low")
-
-//Exit low optimization region - place directly after end of function definition
- #define IAR_ONLY_LOW_OPTIMIZATION_EXIT
-
-#elif defined(__GNUC__)
- //SMMLA
- #define multAcc_32x32_keep32_R(a, x, y) \
- a += (q31_t) (((q63_t) x * y) >> 32)
-
- //SMMLS
- #define multSub_32x32_keep32_R(a, x, y) \
- a -= (q31_t) (((q63_t) x * y) >> 32)
-
-//SMMUL
- #define mult_32x32_keep32_R(a, x, y) \
- a = (q31_t) (((q63_t) x * y ) >> 32)
-
- #define LOW_OPTIMIZATION_ENTER __attribute__(( optimize("-O1") ))
-
- #define LOW_OPTIMIZATION_EXIT
-
- #define IAR_ONLY_LOW_OPTIMIZATION_ENTER
-
- #define IAR_ONLY_LOW_OPTIMIZATION_EXIT
-
-#endif
-
-
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-
-#endif /* _ARM_MATH_H */
-
-
-/**
- *
- * End of file.
- */
diff --git a/src/modules/mathlib/CMSIS/Include/core_cm3.h b/src/modules/mathlib/CMSIS/Include/core_cm3.h deleted file mode 100644 index 8ac6dc078..000000000 --- a/src/modules/mathlib/CMSIS/Include/core_cm3.h +++ /dev/null @@ -1,1627 +0,0 @@ -/**************************************************************************//**
- * @file core_cm3.h
- * @brief CMSIS Cortex-M3 Core Peripheral Access Layer Header File
- * @version V3.20
- * @date 25. February 2013
- *
- * @note
- *
- ******************************************************************************/
-/* Copyright (c) 2009 - 2013 ARM LIMITED
-
- All rights reserved.
- Redistribution and use in source and binary forms, with or without
- modification, are permitted provided that the following conditions are met:
- - Redistributions of source code must retain the above copyright
- notice, this list of conditions and the following disclaimer.
- - Redistributions in binary form must reproduce the above copyright
- notice, this list of conditions and the following disclaimer in the
- documentation and/or other materials provided with the distribution.
- - Neither the name of ARM 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 COPYRIGHT HOLDERS AND 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.
- ---------------------------------------------------------------------------*/
-
-
-#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 (0x20) /*!< [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 - 1) > SysTick_LOAD_RELOAD_Msk) return (1); /* Reload value impossible */
-
- SysTick->LOAD = ticks - 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/src/modules/mathlib/CMSIS/Include/core_cm4.h b/src/modules/mathlib/CMSIS/Include/core_cm4.h deleted file mode 100644 index 93efd3a7a..000000000 --- a/src/modules/mathlib/CMSIS/Include/core_cm4.h +++ /dev/null @@ -1,1772 +0,0 @@ -/**************************************************************************//**
- * @file core_cm4.h
- * @brief CMSIS Cortex-M4 Core Peripheral Access Layer Header File
- * @version V3.20
- * @date 25. February 2013
- *
- * @note
- *
- ******************************************************************************/
-/* Copyright (c) 2009 - 2013 ARM LIMITED
-
- All rights reserved.
- Redistribution and use in source and binary forms, with or without
- modification, are permitted provided that the following conditions are met:
- - Redistributions of source code must retain the above copyright
- notice, this list of conditions and the following disclaimer.
- - Redistributions in binary form must reproduce the above copyright
- notice, this list of conditions and the following disclaimer in the
- documentation and/or other materials provided with the distribution.
- - Neither the name of ARM 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 COPYRIGHT HOLDERS AND 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.
- ---------------------------------------------------------------------------*/
-
-
-#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 (0x20) /*!< [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 - 1) > SysTick_LOAD_RELOAD_Msk) return (1); /* Reload value impossible */
-
- SysTick->LOAD = ticks - 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/src/modules/mathlib/CMSIS/Include/core_cm4_simd.h b/src/modules/mathlib/CMSIS/Include/core_cm4_simd.h deleted file mode 100644 index af1831ee1..000000000 --- a/src/modules/mathlib/CMSIS/Include/core_cm4_simd.h +++ /dev/null @@ -1,673 +0,0 @@ -/**************************************************************************//**
- * @file core_cm4_simd.h
- * @brief CMSIS Cortex-M4 SIMD Header File
- * @version V3.20
- * @date 25. February 2013
- *
- * @note
- *
- ******************************************************************************/
-/* Copyright (c) 2009 - 2013 ARM LIMITED
-
- All rights reserved.
- Redistribution and use in source and binary forms, with or without
- modification, are permitted provided that the following conditions are met:
- - Redistributions of source code must retain the above copyright
- notice, this list of conditions and the following disclaimer.
- - Redistributions in binary form must reproduce the above copyright
- notice, this list of conditions and the following disclaimer in the
- documentation and/or other materials provided with the distribution.
- - Neither the name of ARM 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 COPYRIGHT HOLDERS AND 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.
- ---------------------------------------------------------------------------*/
-
-
-#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) )
-
-#define __SMMLA(ARG1,ARG2,ARG3) ( (int32_t)((((int64_t)(ARG1) * (ARG2)) + \
- ((int64_t)(ARG3) << 32) ) >> 32))
-
-/*-- 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; \
- })
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMMLA (int32_t op1, int32_t op2, int32_t op3)
-{
- int32_t result;
-
- __ASM volatile ("smmla %0, %1, %2, %3" : "=r" (result): "r" (op1), "r" (op2), "r" (op3) );
- return(result);
-}
-
-/*-- 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/src/modules/mathlib/CMSIS/Include/core_cmFunc.h b/src/modules/mathlib/CMSIS/Include/core_cmFunc.h deleted file mode 100644 index 139bc3c5e..000000000 --- a/src/modules/mathlib/CMSIS/Include/core_cmFunc.h +++ /dev/null @@ -1,636 +0,0 @@ -/**************************************************************************//**
- * @file core_cmFunc.h
- * @brief CMSIS Cortex-M Core Function Access Header File
- * @version V3.20
- * @date 25. February 2013
- *
- * @note
- *
- ******************************************************************************/
-/* Copyright (c) 2009 - 2013 ARM LIMITED
-
- All rights reserved.
- Redistribution and use in source and binary forms, with or without
- modification, are permitted provided that the following conditions are met:
- - Redistributions of source code must retain the above copyright
- notice, this list of conditions and the following disclaimer.
- - Redistributions in binary form must reproduce the above copyright
- notice, this list of conditions and the following disclaimer in the
- documentation and/or other materials provided with the distribution.
- - Neither the name of ARM 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 COPYRIGHT HOLDERS AND 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 __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" : : : "memory");
-}
-
-
-/** \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" : : : "memory");
-}
-
-
-/** \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) : "memory");
-}
-
-
-/** \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) : "sp");
-}
-
-
-/** \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) : "sp");
-}
-
-
-/** \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) : "memory");
-}
-
-
-#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" : : : "memory");
-}
-
-
-/** \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" : : : "memory");
-}
-
-
-/** \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) : "memory");
-}
-
-
-/** \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) : "memory");
-}
-
-#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;
-
- /* Empty asm statement works as a scheduling barrier */
- __ASM volatile ("");
- __ASM volatile ("VMRS %0, fpscr" : "=r" (result) );
- __ASM volatile ("");
- 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)
- /* Empty asm statement works as a scheduling barrier */
- __ASM volatile ("");
- __ASM volatile ("VMSR fpscr, %0" : : "r" (fpscr) : "vfpcc");
- __ASM volatile ("");
-#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/src/modules/mathlib/CMSIS/Include/core_cmInstr.h b/src/modules/mathlib/CMSIS/Include/core_cmInstr.h deleted file mode 100644 index 8946c2c49..000000000 --- a/src/modules/mathlib/CMSIS/Include/core_cmInstr.h +++ /dev/null @@ -1,688 +0,0 @@ -/**************************************************************************//**
- * @file core_cmInstr.h
- * @brief CMSIS Cortex-M Core Instruction Access Header File
- * @version V3.20
- * @date 05. March 2013
- *
- * @note
- *
- ******************************************************************************/
-/* Copyright (c) 2009 - 2013 ARM LIMITED
-
- All rights reserved.
- Redistribution and use in source and binary forms, with or without
- modification, are permitted provided that the following conditions are met:
- - Redistributions of source code must retain the above copyright
- notice, this list of conditions and the following disclaimer.
- - Redistributions in binary form must reproduce the above copyright
- notice, this list of conditions and the following disclaimer in the
- documentation and/or other materials provided with the distribution.
- - Neither the name of ARM 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 COPYRIGHT HOLDERS AND 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 __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
- */
-#ifndef __NO_EMBEDDED_ASM
-__attribute__((section(".rev16_text"))) __STATIC_INLINE __ASM uint32_t __REV16(uint32_t value)
-{
- rev16 r0, r0
- bx lr
-}
-#endif
-
-/** \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
- */
-#ifndef __NO_EMBEDDED_ASM
-__attribute__((section(".revsh_text"))) __STATIC_INLINE __ASM int32_t __REVSH(int32_t value)
-{
- revsh r0, r0
- bx lr
-}
-#endif
-
-
-/** \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
-
-
-/** \brief Breakpoint
-
- This function causes the processor to enter Debug state.
- Debug tools can use this to investigate system state when the instruction at a particular address is reached.
-
- \param [in] value is ignored by the processor.
- If required, a debugger can use it to store additional information about the breakpoint.
- */
-#define __BKPT(value) __breakpoint(value)
-
-
-#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 */
-
-/* Define macros for porting to both thumb1 and thumb2.
- * For thumb1, use low register (r0-r7), specified by constrant "l"
- * Otherwise, use general registers, specified by constrant "r" */
-#if defined (__thumb__) && !defined (__thumb2__)
-#define __CMSIS_GCC_OUT_REG(r) "=l" (r)
-#define __CMSIS_GCC_USE_REG(r) "l" (r)
-#else
-#define __CMSIS_GCC_OUT_REG(r) "=r" (r)
-#define __CMSIS_GCC_USE_REG(r) "r" (r)
-#endif
-
-/** \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)
-{
-#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 5)
- return __builtin_bswap32(value);
-#else
- uint32_t result;
-
- __ASM volatile ("rev %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) );
- return(result);
-#endif
-}
-
-
-/** \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" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (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)
-{
-#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)
- return (short)__builtin_bswap16(value);
-#else
- uint32_t result;
-
- __ASM volatile ("revsh %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) );
- return(result);
-#endif
-}
-
-
-/** \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)
-{
- return (op1 >> op2) | (op1 << (32 - op2));
-}
-
-
-/** \brief Breakpoint
-
- This function causes the processor to enter Debug state.
- Debug tools can use this to investigate system state when the instruction at a particular address is reached.
-
- \param [in] value is ignored by the processor.
- If required, a debugger can use it to store additional information about the breakpoint.
- */
-#define __BKPT(value) __ASM volatile ("bkpt "#value)
-
-
-#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)
-{
- uint32_t result;
-
-#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)
- __ASM volatile ("ldrexb %0, %1" : "=r" (result) : "Q" (*addr) );
-#else
- /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not
- accepted by assembler. So has to use following less efficient pattern.
- */
- __ASM volatile ("ldrexb %0, [%1]" : "=r" (result) : "r" (addr) : "memory" );
-#endif
- 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)
-{
- uint32_t result;
-
-#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)
- __ASM volatile ("ldrexh %0, %1" : "=r" (result) : "Q" (*addr) );
-#else
- /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not
- accepted by assembler. So has to use following less efficient pattern.
- */
- __ASM volatile ("ldrexh %0, [%1]" : "=r" (result) : "r" (addr) : "memory" );
-#endif
- 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) : "Q" (*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), "=Q" (*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), "=Q" (*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), "=Q" (*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" ::: "memory");
-}
-
-
-/** \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)
-{
- uint32_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/src/modules/mathlib/CMSIS/libarm_cortexM3l_math.a b/src/modules/mathlib/CMSIS/libarm_cortexM3l_math.a Binary files differdeleted file mode 100644 index 6898bc27d..000000000 --- a/src/modules/mathlib/CMSIS/libarm_cortexM3l_math.a +++ /dev/null diff --git a/src/modules/mathlib/CMSIS/libarm_cortexM4l_math.a b/src/modules/mathlib/CMSIS/libarm_cortexM4l_math.a Binary files differdeleted file mode 100755 index a0185eaa9..000000000 --- a/src/modules/mathlib/CMSIS/libarm_cortexM4l_math.a +++ /dev/null diff --git a/src/modules/mathlib/CMSIS/libarm_cortexM4lf_math.a b/src/modules/mathlib/CMSIS/libarm_cortexM4lf_math.a Binary files differdeleted file mode 100755 index 94525528e..000000000 --- a/src/modules/mathlib/CMSIS/libarm_cortexM4lf_math.a +++ /dev/null diff --git a/src/modules/mathlib/CMSIS/library.mk b/src/modules/mathlib/CMSIS/library.mk deleted file mode 100644 index 0cc1b559d..000000000 --- a/src/modules/mathlib/CMSIS/library.mk +++ /dev/null @@ -1,46 +0,0 @@ -############################################################################ -# -# Copyright (c) 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. -# -############################################################################ - -# -# ARM CMSIS DSP library -# - -ifeq ($(CONFIG_ARCH),CORTEXM4F) -PREBUILT_LIB := libarm_cortexM4lf_math.a -else ifeq ($(CONFIG_ARCH),CORTEXM4) -PREBUILT_LIB := libarm_cortexM4l_math.a -else ifeq ($(CONFIG_ARCH),CORTEXM3) -PREBUILT_LIB := libarm_cortexM3l_math.a -else -$(error CONFIG_ARCH value '$(CONFIG_ARCH)' not supported by the DSP library) -endif diff --git a/src/modules/mathlib/CMSIS/license.txt b/src/modules/mathlib/CMSIS/license.txt deleted file mode 100644 index 31afac1ec..000000000 --- a/src/modules/mathlib/CMSIS/license.txt +++ /dev/null @@ -1,27 +0,0 @@ -All pre-built libraries are guided by the following license:
-
-Copyright (C) 2009-2012 ARM Limited.
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
- - Redistributions of source code must retain the above copyright
- notice, this list of conditions and the following disclaimer.
- - Redistributions in binary form must reproduce the above copyright
- notice, this list of conditions and the following disclaimer in the
- documentation and/or other materials provided with the distribution.
- - Neither the name of ARM 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 COPYRIGHT HOLDERS AND 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.
diff --git a/src/modules/mathlib/math/Dcm.cpp b/src/modules/mathlib/math/Dcm.cpp deleted file mode 100644 index c3742e288..000000000 --- a/src/modules/mathlib/math/Dcm.cpp +++ /dev/null @@ -1,165 +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 Dcm.cpp - * - * math direction cosine matrix - */ - -#include <mathlib/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/src/modules/mathlib/math/Dcm.hpp b/src/modules/mathlib/math/Dcm.hpp deleted file mode 100644 index 28d840b10..000000000 --- a/src/modules/mathlib/math/Dcm.hpp +++ /dev/null @@ -1,103 +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 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/src/modules/mathlib/math/EulerAngles.cpp b/src/modules/mathlib/math/EulerAngles.cpp deleted file mode 100644 index e733d23bb..000000000 --- a/src/modules/mathlib/math/EulerAngles.cpp +++ /dev/null @@ -1,126 +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 Vector.cpp - * - * math vector - */ - -#include "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/src/modules/mathlib/math/EulerAngles.hpp b/src/modules/mathlib/math/EulerAngles.hpp deleted file mode 100644 index 399eecfa7..000000000 --- a/src/modules/mathlib/math/EulerAngles.hpp +++ /dev/null @@ -1,74 +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 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/src/modules/mathlib/math/Matrix.cpp b/src/modules/mathlib/math/Matrix.cpp deleted file mode 100644 index ebd1aeda3..000000000 --- a/src/modules/mathlib/math/Matrix.cpp +++ /dev/null @@ -1,193 +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 Matrix.cpp - * - * matrix code - */ - -#include "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/src/modules/mathlib/math/Matrix.hpp b/src/modules/mathlib/math/Matrix.hpp deleted file mode 100644 index f19db15ec..000000000 --- a/src/modules/mathlib/math/Matrix.hpp +++ /dev/null @@ -1,61 +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 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/src/modules/mathlib/math/Quaternion.cpp b/src/modules/mathlib/math/Quaternion.cpp deleted file mode 100644 index 02fec4ca6..000000000 --- a/src/modules/mathlib/math/Quaternion.cpp +++ /dev/null @@ -1,174 +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 Quaternion.cpp - * - * math vector - */ - -#include "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/src/modules/mathlib/math/Quaternion.hpp b/src/modules/mathlib/math/Quaternion.hpp deleted file mode 100644 index 4b4e959d8..000000000 --- a/src/modules/mathlib/math/Quaternion.hpp +++ /dev/null @@ -1,115 +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 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/src/modules/mathlib/math/Vector.cpp b/src/modules/mathlib/math/Vector.cpp deleted file mode 100644 index 35158a396..000000000 --- a/src/modules/mathlib/math/Vector.cpp +++ /dev/null @@ -1,100 +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 Vector.cpp - * - * math vector - */ - -#include "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/src/modules/mathlib/math/Vector.hpp b/src/modules/mathlib/math/Vector.hpp deleted file mode 100644 index 73de793d5..000000000 --- a/src/modules/mathlib/math/Vector.hpp +++ /dev/null @@ -1,57 +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 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/src/modules/mathlib/math/Vector3.cpp b/src/modules/mathlib/math/Vector3.cpp deleted file mode 100644 index 61fcc442f..000000000 --- a/src/modules/mathlib/math/Vector3.cpp +++ /dev/null @@ -1,99 +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 Vector3.cpp - * - * math vector - */ - -#include "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/src/modules/mathlib/math/Vector3.hpp b/src/modules/mathlib/math/Vector3.hpp deleted file mode 100644 index 8c36ac134..000000000 --- a/src/modules/mathlib/math/Vector3.hpp +++ /dev/null @@ -1,71 +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 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/src/modules/mathlib/math/arm/Matrix.cpp b/src/modules/mathlib/math/arm/Matrix.cpp deleted file mode 100644 index 21661622a..000000000 --- a/src/modules/mathlib/math/arm/Matrix.cpp +++ /dev/null @@ -1,40 +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 Matrix.cpp - * - * matrix code - */ - -#include "Matrix.hpp" diff --git a/src/modules/mathlib/math/arm/Matrix.hpp b/src/modules/mathlib/math/arm/Matrix.hpp deleted file mode 100644 index 715fd3a5e..000000000 --- a/src/modules/mathlib/math/arm/Matrix.hpp +++ /dev/null @@ -1,292 +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 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/src/modules/mathlib/math/arm/Vector.cpp b/src/modules/mathlib/math/arm/Vector.cpp deleted file mode 100644 index 7ea6496bb..000000000 --- a/src/modules/mathlib/math/arm/Vector.cpp +++ /dev/null @@ -1,40 +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 Vector.cpp - * - * math vector - */ - -#include "Vector.hpp" diff --git a/src/modules/mathlib/math/arm/Vector.hpp b/src/modules/mathlib/math/arm/Vector.hpp deleted file mode 100644 index 58d51107d..000000000 --- a/src/modules/mathlib/math/arm/Vector.hpp +++ /dev/null @@ -1,220 +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 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/src/modules/mathlib/math/generic/Matrix.cpp b/src/modules/mathlib/math/generic/Matrix.cpp deleted file mode 100644 index 21661622a..000000000 --- a/src/modules/mathlib/math/generic/Matrix.cpp +++ /dev/null @@ -1,40 +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 Matrix.cpp - * - * matrix code - */ - -#include "Matrix.hpp" diff --git a/src/modules/mathlib/math/generic/Matrix.hpp b/src/modules/mathlib/math/generic/Matrix.hpp deleted file mode 100644 index 5601a3447..000000000 --- a/src/modules/mathlib/math/generic/Matrix.hpp +++ /dev/null @@ -1,437 +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 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/src/modules/mathlib/math/generic/Vector.cpp b/src/modules/mathlib/math/generic/Vector.cpp deleted file mode 100644 index 7ea6496bb..000000000 --- a/src/modules/mathlib/math/generic/Vector.cpp +++ /dev/null @@ -1,40 +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 Vector.cpp - * - * math vector - */ - -#include "Vector.hpp" diff --git a/src/modules/mathlib/math/generic/Vector.hpp b/src/modules/mathlib/math/generic/Vector.hpp deleted file mode 100644 index 1a7363779..000000000 --- a/src/modules/mathlib/math/generic/Vector.hpp +++ /dev/null @@ -1,227 +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 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/src/modules/mathlib/math/nasa_rotation_def.pdf b/src/modules/mathlib/math/nasa_rotation_def.pdf Binary files differdeleted file mode 100644 index eb67a4bfc..000000000 --- a/src/modules/mathlib/math/nasa_rotation_def.pdf +++ /dev/null diff --git a/src/modules/mathlib/math/test/test.cpp b/src/modules/mathlib/math/test/test.cpp deleted file mode 100644 index 2fa2f7e7c..000000000 --- a/src/modules/mathlib/math/test/test.cpp +++ /dev/null @@ -1,94 +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 test.cpp - * - * Test library code - */ - -#include <stdio.h> -#include <math.h> -#include <stdlib.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/src/modules/mathlib/math/test/test.hpp b/src/modules/mathlib/math/test/test.hpp deleted file mode 100644 index 2027bb827..000000000 --- a/src/modules/mathlib/math/test/test.hpp +++ /dev/null @@ -1,50 +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 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/src/modules/mathlib/math/test_math.sce b/src/modules/mathlib/math/test_math.sce deleted file mode 100644 index c3fba4729..000000000 --- a/src/modules/mathlib/math/test_math.sce +++ /dev/null @@ -1,63 +0,0 @@ -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/src/modules/mathlib/mathlib.h b/src/modules/mathlib/mathlib.h deleted file mode 100644 index b919d53db..000000000 --- a/src/modules/mathlib/mathlib.h +++ /dev/null @@ -1,55 +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 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/src/modules/mathlib/module.mk b/src/modules/mathlib/module.mk deleted file mode 100644 index bcdb2afe5..000000000 --- a/src/modules/mathlib/module.mk +++ /dev/null @@ -1,60 +0,0 @@ -############################################################################ -# -# 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. -# -############################################################################ - -# -# Math library -# -SRCS = 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) -INCLUDE_DIRS += math/arm -SRCS += math/arm/Vector.cpp \ - math/arm/Matrix.cpp -else -#INCLUDE_DIRS += math/generic -#SRCS += math/generic/Vector.cpp \ -# math/generic/Matrix.cpp -endif |