From 4447282260be0780eb6e36f5e953bf56888a5688 Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Sun, 6 Jan 2013 12:52:05 -0800
Subject: Integrate the interesting parts of the CMSIS 3.01 (r3p1) DSP library

---
 .../Source/FastMathFunctions/arm_sqrt_q31.c        | 129 +++++++++++++++++++++
 1 file changed, 129 insertions(+)
 create mode 100644 apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c

(limited to 'apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c')

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c
new file mode 100644
index 000000000..2a3b7ac18
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c
@@ -0,0 +1,129 @@
+/* ----------------------------------------------------------------------     
+* Copyright (C) 2011 ARM Limited. All rights reserved.  
+*     
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*     
+* Project:      CMSIS DSP Library  
+* Title:		arm_sqrt_q31.c     
+*     
+* Description:	Q31 square root function.    
+*     
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+* 
+* Version 1.0.0 2011/03/08 
+*     Alpha release. 
+* 
+* Version 1.0.1 2011/09/30 
+*     Beta release.  
+*     
+* -------------------------------------------------------------------- */
+#include "arm_math.h"
+#include "arm_common_tables.h"
+
+/**     
+ * @ingroup groupFastMath     
+ */
+
+/**     
+ * @addtogroup SQRT     
+ * @{     
+ */
+
+/**    
+ * @brief Q31 square root function.    
+ * @param[in]   in    input value.  The range of the input value is [0 +1) or 0x00000000 to 0x7FFFFFFF.    
+ * @param[out]  *pOut square root of input value.    
+ * @return The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if    
+ * <code>in</code> is negative value and returns zero output for negative values.    
+ */
+
+arm_status arm_sqrt_q31(
+  q31_t in,
+  q31_t * pOut)
+{
+  q31_t number, temp1, bits_val1, var1, signBits1, half;
+  float32_t temp_float1;
+
+  number = in;
+
+  /* If the input is a positive number then compute the signBits. */
+  if(number > 0)
+  {
+    signBits1 = __CLZ(number) - 1;
+
+    /* Shift by the number of signBits1 */
+    if((signBits1 % 2) == 0)
+    {
+      number = number << signBits1;
+    }
+    else
+    {
+      number = number << (signBits1 - 1);
+    }
+
+    /* Calculate half value of the number */
+    half = number >> 1;
+    /* Store the number for later use */
+    temp1 = number;
+
+    /*Convert to float */
+    temp_float1 = number * 4.6566128731e-010f;
+    /*Store as integer */
+    bits_val1 = *(int *) &temp_float1;
+    /* Subtract the shifted value from the magic number to give intial guess */
+    bits_val1 = 0x5f3759df - (bits_val1 >> 1);  // gives initial guess  
+    /* Store as float */
+    temp_float1 = *(float *) &bits_val1;
+    /* Convert to integer format */
+    var1 = (q31_t) (temp_float1 * 1073741824);
+
+    /* 1st iteration */
+    var1 = ((q31_t) ((q63_t) var1 * (0x30000000 -
+                                     ((q31_t)
+                                      ((((q31_t)
+                                         (((q63_t) var1 * var1) >> 31)) *
+                                        (q63_t) half) >> 31))) >> 31)) << 2;
+    /* 2nd iteration */
+    var1 = ((q31_t) ((q63_t) var1 * (0x30000000 -
+                                     ((q31_t)
+                                      ((((q31_t)
+                                         (((q63_t) var1 * var1) >> 31)) *
+                                        (q63_t) half) >> 31))) >> 31)) << 2;
+    /* 3rd iteration */
+    var1 = ((q31_t) ((q63_t) var1 * (0x30000000 -
+                                     ((q31_t)
+                                      ((((q31_t)
+                                         (((q63_t) var1 * var1) >> 31)) *
+                                        (q63_t) half) >> 31))) >> 31)) << 2;
+
+    /* Multiply the inverse square root with the original value */
+    var1 = ((q31_t) (((q63_t) temp1 * var1) >> 31)) << 1;
+
+    /* Shift the output down accordingly */
+    if((signBits1 % 2) == 0)
+    {
+      var1 = var1 >> (signBits1 / 2);
+    }
+    else
+    {
+      var1 = var1 >> ((signBits1 - 1) / 2);
+    }
+    *pOut = var1;
+
+    return (ARM_MATH_SUCCESS);
+  }
+  /* If the number is a negative number then store zero as its square root value */
+  else
+  {
+    *pOut = 0;
+    return (ARM_MATH_ARGUMENT_ERROR);
+  }
+}
+
+/**     
+ * @} end of SQRT group     
+ */
-- 
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